Fulpoint position calculation method and fulcrum position calculation device

Abstract

A fulcrum position calculation method for calculating a fulcrum position of a wire electrode (18) of a wire electric discharge machine (10) includes: acquiring relative positions from a storage unit (32) that stores relative positions of a fulcrum position corresponding to a first angle, which is an inclination angle of the wire electrode (18), and fulcrum positions corresponding to each of a plurality of angles different from the first angle; the wire electrode (18) is tilted to a first angle, the fulcrum position corresponding to the first angle is measured, and the fulcrum position corresponding to each angle is calculated on the basis of the measured fulcrum position corresponding to the first angle and the relative position.

Description

Technical Field

[0001] The present disclosure relates to a fulcrum position calculation method and a fulcrum position calculation device. Background Art

[0002] Japanese Patent Application Laid-Open No. 2006-035395 discloses a wire electrical discharge machine that performs tapered machining on a workpiece. Summary of the invention

[0003] When performing taper machining, it is necessary to accurately determine the fulcrum positions of the wire electrodes in the two wire guides. Recently, a better fulcrum position calculation method and fulcrum position calculation device have been desired.

[0004] A first method disclosed in the present invention is a fulcrum position calculation method for calculating the fulcrum position of a wire electrode in two wire guides of a wire discharge machine, wherein the fulcrum position calculation method comprises: a relative position acquisition step for acquiring the relative position from a storage unit for storing the fulcrum position corresponding to a first angle and the relative position of the fulcrum positions corresponding to a plurality of angles different from the first angle, wherein the first angle is an inclination angle of the wire electrode relative to a reference line; a fulcrum position measurement step for inclining the wire electrode relative to the reference line to the first angle and measuring the fulcrum position corresponding to the first angle; and a fulcrum position calculation step for calculating the fulcrum position corresponding to each angle based on the measured fulcrum position corresponding to the first angle and the relative position.

[0005] A second method disclosed in the present invention is a fulcrum position calculation device, which calculates the fulcrum position of the wire electrode in two wire guides of a wire discharge machine, wherein the fulcrum position calculation device comprises: a relative position acquisition unit, which acquires the relative position from a storage unit that stores the relative position of the fulcrum position corresponding to a first angle and the fulcrum positions corresponding to a plurality of angles different from the first angle, wherein the first angle is an inclination angle of the wire electrode relative to a reference line; a fulcrum position measurement unit, which inclines the wire electrode to the first angle relative to the reference line and measures the fulcrum position corresponding to the first angle; and a fulcrum position calculation unit, which calculates the fulcrum position corresponding to each angle based on the measured fulcrum position corresponding to the first angle and the relative position. BRIEF DESCRIPTION OF THE DRAWINGS

[0006] Figure 1 This is a schematic diagram of a wire electrical discharge machine.

[0007] Figure 2 It is a schematic diagram showing a state where the wire electrode is tilted.

[0008] Figure 3ASchematic diagram for explaining the upper support point that changes according to the inclination angle of the wire electrode.

[0009] Figure 3B Schematic diagram for explaining the change of the lower support point according to the inclination angle of the wire electrode.

[0010] Figure 4 : is a table showing examples of the upper supporting point position and the lower supporting point position corresponding to the inclination angle of the wire electrode.

[0011] Figure 5 This is a table showing examples of relative positions of the upper fulcrum position and the lower fulcrum position.

[0012] Figure 6 This is a table showing examples of the upper fulcrum position and the lower fulcrum position obtained from the relative position.

[0013] Figure 7 : is a flowchart showing the fulcrum position calculation process executed in the control device. DETAILED DESCRIPTION

[0014] In order to tilt the wire electrode at an accurate angle, the distance between the fulcrums must be accurately calculated. The distance between the fulcrums is calculated based on the fulcrum positions of the wire electrodes of the two wire guides. The fulcrum positions vary depending on the tilt angle of the wire electrode, so it is necessary to obtain the fulcrum positions corresponding to multiple angles through prior measurement.

[0015] When the wire guide is replaced, the position of the wire guide may change. When the position of the wire guide changes, the fulcrum position corresponding to each angle of inclination of the wire electrode also changes. Therefore, in the past, whenever the wire guide is replaced, the fulcrum position corresponding to each of the multiple angles is obtained by measurement. However, there is a problem that it takes a long time to obtain the fulcrum position corresponding to each of the multiple angles by measurement.

