JPS60104631A - Automation system of cast finishing operation - Google Patents

Abstract

PURPOSE:To automate the cast finishing operation, stabilize quality, and attain labor-saving by superimposing the measured work cross section profile over the cross section profile based on design data on a CRT screen to determine the deviation and calculating the machining action locus. CONSTITUTION:In the measuring operation of the first blade, the measurement point desired by an operator is manually indicated via the operation of a pendant operation panel 8 and is stored in the memory unit 12 of a graphic processing unit 5 as basic data. After the time when the second blade is approached and the copying measurement is to be performed, the object copying action is performed, and the measured data are transferred to the graphic processing unit 5. Next, the measured data are traced on the CRT screen per optional cross section and are superimposed over the design size data already inputted, and the excess thickness quantity in the normal direction of a work is calculated. In addition, the machining data to automatically operate a machining unit 4 are calculated and are transferred to the machining unit 4, thereby the machining operation is performed automatically. Accordingly, a complicated three-dimensional curved surface can be machined automatically.

Description

[Detailed Description of the Invention] With the recent development of machine tools (NC, MC), etc., many of the processes for processing three-dimensional curved surfaces using casting and forging techniques have been mechanized, but it is difficult to finish the final product. The finishing process is still done manually.

Particularly for cast products with complex three-dimensional curved surfaces, the finishing work, which accounts for more than half of the manufacturing process, is not mechanized, but measurement, rough machining, measurement, finishing, and final inspection and measurement are repeatedly carried out manually. The product is created by checking and revising the product.

For example, in a fluid pressure machine consisting of a complex three-dimensional curved surface, the shape of the three-dimensional curved surface itself is an important factor that influences the product, and it is important to create a product that matches the designed dimensions.

The present invention is capable of automating the conventional manual labor by constructing a multi-functional automation system centered on the above-mentioned three-dimensional curved workpiece casting work process. Mechanization stabilizes the product 7i, saves labor, reduces costs, shortens the process, and saves 1ll of workers.
(This is an automation system for casting and casting work aimed at liberating people from the environment.

Therefore, the gist of the present invention is to provide a stepless positioning turntable on which a three-dimensional curved work is placed, a dimension measuring device that measures the shape of the work in a non-contact manner, and nine figures for displaying dimension measurement data or design data. It is equipped with a graphics computer that creates data for digitization and processing, and a processing device that automatically processes the workpiece within the allowable design dimensional tolerances. The cross-sectional shape of the same part is formed on the CRT screen of a graphic computer, the amount of deviation is determined by superimposing the two, and the operating trajectory of the processing equipment is calculated using this amount of deviation as a guide. be.

Next, a specific example in which the present invention is applied to a water turbine runner will be described below with reference to the accompanying drawings. Of course, this invention can also be applied to other products of the same type.

Figure 1 shows the overall configuration of the automated system. In 1, 1 is a workpiece (water wheel runner), 2 is a stepless position) 61 determining turntable, 3 is a dimension measuring device, 4 is a processing device, 5
6 is a graphic processing device, 6 is a turntable control device, 7 is a method measurement control device, 8 is a dimension measurement pendant operation panel, 9 is a processing device control device, and IO is a processing device pendant operation panel.

The dimension measuring device 3 is an articulated r:I pot, and has a known non-contact displacement sensor such as a capacitance detection type at the tip of the arm, and moves this sensor while following the workpiece.
Measure the cross-sectional profile (shape).

The overall structure of a horizontal articulated robot for measuring such underwater runners will be explained using FIG. 2.

In the figure, the base 29 that supports the first shaft 11 horizontally by a bearing 28 is connected to the upper surface 3 of the horizontal base 30.
1, the vertical base 32 is slidably supported in the axial direction of the horizontal base 30.
Since it is supported, it can be freely positioned horizontally and vertically. A fulcrum 35 provided at the tip of an arm 34 fixed to the first shaft 11 and a base 2
9- is connected to the upper fulcrum 36 by a first position iv1 determining means J which is swingably attached to both fulcrums. This first positioning means J, and second and third positioning means J2, which will be described later. J3 is each composed of a hydraulic cylinder, a ball screw, and other actuators and motors that can be expanded and contracted, and whose amount of expansion and contraction is precisely controlled. Therefore, as the first positioning means J expands and contracts, the first shaft 11 is turned by an arbitrary turning angle, and the first arm 13 and second arm 15 connected thereto are rotated as a whole around the first shaft 1. Turn in the direction of arrow θ1.

