JPH095006A - Position measurement device - Google Patents

Abstract

PURPOSE: To accurately measure the position of an object from a measurement standard surface by providing a control part to which output values of a grooved type contact sensor, a plurality of angle detection sensors and a wire length sensor are input and which computes the position of measurement. CONSTITUTION: On a rotation base 19, a full condition sensing type contact sensor 25 is mounted in an insulation state of which the width is slightly larger than the thickness of a wire guiding arm 20. Normally a region from a conductor to an arm 20 is in contact with the sensor 25 and in an electrical conducting state, but the state is released when the arm 20 is positioned at the center of full condition detection of the sensor 25 by rotating the base 19 manually or by a motor in a specified direction. By inputting an output of a first angle detection sensor 46 is input based on the signal the arm 20 is directed in a specified direction to the base 19, and thus the rotation angle of the arm can be detected through the rotation angle of the base 19.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to, for example, when connecting flange pipes, which are respectively provided at ends of pipes facing each other in a pipe work, with new pipes, one pipe surface is used as a reference for the other pipe. The present invention relates to a position measuring device capable of measuring the position of the flange surface of the.

[0002]

2. Description of the Related Art Conventionally, various piping facilities have been installed in various industrial plant facilities such as steel mills and refineries and ships to transport various gases such as air and various liquids such as water. . However, in various industrial plant equipment and the like, due to various structures, for example, a prescribed angle such as a substantially straight line or orthogonal shape from various piping equipment such as one pumping pump to the other various piping equipment etc. It is difficult to pipe the pipe, and it is necessary to bend (or bend) the pipe at a predetermined angle in some places. Here, in order to form a pipe that is bent in the middle, first, after pipes are formed in a substantially straight line at predetermined portions, respectively, and then, at a predetermined angle and at a predetermined angle between the ends of the pipe. A method of connecting formed pipes (hereinafter, referred to as a bending pipe for connection) is generally adopted.

[0003]

However, in order to manufacture the bending pipe for connection, first, from the axial center point of one end portion (or measurement reference plane) of the other pipe end (or The distance to the axial center point of the surface to be measured or the measurement point) and the degree of positional deviation such as three-dimensional displacement angle are roughly measured using an angle measuring instrument or tape measure, and then these are measured at the factory. Based on the measured data, manufacture a temporarily fixed bent tube that is bent at an arbitrary angle by temporary fixing, then carry this temporarily fixed bent tube to the site and apply it to the end-to-end pipes of the specified pipe to correct the bending condition, etc. After that, the repair work to correct it again in the factory etc. is repeated several times, and then it is welded (welding the modified temporarily fixed bent pipe is called main welding) to manufacture, so workability and productivity are extremely high. It had a problem of being inferior to. That is, the accuracy of the measurement data obtained with a tape measure etc. when measuring the separation distance from the measurement reference surface to the surface to be measured, the deviation angle, etc. is not good, so repeated correction work is required when manufacturing the bending tube for connection. Therefore, some method to solve this was sought after.

Therefore, the applicant of the present application has previously filed Japanese Patent Application No. 6-41.
No. 881 proposed a position measuring device 10a that can measure the position of a surface to be measured easily and accurately. As shown in FIGS. 7 and 8, the position measuring device 10a includes a pedestal 16 attached to a measurement reference plane and a vertical frame 1 of the pedestal 16.
8, a movable base 18a attached to the vertical movement, a revolving base 19 mounted to the movable base 18a, a revolving base 19 on the ZX plane in FIG. 7 (that is, with the Y axis as the revolving center), and in FIG. Surface (that is, with the X-axis as the center of rotation)
The wire guide arm 20 is attached so as to swing freely, and the controller 62a is provided. Here,
The Z axis indicates the axis perpendicular to the paper surface in FIG. Then, the ascending / descending distance of the movable table 18 a is detected by the first wire length sensor 41, which is a rotary encoder that detects the length of the wire 40 wound around the take-up reel 39, and the wire guide arm 20 is led out. The length of the wire 21 is detected by a second wire length sensor 60 that detects the rotation of the take-up reel 58, and the turning angle and the swinging angle of the wire guiding arm 20 are detected by the first and second angle sensors 46, The position of the tip portion of the wire 21 was calculated by detecting the signal by means of 54 and performing signal processing by the control portion 62a.

