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WO2024047852A1 - Dispositif de marquage par laser - Google Patents

Dispositif de marquage par laser Download PDF

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Publication number
WO2024047852A1
WO2024047852A1 PCT/JP2022/033030 JP2022033030W WO2024047852A1 WO 2024047852 A1 WO2024047852 A1 WO 2024047852A1 JP 2022033030 W JP2022033030 W JP 2022033030W WO 2024047852 A1 WO2024047852 A1 WO 2024047852A1
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WO
WIPO (PCT)
Prior art keywords
laser
axis
marking device
laser marking
gimbal
Prior art date
Application number
PCT/JP2022/033030
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English (en)
Japanese (ja)
Inventor
岸野　安一
Original Assignee
株式会社みろく
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 株式会社みろく filed Critical 株式会社みろく
Priority to PCT/JP2022/033030 priority Critical patent/WO2024047852A1/fr
Publication of WO2024047852A1 publication Critical patent/WO2024047852A1/fr

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C15/00—Surveying instruments or accessories not provided for in groups G01C1/00 - G01C13/00

Definitions

  • the present disclosure relates to a laser marking device.
  • a plumb bob is an excellent way to easily and accurately indicate the vertical direction, but the plumbstone does not stop shaking for a long time, and if there is vibration or wind at the construction site, the shaking will not converge, making it difficult to perform accurate measurements. is difficult.
  • sumi-dashi is also carried out, in which lines are drawn on target surfaces such as floors, columns, walls, and ceilings to serve as standards for construction work.
  • Traditional sumi-dashi work which has been practiced since ancient times, involves drawing lines by touching a thread impregnated with ink (in recent years, ink or powdered chalk) to the surface of the object.
  • ink in recent years, ink or powdered chalk
  • laser marking devices laser marking devices
  • the laser marking device described in Patent Document 3 uses an acceleration sensor to detect the tilt amount and direction of a light source unit holder on which a semiconductor laser is mounted, and uses the detection results of the acceleration sensor to drive actuators that rotationally drive two axes of a gimbal mechanism.
  • the light source unit holder is driven in accordance with the above to make the light source unit holder stand still in a predetermined posture (see paragraphs [0011] to [0018] of Patent Document 3).
  • Patent Document 4 also performs the same electronic leveling operation as the laser marking device described in Patent Document 3, and at this time, the inclination of the movable part (13) on which the laser light source is mounted is adjusted.
  • Patent Document 4 also discloses that an acceleration sensor is used for detection (see paragraphs [0028]-[0064], [0106] of Patent Document 4).
  • the laser marking devices (laser marking devices) described in Patent Documents 3 and 4 are both equipped with a gimbal mechanism, and each of the two axes of the gimbal mechanism is rotationally driven by an actuator to enable electronic leveling. At this time, the actuators are placed at the positions of each axis of the gimbal mechanism on the horizontal projection plane.
  • a pair of actuators (101, 102) are arranged at both ends of two axes of a gimbal mechanism (see paragraphs [0015] [0016] and FIG. 1).
  • actuators In the laser marking device described in Patent Document 4, actuators (X-axis adjustment section 50, Y-axis adjustment section 70) are arranged only at one end of the two axes of the gimbal mechanism (paragraphs [0034] to [0039] , see Figure 3).
  • the actuator is placed at a 90 degree angle, and the actuator protrudes in the X-axis and Y-axis directions of the gimbal mechanism (see the figure in Patent Document 3). 1, see FIG. 3 of Patent Document 4). For this reason, the area around the gimbal mechanism becomes larger on the horizontal projection plane.
  • An object of the present disclosure is to obtain a laser marking device that can downsize the peripheral structure of the gimbal.
  • One aspect of the laser marking device includes a housing that has a reference surface that is installed on a target object, and a housing that is provided in the housing and that is arranged in a virtual horizontal plane that is a virtual horizontal plane when the reference surface is vertically arranged.
  • a gimbal that swings around a parallel X-axis and a Y-axis that is orthogonal to the reference plane; a support that is attached to the gimbal in parallel with the virtual horizontal plane; a laser module that is attached to the support with a defined axis and irradiates a laser beam from the inside of the housing to the outside; a drive unit having a pair of movable parts connected to the support body at two base angle positions, and independently displacing each of the pair of movable parts in a direction orthogonal to the virtual horizontal plane by a pair of actuators; an acceleration sensor attached to the support body with the X axis parallel to the X support axis and the Y axis parallel to the Y support axis; and a gravitational acceleration signal outputted by the acceleration sensor.
  • the device includes a tilt calculation unit that calculates the amount and direction of tilt with respect to the Y-axis, and a control unit that controls driving of the pair of actuators so that the calculated
  • the surrounding structure of the gimbal can be downsized.
  • FIG. 1 is a front view showing the appearance of a laser marking device as an embodiment.
  • FIG. 3 is a bottom view showing the appearance of the laser marking device.
  • FIG. 3 is a perspective view showing the appearance of the entire device from the reference plane side.
  • FIG. 3 is a perspective view showing the appearance of the entire device from the side opposite to the reference surface.
  • FIG. 3 is a perspective view showing the appearance of the entire device from the side of the reference plane and the second reference plane.
  • FIG. 3 is an enlarged front view of the operation panel.
  • FIG. 2 is a longitudinal sectional front view showing the internal structure of the laser marking device.
  • FIG. 2 is a structural block diagram schematically showing the internal structure of the laser marking device from the front.
  • FIGS. 2A and 2B are schematic diagrams illustrating a method of installing a laser marking device on an object, in which (A) uses an installation needle and (B) uses a magnet.
  • FIG. 2 is a schematic diagram showing an example of a usage mode of a laser marking device that functions as a marking device.
  • 5 is a flowchart showing the flow of mode setting processing. Flowchart showing the flow of processing in normal mode. The schematic diagram showing the state of the calibration work of the laser marking device.
  • FIG. 3 is a schematic diagram showing an example of how to use the laser in fixed mode (drawing a line between two points).
  • 5 is a flowchart showing the flow of laser oscillation stop processing.
  • A) is a graph showing an example of the output of the acceleration sensor when there is no shaking in the laser marking device
  • (B) is a graph showing an example of the output of the acceleration sensor when the laser marking device is shaking.
  • FIG. 3 is a schematic diagram showing an example of a configuration around a gimbal included in the laser marking device of Comparative Example 1.
  • FIG. 3 is a schematic diagram showing an example of a configuration around a gimbal included in a laser marking device of Comparative Example 2.
  • FIG. 7 is a longitudinal sectional front view showing the internal structure of a laser marking device as another embodiment.
