JPH06142912A - Device for working bar stock - Google Patents

Abstract

PURPOSE:To automate cutting and marking works on a bar stock having a length dimension larger than a width dimension and to work by following up the end edge or the end face in the case that camber is generated on the bar stock. CONSTITUTION:A 1st carriage 5 whose CCD camera 6 and sensor 7 are provided on a frame 4 which runs on rails 3 is composed so as to be traversable with a motor 5a and, on this 1st carriage 5, a 2nd carriage 8 which is controlled with a numerical controller and on which a cutting torch 12 and marking torch 11 are mounted is traversably mounted. A device with which a rising plate 13 of a surface plate B is detected is provided on the frame. The edge of the bar stock 1 is photographed with the CCD camera 6, the 1st carriage 5 is traversed by processing this image and also the frame 4 and 2nd carriage 8 are controlled according to a program.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a processing device for cutting or marking a strip material such as a long flat bar or long shaped steel.

[0002]

2. Description of the Related Art In ship hull members, bridge members, and steel structural members, flat bars and shaped steels, which are much larger in length than width, are often used. These flat bars and shaped steels are generally called strips, and there are those manufactured by rolling, those manufactured by cutting from steel plates, and the like.

When the above-mentioned strip material is used as a member such as a hull member, a cutting line including a groove cutting according to an application point, or a marking line indicating a mounting position of another component and a bending R in the longitudinal direction is formed. It However, since the strip is used as it is rolled or cut, it is generally warped in the longitudinal direction. Therefore, it is not easy to cut or score the strip.

For example, when the groove is cut in the longitudinal direction of the strip, as shown in FIG. 8 (a), the operator places a plurality of strips 51 on one side 51a of the strip 51 at a predetermined distance. The point 52 is set, and a scribe line 53 is formed by connecting the points 52 to each other, and the operator operates the portable cutting machine to cut along the scribe line 53.
When the score line 53 is formed in the center of the strip 51, the operator measures the width dimension at a plurality of locations in the longitudinal direction of the strip 51 to determine the center point 54, as shown in FIG. A marking line 53 is formed by setting these points and connecting these points 54.

[0005]

The cutting line and the score line 53 obtained as described above become continuous straight lines, and
It is close to the sled of 51 but does not match. It is necessary to set a large number of points 52 and 54 in the longitudinal direction of the strip 51 in order to make them substantially coincide with each other. Since these operations are manual operations by the operator, an accurate score line 53 is obtained. Therefore, there is a problem that the processing cost becomes high.

On the other hand, recently, a numerically controlled cutting device has been adopted which operates according to a preset program and cuts or forms a quadratic curve on a steel material. This cutting device is equipped with a height control device for maintaining a constant distance between the cutting torch or marking torch and the surface of the steel material. However, since it is not configured to detect the edge of the steel material and perform cutting or marking, it is not possible to perform cutting or marking by following the edge or end surface of the warped strip. Absent.

An object of the present invention is to provide a processing apparatus capable of performing a predetermined cutting or marking on a strip material which is warped along an edge or an end surface.

[0008]

In order to solve the above-mentioned problems, the apparatus for processing a strip according to the present invention has a width dimension in comparison with a width dimension placed on a surface plate having an upright plate which is erected substantially vertically. And a frame that runs along the longitudinal direction of the strip, and is mounted on the frame. And a second carriage mounted on the first carriage so as to be capable of traversing along the width direction of the strip, and a second carriage which is driven by a driving means and traverses along the width direction of the strip. Based on a cutting torch and a marking torch mounted on the carriage, a detection unit mounted on the first carriage for detecting an end portion in the width direction of the strip, and a position of the end portion in the width direction of the strip detected by the detection unit. The first key And control means for controlling the driving means of the ridge and is formed and a numerical controller for controlling the traverse of the travel and the second carriage of the frame based on pre-input processing information.

