JP2011257317A - Automatic leveling base - Google Patents

Automatic leveling base Download PDF

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Publication number
JP2011257317A
JP2011257317A JP2010133362A JP2010133362A JP2011257317A JP 2011257317 A JP2011257317 A JP 2011257317A JP 2010133362 A JP2010133362 A JP 2010133362A JP 2010133362 A JP2010133362 A JP 2010133362A JP 2011257317 A JP2011257317 A JP 2011257317A
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JP
Japan
Prior art keywords
leg
axis direction
horizontal sensor
motor
detection signal
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JP2010133362A
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Japanese (ja)
Inventor
Sanetoshi Sekiya
実利 関谷
Yoshiaki Nakane
芳昭 中根
Yasunori Aoki
泰憲 青木
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SHINAGAWA CORP
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SHINAGAWA CORP
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Priority to JP2010133362A priority Critical patent/JP2011257317A/en
Priority to DE201110076272 priority patent/DE102011076272A1/en
Publication of JP2011257317A publication Critical patent/JP2011257317A/en
Pending legal-status Critical Current

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Abstract

PROBLEM TO BE SOLVED: To provide an automatic leveling base that easily makes a placed article horizontal.SOLUTION: A first leg body 402, a second leg body 403 and a third leg body 404 have hemispherical grounding surfaces so that a part for placement is hardly damaged and a stable attitude is easily held. A first leg portion 501, a second leg portion 502 and a third leg portion 503 are arranged along an X-axial direction and a Y-axial direction of a horizontal sensor 301, so automatic leveling is carried out through relatively simple algorithm.

Description

本発明は、自動整準台に関する。
より詳細には、無人のガスメータ調整設備に利用するための自動整準台に関する。 The present invention relates to an automatic leveling table.
More particularly, the present invention relates to an automatic leveling table for use in an unmanned gas meter adjustment facility.

出願人は、主に湿式のガスメータを製造販売すると共に、ガスメータの調整業務も行っている。
湿式ガスメータには、液体を満たしたケーシングの内部に回転ドラムが設けられている。回転ドラムの中心の水没している箇所からガスを通すと、ガスが回転ドラム内の仕切り部屋に流入してその体積が増える。すると、仕切り部屋に充満するガスの体積の増加に呼応して、回転ドラムが回転する。こうして、ガスの流量に応じて回転ドラムが回転するので、回転ドラムの回転数を計測することにより、ガスの流量を正確に計測することができる。なお、液体はガスの種類に応じて、水や油等が選定されるが、少なくとも計測対象となるガスを吸い込まない液体が選定されることはいうまでもない。
上述の湿式ガスメータの構造については、例えば本出願人の出願である特許文献１に開示されている。 The applicant mainly manufactures and sells wet gas meters and also performs gas meter adjustment work.
In the wet gas meter, a rotating drum is provided inside a casing filled with liquid. When gas is passed through the submerged portion in the center of the rotating drum, the gas flows into the partition chamber in the rotating drum and increases its volume. Then, the rotating drum rotates in response to the increase in the volume of gas filling the partition room. Thus, since the rotating drum rotates according to the gas flow rate, the gas flow rate can be accurately measured by measuring the rotational speed of the rotating drum. In addition, although water, oil, etc. are selected as a liquid according to the kind of gas, it cannot be overemphasized that the liquid which does not inhale the gas used as measurement object at least is selected.
About the structure of the above-mentioned wet gas meter, it is disclosed by patent document 1 which is an application of the present applicant, for example.

特開２００１−３１１６４０号公報JP 2001-31640 A

出願人は特に精度の高い湿式ガスメータを製造販売するため、製造工程の最終段階における調整や、製品を販売後、経年変化等で精度が低下した製品の再調整を高精度に実施することが重要な業務となっている。
湿式ガスメータはその構造上、調整工程の際には必ず湿式ガスメータの水平が保たれていなければならない。更に、調整工程の際には液体に対する気温の影響を排除するため、一定の温度（例えば２３℃）及び湿度に保たれた部屋の中で調整を行わなければならない。 Since the applicant manufactures and sells high-precision wet gas meters, it is important to carry out adjustments at the final stage of the manufacturing process and readjustment of products whose accuracy has deteriorated due to changes over time after the products are sold. Has become an important task.
Due to the structure of the wet gas meter, the wet gas meter must be kept horizontal during the adjustment process. Furthermore, in order to eliminate the influence of the air temperature on the liquid during the adjustment process, the adjustment must be performed in a room maintained at a constant temperature (for example, 23 ° C.) and humidity.

これまで、湿式ガスメータの調整工程の際には、湿式ガスメータの水平を実現するために、手作業で湿式ガスメータの水平調整を行っていた。しかしながら、手作業で調整を行う、ということは、調整を行う部屋に人が侵入することとなる。つまり、人の存在は部屋の温度及び湿度の変動要因となるので、一定の温度及び湿度を保つ必要がある部屋に人が入るのは、調整の精度面で好ましくない。   Until now, during the adjustment process of the wet gas meter, the wet gas meter has been manually adjusted in order to realize the horizontal level of the wet gas meter. However, manual adjustment means that a person enters the room for adjustment. In other words, since the presence of a person causes fluctuations in the temperature and humidity of the room, it is not preferable in terms of adjustment accuracy that the person enters a room that needs to maintain a certain temperature and humidity.

本発明はかかる課題を解決し、容易に据え置かれる物品を水平にする自動整準台を提供することを目的とする。   SUMMARY OF THE INVENTION An object of the present invention is to provide an automatic leveling table that solves such a problem and leveles an easily placed article.

上記課題を解決するために、本発明の自動整準台は、物品が据え置かれる天板と、天板に設置されて天板の面方向の傾斜状態を検出する水平センサと、天板に連動する底板と、底板を貫通して設けられ、球面の接地面を備える第一脚体と、第一脚体を上下方向に駆動する第一モータと、第一脚体の駆動範囲を規制する第一リミットスイッチと、底板を貫通して設けられ、球面の接地面を備える第二脚体と、第二脚体を上下方向に駆動する第二モータと、第二脚体の駆動範囲を規制する第二リミットスイッチと、底板を貫通して設けられ、球面の接地面を備える第三脚体と、第三脚体を上下方向に駆動する第三モータと、第三脚体の駆動範囲を規制する第三リミットスイッチと、水平センサ、第一リミットスイッチ、第二リミットスイッチ及び第三リミットスイッチに接続されて、第一モータ、第二モータ及び第三モータを制御することで第一脚体、第二脚体及び第三脚体を駆動して、天板を水平に調整する制御部とを有する。   In order to solve the above-mentioned problems, the automatic leveling table of the present invention includes a top plate on which an article is placed, a horizontal sensor that is installed on the top plate and detects a tilt state in the surface direction of the top plate, and is linked to the top plate. A first leg provided with a spherical grounding surface, a first motor for driving the first leg in the vertical direction, and a first leg for regulating a driving range of the first leg. One limit switch, a second leg provided through the bottom plate and having a spherical contact surface, a second motor for driving the second leg in the vertical direction, and a driving range of the second leg are regulated. The second limit switch, a third leg that is provided through the bottom plate and has a spherical grounding surface, a third motor that drives the third leg up and down, and a drive range of the third leg are restricted. Third limit switch, horizontal sensor, first limit switch, second limit switch and Connected to the three limit switch to control the first motor, second motor and third motor to drive the first leg, second leg and third leg and adjust the top plate horizontally And a control unit.

第一脚体、第二脚体及び第三脚体が半球状の接地面を有することで、据え置かれる箇所を傷つけ難く、且つ安定した姿勢を容易に保持できる。   Since the first leg, the second leg, and the third leg have the hemispherical contact surface, it is difficult to damage the place where the first leg is placed, and a stable posture can be easily maintained.

また、上記課題を解決するために、本発明の自動整準台の水平センサは、検出信号のＸ軸方向が第一脚体と第二脚体を結ぶ線と平行である。   Moreover, in order to solve the said subject, as for the horizontal sensor of the automatic leveling table | surface of this invention, the X-axis direction of a detection signal is parallel to the line which connects a 1st leg and a 2nd leg.

第一脚体、第二脚体及び第三脚体が水平センサのＸ軸方向と一致して配置されているので、比較的簡素なアルゴリズムで自動整準処理を遂行できる。   Since the first leg, the second leg, and the third leg are arranged so as to coincide with the X-axis direction of the horizontal sensor, the automatic leveling process can be performed with a relatively simple algorithm.

本発明によれば、据え置かれる物品を水平にする自動整準台を、極めて簡単な部材の組み合わせとその制御方法により提供することができる。   According to the present invention, it is possible to provide an automatic leveling table for leveling a stationary article by a very simple combination of members and its control method.