The first shaft 11 is mounted on a rotating disk 37 fixed to the end of the first shaft 11 while being inclined at a certain angle with respect to the first shaft 11.
A support shaft 12 is rotatably attached so as to be perpendicular to the shaft. An end of a first arm 13 that is swingable about the support shaft 12 is fixed to the support shaft 12, and a first arm 13 that is pivotable and parallel to the support shaft 12 is fixed to the other end of the first arm 13. A fulcrum 2 provided at the tip of a first link 20 constituting a three-tube chain that is swingably attached to an attached support shaft 14
1 and the fulcrum 18 fixed to the rotating disk; 37,
It is connected by a link 22 parallel to the first arm 13 described above, and the line segment connecting the intersection 23 between the axis of the support shaft 12 and the axis of the first shaft 11 and the fulcrum 18 is the first link 2.
A parallel link is formed such that the link 22 and the first arm 13 are parallel to each other. Furthermore, the fulcrum 17 provided in the middle of the first arm 13 and the fulcrum 16 fixed to the rotary disk 37 are connected by a second bolt 1 (determining means J2) made of a hole screw or the like as described above. , second positioning stage 1, Jyu's (11th, IN operation),
, the first arm 13 points to the arrow 0 with respect to the 14i11111.
It swings in two directions.

A second arm 15 (support arm) is attached to the tip of the first arm 13 and is swingable about the support shaft 14, which is rotatably mounted relative to the first arm. and this second arm J15 inside 4: diagonal;
5 and the intermediate fixed fulcrum (not shown) and the first link 2
A third positioning means J (not shown) consisting of a ball screw or the like is built in to connect the fulcrum of the tip ηjAI of the second link, which is a component of the three-cylinder chain whose position is fixed with respect to 0, and - The second
Arm 15 is the first 'l! ill l 1 and 1st
It swings in the direction of arrow θ3 in the first plane including arm 13. Due to the existence of the parallel link 22, the angle of the second link is always maintained at a constant angle with respect to the first axis 11 regardless of the swing angle of the 17th arm 13. The swing angle of the second arm 15 with respect to the first shaft 11 is uniquely determined according to the amount of expansion and contraction of the third positioning means J3. Inside the second arm 15, there is a turning drive mechanism (not shown) that causes the wrist part 38, which is provided at the tip thereof and has a non-contact displacement sensor S, to interlock hi times around the axis of the second arm 15. is built-in, and the wrist g++3
A mechanism for immediately moving a in the bending direction is provided within the second arm 15.

Incidentally, 50, 51, and 52 shown in FIG. 2 are angles for detecting the swing angle of the first arm 13 with respect to the one rotation circle 37 of the angle detector that detects the turning angle of the first shaft 11 with respect to the base 29, respectively. Detector, 2nd)'-J= for 17th-mu 13
15-1■) It is an angle detector that detects the angle.

As described above, the cross-sectional shape of the work piece (2) is measured using the structure measurement unit (1), and the coordinate calculation for calculating the measurement point is performed by the method shown in FIG.

The dimension measuring device 3 consisting of an articulated robot uIJF is driven to cause the sensor S to follow a trajectory separated by a certain distance from the surface of the work l in a predetermined reference cross section, and 11! Angle detector 50.51.52 calculates each joint angle of j.
Detection error due to output from. Seki fit obtained in this way
``1 angle 0.,0... Using θ3, the position of the cross section)!11 marks (X, Y, Z) are the following formula〇 From this, using the control fall device 7 of the dimension measuring device 3, 6ii calculated.

X = La −CO5θ2+ Lb−COSe+ +
LxY = (La −sine2 +Lb−sinO3
)・cosel−LyZ −(La−sinθz+Lb
-sine:+)+5inQ+ 10Lz-LtHere, as shown in FIG. It is the distance from to the measurement point of sensor S.

Next, use 411 to grind the water turbine runner using Fig. 4.
The entire processing device 4 (11?
I will explain the structure. It is desirable that the machining device 4 and the dimension measuring device 3 have exactly the same shape except for the sensor and tool portions in order to simplify calculation processing and prevent interference between the workpiece and the device.

In the figure, the base 63 that supports the first fence 61 horizontally by a bearing 62 is connected to the upper surface 65 of the horizontal base 64.
``Secondly, the horizontal base 64 is supported so as to be slidable in the vertical direction along the vertical side surface 67 of the vertical base 66, which is supported so as to be slidable in the axial direction. It can be freely ranked against the enemy. Said first
A fulcrum 69 provided at the tip of an arm 68 fixed to the shaft 61
and a fulcrum 70 on the base 63 are connected to each other by first positioning means LJ, which is swingably attached to both fulcrums. This number one;? 1° determining means J1' and second and third positions j+J"11 determining means J2' to be described later
, J:l' are each constituted by a hydraulic cylinder, a ball screw, or other actuator or motor that can be expanded and contracted and whose expansion and contraction Pa is precisely controlled. Due to the expansion and contraction of the follower gear ζ first positioning means, J, /, the first i! 11
1161 is rotated by an arbitrary rotation angle, and the first arm 71 and the 27th arm 72 connected thereto are rotated as a whole around the first shaft 61 in the direction of arrow θ1.