  • FIG. 2 is a structural block diagram schematically showing the internal structure of the laser marking device from the front.
  • FIG. 2 is a structural block diagram schematically showing the internal structure of the laser marking device from a planar direction.
  • FIG. 3 is a structural block diagram schematically showing the internal structure of the laser marking device from a side surface direction on the reference surface side.
  • FIG. 3 is a perspective view showing the appearance of the entire device from the side opposite to the reference surface.
  • FIG. 3 is an enlarged front view of the operation panel.
  • FIG. 2 is a schematic diagram showing an example of a usage mode of a laser marking device that functions as a marking device. The schematic diagram showing the state of the calibration work of the laser marking device.
  • the laser marking device 11 of this embodiment takes a vertically erected structure such as a wall surface W as an object O (wall surface W), and is used by being installed vertically on the object O (see FIG. 8). ).
  • the laser marking device 11 functions as, for example, a plumb-down device (see FIGS. 17(A) and (B)), and as another example, functions as a marking device (see FIG. 18).
  • each part of the laser marking device 11 is housed in a rectangular housing 12.
  • the housing 12 has an operation panel 51 on the front surface, which has a larger area than both side surfaces, the top surface, and the bottom surface, with one side surface serving as a reference surface 13 and the top surface serving as an auxiliary surface 14 .
  • the reference surface 13 is a surface for installing the laser marking device 11 on an object O (see FIG. 8) such as a wall surface W, and this is the reason why the reference surface 13 is used as a reference.
  • a reference plane 13 is constituted by a pair of rails 13a arranged in parallel on both sides of one side of the housing 12.
  • the reference surface 13 is understood as a plane that includes a pair of rails 13a that are pressed against the object O in the same plane.
  • the auxiliary surface 14 provided on the upper surface of the housing 12 is perpendicular to the reference surface 13 (see FIG. 5). For example, when the reference surface 13 is installed with the wall surface W as the object O, the auxiliary surface 14 is pressed against the ceiling surface C (see FIG. 18). By doing so, the installation state of the laser marking device 11 on the object O (wall surface W) can be further stabilized.
  • the laser marking device 11 has an installation needle 21, a magnet 31, and a second magnet 31S.
  • the installation needle 21 mainly includes a needle 22 (see FIG. 7) built into the housing 12 so as to be slidable in a direction perpendicular to the reference plane 13, and a handle 23 fixed to the rear end of the needle 22 is connected to the reference plane 13. It is exposed from the opposite side. By pushing in the handle 23, the needle 22 can be made to protrude from the needle hole 24 provided in the reference surface 13, and its sharp tip can be pierced into the object O.
  • the object O is a member having a certain degree of flexibility, such as wood
  • the installation needle 21 pierces the tip of the needle 22 into the object O, and the laser marking device 11 is installed on the object O (FIG. 16(A). )reference).
  • the magnet 31 constitutes a part of the reference surface 13 together with the rail 13a.
  • the laser marking device 11 is installed by magnetic attraction of the magnet 31 to the object O.
  • the installation state of the laser marking device 11 on the object O can be stabilized (see FIG. 16(B)).
  • the second magnet 31S is provided on the auxiliary surface 14 in a form parallel to the auxiliary surface 14 (see FIG. 8). Since the auxiliary surface 14 is perpendicular to the reference surface 13, the second magnet 31S is also perpendicular to the reference surface 13. The second magnet 31S is shown only in FIG. 8, and is not shown in FIGS. 1, 4, and 7 where the auxiliary surface 14 is shown.
  • the auxiliary surface 14 may be pressed against the ceiling surface C.
  • the second magnet 31S is magnetically attracted to the ceiling surface C, contributing to further stabilizing the installation state of the laser marking device 11.
  • a laser hole 15 is provided on the bottom surface of the housing 12.
  • the laser hole 15 is a hole for irradiating the laser beam L generated by the laser module 151 from the inside of the housing 12 to the outside.
  • the laser beam L emitted from the laser module 151 is irradiated parallel to the reference surface 13 while being 50 mm away from the reference surface 13. Therefore, on the front side of the housing 12, a distance marking 16A indicating the distance from the reference surface 13 to the laser emission position and an irradiation direction marking 16B indicating the irradiation direction of the laser beam L as a straight line are provided. . These distance notations 16A and irradiation direction notations 16B are visualized by, for example, unevenness provided on the outer surface of the housing 12.
  • a needle notation 16C is also provided as a notation visualized by the unevenness made on the outer surface of the housing 12.
  • the needle markings 16C are provided on the front and back sides of the housing 12 along the sliding direction of the installation needle 21 to inform the operator that the installation needle 21 is present.
  • the laser marking device 11 has a grip area 17 on the side surface of the housing 12 opposite to the reference surface 13.
  • the grip area 17 is an area that is gripped by the operator when pressing the reference surface 13 against the object O, and has a stepped shape that is offset from the top surface of the housing 12 toward the bottom surface. Such an offset shape makes it easier to grip the gripping area 17, making it easier to install the laser marking device 11 on the object O.
  • a laser confirmation lamp 18 is provided in the grip area 17 at a relatively upper position where it is not hidden when the operator grips it.
  • the laser confirmation lamp 18 is, for example, an LED lamp that emits red light (wavelength: 610 to 780 nm), and lights up when the laser module 151 oscillates the laser beam L to notify the operator that the laser beam L is being irradiated. inform.
  • a battery cover 19 is removably attached to the back surface of the housing 12.
  • the battery box 201 is opened, and a dry battery 202 used as a power source can be attached and detached.
  • the dry battery 202 is, for example, an AA alkaline dry battery.
  • the operation panel 51 is provided with four switches: a power switch 52, a calibration mode switch 53, an increment switch 54, and a decrement switch 55.
  • the power switch 52 is a switch for instructing the activation of each part, and is provided independently below the operation panel 51.
  • the calibration mode switch 53 is a switch for switching the operation mode to a calibration mode (see FIG. 21), which will be described later, and is arranged at the upper part of the operation panel 51. For example, by pressing and holding the calibration mode switch 53 for two seconds or more, the operation mode shifts to the calibration mode.
  • the increment switch 54 and the decrement switch 55 are arranged horizontally and are used to adjust the optical axis of the laser beam L emitted by the laser module 151.
  • the increment switch 54 is arranged on the right side, and the decrement switch 55 is arranged on the left side, forming an equilateral triangle arrangement with the calibration mode switch 53.
  • the increment switch 54 and the decrement switch 55 adjust the optical axis LA of the laser beam L in the Y-axis direction and the X-axis direction.
  • the Y-axis and the X-axis please refer to FIGS. 9 and 10.
