JP2014202533A - Bevel shape measurement method and device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a bevel shape measurement method which is capable of accurately detecting a position of an edge included in a bevel shape and thereby is capable of accurately measuring the bevel shape.SOLUTION: When a shape of a bevel K on an end surface of a workpiece W is measured by two-dimensional displacement sensors using a principle of a light-section method, two-dimensional displacement sensors M1 and M2 are arranged to irradiate the end surface of the work-piece with inspection light 10 from oblique directions so that the sensors have prescribed angles α1 and α2 with respect to a perpendicular line of the end surface of the work-piece, on both sides of a front surface P1 direction of the workpiece and a rear surface P2 direction of the work-piece in a Y-axis direction, when a direction of the perpendicular line of the end of the work-piece is defined as an X-axis direction and thickness direction of the work-piece is defined as the Y-axis direction. Data acquired by respective sensors are converted to data in a coordinate system having the X axis direction as a reference coordinate axis, and converted data are combined into one piece of cross-section data.

Description

  The present invention relates to a groove shape measuring method and apparatus for measuring the shape of a groove machined on the end face of a workpiece for welding a flat plate-shaped or curved plate-shaped workpiece by a displacement sensor based on the optical cutting method. In particular, for example, the present invention relates to a groove shape measuring method and apparatus useful for measuring the shape of a groove processed at the end of a steel pipe.

  For example, in the case of a J-shaped groove, the root surface (a part of the end surface of the workpiece perpendicular to the plate surface of the workpiece corresponds to an item for managing the shape of the groove processed on the end surface of the workpiece for welding the workpiece. ) Height, the shape of the bevel surface of the groove on the front surface side (the groove surface having a bevel angle), the depth of the groove on the front surface side, the shape of the groove on the back surface side, and the depth of the groove on the back surface side. , Etc.

  Conventionally, the dimensions corresponding to these items have been read and measured with the naked eye using a caliper, a scaled loupe, or the like.

  However, the measurement method that humans read with calipers, loupes, etc. is judged to be within the control value even though the reading value varies for each measurer and the processed groove shape is actually outside the control value. I was worried about it.

  As an example of a groove shape measuring method that solves these problems, Patent Document 1 describes a method of measuring a groove shape using an optical two-dimensional displacement sensor. In the method described in Patent Document 1, at least one of an axial displacement and a radial displacement of a pipe end face is measured by a two-dimensional displacement sensor, and the two-dimensional displacement sensor is rotated along the pipe end face. Thus, the groove shape of the entire circumference is measured.

  As the two-dimensional displacement sensor in this case, for example, a two-dimensional displacement sensor based on the principle of an optical cutting method can be used. In the light cutting method, inspection light (slit light) is irradiated from the light projecting means to the end surface of the workpiece, and the reflected image formed on the surface of the groove by this irradiation, that is, the light cut image, is separated from the light projecting means by a certain distance. In this method, an image is picked up by an image pickup means arranged at a predetermined position, and a groove shape is detected from the picked-up light section image. The two-dimensional displacement sensor based on the principle of light cutting is configured to include both the light projecting means and the imaging means in a state where a certain positional relationship is maintained.

JP 2000-346637 A

  By the way, when measuring the shape of the groove on the end face of the workpiece with a two-dimensional displacement sensor based on the optical cutting method, the two-dimensional displacement sensor is arranged at a position perpendicular to the end face of the workpiece on which the groove is machined. In general, the inspection light (slit light) is irradiated perpendicularly to the end face of the workpiece. However, in such a case, it has been found that the position of the edge (corner) included in the groove shape may not be accurately measured.

  That is, the edge included in the groove shape is constituted by two surfaces adjacent to each other in the thickness direction of the workpiece, but one of the surfaces has a small angle with respect to the irradiation direction of the inspection light and is sharp. In the case of a gradient, there is a possibility that the reflected light of the steep surface cannot be detected, and the position of the edge cannot be accurately determined.

  For example, in the light cutting method, it is difficult to capture the reflected light of a portion having a steep slope that generally exceeds 70 °, and thus the position of the edge cannot be accurately detected. There was a concern that the data near the inflection point (near the edge) for calculation would be lost. In such a case, the result is that the groove shape cannot be measured accurately.

  The present invention has been made in view of the above-described circumstances, and can accurately detect the position of the edge included in the groove shape, thereby accurately measuring the groove shape. An object is to provide a tip shape measuring method and apparatus.

