JPS6156145B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention provides a method and apparatus for measuring the shape of a wrapped object, which detects longitudinal shape data of a long object curved in three-dimensional directions, and a detection method. The present invention relates to a tape winding method and an apparatus for winding a tape around an object based on the shape data obtained.

Japanese Patent Application No. 53-49525 and Japanese Patent Application No. 53-88584 filed by the present applicant as an automatic tape winding machine for wrapping a tape-like object around a rod-like object curved in three-dimensional directions.
There is something disclosed in the issue.

Below, these tape winding machines will be explained with reference to the drawings. Figures 1 and 2 show the tape winding machine, and in the figures, 1 is the taping head of the tape winding machine, and 2 is a tape winding machine that rotates around the outer periphery of the object to be wrapped 6 passing through its center. Taping head 1
A rotating ring 3 is installed on the rotating ring 2 at a predetermined angle and is used to feed out the tape to be wrapped around the object 6 via a roller 3a by the rotation of the rotating ring 2. 4 and 5 are gears. 4a, 5a
This is a motor that rotates the rotary ring 2 via the rotary ring 2. In addition, 7 is a running trolley for moving the taping head 1 along the object 6 to be wrapped in the front and back, left and right, and up and down directions, and 8 is rotated by the power of a motor 12 on a rail 11 provided on the floor. It has wheels 13 that rotate in the front-rear direction (hereinafter referred to as the X direction).
The first traveling platform 9 moves in the left-right direction (hereinafter referred to as the Y direction), and has wheels 16 that rotate on rails 14 provided on the first traveling platform 8 by the power of a motor 15. The second traveling platform, 10 is the second
It is a movable plate that is moved in the vertical direction (hereinafter referred to as the Z direction) by a motor 17 provided on the traveling base 9. The taping head 1 and motors 18 and 19 are attached to the movable plate 10.
This makes it possible to swing the frame 1a of the taping head 1 in the direction of the arrow α in the figure, and the motor 19 to swing the frame 1a in the direction of the arrow β. Hereinafter, the rotation axis of the motor 18 will be referred to as the α axis, and the rotation axis of the motor 1
Let the rotation axis of 9 be the β axis.

Next, the operation will be explained. In the tape winding machine having the above mechanism, the rotation of the α-axis and β-axis is controlled to align the longitudinal axis of the object 6 to be wrapped at the tape winding point A with the rotation axis of the rotary ring 2. let me,
Move the traveling trolley 7 by X so that the tape unwinding point B is at a constant tape winding angle a from the tape winding point A
direction, Y direction and Z direction. When the tape is wound in a half-overlap manner, when the rotating ring 2 rotates once, the tape winding point A moves to a position C that is separated by a distance of half the tape width. Next, at the position C, the rotation of the α-axis and β-axis is controlled so that the longitudinal axis of the wrapping object 6 and the rotating ring 2 are
Align the rotation axis of the At this time, the tape winding point A moves smoothly, and the rotating shaft of the rotating ring 2 smoothly displaces the rotating ring 2, the α axis, and the β axis to align with the longitudinal axis of the object to be wrapped 6. Must be controlled to match. These controls are performed using numerical control, so-called NC machine tool technology.

In order to carry out the above-described control, three-dimensional shape data in the length direction of the object to be wrapped 6 is required. Wrapping object 6 obtained by bending this shape data
It is also possible to measure the winding object 6 manufactured from a design drawing or bent by a three-dimensional position measuring device, and control can be performed based on the shape data.

The method of creating shape data from design drawings is already common in the field of NC machine tools, and APT
There are general-purpose calculation programs such as However, bending is a manufacturing method with the lowest precision, and it is rare for the bent object 6 to be made according to the design drawings. Therefore, it has been almost impossible to control the α-axis and β-axis based on the shape data prepared from the design drawing to perform daping at the optimal wrapping angle for the object 6 to be wrapped.

