JP3257572B2 - Work edge detection 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 work end detecting method for detecting a leading end position or a trailing end position of a workpiece such as a shaped steel when the workpiece is processed by a shaped steel processing machine or the like.

[0002]

2. Description of the Related Art Conventionally, when a workpiece is fed to a processing machine such as a section steel processing machine, when an arbitrary position of the workpiece is clamped by a workpiece clamper provided on a carriage provided with a position detecting device, the leading end of the workpiece is detected. The control device does not know where the position is. For this purpose, in a state where the work is clamped by the work clamper, the material is fed at a desired feed speed from an origin position to an arbitrary position toward a preset set position. When the leading end of the work is detected by the leading end detecting device provided at the set position, the work is decelerated and stopped at an arbitrary stop position. Next, the workpiece is retracted at a medium retreat speed lower than the above-described feed rate, and the leading end of the work is detected again by the leading end detecting device. Thereafter, the workpiece is decelerated and stopped at an arbitrary stop position. The tip of the work is detected by the tip detection device to detect the tip of the work. After that, the work was sent to the processing machine.

[0003]

The above-described conventional method for detecting the leading end of a work has a method similar to the method of positioning the origin in a normal machine tool. And then slow down and stop. That is, in the conventional method, the leading end of the work is detected three times by the leading end detecting device and the work is decelerated. However, as a matter of course, at the time of the first stop, the stop position after retreating is also determined. Since it is not constant, it takes a considerable time to detect the tip position of the work.

SUMMARY OF THE INVENTION It is an object of the present invention to solve the above-mentioned problem by feeding a work at a high forward and backward moving speed of the work, and in a shorter time and more accurately than in the prior art. It is an object of the present invention to provide a work end detection method capable of detecting a rear end position.

[0005]

SUMMARY OF THE INVENTION The present invention has been made in view of the above-mentioned conventional problems, and the invention according to claim 1 is intended to remove a workpiece separated from an origin position to an arbitrary position.
When a material is fed at a desired feed speed toward a preset set position in the direction of the origin position by a material feeding device having a position detecting device, and the leading end of the work is detected by a leading end detecting device provided at the set position. And decelerate to a stop,
A stable distance at which the distance from the position of the tip detection device to the tip of the work is always constant based on the position of the material feeding device and the hysteresis of the tip detection device when the tip of the work is detected by the tip detection device. After performing the provisional coordinate calculation, the workpiece is retracted at a retreat speed lower than the feed speed and stopped at the position of the stable distance, and then the workpiece is again fed to the set position side at a constant speed lower than the retreat speed. A work end detection method for detecting a work front end position with respect to the origin position based on detection of a position detection device in the material feeding device when the front end of the work is detected again by the front end detection device.

According to a second aspect of the present invention, a material feeding device having a position detecting device and located at a position away from the origin position is retreated at a desired retreat speed in a direction away from the origin position, and with the trailing edge sensor provided in the apparatus is stopped by decelerating when it detects the trailing edge of the workpiece, the rear end
When the sensor detects the rear end of the work,
Work based on the position and the hysteresis of the rear end sensor
The distance from the rear end position to the rear end sensor is always constant
Tentative coordinate calculation for a stable distance
Move the material feeding device at a lower speed and move to the position of the stable distance.
At a constant speed lower than the forward speed.
Advance the material feeding device again, and set the rear end of the work to the rear end sensor.
Of the position detecting device in the material feeding device when detected at
The rear end position of the workpiece with respect to the origin position based on the detection
Is a work end detection method for detecting

[0007]

An embodiment of the present invention will be described below with reference to the drawings.

FIG. 5 is a plan view of a schematic overall configuration of the section steel working machine 1. As shown in FIG. The section steel processing machine 1 performs, for example, drilling on a long workpiece W, such as a channel steel or an H-section steel. The section steel processing machine 1 includes a plurality of rotatable transport rollers 3 and a roller conveyor 5 that supports the workpiece W movably in the X-axis direction (left and right directions in the figure). A main body vise 9 is provided on the near side (left side in the figure) of the processing section 7 for performing the boring process, and a front vise 11 is provided on the other side (right side in the figure) of the processing section 7.

