JPH02128113A - Apparatus and method for measuring bending of long-sized object - Google Patents

Abstract

PURPOSE:To measure an amount and a direction of a bending of a long-sized object by arranging a plurality of displacement sensors, a sensor support, a moving means, an arithmetic means and the like. CONSTITUTION:Displacement sensors 36a-36d are supported on a sensor support 34. Sensors 36a-36d are so arranged as to surround a long-sized object 20 supported with chucks 18a and 18b. The sensor 36a-36d are arranged not contact with the long-sized object 20 and the support 34 is moved by a moving means continuously along the length thereof. As a result, a length-wise position of the long-sized object 20, namely, Z-axis coordinates Hz are determined. Then, displacement data of the sensors 36a-36d are sampled at each time and at each distance interval and coordinates Hx1, Hx2, Hy1 and Hy2 are determined corresponding to the positions of the sensors 36a-36d on an outer surface of the long-sized object 20. An arithmetic means computes a specified formula based on coordinates of X axis-Z axis to obtain axis coordinates P (x, y, z) of the long-sized object 20 at sampling points thereby enabling the determination of accurate axis coordinates over the entire length of the object 20.

Description

[Detailed Description of the Invention] [Field of Industrial Application] This invention relates to a device and method for measuring bending of a long object,
In particular, it relates to an apparatus and method for measuring the bending of long objects such as cast iron pipes, steel pipes or steel bars.

[Prior art]

For example, cast iron pipes are manufactured through casting and annealing processes, but especially in the annealing process, they are transported in a baked state, so they bend due to their own weight. Such bends are a problem, especially in the case of small diameter pipes.For example, when performing secondary processing such as sanding, powder coating, or cement lining, the cast iron pipe is rotated, so any bends can cause problems. Vibration occurs during rotation, making the secondary machining process difficult. For this purpose, as a device that can automatically measure the bending of such a long object that must be corrected by measuring the bending, for example, Japanese Patent Application Laid-Open No. 52-70972 and Japanese Patent Publication No. Publication No. 53-45308, JP-A-61-18
There are conventional techniques disclosed in Japanese Patent Laid-Open No. 9820 or Japanese Patent Application Laid-Open No. 62-289329. In all of the methods disclosed by the former three, proximity switches and sensors are arranged over almost the entire length of a long object, the long object is rotated around its axis, and each proximity switch Based on signals or data from sensors or sensors, it is detected that the long object has a bend. In either case, such a detector must be placed over almost the entire length of the long object, which complicates the apparatus. However, in the latter case, the sensor is displaced or moved in the length direction of a long object to make measurements, so the above-mentioned complexity is avoided.

[Problems to be Solved by the Invention] However, with any of the conventional measuring devices, although it is possible to measure the presence or absence of bending and the amount of bending to some extent, it is not possible to accurately measure the direction of bending. . In other words, in order to accurately determine the bending direction of a long object, it is necessary to find the axis coordinates of the long object, but with any of the conventional methods, measurement is performed by rotating the long object around its axis. Therefore, it was not possible to determine the absolute axis coordinates.

Therefore, the main object of the present invention is to provide an apparatus and method for measuring the bending of a long object, which can measure not only the amount of bending of the long object but also its direction.

[Means to solve the problem]

Simply put, the present invention provides a support means for supporting a long object, a plurality of displacement sensors arranged to surround the long object supported by the support means, and a plurality of displacement sensors integrated into one body. a sensor support member for supporting the long object; a moving means for moving the sensor support member in the length direction of the long object; This is a bending measuring device for a long object, which is equipped with a calculating means for calculating the axis coordinates of a long object.

[Effect]

A plurality of, for example, four displacement sensors are integrally supported by the sensor support member, and the four displacement sensors are arranged so as to surround the elongated object supported by the support means. Each displacement sensor is arranged, for example, on two lines orthogonal to each other without contacting the elongated object. Then, the sensor support member is continuously moved in the length direction of the elongated object by the moving means. Along with the movement of this sensor support member, that is, the displacement sensor, the longitudinal position of the long object, that is, the Z
The axis coordinate Hz is determined. Then, displacement position data of each displacement sensor is sampled at predetermined intervals of time or distance. Based on the displacement amount data from the sampled displacement sensors, coordinates Hxl, Hx2, . Hyl
and Hy2 are determined respectively.

