JP2020201219A - Shaft center deviation measuring method, shaft center deviation measuring device and production method of stepped round rod body - Google Patents

Abstract

To determine shaft center deviation between respective round rod regions in a stepped round rod body.SOLUTION: There is provided a shaft center deviation measuring method which is configured to: rotate a stepped round rod body which is formed by hot forging and includes a plurality of round rod regions with different diameters, around a shaft; image a measuring object region by an imaging part for every prescribed rotary angle; measure an imaging distance between each measuring object region and the imaging part for every prescribed rotary angle; extract an upper side edge and lower side edge of each measuring object region for every prescribed rotary angle; calculate a diameter of each measuring object region for every prescribed rotary angle; calculate a difference distance between a shaft center of a reference round rod region and a shaft center of a measuring round rod region for every prescribed rotary angle; associate each difference distance with the rotary angle of the stepped round rod body; on the basis of a peak value of the difference distance, determine a shaft center deviation amount of the measuring round rod region to the shaft center of the reference round rod region; and on the basis of the rotary angle of the stepped round rod body associated with the peak value, determine a shaft center deviation direction reaching to the shaft center of the measuring round rod region from the shaft center of the reference round rod region.SELECTED DRAWING: Figure 1

Description

The present invention is a measurement technique for measuring the axial deviation between each round bar region in a stepped round bar body having a plurality of round bar regions having different diameters, and a technique for manufacturing a stepped round bar body using the measurement results. Regarding and.

Round bars such as crankshafts are manufactured by hot forging. Conventionally, a technique for measuring the diameter of a hot-forged round bar has been proposed (see, for example, Patent Document 1). In the technique described in Patent Document 1, the upper edge and the lower edge of the round bar are extracted from the image of the round bar imaged from the side by the imaging unit. In addition, the imaging distance between the imaging unit and the round bar is measured. Then, the diameter of the round bar is calculated based on the imaging distance, the position of the upper edge, and the position of the lower edge.

JP-A-2018-205256

On the other hand, conventionally, a stepped round bar body having a plurality of round bar regions having different diameters is known. Also for this stepped round bar body, the diameter of each round bar region can be obtained by the technique described in Patent Document 1. However, in the stepped round bar body, it is not enough to control the diameter of each round bar region, and it is necessary that the axes of each round bar region are aligned. Therefore, it is desired to obtain the axial deviation between each round bar region in the stepped round bar body.

An object of the present invention is to solve the above-mentioned problems, and to provide an axial misalignment measuring method and an axial misalignment measuring device capable of obtaining an axial misalignment between each round bar region in a stepped round bar body. And.

Another object of the present invention is to provide a method for manufacturing a stepped round bar body capable of reducing the required axial misalignment.

The method for measuring axial misalignment according to the first aspect of the present invention is
A hot forged stepped round bar body containing a plurality of round bar regions having different diameters is rotated around an axis, and the plurality of round bars are rotated from the radial outside of the stepped round bar body at a predetermined rotation angle. An imaging step in which two or more round bar regions of the rod region are set as measurement target regions and imaged by the imaging unit, and
A measurement step of measuring the imaging distance between each of the measurement target regions and the imaging unit for each predetermined rotation angle, and
An extraction step of extracting the upper edge and the lower edge of each of the measurement target regions from the imaging result of the imaging unit for each predetermined rotation angle.
A diameter calculation step for calculating the diameter of each of the measurement target regions based on the imaging distance, the upper edge, and the lower edge for each predetermined rotation angle.
One of the plurality of round bar regions included in the measurement target region is defined as a reference round bar region, and other than the reference round bar region among the plurality of round bar regions included in the measurement target region. When the remaining round bar region of is defined as the measurement round bar region, the reference circle is based on the upper edge, the lower edge, and the diameter of each of the measurement target regions for each predetermined rotation angle. A difference calculation step of calculating the difference distance between the axis of the bar region and the axis of the measurement round bar region and associating each of the calculated difference distances with the rotation angle of the stepped round bar body.
The peak value of the difference distance is extracted, and based on the extracted peak value, the amount of misalignment of the axis of the measurement round bar region with respect to the axis of the reference round bar region is obtained and associated with the peak value. An axial misalignment processing step for obtaining an axial misalignment direction from the axial center of the reference round bar region to the axial center of the measurement round bar region based on the rotation angle of the stepped round bar body.
Is provided.