At a side position of the roller conveyor 5, a guide table 13 extending in parallel is provided. A guide rail 15 and a rack 17 are provided on the upper surface of the guide table 13, and a guide plate 19 is fixed on the upper surface of the rack 17. This guide plate 1
Since the guide roller 21 sandwiching the sheet 9 from above and below is provided on the side of the carriage 23 as a material feeding device, the carriage 23 is guided by the guide rail 15 and the guide plate 19 and reciprocates on the guide table 13. Supported.

In order to reciprocate the carriage 23 along the guide rail 15, the carriage 23 is provided with a traveling servomotor 2 having a pinion 25 attached to the lower end of a rotating shaft.
7 is provided, and the traveling servomotor 27 is provided with an encoder 29 as a position detecting device. The pinion 25 is provided so as to mesh with the rack 17. Accordingly, by appropriately controlling and driving the traveling servomotor 27, the carriage 23 can be moved and positioned along the guide rail 15 while detecting the position of the carriage 23.

A guide member 31 is provided on the carriage 23.
The guide member 31 supports a vertical slider 35 via a slide block 33 so as to be vertically movable. A vertical cylinder 37 is attached to the carriage 23, and the tip of a piston rod 37A attached to the vertical cylinder 37 is attached to the vertical slider 35 via a bracket 39. Therefore, the vertical slider 35 is vertically moved by the operation of the vertical movement cylinder 37.

With the above configuration, the vertical slider 35 can be moved up and down and positioned along the guide member 31 by appropriately operating the vertical movement cylinder 37.

The upper and lower sliders 35 each have a work clamper 4 for gripping a flange of the work W at the tip.
1 is provided so as to be swingable via a spherical bearing 45, and is maintained substantially horizontal by contacting the upper surface of the rear end portion with a pressing pin 47, so that the material is conveyed. It can follow up, down, left and right vibrations and shakes. The work clamper 41 includes a fixed clamp jaw 4 provided at the tip of a clamp arm 43.
9 and a movable clamp jaw 53 supported by a hinge pin 51 so as to be rotatable in the horizontal direction with respect to the fixed clamp jaw 49.

The shapes of the fixed clamp jaw 49 and the movable clamp jaw 53 each have a purpose. That is, the fixed clamp jaw 49 has a vertically low shape to sandwich the interference region with the fixed vise, and the movable clamp jaw 53 has a narrow shape so as to be inserted into the narrow work W. . Each of the distal ends has a grip portion. Also, photoelectric sensors 55 are provided near the distal ends of the fixed clamp jaw 49 and the movable clamp jaw 53.
Are provided so that the workpiece W can be clamped while being detected when the workpiece is clamped.

A cylinder 57 for rotating the movable clamp jaw 53 is provided behind the hinge pin 51 of the fixed clamp jaw 49, and a rear end of the movable clamp jaw 53 is provided behind the cylinder 57. A spring 59 is provided to pull the movable clamp jaw 53 from the fixed clamp jaw 49 in the direction in which it is always separated from the fixed clamp jaw 49.

Accordingly, by injecting air or pressure oil into the first cylinder chamber of the cylinder 57, the piston rod 57R is lowered in FIG.
The workpiece W is clamped by rotating the counterclockwise 3 in the drawing. Further, air or the like is injected into the second cylinder chamber of the cylinder 57 to raise the piston rod 57R in FIG. 5, and the movable clamp jaw 53 is rotated clockwise in FIG.

With the above configuration, the fixed clamp jaw 49 of the work clamper 41 and the movable clamp jaw 53
For example, a flange of an H-section steel which is the work W is clamped. Next, the work W is fed by driving the traveling servomotor 27 to move the carriage 23 forward.

A control device 61 for controlling the section steel working machine 1
Are arranged, for example, at the lower left side in FIG. The setting position location on the front side a preset of the body vice 9
The photoelectric sensor 63A serving as the tip detector, 63B is provided. For example, light is emitted from the photoelectric sensor 63A,
The photoelectric sensor 63B receives light. Therefore, it is possible to detect that the work W has passed by blocking the light by the work W.

Next, the workpiece W is clamped by the workpiece clamper 41 provided on the carriage 23 to feed the workpiece.
A method for detecting the tip of the image will be described.

