DEVICE AND METHOD THAT CAN DETECT MISALIGNMENT BETWEEN COPE AND DRAG

To provide a device and a method for detecting, before pouring starts, any misalignment between a cope and a drag that have been molded by a flaskless molding machine and then assembled. The device (40) that can detect any misalignment between the cope (2) and the drag (3) that have been molded by the flaskless molding machine (1) and then assembled and that are being transported to the position for pouring comprises a plurality of means (51), (52), (53) for measuring distances to the cope and the drag that measures the distances (S11), (S12), (S13), (S21), (S22), (S23) to the cope and the drag, and a means (48) for calculating a degree of a misalignment between the cope and the drag on a basis of the distances to the cope and the drag that have been measured by the means for measuring distances to the cope and the drag.

TECHNICAL FIELD

The present invention relates to a device and a method that can detect any misalignment between a cope and a drag that have been manufactured by means of a flaskless molding machine and that have then been assembled.

BACKGROUND ART

Conventionally, a method has been known by which a cope and a drag that have been manufactured by means of a flaskless molding machine and that have then been assembled are transported and are covered with a jacket to have a weight put on them (for example, see Japanese Utility Model Publication No. H6-61363).

However, in the cope and the drag that have been manufactured by means of a flaskless molding machine and that have then been assembled, a misalignment between the cope and the drag may occur while being transported or covered with the jacket. If molten metal is poured into the cope and the drag in which a misalignment occurs, a product will have a defect. This is a problem.

The present invention has been developed to solve this problem. The objective of it is to provide a device and a method that can detect, before pouring starts, any misalignment between a cope and a drag that have been manufactured by means of a flaskless molding machine and that have then been assembled.

DISCLOSURE OF INVENTION

To achieve the above-mentioned objective, a device that can detect any misalignment between a cope and a drag of a first aspect of the present invention is, as shown inFIGS. 1, 2, and 3, for example, a device40that can detect any misalignment between a cope2and a drag3that have been manufactured by means of a flaskless molding machine1and assembled and that are being transported to a position for pouring. The device40comprises a plurality of means51,52, and53for measuring distances to the cope and the drag that measure distances to the cope2and the drag3. It also comprises a means48for calculating a degree of a misalignment between the cope and the drag that calculates a degree of a misalignment between the cope2and the drag3on a basis of the distances to the cope2and the drag3as measured by the means51,52, and53for measuring distances to the cope and the drag. By this configuration, since the distances to the cope and the drag are measured by a plurality of the means for measuring distances to the cope and the drag and any degree of misalignment is calculated on the basis of the measured distances, any misalignment can be reliably detected.

The device that can detect any misalignment between the cope and the drag of a second aspect of the present invention, as inFIGS. 1, 2, and 3, for example, in the device40of the first aspect, further comprises a means46for moving up and down that moves up and down the plurality of the means51,52,53for measuring distances to the cope and the drag. It has three means51,52,53for measuring distances to the cope and the drag. The three means51,52,53for measuring distances to the cope and the drag measure distances to points2i,2j,2k,3i,3j,3k,which are on same levels of the cope2and the drag3. The three means51,52,53for measuring distances to the cope and the drag are caused by the means46for moving up and down to move to a level for measuring the cope2and to a level for measuring the drag3. By this configuration, since three means for measuring distances to the cope and the drag measure the distances to the points that are on the same level as the cope and the drag, the position of the cope and drag are determined to reliably detect any degree of misalignment.

The device that can detect any misalignment between the cope and. the drag of a third aspect of the present invention, as inFIGS. 4 and 5, for example, is the device40of the second aspect, wherein the cope2and the drag3are rectangular in each horizontal section. The three means51,52,53for measuring distances to the cope and the drag are a first means51for measuring distances to the cope and the drag, a second means52for measuring distances to the cope and the drag, and a third means53for measuring distances to the cope and the drag. The first means51for measuring distances to the cope and the drag measures the distances to the points2i,3i,which are on first sides2a,3aof the cope and drag, which sides are parallel to a conveying direction7, respectively. The second means52for measuring distances to the cope and the drag measures the distances to the points2j,3j,which are spaced apart from the points2i,3ion the first sides2a,3aby a predetermined distance in the horizontal direction, respectively. The third means53for measuring distances to the cope and the drag measures the distances to the points2k,3k, which are on second sides2b,3bof the cope and drag, which sides are perpendicular to the conveying direction7, respectively. By this configuration, since three points on two sides of a rectangular section are measured by the three means for measuring distances to the cope and the drag, the position of the cope and drag are determined to reliably detect the degree of any misalignment.

The device that can detect any misalignment between the cope and the drag of a fourth aspect of the present invention, as inFIGS. 1, 2, and 3, for example, is the device40of the third aspect, wherein the first means51for measuring distances to the cope and the drag, the second means52for measuring distances to the cope and the drag, and the third means53for measuring distances to the cope and the drag, are laser-type displacement sensors. By this configuration, since the first, second, and third means for measuring distances to the cope and the drag are laser-type displacement sensors, the distances to the points of the cope and drag are reliably measured by means of non-contact sensors.

A method that can detect any misalignment between the cope and the drag of a fifth aspect of the present invention, as inFIGS. 1-5, for example, is a method to use the device40of the third aspect. The method comprises a step of moving the first means51for measuring distances to the cope and the drag, the second means52for measuring distances to the cope and the drag, and the third means53for measuring distances to the cope and the drag to a level to measure the cope2by the means46for moving up and down. It also comprises a step of measuring a distance S11to the point2ion the first side2aof the cope by the first means51for measuring distances to the cope and the drag. It also comprises a step of measuring a distance S12to the point2jon the first side2aof the cope by the second means52for measuring distances to the cope and the drag. It also comprises a step of measuring a distance S13to the point2kon the second side2bof the cope by the third means53for measuring distances to the cope and the drag. It also comprises a step of calculating a position in a horizontal plane and an angle of rotation in a horizontal direction of the cope2by the means48for calculating a degree of a misalignment between the cope and the drag based on the distance S11to the point2ion the first side2aof the cope measured by the first means51for measuring distances to the cope and the drag, the distance S12to the point2jon the first side2aof the cope measured by the second means52for measuring distances to the cope and the drag, and the distance S13to the point2kon the second side2bof the cope measured by the third means53for measuring distances to the cope and the drag. It also comprises a step of moving the first means51for measuring distances to the cope and the drag, the second means52for measuring distances to the cope and the drag, and the third means53for measuring distances to the cope and the drag to a level to measure the drag3by the means46for moving up and down. It also comprises a step of measuring a distance S21to the point3ion the first side3aof the drag by the first means51for measuring distances to the cope and the drag. It also comprises a step of measuring a distance S22to the point3jon the first side3aof the drag by the second means52for measuring distances to the cope and the drag. It also comprises a step of measuring a distance S23to the point3kon the second side3bof the drag by the third means53for measuring distances to the cope and the drag. It also comprises a step of calculating a position in a horizontal plane and an angle of rotation in a horizontal direction of the drag3by the means48for calculating a degree of a misalignment between the cope and the drag based on the distance S21to the point3ion the first side3aof the drag measured by the first means51for measuring distances to the cope and the drag, the distance S22to the point3jon the first side3aof the drag measured by the second means52for measuring distances to the cope and the drag, and the distance S23to the point3kon the second side3bof the drag measured by the third means53for measuring distances to the cope and the drag. It also comprises a step of calculating a degree of a misalignment based on the positions in the horizontal plane and the angles of rotation in the horizontal direction of the cope2and the drag3that have been calculated. It also comprises a step of determining that a misalignment has occurred if the degree of misalignment is outside of a predetermined allowable range. By this configuration a misalignment can be determined based on the correct degree of misalignment that has been detected.

