JP2771571B2 - Bending and welding combined processing equipment - Google Patents

Description

Description: BACKGROUND OF THE INVENTION (Industrial application field) The present invention relates to a combined working apparatus for performing bending by a bending apparatus and welding by a laser processing machine.

(Prior Art) In recent years, with the spread of laser processing machines, a gap sensor has been provided in a processing head in order to perform laser processing more efficiently.

That is, generally, in a laser processing machine, the distance between the nozzle of the processing head and the work must be constant, so for example, a capacitance type gap sensor is provided in the nozzle, and the distance to the work is always kept constant during processing. Has been done.

On the other hand, laser processing machines are equipped with a visual sensor such as a CCD camera, and images of fiducial marks such as holes that have already been processed are taken to create laser processing standards, and laser processing with higher precision has been realized. Have been.

(Problems to be Solved by the Invention) However, in the processing head of the conventional laser processing machine, although a gap sensor is provided and a visual sensor is separately provided, these sensors are separate. There is a problem that the two are not related to each other and the range of use of the visual sensor is limited.

For example, when laser welding is performed by properly controlling the clearances of flange portions that intersect each other in a workpiece that has been bent by a bending device, when the clearance of the welded portion is detected by a visual sensor, the detection of the clearance is performed. Therefore, it is necessary to move the work with respect to the visual sensor and to move the work again with respect to the nozzle after the detection of the visual sensor.

Therefore, it is troublesome to detect the clearance by a visual sensor, and when the clearance between the flange portions to be laser-welded is large, the work must be bent again, and the flange portion where the work intersects the flange portion. There is a problem in that laser welding while properly maintaining the clearance between them is very troublesome.

(Means for Solving the Problems) In view of the conventional problems as described above, the present invention relates to a method in which a nozzle of a processing head in a laser processing machine is provided with a distance to a work bent by upper and lower dies in a bending apparatus. A non-contact type gap sensor for detecting the distance between the workpiece and the nozzle in order to keep the distance to the workpiece detected by the gap sensor at a constant value. Means, a visual sensor for directly imaging a clearance between mutually intersecting flange portions of the work to be welded by the laser beam emitted from the nozzle is provided in the processing head, and the clearance detected by the visual sensor is provided. Control the bending device so that the clearance is equal to or smaller than a preset clearance amount. This is a configuration to be performed.

(Example) Hereinafter, an example of the present invention will be described in detail.

Referring to FIG. 2 and FIG. 3, a bending welding combined working apparatus 1 includes a press brake 3 as a bending working apparatus.
And a laser processing machine 5 for performing heat welding and cutting.

On both sides of the lower frame 7D of the press brake 1, for example, C-shaped side frames 7R and 7L are provided. In the lower part on the front side of these side frames 7R and 7L,
Vertically movable lower apron 9 is provided to the appropriate height position by the driving device M _D omissions based on the detection position of the position detecting device E _D shown in FIG. 8. Side frame 7R, 7L
An upper apron 11 is fixedly provided on the upper front side of the vehicle. A lower mold (die) 15 is mounted on the lower apron 9 via a support member 13. The upper apron
At the lower part of 11, an upper mold (punch) via a support member 17
19 are installed.

With the above configuration, the work to be processed is placed on the lower mold 15 and the lower apron 9 is moved up and down with respect to the upper apron 11. Will be done.

Wherein the right side of the press brake 3 are a laser oscillator power source 21 is disposed in the laser processing machine 5, the laser oscillator 23 on the laser oscillator power source 21 is made of, for example, CO ₂ gas laser is provided, the oscillation instruction section L _S When an oscillation command is input to the nozzle 93, a laser beam is output from the nozzle 93.

Referring further to FIG. 4, the upper apron
A support plate 25 extending in the left-right direction (hereinafter, referred to as an X-axis direction) is provided on the front surface of the support 11. A plurality of parallel X-axis linear guides 27 extending in the X-axis direction are provided on the front surface of the support plate 25. Is provided. The X-axis linear guide 27 is provided so that the X-axis moving body 29 can be moved in the X-axis direction. The X-axis moving body 29 is provided with an X-axis motor (servo motor) 31 for moving the X-axis moving body 29 in the X-axis direction.