The present invention employs the following means in order to solve the above problems.
That is, the groove shape measuring method according to the invention of claim 1 is a displacement based on the optical cutting method for the shape of a groove machined on the end face of a workpiece in order to weld a flat plate-shaped or curved plate-shaped workpiece. A groove shape measuring method for measuring by a sensor, wherein the direction of the perpendicular to the end surface of the workpiece is the X-axis direction, and the thickness direction of the workpiece orthogonal to the X-axis direction is the Y-axis direction. With respect to the perpendicular to the end surface, the workpiece is distributed by a predetermined angle α1, α2 on both sides of the workpiece surface direction and the workpiece rear surface direction in the Y-axis direction, and the inspection light is irradiated to the end surface of the workpiece from an oblique direction. The first and second displacement sensors are arranged so as to acquire the light section image data of the groove in a coordinate system having a light irradiation direction as a reference coordinate axis. I got it The optical section image data of the groove in each coordinate system with the direction of irradiating the inspection light as the reference coordinate axis is converted into the data of the coordinate system with the X axis direction as the reference coordinate axis, and the converted data of both displacement sensors The groove shape is determined by synthesizing.

  As a result, there is no steep portion in the measurement range shared by each displacement sensor, and data near the inflection point (near the edge) is collected by each displacement sensor without being lost. Therefore, it becomes possible to accurately detect the position of the edge, and by combining the data of both displacement sensors into one light section image data, an item for defining the groove shape (the height of the root surface and the like) The measurement accuracy of the bevel surface shape of the groove and the groove depth can be improved.

  Further, the groove shape measuring method according to the invention of claim 2 is obtained from the light section image data of the groove in each coordinate system obtained by the respective displacement sensors and having a reference coordinate axis as a direction in which the inspection light is irradiated. Then, after extracting the coordinates of the edge on the surface side of the workpiece of the root surface of the groove, with the coordinates of the edge in each coordinate system as a common coordinate point, and overlapping the light section image data of both displacement sensors, For the optical displacement image data of the first displacement sensor acquired from the surface direction of the workpiece, the coordinate axis is rotationally corrected so that the surface position of the workpiece coincides with the X-axis direction, and the first image acquired from the back surface direction of the workpiece. As for the optical section image data of the displacement sensor 2, the coordinate axis is rotationally corrected so that the back surface position of the workpiece coincides with the X-axis direction, and the data of both displacement sensors corrected for rotation are combined to produce one light. Characterized by the cross-sectional image data.

  Accordingly, the light section image data of each displacement sensor detected from different directions can be easily combined with one light section image data with reference to the coordinates of one edge.

  In the groove shape measuring method according to the invention of claim 3, the coordinate axis of the light section image data of the groove in each coordinate system obtained by each of the displacement sensors and having a reference coordinate axis as a direction in which the inspection light is irradiated is used. The rotation angle of each displacement sensor is corrected by the installation angles α1 and α2, respectively, and then an angle with respect to the root surface and the root surface of the groove included in the optical section image data of each displacement sensor. The coordinates are shared by correcting the translation so that the bevel surfaces coincide with each other, and the data of the two displacement sensors represented by the shared coordinates are combined into one light section image data. .

  As a result, the optical section image data of each displacement sensor detected from different directions can be easily combined into one optical section image data only by rotating and correcting the optical section image data of each displacement sensor.

  Further, the groove shape measuring apparatus according to the invention of claim 4 is a displacement based on the principle of the optical cutting method for the shape of the groove machined on the end face of the workpiece in order to weld a flat plate-shaped or curved plate-shaped workpiece. A groove shape measuring apparatus for measuring by a sensor, wherein when the direction of the perpendicular to the end face of the workpiece is the X-axis direction and the thickness direction of the workpiece orthogonal to the X-axis direction is the Y-axis direction, With respect to the perpendicular to the end surface, the workpiece is distributed by a predetermined angle α1, α2 on both sides of the workpiece surface direction and the workpiece rear surface direction in the Y-axis direction, and the inspection light is irradiated to the end surface of the workpiece from an oblique direction. The first and second displacement sensors arranged so as to acquire the light section image data of the groove in a coordinate system having a light irradiating direction as a reference coordinate axis; and the two displacement sensors Got it By converting the light section image data of the groove in each coordinate system having the direction of irradiating each inspection light as the reference coordinate axis into data of the coordinate system having the X axis direction as the reference coordinate axis, And a data processing device for determining the groove shape by combining the data.

  As a result, there is no steep portion in the measurement range of each displacement sensor, and data near the inflection point (edge vicinity) is collected by each displacement sensor without being lost. Therefore, the position of the edge can be accurately detected, and the data for both displacement sensors is processed by the processing device into one light section image data, thereby defining the groove shape (route surface). Measurement accuracy of the height, the shape of the bevel surface of the groove, the depth of the groove, and the like.

  According to a fifth aspect of the present invention, there is provided a groove shape measuring apparatus, comprising: a sensor support member that holds the two displacement sensors in a state in which a measurement posture with respect to an end surface of the workpiece is maintained; And a guide moving mechanism that moves while guiding along the extending direction of the end face.

  Thereby, the groove shape of the end surface of the workpiece can be continuously measured with high accuracy.

  Further, in the groove shape measuring apparatus according to the invention of claim 6, when the workpiece is a pipe material such as a steel pipe, the guide moving mechanism guides the sensor support member along a circumferential direction of the pipe material. It is made to move.

