JPS61103763A - Profiling apparatus - Google Patents

Abstract

PURPOSE:To shift a working apparatus along the edge of a detected body without being influenced by heat and light, by shifting a detecting means towards the edge of the detected body according to the result of the calculation for the direction of each transmitter on the basis of the reflected waves supplied from at least two pairs of receiving devices. CONSTITUTION:The transmission waves supplied from a supersonic-wave transmitter are reflected on a workpiece 31 and received by the sonic-wave receivers 26A and 26B, and compared with a standard amplitude in a comparison circuit 37, and when a reflected wave exists, a reflection-existence signal is outputted into an addition/ substraction circuit 38, and when a reflected wave does not exist, a no-existence signal is outputted, and addition or substraction is carried-out, and the result is outputted into a judging circuit 39. The position of a detector for an edge 31A is judged from the judgment standard, and the edge position in front, center, or rear part is outputted into controller 33A and 33B. Then, the apparatus 33A turns a turning shaft, and the apparatus 33B turns a horizontal shaft arm in the horizontal direction. When the reflected waves are input into a surface-height calculating apparatus, the controller shifts a vertical transfer arm, and shifts a detector and a gas cutting torch in the same direction, and a burner is directed to a beveling and set a a prescribed angle for the edge 31A.

Description

[Detailed Description of the Invention] [Industrial Application Field] The present invention is applied to various automatic machines such as gas cutting equipment, moving bath wetting equipment, and machine tools, and is applicable to cutting torches, bath wetting torches, drills, etc. The present invention relates to a copying device that allows a working device to copy along the edge position of a work target with high precision.

[Prior art]

Traditionally, this method has been widely used as a copying device for automatic machines. Hereinafter, as a conventional copying device, a copying device for cutting a bevel will be described in reference to 911.

First, Figure 7 shows a bevel cutting copying device using rollers. In the figure, 1 is a workpiece that is a bevel cutting %j object, 2 is a support body, and one end side of the support body 2 is attached to the edge IA end [IIIV?] of the workpiece 1. A roller 3 rotatably in contact with the workpiece 1 is provided at the other end, and a moving device 4 is provided at the other end to move the roller 3 along the end surface of the edge IA while bringing the roller 3 into contact with the workpiece 1. 5 is a cutting torch attached to the support 2 and arranged along the cutting leg of the workpiece 1, and the cutting torch #Br
The l·-chi 5 is attached to the support 2 so that it can move together with the support 2 in the direction of movement of the roller 3.

However, in the copying device using the roller 3 as described above, in order to arrange the cutting torch 5 in a stable condition,
The large size of the roller 3 is required, and the overall size and weight are increased, which is disadvantageous. Also, roller 3
It is impossible to arrange the cutting torch 5 in close proximity to the curved part, and it is difficult to arrange the cutting torch 5 at a desired cutting position when tracing a curved part.

On the other hand, as shown in FIG. 8, another known copying apparatus is a copying apparatus for cutting a bevel using an optical sensor. That is, in FIG. 8, r is a workpiece, 2' is a support body, and an optical sensor 3' is provided on one end side of the support body 2' above the edge IA' of the workpiece 1'. The other end side is provided with a support 2' based on the signal from the optical sensor 3'.
The optical sensor 3' and the cutting torch 5' are integrated with the edge I.
A drive 4' is provided for movement along A'.

In a copying device configured in this way, cutting z+)
- Since the chip 5' is placed close to the optical sensor 3', the optical sensor 3' is
' is irradiated onto the molten heat of about 1500° C., which not only shortens human life, but also has the drawback that the detection function is likely to be lost due to the red heat on the surface of the workpiece 1', resulting in poor reliability.

Furthermore, as another copying device, a bevel cutting copying device using a magnetic sensor as shown in FIG. 9 is also known. That is,
In FIG. 9, lN is a workpiece, 2 is a support body, and a magnetic sensor f is provided on one end side of the support body 2' above the edges l) and //, and on the other end side, a magnetic sensor f is provided. A driving device 4 is provided which moves the magnetic sensor 3# and the cutting torch 5 along the support 2' based on the signal from the magnetic sensor 2'.

Even in the copying device configured in this way, the magnetic sensor 3 has a diameter of approximately 150 mm, as in the case of the optical sensor 3' described above.
There is a drawback that the magnetic sensor 3 easily loses its function due to the irradiation on the 0° C. melting heat insulation, resulting in poor reliability.

