JPS5815106A - Measuring device for position of assembled piping - Google Patents

Abstract

PURPOSE:To measure the positions of pipings with high accuracy and to reduce the number of working steps and to economize manpower by detecting the central coordinate and inclination of the end face of the pipings with a probe which is movable to arbitrary positions within the space in the pipings. CONSTITUTION:In assembling of large sized pipings in nuclear power and heat power turbine plants, a discoid jig 6 is mounted to the end face of a piping 2 to be measured. A manipulator 1 is moved to the prescribed position of the working floor, and flexing arms 3 are moved to fit the leading end part of a probe 5 into the fitting hole 7 of the discoid jig. The angles alpha, beta, gamma indicating the relative position relations of the flexing arms in this time are read with angle detectors 4, whereby the central coordinate and the direction of normal of the end face of the piping from the origin of the manipulator can be operated. Thus the pipings are automatically and easily positioned without drawing diagrams on the working floor.

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a position measuring device for large assembled pipes in nuclear power plants, thermal power turbine plants, etc.

This type of assembled piping requires a large number of single pipes with three-dimensional complex shapes and various sizes.

For this reason, as shown in FIG. 1, prefabricated piping P is generally manufactured by welding several single pipes P1 to Pn. In order to satisfy the relative positional relationship of the openings of the prefabricated pipes made in this way, it is necessary to sequentially arrange PI to Pn with high precision in the assembly process. As shown in Figure 2, the data representing the relative relationship is the angle formed by the three-dimensional coordinates (X, Y, Z) of the center point of the tube end surface and the normal vector of the tube end surface (θ8.θ1.θ,). It is necessary to ask for Conventional assembly requires manual assembly of each item on a surface plate.
After scribing the current drawing of the planar development using a tape measure or a square ruler, place the stand jig J directly above it, line up the single WPI on top of it in order, and adjust the positioning by lifting it off the tube end. However, for temporary attachment, we weld after welding and measure again using the method described above, and if the accuracy is not met, we correct it by pressing, gas heating, etc. to remove distortion.

As described above, in the conventional method, all the assembly work is done manually, and there are problems such as requiring a large number of fourth rotors, poor assembly accuracy, and requiring a large number of man-hours such as rework.

The present invention has been made in view of the above circumstances, and its purpose is to measure the position of assembled piping by improving piping assembly accuracy, reducing man-hours, and reducing cost and labor. The purpose is to obtain equipment.

Embodiments of the present invention will be described below with reference to the drawings. 0 Figure 3 is an explanatory diagram of an embodiment of the present invention. 1 in the figure indicates movement onto the work floor where the assembled piping 2 is placed. 0 manivierator 1 which is a freely provided manipulator
The movement may be achieved by, for example, placing a rail on the work floor and moving the object on the rail so that its position can be detected. A plurality of bending arms 3 are provided on the manipulator 1 so as to be bendable via an angle inspection device 4 consisting of a shaft encoder, 4 tensiometers, etc.; Approximately cylindrical probe 5
is installed so that it can be bent freely. ! The tip of the row f5 is designed to be inserted into the insertion hole IK of the disc-shaped measuring jig 6 attached to the end surface of the pipe 2.

As shown in FIG. 4 and ), the disc-shaped measurement jig C includes a holding plate 1a having a fitting hole 1 into which the tip of the glove 5 is fitted, and a hole on the back side of the holding plate 1a. As shown in FIG. 5(B)K, a spiral screw FcK is formed on the surface of the rotating disk 1b provided as shown in FIG.
Three clamping members 8a, . . . , 8c extend radially in and out from the center of the pipe 2 at an opening angle of 120° and abut against the circumferential wall of the pipe 2. The members 81...8c are tightened by the hexagonal wrench 9 inserted through the wrench insertion hole 7c formed in the holding plate FaK, and the gear 1 meshed with the screw 14 formed on the surface of the rotating disk 7b.・To rotate the rotary disk 1b by rotating the rotating disk 1b, as shown in FIG. Piping 2 while sliding into guide groove
It is designed to move forward and backward toward the pipe wall.