When the surface of the strip is flat, in the above processing apparatus, the detection means is a CCD camera or an image sensor for capturing the edge of the strip, and the control means captures the image by the detection means. An image processing unit that processes the processed image and outputs a binarized signal, and recognizes the position of the edge of the strip based on the binarized signal output from the image processing unit and sets a preset edge reference. It is preferable to have a coordinate processing unit for generating a drive signal according to this difference and transmitting it to the drive means when there is a difference between the position and the position, and further, the mounting position of the standing plate of the surface plate on the frame. And a drive signal ignoring circuit is provided in the control means, and when the signal generated from the detecting means is transmitted to the control means, the drive signal ignoring circuit is operated to operate the coordinate processing section. Or It is preferable to configure the driving signals generated so as not to transmit to the drive means.

When the strip has an upright piece such as an angle, in the processing apparatus, the detection means is a sensor for detecting the distance from the end face of the strip, and the control means is preset. When the distance between the end surface of the strip and the detection means is stored and the distance between the end surface of the strip detected by the detection means and the detection means changes from the stored distance as the processing on the strip progresses, It is preferable to transmit a drive signal according to the change to the drive means.

[0011]

According to the above-described strip processing apparatus, a strip such as a flat bar or shaped steel having warpage can be cut or scored along one edge or one end face.

That is, when the flat surface of the strip is flat and the thickness thereof is relatively thin, the first means traverses by being driven by the drive means to the frame configured to be able to run along the longitudinal direction of the strip. A CCD that mounts a carriage, mounts a second carriage in which a cutting torch and a marking torch are mounted on the first carriage, and photographs the edge of the strip in the width direction.
A camera or an image sensor is provided, and further, a control means for processing a captured image to control the driving means of the first carriage and a numerical controller for controlling the traveling of the frame and the traverse of the second carriage according to a program inputted in advance. Since it is provided, the image taken with the progress of processing is converted into a binarized signal by the image processing unit and output to the coordinate processing unit, and the position of the edge of the strip and the reference position taken by the coordinate processing unit When a difference is generated between the two, the drive signal for causing the reference position to coincide with the detected edge position is transmitted to the drive means, and the first carriage is made to traverse, whereby the edge of the strip is Can be followed.

Therefore, by causing the frame, the second carriage, the cutting torch or the marking torch to operate in accordance with a program preset in the numerical controller while the first carriage follows the edge of the strip, the strip is generated in the strip. It is possible to perform processing such as cutting or marking on the strip regardless of the sled.

When the strip material is placed on a surface plate having an upright plate, if the edge of the strip material is photographed by a CCD camera, the upright plate is photographed at the same time, and the edge and the upright plate cannot be discriminated. There are cases. For this reason, the frame is provided with detection means for generating a signal corresponding to the standing plate, and the control means is provided with a drive signal ignoring circuit. When a signal from the detection means is transmitted to the control means, an image taken by a CCD camera By ignoring the drive signal generated to the drive means based on the above, the previous position can be held without traversing the first carriage, so that a malfunction due to the standing plate of the surface plate can be prevented.

When the strip is an angled member having a rising piece, the first carriage is provided with a sensor for detecting the distance between the rising piece and the distance between the rising piece and the sensor which is set in advance. By providing the control means for controlling the driving means of the first carriage so as to maintain the above, it is possible to perform processing such as cutting or marking on the strip regardless of the warp generated on the strip.

[0016]

EXAMPLES Examples of the apparatus for processing the above strip will be described below with reference to the drawings. 1 is a plan view of the processing apparatus, FIG. 2 is a schematic side view of the processing apparatus, FIG. 3 is a schematic front view of the processing apparatus,
FIG. 4 is an explanatory diagram for photographing the edge of the strip with a CCD camera, FIG. 5 is a diagram for explaining a mechanism for detecting the standing plate of the surface plate,
FIG. 6 is a block diagram of the control means that follows the edge of the strip taken by the CCD camera, and FIG. 7 is a block diagram of the control means that follows the end face of the strip detected by the sensor.

The processing apparatus A according to this embodiment follows the edge of the strip 1 (see FIG. 4) made of a flat bar, or the strip 2 made of shaped steel such as an angle material and a channel material (FIG. 7). By following the end face of (see), these strips 1, 2
Even if the warp occurs, the cutting torch 12 or the marking torch 11 can accurately perform processing such as cutting or marking on the strips 1 and 2.

