JPH0813433B2 - Automatic processing equipment - Google Patents

Description

Description: TECHNICAL FIELD The present invention relates to an automatic processing apparatus equipped with a device for moving a workpiece and a device for moving the processing device, and more particularly to an automatic processing device suitable for welding. Regarding processing equipment.

[Conventional technology]

As a conventional apparatus, as described in Japanese Patent Laid-Open No. 60-82296, the workpieces are pre-assembled on a preparation table and then moved to a welding table by a movable transfer device to perform automatic welding. Is known to be done. But,
No consideration was given to the displacement of the welded part of the workpiece, or the relative displacement of the processing device and the workpiece on the welding table.

Further, the apparatus described in Japanese Patent Laid-Open No. 57-109576 is designed to detect the processing position of a member to be processed by an optical means, correct the positional deviation, and perform the processing. However, no consideration is given to the means for moving the workpiece in order to correct the positional deviation, and the workpiece may be fixed in advance in the previous step and not fixed in the next welding operation step. I couldn't.

[Problems to be Solved by the Invention]

In the technology described in Japanese Patent Laid-Open No. 60-82296, no consideration is given to the positional deviation due to the movement of the workpiece, the component accuracy of the workpiece, and the assembling accuracy.
The processing equipment such as the welding torch was displaced from the processing site such as the welding line of the work piece, and accurate welding could not be performed.

Further, in the technique described in Japanese Patent Laid-Open No. 57-109576, no consideration is given to the mechanism for moving or rotating the work piece, and the work tact is improved by fixing the work piece in the preceding process. It was not possible to change the posture of the working part (processing part) of the processed member by rotating and moving the processing member.

An object of the present invention is to improve the work tact of an automatic processing apparatus, and at the same time, to change the posture of a work part of a member to be processed and correct a deviation of a processing position.

[Means for solving the problem]

The above problems include a member moving device that fixes and rotates a workpiece and a parallel movement, a processing device that processes a workpiece, and an equipment moving device that fixes the processing device and rotates and translates the same. In the equipped automatic processing device, the relative position deviation between the processing position of the workpiece fixed on the member moving device and the processing device fixed on the equipment moving device is continuously detected during the processing operation and the relative position deviation is detected. This is achieved by providing an optical position detecting device for continuously outputting the amount and providing means for continuously correcting the machining path of the machining device during the machining operation based on the relative positional deviation amount.

The above-mentioned problems also include an equipment moving device that fixes and rotates and translates a workpiece, a processing device that processes the workpiece, and an equipment moving device that fixes and rotates and translates the workpiece. To the automatic processing device equipped with the and, the relative position deviation between the processing position of the workpiece fixed on the member moving device and the processing device fixed on the equipment moving device is continuously detected and processed. It is also achieved by providing an optical position detection device that continuously outputs the amount of positional deviation and providing means for continuously correcting the position and / or orientation of the workpiece based on the amount of relative positional deviation during the machining operation. It

The above object can also be achieved by the automatic processing apparatus according to claim 1, further comprising means for correcting the position and / or the posture of the member to be processed based on the relative positional deviation amount.

The above object can also be achieved by the automatic processing apparatus according to any one of claims 1 to 3, wherein the optical position detection device is fixed to the equipment moving device.

The above-mentioned problem is also a detection device position deviation detecting means for detecting a detection device position deviation which is a position deviation of the relative position between the optical position detection device and the processing device, and the detected detection device position deviation amount described above. Means for adding a relative positional deviation amount between the machining position of the workpiece detected by the optical position detection device and the machining device fixed to the equipment moving device to obtain a corrected positional deviation amount. It is also achieved by the automatic processing apparatus according to any one of claims 1 to 4.

The above-mentioned problem is also a processing device fixed position deviation detecting means for detecting a processing device fixed position deviation amount which is a position deviation amount of a processing device fixed to an equipment moving device from a predetermined fixed position, and the detected processing. A means for adding a relative positional deviation amount between the processing position of the workpiece detected by the optical position detection device and the processing device fixed to the equipment moving device to the device fixed positional deviation amount to obtain a corrected positional deviation amount; Is also provided by the automatic processing apparatus according to any one of claims 1 to 4.

