JP2020011244A - Heating device - Google Patents

Abstract

To provide a heating device capable of heating a workpiece in which a heat capacity is not uniform depending on sites, so that its temperature becomes uniform.SOLUTION: A heating device 10a includes: a heating unit 20 which moves along a workpiece body 12 by using a robot 26; a temperature sensor 22 which measures a temperature of the workpiece body 12 in a non-contact manner by integrally moving with the heating unit 20; and a control unit 28. In the control unit 28, the heating unit 20 predicts a moving destination temperature deviation εbetween a moving destination temperature T1 at a moving destination after a constant time Δt and a target temperature Tp, on the basis of physical property data 50a of the workpiece body 12, shape data 50b, and a current temperature T0 measured by the temperature sensor 22, and gives a current command to an inverter 42 according to the moving destination temperature deviation ε. The constant time Δt is a response time from giving the current command to the inverter 42 until the heating unit 20 reaches a temperature corresponding to the current command.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a heating device that heats a work while relatively moving an electric heating body along the work.

  When the heating body is smaller than the work, heating may be performed while moving the heating body along the work. As the heating body, for example, a non-contact and electric heating body is used, and is moved by a moving means such as a robot. The temperature control when heating the work involves measuring the temperature of the work surface with a non-contact type temperature sensor installed on the heating body, and adjusting the amount of heating by the heating body based on the deviation from the target temperature. In Patent Document 1, the temperature of a work is measured and accumulated by a non-contact temperature sensor, the average temperature of the work is calculated for each movement pattern of the robot, and the amount of heat supplied to the heating element is feedback-controlled. This average temperature is determined over a relatively wide range. In Patent Document 1, a flat plate is exemplified as a target work.

JP-A-2017-9332

  When brazing a workpiece to be heated, it is desirable to uniformly heat the workpiece to a temperature suitable for brazing. When the shape of the work is not uniform and complicated, the heat capacity differs depending on the part. Therefore, a device that heats based on the average temperature as in Patent Document 1 cannot perform uniform heating. Not suitable for

  Also, a current command is output to the inverter from the start of the temperature measurement, and a response time occurs until the inverter reacts. When heating the workpiece while moving the heating element along the workpiece, the heating element moves during this reaction time. Become. If the shape of the work is uniform, the effect is relatively small, but if the shape of the work is not uniform, the adjusted amount of heat will not match the conditions of the work, so the temperature will vary. May be large, and may not reach the target temperature or may be excessively heated in some places. Therefore, it is sometimes necessary to use a dedicated heating device corresponding to the shape of the work.

  The present invention has been made in view of the above problems, and has as its object to provide a heating device that can heat a workpiece having a heat capacity that is not uniform depending on a part so that the temperature of the work becomes uniform. I do.

  In order to solve the above-described problems and achieve the object, a heating device according to the present invention includes, in a heating device that heats a work to a target temperature, an electric heating body that heats the work, and the heating body A moving unit that relatively moves along the work, a temperature sensor that measures a temperature of a heated portion of the work by the heating body, an inverter that adjusts a current supplied to the heating body, and a control unit that controls the inverter. The control unit, based on the physical property data of the work, the shape data of the work, and the current temperature measured by the temperature sensor, the target temperature and the movement destination of the heating body after a fixed time And a current command is given to the inverter based on the target temperature deviation.

  A temperature prediction unit that predicts the destination temperature based on the physical property data of the work, the shape data of the work, and the current temperature; and the destination temperature deviation from the target temperature and the destination temperature. And a current command unit that gives a current command to the inverter based on the destination temperature deviation.

  The control unit includes: a current temperature deviation calculating unit that obtains a current temperature deviation between the target temperature and the current temperature; and a physical property data of the work, a shape data of the work, and the movement destination temperature deviation based on the current temperature deviation. And a current command unit that gives a current command to the inverter based on the destination temperature deviation.

  The control may derive the heat capacity of the destination from the physical property data and the shape data, and predict the destination temperature deviation based on the heat capacity.

