JPH02200315A - Control system for bending welding compound device - Google Patents

Abstract

PURPOSE:To interlock effectively a bending device with a welding equipment and to operate efficiently that device by providing a detecting means of clearance which detects the clearance of welded part reducing gradually based on the bending action of the bending device. CONSTITUTION:On a bending/welding compound device 1 which performs a bending and a welding, the detecting means of clearance which detects the clearance of the welded part changing according to the bending action is provided. After performing a bending at the step S1, the clearance C of welded part is detected at the step S2. Based on the discrimination at the step 3, when the detected clearance C is over the specified value Co, a additional bending is performed and when the detected clearance is under the specified value Co, the welding is performed at the step 5. Therefore, the clearance C of welded part which the about <=15% of the thickness of plate is taken as reasonable, is controlled automatically at a proper value under the setting value Co set to the about 15% of the thickness of plate and then both the bending device 3 and the welding equipment 5 are controlled automatically and effectively.

Description

DETAILED DESCRIPTION OF THE INVENTION [Object of the Invention] (Industrial Field of Application) The present invention relates to a control system for a composite bending and welding device that combines a bending device and a welding device.

(Prior Art) When performing, for example, box bending in the 8-fold bending process, it is necessary to appropriately weld the box-bent sides.

For this reason, conventionally, a welding line was placed in a part of the bending process line, and the bent plate material (workpiece) was moved to the welding line to be made into a product, or moved to the bending line again for the next process. A method of bending was used.

However, in such bending and welding by line joining, since the workpiece is moved on the line, there are problems with regripping errors and loss of moving time.

In addition, when using a welding device to weld multiple welds on a workpiece that has been bent into the desired shape using a bending device, a special jig is used to accurately and reliably set each weld. The matching work was very troublesome and required skill.

Therefore, the present inventors solved the above problems by combining a bending device and a welding device.

(Problems to be Solved by the Invention) However, in a folding and welding compound device that combines a bending device and a welding device, it is necessary to effectively link these devices and control them efficiently, and There is a problem in that the control device of the processing device and the control device of the welding device cannot be used as they are.

Therefore, the present invention provides the υ1111 method of the bending and welding composite V4N, which combines a bending device and a welding device.
It is an object of the present invention to provide a control method that effectively links these and controls them efficiently.

[Structure of the Invention J (Means for Solving the 31 Problems) The control system of the present invention for solving the above problems is as shown in FIG. In a control method for a composite bending and welding device that combines a welding device that welds a plate while holding it in the device, a clearance of a welded part that gradually decreases based on the bending operation of the bending device is detected. A clearance detection means is provided, and the clearance of the welded part is detected in step S2 during the actual bending process in step S1, and the clearance of the welded part is detected in step S2.
The clearance C detected by the determination in step 3 is the predetermined EiC.
When the detected clearance C is above a predetermined value Co, additional bending is performed in step S4, and when the detected clearance C is below a predetermined value Co, welding is performed in step S5.

(Function) In the present invention, in the control system of the folding and welding compound device that performs bending and welding, a clearance detection means is provided to detect the clearance of the welded part that changes with the bending operation, and the bending process in step S1 is Step S2 after implementation
The clearance of the welded part is detected in Step S3, and when the detected clearance C is higher than the predetermined value Go, additional bending is performed in Step S4, and the detected clearance C is lower than the predetermined value Co. When it is lower, welding is performed in step S5.

Therefore, the clearance C of the welded part, which is generally considered to be good at 15% or less of the plate thickness, is automatically controlled to a suitable value less than the set value Go, which is set to about 15% of the plate thickness, and from time to time. Effective use of both bending equipment and welding equipment
can.

Furthermore, during this time, the workpiece remains held in the bending device and is not gripped again, so both the bending accuracy and the welding accuracy are good.

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

Referring to FIGS. 2 and 3, the bending and welding composite device 1 is comprised of a press brake 3 as a bending device, for example, and a laser processing machine 5 that performs welding by thermal melting as a welding device. ing.

For example, C-shaped side frames 7R and 7L are provided on both sides of the lower frame 7D of the press brake 1. A lower apron 9 is provided at the front lower part of the side frames 7R, 7L, and is movable up and down to an appropriate height position by a drive device MD based on the detected position of a position detector Eb shown in FIG. There is. Side frame 7R.