By the way, the angle of the wire guide arm 20 about the Z axis is detected by the first angle detection sensor 46, and the rotation load is the wire guide arm 20.
In addition, the measuring shaft 53 arranged at the center of swing, the second angle detection sensor 54, the left and right shaft support plates 52, and the swivel base 1
Since the load is 9 etc., the rotation is heavy and the wire guide arm 2
There is a sufficient risk that 0 and the wire 21 derived therefrom will not be linear. Therefore, the wire guide arm 20 can be further freely rotated around the pin 53a orthogonal to the measuring axis 53. Then, the wire guide arm 20
A semi-circular plate 20a is attached to the turning center of, and a proximity sensor 20b is provided at an upper position in the center of the turning base 19,
At the time of measurement, the knob 49 attached to the lower part of the movable table 18a is rotated to manually rotate the swivel table 19, and the output value of the first angle detection sensor 46 is set at the angle at which the proximity sensor 20b detects the semicircular plate 20a. I was reading. Where 30
Is a guide rail, 37a is a handle for fixing the moving base 18a, 50 is a locking knob, 51 is a fixing shaft attached to the locking knob 50 and fixing the shaft 47 provided on the knob 49, 55a, 56, 42. , 61 are wheels for wire guides.

However, the proximity sensor 20b has a small detection width, which causes a measurement error, and the semicircular plate 20a is attached to one side of the wire guide arm 20, making balance adjustment difficult. ,
In addition, it is difficult to attach the proximity sensor 20b, and even if it is attached, maintenance and inspection are troublesome.

The present invention has been made in view of the above circumstances, and the position of the surface to be measured from the measurement reference surface can be measured easily and accurately with high accuracy. As a result, the work period of piping work and the construction cost can be reduced. It is an object of the present invention to provide a position measuring device having excellent workability, productivity and reliability that can be reduced.

[0008]

According to the present invention, there is provided a semiconductor device comprising:
The position measuring device described above, a gantry mountable on a measurement reference plane, a swivel gantry mounted on the gantry, and a measurement shaft rotatably mounted orthogonal to the rotation axis of the swivel gantry,
A wire guide arm made of a conductor attached to the measurement axis so as to be freely tiltable about an axis perpendicular to the axis of the measurement axis, and a swivel angle of the swivel base and a rotation angle of the measurement axis are measured. The first and second angle detection sensors that perform and the wire guide arm are drawn out in a tensioned state,
A wire length sensor for measuring the length of a wire whose tip is a measurement point, a groove type contact sensor made of a conductor having a width slightly larger than the thickness of the wire guide arm, which is attached to the swivel base in an insulated state, And a controller that receives the output values of the first angle detection sensor, the second angle detection sensor, and the wire length sensor when the groove-type contact sensor is off, and calculates the position of the measurement point. ing.

A position measuring device according to a second aspect is the device according to the first aspect, wherein the swivel base is rotated by a picking operation.

The position measuring device according to claim 3 is
The swivel base is driven by a motor that turns on and off according to the output of the groove-type contact sensor.

[0011]

In the position measuring device according to claims 1 to 3,
When a pedestal is attached to the measurement reference surface and the wire is pulled out from the wire guide arm to the measurement point, the wire guide arm swings its head freely and the stretched wire is tensioned. The arm and the wire derived therefrom are straight. In this state, the rotation angle of the measurement shaft rotated by the wire guide arm can be detected by the second angle detection sensor, but the wire guide arm is attached to the shaft center orthogonal to the measurement shaft so as to be freely tiltable. , This free tilt angle cannot be measured in this state.

Therefore, a groove-type contact sensor having a width slightly larger than the thickness of the wire guide arm is attached to the swivel base in an insulated state. Therefore, the wire guide arm normally contacts the groove-type contact sensor from the conductor and is in the energized state, but the swivel is rotated in a specific direction manually or by power to move it to the center position of the detection groove of the groove-type contact sensor. When it is positioned on the wire guide arm, the energized state is released. Therefore, when the output of the first angle detection sensor is input based on this signal, the wire guide arm is oriented in a certain direction with respect to the swivel base. Therefore, the turning angle of the wire guide arm can be detected based on the turning angle of the turning base. Therefore, the swing center position of the wire guide arm is the origin O and the measurement point is P
(X, y, z) is a line segment (wire) connecting r to the origin O and the point P, θ is the angle between the Z axis and the straight line r, and φ is the origin O-measurement point P on the XY plane. Assuming that the angle is between the straight line connecting X and the X axis, the position of the measurement point P can be obtained by substituting it in the following polar coordinate formula. x = rsinθ · cosφ (1) y = rsinθ · sinφ (2) z = rcosθ (3)

In particular, in the position measuring device according to the second aspect of the invention, since the swivel base is manually rotated, no extra equipment is required, and the wire guide arm can be operated while judging the condition.

Further, in the position measuring device according to the third aspect, since the swivel base is rotated by the motor, the structure is complicated, but the position can be automatically measured.