  The control unit may include a database that stores the shape data and the physical property data, and may read the shape data and the physical property data from the database.

  Further, the heating device according to the present invention is a heating device for heating a work to a target temperature, wherein an electric heating body for heating the work, a moving unit for relatively moving the heating body along the work, A temperature sensor for measuring a temperature of a heating portion of the workpiece by the heating element, an inverter for adjusting a current supplied to the heating element, and a control unit for controlling the inverter; Correlation data having a correlation with the heat capacity of the work according to the movement position of the body is stored in the storage unit, and based on the correlation data and the current temperature measured by the temperature sensor, the target temperature and the heating element A destination temperature deviation from a destination temperature at a destination after a fixed time is predicted, and a current command is given to the inverter based on the destination temperature deviation.

  The control unit, a temperature prediction unit that predicts the destination temperature based on the correlation data and the current temperature, a deviation prediction unit that predicts the destination temperature deviation from the target temperature and the destination temperature, A current command unit for giving a current command to the inverter based on the destination temperature deviation.

  The control unit, a current temperature deviation calculation unit that determines a current temperature deviation between the target temperature and the current temperature, a deviation prediction unit that predicts the destination temperature deviation based on the correlation data and the current temperature deviation, A current command unit for giving a current command to the inverter based on the destination temperature deviation.

  The control unit measures the temperature of the work with the temperature sensor while heating the work by reciprocating the heating body along the work, and obtains a temperature distribution according to a moving position of the heating body. The apparatus may include a measurement unit and a temperature difference calculation unit that obtains a temperature difference between the obtained temperature distribution and an average value thereof according to the moving position and uses the temperature difference as the correlation data.

  The fixed time may be a response time from when the temperature sensor measures the current temperature to when the inverter adjusts a high-frequency current according to the current command.

  In the heating device according to the present invention, the control unit predicts a destination temperature deviation at a destination after a fixed time based on the physical property data of the work, the shape data and the current temperature, or is obtained by the temperature difference calculation unit. Based on the temperature difference and the current temperature, a destination temperature deviation at a destination after a fixed time is predicted. By adjusting the high-frequency current through the inverter based on the deviation of the movement destination, it is possible to heat even a work having a non-uniform heat capacity to a uniform temperature.

FIG. 1 is a schematic block diagram of a heating device according to the first embodiment. FIG. 2 is a flowchart illustrating a control procedure of the heating device according to the first embodiment. FIG. 3 is a graph of a temperature profile. FIG. 4 is a schematic block diagram of a heating device according to the second embodiment. FIG. 5 is a schematic block diagram of a heating device according to the third embodiment. FIG. 6 is a flowchart illustrating a control procedure of the heating device according to the third embodiment. FIG. 7 is a graph of the temperature distribution. FIG. 8 is a schematic block diagram of a heating device according to the fourth embodiment.

  Hereinafter, an embodiment of a heating device according to the present invention will be described in detail with reference to the drawings. Note that the present invention is not limited by the embodiment.

(1st Embodiment)
FIG. 1 is a schematic block diagram showing a heating device 10a according to a first embodiment of the present invention and a work 16 as a heated portion thereof. First, the work 16 will be described.

  The work 16 is a part of the work body 12. The work body 12 has a flat plate 14, a work 16 which is a portion to be heated, and a brazing material 18. The flat plate 14 is a plate material having a large area. The work 16 is provided to stand on the flat plate 14. The brazing material 18 has a thin plate shape, is laid on the work 16, and is the same as or slightly wider than the bottom surface of the work 16. The flat plate 14 and the work 16 are made of the same metal, for example, copper, aluminum, or stainless steel.

