JP5960591B2 - Cast metal feeder cutting equipment - Google Patents

Description

  TECHNICAL FIELD The present invention relates to a feeder cutting device for cutting unnecessary parts such as a feeder, a gate, or a gate attached to a casting after casting. In particular, the operation at the time of cutting can be easily set, and automatic control is performed after the setting. The present invention relates to a hot-water cutting device that cuts a hot water, a gate, and the like.

  Conventionally, finishing work for cutting a sprue, a feeder, a runway, a weir, etc. of cast steel products requires special knowledge, experience and skill, and has been performed manually by a plurality of workers. The cutting of the gates and pressers was done with a gas burner, which is not only dangerous, but also works in a high-temperature and high-noise environment, such as sparks and iron powder scattered around. It was.

  In the past, various ideas have been proposed to reduce the physical and mental burdens of workers. For example, in Patent Document 1 (Japanese Patent Laid-Open No. 10-193097), the blow tube is driven by a driving device, and the operation of the driving device is manually performed as a gas cutting manipulator for a cast steel product in the X, Y, and Z directions. A manipulator body that supports the cutting torch movably, and a joystick that is in electrical communication with the manipulator body and moves the cutting torch as a combined motion in the X, Y, and Z directions. There has been proposed a remotely operated gas cutting manipulator for a cast steel product, which includes an operation means for remotely cutting a cast steel material at a desired cutting speed.

  Patent Document 2 (Japanese Patent Laid-Open No. 06-114553) proposes an automatic gouging apparatus using an articulated robot apparatus. In other words, in this document, a base, a rotary positioner provided with a surface plate attached to the base and to which a work is attached, and a multi-axis multi-joint robot apparatus attached to the base are provided. A power supply device for applying a voltage for generating discharge plasma between the discharge torch and the work piece, and controlling the robot device and the rotary positioner in conjunction with each other, and the power supply There has been proposed an automatic gouging device including a power supply control device that controls the device in conjunction with the movement of the robot device and the rotary positioner.

Japanese Patent Laid-Open No. 10-193097 Japanese Patent Laid-Open No. 06-114553

  As described above, a technique for holding and operating a cutting torch with a manipulator which is a multi-axis multi-joint robot in order to cut a feeder, a gate, or the like in a cast iron or cast steel material is known. However, if the shape or size of the product to be molded is different each time, that is, in the case of a cast iron / cast steel product that is produced by order based on the customer's individual specifications, positioning and operation are performed for each product to be cut. It is necessary to program an operation command such as setup, or to change the program every time the cast steel material changes. Therefore, in such a case, the merit by automation cannot be actually obtained.

Therefore, Patent Document 1 includes a joystick that moves the cutting torch as a combined motion in the X, Y, and Z directions, and is configured so that a cast steel material can be cut remotely at a desired cutting speed by manual operation of the joystick. doing.
However, even if the cutting torch is moved by a joystick, it is necessary to get used to moving the cutting torch accurately, and the cutting torch is remotely operated by the joystick. It is difficult to confirm the cutting position and cutting status.
Therefore, the first object of the present invention is to provide a casting feeder cutting device that can move the cutting torch accurately without requiring familiarity with operation by a joystick or the like and without requiring many years of experience. It is an issue.

Further, in the remote control type gas cutting manipulator for cast steel products according to Patent Document 1, since the cutting torch is operated by manual operation of the joystick, the worker must always work and is automated. It is not.
Therefore, in the present invention, it is a second object of the present invention to provide a casting feeder cutting apparatus that can automate part or all of the operation of the cutting torch and that can be easily set for automatic operation. It is an issue.

Furthermore, when cutting unnecessary parts such as a feeder, gate, or gate attached to the casting after casting, the moving speed of the cutting manipulator or cutting torch is used for cutting without causing unevenness on the cut surface. It is also important to set or adjust parameters other than the movement trajectory.
Therefore, in the present invention, when cutting unnecessary portions of the casting, only the movement trajectory of the cutting manipulator or cutting torch is set in advance, and other parameters can be arbitrarily set while observing the cutting state. A third object is to provide a hot metal cutting device for a cast product.

