JP3084259B2 - Groove cutting device and method - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a groove cutting device and a groove cutting method for forming a groove necessary for performing fillet overlay welding and the like.

[0002]

2. Description of the Related Art Heretofore, it has been necessary to cut and cut off the outer portion of a member to be subjected to overlay welding by fillet welding or the like in advance so as to make a groove. As a method of obtaining a groove, there is a method of simultaneously processing a groove when cutting the outer shape of a member with a numerical control (hereinafter abbreviated as “NC”) cutting device,
There is a method in which a groove is formed after cutting out a member.

[0003]

When the outer shape of the member is cut by the NC cutting device, it is possible to make a groove at the same time. However, there are the following problems. Only a groove of a member having a relatively simple shape can be obtained.
A device that takes a groove at the same time as cutting requires at least two axes to control the posture of the cutting tool, and requires three axes for three-dimensional positioning.
Since a shaft is required, a multi-axis type of five or more
The C-cutting device becomes expensive, and if a groove is formed, the tact time cannot be made in time and it takes time, and the operation rate of the device is reduced, resulting in poor production efficiency.

[0004] When a member is cut out first and a groove is formed later, there are the following problems. Since the position of the outer shape is not known accurately, an accurate groove position cannot be determined. Since the size of the members is slightly different depending on the cutting margin at the time of cutting, it is difficult to create data for the NC device according to each member.

[0005] An object of the present invention is to provide a groove cutting device and a groove cutting method capable of efficiently forming a groove with an inexpensive device.

[0006]

SUMMARY OF THE INVENTION The present invention relates to a groove cutting device for forming a groove with respect to a cut-out member, wherein a basic figure selected from a plurality of types determined in advance to represent the outer shape of the member. And input means for inputting a groove width and a groove angle, and a positioning means for positioning a member within a predetermined accuracy range. A means for detecting the outer shape based on the sensing position for each of the basic figures for all the basic figures is predetermined, and the outer shape position of the member positioned by the positioning means is included in the outer shape information input to the input means. Based on the position, an outline detecting means for detecting according to a procedure predetermined for each basic figure, and a procedure for cutting a groove for each basic figure for all basic figures are predetermined. According to a predetermined procedure, a groove is formed on the outer shape of the member according to a predetermined procedure so that a groove width and a groove angle input to the input means are set along the outer shape of the member detected by the outer shape detecting means. And a cutting means for cutting the groove.

According to the present invention, the cut-out member is positioned within a predetermined accuracy range by the positioning means.
The outer shape of the member is represented as a combination of basic figures selected from a plurality of types determined in advance. The outline information includes a combination of basic figures and a sensing position for detecting the outline of each basic figure. The outer shape detecting means detects the outer shape position based on the sensing position for each basic figure included in the outer shape information input to the input means. The cutting means cuts the groove to the outer shape of the member with a cutting tool in accordance with a predetermined procedure so that the groove width and the groove angle are input to the input means along the outer shape of the member to be detected. Therefore, if the outer shape information used for cutting the member is input to the input means, the actual outer shape position of the member can be detected by the outer shape detecting means, and the groove can be cut along the outer shape by the cutting means. Since it is not necessary to use a multi-axis type NC cutting device or the like, the groove can be efficiently formed with an inexpensive device.

In the present invention, the cutting means is a multi-axis type robot, and the cutting tool is a fusing torch mounted as a tool at the tip of the robot.

According to the present invention, the position for taking the groove is detected by the outer shape detecting means in accordance with the actual member.
The cutting means is constituted by a multi-axis type robot, and the groove can be cut at a predetermined groove width and groove angle by using a fusing torch, which is a tool, as a tool to be attached to the tip of the robot. Since a multi-axis robot is used without using the NC cutting device, control can be easily performed using a robot language.

In the present invention, the basic figure of the outline information input to the input means includes a straight line, a circle, an arc, and a combination of the arc and the straight line. , Three or more points for a circle and an arc, and two or more points on a straight line and one or more points on a circular arc for the connection between a circular arc and a straight line are detected. When cutting a groove, a transition position between an arc and a straight line is calculated in accordance with a predetermined procedure, and the cutting means opens the groove along the outline of the straight line or the circle and the arc from the outline detection position. Performing linear interpolation or circular interpolation while controlling the position of the cutting tool so that the cutting direction becomes the included angle inside the member only by the tip width, and for the connection between the arc and the straight line, the outer shape detection means From the transition position calculated by Linear interpolation is linear side, circular interpolation in a circular arc side from the transition position, characterized by cutting, respectively.