In the figure, a frame 4 which is driven by a motor (not shown) and runs on the rails 3 is mounted on a pair of rails 3 laid in parallel.
A platen B on which the strip 1 or strip 2 is placed is installed between them.

A first cross rail 4a, which is arranged in a direction orthogonal to the rail 3, is fixed to the frame 4, and a motor 5a serving as a driving means is attached to the first cross rail 4a.
A first carriage 5 is mounted which is driven by and traverses in a direction orthogonal to the rail 3.

A second cross rail 5b arranged in a direction orthogonal to the rail 3 is fixed to the front surface of the first carriage 5,
A bracket 5c is fixed to the lower part. At a predetermined position of the bracket 5c, a CCD camera 6 that serves as a detection unit that detects the edge of the strip 1 and a sensor 7 that serves as a detection unit that detects the end surface of the strip 2 are attached.

When it is determined in advance that only the strip 1 made of a flat bar is to be processed, only the CCD camera 6 can be attached to the first carriage 5 to configure the processing apparatus A. is there. Similarly, when the strip material is only the strip material 2 made of an angle material, only the sensor 7 may be attached to the first carriage 5 to configure the processing apparatus A. However, in the case of hull members, bridge members, and steel structure members, flat bars, angle members, etc. are generally selectively used as strip members. In this embodiment, which strip members 1, 2 are used. CCD camera 6 to adapt even if there is
The processing apparatus A is configured by attaching both the sensor 7 and the sensor 7.

As the CCD camera 6, it is possible to use a commercially available camera. As the sensor 7, any sensor that can detect the distance to the object to be measured (the standing piece 2a of the strip 2 in FIG. 7) can be used. As such a sensor, for example, a laser sensor that irradiates a laser beam to the object to be measured and detects a change in reflected light to detect a distance, or a compressed air is jetted to the object to detect a change in back pressure. For example, there are an air sensor for detecting a distance, a sensor for detecting a distance by sensing a change in electric capacitance between the object and the object to be measured, and the like. In this embodiment, a laser sensor is used as the sensor 7 in consideration of the size of the standing piece 2a of the strip 2 that is the object to be measured.

A second cross rail 5b provided on the front surface of the first carriage 5 carries a second carriage 8 which is driven by a motor 8a and traverses the rail 3 in a direction orthogonal to the rail 3. The second carriage 8 is provided with an elevating saddle 9 which is driven by a motor 9a to ascend and descend.

A bracket 9b and a torch turning device 10 are attached to the lifting saddle 9, and the bracket 9b
A marking torch 11 is attached to b, and a cutting torch 12 is attached to the torch turning device 10. The cutting torch 12 can be swung about an axis 10b as the motor 10a of the torch turning device 10 is rotated.

In the above structure, the motor for driving the frame 4, the motor 8a for driving the second carriage 8,
The motors 10a that drive the torch turning device 10 are controlled by numerical control devices (not shown). That is, each of the motors is controlled according to a cutting or marking program pre-entered in the numerical controller, and the cutting torch 12
Alternatively, while operating the marking torch 11, the frame 4
Run along the rail 3 and the second carriage 8
It is possible to cut or mark the strips 1 and 2 by traversing in the direction orthogonal to the rail 3.

The motor 5a for driving the first carriage 5 is a signal obtained by processing the image of the edge 1a of the strip 1 photographed by the CCD camera 6 by the control means 20 described later, or processed by the control means 30. It is controlled by the signal from the sensor 7. That is, the motor 5a is driven by the signals from the control devices 20 and 30, and the first carriage 5 is caused to traverse according to the sled of the strips 1 and 2,
The second carriage 8 is made to follow.

As described above, the first carriage 5 includes the strip members 1,
The second carriage 8 is made to traverse corresponding to the sleds generated on the torch 11, and the second carriage 8 is provided with the torch 11 according to the traverse information in the direction orthogonal to the rail 3 in the machining program inputted in advance to the numerical controller. ， 12 are traversed. Therefore,
By operating the CCD camera 6 or the sensor 7 while the frame 4 is running, regardless of the warp generated on the strips 1 and 2, cutting, marking or the like having a preset shape on the strips 1 or 2. It is possible to accurately perform the processing.