[0015]

Embodiments of the present invention will now be described with reference to the accompanying drawings to provide an understanding of the present invention. 1 is a front view of the position measuring device according to the first embodiment of the present invention, FIG. 2 is a side view of the same, and FIGS. 3 (A) and 3 (B).
Is an enlarged front view of the same main part and an enlarged side view of the same main part, FIG. 4 is a front view illustrating the same usage state, and FIG. 5 is a second view of the present invention.
FIG. 6 is a front view of the position measuring device according to the embodiment of FIG. The same components as those of the position measuring apparatus 10a before improvement of the present invention shown in FIGS. 7 and 8 will be described using the same reference numerals.

As shown in FIGS. 1 to 3, a position measuring device 10 according to a first embodiment of the present invention is slidable on a pedestal 16 which can be attached to a measurement reference plane and a vertical frame 18 of the pedestal 16. And a moving table 18a attached to the
a swivel 19 mounted so as to swivel around a rotation axis (or Z axis) parallel to the sliding direction of a, and swivel 1
A measuring axis 53 mounted orthogonally to the rotation axis center of 9;
A wire guide arm 20 made of a conductor that is attached so as to be capable of freely tilting at right angles to the measurement axis 53, a swivel angle of the swivel base 19, and a rotation angle of the measurement axis 53, respectively.
And the second angle detection sensors 46 and 54, and the wire length sensor 60 that measures the length of the wire 21 that is pulled out from the wire guide arm 20 in a tensioned state and has the tip as a measurement point.
A sliding distance sensor 41 for measuring the sliding distance of the moving base 18a, a groove-type contact sensor 25 attached to the swivel base 19 in an insulated state, and a control unit 62 for these. These will be described in detail below.

As shown in FIGS. 1 and 2, the mount 16 is made of metal or hard synthetic resin and is attached to a flange pipe 11 (see FIG. 4) which is an example of a measurement reference plane. It has a base plate 16c in the shape of a strip and a vertical frame 18 hung vertically on the base plate 16c. A groove 16a that is long along the longitudinal direction is formed in the substantially central portion of the upper surface of the base plate 16c.
Are formed. Then, on the upper surface of the base plate 16c in and adjacent to the groove portion 16a, the wire 21 led out from the winding reel 58 of the wire length sensor 60.
, A plurality of wire guide wheels 61 are rotatably attached to guide the wire to the wire introduction port 38 of the moving table 18a. Further, in the groove 16a, the wire 40 led out from the sliding distance sensor 41 is installed in the moving table 1
A plurality of wire guide wheels 42 are rotatably attached so as to be juxtaposed with the wire guide wheels 61 so as to be guided to the lower surface of 8a.

A pair of metal guide rails 30 are provided near both sides of the vertical frame 18 vertically provided on the base plate 16c, and support the movable table 18a so as to be vertically movable. Although not shown, the guide rails 30 are provided on opposite side walls of the guide rails 30 so that engaging portions (not shown) of a slider 36, which will be described later, are attached to the guide rails 30.
An engaging portion having a convex shape or a concave shape in cross section is formed along the longitudinal direction of the. Further, stoppers 30a formed in a build-up shape are attached to both ends of the guide rail 30 in the longitudinal direction. As a result, it is possible to prevent the knob 49 attached to the moving table 18a described later from hitting the base plate 16c and deforming. Further, in order to protect the wire length sensor 60 and the sliding distance sensor 41, on the back surface side of the surface of the vertical frame 18 facing the swivel base 19, they are covered with metal or synthetic resin to have a substantially housing shape. The mounting casing 17 formed in the above is detachably mounted with fasteners such as bolts and nuts (not shown).

As shown in FIGS. 1 and 2, the movable table 18a is made of metal or hard synthetic resin and has an opening 3 on the upper surface.
It is formed in a substantially housing shape having 7c. Further, the slider 3 that engages with the guide rail 30 is attached to the movable table 18a.
6 are juxtaposed.

Further, in the opening 37c of the movable table 18a,
A cover portion 37b made of metal or hard synthetic resin is provided, and the cover portion 37b is formed in a plate shape, and a bearing 43 is attached to an opening portion 37d opened at a substantially central portion thereof. A hollow shaft 44 is attached to the bearing 43, and the hollow shaft 44 is formed in a substantially tubular shape, and is placed on one end portion (or an upper end portion) so as to be substantially coaxial and have a large diameter. 44a. And
The hollow shaft 44 covers the mounting portion 44 a with the cover portion 37.
It is exposed on the upper surface of b. The other end portion (or lower end portion) of the hollow shaft 44 is formed in a substantially central portion of the lower surface of the moving table 18a and extends to a wire introduction port 38 described later. Further, a bearing may be attached to the wire introduction port 38 of the movable table 18a to rotatably support the other end of the hollow shaft 44.