An X-axis pinion 33 is attached to the output shaft of the X-axis motor 31. An X-axis rack 35 extending in the X-axis direction is provided on the front surface of the support plate 25, and the X-axis pinion 33 is engaged with the X-axis rack 35.

With the above configuration, when the X-axis motor 31 is driven, the X-axis pinion 33 rotates. X-axis pinion 33 is X-axis rack 35
When the X-axis pinion 33 rotates,
The X-axis moving body 29 is guided by the X-axis linear guide 27 via the X-axis rack 35 and is moved in the X-axis direction.

On the right side in FIG. 4 of the X-axis moving body 29, there is integrally provided a Z-axis guide 37 extending in the vertical direction (hereinafter referred to as the Z-axis direction). One end of an extendable laser beam guide 39 is mounted on the upper part of the Z-axis guide 37, and the other end of the laser beam guide 39 is mounted on the left side surface of the laser oscillator body 23. An X-axis bend mirror 41 is built in the upper part of the Z-axis guide 37.

The Z-axis guide 37 is provided with a Z-axis column 43 extending in the Z-axis direction and movable in the Z-axis direction. Also,
A Z-axis motor (servo motor) 45 is provided on a lower side surface of the Z-axis guide 37, and a Z-axis pinion 47 is attached to an output shaft of the Z-axis motor 45.

On the other hand, the Z-axis column 43 is provided with a Z-axis rack 49 extending in the Z-axis direction, and the Z-axis pinion 47 is engaged with the Z-axis rack 49.

With the above configuration, when the Z-axis motor 45 is driven, the Z-axis pinion 47 is rotated. Since the Z-axis rack 49 is meshed with the Z-axis pinion 47, when the Z-axis pinion 47 rotates, the Z-axis column 43 is moved in the Z-axis direction via the Z-axis rack 49.

One end of a Y-axis guide 51 is attached to the lower end of the Z-axis column 43, and a Z-axis bend mirror 53 is provided at the lower end of the Y-axis guide 51. A Y-axis motor (servo motor) 55 is provided above the other end of the Y-axis guide 51. A Y-axis pinion 57 is attached to the output shaft of the Y-axis motor 55.

The Y-axis guide 51 is provided movably in the Y-axis direction on a Y-axis moving body 59 extending in the left-right direction (hereinafter, referred to as the Y-axis direction) in FIG. At the upper part, a Y-axis rack 61 extending in the Y-axis direction is provided. The Y-axis rack 59 is engaged with the Y-axis pinion 57.

With the above configuration, when the Y-axis motor 55 is driven, the Y-axis pinion 57 is rotated. Since the Y-axis rack 61 is engaged with the Y-axis pinion 57, when the Y-axis pinion 57 rotates, the Y-axis moving body 59 is moved in the Y-axis direction via the Y-axis rack 61.

3, the lower end of the A-axis rotating body 63 is mounted on the left end of the Y-axis moving body 59, and the Y-axis bending mirror 65 is provided on the lower end of the A-axis rotating body 63. A motor base 67 is provided below the A-axis rotating body 63, and an A-axis motor (servo motor) 69 is provided on the motor base 67. An A-axis pinion 71 is attached to the output shaft of the A-axis motor 69, and an A-axis gear 73 is meshed with the A-axis pinion 71.

With the above configuration, when the A-axis motor 69 is driven, the A-axis pinion 71 is rotated. A-axis gear on A-axis pinion 71
Since the 73 is engaged, when the A-axis pinion 71 rotates, the A-axis rotating body 63 is rotated in the A-axis direction via the A-axis gear 73 as shown by the arrow.

As shown in FIG. 6, an A-axis fixed body 75 is provided in the A-axis rotating body 63, and a hollow cylindrical body 77 extending in the Z-axis direction is provided at the axis of the A-axis fixed body 75. Is provided. A B-axis rotating body 79 is provided above the hollow cylindrical body 77.

