JPH10291015A - Device for measuring pass-line of roller table and pass line - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a measuring device for the pass line of a roller table with which the pass line is measurable in stable continuous traveling and whose measurement efficiency and measuring accuracy is higher and measuring method of the pass line. SOLUTION: This measuring device for the pass line is provided with roller position detecting means 16 for detecting the positions of rollers, plural noncontact range finders S1-S5 which are arranged at the same intervals as the intervals between the rollers, inclinometer 17 for measuring the inclination of the main body 10 of the device, inclination correcting means 18 for calculating the relative height of the rollers by correcting the data of measurement with the noncontact range finders S1-S5 by the data of measurement and height correcting means 19 for determining the height of the main body 10 of device to the reference surface by cumulating the data of measurement data with the inclinometer 17 and for calculating the correction data of height of the rollers by correcting the relative height of rollers by the height of the main body 10 of the device. From the data calculated with this device, the height of the roller is calculated by the method of least squares.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a pass line measuring device and a pass line measuring method for measuring a roller level of a roller table used for conveying a steel plate or the like.

[0002]

2. Description of the Related Art In a roller table used for transporting articles, the level of each roller must be the same. However, when used for a long time, it is not always easy to keep the level constant due to wear of the outer peripheral surface of the roller and the bearing. Therefore, several methods for measuring the roller level have been conventionally proposed.

Japanese Patent Laying-Open No. 3-99214 proposes a method for detecting the flatness of a roller table using a carriage provided with a sensor for detecting inclination. The length of the carriage is longer than one roller pitch of the roller table and shorter than two roller pitches. Thus, the level difference between the adjacent rollers is obtained.

Japanese Unexamined Patent Publication No. Hei 5-87560 proposes a method of detecting the flatness by providing a similar measuring cart with rollers that can roll on rollers to facilitate movement. The carriage is provided with two sets of roller grippers, and the inclination of the carriage is measured while holding the two rollers.

Japanese Utility Model Laid-Open Publication No. Hei 6-77901 discloses that a roller diameter is measured by sandwiching a roller between two claws provided on a carriage, and a distance between a reference surface for roller installation and a roller rotation center measured in advance is determined. In addition, the level of the pass line of the roller table is measured.

[0006]

Problems to be Solved by the Invention
In the technique described in Japanese Patent Application Laid-Open No. H10-260, there is a problem in running because the length of the bogie is shorter than two roller pitches. That is, the running trolley does not ride on the two rollers for the entire period, but stays on only one roller for a certain period. Therefore, the traveling of the cart becomes unstable in practice, and there is a problem that the cart is pinched or dropped between the rollers.

In order to prevent this, the length of the carriage should be longer than two roller pitches. In this case, however, the rider rides on three rollers, so that the level difference between adjacent rollers can be measured. Disappears. As a result, the level difference between adjacent rollers cannot be obtained.

In the technique described in Japanese Patent Application Laid-Open No. 5-87560, since the inclination of the carriage is measured while two rollers are held by two sets of roller grippers, a mechanism for measurement is complicated. In order for the roller gripper to grip the roller, it is necessary to detect the position of the roller and move the gripper. The detailed description states that the positioning of the roller gripper is controlled by a rotary encoder using a ball screw driven by a stepping motor.

However, in this technique, it is considered that it is actually necessary to detect the position of the roller by some kind of position detecting means, and then to perform position adjustment. Furthermore, since the roller level is measured after the roller gripper grips each roller, setting the roller gripper is expected to take longer than the actual measurement time, which is not efficient.

In the technique described in Japanese Utility Model Application Laid-Open No. Hei 6-77901, the roller diameter is measured by a contact-type measuring device that sandwiches the roller, so that the positioning of the measuring device is required, which is not efficient. In addition, it is necessary to measure in advance the distance between the roller mounting reference surface and the center of rotation of the roller, and it can be said that this operation requires more labor and is more difficult.

The present invention solves the above-mentioned problems of the prior art, and enables a stable traveling, enables continuous measurement, and has a high measuring efficiency and a high measuring accuracy. Provide a line measurement method.

[0012]

According to a first aspect of the present invention, there is provided a path line measuring device movable on a roller table, wherein a roller position detecting means for detecting a roller position of the roller table is provided at the same interval as the roller interval. A plurality of arranged non-contact distance meters, an inclinometer for measuring the inclination of the apparatus main body, and calculating the relative height of the roller by correcting the measurement data of the non-contact distance meter with the measurement data of the inclinometer. Inclination correction means, accumulating the measurement data of the inclinometer to determine the height of the apparatus main body with respect to a reference plane, and correcting the relative height of the roller with the height of the apparatus main body to correct the height of the roller. And a height correction unit for calculating the path table.