According to the present invention, the outer shape information of a member is represented by a basic figure including a straight line, a circle, an arc and a combination of an arc and a straight line, and the outer shape position is detected in accordance with a predetermined procedure for each basic figure. Detection and bevel cutting can be performed efficiently. When the outer shape information includes the connection between the arc and the straight line, the transition position between the arc and the straight line is calculated, and the groove is cut by switching between the linear interpolation and the circular interpolation at the transition position.
A groove suitable for the outer shape can be easily cut.

Further, according to the present invention, a plurality of types of basic figures which can represent the outer shape of a member by a combination are predetermined.
Detecting the outer shape based on the sensing position specified for outer shape position detection and the sensing position for each basic figure,
A procedure for detecting the cutting position is determined in advance, and the outline of the member is detected in accordance with a predetermined procedure according to the outline information including the combination of the basic figure and the sensing position, which is input for the member, and is determined in advance for each basic figure. A groove cutting method characterized in that a cutting position of a member is detected according to a predetermined procedure, and a groove is cut based on the detected cutting position.

According to the present invention, a plurality of types of basic figures are determined in advance, and members are cut in accordance with a combination of the basic figures and outer shape information represented as a sensing position designated for position detection for each basic figure. I do. Based on the sensing position for each basic figure, the cutting position of the member is detected from the outer shape according to a predetermined procedure, and the groove is cut based on the detected cutting position. There is no need to perform this, and the groove can be cut in accordance with the cut outer shape without creating data for groove cutting.

[0014]

FIG. 1 shows a schematic configuration of a groove cutting device 1 according to an embodiment of the present invention. On the substantially horizontal floor 2, two rails 3 and 4 are laid in parallel with an interval W of, for example, about 3 m. A 6-axis robot 6 is suspended from the portal type moving device 5 traveling on the rails 3 and 4. The portal structure moving device 5 is also provided with a controller 7 for control, and is movable together with the portal structure moving device 5. The controller 7 receives, as input means, external shape information on a member to be grooved. The movable length L is, for example, 9 m. When the gate type moving device 5 moves along the rails 3 and 4, the gate type moving device 5
Power supply and data communication with the outside
Done through. A TV camera 9 is provided in the vicinity of the attachment portion of the six-axis robot 6 to the portal structure moving device 5, and the portal structure moving device 5 moves to detect a previously designated origin position and perform image processing. Used to compensate for misalignment. A positioning table 10 serving as positioning means is provided between the rails 3 and 4 on the floor surface 2, and a plurality of members 11, 12 and 13 can be cut at a groove. A gas cutting torch 14 is attached to a tip shaft of the six-axis robot 6 together with the 3D sensor 13. The 3D sensor 13 irradiates the vicinity of the outer shape of the member 11 with the laser light in a slit shape, and can accurately detect the cutting position of the outer shape from the state of the reflected light at the edge portion. The gas fusing torch 14 blows out a high-temperature gas in a jet shape, and can cut a groove along the outer shape of the members 11, 12, and 13.

FIG. 2 shows a configuration for processing data in the groove cutting device 1 of FIG. The upper CAD data 20 is
For example, it is prepared in advance for an NC cutting device for cutting the outer shapes of the members 11, 12, and 13 in FIG. Upper CAD data 2
The CAD data having the content of “0” is input to a personal computer (hereinafter abbreviated as “personal computer”) 21.
C data creation 21 is performed. The NC data created by the NC data creation 21 is stored in the robot controller 7.
And a groove cutting operation 22 is performed.

In the CAD data used in the NC cutting apparatus, the outer shape of the member is defined by dividing the line into segments, and each segment is represented by a straight line, an arc, or a circle. In the CAD data, each line segment indicates the position and direction of a straight line / arc / circle. At the time of NC data creation 21,
By reading these CAD data, each line segment information is obtained.

FIG. 3 shows the specific contents of the data processing shown in FIG. From the CAD data 30 input to the NC data generator 21, sensing position data 32 and groove angle groove width data 33 are generated as NC data 31. The NC data 31 is provided to the robot controller 7, and at the time of the groove cutting operation 22, a member position / shape measurement 34 is performed based on the sensing position data 32. A cutting position calculation 35 is performed based on the measurement result of the member position / shape measurement 34 and the groove angle groove width data 33, and a groove cutting operation is performed at the calculated cutting position.

