JPH045328B2 - - Google Patents

Description

[Detailed Description of the Invention] Object of the Invention [Industrial Application Field] The present invention relates to a measuring device, and more particularly to a measuring device for measuring the three-dimensional shape of a pipe or round bar that has been bent into a three-dimensional shape. be.

[Prior art] As three-dimensional processing of bending pipes, round bars, etc. into three-dimensional shapes has become popular, it has become necessary to measure their three-dimensional shapes, but unlike pipes and round bars, which do not have ridgelines. It is difficult to accurately measure the three-dimensional shape of a component with a regular three-dimensional measuring device, so it is recommended to make a special measuring jig according to the processed shape and diameter of the pipe or round bar, and use the jig to perform measurements. It had a certain structure.

On the other hand, we focused on the fact that three-dimensional machining of pipes and round bars is generally done by bending straight pipes at predetermined points, and we developed a measuring device that measures the straight part of the object to be measured and calculates its vector. is proposed. As this type of measuring device, there is a known device that uses a probe with a specific shape to determine the vector of a straight line, such as the “measuring device” disclosed in Japanese Patent Application Laid-open No. 147351/1983, which bends it into a three-dimensional shape. It was used to measure and inspect whether bent pipes, etc., were bent according to design values.

[Problems to be Solved by the Invention] However, since such a conventional device uses a probe having a directional axis, there are the following problems.

(1) If the shape of the probe is relatively large, measurements cannot be made if the straight section after bending is short, and on the other hand, if the shape of the probe is made smaller, the measurement error will increase. .

(2) It may be necessary to change the size of the probe depending on the diameter of the object to be measured, which may reduce work efficiency.

SUMMARY OF THE INVENTION The present invention has been made to solve the above-mentioned problems, and to provide a measuring device that can suitably perform measurements after bending.

Structure of the Invention [Means for Solving the Problems] In order to achieve the above object, the present invention has the following structure as a means for solving the problems. That is, as shown in FIG. 1, a cylindrical first contact M1 and a second
a probe M3 having a contact M2; a contact detection means M4 for detecting that the contacts M1 and M2 of the probe M3 are in contact with an object to be measured W having a predetermined outer diameter; a pivoting means M5 that rotatably pivots around the axial direction of the first contact M1; a three-dimensional moving means M6 for integrally moving the probe M3 and the pivot means M5 three-dimensionally; and detecting the position of the probe M3 in three-dimensional coordinates in response to the movement of the three-dimensional moving means M6. a three-dimensional position detecting means M7; and when the contact detecting means M4 detects the contact of the first contactor M1 with the object W to be measured, the above-mentioned position detected by the three-dimensional position detecting means M7; A first coordinate detection means M8 detects the two-dimensional position of the first contact M1 from the three-dimensional position of the probe, and contact of the second contact M2 with the object W to be measured is detected by the contact detection means M4. a second coordinate detecting means M9 for detecting the three-dimensional position of the second contact M2 from the three-dimensional position of the probe M3 detected by the three-dimensional position detecting means M7; and the contact detecting means M4. When contact of the second contactor M2 with the object W to be measured is detected by the probe M, which is pivoted by the pivot means M5,
angle detection means M10 for detecting the rotation angle of the object W; two-dimensional positions of the first contact M1 detected by the first coordinate detection means M8 at two or more points on the object W; The three-dimensional position of the second contact M2 detected by the second coordinate detection means M9 at two or more points, and the angle detection means M10 simultaneously with the detection by the second coordinate detection means M9.
calculation means M for calculating the three-dimensional coordinates of the center line of the object W to be measured from the rotation angle of the probe M3 detected by the rotation angle and the diameter of the object W set in advance;
11, and the configuration of a measuring device including the following.

Here, it is sufficient that the axial directions of the first contact M1 and the second contact M2 provided in the probe M3 intersect with each other, and it is not necessary that they actually intersect. the first contact M1 in the vertical direction, the second contact M1 in the vertical direction;
2 can be arranged in the horizontal direction to simplify calculations regarding the coordinates, but both contacts M1 and M
The arrangement direction of 2 is not limited to this.