  Thereby, the groove shape of pipe materials, such as a steel pipe, can be measured with sufficient accuracy.

  According to the first and fourth aspects of the invention, the two displacement sensors that measure the shape based on the principle of the light cutting method are respectively arranged in two oblique directions with respect to the end face of the workpiece on which the groove is processed, Since the light section image data of the groove is acquired from two oblique directions, when measuring from a direction perpendicular to the end surface of the workpiece, the portion that is steep with respect to the irradiation direction of the inspection light, Any one of the displacement sensors can be measured without a steep slope. That is, by deliberately sharing the range that can be measured by the displacement sensor in each direction, it becomes possible to measure a portion having a steep slope without being steep. Therefore, data near the inflection point (edge vicinity) can be collected by each displacement sensor without being lost, and the edge position can be accurately detected. As a result, by combining the data of both displacement sensors into one optical section image data, the items defining the groove shape (the height of the root surface, the shape of the bevel surface of the groove, the depth of the groove, etc.) ) Can be accurately measured. In addition, since the measurement is performed by the displacement sensor, measurement can always be performed with the same accuracy even if the measurer changes.

  According to the second aspect of the present invention, the optical section image data acquired by each displacement sensor is superimposed on the basis of the coordinates of one edge, and the coordinate axis is rotationally corrected to form one optical section image data. Since they are combined, a precise groove shape can be easily determined.

  According to the third aspect of the invention, the optical axis image data of each displacement sensor is converted into a single optical slice by rotating and correcting the coordinate axes of the optical axis image data acquired by each displacement sensor, Since they are combined as image data, it is possible to easily determine an accurate groove shape.

  According to the invention which concerns on Claim 5, the groove shape of the end surface of a workpiece | work can be measured with a sufficient precision.

  According to the invention which concerns on Claim 6, the groove shape of pipe materials, such as a steel pipe, can be measured accurately.

It is explanatory drawing of embodiment of this invention, and is a perspective view which shows typically arrangement | positioning of the two-dimensional displacement sensor with respect to the end surface of a workpiece | work. It is sectional drawing which shows the measurement item for the process management of the groove shape measured by the method of embodiment. It is a side view which shows the state which is measuring the groove | channel by the method of embodiment. FIG. 4 is an explanatory diagram of a first example of a processing method of measurement data of each two-dimensional displacement sensor, (a) is an explanatory diagram of a procedure for determining the position of an edge from data measured by a two-dimensional displacement sensor on the surface side of a workpiece; ) Is an enlarged view of the IVb portion of (a), (c) is an explanatory diagram of a procedure for determining the position of the same edge from data measured by a two-dimensional displacement sensor on the back side of the workpiece, and (d) is an IVd of (c). It is an enlarged view of a part. It is explanatory drawing of the 2nd example of the processing method of the measurement data of each two-dimensional displacement sensor, (a) is a side view which shows the relationship between the end surface of a workpiece | work and two two-dimensional displacement sensors, (b) is two 2 units | sets. FIG. 6C is an explanatory diagram of a procedure for synthesizing the data of the dimension displacement sensor, and FIG. 5C is a sectional view of a groove shape obtained as a result of the synthesis. It is sectional drawing which shows the 1st structural example of the groove shape measuring apparatus for measuring the groove shape of the edge part of the steel pipe which is a workpiece | work. It is sectional drawing of the part located inside the steel pipe of the apparatus of FIG. It is sectional drawing which shows the 2nd structural example of the groove shape measuring apparatus for measuring the groove shape of the edge part of the steel pipe which is a workpiece | work. It is a sectional side view which shows the example at the time of arrange | positioning a two-dimensional displacement sensor perpendicularly | vertically to the end surface of a workpiece | work as a comparative example.

Hereinafter, embodiments of the present invention will be described with reference to the drawings.
FIG. 1 is an explanatory diagram of the embodiment, and is a perspective view schematically showing the arrangement of two two-dimensional displacement sensors with respect to the end face of the workpiece.

  The groove shape measuring method of the embodiment is for measuring the shape of the groove K processed on the end face of a flat plate-like or curved plate-like workpiece W such as a steel plate or a steel pipe, as shown in FIG. A groove shape including first and second two-dimensional displacement sensors M1 and M2 and a processing device (not shown) for processing data of the two two-dimensional displacement sensors M1 and M2. Implemented by a measuring device.

  The two two-dimensional displacement sensors M1 and M2 are displacement sensors that measure the outer shape of a measurement target portion (a groove in the present embodiment) based on the principle of a light cutting method. These two-dimensional displacement sensors M1 and M2 irradiate inspection light (slit light) onto a measurement target part from a light projecting means built in the sensor, and light formed when the inspection light hits the outer surface of the measurement target part. By capturing a cut image (an image corresponding to the cross-sectional shape of the groove) at a position away from the light projecting means by an imaging means incorporated in the sensor, the shape data of the measurement target part is obtained. To get.