In addition, in the method of measuring the bent object 6 to be wrapped with a three-dimensional position measuring machine to obtain shape data, and then installing the object 6 to be wrapped in a tape winding machine and taping it, the measuring machine The position and direction of the wrapping object 6 when installed must match the position and direction when installed on the tape winding machine. Therefore, there was a problem in accuracy when attaching and detaching the wrapping object 6. Moreover,
When the length of the object 6 to be wrapped is 10 m or more, the tape winding machine must have a corresponding running range, and the three-dimensional position measuring machine must also have a similar measuring range. There was also the problem that two huge structures had to be accommodated in one factory, which took up a large amount of work floor space within the factory.

In order to solve the above problems, a contactor for detecting the position of the object to be wrapped 6 is attached to the inner peripheral wall of the rotating ring 2 of the tape winding machine, and the tape winding machine can be run manually or automatically. The relative position between the wrapping target 6 and the rotating ring 2 is detected while
A method has also been considered in which the position data of the wrapping object 6 is detected by adding the position of the wrapping object 6, and the plots thereof are connected to obtain longitudinal shape data of the wrapping object 6. In this method, the tape winding machine also has the function of a three-dimensional position measuring machine, which solves the problem of the measuring machine occupying a large working floor area. The contacts attached to the inner circumferential wall are relatively fragile, and when wrapping the tape, the object 6 to be wrapped passes through the center of the rotating ring 2, so the contacts must be removed. A problem arose. Furthermore, for shape measurement, one
The tape winding machine had to be run, resulting in wasted time.

The present invention has been made in order to solve the above-mentioned problems, and includes installing a traveling trolley having at least one dimensional degree of freedom in an appropriate position, detecting the position data, and fixing the vehicle to the traveling trolley. Repeating the operation of bringing the two surfaces of the measurement end, which has a three-dimensional degree of freedom, into contact with the object to be wrapped within the measurement range using a three-dimensional position measuring device, and detecting position data regarding the contact position, The shape data in the length direction within the measurement range of the object to be wrapped is detected from the position data of the traveling trolley and the plurality of position data regarding the above-mentioned abutting positions, and the above-mentioned shape data is detected for the part of the object to be wrapped that exceeds the measurement range. The measuring range of the three-dimensional position measuring device can be extended even if it is small by moving the traveling trolley and installing it at another appropriate position and repeating the above operations to sequentially detect the shape data in the length direction of the object to be wrapped. A method and device for measuring the shape of an object to be wrapped with a shaku without error, and by using the above method and device, time for shape measurement is not wasted, and taping with a beautiful finish is achieved. The purpose of the present invention is to provide a tape winding method and a device therefor.

DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of a tape winding machine incorporating a three-dimensional position measuring device according to the present invention will be described below with reference to the drawings. 3 through 6 illustrate a tape winding machine according to one embodiment of the present invention. In the figure, the first
The same reference numerals as in the figure and FIG. 2 indicate the same thing,
20 is a three-dimensional position measuring machine fixed to the second traveling table 9 of the tape winding machine; 21 is a three-dimensional position measuring machine 20
The measuring handle 22 of the three-dimensional position measuring device 20 has a three-dimensional degree of freedom and has two surfaces that are brought into contact with the object 6 to be wrapped, and the measuring handle 22 is formed integrally with the measuring handle 21, and the measuring handle 21 can be manually operated. 23 is a corner portion fixed to the measuring handle 21 and used to position the corner of the object to be wrapped 6; 24 and 25 are respectively attached to the upper and lower parts of the measuring handle 21 by adjusting screws 28; Position measurement wires 26a-26c and 27a-2
This hook 2 is a hook to which one end of 7c is fixed.
The height H of the wire attachment portions 4 and 25 from the contact surface 21a of the measuring handle 21 is adjusted to be half the width W of the object to be wrapped 6, and the position measuring wire 2
6a~26c, 27a~27c are each 0.1φ
It is made of 1.0φ thick stainless steel wire twisted together. 29a to 29c, 30a to 30c are position measuring wires 26a to 26c, 27a to 27
Three wire measuring machines 31 are installed on the upper and lower measuring machine frames 20a and 20b so as to be located in the same plane in order to wind up the wire and measure its length. Wind the wire 26a and keep the tension of the wire 26a at 300.
This is the winding roller of the wire measuring machine 29a that maintains the temperature at about
They are similarly attached to 0a to 30c. 32
33 is a torque motor that rotates the winding roller 31;
is a pulley around which the wire 26a from the take-up roller 31 is wound, and which rotates as the wire 26a is wound up and unwound; this pulley 33 has an outer circumference of 100 mm to simplify subsequent calculations. ing. A rotary encoder 34 is attached to the rotation shaft 33a of the pulley 33 and detects the rotation speed or rotation angle of the pulley 33, and the detected amount is transmitted to a numerical control device,
That is, it is input into a computer (not shown). 35, the wire 26a passing through the pulley 33 is 1
A swivel pulley that is wound around the pulley 33 by means of a ball bearing 36 and is rotatable about the traveling direction of the wire 26a between the pulley 33, that is, the line D-D in the figure, and always directly faces the drawing direction of the wire 26a. The wire 26a unwound from the adjustable pulley 35 is finally fixed to the hook 24 of the measuring handle 21, and in what direction the wire 26a is pulled out or unwound. No matter what happens, the adjustable pulley 35 continues to rotate smoothly. 3
7 is six wire measuring machines 29a to 29c, 30a
A calibration point in the cross-sectional shape of the wrapping object 6, which functions as a standard point for three-dimensional measurement where 30c is aggregated and is used to check the accuracy, error, etc. of the three-dimensional position measuring device 20. It is. Note that 6a in the figure
is a support that supports the object 6 to be wrapped. Also,
Since the above-mentioned computer has already become common, detailed explanation will be omitted.

Next, the operation will be explained. First, the three wire measuring machines 29a to 29c measure the three-dimensional relative position coordinates Pu (Xu,
We will explain about the 6th point that it can express Yu, Zu). The relative position coordinates of the respective wire measuring devices 29a to 29c are _P1 ( _X1 , _Y1 , _Z1 ), _P3 ( _X3 , _Y1 ,
Z ₁ ) and P ₅ (X ₅ , Y ₁ , Z ₅ ), each wire 26
Let the lengths of a to 26c be l ₁ , l ₃ and l ₅ . Then, when the radius γu of the locus J of the intersection of the wire 26a and the wire 26b and the X coordinate of the hook 24 are expressed by the lengths l ₁ and l ₃ of the two wires 26a and 26b, Xu=l ₁ ² - l ₃ ² + l ₁₃ ² /2 l ₁₃ , and the radius γu of the trajectory J is becomes. However, _l13 indicates the distance between the wire measuring device 29a and the wire measuring device 29b. Next, the wire 26c is projected onto the YZ plane passing through the point Pu. The projected length l ₆ of the wire 26c is l ₆ =√ ₅ ² −( ₅ −) ² . Therefore, the coordinates Zu and Yu are Zu=γu ² -l ₆ ² +Z ₅ ² /2Z ₅ Yu=√ ² - ² , and the three-dimensional relative position of the upper hook 24 can be determined.

In the wire measuring machines 29a to 29c of this type, the coordinates in the X direction and Y direction do not change drastically as shown in the points E and F in Figure 5 depending on the unwinding direction, but the coordinates in the Z direction
The coordinates of the direction vary. The above calculation does not take this point into account, so it contains an error of 2 to 4 mm, but since the point Pu can be roughly determined, the angle θ ₁ at which the wires 26a to 26c are wound around each of the swivel pulleys 35 is , θ ₃ and θ ₅ can be determined.
The angle θ ₁ at which the wire is wound around the universal pulley 35 of the wire measuring device 29a is becomes. Similarly, the angles θ ₃ and θ ₅ of the other two
teeth, becomes. With the obtained angles θ ₁ , θ ₃ , θ ₅ ,
The deviations in the original positions of the wire measuring devices 29a to 29c and the lengths of the wires 26a to 26c are corrected.
Based on the new data obtained, the upper hook 2
4, that is, calculate the three-dimensional relative position of point Pu.
This calculation results in an error of 1 mm or less. In order to further improve the accuracy, the above method may be repeated to calculate the relative position of the point Pu.