  The work 16 includes, for example, a plurality of plate portions 16a and a column portion 16b provided between adjacent plate portions 16a. The plate portion 16a is a plate-like member longer in the X direction than the column portion 16b and thinner in the Y direction. The pillar 16b has a square cross section, for example, and is higher in the Z direction than the plate 16a. A plurality of works 16 are provided in parallel at fixed positions on the flat plate 14. In the work 16, the plate portions 16a and the column portions 16b are alternately arranged along the X direction, and their heat capacities are not uniform. The difference in shape between the plate portion 16a and the column portion 16b is stored in shape data 50b described later. The material of the plate portion 16a and the material of the column portion 16b may be different, but the information is stored in physical property data 50a described later. The work 16 is mainly heated by the heating device 10a in the work body 12, but the brazing material 18 can also be heated. Therefore, since the brazing material 18 is also a heated portion, the brazing material 18 may be treated as a part of the work 16.

  Next, the heating device 10a will be described. The heating device 10a roughly includes a control unit 28, a mechanism unit 30, and an interface group 32 provided therebetween. The mechanism unit 30 includes a heating unit (heating body) 20, a temperature sensor 22, a position sensor 24, and a robot (moving means) 26. The heating unit 20 has a substantially U-shaped base body 20a opening downward, and a heating coil 20b wound around a pair of tips of the base body 20a. The heating unit 20 is considerably smaller than the work 16. The pair of heating coils 20b are connected in series, so that the heating capacity can be easily adjusted. The base body 20a is made of a magnetic material. The heating unit 20 is disposed so as to straddle the work 16 from above, and can supply the high-frequency current to the heating coil 20b to heat the work 16 on the principle of induction heating. The heating unit 20 is arranged at a non-contact position with respect to the flat plate 14, the work 16 and the brazing material 18 by the robot 26. The heating unit 20 may be another electric type (electricity is a driving source and includes a magnetic type) heating body.

  The temperature sensor 22 and the position sensor 24 are provided integrally with the heating unit 20. The temperature sensor 22 is a sensor that measures the surface temperature of the work 16 at a location heated by the heating unit 20 in a non-contact manner, and is, for example, an infrared detection type. The position sensor 24 is a sensor that measures the distance between the work 16 and the heating coil 20b in a non-contact manner, and is, for example, a proximity sensor. It is assumed that the robot 26 has a sensor for measuring the position of the heating unit 20 in the X direction. The position in the X direction measured by this sensor is supplied to the control unit 28.

  The heating unit 20 is connected to the robot 26 via a moving table 34. The robot 26 is of a rectangular coordinate type, and can move the heating unit 20 in the horizontal X and Y directions and the vertical Z direction. The robot 26 reciprocates the heating unit 20 a plurality of times along the work 16 over the entire length thereof, and heats the work 16 by the heating unit 20 during the reciprocation. The work 16 extends in the X direction, and during the heating process, the operation of the robot 26 basically requires only the X-axis operation. The heating unit 20 only needs to be relatively movable with respect to the work 16.

  The interface group 32 includes a temperature controller 36, a driver 38, a position sensor amplifier 40, and an inverter 42. These are independent structures, but are collectively referred to as an interface group 32 for convenience of explanation. The temperature controller 36 supplies the temperature information measured by the temperature sensor 22 to the control unit 28. The driver 38 drives the robot 26 under the action of the control unit 28, and controls the position and speed of the moving table 34. The position sensor amplifier 40 supplies the distance measured by the position sensor 24 to the control unit 28. The inverter 42 supplies a high-frequency current to the heating coil 20b under the operation of the control unit 28.

  The control unit 28 is mainly configured by a computer 44, and includes the computer 44, a display 46, an input device 48, a database 50, and a storage device 52. The display 46 displays the operation state of the mechanism unit 30. The input device 48 allows an operator to set operating conditions for heating the work 16.

  In the database 50, physical property data 50a and shape data 50b of the work 16 are recorded. The physical property data 50a is data on physical properties (for example, material, density, thermal conductivity, specific heat) of each part of the work 16. The shape data 50b is data such as the width, height, and length of each part of the work 16. The physical property data 50a and the shape data 50b may include the data of the brazing material 18. These physical property data 50a and shape data 50b are input from the input device 48, or are loaded from communication means or a storage medium. The database 50 and the storage device 52 are accessible from the computer 44.