The axial misalignment measuring device according to the second aspect of the present invention is
An imaging unit that captures images of two or more round bar regions among the plurality of round bar regions as measurement target regions from the radial outside of the hot forged stepped round bar body including a plurality of round bar regions having different diameters.
A distance measuring unit that measures the imaging distance between each of the measurement target areas and the imaging unit,
A drive unit that rotates the stepped round bar around the axis,
A round bar control unit that rotates the stepped round bar by the driving unit, images the measurement target area by the imaging unit at each predetermined rotation angle, and measures each of the imaging distances by the distance measuring unit. When,
An extraction unit that extracts the upper edge and the lower edge of each of the measurement target regions from the imaging result of the imaging unit for each predetermined rotation angle.
A diameter calculation unit that calculates the diameter of each of the measurement target regions based on the imaging distance, the upper edge, and the lower edge for each predetermined rotation angle.
One of the plurality of round bar regions included in the measurement target region is defined as a reference round bar region, and other than the reference round bar region among the plurality of round bar regions included in the measurement target region. When the remaining round bar region of is defined as the measurement round bar region, the reference circle is based on the upper edge, the lower edge, and the diameter of each of the measurement target regions for each predetermined rotation angle. A difference calculation unit that calculates the difference distance between the axis of the bar region and the axis of the measurement round bar region and associates each of the calculated difference distances with the rotation angle of the stepped round bar body.
The peak value of the difference distance is extracted, and based on the extracted peak value, the amount of misalignment of the axis of the measurement round bar region with respect to the axis of the reference round bar region is obtained and associated with the peak value. An axial misalignment processing unit that obtains an axial misalignment direction from the axial center of the reference round bar region to the axial center of the measurement round bar region based on the rotation angle of the stepped round bar body.
Is provided.

In the first aspect or the second aspect, the difference distance between the axis of the reference round bar region and the axis of the measurement round bar region is calculated for each predetermined rotation angle, and the calculated difference distance is stepped. It is associated with the rotation angle of the round bar. Then, the peak value of the difference distance is extracted, and based on the extracted peak value, the amount of misalignment of the axis of the measurement round bar region with respect to the axis of the reference round bar region is obtained. Further, based on the rotation angle associated with the peak value, the axial deviation direction from the axial center of the reference round bar region to the axial center of the measurement round bar region is obtained. The peak value of the difference distance corresponds to the amount of deviation of the axis of the measurement round bar region with respect to the axis of the reference round bar region. Further, the rotation angle corresponding to the peak value corresponds to the axial deviation direction from the axial center of the reference round bar region to the axial center of the measurement round bar region. Therefore, according to the first aspect or the second aspect, the amount of deviation of the axis of the measurement round bar region with respect to the axis of the reference round bar region and the axis of the measurement round bar region from the axis of the reference round bar region. It is possible to obtain the axial deviation direction leading to.

In the first aspect, for example,
The misalignment processing step is
The maximum value Dmax and the minimum value Dmin of the difference distance are extracted as the peak value, and the difference distance is extracted.
The amount of misalignment Dave,
Dave = (| Dmax | + | Dmin |) / 2
May be obtained by.

Ideally, the maximum value Dmax and the minimum value Dmin of the difference distance are considered from the principle of axial misalignment.
| Dmax | = | Dmin |
However, this may not be the case due to measurement error or the like. On the other hand, according to this aspect, the amount of misalignment Dave is determined.
Dave = (| Dmax | + | Dmin |) / 2
Therefore, the amount of axial deviation Dave can be obtained more accurately.

In the first aspect, for example,
The misalignment processing step is
When the rotation angle θa associated with the maximum value Dmax and the rotation angle θb associated with the minimum value Dmin are extracted and the smaller one of θa and θb is defined as θp and the larger one is defined as θq, the above The axial deviation direction θave,
θave = {θp + (θq-180)} / 2
May be obtained by.

Ideally, the relationship between the rotation angle θp and the rotation angle θq is
θq−θp = 180
However, this may not be the case due to measurement error or the like. On the other hand, according to this aspect, the axial misalignment direction θave is set.
θave = {θp + (θq-180)} / 2
Therefore, the axial misalignment direction θave can be obtained more accurately.

The method for manufacturing a stepped round bar according to a third aspect of the present invention is as follows.
The method for measuring axial misalignment according to the first aspect and
A determination step for determining whether or not there is an amount of axial misalignment exceeding a predetermined threshold value among the amount of misalignment obtained in the misalignment processing step.
When it is determined that the amount of misalignment exceeding the predetermined threshold exists, a specific step of specifying the measurement round bar region corresponding to the maximum amount of misalignment among the amounts of misalignment exceeding the predetermined threshold, and a specific step.
A display step for displaying the specified measurement round bar region and the amount of axial misalignment and the axial misalignment direction of the specified measurement round bar region on the display unit.
A hot forging step that performs hot forging according to the operator's operation,
Is provided.

In this embodiment, the measurement round bar region corresponding to the maximum axial misalignment amount among the axial misalignment amounts exceeding a predetermined threshold is specified, and the specified measurement round bar region and the axial center of the specified measurement round bar region are specified. The amount of deviation and the direction of axial deviation are displayed on the display unit, and hot forging is executed according to the operation of the operator. From the display content of the display unit, the operator can know the measurement round bar region for correcting the axial deviation, the amount of the axial deviation to be corrected, and the axial deviation direction to be corrected. Therefore, according to this aspect, the stepped round bar body with reduced axial misalignment can be manufactured by the operator operating according to the display content of the display unit.

According to the present invention, in a hot forged stepped round bar body including a plurality of round bar regions having different diameters, the amount of misalignment of the axial center of the measured round bar region with respect to the axial center of the reference round bar region and the reference. It is possible to obtain the axial deviation direction from the axial center of the round bar region to the axial center of the measured round bar region. Further, according to the present invention, it is possible to manufacture a stepped round bar body with reduced axial misalignment.