The method that can detect any misalignment between the cope and the drag of a sixth aspect of the present invention is the method of the fifth aspect, wherein no molten metal is poured into the cope and the drag that have been determined to have a misalignment. By this configuration, since no molten metal is poured into the cope and drag where it has been determined that a misalignment has occurred, consumption of molten metal due to useless pouring can be prevented.

The method that can detect any misalignment between the cope and the drag of a seventh aspect of the present invention is the method of the fifth aspect, wherein if a misalignment is determined to have occurred., then a molding operation by the flaskless molding machine1is stopped. By this configuration, since a molding operation by the flaskless molding machine can be stopped until the causes of any misalignment are resolved, consumption of molding sand due to useless molding can be prevented.

The method that can detect any misalignment between the cope and the drag of an eighth aspect of the present invention is the method of the fifth aspect, wherein if a misalignment is determined to have occurred, then a cause of the misalignment is identified and displayed based on an appearance of the misalignment. By this configuration, since a cause of the misalignment is identified and displayed based on the appearance of the misalignment, resolving the cause of a misalignment is easy.

The method that can detect any misalignment between the cope and the drag of a ninth aspect of the present invention is the method of the fifth aspect, wherein if a misalignment is determined to have occurred then a cause of the misalignment is identified based on an appearance of the misalignment, so that conditions for operating the device that is the cause of the misalignment are adjusted. By this configuration, since the cause of the misalignment is identified based on the appearance of the misalignment, so that the conditions for operating the device that is the cause of the misalignment are adjusted, the cause of the misalignment can be resolved. Thus no substantial misalignment occurs.

The method that can detect any misalignment between the cope and the drag of a tenth aspect of the present invention is the method of the fifth aspect, wherein if no misalignment is determined to have occurred, then data are stored that show that no misalignment has occurred in the flaskless molding machine1or a molding line30that conveys the cope2and the drag3from the flaskless molding machine1to a position for pouring. By this configuration, since the data that show that no misalignment has occurred in the flaskless molding machine or the molding line are stored it can be confirmed that no problem due to a misalignment has occurred during molding.

The method that can detect any misalignment between the cope and the drag of an eleventh aspect of the present invention is the method of the fifth aspect, wherein data on the positions in the horizontal plane and the angle of rotation in the horizontal direction of the cope and the drag that have been calculated and data on the degree of misalignment that has been calculated are stored. By this configuration, since the data on the degree of misalignment are stored, valuable data for analyzing a cause of a misalignment and for operating and maintaining the flaskless molding machine or the molding line can be accumulated.

The method that can detect any misalignment between the cope and the drag of a twelfth aspect of the present invention is the method of the fifth aspect, wherein if the degree of misalignment is within the allowable range, but not within a warning range, which is smaller than an allowable range, a predictor of a misalignment is displayed. By this configuration, since the predictor of a misalignment is known, the operation of the device that produces a defective product can be adjusted before a misalignment occurs. Thus waste due to a misalignment can be prevented.

The device that can detect any misalignment between the cope and the drag of a thirteenth aspect of the present invention, as inFIGS. 4, 5, and 6, for example, is the device60of the first aspect, wherein the cope2and the drag3are rectangular in each horizontal section. The plurality of means71,72,73,74,75,76for measuring distances to the cope and the drag are a first means71for measuring distances to the cope, a second means72for measuring distances to the cope, a third means73for measuring distances to the cope, a first means74for measuring distances to the drag, a second means75for measuring distances to the drag, and a third means76for measuring distances to the drag. The first means71for measuring distances to the cope measures the distance S11to the point2i,which is on a first side2aof the cope, which side is parallel to a direction for conveying the cope2and the drag3. The second means72for measuring distances to the cope measures the distance S12to the point2j,which is spaced apart from the point2ion the first side2aof the cope by a predetermined distance in the horizontal direction. The third means73for measuring distances to the cope measures the distance S13to the point2k,which is on a second side2bof the cope, which side is perpendicular to the direction for conveying the cope2and the drag3. The first means74for measuring distances to the drag measures the distance S21to the point3i,which is on a first side3aof the drag, which side is parallel to the direction for conveying the cope2and the drag3. The second means75for measuring distances to the drag measures the distance S22to the point3j,which is spaced apart from the point3ion the first side3aof the drag by a predetermined distance in the horizontal direction. The third means76for measuring distances to the drag measures the distance S23to the point3k,which is on a second side3bof the drag, which side is perpendicular to the direction for conveying the cope2and the drag3. By this configuration, since the three points of the cope and three points of the drag are measured by the six means for measuring distances to the cope or the drag, the positions of the cope and drag are determined without moving the means for measuring distances up and down, to reliably and quickly detect the degree of any misalignment.