The above-mentioned problems also include a detection device position deviation detecting means for detecting a detection device position deviation, which is a relative position deviation between the optical position detection device and the processing device, and a processing device fixed to the equipment moving device. Processing device fixed position deviation detecting means for detecting a processing device fixed position deviation amount, which is an amount of position deviation from a predetermined fixed position, a detected detection device position deviation amount, and a detected processing device fixed position deviation amount and an optical type A means for adding a relative positional deviation amount between the processing position of the workpiece detected by the position detection device and the processing device fixed to the equipment moving device to obtain a corrected positional deviation amount. It is also achieved by the automatic processing apparatus described in any one of 1 to 4.

The above-described problem is also that the member moving device includes a dolly that is driven by power and travels along a guide, a rotary table that is rotatably mounted on the dolly and on which a workpiece is fixedly mounted, and the rotary table. And a rotation angle detecting means for detecting a rotation angle of the rotary table. The equipment moving device is a vehicle driven by power and travels along a guide, and is mounted on the vehicle. And a robot having at least 5 degrees of freedom, the optical position detecting device includes means for irradiating a processing member with slit light, and image processing of a light cutting image reflected from the processing target member to perform welding at a processing site. Means for detecting lines,
And the processing device is also a welding device, and is achieved by the automatic processing device according to any one of claims 1 to 7.

The above object can also be achieved by an automatic machining apparatus according to claim 8 including means for setting an offset amount and an offset direction at a target position of a welding torch with respect to a detected welding line.

The above problem is also that the means for setting the offset amount and the offset direction stores means for storing an offset table for displaying the offset direction and the offset amount in characters,
A means for setting an offset direction and an offset amount by designating a character on the stored offset table; a means for reading the offset direction and the offset amount set from the front offset table and correcting the target position of the welding torch. It is also achieved by the automatic processing apparatus according to claim 9.

The above-mentioned problem is that the means for setting the offset amount and the offset direction detects the difference between the respective positions when the welding torch is moved to the two designated positions, and determines the difference as the offset amount and the offset direction. It is also achieved by the automatic processing apparatus according to claim 9.

The above-described problem is also that the means for setting the offset amount and the offset direction stores the reference table in which the offset amount and the offset direction are associated with the welding conditions, the means for inputting the welding conditions, and the input welding The automatic processing apparatus according to claim 9, further comprising means for reading an offset amount and an offset direction from the reference table based on a condition.

[Action]

The optical position detection device, while moving with the processing device, detects the position deviation of the processing part ahead of the processing position in the moving direction of the processing device from the expected position of the processing device, and at the same time detects the posture of the processing part. Then, the correction position deviation amount that indicates the correction amount of the position and orientation of the member to be processed is output. The member moving device and / or the equipment moving device corrects the position and / or posture of the member to be processed and / or the processing device by means of correcting the position and / or the posture of the member to be processed and / or the processing device based on the corrected displacement amount. To correct.

〔Example〕

Hereinafter, a first embodiment of the present invention will be described with reference to FIGS. 1 and 2. The member moving device 30 shown in the drawing is used for the traveling rail 7
As a guide, a traveling carriage 2A driven by an electric motor and a controller (not shown), a pair of rotary base supports 2C fixed on the base 2A, and the rotary base support 2C rotatably mounted on the rotary base support 2C. , A rotary table on which the workpiece 1 is fixedly mounted
2B, a rotating electric motor 3 mounted on the carriage 2A and connected to the rotating base 2B via a speed reducer 4, and the rotating electric motor 3
And an encoder (not shown) for detecting the rotation angle of the. A rack is provided alongside the traveling rail 7, and a pinion mounted on the traveling carriage 2A and rotationally driven by the electric motor is engaged with the rack.

The equipment moving device 40 includes a guide 11A laid parallel to the traveling rail 7 and a dolly 11 traveling along the guide 11A.
B, an electric motor and a speed reducer that are mounted on the carriage 11B and drive the carriage 11B, and a moving base that is mounted on the carriage 11B and is driven by a drive device (not shown) in a direction perpendicular to the guide 11A. 11C and 6 fixed on the movable table 11C
A welding robot 10 having a degree of freedom and an encoder (not shown) for detecting the rotation speed of the electric motor are provided.