When the information on the position of the straight line or the arc and the side on which the member is located or the groove width L and the groove angle θ are input as the outer shape information of the member from the upper CAD data 30, NC data is created. As 21, data necessary for performing the cutting position calculation 35 in the groove cutting operation 22 from the outer shape position of the member is created. As shown in FIG. 1, the groove cutting device 1 includes a TV camera 9 and a 3D sensor 13 capable of measuring a three-dimensional position of an edge with a three-dimensional laser sensor using slit light. The members 11 and 12 are placed at predetermined positions on the positioning table 10, for example,
It is positioned and placed with an accuracy of about mm. Member 11,
Regarding the size of 12, there is a variation of about 1 mm because the cutting margin varies depending on the plate thickness and the like. Each member 1
For example, corners and the like are defined in 1 and 12 as reference points in advance, and the TV camera 9 photographs the reference points and performs rough alignment. Based on this rough alignment, the alignment and position of the members 11 and 12 can be performed with an accuracy of about 5 mm.

The sensing position data 32 shown in FIG.
With respect to a basic figure of a geometric shape such as a straight line, a circle, a circular arc or a combination of a circular arc and a straight line, such as an arc and a straight line, a sensing position for detecting an outer shape is determined in advance. . In the case of a straight line, two or more accurate positions of the edge are measured at intervals on the straight line. If the positions of two or more points are determined, an equation of a straight line passing through them is obtained. When three or more points are measured, a straight line equation is obtained according to the least square method. At the time of groove cutting, the tip of the gas fusing torch 14 is directed to a position on the member position side by a groove width L from a required straight line, and the posture of the gas fusing torch 14 is set to a vertical line in a plane perpendicular to the straight line. In this state, the groove is cut while being moved in parallel to a straight line while being inclined by the groove angle θ.

FIG. 4 shows an example of a groove in the case of a circle.
4A is a front view, and FIG. 4B is a plan view.
FIG. 5 shows the member position / shape measurement 34 and the cutting position calculation 3 in FIG.
5 is shown below. Sensing position data 32 of FIG.
Are shown on the outer circle 40 at three-point intervals. The accurate position of the edge is measured by the 3D sensor 13 based on the position indicated by the sensing position data 32, and one of the positions x1 is set as the origin. A straight line connecting x1 and another detection position x2 is defined as an X-axis, and a straight line perpendicular to this and passing through the point x1 is defined as a Y-axis. The third point on the outer circle 40 is x3. In the cutting position calculation 35, a groove is cut by the following procedure.

A vertical bisector is created by combining two points from the three positions x1, x2, x3, and the center position x0
Ask for. The radius of the outer circle 40 is determined from the center position. It is assumed that a point moved by the groove width L in the center direction from the measured points x1, x2, and x3 is a cutting position which is a moving point of the robot, and x'1 corresponding to x1 and x'2 corresponding to x2. , X3 corresponding to x3 are determined as cutting positions. These cutting positions x'1, x'2, x'3
Determines the cutting circle 41. The cutting circle 41 is the outer circle 40
And concentric. The included angle is radially outward from the center of the circle,
It is obtained by cutting the gas fusing torch 14 at an included angle θ.

FIG. 6 shows the overall procedure of groove cutting in the case of the circle described above. If there are more than three points to be measured, a plurality of center positions may be determined.
In such a case, if the average position is determined, the accuracy can be improved. In the member position and shape measurement 34, a measurement operation 34a of a point on the circumference and a calculation 34b of a feature point for obtaining the center and size of the circle are performed.

FIG. 7 shows the shape of the groove when straight lines are connected to both sides of the circular arc. FIG. 8 shows the cutting position calculation 35 shown in FIG.
Here is an idea corresponding to. FIG. 7A is a front view, and FIG.
7B is a plan view, and FIG. 7C is a corner portion C of FIG.
The enlarged view of FIG. At the corners, the outline 50 is
Both sides of Oa transition to straight lines 50b and 50c, and are smoothly connected. A cutting line 51 for cutting a groove corresponding to such a shape is calculated based on a calculation method as shown in FIG. 8A, and a teaching point as shown in FIG. give. When cutting is performed by the gas fusing torch 14 along the cutting line 51, a groove 52 can be obtained.