Further, the movable table 18a and the cover portion 37b are formed with shaft shaft support openings 37e facing each other, and the shaft 4 is supported in the shaft shaft support openings 37e.
7 is rotatably supported. The shaft 47 is made of metal or the like and formed in a substantially columnar shape.
A drive gear 48 having a smaller diameter than the driven gear 45 is attached at a position where it meshes with the driven gear 45 attached to the drive gear 4. A knob 49, which is made of synthetic resin and is formed in a substantially columnar shape, is attached to one end of the shaft 47 that projects downward from the shaft support opening 37e of the movable table 18a. Thus, by manually rotating the knob 49, the drive gear 48, the driven gear 45 and the hollow shaft 4
The swivel base 19 can be swung via the switch 4.

Further, in the movable table 18a, a fixing shaft 51 is provided in a shaft holding opening 37f formed in one side wall portion, and the fixing shaft 51 is substantially orthogonal to the shaft 47 and is screwed or the like into one side wall portion of the shaft 47. Is attached so that it can be pressed freely.
The fixing shaft 51 is made of metal or the like and has a substantially columnar shape. One end of the fixing shaft 51 protruding outward from the shaft holding opening 37f has a locking knob made of synthetic resin or the like and having a substantially columnar shape. 50 is attached. Thus, by manually rotating the lock knob 50, the fixing shaft 51 is pressed against the outer peripheral surface of the shaft 47, so that the swivel base 19 can be fixed at a predetermined angular position.

A first angle detection sensor 46 is attached to and housed in the hollow shaft 44 in the movable table 18a. A handle 37a is attached to one side surface of the moving table 18a. As a result, by manually operating the handle 37a, the movable table 18
It is possible to fix a at a predetermined position on the guide rail 30.

The swivel base 19 is shown in FIGS. 1, 2 and 3.
As shown in (A), the mounting portion 4 of the hollow shaft 44.
By being mounted on 4a, it is held so as to be rotatable about a central axis (or Z axis) substantially parallel to the sliding direction of the movable table 18a. The swivel base 19 is formed of a metal or a hard synthetic resin in a plate shape, and a pair of shaft support plates 52 are attached to the upper surface of the swivel base 19 at predetermined intervals.
The shaft support plate 52 is made of metal, hard synthetic resin, or the like, and has a plate shape. A bearing (not shown) is attached to a substantially central portion of the shaft support plate 52. Further, as shown in FIG. 3, between the pair of shaft support plates 52, the measurement shaft 53 is centered on the rotation axis (or Y axis) orthogonal to the rotation axis of the swivel base 19 by the bearings described above. Is rotatably supported. The measurement shaft 53 is made of metal or the like and has a substantially hollow shape, and an arm insertion hole 53b for inserting the wire guide arm 20 is formed at a substantially central portion in the longitudinal direction thereof. Furthermore, in order to insert a pin 53a for freely tilting the wire guide arm 20 in a direction orthogonal to the rotation axis of the measurement shaft 53, the measurement shaft 53 is inserted.
The pin insertion hole 53c is substantially orthogonal to the arm insertion hole 53b.
Is formed, and the bearing 5 is inserted in the pin insertion hole 53c.
3e is attached.

Further, on the swivel base 19, a wire guide wheel 56 is mounted in a groove portion 19a formed from one side wall portion thereof to a substantially central portion thereof. Further, wire guide wheels 55a are attached to the outer wall of one shaft support plate 52 in the vicinity of the groove 19a and the bearing, respectively. Thereby, the wire 2 led out from the wire length sensor 60 through the through hole 44b of the hollow shaft 44.
1 can be inserted into the through hole 53d of the measurement shaft 53 through the wire guide wheels 56 and 55a. In addition,
A wheel casing 55, which is made of metal or synthetic resin and is formed in a plate shape or a housing shape, is attached to the outer wall portion of the shaft support plate 52 in order to protect the wire guide wheel 55a attached to the outer wall surface. Has been.

A second angle detection sensor 54 is attached to the other shaft support plate 52 of the swivel base 19. The second angle detection sensor 54 is attached to a measurement shaft 53 that extends in a long manner by penetrating the bearing and measures the rotation angle of the measurement shaft 53. In addition, in order to protect the second angle detection sensor 54, the shaft support plate 52 may be attached with a casing for a measuring instrument, which is made of metal or synthetic resin and is formed in a substantially housing shape.