To the welding robot 10, a visual sensor head 9 which is an optical position detecting device and a welding torch 8 which is a processing device are fixed below the wrist through a jig. Welding torch 8
2 is connected to a wire feed motor 13 via a conduit cable 12 as shown in FIG. 2, and the wire feed motor 13 welds a welding wire 16 of a supply reel 15 mounted on a welding power source 14. Send to torch 8. The conduit cable 12 is composed of a liner, a liner guide, a copper stranded wire, and a coating. The copper stranded wire is taken out from the coating before the connection portion with the feed motor 13 and connected to the touch sensor unit 17. . The touch sensor unit 17 is the welding power source.
Connected to 14. A robot controller 18 is connected to the welding robot 10. The robot controller 18 is connected to a welding power source 14, a teaching box 21, a member moving device 30, and an equipment moving device 40, and further via the welding power source 14. It is also connected to the touch sensor unit 17. The robot controller 18 determines the position of the processing device and the position of the workpiece 1 based on the relative positional deviation amount output from the visual sensor head 9.
It is a means to correct the posture.

The visual sensor head 9 mounted under the wrist of the welding robot 10 via a jig has a light irradiation system for irradiating slit light,
An optical system for observation that detects the position and orientation of the welding line by observing the light section image obtained at this time (the image formed by the line of intersection between the plane formed by the slit light and the surface of the workpiece) is built-in. It is connected to the sensor interface 19 and the image processing device 20.

The robot controller 18 controls the path of the welding torch 8 and controls the welding current and the welding voltage, and the touch sensor unit 17 switches the power supply to the welding wire 16 to the internal high voltage power source in accordance with the instruction from the robot controller 18. After the switching, when the welding wire 16 comes into contact with the grounding side and the power supply is short-circuited, the power supply is stopped and the contact signal is sent to the robot controller 18
Touch sense processing is performed.

The sensor interface 19 controls the supply voltage and the supply current to the light irradiation system of the visual sensor head 9 to control the wavelength and the light amount of the irradiation slit light, and also supplies the power to the observation optical system and the image processing device. The optical cutting image converted into an electric signal by the visual sensor head 9 for performing the synchronization of the above is sent to the image processing apparatus 20 via the sensor interface 19 and processed, and the welding line position obtained by the processing is determined by the robot. It is transferred to the control device 18.

The robot control device 18 operates the welding robot 10, the member moving device 30, and the equipment moving device 40 according to the data input through the teaching box 21 to move the position and posture of the welding torch 8 and the position and posture of the workpiece 1. And position, change speed of posture, welding conditions, detection conditions, etc. are taught.

The procedure for welding with the automatic processing apparatus having the above configuration will be described below. First, the workpiece 1 is fixed on the rotary table 2B of the member moving device 30, and the traveling carriage 2A of the member moving device 30 is moved to the traveling range of the equipment moving device 40 by a traveling mechanism including an electric motor (not shown).・ Stopped. This movement / stop is manually controlled by the operator. Next, the rotary table 2B of the member moving device 30 is rotated by the rotating electric motor 3, so that the welding site of the workpiece 1 fixed on the rotary table 2B has an optimal posture for welding. When the workpiece 1 is on the back side, the posture of the workpiece 1 is changed so that the workpiece 1 can be rotated and downward welding can be performed. This rotation operation is controlled by the robot controller 18.

Next, the welding robot 10 is moved by the equipment moving device 40 so that the welding portion of the workpiece 1 is within the operation range of the welding torch 8 attached to the wrist of the welding robot 10.

The control device 18 moves the welding torch 8 according to the route taught in advance through the teaching box 21, and starts detecting the welding line from a position about 30 mm in front of the welding start point.
The visual sensor head 9 detects the deviation between the taught position and the position of the welding line at a position about 30 mm in front of the welding torch 8 based on the principle of the optical cutting method. The deviation of the welding line detected at this time is a relative positional deviation between the workpiece 1 and the welding torch 8 mounted on the moving device, and the robot controller 18 outputs the output of the visual sensor head 9. A certain relative positional deviation amount is used as a corrected positional deviation amount, and a copying operation is performed while correcting the taught path, and welding is performed from the welding start point according to the teaching welding conditions.

The workpiece 1 is rotated by the turntable 2B of the member moving device 30 controlled by the robot controller 18 so that the welding posture is always downward in any of the processing parts, and the welding robot 10 has the welding part in which the processing part is the welding robot. It is moved by the equipment moving device 40 so as to have an operating range of 10. Then, the relative positional deviation between the actual processing portion and the processing device is detected by the optical visual sensor head 9, and welding is executed while the previously taught processing path is corrected.

