JPS6142201B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention provides a method for determining the position of various points in three-dimensional space, for example along a straight section of a preformed rod, tube or pipe, with respect to a reference point. Concerning measuring instruments for measuring. According to the invention, a tube feeler adapted to a range of different tube sizes;
and tube fillers are provided that are compatible with a variety of different ranges of tube sizes.

US Pat. No. 3,944,798 discloses a device for measuring the angle of an object surface or the angle of an object axis relative to three reference planes. The device has an actuating head that can engage the surface of the object to be measured and is attached to a work table via a series of pivot arms. Each joint of the pivot arms is equipped with a sensor or resolver for measuring the relative angular position of each arm, and the sensors are configured to collectively define the position of the actuating head. There is. Circuitry is provided to process the signals from the five sensors to calculate the relative position of the working head.

British Patent No. 1329708 describes a method for forming bent pipes after a master pipe based on measurements from the master pipe. This patent also discloses a measuring device having a sensing head mounted for linear movement in the X, Y and Z directions. The device has an arm for mounting a carrier, and an outwardly open U-shaped sensing head adapted to receive the outer surface of the pipe is attached to the staggered end portion of the carrier. When the sensing head is engaged with the surface of the pipe, the extension of the axis of the arm is such that it intersects the axis of the sensing head at the centerline of the pipe. The device of this patent measures the coordinates of the center line at two points on each straight section of bent pipe, and uses the coordinates of the points on the center line of the straight section of pipe to calculate the bending program. It is something.

The device of US Pat. No. 3,944,798 requires five analog sensors or resolvers to obtain sufficient information to create a bend program. In the case of the device of GB 1329708, the position of the staggered end of the carrier must be adjusted or the axis of the sensing head changed to accommodate tubes of different diameters.

According to the invention, two forms of tube feelers ( A tactile member) is provided. One type of tube filler can accommodate a range of tube diameters, and the other type of tube filler can accommodate a range of tube diameters. These tube fillers can be used with the instruments described herein, but can also be used with other devices, such as the devices of the aforementioned US and British patents.

Briefly, the measuring instrument of the present invention has a carriage capable of moving linearly along one side edge of a work table supporting a preformed tube to be measured, and a second carriage connected to the carriage. A signal representing the position of the carriage is caused to be emitted by a single resolver. A first arm and a second arm are coupled to the carriage so as to be able to pivot in a vertical plane, and a second resolver and a third resolver are disposed at pivot points of the arms. The second resolver and the third resolver transmit signals representing the angular position of the arm. A carrier having a staggered end portion is rotatably mounted about the axis of the second arm, and a tube filler is rotatably mounted to the staggered end portion of the carrier. The extension line of the axis of the second arm is configured to intersect with the extension line of the axis of the tube filler, and the intersection is located at a point on the center line of the tube when the tube filler is engaged with the surface of the tube. . The operator manually adjusts the tube engaging surface of the tube filler to engage the tube. If the above-mentioned intersections are manually located at two points along each straight section of the tube, the above-mentioned 3
The signals from the two resolvers collectively define the intersection. Then, by pressing a switch, signals at each point on the straight line are recorded.

In summary, the present invention provides a measuring instrument for measuring the position of a point along a linear section of a preformed tube resting on a working surface, comprising: a measuring device which is movable linearly along said working surface; a carriage, one end of a first arm is pivotally connected to the carriage, one end of a second arm is pivotally connected to the other end of the first arm; 2
A carrier having an axis parallel to the axis of the arm is attached to the second arm so as to be pivotable about the axis of the second arm, and the carrier is offset from the axis of the second arm in an offset relationship. and a tube filler is attached to the staggered end portion of the carrier, the tube filler being mounted on both sides of the tube such that the intersection of its axis and an extension of the axis of the second arm is located at the centerline of the tube. A measuring device is provided which is configured to engage a surface and includes sensing means for sensing the position of the carriage, the first arm and the carrier and emitting a signal indicative of the position of the intersection. In contrast to the measuring device of the above-mentioned US Pat. No. 3,944,798, which requires five sensors, in the above configuration of the present invention, the sensing means is connected to the carriage,
a first sensor that provides a first signal representative of the position of the carriage; and a second sensor coupled to the carriage and the first arm that provides a signal representative of the angle between the first arm and the carriage. and the first
It may be comprised of three sensors, a third sensor connected to the arm and the second arm and providing a signal representative of the angle between the first arm and the second arm.