The groove-type contact sensor 25 is shown in FIGS.
As shown in, a pair of support members 25a attached to both sides of the swivel base 19, and an insulating member 25c attached to the arcuate peripheral wall portion 25b of each support member 25a,
It has an arm sensing member 25d attached to the insulating member 25c so as to be laterally movable by a plurality of screws 25e. The support member 25a is formed in a substantially fan shape, and its base end is fixed to the swivel base 19. Arm sensing member 25d
2 is made of a metal having conductivity and corrosion resistance (for example, stainless steel, titanium) or the like, and the gap indicated by t in FIG. 2 becomes larger than the diameter of the wire guide arm 20 in the range of 0.025 to 0.3 mm. There is. Furthermore, the arm sensing member 25d
Is formed with a long screw hole (not shown) in a direction orthogonal to the longitudinal direction (that is, the circumferential direction) of the wire guide arm 20. Thus, the gap between the wire guide arm 20 and the arm sensing member 25d, which will be described later, can be varied. It is possible to install it. The width t of the detection groove or the wire guide arm 20
And a gap t formed by the pair of arm sensing members 25d
The narrower the width or gap of the detection groove, the higher the accuracy in position measurement.

The wire guide arm 20 is shown in FIGS.
As shown in, the arm portion 20c formed of a conductive material such as metal (for example, stainless steel) in a cylindrical shape (or a rectangular tube shape) and the balancer 57 attached to the other end portion of the arm portion 20c. It consists of and. Balancer 57
Is for returning the wire guide arm 20 to the origin. It should be noted that a pin insertion hole 20d is formed at a substantially central portion of the wire guide arm 20, and the wire guide arm 20 is inserted into the arm insertion hole 53b and the pin 53a is attached to the measurement shaft 53 of the measurement shaft 53. It is attached so as to be freely tiltable about an axis (or X axis) orthogonal to the axis. In addition, the wire guide arm 20 includes a wire 2
A through hole 20e for inserting 1 is formed.
In the vicinity of the pin insertion hole 20d of the wire guide arm 20, a wire guide wheel 20f for guiding the wire 21 is rotatably supported.

The first angle detecting sensor 46, the second angle detecting sensor 54, and the wire length sensor 60.
As the sliding distance sensor 41, a rotary encoder such as an absolute value encoder that measures angular displacement and angular velocity and converts the measured angular displacement into a digital signal is used. In addition, by attaching the hollow shaft 44 and the measurement shaft 53 to the substantially central portions of the first angle detection sensor 46 and the second angle detection sensor 54, respectively,
The swivel angle of the swivel base 19 and the wire guide arm 2 respectively
The swinging angle of the zero arm part 20c is measured. In addition, the wire length sensor 60 and the sliding distance sensor 41
Is attached to the reel shafts 58a and 39c of the take-up reels 58 and 39, which are made of metal or synthetic resin and have a substantially cylindrical shape or a cylindrical shape, and respectively wind the wires 21 and 40. The sliding distance of the swivel base 19 based on the derived length and the derived length of the wire 40 is measured. The take-up reels 58 and 39 apply tension to the wires 21 and 40 by utilizing the elastic force of springs (not shown) such as springs and mainsprings, and are always kept in a tensioned state.

The wire length sensor 60 and the sliding distance sensor 41 are made of metal or synthetic resin and are formed in a substantially box-like shape.
It is housed in a measuring instrument casing 59, 39a having a wire lead-out port (not shown) for leading out. And
The measuring instrument casings 59 and 39a are attached to the vertical frame 18 vertically and with their wire outlets separated from each other so that the wires 21 and 40 do not come into contact with each other.

As shown in FIGS. 1 and 2, one end of each of the wires 21 and 40 is attached to each of the winding reels 58 and 39 of the wire length sensor 60 and the sliding distance sensor 41 to be wound. As the wires 21 and 40,
A non-stretchable and flexible material, such as a piano wire or a wire, made of metal or synthetic resin and formed in a fine wire shape or a twisted thread shape is used.

As shown in FIGS. 1 and 2, when the wire 21 is drawn from the take-up reel 58 of the wire length sensor 60, the wire lead-out port of the measuring instrument casing 59 and the plurality of wire guides of the gantry 16. Wheel 61, moving base 18a
Through the through hole 44b of the hollow shaft 44, the wire guide wheel 56 of the groove-type contact sensor 25, the wire guide wheel 55a in the wheel casing 55, and the through hole 20e of the wire guide arm 20. . Further, as shown in FIG. 4, a hook 23 attached to a ring pin 22 attached to a through hole 14b of a flange portion 14 of a flange tube 13 which will be described later is attached to the tip portion of the wire 21. Has been. This ring pin 22
Is formed in a substantially columnar shape or a prismatic shape, and has a ring-shaped hooking portion 22a for hooking the hook 23 at one end thereof. The ring pin 22 has a through hole 22b formed at the other end of the ring pin 22, and a retaining pin 24 is passed through the through hole 22b.
It does not fall out of the through hole 14b.

