JPH0321444Y2 - - Google Patents

Description

[Detailed description of the invention] (Industrial field of application) This invention is mainly used for measuring the external dimensions of shaped steel having holes or concave parts, and for obtaining data for quality control, technical control, etc. This invention relates to a shape measuring device.

(Prior art) Accurately measuring the external dimensions of steel materials, especially shaped steel, is important for quality assurance and rolling technology data. A method of manually measuring and recording using a micrometer was adopted, but this method had the problems of being time consuming and having poor accuracy.

In particular, there are accuracy problems with steel materials with complicated cross-sections such as steel sheet piles, and improvements have been strongly desired.

Therefore, the inventors of the present invention worked on developing a device for non-contact measurement using optical means, and created the device of the present invention. There are displacement measuring devices such as the one shown in the figure. By continuously measuring the outline of an object using such a device, it is possible to know the outline of the object, albeit only partially. An outline of the device is shown in FIG.

In FIG. 5, reference numeral 1 denotes an object to be measured, such as a steel material, and the figure shows a portion thereof. 2 is its surface. 3 is a photoelectric displacement measuring device, which includes a light source 3a, an irradiation lens 3c that converts the light beam of the light source 3a into a thin irradiation beam 3b, and a reflected beam 3d that is the irradiation beam 3b reflected by the surface 2. A condensing lens 3e that emits light, an optical position detector 3f that receives incident light from the condensing lens 3e, an amplifier 3g that amplifies the signal from the optical position detector 3f, and an amplifier 3g that amplifies the signal from the amplifier 3g. It consists of a correction circuit 3h that corrects linearity. The detection procedure of the photoelectric displacement measuring device 3 is as follows: First, when the object to be measured is displaced from the reference point 0 in the direction of arrow A or B, the position of the reflected beam 3d changes, and the optical position detector 3f detects the displacement. As a result, a displacement signal Δl is extracted via an amplifier 3g and a correction circuit 3h. By the way, there are the following technical problems (1) and (2) when trying to measure the external dimensions of a section steel using this photoelectric displacement measuring device 3.

(1) Since the shaped steel has a complicated cross-sectional shape, it is difficult for the photoelectric displacement measuring device 3 to measure particularly concave portions and hole portions.

(2) Some steel sections have dimensions of 500 x 900 mm, and when using the photoelectric displacement measuring device 3, it is difficult to use it practically unless some kind of auxiliary means is added.

(Purpose of the invention) An object of the invention is to provide an object shape measuring device that can be used to measure the dimensions of steel materials, particularly steel sheet piles, which have claws with complex shapes.

(Structure and operation of the device) The present device utilizes photoelectric displacement measurement for measuring minute distances based on the same measurement principle as the photoelectric displacement measuring device 3 described above. It is possible to measure the external shape of the claws of sheet piles, etc., and its outline will be explained with reference to FIG. 6.

FIG. 6 is a schematic explanatory diagram of a measuring box 3' having a light beam irradiating section, a light receiving device, an amplifier, and a correction circuit in the object shape measuring apparatus according to the present invention. The measurement box 3' is equipped with a small-diameter cylindrical irradiator 4, and is configured so that the irradiator 4 can be inserted deep into a recess 5 of the object to be measured 1 (for example, inside a claw of a steel sheet pile). The tip of the irradiator 4 is equipped with a light beam irradiator consisting of a light source 3a and an irradiator lens 3c, the irradiator beam 3b is reflected on the surface of the recess 5, and the reflected beam 3d is transmitted through a light beam irradiator provided on the irradiator 4. Through the gap or window 6, the condenser lens 3e,
The reflected light enters a reflected light receiving device consisting of an optical position detector 3f. The signal processing after incidence is the same as in the case of FIG. 3, and the distance Δl between the irradiation lens 3c and the surface of the recess 5 can be determined.

The irradiation lens 3c and the light source 3a are provided in the measuring box 3', and the irradiation beam 3b is guided to the tip of the irradiator 4 through an optical fiber, and the light is radiated outward from the light end. Also good. The term "light beam irradiation section" in the present invention is used in this sense.

FIG. 7 is a schematic perspective view of the measurement box 3',
The irradiation beam 3b emitted from the irradiation range 3c is reflected by the object to be measured 1, becomes a reflected beam 3d, and enters an optical position detector (not shown) through the condenser lens 3e. Therefore, the small-diameter cylindrical irradiator 4 needs to have a conduit or a groove (not shown) inside to house a power supply line for the light source or an optical guide (optical fiber) connected to the irradiation lens 3c. Furthermore, since it needs to be able to be inserted freely into a small-diameter measurement hole, it is desirable that it be a small-diameter cylindrical one. Although it is essential to have a passage gap 6 for the reflected beam 3d, it is possible to use a gap 6 of different shapes, as shown in FIGS. 8a and 8b.

