JPS5868607A - Method for measuring end surface of pipe - Google Patents

Abstract

PURPOSE:To perform the measuring work for the assembling of prefabricated piping, by vertically contacting the vertex part of a V shaped probe and the tips of two arrow shaped metal fittings which are slidden on two arms of the V shape probe to the inside of surface of the end of the pipe, at tip of the manipulator which can detect the relationship between the arms. CONSTITUTION:The V shaped probe is pushed to the end surface of the pipe 4 as shown in the Figure. One surface of 22 is contacted to the end surface of the pipe 4. When the position of a pin 23 at the inside of the circular cylinder of the pipe 4 and the positions of the arrow shaped metal fittings 24 on the arms of the V shaped probe are measured by displacement detectors 27, distances L and M are determined. Each arrow shaped metal fitting 24 is attached to a sliding shaft 25 so that it can be moved on the arm of the V shaped probe and this probe can be applied to the pipes having the different diameters. The action of a spring 28 is utilized so that the arrow shaped metal fittings 24 are contacted with the inner surface of the pipe at a specified pressure or more and the probe is fixed to the inner surface of the pipe securely at three points.

Description

[Detailed description of the invention] Shape, length, %, l/(
There are a wide variety of products, and each product has different specifications, so they are manufactured at the factory.

Normally, several single tubes are fully welded, cut to a length that can be transported, and shipped to the plant site. In order to make the pre-I/P piping that is assembled in the factory, it is necessary to weld it after arranging it with high accuracy in the order of single F metals that will be used at the bottom. To check whether or not the drawing and arrangement-fc% have been done correctly according to the drawing using the conventional method, manually draw the actual size drawing of the planar development on the floor using a tape measure or a square ruler. All piping is done with a jig directly on top of this, the single tubes are lined up, and the tube ends are tightened to adjust the position. In this construction, it is necessary to check whether the prefabricated piping is in accordance with the drawings or not, and there is a drawback of poor efficiency and accuracy.

The present invention automates the positioning and measurement work in prefabricated piping assembly work, which is currently performed manually.

It was invented for the purpose of increasing precision.

In the present invention, in order to detect the spatial coordinates of the end face of the pipe, the relative positional relationship of each arm is detected. Slider on the edge / Arrange the tips of the 82 arrow-shaped metal fittings respectively f
A V-shaped probe is installed on the inner surface of the painful area and has a means for determining the distance between the apex at that time and the arrow-shaped metal fitting.

The relative positional relationship between the calculated distance and the manipulator arm F Spatial information on the pipe end face 1r, the characteristic method of measuring the pipe end face <1) The relative positional relationship of the cylinder can be detected. By installing a special probe like the one described below at the tip of the manipulator, you can measure the center point of the pipe end face and the normal vector of the end face at regular times with the manipulator body as the origin. We provide all pipe end face measurement methods that can determine the center point of the pipe by applying one point on the apex and one point on each side (total of 5 points) to the pipe end face and measuring the distance * from the apex. This can be applied to all offices that perform all plant piping assembly work.

An embodiment of the pipe end face measurement method of the present invention is shown in FIGS. 1 to 5.
The diagram will be explained. Fig. 1 σ An explanatory diagram of a manipulator and probe in an embodiment of the method for measuring the south side of a pipe according to the present invention, Fig. 2 An explanatory diagram of fc in which an Hv type probe is pressed against the end face of a pipe,
Fig. 5 is a detailed explanatory diagram of the V-shaped probe, and Figs. 4 and 5 are explanatory diagrams of the operation of the V-shaped probe. A detector for measuring the relative angle of the arms is attached to part 5. By calculating these detection angles and arm dimensions F, it is possible to detect the three-dimensional position of the tip of the arm of the L bear manipulator with respect to the coordinate system of the manipulator body. Furthermore, it is also possible to detect which direction the uppermost arm is spatially facing.

Create a plane perpendicular to the tip arm IIcHv type probe 2t-tip arm, which is indicated by the normal coordinate axes X, Y, Zvc versus the cosine of the direction, and connect the pipe 4 to the V-shaped globe to be attached to the tip arm 6L. Use by pressing the one against the leakage surface. How to press: Bring the apex of the Hv shape into contact with a point A on the circumference of the end face. B and 0 on the side of ■ according to the size of the circle
It touches the circumference at a point. At this time, by attaching means for measuring the lengths between AB and AC to the probe, the coordinates of the center of the Vc plane are determined. ! iI! Figure 5 shows a detailed example of this.
A fork holding rod comes out of the tongue V-shaped metal fitting described in Section 21, and is fixed to the arm at the tip of the manipulator. It is machined into a V-shape with a rigid body and opens at an angle α (3U0 to 6U0).

23 is a cylindrical bottle with the lower cylindrical pain surface at the V-shaped apex of 22 L
It is mounted on the sea urchin. 24 with arrow-shaped metal fittings, 1 each of ■
Place one on each side. It is a shaft that slides parallel to each side of 25fflV, and the tip i of this shaft 25 at 24 (,261) is a guide for the shaft 25. A displacement detector is attached to each side of the 27σ yagiri V-shape to detect the position of the L 24.