  • whether to adjust the optical axis LA in the Y-axis direction or the X-axis direction can be switched by long-pressing either or both of the increment switch 54 and the decrement switch 55.
  • the default setting is that the optical axis LA is adjusted in the Y-axis direction by operating the increment switch 54 and the decrement switch 55
  • one or both of these switches 54 and 55 may be By pressing the button, the adjustment of the optical axis LA is switched to the X-axis direction.
  • Various embodiments are possible regarding the switching method of adjusting in the Y-axis direction or adjusting the optical axis LA in the X-axis direction.
  • the increment switch 54 also serves as a switch for switching the operation mode to a laser fixing mode (see FIG. 23), which will be described later. For example, by pressing and holding the increment switch 54 for two seconds or more, the operation mode shifts to the laser fixing mode.
  • the operation panel 51 is provided with four lamps: a power/leveling lamp 56, a calibration mode lamp 57, a laser fixing mode lamp 58, and a battery level warning lamp 59.
  • the power/leveling lamp 56 is, for example, an LED lamp that emits green light (wavelength: 500 to 570 nm), and is turned on when the power switch 52 is turned on. Immediately after the power switch 52 is turned on, the power/leveling lamp 56 flashes in green to indicate that the leveling operation is in progress, and when the leveling operation is completed, the state changes from blinking in green to lit.
  • the calibration mode lamp 57 is, for example, an LED lamp that emits orange light (wavelength 590 to 610 nm), and lights up in orange to indicate that the operation mode has shifted to the calibration mode.
  • the calibration mode lamp 57 is provided in such a manner that the combination with the calibration mode switch 53, which instructs transition to the calibration mode, can be visually recognized.
  • the laser fixed mode lamp 58 is, for example, an LED lamp that emits orange light (wavelength 590 to 610 nm), and indicates that the operation mode has shifted to the laser fixed mode by lighting in orange.
  • the laser fixing mode lamp 58 is provided in such a manner that the combination with the increment switch 54, which changes the operation mode to the laser fixing mode when pressed for a long time, can be visually recognized.
  • the remaining battery level warning lamp 59 is, for example, an LED lamp that emits red light (wavelength: 610 to 780 nm), and indicates that the remaining capacity of the dry battery 202 has decreased to a certain level or more by lighting in red.
  • the power/levelling lamp 56, the calibration mode lamp 57, and the remaining battery level warning lamp 59 are arranged in a line, and the laser fixed mode lamp 58 is arranged diagonally below and to the right of the remaining battery level warning lamp 59.
  • a pictogram 58a consisting of a pictogram of a key is displayed near the laser fixed mode lamp 58, and a pictogram 59a consisting of a pictogram indicating insufficient battery capacity is displayed near the remaining battery level warning lamp 59.
  • FIG. 7 is a longitudinal sectional front view showing the internal structure of the laser marking device 11.
  • 8 to 10 are schematic drawings of the internal structure. 8 shows the internal structure from the front, FIG. 9 from the plane, and FIG. 10 from the side on the reference plane 13 side.
  • An installation needle 21 is slidably attached to an upper position inside the housing 12.
  • An operation panel board 101 is arranged below it, and an MCU (Micro Controller Unit) constituting a control circuit is provided at a position hidden behind the operation panel board 101 (see FIG. 8).
  • the MCU is called a control unit 111.
  • the operation panel board 101 has the same layout as the operation panel 51, and arranges the various switches and lamps provided on the operation panel 51. When the operation panel 51 is operated, the operation panel board 101 transmits a signal according to the operation content to the control unit 111.
  • a laser confirmation lamp 18 is provided on the right side of the housing 12 to the right of the operation panel board 101 and the control unit 111.
  • a gimbal 141 is provided below the operation panel board 101 and the control unit 111 toward the side surface that provides the gripping area 17 on the opposite side to the reference surface 13.
  • the gimbal 141 includes an X support shaft 142 and a Y support shaft 143, and swings around these X support shaft 142 and Y support shaft 143.
  • a virtual horizontal plane HS is assumed, which is a virtual horizontal plane when the reference plane 13 is arranged vertically.
  • the gimbal 141 has an X-axis 142 arranged parallel to the reference plane 13 and a Y-axis 143 arranged perpendicular to the reference plane 13 in the virtual horizontal plane HS. Therefore, as shown in FIG. 9, when viewed from the side of the reference plane 13, the X-axis 142 is positioned on the X coordinate in the horizontal direction, and the Y-axis 143 is positioned on the Y coordinate in the vertical direction.
  • an XYZ coordinate system is adopted in which the axis parallel to the reference plane 13 in the virtual horizontal plane HS is the X axis, the axis orthogonal to the reference plane 13 is the Y axis, and the axis orthogonal to the XY axis is the Z axis. are doing. Therefore, not only the gimbal 141 but also the acceleration sensor 301 (described later) are arranged so that the XY axes, which are their sensor axes, are aligned with the X support shaft 142 and the Y support shaft 143.
  • a support 131 is attached to the gimbal 141 in parallel to the virtual horizontal plane HS.
  • the support body 131 is a flat metal member, and has a laser module 151 and an acceleration sensor 301 mounted thereon. Therefore, the laser module 151 and the acceleration sensor 301 are swingable together with the support 131 about the X support shaft 142 and the Y support shaft 143 of the gimbal 141.
  • the laser module 151 is a module in which a laser oscillator that oscillates laser light L is mounted on a substrate of a semiconductor integrated circuit such as a drive circuit (all not shown). Such a laser module 151 is fixed to the support body 131 with the laser irradiation surface 152 facing the laser hole 15 provided on the lower surface of the housing 12 . Therefore, the laser beam L emitted from the laser module 151 causes the optical axis LA (see FIG. 8) to swing as the support body 131 swings.
  • the laser module 151 is arranged within the vertical projection plane of the gimbal 141. At this time, it is preferable that the center GA of the gimbal 141 and the optical axis of the laser module 151 coincide. However, in actual practice, the center GA of the gimbal 141 and the optical axis of the laser module 151 do not necessarily need to completely coincide.
  • the acceleration sensor 301 will be described later.
  • a drive unit DR is provided below the operation panel board 101 and the control unit 111 in the housing 12 to drive the support 131 toward the reference surface 13 and control its attitude.
  • the drive unit DR mainly includes an actuator 171, and applies power from the actuator 171 ( It has a structure that transmits pressing force). Further, a coil spring 132 that applies a biasing force to the support body 131 from above is also provided as a part of the drive unit DR.
  • This virtual isosceles triangle IT is a triangle having an apex A at the center GA of the gimbal 141 and a base B parallel to the reference plane 13.
