JPH05141909A - Rotary attitude detector - Google Patents

Abstract

PURPOSE:To detect the attitude of an apparatus moved around a horizontal or inclined tube. CONSTITUTION:A rotation sensor 7 such as an encoder is fixed in a main body 6 assembled to an apparatus rotated around a horizontal or inclined tube. A pendulum 9 provided with weights 10a, 10b, 10c is rotatably fitted to the rotary shaft 8 of the rotation sensor 7, the pendulum 9 is invariably faced to the gravity direction when the apparatus is rotated, thus the rotation angle of the apparatus is detected by the rotation sensor 7.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a device which is incorporated in a device which moves around a pipe and detects a rotational posture,
For example, it is suitable for use in a welding head for automatically welding the circumference of a pipe.

[0002]

2. Description of the Related Art In a work equipment or a detection equipment which is attached to a fixed pipe which is horizontal or inclined and is moved along the circumference of the pipe, it is necessary to know the posture of the work equipment and the detector. There are cases. For example, in a welding head that welds pipes, it is necessary to know the angle of the welding head in order to control welding conditions.

In a welding head of a type in which a pipe to be welded is directly clamped by wheels and rotatably traveled and can be applied to a plurality of pipe sizes, its posture is detected by a method of dividing a welding time around the pipe or a detector A method in which a ring in which is embedded is attached to a pipe in advance and is detected by a sensor provided in the welding head is used.

[0004]

In the above-mentioned conventional attitude detection method, there is a problem in handleability because a timer must be set or a dedicated detection ring is required every time the size of the tube changes. Particularly, in the timer method, it is difficult to accurately detect the division because the welding condition is adjusted in the division condition.

[0005]

DISCLOSURE OF THE INVENTION The present invention provides a rotary attitude detector which enables highly accurate division control without requiring preparatory work even if the size of the pipe changes in view of the above technical circumstances. It is intended to be provided, and its configuration is
The rotation sensor is fixed to a device that is attached to a horizontal or inclined pipe and rotates around the pipe, and a pendulum with a weight is rotatably attached to the rotation axis of the rotation sensor that is coaxial with the pipe. It has a feature.

[0006]

The device revolves around the pipe, but since the pendulum always faces the direction of gravity, a rotation angle signal is continuously generated from the starting point.

[0007]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS FIG. 1 shows a horizontal cross section and a vertical cross section of a rotary attitude detector according to an embodiment, and FIG. 2 shows a partial cross section of the rotary attitude detector attached to a welding head.

Reference numeral 1 is a horizontal pipe to be welded, and 2 is a welding head mounted on the outside thereof. The welding head 2 includes a roller 3 that contacts the peripheral surface of the pipe 1 to be welded and a clamp roller 4 that clamps the pipe 1 between the rollers 3 and is rotated around the pipe 1 by a drive system (not shown). A welding torch 5 is held by the welding head 1.

In the welding head 2, a rotation attitude detector main body 6 is provided.
Is attached, and the rotation sensor 7 is fixed in the tube 1 coaxially with the tube 1. An encoder, a potentiometer, or the like is used as the rotation sensor 7.

A pendulum 9 is rotatably attached to the rotation shaft 8 of the rotation sensor 7. The pendulum 9 has a weight 10a,
10b and 10c are fitted so that the pendulum 9 always faces the direction of gravity (downward). In addition, in this embodiment, since the rotary shaft 8 is oriented coaxially with the tube 1, the pendulum 9 is provided on the rotary shaft 8 as it is.
When the tube is provided so as to change its direction from the axial direction of the tube 1, the rotary shaft 8 is taken out so as to be parallel to the axial direction of the tube 1, and a pendulum 9 is provided there.

Next, the rotation detecting operation of the present rotation attitude detector will be described with reference to FIG.

When the welding head 2 rotates in the direction of the arrow in FIG. 3, the rotation attitude detector main body 6 revolves around the pipe 1, but the pendulum 9 always moves in the direction of gravity, so a rotation angle signal is continuously output from the starting point. Occur. The posture of the welding head 2 can be known from this rotation angle signal.

When the welding head 2 goes around the pipe 1 once,
The rotation attitude detector also makes one rotation.

As described above, since the posture (angle) of the welding head 2 mounted on the pipe 1 such as the horizontal pipe or the inclined pipe is output as a highly accurate rotation angle signal via the rotation posture detector, the welding head 2 Accurate posture division control can be performed. Therefore, the welding quality and the welding efficiency can be improved.

[0015]

According to the rotational attitude detector of the present invention,
The posture of a device moving around a horizontal or inclined pipe or the like can be detected with high accuracy, and the posture condition of the device can be easily controlled. Also, since it uses gravity, it can be applied regardless of the tube size.

[Brief description of drawings]

FIG. 1 is a horizontal cross-sectional view and a vertical cross-sectional view of a rotation attitude detector according to an embodiment.

FIG. 2 is a partial cross-sectional view showing a state in which a rotation attitude detector is attached to a welding head.

FIG. 3 is an explanatory diagram of a rotation posture detector.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Weld pipe 2 Welding head 6 Rotation posture detector main body 7 Rotation sensor 8 Rotation axis 9 Pendulum 10a, 10b, 10c Weight

Claims (1)

[Claims] 1. A pendulum equipped with a weight is rotatable on a rotary sensor which is mounted on a horizontal or inclined pipe and which rotates around a pipe, and the rotary sensor is coaxial with the device. A rotation posture detector characterized by being attached to.