The device that can detect any misalignment between the cope and the drag of a fourteenth aspect of the present invention, as inFIGS. 7 and 8, for example, is the device5of the first aspect, wherein the cope2and the drag3are rectangular in each horizontal section. The plurality of means8,9,11,12for measuring distances to the cope and the drag are a first means8for measuring distances to the cope, a first means9for measuring distances to the drag, a second means11for measuring distances to the cope, and a second means12for measuring distances to the drag. The first means8for measuring distances to the cope measures a distance to a first side2aof the cope, which side is parallel to the direction for conveying the cope2. The first means9for measuring distances to the drag measures a distance to a first side3aof the drag, which side is parallel to the direction for conveying the drag3. The second means11for measuring distances to the cope measures a distance to a second side2bof the cope, which side is perpendicular to the direction for conveying the cope2. The second means12for measuring distances to the drag measures a distance to a second side3bof the drag, which side is perpendicular to the direction for conveying the drag3. By this configuration, since the points of the cope on the sides that are parallel to and perpendicular to the direction for conveying the cope and the points of the drag on the sides that are parallel to and perpendicular to the direction for conveying the drag are measured by the four means for measuring distances to the cope or the drag, the positions of the cope and the drag are reliably identified so that any misalignment can be reliably detected.

The device that can detect any misalignment between the cope and the drag of a fifteenth aspect of the present invention, as inFIGS. 7 and 8, for example, is the device5of the fourteenth aspect, wherein the first means8for measuring distances to the cope and the first means9for measuring distances to the drag are configured to be moved by means of an actuator10in the direction for conveying the cope2and the drag3. The second means11for measuring distances to the cope and the second means12for measuring distances to the drag are configured to be moved by means of an actuator13in a direction perpendicular to the direction for conveying the cope2and the drag3. By this configuration, since the first means for measuring the distance to the cope and the first means for measuring the distance to the drag, and the second means for measuring the distance to the cope and the second means for measuring the distance to the drag, move by the actuators in the directions that are parallel to the sides to be measured, the distances can be continually measured at any interval along the sides of the cope and the drag. Thus, a lot of data for determining any alignment can be obtained so that any misalignment can be reliably detected.

The device that can detect any misalignment between the cope and the drag of a sixteenth aspect of the present invention, as inFIGS. 7and.8, for example, is the device5of the fourteenth aspect, wherein the first means8for measuring distances to the cope, the first means9for measuring distances to the drag, the second means11for measuring distances to the cope, and the second means12for measuring distances to the drag, are configured to be able to be simultaneously moved up and down by an actuator15. By this configuration, a vertical adjustment of the means for measuring distances can he achieved within a short period of time.

The device that can detect any misalignment between the cope and the drag of a seventeenth aspect of the present invention, as inFIGS. 7 and 8, for example, is the device5of the fourteenth aspect, wherein the first means8for measuring distances to the cope, the first means9for measuring distances to the drag, the second means11for measuring distances to the cope, and the second means12for measuring distances to the drag, are laser-type displacement sensors. By this configuration, since the first means for measuring distances to the cope, the first means for measuring distances to the drag, the second means for measuring distances to the cope, and the second means for measuring distances to the drag, are laser-type displacement sensors, the distances are reliably measured by means of non-contact sensors.

A method that can detect any misalignment between the cope and the drag of an eighteenth aspect of the present invention, as inFIGS. 7-11, for example, is a method to use the device5of the fourteenth aspect. The method comprises a step of measuring a distance S1to a first side2aof the cope by the first means8for measuring distances to the cope. It also comprises a step of measuring a distance S2to a first side3aof the drag by the first means9for measuring distances to the drag. It also comprises a step of measuring a distance53to a second side2bof the cope by the second means11for measuring distances to the cope. It also comprises a step of measuring a distance S4to a second side3bof the drag by the second means12for measuring distances to the drag. It also comprises a step of determining a misalignment that has occurred if a difference between the distance Si to the first side2aof the cope that is measured by the first means8for measuring distances to the cope and the distance S2to the first side3aof the drag that is measured by the first means9for measuring distances to the drag or a difference between the distance S3to the second side2bof the cope that is measured by the second means11for measuring distances to the cope and the distance S4to the second side3bof the drag that is measured by the second means12for measuring distances to the drag, is outside of an allowable range. By this configuration, since an alignment is determined based on the difference in the distances to the first sides of the cope and the drag, which distances are measured by the first means for measuring distances to the cope and the first means for measuring distances to the drag, respectively, or the difference in the distances to the second sides of the cope and the drag, which distances are measured by the second means for measuring distances to the cope and the second means for measuring distances to the drag, respectively; any misalignment can be reliably determined.

The method that can detect any misalignment between the cope and the drag of a nineteenth aspect of the present invention, as inFIGS. 7-11, for example, is the method of the eighteenth aspect, wherein the first means8for measuring distances to the cope and the first means9for measuring distances to the drag are configured to be moved by means of an actuator10in the direction for conveying the cope2and the drag3. The second means11for measuring distances to the cope and the second means12for measuring distances to the drag are configured to be moved by means of an actuator13in a direction perpendicular to the direction for conveying the cope2and the drag3. The first means8for measuring distances to the cope, the first means9for measuring distances to the drag, the second. means11for measuring distances to the cope, and the second means12for measuring distances to the drag, continually measure distances S1, S2, S3, S4to the respective sides2a,3a,2b,3bof the cope and drag at intervals along at least parts of the sides2a,3a,2b,3b.By this configuration, since each of the means for measuring distances to the cope and to the (hag can move by means of the actuators in the direction that is parallel to the sides to be measured, the distances can be continually measured at any intervals along the sides of the cope and the drag. Thus, a lot of data for determining any alignment can be obtained so that any misalignment can be reliably detected.

The method that can detect any misalignment between the cope and the drag of a twelfth aspect of the present invention, as inFIGS. 7-11, for example, is the method of the eighteenth aspect, wherein no molten metal is poured into the cope2and the drag3that have been determined to have a misalignment. By this configuration, since no molten metal is poured into the cope and drag that have been determined to have a misalignment, consumption of molten metal due to useless pouring can be prevented.

The basic Japanese patent application, No. 2016-003646, filed Jan. 12, 2016, is hereby incorporated by reference in its entirety in the present application.

The present invention will become more fully understood from the detailed description given below. However, that description and the specific embodiments are only illustrations of the desired embodiments of the present invention, and so are given only for an explanation. Various possible changes and modifications will be apparent to those of ordinary skill in the art on the basis of the detailed description.

The applicant has no intention to dedicate to the public any disclosed embodiment. Among the disclosed changes and modifications, those which may not literally fall within the scope of the present claims constitute, therefore, under the doctrine of equivalents, a part of the present invention.

The use of the articles “a,” “an,” and “the” and similar referents in the specification and claims are to be construed to cover both the singular and the plural form of a noun, unless otherwise indicated herein or clearly contradicted by the context. The use of any and all examples, or exemplary language (e.g., “such as”) provided herein is intended merely to better illuminate the invention, and so does not limit the scope of the invention, unless otherwise stated.