  • the height ly of the virtual isosceles triangle IT matches the length lx of the base B. However, it is not essential that the height ly and the length lx of the base B match, and in implementation, an isosceles triangle IT in which the two do not match may be imagined.
  • the apex angle AP is smaller than 60 degrees. This point is also not essential, and in implementation, an isosceles triangle IT having an apex angle AP exceeding 60 degrees may be imagined.
  • the reason for assuming the virtual isosceles triangle IT in this way is to define a portion of the support 131 to which power (pressing force) from the actuator 171 is applied, more specifically, a portion to which the slider 172 is connected.
  • a pair of sliders 172 are provided, and these sliders 172 are connected to the support body 131 at a portion forming the base angle BA of the virtual isosceles triangle IT.
  • the connecting portions of the pair of sliders 172 are the corners of the support body 131.
  • the pair of sliders 172 has a structure that only supports the lower surface of the support body 131 from below, and cooperates with the coil spring 132 that applies a biasing force to the upper surface of the support body 131 from above to connect the support body 131. is fulfilled.
  • the coil spring 132 is arranged in a compressed state between the frame 61 provided inside the housing 12 and the support body 131.
  • the coil spring 132 holds the support body 131 together with the pair of sliders 172, and plays the role of smoothly moving the support body 131, which has risen due to rocking, downward, as well as suppressing minute vibrations of the support body 131. It also contributes to
  • a pair of actuators 171 are also provided in accordance with the pair of sliders 172 provided. These pair of actuators 171 (171L, 171R) are motors that rotate a rotating shaft 171a integrated with a rotor using electromagnetic force, and are mounted near the bottom surface of the housing 12 with the rotating shaft 171a facing vertically. ing.
  • the deceleration mechanism 173 decelerates the rotation of the rotating shafts 171a of the pair of actuators 171 (171L, 171R) and transmits the deceleration to the slider 172.
  • the speed reduction mechanism 173 has a drive screw 174 disposed vertically connected to the slider 172, a small diameter small gear 173S fixed to the rotating shaft 171a of the actuator 171, and a large diameter gear 173S fixed to the drive screw 174. It meshes with the large gear 173L.
  • the mechanism is such that deceleration is performed by the difference in the number of teeth between the small gear 173S and the large gear 173L.
  • the slider 172 moves up and down in accordance with the rotation of the drive screw 174 that is decelerated by a speed reduction mechanism 173, and when it goes up, it displaces the free end 131a of the support body 131 upward, and when it goes down, it cooperates with the coil spring 132 to move the slider 172 free.
  • the end 131a is displaced downward.
  • the pair of actuators 171 are driven and controlled independently, it is possible to raise and lower the free end 131a of the support body 131 independently on the left and right sides. As a result, the support body 131 swings about the X support shaft 142 and the Y support shaft 143.
  • a pair of limit switches 133 are arranged near the free end 131a of the support body 131 so as to sandwich the free end from above and below.
  • These limit switches 133 are microswitches that are turned on when the amount of swing of the support body 131 exceeds a certain amount.
  • the laser confirmation lamp 18 and the pair of limit switches 133 are connected to the operation panel board 101 via connection wiring (not shown).
  • the operation panel board 101 controls lighting of the laser confirmation lamp 18 in accordance with a command from the control unit 111 and transmits an ON signal from the limit switch 133 to the control unit 111.
  • the acceleration sensor 301 is a capacitance detection type low-G acceleration sensor manufactured by applying a semiconductor microfabrication technology called, for example, MEMS (Micro Electro Mechanical System). .
  • MEMS Micro Electro Mechanical System
  • a movable mass 302 is suspended by a spring 303, and a pair of comb-shaped fixed electrodes 304 are arranged so as to sandwich the movable electrode 305 of the movable mass 302. . Then, as the movable electrode 305 moves, the capacitance between the movable electrode 305 and the fixed electrode 304 changes. By understanding the change in capacitance at this time, the amount and direction of movement of the movable mass 302 can be detected. This is the mechanism of the acceleration sensor 301.
  • the acceleration sensor 301 weighs 0 grams (g) when placed parallel to the sensor axes (X-axis, Y-axis), and -1 gram (g) or +1 gram (g) when tilted, depending on the direction. ) outputs the gravitational acceleration signal up to Therefore, the amount of inclination can be determined by the magnitude of the gravitational acceleration signal, and the direction of inclination can be determined by the sign of the gravitational acceleration signal.
  • an XY biaxial acceleration sensor 301 is used. As described above, this acceleration sensor 301 is attached to the support body 131 at a position and in an orientation according to the XYZ coordinate system adopted in this embodiment. As a result, as shown in FIGS. 8 to 10, the acceleration sensor 301 has an X-axis sensor axis parallel to the reference plane 13 and a Y-axis sensor axis perpendicular to the reference plane 13 within the virtual horizontal plane HS. It is placed facing.
  • the X-axis of the acceleration sensor 301 extends in the left-right direction when viewed from the reference plane 13 side (FIGS. 9 and 10).
  • the X-axis gravitational acceleration signal outputted by the acceleration sensor 301 takes a positive value
  • the left side is tilted in a higher direction
  • the acceleration sensor 301 is installed so that the X-axis gravitational acceleration signal outputted by the acceleration sensor 301 takes a negative value.
  • the support 131 on which the acceleration sensor 301 is mounted tilts upward to the right in FIG.
  • the gravitational acceleration signal takes a negative value, it means that the housing 12 is tilted upward to the left.
  • the amount of inclination at this time can be determined based on the value of the gravitational acceleration signal (0 to 1 gram).
  • the Y-axis of the acceleration sensor 301 extends in the front-rear direction when viewed from the reference plane 13 side (FIGS. 9 and 10).
  • the Y-axis gravitational acceleration signal output by the acceleration sensor 301 takes a positive value
  • the acceleration sensor 301 is installed so that when the rear side is tilted higher (in FIG. 8, the right side is higher), the Y-axis gravitational acceleration signal outputted by the acceleration sensor 301 takes a negative value.
  • the housing 12 of the laser marking device 11 tilts so that the near side becomes higher in FIG. 9, and conversely, the Y-axis gravitational acceleration signal takes a negative value.
  • the housing 12 is placed in an inclined state so that the rear side is higher. The amount of inclination at this time can be determined based on the value of the gravitational acceleration signal (0 to 1 gram).
  • the amount and direction of inclination of each of the X-axis and Y-axis can be determined.
  • the laser marking device 11 of the present embodiment has a functional block executed by hardware resources that directs the optical path of the laser beam L emitted from the laser module 151 vertically or horizontally.
  • the optical path correction unit 401 is provided to maintain the optical path.