[Problem that the invention seeks to solve]

The present invention was developed in view of the problems of the prior art described above, and it detects the edge position of the object to be detected with high precision, and also allows the working device to be set at a predetermined angle with respect to the tangential force and direction of the edge of the object to be detected. , and by maintaining it at a predetermined position, the working device can be moved along the edge while maintaining a constant angle with respect to the edge without being taught the shape, size, position, etc. of the edge in advance, Another object of the present invention is to provide a copying device which is not affected by surroundings such as light, heat, smoke, etc. and can improve reliability.

[Means for solving problems]

In order to solve the above-mentioned problems, the present invention includes at least two sets of a transmitter and a receiver that receives the transmitted wave emitted from the transmitter as a reflected wave from the detected object. a detection means for detecting the two points at which the detection means is formed, a calculation means for calculating the direction of the respective receptors burning at the edge of the detected object based on the reflected waves from the respective receivers constituting the detection means; The detection means based on the calculation result by the calculation means? and a moving means for moving toward the edge of the detected object.

〔Example〕

Hereinafter, embodiments of the present invention will be described in detail based on FIGS. 1 to 6, taking a groove cutting copying device as an example. The frame 11 is provided with a pair of guide columns 12.12 in the vertical direction, and a screw column 13 is provided between each guide column 12.12.

4 is a vertically moving motor provided on the upper surface of the pedestal 11, and the output shaft of the motor 14 is connected to the screw column 13. 15 is an arm for vertical movement, one end of the movement arm 15 is connected to the screw support 13 via a pole screw mechanism (not shown) and guided by the guide support 12.12, and the other end is U-shaped. This is the discharge part 15A. The vertical movement arm 15 is configured to move only in the vertical direction shown by arrow A in the figure by rotating the vertical movement motor 4. Thus, the vertical movement motor 14, the vertical movement arm 15, and the like constitute a vertical movement device 16.

Reference numeral 17 indicates a first horizontally moving arm, 18 indicates a second horizontally moving arm, and one end of the horizontally moving arm 17 of 4.1 is connected to the side part 15A of the upper and lower 41111JQ arms 15.
It is rotatably supported by a shaft, and is moved in the horizontal direction indicated by arrow B in the figure by a first horizontal movement motor 19. Further, one end of the horizontal movement arm 18 of the string 2 is rotatably supported by the other end of the first horizontal movement arm 17, and is moved in the horizontal direction indicated by arrow C in the figure by an 8g2 horizontal movement motor 20. It is possible to move. Thus, the first. Second horizontal movement arm 17.18, first
．． A horizontal movement device 21 is constituted by the second horizontal movement motors 19, 20, etc., and can move a cutting torch 27, which will be described later, back and forth and left and right on a horizontal plane.

22 is a rotation shaft rotatably provided at the tip of the second horizontal movement arm 18, and the rotation shaft 22 is connected to the rotation motor 23.
It can be rotated in the direction of the arrow in FIG.

24 is a detection device attached to the tip of the rotating shaft 22, and the detection wave w, the lower surface of 24 includes an ultrasonic transmitter 25A and an ultrasonic receiver 26, as well as an ultrasonic transmitter 625B and an ultrasonic receiver 426B. It is equipped with two sets of transmitters and receivers. Here, transmitter 25A and injured device 26A, 1 hundred devices 2
5B and the receiver 26B are connected to an edge 31 of a workpiece 31, which will be described later.
The transmitters 25A and 25B and the receivers 26A and 26B are arranged to be spaced apart by a predetermined distance along the edge 31AK. 27 is a working device. A gas cutting torch 27 is shown attached to the rotating J-shaft 22 via a fitting 28. Here, the gas cutting torch 27 is disposed close to the detection device 24, and the gas cutting torch 27 is disposed at an angle of 45'' to cut the edge 31A of the workpiece 31. (See Figure 3).

29 is a workbench, 30.30... is on the workbench 29'
Workpiece support stands arranged so as to be aligned; reference numeral 31 indicates a workpiece as an object to be detected placed on the support stand 30; 3
It is designed to be gas cut as 1B.

Next, in FIG. 5, 32A and 32B indicate edge position calculation devices, and one edge position calculation device Wj 32
The input side of A is connected to the ultrasonic receiver 1126A, and the output side of the edge position calculation device 32A is connected to the rotation motor 23 via the control device 33A. It is designed to rotate in the direction of rotation shown. Further, the input side of the other edge position calculation bag #32B is connected to the ultrasonic receiver 26B, and the output side of the edge position calculation device 32B is connected to each horizontal movement motor 19.20 via the control device 33B. , the detection device 24 is moved in the front-back and left-right directions indicated by arrow F in FIG.

32B have substantially the same functions, processing and object 3, respectively.
It is possible to detect with high accuracy whether the detection device 24 is at the center position, the front position, or the rear position with respect to the edge 31AK of the first edge 31AK. For this reason, each edge position calculation device 32A.