MODE FOR CARRYING OUT THE INVENTION

Below, with reference to the drawings, embodiments of the present invention are discussed in detail. InFIGS. 1, 2, and 3the reference number “1” denotes a flaskless molding machine. In this invention, the flaskless molding machine1is a following molding machine. After molding a cope and a drag by using molding sand (green sand in this embodiment), the cope and the drag are assembled. Then the cope and the drag are extracted from upper and lower flasks to be carried out of the molding machine.

At a position adjacent to the flaskless molding machine1, the cope2and the drag3that have been carried out of the flaskless molding machine1in the direction shown by the arrow6are mounted on a bogie4with a molding board. The cope2and the drag3that have been mounted on the bogie4with a molding board are intermittently conveyed in the direction shown by the arrow7(the conveying direction of the cope2and the drag3) by a distance that equals the length of a mold, i.e., a pitch, by a means for conveying (a pusher and a cushion), which is not shown. The bogie4with a molding board travels on a rail20that is supported by a frame22.

At a position adjacent to the cope2and the drag3that are intermittently conveyed, a device40that can detect any misalignment between the cope2and the drag3is provided. Now, the details of the device40that can detect any misalignment between the cope and the drag (hereafter, “device40”), which is a first embodiment of the present invention, are discussed. Incidentally, the direction for conveying the cope2and the drag3is called a Y-direction, the direction perpendicular to the direction for conveying the cope2and the drag3is called an. X-direction, and the vertical direction is called a Z-direction.

The device40has three means51,52,53for measuring distances to the cope and the drag (hereafter, “means51,52,53”) that are arranged along the direction (the Y-direction) for conveying the cope2and the drag3. The three means51,52,53are mounted on a frame44for moving up and down that extends along the Y-direction. The frame44for moving up and down moves up and down by means of a cylinder46, i.e., an actuator. The cylinder46is supported by a supporting frame42that stands on a base. Incidentally, the cylinder46, i.e., the actuator, can be any type, such as an electric type, an oil-pressure type, a water-pressure type, or an air-pressure type. Furthermore, the actuator is not limited to the cylinder46, but may be any known means, such as trapezoidal thread forms or a pantograph. The supporting frame42does not need to stand on the base, but may be fixed to the frame22.

The frame44for moving up and down is a beam that is nearly as long as the cope2and the drag3in the Y-direction. The first means51is mounted on the part of the frame44for moving up and down that is near the back end in the direction for conveying the cope2and the drag3. It measures distances to the points2i,3ion the first sides2a,3a,which are parallel (the Y-direction) to the direction for conveying the cope2and the drag3. The second means52is mounted on the front part of the frame44for moving up and down in the direction for conveying the cope2and the drag3. It measures distances to the points2j,3jon the first sides2a,3a.The points2j,3jare located on the same level as the points21,31and spaced apart from them by a predetermined distance. Here, the predetermined distance is the horizontal distance by which the locations of the centers and the angles of rotations of the cope2and the drag3can be appropriately calculated based on the positions of the three points, as discussed below. The third means53is mounted on the part of the frame44for moving up and down that is near the front end in the direction for conveying the cope2and the drag3. It measures distances to the points2k,3kon the second sides2b,3b,which are perpendicular (the X-direction) to the direction for conveying the cope2and the drag3. The points2k,3kare located on the same level as the points2i,3iand the points2j,3j.

The first means51and the second means52preferably face the direction (the X-direction) that is perpendicular to the direction of the frame44for moving up and down (the Y-direction), to measure the distances to the points2i,3i,2j,3jon the first sides2a,3a, which sides are parallel to the frame44for moving up and clown. The third means53faces diagonally to measure the distances to the points2k,3k onthe second sides of2b,3b.These sides are perpendicular to the frame44for moving up and down. By placing the first means51, the second means52, and the third means53in this way, the distances to three points, i.e., the positions, can be measured. These points are positioned on a horizontal plane (not on a line). These means are arranged along what is almost a line on the frame44for moving up and down. Further, the device40does not obstruct the cope2or the drag3that are being transported.

Since the cylinder46moves up and down the frame44for moving up and down, the first, second, and third means51,52,53move up and down. The first, second, and third means51,52,53are moved up and down to a set height to measure the points2i,2j,2kof the cope2and to a set height to measure the points3i,3j,3kof the drag3. Thus the positions of a total of six points, i.e., three points on the cope2and three points on the drag3, can be measured by three means51,52,53.

The points2i,2j,2kof the cope2and the points3i,3j,3kof the drag3are positioned at a predetermined distance from a parting plane19between the cope2and the drag3. The predetermined distance for the points2i,2j,2kof the cope2may be the same as, or different from, that for the points3i,3j,3kof the drag3. For example, the points2i,2j,2kare positioned at a level that is 100 mm higher than the parting plane19. And the points3i,3j,3kare positioned at a level that is 100 mm lower than the parting plane19. Incidentally, the distance from the upper surface of the bogie4with a molding board to the parting plane19equals the height of the drag3. The height of the drag3is measured for each drag3that has been molded by the flaskless molding machine1. When the device40measures the distances, the height is then known.

The shapes of the cope2and the drag3that are molded by the flaskless molding machine1are known. Once the positions of the points2i,2j,2kare known, then the location of the center of, and the angle of the horizontal rotation of, the cope2, can be calculated. Thus, if the cross-section of it is rectangular, then the coordinates of the four corners can be calculated. In the same way, once the positions of the points3i,3j,3kare known, the location of the center of, and the angle of the horizontal rotation of, the drag3, can be calculated. Thus, if the cross-section of it is rectangular, the coordinates of the four corners can be calculated. Incidentally, the cope2and the drag3are horizontally mounted on the bogie4with a molding board. Any misalignment between the cope2and the drag3can be determined based on the locations of the centers and the angles of the horizontal rotations, or the coordinates of the four corners, which are discussed above. The locations of the centers and the angles of the horizontal rotations, or the coordinates of the four corners, are calculated by the means48for calculating the degree of a misalignment between the cope and the drag (hereafter, “the means48for calculating”). The means48for calculating may be provided in the device40as a dedicated means for calculating the degree of a misalignment between the cope and the drag. Alternatively, it may be installed in a controller for another device such as the flaskless molding machine1, the molding line30for conveying the cope2and the drag3, and a pouring machine (not shown) that pours molten metal into the cope2and the drag3. Namely, the means48for calculating may be a controller.