The surface plate B installed between the rails 3 has a stand (not shown) fixed on the floor along the longitudinal direction of the rail 3, and a plurality of standing plates 13 are fixed on this stand at a constant pitch. It is configured by attaching. When the strips 1 and 2 placed on the surface plate B are cut, the upper end of the standing plate 13 may be cut or slag may be attached and consumed by this cutting process. For this reason, the standing plate 13 is configured so that it can be appropriately replaced according to wear, without being integrally fixed to the stand.

When following one edge 1a of the strip 1 made of a flat bar placed on the surface plate B, the edge 1a and the standing plate 13 are simultaneously photographed by the CCD camera 6 as shown in FIG. I have something to do. In such a case, depending on the thickness of the strip 1, there is a possibility that the edge 1a and the upright plate 13 cannot be clearly distinguished on the image. Therefore, it is necessary to stop the motor 5a at a position corresponding to the upright plate 13 without driving the motor 5a, regardless of whether the CCD camera 6 photographs the edge 1a.

For this reason, the frame 4 is provided with a detector for the upright plate 13 configured as shown in FIG. 5A or 5B. In the detection device shown in FIG. 3A, a rack 14 is fixed to a side surface of a rail 3 along a longitudinal direction, a pinion 15 that meshes with the rack 14 is attached to a frame 4, and the pinion 15 rotates as the pinion 15 rotates. The cam plate 16 with the dog 16a is attached, and the frame 4
The proximity switch 17 for detecting the dog 16a is fixed to the structure. In this detection device, the circumferential length of the cam plate 16 is configured to be equal to the mounting pitch of the standing plate 13 on the surface plate B. Therefore, the cam plate 16 rotates as the frame 4 travels, and the proximity switch 17 detects the dog 16a and generates a signal in response to the rotation, whereby the standing plate 13 can be detected.

Further, the detection device shown in FIG. 3B is a pulse encoder instead of the cam plate 16 and the proximity switch 17.
It is configured by providing 18. In this detection device, by inputting pulse information corresponding to the mounting pitch of the upright plate 13 to the counter in advance, the signal generated from the pulse encoder 18 according to the traveling of the frame 4 is corresponded to the traveling direction by the counter. The upright plate 13 can be detected by adding or subtracting.

Next, the control device for controlling the drive of the motor 5a in the processing apparatus A constructed as described above will be explained. This control device uses the edge 1a of the strip 1 as a CCD.
When shooting with the camera 6, and the standing piece 2a of the strip 2.
And a device for detecting the distance between the sensors 7 are configured as different devices.

First, the control means 20 for controlling the drive of the motor 5a by photographing the edge 1a of the strip 1 made of a flat bar with the CCD camera 6 will be described with reference to FIG. In the figure, 21 is an image processing unit, which binarizes the image of the edge 1a of the strip 1 taken by the CCD camera 6. Reference numeral 22 is a coordinate processing unit, which is an image processing unit.
The coordinate value of the edge 1a is read from the binarized information transmitted from 21, and compared with the reference coordinate value to output the difference. A D / A converter 23 converts the digital signal transmitted from the coordinate processor 22 into an analog signal and transmits it to the drive signal ignoring circuit 24.

Reference numeral 25 is a setting portion for setting or converting the mounting pitch of the standing plate 13 on the surface plate B.
The size of the mounting pitch is input. The setting unit
A signal from the proximity switch 17 or the pulse encoder 18 which constitutes the above-described detection device is input to 25. Further, the setting unit 25 is connected to the drive signal ignoring circuit 24, and the proximity switch
17 or the signal is input from the pulse encoder 18,
In response to this signal, a signal is transmitted to the drive signal neglecting circuit 24 to operate the circuit 24. Incidentally, 26 is a servo amplifier for driving the motor 5a, and 18a is a counter of the pulse encoder 18.