The calculation means calculates, for example, x= (Hx 1+Hx2)/2 y= (Hy 1+Hy2)/2 z=Hz based on the coordinates of the X, Y, and Z axes, and calculates the length at each sampling point. Calculate the axis coordinates P (x, y, z) of the scale object.

By continuously calculating the axis coordinates for each moving point, accurate axis coordinates can be determined over the entire length of the long object.

〔Effect of the invention〕

According to this invention, it is possible to continuously and accurately determine the absolute axis coordinates of a long object, so it is possible to accurately measure not only the amount of bending but also the direction of bending, which has been difficult with conventional measuring devices. be able to.

The above objects, other objects, features and advantages of the present invention will become more apparent from the following detailed description of embodiments with reference to the drawings.

〔Example〕

FIG. 1 is an overall view showing an embodiment of the present invention. A device 10 for measuring the bending of a long object (hereinafter simply referred to as a "measuring device") includes, for example, a frame 12 that is grounded on the ground.The frame 12 includes a lower frame 12a that is grounded on the ground, and The lower frame 12a and the upper frame 12b are connected by a vertical frame 12c, thereby forming an integral frame 12.

Rails 14a and 14b having a predetermined length are laid on the lower frame 12a at substantially both ends thereof in the length direction. Rails 14a and 14b extend in the length direction of lower frame 12a, and trolleys 16a and 16b are mounted thereon, respectively. Therefore, the carts 16a and 16b are movable in the directions of arrows A and B in FIG. 1, respectively, and chucks 18a and 18b are attached to opposing surfaces of the carts 16a and 16b, respectively.

With these chucks 18a and 18b, a long object to be measured (hereinafter simply "
Work j) 20 is held or supported. That is, each end of the work 20 is held by the chucks 18a and 18.
b, and in that state, the two trolleys 16a and 16b
are pushed inward, ie in the direction of arrow B, by the respective air cylinders 22a and 22b. Then, work 2
0 is supported between chucks 18a and 18b by the pressing force of air cylinders 22a and 22b.

The lower surface of the upper frame 12b has chucks 18a and 1
A rail 24 having a length that covers the entire length of the workpiece 20 supported by the workpiece 8b is laid, and a sensor guide 26 is moved on the rail 24 by a mechanism (not shown) in the same direction (in the direction of arrow A or B, that is, in the direction of arrow Z). The sensor guide 26 is provided with a pinion 30 that meshes with a rack 28 attached to the upper frame 12b, and the pinion 30 is rotated by a servo motor 32. Therefore, the sensor guide 26 is suspended by the servo motor 32.
6 is moved in the direction of arrow A or B, that is, in the direction of arrow Z.

Although not shown in FIG. 1, the servo motor 32 is attached with a rotary encoder 46 as shown in FIG. Output.

A sensor support 34 is fixed integrally with the lower end surface of the sensor guide 26, which can be moved as described above.

As can be clearly seen from FIG. 2, the sensor support 34 has a U-shaped side surface so as to surround the workpiece 20. The sensor support 34 has a workpiece 2
A non-contact displacement meter (hereinafter referred to as
simply "displacement sensors") 36a, 36b, 36c and 3
6d is attached. The displacement sensors 36a to 36d are
They are respectively arranged on two lines that are orthogonal to each other, and are therefore spaced apart from each other by 90 degrees in the circumferential direction of the workpiece 20. From these displacement sensors 36a to 36d, the workpiece 2 that each displacement sensor 36a to 36d faces is
The distance between the circumferential surface of 0 and each displacement sensor is output as the displacement amount data.

The measuring device 10 of the embodiment shown in FIG. 1 is controlled as a whole by a control device 38 shown in FIG. This control device 38 includes a computer 40, and the displacement amount data from the above-mentioned displacement sensors 36a to 36d is converted by an A/D converter 42 and inputted to the computer 40 as digital data. In addition, the control device 38
drives and controls the servo motor 32 for moving the aforementioned sensor guide 26 through the servo amplifier 44.

As described above, as the servo motor 32 rotates, the sensor support 34, that is, the sensors 362 to 36d, are integrally moved in the length direction of the workpiece 20.

Although not shown in FIG. 1, the servo motor 32 has a rotary encoder 46.
Data on the movement positions of the sensor guide 26, that is, the displacement sensors 36a to 36d in the longitudinal direction of the workpiece 20 is manually inputted to the computer 40 from the computer 40.