A rotary disk 731 is fixed to the &j:1 portion of the first shaft 61 so as to be inclined at a constant angle with respect to the first shaft 61. Second, a support shaft 74 is rotatably attached so as to be perpendicular to the first shaft 61 . The support shaft 744.1 is connected to the support shaft 74.
The end of a first arm 71 that can move 1:1) around the center is fixed, and a support shaft 75 is attached to the other end of the first arm Jλ71 and is rotatable and parallel to the i'+ii support tli+l174. A fulcrum 77 provided at the tip of the first link 76 constituting the five-bar chain attached at the 190'
and a fulcrum 78 fixed to the rotary disk 7; 3 are connected by a link 79 parallel to the first arm 71, and the axis of the support shaft 74 and the 111i+l+ 11
A line segment connecting the fulcrum 78 and the intersection 80 with the axis of the link 79 is parallel to the first link 76 and
Parallel links are formed such that these are parallel to each other. Further, a fulcrum 81 provided in the middle of the 17th arm 71 and a rotating disk 7
3 is connected to the fulcrum 82 by a second positioning means J2/ made of a Bonyl screw as described above, and the first arm 71 is moved relative to the first shaft 61 by the expansion and contraction movement of the second positioning means J2/. Arrow θ.

swing in the direction of.

A second arm 72 (support arm) is attached to the tip of the first arm 71 and is swingable about the support shaft 75 rotatably attached to the seventeenth arm 71. The second arm 72 includes a fixed fulcrum (not shown) in the middle of the second arm 72 and a fulcrum at the tip of the second link, which is a component of a three-part chain whose position is fixed with respect to the first link 76. A third positioning/11 stage J,' (not shown) consisting of a ball screw or the like that connects the 111i+I+ 61 and the first arm is built-in, and the second arm 72 is moved to the 111i+I+ 61 and the first arm by the operation of this third positioning means 71 in the direction of the arrow θ. Angle jαG of the second link
. L Due to the existence of the parallel link 79, the first link 7 (
IR of the first arm 71: Depending on the cutting angle, the first
Since it is held at a constant angle by holding it at a constant angle, the swing angle of the 27th arm 72 with respect to the first leg 61 changes depending on the amount of expansion and contraction of the third positioning means JI'. Humanly determined.

Built into the second arm 72 is a turning mechanism (not shown) that causes a wrist portion 84 having a grinder G provided at the tip of the second arm 72 to rotate around the axis of the second arm 72. Furthermore, a swinging mechanism for the grinder G having a proportional link mechanism (not shown) is attached to the tip of the second arm 72. The said small value of the second arm 15! '
At the end opposite to jlI 31i, the first 11!
A counterweight 1-83, which is a type of balance device, is fixed, and the gravity of the counterweight 83 achieves left and right gravity balance about the axis of the first arm 71 of the second arm 72.

85 is a balance device for balancing the movement of the first arm 71 and the second arm 72 as a whole.

50' again! l' and 52' are the first axis 61° and the 17th axis, respectively.
-mu71. This is an angle detector consisting of a rotary encoder or the like for detecting the rotation angle of the second arm 73.

Below, σFyX? from the dimension measurement using this system.
Explain the steps leading up to the work.

The non-contact displacement sensor S at the tip of the wrist of the dimension measuring device 3 moves several mm to several tens of ml from the surface of the workpiece 1 during measurement work.
Measurement operation is performed while following the workpiece 1 at a position 11 away from the workpiece. In this measurement work, for the first blade, the operator manually instructs the desired measurement point by operating the pendant operation panel 8. This first blade data is stored in the storage device 12 of the graphic processing device as basic data. 2
For the blades after the first blade, the stepless turntable 2 rotates 360°/number of blades, and the measuring device 3 automatically measures /l by referring to the data of the first blade. ! i
Execute W') + operation. Immediately 13, sensor S is work 1
On the route to approach the second blade, there is a measuring device!
j,',L approaches the first blade, 1. , ++;H
It follows the same 7 routes, but approaches the second feather and imitates it.
From the time when it/ltl+ is executed, the actual copying operation is performed. The measured data (position coordinates (X, Y, Z) is transferred to the graphic processing device, y, j5, and plots the display coordinate points of the measurement point + - ig mark, the space between the coordinate points,
- Swing processing etc. are performed, and it becomes possible to graphically represent any 11 planes (jj'') on the CRT screen.In addition, in the 1-I shape processing device 5, the already input design dimension data (
By superimposing the design H'1 dimension (input as i+'+ or inputting it from the drawing using a digitizer, etc.) with the measurement data 1j1 by the measuring device 3 and performing U processing, parallel shift and rotation)
, the design dimensions of the cross-sectional shape? J,, extra thickness h1 in the normal direction of the workpiece to the data. It is possible to calculate (deviation amount)1j
It's Hi. The map processing device uses design data and a total of 1
The processing device 4 is automatically operated from the djll data.The processing data (processing HL) of 2:) is processed, and the data is transferred to the processing device 4, so that the processing device 4 is automatically operated.
Machining operations are carried out by Therefore, teaching work by ten operators who operate the processing device 4 is unnecessary. The graphics processing device is a graph ink computer.
Digitizer and memory for inputting 1-page data.

