JPH03154757A - Bead positioning device - Google Patents

Abstract

PURPOSE:To enable the correct positioning of a bead into an optional position so as to automate bead grinding by connecting a sequencer to a turning angle detecting device, a potentiometer and a turning roller device. CONSTITUTION:While a positioning object pipe 1 is rotated by a turning roller device 2 to detect the turning angle by a turning angle detecting device 16, the moving quantity of a detecting bar 12 is detected by a potentiometer 11, and the detected turning angle and moving quantity are transmitted to a sequencer 17. In this sequencer 17, a first turning angle position where the fluctuation width becomes large out of the moving quantity of the detecting bar 12 is to be one side end of a bead 10, and a region between the first turning angle position and a turning angle position where the fluctuation width of the moving quantity becomes large for the second time is computed as bead width, as well as a turning angle position located at the center of the bead width is computed. The sequencer 17 then controls the turning roller device 2 to rotate the positioning object pipe 1, thus positioning the turning angle position located at the center of the bead width into a specified position.

Description

DETAILED DESCRIPTION OF THE INVENTION Field of the Invention The present invention relates to a bead positioning device for spiral steel pipes and the like.

2. Description of the Related Art Conventionally, in the process of manufacturing spiral steel pipes, the bead at the joint was manually ground using a hand grinder or the like to give a smooth finish to the inner and outer circumferential surfaces of the pipe at the joint.

Problems to be Solved by the Invention However, in order to automate the manufacturing process of spiral steel pipes, etc., it is necessary to grind the bead using a robot or the like. There was a need.

The present invention has been made to solve the above problems, and an object of the present invention is to provide a bead positioning device that can accurately detect the position of a bead and accurately position it at a predetermined position.

Means for Solving the Problems In order to solve the above problems, the present invention provides a turning roller device that horizontally supports a tube to be positioned and rotates around the axis of the tube, and a turning roller device that a detection rod that is provided so as to be able to move in and out and come into contact with the circumferential surface of the tube to be positioned under the urging force of an elastic body; a potentiometer that detects the amount of movement of this detection rod; and a potentiometer that detects the rotation angle of the tube to be positioned. This configuration includes a rotation angle detection device, and a sequencer connected to the rotation angle detection device, a potentiometer, and a turning roller device.

Operation With the above-described configuration, the tube to be positioned is rotated by the turning roller device, the rotation angle is detected by the rotation angle detection device, and the amount of movement of the detection rod is detected by the potentiometer.
Send the detected rotation angle and movement amount to the sequencer. The sequencer also stores the amount of movement of the detection rod at each rotational angular position of the tube to be positioned. At this time, the detection rod hardly moves on the circumferential surface of the positioning target tube where no bead is present, and moves back and forth according to the undulations of the bead when it comes into contact with the bead. Further, the amount of movement of the detection rod increases when the detection rod moves from the circumferential surface of the tube to be positioned to the bead and when the detection rod moves from the bead to the circumferential surface of the tube to be positioned. For this reason, in the sequencer, the first rotation angle position where the amount of movement of the detection rod increases during fluctuation is defined as one end of the bead, and the rotation angle position where the amount of movement increases again during fluctuation is the other end of the bead. The area sandwiched between both rotation angle positions is calculated as the bead width, and the rotation angle position located at the center of the bead width is calculated. Then, the turning roller device is controlled by the sequencer to rotate the tube to be positioned, and the rotation angle position located at the center of the previously calculated bead width is positioned at a predetermined position set in advance. This makes it possible to accurately position the bead at any desired position, automate bead grinding, and perform accurate bead grinding work.

EXAMPLE An example of the present invention will be described below based on the drawings. 1st
2, a spiral steel pipe 1 is supported by a turning roller device 2 and arranged in a horizontal direction, and the turning roller device 2 has a pair of left and right turning rollers 3 and a turning roller 3 that receives and receives the spiral steel pipe 1. It is formed by a drive motor 4 that rotates. A bead detection device 5 is provided between the left and right turning rollers 3. This bead detection device 5 includes a pressure raising/lowering 6 provided so as to be able to rise and fall freely toward the spiral steel pipe 1.
and a cylinder device 7 that drives the elevating and lowering pressure 6 up and down. A CCD camera 9 and a potentiometer device 11 for detecting the bead IO at the joint of the spiral steel pipe 1 are provided. Further, the potentiometer device 11 is a detection rod that is provided on the circumferential surface of the spiral steel pipe 1 so as to be freely retractable in the vertical direction! 2, an idling roller 13 that is rotatably provided at the tip of the detection rod 12 and freely rotates in contact with the circumferential surface of the spiral steel pipe 1; and a spring 14 that biases the detection rod 12 toward the spiral steel pipe 1. And a detection stick! A potentiometer 15 is connected to the base end of the detection rod 2 and detects the amount of movement of the detection rod 12.