One type of tube filler according to the invention is a U-shaped member having two substantially parallel legs, the U-shaped member being a staggered end portion of the carrier for engagement with the surface of the tube. Rotatably attach to. The other type of tube filler consists of a pair of plates with opposing tube-engaging surfaces that are
They are attached to the base so that they can be moved toward each other or away from each other to contact the surface of the tube.

Accordingly, it is a feature of the present invention to provide a tube filler that is compatible with a range of tube diameters.

Another feature of the invention is to provide a tube filler that is compatible with a range of tube diameters.

Another object of the present invention is to provide an improved tube feeler that can be easily attached to a variety of existing equipment for measuring preformed tubes.

Still another feature of the present invention is to provide a tube feeler that is attached to a measuring instrument such that the axis of the tube feeler and the axis of the arm carrying the feeler intersect when the tube feeler is engaged with the tube to be measured. It is in.

Referring to FIG. 1, a measuring instrument 10 is positioned on a work table 12 on which a preformed tube 14 to be measured is placed. Upright pillar 18
A carriage 16 having pivot arms 20 and 22 is mounted within the housing 24 for linear movement along the worktable 12. A linear sensor 25 (FIG. 2) is provided which is adapted to emit a signal indicating the position of the carriage 16 along the table 12. Furthermore, rotation sensors 26 are provided at the pivot points of the arms 20 and 22.
Install 28. Linear sensor 25 and rotation sensor 2
6 and 28 cooperate to send position information through conductor 32 to processor 32. The arm 22 is provided with a carrier 3 so as to be able to pivot around its axis.
Install 4. The carrier 34 has a staggered end portion 36
A U-shaped tube filler (tactile member) 38 is rotatably attached to the end portion. The tube feeler (tactile member) 38 is
knob 4 to engage a specific point along 4.
It can be rotated by 0. As will be described below, the axis of arm 22 intersects the axis of tube filler 38, and the intersection is configured to be located on the centerline of tube 14 when the tube filler is engaged with the surface of tube 14. The location of this intersection is defined by the outputs of linear sensor 25 and rotation sensors 26,28. When the switch 44 is pressed, the sensor 2 calculates the location of the intersection.
Signals from 5, 26, and 28 are recorded.

Next, a method for measuring the tube 14 will be explained. Tube 14 is supported by supports 46, 48 so as to be engaged by tube feeler 38. These supports are tube filler 3
8 can be engaged at various points along the surface of tube 14.
above the surface of table 12. The carrier 34 is manually positioned at the end of the worktable 12 and the knob 40 is rotated to engage the tube feeler 38 with a point 50 on the end of the tube 14. The tube filler 38 is inserted into the tube 1 as shown in FIG.
4, press the switch 44, and the center line of the tube 14 will be aligned with the processor 3.
Recorded as 0. Next, tube filler 38
Looking at Figure 1, move it from left to right and move it to tube 1.
4 is located at a point 52 close to a bend 54. At this point, the tube feeler 38 is again engaged with the surface of the tube 14, and the switch 44 is again pressed to record the position of the centerline of the tube 14. Thus, a vector representing the straight portion of the tube is established by points 50 and 52. The tube feeler 38 is then removed from the surface of the tube 14 and positioned at a point 56 proximate the bend 54 of the tube to engage the tube surface. Then, the switch 44 is pressed again. The tube feeler 38 is then manually moved and positioned to the next point 58 proximate the bend 60 of the tube 14 and engaged with the tube surface before the switch 4
Press 4 to record the position of the tube centerline in processor 30. In this way, the instrument 10
Repeat the manual positioning of tube 14.
Measure each straight section of . The processor 30 is
A pair of points are received that define a vector representing each linear portion of tube 14. A bending program can be set up from the vector information in the manner described in US Pat. No. 3,944,798 or British Patent No. 1,329,708.

2 and 3, the work table 12 is of sufficient size to accommodate the various preformed tubes to be measured and includes a housing 24 along the rear edge of the work table. . The housing 24 can be opened and closed by a rear panel 64. The housing 24 includes a rail 66 extending along the length of the table 12,
It surrounds an orbit like 68. Blocks 70 for stopping the movement of the carriage 16 are attached to both ends of the rail 68. Block 70 provides a reference for the calibration of linear sensor 25, as will be discussed below. The housing 24 also includes a table 12.
A rack 74 is provided which extends along the length of the rack. Rack 74 is engaged with gear 76 of linear sensor 25 so that sensor 25 emits a signal representative of the position of carriage 16 along table 12.