After the workpiece 20 is supported by the chucks 18a and 18b as described above, the controller 38 energizes the servo motor 32. Therefore, the sensor guide 26, that is, the sensor support 34 moves in the direction of arrow Z in FIG. Accordingly, the displacement sensors 36a to 36d integrally fixed to the sensor support 34 are moved in the direction of arrow Z while remaining in the state shown in FIG. 2 surrounding the work 20.

During this movement, the rotary encoder 46 inputs the position of each moving point to the computer 40. The moving point position is held in the computer 40 as the Z-axis coordinate position iHz of the workpiece 20.

On the other hand, as the computer 4 moves in the direction of arrow Z,
0 samples displacement data from the sensors 36a to 36d at predetermined distances based on data from the rotary encoder 46.

Therefore, at that time, as shown in FIG. 4, the computer 40 has the following information:
However, the H-axis coordinate Hxl is input by the displacement sensor 36c, and the Y-axis coordinate Hy2 is input by the displacement sensor 36d.

The computer 40 calculates the axis coordinates P (x, y, z) of the workpiece 20 at that time based on the coordinates Hx, Hy, and Hz for each movement position input as described above, according to the following formula. .

X= (Hxl+Hx2)/2 y= (Hy t+Hy2)/2 Z=Hz In this way, the axis HP of the workpiece 20 shown in FIG.
(x, y, z) is calculated. And servo motor 3
2, the axis coordinates of the displacement sensors 36a to 36d are continuously calculated for each appropriate movement position in the Z-axis direction. As a result, continuous coordinates PI, P2 . ...is required. Based on the coordinates of the axis, it is possible to measure the axis, that is, to what extent the work 20 is aimed in which direction.

Another embodiment of the measuring device 100 shown in FIG.
While the illustrated embodiment assumes a straight workpiece such as a straight pipe, the present invention deals with a workpiece that has been bent at a predetermined curvature, such as a curved pipe. However, since this FIG. 6 embodiment is also controlled by the same control device 38 (FIG. 3) as before, and its axial coordinates can be calculated by the computer 40 in the same manner, a redundant explanation will be omitted below. .

Referring to FIG. 6, this measuring device 100 has a base 102.
The base 102 is fixed at a predetermined height above the ground by a support 104. A vertically extending column 106 is mounted on the base 102 by struts 108 .

Rails 110 are laid along the length of the column 106 on both sides thereof. Column 10
A servo motor 112 is attached to the upper end of the column 106, and the servo motor 112 includes a rotary encoder (not shown), and its rotating shaft is connected to a ball screw 114 provided inside the column 106 and extending in the length direction thereof. Also,
The above-mentioned rails 110 of the column 106 allow the lifting body 1
16 is supported so as to be movable up and down in the direction of arrow C in FIG. A ball nut (not shown) provided on the elevating body 116 is engaged with the ball screw 114, and when the ball screw 114 is rotated by the rotation of the servo motor 112, the elevating body 116 moves up and down in the direction of arrow C.

A gear 118 is provided on the side surface of the elevating body 116 , and a gear (not shown) provided on the rotary rod 120 meshes with this gear 118 , so that the rotary rod 120 moves toward the elevating body 1 .
16 so as to be rotatable in the direction of the arrow in FIG.

That is, a rack 122 is formed on the rotary rod 120 to extend in its length direction, and a guide 124 is supported by the rack 122 so as to be movable in the direction of arrow E. and,
A servo motor 126 is integrally fixed to this guide 124, and a gear (
(not shown) meshes with the aforementioned gear 118. Therefore, when the servo motor 126 is rotated, the rotating rod 120 is rotated in the direction indicated by the arrow by the cooperation of the gear of the servo motor 126 and the gear 118.

Furthermore, another servo motor 124 is attached to the guide 124 supported by the rack 122 with a rotation amount of 120, and this servo motor 128 is connected to the guide 124 that is supported by the rack 122.
A pinion (not shown) is provided which meshes with 2. Therefore, when the servo motor 128 rotates, the guide 12
4 is self-propelled and displaced in the direction of arrow E on the amount of rotation 120 by the cooperation of the rack 122 and the pinion.

At one end of the rotation amount 120 described above, a sensor support 130 is provided.
is fixed to the sensor support 130, and as can be clearly seen from FIG. 7, the workpiece i! Displacement sensors 136a to 136d similar to those in the previous embodiment are fixed so as to surround the workpiece 134 placed on the second stand 132.