Using the concept shown in FIG. 8, cutting is performed in the following procedure. The 3D sensor 13 measures the exact positions of the edges on each of the straight lines 50b and 50c at two points each, and measures one point on the arc 50a, for a total of five points, and obtains x1 to x5 in FIG. 8A. Two straight line equations are obtained from the edges of the straight lines 50b and 50c, and an intersection x0 between the two is obtained. Two straight lines 50b, 5
If 0c is at the position of the twist and no intersection is found, the closest point is taken as intersection x0. A point x6 at which the distance between x3 on the arc 50a and the two straight lines 50b and 51c is equal is determined. The point x6 is the intersection x
It exists on the bisector of the angle formed by two straight lines intersecting at zero. x6 is the center of the arc 50a, and the distance between x3 and x6 is the radius r of the arc 50a. The transition positions x7 and x8 between the arc 50a and the straight line are obtained from the radius r of the circle and the information on the straight line. These transition positions x7, x8
Is the position of the intersection of the perpendiculars drawn from the center x6 to the straight lines x1-x2, x5-x6. The transition positions x7 and x8 are positions where the outer shape changes from a straight line to a circular arc and from a circular arc to a straight line in an actual member. As shown in FIG. 8B, x1 and x7 are L
The points x′1 and x′7 that have been moved only by are set as cutting positions. Similarly, x3, x8, x5 are moved, and x'3, x'8,
Let x'5 be the cutting position. x'7, x'3, x'8 are circularly interpolated, and the others are linearly interpolated. The inclination direction of the gas fusing torch 14 is inclined by a groove angle θ perpendicular to the traveling direction.

FIG. 9 illustrates the arc 50 by summarizing the above procedure.
The procedure for cutting off the groove at the joint between a and the straight lines 50b and 50c will be described. In the feature point calculation 34b, the direction of the straight line is obtained from the expression of the straight line, the intersection of the two straight lines is obtained, the transition point between the arc and the straight line is obtained, and the radius of the arc is obtained.

As described above, in the present embodiment, when the outer shape of the members 11, 12, and 13 shown in FIG. 1 is cut based on a basic figure of a straight line, a circle, an arc, or an arc + straight line, By using the geometrical shape data of the constituent elements of the above, the outer shape is actually sensed, and the imaginary geometrical constituent points are calculated. Since the cutting position is accurately detected and the geometric constituent points are calculated, the size of the member and the like can be actually obtained, and the accurate groove position can be calculated. By using a six-axis industrial robot, the apparatus can be configured at low cost and the accurate groove position can be cut. The configurations of the gate type moving device 5 and the 6-axis robot 6 can be replaced with another configuration, for example, an orthogonal robot or a scalar robot. In addition to the gas fusing torch 14, a water jet, laser, or the like may be used.

[0027]

As described above, according to the present invention, for the cut-out member, the outer shape of the member is detected in accordance with outer shape information representing a combination of a plurality of types of basic figures and a sensing position for each basic figure. Since the groove is cut to the outer shape of the member with a cutting tool according to the detected outer shape, there is no need to cut the groove at the same time as the outer shape is cut, and the outer shape is cut out without using an expensive NC cutting device. Can be. Moreover, since the groove is cut while detecting the outer shape of the cut member,
There is no need to newly create groove cutting data, and the groove can be cut efficiently.

Further, according to the present invention, the groove is cut by using a multi-axis type robot having a fusing torch as a tool attached to the tip shaft as a cutting means, so that the efficiency is improved by using a general-purpose multi-axis type robot. The bevel can be cut well.

Further, according to the present invention, the outer shape position of a member is detected based on a basic figure of a straight line, a circle, an arc, and a combination of an arc and a straight line that defines the outer shape of the member, and the opening position is determined based on the detected outer shape position. Since the tip is cut off, N
When the outer shape is cut by a C-cutting device or the like, the outer shape can be cut efficiently, and the groove can be cut efficiently using the information for cutting.

Further, according to the present invention, a procedure for detecting the outer shape of the member in accordance with the combination of the basic figures and the outer shape information represented as the sensing position designated for each basic figure is predetermined, and the outer shape inputted for the member is determined. Since the outer shape position is detected based on the information and the groove is cut based on the detected outer shape position, the outer shape is cut by an NC cutting device or the like according to the outer shape information, and the outer shape information is used efficiently and reliably. Bevel cutting can be performed.

[Brief description of the drawings]

FIG. 1 is a perspective view showing a schematic configuration of an embodiment of the present invention.

FIG. 2 is a block diagram showing a configuration for processing data in the embodiment of FIG. 1;

FIG. 3 is a diagram showing a flow at the time of data processing of FIG. 2;

4A and 4B are a front view and a plan view showing the shape of a groove when the outer shape is a circle.

FIG. 5 is a diagram showing a concept of calculating a cutting position for cutting a groove as shown in FIG. 4;

FIG. 6 is a diagram showing a procedure for cutting a groove when the outer shape is a circle.

FIG. 7 is a front view, a plan view, and a partially enlarged view of a member whose outer shape is a combination of an arc and a straight line.