A B-axis motor (servo motor) 81 is provided on the upper left side of the A-axis rotating body 63 in FIG. 1, and a B-axis pinion 83 is attached to the output shaft of the B-axis motor 81.
On the other hand, the B-axis rotating body 79 is provided with a B-axis gear 85. The B-axis gear 85 is engaged with the B-axis pinion 83. An A-axis bend mirror 87 is provided above the B-axis rotator 79, as shown in FIG.

With the above configuration, when the B-axis motor 81 is driven, the B-axis pinion 83 is rotated. B-axis gear on B-axis pinion 83
When the B-axis pinion 83 rotates, the B-axis rotator 79 is rotated in the B-axis direction via the B-axis gear 85 as indicated by the arrow in FIG.

As shown in FIGS. 5 and 6, the B-axis rotating body 79 is provided with a C-axis moving body 89, and a nozzle is provided above the C-axis moving body 89 via a nozzle holder 91. 93 is installed. The C-axis moving body 89 has a B-axis bend mirror 95
Is built-in. Further, a condenser lens 97 is built in the nozzle holder 91.

A C-axis motor (servo motor) 99 is provided below the C-axis moving body 89.
A shaft pinion 101 is mounted. On the other hand, a C-axis rack 103 extending in the Z-axis direction is provided below the B-axis rotating body 79.
The C-axis rack 103 is engaged with the C-axis pinion 101. The C-axis moving body 89 is provided with a C-axis linear guide 105 as shown in FIG.

With the above configuration, when the C-axis motor 99 is driven, the C-axis pinion 101 rotates. Since the C-axis rack 103 is engaged with the C-axis pinion 101, when the C-axis pinion 101 rotates, the C-axis moving body 89 is guided by the C-axis linear guide 105 via the C-axis rack 103, and the fourth It is moved in the C-axis direction as indicated by the arrow shown in the figure.

Below the nozzle holder 91, for example, a capacitance type gap sensor 107 is integrally mounted. Therefore, when the C-axis moving body 89 is moved in the C-axis direction, the gap sensor 107 is also moved in the C-axis direction.

The C-axis motor 99 is provided with a C-axis motor main body 109 and a C-axis potentiometer 111, and the gap amount when the gap sensor 107 detects a gap indicates the C-axis potentiometer 111. Will be detected. It should be noted that more specific details are already known, and thus description thereof will be omitted.

As shown in FIGS. 1 and 7, the side surfaces of the C-axis motor 99 have flange portions which intersect each other in a box bending work, which will be described in detail later, via a substantially U-shaped bracket 113. A CCD camera 115 as a visual sensor is attached to detect a clearance between the butting ends of the cameras. In addition, a light source body is appropriately provided in the vicinity of the CCD camera 115 for ensuring illuminance when the clearance between the butting ends of the flange portions that intersect each other is detected by the CCD camera 115.

With the above configuration, the nozzle 93 attached to the tip of the C-axis moving body 89 is moved in the X-axis, Y-axis, and Z-axis directions, is rotated in the A-axis and B-axis directions, and is further moved in the C-axis direction. The Rukoto.

The laser beam LB oscillated by the laser beam oscillator 23 is sequentially reflected by the X-axis bend mirror 41, the Z-axis bend mirror 53, the Y-axis bend mirror 65, the A-axis bend mirror 87, and the B-axis bend mirror 95 and collected. The light is focused by the optical lens 97. The laser beam LB condensed by the condensing lens 97 is radiated from the nozzle 93 between the butting ends of the flange portions that intersect with each other to perform laser welding by thermal melting.

FIG. 8 is a block diagram of a control device for controlling the bending welding composite device.

The control device of the present embodiment is configured by connecting NC devices 117 and 119 for controlling the press brake 3 and the brake processing machine 5 with a serial communication circuit 121.