本発明の実施形態に係る自動整準台の、湿式ガスメータが据え置かれた状態における外観斜視図である。It is an external appearance perspective view in the state where the wet gas meter was deferred of the automatic leveling table concerning the embodiment of the present invention. 自動整準台と湿式ガスメータとの配置関係を示す外観斜視図である。It is an external appearance perspective view which shows the arrangement | positioning relationship between an automatic leveling stand and a wet gas meter. 自動整準台を上側から見下ろした状態の外観斜視図である。It is an external appearance perspective view of the state which looked down at the automatic leveling table from the upper side. 自動整準台を下側から見上げた状態の外観斜視図である。It is an external appearance perspective view of the state which looked up at the automatic leveling table from the lower side. 自動整準台から天板び筐体の側壁を取り外した状態で、底板を自動整準台の後ろ側の斜め上方から見下ろした状態の斜視図である。It is the perspective view of the state which looked down from the diagonally upper side of the back side of an automatic leveling stand in the state which removed the side wall of the top plate and the housing | casing from the automatic leveling stand. 第三脚部の断面図である。It is sectional drawing of a 3rd leg part. 本発明の実施形態例の制御部の構成を示すブロック図である。It is a block diagram which shows the structure of the control part of the embodiment of this invention. 本発明の実施形態例における水平制御部で実行される、第一の水平調整方法を示すフローチャートである。It is a flowchart which shows the 1st horizontal adjustment method performed with the horizontal control part in the embodiment of this invention. 図８で示した水平制御部で実行される、ステージ１処理のフローチャートである。It is a flowchart of the stage 1 process performed by the horizontal control part shown in FIG. 図８で示した水平制御部で実行される、ステージ２処理のフローチャートである。It is a flowchart of the stage 2 process performed by the horizontal control part shown in FIG. 本発明の実施形態例の水平制御部で実行される、第二の水平調整方法を示すフローチャートである。It is a flowchart which shows the 2nd horizontal adjustment method performed with the horizontal control part of the embodiment of this invention. 図１１で示した水平制御部で実行される、ステージ１処理のフローチャートである。It is a flowchart of the stage 1 process performed by the horizontal control part shown in FIG. 図１１で示した水平制御部で実行される、ステージ２処理のフローチャートである。It is a flowchart of the stage 2 process performed by the horizontal control part shown in FIG. 図１１で示したステージ２処理の仕組みを説明する模式図である。It is a schematic diagram explaining the mechanism of the stage 2 process shown in FIG.

図１は、本発明の実施形態に係る自動整準台の、湿式ガスメータが据え置かれた状態における外観斜視図である。
図２は、自動整準台と湿式ガスメータとの配置関係を示す外観斜視図である。
図３は、自動整準台を上側から見下ろした状態の外観斜視図である。
図４は、自動整準台を下側から見上げた状態の外観斜視図である。 FIG. 1 is an external perspective view of an automatic leveling table according to an embodiment of the present invention in a state where a wet gas meter is installed.
FIG. 2 is an external perspective view showing the positional relationship between the automatic leveling table and the wet gas meter.
FIG. 3 is an external perspective view of the automatic leveling table as viewed from above.
FIG. 4 is an external perspective view of the automatic leveling table as viewed from below.

自動整準台１０１は、湿式ガスメータ１０２が据え置かれる天板２０１を含む筐体１０３で構成される。
図２に示すように、アルミニウム合金で形成されている天板２０１は、湿式ガスメータ１０２の形状に合わせて、正方形になっている。勿論、天板２０１は必ずしも正方形でなければならない訳ではなく、湿式ガスメータ１０２の形状に合わせて最適な形状に変更することが望ましい。 The automatic leveling table 101 includes a casing 103 including a top plate 201 on which a wet gas meter 102 is installed.
As shown in FIG. 2, the top plate 201 formed of an aluminum alloy has a square shape according to the shape of the wet gas meter 102. Of course, the top plate 201 does not necessarily have to be a square, and it is desirable to change it to an optimum shape in accordance with the shape of the wet gas meter 102.

図１及び図２を見て解るように、天板２０１と湿式ガスメータ１０２との間には、湿式ガスメータ１０２の底板に設けられているキャスター１０２ａ、１０２ｂ及び１０２ｃに対応して、湿式ガスメータ１０２を天板２０１に対して水平に固定するための三つのスペーサ１０４ａ、１０４ｂ及び１０４ｃが挟み込まれている。スペーサ１０４ａ、１０４ｂ及び１０４ｃは例えばアルミニウム合金であり、それぞれの高さは完全に等しく形成されている。   As can be seen from FIGS. 1 and 2, a wet gas meter 102 is provided between the top plate 201 and the wet gas meter 102 in correspondence with casters 102a, 102b and 102c provided on the bottom plate of the wet gas meter 102. Three spacers 104a, 104b and 104c for fixing horizontally to the top plate 201 are sandwiched. The spacers 104a, 104b, and 104c are made of, for example, an aluminum alloy, and the heights thereof are completely equal.

自動整準台１０１の筐体１０３の前面には、自動整準動作中であることを示す「ＳＴＡＲＴ」ランプ１０５、自動整準動作の結果、水平が達成できたことを示す「ＯＫ」ランプ１０６、及び自動整準動作の結果、水平が達成できなかったことを示す「ＮＧ」ランプ１０７の、三つのランプが設けられている。
自動整準台１０１は、図示しないスイッチをオン操作することで、直ちに自動整準動作を開始する。 On the front surface of the housing 103 of the automatic leveling table 101, a “START” lamp 105 indicating that automatic leveling operation is being performed, and an “OK” lamp 106 indicating that leveling has been achieved as a result of the automatic leveling operation. And three lamps, “NG” lamp 107, indicating that the leveling could not be achieved as a result of the automatic leveling operation.
The automatic leveling table 101 immediately starts an automatic leveling operation by turning on a switch (not shown).

図３に示すように、天板２０１には天板２０１の傾斜状態を検出するための水平センサ３０１が埋め込まれている。水平センサ３０１は静電容量式であり、例えば株式会社リズムの「Ｚ−１８」（http://www.rhy.jp/sensor.html）である。
自動整準台１０１は、水平センサ３０１のＸ軸方向及びＹ軸方向の静電容量を検出して、自動整準台１０１の底板に設けられている三つのモータを駆動して、三つの脚体を上下動させ、天板２０１の水平を達成する。 As shown in FIG. 3, a horizontal sensor 301 for detecting the inclination state of the top plate 201 is embedded in the top plate 201. The horizontal sensor 301 is a capacitance type, for example, “Z-18” (http://www.rhy.jp/sensor.html) of Rhythm Corporation.
The automatic leveling table 101 detects the electrostatic capacity of the horizontal sensor 301 in the X-axis direction and the Y-axis direction, drives three motors provided on the bottom plate of the automatic leveling table 101, and has three legs. Move the body up and down to achieve leveling of the top board 201.

また、図４から解るように、底板４０１には第一脚体４０２、第二脚体４０３及び第三脚体４０４の、三つの脚体が設けられている。第一脚体４０２、第二脚体４０３及び第三脚体４０４は真鍮等の金属製であり、半球状の接地面を有する。接地面が半球状であることで、自動整準台１０１が据え置かれる箇所を傷めることがなく、また半球状の接地面のどの箇所でも接地できるので、安定した整準動作を実現する。更に、第一脚体４０２、第二脚体４０３及び第三脚体４０４の半球状の接地面は、自動整準台１０１が据え置かれる平面上に多少の凹凸があっても、安定した姿勢保持を実現する。   As can be seen from FIG. 4, the bottom plate 401 is provided with three legs, a first leg 402, a second leg 403, and a third leg 404. The first leg 402, the second leg 403, and the third leg 404 are made of metal such as brass, and have a hemispherical contact surface. Since the ground surface is hemispherical, the place where the automatic leveling table 101 is placed is not damaged, and any part of the hemispherical ground surface can be grounded, thereby realizing a stable leveling operation. Furthermore, the hemispherical contact surfaces of the first leg 402, the second leg 403, and the third leg 404 maintain a stable posture even if there is some unevenness on the plane on which the automatic leveling table 101 is placed. Is realized.

図５は、自動整準台１０１から天板２０１及び筐体１０３の側壁を取り外した状態で、底板４０１を自動整準台１０１の後ろ側の斜め上方から見下ろした状態の斜視図である。なお、底板４０１には後述する駆動制御部や電源部等の電子回路が設けられているが、説明の都合上省略している。
図６は、第三脚部の断面図である。 FIG. 5 is a perspective view of a state in which the bottom plate 401 is looked down obliquely from the upper rear side of the automatic leveling table 101 with the top plate 201 and the side walls of the housing 103 removed from the automatic leveling table 101. The bottom plate 401 is provided with electronic circuits such as a drive control unit and a power supply unit, which will be described later, but is omitted for convenience of description.
FIG. 6 is a cross-sectional view of the third leg.