FIG. 2 shows measurement items for machining management of the groove shape to be measured in this embodiment.
The groove K shown in FIG. 2 is formed by cutting an end surface perpendicular to the front surface P1 and the back surface P2 of the workpiece W parallel to each other, and a root surface K1 left as a part of the end surface of the workpiece, It has a bevel surface K2 which is a side groove and a back side groove surface K3 which is cut obliquely. The bevel surface K2 is opened by an angle β (bevel angle) with respect to the route surface K1, and a portion intersecting with the route surface K1 is a rounded surface defined by the route radius.

  In this groove K, there are four edges (angles where the surfaces intersect) E1 to E4. In order from the surface P1 side of the workpiece W, there is a first edge E1 at a portion where the surface P1 of the workpiece W and the bevel surface K2 intersect, and a portion where the curved surface at the lower end of the bevel surface K2 and the root surface K1 intersect. The second edge E2 is present, and the third edge E3 is present at the intersection of the root surface K1 and the groove surface K3 on the back surface P2, and the groove surface K3 on the back surface P2 side and the back surface P2 of the workpiece W There is a fourth edge E4 at the intersection.

  Now, the shape of the groove K is XY in which the direction of the perpendicular to the end surface (the root surface K1 is applicable) of the workpiece W is the X-axis direction, and the thickness direction of the workpiece W perpendicular to the X-axis direction is the Y-axis direction. It is defined to be finally expressed as coordinates in the coordinate system. In the case of the shape of the groove K, the height of the root surface K1 that is the dimension indicated by a, the groove width on the front surface that is the dimension indicated by b, and the height of the groove on the back surface side that is the dimension indicated by c. Management values are managed, and whether or not these values a, b, and c are within the allowable values is managed.

In the measurement method according to the present embodiment, the first to fourth edges E1 to E4 are finally obtained from the sectional shape data (light section image data) of the groove measured by the two two-dimensional displacement sensors M1 and M2. X and Y coordinate values are obtained. And the value a, b, c of each measurement item is calculated by the following formula. Now, the X and Y coordinate values of the first to fourth edges E1 to E4 are E1 (X ₁ , Y ₁ ), E2 (X ₂ , Y ₂ ), E3 (X ₃ , Y ₃ ), E1 ( In the case of X ₄ , Y ₄ ), the values of a, b, and c are as follows.
a = Y ₂ −Y ₃
b = X ₁ −X ₂
c = Y ₃ −Y ₄
Therefore, it is important to accurately obtain the coordinate values of the edges E1 to E4.

  By the way, when the shape of the groove on the end face of the workpiece is measured with a two-dimensional displacement sensor based on the optical cutting method, as shown in a comparative example of FIG. In general, the two-dimensional displacement sensor M is arranged at a vertical position, and the inspection light (slit light) 10 is irradiated perpendicularly to the end surface of the workpiece W. In such a case, the edges E1 to E1 included in the groove shape are used. There are cases where the position of E4 cannot be measured accurately.

  That is, the edges E <b> 1 to E <b> 4 included in the groove shape are configured by two surfaces adjacent to each other in the thickness direction of the workpiece W, and one of the surfaces has a small angle with respect to the irradiation direction of the inspection light 10. However, when it has a steep slope, the reflected light on the steep surface may not be detected, and the positions of the edges E1 to E4 cannot be accurately determined.

  In the illustrated example, one of the two surfaces constituting the first edge E1 is the surface P1 of the plate-like workpiece W, and this surface P1 has no angle with respect to the irradiation direction of the inspection light 10. (In other words, it is substantially parallel to the inspection light 10), which corresponds to a steep portion exceeding 70 °, and the reflected light from this surface cannot be captured. Therefore, the position of the edge E1 cannot be detected accurately. The same can be said for the other edges E2 to E4.

  Therefore, there is a concern that data near the inflection point (near the edge) for calculating the groove shape may be lost, and as a result, the groove shape cannot be accurately measured.

  On the other hand, in the present embodiment, as shown in FIG. 3, with respect to the normal T of the end surface of the workpiece W, a predetermined angle α1 is provided on each side of the surface P1 direction of the workpiece W and the back surface P2 direction of the workpiece W in the Y-axis direction. , Α2 is distributed, the inspection light 10 is irradiated onto the end surface of the workpiece W from an oblique direction, and the optical section image data of the groove K in the coordinate system with the direction in which the inspection light 10 is irradiated as the reference coordinate axis is obtained. In addition, the first and second two-dimensional displacement sensors M1 and M2 are arranged.

  In other words, the first first two-dimensional displacement sensor M1 of the first unit can measure the groove K from obliquely upward in the figure within an angle α1 = 20 ° to 60 ° with respect to the normal T of the end surface of the workpiece W. It is arranged so that it can. In addition, the second second two-dimensional displacement sensor M2 can measure the groove K from the oblique lower side in the drawing within the range of the angle α2 = 20 ° to 60 ° with respect to the normal T of the end surface of the workpiece W. It is arranged so that it can.

