JP3397311B2 - Tube section center position measuring method and tube processing guide device - Google Patents

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a processing guide device for application to an automatic processing machine for large pipes, and particularly to a cross-section center used for designating an appropriate position when performing processing along the axis of a pipe. The present invention relates to a position measuring device and a machining guide device.

[0002]

2. Description of the Related Art In a large-sized pipe processing apparatus for processing a pipe by placing the pipe on a bed and rotating the pipe, conventionally, it is assumed that the center axis of the pipe and the rotation axis of the pipe are the same. Processing was performed based on the radius value. However, when the positioning accuracy when mounting on the processing equipment and the manufacturing accuracy of the pipe to be processed are low, the axes do not match, and the circularity and radius of the pipe include errors, which may cause the rotation of the pipe. The central axis position may shift depending on the angle. In such a case, there is a problem that the manufacturing error becomes large if the processing is performed based on the coordinate system fixed to the processing device. For example, as shown in FIG. 11, if the end face for connecting to another member is processed or a slit for receiving a gusset plate that connects the pipes is formed on the basis of the rotation axis of the rotation positioner, proper assembly processing cannot be performed. There are cases.

Japanese Patent Laid-Open No. 10-156540 discloses a ring welding method in which a runout of a tubular body is detected and the position of a welding torch is corrected to weld a ring to the outer circumference of the tubular body. . The disclosed method measures the trajectory of the tube center position when the tube is rotated in advance,
When the position to be welded detected by the position sensor reaches the position of the welding torch, the position of the welding torch is corrected based on the locus of the pipe center position. The tube center position is determined based on the tube radius given in advance by measuring the tube surface at two different points.

It is conceivable to apply the disclosed method also when machining in the axial direction of the tubular body. However, when this method is applied, the center position is measured for each pipe cross-section including the processing position and used as the processing reference, and therefore, for example, as shown in FIG.
As shown in Fig. 6, when the pipe is bent, the processing position also bends along the center line, and there are some errors in the assembly when the positional relationship between the pipe ends is important or when assembling with other pipes. It becomes a problem when it becomes important. It should be noted that the trajectory of the pipe center position measured by the disclosed method is premised on that the pipe radius is constant, and will include an error when the pipe cross section is not a perfect circle.

[0005]

SUMMARY OF THE INVENTION The problem to be solved by the present invention is to specify an appropriate position in an automatic processing machine for large pipes, particularly when processing for assembling together with other members. And a method for measuring the center position of the pipe regardless of the manufacturing accuracy of the pipe body.

[0006]

In order to solve the above-mentioned problems, the cross-section center of the pipe body of the present invention for measuring the center point in the cross-section of the pipe body rotatably mounted on the pipe processing device so as to be rotatable about its axis. The position measurement method is that the pipe is placed so that the arbitrarily set reference radial direction matches the diameter measurement direction that can be measured at both ends of the diameter of the pipe, and the most protruding in the diameter measurement direction in the measurement cross section. The distance D1 between the convex points in the measurement direction is measured.

Next, the tubular body is rotated so that the reference radial direction is perpendicular to the diameter measuring direction, and the most convex point protruding most in the reference radial direction in the measurement cross section is detected. The point which intersects the line perpendicular to the reference radial direction and the tubular body surface at a distance L1 which is half the distance D1 between the most convex points measured in step 1 above. One of these intersections is called the heaven core and the other is called the earth core. The midpoint of a line segment of length D2 connecting the heaven and earth cores is obtained. This midpoint is regarded as the center point of the measurement cross section.

Further, the tubular body is rotated around the axis by the intended rotation angle θ with reference to the point where the reference radial direction matches the diameter measurement direction, and along the inclined line inclined by the same angle as the rotation angle θ. The measuring instrument is moved to detect the most convex point that is most protruding in the direction perpendicular to the line, that is, the reference radial direction. Then, the heaven center point or the earth center point is determined from the intersection of the line perpendicular to the reference radial direction and the surface of the tubular body, which is separated from the most convex point by the half distance L1. A position along the line perpendicular to the reference radial direction, or a position apart from the celestial center point or the terrestrial center point by a distance L2 which is half the distance D2 between the celestial center point and the terrestrial center point is set as the center point position. Is characterized by.