底板４０１には、脚体が貫通する穴が三つ設けられており、脚体を上下動させる駆動機構と、脚体が最も短くなった状態を検出するためのリミットスイッチが設けられている。これ以降、脚体と、駆動機構と、リミットスイッチとこれに連動する機械部品を併せて脚部と呼ぶ。   The bottom plate 401 is provided with three holes through which the leg passes, and is provided with a drive mechanism for moving the leg up and down and a limit switch for detecting the shortest leg. Hereinafter, the leg, the drive mechanism, the limit switch, and the mechanical parts interlocked with the leg are collectively referred to as a leg.

図５に示すように、底板４０１には第一脚体４０２が存在する箇所に第一脚部５０１が設けられている。同様に、底板４０１の第二脚体４０３が存在する箇所に第二脚部５０２が設けられている。同様に、底板４０１の第三脚体４０４が存在する箇所に第三脚部５０３が設けられている。第一脚部５０１、第二脚部５０２及び第三脚部５０３は全て同じ構成である。図６は第三脚部の断面図を示すが、第一脚部５０１及び第二脚部５０２も全く同じ構成である。   As shown in FIG. 5, a first leg 501 is provided on the bottom plate 401 where the first leg 402 exists. Similarly, a second leg portion 502 is provided at a location where the second leg body 403 of the bottom plate 401 exists. Similarly, a third leg portion 503 is provided at a location where the third leg 404 of the bottom plate 401 exists. The first leg portion 501, the second leg portion 502, and the third leg portion 503 all have the same configuration. FIG. 6 shows a cross-sectional view of the third leg portion, and the first leg portion 501 and the second leg portion 502 have exactly the same configuration.

第三脚体４０４の内側は中空状であり、その側壁には螺旋状の溝が形成されている。第三脚体４０４の内側には、側壁の螺旋状の溝に嵌合する駆動軸６０１がねじ込まれている。なお、第三脚体４０４の外側には溝が形成され、底板４０１に設けられた回り止め６０２に嵌合する。   The inside of the third leg 404 is hollow, and a spiral groove is formed on the side wall thereof. A drive shaft 601 that fits into a spiral groove on the side wall is screwed inside the third leg 404. In addition, a groove is formed on the outer side of the third leg 404 and is fitted to a rotation stopper 602 provided on the bottom plate 401.

駆動軸６０１は歯車６０３で回転駆動される。歯車６０３は第三モータＪ３によって回転駆動される。つまり、第三モータＪ３を回転駆動すると、それに連れて歯車６０３が回転駆動され、駆動軸６０１が回転駆動される。駆動軸６０１が回転駆動されると、第三脚体４０４の内側の側壁の螺旋状の溝を通じて、第三脚体４０４を上下方向に駆動する。その際、第三脚体４０４と嵌合する回り止め６０２によって、第三脚体４０４自体が回転駆動されることが防止される。   The drive shaft 601 is rotationally driven by a gear 603. The gear 603 is rotationally driven by the third motor J3. That is, when the third motor J3 is rotationally driven, the gear 603 is rotationally driven accordingly, and the drive shaft 601 is rotationally driven. When the drive shaft 601 is rotationally driven, the third leg 404 is driven in the vertical direction through a spiral groove on the inner side wall of the third leg 404. At this time, the third leg 404 itself is prevented from being rotated by the rotation stopper 602 fitted to the third leg 404.

第三脚体４０４の、回り止め６０２が嵌合する溝と相対する側面には、Ｌ字金具６１３の一方の辺部が固着されている。このＬ字金具６１３の他方の辺部は、ピン６０４が上下動可能に取り付けられており、このピン６０４によって、底板４０１の貫通穴を通じて、スイッチ固定金具６０６に固定されているマイクロスイッチよりなるリミットスイッチ６０７が押し上げられるようになっている。そして、リミットスイッチ６０７がピン６０４によって押し上げられると、リミットスイッチ６０７はオン状態になり、後述する制御部にその状態が伝達される。   One side portion of the L-shaped metal fitting 613 is fixed to the side surface of the third leg 404 facing the groove into which the rotation stopper 602 is fitted. A pin 604 is attached to the other side of the L-shaped metal fitting 613 so that the pin 604 can move up and down, and a limit composed of a micro switch fixed to the switch fixing metal fitting 606 through the through hole of the bottom plate 401 by the pin 604. The switch 607 is pushed up. When the limit switch 607 is pushed up by the pin 604, the limit switch 607 is turned on, and the state is transmitted to the control unit described later.

図５において、自動整準台１０１の前面側に位置する左右の二つの脚部は、第一脚部５０１と第二脚部５０２である。第一脚部５０１には第一モータＪ１が設けられており、第二脚部５０２には第二モータＪ２が設けられている。第一モータＪ１と第二モータＪ２を結ぶ方向がＸ軸方向である。   In FIG. 5, the left and right two leg portions located on the front side of the automatic leveling table 101 are a first leg portion 501 and a second leg portion 502. The first leg 501 is provided with a first motor J1, and the second leg 502 is provided with a second motor J2. The direction connecting the first motor J1 and the second motor J2 is the X-axis direction.

Ｘ軸方向の角度を調整するには、第一モータＪ１を上昇させる際には第二モータＪ２を下降させるか停止させる。逆に、第一モータＪ１を下降させる際には第二モータＪ２を上昇させるか停止させる。   To adjust the angle in the X-axis direction, the second motor J2 is lowered or stopped when the first motor J1 is raised. Conversely, when lowering the first motor J1, the second motor J2 is raised or stopped.

自動整準台１０１の後面側に位置する一つの脚部は、第三脚部５０３である。第三脚部５０３には第三モータＪ３が設けられている。Ｘ軸方向と直交する方向がＹ軸方向である。Ｙ軸方向の角度を調整するには、第三モータＪ３を上昇または下降させる必要があるが、第三モータＪ３を上昇させる際には、第一モータＪ１及び第二モータＪ２を下降させるか停止させる。逆に、第三モータＪ３を下降させる際には、第一モータＪ１及び第二モータＪ２を上昇させるか停止させる。   One leg located on the rear surface side of the automatic leveling table 101 is a third leg 503. The third leg 503 is provided with a third motor J3. The direction orthogonal to the X-axis direction is the Y-axis direction. To adjust the angle in the Y-axis direction, it is necessary to raise or lower the third motor J3. When raising the third motor J3, the first motor J1 and the second motor J2 are lowered or stopped. Let Conversely, when lowering the third motor J3, the first motor J1 and the second motor J2 are raised or stopped.

前述の処理を実現するために、天板２０１に固定される水平センサ３０１は、水平センサ３０１自体のＸ軸方向及びＹ軸方向の座標軸が、第一脚部５０１、第二脚部５０２及び第三脚部５０３の配置関係と一致するように、天板２０１に取り付けられる。   In order to realize the above-described processing, the horizontal sensor 301 fixed to the top plate 201 has the coordinate axes in the X-axis direction and the Y-axis direction of the horizontal sensor 301 itself so that the first leg 501, the second leg 502, and the second It is attached to the top plate 201 so as to coincide with the arrangement relationship of the tripod 503.

図７は、制御部のブロック図である。
水平センサ３０１は、Ｘ軸方向とＹ軸方向にそれぞれプラス方向及びマイナス方向に変化する四つの可変容量コンデンサよりなる。この四つの可変容量コンデンサの静電容量を計測するため、交流電圧源７０２と抵抗Ｒ７０３を、アナログスイッチ７０４を通じて四つの可変容量コンデンサに順番に接続し、コンデンサの端子間電圧を検出することで、静電容量の変化を検出する。 FIG. 7 is a block diagram of the control unit.
The horizontal sensor 301 includes four variable capacitors that change in the positive and negative directions in the X-axis direction and the Y-axis direction, respectively. In order to measure the capacitance of these four variable capacitors, an AC voltage source 702 and a resistor R703 are connected in sequence to the four variable capacitors through the analog switch 704, and the voltage between the terminals of the capacitor is detected. Detects changes in capacitance.

可変容量コンデンサの両端から得られる電圧は、交流である。そこで、乗算器７０５でコンデンサの端子間電圧と交流電圧源７０２とをアナログ乗算して、直流（脈流）の信号に変換する。こうして得られた可変容量コンデンサの両端電圧信号を、Ａ／Ｄ変換器７０６でデジタルデータに変換する。Ａ／Ｄ変換器７０６を通じて得られる四つの可変容量コンデンサの両端電圧データは、傾き算出部７０７によって座標データに変換される。   The voltage obtained from both ends of the variable capacitor is alternating current. Therefore, the multiplier 705 analog-multiplies the voltage between the terminals of the capacitor and the AC voltage source 702 to convert it into a DC (pulsating) signal. The voltage signal across the variable capacitor thus obtained is converted into digital data by the A / D converter 706. The voltage data across the four variable capacitors obtained through the A / D converter 706 is converted into coordinate data by the slope calculation unit 707.