Preferably, laser-type displacement sensors are used for the first, second, and third means51,52,53. Since they are laser-type displacement sensors, the measurements are accurate, without any contact being made with the cope2or the drag3. Further, they are compact. However, these means are not limited to the laser-type displacement sensors, but may be any known displacement sensors, such as ultrasonic displacement sensors and contact displacement sensors.

Next, with further reference toFIGS. 4 and 5, a method that can detect any misalignment between the cope and the drag by using the device40is discussed. The cope2and the drag3that have been molded by the flaskless molding machine1are mounted on the bogie4with a molding board at a station17for carrying a mold in. The cope2and the drag3that have been mounted on the bogie4with a molding board are intermittently conveyed on the molding line30. When the cope2and the drag3that are intermittently conveyed are carried into a station18for detecting a misalignment, namely, they stop at a position that is predetermined in relation to the device40, the device40operates to detect any misalignment. Here, the words “stop at a position that is predetermined in relation to the device40” mean to stop at a position where the first, second, and third means51,52,53of the device40can easily measure the distances to the three points2i,2j,2kof the cope2and to the three points3i,3j,3kof the drag3. That is, the position where the cope2and the drag3that are intermittently conveyed temporarily stop is not just beside the device40, but slightly shifts forward or backward. Because of this the third means53can measure the distances to the points2k,3kon the second sides2b,3b.The bogie4with a molding board that is carried into the station18for detecting a misalignment is preferably fixed by a clamp (not shown) so as not to move. Any error in measuring the distances by means of the device40, that is caused by a shake of the bogie4with a molding board can be prevented.

While the cope2and the drag3stop while being intermittently conveyed, the device40first adjusts, by means of the cylinder46, the level of the frame44for moving up and down to a level for measuring the distances to the three points2i,2j,2kof the cope2. Namely, it adjusts the level to the predetermined level above the parting plane19. Then the first means51measures the distance S11to the point2i,the second means52measures the distance S12to the point2j,and the third means53measures the distance S13to the point2k.The measured distances S11,512, S13are sent to the means48for calculating. The means48for calculating calculates the horizontal location of the center and the angle of rotation of the cope2.

After the first, second, and third means51,52,53have measured the distances to the three points2i,2j,2k,the level of the frame44for moving up and down is adjusted by means of the cylinder46to a level for measuring the distances to the three points3i,3j,3kof the drag3. Then the first means51measures the distance S21to the point3i,the second means52measures the distance S22to the point3j,and the third means53measures the distance S23to the point3k.The operations up to these measurements are carried out while the cope2and the drag3stop while being intermittently conveyed. The measured distances S21, S22, S23are sent to the means48for calculating. The means48for calculating calculates the horizontal location of the center and the angle of rotation of the drag3.

Incidentally, after the first, second, and third means51,52,53have measured the distances to the three points3i,3j,3k,the level of the frame44for moving up and down may be adjusted to a level for measuring the distances to the three points2i,2j,2kof the cope2, so that, the first, second, and third means51,52,53measure the distances S11, S12, S13to the points2i,2j,2k,respectively. Further, the first, second, and third means51,52,53can measure in any order or at the same time. In the present application documents, the order of steps is arbitrary. So the steps may be carried out in any order or at the same time, except for any step that is discussed by using a word that defines a sequence, e.g., “after,” or except when the sequence is obvious from the context.

The means48for calculating calculates the coordinates of the respective four corners of rectangles based on the locations of the centers and the angles of rotations of the cope2and the drag3. It calculates the horizontal distances between corresponding corners of the cope2and the drag3.

A misalignment is determined based on the horizontal distances between corresponding corners of the cope2and the drag3that have been calculated by the means48for calculating. For example, when an allowable range for horizontal distances is 0.5 mm or less, the allowable range is 0 to 0.5 mm. The misalignment is determined by seeing if the horizontal distances of the four corners are within the allowable range. This operation for determining may be carried out by a dedicated means for calculating a degree of a misalignment between the cope and the drag of the device40or by a controller for another device. If the distance at any of the four corners exceeds the allowable range, then a misalignment may be determined to have occurred. Alternatively, if the distances at two or three or all four corners exceed the allowable range, then a misalignment may be determined to have occurred. Alternatively, if the average or the root-mean-square of the four distances exceeds the allowable range, then a misalignment may be determined to have occurred. Alternatively, the misalignment may be determined to have occurred on the basis of the differences in the locations of the centers and the angles of rotations. The result of determining a misalignment is sent to the controller of the molding line30, the pouring machine (not shown), or the like.

After the operation for determining a misalignment by the device40is finished, the clamp on the bogie4with a molding board is released and the cope2and the drag3are again intermittently conveyed. Then a jacket (not shown) is capped on the cope2and the drag3and a weight is placed on them before pouring starts. Then molten metal is poured into the cope2and the drag3by the pouring machine (not shown). Incidentally, the operation for determining a misalignment by the device40may be carried out after the jacket is capped or after the weight is placed on it. The misalignment is determined to have occurred by measuring the distances to the respective three points2i,2j,2k,and3i,3j,3kof the cope2and the drag3from the first, second, and third means51,52,53of the device40. The first, second, and third means51,52,53are mounted on the frame44for moving up and down that is spaced apart from the cope2and the drag3by a predetermined distance. Thus unless measuring the distances to the points2i,2j,2k,3i,3j,3kis disturbed by the jacket, the measurement can be performed after the jacket is capped.

If a misalignment is determined to have occurred as a result of detecting a misalignment, preferably no molten metal is poured into the cope2and the drag3that have a misalignment. Namely, the controller of the pouring machine is set not to pour molten metal into the cope2and the drag3that have the misalignment. Since no molten metal is poured into the cope2and the drag3that have the misalignment, consuming molten metal by useless pouring can he prevented.

If a misalignment is determined to have occurred as a result of detecting a misalignment, molding by the flaskless molding machine1is preferably stopped. Namely, until the causes of the misalignment are resolved, molding by the flaskless molding machine1is stopped. Since molding the cope2and the drag3that may have a misalignment can be avoided, consuming the molding sand by useless molding can be prevented. Here the wording “molding by the flaskless molding machine1is stopped” just means that no mold is molded. The flaskless molding machine1may operate so that no mold is molded. Or the flaskless molding machine1may be deactivated so that only the molding line30may operate.