If the displacement detection method includes a differential transformer, linear scale, etc., and linear displacement is determined.

Anything L, 25t shaft sliding with 28a spring - ■
Extrude it in the direction opposite to the vertex of each side. That is, 24 is pressed against the inner surface of the pipe. As for the structure, any structure that can move on each side of the V-shaped frame and detect the 24th place on the sides will work.

Effect of book-1 # plan t-i4 diagram and a! Figure 5 will be explained. When the V-shaped probe is pressed against the 4 ends of the pipe, it will be in good condition as shown in Figure 4. At this time, one surface of the barb 22 on the end surface of the pipe 4 comes into contact with the cylindrical inner surface 111 of the pipe 4 at three points in total: the pin 25 and the arrow-shaped fitting 24. At this time, when the position of the arrow-shaped metal fitting 24 on the V-shaped side is measured by the displacement detector 27, the distance M can be determined. The arrow-shaped metal fitting 24a is attached to a sliding shaft 25 that can move on the sides of a V-shape to which all pipes with different diameters can be applied. The action of the spring 280 is such that the arrow-shaped fitting 24 hits the inner surface of the piping with a pressure above a certain level, and the globe V is firmly fixed to the inner surface of the piping at five points. It is possible to geometrically obtain the coordinates of the center point of the pipe when adding the distance t 611J from the apex of the V-shaped globe to the arrow-shaped fitting. The inner diameter of the pipe can also be determined.The principle is explained with reference to Figures 6 and 7.In Figure 6, one point on the circumference (apex 25)L is drawn by two line segments ltmt that form an angle α. Let the intersections of this line and the circumference be B and O, respectively. Set the coordinate axes for the next step. Set the origin to A point vcX axis't-line 1,
AB, AC here! Suppose that the distance of can be measured,
If AB=L and AC=M, the center point of 1 circle rrL
The intersection of the perpendicular lines n t p that bisect IM is m n
+ p (since it is an I line, the coordinates of the intersection Q (x + y) can be found.

The radius of Father's day is 1r71Ex.77 From the above principle explanation Vc, the end face circle of the pipe at a regular time when the V-shaped fitting touches the inner surface of the pipe at the v-shaped apex point A and the points B and C on each side of V is calculated. This shows that the center point coordinates iA point can be found as the reference origin.

On the other hand, from the coordinates of point A and the dimensions of the Hv type fitting, the support rod 21 and V
The work shown in FIG. 7 is required based on the intersection point D of the shaped fittings 22 (attachment point). On the other hand, the dimensions of the base arm of the ni manipulator and the angle formed by the base arm are calculated based on the coordinates of the exmanibulator body, which are formed within the space of the intersection point and the V metal fitting.

The above method for determining the spatial coordinates of the center point of the pipe end face is shown in the figure below.

To find the coordinates of the center point in the space of the surface and the direction of the surface, it is a good idea to attach a special V-shaped blow Q to the arm of the manipulator that can detect the relative position of the arm. be.

(1) Direction of direction: One direction of the plane formed by the two sides of the V-shaped globe, that is, the direction of the leading arm of the manipulator, is the end face direction.

(2) Center point coordinates: Point iA at the apex of V in the plane formed by the two sides of the V-shaped probe.

In a nine-coordinate system with one side bound to the X axis ( It is indicated by. This is the body coordinate It is easy to convert it to .

Note: L and M are the distances to vertices 25 and 24, and α is the V-shaped angle.

(Re) This is a manipulator that can measure the spatial coordinates of the fm plane, and the measurement work when assembling the pipes, which was conventionally done by several people, can now be done by one person by attaching it to the Hv type probe t-n plane. Manpower can be saved. (2) Accuracy can be expected to be improved.

[Brief explanation of drawings]

Figure M1 is an explanatory diagram of the manipulator and probe in one embodiment of the piping end face measurement method of the present invention, Figure 2 is an explanatory diagram of the V-shaped probe pressed against the pipe end face, and Figure 5 is a detailed explanatory diagram of the Hv-shaped probe. , FIGS. 4 and 5 are explanatory diagrams of the operation of the Hv type probe, and FIGS. 6 and 7 are explanatory diagrams for determining the coordinates of the center point of the piping. 1...manipulator, 2--probe, 3.
...Joint, 4...Piping, 21...
...Support rod, 22...V-shaped metal fitting probe, 2
3... Cylindrical bottle. 24-... Pointed metal fitting, 25... Shaft, 26... Guide, 27... Displacement detector, 28... Spring. 1st b 27th 37th figure 74

Claims (1)

[Claims] In order to detect all the spatial coordinates of the end face of the pipe, it is possible to detect all the relative positional relationships of each arm.
Means for determining the distance 1 between the apex and the arrow-shaped fittings by bringing the tips gs of two arrow-shaped fittings sliding on the apex portion of the Vcv-shaped probe and the two sides of the V-shaped probe into contact with the inner surface of the pipe end, respectively. V-shaped probe fitting with
v Determined distance and relative positional relationship Lv of the manipulator arm
A pipe end surface measurement method characterized by obtaining pipe end surface spatial information.