The contact detection means M4 connects the object to be measured W and the first,
It detects contact with the second contacts M1 and M2, and if the object to be measured is a conductive material, contact between the two is detected by utilizing the fact that electricity is supplied through each contact M1 and M2. can be configured to detect. It is also possible to configure non-contact and highly accurate detection using an optical method using a laser or the like.

Three-dimensional movement means M6, three-dimensional position detection means M7
Both move the probe M3 three-dimensionally and detect the position three-dimensionally, and three-dimensional here refers to three-dimensional coordinates in various coordinate systems, whether orthogonal coordinate systems, cylindrical coordinate systems, etc. You can think of the origin.

The calculation means M11 is usually realized as a logic operation circuit using a computer, but there is no problem in forming it integrally with the first coordinate detection means M8 and the second coordinate detection means M9.

[Operation] The measuring device of the present invention having the above configuration rotatably supports a probe provided with a cylindrical first contact and a second contact that intersect with each other, and also moves three-dimensionally. It is equipped with a three-dimensional moving means, detects the movement in three-dimensional coordinates, further detects the rotation angle of the probe, and detects the preset diameter of the object to be measured and the second contact detected by the first contactor. The center of the object in three-dimensional coordinates from the above two-dimensional coordinate values, two or more three-dimensional coordinate values detected by the second contact, and two or more rotation angles detected by the angle detection means. Work as if searching for a line.

[Example] Hereinafter, an example of the present invention will be described in detail based on the drawings.

FIG. 2 is a schematic configuration diagram showing the configuration of a measuring device that is an embodiment of the present invention. This measuring device has
A probe 3 including a first contact 1 and a second contact 2, a pivot device 4 that pivots the probe 3 rotatably around the axial direction of the first contact 1, and the pivot device A three-dimensional movement device 5 is provided for supporting and moving the object 4 three-dimensionally. Further, three-dimensional position detection means detects the position of the probe 3 using three-dimensional coordinates, contact detection means detects the contact between the contacts 1 and 2 and the object W to be measured, and a rotation angle of the probe 3 is detected. Encoders and the like corresponding to each of the angle detection means are also provided, and these will be explained in detail later. Note that this measuring device is disposed on a surface plate 6 or the like together with an object to be measured W fixed on a stand (not shown) or the like.

The first contact 1 of the probe 3, which can freely take a three-dimensional position by the three-dimensional movement device 5, is provided in a substantially vertical direction, and the second contact 2 is provided so as to be exactly orthogonal to the first contact. It is being The probe 3 is rotatably supported by a pivot device 4 around the axial direction (vertical direction in this case) of the first contact 1, and its three-dimensional movement is controlled by a three-dimensional movement device 5. Therefore, it corresponds to cylindrical coordinates.

The three-dimensional movement device 5 has a pivot device 4 that pivots the probe 3 fixed to one end of two vertical guide bars 7a, 7b, and the vertical guide bars 7a, 7b are fixed to one end of the vertical guide bars 7a with a vertical holder 8. , 7b so as to be movable in the axial direction (arrow Z direction). Furthermore, the vertical holder 8 has two horizontal guide bars 9.
a, 9b, and the horizontal guide bar 9
a, 9b are horizontal holders 10 and horizontal guide bars 9;
It is supported so as to be movable in the axial direction (direction of arrow R) of a and 9b. Further, the horizontal holder 10 is rotatably supported by a support 11 (in the direction of arrow θ). Therefore, even when the probe 3 is moved in three dimensions corresponding to the cylindrical coordinates in the directions Z, R, and θ, the direction of the rotation axis of the probe 3 pivoted on the pivot device 4 is always maintained. will be done.

The support body 11 is provided with a three-dimensional original position correction plate 12 and an angular original position correction plate 13 of the probe 3. The three-dimensional original position correction plate 12 is provided with a recess, and the three-dimensional original position is corrected by inserting the first contact 1 into the recess. Further, the angular original position correction plate 13 is similarly provided with a recessed portion, and the angular original position is corrected by fitting the second contactor 2 into the recessed portion.