If the misalignment is determined to have occurred as a result of detecting a misalignment, the cause of the misalignment, to be displayed, is preferably identified based on the appearance of the misalignment. For example, if the cope2is displaced backwards relative to the drag3, namely, in the direction that the flaskless molding machine1pushes a mold out (the arrow6inFIG. 1), the initial velocity for pushing the drag3out by means of a device for pushing a mold out (not shown) may be too fast. If the cope2is displaced backwards relative to the drag3, namely, in the direction that the molding line30conveys the cope2and drag3(the arrow7inFIG. 1), the initial velocity for pushing the bogie4with a molding board by means of a pusher (not shown) may be too fast. In this way, the causes of the misalignment can be predicted based on the direction of the misalignment between the cope2and the drag3. By displaying the causes of the misalignment that have been identified, the operator can easily learn what devices are to be repaired, and so can easily resolve the causes of the misalignment. The causes of the misalignment may be displayed on a display panel of the device40, a dedicated display panel, or a controller for another device.

If a misalignment is determined to have occurred as a result of detecting a misalignment, the cause of the misalignment is preferably identified based on the appearances of the misalignment, so that the operating condition of the device that causes the misalignment is preferably modified. For example, if the cope2is displaced backwards relative to the drag3, namely, in the direction toward which the flaskless molding machine1pushes a mold out (the arrow6inFIG. 1), the initial velocity for pushing the drag3out by means of a device for pushing a mold out (not shown) may be too fast. In this case the initial velocity of the device for pushing a mold out, which is the operating condition that causes the misalignment, is modified. Specifically, the initial velocity of the device for pushing a mold out is automatically or manually modified to be decreased. In this way the misalignment is prevented from occurring in the following cycles. If the cope2is displaced backwards relative to the drag3, namely, in the direction toward which the molding line30conveys the cope2and drag3(the arrow7inFIG. 1), the initial velocity for pushing the bogie4with a molding board by means of a pusher (not shown) may be too fast. In this case the initial velocity of the pusher, which is the operating condition that causes the misalignment, is modified. Specifically, the initial velocity of the pusher is automatically or manually modified, to be decreased. In this way the misalignment is prevented from occurring in the following cycles.

If no misalignment is determined to have occurred as a result of detecting a misalignment, data are preferably stored that show that no misalignment has been caused by the flaskless molding machine1or the molding line30, which conveys the cope2and the drag3from the flaskless molding machine1to the position for pouring. By storing the data in this way, if a defect is found in a product, and as it can be confirmed that no misalignment has occurred during molding, the cause of the defect is easily investigated. Incidentally, the data may be stored in the means48for calculating or in a controller for another device.

Further, the data on the positions in the horizontal plane and the angle of rotation in the horizontal direction of the cope2and the drag3that have been calculated by the means48for calculating and the data on the calculated degree of misalignment are preferably stored. Since the data on the positions in the horizontal plane and the angle of rotation in the horizontal direction of the cope2and the drag3and the data on the calculated degree of misalignment are stored in this way, any change in the degree of misalignment can be found. Thus data that are useful to investigate the cause of a misalignment and to maintain the flaskless molding machine1and the molding line30can be accumulated. The data may be stored in the means48for calculating or in a controller for another device.

Even when the degree of misalignment between the cope2and the drag3that has been calculated by the means48for calculating is within the preset allowable range, it may not be within a warning range, which is set to be smaller than the allowable range. In this case a predictor of a misalignment is preferably displayed. If a predictor is displayed, the operating condition that can cause the misalignment between the cope2and the drag3can be modified before a defect occurs. Thus any possible waste caused by a defect can be prevented. Incidentally, the predictor of a misalignment may be displayed on a display panel of the device40, a dedicated display panel, or a controller for another device.

Next, with reference toFIG. 6, a device60that can detect any misalignment between the cope and the drag (hereafter, “the device60”), which is a second embodiment, is discussed in detail. About the device60, only the points that differ from the device40are discussed. The device60has a first means71for measuring distances to the cope, a second means72for measuring distances to the cope, a third means73for measuring distances to the cope, a first means74for measuring distances to the drag, a second means75for measuring distances to the drag, and a third means76for measuring distances to the drag, to measure the distances to the points2i,2jon the first side2aof the cope2, the distance to the point2kon the second side2bof the cope2, the distances to the points3i,3jon the first side3aof the drag3, and the distance to the point3kon the second side3bof the drag3. The first means71for measuring distances to the cope, the second means72for measuring distances to the cope, and the third means73for measuring distances to the cope, are mounted on a horizontal frame64at positions that are suitable to measure the distances to the points2i,2j,2kof the cope2. The first means74for measuring distances to the drag, the second means75for measuring distances to the drag, and the third means76for measuring distances to the drag, are mounted on a horizontal frame66at positions that are suitable to measure the distances to the points3i,3j,3kof the drag3. The two horizontal frames64,66are fixed to the supporting frame62. Namely, they are not moved up and down by an actuator.

By the device60, since three points of the cope2and three points of the drag3, namely, a total of six points, are measured by the six means71-76for measuring distances to the cope and the drag, the locations of the centers and the angles of rotations of the cope2and the drag3are determined without vertically moving the means for measuring distances to the cope and the drag. Thus the degree of misalignment can be quickly and accurately detected. Further, as no actuator vertically moves a frame for moving up and down, the six means71-76for measuring distances to the cope and the drag can measure the distances to the points2i,2j,2k,3i,3j,3kof the cope2and the drag3at the same time. Thus the period of time for operating the device60can be shortened.

Next, with reference toFIGS. 7-11, a device5that can detect any misalignment between the cope and drag (hereafter, “the device5”), which is a third embodiment, is discussed. The device5has a first means8for measuring distances to the cope (hereafter, “the first means8for measuring”) that measures the distances to the first side2aof the cope, which side is parallel to the Y-direction. It also has a first means9for measuring distances to the drag (hereafter, “the first means9for measuring”) that measures the distances to the first side3aof the drag, which side is parallel to the Y-direction. The first means8for measuring and the first means9for measuring are configured to move in the Y-direction by means of a first cylinder10, i.e., an actuator.

The device5also has a second means11for measuring distances to the drag (hereafter, “the second means11for measuring”) that measures the distances to the second side2bof the drag, which side is parallel to the X-direction. It also has a second means12for measuring distances to the drag (hereafter, “the second means12for measuring”) that measures the distances to the second side3bof the drag, which side is parallel to the X-direction. The second means11for measuring and the second means12for measuring are configured to move in the X-direction by means of a second cylinder13, i.e., an actuator.