[0016] An object of the present disclosure is to shorten the time required to obtain fulcrum positions corresponding to a plurality of angles.

[0017] [First embodiment]

[0018] [Structure of Wire EDM]

[0019] Figure 1 1 is a schematic diagram of a wire electrical discharge machine 10 . The wire electrical discharge machine 10 includes a machine body 12 and a control device 14 .

[0020] The machining machine body 12 applies a voltage between the wire electrode 18 and the workpiece 16 to generate discharge. Thus, the workpiece 16 is subjected to electrical discharge machining.

[0021] The control device 14 controls the processing machine body 12. The control device 14 controls the table driving mechanism 20 to move the table 22. Thus, the wire electrode 18 moves relative to the workpiece 16 placed on the table 22 in the X-axis direction and the Y-axis direction.

[0022] The control device 14 controls the upper nozzle driving mechanism 24 to move the upper nozzle 26a. As a result, the upper nozzle 26a moves in the U-axis direction, the V-axis direction, and the Z-axis direction. The U-axis direction is a direction parallel to the X-axis direction. The V-axis direction is a direction parallel to the Y-axis direction. The Z-axis direction is a direction orthogonal to the U-axis direction and the V-axis direction.

[0023] The control device 14 includes a computing unit 30 and a storage unit 32. The computing unit 30 is, for example, a processor such as a CPU (Central Processing Unit) or a GPU (Graphics Processing Unit). The computing unit 30 includes a fulcrum position measuring unit 34, a relative position acquiring unit 36, a fulcrum position calculating unit 38, and an angle control unit 40. The fulcrum position measuring unit 34, the relative position acquiring unit 36, the fulcrum position calculating unit 38, and the angle control unit 40 are implemented by the computing unit 30 executing a program stored in the storage unit 32. At least a part of the fulcrum position measuring unit 34, the relative position acquiring unit 36, the fulcrum position calculating unit 38, and the angle control unit 40 may be implemented by an integrated circuit such as an ASIC (Application Specific Integrated Circuit) or an FPGA (Field-Programmable Gate Array). At least a part of the fulcrum position measuring unit 34, the relative position acquiring unit 36, the fulcrum position calculating unit 38, and the angle control unit 40 may also be implemented by an electronic circuit including discrete devices.

[0024] The storage unit 32 is composed of a volatile memory (not shown) and a non-volatile memory (not shown) as a computer-readable storage medium. Examples of volatile memory include RAM (Random Access Memory) and the like. Examples of non-volatile memory include ROM (Read Only Memory), flash memory and the like. Data and the like are stored in the volatile memory, for example. Programs, tables, mappings and the like are stored in the non-volatile memory, for example. At least a portion of the storage unit 32 may also be provided in the above-mentioned processor, integrated circuit and the like. At least a portion of the storage unit 32 may also be mounted on a device connected to the wire discharge machine 10 via a network.

[0025] The processing performed by the fulcrum position measuring unit 34, the relative position acquiring unit 36, the fulcrum position calculating unit 38, and the angle control unit 40 of the control device 14 will be described in detail later. The control device 14 corresponds to the fulcrum position calculating device of the present invention.

[0026] [About the inclination of the wire electrode]

[0027] Figure 2 Schematic diagram showing a state where the wire electrode 18 is tilted. The upper nozzle 26a has an upper wire guide 42a supporting the wire electrode 18. The lower nozzle 26b has a lower wire guide 42b supporting the wire electrode 18. Hereinafter, when the upper wire guide 42a and the lower wire guide 42b are not distinguished, they may be described as the wire guide 42.

[0028] In the following, the point on the upper wire guide 42a that supports the wire electrode 18 is sometimes described as the upper fulcrum P1. The point on the lower wire guide 42b that supports the wire electrode 18 is sometimes described as the lower fulcrum P2. When the upper fulcrum P1 and the lower fulcrum P2 are not distinguished, they are sometimes described as the fulcrum P. In addition, the Z-axis coordinate value of the upper fulcrum P1 is sometimes described as the upper fulcrum position z1. The Z-axis coordinate value of the lower fulcrum P2 is sometimes described as the lower fulcrum position z2.