  • the optical path correction section 401 includes a tilt calculation section 411 and a control section 431.
  • the housing 12 will be tilted (see FIG. 17(B)). If no precautions are taken at this time, the optical axis LA of the laser beam L emitted from the laser module 151 will deviate from the vertical. Therefore, in this embodiment, a tilt calculation section 411 and a control section 431 are provided to keep the optical axis LA of the laser beam L vertical.
  • the tilt calculation unit 411 calculates the tilt amount and direction of the support body 131 on which the acceleration sensor 301 is mounted, that is, the housing 12, and the control unit 431 controls the pair of actuators 171 (171L, 171R) so that the calculated value becomes 0. ). This will be explained in detail below.
  • the tilt calculation unit 411 calculates the tilt amount and direction of each of the X-axis and Y-axis based on the X-axis and Y-axis gravitational acceleration signals output by the acceleration sensor 301.
  • the inclination calculation unit 411 Based on the gravitational acceleration signal of the acceleration sensor 301, that is, a signal indicating a change in capacitance between the fixed electrode 304 and the movable electrode 305, the inclination calculation unit 411 amplifies this signal as necessary. After that, it is converted into an analog signal such as a DC voltage, and this analog signal is sampled and converted into a digital signal. In this way, the tilt calculating section 411 generates tilt amount and direction data in a format that can be handled by the control section 431. In this embodiment, the data thus generated by the slope calculation unit 411 is referred to as "slope data.”
  • the data on the amount and direction of inclination of the X-axis and Y-axis generated by the inclination calculation unit 411 is data that can specify dx and dy, which are the difference values from when the inclination is 0.
  • dx is a difference value on the X axis, and takes a value of +dx or -dx.
  • +dx is the data when the right side in FIG. 10 is tilted higher
  • -dx is the data when the left side is tilted higher.
  • dy is a difference value on the Y axis, and takes a value of +dy or -dy.
  • +dy is the data when the front side in FIG. 9 is tilted higher
  • -dy is the data when the rear side is tilted higher.
  • the control unit 431 controls the driving of the pair of actuators 171 (171L, 171R) so that the calculated value of the inclination calculation unit 411 becomes 0.
  • the left drive section DR refers to the drive section DR located on the left side when viewed from the reference surface 13 side
  • the right drive section DR refers to the drive section DR located on the right side when viewed from the reference surface 13 side.
  • control unit 431 drives the pair of actuators 171
  • How the control unit 431 drives the pair of actuators 171 will be explained using a specific example.
  • the tilt calculation unit 411 generates data in which the X-axis value is dx and the Y-axis value is dy based on the gravitational acceleration signal of the acceleration sensor 301, and the control unit 431 receives this data.
  • the housing 12 of the laser marking device 11 is raised to the right by an amount corresponding to d in the X-axis, and the Y-axis is raised toward the front in FIG. This means that the price is higher by an amount corresponding to d.
  • control unit 431 calculates the control amount of the pair of actuators 171 as follows in order to cancel out such an inclination and set the calculated value of the inclination calculation unit 411 to 0.
  • control amounts of the left and right actuators 171 (171L, 171R) can be determined as shown in the following equations (5) and (6).
  • ⁇ Controlled amount of actuator 171L -dy+(dx/2)...(8)
  • ⁇ Control amount of actuator 171R -dy-(dx/2)...(9)
  • the control unit 431 calculates the above equations (8) and (9) to obtain the value.
  • the data of the value calculated by the control unit 431 is referred to as "driving data.”
  • control unit 431 registers the drive data in the memory area and controls the drive of the left and right actuators 171 (171L, 171R). This controls the attitude of the support body 131, making it possible to maintain the optical axis LA of the laser beam L emitted from the laser module 151 vertically.
  • the function of the tilt calculation unit 411 is incorporated into the acceleration sensor 301 as an example, and may be performed by the control unit 111 as another example. Alternatively, another arithmetic device that performs the function of the slope calculation unit 411 may be separately provided.
  • control section 431 The functions of the control section 431 are executed by the control unit 111.
  • the function of the control section 431 may be incorporated into the acceleration sensor 301, or another arithmetic device that executes the function of the control section 431 may be separately provided.
  • the control unit 111 has a CPU 112 at its core that executes various processes and centrally controls each part, a main memory 113, and a flash memory used as a program memory. 114 and an I/O 115 for connecting peripheral devices are connected to the CPU 112 via a bus.
  • the I/O 115 is equipped with an operation panel 51 that controls the operation panel board 101 that controls the lighting of the laser confirmation lamp 18, the laser module 151 that oscillates the laser beam L, and the support body 131 that controls the drive and changes its angle.
  • Actuators 171 (171L, 171R) and an acceleration sensor 301 that outputs a gravitational acceleration signal are connected, and each of these parts is connected to the CPU 112 via a bus.
  • the reference surface 13 is pressed against the object O, and the installation needle is 21 and pierce the object O with the needle 22 of the installation needle 21. Thereafter, the angle of the housing 12 is finely adjusted so that the reference plane 13 is vertical. In this way, the laser marking device 11 can be stably installed on the object O.
  • the magnet 31 provided on the reference surface 13 is magnetically attracted to the object O.
  • the angle of the housing 12 is finely adjusted so that the reference plane 13 is vertical. In this way, the laser marking device 11 can be stably installed on the object O.
  • the laser marking device 11 of this embodiment can be used as a plumb swing device.
  • a laser module 151 having a structure that does not scan the laser beam L is used.
  • the laser marking device 11 of this embodiment can also be used as a marking device.
  • a laser module 151 capable of scanning laser light L is used.
  • the CPU 112 of the control unit 111 operates according to the operation program installed in the flash memory 114.
  • (Category 2) Normal mode processing (see Figure 20), calibration mode processing, or laser fixed mode processing (category 3) Laser stop processing (see Figure 24) Execute processing routines in three categories using multitasking.
  • control unit 111 determines that the mode is normal (YES in step S102), and the control unit 111 determines that the mode is normal (YES in step S102).
  • the mode routine (see FIG. 20) is executed (step S103).
  • control unit 111 When the calibration mode switch 53 in the operation panel 51 is pressed for two seconds or more, the operation panel board 101 outputs a signal to the control unit 111 instructing the transition to the calibration mode.
  • control unit 111 receives a signal instructing transition to calibration mode, it determines transition to calibration mode (YES in step S104), and executes a calibration mode routine (not shown) (step S105).
  • the operation panel board 101 When the increment switch 54 in the operation panel 51 is pressed for two seconds or more, the operation panel board 101 outputs a signal to the control unit 111 instructing the transition to the laser fixing mode.