With the workpiece 134 placed on the workpiece mounting table 132, the servo motor 112 is driven and controlled to position the elevating body 116 at a predetermined height position.

Then, the servo motor 126 is driven and controlled so that the amount of rotation is 1.
Rotate 20 in the direction of the arrow. Then, the amount of rotation is 1
Displacement sensors 136a to 136d supported by a sensor support 130 fixed to one end of the workpiece 134 are displaced in the length direction of the workpiece 134.

Therefore, the position in the length direction of the workpiece 134, that is, the Z-axis coordinate Hz, can be determined based on the rotation angle of the rotation amount 120 using the low-return encoder attached to the servo motor 126. And each X axis and Y axis at each position
By determining the axial coordinates Hx and Hy, the axial coordinates of the workpiece 134 are calculated by the computer 40 (FIG. 3) in the same manner as described above.

In the embodiment of FIG. 6, a configuration is adopted in which the radius of curvature of rotation of the displacement sensors 136a to 136d can be arbitrarily changed so as to be able to deal with various works having different curvatures.

That is, when the curvature of the work 134 is the smallest,
As shown in FIG. 8A, the servo motor 112 positions the elevating body 116 at the lowest end of the column 106, and the servo motor 128 positions the guide 124 so as to be unevenly distributed on one end side of the rotation amount 120. That is, by rotating the servo motor 128, the pinion attached to the servo motor rotates by 120 degrees.
Since it engages with the upper rack 122, the servo motor 128
By controlling the amount of rotation of the guide 124, the guide 124 can be moved to a position as shown in FIG. 8A, for example. If the servo motor 126 is rotated in this state, the amount of rotation 120 will rotate in the direction of arrow D (FIG. 6) as described above, so that each displacement sensor 136a to 136d will detect the workpiece 1.
34 and is displaced along its length.

Conversely, when the workpiece 134 has the largest curvature, the eighth
As shown in Figure B, the elevating body 116 may be positioned at the upper end of the column 106 by the servo motor 112, and at the same time, the guide 124 may be positioned by the servo motor 128 so as to be unevenly distributed at the other end of the rotation amount 120.

In this manner, according to the embodiment in FIG.
By appropriately adjusting the position of the guide 124, it is possible to sufficiently handle various works having different curvatures.

[Brief explanation of drawings]

FIG. 1 is an overall view showing an embodiment of the present invention. FIG. 2 is an illustrative view showing the positional relationship between the workpiece and the displacement sensor in the embodiment shown in FIG. FIG. 3 is a block diagram showing an example of the control circuit of the embodiment shown in FIG. FIG. 4 is an illustrative diagram showing the X-axis and Y-axis coordinates and axis coordinates of the workpiece. FIG. 5 is an illustrative view showing the axis of the workpiece. FIG. 6 is an overall view showing another embodiment of the present invention. FIG. 7 is an illustrative view showing the positional relationship between the workpiece and the displacement sensor in the embodiment shown in FIG. FIGS. 8A and 8B are illustrative views of main parts, respectively, showing states in which the curvature of the workpiece is changed in the embodiment of FIG. 6. In the figure, 10, 100 is a measuring device, 18° 18b is a chuck, 20, 134 is a workpiece, 26 is a sensor guide, 34, 130 is a sensor support, 36a to 36d, 1
36a to 136d are displacement sensors, 106 is a column, 11
6 is an elevating body, 120 is a rotating rod, and 124 is a guide. Patent Applicant Kubota Iron Works Co., Ltd. Agent Patent Attorney Yama 1) Righteous Person Figure 8A < Figure 8B

Claims (1)

[Scope of Claims] 1. Support means for supporting a long object, a plurality of displacement sensors arranged to surround the long object supported by the support means, and the plurality of displacement sensors integrated together. a sensor support member for supporting the long object; a moving means for moving the sensor support member in the length direction of the elongated object; and displacement data from the plurality of displacement sensors that move together with the sensor support member. A bending measuring device for a long object, comprising a calculation means for calculating the axial center coordinate of the long object based on the axial center coordinates of the long object. 2. A plurality of displacement sensors arranged to surround the elongated object are moved in the length direction of the elongated object, and the displacement amount data outputted from the plurality of displacement sensors as the elongated object is moved is used. A bending measurement method for long objects that calculates the axis coordinates of long objects.