In FIG. 8a, the tip of a small-diameter cylindrical irradiator 4' is bulged out laterally, and an irradiation lens 3c is provided on the bulge 4a, and a condenser lens 3e is positioned to face it. Therefore, there is a large passage gap 6, and the main body of the irradiator 4 does not block the reflected beam 3d. b is an embodiment in which the irradiating body 4'' has an irradiating lens 3c and a support portion 4b at the tips of two cylindrical bodies, and this also allows a large passage gap 6 to be provided.

In the present invention, the small-diameter cylindrical irradiator can have different configurations as described above, and an appropriate mode is adopted depending on the application. Next, since the present invention is equipped with the above-mentioned measuring box, it is possible to determine, for example, the variation or displacement of the distance between the concave surface of the object to be measured and the irradiation lens.
That is, for example, if the irradiation lens is moved in advance along a locus that is a set distance apart from the surface of the object to be measured using absolute coordinates, it becomes possible to measure the minute distance between the surface of the object to be measured and the trajectory.
In the measurement, any position of the light beam projection section may be used as the measurement reference point.

Now, by calculating the measured value obtained using the measuring box according to the device of the present invention and the absolute value from a certain measurement standard of the trajectory, it is possible to obtain the external shape of the object to be measured. Therefore, one of the benefits of using the device of this invention is
Next, using an example as an example, displacement measurement using the device of the present invention and shape measurement of a measured object using the same will be explained simultaneously.

(Embodiment) FIG. 1 is a schematic perspective view for explaining the outline of the simplest copying robot among the multi-joint support robots in the embodiment of the present invention.
The object to be measured, in this case a cut sample 100 of a U-shaped steel sheet pile, is placed on the measuring table 7 so that it cannot easily move. Reference numeral 8 denotes a copying robot, which is mounted on a pedestal 9 so as to be freely movable in the Y direction, and has a beam 10 that can freely move forward and backward in the X direction. 12 is held rotatably.
Furthermore, the measuring box 3' described in FIG. 6 is attached to the tip of the rotary support rod 12 so as to be able to rise and fall freely, and the small-diameter cylindrical irradiator 4 projects downwardly from the measuring box 3'. Although the electrical signal system path and the control system path are not shown, the copying robot 8 freely moves the measuring box 3' in the X, Y, and vertical directions in accordance with commands from a control device (not shown). It is possible to measure.

Next, FIG. 2 explains the concept of the measurement procedure according to an embodiment using the device of the present invention, in which 13 is a linear reference serving as a measurement reference, and 14 is a dotted reference. Reference numeral 15 indicates a reference measurement locus. This reference measurement locus 15 has a shape similar to the outer shape of the object to be measured 1 and is set in advance so as to be included in the object to be measured 1 . In other words, if the measurement standard 13 or 14 is the apex, the reference measurement locus 15
The positional relationship can be determined accurately. Therefore, by actually measuring and calculating the separation distance Δl between the reference measurement locus 15 and the external shape 1a of the measured object 1, it is possible to obtain the absolute values of the geometric shape and external dimensions of the external shape 1a of the measured object 1. It becomes possible.

In actual production sites, it is often sufficient to know several measurement points on the object 1 as quality and operational data. The device of the present invention functions extremely effectively in such cases. Figure 3 is a schematic cross-sectional view of the steel sheet pile showing the measurement locations in that case, and in the case of steel sheet pile 16, there are five locations: width A, height B, claw ball width C, claw hole width D, and thickness E. is the standard for external dimensions.

FIG. 4 is an explanatory diagram showing the measurement and calculation procedure using the device of the present invention, in which the copying robot 8 has a servo motor 17 that moves its main body back and forth in the Y direction, and a beam 10 that moves the beam 10 back and forth in the X direction. a servo motor 18 that rotates the rotary support rod 12 in a vertical state freely in the direction and angle θ, and shaft encoders 20, 21, 22 that measure the amount of movement by each of the servo motors.
and position control devices 23, 24, 25 for driving the servo motors 17-19.

As mentioned above, the reference measurement trajectory 15 for the steel sheet pile 16 is given to the control device 26, so the control device 26 sets the respective target values θr, xr so that the measurement box 3' moves along the reference measurement trajectory 15. , yr are momentarily applied to the position control devices 23-25 to operate the servo motors 17-19.