  In order to solve the above problems, in the present invention, when an unnecessary part such as a feeder, a gate, or a gate attached to a casting after casting is cut with a cutting device such as a cutting torch, the movement trajectory of the cutting device can be simplified. There is provided a feeder cutting device for castings which can be set.

  That is, in the present invention, in order to solve at least one of the above problems, a cutting device for cutting unnecessary portions such as a feeder, a gate, or a gate attached to a casting after casting, and the cutting device are held. A casting feeder cutting device comprising a moving device to be moved and at least a control device for controlling the moving operation of the moving device, wherein the control device is at least four points present on a trajectory for moving the cutting device. A casting feeder cutting device comprising a storage means for storing the position information and a locus calculating means for calculating a movement locus of the cutting device from the stored position information of four or more points.

  In such a hot metal cutting device for a cast product, the trajectory calculating means calculates the movement trajectory of the cutting device only by storing in the storage means positional information of four or more points existing on the trajectory for moving the cutting device, and the cutting device Can be moved. Therefore, the movement trajectory of the cutting device can be easily set, and the movement trajectory setting operation previously defined in the program can be greatly simplified.

  The above-mentioned cutting device can be constituted by various cutting devices that have been used in the past to cut feeders, gates, etc., for example, cutting torches, tip saws and other saw blades. It is desirable to use a cutting torch in order to eliminate this property and facilitate maintenance. In particular, the cutting torch can use a high-power cutting torch when the moving device described later is sufficiently stable and robust, such as a portal frame.

  The moving device can use a traveling carriage, a cantilever frame, a portal frame, or the like. In particular, when the moving device is sufficiently stable and robust, such as a portal frame, the cutting torch can use a high-power cutting torch. Such a moving device preferably includes a traveling frame that moves in the X-axis direction, a transverse frame that moves in the Y-axis direction, and an elevating frame that moves in the Z-axis direction, so that the cutting device can be freely moved in the three-dimensional direction. Can be moved to.

  The control device includes storage means for storing position information of four or more points existing on a locus for moving the cutting device, and locus calculation means for calculating a movement locus of the cutting device from the stored position information of four or more points. Consists of including.

  The positional information to be stored in the storage means is input by inputting numerical position information of the X axis, Y axis, and Z axis from an arbitrary reference point using an input means such as a keyboard. The position information of the moved position can be read and stored in the storage means. As the position information acquired by moving the cutting device, the location where the cutting device exists can be acquired as position information of the X axis, the Y axis, and the Z axis with reference to an arbitrary point in the moving device or the like. . In addition, when the moving device includes a traveling frame that moves in the X-axis direction, a transverse frame that moves in the Y-axis direction, and a lifting frame that moves in the Z-axis direction. The moving position and moving distance of each frame can be stored as position information. As a storage means, a primary storage device such as a ROM (Read Only Memory) that is a nonvolatile memory constituting a computer or a RAM (Random Access Memory) that is a volatile memory, or a secondary storage device such as a disk may be used. it can.

  The trajectory calculation means is a component that executes numerical calculation control, such as a central processing unit that constitutes a computer or the like, and performs numerical calculation in accordance with processing defined in the program. Therefore, the trajectory calculation means can execute the calculation process in accordance with a command of a program for calculating the movement trajectory of the cutting apparatus from at least the four position information stored in the storage means.

  With regard to the calculation of the movement trajectory, originally, when the circular motion is defined in the two-dimensional coordinate plane, it is sufficient to acquire the position information of at least three points. However, the position information acquired by the storage means in the present invention is four or more points. This is because when the cutting device is moved in a circular arc shape to cut a circular feeder having a circular outer periphery, it is moved linearly toward the feeder or the gate to be cut before the arc movement. It is. That is, the storage means in the present invention comprises a starting point where the cutting device starts linear movement, an arc movement starting point where the arc moves from the linear movement, an arc movement passing point which passes through the arc movement, It is desirable to memorize | store the circular arc movement end point which complete | finishes circular arc movement. Then, the trajectory calculating means uses the information on at least one of the arc movement start point, the arc movement passage point, the arc movement end point, and the XZ axis, the YZ axis, and the XY axis in the cutting device. It is desirable to calculate the trajectory of the arc movement and calculate the linear movement trajectory from the start point to the arc movement start point before the arc movement.

