JPS61126410A - Flange positioning device - Google Patents

Abstract

PURPOSE:To automate alignment by calculating the center of a flange hole from an angle of rotation based upon the on-off signal of a proximity sensor positioned in specific relation with a flange with a pipe, and rotating and positioning the flange according to the arithmetic result. CONSTITUTION:A hydraulic cylinder 15 is arranged on a grip block 14 coupled with the rotating shaft 13 of the driving motor 11 of a frame 10, a sensor box 22 is fixed to a cylinder 21 atop a cylinder 20 arranged on the beam 18 of the frame 10, and a sensor 23, a touch roller 24, and a guide caster 26 are arranged on the box 22. Then, the flange 17 with the pipe 15 is conveyed to the block 14 and clamped with a clamper 16 which is operated by the cylinder 15; and a box 22 is lowered and adjusted in the axial direction of a pipe 25 to apply a roller 24 to a flange surface, and the caster 26 is positioned straddling the pipe 25. Further, the hole of the flange 17 by its rotation is detected by the sensor 23 and its angle of rotation is detected by an encoder 12 to rotate the flange 17.

Description

DETAILED DESCRIPTION OF THE INVENTION <Industrial Application Field> The present invention relates to a flange positioning device that is applied to bending a flange pipe, centering a flange hole of a secondary processing vibrator, or automatically assembling a pipe 7 flange.

<Prior Art> For example, in bending a straight pipe to which a flange is attached, it is necessary to locate and align the bolt holes (flange holes) of the flange. Conventionally, such positioning and centering are carried out by rotating the flange pipe in the direction of the wire 2 (i-upper and lower bolt holes 3) of the weight 1, as shown in FIG.
The bolt hole 3 is positioned by aligning it with the center of the bolt hole 3.

<Problems to be Solved by the Invention> As described above, the positioning and alignment of the bolt holes 3 had to be done manually with the weight LE shown in Fig. 6, which was an obstacle to automation. Position accuracy was also inconsistent.

In view of the above-mentioned drawbacks, the present invention provides a bolt hole (flange hole)
The purpose of the present invention is to provide a flange positioning device that automates the positioning and alignment of the flange and enables highly accurate centering.

<Means for Solving the Problems> The present invention achieves the above object by installing a proximity sensor at a height at which the flange hole passes, based on the zenith of the outer periphery of the pipe, for a flange with a pipe that is supported so as to be able to rotate once. means for positioning, means for obtaining the current rotation angle based on the on/off signal of the proximity sensor generated corresponding to the flange hole by rotation of the flange, and means for obtaining the rotation angle at that time based on the on/off signal based on the on/off signal; It is characterized by having means for calculating the center of the flange hole, and means for rotating and positioning the seven flange based on the result of this calculation.

<Operation> With the above configuration, the position of the seven flange holes can be automatically detected regardless of the size of the flange.

<Example> The present invention will now be described in detail with reference to FIGS. 1 to 5. FIGS. 1 and 2 are examples of a device for positioning a flange with a pipe in a pipe flange welding machine, a pipe bender, or the like.

In the figure, a frame 10 is equipped with a drive motor 11 and an encoder 12. The drive motor 11 is connected to a rotating shaft 13, and can rotate a gripping block 14 for flange centering around the center of the pipe.

The gripping block 14 has three
A hydraulic cylinder 15 is arranged, and the clamper 16 is moved in the radial direction by the hydraulic cylinder 15 to bring out the core a and for positioning. This clamper 16
This grips the 7-lanso 17 from three sides. Therefore, when the flange is held by the clamper 16, the shifter 17 can be rotated by the rotation of the drive motor 11.

On the other hand, a beam 18 is swung out from the frame 10, and this beam 18 includes an electromagnetic valve 19 and an air cylinder 20.
At the same time, another air cylinder 21 is attached to the tip of the air cylinder 20 in a perpendicular direction. The air cylinder 21 is located at the rotation axis (
The sensor box 2 is arranged to expand and contract around the axis of the pipe, and a sensor box 2 is fixed to its tip. A sensor 23 is added to the gripping block side of the sensor 22, and a touch roller 24 for detecting clearance with the 7 lunge detection surface is arranged. Furthermore, the sensor is attached to the flange 1 in the axial direction of the air cylinder 21.
A guide caster 26 is disposed so as to straddle the zenith of a pipe 25 integral with the pipe 7. 1- Therefore, when the air cylinders 20 and 21 are adjusted so that the guide caster 26 straddles the pipe 25 and the touch roller 24 is in contact with the flange surface, the sensor 23
This will face the flange surface of the flange 17 gripped by the flange. The sensor 23 is located in the vertical direction of the pipe core as shown in Fig. 3, but since the diameter of the hood 17 may be different, it detects the position of the hole 3 of each of the largest flange 17a and the smallest flange 17b to be measured. Pipe 25 is compatible with many types of flanges to accommodate the desired height and girth.
Its position is determined based on the zenith of. The sensor 23 is a proximity sensor that detects the hole in the 7-lunge surface, and outputs a signal to the control device (see FIG. 5) through the signal line S.