It is a block diagram which shows the structure of the axis deviation measuring apparatus of 1st Embodiment. It is a side view which shows typically the stepped round bar manufacturing apparatus by hot forging. It is a figure which shows schematic the measurement state of the stepped round bar body by a sensor head. It is a figure which shows schematic image example of the stepped round bar body. It is a figure which shows typically the upper edge and the lower edge of a round bar region. It is a figure which shows the difference pixel number roughly. It is a figure which shows roughly the obtained axial misalignment direction. It is a figure which shows roughly the difference distance for every rotation angle. It is a flowchart which shows typically an example of the operation of the axis deviation measuring apparatus. It is a figure which shows schematic image example of the stepped round bar body different from FIG. It is a figure which shows roughly the difference distance for each rotation angle obtained by the stepped round bar body of FIG. It is a block diagram which shows the structure of the stepped round bar manufacturing apparatus of 2nd Embodiment. It is a flowchart which shows operation example of the stepped round bar manufacturing apparatus roughly.

(Embodiment)
Hereinafter, embodiments of the present invention will be described with reference to the drawings. In each drawing, the same reference numerals are used for the same components, and detailed description thereof will be omitted as appropriate.

(First Embodiment)
FIG. 1 is a block diagram showing a configuration of an axial misalignment measuring device according to the first embodiment. FIG. 2 is a side view schematically showing a stepped round bar manufacturing apparatus by hot forging. FIG. 3 is a diagram schematically showing a measurement state of the stepped round bar body by the sensor head. FIG. 4 is a diagram schematically showing an example of an image of a stepped round bar imaged by the imaging unit.

In FIG. 2, the operator operates the manipulator 20 and the hot forging press machine 30 to forge a hot object having a high temperature of about 600 to 1000 ° C. (in the first embodiment, the stepped round bar body 10). Hot forging work is performed to manufacture a stepped round bar body 10. The manipulator 20 (corresponding to an example of the drive unit) can rotate one end of the stepped round bar 10 around the axis SC of the stepped round bar 10 and move in a direction parallel to the axis SC. To grasp. In other words, the axis SC of the stepped round bar 10 is the center of rotation of the manifold 20 that grips the stepped round bar 10. The hot forging press 30 includes a hammer portion 31 and a bed portion 32. The stepped round bar body 10 is placed on the bed portion 32 and hit by the hammer portion 31.

The operator grips the end of the stepped round bar 10 with the manipulator 20, forging with the hot forging press 30 and rotating the stepped round bar 10 with the manipulator 20 to form the stepped round bar 10. The tapping position is changed and repeated to form a desired shape.

The stepped round bar body 10 shown in FIG. 2 has three round bar regions 11, 12, and 13 having different diameters. Therefore, the round bar regions 11, 12, and 13 are respectively placed on the bed portion 32 and hit by the hammer portion 31. After aligning the axes of the round bar regions 11, 12 and 13, the operator performs hot forging work until the round bar regions 11, 12 and 13 have a predetermined diameter and a predetermined length, respectively. repeat. If the misalignment between the round bar regions 11, 12, and 13 is small, the axes can be aligned by scraping during machining in the subsequent process. However, if the axial deviation is large, the cutting allowance will be insufficient. Therefore, it is extremely important to measure the misalignment.

In the first embodiment, the measurement target of the axial misalignment measuring device 100 is the stepped round bar body 10 in which the hot forging work is temporarily interrupted during the hot forging. Alternatively, the measurement target of the axial misalignment measuring device 100 may be the stepped round bar body 10 immediately after the hot forging is completed.

As shown in FIG. 1, the axial misalignment measuring device 100 includes a sensor head 40, an actuator 115, a display unit 120, an input unit 125, a manifold 20, and a control circuit 140. The sensor head 40 includes an imaging unit 105 and a distance measuring unit 110. The control circuit 140 includes a memory 150, a central processing unit (CPU) 160, and peripheral circuits (not shown).

As shown in FIG. 3, the sensor head 40 is held on the holding base 50 and is arranged on the side of the stepped round bar 10 at the same height as the stepped round bar 10. The holding base 50 is attached to the support plate 60 so as to be movable in the vertical direction and in the paper surface depth direction of FIG. 3 (that is, the direction parallel to the axis SC of the stepped round bar body 10).

The imaging unit 105 is connected to the control circuit 140, and under the control of the control circuit 140, images the round bar regions 11, 12 and 13 as measurement target regions from the radial outside of the stepped round bar body 10. In FIG. 4, all of the round bar regions 11, 12, and 13 are the measurement target regions, but the present invention is not limited to this. Two or more of the round bar regions 11, 12, and 13 may be set as the measurement target region.

The imaging unit 105 is arranged at a position where the round bar regions 11, 12, and 13 of the stepped round bar body 10 are within the range of the angle of view θ of the imaging unit 105. The image pickup unit 105 is, for example, a camera including a CCD image sensor or a CMOS image sensor. The imaging unit 105 images the round bar regions 11, 12, and 13 of the stepped round bar body 10 including the background. The lens of the imaging unit 105 is equipped with an infrared transmission filter that transmits only infrared light. Therefore, as shown in FIG. 4, the image I10 of the stepped round bar 10 is imaged bright and the background is dark. In FIG. 4, the image I10 of the stepped round bar body 10 includes the images I11, I12, and I13 of the round bar regions 11, 12, and 13, respectively.