  In order to carry out the arc motion of the cutting device with two-axis control, control axis information of at least one of the XZ axis, the YZ axis and the XY axis is acquired and the arc is determined from the point information at three points. The trajectory of movement can be calculated. As the position information, in addition to the three points for calculating the trajectory of the arc motion, the cutting device uses the starting point at which the linear motion starts, so that the linear motion is performed before the arc motion. The trajectory can be calculated. In particular, this linear motion includes a first linear motion that approaches straightly to a work that cuts a feeder, a second gate, etc., and a second linear motion that moves from the linear motion to a point where the circular motion starts. It is desirable to configure with

  Further, when the cutting device is moved, the control device can be configured not only to control the movement locus of the cutting means but also to control the moving speed. The moving speed can be automatically controlled by a value set in the control device in addition to being directly controlled by the operator. In particular, when controlling the moving speed under the control of the control device, it is also desirable to set the moving speed of the cutting device to a different speed for each arc movement region. When the cross-sectional shape of the part to be cut such as a feeder or gate in the workpiece is circular, the cutting width (width in the depth direction) differs in the moving direction, so the optimum cutting speed according to this cutting width is achieved. It is to do. In this case, the storage means of the control device further holds the moving speed of the cutting device as different speed information for each arc movement region, and the control device uses the speed information to change the cutting device. It is desirable to configure so as to move at a different speed for each arc movement region. The setting of the moving speed of the cutting device can be configured to automatically set from the input value of the work cutting width, in addition to designating the actual moving speed by a numerical value. In this case, it is desirable that the cast metal feeder cutting device, preferably the control device thereof, includes a table or the like for specifying the moving speed corresponding to the cutting width.

  Further, when a gas cutting torch is used as the cutting device, it is also desirable to control the output of the gas cutting torch with the movement. Of course, this control can be performed manually by the operator or under the control of the control device. For example, as described above, when the horizontal cross-sectional shape of a cutting target portion such as a feeder or gate in the workpiece is circular, as an optimum output according to a cutting width (width in the depth direction) different in the moving direction, there is no waste. This is to make a beautiful cut surface. In this way, in order to change the output of the gas cutting torch with the movement of the cutting device, the storage means of the control device further outputs the output of the cutting device (especially the gas cutting torch) to a different output for each arc movement region. Preferably, the control device is configured to move the cutting device as a different output for each arc movement region based on the output information. The setting of the output of the cutting device can be configured to automatically set from the input value of the workpiece cutting width, in addition to designating the actual output in the gas cutting torch numerically. In this case, it is desirable that the cast metal feeder cutting device, preferably the control device thereof, includes a table or the like for specifying the output of the gas cutting torch corresponding to the cutting width.

And it is desirable to set the cutting device for the moving device as appropriate according to the type of cutting device to be used, that is, the type of cutting torch or saw blade (chip saw, etc.). It is desirable to be provided so as to be swingable up and down and / or left and right around the axis. This is because it is possible to adjust the direction in which the cutting portion of the work such as a feeder or a gate is cut. Therefore, the cutting device has a cutting device swinging mechanism for the moving device so that the vertical and / or left-right direction with respect to the workpiece can be freely changed even while being moved by the moving device. Can be attached via. Such a cutting device swinging mechanism can be configured using a motor, a hydraulic cylinder, or the like, and can be embodied as a device that holds the cutting device with respect to the lifting frame.

  According to the above-described casting feeder cutting device according to the present invention, it is possible to easily set the movement trajectory of the cutting device for cutting a cutting part such as a workpiece feeder or a sprue of a workpiece. Can be easily and optimally implemented.

  Furthermore, when cutting a feeder or gate in a workpiece, the movement of the cutting device is set in advance by a simple method, so it can be performed automatically, and the operator can be moved away from the cutting work area. It is only necessary to adjust the moving speed of the cutting device. Therefore, the working environment of high temperature and high noise can be greatly improved.

  And if the adjustment of the moving speed of the cutting device is automatically performed under the control of the control device, the worker only has to confirm the progress of the work, greatly reducing the labor of the worker. It can also be reduced.

Furthermore, the cutting device can be moved in the optimum direction with respect to the workpiece by configuring the cutting device so that it can be moved in the vertical direction and / or the horizontal direction while being moved by the moving device. The smoothness of the cut portion and the cut surface can be optimized.