Referring to the operation explanatory diagram of FIG. 1, the flowchart of FIG. 2, and the time chart of FIG.
A desired position of the work W is clamped at the position X (state (A) in FIG. 1, point A in FIG. 3).

[0021] The workpiece W with advancing at V ₁ speed (high speed) in step S2, the carriage 2 in step S3
It is moved by detecting the coordinates of constantly -X ₀ by the encoder 29 of the driving servo motor 27 provided in the 3. In step S4, the tip of the work W is
, Ie, whether the photoelectric sensors 63A, 63
B detects the tip of the workpiece and determines whether or not it has been turned on. When the photoelectric sensors 63A and 63B are turned on (FIG. 1)
(State (B), position of point B in FIG. 3), and decelerate and stop in step S5 (state of FIG. 1 (C), position of point C in FIG. 3).

[0022] The photoelectric sensor 6 in the -X ₀ in step S6
3A, 63B (stable distance means photoelectric sensor 63)
A, 63B is defined as the distance obtained by adding a certain value α to the hysteresis (hysteresis). ), That is, (−X ₁ =
−X ₀ −stable distance). Then, allowed to retract the workpiece W with (slightly slower than V ₁ speed) V ₂ the speed in step S7. Positioning the temporary coordinate position -X ₁ obtained in step S6 (in FIG. 1 (D) state, this time, the distance from the tip of the workpiece photoelectric sensor 63A, to the detection position of the 63B is constant. Figure 3 K point). Thereafter, the work W in step S8 is advanced at a low speed (the speed of V _3), a photoelectric sensor 63A in step S9, 63B is O
It is determined whether N has been performed. Photoelectric sensors 63A, 63B
There Once ON, the store coordinates -X ₂ in step S10 (the state in FIG. 1 (E)). Further, step S1
1 to decelerate and stop (state (F) in FIG. 1). In step S12, the coordinates of the stop position of the work W, that is, the leading end position of the work W is detected by (X ₃ −X ₂ ) + the leading end detecting device position.

As described above, the provisional coordinate calculation of the stable distance is performed, and then it is retracted and stopped at the position of the stable distance, so that the distance from the front end position of the work to the front end detecting device is always constant. Work W accurately in time
Can be detected.

In the above description of the operation, the leading end position of the work W is detected as shown in FIG. 1F without stopping the work W, and after detecting the leading end in FIG. It may accelerate to speed. In that case, the acceleration position is
It is detected as X ₃ in (F). Therefore, the work tip position is similarly detected. Of course, when the tip is detected in FIG. 1 (E), it may be set as the workpiece tip position.
The accuracy up to FIG. 1 (F) is higher.

The retracted position of the work W is also determined by
The detection can be performed in the same manner according to the detection process of detecting the tip position of the mark . That is, if described only in the time chart shown in FIG. 4, the work clamper 41 is retracted at V ₁ speed (high speed), the photoelectric sensor 55 is a rear end sensor
When the robot passes the rear end of the workpiece W, the position data at the time of passing the workpiece W is read and decelerated to stop. Next, a speed (V) slightly lower than the retreat speed (V ₁ )
₂ ) Move forward and stop at the position K of the stable distance of the photoelectric sensor 55. Then, by photoelectric sensor 59 is advanced at a low speed (V ₃ speed) detects the trailing end of the workpiece W, it can be accurately detected in a short time the rear end position of the workpiece W than the conventional.

The present invention is not limited to the above-described embodiment, but can be embodied in other modes by making appropriate changes. In the present embodiment, photoelectric sensors 63A and 63B are used as a tip detection device and a position detection device;
Although described with reference to 55, a detection device such as a proximity sensor, a limit switch, or an ultrasonic sensor may be used.

[0027]

As will be understood from the above description of the embodiment, according to the first aspect of the present invention, a workpiece at an arbitrary position can be preliminarily moved in the direction of the origin position by a material feeding device having a position detecting device. The material is fed to a set set position at a desired feed speed, and when the tip of the work is detected by the tip detection device provided at the set position, the workpiece is decelerated and stopped, and the tip detection device detects the tip of the work. Based on the position of the sheet feeding device and the hysteresis of the tip detecting device, a temporary coordinate calculation of a stable distance at which the distance from the position of the tip detecting device to the tip of the work is always constant is performed, and the position of the stable distance is calculated. After retreating and stopping, the material is again fed to the set position side at a low constant speed, and the original position is determined based on the detection of the position detection device when the front end of the work is detected again by the front end detection device. And it detects a tip position of the workpiece.