As described above, the relative position of the tip of the upper hook 24 of the measurement handle 21, which is the intersection of the three wires 26a to 26c, was obtained. Similarly, the relative position of the tip of the lower hook 25 is determined, and the position of the center point G of the cross section of the object to be wrapped 6 is determined by proportional calculation from the distances M and N shown in FIG.

On the other hand, each wire measuring device 29a to 29c, 30a
30c is attached to the second traveling table 9, so the measured position of the center point G of the object to be wrapped 6 is based on the second traveling table 9. Since the second traveling table 9 can move in the X direction and the Y direction, the position of the center point G with respect to the second traveling table 9 and the second traveling table 9
The absolute position of the center point G is determined by adding the positions of the center point G and the position of the center point G. If the absolute position of the center point G can be obtained continuously, it will be possible to operate the tape winding machine, so if the shape of the object 6 to be wound is complicated, it is necessary to measure it at intervals of several centimeters. Where the shape is simple, measurements are taken at intervals of ten centimeters. Then, shape data in the length direction of the object to be wrapped 6 is obtained from the obtained plurality of absolute positions and stored in the computer.

The mechanism for wrapping the tape around the object to be wrapped 6 based on the shape data in the length direction of the object to be wound 6 obtained in this manner is the same as that of the apparatus already described, and therefore the explanation thereof will be omitted.

Next, a measurement method and a tape wrapping method when the object 6 to be wrapped exceeds the measurement range of the three-dimensional position measuring device 20 will be described. The measurable range of the three-dimensional position measuring device 20 used in the tape winding machine of this embodiment is up to twice the distance of the wire measuring device, and beyond that range, the error becomes large and accurate measurement is impossible. It becomes difficult. Therefore, as shown in FIG. 3, when the support 6a of the object to be wrapped 6 is on the right side in the figure, first move the traveling cart 7 to the rightmost end so that the right end of the object to be wrapped 6 is on the rotating ring 2. Set it so that it is in the center. Then, the shape measurement is performed starting from the right end toward the left, and the measurement is stopped when the measurement range of the three-dimensional position measuring device 20 is exceeded. Next, based on the obtained longitudinal shape data of the object 6 to be wrapped, the tape head 1 is moved along the object 6 to be wrapped while the traveling carriage 7 is running, and the tape is wound. Then, when the tape has been wound to the last measured position, the tape wrapping is stopped. At this time, due to the movement of the traveling carriage 7 as the tape is wound, the unmeasured portion of the object 6 to be wrapped comes into the measurement range of the three-dimensional position measuring device 20. Immediately after measuring the unmeasured portion within the measurement range, the tape is wrapped while the traveling carriage 7 is traveling. When the winding of the tape in the measurement range is finished, the next unmeasured area comes into the measurement range. By repeating such operations, it becomes possible to measure any length of the object 6 to be wrapped and to wrap the tape.

FIG. 7 shows another embodiment of the tape winding machine of the present invention. In the figure, the same reference numerals as in FIGS. 1 and 2 indicate the same parts, 47 is a three-dimensional position measuring device, and 38 is a second carriage mounted on the upper part of the second traveling base 9 so that its shaft 38a is vertical. 1 potentiometer, 39 a second potentiometer mounted on the upper part of the shaft 38a so that the shaft 39a is horizontal, and 40 a second potentiometer 40 mounted so that it is perpendicular to the shaft 39a.
The first arm has a length of 1000mm, 41 is the first arm 4
A third potentiometer 42 is attached to one end of the shaft 41a at a right angle, and a third potentiometer 42 is a third potentiometer attached to one end of the shaft 41a at a right angle.
700mm length second arm, 43 is second arm 4
A fourth potentiometer 44 is attached such that its shaft 44a is perpendicular to the shaft 43a, and an extension line of the shaft 43a is attached to the shaft 44.
The fourth potentiometer 43 is aligned with the axis of a.
A fifth potentiometer, 45, mounted on the body of
is a sixth potentiometer whose shaft 45a is perpendicular to the shaft 44a, and which is installed so that the extension line of the shaft 44a coincides with the shaft 45a; The contact surface 4 of this ruler 46 is a ruler that positions the corner by coming into contact with the
6a is perpendicular to the shaft 45a, and the two contact surfaces 46a, 46b are perpendicular to each other and come into close contact with the corners of the object 6 to be wrapped.