According to the pipe cross-section center position measuring method of the present invention, as long as the cross-section has a substantially point-symmetrical cross-section, even an instrument capable of measuring a half circumference of the pipe can measure the cross-section of the pipe. The center position can be calculated. Also, once the relationship between the center position and the surface of the pipe is obtained, the pipe is rotated and the center position at the rotation angle is measured, so that the movement locus of the center position formed as the pipe rotates. Can be asked.

Next, according to the pipe body machining guide method of the present invention applied to a machining device for rotating a pipe body, the center position of the pipe body cross section at the two end face reference positions of the pipe body to be processed is the rotation angle. Therefore, the changing center point locus is obtained, and the machining position is determined by regarding the straight line connecting the two center positions at the end face reference position in the rotated state of the pipe to be processed as the axis of the pipe to be processed. In the pipe processing guide method of the present invention, the center point is calculated by using the pipe cross-section center position measuring method of the present invention described above and changing the rotation angle of the pipe to calculate the center position. The locus may be obtained.

According to the tubular body machining guide method of the present invention, for example, when the tubular body is rotated to bring the machining position to the vicinity of the apex and then a machining tool is applied to the machining, both cross sections of the tubular body to be cut out are cut. Since the processing size can be designated with reference to the center point of the, the structure assembled with the pipe to be processed can have an appropriate shape. Especially when processing pipes for connecting multiple pipes to form a structure, the axes of the pipes to be connected are less likely to shift, and the gusset groove is used even when a gusset plate is used as a joint. Can be properly formed.

Further, in order to solve the above problems, according to the present invention, which is used by being juxtaposed with a pipe processing apparatus equipped with a bed on which a pipe to be processed is placed and a rotary positioner for rotating the pipe to be processed in a circumferential direction. The pipe processing guide device includes a distance measuring device that measures a distance to the surface of the pipe to be processed, a rotating device that moves the distance measuring device over at least half of the outer periphery of the pipe to be processed, and a rotation device that rotates the rotary device. A translation device that translates the device at least in the axial direction of the pipe to be processed into two end face reference positions, and an arithmetic processing device.

The translation device sequentially moves the rotating device relative to the two end face reference positions, and the rotating device moves the distance measuring device in correspondence with the rotation angle at which the rotary positioner rotates the pipe to be processed. The processing target pipe surface position is measured at each end face reference position, and the arithmetic processing unit obtains the center position of the reference end face pipe cross section based on the measured processing target pipe surface position. The feature is that the straight line connecting the central positions is regarded as the axis of the pipe to be processed and the processing position is designated.

It is preferable to use an articulated robot arm as the transfer device. Further, the transfer device can be used while holding the distance measuring device and the processing tool. Furthermore, the translation device is equipped with a rotation device,
It is preferable that the traveling stand is configured to travel parallel to the axial direction of the bed of the tubular body processing apparatus.

[0015]

BEST MODE FOR CARRYING OUT THE INVENTION The present invention will be described below in detail based on embodiments with reference to the drawings. FIG. 1 is a diagram for explaining an example in which the pipe body cross-section center position measuring method, the pipe body processing guide method, and the pipe body processing guide device of the present invention are applied to an automatic pipe processing machine. The automatic processing machine includes a pipe rotating mechanism 1 for rotating a pipe to be processed around a core axis, a multi-axis robot arm 2 to which work tools can be exchangeably attached, and traveling for causing the robot arm to travel in the axial direction of the pipe. The mechanism 3 is provided. The tubular body rotating mechanism 1 includes a tubular body pedestal 11 on which a tubular body 4 to be processed is rotatably mounted, a rotary positioner 12 for gripping an end portion of the tubular body with a chuck and rotating it about an axis, and a tubular body. A rail 13 on which the pedestal 11 is placed to adjust the position of the pedestal 11.
Composed of.