Detection of the three-dimensional position and rotation angle of the probe 3 is performed using the thus corrected three-dimensional original position and angular original position as a reference. The amount of movement of the vertical guide bars 7a and 7b described above, that is, the amount of movement in the Z direction, is determined by a Z-axis encoder 14 that is provided in the vertical holder 8 and interlocks with a roller (not shown) that is in contact with the vertical guide bar 7a. It is then detected. On the other hand, the amount of movement of the horizontal guide bars 9a and 9b,
That is, the amount of movement in the R direction is detected by an R-axis encoder 15 provided in the horizontal holder 10 with a similar configuration. Furthermore, the rotation angle of the horizontal holder 10, that is, the rotation angle in the θ direction, is such that the rotation angle of the small gear 17, which is provided coaxially with the rotation axis of the support body 11 and meshes with the rotating large gear 16, is determined by the rotation angle of the horizontal holder 10. It is determined by detection by a θ-axis encoder 18 provided coaxially with the θ-axis encoder 17.

The encoders 14, 15, 18 that detect positions in the Z direction, R direction, and θ direction have been described above, but in this embodiment, these encoders 14, 1
5 and 18 act as three-dimensional position detection means.

On the other hand, a φ-axis encoder 19 is provided within the pivot device 4 and serves as angle detection means to detect the rotation angle of the probe 3.

Next, the electrical system of this embodiment will be explained using the block diagram shown in FIG. The detection signals of each of the encoders etc. mentioned above are taken into the electronic control circuit 100,
It is used to calculate the coordinates of the object W to be measured. As shown in FIG. 3, the electronic control circuit 100 working as a control means includes a well-known CPU 101, ROM 102,
Terminal 10 is configured as a logical operation circuit with RAM 103 and backup RAM 104 as main parts, and is used for inputting or displaying specifications necessary for measurement.
Terminum input/output circuit 1 that performs input/output with 6 etc.
05, the pulse input circuit 107 that inputs the pulse signals from the encoders 14, 15, and 18 or the level input circuit 108 (described later), etc., are connected to each other by a common bus 109 to exchange data. is configured to calculate the coordinate values of the center line of.

Terminal input/output circuit 105 is terminal 1
Data such as the diameter of the object W to be measured are entered from a keyboard 106a provided in the 06, and calculated coordinate values and the like are displayed on a display device 106b such as a cathode ray tube. Further, the pulse input circuit 107 inputs pulse signals from the encoders 14, 15, 18, 19, and receives pulse signals from the encoders 14, 15, 18, 19.
It is provided with a counter that counts the pulse signal every 19. Therefore, the CPU 101 can know the three-dimensional position of the probe 3 by reading the value of the counter in the pulse input circuit 107 at any time.

The level input circuit 108 includes a first contact 1, a second contact
It is connected to each of the contacts 2, and its connection line is pulled up to the power supply voltage via resistors R ₁ and R ₂ . On the other hand, since the object W to be measured is electrically grounded via a stand (not shown), when either contactor 1 or 2 comes into contact with the object W to be measured, the potential of the connection line changes to a low level. . Therefore, the CPU 101 is connected to the level input circuit 10.
By monitoring the potential levels of the contacts 1 and 2 via the contact elements 8, contact between the contacts 1 and 2 and the object W to be measured can be detected, and this configuration works as a contact detection means.

Next, the processing performed in the above-mentioned control circuit 100 will be explained based on the flowchart of FIG. 4, and the operation of the measuring device in this embodiment will also be explained.

The measuring device is powered on and terminal 106
When the diameter of the object W to be measured and the above-mentioned original position correction are performed by operating the keyboard 106a of the keyboard 106a, and the operation is started, the measurement control routine shown in FIG. This routine is executed together with a routine for displaying the image on the cathode ray tube 106b. First, in step 200, a process is performed in which the value of a variable n used as a counter in the processes following step 210 is set to an initial value of 1. Next, in step 210, the first contact 1
A determination is made as to whether or not the object W has come into contact with the object W to be measured. The contact is as shown in the operation explanatory diagram of FIG.
This is performed by the operator moving the three-dimensional movement device 5 to bring the first contact 1 of the probe 3 into contact with the outer periphery of the object W to be measured. Specifically, the level of the potential of the first contact 1 is read through the level input circuit 108, and the determination in step 210 is repeated until it becomes a low level.

