JPS603529B2 - Automatic plate processing method - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a method of automatically controlling the position of a plate-shaped object such as a steel material in a plate-shaped object processing machine, such as a shearing machine, and performing processing work with a processing tool, such as shearing work with a cutting blade. ,
In particular, the present invention relates to a method that makes it possible to correct dimensional errors caused by deflection of a plate-shaped body.

Conventionally, when a plate-shaped body is supplied to a shearing machine and shearing work is performed, a cut point is marked, and the blade of the shearing machine is aligned with the marked line to cut the plate. Moreover, these operations are performed manually, with poor cutting accuracy and efficiency, and are also dangerous. Therefore, attempts have been made to solve the above-mentioned problems by holding the plate-shaped body with a holder and automatically controlling the position of this holding odor relative to the blade of the shearing machine. , the applicant of this application has already filed.

Incidentally, as a holding odor for holding a plate-like body, a holding odor for holding a plate-like body by vacuum force or magnetic force is known, and it can also be used in the above-mentioned automatic shearing device.

However, while such a holder has the advantage of not damaging the plate-like object, it is difficult to provide a sufficiently large lateral holding force, especially when moving and positioning a heavy plate-like object. If a large acceleration is applied, there is a risk that the plate-shaped body and the holder may slip. On the other hand, with a holder that clamps the edge of the plate-shaped object with a clamp mechanism, the holding force can be made considerably large and the above-mentioned problem is solved, but the clamp mechanism is clamped at the bottom of the plate-shaped object. It is necessary to construct a claw, and it is necessary to raise the plate-like body from the floor by at least the thickness of this claw. For this reason, the plate-shaped body is bent by gravity between the two supports from the claw of the clamp mechanism at the rear edge of the plate-shaped body to the blade of the shearing machine. Due to this deflection, the position of the front edge of the plate member is slightly retracted, and this retraction cannot be ignored in terms of cutting accuracy. That is, with the current state of the art, it is not difficult to achieve a stop position accuracy of 0.2 to 0.3 ribs when automatically controlling the position of the holder (plate-shaped body). On the other hand, for example, if a steel plate with a thickness of 1.2 ribs is used as the plate-shaped body and the distance between the two supports is about lm, the amount of deflection due to gravity will be 14 yanagi, and the recession dimension in the front green of the steel plate. (deviation) is 0.5 ribs. Therefore, this influence cannot be ignored. Therefore, in the present invention, when automatically controlling the position of the plate-shaped body to the blade of a shearing machine, the automatic control program includes a step of correcting the deviation caused by the retreat of the leading edge of the plate-shaped body. This is intended to solve the above-mentioned problems.

Other objects and features of the invention will become clearer in the following more detailed description. An embodiment of the present invention will be described below with reference to the drawings.

First, an explanation will be given of an automatic sharing device which is effective by implementing the parenthesized invention, which is the background of this invention, but this invention is not limited to this embodiment. In addition,
In FIG. 1 showing the automatic shearing device mentioned above,
In the figure, the right side is referred to as the front, the left side as the rear, the opposite side as the left, and the front side as the right.

1 is a known shearing machine.

Further, la is a lower fixed blade, lb is an upper movable blade, and lc is a movable presser plate. A support floor ld for supporting the plate-like body P is provided behind the fixed blade la. Reference numeral 2 denotes a free conveyor mount constructed as a part of the support floor that supports the plate-shaped body P.

The free conveyor device 2 has, on its upper surface, rows of known transfer bodies 2a that can be transferred forward, backward, leftward, and rightward. The height of its upper surface is the same as that of the support floor ld. The device 2 is also provided with a stopper 2b at its front end, and stoppers 2c and 2d at its left end. The stoppers 2b, 2c, and 2d are all normally recessed from the upper surface of the rolling element 2d, but according to a command from the computer C that controls this automatic shearing device, their upper ends are recessed into the rolling element 2 as shown by the two-dot chain line in the figure.
d It is constructed so that it can protrude from the upper surface. Reference numeral 3 denotes a clamping means designed to clamp the rear edge of the plate-like body P.

The clamping means 3 includes a main body 3a integrally provided with a lower clamp claw 3b, and an upper clamp claw 3c connected to the main body 3a by 3d.
An actuator 3e is mounted between the main body 3a and the claw 3c, and the claws 3b, 3c are actuated by the actuator 3e.
It constitutes a clamp mechanism that opens and closes. 4 is the first moving body.

The means 3 is a guide 4a provided above and below the front door of the moving body 4.
The vertical position of the means 3 is controlled by an actuator 4b provided between the means 3 and the movable body 4. 5 is a pivot arm that pivots around a vertical axis.

The movable body 4 has a guide 5 horizontally provided on the lower surface of the rotating arm 5.
The position of the movable body 4 in the direction of the guide 5a is controlled by an actuator 5b which is slidably mounted on the arm 5a and is provided between the movable body 4 and the arm 5. Note that this position control is performed by comparing a detected value from an encoder (not shown) and a command value from the computer C. 6 is a second moving body.

