JPS60205205A - Apparatus for measuring three-dimensional shape - Google Patents

Abstract

PURPOSE:To simplify measurement, by respectively providing movable members and position detection apparatuses on three axes constituting two-dimensional orthogonal coordinates and calculating three-dimensional data on the basis of the rotary angle of a rotary table and the position data of each movable member. CONSTITUTION:Detection rotary encoders 23, 26, 28 are respectively attached to members moving on three axes, that is, an X-axis slide table 22, a Y-axis column 24 and a Z-axis slide box 25, and a measuring probe 29 is provided to the leading end of a Z-axis slide bar 27 in a freely rotatable manner. Further, an article 11 to be measured is vertically grasped on a rotary table 30 equipped with an encoder 32 for detecting a rotary angle alpha and the probe 29 is contacted with two points on the straight line part of the pipe 11 (the article to be measured) and an order button 34 is pushed every time to input positional data of axes X, Y, Z and alpha to a calculator 33 while the vector calculation and crossing point calculation of the straight line part of the pipe are performed by the calculator 33 to obtain three-dimensional data.

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to an apparatus for measuring three-dimensional shapes such as curved pipes.

Conventionally, various types of piping for hydraulic systems, lubricating oil, and cutting oil for machine tools and industrial machinery have been processed using hand-held tools or hydraulic pens.

Furthermore, in recent years, pipe benders using numerical control, that is, N C
4' Eve bender has become popular and productivity has improved significantly.

However, in order to utilize the NC/4' Eve bender efficiently, the problem is how to quickly and accurately create FR* NC data. Therefore, it is necessary to measure bending data to reproduce the shape of the pipes of the bent model gauge, or to ensure the accuracy and uniformity of the pipe shapes themselves. That is,
A gutter device that can measure the three-dimensional shape of bent pipes is essential.

At present, as this German three-dimensional measurement device, the one shown in Fig. 1 and the one shown in Fig. 2 are known, but each has its drawbacks.

First, to give an overview of what is shown in Figure 1, this is a 5-axis multi-joint three-dimensional pipe measuring device, consisting of a pace 6, a rotatable support shaft 5 installed upright on the pace 6, and a rotatable support shaft 5 attached to the tip of the support shaft 5. a 11th o1 rotation arm 1, a 21g1 rotation arm 2 attached to the tip of this rotation arm 1, a third rotation arm 3 attached to the tip of this rotation arm 2, and a rotation grip part 4 attached to the tip of this rotation arm 3. and the two ・
It consists of zobe fixing jigs 7 and 8, a coordinate calculator 9, and a sword.

Reference numeral 10 denotes a parancer attached to the base end of the first rotary arm 1, and its operation is to correct the bent flat ide 11.
The pipe 11 is fixed on the pace 6 by machining two places at -7 and 8, and the pipe 11 is gripped by the rotary grip part 4 and moved along the rotary grip part 4 and the ear 111C. Since the members 1 to 5 that make up all the joints rotate, we decided to detect their rotation angles 01 to θs and input them to the calculator 9, and the coordinates of each point of Eve 11 can be calculated. It can be obtained by engineering, and the three-dimensional shape is perfect.

However, in the case of Fig. 1, since all (b) rotation angle data are input to the calculator 9, the FMtlA conversion is generally complicated to create the orthogonal coordinate NC7'-angle from these data, and the calculation is difficult. It has the disadvantage of requiring a long time. Also, pipe 1
Since two jigs 7 and 8 are used for fixing 1, there is a drawback that the fixing work takes time.

The one shown in FIG. 2 is a clamp-type three-pronged pipe measuring device, and a jig 12. ~12
Clamp at n, coordinates (x, y) on pace 6 of each jig
, the height z of each clamp 3 on the jig, the inclination angle (α) of the clamp with respect to the X-Y plane, and the clamp 1
30 read the azimuth angle (β) on the X-Y plane and input these data to the calculator 9.
The coordinates of each point are all calculated and set as NC7'-Y.

