JPS6025226B2 - Automatic machine - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention provides a method for moving a welding torch along a welding trajectory with respect to a workpiece supported by a jig during, for example, butt welding of cylindrical pipes, T-shaped butt welding, etc. Automatic machines such as automatic welding machines that move adhesive application guns along the welding trajectory or automatic sealing machines that move the adhesive application gun along the welding trajectory. The object is to sequentially control the angular posture of the workpiece so that it becomes the optimal facing angle while making a tracing motion along a processing trajectory such as a bonding trajectory.

The automatic machine of the present invention will be specifically explained below using an automatic welding machine as an example. First, a method for tracing a welding torch along a predetermined welding trajectory using a tracing cam will be described. In FIGS. 1 and 2, 1 is a device base; 2 is a movable base mounted on a rail 3 on the base 1 via wheels 4 so as to be movable in the left-right direction (in FIG. 1, perpendicular to the plane of the paper); 5 is a guide bar whose base is fixed on the movable table 2 and stands upright; 6 is a member mounted so as to be movable up and down along the guide bar; 7
0 is a cylindrical body rotatably provided in a longitudinal through hole 6 formed in the member, 7 is an advancing and retracting punch in which the cylindrical body 7 is freely moved forward and backward in a spline formation, and 8 is a forward-retracting punch with its forward-limiting punch on one side. A torch support member 9 is rotatably supported at the tip of a parallelogram link mechanism, and reference numeral 9 is a welding torch immovably supported by the torch support member. Reference numeral 10 designates a column erected with its base fixed on the movable table 2, and reference numeral 11 designates a rotating shaft bearing a branch 10' thereof, which is rotationally driven in one direction by a motor M via a deceleration mechanism 12.

Reference numerals 15, 16, and 17 are three first, second, and third profiling cams integrally attached to the shaft 11. The first profiling cam 15 is provided with a follower 15 that is constantly in contact with the cam surface under the pressure of a spring 152 and moves forward and backward according to the cam profile as the cam 15 rotates. 15,
The rack 1 has a forward and backward movement path formed in the lower half of the follower 15.
53 and the pinion 18 meshing with the pinion 18, the rotation of the shaft 18 supported by a bearing on the lower surface of the moving table 2 is converted, and the ball 1 is rotated.
By driving the pinion 182, which is integral with the rail 8 and meshes with the normally stationary rack 19 provided on the base plate 1 in parallel with the rail 3, in forward and reverse rotation, the movable platform 2 can be moved horizontally along the rail 3 as a whole. Driven.

In other words, the torch 9 is given a horizontal movement C (FIG. 2). The second profiling cam 16 is supported by one arm 21 of a lever 21 pivotally connected to the support member 20 on the movable table 2 by a crane 20 so as to be vertically slidable, and the other arm By having the arm 212 receive and support the member 6 guided by the guide bar 5, the lever 20 swings up and down according to the cam profile as the cam 16 rotates. Displaces up and down along. In other words, the torch 9 is given a vertical motion C2. Similarly to the first profiling cam 15, the third profiling cam 17 has a follower that is constantly in contact with its cam surface under the pressure of a spring 172 and moves forward and backward according to the cam profile as the cam 17 rotates. 17, and transmits the forward and backward movement of the follower 17, via the Bowden wire 13, to the L-shaped lever 14, which is pivotally supported by the capital 6 guided by the guide bar 5. Move left and right.

One end of the lever 14 engages with a circumferential groove 65 of a guide body 65 that is integrally attached to the rear end of the reciprocating punch 7, so that the horizontal movement of the lever 14 causes the reciprocating punch 7 to move into the receiving hole of the capital material 6. 6. Slide back and forth inside to enter and exit work. In other words, the torch 9 is given a back-and-forth motion C3. Therefore, the required motion locus to be given to the torch 9 is analyzed in advance into each motion component in the left-right direction, vertical direction, and front-rear direction, and a cam is created in which each motion component is individually programmed as a cam profile. By setting the first, second, and third cams 15, 16, and 17 on the rotating shaft 11 and rotating them all at once, the actions based on these individual cams are combined, and the torch 9 has a scheduled tertiary effect on the workpiece. It is possible to automatically perform original (or two-dimensional/one-dimensional) tracing motion.

Next, a description will be given of means for controlling the angular attitude of the welding torch 9 with respect to the welding surface.

The advance/retreat village 7 and the welding torch support ring 2 parallel thereto
2. Two links 23 and 24 connecting both members 7 and 22
The connecting link 23 is connected to the drive sources 26 and 27 so as to rotate around the connecting shaft 25 with the advancing/retracting village 7, and when the link 23 is rotated, The rotation of the coupling shaft 28 (or 29) of the coupling link 23 (or 24) with respect to the welding torch support link 22 is
Torch 9 with sprockets 30-32 and chain 33
is transmitted to the support shaft 34 on the supporting link 22. A gear motion may be used instead of a chain. 42 and 43 indicate tension sprockets. The coupling links 23 and 24 are, for example, cranks integrated with the coupling shafts 25, 28, 29, and 35 as shown in the figure, and each coupling shaft 25, 28, 29, and 35, the tool support shaft 34
is configured to rotate by the same angle as the rotation angle of the coupling links 23 and 24 relative to the links 7 and 22.