The arm 5 is connected to the moving body 6 by a vertical shaft 6a,
Arm 5 is rotatable. A fan-shaped spur gear 6d is installed on the movable body 6, and this meshes with a pinion 5d rotated by a hydraulic motor 5c fixed to the arm 5 to control the turning angle of the arm 5. 7 is the third moving body.

The movable body 6 is iron-mounted on the lower surface of the movable body 7 so that it can slide freely on a guide 7a extending in the front-rear direction. Chain sprockets 7b, 7b, 7b, 7b are fastened to the moving body 7 at four locations, and a chain 7c is wound from the front end to the rear end of the moving body 6 via the chain sprockets 7b, 7b, 7b, 7b. Can be hung. One sprocket 7b connects the hydraulic motor 7
d, so that the movable body 6 is movable in the front-back direction and its position is controlled.

This position control is performed by comparing a detected value from an encoder (not shown) and a command value from the computer C.
8 is a fixed frame, the lower part of which guides 8a, 8 in the left and right direction.
a is provided, and the movable body 7 is slidably mounted thereon.

The left and right positions of the movable body 7 are controlled by power (not shown). Note that this position control is performed by comparing a detected value from an encoder (not shown) and a command value from the computer C. Then, according to a program set in the computer C, the front, rear, left, right, and rotation angles of the plate-shaped body P are controlled, and dimensional cutting is performed according to the program.

Among the programs, the computer C stores in advance a system program common to various sharing operations. Then, the user causes computer C to store user programs necessary for each sharing task. The gist of this invention constitutes a part of the aforementioned system program. Before explaining in detail a part of the system program as an embodiment of the present invention, a method for determining the amount of deviation due to the deflection of the plate-shaped body due to gravity will be described. Now, as shown in FIG. 2, when the plate-shaped body P is fixed at one end by means 3 and the other end is supported by the blade
In the figure, the amount of deflection W due to gravity at a position x distance from the fixing device by means 3 is determined by the teachings of material mechanics, where W = erected plate L. 〆． (2 in 5 so x + 3 in 2)
...{11 However, q...Load per unit area...Linear distance D between the clamping point of the plate-shaped body P and the cutting blade...Constant of bending rigidity In this deflected state, from the means 3 to the blade la The actual length S of the plate-like body P can be calculated by line integral as follows:
′< (1 Ichimatsu) 12・ノ(
a・so)2 10Wmax2......'3'However, Wmax
is the maximum amount of deflection, and according to what mechanics of materials teaches, W side: magazine. 117116 shelves. 4 skin [414096 = k building (however, the constant determined by the material mechanics of the gunwale, h' board-like body P
plate thickness) a is the ratio of the distance between the point of support by the blade la of the plate-like body P and the position of maximum deflection, when the distance e is 1, and according to the teachings of material mechanics, it is 10 J millet a=
---1''...[51 16 The above [2} and the rigid equation are both equations for finding S given the equation.

In this invention, we want to find the value corresponding to the desired So, but in order to simplify the calculation, we adopted the following solution method. That is, as shown in FIG. 3, in order to find the so corresponding to the desired So, first let it be So. Then, the value of S at that time, that is, Sb is determined. Next, find the differential coefficient S' of S=f(Z) at the point Sb. From this differential coefficient S', the deviation amount ΔSo corresponding to (Sb-So) is determined, and the command value is set as the command value. Here, S' is given by the following equation according to the teachings of mathematics.

・S' = Kuzo a. 20 Wma W becomes a certain constant value Wo, and the deviation amount Δ is also a constant value.

So'.

:S. −△ and h where △〆h is the fixed correction value mentioned above,
This can be calculated and determined for each thickness of the plate-like body P.

Next, a method for correcting the control position based on the deflection of the plate-shaped body P will be explained based on the above calculation. Figure 4 shows the system block mentioned above.

Fig. 1 is a flowchart explaining a part of the graph, and when controlling the position of a plate-shaped body with a certain thickness h to a length So according to a user program, first the target value So and the plate thickness h are
Set.

Separately, prepare a table in advance of the actual length Sa of the plate-like body P when Wmax becomes Wo with respect to the plate thickness h' (in this case, use the plate-like body P as a steel plate, for example), and use this table as With reference, find Sa for the plate thickness h.

Next, it is determined whether So<Sa.

If YES, calculate Wmax by substituting Reko So in the above formula (2).

, using Wmax obtained in the previous step, (Variation of the above formula {3') The approximate length Sb of the plate-like body P is determined by .

Next, the value f'(So) of ship/d〆 (the straight line distance between the knife 3 and the blade la here) at the point of evening = So found in the previous step
That is, [transformation of formula {6}] is calculated.

Next (Sb-S.

) Calculate f Shizukushu and find the deviation value △Yu. Calculate So−△〆 and use it as the command value.

If So<Sa and NO, the deviation value △〆 corresponding to the plate thickness h at that time is determined using a separately prepared table.

The operation of this embodiment including the above steps will be described.