In the method shown in FIG. 2, it is necessary to clamp the entire part of each itc#i to obtain input data for calculation, which has the disadvantage that it takes too much measurement time and is impractical. .

In view of the drawbacks of the above-mentioned prior art, the present invention provides a three-dimensional structure that does not take much time to fix the object to be measured, does not take time to collect data necessary for calculation, and does not require much time for calculation. The purpose is to provide original shape measuring equipment gold. .

The three-dimensional shape measuring device of the present invention, which achieves the above-mentioned object, includes: a gripping tool that is rotatably supported and grips one end of the object to be measured; a rotation angle detector that detects one rotation angle of the gripping tool; The first, second . a first axis moving member movable along the first axis of the third three axes;
a first axis position detector for detecting the position of the axis moving part on the first axis; a second axis moving member disposed on the first axis moving member so as to be movable along the second axis; A second axis position detector that detects the entire position on the second axis of this #4c two-axis moving part, and a third axis moving part that is attached to the second axis moving part so as to be able to move along the third axis. a third axis position detector that detects the entire position of the third axis moving member on the third axis, a probe attached to the third axis moving member and brought into contact with the object to be measured, and the glove. The three-dimensional data of the object to be measured is calculated by inputting the rotation angle data of the gripping tool in a state in which the gripper is in contact with the object to be measured and the position data of each of the moving parts in the first to third boxes. It has a computing unit.

In the configuration of the present invention described above, no? Since the object to be measured, such as an igu, can be held at one end, it does not take much time to fix the object to be measured. Since the position data of the part to be measured can be known by making the plow 21 come into contact with the object to be measured, it does not take much time to collect the data necessary for calculation. Since the probe moves on three-dimensional orthogonal coordinates, the input to the device is
The calculation is now based on three-dimensional coordinates, which simplifies calculations. Since the support structure of the glove is of the orthogonal coordinate type, the structure is simple and the rigidity can be easily improved. Furthermore, a rotation detector is attached to the gripper of the object to be measured, so it can be used as a support for the probe! 4g construction will become more and more monotonous. .

The present invention will be explained in detail below with reference to FIGS. 3 to 6.

Fig. 3 is a block diagram showing the first layer side of the device of the present invention, Fig. 4 is a partial block diagram showing another embodiment, Fig. 5 is a flow diagram of data processing, and Fig. 6 is a cover with low rigidity. FIG. 3 is an explanatory diagram of an auxiliary support for a measurement object.

The embodiment device shown in FIG. 3 has four detection axes, 21
22 is a slide table in the X-axis direction, 22 is an X-axis slide table that moves on this slide guide, 231- is a rotary encoder for detecting the one anode of the X-axis position of the self-sliding table, and 24 is the x+nb slide table mentioned above. 2
2 is a Y-axis slide box that stands upright and moves on this column, 26 is a rotary encoder for detecting the Y-axis position of this slide terminal, 27
2 is a two-axis slide bar that is attached to the Y-axis slide box 25 and moves by direct firing on both the X and Y axes, 28 is a rotary encoder for detecting the two-axis position of this slider, 2
9 is a measurement probe rotatably attached to the tip of the two-axis slide bar (around the β axis); 30 is a rotary table;
31 is a chuck for gripping the object to be measured (non-event 11) fixed to this rotary table; 32 is a rotary encoder for detecting the rotation angle α of the rotary table; 33 is a computing unit;
34 is a button for instructing all data reading. X
The shaft slide guide 21 and the rotary table 30 are attached to a pace (not shown). Chuck 31 is an easy one
In addition, the axis (α glaze) is oriented along the Y direction.

The arithmetic unit 33 includes an α-axis rotary encoder 32 and rotary encoders 23.26.2 for each of the x, y, and z axes.
8 signal lines are connected, and the signal line of the command pin 34 is also connected.

Note that the reference points for each of the α, X, Y, and Z axes are arbitrarily determined in advance.