As a drive source for rotating the coupling shaft 25 with respect to the advancing/retracting village 7 of the coupling link 23, a motor may be used for deceleration driving, but in the case of the figure, a rod 36 is passed through and supported by the advancing/retracting punch 7, and the rod 36 is A rack 27 is provided at the front of the rack 36 and engages with the pinion 26 of the coupling shaft 25, a rack 39 is provided with the rod 36 at the rear thereof, and the pinion 4 engages with the rack 39.
0, and the links 22 to 24 of the parallel link mechanisms 7, 22 to 24 are moved by the movement of the motor 41.

However, the above drive main shaft may be the coupling shaft 35. The motor 41 is supported by a support base 652 that is integrated with the guide body 65. In the above configuration, when the coupling link 23 is rotated, the torch 9 is also rotated by the same angle.

That is, the torch 9 is kept parallel to the coupling links 23 and 24 toward point 0 (one point in the welding trajectory) on the extension line X- While doing so, perform the circular motion C4 in Fig. 3. Furthermore, when the cylinder body 70 is rotated by the motor 46 via the gears 44 and 45, and the advancing/retracting punch 7 which is spline-aligned with the cylinder body 70 is rotated, the torch 9 is rotated at right angles to the circle C4 as shown in FIG. Perform circular motions on the surface.

In this case, the parallel link mechanisms 22 to 24, the motor 41, etc. also rotate together with the advancing/retracting village 7. Therefore, depending on the shape of the welding locus, the circular motions C4 and C5 are performed separately for each process or simultaneously, and the angular attitude of the welding torch 9 with respect to the welding surface is controlled by the combination of the circular motions C4 and C5. In the present invention, by controlling the two movement systems of the above-mentioned tracing motion and angular posture motion in a relational manner, the angular posture of the torch 9 can be controlled at the same time while the torch 9 is being moved in a tracing motion.

Regarding the means for storing the torch attitude control program, as shown in FIGS.
A light source and a light receiving element are placed on both sides of the motor M.
The shaft 11 is rotated by the operation, and the torch 9 is moved along the welding trajectory W.

At this time, the output pulses from the pulse generator 47 are counted, and each time the count reaches a predetermined number, the welding trajectory W is divided as shown in FIG. W, ~Wn. Each time the torch 9 reaches the dividing point W, -Wn during the above-mentioned posture control period, that is, during the tracing movement, the tracing interlock is temporarily stopped.

Then, the motors 41 and 46 are operated to control the attitude of the torch 9, and the optimal opposing angle of the torch 9 to the welding surface is determined for each division point W, ~Wn, and the torch angle at the division points W, ~Wn is determined as described above. The circular motion C4 is divided into two parts and stored in storage means 48 and 49, respectively. For example, a pin board matrix is used as this storage means, and the output pulses of the pulse generator 47 are inputted to the column signal lines through, for example, a shift register, and the torch 9 is moved in a circular motion from the sequence control section 50 to the row signal lines. C4, input the rotation angle information when moving.

When the torch 9 is set at the optimal facing angle at each division point W, ~Wn of the welding trajectory W, the rotation axis 61 of the motors 41, 46
, 52 from the origin on the digital display 7 via rotation angle detectors 53 and 54 provided on the shafts 51 and 52.
5, 71.

Then, the displayed detected rotation angles are stored in the pinboard matrices 48 and 49 to create an attitude control program for the torch 9. When actually performing molten acid work, the welding condition signals such as the welding speed and rapid traverse stored in the pinboard matrix 55 are set up, and the set-up signals are used directly or via the welding speed setter 56 to control the motor controller 57. is controlled, and the motor M is operated by its output.

The torch 9 moves by the operation of the motor M, and the welding trajectory W is
Welding is performed from the welding start point S along. (This welding start command information is stored in another pinboard matrix 72 as described later.)
Read from. ) When the number of pulses output from the pulse generator 47 due to the above tracing movement reaches the same predetermined number as when creating the above program, the time when the torch 9 reaches the first dividing point W, It is. Then, the attitude control information of the torch 9 at the division point W is read out from the pinboard matrices 48 and 49 using a pulse signal when a predetermined number is reached. This start signal controls the motor controllers 58, 59 and also sets the rotation angle setters 60, 61 of the motors 41, 46. Output of setting devices 60, 61 or comparators 62, 63 and motor speed setting devices 64, 74
The motor controllers 58 and 59 are controlled by the outputs of the speed setters 64 and 74. One or both of the motors 41 and 46 operate simultaneously in response to the outputs of the controllers 58 and 59, causing the torch 9 to move in circular motions C4 and C5.