The first cylinder10and the second cylinder13are attached to a common frame14for moving up and down (seeFIG. 8). The frame14for moving up and down is configured to move in the Z-direction by means of a third cylinder15, i.e., an actuator. Namely, it can be moved up and down. The third cylinder15is attached to a supporting frame16. The supporting frame16stands on a base21.

By this embodiment, the laser-type displacement sensors are used for the first means8for measuring, the first means9for measuring, the second means11for measuring, and the second means12for measuring. By the embodiment the electric cylinders are used for the first cylinder10, the second cylinder13, and the third cylinder15.

Below, the operations of the device that is constructed as discussed above are discussed. By a means for carrying in, which means is not shown, the bogie4with a molding board has been carried in the station17for carrying a mold in. Next, the cope2and the drag3are carried in the direction of the arrow6from the flaskless molding machine1to be mounted on the bogie4with a molding board. Next, the cope2and the drag3that have been mounted on the bogie4with a molding board are intermittently conveyed by the means for conveying in the direction of the arrow7by a pitch to be sent to the station18for detecting a misalignment.

A misalignment between the cope2and the drag3is detected at the station18for detecting a misalignment. Now, detecting a misalignment between the cope2and the drag3is discussed in detail. First, the means for clamping the bogie with a molding board, which means is not shown, clamps the bogie4with a molding board that is positioned at the station18for detecting a misalignment to fix the position of the bogie4with a molding board.

Next, by activating the third cylinder15the frame14for moving up and down is moved up or down so that the position in the Z-direction is adjusted. By this embodiment the respective means for measuring distances to the cope and the drag are located so that the midpoint between the projecting centers of the first means8for measuring and the first means9for measuring is at, the same height as the midpoint between the projecting centers of the second means11for measuring and the second means12for measuring. Thus, the frame14for moving up and down is moved up or down so that the midpoints between the projecting centers are at the same height as the height of the parting plane19between the cope2and the drag3.

The height from the upper surface of the bogie4with a molding board to the parting plane19is the same as the height of the drag3. The height of the drag3is measured for every mold by a means for measuring, e.g., an encoder, of the flaskless molding machine1, which means is not shown. Thus the height of the parting plane19can be known for every mold.

Next, by activating the first cylinder10, the first means8for measuring and the first means9for measuring are moved back and forth in the Y-direction. In this embodiment the stroke L1of the movement (seeFIG. 7) is set to be 300 mm, which is about a half of the length of the cope2and the drag3. While moving forward in that movement, the distances in the X-direction to the sides of the cope2and the drag3are measured. Specifically, as inFIG. 11, the distance Si from the tip of the first means8for measuring to the first side2aof the cope is measured by the first means8for measuring. The distance S2from the tip of the first means9for measuring to the first side3aof the drag is measured by the first means9for measuring.

In measuring the distances S1, S2, the distances to at least parts of the sides of the cope and the drag (within the range of the stroke L1in this embodiment) are continually measured at predetermined intervals along the sides of the cope and the drag. By this embodiment, the distances are measured at every 1 mm interval along the sides. Incidentally, while moving backward in that movement the distances S1, S2are not measured. The first means8for measuring and the first means9for measuring are moved back to the original positions.

Next, by activating the second cylinder13, the second means11for measuring and the second means12for measuring are moved back and forth in the X-direction. In this embodiment the stroke L2of the movement (seeFIG. 7) is set to be 200 mm, which is less than the length of the cope2and the drag3. While moving forward in that movement the distances in the Y-direction to the sides of the cope2and the drag3are measured. Specifically, as inFIG. 10, the distance S3from the tip of the second means11for measuring to the second side2bof the cope is measured by the second means11for measuring. The distance S4from the tip of the second means12for measuring to the second side3bof the drag is measured by the second means12for measuring.

In measuring the distances S3, S4, the distances to at least parts of the sides of the cope and the drag (within the range of the stroke L2in this embodiment) are continually measured at predetermined intervals along the sides of the cope and the drag. By this embodiment, the distances are measured at every1mm interval along the sides. Incidentally while moving backward in the reciprocating movement the distances S3, S4are not measured. The second means11for measuring and the second means12for measuring are moved back to the original positions.

Next, the clamp is released by the means for clamping the bogie with a molding board from the bogie4with a molding board that is positioned at the station18for detecting a misalignment. Then the cope2and the drag3and the bogie4with a molding board, which are positioned at the station18for detecting a misalignment, are intermittently conveyed by the means for conveying in the direction of the arrow7by a pitch to be sent out from the station18for detecting a misalignment. On the cope2and the drag3, which are sent out from the station18for detecting a misalignment, a jacket (not shown) is capped in a following process and a weight (not shown) is mounted on the upper surface of the cope2. Thereafter molten metal is poured into the cope2and the drag3.

Now, a method for detecting a misalignment from the measured distances S1, S2, S3, S4is discussed in detail. First, the difference S5between the distance S1and the distance S2is obtained to be compared with a predetermined range (an allowable range). The predetermined range is determined by adding the allowable range to a reference value, which is a dimension determined by the design. As an example in this embodiment, the reference value is 7 mm and the allowable range is ±0.5 mm. Thus the predetermined range is 6.5-7.5 mm. If the difference S5is outside of this range, then a misalignment is determined to have occurred. Also, the difference S6between the distance S3and the distance S4is obtained. If the difference S6is outside of the predetermined range, then a misalignment is determined to have occurred. As an example in this embodiment, the reference value is 2 mm and the allowable range is ±0.5 mum. Thus the predetermined range is 1.5-2.5 mm. If the difference S6is outside of this range, then a misalignment is determined to have occurred. Incidentally, these operations for calculating, comparing, determining, etc., are automatically carried out by the means for calculating a degree of a misalignment between the cope and the drag, a controller, etc., which are not shown.

By this embodiment, as discussed above, the distances S1, S2, S3, S4are measured at every 1 mm interval along the sides of the cope and the drag. Thus the differences S5, S6are obtained multiple times. The difference that is used for determining a misalignment can be arbitrarily selected from the differences S5, S6that are continually obtained multiple times. For example, if one of the differences S5, S6is outside of the predetermined range, then a misalignment is determined to have occurred. For another example, if both differences S5, S6that are continually obtained multiple times are outside of the predetermined range, then a misalignment is determined to have occurred. As discussed above, by the device5, since a misalignment is determined to have occurred by using differences at multiple points along the sides2a,2b,3a,3bof the cope2and the drag3, a misalignment can be reliably determined to have occurred.