The computer 44 has a temperature prediction unit 54, a deviation prediction unit 55, and a current command unit 56. Based on the current temperature T0 of the work 16 measured by the temperature sensor 22 and the information on the physical property data 50a and the shape data 50b, the temperature predicting unit 54 sets the destination temperature of the work 16 at the destination where the heating unit 20 moves for a fixed time Δt. Predict T1. Deviation estimation unit 55 predicts the destination temperature deviation epsilon ₁ and a target temperature Tp destination temperature T1 Prefecture. Current command unit 56 gives a current command to the inverter 42 based on the destination temperature deviation epsilon _1.

  The storage device 52 stores a program for controlling the heating device 10a, operation data of the heating unit 20, and the like. The heating unit 20 reciprocates in the X-axis direction a plurality of times along the work 16 based on the operation data. When a plurality of works 16 are arranged in parallel, after heating of a certain work 16 is completed, the heating unit 20 is raised in the Z direction, and is moved in the Y direction until it reaches above the adjacent work 16. Is lowered.

  The control unit 28 can use general-purpose products as hardware. A part or all of the control unit 28 may be realized by software, for example, by causing a processing device such as a CPU (Central Processing Unit) to execute a program, or may be realized by a hardware such as an IC (Integrated Circuit). It may be realized by hardware, or may be realized by using software and hardware together.

  Next, the operation of the heating device 10a will be described.

  In step S1 of FIG. 2, the physical property data 50a and the shape data 50b of the work 16 are input or loaded. Since these data are mainly used in step S8, the flow of this information is clearly indicated by broken lines in FIG. In step S2, heating conditions for the work 16 are set. This setting includes, for example, setting of the target temperature Tp, setting of the driver 38 and the inverter 42, operation setting of the heating unit 20, and the like. Then, the heating operation is started in step S3. The target temperature Tp is basically set to an equal value over the entire length of the work 16.

  In step S4, the heating unit 20 is reciprocated by the robot 26 along the X direction. In step S5, the position sensor 24 mainly checks the X-direction position and the Y-direction position, and returns to step S4 to continue the movement while adjusting the position. Steps S4 and S5 are performed to some extent independently of the computer 44 under the action of the driver 38. The position information obtained by the position sensor 24 in step S5 is supplied to step S8. In FIG. 2, this information flow is indicated by a broken line.

In step S6, and supplies a current command value is a current command portion 56 based on the destination temperature deviation epsilon ₁ to the inverter 42. Destination temperature deviation epsilon ₁ is determined in step S8 in the loop. The inverter 42 supplies a high-frequency current to the heating coil 20b based on the current command value, and the heating coil 20b generates a magnetic field. A response time Δtres physically occurs from the time when the temperature sensor 22 measures the current temperature T0 to the time when the inverter 42 adjusts the high-frequency current by the current command. Destination temperature deviation epsilon ₁ is asked to proactively compensate for the response delay, so that the feed-forward control is performed. In the heating device 10a, the constant time Δt is adjusted to the response time Δtres, and the response delay is compensated. However, the constant time Δt may be set to a value different from the response time Δtres depending on conditions.

  In step S7, the current temperature T0 of the work 16 at the location where the heating unit 20 exists is measured by the temperature sensor 22.

  In step S8, the temperature prediction unit 54 calculates a correction coefficient. The correction coefficient is a coefficient for obtaining the destination temperature T1 predicted at the destination from the current temperature T0. The current temperature T0 is the temperature at the local point at the current time, while the destination temperature T1 is the temperature at the destination (Vt × ΔT) after the fixed time Δt, and the time and location are different. The destination temperature T1 is predicted for the following reason.

  That is, since the heating unit 20 is considerably smaller than the work 16, in order to reduce the influence of heat radiation of the work 16, it is preferable that the heating unit 20 be reciprocated to some extent to shorten the heating interval. However, when the speed Vt is increased, the moving destination after the fixed time Δt becomes farther, and the moving destination temperature T1 may be different from the current temperature T0. In particular, when the heat capacity of the work 16 is not uniform depending on the part, it is considerably large. May be different. Therefore, it is not appropriate to use the current temperature T0 as it is for the destination temperature control, and it is desirable to predict the destination temperature T1.

