JPS5998207A - Method and device for processing metal or the like - Google Patents

Abstract

PURPOSE:To process easily a metal or the like by dividing the whole of a processing line to minute parts, each of which corresponds to the extent of movement for one pulse, with respect to coordinate axes and encoding them into a pulse train and storing and reproducing it to drive an oprating part. CONSTITUTION:A shape input device 12 gives the processing line to a pulse conversion processing device 13 to divide the processing line to minute segments, each of which corresponds to the extent of movement for one pulse, with respect to each coordinate axis, and they are encoded into a dot string and are stored in a storage device 14. The pulse train which is encoded and stored in the device 14 is sent to a reproducing device 15, and the device 15 transfers the quantity of stored contents, which is required for the operation of one cycle, out of stored contents of the pulse train stored in the device 14 through an auxiliary storage device and reproduces it. An operating part 16 is driven by reproduced pulses to process the metal or the like.

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a metal processing method and apparatus in which a metal processing device capable of gas cutting or welding a shape composed of a straight line or a curved line can be automatically moved by numerical control. The entire machining line composed of straight lines or curves is regarded as a point sequence in which one minute point is connected in sequence, and therefore the machining +llll! is divided into minute line segments corresponding to the driving distance of one pulse for each predetermined coordinate axis, coded, stored in a storage medium as a pulse train, and reproduced to drive the 8: metal processing equipment using the pulses. The present invention relates to a metal processing method characterized by control and an apparatus therefor.

For example, the numerical control in the metal beam processing method that has been widely used is the processing #! shown in Fig. 1. 1 information is defined by a straight line and a circular arc, and the intersection of the circular arc and the circular arc on the processing line 1, @line and circular arc a g
1) # d # f s g and the center point c of the arc,
Let e and h be numerical control information, respectively, and write the point amb on this note.
Coordinate values were created by matching h to the coordinate system, and inputted into a numerical control device using punch tape or the like as a medium.

This conventional method was devised at a time when computers were underdeveloped and memory elements had little capacity, so information about processed lines had to be conveyed in a short amount of time. The environmental conditions were entirely different (products of a different era).

Therefore, in the conventional method, it is easy to express a simple straight line or a line consisting only of a straight line and a circular arc by the coordinates of the arc, the node of the @ line, and the center point of the circular arc, but seagull,
Alternatively, it is impossible to manually divide the arc into a straight line with an approximation of 1/100 or less, so it is necessary to divide the arc and straight line using an expensive computer (programming).
This programming had the drawback of requiring a great deal of effort and expense.

Furthermore, in the conventional method described above, after programming the machining lines into circular arcs and straight lines, these lines must be replaced with pulse trains again, which is wasteful, and the operating unit is too slow compared to the pulse interpolation speed of the numerical control unit. Therefore, the operation rate of the expensive numerical control unit is extremely low.

The present invention is a completely new technology developed in view of the drawbacks of the conventional technology.In particular, the entire processed line is treated as a series of minute points connected in sequence, and these minute points are encoded. The present invention relates to a metal processing method and its apparatus trap, which is characterized in that it is directly stored as a pulse train, reproduced, and used to control the drive of a metal processing device.

To specifically explain one embodiment of the present invention with reference to the drawings, the second embodiment
In the figure, 2 indicates an arbitrary processing line, and 6 indicates this processing line 2.
This shows that it is composed of a series of minute points, that is, a series of points.

If the arrangement of this point sequence 6 is strictly defined, it can be decomposed into an x, y, z... coordinate system as shown in FIG. Figure 3 is X.

Indicates the definition of the line on the y plane, 4 is the given processing line,
Reference numeral 5 indicates a minute line segment that approximates the processed line 4 and is aligned in the direction of the coordinate axis.

41 and 5 are examples of how to define a point sequence of a plane W working line on the x-y coordinate plane, or a dot sequence of a bean body working line in the x-y-z coordinate system, that is, a minute line segment, respectively. , and those including polar coordinate systems can also be defined according to this. The machining lines on the plane in FIG. 4 are diagrams showing the relationship between pulses and moving distance using the X, Y orthogonal coordinate system as an example, where l is the length equivalent to one pulse.

Movement in the y-axis direction is x, and positive and negative directions along the y-axis are x.