An upper apron 11 is fixedly provided at the upper front side of 7L. On the lower apron 9 is a support 8Il material 13.
For example, a lower mold (die) 15 is attached via. An upper die (punch) 19 is attached to the lower part of the upper apron 11 via a support member 17.

With the above configuration, when a workpiece to be processed is placed on the die 15 and the lower apron 9 is moved up and down with respect to the upper apron 11, the desired bending process is performed on the workpiece by the cooperation of the die 15 and the punch 19. The Rukoto.

On the right side of the press brake 3 is a laser processing machine 5.
A laser oscillator power supply 21 is provided on the laser oscillator power supply 21, and a laser oscillator 23 made of, for example, a CO2 gas laser is provided on the laser oscillator power supply 21.
When an oscillation command is input, the nozzle 93 outputs a laser beam.

Further, with reference to FIG. 4, the upper apron 1
1 is provided with a support plate 25 extending in the left-right direction (hereinafter referred to as the 27 are provided. The X-axis linear guide 27 is provided with an X-axis movable body 29 so as to be moved in the X-axis direction. The X-axis movable body 29 is provided with an X-axis motor (servo motor) 31 for moving the X-axis movable body 29 in the X-axis direction.

An X-axis pinion 33 is attached to the output shaft of this X-axis motor 31. ftJ&! 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. Since the X-axis binion 33 is meshed with the X-axis hook 35, when the X-wheel binion 33 rotates, the X-axis movable body 29 is guided by the X-axis linear guide 27 via the X-rack 35, and the XIFl ! ! It will be moved in the direction.

The right side of the X-axis moving body 29 in FIG. 4 has a vertical direction, hereinafter referred to as a Z@ direction. ) Z-axis guide 37 extended to
are integrally provided. One end of a telescopic laser beam guide 39 is attached to the upper part of the z-axis guide 37, and the other end of the laser beam guide 39 is attached to the left side surface of the laser oscillator body 23. An X@ pend mirror 41 is built into the upper part of the Z-axis guide 37.

A Z-axis column 43 that extends in the X-axis direction and is movable in the X-axis direction is attached to the Z-axis guide 37. Further, a two-axis motor (servo motor) 45 is provided on the lower side surface of the Z-axis guide 37, and a Z-axis pinion 47 is attached to the output shaft of this Z-axis motor 45.

On the other hand, the Z-axis ram 43 has a 7%
A rack 49 is provided, and the two-shaft binion 47 is meshed with this Z@ 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 and rack 49 are meshed with this Z@binion 47, when the Z-axis binion 47 rotates, the Z-axis column 43 is moved in the X-axis direction via the Z-axis hook 49. Become.

One end of a Y-axis guide 51 is attached to the lower end of the Z-axis column 43, and a two-axis pendor mirror 53 is provided on the lower end surface of the Y-axis guide 51.

A Y-axis upper motor (servo motor) 55 is provided at the upper portion of the other end of the Y-axis guide 51 . This Y-axis motor 55
A Y-axis pinion 57 is attached to the output shaft of.

The Y-axis guide 51 has a left-right direction in FIG. 4, hereinafter referred to as a Y-axis direction. ) is provided so as to be movable in the Y-axis direction.
A Y-axis rack 61 extending in the Y-axis direction is provided on the upper part of the millet. This Y-axis rack 59 has the Y-axis binion 5
7 is engaged.

With the above configuration, when the Y-axis motor 55 is driven, the Y-axis pinion 57 is rotated. Since the Y-axis hook 61 is engaged with the Y-axis binion 57, the Y-axis binion 57
7 rotates, the Y-axis movable body 5 moves through the Y-axis hook 61.
9 will be moved in the Y-axis direction.

The lower end of the A-axis rotating body 63 is attached to the left end of the Y-axis moving body 59 in FIG.
A Y-axis bend mirror 65 is provided at the lower end. A motor base 67 is provided at the bottom of the six-wheel rotating body 63, and a six-wheel motor (servo motor) 69 is provided on the motor base 67. An Am pinion 71 is attached to the output shaft of this six-wheel motor 69.
A six-wheel gear 73 is meshed with the m-binion 71.