座標データは水平制御部７０８に供給される。水平制御部７０８は、第一脚部５０１、第二脚部５０２及び第三脚部５０３の三つの脚部に設けられている三つのリミットスイッチ６０７、６０８及び６０９の論理値信号も得て、第一脚部５０１、第二脚部５０２及び第三脚部５０３の三つの脚部を駆動する第一モータＪ１、第二モータＪ２及び第三モータＪ３の三つのモータを駆動制御して、天板２０１の自動整準動作を実現する。
上述の傾き算出部７０７と水平制御部７０８は、マイコンのプログラム或はＰＬＣで実現される。 The coordinate data is supplied to the horizontal control unit 708. The horizontal control unit 708 also obtains logical value signals of three limit switches 607, 608, and 609 provided on the three legs of the first leg 501, the second leg 502, and the third leg 503, The three motors of the first motor J1, the second motor J2, and the third motor J3 that drive the three legs of the first leg 501, the second leg 502, and the third leg 503 are driven and controlled, and An automatic leveling operation of the plate 201 is realized.
The inclination calculation unit 707 and the horizontal control unit 708 described above are realized by a microcomputer program or PLC.

なお、静電容量の検出方法は上述の方法に留まらない。例えば、コンデンサの過渡応答特性を利用して、極短い一定時間だけ定電流源にコンデンサを接続し、可変容量コンデンサの静電容量の違いに伴う端子間電圧の違いを、サンプルホールド回路を用いて検出してもよい。   Note that the capacitance detection method is not limited to the above-described method. For example, using a capacitor's transient response characteristics, connect a capacitor to a constant current source for a very short period of time, and use a sample-and-hold circuit to determine the voltage difference between terminals due to the difference in capacitance of a variable capacitor. It may be detected.

図８〜図１０は、本発明の実施形態例における水平制御部で実行される、第一の水平調整方法を示すフローチャートである。
図８に示すように、水平制御部７０８は、図示しないスイッチ等で自動整準処理を指示されると（Ｓ８０１）、「ＳＴＡＲＴ」ランプ１０５を点灯させた（Ｓ８０２）後、先ず傾き算出部７０７を通じて、水平センサ３０１の検出値を確認し、水平センサ３０１のＸ軸方向及びＹ軸方向の値の絶対値が、予め定められた所定値を超えているか判定する（Ｓ８０３）。検出値の絶対値が所定値を超えていれば（Ｓ８０３のＹＥＳ）、水平制御部７０８は、現在の天板２０１の傾き具合が微調整可能な範囲から外れていると判断し、一旦初期化動作ともいえるステージ１処理を実行する（Ｓ８０４）。
ステージ１処理は、一旦三つの脚部全てを下げ切った後、三つの脚部全てを均等な時間だけ駆動して、各々の脚部の駆動中間点に移動する処理である。 8 to 10 are flowcharts showing a first horizontal adjustment method executed by the horizontal control unit in the embodiment of the present invention.
As shown in FIG. 8, when the level control unit 708 is instructed to perform an automatic leveling process with a switch or the like (not shown) (S801), after the “START” lamp 105 is turned on (S802), first, the inclination calculation unit 707 is turned on. Then, the detection value of the horizontal sensor 301 is confirmed, and it is determined whether the absolute value of the value of the horizontal sensor 301 in the X-axis direction and the Y-axis direction exceeds a predetermined value (S803). If the absolute value of the detected value exceeds the predetermined value (YES in S803), the horizontal control unit 708 determines that the current inclination of the top plate 201 is out of the finely adjustable range, and once initializes it. Stage 1 processing, which can be called operation, is executed (S804).
The stage 1 process is a process in which all the three leg portions are once lowered and then all the three leg portions are driven for an equal time to move to the driving intermediate point of each leg portion.

ステップＳ８０４でステージ１処理を実行した後、或はステップＳ８０３で微調整可能な範囲であると判断した場合（Ｓ８０３のＮＯ）、水平制御部７０８は、次に自動整準処理の主たる処理であるステージ２処理を実行する（Ｓ８０５）。
ステージ２処理は、水平センサ３０１の検出値を参照して、Ｘ軸方向の水平を調整した後、Ｙ軸方向の水平を調整する処理である。 After the stage 1 process is executed in step S804, or when it is determined in step S803 that the range is fine adjustable (NO in S803), the horizontal control unit 708 is the main process of the automatic leveling process next. Stage 2 processing is executed (S805).
Stage 2 processing refers to processing for adjusting the horizontal in the Y-axis direction after adjusting the horizontal in the X-axis direction with reference to the detection value of the horizontal sensor 301.

ステージ２処理を実行した後、水平制御部７０８は改めて水平センサ３０１の検出値を確認して、Ｘ軸方向及びＹ軸方向の両方共、水平状態と判断出来る所定値の範囲内に収まっているか否かを確認する（Ｓ８０６）。もし、水平が達成されていれば（Ｓ８０６のＹＥＳ）、「ＯＫ」ランプ１０６を点灯させて（Ｓ８０７）、一連の処理を終了する（Ｓ８０８）。   After executing the stage 2 process, the horizontal control unit 708 confirms the detection value of the horizontal sensor 301 again, and whether both the X-axis direction and the Y-axis direction are within a predetermined value range that can be determined as the horizontal state. It is confirmed whether or not (S806). If the level is achieved (YES in S806), the “OK” lamp 106 is turned on (S807), and the series of processing ends (S808).

ステップＳ８０６において、もし、水平が達成されていなければ（Ｓ８０６のＮＯ）、水平制御部７０８は内部のカウンタを１増加させる（Ｓ８０９）。次に、水平制御部７０８はカウンタの計数値Ｎが予め定められた制限値である「５」を超えていないかどうか確認する（Ｓ８１０）。
カウンタの計数値Ｎが制限値「５」を越えていなければ（Ｓ８１０のＮＯ）、再びステージ２処理を繰り返す（Ｓ８０５）。
カウンタの計数値Ｎが制限値「５」を越えていれば（Ｓ８１０のＹＥＳ）、もはや自動整準処理は叶わないと判断し、「ＮＧ」ランプ１０７を点灯させて（Ｓ８１１）、一連の処理を終了する（Ｓ８０８）。 In step S806, if the level is not achieved (NO in S806), the horizontal control unit 708 increments the internal counter by 1 (S809). Next, the horizontal control unit 708 checks whether or not the count value N of the counter exceeds “5” which is a predetermined limit value (S810).
If the count value N of the counter does not exceed the limit value “5” (NO in S810), the stage 2 process is repeated again (S805).
If the count value N of the counter exceeds the limit value “5” (YES in S810), it is determined that the automatic leveling process is no longer achieved, the “NG” lamp 107 is turned on (S811), and a series of processes Is finished (S808).

図９は、水平制御部７０８で実行される、ステージ１処理のフローチャートである。図８のステップＳ８０４の処理の詳細である。
処理を開始すると（Ｓ９０１）、水平制御部７０８は最初に第一モータＪ１、第二モータＪ２及び第三モータＪ３を全て下降させる（Ｓ９０２）。 FIG. 9 is a flowchart of the stage 1 process executed by the horizontal control unit 708. It is a detail of the process of step S804 of FIG.
When the process is started (S901), the horizontal control unit 708 first lowers all of the first motor J1, the second motor J2, and the third motor J3 (S902).

次に、水平制御部７０８は第一のリミットスイッチ６０７を監視して、第一モータＪ１が最下端に至ったか否かを確認する（Ｓ９０３）。最下端に至ったなら（Ｓ９０３のＹＥＳ）、水平制御部７０８は第一モータＪ１を停止させる（Ｓ９０４）。   Next, the horizontal control unit 708 monitors the first limit switch 607 to check whether or not the first motor J1 has reached the lowest end (S903). If the lowest end is reached (YES in S903), the horizontal control unit 708 stops the first motor J1 (S904).

次に、水平制御部７０８はステップＳ９０３で第一モータＪ１が最下端に至ったか否かに関わらず、第二のリミットスイッチ６０７を監視して、第二モータＪ２が最下端に至ったか否かを確認する（Ｓ９０５）。最下端に至ったなら（Ｓ９０５のＹＥＳ）、水平制御部７０８は第二モータＪ２を停止させる（Ｓ９０６）。   Next, the horizontal control unit 708 monitors the second limit switch 607 regardless of whether or not the first motor J1 has reached the lowest end in step S903, and whether or not the second motor J2 has reached the lowest end. Is confirmed (S905). If the lowest end is reached (YES in S905), the horizontal control unit 708 stops the second motor J2 (S906).