The roller position detecting means detects the position (number) of the roller to be measured in the roller table. This can be appropriately selected and used, such as a device for counting the number of running rollers, an arithmetic device for dividing the running distance by the roller interval, and the like.

The plurality of non-contact distance meters are arranged at the same interval as the roller interval, so that the distance measurement of a plurality of rollers can be performed simultaneously. Here, the same interval as the roller interval means almost the same, and even if it is slightly different from the roller interval, as long as the measurement of all of the plurality of distance meters can be completed within the same inclination of the measuring device main body. No problem.

The inclinometer measures the inclination of the device at the time when a plurality of non-contact distance meters are measuring. Since the measurement data of the inclinometer is accumulated as described later, it is desirable that the accuracy is high.

The tilt correcting means corrects a difference in height between the plurality of non-contact distance meters caused by the tilt of the measuring device main body. This height difference is obtained by multiplying the measured value of the inclinometer by the interval of the non-contact distance meter. By correcting (adding) the measurement data of the roller height by the non-contact distance meter with this difference in height, the relative height of each roller with respect to the apparatus main body can be obtained.

The height correcting means calculates the height of the main body of the measuring apparatus, corrects the relative height of the rollers, and calculates height correction data of the rollers. The height of the measuring device main body is calculated by adding (accumulating) the inclination of the measuring device main body (the difference in height per roller interval) for each roller measurement position. The reference position may be, for example, a measurement start position. By correcting (adding) the relative height of the rollers with the height of the measuring device main body, the height correction data of each roller is obtained.

Here, the inclination correction means and the height correction means
Each of them can be realized by hardware using a dedicated arithmetic circuit, a microcomputer, or the like. Needless to say, it may be realized by software using a computer as described later.

According to the present invention, the height correction data of each roller is obtained by the same number as the number of the non-contact distance meters arranged in the measuring apparatus main body (except for the vicinity of both ends of the roller table). Therefore, even if only these data are averaged, the measurement accuracy can be improved as compared with the conventional method. Further, as described later (claim 2), by arranging three or more non-contact distance meters, it is possible to remove a measurement error, so that an accurate roller height can be obtained.

According to a second aspect of the present invention, the roller height correction data obtained by using the roller table pass line measuring device according to the first aspect, wherein three or more non-contact distance meters are arranged,
The absolute height of the roller is expressed as the sum of the error of the height of the apparatus main body at the time of measurement and the error due to the measurement data of the inclinometer, and the absolute height of the roller is calculated by applying the least square method to this simultaneous equation. A roller table pass line measuring method characterized in that:

When the number of non-contact distance meters arranged in the measuring apparatus main body is m and the number of measured rollers is N (excluding rollers near both ends), the height correction data of the rollers is m for each roller. And a total of m × N. On the contrary,
The absolute height of the roller, which is an unknown number, is N, and the error of the height of the apparatus main body at the time of measurement and the error due to the measurement data of the inclinometer are also N. Therefore, the total number of unknowns is 3N.

Thus, when the number m of non-contact distance meters is 3 or more, the number of formulas (m × N) is larger than the number of unknowns (3N). In this case, the value of the unknown can be determined by applying the least squares method to the simultaneous equations. When the number m of the non-contact distance meter is 3, the number of unknowns (3N) is equal to the number of equations (m × N), and the value of the unknowns can be determined by solving simultaneous equations. In this way, the absolute height of each roller can be accurately measured.

[0023]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS A non-contact distance meter disposed on a measuring device main body measures the distance of the uppermost roller while the measuring device main body is running. In the following description, the number of the non-contact distance meter and the number of the roller will be assigned to the traveling direction of the measuring device body. The height of the roller measured by the non-contact distance meter j at time i (representing the position of the apparatus body on the roller table) is Y _ij ′, and the inclination of the apparatus body measured at the same time i is K _i ′. I do. Here, the inclination K _i ′ represents a height difference per roller interval, and assuming that the roller interval is L and the inclination angle is θ, K _i ′ = L · tan θ. Hereinafter, the height difference per roller interval is simply referred to as inclination.

With reference to the distance meter 1, the position of the distance meter j is (j-1) times higher than the inclination K _i '. First, the measurement data Y _ij ′ of the height of the roller is corrected for the height of the distance meter due to the inclination. _Assuming that the value after the position correction of the distance meter is Y _ij ″, the following is obtained. Y _ij ″ = Y _ij ′ + (j−1) K _i ′ (1)

Assuming that the integral value for the distance of the slope K _i ′ (measured along the roller table) is K _i , it is expressed as follows. ^{_{K i = Σ h = 2 i}} (K h-1 '+ K h') / 2 (2) , where the integrated value represents a cumulative value of the slope _{K i ', Σ h = 2} i is i from h = 2 Represents the sum up to.