Then, the encoder device 1 comes into contact with the spiral steel pipe 1.
6 is provided, and the encoder device 16 detects the rotation angle of the spiral steel pipe 1. Further, the encoder device 1B is connected to the sequencer 17 via a signal line, and the turning roller device 2, the CCD camera 9, and the potentiometer 15 are connected to the sequencer I7 via the signal line. Furthermore, a grinding tool 19 for grinding the bead 10 is provided at the tip of a robot arm 18 that can be inserted into the inside of the spiral steel pipe 1.

The effects of the above configuration will be explained below.

First, with the spiral steel pipe 1 disposed on the turning roller BR2, the cylinder device 7 is extended and the elevating/lowering pressure 6 is increased until the copying roller 8 comes into contact with the circumferential surface of the spiral steel pipe 1. Then, the turning roller 3 is rotationally driven by the drive motor 4 to rotate the spiral steel pipe 1.

At this time, the detection rod 12 of the potentiometer device 11 comes into sliding contact with the circumferential surface of the spiral steel tube 1 via the idling roller 13 that freely rotates on the circumferential surface of the spiral steel tube 1, and receives the urging force of the spring 14 to prevent the spiral steel tube from turning. It is pressed toward the circumferential surface of 1. Then, while detecting the rotation angle of the spiral steel pipe 1 with the encoder device 1B, the movement amount of the detection rod 12 is detected with the potentiometer 15, and the detected rotation angle and movement amount are transmitted to the sequencer 17. The amount of movement of the detection rod 12 at each rotation angle position is stored. At this time,
The detection rod 12 is a spiral steel pipe l without beads lO.
It hardly moves on the circumferential surface of the bead 10, and moves forward and backward according to the undulations of the bead 10 when it comes into contact with the bead 10. In addition, the amount of movement of the detection rod 12 is determined when the detection rod 12 moves from the circumferential surface of the spiral steel pipe 1 to the bead IO and when the detection rod 12 moves from the circumference of the spiral steel pipe 1 to the bead 1
It becomes larger when moving from 0 to the circumferential surface of the spiral steel pipe 1.

For this reason, in the sequencer 17, the first rotational angular position where the amount of movement of the detection rod 12 increases during the fluctuation is set as one end of the bead 10, and the rotational angular position where the amount of movement increases again during the fluctuation is set as the bead lO. Detected as the other end of
The region sandwiched between both rotation angle positions is calculated as the bead width, and the rotation angle position located at the center of the bead width is calculated. Then, the turning roller device 2 is controlled by the sequencer 17 to rotate the spiral steel pipe 1, and the rotation angle position located at the center of the previously calculated bead width is set at a predetermined position, that is, the tip of the robot arm 18. It is positioned at a position corresponding to the provided grinding tool 19. Furthermore, the bead 10 is imaged with a CCD camera 9,
The captured image is sent to the sequencer 17, and the sequencer 17
Bead by image processing! Check the position of O and perform correction control if necessary.

As a result, the bead 10 can be accurately positioned at any desired position, the bead grinding can be automated, and the bead 1G can be accurately ground.

Effects of the Invention As described above, according to the present invention, the first rotational angle position where the amount of movement of the detection rod increases during the fluctuation is set as one side end of the bead, and the amount of movement increases again during the fluctuation. By detecting the rotation angle position as the other end of the bead and calculating the area sandwiched between both rotation angle positions as the bead width, the rotation angle position located at the center of the bead width can be calculated. By positioning the rotational angle position located at the center of the bead width at a predetermined position, the bead can be accurately positioned at any desired position, making it possible to automate bead grinding and ensure accurate bead grinding. Able to perform work.

[Brief explanation of the drawing]

FIG. 1 is an overall configuration diagram showing an embodiment of the present invention, and FIG. 2 is an enlarged view of a bead detection device. DESCRIPTION OF SYMBOLS 1... Spiral steel pipe, 2... Turning roller device, 10... Bead, 11... Potentiometer device, 12... Detection rod, 14... Spring, 15-
...Potentiometer, IIE...Encoder device,
17...Sequencer.

Claims (1)

[Claims] 1. A turning roller device that supports the tube to be positioned in the horizontal direction and rotates around the axis of the tube, and a turning roller device that is provided so as to be movable toward and out of the circumferential surface of the tube to be positioned, and is positioned by receiving the biasing force of an elastic body. A detection rod that comes into contact with the circumferential surface of the target tube, a potentiometer that detects the amount of movement of this detection rod, a rotation angle detection device that detects the rotation angle of the positioning target tube, this rotation angle detection device, the potentiometer, and a turning roller device. A bead positioning device comprising: a sequencer connected to the bead positioning device;