The distance measuring unit 110 is connected to the control circuit 140, and measures the imaging distance between the imaging unit 105 and the surfaces of the round bar regions 11, 12, and 13, which are the measurement target regions, according to the control of the control circuit 140. The distance measuring unit 110 is, for example, a laser range finder, which irradiates the surface of the stepped round bar 10 with the laser light 110A, receives the reflected light, and uses the received light as the basis for the image pickup unit 105. And the imaging distances from the surfaces of the round bar regions 11, 12, and 13 are measured.

The actuator 115 is connected to the control circuit 140, and the holding base 50 holding the sensor head 40 is moved with respect to the support plate 60 according to the control of the control circuit 140. For example, when measuring the imaging distance of the stepped round bar 10 from the surface of the round bar region 12, the actuator 115 moves the sensor head 40 in a direction parallel to the axis SC of the stepped round bar 10. The sensor head 40 is positioned in front of the round bar region 12. The stepped round bar body 10 may be moved by the manipulator 20 so that the round bar region 12 is positioned in front of the sensor head 40.

The display unit 120 includes, for example, a liquid crystal display panel. The display unit 120 displays the measured axial misalignment amount and axial misalignment direction of each measured round bar region according to the control of the control circuit 140, for example, as described later. The display unit 120 is not limited to the liquid crystal display panel. The display unit 120 may include other panels such as an organic electroluminescence (EL) panel.

The input unit 125 includes, for example, a mouse or a keyboard. When the input unit 125 is operated by the operator, the input unit 125 outputs an operation signal indicating the operation content (for example, the start of measurement of the axial deviation) to the control circuit 140. When the display unit 120 is a touch panel type display, the touch panel type display may also serve as the input unit 125 instead of the mouse or keyboard.

The memory 150 is composed of, for example, a semiconductor memory or the like. The memory 150 includes, for example, a read-only memory (ROM), a random access memory (RAM), an electrically erasable and rewritable ROM (EPROM), and the like. By operating the CPU 160 according to the control program of the first embodiment stored in the memory 150, for example, the ROM, the round bar control unit 161, the edge extraction unit 162 (corresponding to an example of the extraction unit), and the diameter calculation unit 163. , The difference calculation unit 164, and the axis misalignment processing unit 165.

FIG. 5 is a diagram schematically showing the upper edge and the lower edge of the round bar regions 11, 12, and 13 extracted by the edge extraction unit 162. FIG. 6 is a diagram schematically showing the number of difference pixels calculated by the difference calculation unit 164. FIG. 7 is a diagram schematically showing the axial misalignment direction obtained by the axial misalignment processing unit 165. FIG. 8 is a diagram schematically showing the difference distance for each rotation angle obtained by the axial misalignment processing unit 165. FIG. 9 is a flowchart schematically showing an example of the operation of the axial misalignment measuring device 100. The operation of the axial misalignment measuring device 100 will be described with reference to FIGS. 1 and 5 to 8 according to the flowchart of FIG.

In step S100 of FIG. 9 (corresponding to an example of the imaging step and corresponding to an example of the measuring step), the round bar body control unit 161 controls the imaging unit 105 and the actuator 115 to control the round bar regions 11, 12, and 13, respectively. Each image is taken, and the distance measuring unit 110 and the actuator 115 are controlled to measure the imaging distance between each of the round bar regions 11, 12, and 13 and the imaging unit 105.

For example, as shown in FIG. 4, when the imaging unit 105 images the entire round bar regions 11, 12, and 13 at once, when the image pickup unit 105 images the stepped round bar body 10. The round bar body control unit 161 does not have to move the sensor head 40 in the horizontal direction by the actuator 115.

However, in order to accurately determine the upper and lower edges of the round bar regions 11, 12 and 13, the sensor head 40 is moved in the horizontal direction by the actuator 115, and the imaging unit 105 is moved to the round bar regions 11, 12 , 13 are preferably positioned in front of each of the round bar regions 11, 12, and 13 individually.

Further, in order to accurately determine the diameters of the round bar regions 11, 12, and 13, the center of the image 200 and the position corresponding to the axis SC of the stepped round bar 10 coincide with each other (that is, extend horizontally). It is preferable that the optical axis of the imaging unit 105 is orthogonal to the axis SC of the stepped round bar body 10).

Further, in order to accurately measure the imaging distance between each of the round bar regions 11, 12, and 13 and the imaging unit 105, the round bar body control unit 161 controls the actuator 115 and extends horizontally. It is preferable that the distance measuring unit 110 is arranged in front of each of the round bar regions 11, 12, and 13 at a position where the laser beam 110A from 110 is orthogonal to the axis SC of the stepped round bar body 10.