An instruction is sent by a controller to the pouring machine, which is not shown, so that no molten metal will be poured into the cope2and the drag3that have been determined to have a misalignment as discussed above.

Incidentally, by the present invention, the first means8for measuring and the first means9for measuring are movable by the first cylinder10, i.e., an actuator, in the direction for conveying the cope2and the drag3. Further, the second means11for measuring and the second means12for measuring are movable in the direction that is perpendicular to the direction for conveying the cope2and the drag3. By this configuration, since the distances to the sides of the cope and the drag can be continually measured at predetermined intervals along the sides, a lot of data that are measured and that are used for determining a misalignment can be obtained. Thus any trend in misalignments can be advantageously found.

By the present invention, the first means8for measuring, the first means9for measuring, the second means11for measuring, and the second means12for measuring, can be simultaneously moved up and down by the third cylinder15, i.e., an actuator. By this configuration, the positions in the Z-direction can be advantageously adjusted within a short period of time.

Further, by the present invention, the laser-type displacement sensors are used for the first means8for measuring, the first means9for measuring, the second means11for measuring, and the second means12for measuring. By this configuration, the distances to the sides of the cope and drag can be correctly measured. Further, the device can be made to be compact.

Further, by the present invention, if the difference S5between the distance S1to the first side2aof the cope as measured by the first means8for measuring and the distance S2to the first side3aof the drag as measured by the first means9for measuring or the difference S6between the distance S3to the second side2bof the cope as measured by the second means11for measuring and the distance S4to the second side3bof the drag as measured by the second means12for measuring is outside of the predetermined allowable range, then a misalignment is determined to have occurred. By this configuration, a misalignment in the assembled cope2and drag3that have been molded by the flaskless molding machine1, which misalignent is not visible, can be advantageously detected.

Further, by the present invention, the distances are continually measured at predetermined intervals along at least parts of the sides of the cope and the drag by the first means8for measuring, the first means9for measuring, the second means11for measuring, and the second means12for measuring. By this configuration, a lot of data that are measured and that are used for determining a misalignment can be obtained along the sides of the cope and the drag. Thus any trend in misalignments can be advantageously found.

Further, by the present invention, no molten metal is poured into the cope2and the drag3that have been determined to have a misalignment. By this configuration, advantageously the amount of molten metal can be reduced and a useless product with a defect can be prevented.

By the embodiment of the present invention, after the first means8for measuring and the first means9for measuring are moved back and forth in the Y-direction by means of the first cylinder10, the second means11for measuring and the second means12for measuring are moved back and forth in the X-direction, by means of the second cylinder13. However, the order of the movements is not limited to the above. They may be moved in the reverse order or at the same time.

By the embodiment of the present invention, the distances S1, S2, S3, S4are continually measured at the predetermined intervals along at least parts of the sides of the cope and the drag. However, the measurements are not limited to the above. The distances may be continually measured at the predetermined intervals along the entire sides of the cope and the drag.

Further, by the embodiment of the present invention, if either of the differences S5, S6is outside of the predetermined allowable range, a misalignment is determined to have occurred. However, the determination is not limited to the above. Only if both of the differences S5, S6are outside of the predetermined allowable range may a misalignment be determined to have occurred.

Further, by the embodiment of the present invention, the device5is located downstream of the station17for carrying a mold in by a pitch. However, the location of it is not limited to the above. The device5may be located anywhere, including at the station17for carrying a mold in, but upstream of the position where molten metal is poured into the cope2and the drag3.

Further, by the embodiment of the present invention, the actuators are not limited to the first cylinder10, the second cylinder13, or the third cylinder15. They may be another type. For example, they may be motors.

By the above discussion, data on the location of the center of, the angle of rotation of, and the degree of misalignment of, the cope2and the drag3, are sent from the device5,40,60to the dedicated means48for calculating or to a controller for another device, to be processed. However, the data may be sent to a personal computer, a main frame (a general-purpose computer), a server, a cloud server, etc., that are positioned outside the foundry, through the internet, to be processed. Further, the data that have been processed by such a computer, such as the data for operating the device, may be sent back to the device in the foundry, including the device5,40,60, through the internet. The connection with the internet may be made through a controller for another device, not directly through the device5,40,60.

Below, the main reference numerals and s boils that are used in the detailed description and drawings are listed.1the flaskless molding machine2the cope2athe first side of the cope2bthe second side of the cope2i,2j,2kthe points for measuring the distances to the cope3the drag3athe first side of the drag3bthe second side of the drag3i,3j,3kthe points for measuring the distances to the drag4the bogie with a molding board5the device that can detect any misalignment between the cope and the drag6the direction for carrying out (the cope and the drag from the flaskless molding machine)7the conveying direction of (the cope and the drag)8the first means for measuring distances to the cope9the first means for measuring distances to the drag10the first cylinder (the actuator)11the second means for measuring distances to the cope12the second means for measuring distances to the drag13the second cylinder (the actuator)14the frame for moving up and down15the third cylinder (the actuator)16the supporting frame17the station for carrying a mold in18the station for detecting a misalignment19the parting plane20the rail21the base22the frame30the molding line40the device that can detect any misalignment between the cope and the drag42the supporting frame44the frame for moving up and down46the cylinder (the actuator)48the controller (the means for calculating the degree of a misalignment between the cope and the drag)51the first means for measuring distances to the cope and the drag52the second means for measuring distances to the cope and the drag53the third means for measuring distances to the cope and the drag60the device that can detect any misalignment between the cope and the drag62the supporting frame64,66the horizontal frame71the first means for measuring distances to the cope72the second means for measuring distances to the cope73the third means for measuring distances to the cope74the first means for measuring distances to the drag75the second means for measuring distances to the drag76the third means for measuring distances to the dragS1the distance to the first side of the copeS2the distance to the first side of the dragS3the distance to the second side of the copeS4the distance to the second side of the dragS5the difference between the distance to the first side of the cope and the distance to the first side of the dragS6the difference between the distance to the second side of the cope and the distance to the second side of the dragS11the distance from the first means for measuring distances to the cope and the drag to the point on the first side of the copeS12the distance from the second means for measuring distances to the cope and the drag to the point on the first side of the copeS13the distance from the third means for measuring distances to the cope and the drag to the point on the second side of the copeS21the distance from the first means for measuring distances to the cope and the drag to the point on the first side of the dragS22the distance from the second means for measuring distances to the cope and the drag to the point on the first side of the dragS23the distance from the third means for measuring distances to the cope and the drag to the point on the second side of the drag