Assuming that the corrected measurement data is Y _ij , Y _ij = Y _ij ″ + K _i (3) From the equation (2), the corrected measurement data Y _ij is as follows. Y _ij = Y _ij ′ + (j−1) K _i ′ + K _i (4)

Next, let the roller level (absolute height of the roller) to be determined be y _i . Also, errors due to vertical play of the measuring device in the measuring point d _i, the error of the slope by the device rotation (per roller interval) k _i. The measurement data Y _ij is equal to the sum of these three unknowns and is expressed as: _{Y ij = y i + 1 -d} i - {(m + 1) / 2-j} k i (5)

For example, when there are five distance meters (m = 5),
Equation (5) is as follows. Y _i1 = y _i −d _i −2 k _i , Y _i2 = y _{i + 1} −d _i −k _i , Y _i3 = y _{i + 2} −d _i , Y _i4 = y _{i + 3} −d _i + k _{i , Y i5 = y i + 4} -d i + 2k i, (5 ')

The corrected measurement data Y _ij are arranged from j = 1 to m, and they are arranged in order from i = 1 to nm + 1 to form a column vector, which is represented by b. _{^{b = T (Y 11, ...}} , Y 1m, Y 21, ..., Y 2m, ..., Y ij, ..., Y n-m + 1, m) (6) The vector b The number of components Y _ij is m × (nm−m +
1) It becomes pieces.

Similarly, for the right-hand side, a column vector in which n numbers of y _i are arranged in order from i = 1, and n−m + 1 numbers in order of d _i and k _i i = 1 are created, and are expressed as x. _{^{x = T (y 1, ...}} , y n, d 1, ..., d n-m + 1, k 1, ..., k n-m + 1) (7) components of the vector x y _i , d _i , k _i are n
+ (N−m + 1) × 2.

The coefficient of equation (5) can be represented by a matrix A shown in the following equation 1.

[0032]

(Equation 1)

Here, all the matrix elements in the blank portion of the matrix A are zero. The matrix A is m × (nm−
1) A matrix of rows and n + (nm + 1) × 2 columns. For example, when there are five rangefinders (m = 5), the matrix A is as shown in the following Expression 2.

[0034]

(Equation 2)

When represented by a matrix, equation (5) is as follows. b = A x (8)

Thus, the matrix A has the same number of rows and columns when m = 3, and becomes a square matrix. In that case, x can be solved by multiplying both sides of equation (8) by the inverse matrix A ^-1 . x = A ⁻¹ · b (9) The inverse matrix A ⁻¹ can be easily obtained by obtaining a generalized inverse matrix of the matrix A by a singular value decomposition method.

In general, m is preferably set to 3 or more in order to reduce a measurement error. In that case, the simultaneous equations (5)
Alternatively, by applying the least squares method to (8),
x is obtained.

[0038]

[Embodiment] An example in which an operation is performed using the above-described equation will be described.

First, in equation (4), the variables are replaced with computer variables, and for example, Y _ij ′ is replaced with Ym1 (i,
j) and K _i ′ are kdum (i, j), and Y _ij is Ym2 (i, j). Equation (4) is processed as follows when i = 1. Here, for ... end represents a repetition operation (loop) from 1 to m for j.

For i = 2 to n-m + 1, the following arithmetic processing is performed. The integral value K _i is represented by kdum_dt, and is calculated every time i is added from the viewpoint of calculation efficiency. for i = 2: n-m + 1 kdum_dt = kdum_dt + (kdum (i-1,1) + kdum (i, 1)) / 2 for j = 1: m Ym2 (i, j) = Ym1 (1, j ) + (j-1) * kdum (i, 1) + kdum_dt end end

The Ym2 (i, j) thus obtained is rearranged one-dimensionally to form an array B (I). First, j
= 1 to m, and further order them from i = 1 to n
Line up to −m + 1. Therefore, element number I of array B (I)
Is I = m * (i-1) + j. Therefore, when the array Ym2 (i, j) is replaced with B (I) by arithmetic processing, the following is performed.

Next, the above-described matrix A is converted into an array A (I, J) by
Each vector x is represented by an array X (J). In this manner, the vector or matrix is replaced with an array, and the array X (J) is calculated using a subprogram of the least squares method using the singular value decomposition method.

[0043] When the minimum square method by sequence X (J) is obtained as follows X a (J) y (i), d (i), k (i) ( each y _i, d _i, k _i ). The obtained y (i), d (i), and k (i) represent the absolute height of the roller to be obtained and the measurement error. It goes without saying that the calculation of the measurement error may be omitted.