The motor 41 detected by the rotation angle detectors 53 and 54
, 46 match the rotation angle set in the setters 60, 61, the outputs of the comparators 62, 63 control the motor controllers 58, 59 to stop the motors 41, 46. The attitude of the torch 9 is controlled to the optimal opposing angle at the dividing point W by the combination of the circular movements C4 and C5. The torch 9 moves to the dividing point W while maintaining the controlled attitude at the above dividing point W.
Continue welding while performing tracing movements up to step 2. When it is detected that the torch 9 has reached the division point W2 by the count number of output pulses from the pulse generator 47, the attitude control information of the torch 9 at the division point W2 is extracted from the pinboard matrices 48 and 49 based on this detection signal. The attitude of the torch 9 is controlled based on this information. Thereafter, the attitude of the torch 9 is controlled by the same operation as described above at each division point W3 to Wn. Also, the release information of the torch 9 is stored in the pinboard matrices 48 and 49 following the posture control information. When the torch 9 finishes moving along the welding trajectory W, the above release information is stored in the pinboard matrix 48 , 49, and based on that information, the torch 9 is controlled to escape from the welding surface, that is, the workpiece to a predetermined position. Pinboard matrix 48 above,
In addition to 49 and 55, another pinboard matrix 2 is prepared, in which command information for welding start and welding end, welding conditions (
For example, the voltage and current values at the start of welding, during welding, and at the end of welding are stored.

This stored content is then read out in accordance with the number of output pulses from the pulse generator 47, and the welding machine is controlled in addition to the above-mentioned torch attitude control. Although the above embodiment has been described with respect to an automatic welding machine, it can also be applied to an automatic sealing machine using adhesive application and other automatic processing machines.

Since the automatic machine of the present invention has the above-described configuration, the machining tool, which is moving three-dimensionally along the machining trajectory, can be set at the optimal facing angle to the workpiece at each preset division point on the machining trajectory. It can be automatically controlled accurately, quickly, and easily. Therefore, there is an effect of improving processing accuracy, that is, product quality. When removing the workpiece after machining, if the workpiece and the processing tool interfere, the processing tool must be moved far away from the workpiece.

With conventional automatic machines that simply move the machining tool in three-dimensional tracing motion, it was difficult to find countermeasures to release the machining tool, but with the automatic machine of the present invention, information on how to release the machining tool is stored in the memory. By storing the information in memory, it is possible to easily avoid interference between the workpiece and the machining tool after the machining is completed. BRIEF DESCRIPTION OF THE DRAWINGS Fig. 1 is a partially cutaway front view of the automatic machine of the present invention, Fig. 2 is a cross-sectional view taken along the line 0 in Fig. 1, and Fig. 3 is a view taken along the line m-m in Fig. 1. figure,
FIG. 4 is a block diagram of the control circuit of the automatic machine of the present invention, and FIG. 5 is a machining trajectory diagram.

15 to 17' circular cams; 7, 22 to 24 are forward and backward links forming a parallelogram link mechanism; 8 is a torch support member; 9 is a torch; 11 is a drive shaft; M, 41 and 46 are motors; 47 is a pulse generator, 48, 49, 55 is a pinboard matrix, 50 is a sequence control section, 53, 54 is a rotation angle detector, 57 to 59 are motor controllers, 56, 64, 74 are motor speed setters ,61,60
is a rotation angle setting device, 62 and 63 are comparators, and W is a welding trajectory.

Figure 1 Figure 2 Figure 3 Figure 5 Figure 4

Claims (1)

[Claims] 1. Three cams that analyze the machining trajectory of the machining tool into horizontal, vertical, and longitudinal motion components and profile each motion component, and a drive shaft on which these cams are arranged side by side.
A responsive member that contacts each of the cams, a transmission member that transmits the position change of each responsive member to a machining tool support member to move the machining tool in three-dimensional tracing along a machining trajectory, A pulse generator that generates pulses in conjunction with each other, two machining tool drive sources for controlling the angular posture by circularly moving the machining tool relative to the workpiece on two orthogonal axes, and the origin of the machining tool drive source. two rotation angle detectors that separately detect the rotation angle of the rotation angle, an angle indicator that displays the detected angle of the rotation angle detector, and a machining trajectory divided by a certain number of pulses emitted by the pulse generator. The optimal facing angle of the machining tool to the workpiece at the dividing point is read from the angle display as the rotation angle of the two machining tool drive sources, and the rotation angle of each machining tool drive source is determined as the attitude of the machining tool. A storage device having a storage section storing control information together with a welding condition storage section and a command information storage section; By counting the number of pulses from the machine and detecting that the machining tool has reached each of the above division points, each of the machining tool driving sources stored as the attitude control information of the machining tool at each division point is used. At the same time as reading and setting the rotation angle from the storage device, the two machining tool drive sources are operated according to the instructions from the storage device, and the rotation angle of each of the machining tool drive sources and the read and set rotation angle are read out and set. A processing tool drive source controller, a rotation angle setting device, and a rotation angle are used to stop the processing tool drive source and optimally control the facing angle of the processing tool with respect to the workpiece when the two match. An automatic machine characterized by comprising an electric circuit for attitude control combined with a comparator.