First, according to a command from computer C, stopper 2b
, 2c, and 2d protrude as shown by two-dot chain lines.

Then, place the plate-shaped body P to be cut on the device 2, and use means not shown to hold the front and left edges of the plate-like body P to the stoppers 2b, 2c, 2d.
to align the plate-like body P with the origin. Next, the position of the means 3 is controlled by a position control command from the computer C, and the claw 3c is controlled by the actuator 3e.
As shown by the two-dot chain line in the figure, the means 3 opens and closes the plate-shaped body P.
handle the trailing edge of the At this time, the lower clamp claw 3 of the means 3
b needs to be operated so as to be immersed between the transfer bodies 2a that are lined up. Thus, the computer C moves the means 3, i.e., the plate-like body P, back and forth and left and right by a certain length, or rotates it around the axis 6a, and cuts the means 3, with the plate-like body P being supported by the means 3 as the origin. Align the blades la and lb with the desired location.

Of course, in this case, the means 3 is the floor LD or the device 2.
Therefore, as shown by the solid line in the figure, the plate-like body P is deflected by gravity. In the figure, the plate-like body P is bent and its lower surface touches the floor ld,
A state in which the amount of deflection W is Wo is shown. Therefore, during the above-mentioned positioning by the computer C, the deviation amount △〆 due to the above-mentioned step is calculated, and the position command value corrected by this deviation amount △〆 is output from the computer C, and the motor 7d and actuator 5b are controlled accordingly. is controlled, the means 3 moves back and forth, and its moving position is fed back to the computer C by an encoder (not shown), so that accurate position control is performed.

In addition to the above-mentioned embodiments, the technical scope of the present invention also includes substitution of each component with equivalents within the scope of the technical idea of the present invention.

That is, it will be easy for those skilled in the art to configure and replace the computer C and the system program with an arithmetic circuit specifically for carrying out the method of the present invention. As described above, this invention is characterized in that the positional deviation △ of the front end due to the deflection W of the plate-like body P supported horizontally by the clamping means 3 and the blade la is determined by the plate thickness h and the distance between the supporting points. The operator uses the natural law that each saw is different, calculates △ in the program, corrects the command device, and performs accurate machining, using the causal relationship of the method. This has the unique and remarkable effect of automatically performing accurate machining by simply inputting the plate thickness h and distance when setting the user program for the computer C.

[Brief explanation of the drawing]

Each of the drawings shows an embodiment of the present invention, and FIG. 1 is a side view of a shearing device effective for use in the present invention, and FIG.
3 and 3 are explanatory diagrams of calculation formulas, and FIG. 4 is a flowchart. 1... Shearing machine, la... Lower fixed blade, lb.・．． Upper movable blade, ld... Support floor, 2... Free conveyor device (constituting a part of the support floor), 3... Clamping means, P.
...Plate body. Figure 2 Figure 3 Figure Peach Figure 4

Claims (1)

[Scope of Claims] 1. When a plate-shaped body is supplied to a processing tool of a plate-shaped body processing machine while controlling the position of the plate-shaped body with one side thereof being held between the two sides, and the plate-shaped body is processed, the plate thickness h of the plate-shaped body is Then, from the linear distance l between the clamping point and the processing tool, calculate the positional deviation Δl due to the retreat of the front edge of the plate-shaped body due to the deflection of the plate-shaped body, that is, the end of the plate-shaped body opposite to the clamping side, and in the position control. Said deviation Δ
An automatic plate-shaped object processing method characterized by correcting l. 2 One side of the plate-shaped body is held, and the other side of the plate-shaped body is supported by the lower fixed blade of the processing tool of the plate-shaped body processing machine attached to the support bed supporting the plate-shaped body to control the position. . A method for automatically processing a plate-shaped object, wherein the program for position control includes the following steps. (b) Target length So of the plate-shaped body between the clamping point and the processing tool
and plate thickness h. (b) Referring to a table prepared separately, with the plate thickness h,
Maximum amount of deflection Wm between the clamping part of the plate-shaped body and the processing tool
When ax becomes the distance Wo between the straight line connecting the clamping part and the processing tool and the support floor, select the length Sa between the clamping part and the processing tool of the plate-shaped body. (c) Determine So<Sa. (d) If Yes, Wmax=k(So^4)/
Wmax is calculated as (h^2) (where k is a constant). (e) Using Wmax in (d), ▲ formula,
There are chemical formulas, tables, etc. ▼ Approximate length S of the plate-shaped body
Find b. (f) For the Sb obtained in (e), calculate the value of ds/dl (here, l is the straight line distance between the clamping point and the machining tool) at the point l = So. ▲ There are mathematical formulas, chemical formulas, tables, etc. Calculate as. (g) Δl=(Sb-So)×1/(f'(So))
The deviation Δl is calculated as follows. (H) Calculate So-Δl and output this value as a corrected position command value. (li) If the judgment result in (c) above is No, refer to the table to find the correction amount Δl for the plate thickness h, and calculate So−Δ
l is calculated and this value is output as a corrected position value command value.