The embodiment device shown in FIG. 4 has five detection axes, and the third
In the device shown in the figure, a rotary arm 35 is attached to the tip of the two-axis slider 27, and the probe 29t is rotatably mounted (around β11111) on the tip of the rotary arm 35, and the rotation angle r of the rotary arm 35 is detected. The difference is that a rotary encoder 36 is provided. Of course, the signal line of this rotary encoder 36 is connected to the arithmetic unit 33.

The operation of each part of the embodiment device shown in FIG. 3 will be explained.

By attaching the device to the entire lower end chuck 31 of the object to be measured, the pipe 11 is held vertically.

The posture of the pipe 11 in the gripped state is determined by the rotary table 3.
The orientation can be selected by turning 0, and the orientation is detected by the α-axis rotary encoder 32. Probe 29t-X,
When moved in the Y and Z directions, the slide table 22 moves on the slide guide 21, causing the rainbow probe 29 to move.
The X-axis position of the probe 29 is detected by the rotary encoder 23, and the Y-axis position of the probe 29 is detected by the rotary encoder 26 by moving the entire slide block 25 on the column 24 fixed to the slide table 22. As the slider 27 moves in and out of the slider 25, the Z-axis position of the machining probe 29 is detected by a rotary encoder 28. Probe 29 is a 2-axis slide par 2
The probe 29 is rotatably attached to the tip of the pipe 11, but in order to properly contact the probe 29 with the pipe 11, a V-groove is formed on the front surface, so align the V-groove of the probe 29 with the slope of the pipe 11. This is because it is necessary. Therefore, there is no need to detect the rotation angle β of the probe 290.

Next, the measurement procedure in the embodiment apparatus shown in FIG. 3 will be explained with full reference to FIG. 5. First, the pipe 11 is held vertically with the chuck 31, the probe 29 is brought into contact with two points on each straight line part of the pipe 11, and the command button 34 is pressed each time to move X and Y.

2. Rotary encoder position data for each α axis 23.
26, 28, and 32 are read and input to the arithmetic unit 33 online. in this case.

By turning the rotary table 30i so that the straight line part of the pipe 11 to be measured is parallel to the X-Y plane,
．． This is convenient because the positions of the two axes remain constant each time the measurement is made. The rotation angle α of the rotary table 300 at this time corresponds to the twist between the straight portions of the pipe 11, and is subjected to the calculation in calculation 533. x, y, z, α for each m1 part of Nokuide 11
When the input of each axis data (100 in Fig. 5) is completed,
The arithmetic unit 33 calculates vectors for each straight line portion of the pipe 11 (
101) in Figure 5, and then calculate the intersection of each vector (
Figure 5 J, 03) f row 5o In this case, vector h
[When calculating calculation 101, it is necessary to take into account the outer diameter of the pipe 11, which is constant at 6+lI, so the yI calculator 33 has pi! The outer diameter is manually measured in advance (Fig. 5, 102). In addition, when using the vector intersection meter: ) $103, since there is an error in the measurement, it is likely that the vector intersection will not fit properly in some cases, so a correction calculation is performed to approximately approximate the intersection. 5 Figure 1
04). The arithmetic unit 33 described above can calculate the three-dimensional shape of the pipe 11. However, using the data collected here as is, N Cz? If you operate the bender, you will not be able to get a properly bent pipe due to the springback and elongation of the pipe. Therefore, all inputs such as the bending radius, wall thickness, and springback coefficient (Fig. 5, 106) are input to the calculator 33 in advance, and the springback correction and elongation rate correction (Fig. 5, 107) are applied. Calculate the bending angle (FIG. 5, 105). The bending data 105 obtained here is available online at
08 is input. In addition, if necessary, ice play etc. 1
The output is displayed on 09. .

On the other hand, in the 5-axis embodiment shown in FIG. 4, the probe 29 is attached to the tip of the 2-axis slider 27 via the rotary arm 35, so each straight section of the pipe 11 is There is no need to make it parallel to the Y plane.