The multi-axis robot arm 2 is a work tool 2
It is a known device provided with a total of 6-axis drive mechanism including three axes for adjusting the work position and three axes for adjusting the posture. The work tool 21 can be replaced with a bolt, an adapter or the like on the shaft of the terminal. The work tool 21 is a tool for processing the tubular body, such as a cutting tool for cutting the tubular body or a scoring tool for writing information marks on the surface of the tubular body, but further includes a sensor tool for measuring the tubular body. Be done. Note that the robot arm 1 can automatically change over the tools 21.

The traveling mechanism 3 comprises a traveling carriage 31 and a traveling rail 32 on which the carriage travels. Traveling trolley 31
Is equipped with a support base 33 that supports the robot arm 2, and devices 34 including a drive source unit connected to a work tool, a measurement signal processing unit, a control panel, and the like. Running rail 32
Are laid so as to be parallel to the axis of the pipe 4 to be processed, and the traveling carriage 31 can travel on the traveling rail 32 in parallel with the pipe 4 to be processed by a carriage drive motor or the like (not shown). .

The robot arm 2 holds the gripped tool 21 from the upper ridge line to both sides within a range of approximately 90 degrees.
It is configured so that it can be applied to the surface. When using a laser processing tool, it is safer to irradiate downwards even when there are people around. Also in the case of cutting, it is preferable to work with the tool facing downward near the apex in terms of workability. However, it is not always necessary to operate the work tool from above in the processing using the mechanical processing tool or the processing of the scribe 16 in which the melt or the like does not matter. On the other hand, in order to grasp the sensor tool and measure the tube size, it is preferable that the circumference of the tube can be applied in as wide a range as possible.

FIG. 2 and FIG. 3 are explanatory views showing how one embodiment of the tube body center position measuring method of the present invention is carried out using a robot arm. In the robot arm 2 in this embodiment, the shaft on the base side fixed to the support base 33 in a posture as shown in the front view of FIG. 2 is arranged almost directly above the core axis of the tubular body 4, and the robot arm 2 of FIG. In the range from the position shown by the solid line to the position shown by the dotted line in the side view, the posture of the robot hand is skillfully adjusted, and the tool 21 gripped by the tip axis within the measurement surface 41 substantially perpendicular to the core axis is inserted into the tubular body 4. It is possible to move the outer circumference of the pipe body from one side wall to the other side wall over a substantially half circumference while maintaining a posture substantially vertical to the surface of the.

Next, as an example of the work by the automatic processing machine, a case of cutting will be described. After the cutting tool 21 is attached to the robot arm 2, the traveling carriage 31 is translated and moved to the cutting position, and the rotary positioner 12 rotates the pipe body 4 so that the cutting position is near the apex. Cut body 4. When the cutting position moves in the circumferential direction of the tubular body, the rotary positioner 12 rotates to follow the locus, and when it moves in the axial direction, the robot arm 2 expands and contracts to follow the locus. in this way,
By controlling the rotation of the rotary positioner 12 and the expansion and contraction of the robot arm 2, a predetermined cutting processing locus 15 can be obtained.
Can be cut along.

The tubular body machining guide device of the present embodiment is such that, in an automatic tubular machine, the central positions of the respective cross sections of both ends of the tubular member 4 to be machined are determined, and then the straight lines connecting the determined central positions are connected. Find the position of. Furthermore, this straight line 47
Assuming a virtual straight pipe 50 having a predetermined radius with the core axis as a core axis, the working tool 21 is guided according to the machining position defined on the virtual straight pipe based on the design data, and the actual tubular body 4 is guided.
To process. An actual tubular body processed based on such a virtual straight pipe can be used even when the tubular body has an unexpected curvature or when the rotary axis of the rotary positioner of the automatic processing machine and the axial center of the tubular body are misaligned. , Shape abnormality and combination error when combined with other members are reduced.

4 and 5 are drawings for explaining the concept of the processing guide method for the pipe body, FIG. 4 is a conceptual diagram for explaining the principle of the processing guide method, and FIG. 5 is for cutting the tube, forming slits, and marking lines. It is a top view showing the example of the pipe body which performed. Pipe to be processed 4
Is placed on the tube support 11 and the rotary positioner 12
Is gripped at the end. If the tubular body 4 is a straight pipe 40 having a strict dimension, the tubular shaft and the rotary shaft 14 of the rotary positioner 12
However, when the tube axis 42 of the tube body 4 is bent as shown in the drawing, the center points 45 and 46 of the end faces at the cutting positions 43 and 44 are the same as the rotation axis 1 of the rotary positioner.
There is a deviation from 4. Then, when the tubular body 4 is rotated by the rotary positioner 12, the center points 45 and 46 draw loci such that their positions change according to the rotation angle with respect to the rotation axis 14 of the rotary positioner 12.