次に、水平制御部７０８はステップＳ９０５で第二モータＪ２が最下端に至ったか否かに関わらず、第三のリミットスイッチ６０７を監視して、第三モータＪ３が最下端に至ったか否かを確認する（Ｓ９０７）。最下端に至ったなら（Ｓ９０７のＹＥＳ）、水平制御部７０８は第三モータＪ３を停止させる（Ｓ９０８）。   Next, the horizontal control unit 708 monitors the third limit switch 607 regardless of whether or not the second motor J2 has reached the lowest end in step S905, and whether or not the third motor J3 has reached the lowest end. Is confirmed (S907). If the lowest end is reached (YES in S907), the horizontal control unit 708 stops the third motor J3 (S908).

次に、水平制御部７０８はステップＳ９０７で第三モータＪ３が最下端に至ったか否かに関わらず、第一のリミットスイッチ６０７、第二のリミットスイッチ６０７及び第三のリミットスイッチ６０７を監視して、第一モータＪ１、第二モータＪ２及び第三モータＪ３の全てが最下端に至ったか否かを確認する（Ｓ９０９）。いずれか一つ以上のモータが未だに最下端に至っていないなら（Ｓ９０９のＮＯ）、再度ステップＳ９０３から処理を繰り返す。   Next, the horizontal control unit 708 monitors the first limit switch 607, the second limit switch 607, and the third limit switch 607 regardless of whether or not the third motor J3 has reached the lowest end in step S907. Then, it is confirmed whether or not all of the first motor J1, the second motor J2, and the third motor J3 have reached the lowest end (S909). If any one or more motors have not yet reached the lowest end (NO in S909), the process is repeated from step S903 again.

ステップＳ９０９で全てのモータが最下端に至ったなら（Ｓ９０９のＹＥＳ）、水平制御部７０８は内部のタイマをオン操作して（Ｓ９１０）、第一モータＪ１、第二モータＪ２及び第三モータＪ３の全てを上昇させる（Ｓ９１１）。そして、タイマが所定時間を計数するまで待ち（Ｓ９１２のＮＯ）、タイマが所定時間に至ったなら（Ｓ９１２のＹＥＳ）、第一モータＪ１、第二モータＪ２及び第三モータＪ３の全てを停止させて（Ｓ９１３）、一連の処理を終了する（Ｓ９１４）。   If all the motors reach the lowest end in step S909 (YES in S909), the horizontal control unit 708 turns on the internal timer (S910), and the first motor J1, the second motor J2, and the third motor J3. Are all raised (S911). Then, it waits until the timer counts the predetermined time (NO in S912). If the timer reaches the predetermined time (YES in S912), all of the first motor J1, the second motor J2, and the third motor J3 are stopped. (S913), and the series of processing ends (S914).

図１０は、水平制御部７０８で実行される、ステージ２処理のフローチャートである。図８のステップＳ８０５の処理の詳細である。
処理を開始すると（Ｓ１００１）、水平制御部７０８は最初に水平センサ３０１のＸ軸方向の値が正の値であるか否か確認する（Ｓ１００２）。正の値であれば（Ｓ１００２のＹＥＳ）、第一モータＪ１を上昇させると共に、第二モータＪ２を下降させる（Ｓ１００３）。 FIG. 10 is a flowchart of the stage 2 process executed by the horizontal control unit 708. It is a detail of the process of step S805 of FIG.
When the process is started (S1001), the horizontal control unit 708 first checks whether or not the value of the horizontal sensor 301 in the X-axis direction is a positive value (S1002). If it is a positive value (YES in S1002), the first motor J1 is raised and the second motor J2 is lowered (S1003).

次に、水平制御部７０８はステップＳ１００２で水平センサ３０１のＸ軸方向の値が正の値であるか否かに関わらず、水平センサ３０１のＸ軸方向の値が負の値であるか否か確認する（Ｓ１００４）。負の値であれば（Ｓ１００４のＹＥＳ）、第一モータＪ１を下降させると共に、第二モータＪ２を上昇させる（Ｓ１００５）。   Next, the horizontal control unit 708 determines whether or not the value of the horizontal sensor 301 in the X-axis direction is a negative value regardless of whether or not the value of the horizontal sensor 301 in the X-axis direction is a positive value in step S1002. (S1004). If it is a negative value (YES in S1004), the first motor J1 is lowered and the second motor J2 is raised (S1005).

次に、水平制御部７０８はステップＳ１００４で水平センサ３０１のＸ軸方向の値が負の値であるか否かに関わらず、水平センサ３０１のＸ軸方向の値が水平の範囲内の値であるか否か確認する（Ｓ１００６）。水平範囲内の値でなければ（Ｓ１００６のＮＯ）、再びステップＳ１００２から繰り返す。水平範囲内の値であれば（Ｓ１００６のＹＥＳ）、第一モータＪ１及び第二モータＪ２を停止させる（Ｓ１００７）。
ステップＳ１００７の時点で、自動整準台１０１のＸ軸方向の水平が達成されたこととなる。 Next, in step S1004, the horizontal control unit 708 determines that the value of the horizontal sensor 301 in the X-axis direction is a value within the horizontal range regardless of whether or not the value of the horizontal sensor 301 in the X-axis direction is a negative value. It is confirmed whether or not there is (S1006). If the value is not within the horizontal range (NO in S1006), the process is repeated from step S1002. If the value is within the horizontal range (YES in S1006), the first motor J1 and the second motor J2 are stopped (S1007).
At the time of step S1007, the leveling in the X-axis direction of the automatic leveling table 101 is achieved.

次に、水平制御部７０８は水平センサ３０１のＹ軸方向の値が正の値であるか否か確認する（Ｓ１００８）。正の値であれば（Ｓ１００８のＹＥＳ）、第一モータＪ１及び第二モータＪ２を上昇させると共に、第三モータＪ３を下降させる（Ｓ１００９）。   Next, the horizontal control unit 708 checks whether or not the value of the horizontal sensor 301 in the Y-axis direction is a positive value (S1008). If it is a positive value (YES in S1008), the first motor J1 and the second motor J2 are raised and the third motor J3 is lowered (S1009).

次に、水平制御部７０８はステップＳ１００８で水平センサ３０１のＹ軸方向の値が正の値であるか否かに関わらず、水平センサ３０１のＹ軸方向の値が負の値であるか否か確認する（Ｓ１０１０）。負の値であれば（Ｓ１０１０のＹＥＳ）、第一モータＪ１及び第二モータＪ２を下降させると共に、第三モータＪ３を上昇させる（Ｓ１０１１）。   Next, in step S1008, the horizontal control unit 708 determines whether the value of the horizontal sensor 301 in the Y-axis direction is a negative value regardless of whether the value of the horizontal sensor 301 in the Y-axis direction is a positive value. (S1010). If it is a negative value (YES in S1010), the first motor J1 and the second motor J2 are lowered and the third motor J3 is raised (S1011).

次に、水平制御部７０８はステップＳ１０１０で水平センサ３０１のＹ軸方向の値が負の値であるか否かに関わらず、水平センサ３０１のＹ軸方向の値が水平の範囲内の値であるか否か確認する（Ｓ１０１２）。水平範囲内の値でなければ（Ｓ１０１２のＮＯ）、再びステップＳ１００８から繰り返す。水平範囲内の値であれば（Ｓ１０１２のＹＥＳ）、第一モータＪ１及び第二モータＪ２を停止させて（Ｓ１０１３）、一連の処理を終了する（Ｓ１０１４）。   Next, in step S1010, the horizontal control unit 708 determines that the value in the Y-axis direction of the horizontal sensor 301 is a value within the horizontal range regardless of whether the value in the Y-axis direction of the horizontal sensor 301 is a negative value. It is confirmed whether or not there is (S1012). If the value is not within the horizontal range (NO in S1012), the process is repeated from step S1008. If the value is within the horizontal range (YES in S1012), the first motor J1 and the second motor J2 are stopped (S1013), and the series of processes is terminated (S1014).