In other words, even if the rotation angle α of the chuck 310 is fixed arbitrarily, the probe 29 can be easily brought into contact with two points corresponding to each angle of rotation of the rotary arm 35 by rotating the rotary arm 35. In this case, since the rotation angle r of the rotary arm 35 is required for vector calculation, the rotary encoder 36
The output data of is X, Y.

2. α is input online to the controller 33 by operating the command button 34 along with the data of each axis.

The processing in the processor 33 is the same as in FIG. 3, except that r-axis data is added to the input and used for vector calculations.

Fig. 6 shows an example of supporting the A tube 11, which is advantageous for measuring small diameter/IP tubes such as φ4 and φ6.52 In the present invention, one end of the t-shaped tube is gripped with a chuck 31, making it easy to attach and detach the object to be measured. Although this method is extremely simple and reduces the number of measurement steps, small-diameter pipes have low rigidity and may bend. If you do not use this method, please use the method shown in Figure 6 to assist you.
- I'll support you in the middle of P-Eve 11 at 37. Assistance
g - Is G-37 in the middle of pipe 11? The auxiliary support 37 shown in FIG. 11 has two joints, and does not necessarily need to be fixed, and a structure that simply supports it from below is sufficient.

. From here on] The three-dimensional shape TJll of the present invention
Since the one-legged device grasps one end of the object to be measured, Houming's three-dimensional shape measuring device is of the 100-dimensional coordinate type, so it has a simpler structure and higher rigidity than the multi-joint type shown in Figure 1. , the input data to the arithmetic unit is in the basic K [orthogonal coordinate system, so data calculation is easy. Furthermore, since human power data can be obtained by bringing the probe into contact with the object to be measured, data collection is extremely simple compared to the clamp type shown in FIG. The object to be measured according to the present invention is not limited to pipes, and can measure the three-dimensional shape of similar objects.

[Brief explanation of the drawing]

Fig. 1 is a schematic diagram of a conventional articulated three-dimensional/4'ide 6111 measuring device, Fig. 2 is a schematic diagram of a conventional Clan f-type three-dimensional pipe measuring device, and Fig. 3 is a schematic diagram of a conventional three-dimensional pipe measuring device of the present invention. FIG. 4 is a partial configuration diagram of another embodiment of the device; FIG.
The figure is an explanatory drawing of auxiliary support for a measured object with low rigidity. In the drawing. 11i, i target 6111 k object ()if), 21 is the X-axis slide guide 22 is the X-axis slide table, 23 is the rotary encoder for detecting the X-axis position, 24 is the Y
Axis column, 25 is the Y-axis slide, 26 is the rotary encoder for Y-axis position detection, 27Hz
IItlI slider, 28 is a rotary encoder for detecting two-axis position, 29 is a probe, 30 is a rotary table, 31 is a gripper (chuck), 32 is a rotary encoder for detecting the rotation angle of the gripper, 33 is an encoder , 35 is a rotating arm, and 36 is a rotary encoder for detecting the rotation angle of the rotating arm. , Figure 1, Figure 3, Figure 24, Figure 4, Figure 6, Figure 6, 30.

Claims (1)

[Scope of Claims] A gripper that is rotatably supported and grips one end of the object to be measured; a rotation angle detector that detects the rotation angle of the gripper; 2. A first axis moving member movable along the first axis of the third three axes, and a first axis position detector that detects the position of the first axis moving member on the first axis. a second axis moving member attached to the first axis moving part so as to be movable along the second axis; and a second axis position detector for detecting the position of the second axis moving part on the second axis. , a third axis moving member attached to the second axis moving member so as to be movable along a third axis, and a third axis position detector for detecting a position on the third axis of the third axis moving member. , a glove attached to the third axis moving member and brought into contact with the object to be measured, rotation angle data of the gripping tool in a state where the glove is in contact with the object to be measured, and the first axis to the third axis. ^ A three-dimensional shape measuring device that includes a calculator that inputs position data of each moving member and calculates three-dimensional data of the object to be measured.