  In the prediction of the movement destination temperature T1, first, a correction coefficient is obtained based on the physical property data 50a and the shape data 50b of the work 16 input in step S1 (step S8). For example, the accuracy of the correction coefficient is further improved when the difference in heat capacity between the local point and the destination is determined from the specific heat and the width, and the amount of heat released during the fixed time Δt is also taken into consideration.

  In step S9, the temperature predicting unit 54 predicts the destination temperature T1 by correcting the current temperature T0 with a correction coefficient.

In step S10, checks the current temperature deviation epsilon ₀ between the target temperature Tp and the current temperature T0, the if the current temperature deviation epsilon ₀ is 0 moves to (Y) step S11, 0 if not (N) to step S6 Return. The current temperature deviation ε ₀ is an absolute value. In practice, this temperature comparison is performed with a certain margin based on the allowable upper limit temperature Ui and the allowable lower limit temperature Li (see FIG. 3). In Step S10, previously obtained even destination temperature deviation epsilon ₁ the visited temperature T1 and the predicted target temperature Tp by deviation estimation unit 55. Destination temperature deviation epsilon ₁ is used in step S6.

  In step S11, it is checked whether a predetermined heating time has ended. If the heating time has ended (Y), the process is ended, and if not, (N) the process returns to step S6 to continue the process. The heating time is an elapsed time from when the temperature condition in step S10 is satisfied. With the end of the heating process, the moving process of the heating unit 20 is also ended. At this point, the work 16 and the brazing material 18 constituting the work 16 are uniformly and appropriately heated over the entire length, and the brazing material 18 does not remain unmelted. When the heating by the heating device 10a is stopped, the brazing material 18 is solidified again, and the work 16 and the flat plate 14 are brazed.

As described above, in the heating device 10a, the temperature predicting unit 54 performs the operation after the fixed time Δt of the heating unit 20 based on the physical property data 50a and the shape data 50b of the work 16 and the current temperature T0 measured by the temperature sensor 22. The destination temperature T1 at the destination is predicted. Then, giving a current command to the inverter 42 based on the destination temperature deviation epsilon ₁ the visited temperature T1 and the predicted target temperature Tp in the current command unit 56. Thereby, the heating device 10a can be applied to the work 16 of various shapes and sizes, and has high versatility. Further, even when the heat capacity of the work 16 is not uniform at each part and the speed Vt of the heating unit 20 is somewhat high, the temperature control at the moving destination after the fixed time Δt can be appropriately performed, and the work 16 has a total length. , And the temperature can be prevented from reaching the target temperature Tp or being excessively heated depending on the location. Further, it becomes possible to control the heating to the target temperature Tp in a short time.

  Further, the heating unit 20 of the heating device 10a is smaller and more compact than the work 16, and is relatively moved with respect to the work 16, so that the size of the work 16 is less restricted. Since the heating unit 20 is of an induction heating type and does not heat the atmosphere of the work 16, the efficiency is high.

  Furthermore, as shown by the solid line graph L1 in FIG. 3, the temperature T at any position has almost no variation, and shows a stable behavior during the temperature rise and after reaching the target temperature Tp. On the other hand, when there is no operation by the temperature predicting unit 54 or the current commanding unit 56, there is a large variation as shown by the imaginary line graph L2. Becomes The solid line graph L1 is the same for the heating devices 10b, 10c, and 10d described later.

(2nd Embodiment)
Next, a heating device 10b according to a second embodiment of the present invention will be described. The heating device 10b is a modified example of the above-described heating device 10a. The basic configuration is the same as that of the heating device 10a, and the processing in the computer 44 is different. The processing in the heating device 10b will be described with reference to the schematic block diagram of FIG.

In the heating device 10 b, the current temperature deviation ε ₀ between the current temperature T 0 of the work 16 measured by the temperature sensor 22 and the target temperature Tp is obtained by the current temperature deviation calculator 60.