  • the control unit 111 receives the signal instructing the transition to the laser fixing mode, it determines the transition to the laser fixing mode (YES in step S106), and executes the laser fixing mode routine (step S107).
  • the control unit 111 multitasks the mode setting processing routine (category 1) described above with the category 2 and 3 routines.
  • step S201 the control unit 111 drives the laser module 151 to oscillate the laser beam L (step S202).
  • control unit 111 receives the tilt data from the tilt calculating section 411 (step S203), generates drive data for the actuator 171 (step S204), and stores the generated drive data in the register (step S205).
  • the tilt data that the control unit 111 acquires from the tilt calculation unit 411 in step S203 is data on the tilt amount and direction calculated by the tilt calculation unit 411 based on the gravitational acceleration signal output by the acceleration sensor 301.
  • the explanation will be supplemented with reference to FIGS. 17(A) and 17(B).
  • the optical axis LA of the laser beam L is parallel to the wall surface W, and there is a distance of 50 mm between the wall surface W and the wall surface W. maintain. 50 mm is the distance between the optical axis LA of the laser beam L emitted by the laser module 151 and the reference surface 13.
  • the distance between the optical axis LA of the laser beam L and the wall surface W will not be maintained at 50 mm. It can become smaller or larger than 50mm. Thereby, the worker can recognize the inclination of the wall surface W by visually observing the position of the floor surface F that is irradiated with the laser beam L in a spot shape.
  • the optical axis LA of the laser beam L will be parallel to the wall surface W if nothing is done.
  • the solution to this problem is the gravitational acceleration data output by the acceleration sensor 301.
  • the laser marking device 11 is installed with the reference surface 13 pressed against the inclined wall surface W, one or both of the sensor axes (X axis, Y axis) of the acceleration sensor 301 are inclined from the vertical. Therefore, the tilt calculation unit 411 generates tilt data for specifying the tilt amount and direction based on the gravitational acceleration signal acquired from the acceleration sensor 301.
  • the drive data generated by the control unit 111 in step S204 is data that determines how much and in which direction each of the pair of actuators 171 should be driven so as to make the inclination of the housing 12 zero.
  • the control unit 111 stores the generated drive data in a register allocated to a part of the main memory 113 (step S205).
  • the control unit 111 then executes a process of inputting a drive signal of the unit step number N to the not-illustrated drive circuit of the actuator 171 (step S206), and continues this process until the unit step number N reaches the drive step number X. (Step S207).
  • the direction of the optical axis LA of the laser beam L emitted from the laser module 151 is determined in the vertical direction. As a result, as illustrated in FIG. 17(B), it becomes possible to visually confirm the inclination of the object O.
  • the control unit 111 repeats the processing routine from step S203 to step S207 until it determines to turn off the power (step S208), and when it determines to turn off the power (YES in step S208), executes a stop process such as clearing the memory (step S209). and complete the process.
  • a stop process such as clearing the memory (step S209). and complete the process.
  • (3) Calibration Mode As shown in FIG. 21, the process in the calibration mode is performed by installing the laser marking device 11 on an object O such as a wall surface W that is accurately vertical.
  • the angle of the optical axis LA can be adjusted by pressing the increment switch 54 or the decrement switch 55 provided on the operation panel 51.
  • the optical axis LA can be adjusted in the Y-axis direction or in the X-axis direction. can be set.
  • control unit 111 determines the operation input of the increment switch 54 or the decrement switch 55 during the calibration mode, it drives and controls the actuator 171 according to the degree of the operation input to slightly change the angle of the support body 131.
  • the optical axis LA of the laser module 151 is thereby adjusted.
  • the laser fixing mode is a mode that cancels the adjustment of the optical axis LA of the laser module 151 using the acceleration sensor 301.
  • the laser fixing mode routine can be easily realized by, for example, omitting or not executing steps S203 to S207 during the normal mode routine shown in FIG.
  • the laser marking device 11 is installed on a tripod 601 so that the optical axis LA of the laser beam L is horizontal.
  • the optical axis LA of the laser module 151 is adjusted using the acceleration sensor 301 (see the flowchart in FIG. 20). Therefore, as shown in FIG. 22(B), even if the laser marking device 11 is tilted by operating the tripod 601, the optical axis LA remains horizontal.
  • Such a laser fixing mode is convenient for marking a line between two points, such as marking out a stair handrail as shown in FIG. 23, for example.
  • the laser marking device 11 functioning as a marking device By setting the laser marking device 11 functioning as a marking device to a laser fixed mode and installing it on a tripod 601, and adjusting the angle of the tripod, it is possible to scan the laser beam L at a desired angle.
  • the laser stop process is a process that stops irradiation of laser light from the laser module 151 when the fluctuation in the output value of the acceleration sensor 301 exceeds a specified range.
  • the laser stop process constitutes the category 3 process that is executed in multi-task together with the category 1 mode setting process (see FIG. 19) and the category 2 normal mode process (see FIG. 20).
  • the control unit 111 acquires gravitational acceleration signal data (gravitational acceleration data) from the acceleration sensor 301 (step S301).
  • This data is digital data sampled in a MEMS (Micro Electro Mechanical System) that constitutes the acceleration sensor 301 or in another circuit.
  • MEMS Micro Electro Mechanical System
  • the control unit 111 stores the acquired gravitational acceleration data in a register allocated to a part of the main memory 113, for example (step S302).
  • the process of acquiring and storing gravitational acceleration data is repeated until the elapsed time or the number of acquisitions (Y) reaches a predetermined time or number of times (N) (step S303). ).
  • step S304 the control unit 111 executes a variation analysis of the gravitational acceleration data (step S304).
  • FIG. 25(A) is a graph showing an output example (gravitational acceleration data) of the acceleration sensor 301 when the laser marking device 11 is not shaking
  • FIG. 25(B) is a graph showing an output example (gravitational acceleration data) when the laser marking device 11 is shaking. It is.
  • This graph shows an example using a triaxial acceleration sensor 301.
  • control unit 111 determines whether or not the average value or peak value of the gravitational acceleration data stored in the register exceeds a predetermined threshold (step S305). If it is determined that (YES in step S305), the drive of the laser module 151 is forcibly stopped (step S306). At this time, the determination index for determining whether the reference value based on the gravitational acceleration data is within the permissible limit is whether the laser marking device 11 is being held by a person.
  • the variation analysis of the gravitational acceleration data in step S304 is realized not only by a relatively simple method of determining whether the average value or peak value of the acquired gravitational acceleration data exceeds a predetermined threshold value, but also by various methods. It is possible to do so.