ステップＳ１０１３の時点で、自動整準台１０１のＹ軸方向の水平が達成されたこととなる。しかし、ステップＳ１０１３の時点で、Ｘ軸方向の水平が維持されているとは限らない。Ｙ軸方向の移動量が大きいと、一旦水平になっていたＸ軸方向に傾きが生じてしまう虞がある。
そこで、水平制御部７０８は図８の水平調整プログラムで示すように、ステップＳ８０５でステージ２処理を実施した後、ステップＳ８０６で改めて水平センサ３０１を確認する。この時点でＸ軸方向の水平が維持されていなければ、再びステージ２処理を繰り返す。但し、ステージ２処理を何度も繰り返しても傾きが大き過ぎて自動整準処理が完遂できない場合もある。そこで、ステップＳ８０９及びステップＳ８１０にて、カウンタでステージ２処理の繰り返し回数を制限している。 At the time of step S1013, the leveling in the Y-axis direction of the automatic leveling table 101 is achieved. However, the horizontal direction in the X-axis direction is not always maintained at the time of step S1013. If the amount of movement in the Y-axis direction is large, there is a risk that an inclination will occur in the X-axis direction once horizontal.
Therefore, as shown in the horizontal adjustment program of FIG. 8, the horizontal control unit 708 performs stage 2 processing in step S805, and then checks the horizontal sensor 301 again in step S806. If the horizontal direction in the X-axis direction is not maintained at this time, the stage 2 process is repeated again. However, even if the stage 2 process is repeated many times, the tilt may be too large to complete the automatic leveling process. Therefore, in step S809 and step S810, the number of repetitions of stage 2 processing is limited by a counter.

次に、図１１〜図１４に基づいて、本発明の実施形態例における水平制御部で実行される、第二の水平調整方法について説明する。この方法は、図８〜図１０で説明した方法の一変形例ということができる、
図８〜図１０に示した方法と異なる点は、三つの脚部を全て下げ切った後、傾きに応じて最も高い位置にある脚部を除く残り二つの脚部のみを上昇させるようにした点である。以下、図１１〜図１３に示すフローチャートに基づいて、本発明の実施形態の変形例について説明する。
図１１において、図８の処理との異なる点は、図８のステップＳ８０３における、水平センサ３０１のＸ軸方向及びＹ軸方向の値の絶対値が、予め定められた所定値を超えているか判定する処理が存在しない点である。また、ステージ１処理は三つの脚部を全て下げ切る処理のみを行う。更に、ステージ２処理は三つの脚部のうち、傾きに応じて最も高い位置にある脚部を除く残り二つの脚部のみを上昇させる。 Next, based on FIGS. 11-14, the 2nd horizontal adjustment method performed in the horizontal control part in the embodiment of this invention is demonstrated. This method can be referred to as a modification of the method described in FIGS.
The difference from the method shown in FIGS. 8 to 10 is that after all the three legs are lowered, only the remaining two legs except the leg at the highest position are raised according to the inclination. Is a point. Hereinafter, a modification of the embodiment of the present invention will be described based on the flowcharts shown in FIGS.
11 is different from the process of FIG. 8 in that whether or not the absolute values of the values in the X-axis direction and the Y-axis direction of the horizontal sensor 301 exceed a predetermined value in step S803 of FIG. There is no processing to do. In the stage 1 process, only the process of lowering all three legs is performed. Further, the stage 2 process raises only the remaining two legs excluding the leg located at the highest position according to the inclination among the three legs.

図１２は、水平制御部７０８で実行される、ステージ１処理のフローチャートである。図１１のステップＳ１１０３の処理の詳細である。
図１２の、図９の処理との相違点は、図９のステップＳ９１０以降の、三つの脚部をタイマで規定した時間だけ上昇させる処理が省略されている点である。 FIG. 12 is a flowchart of the stage 1 process executed by the horizontal control unit 708. It is a detail of the process of step S1103 of FIG.
The difference between FIG. 12 and the process of FIG. 9 is that the process of raising the three legs by the time specified by the timer after step S910 of FIG. 9 is omitted.

図１３は、水平制御部７０８で実行される、ステージ２処理のフローチャートである。図１１のステップＳ１１０４の処理の詳細である。
処理を開始すると（Ｓ１３０１）、水平制御部７０８は最初に水平センサ３０１のＸ軸方向の値が正の値であるか否か確認する（Ｓ１３０２）。正の値であれば（Ｓ１３０２のＹＥＳ）、第二モータＪ２は停止させたまま、第一モータＪ１を上昇させる（Ｓ１３０３）。
そして、この時点で第二モータＪ２を停止させたことを、図示しないメモリに記憶する（Ｓ１３０４）。 FIG. 13 is a flowchart of the stage 2 process executed by the horizontal control unit 708. It is a detail of the process of step S1104 of FIG.
When the process is started (S1301), the horizontal control unit 708 first checks whether or not the value of the horizontal sensor 301 in the X-axis direction is a positive value (S1302). If it is a positive value (YES in S1302), the first motor J1 is raised while the second motor J2 is stopped (S1303).
Then, the fact that the second motor J2 is stopped at this time is stored in a memory (not shown) (S1304).

次に、水平制御部７０８はステップＳ１３０２で水平センサ３０１のＸ軸方向の値が正の値であるか否かに関わらず、水平センサ３０１のＸ軸方向の値が負の値であるか否か確認する（Ｓ１３０５）。負の値であれば（Ｓ１３０５のＹＥＳ）、第一モータＪ１は停止させたまま、第二モータＪ２を上昇させる（Ｓ１３０６）。
そして、この時点で第一モータＪ１を停止させたことを、図示しないメモリに記憶する（Ｓ１３０７）。 Next, in step S1302, the horizontal control unit 708 determines whether or not the value of the horizontal sensor 301 in the X-axis direction is a negative value regardless of whether or not the value of the horizontal sensor 301 in the X-axis direction is a positive value. (S1305). If it is a negative value (YES in S1305), the second motor J2 is raised while the first motor J1 is stopped (S1306).
Then, the fact that the first motor J1 is stopped at this time is stored in a memory (not shown) (S1307).

次に、水平制御部７０８はステップＳ１３０５で水平センサ３０１のＸ軸方向の値が負の値であるか否かに関わらず、水平センサ３０１のＸ軸方向の値が水平の範囲内の値であるか否か確認する（Ｓ１３０８）。水平範囲内の値でなければ（Ｓ１３０８のＮＯ）、再びステップＳ１３０２から繰り返す。水平範囲内の値であれば（Ｓ１３０８のＹＥＳ）、第一モータＪ１又は第二モータＪ２を停止させる（Ｓ１３０９）。
ステップＳ１３０９の時点で、自動整準台１０１のＸ軸方向の水平が達成されたこととなる。 Next, in step S1305, the horizontal control unit 708 determines that the value of the horizontal sensor 301 in the X axis direction is a value within the horizontal range regardless of whether the value of the horizontal sensor 301 in the X axis direction is a negative value. It is confirmed whether or not there is (S1308). If the value is not within the horizontal range (NO in S1308), the process is repeated from step S1302. If the value is within the horizontal range (YES in S1308), the first motor J1 or the second motor J2 is stopped (S1309).
At the time of step S1309, the horizontal alignment in the X-axis direction of the automatic leveling table 101 is achieved.

次に、水平制御部７０８は水平センサ３０１のＹ軸方向の値が正の値であるか否か確認する（Ｓ１３１０）。正の値であれば（Ｓ１３１０のＹＥＳ）、この時点で第三脚部５０３が一番高い位置にあることと判断できる。つまり、上昇駆動すべきは第一脚部５０１と第二脚部５０２である。そこで、図示しないメモリにはステップＳ１３０４で第二モータＪ２を停止させたことを記憶しているのか、それともステップＳ１３０７で第一モータＪ１を停止させたことを記憶しているのかを確認する（Ｓ１３１１）。
メモリにはステップＳ１３０４で第二モータＪ２を停止させたことが記憶されているのであれば（Ｓ１３１１のＹＥＳ）、ステップＳ１３０３で第一モータＪ１を駆動したので、次に第二モータＪ２を上昇させる（Ｓ１３１２）。 Next, the horizontal control unit 708 checks whether or not the value of the horizontal sensor 301 in the Y-axis direction is a positive value (S1310). If it is a positive value (YES in S1310), it can be determined that the third leg 503 is at the highest position at this point. In other words, the first leg 501 and the second leg 502 should be driven up. Therefore, it is confirmed whether the memory (not shown) stores that the second motor J2 is stopped in step S1304 or whether the first motor J1 is stopped in step S1307 (S1311). ).
If it is stored in the memory that the second motor J2 was stopped in step S1304 (YES in S1311), the first motor J1 was driven in step S1303, and then the second motor J2 is raised. (S1312).

ステップＳ１３１１の時点で、メモリにはステップＳ１３０７で第一モータＪ１を停止させたことが記憶されているのであれば（Ｓ１３１１のＮＯ）、ステップＳ１３０６で第二モータＪ２を駆動したので、第一モータＪ１を上昇させる（Ｓ１３１３）。   If it is stored in step S1311 that the first motor J1 is stopped in step S1307 (NO in S1311), the second motor J2 is driven in step S1306. J1 is raised (S1313).