Therefore, the reference position of the pipe 4 to be processed is appropriately determined, and this is used as a reference for determining the rotation angle.
By rotating the pipe 4 to be processed little by little by 2, the center position 45 or 46 at the end face position 43 or 44 of the cut-out portion of the pipe 4 to be processed is measured, and the rotation angle θ is used as a parameter to measure the center of each end face. Obtain the point locus as spatial coordinates. Then, when the pipe body 4 is processed, the pipe is made with reference to the virtual straight pipe 50 having the straight line 47 connecting the points corresponding to the rotation angle θ in the center point locus obtained as described above as the core axis. The machining position of the body 4 is determined and the machining tool 2
Guide 1 The automatic processing machine determines the position of the work tool 21 with reference to the rotary shaft 14 of the rotary positioner 12, but in the present embodiment, the rotary shaft 1 of the core shaft 47 of the virtual straight pipe 50.
The deviation from 4 is added as a correction value to the processing position data to obtain a corrected processing position.

When the tube body 4 is cut by the method of this embodiment, the end surfaces 48 and 49 of the cut tube body are imaginary tubes 50.
Since it is a circular surface that is perpendicular to the core shaft 47 and centered on the core shaft, the core shafts are linearly connected to each other when connected to the cut-out pipe body formed by the same method, and the structure after assembly is No distortion will occur. In addition, when the pipes are connected to each other by the gusset plate, the slits 52 for inserting the gusset plate,
Since 53 is formed in a plane including the core shaft 47, the end surface 4
Since they are arranged perpendicularly to 8, 49 and symmetrically with respect to the center point positions 45, 46, the joint surfaces of the two pipes can be in close contact with each other to prevent the structure from being distorted.

Further, for example, even when a scoring is made for the purpose of assembling so as to intersect the central axis of the tubular body 4, the scoring position 51 is determined with the core axis 47 of the virtual tubular body 50 as a reference. By determining the position based on the core shaft 47, the structural mechanical correspondence when assembled as a structure becomes more accurate, and the design performance can be more faithfully realized. Furthermore, if the error in the joint and the correction result of the processing position are recorded, and the processing position is corrected in consideration of the data recorded when processing the mating member to be joined to this, the assembly It is possible to further reduce the error.

FIGS. 6, 7 and 8 are drawings for explaining a method of measuring the center position of the end face of the tubular body 4 at the end cutting position. FIG. 6 is a drawing for explaining the relationship between the external dimension measurement value of the tubular body and the center position of the cross section, FIG. 7 is a flow chart for explaining the measuring procedure of the center position locus, and FIG. 8 shows the measuring state following the steps of the measuring procedure. It is a process drawing. In this method, as shown in FIG.
As will be shown in principle, the reference radial direction 61 fixed with respect to the tubular body 4 is arbitrarily determined, and the most protruding points 62 and 63 most protruding in the reference radial direction on both sides of the reference radial direction 61 are detected. , The horizontal width D1 between the most convex points is determined. The most convex points 62 and 63 are fixed points determined based on the surface state of the tubular body 4.

One of the points where a line passing through the midpoint of the two most convex points 62 and 63 and perpendicular to the reference radial direction intersects the surface of the tube is called the heaven core 65, and the other is called the earth core 66. The midpoint 67 of the line segment 64 connecting the heaven core 65 and the earth core 66 is the center point of the target cross section. The heaven core 65 or the earth core 66 can be determined based on the directions of the most convex points 62 and 63 and the reference radial direction 61.
If the length L2, which is half the distance D2 between 5 and the earth core 66, is known, the center position 67 can be obtained.