  Thus, by arranging the two two-dimensional displacement sensors M1 and M2 in an oblique direction with respect to the end face of the workpiece W, the detection ranges of the edges E1 to E4 are respectively assigned. That is, a range that cannot be detected by one of the two-dimensional displacement sensors M1 (M2) can be detected by the other two-dimensional displacement sensor M2 (M1), and any one of the two-dimensional displacement sensors M1 and M2 always has a steep slope. The edges E1 to E4 can be detected in the absence of any.

  For example, the first two-dimensional displacement sensor M1 on the surface P1 side (upper side in FIG. 3) can detect the first edge E1 and the second edge E2 without a steep slope. In addition, the second two-dimensional displacement sensor M2 on the back surface P2 side (the lower side in FIG. 3) can detect the third edge E3 and the fourth edge E4 without a steep slope. Note that the second two-dimensional displacement sensor M2 on the back surface P2 side (lower side) cannot accurately detect the position of the second edge E2 on the upper side of the route surface K1 without a steep slope. By performing data processing on the detected data later, the position of the second edge E2 can be accurately calculated.

  Then, the optical section image data of the groove in each coordinate system obtained by the two two-dimensional displacement sensors M1 and M2 and having the direction of irradiating the inspection light 10 as the reference coordinate axis is processed by a processing device (not shown). By doing so, that is, by converting the data of the coordinate system having the X-axis direction as the reference coordinate axis and combining the converted data of the two-dimensional displacement sensors M1 and M2, the groove shape can be determined.

Next, a method for processing data acquired by the two-dimensional displacement sensors M1 and M2 will be described.
FIG. 4 is an explanatory diagram of a first example of a method for processing the measurement data of each of the two-dimensional displacement sensors M1 and M2. FIG. 4A shows the second edge E2 based on the data measured by the two-dimensional displacement sensor M1 on the surface side of the workpiece. (B) is an enlarged view of the IVb portion of (a), (c) is the position of the same second edge E2 based on the data measured by the two-dimensional displacement sensor M2 on the back side of the workpiece. (D) is an enlarged view of the IVd portion of (c).

  In the processing method of the first example, first, from the optical section image data of the groove K in each coordinate system obtained by each of the two-dimensional displacement sensors M1 and M2 and having the reference coordinate axis as the direction in which the inspection light is irradiated. The coordinates of the second edge E2 on the surface side of the workpiece W on the root surface K1 of the groove K are extracted.

  First, in the manner shown in FIGS. 4A and 4B, the coordinates of the second edge E2-a in the light section image data (also referred to as cross-sectional data) of the first two-dimensional displacement sensor M1 are extracted. .

To do that,
(1) A position (point A) closest to the two-dimensional displacement sensor M1 is detected in the cross-sectional data.
The point A closest to the two-dimensional displacement sensor M1 is detected by searching for the point having the smallest distance S from the distance measurement reference line M1-m of the two-dimensional displacement sensor M1.
(2) Next, the end position (point B) in the cross-sectional data is detected.
The position of the end indicates the position of the end of the acquired cross-sectional data in the direction orthogonal to the irradiation direction of the inspection light (the width direction of the slit light). This is the position of the end farther from the position where the second edge E2 is likely (the position of the second edge is still uncertain).
(3) Next, the perpendicular line 23 drawn from the line segment AB intersects with an outline line (already acquired as measurement data of the outline shape) representing the shape near the upper edge (second edge E2) of the route surface K1. Of the points, the point E2-a that is farthest from the line segment AB is determined to be the position of the upper edge of the route plane K1. Then, the point E2-a is set as a coupling point.

  Next, in the manner shown in FIGS. 4C and 4D, the coordinates of the second edge E2-b in the light section image data (also referred to as cross-sectional data) of the second two-dimensional displacement sensor M2 are extracted. To do.

To do that,
(1) A position (point A) closest to the two-dimensional displacement sensor M2 is detected in the cross-sectional data.
The point A closest to the two-dimensional displacement sensor M2 is detected by searching for a point having the smallest distance S from the distance measurement reference line M2-m of the two-dimensional displacement sensor M2.
(2) Next, the end position (point B) in the cross-sectional data is detected.
The position of the end indicates the position of the end of the acquired cross-sectional data in the direction orthogonal to the irradiation direction of the inspection light (the width direction of the slit light). This is the position of the end farther from the position where the second edge E2 is likely (the position of the second edge is still uncertain).
(3) Next, a perpendicular line 33 drawn from the line segment AB31 is an outline line (already acquired as measurement data of the outline shape) 32 representing the shape near the upper edge (second edge E2) of the route surface K1. Of the intersecting points, the point E2-b that is farthest from the line segment AB21 is determined to be the position of the upper edge of the route plane K1. Then, the point E2-b is set as a coupling point.

  Next, the coordinates E2-a and E2-b of the second edge E2 in each coordinate system defining the measurement data of the first and second two-dimensional displacement sensors M1 and M2 are used as common coordinate points as shown in FIG. The optical section image data of both two-dimensional displacement sensors M1 and M2 shown in a) and (b) are translated and overlapped.