  • the purpose of the laser stop processing is to prevent the laser beam L from being irradiated to unnecessary areas, but the training data is created by learning the pattern of weight acceleration data that should prevent the irradiation of the laser beam L. It is also possible to implement a method in which the data is stored in advance and compared with training data to determine whether it is within an acceptable range.
  • step S304 determines that the variation in the gravitational acceleration data is within the allowable range as a result of the variation analysis in step S304 (YES in step S305). If the control unit 111 determines that the variation in the gravitational acceleration data is within the allowable range as a result of the variation analysis in step S304 (YES in step S305), the process returns to step S301.
  • the laser marking device 11 of this embodiment saves space can be easily understood by comparing it with the laser marking device 11C1 of Comparative Example 1 shown in FIG. 26.
  • the laser marking device generally has a drive unit DRC1 disposed on an extension of the X support shaft 142C1 and the Y support shaft 143C1. Therefore, in the laser marking device 11C1 of Comparative Example 1, a 360 degree range around the gimbal 141 becomes a dead space including the pair of drive units DRC1.
  • the peripheral structure of the gimbal 141 can be downsized and the housing 12 can be made thinner, and as a result, the laser marking device 11 can be made portable.
  • the height ly of the virtual isosceles triangle IT is equal to the length lx of the base B. Therefore, in order to perform rocking around the X-axis 142 and rocking around the Y-axis 143, the numerical actuation units given to the pair of actuators 171L and 171R can be made equal, and the control Simplification can be achieved.
  • the apex angle AP of the virtual isosceles triangle IT is less than 60 degrees, it is possible to reduce the width of the gimbal 141 in the left and right direction when viewed from the reference plane 13.
  • the housing 12 can be made even thinner.
  • the structure in which the pair of sliders 172 are connected at the corners of the support body 131 also contributes to making the housing 12 even thinner.
  • the laser module 151 is arranged within the vertical projection plane of the gimbal 141, it is possible to prevent errors in the laser irradiation position.
  • the acceleration sensor 301 incorporates the inclination calculating section 411, the number of circuit components can be reduced, contributing to the miniaturization of the device.
  • the laser fixing mode since it has a laser fixing mode, it can be used in a variety of ways, such as drawing a line between two points, for example.
  • the object since the distance notation 16A, the irradiation direction notation 16B, and the needle notation 16C are provided on the housing 12, the object should be maintained between the object O and the optical axis LA of the laser beam L.
  • the distance, the irradiation direction of the laser beam L, and the fact that the installation needle 21 is installed can be shown to the worker in an intuitively understandable form, and work support can be provided.
  • FIGS. 28 to 35 Another Embodiment Another embodiment will be described based on FIGS. 28 to 35.
  • the same parts as in the embodiment described based on FIGS. 1 to 27 (hereinafter also referred to as "first embodiment") are designated by the same reference numerals, and explanations thereof will be omitted.
  • the difference between the first embodiment and this embodiment is that one more laser module 151 is added.
  • a single laser module 151 is provided, which is arranged so that the optical axis LA of the laser beam L points in the vertical direction.
  • the laser marking device 11 of this embodiment is provided with another laser module 151 arranged so that the optical axis LA of the laser beam L faces in the horizontal direction.
  • the laser module 151 arranged with the optical axis LA facing the vertical direction will be referred to as a first laser module 151A
  • the laser module 151 arranged with the optical axis LA facing the horizontal direction will be referred to as a second laser module 151B.
  • the support body 131 attached to the gimbal 141 is equipped with a second laser module 151B in addition to the acceleration sensor 301 and the first laser module 151A. ing.
  • the first laser module 151A is arranged so that its optical axis LA faces in the vertical direction
  • the second laser module 151B is arranged in a position where its optical axis LA faces in the horizontal direction.
  • the optical axes LA of the laser beams L emitted by the first laser module 151A and the second laser module 151B are exactly at right angles (90 degrees). . Since the optical axis LA of the laser beam L emitted by the first laser module 151A and the optical axis LA of the laser beam L emitted by the second laser module 151B form an exact right angle, the control unit 111 This is because there is no need to perform additional attitude control due to the addition of the laser module 151B. According to the present embodiment, regarding attitude control of the optical axis LA using the output of the acceleration sensor 301, the second laser module 151B does not require the control unit 111 to perform control processing different from that of the first embodiment. It is possible to use the horizontal laser beam L according to the method.
  • the housing 12 includes a first laser hole 15A through which the laser beam L emitted from the first laser module 151A passes, and a second laser hole 15B through which the laser beam L emitted from the second laser module 151B passes. It is provided.
  • the lower surface of the housing 12 is provided with a first laser hole 15A, and the grip area 17 is provided with a second laser hole 15B.
  • an increment switch 54 and a decrement switch 55 are added to the operation panel 51 in conjunction with the addition of the second laser module 151B.
  • the switches for the first laser module 151A which are also provided in the first embodiment, are referred to as a vertical increment switch 54V and a vertical decrement switch 55V.
  • the added switches for the second laser module 151B are called a horizontal increment switch 54H and a horizontal decrement switch 55H.
  • the vertical increment switch 54V and the vertical decrement switch 55V adjust the optical axis LA of the laser beam L emitted from the first laser module 151A and traveling vertically in the Y-axis direction and the X-axis direction.
  • the horizontal increment switch 54H and the horizontal decrement switch 55H adjust the optical axis LA of the laser beam L emitted from the second laser module 151B and traveling horizontally in the Z-axis direction and the X-axis direction.
  • the optical axis LA of the laser beam L emitted from the first laser module 151A in the Y-axis direction or in the X-axis direction for example, which one of the vertical increment switch 54V and the vertical decrement switch 55V Switching is possible by long-pressing one or both.
  • the default setting is that the optical axis LA is adjusted in the Y-axis direction by operating the vertical increment switch 54V and the vertical decrement switch 55V, then either one or both of these switches 54V and 55V By pressing and holding for a long time, the adjustment of the optical axis LA is switched to the X-axis direction.
  • the optical axis LA of the laser beam L emitted from the second laser module 151B in the Z-axis direction or in the X-axis direction for example, which one of the horizontal increment switch 54H and the horizontal decrement switch 55H Switching is possible by long-pressing one or both.
  • the default setting is that the optical axis LA is adjusted in the Z-axis direction by operating the horizontal increment switch 54H and the horizontal decrement switch 55H
  • one or both of these switches 54H and 55H By pressing and holding for a long time, the adjustment of the optical axis LA is switched to the X-axis direction.
  • optical axis LA of the laser beam L emitted from the first laser module 151A be adjusted in the Y-axis direction or in the X-axis direction, or should the optical axis LA of the laser beam L emitted from the second laser module 151B be adjusted?