According to the position needle side device for assembled piping constructed as described above, first, the disk-shaped needle side jig 6 is attached to the end face of the pipe 2 to be measured. At this time, as shown in Fig. 4), φ) in the same figure, and K in Fig. 5), a hexagonal wrench 9 or the like is inserted into the wrench insertion hole 1@ according to the inner diameter of the pipe 20, and the rotating circle is inserted through the gear 1e. When plate 1b is rotated, it is removed and tightened by member J.
& -Jl @ is moved toward the pipe wall to securely fix the disc-shaped measuring jig 6 to the pipe 2.

□ Next, as shown in FIG. 3, move the manipulator & L/-11 to a predetermined position on the work floor, move the bending arm 3, and insert the tip of the probe 5 into the insertion hole of the disc-shaped measurement jig 6. Insert the IK. By reading the angles α, β, and r representing the relative positional relationship of the bent arms 3 of the manipulator V-1 at this time from the angle detector 4), the center coordinates of the end surface of the pipe 2 from the origin of the manipulator 1, The direction of the normal can be calculated.

In this way, the piping can be automatically and easily positioned without applying pressure and drawing a drawing on the work floor. Also,
Using only angle detector 4! Since there is no need to attach any detectors to the low f6, the normally used manipulator 1 can be applied as is.

As a result, it is possible to improve the accuracy of piping assembly, reduce the number of man-hours, and achieve cost reduction and labor savings.

In addition, the tip of the globe 5 and the insertion hole 1 of the disc-shaped measuring jig 6
It is necessary to ensure that the fitting state with the probe 5 is secure.In addition to the embodiment, as shown in FIG. An inverted conical recess 5b may be formed in the disc-shaped measurement jig 6, or
As shown in FIG. 7, an arm 5d having an electromagnetic coil 5 wound around the glove 5 shown in FIG. Also, as shown in FIG. 8, a protrusion 5 is formed on the curved surface of the tip of the globe 5, and a fitting hole 5f into which the tip of the globe 6 including the protrusion 5 is fitted is formed in a disc-shaped measuring jig 6. A recess may be formed on the 1-probe f5 side, and a recessed portion may be formed on the disc-shaped measuring jig 6 side. It may be possible to form a convex portion that fits therein.

As described above, the assembled piping position measuring device according to the present invention has remarkable effects such as improving piping assembly accuracy, reducing man-hours, and achieving cost reduction and labor saving.

[Brief explanation of drawings]

Figure 1 is an explanatory diagram showing the arrangement of assembled piping;
FIG. 3 is an explanatory diagram showing an example of the present invention; FIG. 4 (4)
and Fig. 5) is a partial cross-sectional view showing the mounting and processing conditions of the disk-shaped measuring jig of the same example, side of the same figure) is a front view of the same, and Fig. A front view of the rotating disc attached to the measuring jig. It is an explanatory view of another example of a shaped measurement jig and a probe. 1... Manipi^reme, 2... Piping, 3... Bent arm, 4... Angle detector, 5... - 4-P, 6... Disk-shaped measuring jig, 1... Fitting hole, 1a--Holding plate, 1b
... Rotating disk, 1c... Spiral screw, 1d... Screw, 7e... Gear, 7 f-... Guide rail, 8h,
8b, 8c...Tightening members. Applicant Sub-Agent Patent Attorney Takehiko Suzue Figure 4 (A) (B) Figure 6 Figure 7 Figure 8 Figure 30-

Claims (1)

[Claims] A magnifier which is movably provided on any two-dimensional plane; a glove which is movable to any position in space and which is provided to the manibid rotor via a bending arm and an angle detector in order; A disk-shaped measuring jig that is attached to the end face of the piping to be measured and has an insertion hole into which the tip of the probe is inserted], and the inclination and center coordinates of the end face of the piping to be measured are determined by the inclination angle of the globe. A position measuring device for assembled piping, characterized in that the position measuring device is configured to perform detection from the center coordinates.