When the potential level of the first contactor 1 becomes low and it is determined that the above-mentioned contact has been made, the process proceeds to step 220, where the two-dimensional coordinates of the probe 3 at that point X1(1), Y1(1) is loaded. That is, by reading the value of the counter in the pulse input circuit 107, the Z-axis encoder 1
4. Read the number of pulses output while the R-axis encoder 15 and θ-axis encoder 18 move from their original positions (subtracted when the encoders reverse), and calculate the X and Y coordinates X1 found from this.
(1) and Y1(1). In the following step 230, it is assumed that the first input of coordinates has been completed, and the value of the variable n is incremented by 1. In the following step 240, it is determined whether the variable n is 2 or more. If the variable n is less than 2, the coordinates of the first contact 1 are read once again, and the process advances to step 210, where the processes of steps 210 to 240 described above are repeated.

At this time, the probe 3, which was in the position shown by the solid line in FIG. 5, is temporarily released from contact with the object W to be measured.
The first contactor 1 is moved to another position belonging to the same straight line portion of the object W to be measured, here the position shown by the two-dot chain line, and the first contactor 1 is brought into contact with the object W to be measured again. Therefore, in step 220, the coordinates of the probe 3 at the position indicated by the two-dot chain line are X1.
(2), will be read as Y1(2).

When the two measurements are completed in this way, step 240
The judgment is “NO” and the process goes to step 250.
Then, two-dimensional coordinate calculation is performed. That is,
In step 250, the coordinates X1 (1), Y1 (1), The center line of the object to be measured W on the XY plane perpendicular to the first contactor 1 is calculated. Furthermore, an α plane that is perpendicular to the X-Y plane and includes the center line of the object to be measured W is also determined.

Next, the process proceeds to step 260, where the value of the variable n used as a counter in the processes following step 270 is set to an initial value of 1. In step 270, the first contact 1 described above is
Similarly to the case (step 210), the second contact 2
A determination is made as to whether or not the object W has come into contact with the object W to be measured. The contact is as shown in the operation explanatory diagram of FIG.
This is done by bringing the second contactor 2 into contact with the outer periphery of the object W to be measured. The second contactor 2 is the object to be measured W
The process takes a step if contact is detected.
Proceed to 280. In step 280, similarly to the case of the first contactor 1 (step 220), the coordinate X2 of the probe 3 when the second contactor 2 contacts the object W to be measured is determined.
(1), Y2 (1), Z2 (1) reading and angle φ2
(1) reading is performed. Next steps
At 290, the value of a variable n indicating the number of measurements is incremented by 1, and at the following step 300, it is determined whether the variable n is 2 or more. variable n
is less than 2, the measurement is performed once, and the process returns to step 270 and repeats step 270 described above.
Repeat the process 300 times.

At this time, the probe 3, which was in the position shown by the solid line in FIG. 6, is temporarily released from contact with the object W to be measured.
The second contactor 2 is moved to another position belonging to the same straight line portion of the object W to be measured, here the position shown by the two-dot chain line, and the second contactor 2 is brought into contact with the object W to be measured again. Therefore, in step 280, the three-dimensional coordinates and rotation angle of the probe 3 at the position indicated by the two-dot chain line are X2 (2), Y2 (2), Z2 (2), φ2 (2).
It will be read as .

When the two measurements are completed in this way, step 300
The judgment is "NO" and the process goes to step 310.
Proceed to. In step 310, the coordinates X2 (1), Y2 (1), Z2 (1), φ2 (1) read in step 280 are
Coordinate calculation is performed to find the center line of the object to be measured W from X2 (2), Y2 (2), Z2 (2), φ2 (2), and the preset diameter D of the object W to be measured. That is, using the α plane obtained in step 250, first, the coordinates of the center of the second contact 2 on the α plane at the two positions where the measurement was performed are calculated using the X2 obtained in step 280.
(n), Y2 (n), Z2 (n), φ2 (n) {n=1, 2
}
The outer circumference of the second contactor 2 on the α plane is determined using Next, the outer circumference of the object W on the α plane is determined from the outer circumference of the second contactor 2 determined at the two positions, and its center line is determined from the diameter D of the object W. Then, these are converted into normal XYZ coordinates and used as the coordinates of the center line of the object W to be measured.

After the above processing, the measurement routine exits to END and ends.