On the other hand, a process function Pd based on the physical property data 50a, the shape data 50b, and the heat amount Ht released from the surface of the work 16 is derived. The process function Pd is further taken into account by the deviation estimating unit 62 after taking into account the moving destination with the response time (Δtres) from the current position Pp of the heating unit 20 to the adjustment of the high-frequency current supplied to the heating coil 20b. to act on the temperature deviation epsilon ₀ predicting a destination temperature deviation epsilon ₁ in. Destination temperature deviation epsilon ₁ is output as a current instruction from the control unit 28 after applying the G (s) is a predetermined transformation and compensation. The current command is supplied to the inverter 42, the work 16 is further heated by the heating unit 20, the current temperature T0 is measured by the temperature sensor 22, and fed back to the control unit 28. In FIG. 4, the elements of this feedback path are collectively represented as H (s).

Thus heating devices 10b, destination temperature deviation epsilon ₁ may be obtained by applying a process function Pd to the current temperature deviation epsilon _0. Note that although the destination temperature deviation epsilon ₁ and obtains the difference between the target temperature Tp after obtaining the destination temperature T1 by the correction coefficient from the above-described heating device 10a current temperature T0, depending on the way of the process anyway destination temperature deviation epsilon ₁ may if predicted not. That is, the prediction source parameters may be the moving destination temperature T1 even current temperature deviation epsilon _0, means for obtaining a destination temperature deviation epsilon ₁ from which may be used may to correction coefficient using a function. The same applies to the heating devices 10c and 10d described below.

(Third embodiment)
Next, a heating device 10c according to a third embodiment of the present invention will be described. FIG. 5 is a schematic block diagram showing the heating device 10c. In the heating device 10c, the same components as those in the above-described heating device 10a are denoted by the same reference numerals, and detailed description thereof will be omitted. The work 16 to be heated is the same as the above.

  As shown in FIG. 5, in the heating device 10c, the database 50 in the heating device 10a is omitted. The computer 44 includes a temperature distribution measuring unit 70 and a temperature difference calculating unit 72 in addition to the temperature predicting unit 54, the deviation predicting unit 55, and the current command unit 56.

The temperature distribution measuring unit 70 measures the temperature of the work 16 with the temperature sensor 22 while heating the work 16 by reciprocating the heating unit 20 along the work 16, and calculates the temperature distribution according to the moving position Pn of the heating unit 20. The calculated value is stored in the storage device 52. Temperature difference calculation section 72 calculates the temperature difference between the determined temperature distribution and its average value Av .DELTA.Ti n _(correlation data) in accordance with the movement position Pn.

The temperature prediction unit 54 in the heating device 10a predicts the destination temperature T1 based on the physical property data 50a, the shape data 50b, and the current temperature T0, whereas the temperature prediction unit 54 in the heating device 10c includes a temperature distribution measurement unit. a temperature difference .DELTA.Ti _n determined at 70 and the temperature difference calculating unit 72 predicts the destination temperature T1 based on the current temperature T0.

  Next, the operation of the heating device 10c will be described.

  In step S101 of FIG. 6, data of the shape of the work 16 is input. This data is simpler than the above-described shape data 50b. For example, only the length of the work 16 in the X direction may be input. Steps S102 to S103 are the same as steps S2 to S5 described above.

In step S106, it supplies the current command value is a current command portion 56 based on the destination temperature deviation epsilon ₁ to the inverter 42. Destination temperature deviation epsilon ₁ is determined in step S108 in the loop. However, until the heating unit 20 is several times or for a predetermined time immediately after the start of heating (for example, several seconds) back and forth the temperature distribution measuring unit 70 obtains the temperature distribution (see FIG. 7) is the destination temperature deviation epsilon ₁ Instead, a fixed value may be used as the current command. In step S107, the current temperature T0 is obtained as in step S7.