Furthermore, the encoder 12 is connected to the clamped flange 1.
This is to measure the rotation angle of the shaft rotation number 7. In addition, in the figure, 27 is a slide glock attached to the tip of the hydraulic cylinder 20 to fix the hydraulic cylinder 21, and is provided with a guide roller 28.

Next, the operation will be explained.

When the pipe-equipped flange 17 is carried to the gripping block 14 by a conveying means (not shown), the flange 17 is gripped and fixed about the axis a by the shiclamper 16 by the operation of the hydraulic cylinder 15. Next, the air cylinders 20 and 21 cause the air cylinders 20 and 21 to move the cylinder 22 vertically down, and the pipe 25 moves in the axial direction rcil! 1, and the touch rollers 24 are in contact with the flange surface and the guide casters 26 are positioned astride the zenith of the pipe 25.

Then, the flange 17 is connected to the drive motor 1 together with the pipe 25.
1 rotation together with the gripping block 14. In this case, the encoder 12 detects the rotation angle as the flange rotates 170 times. When the flange hole 3 overlaps the detection surface of the sensor 23 to some extent as the flange 17 rotates, a facing material off (OFF) signal is sent from the sensor 23 to the control device through the signal line S. That is, this O
The FF signal is sent to the CPU 31 through the A/D converter 30 shown in FIG. The CPU 31 receives A/re from the encoder 12 according to the program stored in the ROM 32.
The rotation angle θ1 at the time when the OFF@ signal is generated (see 1 in FIG. 4(a)) is controlled to be stored in the RAM 34 via the & converter 33.

When the flange 17 continues to rotate and the flange hole 3 is removed from the detection surface of the sensor 23 to some extent and overlaps in the same proportion as above, the sensor 23 can see that there is a facing material.
The ON signal is sent to the CPU 31 via the A/D converter 30.
sent to. The CPU 31 calculates the rotation angle θ2(
Figure 4(b) 1) is transferred from the encoder 12 to the RAM 34.
to be memorized.

At the same time, the CPU 31 stops the drive motor 11 via the pulse sequencer 35 and the drive circuit 36, so that the rotation of the flange 17 is stopped.

Moreover, the CPU 31 calculates the center position of the flange hole 3, which is (θ1+θ,)/2. As a result of this calculation, there are 7
Reverse signal 6CPU31 so that the center of the lunge hole 3 is aligned;
Q> output to the pulse sequencer 35,
A reverse pulse to the center position is output to the drive circuit 36, and the drive motor 11 is controlled in reverse according to the number of pulses. In this way, the center position of the 7-lunge hole 3 and the vertical line are aligned and positioning becomes possible. In addition, if instead of the above-mentioned reverse rotation pulse, the rotation is performed in the normal direction to a position of 90 degrees (θ1+θt)/2, the positioning of the next seven lunge holes 3 along the rotation direction becomes possible.

<Effects of the Invention> As explained above, according to the present invention, it is possible to center pipes and flanges regardless of the size of the pipe or 7-lunge, and without the need to input data on them. The center position of the flange hole can be determined, making automatic flange positioning and highly accurate positioning and centering possible.

[Brief explanation of the drawing]

1 to 5 show an embodiment of the present invention, FIG. 1 is a cross-sectional diagram cut in half, FIG. 2 is a diagram of the configuration seen from line A-A' in FIG. 1, and FIG. An explanatory diagram showing the relationship between the position of the flange hole and the sensor based on the size of the flange, Figure 4 (
a) (b) is an explanatory diagram for determining the center position of the 7 flange holes, Fig. 5 is a block diagram of the control device connected to the sensor and encoder, and Fig. 6 is an explanatory diagram showing the conventional method of positioning the flange. It is. In the drawing, 3 is a flange hole (bolt hole), 11 is a drive motor, 12 is an encoder, 16 is a clamper, 17 is a flange, 20, 21 is an air cylinder, 22 is a sensor, 23 is a sensor, 24 is a touch roller , 25 is a pipe, 26 is a guide caster, 30.33 is an A/D converter, and 31 is a CPU. 35 is a pulse sequencer, and 36 is a drive circuit.

Claims (1)

[Claims] Means for positioning a proximity sensor with respect to a rotatably supported flange with a pipe at a height where the flange hole passes with reference to the zenith of the outer circumference of the pipe, and a proximity sensor generated corresponding to the flange hole by rotation of the flange. means for obtaining the current rotation angle based on the on/off signal of the sensor, means for calculating the center of the flange hole based on the rotation angle based on the on/off signal, and positioning by rotating the flange based on the calculation result. A flange positioning device having means.