By performing the above-described measurement for each straight line portion of the object W, the center line of each straight line portion can be determined. Therefore, by calculating and finding the intersection of these center lines, it is easy to compare the position of the intersection, the distance between the intersections, etc. with the design value of the bending process of the object W to be measured, and it is possible to make sure that the bending process is appropriate. It is possible to easily determine whether it was done or not.

In addition to the three-dimensional position detection means, this embodiment also includes a probe 3 equipped with two contacts that intersect with each other, and a pivot device 4 that rotates the probe 3 around one axis of the contacts. Since the probe 3 has a simple structure, there is almost no need to change the probe 3 even if the diameter of the object W to be measured differs, and the shape of the probe 3 is simple and highly reliable and durable.
In addition, if the straight line portion of the object W is long, high measurement accuracy can be achieved by measuring at two widely separated positions.

Furthermore, since it only adds one axis to a normal three-dimensional measuring device, it is easy to measure three-dimensional objects such as pipes and round bars by simply adding a pivot device 4 that integrally attaches the probe 3 of the existing three-dimensional measuring device. Another advantage is that it can be modified into a measuring device that measures the original shape.

Although one embodiment of the present invention has been described above, the present invention is not limited to this embodiment in any way.
It may be configured to increase measurement accuracy by increasing the number of times or more, as long as the gist of the present invention is not changed.
Of course, it can be implemented in various configurations.

Effects of the Invention As detailed above, the measuring device of the present invention has the excellent effect of being able to easily determine the center line of a workpiece bent into a three-dimensional shape with high accuracy. As a result, it is possible to easily determine whether or not the bending process has been properly performed by determining the intersection of the center lines of each straight line portion of the object to be measured. Also,
The outer diameter of the contact in the measuring device of the present invention can be made small to the extent that it does not interfere with measurement, and there is also an effect that measurement can be performed even if the straight portion of the object to be measured is short.

Furthermore, in the measuring device of the present invention, there is no need to replace the contactor depending on the diameter of the object W to be measured, and the setup for measurement is easy.

[Brief explanation of drawings]

FIG. 1 is a basic configuration diagram of the present invention, FIG. 2 is a schematic configuration diagram showing the configuration of a measuring device as an embodiment of the present invention, and FIG. 3 is a block diagram showing the configuration of the electrical system of the embodiment. FIG. 4 is a flowchart showing an example of a measurement routine carried out in the control circuit of the embodiment, FIG. 5 is an operation explanatory diagram showing the method of contacting the first contactor of the embodiment, and FIG. It is an operation explanatory diagram showing a contact method of a contactor. W...Object to be measured, 1...First contact, 2...Second contact, 3...Probe, 4...Pivot device, 5
...Three-dimensional movement device.

Claims (1)

[Scope of Claims] 1. A probe comprising a cylindrical first contact and a second contact that intersect with each other, the contact of the probe being in contact with an object to be measured having a predetermined outer diameter. contact detection means for detecting each of the above, a pivot means for pivotally supporting the probe rotatably around the axial direction of the first contact, and a rotation axis of the probe pivotably supported by the pivot means. three-dimensional moving means for integrally moving the probe and the pivot means three-dimensionally while preserving the direction; a three-dimensional position detecting means for detecting; and a three-dimensional position detecting means of the probe detected by the three-dimensional position detecting means when the contact of the first contact with the object to be measured is detected by the contact detecting means; a first coordinate detection means for detecting the two-dimensional position of the first contact from its original position; and when the contact of the second contact with the object to be measured is detected by the contact detection means, the three-dimensional position is detected by the contact detection means; a second coordinate detection means for detecting the three-dimensional position of the second contact from the three-dimensional position of the probe detected by the detection means; angle detection means for detecting a rotation angle of the probe pivoted by the pivot means when contact is detected; and detection by the first coordinate detection means at two or more points on the object to be measured. the two-dimensional position of the first contact detected by the second coordinate detection means at two or more points on the object to be measured; and the detection by the second coordinate detection means; A measuring device comprising: calculation means for calculating the three-dimensional coordinates of the center line of the object to be measured based on the rotation angle of the probe simultaneously detected by the angle detection means and a preset diameter of the object to be measured. .