Next, the operation will be explained. A constant voltage is applied to each potentiometer 38-45, and a voltage corresponding to the rotation angle of each potentiometer 38-45 is obtained. The voltage is input to the computer via an A/D converter (not shown). Inside the computer, the position of point H in the figure and the direction of the first arm 40 are calculated. Next, the first arm 4
The position of point I and the direction of second arm 42 are calculated based on the direction of point I and the voltage of third potentiometer 41. By repeating the above operations, the position of the center point G of the cross section of the object to be wrapped 6 at the measurement location is determined. The operation of winding the tape based on this data is the same as that in the first embodiment of the present invention, so the details will be omitted.

According to the tape winding machines of the above two embodiments configured as described above, the three-dimensional position measuring machine is attached to the second traveling base, so that the measurement range of the three-dimensional position measuring machine covers the tape wrapping target. Even if it is small compared to
The shape of the object to be wrapped is measured while moving the cart sequentially from one end of the object to be wrapped, and finally the shape of the object to be wrapped can be measured in the range necessary for wrapping the tape. In addition, since the tape is wound while moving the traveling cart based on the measured shape data, when the shape measurement of the area required for wrapping the tape is completed, the tape is applied to that part. winding can be completed. In addition, there is no need to measure the shape of the object to be wrapped with a three-dimensional position measuring machine, then remove it from the measuring machine and attach it to the tape winding machine, so there is no installation error with respect to the object to be wrapped. . Furthermore, since the three-dimensional position measuring device is incorporated into the tape winding machine, it is mechanically simple and has the advantage that only the tape winding machine occupies the working floor space in the factory.

In addition, in the above two embodiments, the case where the three-dimensional position measuring device was attached to the second traveling platform was explained, but the same effect can be obtained even if it is attached to the first traveling platform or the movable plate. . Further, in the second embodiment, a case has been described in which a potentiometer is used, but it goes without saying that a rotation angle converter such as a synchro resolver can be used.

As described above, according to the present invention, at least one
A traveling cart with a degree of freedom in three dimensions is installed at an appropriate position, its position data is detected, and the two surfaces of the measuring end having a degree of freedom in three dimensions are measured with respect to a three-dimensional position measuring device fixed to the traveling cart. Repeat the operation of contacting the object to be wrapped within the measurement range and detecting position data regarding the contact position, and measure the object to be wrapped from the position data of the traveling trolley and multiple position data regarding the contact position. The shape data in the length direction within the range is detected, and for the part of the object to be wrapped that exceeds the measurement range, the traveling trolley is moved and placed at another appropriate position, and the above operation is repeated to measure the object to be wrapped. By sequentially detecting shape data in the length direction, even if the measurement range of the three-dimensional position measuring device is small, long objects to be wrapped can be measured without error. By wrapping the tape around the object, time for shape measurement is not wasted, and moreover, it is possible to perform taping with a beautiful finish.

[Brief explanation of the drawing]

Fig. 1a is a schematic side view of the automatic tape winding machine according to the earlier application by the present applicant, Fig. 1b is a front view of Fig. 1a, and Fig. 2a is a cross-sectional side view of the taping head of Fig. 1a. Fig. 3b is a front view of Fig. 3a, Fig. 3a is a side view of a tape winding machine incorporating a tertiary position measuring device according to an embodiment of the present invention, and Fig. 3b is a front view of Fig. 3a. Front view, Figures 4a and b are top and side views of the measuring handle of Figure 3a, Figures 5a, b and c are plan views and cross-sections of one wire measuring machine of Figure 3a. A side view and a front view, FIG. 6 is a diagram for explaining that the three-dimensional relative position of the upper hook of the measuring handle can be expressed by a wire measuring machine, and FIG. 7 is a tape winding machine according to another embodiment of the present invention. FIG. 1... Taping head, 6... Wrapping object,
7... Traveling trolley, 20, 37... Three-dimensional position measuring device, 21... Measuring handle (measuring end), 46...
Ruler (measuring end). Note that the same reference numerals in the figures indicate the same or corresponding parts.