Consisting of positive and negative directions intersecting the y-axis at 45 degrees, ■, ■...
There are eight ways (■), and it is possible to move in any direction by combining these eight ways.

An example of displaying these eight types of discrimination in binary code is, for example, if it is encoded with 6 bits, as shown in Table 1 below.
For example, if it is encoded with 4 bits, the following table 2 shows 1 unit.

Table 1 Table 2 How to code is a matter of the circuit or calculation program, but it is 91 bits per control axis, 6 to 4 bits for 2 axes, and 5 to 6 bits for 6 axes. Bits are sufficient. Therefore, if the number of control axes increases, the number of allocated bits should be increased accordingly7S0 If the pulse speed is constant, the combined speed in the case of ■, ■, ■, ■ is ■, ■, ■ , is five times as large as in the case of ■, so
If you want to move at a constant speed in any of the directions from ■ to ■,
The oscillation time intervals of the pulses (2), (2), and (2) may be adjusted by hK. Therefore, all shapes can be defined by successive combinations of vectors 1 to 2, as shown in FIG.

FIG. 5 is an example of symbolizing the minute melt in the three-dimensional coordinates, which can be expressed as shown in Table 6 below using the same procedure as explained in FIG. 4.

Table 6 The following Table 4 exemplifies how to create a code different from that shown in Table 6 above.

Table 4 Furthermore, for an increase in the number of control axes, it can be easily created according to Tables 1 to 4.

Before explaining the present invention, conventional numerical control will be explained.The conventional method is as already explained based on FIG. death,
These were controlled by the method shown in the block diagram of FIG.

That is, in FIG. 6, numeral 6 is a graphic input device, which can input shapes using shape dimensions or mathematical formulas, and numeral 7 is a numerical control 1 program device, which accepts input from the input device 6. A numerical control program can be performed by converting into the approximate circular arcs and straight lines shown in FIG. 1, and the program can be recorded on the next storage medium 8 or perforated tape 9.

Reference numeral 10 denotes a numerical control device which inputs the input information from the storage medium 8 or perforation tape 90, and converts the arc and @ line information sent from these into the coordinate axis system as shown in FIG. Then, interpolation work is performed (referred to as circular interpolation or linear interpolation) into a point sequence (electrically a pulse train), and the operation unit 11 of the next metal processing device is operated to reproduce the machining of a predetermined machining line. As you get (composed).

In contrast, FIG. 7 is a block diagram illustrating the functionality of the method according to the invention. That is, in FIG. 7, 12 is a shape input device, 16 is a pulse train conversion processing device that directly converts the input from the input device 12 into a dot sequence (electrically, a pulse train) of the line in FIG. 2, and 14 is a pulse train conversion processing device. A storage device that stores the above-mentioned pulse train, such as a magnetic desk, bubble memory, Flobby desk, etc.
It consists of a storage medium such as magnetic tape. Reference numeral 15 represents a reproducing device that reproduces the above-mentioned memory into pulses, and 16 represents an operating unit that can reproduce processing #.

Therefore, when comparing the conventional method shown in FIG. 6 and the method of the present application shown in FIG. 7, it is clear that the method of the present application is significantly superior to the conventional method in the following points. It is.

In other words, in the conventional fil method, the processing line has to be converted into circular arcs and straight lines, and when executing the ill program and extracting it, it has to be converted back into a pulse train and the operating parts are heated, which is wasteful. In the method of the present invention, a numerical control program is executed using the machining line directly as a point sequence, thereby eliminating the waste of intervening circular arcs and straight lines as information means as in the past, and making the configuration extremely simple. (
2) In the conventional method, the numerical control device must interpolate information on arcs and straight lines input from a storage medium or perforated tape into a pulse train with respect to the coordinate axis system, so a high-grade processor is not used. However, in the method of the present invention, the processing line is directly programmed as a point sequence in the numerical control program section and stored in the storage medium. , it is sufficient to simply reproduce this memory and generate pulses. Therefore, an inexpensive reproduction device can be used, and the cost of the device can be extremely reduced.

(3) In contrast to the conventional method, which uses an expensive numerical control unit, the operation of the operating unit is too slow, resulting in an extremely low processor utilization rate, whereas the method of the present invention In this case, the processor that decomposes the processing line into pulse trains can be operated at full capacity, and has a feature of extremely high operating efficiency. (4) The method of the present invention does not require any perforated tape as in the conventional method, and uses direct numerical control and group control that are directly connected to a processing device that converts the processed shape into a row of processed shapes, as described later. It has the feature of being able to do the following.