- When the six-wheel motor 69 is driven with the configuration described above, A
The m-binion 71 is rotated. The A-axis pinion 71 has an A
Since the shaft gear 73 is engaged, when the six-wheeled binion 71 rotates, the pawl shaft rotating body 63 is rotated in the A-axis direction via the six-wheeled gear 73 as shown by the arrow.

As shown in FIG. 7, a six-wheel fixed body 75 is provided inside the A-axis rotating body 63, and a hollow cylindrical body 77 extending in two axial directions is provided at the axis of the A-axis fixed body 75. It is being A B-axis rotating body 79 is provided at the top of this hollow cylindrical body 77.

A B-axis motor (servo motor) 81 is provided on the upper left side of the claw shaft rotating body 63 in FIG. 6, and a B-axis pinion 83 is attached to the output shaft of this 8-axis motor 81. On the other hand, the B-axis rotating body 79 is provided with a B@gi'P85. The B-axis binion 83 is meshed with this eight-axis gear 85. Further, as shown in FIG.
is provided.

With the above configuration, when the B-axis motor 81 is driven, the B-axis binion 83 is rotated. Since the B-shaft gear 85 is meshed with the B-shaft and the nion 83, when the B-shaft binion 83 rotates, the B-shaft rotating body 79 rotates through the B-shaft gear 85.
It will be rotated in the B-axis direction as shown by the arrow in the figure.

As shown in FIGS. 5 and 6, the B-axis rotating body 79 is provided with a C-axis movable body 89, and a nozzle is connected to the upper part of the C-axis movable body 89 via a nozzle holder 91. 9
3 is installed. The C-axis moving body 89 has a built-in B-axis pendor mirror 95. Further, the nozzle holder 91 includes a condensing lens 97 built therein.

A C-axis motor (servo motor) 99 is provided at the bottom of the C-axis moving body 89, and a C-axis pinion 101 is attached to the output shaft of the C-axis motor 99. On the other hand, a C-axis rack 103 extending in the Z-axis direction is provided at the lower part of the B-axis rotating body 79, and the C-axis binion 101 is meshed with this C-axis rack 103. 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 binion 101 rotates. CO! Since the C-axis hook 103 is engaged with the l-binion 101, when the C-axis binion 101 rotates, the C-axis moving body 89 is guided to the C-axis linear guide 105 via the C-axis hook 103. Then, it is moved in the C-axis direction as indicated by the arrow shown in FIG.

A capacitive gap sensor 107 is integrally attached to the lower part of the nozzle holder 91. 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.

A C-axis motor main body 109 and a C-axis potentiometer 111 are attached to the C-axis motor 99, and the gap amount when the gap is detected by the gap sensor 107 is determined by the C-axis potentiometer 11.
1 will be detected. Note that since more specific details are already known, their explanation will be omitted.

As shown in FIGS. 6 and 8, the side surface of the C-axis motor 99 is provided with a clearance between the welded parts of the work via a U-shaped bracket 113 (details will be described later).
A CCD camera 115 is attached for detecting. Although not shown, a light source is appropriately provided near the CCD camera 115 to illuminate the front of the camera.

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, rotated in the A-axis and B-axis directions, and further moved in the C-axis direction. The Rukoto.

Further, the laser beam LB oscillated by the laser beam oscillator main body 23 is transmitted between an X-axis pend mirror 41 degree, a Z-axis pend mirror 53 . Y-axis bend mirror 65° 8-axis bend mirror 87
The light is sequentially reflected by the B-axis pendor mirror 95 and condensed by the condenser lens 97.

The laser beam B focused by the condensing lens 97 is irradiated from the nozzle 93 onto the welding part of the workpiece to perform laser welding by thermal melting.

FIG. 9 shows a block diagram of a control device that controls the bending and welding composite device.

The control device of this example is constructed by connecting NC devices 117 and 119, which respectively control the bending device and the welding device, through a serial communication line 121.

The NC device 117 of the bending processing device receives bending conditions, that is, the material of the workpiece, inputted from a manual data input device (MDi device) as an input device.

A bending signal setting unit 123 that commands the bending position (depth) and sets signals for driving each actuator based on plate thickness, shape, presence or absence of welding, a programmable controller 125, and an encoder Eb. The controller is configured to include a D-axis drive section 127 for driving the D-axis control 1@IMo of the lower apron 9 while obtaining a feedback signal from the controller, and a communication section 129 connected to the line 121.