FIG. 3 shows a second embodiment of the present invention. In this embodiment, the rotary table 2B of the member moving device shown in the first embodiment is not provided, and the member 1 to be processed is a member gripping rotation corresponding to the rotary table support 2C in the first embodiment. It is gripped by the table 21, rotated, and moved up and down. Further, unlike the case of the first embodiment, the member gripping rotary table 21 is different from that of the first embodiment in the traveling carriage 2A.
The traveling vehicle 2A is configured to be movable in a direction perpendicular to the traveling direction and the traveling direction. The equipment moving device 40, the processing device, the visual sensor head, the control device, and the like have the same configurations as those in the first embodiment, and are denoted by the same reference numerals, and the description thereof will be omitted.

In the automatic processing apparatus having the above configuration, the workpiece is
After being assembled in a weldable state, the member holding rotary table
It is gripped and fixed to the workpiece 21 and is rotated by the member gripping rotary table 21 controlled by the robot controller 18 so that the welding posture of the processed portion faces downward. The equipment moving device 40 moves the welding robot 10 so that the processing region of the workpiece 1 is within the operating range of the welding robot 10, and the robot control device 18 executes welding in accordance with a previously taught processing route.
The visual sensor head 9 attached to the wrist of the welding robot 10 starts the detection of the welding line under the control of the robot controller from a position of about 30 mm immediately before the taught welding start point.
The detection data based on the robot coordinate system is transmitted to the robot controller 18. When the distance between the welding torch 8 and the detection point becomes the minimum, the robot control device 18 uses the detection data of the visual sensor head at that time as the member moving device.
30 to the processing device (welding torch) for moving the member holding / rotating table 21 of the member moving device 30 in the vertical direction, the traveling rail direction, and the direction perpendicular to the traveling rail (3 directions of X, Y, Z).
The deviation between the teaching route of 1 and the actual welding route is controlled to be zero.

FIG. 4 is a perspective view showing the outline of the detection of the fixed position deviation of the visual sensor head 9, and the welding robot 10 (not shown) is shown.
Of the jig 24 attached to the wrist, a welding torch 8 which is a processing device attached to the jig 24, an optical visual sensor head 9 rotatably attached to the periphery of the welding torch 8, and the optical type DC motor 23 for rotating the visual sensor head 9
And a reference member 22 placed on a reference stand for detecting the reference position of the processing apparatus.

The reference member 22, which is the detecting device position deviation detecting means, is provided with V-shaped grooves of the same shape which are orthogonal to each other on a flat upper surface, and at the center of the intersection, the width and the depth of the groove are made so that the grooves disappear. However, it decreases linearly. In the reference member 22, the groove valley line is the direction (x, y) of the coordinate axis of the ideal coordinate system (hereinafter referred to as the sensor coordinate system) of the visual sensor head 9.
It is placed on the reference table so that it coincides with the (axis).

Before detecting the welding line of the processed portion, the welding torch 8 is arranged perpendicularly to the upper surface of the reference member 22 and on the center of the intersection of the V-shaped groove, and the visual sensor head 9 uses the DC motor 23.
Then, the groove of the reference member 22 is detected while rotating the rotation axis thereof to 0 °, 90 °, 180 ° and 270 °. The detected values in the sensor coordinate system of the valley bottom position of each groove are (x ₁ , y ₁ , z ₁ ), (x ₂ ,
y ₂ , z ₂ ), (x ₃ , y ₃ , z ₃ ), (x ₄ , y ₄ , z ₄ ), and the radius of gyration (design value) of the preceding detection position used for rotation correction of the sensor rotation axis If γ, the true radius of gyration (actual radius of gyration) R, the revised angle deviation θ from the horizontal sensor coordinate axis, the deviation of the rotation center from the x, y direction sensor coordinate system (that is, welding) Deviation from the torch center) xd, y
d is calculated by the following formula.

xd = − {x ₂ cos θ + (y ₂ −γ + R) sin θ} (3) yd = − {y ₁ cos θ + (x ₁ −γ + R) sin θ} (4) The robot controller 18 is The fixed position shift of the visual sensor head 9 is detected and stored before starting the actual detection operation or periodically, and the workpiece 1 is processed.
The fixed positional deviation amount (xd, yd) obtained by the equations (3) and (4) is added to the positional deviation detection amount of the machining part to obtain the corrected positional deviation amount, and the welding path of the welding torch is corrected.