(A) Whole perspective view and (B) X direction front view showing a feeder cutting device for castings according to the present embodiment Block diagram showing configuration of control means The flowchart which shows the calculation procedure of the movement locus | trajectory in this Embodiment Schematic showing examples of points (points) for recording location information (A) is a schematic diagram showing an example of a trajectory for moving the cutting device, (B) is a schematic diagram of a screen for setting a pattern between recorded points.

Hereinafter, the hot metal cutting device 50 for a cast product according to the present embodiment will be specifically described with reference to the drawings.
FIG. 1A is an overall perspective view showing a hot metal cutting device 50 for a cast product according to the present embodiment, FIG. 1B is a front view in the X direction, and FIG. 2 is a block diagram showing the configuration of the control means. 3 is a flowchart showing a procedure for calculating a movement trajectory in the present embodiment, FIG. 4 is a schematic diagram showing an example of points (points) where position information is recorded, and FIG. 5 (A) shows the cutting device 20. It is the schematic which shows the example of the locus | trajectory to move, (B) is the schematic of the screen which sets the pattern between the recorded points.

  First, referring to FIG. 1, the overall structure of a cast metal feeder cutting device 50 according to the present embodiment will be described. In the feeder cutting device 50, a moving device 10 that is formed in a gate shape and is movable in the X, Y, and Z directions, a cutting device 20 that is moved by the moving device 10, and the moving device 10 and the cutting device. And a control device 30 for controlling 20 operations.

  As the moving device 10, a portal frame is used. The portal frame includes a traveling frame 12 that moves in the X-axis direction, a traverse frame 14 that moves in the Y-axis direction, and a lift that moves in the Z-axis direction. Frame 16. In particular, since the traveling frame 12 is formed in a gate shape and both sides in the Y-axis direction are grounded, the overall robustness of the moving device 10 can be improved, and thus the cutting device 20 having a sufficiently high output. Even so, it can be used without problems. The moving device 10 is configured to be able to control the moving position, and can be configured to move using, for example, a servo motor. The movement of the moving device 10 can be managed by managing the moving points or moving distances of the traveling frame 12, the traversing frame 14, and the lifting / lowering frame 16. Accordingly, the control device 30 can manage the moving device 10. Can manage the movement of

  In the present embodiment, the cutting device 20 uses a gas cutting torch 20. Therefore, it is possible to eliminate the trouble of exchanging the saw blade, shorten the cutting time at the workpiece cutting site, and eliminate the irregularities on the cutting surface, thereby realizing a smooth cutting surface. The gas cutting torch 20 may be configured such that the output thereof can be adjusted at an arbitrary timing. For example, it is desirable that the output can be changed at an arbitrary timing or for each cutting point during the movement of the gas cutting torch 20. In this case, the output of the gas cutting torch 20 can be changed by changing the amount of gas or the like supplied to the gas cutting torch 20, for example.

  Further, the cutting device 20 for the moving device 10 can be provided on an elevating frame 16 provided to be movable up and down with respect to the transverse frame 14 in the extending direction (Z-axis direction) of the transverse frame 14. In particular, in the present embodiment, the gas cutting torch 20 as the cutting device 20 is provided at the lower end of the lifting frame 16 so as to be rotatable in the vertical direction and also in the horizontal direction. When the gas cutting torch 20 is rotated, a servo motor or the like can be used.

  The cast metal feeder cutting device 50 according to the present embodiment is configured with a control device 30 for controlling the operation of the moving device 10 and the cutting device 20. The control device 30 can be accompanied by components as shown in the block diagram of FIG.

  That is, a CPU 501 that executes numerical calculation processing in accordance with a program command, a memory 502 that possesses various information, various switches 508 as an information input means, a touch panel 509, and signals received from these information input means, and its signal pattern The input device interface 507 that transmits a predetermined command to the CPU 501 and the memory 502 according to the above, a display 506 that outputs a processing result in the CPU 501 and an input result by the settlement means, a display controller 505 that outputs drawing information to the display 506, an external Storage device 510, network interface 504 that is an interface for performing information communication with an external device, external recording medium driving device 511 that holds information read to the memory when a program is executed, and components thereof It is configured to include a bus 512 that connects to each other.