ステップＳ１３１０において、水平センサ３０１のＹ軸方向の値が負の値であれば（Ｓ１３１０のＮＯ）、この時点で第三脚部５０３が一番高い位置にはないことと判断できる。つまり、上昇駆動すべきは、第一脚部５０１と第二脚部５０２のうちのいずれか低い方と第三脚部５０３である。そして、「第一脚部５０１と第二脚部５０２のうちのいずれか低い方」は、既にステップＳ１３０３又はステップＳ１３０６で上昇駆動されているので、残るは第三脚部５０３である。そこで、第三モータＪ３を上昇駆動させる（Ｓ１３１４）。   In step S1310, if the value of the horizontal sensor 301 in the Y-axis direction is a negative value (NO in S1310), it can be determined that the third leg 503 is not at the highest position at this time. That is, what should be driven up is the lower one of the first leg 501 and the second leg 502 and the third leg 503. Since “the lower one of the first leg portion 501 and the second leg portion 502” has already been driven up in step S1303 or step S1306, the remaining is the third leg portion 503. Therefore, the third motor J3 is driven up (S1314).

次に、水平制御部７０８はステップＳ１３１２、Ｓ１３１３又はＳ１３１４の何れかの処理の後、水平センサ３０１のＹ軸方向の値が水平の範囲内の値であるか否か確認する（Ｓ１３１５）。水平範囲内の値でなければ（Ｓ１３１５のＮＯ）、再びステップＳ１３１０から繰り返す。水平範囲内の値であれば（Ｓ１３１５のＹＥＳ）、直前まで駆動していた第一モータＪ１、第二モータＪ２又は第三モータのいずれかを停止させて（Ｓ１３１６）、一連の処理を終了する（Ｓ１３１７）。   Next, the horizontal control unit 708 confirms whether the value in the Y-axis direction of the horizontal sensor 301 is a value within the horizontal range after the processing in any of steps S1312, S1313, and S1314 (S1315). If the value is not within the horizontal range (NO in S1315), the process is repeated from step S1310. If the value is within the horizontal range (YES in S1315), any one of the first motor J1, the second motor J2, or the third motor that has been driven until immediately before is stopped (S1316), and the series of processing ends. (S1317).

図１４（ａ）、（ｂ）、（ｃ）及び（ｄ）は、ステージ２処理の仕組みを説明する模式図である。
図１４（ａ）は、第一脚部５０１、第二脚部５０２及び第三脚部５０３の位置関係を示す模式図である。第一脚部５０１の第一モータＪ１と第二脚部５０２の第二モータＪ２とを結ぶ線はＸ軸方向の座標軸であり、Ｘ軸方向の座標軸を直交して第三脚部５０３の第三モータＪ３を通過する線はＹ軸方向の座標軸である。 FIGS. 14A, 14B, 14C, and 14D are schematic diagrams illustrating the mechanism of stage 2 processing.
FIG. 14A is a schematic diagram showing the positional relationship between the first leg portion 501, the second leg portion 502, and the third leg portion 503. FIG. A line connecting the first motor J1 of the first leg portion 501 and the second motor J2 of the second leg portion 502 is a coordinate axis in the X-axis direction, and the third leg portion 503 is perpendicular to the coordinate axis in the X-axis direction. A line passing through the three motors J3 is a coordinate axis in the Y-axis direction.

図１４（ｂ）は、第三脚部５０３が最も高い位置にある場合の、斜面に第一脚部５０１、第二脚部５０２及び第三脚部５０３が配置されている状態を示す模式図である。第三脚部５０３が最も高い位置にある場合、第一脚部５０１と第二脚部５０２のどちらがより高い位置にあるか否かで、最初のＸ軸方向の調整工程の順番が異なる。しかし、何れの場合においても、第三脚部５０３は駆動する必要はない。   FIG. 14B is a schematic diagram showing a state in which the first leg 501, the second leg 502, and the third leg 503 are arranged on the slope when the third leg 503 is at the highest position. It is. When the third leg 503 is at the highest position, the order of the first adjustment process in the X-axis direction differs depending on whether the first leg 501 or the second leg 502 is at a higher position. However, in either case, the third leg 503 need not be driven.

図１４（ｃ）は、第二脚部５０２が最も高い位置にある場合の、斜面に第一脚部５０１、第二脚部５０２及び第三脚部５０３が配置されている状態を示す模式図である。第二脚部５０２が最も高い位置にある場合、第二脚部５０２は駆動する必要はないので、第一脚部５０１と第三脚部５０３の何れが高いか否かに関わらず、最初のＸ軸方向の調整工程では必ず第一脚部５０１を上昇駆動し、次のＹ軸方向の調整工程では第三脚部５０３を上昇駆動することとなる。   FIG. 14C is a schematic diagram showing a state where the first leg portion 501, the second leg portion 502, and the third leg portion 503 are arranged on the slope when the second leg portion 502 is at the highest position. It is. When the second leg 502 is at the highest position, the second leg 502 does not need to be driven, so that the first leg 501 and the third leg 503 are not affected. In the adjustment process in the X-axis direction, the first leg 501 is always driven up, and in the next adjustment process in the Y-axis direction, the third leg 503 is driven up.

図１４（ｄ）は、第一脚部５０１が最も高い位置にある場合の、斜面に第一脚部５０１、第二脚部５０２及び第三脚部５０３が配置されている状態を示す模式図である。第一脚部５０１が最も高い位置にある場合、第一脚部５０１は駆動する必要はないので、第二脚部５０２と第三脚部５０３の何れが高いか否かに関わらず、最初のＸ軸方向の調整工程では必ず第二脚部５０２を上昇駆動し、次のＹ軸方向の調整工程では第三脚部５０３を上昇駆動することとなる。   FIG. 14D is a schematic diagram showing a state where the first leg portion 501, the second leg portion 502, and the third leg portion 503 are arranged on the slope when the first leg portion 501 is at the highest position. It is. When the first leg 501 is at the highest position, the first leg 501 does not need to be driven, so the first leg 501 does not need to be driven, regardless of which of the second leg 502 and the third leg 503 is high. In the adjustment process in the X-axis direction, the second leg 502 is always driven up, and in the next adjustment process in the Y-axis direction, the third leg 503 is driven up.

図１１、図１２及び図１３に示した水平調整プログラムの処理は、駆動する脚部が二つだけであり、また同時に二つ以上のモータを駆動しないので、消費電力の点で有利である。   The processing of the horizontal adjustment program shown in FIGS. 11, 12, and 13 is advantageous in terms of power consumption because only two legs are driven and two or more motors are not driven at the same time.

上述の実施形態の他、以下のような応用例が考えられる。
（１）自動整準台１０１の制御部７０１は、電源を投入したら直ちに自動整準処理を遂行するように構成することで、起動スイッチを省略することができる。無人のガスメータ調整設備に利用する際、台車に湿式ガスメータ１０２を載せた自動整準台１０１を据え置き、調整ルームに搬入されたら、台車を通じて自動整準台１０１に電源を投入することで、調整ルームに人が入ることなく自動整準処理を遂行することができる。 In addition to the embodiment described above, the following application examples are conceivable.
(1) The control unit 701 of the automatic leveling table 101 is configured to perform the automatic leveling process immediately after the power is turned on, so that the start switch can be omitted. When used in an unmanned gas meter adjustment facility, the automatic leveling table 101 with the wet gas meter 102 placed on the cart is deferred, and when it is loaded into the adjustment room, the automatic leveling table 101 is turned on through the cart to adjust the adjustment room. Automatic leveling can be performed without human beings.

本実施形態では、自動整準台１０１を開示した。
第一脚体４０２、第二脚体４０３及び第三脚体４０４が半球状の接地面を有することで、据え置かれる箇所を傷つけ難く、且つ安定した姿勢を容易に保持できる。
また、第一脚部５０１、第二脚部５０２及び第三脚部５０３が水平センサ３０１のＸ軸方向及びＹ軸方向と一致して配置されているので、比較的簡素なアルゴリズムで自動整準処理を遂行できる。 In the present embodiment, the automatic leveling table 101 is disclosed.
Since the first leg body 402, the second leg body 403, and the third leg body 404 have a hemispherical grounding surface, it is difficult to damage a place where they are placed, and a stable posture can be easily maintained.
In addition, since the first leg portion 501, the second leg portion 502, and the third leg portion 503 are arranged to coincide with the X-axis direction and the Y-axis direction of the horizontal sensor 301, automatic leveling is performed with a relatively simple algorithm. Can perform processing.

以上、本発明の実施形態例について説明したが、本発明は上記実施形態例に限定されるものではなく、特許請求の範囲に記載した本発明の要旨を逸脱しない限りにおいて、他の変形例、応用例を含む。   The embodiment of the present invention has been described above. However, the present invention is not limited to the above-described embodiment, and other modifications may be made without departing from the gist of the present invention described in the claims. Includes application examples.