FIG. 5 shows another embodiment of the present invention.
In this embodiment, similarly to the example shown in FIG. 4, the fixed position displacement of the visual sensor head 9 is determined by the reference member 22 before the detection of the welding line of the actual processed portion, and then the diagram shown in FIG. The T-shaped member 50, which is the processing device position deviation detection means shown, is used to determine the fixed position deviation of the welding torch 8 with respect to the welding robot wrist. The T-shaped member 50 is formed by forming planes 50A, 50B, 50C which are orthogonal to each other in a conductive material, and one surface of them, for example, 50C is horizontal and the other two surfaces
It is placed on the reference stand so that 0A and 50B are vertical. Further, the surfaces 50A, 50B are arranged in parallel to the horizontal reference coordinate axis of the welding robot 10, and the plane 50A, 50B, 50C coordinate values with respect to the reference coordinate axis of the welding robot 10 are accurately known. The T-shaped member 30 is electrically connected to the ground side of the touch sensor unit 17.

After the fixed position shift of the visual sensor head 9 is obtained by the procedure described above, a high voltage is applied to the welding wire 16 by using the touch sensor unit 17, and the welding torch 8 is
The T-shaped member 30 is moved to a place surrounded by the planes 50A, 50B, 50C.

Next, the welding wire 16 is exposed from the tip of the welding torch 8 by a predetermined amount, and the welding torch 8 is moved up and down, front and back, left and right, in other words, moved in the directions perpendicular to the planes 50C, 50A, 50B, respectively, and the welding wire 16 is moved. , The coordinates of the point of contact with the T-shaped member 50 are obtained by the touch sensing operation. Robot controller
18 is the calculated coordinates and the plane known in advance
A fixed positional deviation of the welding torch 8 with respect to the wrist of the welding robot 10 is calculated from the coordinates of 50A, 50B, and 50C, and the fixed positional deviation (detection apparatus positional deviation) of the visual sensor head 9 previously obtained and the welding torch are calculated. From the fixed position shift of 8 (fixed position shift of the processing device), the reference position shift amount of the visual sensor head 9 with respect to the welding robot 10 is obtained. The robot controller 18 obtains the reference amount of positional deviation, detects the welding line of the workpiece 1 by the visual sensor head 9, and detects the workpiece taught by the welding robot 10 in advance. The reference positional deviation is added to the relative positional deviation of 1, and the welding robot 10
Correct the welding path of.

In the above embodiments, in order to maintain the shape of the welding pool, the welding torch whose downward posture is optimized is used as the processing device, and the member moving device for controlling the posture of the workpiece 1 and the optical type mounted on the processing device. Although it is an automatic processing device equipped with position detection means, it also applies to sealing work devices that cause sealing agent sag, coating devices that cause coating film sag, and deburring devices that cause droplet adhesion. ,
By applying the present invention, the posture of the member to be processed can be controlled so that the work can be performed downward.

6A to 6C show another embodiment of the present invention. When welding a member to be welded, by shifting the welding wire of the welding torch 8 from the groove position (target position offset) according to welding conditions such as plate thickness of the welding member, welding current, welding voltage, and welding speed. A welding method is used. In this embodiment, a target position offset is set for the groove position of the member to be welded 1 detected by the visual sensor head 9, and the robot controller 18 stores the offset table shown in FIG. 6B. Means, a teaching box having means for setting an offset amount based on the offset table, and an offset amount correction means for calculating a welding torch position by adding the set offset amount to the detected welding line position. It has and. The other constituent elements are the same as those described with reference to FIGS.

In the present embodiment, first, according to the offset table shown in FIG. 6B, the offset amount is set by the teaching box 21 during operation teaching to the welding robot 10. In the offset table shown, the numbers
Reference numeral 18 indicates an offset amount of zero. For example, if offset number 12 is set during teaching, the robot controller responds to offset number 12 with respect to the detected weld line (that is, the actual weld line), as shown by the solid line in FIG. 6C. The welding torch 8 is positioned at a position offset by the amount to be performed, and welding is performed.