In step S108, the temperature distribution measurement unit 70 acquires the temperature data Ti of the work 16 according to the movement position Pn, and stores it in the storage device 52. That is, as shown by the black circles in FIG. 7, data of the temperature distribution corresponding to the movement positions P1, P2,. The temperature difference calculator 72 with the average value Av of these temperature data, stores seeking temperature difference .DELTA.Ti _n and the average value Av and the temperature data Ti. As shown in FIG. 7, the temperature data Ti may vary depending on the movement positions P1, P2... Pn. This is because the heat capacity of the work 16 as the work 16 is not uniform depending on the part. That is, the temperature difference .DELTA.Ti _n shown in FIG. 7 is a correlation between the heat capacity of each part of the work 16 has a higher data.

The acquisition of the temperature distribution in the step S108, and obtains the temperature difference .DELTA.Ti _n may be performed at various timings depending on the conditions. For example, during the time when the heating unit 20 reciprocates several times after the start of the heating, the step S106 may be performed when the current command is output as a fixed value, and thereafter, the process may be stopped. Further, the temperature distribution may be updated every time during the heating operation by the moving average. In any case, the difference in the heat capacity of each part of the work 16 depending on the part may be reflected so that data having a correlation with the heat capacity may be obtained.

In step S109, a correction coefficient is calculated. This process is substantially the same as the step S8 in the above, while seeking a correction factor based on the step S8 property data 50a and shape data 50b, determined on the basis of the step S109 the temperature difference .DELTA.Ti _n. That is, the temperature difference .DELTA.Ti _n is because it is based on the difference in heat capacity due to the site of the work 16 can be utilized in place of the physical property data 50a and shape data 50b.

  In step S110, as in step S9, the temperature prediction unit 54 corrects the current temperature T0 with a correction coefficient and predicts the destination temperature T1.

Steps S111 and S112 are the same as steps S10 and S11 described above. If the current temperature deviation ε ₀ is not 0 at step 111 (N), the process returns to step S 106 to continue the heating process. In step S111, previously obtained even destination temperature deviation epsilon ₁ the visited temperature T1 and the predicted target temperature Tp by deviation estimation unit 55. Destination temperature deviation epsilon ₁ is used in step S106.

  According to such a heating device 10c, similarly to the above-described heating device 10a, even when the heat capacity of the work 16 is not uniform at each part, and even when the speed Vt of the heating unit 20 is somewhat high, the movement after the fixed time Δt Temperature control at the position can be appropriately performed. Further, it is not necessary to input the physical property data 50a and the shape data 50b as in the heating device 10a.

(Fourth embodiment)
Next, a heating device 10d according to a fourth embodiment of the present invention will be described. The heating device 10d is a modification of the above-described heating device 10c. The basic configuration is the same as that of the heating device 10c, and the processing in the computer 44 is different. The processing in the heating device 10d will be described with reference to the schematic block diagram of FIG.

In the heating receiver 10d, the seek current temperature deviation epsilon ₀ the current temperature T0 and target temperature Tp measured by the temperature sensor 22 at the current temperature deviation calculator 60.

On the other hand, it derives the process function Pd based on the amount of heat Ht released the temperature distribution described above, the surface temperature difference .DELTA.Ti _n and the workpiece 16. The deviation predicting unit 62 further adds the process function Pd to the deviation predicting unit 62 after taking into account the moving destination in the time (Δt) from the current position Pp of the heating unit 20 to the adjustment of the high-frequency current supplied to the heating coil 20b. to act on the deviation epsilon ₀ predicting a destination temperature deviation epsilon ₁ in. Subsequent G (s) and H (s) are the same as in FIG. The same effect as the above-described heating device 10c can be obtained in such a heating device 10d.

  The present invention is not limited to the above-described embodiment, and can be freely modified without departing from the gist of the present invention.