As shown in FIGS. 1 and 2, when the wire 40 is drawn out from the take-up reel 39 of the sliding distance sensor 41, the wire lead-out port of the measuring instrument casing 39a,
It is led out to the lower surface of the movable table 18a via two wire guide wheels 42. Further, the tip of the wire 40 is formed in a substantially columnar shape or a prismatic shape and is hooked to a hooking portion formed on a predetermined portion of the lower surface of the moving table 18a by screwing or fitting, and the one end portion is formed. A ring pin 70 formed in a ring shape is attached to the.

As shown in FIG. 1, the control unit 62 includes a first angle detecting sensor 46 and a second angle detecting sensor 5
4, the output values of the wire length sensor 60 and the sliding distance sensor 41 are input, and the flange surface 1 of the other flange pipe 13
The distance data and the angle data of the wire 21 led out to arbitrary three points P1, P2, P3 on the 4a (specifically, the three ring pins 22 attached to the through hole 14b of the flange portion 14). Based on this, the center position of the flange surface 14a and the plane position in space are calculated based on the principle of three-point survey.

Next, a method of using the position measuring device 10 according to the first embodiment of the present invention will be described. First, as shown in FIG. 4, the position measuring apparatus 10 according to the first embodiment of the present invention is provided with a flange surface 12 of one flange pipe 11 which is a measurement reference surface.
Fix to a. In addition, in order to fix the pedestal 16 to the flange surface 12a of the flange tube 11, various fixing means 15 may be used as shown in FIG. Next, the wire 21 is pulled out from the tip of the wire guide arm 20, and the hook 23 at the tip is attached to the ring pin 22 attached to the through hole 14b of the flange portion 14 of the other flange tube 13 which is the surface to be measured.
It is hooked on the hooking portion 22a. Here, since the wire 21 is tensioned by the take-up reel 58, the wire guide arm 20 moves toward the flange tube 13 by the tension of the wire 21 generated by the spring provided in the take-up reel 58. Tilt to.

Here, since the wire guide arm 20 is in contact with one of the arm sensing members 25d arranged on both sides and the groove type contact sensor 25 is turned on, the wire guide arm 20 is visually confirmed. It is confirmed which one of the arm sensing members 25d is in contact, and then the lower knob 49 is rotated in a predetermined direction to move the wire guiding arm 20.
Are located at the center of the opposing arm sensing member 25d. Next, when the wire guide arm 20 is positioned substantially in the center of the detection groove that does not come into contact with any of the arm sensing members 25d, that is, when the wire 21 and the wire guide arm 20 become linear, the control unit. A signal indicating that the groove-type contact sensor 25 is turned off is input to 62, and the first signal at this time is input.
Angle detection sensor 46, second angle detection sensor 5
4. The output of the wire length sensor 60 is input to the control unit 62.

The flange pipes 11 and 1 whose positions are to be measured
When there is an obstacle between the three, the obstacle can be avoided by sliding the swivel 19 along the guide rail 30 in the sliding direction shown by the arrow in FIG. Of course, this sliding distance is determined by the wire 40 drawn from the take-up reel 39.
The sliding distance sensor 41 measures the derived length of the
Reference numeral 2 adds the output values from the sliding distance sensor 41 to automatically calculate the position of the measured surface from the measuring surface. Further, the swivel base 19 is fixed not only by sliding the swivel base 19 along the guide rails 30 but by the handle 37a.

Next, the distance data and angle data of the wire 21 thus obtained are used for the control unit 6 described in the section of action.
Substituted into the mathematical formulas (1) to (3) of 2, the flange surface 14
The first measurement point P1 of a is determined. In addition, mathematical formula (1)
In (3), r is the derived length of the wire 21 obtained by the wire length sensor 60, and θ is the second angle detection sensor 5
The rotation angle of the measurement shaft 53 obtained in 4 and φ are substituted with the rotation angle of the swivel base 19 obtained by the first angle detection sensor 46.

Next, by repeating the above-described operation, the hooks 23 of the wire 21 are hooked on the hooking portions 22a of the other two ring pins 22, respectively, and the other two points of the flange surface 14a, that is, the second hook. Three measurement points P2 and P3 are obtained. A surface position including these first to third measurement points P1 to P3 is a surface position of the flange surface 14a.

