JPS6163359A - Working device of angle bar - Google Patents

Abstract

PURPOSE:To execute a numerical control working by providing an upright column and an arm for running straight in the truck driving direction and the column on a truck for executing a linear driving, positioning a straight running coordinate, and also rotating the arm. CONSTITUTION:A horizontal moving truck 23 has an upright column 25, and driven by a servo-motor 24 along a guide rail 22 of the (x) axis direction. A truck 27 is moved in the vertical direction by a (z) axis driving servo-motor 26, and executes positioning of a (z) axis. A torch supporting arm 28 is guided by the (z) axis truck 27, and positioning of a (y) axis is executed by a (y) driving servo-motor 29. An arm shaft tip block 30 controls a turning angle theta by a servo-motor 31, and a driving mechanism 32 gives a groove angle to a torch 35. According to this mechanism, each control shaft for converting a coordinate of a working line to a coordinate of a machine can be controlled, therefore, a numerical control working can be executed.

Description

DETAILED DESCRIPTION OF THE INVENTION <Industrial Application Field> The present invention relates to a processing device for fusing and welding angle-shaped materials.

<Prior art> An angle-shaped material has two surfaces, a flange surface and a web surface, in its cross section, and it is difficult to cut or weld this angle-shaped material. In this equipment, the correspondence between the processing machine and the shape of the material is the same as when processing a flat surface, and the interlocking of the processing line and the mechanical part never fails. Therefore, it was necessary to transfer the given conditions (coordinates) of the machining line to the coordinate system of machining a@.

<Problems sought to be solved by the invention> As mentioned above, the conventional machining equipment for angle-shaped materials does not meet the given conditions (
Because it is necessary to transfer the seat to the coordinate system of the processing machine, it is not possible to create an NC formaft and process it with a numerically controlled machine in numerical control, and it is necessary to use the torch HK times when processing the corner part. There is one problem that cannot be solved automatically such as cutting and welding angle-shaped materials. The present invention fundamentally solves the above-mentioned conventional problems.

<Means for Solving the Problems> Next, referring to the drawings, one means according to the present invention for solving the above problems will be explained. Fig. 1 is a diagram showing a cross-section of the shape of the angle-shaped material, and in the figure, la is the web surface of the angle-shaped material, 1b
is the flange surface of the angle-shaped member, 2 is the back of the angle-shaped member 1.3 is the inner surface of the angle-shaped member, and indicates the center point of one curved part of the corner part, the flange thickness T, the web thickness t, the radius of curvature of the inner corner part r
The cross-sectional shape is determined by the lengths W and r of the web and the flange.1 Generally, T≠t and T>t.

FIG. 2 shows examples of cut shapes of angle-shaped materials, (a) shows die cutting, and (b) shows prenucleated cutting for welding. Again 1
a and ■b indicate web and flange, respectively 4a and 4
b indicates the cutting line between the surface (or dorsal side) and the inner surface (or ventral side). (b) If the cutting line in the figure is a back bevel, if the cut 4b on the inner surface is aligned in a straight line, the cut edge 4a on the surface will depend on the thickness of the cut.
However, depending on the thickness of the cut portion, the cut portion does not form a straight line, and the corner portion 5 in the figure has a particularly complicated curve.

Figure 3 is a diagram illustrating the change in plate thickness and the positional deviation of the cutting lines on the back and front surfaces of the material during oblique cutting, where 6 is the cutting torch, 7 is the front surface of the material, and 8 is the back surface of the material. , and 9 indicates the cutting line on the back side of the material. Let the two types of plate thickness be t, , L,
If the angle of the groove is α, the cut point 10 on the surface 7
a, the deviation of the bottom surface of the job from the cutting edge is the plate thickness 'l + t! t, −tan α, 5・t
an α.

Figure 4 shows the cutting situation and the movement of the cutting torch for the cross section of the angle-shaped material, where 11 is the cross section, the lines are in the cutting direction, and 12 is the center of curvature of the corner of the cross section, which is the center of rotation of the cutting torch 13. . Reference numeral 14 indicates a reference point for the position of the torch and a fulcrum for rotation of the torch, and 15 indicates a flow line of the fulcrum 14 of the torch. It also shows how the cut plate thickness changes continuously at the corners.

Figure 5 shows the movement of the cutting torch in more detail.
16 is the angle-shaped material to be processed, 17 is the cutting torch, 18 is the fulcrum of rotation, rotation, and movement of the cutting torch, 19 is the flow line of the torch, 20 is the torch head angle φ setting for bevel cutting, 21
indicates the movement of the turning angle θ for corner cutting, and when these are organized, the movement of the cutting torch 17 for cutting the angle-shaped material is expressed by the coordinate system g (x, y, z) with respect to the cutting line.
, θ, φ), and x, y.

