| 摘要 |
PURPOSE:To detect the inclination of the end surface of the pipe and the coordinates of the central position highly accurately by providing a probe wherein freely movable contact sensors are provided in a radial directions 120 degrees apart on a manipulator through the sequence of bending arms and angle detectors. CONSTITUTION:The probe 5, which can be moved to the arbitrary position in a space, is provided on a manipulator 1 which is moved in a two dimensional plane through the sequence of the bending arms and the angle detectors 3a and 4a, 3b and 4b.... The contact sensors 7a-7c, which are freely moved by three slides 5a-5c that are extended and contracted in the radial directions with an opening angle of 120 deg., are provided in said probe 5. By the detector 4a..., the slant angle of the probe corresponding to the detected angle, the inclination of the end surface of the piping 2 to be measured from the central coordinates, and the central coordinates are automatically measured highly accurately without human manipulation. |