To specifically explain the case of performing direct numerical control and group control directly connected to the computer of the present invention, in FIG. The machined shapes can be classified and stored.

Reference numeral 20 denotes an auxiliary storage device attached to the pulse reproducing device 21, which is a part that retrieves and stores the amount of memory necessary for one cycle of operation from the Norse string memory stored in the main memory device t19. , 22 is an operating section.

Therefore, in the method according to the present invention, an arithmetic processing section capable of high-speed processing is used, and when this is configured to be directly connected to the input device 17, the pulse train conversion device 18, and the main memory section [19], , it is possible to store control signals for a large number of operating units, call them as needed, and perform numerical control of a large number of operating units at the same time by reproducing pulses.

Another advantage is that unlike conventional numerical control, perforated tape is not required, so there is no need for a specific tape format (grammar of numerical control information) that expresses processing lines with arcs and 11 lines. It can be further popularized. Furthermore, as mentioned above (as the numerical control in the method of the present invention can be sufficiently carried out by a pulse regenerator, there is no need for a conventional expensive numerical control device, and the cost of the entire device can be reduced by several times). It also has characteristics.

Specific embodiments of the present invention will be described as follows.

In Fig. 9, this device light is an example for controlling 6 axes of X a 3' lZ, where A is a graphic processing input device, B is a machine control section 4i41, and C is a metal processing section. The graphic processing input device A is installed separately from the mechanical section C. Control part B consists of a pulse regenerator, operation, automatic control, pulse drive unit, etc., and it is also possible to incorporate both of the control part B and mechanical part C together, or in the vicinity. Separate location 1- may also be used.

The graphic processing input device A is a device that can process and input target graphics and cutting information, and the configuration of a known small computer can be used as is.
input/output section 25, processing device 26, processing program section 27,
Consists of a main storage section 28 and an output section 61, and further includes a graphic printer 29 and a display section 60 for checking input graphics.
is added as necessary. The graphic processing input device A is capable of inputting information such as machining conditions and machining shapes through an input operation panel 26 and an input/output unit 25 for inputting graphic and drawing information 24, and inputs information that has passed through the processing device 26 to a processing program unit 27. The minute line segment as described above is computed into a code that defines a vector, and this is stored in the main memory 28 while the graphic printer 2
9 or a display unit 60 made of a cathode ray tube or the like to confirm the correction. The main storage section 28 is L.
Storage media such as SI, bubble memory, magnetic tape, magnetic disk, floppy disk, etc. can be used.

Generally, the figures f (X # y), g (re
θ) is expressed in @ linear coordinate system or polar coordinate system, and these can be converted freely mathematically, so the bag mA has a geometry that matches the shape given in this way to the coordinate system of mechanical part C. Simultaneously with calculations, a pulse train is created, coded, and stored (this is a device).

The control section B is connected to the output section 61 of the input device A, and includes an input/output section 62, a processing device 66, an auxiliary storage section 64 including various storage media such as LS and I, a processing program section 65, and an operation panel 66. Therefore, an instruction is given to selectively transfer the machining shape pulse train information stored in the main storage device 28 to the auxiliary storage device t64, and the machining sequence information is input to the controller 67 that controls the machining sequence.

38x, 38y, and 38z are an X-axis drive unit, a y-axis drive unit, and a two-axis drive unit, respectively.

On the other hand, the mechanical section C includes a body 69 and servo motors 40x, 40y, and 40z for driving the x, y, and z axes. Therefore, the operation of the mechanical section C is controlled by reproducing the memory in the auxiliary storage section 64. The auxiliary storage section 64 can store all the signals necessary for one cycle of operation from the contents of the AO main storage section 28 as is, and the positioning signal can store the pulse train processed by the device A as shown in Table 1. The codes are stored as examples in Table 4. The processing program unit 65 has a built-in program for reproducing the contents of the auxiliary storage unit 64 into the input from the graphic processing input device A and the control pulse train for each axis system via the processing device 66. In addition, the pulse train is transferred to drive units 38x, 38y, and 38z for each axis, respectively. To explain the drive servo in more detail, if a pulse motor is used as the servo motor, the pulses can be amplified (or if a DC motor is used, the reproduced pulses are input to a buffer register and converted into a D/A converter. First, commonly used digital control methods are applied, such as amplifying the motor to rotate it, and controlling the rotation of the motor by generating pulses from a pulse generator and feeding them back to a buffer register.