Claims (1)

[Claims] 1. Setting a traveling trolley having at least one dimensional degree of freedom with respect to the floor at an appropriate position, detecting position data of the traveling trolley, and measuring a three-dimensional position fixed to the traveling trolley. The two surfaces of the measurement end, which has a three-dimensional degree of freedom with respect to the machine, are brought into contact with the object to be wrapped within the measurement range of the three-dimensional position measuring device, and positional data regarding the contact position of the object to be wound are generated. repeating the operation of detecting, and sequentially calculating the position data of each contact position in the length direction of the wrapping target within the measurement range from the position data of the traveling trolley and the plurality of position data regarding the contact positions. A method for measuring the shape of an object to be wrapped, characterized in that the above operation is repeated to sequentially detect shape data in the length direction of the object to be wrapped. 2. A traveling trolley having at least one dimensional degree of freedom with respect to the floor surface, a three-dimensional position measuring device fixed to the traveling trolley and having a measuring end having a three-dimensional degree of freedom, and setting the traveling trolley at an appropriate position. At the same time, the position data is detected, and when the two surfaces of the measurement end of the three-dimensional position measuring device are brought into contact with the object to be wrapped within the measurement range of the three-dimensional position measuring device, the contact position is detected. repeating the operation of detecting position data regarding the traveling trolley and sequentially calculating the position data of each contact position in the length direction of the wrapping target from the position data of the traveling trolley and the plurality of position data regarding the contact positions; A shape measuring device for a wrapping target, comprising: a numerical control device that sequentially detects longitudinal shape data of the wrapping target by repeating the above operation. 3 Set a traveling trolley that has at least one degree of freedom with respect to the floor at an appropriate position, detect the position of the traveling trolley, and measure the three-dimensional position with a three-dimensional position measuring machine fixed to the traveling trolley. Repeating the operation of bringing the two surfaces of the measurement end having degrees of freedom into contact with the object to be wrapped within the measurement range of the three-dimensional position measuring device and detecting position data regarding the contact position of the object to be wound; Sequentially calculating position data of each contact position in the length direction within the measurement range of the wrapping target from the position data of the traveling trolley and the plurality of position data regarding the contact positions, and based on the shape data. A taping head that is attached to the traveling trolley and has a three-dimensional degree of freedom with respect to the floor surface is made to travel within the measurement range along the object to be wrapped, and as the taping head travels, the taping head is moved within the measurement range. A tape winding method characterized in that the tape is wound around the object to be wound using the taping head, and the above operation is repeated to sequentially wrap the tape around the object to be wound. 4. A traveling trolley having at least one degree of freedom with respect to the floor surface; a three-dimensional position measuring device fixed to the traveling vehicle and having a measuring end having a three-dimensional degree of freedom; A taping head that has a three-dimensional degree of freedom and whose rotating part rotates around the outer periphery of the object to be wrapped and wraps the tape around the object to be wrapped by its movement, and the traveling cart are set at appropriate positions. The operation of repeatedly detecting the position data and detecting the position data regarding the contact position when the two surfaces of the measuring end of the three-dimensional position measuring device are brought into contact with the object to be wrapped is repeated. The position data of each contact position in the length direction of the object to be wrapped is sequentially calculated from the position data of the trolley and the plurality of position data regarding the contact position, and the taping head is attached to the wrapping target based on the shape data. 1. A tape winding device comprising: a numerical control device for repeatedly winding the tape around the object by running the tape along the object.