Next, for the optical section image data of the first two-dimensional displacement sensor M1 acquired from the surface P1 direction of the workpiece W,
The rotation is corrected so that the position of the surface P1 of the workpiece W coincides with the X-axis direction. That is, the coordinate axis of the measurement data of the two-dimensional displacement sensor M1 is rotationally corrected so that the parallel line 24 of the surface P1 of the workpiece drawn from the point E2-a and the X axis 25 coincide with each other using the connection point E2-a as a fulcrum. (Rotation correction of the angle θa).

  Further, the optical section image data of the second two-dimensional displacement sensor M2 acquired from the back surface P2 direction of the workpiece W is rotationally corrected so that the position of the back surface P2 of the workpiece W coincides with the X-axis direction. That is, the coordinate axis of the measurement data of the two-dimensional displacement sensor M2 is rotationally corrected so that the parallel line 34 of the surface P1 of the workpiece drawn from the point E2-b and the X axis 35 coincide with each other with the coupling point E2-b as a fulcrum. (Rotation correction of the angle θb). Next, the optical section image data of both the two-dimensional displacement sensors M1 and M2 whose rotation has been corrected are combined into one optical section image data.

  FIG. 5 is an explanatory diagram of a second example of the processing method of the measurement data of each of the two-dimensional displacement sensors M1 and M2. FIG. 5A is a side view showing the relationship between the workpiece end surface and the two two-dimensional displacement sensors. ) Is an explanatory diagram of a procedure for synthesizing data of two two-dimensional displacement sensors, and (c) is a sectional view of a groove shape obtained as a result of the synthesis.

  In the processing method of the second example, first, as shown in the “rotation” portion of FIG. 5B, the directions of irradiation of the inspection light acquired by the respective two-dimensional displacement sensors M1 and M2 are set as reference coordinate axes. The coordinate axes of the optical section image data of the groove K in each coordinate system to be rotated are corrected by the installation angles α1 and α2 (see FIG. 5A) of the two-dimensional displacement sensors M1 and M2, respectively. It should be parallel to the X and Y coordinate axes of the coordinate system.

  Next, the root surface K1 of the groove and the bevel surface K2 having an angle β with respect to the root surface K1 are included in the optical section image data of the two-dimensional displacement sensors M1 and M2 so as to coincide with each other. The coordinates are shared by correcting the parallel movement (so as to overlap). Then, the data of both the two-dimensional displacement sensors M1 and M2 represented by the shared coordinates are combined into one light section image data.

  Then, from the optical section image data (cross-sectional data) combined as in the first and second examples above, the ratio of the measured angle change of the surface (corresponding to the slope when the curve indicating the surface position is differentiated) ) Are the edges E1 to E4 that exceed the threshold value, their coordinates are obtained, and the item values a (height of the root surface K1) and b (surface) for the evaluation from the X and Y coordinates of the edges E1 to E4 Side groove width) and c (depth of groove on the back surface side).

  Therefore, according to the groove shape measuring method of the above-described embodiment, the two two-dimensional displacement sensors M1 and M2 that measure the shape based on the principle of the light cutting method are used with respect to the end surface of the workpiece W on which the groove K is processed. Are arranged in two oblique directions, and the optical section image data of the groove K is acquired from the two oblique directions. Therefore, when measuring from a direction perpendicular to the end face of the workpiece W as shown in FIG. Can measure a portion having a steep slope with respect to the irradiation direction of the inspection light 10 without any steep slope by any one of the two-dimensional displacement sensors M1 and M2.

  That is, by deliberately sharing the range that can be measured by the two-dimensional displacement sensors M1 and M2 in each direction, it is possible to measure a portion that was steep without being steep. Therefore, data near the inflection points (edges E1 to E4) can be collected by the respective two-dimensional displacement sensors M1 and M2 without missing, and the positions of the edges E1 to E4 can be accurately detected. become.

  As a result, by combining the data of both the two-dimensional displacement sensors M1 and M2 into one light section image data, the items defining the groove shape (the height of the root surface, the shape of the groove bevel surface and the shape of the groove) are defined. It is possible to accurately measure the dimensions of a, b, and c). In addition, since the measurement is performed by the two-dimensional displacement sensors M1 and M2, it is possible to always measure with the same accuracy even if the measurer changes.

  Further, according to the first example of the data processing, the optical axis image data obtained by each of the two-dimensional displacement sensors M1 and M2 are superimposed on the basis of the coordinates of one edge E2, and the coordinate axis is rotationally corrected. Thus, since it is combined as one piece of light section image data, it is possible to easily determine a precise groove shape.

  Further, according to the second example of the data processing, each two-dimensional displacement sensor M1 is obtained by rotating and correcting the coordinate axes of the optical section image data acquired by the two-dimensional displacement sensors M1 and M2 and then superimposing them in parallel. Since the optical section image data of M2 is synthesized as one optical section image data, it is possible to easily determine a precise groove shape.