With this center position measuring method, it is possible to know the center position of the target cross section when the tube body rotatable about the axis is rotated at an arbitrary angle θ by using a device that can measure only about half circumference. it can. In the present embodiment, the center point of the target cross section is the midpoint of the line segment connecting the top core and the ground core in view of ease of calculation, but the center of gravity of the cross section or the intersection of two appropriate diameters is used. It goes without saying that it is okay.

The center position measuring method of this embodiment will be described more specifically with reference to the flowchart of FIG. 7 and the process chart of FIG. First, as a preparation step, the reference radial direction to be fixed to the pipe body is arbitrarily determined (S1). When determining the position in the reference radial direction, it is preferable that a peculiar portion such as a welding line does not come near the reference radial direction portion, the top core, and the earth core. Then, the robot arm is moved so that the target cross section comes to the measurable position, and the tubular body 4 is rotated around the rotary shaft 14 by the rotary positioner, and both ends of the diameter in the reference radial direction 61 of the tubular body 4 can be measured. To come to a position like this. Since the robot arm can move over the upper half circumference of the tubular body in the tubular body machining guide apparatus of this embodiment, the reference radial direction 61 is set to be horizontal as shown in FIG. 8A. With this, the diameter can be measured by the sensor tool 21.

The robot arm scans the sensor tool 21 in the end face perpendicularly to the direction of the reference radial direction 61, and the most convex points 62, 6 at which the surface of the tubular body 4 projects most.
3 is detected, and the distance between the most convex point and the sensor tool 21 is measured. Since the position of the sensor tool 21 can be known from the position of the robot arm, the horizontal positions of the most convex points 62 and 63 can be measured by the above method.
The sensor tool 21 is, for example, an optical non-contact one-dimensional distance measuring sensor. Of course, it is also possible to use a distance measuring sensor having two or more dimensions. In that case, the most convex portion can be detected and the distance can be measured without scanning. By performing this method on both sides of the reference radial direction 61, the horizontal positions of the most convex points 62 and 63 and the horizontal width D1 between the most convex points on both sides, and the half distance L1 thereof.
(Called the first distance) is obtained (S2). The first distance L
1 does not necessarily have to be half the width between the most convex points, and an appropriate distribution rate may be selected.

Next, as shown in FIG. 8B, the tubular body 4 is rotated around the rotary shaft 14 by the rotary positioner so that the vertical line 64 with respect to the reference radial direction 61 can measure both ends of the diameter. To come to. In this embodiment, the rotary positioner may be rotated by 90 degrees so that the reference radial direction 61 is vertical. Then, the sensor tool 21 is moved directly above the tubular body 4 and is scanned in a direction perpendicular to the reference radial direction 61 to search for the most convex point near the reference radial direction 61 (S3). The detected highest convex point is the same point as the previously detected highest convex point 62 (or 63). The sensor tool 21 is moved onto a perpendicular line 64 standing in the reference radial direction at a position distant from the most convex point 62 by the first distance L1 previously measured. The sensor tool 21 is located on the side wall of the tube body 4. The intersection of the vertical line 64 and the surface of the tube 4 is the heaven core 65.
(Or the earth core 66). This intersection and sensor tool 2
When the distance of 1 is measured, the position of the heaven core 65 (or the earth core 66) is given with the position of the sensor tool 21 as a reference.

The sensor tool is moved to the opposite side of the pipe body, and the distance between the intersection point of the vertical line and the surface of the pipe body and the sensor tool is measured in the same manner. (Called the second distance) is calculated (S4). The center position of the cross section is at the midpoint 67 of the heaven core 65 and the earth core 66.
Therefore, if the position of the top core or the bottom core is detected, the position separated from the point by the second distance L2 in the direction perpendicular to the reference axis becomes the center position of the cross section (S5). According to this method, the second distance L2 can be obtained if the sensor tool can be moved in the upper half of the tubular body, and the center position of the cross section can be detected from the position of the heaven core 65 or the earth core 66. . The second distance L2 does not necessarily have to be half the distance between the core and the core, and an appropriate division coefficient may be selected.