[0029] When the workpiece 16 is subjected to tapered processing or vertically irregularly shaped processing, the processing machine body 12 processes the workpiece 16 while the wire electrode 18 is tilted relative to the reference line 44. The reference line 44 is a line passing through the lower fulcrum P2 and parallel to the Z-axis direction. When the wire electrode 18 is not tilted relative to the reference line 44, the wire electrode 18 is located on the reference line 44.

[0030] The upper fulcrum P1 moves in the U-axis direction or the V-axis direction together with the upper nozzle 26a. By moving the upper fulcrum P1 in the U-axis direction or the V-axis direction, the wire electrode 18 is tilted relative to the reference line 44. The movement amount of the upper fulcrum P1 is set according to the tilt angle of the wire electrode 18 relative to the reference line 44. Hereinafter, when the angle is described, the tilt angle of the wire electrode 18 relative to the reference line 44 is indicated.

[0031] For example, in order to tilt the wire electrode 18 to form an angle α, the upper fulcrum P1 is moved from the reference line 44 in the U-axis direction. The moving distance is M. The distance between the upper fulcrum P1 and the lower fulcrum P2 in the Z-axis direction is H. Based on the fulcrum distance H and the angle α, the moving distance M is calculated by the following formula (1).

[0032] (Mathematical formula 1) M = H × tanα (1)

[0033] That is, if the fulcrum distance H is known, the moving distance M of the upper nozzle 26a required to make the wire electrode 18 tilt at the angle α can be obtained. The fulcrum distance H is obtained by the following formula (2) based on the upper fulcrum position z1 and the lower fulcrum position z2.

[0034] (Mathematical formula 2) H = z1-z2…(2)

[0035] The upper fulcrum position z1 and the lower fulcrum position z2 vary according to the inclination angle of the wire electrode 18 . That is, the inter-fulcrum distance H varies according to the inclination angle of the wire electrode 18 .

[0036] Figure 3A 1 is a schematic diagram for explaining the upper support point P1 which changes according to the inclination angle of the wire electrode 18 . Figure 3B 1 is a schematic diagram for explaining the change of the lower support point P2 according to the inclination angle of the wire electrode 18. Figure 3A As shown in FIG. 1 , the larger the inclination angle of the wire electrode 18 is, the more the upper fulcrum P1 moves toward the negative direction of the Z axis. Figure 3B As shown, the larger the inclination angle of the wire electrode 18 is, the more the lower support point P2 moves in the positive direction of the Z axis.

[0037] Figure 4 : This is a table showing examples of the upper supporting point position z1 and the lower supporting point position z2 corresponding to the inclination angle of the wire electrode 18 . Figure 4 The upper fulcrum position z1 represents the reference point Q ( Figure 2 ) is the reference value. Figure 4 The Z-axis coordinate value of the lower fulcrum position z2 represents a value based on the origin (Z=0).

[0038] By obtaining the upper fulcrum position z1 and the lower fulcrum position z2 corresponding to a plurality of angles of the wire electrode 18 through prior measurement, the inter-fulcrum distance H corresponding to each angle can be accurately obtained.

[0039] [About changes in the upper and lower fulcrum positions due to replacement of the thread guide, etc.]

[0040] The wire guide 42 may be removed and installed by the user when the user replaces the wire guide 42 or the like.

[0041] When the wire guide 42 is replaced, the position of the wire guide 42 in the Z-axis direction may change. When the position of the wire guide 42 in the Z-axis direction changes, the upper fulcrum position z1 and the lower fulcrum position z2 corresponding to each angle of inclination of the wire electrode 18 also change. However, even when the upper fulcrum position z1 and the lower fulcrum position z2 corresponding to each angle of inclination of the wire electrode 18 change, the relative position of the upper fulcrum position z1 and the lower fulcrum position z2 corresponding to each angle is fixed.

[0042] Figure 5 This is a table showing an example of the relative position of the upper supporting point position z1 and the lower supporting point position z2. Figure 5 The upper fulcrum position z1 and the lower fulcrum position z2 corresponding to the angle 15° and the angle 20° are shown relative to the upper fulcrum position z1 and the lower fulcrum position z2 corresponding to the angle 10°.

[0043] By prior measurement, if the upper fulcrum position z1 and the lower fulcrum position z2 corresponding to the angle 10° are obtained, it can be used Figure 5 The relative positions shown are used to calculate the upper fulcrum position z1 and the lower fulcrum position z2 corresponding to the angles of 15° and 20°.