It consists of two types of prints, hard copies, etc.

IZ (1 design data (1 shape or numerical data) is used as master data, and after dimension measurement processing of each part of work l by dimension measurement device 3, CR by graphic processing device 5
Overlay the master data and work data on the main surface of the T-tube surface to calculate centering, phase difference, and deviation amount. By using this amount of deviation as a guideline and specifying to the processing device 4 the amount of extra thickness of the workpiece 1 with respect to the master data, the workpiece 1 is processed step by step to resemble the mask shape without difficulty. The shape data required during machining is master data, and the workpiece data only needs to be clear where and in what direction the workpiece 1 is placed on the turntable 2. Machining based on the mask coordinate system 4i1
T! It is only used when converting +Il into the standard system Tnork+no+. Therefore, if you secure the amount of shape data such as C. Nork data and master data (, 1), it is not necessary to correspond to master data (, 1, 1). In the alignment process, the amount of position i° deviation (phase difference) from the master data is determined.

On the other hand, there is a method of 24.IL for processing by the processing device 4. One is the dimension a1 measured by the measuring device 3, l! il
This is an automatic processing method within the plane of a processed area. In this area, the dimension measuring device 3 was able to control the operation without any 1+ It is possible to automatically perform surface machining in one step or another without causing any damage to the width pitch. other 1
The first is a semi-automatic machining method in which the posture of the pre-scraping device 4 is designated with respect to the workpiece 1 through operator intervention, and one cut i'11 machining is possible based on the machining width pitch under this posture condition. With this method, there are areas that are not in the work data.
- Enables pulling processing, and by combining it with the rotation of the turntable, it is possible to process unique processing trajectories such as processing diagonal cross sections.

As described above, the present invention mounts a three-dimensional curved work ii+
a stepless positioning turntable for positioning; a dimension measuring device for non-contact measuring the shape of the work; a graph ink computer for displaying dimension measurement data or design data; Equipped with a processing device that automatically processes the workpiece within the allowable design dimension tolerances, the cross-sectional shape of the workpiece measured by the dimension measuring device and the cross-sectional shape of the same part according to the design data are displayed on the CRT screen of the GraphInk computer. This casting work automation system is characterized by forming a mold, determining the amount of deviation by superimposing the two, and calculating the operating trajectory of the processing device using this amount of deviation as a guideline.
Creation of arbitrary cross-sectional shape of workpiece based on dimensional measurement data 1
Overlay, deviation amount calculation, and various processing simulations of the processing equipment are possible, and after sufficient preliminary consideration, the processing equipment jF can be operated to create a three-dimensional curved surface, so failures can be avoided. , i (4), which can automatically process multilayer three-dimensional curved surfaces.

[Brief explanation of drawings]

Fig. 1 is a block diagram showing the structure of the double body Jlft1 of the present invention, Fig. 2 is a perspective view of a dimension measuring device that can be used in an embodiment of the present invention, and Fig. 3 is the same dimension measuring device. This figure is for explaining the principle of coordinate calculation of
Figure (b) is a side sectional view, and No. 4 (1) can be used in the same embodiment.
It is a 2:1 perspective view showing the processing device of i-shi. (Explanation of symbols) 1...Workpiece 2...Turntable 3...Dimension measurement device 4...Processing device 5...Graphic processing device 6...Turntable control device 7...Dimension measurement Control device 8...Dimension measurement pendant +-Fjr:) Operation panel 9.
・Processing equipment control device

Claims (1)

[Claims] A stepless positioning turntable on which a three-dimensional curved work is placed, a dimension measuring device that measures the shape of the work in a non-contact manner, and a graph that displays dimensional measurement data or design data (2) and creates graphics and processing data. Equipped with an ink computer and a processing device for automatically processing the workpiece within design dimensional tolerances, the graph ink computer calculates the cross-sectional shape of the workpiece measured by the dimension measuring device and the cross-sectional shape of the same part based on the design data. This casting work automation system is characterized in that it is formed on a CRT screen, the amount of deviation is determined by superimposing the two, and the operation trajectory of the processing equipment is calculated and determined using this amount of deviation as a guide.