An upright post 18 attached to the carriage 16 projects through a groove 78 in the housing 24. Pillar 18
has an upper end 80 for receiving rotation sensor 26 and arm 20. The arm 20 is pivotally attached to the post 18: it can pivot along an arcuate trajectory in a vertical plane, as seen in FIG.
That is, the arm 20 swings along an arc 82 centered on a point 84. The arm 22 is the arm 2 relative to the column 18.
The arm 20 swings along an arc 86 centered on a point 88 at the tip of the arm 20 in the same plane as the pivot plane of the arm 20 . The distal end of the arm 22 terminates in an axial vertical shaft 90 having a thread 92 at the distal end.

Carrier 34 has an axis parallel to and coincident with the extension of the axis of arm 22 as shown. The carrier 34 is connected to the arm 22 by a vertical shaft 90. That is, the shaft 90 is inserted into the collar 94 within the carrier 34, and the shaft and collar are secured by a nut 96. This configuration of the shaft 90 and nut 96 holding the collar 94 allows the carrier 34 to be pivoted about the axis of the arm 22. A stop (not shown) may be provided on collar 94 to prevent carrier 34 from rotating more than 360 degrees about axis 90. Carrier 34 has a staggered end portion 36 that receives a tube filler 38. carrier 34
The degree of offset must be sufficient to position the tube filler 38 in an extension of the axis of the arm 22, as described below.

Tube feeler 38 is coupled to staggered end 36 by shaft 98. That is, the shaft 98 with the knob 40 attached thereto is inserted through the through hole 100 of the staggered end 36, the shaft 98 carries the plate 102, and the tube filler 38 is attached to the plate 102.
Tube feeler 38 is rotatable about the axis of shaft 98 and can be positioned by knob 40 .

The tube filler 38 is mounted to the carrier 34 such that the axis of its shaft 98 intersects the extension of the axis of the arm 22. V-shaped notches 1 are provided on both side edges of each of the opposing legs 108 and 110 of the feeler 38.
Form 04,106. V-shaped notch 104 on one side edge of one leg 108 and the other leg 110
The V-shaped notches 106 on the opposite side edge of the V-shaped notches 106 are defined by a diagonal line connecting the vertices of the V-shaped notches at the intersection of the axis of the arm 22 and the axis of the shaft 98 (i.e., the axis of the tube filler 38). (See Figure 4). And V-shaped notch 104,1
Engaging the edge of 06 with the straight section of tube 14 causes the intersection point to be located at the centerline of the tube. The cutting angle on both sides of each V-shaped notch is
It should be symmetrical about centerline 112 as shown in FIG. This angle can vary, but is preferably 45 degrees from the centerline 112.

The feeler 38 then attaches the screw 11 to the member 118.
4,116 by inserting the plate 10
2, the tube filler 38 can be removably attached to the carrier 34 by any means as long as the extension of the shaft 98 intersects the extension of the axis of the arm 22. It may be.

Although one identically sized tube filler can accommodate a range of tube diameters, several different sized tube fillers may be required to accommodate a different range of tube diameters. The different tube fillers can be of various sizes, but must all be such that the extension of the axis of arm 22 intersects the axis of shaft 98 at the centerline of the tube to be measured. . Any size tube filler can be used as long as this relationship is maintained.

In order to obtain an accurate bending program, it is important to calibrate the sensors 25, 26, 28 before taking measurements of the tube. Calibration of the linear sensor 25 is performed by abutting the carriage 16 against the stop block 70. When the carriage is in this position, the signal from sensor 25 is related to the reference position. Sensors 26, 28 can be calibrated by engaging tube feeler 38 to reference bar 120. That is, the reference bar 12 with the feeler 38 held within the yoke 122
0, the sensors 26, 28
It emits a signal representing the reference position of 0,22. With each of the three sensors properly calibrated in this manner, the signals sent collectively by sensors 25, 26, and 28 to processor 30 indicate the position of tube filler 38.

Turning to FIG. 7, another form of tube filler 124 is shown that may be used in place of tube filler 38. A pivot arm 20 is connected to an upright post (not shown) of a measuring instrument 10 of the type shown in FIG. Attach the container 28. A carrier 34 is mounted at the end of the pivot arm 22 so as to be pivotable about the axis of the arm. The carrier 34 includes a staggered end portion 36 having a depth and length sufficient to accommodate the rotatable tube filler 124.