Next, based on the position data of these P1 to P3, the controller 62 determines the center position of the flange surface 14a. That is, three straight lines P connecting the points P1 to P3
Three perpendiculars (not shown) are extended from the midpoints of 1-P2, P2-P3, and P3-P1, and the intersection of these perpendiculars is the center position of the flange surface 14a. In this manner, the position of the flange surface 14a can be easily and accurately measured.

In this way, based on the obtained surface position data of the flange surface 14a and the center position data, for example, while the designer looks at the monitor screen, one flange pipe 11
Since it is possible to design an accurate curved portion that connects the flange pipe 13 and the other flange pipe 13, it is unnecessary to repeatedly reciprocate between the site and the factory, and immediately, without making a temporarily fixed pipe in the factory, an accurate dimension can be obtained. Since the main welded pipe can be manufactured, the construction period of the pipe construction can be shortened, and the construction cost of the pipe can be reduced.

Next, a position measuring device 10 'according to a second embodiment of the present invention will be described. The position measuring device 10 'according to the second embodiment of the present invention, as shown in FIGS. 5 and 6, is made of an insulating material and has a supporting member 25a' mounted on the upper surface of the swivel base 19 and a conductive member. Made of a flexible material,
A pair of arm sensing members 2 formed in a substantially fan shape and mounted on the supporting member 25a 'at a predetermined interval.
The structure is the same as that of the position measuring device 10 of the first embodiment except that it includes a groove-type contact sensor 25 'having 5d' and its description is omitted.

The position measuring device 10 'according to the second embodiment of the present invention is equipped with a fixture 69 for fixing the wire guide arm 20. The fixture 69 is made of metal, synthetic resin, or the like and is formed into a substantially rectangular parallelepiped shape, and has a ring-shaped locking portion 69 a that locks the wire guide arm 20 at one end thereof. Thereby, it is possible to prevent the wire guide arm 20 from wobbling when carrying the position measuring device 10 ′, and to prevent the wire guide arm 20 from accidentally hitting and breaking.

A stopper 63 is attached to the opening 16b of the gantry 16 by screwing or the like. Stopper 63
Is made of metal or the like and is formed into a long columnar shape or a prismatic shape. As a result, the same effect as the stopper 30a described above can be obtained, and since the height of the stopper 63 is adjustable, the movable table 18a can be stopped at a desired position. In addition, the stopper 63 is provided on the movable table 18a.
A support plate 64 also serving as a cushioning material is attached to the portion facing the stopper 63 so that an error does not occur in the output value of the first angle detection sensor 46 and the like due to the impact when hit.

Furthermore, a cable carrier 66 is attached to the movable table 18a from one side surface thereof to the vertical frame 18. As the cable carrier 66, an oval type made of metal or the like or a flex type made of synthetic resin or the like is used. As a result, a wiring cord (not shown) extended from the first angle detection sensor 46 or the like can be housed in the cable carrier 66, and further, when the wire guiding arm 20 swings or the swivel base 19 slides. It is possible to prevent the wiring cord from interfering as much as possible during a dynamic movement or a turning movement.

Two vertical frames 18 are attached to the upper surface of the gantry 16, and a wire length sensor 60 and a sliding distance sensor 41 are attached to each of them. Then, the vertical frame 18 is covered and the cross-section reverse U
A character-shaped mounting casing 17 is mounted. Further, a handle portion 65 is attached to the upper surface of the attachment casing 17. This is extremely convenient when carrying the position measuring device 10 'to the site or the like.

Although the present invention has been described above with reference to the drawings, the present invention is not limited to this embodiment, and any modification of the design within the scope of the invention is included in the present invention. For example, in this embodiment, the position of the flange surface of the pipe is measured, but the position is not limited to this, and any other position at a remote place can be measured. Furthermore, in the present embodiment, the rotary encoder is shown as the first angle detection sensor of the swivel base, the second angle detection sensor of the wire guide arm, and the wire length sensor of the wire, but the present invention is not limited to this, and Other measuring tools may be used. The wire led out from the wire guide arm may be a flexible linear object such as a string.

Further, in this embodiment, as the position calculating means for calculating the position of the surface to be measured, the one for calculating the center position of the other flange and the plane position in space according to the principle of three-point surveying has been shown. However, without being limited to this, for example, only the position of an arbitrary measurement point in space may be calculated. Furthermore, in the present embodiment, the fixing means detachably attached to the flange surface of one of the pipes, which is the measurement reference surface, is not limited to that in the embodiment,
It may have any other structure. Further, although the swivel base is slidable in the present embodiment, the swivel base is not limited to this and may be a fixed swivel base.