32B has a specific structure as shown in FIG. 6, for example.

That is, in FIG. 6, 34 is an ultrasonic transmitter 25A (2
5B) is a transmitting circuit that outputs a nozzle necessary to transmit an ultrasonic wave, and 35 is an amplifying circuit that amplifies the reflected wave received by the ultrasonic receiver 26A (26B). Also, 36
is a reference amplitude storage circuit, and the storage circuit 36 stores a reference amplitude as a predetermined threshold level when determining the presence or absence of a reflected wave by a comparison circuit 37, which will be described later. 37 is a comparison circuit, and the comparison circuit 37 includes an amplifier circuit 3.
5 is compared with the reference amplitude output from the reference amplitude storage circuit 36, and outputted to the path 38. Here, the addition/subtraction circuit 38 adds when a reflected wave presence signal is input from the comparator circuit 37 and subtracts when one reflected wave free signal is input, and a single addition/subtraction counter is used. Furthermore, 39 is an addition/subtraction circuit 38
The determination circuit 39 determines the position of the detection device 24 from the calculation result of
Make the following judgment.

■ When the number of reflected wave presence signals is greater than the number of reflected wave no signals by more than a predetermined number, the edge 31A of the workpiece 31 is detected by the detection device 2.
4 (transmitter 25A, 25B side in Figure 4)
It is in.

■ When the number of reflected wave presence signals is smaller than the number of reflected wave no signals by a predetermined number or more, the edge 31A is located behind the detection device 24 (
Receiver 26A in FIG.

26B side).

(2) When the difference between the reflected wave presence signal and the reflected wave no signal is within a predetermined tolerance range or determination reference range, the edge 31A is located at the center of the detection device 24 (as shown in FIG. 4!).

Thus, the decision circuit 39 is based on the above decision.

Each signal of "center", "front", and "rear" is output to the control device 33A (33B), and the control device 33A (33B) rotationally controls the rotation motor 23 (horizontal movement motors 19, 20). , the detection device 24 is controlled to always be held at a predetermined position and at a predetermined angle.

As a result of various experiments, the inventors of the present invention have learned the following. That is, in FIG. 6, the area between the area where the workpiece 31 is at a sufficiently forward position 31' and there is definitely a reflected wave, and the area where the workpiece 31 is at a sufficiently rearward position 31# and where there is no reflected wave at all is as follows. This becomes an unstable region Δt, and conventionally this unstable region ΔL is treated as a dead zone or detection error range, and this range is usually 1
There were ~2III+. However, by subdividing this unstable region Δ into a large number of sampling points and transmitting a considerable number of samples at each sampling point, we found that there is a certain functional relationship regarding the presence or absence of one reflected wave.

Therefore, by setting a judgment criterion based on the above-mentioned function, the judgment circuit 38 can detect the edge position within the unstable region Δ, which was conventionally treated as a detection error or a dead zone error, with high precision. .

Furthermore, in FIG. 5, 40 is a surface height calculation device for calculating the surface height of the workpiece 31. The input side of the calculation device 40 is connected to the ultrasonic receiver 26B, and the output side is connected to the control device 41. It is connected to the vertical movement motor 14 via the vertical movement motor 14 . Here, in the surface height calculation device 40, the ultrasonic transmitter 25B emits a transmission wave, and the ultrasonic receiver 26 receives the reflected wave from the workpiece 31.
The vertical height between the detection device 24 and the workpiece 31 is calculated from the transmission/reception time difference until B receives the signal.

Then, the vertical movement motor 14 is rotated based on the calculation result from the surface height calculation device 40, and the vertical movement arm 15 is rotated.
in the direction of arrow A in FIG.
The position is set as the groove cutting position.

The present embodiment is constructed as described above, and its operation will now be described using bevel cutting of the workpiece 31 as an example.

First, prior to the work, the workpiece 31 is placed on the workpiece support stands 30 1 , 30 , . . . arranged on the workbench 29 . Next, the detection device 24 is set above the edge 31A of the workpiece 31. Meanwhile, the gas cutting torch 27 is connected to the edge 3]
The gas cutting torch 27 is set obliquely on the end face of A, and the cutting position by the gas cutting torch 27 is set at a predetermined height h (see FIG. 3) from the surface.

In order to start operation in the above-mentioned state, the ultrasonic transmitter 25A,
25B transmits a transmission wave to the workpiece 31 a predetermined number of times.

The number of transmissions is set to 10 to 20 times for one detection operation in consideration of shortening the detection time. Then, the reflected wave reflected by the workpiece 31 is transmitted to each ultrasonic receiver 26A, 26.
B, each edge position calculation device 32A,
32B and surface height performance 'IJ, enter device 40 trap.