In step S105 (corresponding to an example of the extraction step), the edge extraction unit 162 applies an edge enhancement filter to the pixel value of each pixel of the image 200, and applies an edge enhancement filter to the upper edges of each of the round bar regions 11, 12, and 13. And extract the lower edge. In FIG. 5, the upper edge 11U and the lower edge 11D of the round bar region 11 are extracted, the upper edge 12U and the lower edge 12D of the round bar region 12 are extracted, and the upper edge 13U and the lower edge of the round bar region 13 are extracted. 13D has been extracted.

In step S110 (corresponding to an example of the diameter calculation step), the diameter calculation unit 163 calculates the diameters of the round bar regions 11, 12, and 13 by the method described in Patent Document 1. That is, the diameter calculation unit 163 is based on the imaging distance between the round bar regions 11, 12, and 13 and the imaging unit 105, and the positions of the upper and lower edges of the round bar regions 11, 12, and 13, respectively. The diameters D11 [mm], D12 [mm], and D13 [mm] of the round bar regions 11, 12, and 13, respectively, are calculated.

In step S115 (corresponding to an example of the difference calculation step), the difference calculation unit 164 calculates the difference distance between the axis of the reference round bar area and the axis of the measurement round bar area, and calculates the difference distance as the rotation angle. It is saved in the memory 150 in association with.

Here, one of the plurality of round bar regions (round bar regions 11, 12, 13 in FIG. 4) included in the measurement target region is the reference round bar region (round bar region 11 in FIG. 4). Is defined as. In addition, the remaining round bar area (round bar area 11 in FIG. 4) other than the reference round bar area (round bar area 11 in FIG. 4) among the plurality of round bar areas (round bar areas 11, 12, 13 in FIG. 4) included in the measurement target area. In FIG. 4, the round bar regions 12, 13) are defined as the measurement round bar regions.

Hereinafter, as a specific example of this step, a procedure for calculating the difference distance between the axis of the round bar region 11 which is the reference round bar region and the axis of the round bar region 12 which is the measurement round bar region will be described.

First, as shown in FIG. 5, the difference calculation unit 164 virtually sets the measurement line 11M parallel to the Y axis intersecting the upper edge 11U and the lower edge 11D in the image 200, and sets the upper edge 12U and the lower edge 11D. A measurement line 12M parallel to the Y axis intersecting the lower edge 12D is virtually set. Next, the difference calculation unit 164 obtains the diameter pixel number P11 [pixel] of the round bar region 11 on the measurement line 11M of the image 200, and the diameter pixel number P12 [pixel] of the round bar region 12 on the measurement line 12M. ] Is asked.

Next, as shown in FIG. 6, the difference calculation unit 164 obtains the axial center coordinates 11Y of the round bar region 11 which is the midpoint of the upper edge 11U and the lower edge 11D on the measurement line 11M of the image 200. On the measurement line 12M, the axial center coordinates 12Y of the round bar region 12 which is the midpoint of the upper edge 12U and the lower edge 12D are obtained. Then, as shown in FIG. 6, the difference calculation unit 164 determines the number of difference pixels Δd [pixel] between the axial center coordinates 11Y of the round bar region 11 and the axial center coordinates 12Y of the round bar region 12 in the image 200. ,
Δd = 12Y-11Y
Asked by.

Next, the difference calculation unit 164 uses the number of pixels P11 [pixel] in the diameter of the round bar region 11 and the diameter D11 [mm] of the round bar region 11 calculated in step S105 to convert the coefficient K [mm / mm /. pixel],
K = D11 / P11
Asked by. Then, the difference calculation unit 164 sets the difference distance D [mm].
D = K × Δd
Asked by. The difference calculation unit 164 stores the obtained difference distance D [mm] in the memory 150 in association with the rotation angle of the stepped round bar body 10.

In step S120, the axial misalignment processing unit 165 determines whether or not the stepped round bar body 10 has rotated 360 degrees. If the stepped round bar 10 is not rotated 360 degrees (NO in step S120), the process proceeds to step S125. On the other hand, if the stepped round bar body 10 is rotated 360 degrees (YES in step S120), the process proceeds to step S130.

In step S125, the axial misalignment processing unit 165 controls the manipulator 20 to rotate the stepped round bar body 10 by a predetermined rotation angle (for example, 5 degrees). After that, the process returns to step S100, and steps S100 to S120 are repeated.

In FIG. 8, the horizontal axis represents the rotation angle [degrees] of the stepped round bar body 10, and the vertical axis represents the difference distance [mm]. “0” on the vertical axis corresponds to the position of the axis of the round bar region 11 which is the reference round bar region. FIG. 8 shows the difference distance stored in the memory 150 in association with the rotation angle of the stepped round bar body 10 when YES is determined in step S120. That is, FIG. 8 shows the difference distance from the rotation angle of 0 degrees to 360 degrees.

In step S130 (corresponding to an example of the axial misalignment processing step), the axial misalignment processing unit 165 rotates the maximum value, the minimum value, and the maximum value and the minimum value of the difference distance for each measurement round bar region. Extract the angle. In the example of FIG. 8, the axial misalignment processing unit 165 extracts the maximum value Dnax of the difference distance D, the minimum value Dmin, the rotation angle θa corresponding to the maximum value Dmax, and the rotation angle θb corresponding to the minimum value Dmin. ..