FIG. 8 is a view showing a concept of cutting a groove in connection between a circular arc and a straight line of a member as shown in FIG. 7;

FIG. 9 is a diagram showing a procedure for cutting off a groove when the outer shape of the member has a circular arc-straight joint.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Groove cutting device 5 Gate structure moving device 6 6-axis robot 7 Controller 9 TV camera 10 Positioning table 11, 12 Member 13 3D sensor 14 Gas fusing torch 20 Upper CAD data 21 NC data 22 Groove cutting operation 30 CAD data 31 NC data 32 Sensing position data 33 Groove angle groove width data 34 Member position / shape measurement 35 Cutting position calculation 40 Outline circle 41 Cutting circle 42, 52 Groove 50 Outline line 50a Arc 50b, 50c Straight line 51 Cutting line

──────────────────────────────────────────────────続 き Continuing on the front page (72) Inventor Toshihiko Yamazaki 3-1-1 Higashi Kawasaki-cho, Chuo-ku, Kobe-shi, Hyogo Kawasaki Heavy Industries, Ltd. Kobe Plant (72) Inventor Kenji Bando Higashi-Kawasaki-cho, Chuo-ku, Kobe, Hyogo 3-1-1 1-1 Kawasaki Heavy Industries, Ltd. Kobe Plant (72) Inventor Muneo Suzuoki 1-16-17 Nishi-Shimbashi, Minato-ku, Tokyo Inside Japan Oxygen Co., Ltd. (72) Inventor Eiichiro Takase Nishi-Shimbashi, Minato-ku, Tokyo 1-16-7 Nippon Oxygen Co., Ltd. (72) Inventor Satoshi Kato 1-16-7 Nishi-Shimbashi, Minato-ku, Tokyo Japan Incorporation Oki Co., Ltd. (72) Inventor Etsushi Hirata 1, Nishi-Shimbashi, Minato-ku, Tokyo No. 16-7 Japan Oxygen Co., Ltd. (56) References JP-A-9-155539 (JP, A) JP-A-60-240372 (JP, A) JP-A-63-235073 (JP, A) Open flat 3-275273 (JP, A) JP Akira 62-231313 (JP, A) JP flat 8-90350 (JP, A) (58 ) investigated the field (Int.Cl. ^7, DB name) B23K 7 / 00 B23K 31/00

Claims (4)

(57) [Claims] 1. A bevel cutting device for taking a groove with respect to a cut-out member, comprising: a combination of basic figures selected from a plurality of types determined in advance to represent the outer shape of the member; Input means for inputting outer shape information including a sensing position designated for outer shape detection, groove width and groove angle; positioning means for positioning members within a predetermined accuracy range; Means for performing outer shape detection based on the sensing position is predetermined for each figure, and the outer shape position of the member positioned by the positioning means is determined for each basic figure based on the sensing position included in the outer shape information input to the input means. And a procedure for cutting off the groove for each basic figure for all basic figures is determined in advance. Cutting means for cutting the groove into the outer shape of the member using a cutting tool in accordance with a predetermined procedure so that the groove width and the groove angle are input to the input means along the outer shape of the member detected by the cutting tool. And a groove cutting device. 2. The groove cutting device according to claim 1, wherein said cutting means is a multi-axis robot, and said cutting tool is a fusing torch attached as a tool to a tip of the robot. . 3. The basic figure of the outline information input to the input unit includes a straight line, a circle, an arc, and a combination of an arc and a straight line. And three or more points on the arc, two or more points on the straight line and one or more points on the arc for the connection of the arc and the straight line, and groove along the outer shape that is the connection of the arc and the straight line When cutting a straight line, a transition position between an arc and a straight line is calculated in accordance with a predetermined procedure, and the cutting means opens the groove along the outline of the straight line or the circle and the arc from the outline detection position. Performing linear interpolation or circular interpolation while controlling the position of the cutting tool so that the cutting direction becomes the included angle inside the member only by the tip width, and for the connection between the arc and the straight line, the outer shape detection means Is shorter than the transition position calculated by In linear interpolation on the side,
3. The groove cutting device according to claim 1, wherein the cutting is performed by arc interpolation on an arc side from the transition position. 4. A plurality of types of basic figures capable of expressing the outer shape of a member by a combination are determined in advance, and a sensing position designated for detecting an outer shape position is detected for each basic figure, and the outer shape is detected based on the sensing position. ,
A procedure for detecting the cutting position is determined in advance, and the outline of the member is detected in accordance with the predetermined procedure according to the outline information including the combination of the basic figure and the sensing position, which is input for the member, and is determined in advance for each basic figure. A groove cutting method comprising: detecting a cutting position of a member according to a predetermined procedure; and cutting the groove based on the detected cutting position.