  • Various embodiments are possible regarding the method of switching whether to adjust the optical axis LA in the Z-axis direction or in the X-axis direction. For example, it is possible to adopt a method such as providing a dedicated switch or providing a set of an increment switch 54 and a decrement switch 55 separately for each axis.
  • the reference surface 13 of the laser marking device 11 is brought into contact with and pressed against the wall surface W, which is the object O.
  • the laser light L is emitted from the first laser module 151A in the vertical direction, so it can be used both as a plumb-down device and as a marking device.
  • the laser marking device 11 irradiates the laser beam L in the horizontal direction from the second laser module 151B. Therefore, it can also be used as a marking device that scans the laser beam L on the wall surface W facing the wall surface W on which the reference surface 13 is installed.
  • the auxiliary surface 14 is brought into contact with the ceiling surface C, which is the object O.
  • the second magnet 31S provided on the auxiliary surface 14 is magnetically attracted to the ceiling surface C, and the position of the laser marking device 11 can be fixed.
  • the laser light L is emitted from the first laser module 151A in the vertical direction, so it can be used both as a plumb-down device and as a marking device.
  • the laser marking device 11 irradiates the laser beam L in the horizontal direction from the second laser module 151B. Therefore, it is possible to use the laser marking device 11 as a marking device that scans the laser beam L on the wall surface W facing the laser marking device 11.
  • the process in the calibration mode is performed by installing the laser marking device 11 on an object O such as a wall surface W that is accurately vertical.
  • the angle of the optical axis LA can be adjusted by pressing the vertical increment switch 54V or the vertical decrement switch 55V provided on the operation panel 51.
  • the laser beam L emitted from the first laser module 151A is emitted. It is possible to set whether to adjust the axis LA in the Y-axis direction or the X-axis direction.
  • the angle of the optical axis LA can be adjusted by pressing the horizontal increment switch 54H or the horizontal decrement switch 55H provided on the operation panel 51. can.
  • the light of the laser beam L irradiated from the second laser module 151B is It is possible to set whether to adjust the axis LA in the Z-axis direction or the X-axis direction.
  • control unit 111 determines the operation input of the vertical increment switch 54 or the vertical decrement switch 55V, or the horizontal increment switch 54H or the horizontal decrement switch 55H during the calibration mode, the control unit 111 drives and controls the actuator 171 according to the degree of the operation input, The angle of the support body 131 is slightly changed. The optical axis LA of the laser module 151 is thereby adjusted.
  • the second laser module It can be used as a marking device that scans the laser beam L in the horizontal direction by using the laser beam L emitted from the horizontal direction 151B.
  • the same effects as the laser marking device 11 of the first embodiment can be achieved.
  • the reference surface 13 provided on the housing 12 does not necessarily have to be configured as a surface including a pair of rails 13a that are pressed against the object O, but may be configured as a surface including three or more rails, ribs having various shapes, or completely. It may also be realized as a flat surface.
  • a two-axis acceleration sensor 301 is used, but usable acceleration sensors 301 are not limited to two-axis ones.
  • a triaxial acceleration sensor may also be used.
  • the arrangement of the Z-axis sensor axis is determined in a direction perpendicular to the X-axis and the Y-axis.
  • Laser marking device (bobbin device, marking device) 11C1 Laser marking device 11C2 Laser marking device 12 Housing 13 Reference surface 13a Rail 14 Auxiliary surface 15 Laser hole 15A First laser hole 15B Second laser hole 16A Distance notation 16B Irradiation direction notation 16C Needle notation 17 Gripping area 18 Laser confirmation lamp 19 Battery cover 21 Installation needle 22 Needle 23 Handle 24 Needle hole 31 Magnet 31S Second magnet 51 Operation panel 52 Power switch 53 Calibration mode switch 54 Increment switch 54H Horizontal increment switch 54V Vertical increment switch 55 Decrement switch 55H Horizontal decrement switch 55V Vertical decrement switch 56 Power/leveling lamp 57 Calibration mode lamp 58 Laser fixed mode lamp 58a Pictogram 59 Remaining battery warning lamp 59a Pictogram 61 Frame 101 Operation panel board 111 Control unit 112 CPU 113 Main memory 114 Flash memory 115 I/O 131 Support 131a Free end 131C1 Support 131C2 Support 132 Coil spring 133 Limit switch 141 Gimbal 141C1 Gimba

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  • Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Laser Beam Processing (AREA)

Abstract

L'invention concerne un cardan (141) disposé dans un boîtier comportant une surface de référence (13) à régler par rapport à un objet, le cardan comportant une broche d'axe X (142) parallèle à la surface de référence et une broche d'axe Y (143) orthogonale à la surface de référence à l'intérieur d'un plan horizontal virtuel qui est un plan horizontal virtuel défini lorsque la surface de référence est disposée à la verticale. Un module laser et un capteur d'accélération (301) sont montés sur un corps de support (131) fixé au cardan. Dans le corps de support, les positions de deux angles inférieurs (BA) d'un triangle isocèle virtuel (IT) dont la base (B) est parallèle à la surface de référence et dont le sommet (A) est positionné au centre du cardan sont configurées pour pouvoir être élevées et abaissées indépendamment l'une de l'autre grâce à l'actionnement d'une paire d'actionneurs (171L, 171R). Les valeurs et les directions d'inclinaison des axes X et Y sont calculées à partir des sorties du capteur d'accélération, et la paire d'actionneurs est commandée de manière à ce que l'inclinaison des deux axes soit nulle.
PCT/JP2022/033030 2022-09-01 2022-09-01 Dispositif de marquage par laser WO2024047852A1 (fr)

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Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2009085908A (ja) * 2007-10-03 2009-04-23 Audio Technica Corp 墨出し器
JP2020153921A (ja) * 2019-03-22 2020-09-24 株式会社マキタ レーザ墨出し器
US20210404806A1 (en) * 2018-10-10 2021-12-30 Techtronic Cordless Gp Laser level with electronic tilt sensor
CN217083737U (zh) * 2021-07-02 2022-07-29 深圳市度彼电子有限公司 具有直线标记功能的数显电子倾角仪

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2009085908A (ja) * 2007-10-03 2009-04-23 Audio Technica Corp 墨出し器
US20210404806A1 (en) * 2018-10-10 2021-12-30 Techtronic Cordless Gp Laser level with electronic tilt sensor
JP2020153921A (ja) * 2019-03-22 2020-09-24 株式会社マキタ レーザ墨出し器
CN217083737U (zh) * 2021-07-02 2022-07-29 深圳市度彼电子有限公司 具有直线标记功能的数显电子倾角仪

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