The press brake NC device 117 is configured to bend the position (depth) based on the bending conditions input from a manual data input device (MDI device) as an input device, that is, the material, thickness, shape, presence or absence of welding, and the like of the work W. ) And a bending signal setting unit 123 for setting a signal for driving each actuator, a programmable controller 125, and a lower apron 9 while obtaining a feedback signal of an encoder Eb for detecting a moving amount of the lower apron LG. the D-axis drive section 127 for driving the D-axis control device M _D, the communication unit 12 connected to the line 121
9 is configured.

On the other hand, the NC device 119 of the laser processing machine 5 includes a servo control unit that controls the servo motors 31, 55, 45, 69, and 81 of the X, Y, Z, A, and B axes.
Based on an input signal from the gap sensor 107 and the input signal from the gap sensor 107, the C-axis motor 99 is controlled to follow the workpiece W, and the CCD camera 115 is controlled.
A sensor signal processing unit 137 that captures the image pickup signal via the image processing device 133 and processes the signal while appropriately interlocking with the programmable controller 135, and a communication unit 139 connected to the line 121.

The servo control unit 131 inputs the welding conditions input from the MDi device via the line 121, and places the tip of the nozzle 93 in the vicinity of the welding portion, for example, a spatial position separated by 10 mm, that is, only by the C-axis drive thereafter. The waiting position at which welding can be started is determined using a coordinate exchange formula as appropriate, and the drive amount is distributed to each motor.
Further, after the start of welding, so as to move along the tip of the nozzle 93 to the weld line of the welded portion W _S, it distributes the predetermined amount of movement to the motors.

The programmable controllers 125 and 135 receive a signal from each sensor including a limit switch (not shown) and perform a series of sequence processing so as to appropriately operate each actuator including a solenoid (not shown).

As shown in FIG. 9, the press brake NC device 11
7 sets the positioning position of the die 15 based on the input bending conditions (step 901).

That is, here, the moving position of the die 15 is determined in accordance with the shape of the die 15, the bending angle of the work, and the thickness of the work in order to bend the work to a predetermined angle.

In the next step 902, the die 15 is moved to the set position.
The lower apron 9 is raised to move. In this case, the rising speed of the lower apron 9 is fast at the beginning, slow at the middle, and slow at the end. The final position is such that an amount α corresponding to the springback amount is added from the set position D ₀ .

When the movement to the predetermined position D ₀ + α is completed in Step 903, the apron 9 is lowered until Step D 905 determines that D = D ₀ , in order to remove the distortion due to the spring back in Step 904.

As described above, the tentative bending is completed. In step 906, a signal indicating the end of the bending is output to the NC device 119 of the laser processing machine.

Note that this example shows an example in which welding is performed after bending, but when the welding is to be performed and the next bending process is to be performed, the lower apron 9 is lowered to the lower end in step 904, and this is performed. The bending process is completed.

In step 907, the work W is kept waiting between the punch 17 and the die 15 until a signal is input from the welding device (laser machine) in step 908.

FIG. 10 is a flowchart of a welding process of the NC device 119 of the laser beam machine executed after the bending process of FIG.

In step 1001, the nozzle 93 and the gap sensor 107
The processing head HD provided with is positioned at a preset waiting position.

The elective position, for example in welding the corners of bending the box shown in FIG. 11, in the vicinity of the maximum width and a position of the welded portion W _S of the bending clearance C that would be gradually reduced in accordance with the operation, The subsequent position is a position where welding can be started by advancing the nozzle 93 by driving only the C-axis.

Therefore, in step 1002, input of the bending end signal shown in step 906 of FIG. 9 is waited, and if this signal is input, the flow shifts to step 1003.

In step 1003, the gap sensor 107 is operated to drive the C axis, and the tip of the nozzle 93
The nozzle 93 of the processing head HD is made to approach the work W until the distance becomes 2 mm.

