JPS60231524A - Method for controlling angular displacement of linear heat working - Google Patents

Abstract

PURPOSE:To automate working by controlling the moving speed of a working head in correlation with the material quality, thickness and angular displacement of a metallic plate. CONSTITUTION:A control device 14 operates an angular displacement and the moving speed of a burner 20 from the material quality and thickness of an object 11 to be worked and the output value, etc. of a sensor unit 21 and outputs a command to a body 13. The burner 20 is movable by a carrier 15 and an arm driving part 17 according to the positional control command and moving speed command given in each axial direction of three dimensions. The deflection position of the object 11 and the angle thereof are measured by the unit 21 and the required angular displacement for removing deflection is determined by the device 14 in accordance with the measured values thereof. The moving speed to be determined in association to the material quality and thickness data is then determined and the burner 20 executes linear heat working. Only the moving speed is used as a fluctuation parameter and therefore the automation of working is easily made possible.

Description

[Detailed Description of the Invention] [Field of Application of the Invention] The present invention relates to a method for controlling the amount of beak deformation in linear heating processing used for removing welding residual strain or bending, and is particularly suitable for automation. Regarding the method.

[Background of the invention]

Generally, it is known that when a linear region (hereinafter referred to as a heating wire) on the surface of a metal plate is heated and then cooled, the metal plate is bent toward the heating surface side around the heating wire. This phenomenon is used to remove strain (residual strain) caused by welding, etc., and to bend flat plates. The angle at which it is bent (hereinafter referred to as the amount of angular deformation)
Since φ depends on the plate thickness, heating conditions, etc. in a complicated manner, linear heating processing such as the above-mentioned residual strain removal has conventionally been performed based on the experience and intuition of the operator. In other words, the correlation between the amount of angular deformation and heating conditions, etc. has not been elucidated, making automation using robots, etc. difficult. It is an object of the present invention to provide a method for controlling the amount of angular deformation, which can clarify the relationship, process with high precision to a desired amount of angular deformation, and can automate residual strain removal or linear heating processing such as bending. .

[Summary of the invention]

In the present invention, when heating a heating wire set on the surface of a metal plate using a heating head that outputs a constant amount of heat per unit time, the moving speed of the heating head running on the heating wire is adjusted based on the material of the metal plate and the plate. The purpose is to control the thickness to a predetermined value in correlation with the amount of angular deformation, thereby making the amount of angular deformation accurately match the target value, and to enable automation.

[Embodiments of the invention]

Hereinafter, the present invention will be explained based on examples.

First, the correlation between linear heating conditions and the like and the amount of angular deformation according to the present invention will be explained based on one example. As shown in FIG. 1, a burner 3 as a heating head is placed along a heating line 2 set on the surface of a metal plate 1 having a thickness t.
When the flame moves at a constant speed and heats a linear region of a constant width centered on the heating wire 2, the cooled metal plate 1 is bent by an angular deformation amount φ.

Now, when the thermal output of the burner 3 is constant and the material and thickness t of the metal plate 1 are determined, the relationship between the amount of angular deformation φ and the moving speed ■ of the burner 3 becomes the correlation shown in the curve ■ in Figure 2. It has been found. In addition, the heat output of burner 3 is specifically:
By determining the diameter of the burner 3 and the amount of fuel in accordance with the material and thickness t of the metal plate 1, it is set to a constant value.

As a result, the width of the heated region can be set as a fixed baldness parameter, and the temperature conditions of that region can be considered in terms of correlation with only the moving speed (2) as a variable parameter. Further, in order to cause angular deformation, it is necessary that the heated region reaches a certain lower limit temperature or higher. Therefore, as is clear from Fig. 2, when the moving speed ■ exceeds a certain value, the angular deformation amount φ becomes zero1, and this lower limit temperature is determined by the material of the metal plate 1, the plate thickness, the state of surrounding restraint, etc. For example, in the case of a steel plate, the temperature is about 200°C.

From these facts, for each material and plate thickness t of the metal plate 1, correlation data between the amount of angular deformation φ and the moving speed V shown in FIG. 2 was collected in advance, and the heating wire 2 was By heating the metal plate 1 along the angle, it can be bent by a desired amount of angular deformation φ. The moving speed of this burner 3■
Since controlling υ itself can be performed with high precision using well-known technology, according to this embodiment, it is possible to easily automate linear heating processing and to achieve high precision. This has the effect that the amount of angular deformation can be controlled.

In the above embodiment, a burner is applied to the heating head, but the heating head is not limited to this. For example, a heating wire is heated with a constant heat output, such as a high-frequency induction heater. It is fine as long as it is possible.

Next, a specific example apparatus to which the method of the present invention is applied will be described. FIGS. 3 and 4 each show an embodiment of the strain relief robot, and FIG. 5 shows an embodiment of the erotic robot.

The strain relief robot shown in FIG. 3 is of a portable type, and is suitable when the workpiece 11 is large and heavy. As shown in the figure, the workpiece 11 is a flat plate 11a with a plurality of ribs welded in parallel to the back surface of the plate 11a, and the residual strain generated by this welding is to be removed.