In yet another embodiment shown in FIG. 7, the robot controller 18 detects the coordinates of the position instructed by actually moving the welding torch 8 by means of a teaching box instead of the offset table and sets the offset amount. The points having means for calculating and setting based on the coordinates are the 6A-
It differs from the embodiment shown in FIG. 6C. In the present embodiment, first, at the time of operation teaching for the welding robot 10, the welding robot for the workpiece 1 to be the master is targeted.
While the welding torch 8 and the visual sensor head 9 fixed to 10 are instructed to move by the teaching box 21,
A welding path, that is, a welding start position and a welding end position is taught. Next, at the welding start position, as shown by the dotted line in FIG. 7, the welding torch 8 and the visual sensor head 9 are moved by the teaching box 21 to the actual welding position, and the offset position is taught. This offset position teaching signal is transferred from the teaching box 21 to the robot controller 18, and the robot controller 18 uses the angle data of each axis of the robot to determine the absolute position of the welding start position and the offset position viewed from the robot coordinate system. The position is obtained, and then the distance and direction of the offset position based on the welding start position are obtained, and this value is stored for each welding path.

At the time of playback, that is, at the time of reproducing operation, the robot controller controls the visual sensor head 9 in each welding path.
The position deviation of the welding path is obtained by using, and the offset amount stored in advance for each welding path is added to this value, and the welding torch is moved while correcting the taught welding path.

The method of setting the offset amount by inputting the number or by directly inputting it by moving the welding torch has been described above, but the offset amount depends on the welding conditions (plate thickness, welding current, welding voltage, welding speed). It can be uniquely determined. Therefore, in another embodiment for determining the offset, the robot controller is provided with the optimum offset storage means for storing the optimum offset amount corresponding to the welding condition, and the means for inputting the welding condition into the teaching box is provided.

In the automatic machining apparatus equipped with such means, the robot controller automatically sets the offset amount by referring to the optimum offset storage means according to the welding conditions taught during teaching, and the visual sensor head detects it during welding. The welding torch is displaced from the position of the welding line by the offset amount and the copying operation of the welding line is performed.

In the embodiment described above, the robot controller corrects the position and orientation of the welding torch based on the corrected positional deviation amount. However, not only the welding torch but also the member moving device based on the corrected positional deviation amount is used. It may be moved to control the position and orientation of the member to be processed.

〔The invention's effect〕

According to the present invention, a member moving device that rotates and moves a workpiece, an equipment moving device that rotates and moves the machining device, an optical position detecting device that detects a machining site of the machining member, and the optical device. Since the processing device and the means for controlling the position / posture of the processing target member based on the output of the position detection device are provided, the posture of the processing target member can be controlled so that the processing portion has an optimum processing position. Along with component dimensional error,
It is possible to correct the relative positional deviation between the processing member and the processing device due to an assembly dimension error and the like, and there is an effect that the processing quality is improved.

Furthermore, after the member to be processed is assembled and fixed on the member moving device arranged in another place in advance, it is possible to move to the operating range of the base material moving device and perform the processing, which has the effect of improving the work tact. .

[Brief description of drawings]

FIG. 1 is a perspective view of an automatic processing apparatus which is an embodiment of the present invention, FIG. 2 is a system diagram showing main components of the automatic processing apparatus shown in FIG. 1, and FIG. FIG. 4 is a perspective view showing an embodiment of the invention, FIG. 4 is a perspective view showing an example of detecting a fixed positional deviation of a visual sensor head, FIG. 5 is a perspective view showing an example of detecting a fixed positional deviation of a processing device, and FIG. 6A. 6C and FIG. 7 are front views showing examples of setting the target position offset amount of the welding torch. 1 ... Workpiece member, 8 ... Processing device (welding torch), 9
...... Optical position detecting device, 18 ...... Means for correcting the position and orientation of the processing device and / or the member to be processed, 22 ...... Detecting device position deviation detecting means, 30 ...... Member moving device, 40 ...... Equipment moving device , 50 …… Processing device fixed position deviation detection means.

 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Toshio Akatsu, 502, Jinrachicho, Tsuchiura-shi, Ibaraki Prefecture, Institute of Mechanical Research, Hiritsu Seisakusho Co., Ltd. (72) Yutaka Takano, 650, Jinritsucho, Tsuchiura-shi, Ibaraki Hitachi Construction Machinery Co., Ltd. Ceremony Company Tsuchiura Factory (56) Reference JP-A-61-270032 (JP, A)

Claims (12)