Therefore, the clearance C, i.e. to detect the amount of clearance C of the gap that would be reduced gradually in accordance with the folding operation at the weld W _S between crossed flange together of the workpiece W by the CCD camera 115 in step 1004, step This clearance amount C is set to a predetermined value C at 1005.
It is determined whether it is ₀ or less. The detection position of the CCD camera 115 can be arbitrarily distant from the workpiece W, but at this time, since axes other than the C axis are not operated, processing can be performed quickly.

The preset clearance amount C ₀ is generally set to 15% of the input plate thickness t, that is, 0.15 t.

When the C> C ₀ at step 1005, still bending proceeds to step 1006 in view of the fact that not enough again outputs a disable NG signal to the NC apparatus 117 of the press brake, again folding of controlling the press brake Step 1001 until bending is done
To return to the waiting position.

If C ≦ C ₀ is determined in step 1005, the eleventh
In the figure, it is meant that the clearance C is suitable for welding and the bending angle is just right, so the process shifts to the welding step of step 1007.

In the welding step 1007, the nozzle shown in FIG.
Outputting a laser beam from the tip 93, to drive the nozzle 93 5 axis X so as to move along a weld line of the welded portion W _S, Y, Z, A, and by an appropriate coordinate conversion formula B. After the end of welding, the processing head HD is moved to a predetermined position, and a welding end signal is output to the NC device 117 of the press brake to shift to the next bending step.

On the other hand, the NC device 117 of the press brake that has received the disable signal NG in step 1006 identifies this in step 908 of FIG. 9, and executes additional processing in step 909.

In this additional processing, the clearance C is set to the set value C _0.
In view of the larger and insufficient bending, the positioning position shown in step 903 is slightly increased by an amount β in order to execute additional bending. The amount β may be a constant value, for example, 0.05 mm, and if insufficient, the amount β may be added again. In addition, in order to perform more efficient work, in addition to the unacceptable signal NG in step 1006 of FIG.
The detected clearance amount C may be transmitted, and the additional amount β may be determined based on the transmission amount C. In this case, the weld W
_If the distance from the bottom of _{S to} the detection unit is 1 and the angle formed by the clearance is Δθ, then l · tanΔθ = C, so the clearance C is set in consideration of Δθ = tanR ⁻¹ (l / C) The additional bending is performed at a stretch so as to be equal to or less than the value C ₀ .

FIG. 12 shows various types of joining methods using corner butt and flat butt.

As understood from the illustrated shapes, the bending and welding processes shown in FIGS. 9 and 10 can be applied to workpieces W of various shapes.

However, the attitude of the nozzle 93 must be determined in accordance with various shapes, and these attitudes can be appropriately calculated according to each shape.

Thus, in the control method of the bending welding combined device of the present embodiment, it is possible to effectively interlock the press brake and a laser processing machine according to the clearance C of the welded portion W _S, to perform folding and welding efficiently Can be.

In addition, since the work W is held between the punch 7 and the die 15 of the press brake in the interlocking operation, the product accuracy is improved.

In the above embodiment it has been adapted to weld the welding portions W _S flocculate which is a spot welding, may be present welding after temporary joining.

In the above-described embodiment, the detection of the clearance C by the CCD camera 115 is performed after the bending process is completed. However, the clearance C is continuously detected during the bending process, and the clearance C is C ≦ (C ₀ −).
Bending is completed under the condition of ΔC ₀ ) (ΔC ₀ is an amount for performing overbending by springback).
You may come to weld.

FIG. 13 shows an embodiment relating to the cutting operation of the laser beam machine 5. That is, the embodiment shows an example of welding by the laser processing machine, capable of performing laser cutting operations such as cutting the unnecessary portions of the weld W _S in the composite device.

Therefore, upon completion laser cutting in step 1301 in the general cutting operations, separated by a predetermined distance G ₀ the nozzle 93 to the workpiece W at step 1302, step 1304
Then, the cutting width C is detected by the CCD camera 115 in exactly the same manner as the detection of the clearance C.

Next, at step 1305, the cutting width C is set to a predetermined range C ₁ to
Determines whether or not contained in the C _2, and outputs a confirmation signal at step 1306 if the range between the C ₁ -C _2. Also, C ₁
Since occur if cutting failures it is outside from -C _2, it executes a failure process such as outputting a step 1307 for example an alarm.