The strain relief robot includes a rail 12 that is installed on the floor and has a reference axis X, a robot body 13 that is freely placed on the rail 12, and a control device 14 that drives and controls the robot body 13. It consists of

The robot main body 13 has a stand 16 vertically erected on a trolley 15 and has a reference axis Y, an arm drive section 17 attached to the stand 16 so as to be able to rise and fall freely, and the above-mentioned robot body 13 via the arm drive section J7. A main arm 1-18 is extendable and retractable in the direction of the reference axis Z perpendicular to the XI axis and the Y axis, and a main arm 1-18 is provided at the tip of the main arm 18 in the direction of the X2 axis parallel to the axis. In addition, telescopic sub-arms 19 are provided extending in opposite directions, burners 20 are attached to the tips of these sub-arms 19 toward the Z-axis direction, and the burners are attached to the stand 16 so as to be freely raised and lowered. The control device 14 is configured with a sensor unit 21 that measures the deflection angle of strain of the workpiece 11 and its position, etc. The control device 14 is configured to measure the material and plate thickness t of the workpiece 11 and output from the sensor unit 21. Based on each measurement value and the functional formula corresponding to the curve I shown in the second figure stored in the memory, etc., the target value of the angular deformation amount φ and the moving speed 1iV are calculated, and the side command is given to the robot body 13. It is designed to output .

In addition, the position of the burner 20 including the moving speed ■,
This is done by moving the burner 20 in the X+S direction by the trolley 15, and in each direction of the Y-axis, Z-axis, and It looks like this. Furthermore, a constant flow of fuel waste is supplied to the waste 20, which is controlled by the control device 14.

With this configuration, the sensor unit 21 measures the deflection position' and its angle of the workpiece 11, and based on this, the control device]4 determines the angular deformation amount φ necessary to remove the deflection. correspond to each position,
Furthermore, by determining the moving speed () corresponding to each position according to the procedure described above, and moving the burner 20 accordingly to heat the linear region of the strained portion of the workpiece 11, the residual strain is removed. -ing

However, according to this embodiment, even if the deflection angle differs depending on the location, the deflection angle can be measured in accordance with the position information, and the moving speed can be controlled by following this measurement. Therefore, there is an effect that even non-uniform residual strain can be removed extremely easily and accurately.

On the other hand, the strain relief robot shown in FIG. is two rails 3 assembled in a frame shape.
2 and Hino 3, which was built freely on this rail.
3, a cart 34 slidably attached to the beam 33, a letter-shaped rotary head 35 rotatably attached to the truck 34, and a burner 36 and a sensor 37 attached to the rotary head 35. , and a control device 38. Note that the burner 36 and sensor 3
7 is attached to the rotary head 35 in the opposite direction, and by rotating the rotary head 35 by 180 degrees, it can be selectively opposed to the workpiece 1.

The operation of this embodiment is similar to that of the embodiment shown in FIG. After the data is stored, the rotation/rad 35 is rotated so that the burner 36 faces the workpiece 11f, and the moving speed V etc. are controlled based on the deflection data.

According to this embodiment, the same effects as the embodiment shown in FIG. 3 can be obtained.

On the other hand, the bending robot shown in FIG. 5 processes a flat plate workpiece 41 into one having a desired curved surface. The bending robot is composed of two parallel rails 43 installed on a surface plate 42, a robot body 44 placed freely on the rails 43, and a control device 45. The figure shows a truck 46, a gate-shaped frame 47 erected on the truck 46, and a support arm 49 vertically slidably attached to the horizontal beam 48 of the frame 47.
A burner arm 51 is attached to the lower end of the support arm 49 via a pivot 50 to extend horizontally and swing freely in the vertical direction, and a burner 52 is attached to the tip of the arm 51. A guide wheel 53 that regulates the gap between the burner 52 and the workpiece 41; a sensor beam 54 that is provided parallel to the beam 48 and can freely move up and down in the vertical direction of the frame 47; A plurality of sensors 55 are attached as shown in FIG.

Since it is configured in this way, the burner 52 is moved to one end of the heating wire at the initial position set on the workpiece 41,
The moving speed V is calculated based on the set target value of the amount of angular deformation φ, and based on this value, the workpiece 41 is heated while moving the
is bent at the desired angle in its heating wire. Subsequently, while measuring the position with the sensor 55, the robot main body 44 is moved in the direction of the rail 43, and the burner 52 is moved to one end of the next heating wire to heat the workpiece 41 in the same manner as described above. In this way, a desired bending process can be performed by heating a predetermined linear region of the workpiece 41 according to a predetermined program or the like.

Therefore, according to this embodiment, since the main controlling amount is only the moving speed of the burner, the control is simplified, so that the specified bending process can be performed automatically with extremely high precision. [Effects of the Invention] As explained above, according to the present invention, desired angular deformation can be performed with high precision by simple control of the moving speed of the heating head, and thereby,
There is an effect that linear heating processing such as residual strain removal or bending processing can be automated.

[Brief explanation of drawings]

Fig. 1 is a conceptual diagram of an embodiment for explaining the present invention, Fig. 2 is a diagram showing the relationship between the amount of angular deformation and the moving speed according to the present invention, and Figs. FIG. 5 is a block diagram of an embodiment of a strain relief robot to which the invention is applied. FIG. 5 is a block diagram of an embodiment of a bending robot to which the invention is applied. 1...Metal plate, 2...Heating wire, 3...Burner. Figure 1 Figure 3

Claims (1)

[Claims] (1) A heating head that outputs a constant amount of heat per unit time is moved along a heating line set on the surface of the metal plate to heat the area surrounding the heating line, and the heating head is bent around the line. In controlling the amount of angular deformation of the metal plate to a target value, the moving speed of the heating head is controlled to a predetermined value in correlation with the material, thickness, and amount of angular deformation of the metal plate. A method for controlling the amount of angular deformation in shaped heating processing.