[0044] Figure 6 The table shows an example of the upper fulcrum position z1 and the lower fulcrum position z2 obtained from the relative position. Figure 6 The upper fulcrum position z1 and the lower fulcrum position z2 correspond to the angles 15° and 20°.

[0045] [About the processing in the control device]

[0046] As described above, the control device 14 includes the fulcrum position measuring unit 34 , the relative position acquiring unit 36 ​​, the fulcrum position calculating unit 38 , and the angle control unit 40 .

[0047] Figure 7 1 is a flowchart showing a fulcrum position calculation process executed by the control device 14 .

[0048] The relative position corresponding to each angle is obtained before the fulcrum position calculation process is executed. The relative position corresponding to each angle is obtained by the fulcrum position measurement unit 34.

[0049] The fulcrum position measuring unit 34 measures the upper fulcrum position z1 and the lower fulcrum position z2 when the wire electrode 18 is tilted at a plurality of angles including 10°. The method of measuring the upper fulcrum position z1 and the lower fulcrum position z2 is known, and thus the description thereof is omitted.

[0050] The fulcrum position measuring unit 34 calculates the relative positions of the upper fulcrum position z1 and the lower fulcrum position z2 corresponding to each angle based on the upper fulcrum position z1 and the lower fulcrum position z2 corresponding to the angle 10°. The fulcrum position measuring unit 34 associates the relative positions with each angle and stores them in the storage unit 32 .

[0051] The process of finding the relative position may be performed only once in the in-line EDM 10. Alternatively, the process of finding the relative position may be performed according to the type of the upper wire guide 42a and the lower wire guide 42b. The relative positions corresponding to the respective angles may be stored in the storage unit 32 when the in-line EDM 10 is shipped.

[0052] When the wire guide 42 is replaced, the control device 14 Figure 7 The flowchart shown performs the fulcrum position calculation processing.

[0053] In step S1, the relative position acquisition unit 36 ​​acquires the relative positions of the upper supporting point position z1 and the lower supporting point position z2 corresponding to each angle from the storage unit 32. Thereafter, the process moves to step S2.

[0054] In step S2 , the fulcrum position measuring unit 34 measures the upper fulcrum position z1 and the lower fulcrum position z2 when the inclination of the wire electrode 18 is 10°. Thereafter, the process moves to step S3 .

[0055] In step S3, the fulcrum position calculation unit 38 calculates the upper fulcrum position z1 and the lower fulcrum position z2 corresponding to each angle. After that, the fulcrum position calculation process is terminated. The upper fulcrum position z1 and the lower fulcrum position z2 corresponding to each angle are calculated based on the upper fulcrum position z1 and the lower fulcrum position z2 corresponding to the angle 10° and the relative position corresponding to each angle. The calculated upper fulcrum position z1 and the lower fulcrum position z2 can also be associated with each angle and stored in the storage unit 32.

[0056] The angle control unit 40 calculates the distance H between the fulcrums by the above formula (2) based on the upper fulcrum position z1 and the lower fulcrum position z2 corresponding to the inclination angle α of the wire electrode 18 specified during processing. The angle control unit 40 calculates the moving distance M of the upper nozzle 26a by the above formula (1) based on the specified angle α and the distance H between the fulcrums. The angle control unit 40 controls the upper nozzle driving mechanism 24 to move the upper nozzle 26a from the reference line 44 by the moving distance M. As a result, the inclination of the wire electrode 18 becomes the specified angle α.

[0057] In the above description, the fulcrum position measuring unit 34 calculates the relative positions of the upper fulcrum position z1 and the lower fulcrum position z2 corresponding to each angle, using the upper fulcrum position z1 and the lower fulcrum position z2 corresponding to the angle 10° of the inclination of the wire electrode 18 as references. On the other hand, the fulcrum position measuring unit 34 may calculate the relative positions of the upper fulcrum position z1 and the lower fulcrum position z2 corresponding to each angle, using the upper fulcrum position z1 and the lower fulcrum position z2 corresponding to an angle other than the angle 10° of the inclination of the wire electrode 18 as references. In this case, in the above step S2, the fulcrum position measuring unit 34 needs to measure the upper fulcrum position z1 and the lower fulcrum position z2 corresponding to the angle that serves as the reference for the relative position.