[Claims] 1. A member moving device for fixing a workpiece to rotate and move in parallel, a processing device for processing the member to be machined, and an equipment moving device for fixing and rotating the workpiece and moving in parallel. In the equipped automatic processing device, the relative positional deviation between the processing position of the workpiece fixed on the member moving device and the processing device fixed on the equipment moving device is continuously detected during the machining operation, and the relative positional deviation is detected. An optical position detecting device for continuously outputting the amount, and means for continuously correcting the processing path of the processing device based on the relative positional deviation amount during the processing operation. An automatic processing device characterized by. 2. A member moving device for fixing a workpiece to rotate and move in parallel, a processing device for processing the member to be processed, and an equipment moving device for fixing and rotating and moving the device in parallel. In the equipped automatic processing device, the relative positional deviation between the processing position of the workpiece fixed on the member moving device and the processing device fixed on the equipment moving device is continuously detected during the machining operation, and the relative positional deviation is detected. An optical position detecting device for continuously outputting the amount, and means for continuously correcting the position and / or the posture of the member to be processed based on the relative positional deviation amount during the processing operation. An automatic processing device characterized by 3. The automatic machining apparatus according to claim 1, further comprising means for correcting the position and / or the posture of the member to be machined based on the relative positional deviation amount. 4. The automatic processing apparatus according to claim 1, wherein the optical position detecting device is fixed to the equipment moving device. 5. A detection device position deviation detecting means for detecting a detection device position deviation, which is a relative position deviation between the optical position detection device and the processing device, and the optical type detection means for the detected detection device position deviation amount. Means for adding a relative positional deviation amount between the processing position of the workpiece detected by the position detection device and the processing device fixed to the equipment moving device to obtain a corrected positional deviation amount;
The automatic processing apparatus according to any one of claims 1 to 4, further comprising: 6. A processing device fixing position deviation detecting means for detecting a processing device fixing position deviation amount which is a positional deviation amount of a processing device fixed to an equipment moving device from a predetermined fixing position, and the detected processing device fixing position. Means for adding a relative positional deviation amount between the processing position of the workpiece detected by the optical position detection device and the processing device fixed to the equipment moving device to the positional deviation amount to obtain a corrected positional deviation amount; It is provided, The automatic processing apparatus in any one of Claim 1 thru | or 4 characterized by the above-mentioned. 7. A detection device positional deviation detecting means for detecting a positional deviation of a detection device, which is a relative positional deviation between the optical position detection device and the processing device, and a predetermined fixing of the processing device fixed to the equipment moving device. Processing device fixed position deviation detecting means for detecting a processing device fixed position deviation amount which is a positional deviation amount from a position, a detected detection device position deviation amount, a detected processing device fixed position deviation amount and an optical position detection Means for adding a relative positional deviation amount between the processing position of the workpiece detected by the device and the processing device fixed to the equipment moving device to obtain a corrected positional deviation amount. The automatic processing apparatus according to any one of claims 1 to 4. 8. A member moving device comprising: a dolly that is driven by power and travels along a guide; a rotary table that is rotatably mounted on the dolly and on which a workpiece is fixedly mounted; and a rotary table that rotates. The equipment moving device is provided with a rotation driving means for driving and a rotation angle detecting means for detecting a rotation angle of the rotary base, and the equipment moving device is driven by power and travels along a guide, and at least mounted on the carriage. A robot having 5 degrees of freedom is provided, and the optical position detection device includes means for irradiating a workpiece with slit light, and a welding line which is a processing portion by image-processing a light cutting image reflected from the processing member. And means for detecting
8. The automatic processing device according to claim 1, wherein the processing device is a welding device. 9. The automatic processing apparatus according to claim 8, further comprising means for setting a target position offset amount and an offset direction of the welding torch with respect to the detected welding line. 10. A means for setting an offset amount and an offset direction, means for storing an offset table for displaying the offset direction and the offset amount as characters, and an offset direction and an offset by designating a character on the stored offset table. 10. The automatic machining according to claim 9, further comprising: a unit for setting an amount, and a unit for reading out the set offset direction and set amount from the offset table and correcting the target position of the welding torch. apparatus. 11. A means for setting an offset amount and an offset direction detects a difference between respective positions when the welding torch is moved to two designated positions, and sets the difference as the offset amount and the offset direction. The automatic processing device according to claim 9, wherein 12. A means for setting an offset amount and an offset direction, means for storing a reference table in which the offset amount and the offset direction are associated with the welding conditions, a means for inputting the welding conditions, and the input welding conditions. The automatic processing apparatus according to claim 9, further comprising: a unit that reads an offset amount and an offset direction from the reference table based on the reference table.