As described above, in this example, the processing and the detection of the processing position can be performed quickly and easily only by the C-axis operation.

Further, in the examples shown in FIGS. 12 and 13, the processing state is intermittently detected before and after the processing operation, but the processing and the detection may be performed simultaneously to execute more rapid processing. It is possible. However, in this case, the nozzle 93 and the work W
The distance between them needs to be such that the CCD camera 115 can approach it.

The present invention is not limited to the above embodiment, but can be implemented in an appropriate mode by making appropriate design changes.

(Effects of the Invention) As can be understood from the above description of the embodiments, in short, the present invention relates to a processing head (H
A non-contact type gap sensor (107) for detecting the distance (G) to the work (W) bent by the upper and lower molds (19, 15) in the bending apparatus is provided to the nozzle (93) of D). ), In order to keep the distance (G) to the work (W) detected by the gap sensor (107) at a constant value, the direction in which the nozzle (93) approaches and separates from the work (W). A visual sensor for directly imaging a clearance (C) between mutually intersecting flange portions of the work (W) to be welded by the laser beam emitted from the nozzle (93). 115) is provided on the processing head (HD), and the clearance (C) detected by the visual sensor (115) is provided.
Is controlled to be equal to or smaller than a preset clearance amount (Co).

As is apparent from the above configuration, in the present invention, the gap sensor 107 for detecting the distance G between the workpiece W and the nozzle 93 of the processing head HD is a non-contact type sensor. Work W to be processed
Is in a state open to the surroundings.

The processing head HD is provided with a visual sensor 115 for directly imaging the clearance C between the mutually intersecting flange portions of the work W to be welded, and the detected clearance C is set to the clearance amount Co. Since the bending device is controlled so as to be equal to or smaller than the above, it is possible to reduce failures caused by the clearance being too large during welding.

[Brief description of the drawings]

FIG. 1 is an enlarged explanatory view showing a working head according to one embodiment of the present invention as viewed from the direction of arrow I in FIG. 4, FIG. 2 is a front view showing one embodiment of a combined bending welding apparatus, and FIG. III in Fig. 2
FIG. 4 is an enlarged detailed view taken along the line IV-IV in FIG. 2, FIG. 5 is a view taken in the direction of the arrow V in FIG. 4, and FIG.
FIG. 7 is a partial cross-sectional view taken along the arrow VI in FIG. 7, FIG. 7 is a view taken in the direction of the arrow VII in FIG. 1, FIG. 8 is a block diagram showing a control device of the bending welding composite apparatus, and FIG. Flowchart, FIG. 10 is a flowchart of the welding process, FIG. 11 is an explanatory diagram of box bending, FIGS. 12 (a), (b), (c), and (d) are explanatory diagrams of a welded portion, and FIG. It is a flowchart of a process. 93 ... Nozzle 107 ... Gap sensor 115 ... CCD camera HD ... Processing head

──────────────────────────────────────────────────続 き Continuation of the front page (56) References JP-A-61-286082 (JP, A) JP-A-59-163091 (JP, A) JP-A-61-105420 (JP, A) (58) Field (Int.Cl. ⁶ , DB name) B23K 26/00-26/18

Claims (1)

(57) [Claims] 1. A distance (G) between a nozzle (93) of a pressure head (HD) in a laser processing machine and a work (W) bent by upper and lower dies (19, 15) in a bending machine. A non-contact type gap sensor (107) for detecting the distance (G) to the work (W) detected by the gap sensor (107). A nozzle advancing / retreating means for advancing / retreating the workpiece (W) in a direction approaching / separating from the workpiece (W); A visual sensor (115) for directly imaging the clearance (C) between the heads is provided on the processing head (HD), and the clearance (C) detected by the visual sensor (115) is provided.
Wherein the bending apparatus is controlled so that the clearance is equal to or smaller than a preset clearance amount (Co).