It can be defined by two coordinates, the inclination angle φ of the torch, and the turning angle θ of the corner portion.

Figure 6 shows the orthogonal coordinates represented by x, y, z and θ.
, 5 of the rotating coordinate system that gives the turning of the corner of the angle-shaped material and the torch angle indicated by φ! An example of a mechanism for performing 'h control is shown, and in the figure, 22 to 24 indicate the X-axis drive IFII system,
22 is a guide rail for movement in the X-axis direction; 23 is driven along the guide rail 22 by a driving serpo moke 24;
This is a horizontally movable trolley that continuously provides axis position. 25-2
7 shows a two-axis drive system, 25 is a column and rail fixed to the cart 23 in a direction perpendicular to the X-axis and guided in the X-axis direction, and 26 is a cart 27 which is vertically moved up and down by a servo motor for driving the two-axes. Performs two-axis positioning. 28-29 is y@
A drive system 28 is a torch support arm guided by the Z-axis truck 27, and positioned by a yI:h drive servo motor 29. Among them, the X-axis direction is a direction perpendicular to the X-axis and the Z-axis, and positioning control of the X-, Y-, and Z-axes is performed according to the standard structure 11; 1, 22-29. , 30 to 35 are the torch holding mechanisms fitted to the arm tips, and 30 is the arm tip block that includes a mechanism for rotating the torch at the corner of the chevron. Control the turning angle θ. Reference numeral 32 is an i-shape driven by a φ-axis driving morph that gives the torch 35 a bevel angle, and is assembled to the arm tip pro 7 ri 30 to set the turning angle θ to the torch arm 33 (
I can say that. Reference numeral 34 indicates a portion of a holder that connects the torch arm 33 and the torch 35. The actual processing work is X.

y, z, and θ are related to each other and must be interlocked, and although they are often set at a constant angle with respect to the φ axis, interlocking is sometimes required.

FIG. 7 is a diagram explaining in more detail the interlocking relationship of these angular coordinate axes. In the figure, 36 is the X axis, 37 is the Z axis, 38 is the Y axis, 39 is the θ axis, 40 is the φ axis, 41 is a torch support arm, 42 is a torch, P is a point on the machining line on the surface of the angle-shaped material, Q is the gripping point of the torch and is the center of rotation of the torch inclination angle, and R is the center of rotation of the torch.

Next, machining the surface of the chevron! 3f is f (x, Y,
Z.

Assuming the case given by φ), X, Y, Z, θ.

In order to obtain the correlation of φ, an explanation will be given with reference to FIG.

The figure shows the case of 5-0 degrees in the I+4'I angle of the torch, and when calculating the correlation IFJI coefficient, 1i tad ξ of Φ will be added for explanation. 43 is a chevron, 44 is a torch, 45
is the torch support arm, (P,, P,...
R7), (Q +, Q2...Q7), (R,, R
2...R? ) corresponds to the cutting point shown in Figure 7 and the fulcrum of tilting and turning the torch, and 46 indicates the locus of point R. Also, S indicates a point on the processing line on the back side of the chevron.

Using the geometric model shown in Figures 8 and 9, the trajectory of the P point and R point (x, "i', Z) in the case of a back groove
, (X, Y, Z) and θ are found in Figure 8.
If there is a back groove, the machining line is given by point P' and PM
x, , Y, , Z,) to an x, y, two coordinate system, as shown in Table 1. Also, as a correlation parameter, I? The length of Q is β, the length of PQ is cosφ, the thickness of the flange is T, and the thickness of the web is L. Also■■■
. . .■ indicates the order in which the position of the torch changes. Table 1 shows the position of the torch in Figure 8, ■■■...
...For ■, the coordinates x of the desired P point on the machining line,
This shows the relationship between y, z, and φ, and the positional coordinates of the R point x+y+'' of the mechanism shown in FIG. Z
It can be seen that each of is a function with the turning angle θ as a parameter.

In the case of Figure 9, the formula model in Table 1 changes, but x,
The principles of conversion to Y, Z, φ-x, y, z, θ, and φ are the same, so they will be omitted. In addition, in the case of a back groove or no groove, the designated coordinates of points P' and P match.

Also, according to the table, the processing speed V depends on the moving speed of point P,
The moving speed of point P is θ=0° or θ=90° for ~■, so x,
It is clear that the y and zFl marks are not in a functional relationship with θ, but at the positions ■ to ■, the coordinates of x+1-2 are in a functional relationship with θ. Therefore, the moving speed V of point R is shown as , and the length shown at 5' in Fig. 8 is also a function of θ and becomes the cutting thickness.
−−・“−−(iv), and it is necessary to consider θ° as a function of θ.However, since the relationship between i and θ cannot be easily divided by a logical formula, several types of patterns are extrapolated during calculation. There is a need to.