In the figure, the control section B and the mechanical section C have a one-to-one correspondence, but
The graphic processing input device A is one-on-one with the mechanical section C and the control section B.
(, one graphic processing input device A
And multiple group system? At1 part B and mechanical part C can be combined and used. Compared to the pulse train interpolation speed of the figure in the device A, the pulse reproduction speed of the control section B can be extremely slow because it only needs to match the operating speed of the next mechanical section C.

Therefore, the device A can perform graphic input processing regardless of the operating speed of the mechanical part C, and can store the processed memory as a buffer, so necessary information can be instantly transferred to multiple machines. You can. Therefore, if a single device A directly controls a large number of mechanical units C online, it has the feature that the same effect can be achieved.

As another example of application of the present invention, as shown in FIG. 10, it is also possible to follow an arbitrary figure with a copying device and input it into a figure processing device. To explain this with a diagram, in FIG. 10, 41 is a figure such as a real part or a template, and 42 is a figure 4 of this real part or template.
A figure copying device that can copy 1, 46 is the device 4
The figure copying tool attached to 2 is shown, and the figure is x, y...
. . . However, in this embodiment, it is a simple X.

The figure is for a plane orthogonal Kusunoki system of y.

44 and 45 are rails or shaft devices corresponding to the X and Y coordinate systems of the figure copying device 42, respectively. Therefore, when the copying tool 46 is moved along the figure 41, in the illustrated example, it moves X sliding i1.
1 [1] 44 slides in the X-axis direction and the bearing wears out y
An axial sliding carriage 46 slides along the y-axis seal 45. Reference numerals 47 and 48 indicate pulse generators that emit pulses with positive and negative directions as the slides of the X slide II] 44 and the Y slide cart 46 are slid using racks, pinions, etc. The input pulses are input to the 1-shape processing processor 50 through the section 49, and the input pulses are reproduced into graphics by the graphics processing program 51 and reproduced on the display section 52 and printer 56, as well as being processed as detailed above with reference to FIG. The procedure and the pulse train code of the input figure are temporarily stored in the main memory 54.

Furthermore, during machining, the contents of the main memory device can be selectively transferred to a plurality of machining devices 55, and a plurality of machining tools can be operated at the same time. The configuration of the processing device 55 is the control section B in FIG.
and mechanical part C.

The embodiment shown in FIG. 10 is a method for inputting figures using a teaching method, in contrast to the numerical input method shown in FIG.
All you need to do is change the processing program shown in Figure 1. (Even if the devices shown in Figures 9 and 10 are integrated, there is no difference, such as overwhelming the elements made up of individual hardware, except for the teaching device.) Therefore, the two can be easily combined.

In addition, although the illustrated example is explained as being dedicated to teaching from the figure 41 to the pulse generator 48, the copying tool 46 is changed to a processing tool, and the driving section shown in FIG. Of course, it is also easy to use the machine as a working machine for teaching purposes.

The embodiment shown in FIG. 10 is also effective for robots using the teaching method.

Furthermore, in the embodiment shown in FIG. 9, the main storage section 28 and the auxiliary storage section 64 are used as a common storage medium, and after inputting this into the graphic processing input section A, it is removed from the dam and used as an auxiliary storage medium in the control section B of the machine. It is also possible to use the part 64 by replacing it with a part corresponding to the part 64. In this case as well, one graphic input device A and multiple controls a
A combination of part 1 and B is also possible.

In addition, a conventional numerically controlled perforated tape defined by circular arcs and straight lines is input to the graphic processing processor 26 for the graphic input device A, the shape is restored, this is interpolated into pulses, and the controller B reproduces it into pulses. It has many features such as not only being able to cope with the transition period from conventional numerical control to the present invention (and also being able to actively use the direct group control numerical loss method). There is.