Therefore, the coordinate processing unit 22 is set in advance with the reference coordinate position of the edge 1a, and as shown in FIG.
When the CCD camera 6 photographs the edge 1a of the strip 1 placed on the image, the image processing unit 21 binarizes the image, and the binarization information is transmitted to the coordinate processing unit 23, the coordinate processing unit At 23, the coordinate position of the edge 1a in the photographed image is compared with the read reference coordinates from the transmitted information.
Here, the position of the reference coordinate set in the coordinate processing unit 23 is not particularly limited. However, it is preferable to set the center coordinate value in the image as a reference.

If there is a difference between the coordinates of the edge 1a of the image and the reference coordinates in the coordinate processing section 23, the value and direction of this difference are output to the D / A conversion section 23 to generate an analog signal. Is converted to. Then, when the stand-up plate 13 of the surface plate B is not detected by the detection device, the analog signal is amplified by the servo amplifier 26, thereby driving the motor 5a to move the first carriage 5 to the edge of the strip 1. 1a is traversed at a speed corresponding to the changed dimension in the changed direction. As the first carriage 5 traverses, the CCD camera 6 also traverses, and the preset reference coordinates match the edge 1a.

When the detecting device detects the standing plate 13 of the surface plate B, that is, when a signal from the proximity switch 17 or the pulse encoder 18 is transmitted to the setting unit 25, the setting unit 25 drives the drive signal ignoring circuit 24. Is transmitted to the circuit 24. Therefore, even if a signal for driving the motor 5a is generated from the coordinate processing unit 22 based on an image obtained by simultaneously capturing the edge 1a of the strip 1 and the standing plate 13 of the surface plate B by the CCD camera 6, this drive signal is generated. Is ignored by the drive signal ignoring circuit 24 and does not drive the motor 5a. Therefore, even when the first carriage 5 reaches the position corresponding to the upright plate 13, it is not affected by the upright plate 13.

Next, the distance between the strip 2 made of an angle member and the standing piece 2a is detected by the sensor 7 and the motor 5 is detected.
The control means 30 for controlling the drive of a will be described with reference to FIG. In the figure, the sensor 7 is provided at a position facing the standing piece 2a of the strip 2 placed on the surface plate B and at a preset distance. The sensor 7 irradiates the standing piece 2a with a laser beam, detects the reflected light from the standing piece 2a to detect the distance, and when the distance between the standing piece 2a and the sensor 7 changes, the sensor 7 responds to the change. It is configured to output an analog signal. A servo amplifier 31 amplifies the signal output from the sensor 7 and drives the motor 5a.

In the above structure, when the strip 2 is placed on the surface plate B and the sensor 7 is arranged so as to face the upright piece 2a and the sensor 7 is operated, the current upright piece 2a is detected by the sensor 7. And the difference from the preset distance is output to the servo amplifier 31. This signal is amplified by the servo amplifier 31 and drives the motor 5a.
The first carriage 5 is made to traverse until the distance between the standing piece 2a and the sensor 7 matches a preset distance. When the distance between the standing piece 2a and the sensor 7 matches the set value, the output signal from the sensor 7 stops, and therefore the first carriage 5 stops at the transverse position.

As described above, as the frame 4 runs, the first carriage 5 is moved to the edge 1a of the strip 1 or the strip 2.
It is possible to cause the standing piece 2a to traverse.
Therefore, the second carriage 8 is made to traverse independently of the following of the strips 1 and 2 of the first carriage 5 in accordance with a program previously inputted to the numerical controller, and the cutting torch 12 or the marking torch 11 is selectively operated. Thus, it is possible to cut or mark the strips 1 and 2.

That is, in the processing apparatus A, when the strips 1 and 2 are warped, the first carriage 5 responds to the warping.
By traversing and following, it is possible to perform accurate cutting or marking on the strips 1 and 2.

[0042]

As described in detail above, in the strip material processing apparatus according to the present invention, the warp of the strip material is detected by detecting the end of the strip material by the detecting means and controlling the driving means of the first carriage. Can be followed, and the second carriage can be controlled by the numerical controller independently of the traverse of the first carriage, so that the strip material can be processed.
Therefore, with respect to strips such as flat bars produced by cutting steel plates or angle bars produced by rolling, regardless of the presence of warpage in these strips,
Accurate cutting or marking can be performed by detecting and following the edge of the strip or the standing piece.