Next, a groove shape measuring apparatus having a specific configuration for actual use will be described.
6 is a cross-sectional view showing a first configuration example of a groove shape measuring device for measuring a groove shape of an end portion of a steel pipe which is a workpiece W, and FIG. 7 is a portion located inside the steel pipe of the device of FIG. FIG.

  As shown in FIGS. 6 and 7, in this groove shape measuring apparatus 100, an apparatus main body 110 is arranged inside a steel pipe (below, it is a workpiece W and is indicated by a symbol W). Three support legs 114, 114, and 115 are provided on the outer periphery of the tubular apparatus main body 110, with their tips in contact with the inner periphery of the peripheral wall Wa of the steel pipe W, spaced apart in a balanced manner in the circumferential direction.

  The support leg 115 positioned directly above the apparatus main body 110 has a structure capable of exerting a tensile force toward the inner periphery of the peripheral wall Wa of the steel pipe W. By exhibiting the tensile force, all the support legs 114, The apparatus main body 110 is pressed against the inner periphery of the steel pipe W at the tips of 114 and 115, thereby positioning the apparatus main body 110 at the center of the cross section of the steel pipe W. When the tension force is released, the apparatus main body 110 becomes free and can be moved using the casters 112.

  At the tip of the apparatus main body 110, there is provided a rotating frame 122 that can rotate on a turning surface orthogonal to the axis of the steel pipe W via a rotating mechanism 120. The two rotating frames 122 are arranged at one end in the radial direction of the rotating frame 122. A sensor support member 125 is attached to hold the two-dimensional displacement sensors M1 and M2 in a state where the measurement posture with respect to the end surface of the steel pipe W is maintained. A guide 126 that guides the sensor support member 125 is attached to the other end of the rotating frame 122 in the radial direction so as to rotate along the end surface of the steel pipe W.

  In this groove shape measuring apparatus 100, the sensor support member 125 is guided along the extending direction of the end surface of the steel pipe W (that is, the circumferential direction of the steel pipe W) by the rotating mechanism 120, the rotating frame 122, the guide 126, and the like. A guide moving mechanism is configured to be moved.

  When using this groove shape measuring apparatus 100, the sensor support member 125 is rotated 360 ° along the end surface of the steel pipe W. By doing so, the two two-dimensional sensors M <b> 1 and M <b> 2 rotate on a turning surface perpendicular to the peripheral wall Wa of the steel pipe W. And the data of the groove shape of the end surface of the steel pipe W can be collected by measuring the cross-sectional shape of the groove K by the two-dimensional sensors M1 and M2 for each angular pitch to be managed.

  FIG. 8 is a cross-sectional view showing a second configuration example of a groove shape measuring apparatus for measuring a groove shape of an end portion of a steel pipe as a workpiece.

  As shown in FIG. 8, in this groove shape measuring apparatus, the apparatus main body 210 is configured in a U shape so as to sandwich the end of the steel pipe W from the outer peripheral side and the inner peripheral side. Further, two-dimensional displacement sensors M1 and M2 are fixed via a bracket 220. In this example, the apparatus main body 210 itself also serves as a sensor support member that holds two two-dimensional displacement sensors M1 and M2. A plurality of legs 212 that sandwich the peripheral wall Wa of the steel pipe W are provided on the inner periphery on the opening side of the apparatus main body 210, and a rolling element 213 at the tip of each leg 212 is an outer periphery of the peripheral wall Wa of the steel pipe W. And the inner circumference are in contact with each other.

  Thereby, the apparatus main body 210 having the two-dimensional displacement sensors M1 and M2 incorporated therein can freely move in the circumferential direction along the end surface of the steel pipe W. In this case, the guide moving mechanism 230 that moves the device main body 210 as the sensor support member while guiding the legs 212 and the rolling elements 213 along the extending direction of the end surface of the steel pipe W (that is, the circumferential direction of the steel pipe W). It corresponds to.

  When using this groove shape measuring apparatus 200, the apparatus main body 210 is rotated 360 ° along the end surface of the steel pipe W. By doing so, the two two-dimensional sensors M <b> 1 and M <b> 2 rotate on a turning surface perpendicular to the peripheral wall Wa of the steel pipe W. And the data of the groove shape of the end surface of the steel pipe W can be collected by measuring the cross-sectional shape of the groove K by the two-dimensional sensors M1 and M2 for each angular pitch to be managed.

  In addition, the groove shape measuring apparatus 200 is simpler in structure than the groove shape measuring apparatus 100 shown in FIG. 7 and has a type that is easy to carry. It can also be set and used only at the place where you want to measure.

  The present invention is not limited to the above-described embodiment described with reference to the drawings, and various modifications can be considered within the technical scope thereof.

  For example, the groove shape measuring apparatus 200 shown in FIG. 8 may be attached to the end of a flat plate steel plate to measure the groove on the end surface of the steel plate.