That is, in the invention according to claim 1,
After moving the tip of the work in one direction and stopping the position of the tip detection device provided at the set position, the distance from the tip detection device to the work tip including the hysteresis of the tip detection device is always constant. After calculating the temporary coordinates of the distance and stopping to retreat to the position of this stable distance, the work is advanced again at a constant low speed, and the front end of the work is detected again by the front end detecting device, whereby the front end position of the work relative to the origin position is obtained. , It is possible to move the workpiece in the direction of the set position and to the position of the stable distance at a relatively high speed at first, and to quickly perform the positioning to the position of the stable distance. Is what you can do.

The position of the stable distance is a position where the distance from the tip detection device to the tip of the work is always constant in consideration of the hysteresis of the tip detection device. It is possible to make the time from starting feeding at a low speed from this stable distance position to detecting the work tip by the tip detection device as short as possible. Can be detected in a shorter time than before.

According to the second aspect of the present invention, the rear end position of the work is detected by the rear end sensor provided in the material feeding apparatus by moving the material feeding apparatus back and forth, so that the rear end of the work is used as a reference. Even in the case of processing, it can be easily handled.

[Brief description of the drawings]

FIG. 1 is an explanatory diagram illustrating an operation of detecting a work tip according to the present invention.

FIG. 2 is a flowchart for detecting a leading end of a work.

FIG. 3 is a diagram showing a relationship between speed and time at which the tip of a work is detected by movement of the work.

FIG. 4 is a diagram illustrating a relationship between speed and time for detecting retreat of a workpiece by movement of a carriage.

FIG. 5 is a plan view showing an entire section steel working machine according to the present invention.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Section steel processing machine 23 Carriage 27 Servomotor for traveling 29 Encoder 41 Work clamper 55 Photoelectric sensor 63A, 63B Photoelectric sensor (tip detection device) W Work

──────────────────────────────────────────────────続 き Continuation of the front page (56) References JP-A-1-92804 (JP, A) JP-A-58-184243 (JP, U) (58) Fields investigated (Int. Cl. ⁷ , DB name) B23Q 17/22 B23Q 15/00 309

Claims (2)

(57) [Claims] 1. A material which is separated from an origin position to an arbitrary position is fed at a desired feed speed toward a preset position in the direction of the origin position by a material feeding device having a position detecting device. When the leading end of the work is detected by the leading end detecting device provided at the set position, the work is decelerated and stopped, and the position of the material feeding device when the leading end of the work is detected by the leading end detecting device and the leading end detection Based on the hysteresis of the device, perform a temporary coordinate calculation of a stable distance at which the distance from the position of the tip detecting device to the tip of the work is always constant, and retreat the work at a retreat speed lower than the feed speed to set the position of the stable distance. Then, the workpiece is again fed to the set position side at a constant speed lower than the retreat speed, and the material feeding device when the leading edge of the workpiece is detected again by the leading edge detecting device. And detecting a tip position of the workpiece with respect to the origin position based on a detection of a position detecting device at the position. 2. A rear end provided with a position detecting device and retreating at a desired retreat speed in a direction away from the origin position at a position away from the origin position, and a rear end provided on the material feeding device. When the sensor detects the rear end of the work, it decelerates and stops , and the rear end sensor detects the rear end of the work.
The position of the material feeding device at the time of detection and the position of the rear end sensor
From the position of the work rear end based on the hysteresis,
Temporary coordinate meter with stable distance where the distance to the sensor is always constant
Calculation, and then at a speed lower than the retreat speed,
After moving forward and stopping at the stable distance,
Forward the material feeding device again at a constant speed lower than the speed,
The feed when the rear end of the work is detected by the rear end sensor
The origin based on the detection of the position detecting device in the material device
A work end detection method, comprising detecting a rear end position of the work with respect to the position .