Further, when the edge of the strip placed on the surface plate is photographed and followed, when the standing plate constituting the surface plate is detected, the driving means for the first carriage based on the image information captured. It is possible to follow the edge of the strip without being affected by the upright plate by configuring so as to ignore the control for the.

In the apparatus for processing a strip according to the present invention, since the cutting torch or the marking torch can be controlled by the follow-up of the end of the strip and the numerical control device, it is possible to cut the strip to be performed by hand conventionally. , It is possible to automate the work such as marking, reduce the processing time, reduce the labor of the worker, and reduce the processing cost.

[Brief description of drawings]

FIG. 1 is a plan view of a processing device.

FIG. 2 is a schematic side view of a processing device.

FIG. 3 is a schematic front view of a processing device.

FIG. 4 is an explanatory diagram of capturing an edge of a strip with a CCD camera.

FIG. 5 is a diagram illustrating a mechanism for detecting a standing plate of a surface plate.

FIG. 6 is a block diagram of a control device that follows an edge of a strip material photographed by a CCD camera.

FIG. 7 is a block diagram of a control device that follows an end surface of a strip detected by a sensor.

FIG. 8 is a diagram illustrating a conventional method of cutting and marking a strip.

[Explanation of symbols]

 A Processing device B Surface plate 1, 2 material 1a Edge of 1 material 2a Standing piece of 2 material 3 Rail 3 4 Frame 5 1st carriage 5a Motor 6 CCD camera 7 Sensor 8 2nd carriage 8a Motor 9 Lifting saddle 10 Torch revolving device 11 Marking torch 12 Cutting torch 13 Standing plate 14 Rack 15 Pinion 16 Cam plate 17 Proximity switch 18 Pulse encoder 20, 30 Control means 21 Image processing unit 22 Coordinate processing unit 23 D / A conversion unit 24 Drive signal ignoring circuit 25 Setting section 26, 31 Servo amplifier

 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Inventor Mikio Watanabe 3-35-16 Nishikoiwa, Edogawa-ku, Tokyo Koike Oxygen Industry Co., Ltd.

Claims (4)

[Claims] 1. A cutting process including groove cutting or a scoring line is formed on a strip material having a length dimension larger than a width dimension placed on a surface plate having a standing plate which is erected substantially vertically. And a frame that travels along the longitudinal direction of the strip, and a first carriage that is mounted on the frame and that is driven by drive means and that traverses along the width direction of the strip. A second carriage mounted on the first carriage so as to traverse along the width direction of the strip, a cutting torch and a marking torch mounted on the second carriage, and a width of the strip mounted on the first carriage Detecting means for detecting the end portion in the direction, control means for controlling the driving means of the first carriage based on the end portion position in the width direction of the strip detected by the detecting means, and based on previously input processing information And a numerical controller for controlling the traveling of the frame and the traverse of the second carriage. 2. The image processing in which the detection means is a CCD camera or an image sensor for photographing the edge of the strip, and the control means processes the image photographed by the detection means and outputs a binarized signal. Section and the binarized signal output from the image processing section to recognize the position of the edge of the strip and compare with a preset reference position of the edge, and if there is a difference between the two, this difference 2. The apparatus for processing a strip material according to claim 1, further comprising a coordinate processing unit that generates a corresponding driving signal and transmits the driving signal to the driving unit. 3. The frame is provided with a detection means for generating a signal corresponding to the mounting position of the standing plate of the surface plate, and the control means is provided with a drive signal ignoring circuit so that the signal generated from the detection means is supplied to the control means. 3. The apparatus for processing a strip material according to claim 2, wherein the drive signal ignoring circuit is operated so that the drive signal generated from the coordinate processing unit is not transmitted to the driving means when the signal is transmitted. 4. The sensor is a sensor for detecting a distance from the end surface of the strip, and the control means stores the preset distance between the end surface of the strip and the detection means. When the distance between the end surface of the strip detected by the detection means and the detection means changes from the stored distance as the machining progresses, the drive signal corresponding to this change is transmitted to the drive means. The apparatus for processing a strip according to claim 1, which is characterized.