Next, the position in the reference radial direction 61 is returned to the initial position, and as shown in FIG. 8 (c), the rotation positioner further rotates about the rotation shaft 14 by a predetermined rotation angle θ.
At this time, the reference radial direction 61 has the same inclination of the angle θ (S6). The sensor tool 21 is scanned on a line having an inclination of an angle θ, that is, in a direction perpendicular to the reference radial direction 61 to search for the most convex point near the reference radial direction (S7). The highest convex point thus detected is the same as the first highest convex point 62 detected.

Further, the sensor tool 21 is moved onto a vertical line 64 with respect to the reference radial direction 61 which can be determined as a position separated from the most convex point 62 by the first distance L1, and the surface of the tubular body is moved along the vertical line 64. Measure the distance to the intersection of.
Since this intersection is the heaven core 65 or the earth core 66, FIG.
As shown in (d), the center position 67 of the cross section can be obtained as a position separated from the intersection by the second distance L2 in the direction perpendicular to the reference axis 61 (S8). According to this method, if the sensor tool can move in the upper half of the tubular body, the center position of the cross section can be accurately obtained. Also,
It suffices to measure one of the top core and the bottom core, and the most convex point at one end position in the reference radial direction.

The same measurement is performed by changing the rotation angle θ of the rotary positioner until the tubular body makes one rotation, and the center position 6
When the spatial coordinates of 7 are obtained, a center position locus with the rotation angle θ of the tubular body as a parameter is obtained (S9). Same measurement
The process is performed on the other target cross section of the pipe body 4 to be processed to obtain a center position locus with the rotation angle θ of the pipe body as a parameter (S10). In this way, the center positions of both end faces at any rotation position are obtained, so that the core axis 47 of the virtual tubular body can be obtained.

When machining with the work tool, the position of the core shaft 47 that changes according to the rotation angle θ of the rotary positioner is obtained, the deviation from the rotary shaft 14 of the rotary positioner 12 is calculated, and the designed machining position at that position is calculated. Virtual straight pipe 5
Correct to the position 0 above. Further, the surface position of the pipe body 4 to be processed is measured, the final machining position that compensates for the difference from the surface position of the virtual straight pipe 50 is obtained, and the actual pipe body 4 is automatically machined.

FIG. 9 is a conceptual diagram showing an example in which correction is required based on an error in the outer surface position in an actual pipe body. When the surface position of the pipe body 4 to be processed is displaced in the radial direction, for example, the end cutting position must be corrected in the radial direction within the pipe cross section including the processing position as indicated by arrow 71 in the figure. In addition, since the scoring for marking the member name is performed at the same depth on the surface position of the pipe, it is necessary to correct it in the radial direction as shown by the arrow 72. Further, the positions of the markings indicating the mounting positions of the members and the branch pipes are not merely shifted in the radial direction, but are corrected in parallel to the mounting directions of the members and the branch pipes as shown by arrows 73 and 74.

When there is an error in the actual diameter of the pipe to be processed, the correction direction is determined in consideration of the shape and the attachment direction of the member to be attached at the processing position, and the pipe to be processed is along this correction direction. It is necessary to correct it to the position projected on the outer surface position of. FIG. 10 is a view for explaining an example of correcting the cut surface of the member when the pipe has a radius error. For example, when the pipe body 4 is crushed vertically as compared with the virtual straight pipe 50 as shown in the figure, if the joint surface is simply reduced at the predetermined joint position, the member 75 to be joined during assembly is formed. It is necessary to largely correct the groove error such as the root gap. Therefore, in consideration of the shape of the joining member 75 and the penetration in the tube axis direction, the correction direction is determined in the tangential direction 76 of the joining surface, and the cut surface position of the pipe body 4 is shifted along the correction direction. To At this time, the inclination φ of the cut surface may not be changed. By using such a cut surface correction method, the grinder work for the groove correction at the time of assembly can be reduced, and the adverse effect of the welding work can be suppressed.

In the present embodiment, the robot arm carries out the work while the machining tool and the sensor tool are exchanged, but the measuring arm may be provided instead of the general-purpose robot arm. When the dedicated measurement arm is used, the work efficiency can be improved because the measurement work and the processing work can be separated. In addition, since the dedicated measurement arm is lightweight and can facilitate the handling of the cable, it is possible to extend the measurement region over the entire circumference of the pipe body and perform more accurate machining position guidance.