[0058] [Effects]

[0059] In order to tilt the wire electrode 18 at an accurate angle, it is necessary to accurately determine the distance H between the fulcrums. The distance H between the fulcrums is determined based on the upper fulcrum position z1 and the lower fulcrum position z2. The upper fulcrum position z1 and the lower fulcrum position z2 vary depending on the tilt angle of the wire electrode 18, so it is necessary to obtain the upper fulcrum position z1 and the lower fulcrum position z2 corresponding to a plurality of angles through prior measurement.

[0060] When the wire guide 42 is replaced, the position of the wire guide 42 in the Z-axis direction may change. When the position of the wire guide 42 in the Z-axis direction changes, the upper fulcrum position z1 and the lower fulcrum position z2 corresponding to each angle of inclination of the wire electrode 18 also change. Therefore, in the past, whenever the wire guide 42 was replaced, the upper fulcrum position z1 and the lower fulcrum position z2 corresponding to the plurality of angles were obtained by measurement. However, there was a problem that it took a long time to obtain the upper fulcrum position z1 and the lower fulcrum position z2 corresponding to the plurality of angles by measurement.

[0061] The present inventors have focused on the fact that even when the upper fulcrum position z1 and the lower fulcrum position z2 corresponding to each inclination angle of the wire electrode 18 change, the relative position of the upper fulcrum position z1 and the lower fulcrum position z2 corresponding to each angle remains constant.

[0062] In the present embodiment, a method for calculating the upper fulcrum position z1 and the lower fulcrum position z2 of the wire electric discharge machine 10 is disclosed. In the fulcrum position calculation method, relative positions corresponding to a plurality of angles including a first angle (for example, an angle of 10°) are obtained from the storage unit 32. The wire electrode 18 is tilted at the first angle, and the upper fulcrum position z1 and the lower fulcrum position z2 corresponding to the first angle are measured. Based on the upper fulcrum position z1 and the lower fulcrum position z2 corresponding to the first angle and the relative positions corresponding to the respective angles, the fulcrum position corresponding to the respective angles is calculated.

[0063] In addition, in the present embodiment, the control device 14 is disclosed as a fulcrum position calculation device for calculating the upper fulcrum position z1 and the lower fulcrum position z2 of the wire electric discharge machine 10. In the control device 14, the relative position acquisition unit 36 ​​acquires the relative positions corresponding to each of the plurality of angles including the first angle (for example, the angle 10°) from the storage unit 32. The fulcrum position measurement unit 34 tilts the wire electrode 18 to the first angle, and measures the upper fulcrum position z1 and the lower fulcrum position z2 corresponding to the first angle. The fulcrum position calculation unit 38 calculates the fulcrum position corresponding to each angle based on the upper fulcrum position z1 and the lower fulcrum position z2 corresponding to the first angle and the relative positions corresponding to each angle.

[0064] Thus, when the thread guide 42 is replaced, if the upper fulcrum position z1 and the lower fulcrum position z2 corresponding to the first angle can be obtained by measurement, the upper fulcrum position z1 and the lower fulcrum position z2 corresponding to the plurality of angles can be obtained by calculation. As a result, after the thread guide 42 is replaced, the time required to obtain the upper fulcrum position z1 and the lower fulcrum position z2 corresponding to the plurality of angles can be shortened.

[0065] The following supplementary notes are further disclosed with respect to the above-mentioned embodiment.

[0066] (Note 1)

[0067] A method for calculating a fulcrum position is provided for calculating the fulcrum position of a wire electrode 18 in two wire guides 42 of a wire electric discharge machine 10, wherein the method for calculating the fulcrum position comprises: a relative position obtaining step for obtaining the relative position from a storage unit 32 storing the relative positions of the fulcrum position corresponding to a first angle and the fulcrum positions corresponding to a plurality of angles different from the first angle, wherein the first angle is an inclination angle of the wire electrode relative to a reference line 44; a fulcrum position measuring step for inclining the wire electrode relative to the reference line to the first angle and measuring the fulcrum position corresponding to the first angle; and a fulcrum position calculating step for calculating the fulcrum position corresponding to each angle based on the measured fulcrum position corresponding to the first angle and the relative position. Thus, the time required to obtain the fulcrum positions corresponding to the plurality of angles can be shortened.