Here, first, the edge position calculation devices 32A, 32B
The operation will be described with reference to FIG. The reflected wave input from the ultrasonic receiver 26A (26B) is sent to the amplifier circuit 3.
5 to the comparison circuit 37, and in the comparison circuit 37, the basic circuit 38 in the reference mark storage circuit 36 adds the signal when the reflected wave presence signal is input, and adds it when the reflected wave no signal is input. The result of addition and subtraction is output to the determination circuit 39. As a result, the addition/subtraction circuit 39 operates as described above.
Based on the criterion (2), determine the position of the detection device with respect to the edge 31A of the workpiece 31, detect the true edge position within the unstable region Δ with high precision, and convert this detection result to "
The control device 3 is used as "front", "center", and "rear" respectively.
Output to 3A and 33B. .

The reflected wave from the sound wave receiver 26A is sent to the edge position calculation device 1.
32A, the edge position is determined as described above, and this determination result is output to the control device [33A, which rotates the rotation motor 23 and rotates the rotation shaft 22.
It is designed to rotate in all directions indicated by the arrows. Thus,
When the left end side of the detection device 24 protrudes forward with respect to the end surface of the edge 31A of the workpiece 31, that is, when the detection device 24 is in the state shown in FIG. On the other hand, when the right end side of the detection device 24 is in the rearward direction, the rotating shaft 22 rotates clockwise. Furthermore, when the detection device 24 is in the regular Sawara location, that is, when the edge 31A is located between the transmitter 25A and the receiver 26A as shown in FIG. retains its state.

Furthermore, on the side of another set of transceivers consisting of the ultrasonic transmitter 25B and the ultrasonic receiver 26B, the ultrasonic receiver 2
The reflected wave from 6B is input to the edge position calculation device 32B, and 1. of the edge position as described above.

A determination is made, and the determination result is output to the control device 33B, which controls each horizontal movement motor 19.20.
'r Rotate and move each horizontal movement arm 17°18 to arrow B,
It is designed to rotate in the C direction. Thus, when the right end side of the detecting device 24 is inserted backward with respect to the end surface of the edge 31A of the workpiece 31, that is, when the detecting device 24 is in the fifth position.
In the state shown in the figure, the horizontal movement motors 19 and 20 are rotated to project the detection device 24 forward as shown by arrow F' in FIG. On the other hand, when the right end side of the detection device 24 protrudes forward, each horizontal movement motor 19.degree. 20 is rotated to cause it to enter. Note that this state is maintained when the detection device 1t24 is in the normal position.

Next, the operation of the surface height calculation device 40 will be described. That is, another set of transceivers consisting of the ultrasonic transmitter 25B and the ultrasonic receiver 26B is also used for calculating the surface height, and the reflected wave from the ultrasonic transmitter 26B is sent to the surface height calculating device 40.
The workpiece 310
It is possible to calculate the height position of the detection device fat, 24v) relative to the surface. Now, assuming that the cutting position by the -Jf gas cutting torch 27 is set to be at a height h from the surface, the surface height calculation device 40 calculates the actual height position at the current position, and sends the result to the control device 41. The control device 41 outputs a signal such that the height is h, and the control device 41 rotates the vertical movement motor 14 to move the vertical movement arm 15 in the direction of arrow A. Therefore, the horizontal movement arms 17, 18, which are integrated with the vertical movement arm 15. The detection device 24, gas cutting torch 27, etc. attached to the rotating shaft 22 are also indicated by arrow A.
The cutting torch 27 moves in the direction of the workpiece 3
It is set to face the groove cutting section 3-IB of No.1.

In this way, the detection is performed using two sets of transmitters and receivers, and the gas cutting torch 27 is moved in the x, y, and z axes directions indicated by arrow G in FIG. , processed product 3
The edge position is set at a predetermined position and at a predetermined angle with respect to the edge 31A of No. 1.Next, after the first edge position detection is completed as described above, each horizontal movement motor is 1q and 20, move the detection device 24 and gas cutting torch 27 a predetermined distance along the edge 31A, detect the edge position using the same procedure as described above, and set the detection device 24 at a predetermined position and at a predetermined angle. Set. This operation is then repeated in sequence to move the detection device 24 following the edge 31A.

Thus, by moving the detection device 24 following the edges 31A, the gas cutting torch 27 also follows the two edges 31A.
The bevel cutting +Qr can be performed with high precision.