A tube filler 124 is rotatably mounted thereto by a shaft 126 that extends through the carrier 34 and is held by a knob 128. knob 128
The angular position of the tube filler 124 relative to the carrier 34 as well as the plate 130 can be adjusted by turning the
and 132 can be controlled relative to each other.
The tube filler 124 is an extension of the axis of the arm 22.
plate 130,
When 132 is engaged with both sides of the tube 14,
The above-mentioned intersection should be on the center line of the tube 14. The outputs of each rotation sensor or resolver, such as resolver 28, collectively define the location of the intersection, and upon pressing switch 44, the signals described above are recorded.

Next, the manner in which the tube feeler 124 engages with the tube 14 will be described. tube 1
4 and position the pivot arms 20, 22 near that point. Next, carrier 3
4 about pivot arm 22 to open tube filler 124 and face tube 14 with filler plates 130 and 132 open. Knob 128 is then turned to position carrier 34 so that tube 14 is inserted between plates 130 and 132.

While the base 134 of the tube filler remains manually restrained, the knob 128 is turned further, thereby drawing the plates 130 and 132 together. Once the filler plates 130, 132 are engaged on opposite sides of the tube 14, there is no need to manually restrain the base 134. Further rotation of knob 128 causes plates 130, 132 to self-center at right angles to tube 14, with the edges of the plates flat against opposite sides of the tube. plate 1
30, 132 engage the tube in this manner, an extension of the axis of the arm 22 and the tube filler 1
The intersection with axis 24 is located on the centerline of the tube.

As shown in FIGS. 8, 9 and 10, shaft 12
6 to the through hole 136 of the base 136 and the carrier 3
4 through the staggered end 36. The knob 128 is screwed onto the threaded portion 138 of the shaft 126. axis 126
A disk 140 is attached to the base 134 so that its rear surface 142 projects slightly outwardly from the rear surface 144 of the base 134. In this way, the rear surface 14 of the disk 140
By protruding the tube filler 12
4 can be freely rotated without being interfered with by a carrier 34. Disk 140
The front surface 146 of the base 134 corresponds to the inner surface 148 of the base 134. The spur gear 150 is connected to the front surface 14 of the disc 140.
6 and attach it. The diameter of the spur gear 150 is larger than the diameter of the hole 136, and the rear surface 1 of the gear
52 engages the inner surface 148 of the base 134. Gear teeth 154 on the peripheral surface of spur gear 150
The teeth 156 of the rack 158 and the teeth 160 of the rack 162 mesh with each other.

The ring clamp 164 is brought into contact with the front surface of the spur gear 150, and the screws 166, 168 are inserted through the clamp and the spur gear, and the screw holes 17 of the disk 140 are inserted.
0,172 by screwing into the spur gear 15
0 is fixed to the front surface 146 of the disk 140. Disk 1
a shaft 126 projecting outwardly from a front surface 146 of 40;
serves to align spur gear 150 and ring clamp 164 coaxially with the axis of shaft 126 .
A beveled surface 174 extending outward is formed on the circumferential surface of the ring clamp 164, and the beveled surface
80,182 and are received within arcuate grooves 176,178. Each holding plate 180,1
82 are formed with spacers 184 and 186, respectively, and the plates are attached to the base 13 by screws 188.
4, an upper groove 190 and a lower groove 192 are defined. Groove 190, 19
2, teeth 156, 160 of racks 158, 162;
be wide enough to accommodate the As spur gear 150 is turned, racks 158 and 162 slide in opposite directions within grooves 190 and 192, respectively.

Feeler plates 130, 132 are secured to racks 158, 16 by screws 194, 196, respectively.
Connect to 2. The plate 130 has a shaft portion 198
and a finger portion 200 protruding from the finger portion, and a V-shaped notch 202 is formed in the finger portion. Similarly, the plate 132 consists of a shaft 204 and a finger 206 having a V-shaped notch 208 . V
The glyph-shaped cutouts 202 and 208 are arranged to face each other. Shafts 198 and 204 are arranged so that fingers 200 and 206 do not interfere with each other when plates 130 and 132 are drawn together (FIG. 9).
Determine the length of.

The fingers 200, 206 should be of sufficient length to accommodate a wide range of tube diameters, and the apexes of the V-shaped notches 202, 208 should be such that the line connecting the two apexes is an extension of the axis of the shaft 126. Position it at right angles to the line. The V shape of the V-shaped cutout does not necessarily have to be a specific size, but
Preferably, the angle is 120°. However, the angle of the notch 202 and the angle of the notch 208 must be equal.