On the other hand, the NG welding equipment @119 has X and Y.

Servo motors for Z, A, and B axes 31.55.45°69
．． Servo υJtll1 with 81 and 611111 respectively
gB131 and the C-axis motor 99 is controlled to follow the workpiece based on the input signal from the gap sensor 107.
The imaging signal of the CD camera 115 is taken in via the image processing device 133, and the programmable controller 135
A sansa signal processing unit 137 that processes signals in conjunction with the
It is configured to include a communication section 139 connected to the line 121.

The servo control section 131 receives MDi via the line 121.
The welding conditions input from the device are input, and the nozzle 93
A spatial position in which the tip of the welding part is located near the welding part, for example, 10+u away, that is, a time position at which welding can be started by only C-axis drive is determined using an appropriate coordinate conversion formula, and the drive amount is distributed to each motor. Further, after welding starts, a predetermined moving signal is distributed to each motor so that the tip of the nozzle 93 is moved along the weld line of the welding part.

The programmable controllers 125 and 135 input signals from various sensors, including limit switches (not shown), and manage a series of sequence processes to appropriately operate each actuator, including solenoids (not shown).

As shown in FIG. 10, the NG device [117
sets the positioning position of the die 15 based on the input bending conditions (step 1001). That is, here, the workpiece is set at a predetermined angle according to the shape of the die 15, the bending angle of the workpiece, and the thickness of the workpiece. The moving position of the die 15 is determined for bending.

In the next step 1002, the lower apron 9 is raised in order to move the die 15 to the set position.

In this case, the rising speed of the lower apron 9 is fast at the beginning;
It is said to be slow in the middle and then at a very slow speed at the end. or,
The final position is obtained by adding an amount α corresponding to the springback amount from the set position I Do.

When the movement to the predetermined position Do+α is completed in step 1003, in step 1004 the apron 9 is lowered until it is determined that D=Do in order to remove the distortion due to springback (step 1005).

As described above, the bending process is completed for the time being, so in step 1006, a bending completion signal is output to the NC device 119 of the welding device.

Note that this example shows a case where welding is performed next to the bending process, but if welding is not performed, the lower apron 9 is lowered to the lower end in step 1004, thereby completing one step of the bending process.

In step 1007, the workpiece W is held between the punch 17 and the die 15 and waits until a signal is input from the welding device in step 1008.

FIG. 11 shows the NC device 11 of an example of a welding device executed subsequent to the bending end signal from step 1006 in FIG.
9 is a processing flowchart.

In step 1101, the welding head consisting of the gap sensor 107 is positioned at a preset timing position.

The timing position is, for example, in the welding of the corner of the assembly shown in FIG. This is the position where welding can be started by moving the nozzle 93 forward by driving only the C-axis.

Therefore, in step 1102, Stella 11 in FIG.
The bending end signal shown at 006 is input, and if this signal is input, the process moves to step 1103.

In step 1103, the cap sensor 107 is activated to drive the C-axis, and the processing head is brought closer to the workpiece W until the tip of the nozzle 93 is at a position of, for example, 2101 with respect to the workpiece W.

Therefore, in step 1104, the CCD sensor 115 detects the clearance C, and in step 1105, this f
It is determined whether f1G is less than or equal to a preset value Co.

The preset clearance fikco is generally
It is set to 15% of the input plate thickness, that is, 0.15t.

When C>co in step 1105, considering that the bending is still insufficient, the process moves to step 1106, outputs an unacceptable NG signal to the NC device 117 of the bending device, and returns to the timing position in step 1101.

If it is determined in step 1105 that C≦Co, it means that the clearance C1fi in FIG. 12 is suitable for welding and the bending angle is just right.
The process moves to the welding process in step 07.

In the welding process of step 1107, a laser beam is output from the tip of the nozzle 93 as shown in FIG.
5 axes
Y, Z, A, and B are driven using appropriate coordinate transformation formulas.

After welding is completed, the processing head is moved to a predetermined position, and a welding completion signal is output to the NC device 117 at the bending position i in order to proceed to the next bending process.