The position control devices 23 to 25 move the measurement box 3' along the planned reference measurement locus 15 while comparing the current position θ, x, y input from the shaft encoders 20 to 22 with the target values θr, xr, yr. move it. In this way, the measuring box 3' measures the separation distance Δl between the reference measurement locus 15 and the outer shape of the object to be measured 1, for example, a steel sheet pile.

The signal processing device 27 determines the external shape position of the steel sheet pile 1 from the momentary input of the Δl, θ, x, and y signals.
Calculate Xn and Yn according to formulas (1) and (2) below.

Xn=Δln×cosθn+xn…(1) Yn=Δln×sinθn+yn…(2) Δln: Momentary separation distance between the photoelectric displacement measuring device and the external shape θn: Momentary angle xn between the photoelectric displacement measuring device and the external shape : The distance in the X direction between the measurement reference and the reference measurement locus at the momentary position of the photoelectric displacement measuring device yn: The distance in the Y direction between the measurement reference and the reference measurement locus at the momentary position of the photoelectric displacement measuring instrument The measurement reference is line 13 In this case, set a fixed point on the line and use it as the starting point of the calculation. When the measurement reference is point 14, the arm 10 is made rotatable and the angle and extension distance of the arm are used as parameters.

Next, the width A, height B, claw ball width C, claw hole width D, and thickness E are determined from Xn and Yn as follows. As shown in Fig. 3, the steel sheet pile 16 has _two characteristic positions: the uppermost position
Xnb ₂ , lower end position of the claw Xnb ₃ , upper end position of the claw Xnb ₄ ,
Top position Xnb ₅ at center position, rightmost position
There are Xna ₁ and the leftmost position Xna ₂ , which can be easily determined by signal processing operations.
Therefore, width A is the difference between Xna ₁ and Xna ₂ , height B is the difference between Xnb ₁ and Xnb ₂ , and width C of the claw sphere is Xnb ₁ and Xnb _3.
, the claw hole width D is the difference between Xnb ₃ and Xnb ₄ , and the thickness E is
Each can be calculated by finding the difference between Xnb ₅ and Xnb ₂ .

In FIG. 4, 3h is a correction circuit for correcting the nonlinearity of the signal, similar to FIGS. 5 and 6. As a result of measuring 250 x 250 to 400 x 900 mm H-section steel and steel sheet piles specified in JISA5528 using the device of the present invention, it was possible to improve work efficiency by 1.5 to 3 times.

(Effects of the invention) By using the device of the present invention, it is possible to measure minute displacements, accurately detect the outline and dimensions of objects with complex cross-sectional shapes without contact, and also measure It is possible to drastically reduce the time.

[Brief explanation of the drawing]

FIG. 1 is a schematic perspective view of an embodiment of the device according to the present invention, FIG. 2 is a schematic explanatory diagram of a measurement example using the device of the present invention, FIG. 3 is an explanatory diagram of the measurement procedure according to the embodiment, and FIG. Diagram explaining the control procedure for the devised device, No. 5
The figure is a schematic explanatory diagram of the measurement principle of a well-known photoelectric displacement measuring device, FIG. 6 is a schematic explanatory diagram of the measurement principle of the device of the present invention, FIG. 7 is a schematic perspective view of a measuring box according to the device of the present invention, and FIG. b is a schematic explanatory diagram of an embodiment of different small-diameter cylindrical irradiators according to the present invention; 1: Measured object, 2: Surface, 3: Photoelectric displacement measuring device, 3a: Light source, 3b: Irradiation beam, 3c: Irradiation lens, 3d: Reflected beam, 3e: Condenser lens,
3f: optical position detector, 3g: amplifier, 3h: correction circuit, 4: small diameter cylindrical irradiator, 5: recess, 6: window (passage gap), 7: measuring table, 8: copying robot,
9: Frame, 10: Beam, 11: Holding device, 1
2: Rotating support rod, 13: Measurement standard (line), 1
4: Measurement standard (point), 15: Standard measurement trajectory, 1
6: Steel sheet pile, 17, 18, 19: Servo motor,
20, 21, 22: shaft encoder, 23,
24, 25: Position control device, 26: Control device, 2
7: Signal processing device.

Claims (1)

[Scope of utility model registration request] a small-diameter cylindrical irradiator having a light beam irradiation part and a passage gap for the reflected beam at its tip; a reflected light receiver mounted on a measurement box described later on an axis that passes through the passage gap and looks through the irradiation position; and the light receiver an amplifier for amplifying the optical-to-electrical conversion signal input obtained from the; a measurement box incorporating the light receiving device and the amplifier and protrudingly supporting the small-diameter cylindrical illumination body; An object shape measuring device comprising an articulated support robot that allows the small-diameter cylindrical irradiator to be inserted into and removed from a hole or a concave portion of the object.