10a, 10b, 10c, 10d Heating device 12 Work body 16 Work 16a Plate 16b Column 18 Brazing material 20 Heating unit (heating body)
22 temperature sensor 26 robot (moving means)
28 control unit 42 inverter 44 computer 50 database 50a physical property data 50b shape data 54 temperature prediction unit 55 deviation prediction unit 56 current command unit 60 current temperature deviation calculation unit 62 deviation prediction unit 70 temperature distribution measurement unit 72 temperature difference calculation unit T0 current temperature T1 destination temperature Tp target temperature Vt speed epsilon ₀ current temperature deviation epsilon ₁ destination temperature deviation .DELTA.Ti _n temperature difference (correlation data)

Claims (10)

In the heating device that heats the work to the target temperature,
An electric heating element for heating the work,
Moving means for relatively moving the heating body along the work,
A temperature sensor for measuring a temperature of a heated portion of the work by the heating body,
An inverter for adjusting a current supplied to the heating element,
A control unit for controlling the inverter,
Has,
The control unit, based on the physical property data of the work, the shape data of the work, and the current temperature measured by the temperature sensor, the target temperature and the destination temperature at the destination after a fixed time of the heating element. A heating device for estimating a destination temperature deviation of the target and giving a current command to the inverter based on the destination temperature deviation. The heating device according to claim 1,
The control unit includes:
Temperature prediction unit for predicting the destination temperature based on the physical property data of the work, the shape data of the work and the current temperature,
A deviation prediction unit that predicts the destination temperature deviation from the target temperature and the destination temperature,
A current command unit that gives a current command to the inverter based on the destination temperature deviation,
A heating device comprising: The heating device according to claim 1,
The control unit includes:
A current temperature deviation calculation unit for obtaining a current temperature deviation between the target temperature and the current temperature,
A deviation prediction unit that predicts the destination temperature deviation based on the physical property data of the work, the shape data of the work, and the current temperature deviation,
A current command unit that gives a current command to the inverter based on the destination temperature deviation,
A heating device comprising: The heating device according to any one of claims 1 to 3,
The heating device, wherein the control derives a heat capacity of the destination from the physical property data and the shape data, and predicts the destination temperature deviation based on the heat capacity. The heating device according to any one of claims 1 to 4,
A database that stores the shape data and the physical property data,
The heating device, wherein the control unit reads the shape data and the physical property data from the database. In the heating device that heats the work to the target temperature,
An electric heating element for heating the work,
Moving means for relatively moving the heating body along the work,
A temperature sensor for measuring a temperature of a heated portion of the work by the heating body,
An inverter for adjusting a current supplied to the heating element,
A control unit for controlling the inverter,
Has,
The control unit stores, in a storage unit, correlation data having a correlation with a heat capacity of the work according to a movement position of the heating body,
Based on the correlation data and the current temperature measured by the temperature sensor, predicting a destination temperature deviation between the target temperature and a destination temperature at a destination after a predetermined time of the heating element, the destination temperature deviation A current command is given to the inverter based on the following. The heating device according to claim 6,
The control unit includes:
A temperature prediction unit for predicting the destination temperature based on the correlation data and the current temperature,
A deviation prediction unit that predicts the destination temperature deviation from the target temperature and the destination temperature,
A current command unit that gives a current command to the inverter based on the destination temperature deviation,
A heating device comprising: The heating device according to claim 6,
The control unit includes:
A current temperature deviation calculation unit for obtaining a current temperature deviation between the target temperature and the current temperature,
A deviation prediction unit that predicts the destination temperature deviation based on the correlation data and the current temperature deviation,
A current command unit that gives a current command to the inverter based on the destination temperature deviation,
A heating device comprising: The heating device according to any one of claims 6 to 8,
The control unit includes:
A temperature distribution measurement unit that measures the temperature of the work with the temperature sensor while heating the work by reciprocating the heating body along the work, and obtains a temperature distribution according to a moving position of the heating body,
A temperature difference calculation unit that determines the temperature difference between the determined temperature distribution and the average value according to the movement position and determines the correlation data;
A heating device comprising: The heating device according to any one of claims 1 to 8,
The heating device according to claim 1, wherein the fixed time is a response time from when the temperature sensor measures the current temperature to when the inverter adjusts a high-frequency current according to the current command.

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