[0068] (Note 2)

[0069] In the fulcrum position calculation method described in Appendix 1, the fulcrum position calculation method may include a storage step, before the wire electrode is disassembled, the wire electrode is tilted relative to the reference line to a plurality of angles including the first angle, the fulcrum position corresponding to each angle is measured, a storage unit stores the relative position calculated based on the fulcrum position corresponding to each measured angle, and the fulcrum position measurement step is performed after the wire electrode is disassembled and mounted. Thus, the time required to obtain the fulcrum position corresponding to each of the plurality of angles can be shortened.

[0070] (Note 3)

[0071] A fulcrum position calculation device 14 is provided for calculating the fulcrum position of the wire electrode in two wire guides of a wire electric discharge machine, wherein the fulcrum position calculation device 14 comprises: a relative position acquisition unit 36, which acquires the relative position from a storage unit storing the relative positions of the fulcrum position corresponding to a first angle and the fulcrum positions corresponding to a plurality of angles different from the first angle, wherein the first angle is an inclination angle of the wire electrode relative to a reference line; a fulcrum position measurement unit 34, which tilts the wire electrode relative to the reference line to the first angle and measures the fulcrum position corresponding to the first angle; and a fulcrum position calculation unit 38, which calculates the fulcrum position corresponding to each angle based on the measured fulcrum position corresponding to the first angle and the relative position. Thus, the time required to obtain the fulcrum positions corresponding to the plurality of angles can be shortened.

[0072] The embodiments of the present disclosure are described in detail, but the present disclosure is not limited to the above-mentioned embodiments. These embodiments can be variously added, replaced, changed, partially deleted, etc. without departing from the scope of the main idea of ​​the invention, or without departing from the content recorded in the scope of the patent protection requested and its equivalents. For example, in the above-mentioned embodiments, the order of each action and the order of each processing are shown as an example, but are not limited to this. In addition, the same is true for the case where numerical values ​​or mathematical formulas are used in the description of the above-mentioned embodiments.

[0073] Description of Reference Numerals

[0074] 10…Wire EDM, 14…Fulcrum position calculation device (control device),

[0075] 18···wire electrode, 32···storage unit,

[0076] 34 ... a fulcrum position measuring unit, 36 ... a relative position acquiring unit,

[0077] 38…Fulcrum position calculation unit, 42…Wire guide,

[0078] 44…baseline.

Claims

1. A method for calculating the fulcrum position of a wire electrode (18) in two wire guides (42) of a wire electrical discharge machine (10), characterized in that: The fulcrum position calculation method has the following features: a relative position acquisition step of acquiring the relative position from a storage unit (32) storing relative positions of the fulcrum position corresponding to a first angle and the fulcrum positions corresponding to a plurality of angles different from the first angle, wherein the first angle is an inclination angle of the wire electrode relative to a reference line (44); a fulcrum position measuring step, inclining the wire electrode to the first angle relative to the reference line, and measuring the fulcrum position corresponding to the first angle; as well as The fulcrum position calculation step calculates the fulcrum position corresponding to each angle based on the measured fulcrum position corresponding to the first angle and the relative position.

2. The method for calculating the fulcrum position according to claim 1, characterized in that: The fulcrum position calculation method comprises: a storage step of, before disassembling the wire electrode, tilting the wire electrode relative to the reference line to a plurality of angles including the first angle, measuring the fulcrum position corresponding to each angle, and causing a storage unit to store the relative position calculated based on the fulcrum position corresponding to each measured angle, The fulcrum position measuring step is performed after the wire electrode is removed and installed.

3. A fulcrum position calculation device (14) for calculating the fulcrum position of wire electrodes in two wire guides of a wire electrical discharge machine, characterized in that: The fulcrum position calculation device (14) comprises: a relative position acquisition unit (36) for acquiring the relative position from a storage unit storing relative positions of the fulcrum position corresponding to a first angle and the fulcrum positions corresponding to a plurality of angles different from the first angle, wherein the first angle is an inclination angle of the wire electrode relative to a reference line; A fulcrum position measuring unit (34) is configured to tilt the wire electrode to the first angle relative to the reference line and measure the fulcrum position corresponding to the first angle; as well as A fulcrum position calculation unit (38) calculates the fulcrum position corresponding to each angle based on the measured fulcrum position corresponding to the first angle and the relative position.

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