On the other hand, the NC device 117 of the bending machine to which the unacceptable signal NG in step 1106 was inputted,
This is identified in step 08 and additional processing is performed in step 1009.

The additional processing here is Clearance Cff1 Setting II
In view of the fact that the curve is larger than co and the bending is insufficient, the positioning position reduced in step 1003 is increased by a slight amount β in order to perform additional bending.

This world β may be set to a constant value, such as 0.0511, for example, and if it is insufficient, this amount β may be added again. Furthermore, in order to perform the work more efficiently, in addition to the NG rejection signal in step 1106 of FIG. 11, the detected clearance amount C may be transmitted, and an additional mβ may be determined based on this seedling C. . In this case, if the distance from the bottom of the welding part WS to the detection part is 9, and the angle formed by the clearance is Δθ, then p・tanΔθ−C, so Δθ=t
Considering an-+(Ω/C), additional bending is performed all at once so that the clearance C becomes equal to or less than the set value Co.

FIG. 13 shows various types of joining methods using corner butting and flat butting.

As understood from the illustrated shapes, FIGS. 10 and 1
The bending and welding process shown in FIG. 1 can be applied to workpieces W of various shapes.

However, although it is necessary to determine the posture of the nozzle 93 according to various shapes, these postures can be calculated as appropriate depending on each shape.

As described above, in the control system of the folding and welding composite device of this example, the bending device and the welding device can be effectively linked according to the clearance C of the welding part Ws, so that the bending and welding operations can be performed efficiently. Can be done.

Moreover, in the interlocking operation of the two, the workpiece W is bent by the bending device (
Since the press brake remains held between the bunch 7 of the press brake and the die '15, the product accuracy is good.

In the embodiment described above, an example was shown in which the welded portion WS is linearly main-welded, but this may be spot welding, and main welding may be performed to imitate temporary joining.

Furthermore, in the above embodiment, the clearance C was detected by the CCD camera 115 after the bending process was completed, but it was detected continuously during the bending process, and the clearance C was taken into account during the correction process commensurate with the springback. If the clearance C is C≦(Co
The bending process may be completed under the following conditions and welding may be performed.

The present invention combines the two NC devices shown in FIG. 9 into one NC device, and in addition to laser welding, Ma, Mag,
This can be carried out in any appropriate manner, such as by using welding means such as Tia.

[Effect of the Invention J As described above, the present invention is a control system for a composite bending and welding device as described in the claims, so that the bending device and the welding device can be effectively linked. It can be operated efficiently and can process high viscosity products.

[Brief explanation of the drawing]

Fig. 1 is a flowchart showing an overview of the present invention, Fig. 2 is a front view showing a composite bending and welding device according to an embodiment of the present invention, Fig. 3 is a view in the direction of the ■ arrow in Fig. 2, and Fig. 4 is an enlarged detailed view of the IV-IV line in FIG. 2, FIG. 5 is an enlarged view of the Vl arrow in FIG. 6 is a partial cross-sectional view taken in the direction of the ■ arrow in FIG. 6, FIG. Figure 11 is a flowchart of the bending process, Figure 11 is a flowchart of the welding process, Figure 12 is an explanatory diagram of brown bending, and Figure 1 is a flowchart of the welding process.
3.0)〈ω(C)■ is an explanatory diagram of a welded part. 1... Bending and welding complex device 3... Bending processing equipment @ (press brake) 5... Welding device (laser processing!I) 9... Lower apron 15... Die (lower mold) 19... Punch (upper mold) 23... Laser oscillator 31... X-axis motor 55... Y-axis motor 81... B-axis motor 93... Nozzle 115... CCD camera 45... ...Z-axis motor 69...A-axis motor 99...C-axis motor 107...Gear 17 knob sensor

Claims (1)

[Claims] In a control method for a folding and welding composite device that combines a bending device and a welding device that welds a plate material bent by the device while being held by the device, the bending operation of the bending device A clearance detection means is provided to detect the clearance of the welded part which gradually decreases based on the bending process, and the clearance of the welded part is detected after the bending process is performed, and when the detected clearance is higher than a predetermined value, additional bending process is performed. and a control method for a composite bending and welding device, characterized in that welding is performed when the detected clearance is below a predetermined value.