[0040]

As described above, according to the present invention, the machining position is determined with reference to the line connecting the center positions of the cross sections of both ends of the pipe to be cut, so that the machining accuracy of the circularity and the radial dimension of the pipe is low. Even in such a case, the position and shape of the joint can be appropriately formed in accordance with the engagement with other members. Therefore, the assembling error when combining with other members is small. Also, when the automatic processing machine is of a type that performs processing while rotating the pipe around the axis with the tool placed near the apex, the path of the center position of the end face in the processing target part is converted into one rotation of the pipe. Since it is obtained and used with high accuracy over a plurality of locations, a relative positional error is small even when processing a plurality of locations, and a highly accurate structure can be constructed. Note that the present invention can be applied to an existing automatic processing machine or the like as it is because the processing tool held by the robot arm can be carried over to the measurement tool in an automatic processing machine for processing while rotating the pipe body. be able to.

[Brief description of drawings]

FIG. 1 is a perspective view illustrating an example in which an embodiment of a tubular body processing guide device of the present invention is applied to a tubular body processing apparatus.

FIG. 2 is a front view for explaining how one embodiment of the pipe body center position measuring method of the present invention is carried out using a robot arm.

FIG. 3 is a side view corresponding to FIG.

FIG. 4 is a conceptual diagram illustrating the principle of the tubular body processing guide method of the present invention.

FIG. 5 is a plan view showing an example of a tubular body in which the tubular body is cut and slits are formed by the method of the present invention.

FIG. 6 is a drawing for explaining the relationship between the measured value of the outer dimension of the tubular body and the center position of the cross section in the tubular body center position measuring method of the present invention.

FIG. 7 is a flowchart illustrating a procedure for measuring a center position locus in the method of the present invention.

FIG. 8 is a process diagram showing a measurement state following the steps of the measurement procedure in the method of the present invention.

FIG. 9 is a conceptual diagram showing an example of performing correction based on an outer surface position error in an actual pipe body by the pipe body processing guide method of the present invention.

FIG. 10 is a diagram illustrating an example of correcting the mounting position of a member when the pipe body has a radius error according to the method of the present invention.

FIG. 11 is a plan view showing an example of a tubular body processed by a conventional method.

FIG. 12 is a plan view showing an example of a tubular body processed by another conventional method.

[Explanation of symbols]

1 Tube rotation mechanism 2 Multi-axis robot arm 3 traveling mechanism 4 Pipe to be processed 11 tube support 12-turn positioner 13 rails 14 rotation axis 15 Cutting process locus 16 scoring 21 work tools 31 traveling trolley 32 running rails 33 Support 34 Equipment 40 Strict straight pipe 41 Measuring surface 42 tube axis 43,44 Cutting end face position 45,46 Center point of end face 47 Straight line connecting center positions (core axis of virtual straight pipe 50) 48,49 End face of tube 50 virtual straight pipe 51 scribe 52,53 Slit for gusset plate 61 Reference radial direction 62,63 Most convex point 64 Perpendicular in the radial direction (the line connecting the heaven and earth cores) 65 Tenshin 66 earth core 67 Center position 75 Joining member 76 Tangential line of joint surface

─────────────────────────────────────────────────── ─── Continuation of front page (72) Inventor Yasuyuki Haruta 118 Futatsuka, Noda City, Chiba Kawasaki Heavy Industries, Ltd. Noda factory (56) References JP 61-61745 (JP, A) JP 54- 36682 (JP, A) JP-A-8-141643 (JP, A) JP-A 63-71613 (JP, A) JP-A 2-128113 (JP, A) JP-A 61-71307 (JP, A) (58) Fields investigated (Int.Cl. ⁷ , DB name) B23Q 17/22 B23K 37/047 B23K 37/053 G01B 21/00

Claims (7)