In step S135 (corresponding to an example of the axial misalignment processing step), the axial misalignment processing unit 165 calculates the axial misalignment amount and the axial misalignment direction of each measurement round bar region and displays them on the display unit 120.

Considering the principle of misalignment, ideally, the amount of misalignment is
| Dmax | = | Dmin |
Is. Therefore, simply, the axial misalignment processing unit 165 may set the axial misalignment amount to Dmax. However, in reality, due to measurement error,
| Dmax | = | Dmin |
May not be. Therefore, in the first embodiment, the axial misalignment processing unit 165 sets the axial misalignment amount Dave.
Dave = (| Dmax | + | Dmin |) / 2 (Equation 1)
To be calculated by. As a result, the amount of axial misalignment can be obtained more accurately than when the amount of axial misalignment is set to Dmax.

Further, since the rotation angle θa and the rotation angle θb are opposite directions, ideally,
θb−θa = 180
Is. Therefore, simply, the axial misalignment processing unit 165 may set the axial misalignment direction to θa or θb. However, in reality, due to measurement error,
θb−θa = 180
May not be.

Although θb> θa in FIG. 8, θb <θa may occur depending on the rotation angle position of the stepped round bar 10 at the start of measurement. Therefore, when the smaller one of θa and θb is defined as θp and the larger one is defined as θq, the axial misalignment processing unit 165 sets the axial misalignment direction θave.
θave = {θp + (θq-180)} / 2 (Equation 2)
To be calculated by. As a result, the axial misalignment direction can be obtained more accurately than when the axial misalignment direction is set to θp or θq.

Then, the axial misalignment processing unit 165 displays the obtained axial misalignment amount Dave and the axial misalignment direction θave on the display unit 120 in association with the round bar region 12. The axial misalignment processing unit 165 obtains the axial misalignment amount and the axial misalignment direction of the round bar region 13 which is the measurement round bar region with respect to the round bar region 11 which is the reference round bar region by the same procedure. It is displayed on the display unit 120 in association with the round bar area 13.

Here, the axial misalignment direction will be described with reference to FIGS. 7 and 8. The axial misalignment direction is a direction from the axial center of the round bar region 11 to the axial center of the round bar region 12. The paper surface of FIG. 7 is a plane orthogonal to the axis of the round bar region 11. On the paper of FIG. 7, the axis of the round bar region 11 is defined as the origin O11, and the rotation start angle of the stepped round bar 10 (that is, the rotation angle of the horizontal axis in FIG. 8 corresponds to 0 [degree]). It is defined as the X-axis passing through the origin O11. The axial deviation direction θave of the axial center of the round bar region 12 with respect to the axial center of the round bar region 11 is from the X axis to the straight line L11 passing through the origin O11 based on the rotation angles θp and θq, as shown in FIG. Is represented by the angle around the origin O11.

FIG. 10 is a diagram schematically showing an example of an image of a stepped round bar 70 different from that of FIG. 4 captured by the imaging unit 105. FIG. 11 is a diagram schematically showing the difference distance for each rotation angle obtained by the stepped round bar 70 of FIG. 10. In FIG. 11, the horizontal axis represents the rotation angle [degrees] of the stepped round bar 70, and the vertical axis represents the difference distance [mm]. “0” on the vertical axis corresponds to the position of the axis of the round bar region B1 which is the reference round bar region.

The stepped round bar body 70 shown in FIG. 10 includes four round bar regions B1 to B4. In FIGS. 10 and 11, all of the four round bar regions B1 to B4 are measurement target regions. Then, one round bar region (round bar region B1 in FIGS. 10 and 11) of the plurality of round bar regions (round bar regions B1 to B4 in FIGS. 10 and 11) included in the measurement target region is used as a reference. It is defined as a round bar area. Further, the remainder of the plurality of round bar regions (round bar regions B1 to B4 in FIGS. 10 and 11) other than the reference round bar region (round bar region B1 in FIGS. 10 and 11) included in the measurement target region. The round bar region (round bar regions B2 to B4 in FIGS. 10 and 11) is defined as the measurement round bar region.

FIG. 11 shows the difference distance for each rotation angle of the round bar regions B2 to B4, which are the measurement round bar regions, with respect to the round bar region B1 which is the reference round bar region. In FIG. 10, the maximum value of the difference distance of the round bar region B3 is D1, the minimum value is D2, and the peak value (absolute value of the maximum value and the minimum value) of the difference distance is the largest in the round bar region B3. It has become.

In the case of FIG. 11, the axial misalignment processing unit 165 sets the axial misalignment direction θ3ave of the round bar region B3 according to the procedure of FIG.
θ3ave = {θ3a + (θ3b-180)} / 2
The amount of misalignment D3ave of the round bar region B3 is determined by
D3ave = (| D1 | + | D2 |) / 2
Asked by. The axial misalignment processing unit 165 similarly obtains the axial misalignment direction and the axial misalignment amount of the other round bar regions B2 and B4. The axial misalignment processing unit 165 displays the obtained axial misalignment direction and the axial misalignment amount on the display unit 120 in association with each of the round bar regions B2, B3, and B4.