As described above, according to this embodiment, the ultrasonic transmitter 25A
The detection device 24 can be controlled at a predetermined angle with respect to the edge 31A by detecting one point on the edge 31A using the ultrasonic receiver 26A and rotating the rotation motor 23. On the other hand, the other point of the edge 31A is detected using the ultrasonic transmitter 25B and the ultrasonic receiver 26B, and each horizontal movement motor 19, 20 is rotated. 17 and 18 in the front and rear, left and right directions, or a combination thereof, and the detection device 24 can be controlled to a predetermined position with respect to the edge 31A. By repeating this operation, the detection device 2
4 can move while tracing along the @U edge of edge 31A.

The implementation sequence of the present invention is as described above, and in the implementation sequence, a gas cutting device using a gas cutting torch 27 is listed as a working device, but an automatic welding device using a welding torch, a drill, etc. It can be applied to various fields such as machining using tools and J-machines.

Further, an ultrasonic transmitter 25A is used as the detection device 24.

Although it has been described as using two sets of transceivers consisting of the ultrasound receiver 25B and the ultrasonic receivers 26A and 26B, the number is not limited to two, and three or more sets may be used. On the other hand, although these transmitters and receivers have been described as being disposed on both sides of the rotating shaft 22, they may be disposed on one side of the rotating shaft 220.

Also, in the implementation row, an edge position calculation device 32A.

Although the circuit configuration shown in FIG. 6 is taken as an example as 32B, it goes without saying that the circuit configuration is not limited to this and that various arithmetic units can be used.

Furthermore, although the moving device has been described as being configured by a combination of the vertical moving device 16 and the horizontal moving device 21, the vertical moving device 16 can be omitted if necessary, and these can be replaced with a motor. It may also be configured by combining hydraulic and pneumatic sealing devices.

〔Effect of the invention〕

The copying device according to the present invention is as described in detail above, and includes detecting the edge positions of a detected object using a detection device equipped with at least two sets of transmitters and receivers. The detection object can be moved along the edge while maintaining a predetermined angle and a predetermined distance from the edge tangent direction.

Therefore, there is no need to teach the shape, size, position, etc. of the edge in advance, and it is possible to reliably copy any shape. In addition, by using radiated waves such as ultrasonic waves and reflected waves, it is not affected by light, smoke, heat, etc., and can be placed at a location far from work positions such as gas cutting positions and welding positions. Since the detection device can be provided, it is possible to detect the very vicinity of the work area without being affected by heat, light, etc., and it is possible to perform highly accurate copying operations.

[Brief explanation of the drawing]

1 to 6 are embodiments of the present invention. FIG. 1 is a perspective view showing the overall configuration of a bevel cutting copying device according to the present embodiment, and FIG. 2 is a main part of FIG. 1. 3 is a sectional view in the direction of arrow III-Ill in FIG. 1, FIG. 4 is a sectional view in the direction of arrow M-IV in FIG.
1], FIG. 6 is a concrete circuit diagram of the edge position calculation g and 1 to R in FIG. ) is a front view of a profiling guide for bevel cutting using rollers, FIG. Front view of copying device, Fig. 8 (bl is Fig. 8 (at
Fig. 9(a) is a front view of a copying device for bevel cutting using a magnetic sensor, Fig. 9(bl is Fig. 9(ml)
FIG. 11... Frame, 14... Vertical movement motor, 15.
...Vertical movement arm, 16...Vertical movement device, 17
゜18...Horizontal movement arm, 19.20...Horizontal movement motor, 21...Horizontal movement device, 22...Rotation shaft, 23...Rotation motor, 24...Detection device ,
25A. 25B... transmitter, 26A, 26B... receiver,
27... Gas cutting torch, 31... Workpiece (object to be detected), 31A... Edge, 32A, 32B... Edge position calculation device, 33A, 33B, 40... Control device, 41. ...Surface height calculation device. Figure 3 Figure 4 Figure 2 A 268 Figure 5

Claims (4)

[Claims] (1) Detection means that includes at least two sets of a transmitter and a receiver that receives the transmitted wave from the transmitter as a reflected wave from the detected object, and detects two adjacent points near the edge of the detected object; , calculation means for calculating the direction of each of the receivers with respect to the edge of the object to be detected based on the reflected waves from each receiver constituting the detection means; and a moving means for moving toward the edge of the object to be detected. (2) The copying device according to claim (1), wherein a working device is attached to the detection means. (3) The calculation device is configured to calculate the separation direction of each receiver from the edge position of the detected object based on the presence or absence of a reflected wave from each receiver constituting the detection means. A copying device according to claim (1). (4) The copying apparatus according to claim (1), wherein the detection means comprises a pair of ultrasonic transmitter and ultrasonic receiver.