  In such a control device 30, by operating the information input means while actually moving the cutting device 20, positional information on four or more points existing on the trajectory for moving the cutting device 20 is stored in the memory 502 or the external storage. Store in device 510. Then, the CPU 501 executes numerical calculation processing in accordance with a program command, and calculates the movement locus of the cutting device 20 from the stored position information on the four points. The recording of the position information and the calculation of the movement trajectory of the cutting device 20 can be performed according to the procedure shown in the flowchart of FIG. 3 or FIG.

  In the embodiment shown in the flowchart of FIG. 3, operation preparation processing such as first turning on the power panel main breaker is performed. In this operation preparation process, it is desirable to set the cutting device 20 in a mode in which it can be moved manually. When the hot water cutting device 50 is prepared for operation by this operation preparation processing, a position storage process for storing four or more points (position information) along the locus of moving the cutting device 20 at the next cutting is performed. carry out.

  As an example of points at the time of storing in this position storing process, for example, as shown in FIG. 4, six points from points P1 to P6 can be used. Such points are stored in accordance with the actual movement trajectory by actually moving the gas cutting torch 20 and moving the gas cutting torch 20 while observing the position and distance and position of the outlet of the gas cutting torch 20. Can be moved.

  In particular, this embodiment shows an example of cutting a feeder or gate having a circular cross-sectional area, and moves linearly from P1 to P2 and bends the locus at point P2, to points P2 to P3. It is configured to move linearly, move circularly from point P3 to P5, and move linearly again to points P5 to P6. Such movement of the cutting device 20 can be performed by manually moving the moving device 10 by a manual pulser or the like. In this example, the movement in the XY axis direction is described, but further movement in the Z axis direction can be accompanied. When recording points, each point can be stored as coordinates in the XY axis direction.

  After executing the position storage process, a pattern setting process for designating a movement pattern between the points is executed while reading the stored points. For example, when the cutting device 20 is moved along a locus as shown in FIG. 5A, the movement pattern to each point can be set on a screen as shown in FIG. 5, for example.

  That is, in FIG. 5A, since the pattern to be moved from the standby position of the cutting device 20 which may be an arbitrary point to the point P1 is linear interpolation, the linear interpolation is designated as step S1, The point P1 stored in the position storage process is set as the movement point. Next, since step S2 which moves from point P1 to P2 is also linear movement as shown in FIG. 5A, after specifying linear interpolation, point P2 is designated as the movement point. Furthermore, step S3, which is the movement from point P2 to point P3, is a linear movement that moves while moving the cutting device 20 also in the Y-axis direction. Therefore, after specifying linear interpolation, point P3 is designated as the movement point. To do. Next, step S4 that moves from point P3 to point P5 is circular interpolation movement that passes through point P4. Therefore, the control axis for the arc motion is designated. In this embodiment, since the circular interpolation movement is controlled in two axes, one of the control axes XZ, YZ, and XY is selected. Since the movement in FIG. 5A is XY axis control, the corresponding “XY control” column is selected. Then, the point P5 is designated as the movement point, and the point P4 that is the passing point is designated as the auxiliary point. Finally, since the cutting device 20 is linearly moved from the point P5, which is the end point of the arc movement, to the point P6, the linear interpolation is designated as step S5, and then the point P6 is designated as the movement point.

  By performing the position storage process and the pattern setting process as described above, the movement pattern to each point stored in the position storage process can be set, and as a result, the movement locus of the cutting device 20 can be calculated. Can do.

  Further, in the present embodiment, the moving speed setting process is performed in which the moving speed is set for each moving step (steps S1 to S5) up to each point in the moving locus of the cutting device 20 calculated by the above processing. It is configured. That is, by setting the moving speed of the cutting device 20 for each step, the moving locus and moving speed of the cutting device 20 can be specified, and as a result, the operation of the cutting device 20 can be automatically performed. it can. However, this moving speed setting process is not necessarily required, and the movement of the cutting device 20 may be performed while an operator confirms.

  Since at least the movement trajectory of the cutting device 20 is calculated by the process as described above, it is possible to perform an automatic operation process for cutting unnecessary parts such as a feeder and a gate in the workpiece by executing a continuous operation process. it can.