FIG. 1 is a layout diagram showing the layout of measuring instruments in one embodiment of the pass line measuring device. FIG. 1A is a diagram viewed from the bottom, and FIG. 1B is a diagram showing a cross section taken along line AA ′ in FIG. 1A. In the figure, 10 is a measuring device main body, 16 is a roller position detecting means, 17 is an inclinometer, 18 is an inclination correcting means, 19 is a height correcting means, and S1 to S5 are non-contact distance meters. The measured values of the non-contact distance meters S1 to S5, the roller position detecting means 16, and the inclinometer 17 are transmitted to the inclination correcting means 18 by signal lines or the like. Tilt correction means 1
The output of 8 is further input to height correction means 19, and height correction data of each roller is output.

FIG. 2 is an external view showing one embodiment of the pass line measuring device. In the figure, 11 is an arm, 12 is a wheel,
Reference numeral 13 denotes a leg, 14 denotes a towing fitting, 15 denotes a shock absorber, and other reference numerals are the same as those in FIG. Wheels 12
The roller contacts a roller table guide, which will be described later, to prevent the apparatus main body 10 from coming off the roller table.
The bottom surface of the leg 13 contacts the roller and supports the measuring device main body. At the same time, the bottom surface of the leg portion 13 is finished in the same plane because it affects the accuracy of distance measurement and inclination measurement.

FIGS. 3A and 3B are external views showing an example of use of the pass line measuring device. FIG. 3A is a diagram viewed obliquely from the front, and FIG.
Is a front view. In the figure, 9 is a roller, 41 is a towing wire, 53 is a roller driving motor, 54 is a roller table guide, and other reference numerals are the same as those in FIG. In this figure, the leg 13 is running while being supported by the plurality of rollers 9.

FIG. 4 is a diagram showing a result measured by the pass line measuring device. In the figure, the horizontal axis indicates the roller number, and the vertical axis indicates the height (arbitrary memory). In the figure, the broken line indicates the pass line, that is, the relative height of the roller, and the solid line indicates the actual height of the roller, that is, the absolute height of the roller. In the conventional method, only the pass line (broken line in the figure) is obtained, and the accuracy is not sufficient. In this way, the actual roller height can be obtained.

FIG. 5 is an enlarged view of the actual roller height based on the measurement results shown in FIG. According to the present invention, it is possible to accurately know the current state of the roller height of the roller table including the undulation of the pass line itself. From this figure, it is possible to accurately determine whether only the worn roll needs to be replaced or whether the height of the roller table itself needs to be adjusted. As a result, the efficiency of equipment maintenance work can be increased, and the operation can be stabilized.

[0049]

According to the present invention, the absolute height of the roller can be measured in continuous running by arranging an inclinometer together with a plurality of non-contact distance meters on the measuring device main body. It is possible to know the current state of the roller height of the roller table, including the height. Further, according to the present invention, it is possible to remove a height error and a tilt error of the measuring apparatus main body from data measured by three or more non-contact distance meters by arithmetic processing. As a result, the efficiency of equipment maintenance work can be increased, and the operation can be stabilized.

[Brief description of the drawings]

FIG. 1 is an arrangement diagram showing an arrangement of measuring instruments in one embodiment of a measuring device of the present invention. (A) View from bottom (b) Cross-sectional view

FIG. 2 is an external view showing one embodiment of the measuring device of the present invention.

FIG. 3 is an external view showing an example of use of the measuring device of the present invention. (A) The figure seen from diagonally forward. (B) It is a front view.

FIG. 4 is a diagram showing a result measured by the measuring device of the present invention.

FIG. 5 is a schematic diagram of a pass line drawn by enlarging the height of the obtained roller.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 10 Measuring apparatus main body 16 Roller position detection means 17 Inclinometer 18 Inclination correction means 19 Height correction means S1-S5 Non-contact distance meter

Claims (2)

[Claims] 1. A path line measuring device movable on a roller table, a roller position detecting means for detecting a position of a roller of the roller table, a plurality of non-contact distance meters arranged at the same interval as the roller interval, An inclinometer for measuring the inclination of the apparatus body, inclination correction means for correcting the measurement data of the non-contact distance meter based on the measurement data of the inclinometer to calculate the relative height of the roller, and measurement data of the inclinometer Accumulating the height of the apparatus body with respect to the reference plane, and correcting the relative height of the roller with the height of the apparatus body to calculate roller height correction data. A roller table pass line measuring device, characterized in that: 2. The roller height correction data obtained by using the roller table pass line measuring device according to claim 1, wherein three or more non-contact distance meters are arranged, and the absolute height of the roller at the time of measurement is obtained. A roller table path characterized by calculating the absolute height of the roller by expressing the error of the height of the apparatus body and the error based on the measurement data of the inclinometer and applying the least square method to this simultaneous equation. Line measurement method.