The present invention has been described above in connection with embodiments, but
The present invention is not limited to the structure and form of the embodiments illustrated herein, and various embodiments are possible without departing from the spirit and scope of the present invention, and various changes and modifications may be made. be able to. For example, the axis of the tube filler does not necessarily have to be perpendicular to the axis of carrier 34. Also, a stagger 36 is provided on the carrier 34 to facilitate access to the knob 40 or 128.
In addition to this, it is also possible to form another misaligned portion.

[Brief explanation of the drawing]

FIG. 1 is a perspective view of the measuring instrument of the present invention, and FIG. 2 is an enlarged perspective view of the measuring instrument, with the panel removed to illustrate the carrier. 3 is a cross-sectional view taken along line 3--3 in FIG. 1; FIG. 4 is an elevational view of the tube filler taken along line 4--4 in FIG. 2;
5 and 6 are views showing two different sizes of the same type of tube filler; FIG. 7 is a perspective view showing another type of tube filler mounted on the offset end portion of the carrier of the measuring instrument of FIG. 1; Figure 8 is the 7th
9 is a sectional view of the tube filler shown in FIG. 7, and FIG. 10 is a further sectional view of the tube filler shown in FIG. 7. 10: Measuring instrument, 12: Work table, 14: Tube, 16: Carriage, 18: Upright column, 2
0, 22: Pivot arm, 25: Linear sensor (resolver), 26, 28: Rotation sensor (resolver), 3
0: Processor, 34: Carrier, 36: Misaligned end, 38: Tube filler, 40: Knob,
124: Tube filler, 126: Axis, 13
0,132: feeler plate, 134: base, 140: disc, 150: spur gear, 158: rack, 162: rack, 164: ring clamp, 180, 182: holding plate.

Claims (1)

[Scope of Claims] 1. A measuring instrument for measuring the position of a point along a linear section of a preformed tube placed on a working surface, comprising: a carriage movable linearly along the working surface; , one end of a first arm is pivotally connected to the carriage, one end of a second arm is pivotally connected to the other end of the first arm, and a second
A carrier having an axis parallel to the axis of the arm is attached to the second arm so as to be pivotable about the axis of the second arm, and the carrier is offset from the axis of the second arm in an offset relationship. and a tube filler is attached to the staggered end portion of the carrier, the tube filler being mounted on both sides of the tube such that the intersection of its axis and an extension of the axis of the second arm is located on the centerline of the tube. sensing means configured to engage a surface and configured to sense the position of the carriage, the first arm and the carrier to generate a signal indicative of the location of the intersection; a first signal coupled to the carriage and providing a first signal representative of the position of the carriage;
a second sensor coupled to the carriage and the first arm for providing a signal representative of the angle between the carriage and the first arm; a second sensor coupled to the first arm and the second arm; and a third sensor for providing a signal representative of the angle between the first arm and the second arm. 2. The measuring instrument according to claim 1, wherein the tube filler is attached to a staggered end portion of the carrier so as to be rotatable around the axis of the tube filler. 3. The measuring instrument according to claim 1, wherein the axis of the tube filler is perpendicular to the axis of the second arm. 4. The tube filler comprises an outwardly open U-shaped member having a first leg and a second leg,
2. The measuring instrument according to claim 1, wherein a V-shaped notch is provided on opposing side edges of the first leg and the second leg. 5. A measuring instrument according to claim 4, wherein the U-shaped member is rotatably attached to the staggered end portion of the carrier by a shaft connected thereto. 6. The measuring instrument according to claim 5, wherein an operating knob is connected to the shaft. 7. The first leg and the second leg are substantially parallel to each other and separated from each other by a rear member that connects the two legs, and the rear member is located on the axis of the U-shaped member. 6. A measuring instrument according to claim 5, wherein the measuring instrument is adapted to receive a shaft located at . 8. Claim 1, wherein the axis of the second arm coincides with the axis of the carrier.
Measuring equipment as described in section. 9. The tube filler includes a base attached to the staggered end portion, a pair of plates having tube-engaging surfaces, and a pair of plates configured to bring the tube-engaging surfaces into contact with both sides of the tube. plate attachment means for attaching the plates to the base such that the plates can be moved toward each other or apart from each other, the tube-engaging surface engaging the tube; 2. Measuring device according to claim 1, characterized in that said intersection point is located on the center line of the tube. 10. The plate attachment means includes means for coordinating movement of the pair of plates such that the intersection point is always located at a midpoint between the pair of tube-engaging surfaces. A measuring device according to claim 9. 11 The plate attachment means includes a spur gear rotatably attached to the base and a rack attached to the pair of plates so as to mesh with the spur gear, and 10. The measuring instrument according to claim 9, wherein each of the plates is moved by rotating a gear.