[Brief explanation of drawings]

Figure 1 is a diagram showing the definition of processing line information, Figures 2 to 5
The figure is an explanatory diagram showing the method of the present invention, the 61st factor is a block diagram of the conventional method, Figures 7 to 9 are block diagrams showing the method and apparatus of the present invention, and Figure 10 is an explanatory diagram of the other side. It is. 1.2 is the processing line, 6 is the dot sequence of the line, 6.12゜17 is the input device direct, 8 is the storage medium, 10 is the numerical control device,
15 is a playback device, 18 is a processing device, 22 is an operating section, 28 is a main storage section, 64 is an auxiliary storage section, 69 is a machine body, 41 is a figure, 42 is a copying device, 43 is a copying tool, 46 is a trolley, 47 .48 is a pulse generator, 5
4 is a main storage device, and 55 is a processing device. Patent applicant: Koike Sanso Kogyo Co., Ltd. Figure 1 Figure 1 Figure 2 Figure 3 Figure 10 Arc

Claims (1)

[Scope of Claims] (1) In a processing method in which metal processing such as cutting, welding, or machining is performed by continuously controlling the processing line by numerical control, the processing line is controlled to a predetermined position. Divide each coordinate axis into minute line segments corresponding to the driving distance of one pulse, code these and store them as a dot sequence (pulse train) in a main storage medium, and further store the coded pulse train in this main storage medium. A method for processing metals, etc., characterized in that the pulses are transferred to auxiliary memory and reproduced, and the regenerated pulses are used to control the drive of processing tools, etc. to perform processing of 9 types, etc. (21 In a processing method in which processing of metal, etc., such as cutting, welding, or machining is performed by continuously controlling the processing line by numerical control, the processing line is The pulse train is divided into minute line segments corresponding to the driving distance of the pulse, encoded and stored as a pulse train in a main storage medium, and selectively stores the coded pulse train in an auxiliary storage medium attached to each of a plurality of pulse reproduction devices. A method of processing metals, etc. that enables multiple processing devices to operate simultaneously or with staggered timing by transferring information from the main storage medium to an auxiliary storage medium online at high speed. (3) Through numerical control. In a device that is capable of continuously machining metal, etc., the machining line is divided into minute line segments corresponding to the driving distance of one pulse for each predetermined coordinate axis, and this is coded to generate a pulse train. a pulse train splitting device capable of storing pulse trains in a main memory, and one or more pulse regenerators capable of selectively transferring pulse trains stored in the main memory to an auxiliary storage medium for reproduction. A processing device for metals, etc. characterized by having a built-in device for each. (4) Copying a pattern such as a machined part, wedge shape, template, etc. with a copying tool, and transmitting pulses of the movement of the copying tool in the direction of the coordinate axis caused by this copying. The device transmits positive and negative pulses and performs graphic processing, converts them into a coded point sequence (pulse train) and stores them in the main storage medium, and further stores the coded pulse trains stored in the main storage medium and stores them in auxiliary storage. A teaching method for processing metals, etc. characterized by transmitting it to a medium and regenerating it into pulses to control the drive of the processing tool. (5) Copying the shapes of processed parts, wedges, templates, etc. a copying device having a copying tool that can perform the following operations; a movable cart that moves in the direction of coordinate axes such as x and y; and a pulse generator that emits pulses in positive and negative directions as the cart moves; A combination of a main memory device that can store coded pulse trains and a processing device that can transfer the coded pulse trains stored in the main memory device to an auxiliary storage device and regenerate them into pulses for processing. (61) A method for processing metals, etc., which enables a teaching method that is based on numerical control. A device that divides the pulse into minute line segments corresponding to the driving distance of the pulse, encodes it and stores it, and cuts the memorized storage medium through the pulse train decomposition device ρ and hl to reproduce the pulse train into pulses. This device reproduces pulses and controls the drive of processing tools, etc. to perform processing of 8" etc. (5 modern processing method). (7) In a device that is capable of continuously performing π] machining such as Kinkyi etc. using the number 1 direct control 4j, the machining line corresponds to the driving distance of one pulse with respect to the predetermined coordinate axes. A pulse train decomposition device that decomposes into minute line segments, a main storage device that encodes and stores these pulses, and a pulse regenerator that can separate the storage medium stored in the main storage device and regenerate it into pulses. A metal processing device that is combined with a processing device whose drive can be controlled by pulses reproduced by this pulse regenerator.