Control method of an automatic inside-diameter measuring apparatus and an automatic measuring apparatus
There is provided an inside-diameter measuring unit capable of automating inside-diameter measurement and a control method for automatic inside-diameter measurement. An inside-diameter measuring part is supported by a support frame part via a floating joint part. The floating joint part includes a rotation-allowing mechanism part and a translation-allowing mechanism part. A measuring head part of the inside-diameter measuring part is inserted into a hole by a robot arm part. The inside-diameter measuring part adjusts its position and posture autonomously by the reaction force when a contact point pushes against the inner wall of the hole to align the axis of the inside-diameter measuring part with the axis of the hole. An electric inside-diameter measuring unit can automatically measure the inside diameter of a hole.
1 . A control method of an automatic inside-diameter measuring apparatus, the automatic inside-diameter measuring apparatus comprising:
an inside-diameter measuring part including a contact point configured to move forward and backward in a direction perpendicular to a cylinder axis of a cylinder case, an electric driver configured to move the contact point forward and backward, and a displacement detector configured to detect displacement of the contact point;
a driver for relatively moving the inside-diameter measuring part with respect to an object to be measured to insert and retract the inside-diameter measuring part into and from a hole to be measured; and
a controller configured to control operation of the inside-diameter measuring part and the driver, the control method comprising:
inserting, by the driver, the inside-diameter measuring part into the hole to be measured;
bringing the contact point into contact with an inner wall of the hole to measure an inside diameter of the hole; and
retracting the inside-diameter measuring part from the hole by the driver, wherein:
the automatic inside-diameter measuring apparatus further includes:
a support frame configured to support the inside-diameter measuring part and to couple the inside-diameter measuring part to the driver; and
a floating joint interposed between the support frame and the inside-diameter measuring part to allow relative translation and rotation of the inside-diameter measuring part with respect to the support frame;
the inserting includes temporarily stopping drive of the driver after the inside-diameter measuring part is inserted by the driver into the hole to be measured, and
the bringing the contact point into contact includes autonomously adjusting, by the inside-diameter measuring part, a position and posture of the inside-diameter measuring part itself to align the cylinder axis of the cylinder case with an axis of the hole to be measured while the inside-diameter measuring part is relatively displaced with respect to the support frame by a reaction force applied to the inside-diameter measuring part from the inner wall of the hole to be measured when the electric driver moves the contact point forward and brings the contact point into contact with the inner wall of the hole to be measured.
2 . The control method of an automatic inside-diameter measuring apparatus according to claim 1 , wherein
the automatic inside-diameter measuring apparatus further includes a clamp for clamping the inside-diameter measuring part from a direction intersecting the cylinder axis
the clamp is configured to switch between a holding state and a release state of the inside-diameter measuring part by performing clamping and restricting the inside-diameter measuring part and release step of releasing the restriction of the inside-diameter measuring part
the clamp maintains the holding state of the inside-diameter measuring part during the inserting and retracting, and
the bringing the contact point into contact includes performing, by the clamp, the releasing before the autonomously adjusting to release the restriction of the inside-diameter measuring part.
3 . The control method of an automatic inside-diameter measuring apparatus according to claim 2 , wherein
the controller includes a drive controller configured to control the electric driver;
the bringing the contact point into contact includes:
firstly moving, by the drive controller, the contact point forward until the contact point is brought into first contact with the inner wall of the hole to be measured;
moving, by the drive controller, the contact point backward slightly in an opposite direction after firstly moving the contact point forward; and
moving, by the drive controller, the contact point forward again after the moving the contact point backward to perform the autonomously adjusting.
4 . The control method of an automatic inside-diameter measuring apparatus according to claim 3 , wherein
the releasing is performed before the firstly moving the contact point forward.
5 . The control method of an automatic inside-diameter measuring apparatus according to claim 3 , wherein
the releasing is performed after firstly moving the contact point forward.
6 . The control method of an automatic inside-diameter measuring apparatus according to claim 3 , wherein
a constant pressure regulator configured to regulate an upper limit of the reaction force applied to the contact point from the inner wall of the hole to be measured is provided in a force transmission path from the electric driver to the contact point, and
the drive controller terminates the moving the contact point forward again when the constant pressure regulator is activated.
7 . The control method of an automatic inside-diameter measuring apparatus according to claim 1 , wherein
the automatic inside-diameter measuring apparatus further includes a collision detector configured to detect that the inside-diameter measuring part has collided with an object, and
the inserting is stopped when the collision detector detects a collision.
8 . A control method of an automatic measuring apparatus, the automatic measuring apparatus comprising:
a measuring part including a contact point provided to move forward and backward with respect to a fixed element, an electric driver configured to move the contact point forward and backward, and a displacement detector configured to detect displacement of the contact point;
a driver for relatively moving the measuring part with respect to an object to be measured to bring the measuring part closer to or in contact with the object to be measured; and
a controller configured to control operation of the measuring part and the driver, the control method includes:
bringing, by the driver, the measuring part closer to the object to be measured;
bringing the contact point into contact with the object to be measured to measure a dimension of the object to be measured; and
retracting, by the driver, the measuring part from the object to be measured, wherein
the automatic measuring apparatus further includes:
a support frame configured to support the measuring part and to couple the measuring part to the driver; and
a floating joint interposed between the support frame and the measuring part to allow relative translation and rotation of the measuring part with respect to the support frame;
the bringing the measuring part closer to the object to be measured includes temporarily stopping drive of the driver after the measuring part is brought, by the driver, closer to or into contact with the object to be measured, and
the bringing the contact point into contact includes autonomously adjusting, by the measuring part, a position and posture of the measuring part itself while the measuring part is relatively displaced with respect to the support frame by a reaction force applied to the measuring part from object to be measured when the electric driver moves the contact point forward and brings the contact point into contact with object to be measured.