(57) [Claims] 1. A reference radial direction is arbitrarily set in a pipe mounted rotatably around an axis in a pipe processing device, and the most convex point that is most protruded in the reference radial direction in a predetermined measurement section. A step of measuring a distance D1 between them in the reference radial direction, and a line perpendicular to the reference radial direction at a first distance L1 which is half the measurement distance D1 from the most convex point and the surface of the tubular body. A step of measuring a second distance L2 which is a half of a line segment connecting two intersecting points; and, when the reference radial direction is rotated by a predetermined rotation angle θ around the axis, the second radial direction is perpendicular to the reference radial direction. A step of scanning a detector to detect the most convex point that is most protruding in the reference radial direction; and a vertical line perpendicular to the reference radial direction and the surface of the tubular body, which is separated from the most convex point by the first distance L1. Detecting the intersection point of, and separating from the intersection point by the second distance L2 along the perpendicular line. Tube the cross-sectional center position measuring method comprising a step of determining a position of the center point position. 2. A diameter measurement in which a reference radial direction is arbitrarily set in a pipe body rotatably mounted on a pipe processing apparatus about an axis and the reference radial direction can be measured at both ends of the diameter of the pipe body. Placing the tube body so as to substantially coincide with the direction, and measuring the distance D1 in the diameter measurement direction between the most convex points most protruding in the diameter measurement direction in the measurement cross section for performing the measurement. A step of rotating the tubular body so that the reference radial direction is perpendicular to the diameter measuring direction, and detecting the most convex point most protruding in the direction perpendicular to the diameter measuring direction in the measurement cross section, A point which is half the distance L1 of the measurement distance D1 from the most convex point and intersects a line perpendicular to the reference radial direction and the surface of the tubular body as a heaven center point and a ground center point, and a length D2 connecting both points. A step of detecting the midpoint of the line segment and regard it as the center point of the measurement cross section, A step of detecting the most projecting point that is most protruding in the reference radial direction when the tubular body is rotated by a predetermined rotation angle θ around the axial center with reference to where the reference radial direction matches the diameter measuring direction. And a step of detecting the celestial point or the eccentric point from an intersection of a surface perpendicular to the reference radial direction and a vertical line which is half the distance L1 from the most convex point, and the eccentric point or the eccentric point A method for measuring the center position of a cross section of a tubular body, comprising the step of determining the position of the center point from a position separated from the center point by a distance L2 which is half the distance D2 between the heaven center point and the earth center point along the perpendicular line. 3. A processing apparatus for rotating and processing a tubular body, wherein the rotation angle θ is sequentially changed.
By carrying out the method for measuring the center position of the cross section of the pipe body, the locus corresponding to the rotation angle of the center position of the cross section of the pipe body at the two end face reference positions of the pipe body to be processed is obtained, and the pipe body to be processed is rotated. A pipe body machining guide method, wherein a machining position is determined by regarding a straight line connecting the two center positions in a state as an axis of the pipe body. 4. A tubular body machining guide device, which is used in juxtaposition with a tubular body machining apparatus comprising a bed on which a tubular body to be machined is placed and a rotary positioner for rotating the tubular body to be machined in a circumferential direction, A distance measuring device that measures the distance to the surface of the pipe to be processed, a rotating device that moves the distance measuring device over at least a half circumference of the outer periphery of the pipe to be processed, and at least the rotating device. 2 of the pipe to be processed in the axial direction of the pipe to be processed
A translation device that relatively translates to one end face reference position,
An arithmetic processing device is provided, and the translation device sequentially moves the rotation device relatively to two end face reference positions, and the rotation device corresponds to a rotation angle at which the rotation positioner rotates the pipe to be processed. The distance measuring device is moved to measure the surface position of the pipe body to be processed at the end face reference position for each rotation angle of the pipe body to be processed, and the arithmetic processing unit calculates the surface position of the pipe body based on the surface position of the pipe body to be processed. A pipe body machining guide device for determining a center position of a pipe cross section of a reference end face, and regarding a straight line connecting the center positions of the cross sections of the two end faces as an axis of the pipe body to be processed to specify a machining position. 5. The pipe processing guide device according to claim 4, wherein the rotating device is an articulated robot arm. 6. The tubular body machining guide apparatus according to claim 4, wherein the rotating device can be operated while holding the distance measuring device and the tubular body machining tool. 7. The traveling gantry according to claim 4, wherein the translation device has a traveling axis parallel to the axial direction of the bed, and is equipped with the rotating device to travel. The pipe processing guide device described.