Further, in the present embodiment, the swivel base is swung by rotating the knob, but it may be swung by using a direct-moving micromotor or the like. In addition, when a micromotor is used, it is possible to reduce the weight by backing it up with a battery and to improve the convenience without having to circulate the power cord.

[0050]

According to the position measuring device of the present invention, the gantry is attached to the measurement reference plane, the wire length when the wire is pulled from the wire guiding arm to the straight line to the measurement point, and the position of the swivel base. Since the position of the measurement point is calculated based on the turning angle and the angle of the measurement axis to which the wire guide arm is attached, the position of the measured surface can be measured easily and accurately.

In this case, the wire guide arm does not directly rotate the swivel base, but the wire guide arm can freely swing in the swivel base rotation direction, and the groove-type contact sensor when the swivel base is rotated is the wire guide arm. Since the rotation angle of the swivel base that does not detect is set as the swivel angle of the wire guide arm, the head can be freely swung without applying a load to the wire guide arm, and a more accurate position can be measured.

[Brief description of drawings]

FIG. 1 is a front view of a position measuring device according to a first embodiment of the present invention.

FIG. 2 is a side view of the same.

3A and 3B are an enlarged front view and an enlarged side view of the relevant part, respectively.

FIG. 4 is an explanatory diagram of the same usage state.

FIG. 5 is a front view of a position measuring device according to a second embodiment of the present invention.

FIG. 6 is a side view of the same.

FIG. 7 is a schematic front view of the position measuring device before improvement of the present invention.

FIG. 8 is a schematic side view of a position measuring device before improvement of the present invention.

[Explanation of symbols]

10 Position measuring device 10 'Position measuring device 11 Flange pipe 12 Flange portion 12a Flange surface 13 Flange pipe 14 Flange portion 14a Flange surface 14b Through hole 15 Fixing means 16 Frame 16a Groove portion 16b Opening 16c Base plate 17 Mounting casing 18 Vertical frame 18a Moving base 19 Revolving base 19a Groove portion 20 Wire guide arm 20c Arm portion 20d Pin insertion hole 20e Through hole 20f Wire guide wheel 21 Wire 22 Ring pin 22a Hooking portion 22b Through hole 23 Hook 24 Locking pin 25 Groove type contact sensor 25 'Groove type contact sensor 25a Support member 25a' Support member 25b Circular arc-shaped peripheral wall portion 25c Insulating member 25d Arm sensing member 25d 'Arm sensing member 25e Screw 30 Guide rail 30a Stopper 36s Side 37a Handle 37b Cover 37c Open 37d Open 37e Shaft Shaft Support Open 37f Shaft Holding Open 38 Wire Inlet 39 Winder Reel 39a Measuring Instrument Casing 39c Reel Shaft 40 Wire 41 Sliding Distance Sensor 42 Wire Guide Wheel 43 Bearing 44 Hollow shaft 44a Mounting portion 44b Through hole 45 Driven gear 46 First angle detection sensor 47 Shaft 48 Drive gear 49 Knob 50 Locking knob 51 Fixing shaft 52 Shaft support plate 53 Measuring axis 53a Pin 53b Arm Insertion hole 53c Pin insertion hole 53d Through hole 53e Bearing 54 Second angle detection sensor 55 Wheel casing 55a Wire guide wheel 56 Wire guide wheel 57 Balancer 58 Take-up reel 58a Reel shaft 5 The meter casing 60 wire length sensor 61 wire guide wheel 62 the control unit 63 stopper 64 supporting plate 65 handle 66 Keburubeya 69 fastener 69a engaging portions 70 ring pin

Claims (3)

[Claims] 1. A gantry mountable on a measurement reference plane, a swivel gantry mounted on the gantry, a measurement shaft rotatably mounted orthogonal to a rotation axis of the swivel gantry, and the measurement shaft. A wire guide arm made of a conductor attached so as to be freely tiltable about an axis perpendicular to the axis of the measuring axis, first and second measuring a turning angle of the swivel base and a rotation angle of the measuring axis, respectively. A second angle detection sensor,
A wire length sensor that is pulled out from the wire guide arm in a tensioned state and measures the length of the wire whose tip is a measurement point; and a width that is attached to the swivel base in an insulated state and is slightly wider than the thickness of the wire guide arm. A groove type contact sensor composed of a large conductor, and an output value of the first angle detection sensor, the second angle detection sensor, the wire length sensor when the groove type contact sensor is off,
A position measuring device comprising: a control unit that calculates the position of the measurement point. 2. The position measuring device according to claim 1, wherein the swivel base is rotated by a picking operation. 3. The position measuring device according to claim 1, wherein the swivel base is driven by a motor that is turned on and off by an output of the groove-type contact sensor.