In step S135, the axial misalignment processing unit 165 may display only the data in the round bar region having the maximum axial misalignment amount on the display unit 120. That is, in the example of FIG. 11, the axial misalignment processing unit 165 may display only the axial misalignment amount and the axial misalignment direction of the round bar region B3 on the display unit 120. Alternatively, the axial misalignment processing unit 165 may also display the difference distance for each rotation angle shown in FIGS. 8 and 11 on the display unit 120.

As described above, in the axial misalignment measuring device 100 and the axial misalignment measuring method implemented therein in the first embodiment, in the stepped round bar body 10, the round bar region 11 which is the reference round bar region The difference distance between the axis and the axis of the round bar regions 12 and 13, which are the measurement round bar regions, is obtained for each rotation angle, and the peak value is extracted. Therefore, according to the first embodiment, the axial misalignment direction and the axial misalignment amount of the measurement round bar region with respect to the axial center of the reference round bar region can be obtained based on the peak value.

Further, in the first embodiment, since the amount of axial misalignment is obtained by the above (Equation 1), the amount of axial misalignment can be obtained more accurately. Further, in the first embodiment, since the axial misalignment direction is obtained by the above (Equation 2), the axial misalignment direction can be obtained more accurately.

Further, in the first embodiment, the obtained axial misalignment direction and axial misalignment amount are displayed on the display unit 120 in association with the measurement round bar region (step S135 in FIG. 9). Therefore, according to the first embodiment, the operator confirms the display unit 120 to correct whether or not the amount of axial misalignment in the stepped round bar bodies 10 and 70 is within the permissible range. It is possible to determine the direction to be applied and the amount of pressure to be applied to the hot forging press 30 when making corrections.

(Second Embodiment)
FIG. 12 is a block diagram showing the configuration of the stepped round bar manufacturing apparatus 100A of the second embodiment. In the second embodiment, the target of the stepped round bar manufacturing apparatus 100A is a stepped round bar whose forging work is temporarily interrupted during hot forging.

As shown in FIG. 12, the stepped round bar manufacturing apparatus 100A includes a hot forging press machine 30 in addition to each part of the axial misalignment measuring apparatus 100 (FIG. 1). Further, the stepped round bar manufacturing apparatus 100A includes a control circuit 140A, a memory 150A, and a CPU 160A in place of the control circuit 140, the memory 150, and the CPU 160 of the axial misalignment measuring apparatus 100 (FIG. 1). The CPU 160A operates according to the control program of the second embodiment stored in the memory 150A, for example, the ROM, so that the round bar control unit 161 and the edge extraction unit 162, the diameter calculation unit 163, the difference calculation unit 164, and the axial center It functions as a displacement processing unit 165 and a hot forging control unit 171.

The hot forging control unit 171 controls the manipulator 20 and the hot forging press machine 30 based on the operation from the operator to hot forge the stepped round bar body, so that each of the plurality of round bar regions is predetermined. A stepped round bar having a diameter and a predetermined length is manufactured.

FIG. 13 is a flowchart schematically showing an example of the operation of the stepped round bar manufacturing apparatus 100A. In FIG. 13, steps S100 to S135 are the same as steps S100 to S135 in FIG.

In step S200 (corresponding to an example of the determination step) following step S135, the hot forging control unit 171 determines whether there is an axial misalignment amount exceeding a predetermined threshold value among the axial misalignment amounts calculated in step S135. Judge whether or not. If there is an amount of misalignment exceeding a predetermined threshold value (YES in step S200), the process proceeds to step S205. On the other hand, if there is no axial deviation amount exceeding a predetermined threshold value (NO in step S200), the operation of FIG. 13 ends. The predetermined threshold value may be set according to the accuracy required for the stepped round bar body.

In step S205 (corresponding to an example of the specific step), the hot forging control unit 171 specifies a measurement round bar region corresponding to the maximum amount of axial deviation among the amounts of axial deviation exceeding a predetermined threshold value. In step S210 (corresponding to an example of the display step), the hot forging control unit 171 displays the specified measurement round bar region, the amount of axial misalignment and the axial misalignment direction of the specified measurement round bar region. Display at 120. In step S215 (corresponding to an example of the hot forging step), the hot forging control unit 171 executes hot forging according to the operation of the operator using the input unit 125. After that, the operation of FIG. 13 ends.

As described above, in the stepped round bar manufacturing apparatus 100A and the stepped round bar manufacturing method mounted on the stepped round bar manufacturing apparatus 100A in the second embodiment, the axial misalignment amount among the axial misalignment amounts exceeding a predetermined threshold value The maximum measurement round bar area is specified, the specified measurement round bar area, its axial misalignment amount and axial misalignment direction are displayed on the display unit 120, and hot forging is executed according to the operator's operation. .. By checking the display unit 120, the operator can grasp the measurement round bar region for correcting the axial misalignment, the direction for correcting the axial misalignment, and the correction amount. Therefore, according to the second embodiment, the operator can manufacture the stepped round bar body with reduced axial misalignment by operating the stepped round bar body manufacturing apparatus 100A according to the grasped contents. it can.