１０１…自動整準台、１０２…湿式ガスメータ、１０２ａ、１０２ｂ、１０２ｃ…キャスター、１０３…筐体、１０４ａ、１０４ｂ、１０４ｃ…スペーサ、１０５…「ＳＴＡＲＴ」ランプ、１０６…「ＯＫ」ランプ、１０７…「ＮＧ」ランプ、２０１…天板、３０１…水平センサ、４０１…底板、４０２…第一脚体、４０３…第二脚体、４０４…第三脚体、５０１…第一脚部、５０２…第二脚部、５０３…第三脚部、６０１…駆動軸、６０３…歯車、６０４…ピン、６０６…スイッチ固定金具、６０７…リミットスイッチ、６１３…Ｌ字金具、７０１…制御部、７０２…交流電圧源、７０４…アナログスイッチ、７０５…乗算器、７０６…Ａ／Ｄ変換器、７０７…傾き算出部、７０８…水平制御部、Ｊ１…第一モータ、Ｊ２…第二モータ、Ｊ３…第三モータ   DESCRIPTION OF SYMBOLS 101 ... Automatic leveling table, 102 ... Wet gas meter, 102a, 102b, 102c ... Caster, 103 ... Case, 104a, 104b, 104c ... Spacer, 105 ... "START" lamp, 106 ... "OK" lamp, 107 ... " NG "lamp, 201 ... top plate, 301 ... horizontal sensor, 401 ... bottom plate, 402 ... first leg, 403 ... second leg, 404 ... third leg, 501 ... first leg, 502 ... second Leg part, 503 ... Third leg part, 601 ... Drive shaft, 603 ... Gear, 604 ... Pin, 606 ... Switch fixing bracket, 607 ... Limit switch, 613 ... L-shaped bracket, 701 ... Control unit, 702 ... AC voltage source 704 ... Analog switch 705 ... Multiplier 706 ... A / D converter 707 ... Tilt calculation unit 708 ... Horizontal control unit J1 ... First motor J2 ... Second motor J ... The third motor

Claims (4)

物品が据え置かれる天板と、
前記天板に設置されて前記天板の面方向の傾斜状態を検出する水平センサと、
前記天板に連動する底板と、
前記底板を貫通して設けられ、球面の接地面を備える第一脚体と、
前記第一脚体を上下方向に駆動する第一モータと、
前記第一脚体の駆動範囲を規制する第一リミットスイッチと、
前記底板を貫通して設けられ、球面の接地面を備える第二脚体と、
前記第二脚体を上下方向に駆動する第二モータと、
前記第二脚体の駆動範囲を規制する第二リミットスイッチと、
前記底板を貫通して設けられ、球面の接地面を備える第三脚体と、
前記第三脚体を上下方向に駆動する第三モータと、
前記第三脚体の駆動範囲を規制する第三リミットスイッチと、
前記水平センサ、前記第一リミットスイッチ、前記第二リミットスイッチ及び前記第三リミットスイッチに接続されて、前記第一モータ、前記第二モータ及び前記第三モータを制御することで前記第一脚体、前記第二脚体及び前記第三脚体を駆動して、前記天板を水平に調整する制御部と
を有する自動整準台。 A top plate on which items are deferred,
A horizontal sensor that is installed on the top plate and detects an inclined state in the surface direction of the top plate;
A bottom plate interlocking with the top plate;
A first leg provided through the bottom plate and provided with a spherical contact surface;
A first motor for driving the first leg in the vertical direction;
A first limit switch for regulating the drive range of the first leg,
A second leg provided through the bottom plate and having a spherical contact surface;
A second motor for driving the second leg in the vertical direction;
A second limit switch for regulating the driving range of the second leg,
A third leg provided through the bottom plate and having a spherical contact surface;
A third motor for driving the third leg in the vertical direction;
A third limit switch for regulating the driving range of the third leg,
The first leg is connected to the horizontal sensor, the first limit switch, the second limit switch, and the third limit switch to control the first motor, the second motor, and the third motor. And an automatic leveling table having a controller for driving the second leg and the third leg to adjust the top plate horizontally. 前記水平センサは、検出信号のＸ軸方向が前記第一脚体と前記第二脚体を結ぶ線と平行である、請求項１記載の自動整準台。   The automatic leveling table according to claim 1, wherein the horizontal sensor has an X-axis direction of a detection signal parallel to a line connecting the first leg and the second leg. 前記制御部は、
前記水平センサのＸ軸方向検出信号が正の値である場合には前記水平センサの前記Ｘ軸方向検出信号が所定のＸ軸方向許容範囲に収束するまで前記第一脚体を上昇させ且つ前記第二脚体を下降させ、
前記水平センサのＸ軸方向検出信号が負の値である場合には前記水平センサの前記Ｘ軸方向検出信号が前記Ｘ軸方向許容範囲に収束するまで前記第一脚体を下降させ且つ前記第二脚体を上昇させ、その後
前記水平センサのＹ軸方向検出信号が正の値である場合には前記水平センサの前記Ｙ軸方向検出信号が所定のＹ軸方向許容範囲に収束するまで前記第一脚体及び前記第二脚体を上昇させ且つ前記第三脚体を下降させ、
前記水平センサのＹ軸方向検出信号が負の値である場合には前記水平センサの前記Ｙ軸方向検出信号が前記Ｙ軸方向許容範囲に収束するまで前記第一脚体及び前記第二脚体を下降させ且つ前記第三脚体を上昇させる、
請求項２記載の自動整準台。 The controller is
When the X-axis direction detection signal of the horizontal sensor is a positive value, the first leg is raised until the X-axis direction detection signal of the horizontal sensor converges to a predetermined X-axis direction allowable range, and the Lower the second leg,
If the X-axis direction detection signal of the horizontal sensor is a negative value, the first leg is lowered and the first leg is lowered until the X-axis direction detection signal of the horizontal sensor converges to the X-axis direction allowable range. When the biped body is raised, and then the Y-axis direction detection signal of the horizontal sensor is a positive value, the Y-axis direction detection signal of the horizontal sensor converges to a predetermined Y-axis direction allowable range. Raising the monopod and the second leg and lowering the third leg,
When the Y-axis direction detection signal of the horizontal sensor is a negative value, the first leg and the second leg until the Y-axis direction detection signal of the horizontal sensor converges to the Y-axis direction allowable range. Lowering and raising the third leg,
The automatic leveling table according to claim 2. 前記制御部は、
前記水平センサのＸ軸方向検出信号が正の値である場合には前記水平センサの前記Ｘ軸方向検出信号が所定のＸ軸方向許容範囲に収束するまで前記第一脚体を上昇させると共に前記第二脚体を停止させていることを記憶し、
前記水平センサのＸ軸方向検出信号が負の値である場合には前記水平センサの前記Ｘ軸方向検出信号が前記Ｘ軸方向許容範囲に収束するまで前記第二脚体を下降させると共に前記第一脚体を停止させていることを記憶し、その後
前記水平センサのＹ軸方向検出信号が正の値であり且つ前記第二脚体を停止させていることが記憶されている場合には前記水平センサの前記Ｙ軸方向検出信号が所定のＹ軸方向許容範囲に収束するまで前記第二脚体を上昇させ、
前記水平センサのＹ軸方向検出信号が正の値であり且つ前記第一脚体を停止させていることが記憶されている場合には前記水平センサの前記Ｙ軸方向検出信号が所定のＹ軸方向許容範囲に収束するまで前記第一脚体を上昇させ、
前記水平センサのＹ軸方向検出信号が負の値である場合には前記水平センサの前記Ｙ軸方向検出信号が所定のＹ軸方向許容範囲に収束するまで前記第三脚体を上昇させる、
請求項２記載の自動整準台。 The controller is
When the X-axis direction detection signal of the horizontal sensor is a positive value, the first leg is raised and the first leg is raised until the X-axis direction detection signal of the horizontal sensor converges to a predetermined X-axis direction allowable range. Remember that the second leg is stopped,
When the X-axis direction detection signal of the horizontal sensor is a negative value, the second leg is lowered and the second leg is lowered until the X-axis direction detection signal of the horizontal sensor converges to the X-axis direction allowable range. If it is stored that the monopod is stopped, and then the Y-axis direction detection signal of the horizontal sensor is a positive value and it is stored that the second leg is stopped Raising the second leg until the Y-axis direction detection signal of the horizontal sensor converges to a predetermined Y-axis direction allowable range;
When it is stored that the Y axis direction detection signal of the horizontal sensor is a positive value and the first leg is stopped, the Y axis direction detection signal of the horizontal sensor is a predetermined Y axis. Raise the first leg until it converges to the directional tolerance range,
When the Y-axis direction detection signal of the horizontal sensor is a negative value, the third leg is raised until the Y-axis direction detection signal of the horizontal sensor converges to a predetermined Y-axis direction allowable range,
The automatic leveling table according to claim 2.
JP2010133362A 2010-06-10 2010-06-10 Automatic leveling base Pending JP2011257317A (en)

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