  In the series of processes for calculating the movement trajectory, the position storage process may be executed when the pattern setting process is performed without performing the position storage process in advance. That is, while displaying the setting screen as shown in FIG. 5B, the cutting device 20 is moved along the trajectory for moving the cutting device 20 during cutting, and linear interpolation or circular interpolation is performed before or after the movement. It is also possible to configure such that the moved point is designated as the moving point. In this case, processing such as reading of each movement point becomes unnecessary, and the operator can create or set a sequence that defines the movement trajectory in a form in line with actual work. It is also desirable that the sequence or data for specifying the movement trajectory calculated in this way is stored in a storage means so that it can be arbitrarily read and used.

  Furthermore, in the feeder cutting device 50 according to the present embodiment, the movement trajectory of the cutting device 20 such as the gas cutting torch 20 is calculated by executing each of the above processes, and the cutting device 20 is operated according to the calculation result. However, even during the operation (when the cutting device 20 is moving), the operator can manually correct the movement trajectory. Further, by providing the cutting device 20 so as to swing or rotate with respect to the moving device 10, the direction of the cutting device 20, that is, the vertical direction (V direction) and the horizontal direction (W direction) with respect to the workpiece can be arbitrarily set. It is also desirable to configure so that it can be adjusted.

In addition, the present embodiment described above shows an example of the feeder cutting device 50 according to the present invention. The screen for executing the pattern setting process, selection of each point, and the like are arbitrarily set. Can do.
Therefore, the hot-water cutting device 50 according to the present invention can be implemented with arbitrary changes within a range not departing from the gist of the present invention.

  The feeder cutting device according to the present invention can be implemented in a feeder cutting device for cutting unnecessary portions such as a feeder, a gate, or a gate attached to a casting after casting. Furthermore, the present invention is not limited to the above-described feeder cutting device, and can be used as various devices that set a trajectory in advance and perform cutting.

Moreover, it can also be used as an apparatus for improving the working environment of the work site where the hot water cutting apparatus is used.

DESCRIPTION OF SYMBOLS 10 Moving device 12 Traveling frame 14 Traversing frame 16 Elevating frame 20 Cutting device (gas cutting torch)
30 Control device 50 Hot water cutting device

Claims (4)

A cutting device comprising a gas cutting torch for cutting unnecessary parts such as a gate or a gate having a circular horizontal cross section attached to the casting after casting, and a moving device for holding and moving the cutting device A hot metal cutting device for a cast product comprising at least a control device for controlling the moving operation of the moving device,
The control device includes storage means for storing position information of four or more points existing on a locus for moving the cutting device, and locus calculation means for calculating a movement locus of the cutting device from the stored position information of four or more points. equipped with,
The storage means includes a start point at which the cutting device starts linear movement, an arc movement start point at which the arc moves from the linear movement, an arc movement passage point through which the arc movement passes, and an arc movement at which the arc movement ends. Remember the end point,
The linear motion from the start point to the arc movement start point is the first linear motion that approaches straightly to the work that cuts the feeder, the gate, etc., and the point at which the arc motion is started by bending from the linear motion. Consisting of a moving second linear motion
At least one of the moving speed and output of the cutting device is different for each region of arc movement,
The cutting device operated according to the calculation result of the trajectory calculation means is configured so that the operator can manually correct the movement trajectory even during the operation, and while being moved by the moving device. , feeder cutting device of the casting, characterized in that that provided swingably vertically and / or in the lateral direction about the axis to the mobile device.
The feeder cutting device according to claim 1, wherein the storage device stores the position information of the cutting device by moving the cutting device and storing the position information at the moved position.
Before SL locus calculating means, the arc movement start point, the arc moves passing point and arc movement end point, and X-Z axis, at least one of the control axis information of Y-Z-axis and X-Y-axis, the cutting device The feeder cutting apparatus according to claim 1 or 2, wherein a trajectory of arc movement is calculated, and a linear movement trajectory from the start point to the arc movement start point is calculated before the arc movement.
The storage means of the control device further holds the moving speed of the cutting device as different speed information for each arc moving area,
The feeder cutting device according to claim 3, wherein the control device moves the cutting device at a different speed for each arc movement region based on the speed information.