10,70 Stepped round bar 20 Manipulator 30 Hot forging press 105 Imaging unit 110 Distance measurement unit 161 Round bar control unit 162 Edge extraction unit 163 Diameter calculation unit 164 Difference calculation unit 165 Axis misalignment processing unit 171 Hot Forging control unit

Claims (5)

A hot forged stepped round bar body containing a plurality of round bar regions having different diameters is rotated around an axis, and the plurality of round bars are rotated from the radial outside of the stepped round bar body at a predetermined rotation angle. An imaging step in which two or more round bar regions of the rod region are set as measurement target regions and imaged by the imaging unit, and
A measurement step of measuring the imaging distance between each of the measurement target regions and the imaging unit for each predetermined rotation angle, and
An extraction step of extracting the upper edge and the lower edge of each of the measurement target regions from the imaging result of the imaging unit for each predetermined rotation angle.
A diameter calculation step for calculating the diameter of each of the measurement target regions based on the imaging distance, the upper edge, and the lower edge for each predetermined rotation angle.
One of the plurality of round bar regions included in the measurement target region is defined as a reference round bar region, and other than the reference round bar region among the plurality of round bar regions included in the measurement target region. When the remaining round bar region of is defined as the measurement round bar region, the reference circle is based on the upper edge, the lower edge, and the diameter of each of the measurement target regions for each predetermined rotation angle. A difference calculation step of calculating the difference distance between the axis of the bar region and the axis of the measurement round bar region and associating each of the calculated difference distances with the rotation angle of the stepped round bar body.
The peak value of the difference distance is extracted, and based on the extracted peak value, the amount of misalignment of the axis of the measurement round bar region with respect to the axis of the reference round bar region is obtained and associated with the peak value. An axial misalignment processing step for obtaining an axial misalignment direction from the axial center of the reference round bar region to the axial center of the measurement round bar region based on the rotation angle of the stepped round bar body.
A shaft misalignment measurement method comprising. The misalignment processing step is
The maximum value Dmax and the minimum value Dmin of the difference distance are extracted as the peak value, and the difference distance is extracted.
The amount of misalignment Dave,
Dave = (| Dmax | + | Dmin |) / 2
Asked by
The method for measuring axial misalignment according to claim 1. The misalignment processing step is
When the rotation angle θa associated with the maximum value Dmax and the rotation angle θb associated with the minimum value Dmin are extracted and the smaller one of θa and θb is defined as θp and the larger one is defined as θq, the above The axial deviation direction θave,
θave = {θp + (θq-180)} / 2
Asked by
The method for measuring axial misalignment according to claim 2. An imaging unit that captures images of two or more round bar regions among the plurality of round bar regions as measurement target regions from the radial outside of the hot forged stepped round bar body including a plurality of round bar regions having different diameters.
A distance measuring unit that measures the imaging distance between each of the measurement target areas and the imaging unit,
A drive unit that rotates the stepped round bar around the axis,
A round bar control unit that rotates the stepped round bar by the driving unit, images the measurement target area by the imaging unit at each predetermined rotation angle, and measures each of the imaging distances by the distance measuring unit. When,
An extraction unit that extracts the upper edge and the lower edge of each of the measurement target regions from the imaging result of the imaging unit for each predetermined rotation angle.
A diameter calculation unit that calculates the diameter of each of the measurement target regions based on the imaging distance, the upper edge, and the lower edge for each predetermined rotation angle.
One of the plurality of round bar regions included in the measurement target region is defined as a reference round bar region, and other than the reference round bar region among the plurality of round bar regions included in the measurement target region. When the remaining round bar region of is defined as the measurement round bar region, the reference circle is based on the upper edge, the lower edge, and the diameter of each of the measurement target regions for each predetermined rotation angle. A difference calculation unit that calculates the difference distance between the axis of the bar region and the axis of the measurement round bar region and associates each of the calculated difference distances with the rotation angle of the stepped round bar body.
The peak value of the difference distance is extracted, and based on the extracted peak value, the amount of misalignment of the axis of the measurement round bar region with respect to the axis of the reference round bar region is obtained and associated with the peak value. An axial misalignment processing unit that obtains an axial misalignment direction from the axial center of the reference round bar region to the axial center of the measurement round bar region based on the rotation angle of the stepped round bar body.
An axis misalignment measuring device including. The method for measuring axial misalignment according to any one of claims 1 to 3 and
A determination step for determining whether or not there is an amount of axial misalignment exceeding a predetermined threshold value among the amount of misalignment obtained in the misalignment processing step.
When it is determined that the amount of misalignment exceeding the predetermined threshold exists, a specific step of specifying the measurement round bar region corresponding to the maximum amount of misalignment among the amounts of misalignment exceeding the predetermined threshold, and a specific step.
A display step for displaying the specified measurement round bar region and the amount of axial misalignment and the axial misalignment direction of the specified measurement round bar region on the display unit.
A hot forging step that performs hot forging according to the operator's operation,
A method for manufacturing a stepped round bar body.

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