  Moreover, although the case where the two two-dimensional displacement sensors M1 and M2 are provided is shown in the above embodiment, the groove shape may be measured by arranging three or more two-dimensional displacement sensors. In this case, the second and subsequent two-dimensional displacement sensors are preferably provided at positions and angles that reinforce the measurement performance of the first two two-dimensional displacement sensors M1 and M2.

W Work P1 Front surface P2 Back surface K Groove K1 Route surface K2 Bevel surface E1 to E4 Edge M1 First two-dimensional displacement sensor M2 First two-dimensional displacement sensor 10 Inspection light 100 Groove shape measuring device 125 Sensor support member 130 Guide Moving mechanism 200 Groove shape measuring device 230 Guide moving mechanism

Claims (6)

A groove shape measuring method for measuring a shape of a groove processed on an end face of a workpiece for welding a flat plate-shaped or curved plate-shaped workpiece by a displacement sensor based on the principle of a light cutting method,
The surface of the workpiece in the Y-axis direction with respect to the perpendicular to the end surface of the workpiece, where the perpendicular direction of the workpiece end surface is the X-axis direction and the plate thickness direction of the workpiece orthogonal to the X-axis direction is the Y-axis direction In a coordinate system in which a predetermined angle α1 and α2 are distributed to both sides in the direction and the back direction of the workpiece, the inspection light is irradiated to the end surface of the workpiece from an oblique direction, and the direction in which the inspection light is irradiated is a reference coordinate axis. The first and second displacement sensors are arranged so as to obtain the light section image data of the groove,
Converts the light section image data of the groove in each coordinate system obtained by the two displacement sensors with the inspection light irradiation direction as the reference coordinate axis to the data of the coordinate system with the X axis direction as the reference coordinate axis. Then, the groove shape measuring method is characterized in that the groove shape is determined by synthesizing the data of the converted both displacement sensors.   From the light section image data of the groove in each coordinate system obtained by the respective displacement sensors and having the direction of irradiating the inspection light as the reference coordinate axis, the edge on the surface side of the workpiece of the root surface of the groove, respectively. The coordinates of the first displacement sensor obtained from the surface direction of the workpiece are extracted after the coordinates are extracted, and the coordinates of the edge in each coordinate system are used as a common coordinate point, and the light section image data of both displacement sensors are superimposed. For the image data, the coordinate axis is rotationally corrected so that the surface position of the workpiece coincides with the X-axis direction, and the optical displacement image data of the second displacement sensor obtained from the back surface direction of the workpiece is the back surface position of the workpiece. 2. The coordinate axis is rotationally corrected so as to coincide with the X-axis direction, and the data of both displacement sensors corrected for rotation are combined into one optical section image data. Groove shape measuring method of.   The coordinate axes of the light section image data of the groove in each coordinate system obtained by the respective displacement sensors and having the direction in which the inspection light is irradiated as a reference coordinate axis are respectively corrected for rotation by the installation angles α1 and α2 of the respective displacement sensors. Then, the coordinate is obtained by correcting the translation so that the groove root surface and the bevel surface having an angle with respect to the root surface, which are included in the optical section image data of each displacement sensor, coincide with each other. The groove shape measuring method according to claim 1, wherein the data of both displacement sensors expressed by the shared coordinates are combined to form one light section image data. A groove shape measuring device for measuring a shape of a groove processed on an end face of a workpiece for welding a flat plate-like or curved plate-like workpiece by a displacement sensor based on the principle of an optical cutting method,
The surface of the workpiece in the Y-axis direction with respect to the perpendicular to the end surface of the workpiece, where the perpendicular direction of the workpiece end surface is the X-axis direction and the plate thickness direction of the workpiece orthogonal to the X-axis direction is the Y-axis direction In a coordinate system in which a predetermined angle α1 and α2 are distributed to both sides in the direction and the back direction of the workpiece, the inspection light is irradiated to the end surface of the workpiece from an oblique direction, and the direction in which the inspection light is irradiated is a reference coordinate axis. The first and second two displacement sensors arranged to acquire the light section image data of the groove;
Converts the light section image data of the groove in each coordinate system obtained by the two displacement sensors with the inspection light irradiation direction as the reference coordinate axis to the data of the coordinate system with the X axis direction as the reference coordinate axis. Then, by combining the data of the converted both displacement sensors, a data processing device for determining the groove shape,
A groove shape measuring device comprising:   A sensor support member that holds the two displacement sensors in a state in which the measurement posture with respect to the end surface of the workpiece is maintained, and a guide movement mechanism that moves the sensor support member while guiding the sensor support member along the extending direction of the end surface of the workpiece. The groove shape measuring apparatus according to claim 4, further comprising:   The groove shape according to claim 5, wherein when the workpiece is a pipe material such as a steel pipe, the guide moving mechanism moves the sensor support member while guiding the sensor support member along a circumferential direction of the pipe material. Measuring device.

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