Next, Fig. 1O is a diagram for explaining the numerical control of the apparatus of the present invention.
indicates an input device such as a tape league, 52 indicates x
, Y, Z, and the input end shaft given by φ are cut by the NC cutting machine 6.
1 coordinates X, Y, Z, φ, θ is divided by the arithmetic processing unit, the motion path is linearly interpolated, and short line segments Δx,
Δy, Δ2. It plays the role of calculating Δφ, and 49 is shown in Table 1.
This is the processing program section of the mathematical model shown in . Reference numeral 50 denotes a program unit for calculating the speed formula (1) % formula %.x, y by ΔT.

2, the operating speeds of θ and φ are related to each other. Reference numeral 51 denotes an operation unit for inputting parameters such as variable V(θ) to the program, and the results of the arithmetic processing by the arithmetic processing unit 52 are temporarily stored as a matrix as shown in Table 2. Reference numeral 53 is a pulse distribution device having a register section, which inputs the contents and calculates the guiding hyperactivity Δx1°Δ71. of each control axis within time T1. ΔZi, Δφ,, Δθ,
This is the part that outputs a pulse corresponding to . 54 to 60 indicate examples of generally known pulse control servo systems; 54φ,
54θ154x, 54y, and 54z are counter units that receive output pulses from the pulse output unit 53, and φ1θ, x, respectively.
This corresponds to the y and x coordinates. 55φ, 55θ,
55x, 55y.

552 is a D/A converter, 56φ, 56θ, 56x,
56y.

SSZ is a preamplifier, and also 57φ, 57θ, 57x
.

57y, 57z are power amplifiers 58φ, 58θ, 58
x.

58y, 58z are servo motors for each control axis, and 59.60 are tachometer and pulse generators (+3 units), the former is an analog system, and the latter is a corresponding color/reference 54φ, 54θ, 54x , 54y, 54
Feed hacked by z.

<Effects of the Invention> In equipment for cutting or welding angle-shaped materials, the processing line and the movement of the mechanism do not match as in the case of flat processing, where the correspondence with the processing machine corresponding to the shape of the material does not match, and the processing line Since it is necessary to transfer the given conditions (coordinates) to the coordinate system of the processing machine, it has been impossible to create an NC format and process it with the numerical control machine using conventional numerical control. However, according to the method of the present invention, the input information medium 4 in FIG.
7 - Using the mathematical model of coordinate transformation shown in Table 1 in the part shown in pulse output section 53, when transferring the coordinates of the machining line to the coordinates of the machine, the movement of each coordinate axis is The center point of the corner bend on the inner surface of the chevron is set as the turning center of the torch, and the turning angle θ of the torch is divided, minute increments of movement of each coordinate axis are calculated using the turning angle θ as a parameter, and the tip of the torch is Machining can be made possible by defining the moving speed V of and controlling the moving speed of each control axis.

Furthermore, the ripple effect of the present invention is the automation of fields that traditionally had to rely on manual labor, such as the processing of ship hull ribs, and is particularly economical as it can be combined with existing CAD/CAM systems IT and I+. The effect is tremendous.

Although a specific description of welding has been omitted, it is obvious that the device according to the present invention can be used for cutting if the torch is replaced with a cutting torch, and for welding at position A if replaced with a welding torch. There is no particular restriction on the relationship between the position of the angle-shaped member and the processing machine, other than placing the angle-shaped member parallel to the X coordinate of the processing machine.

[Brief explanation of the drawing]

Figure 1 is an explanatory diagram of the cross-sectional shape of an angle-shaped material, Figure 2 is an explanatory diagram of the cutting shape of an angle-shaped timber, and Figure 3 is an explanation of the deviation in the position of the cutting line between the back and surface of the material during intermediate cutting. Figures 11 to 9 are explanatory diagrams of the structure and operation of the cutting torch in cutting angle-shaped materials, and +01m is an explanatory diagram of numerical control in the processing device. 6.13, 17.35, 42 ., +4 is cutting 1・-chi,
14.18 is the fulcrum, 15.19 is the Dawg flow line, 22.
25 is Rail, 23.27 is Taito, 24.2G, 29.
31 is the servo motor, 33.41.45 is the torque support 1
! f-arm, 47 is a human-powered information medium, A8 is a human-powered device, 4
9.50 is processed progera 1. 51 is an operation section, 52 is a 24'n processing section, 53 is an output section, 54 is a counter section, 5
5 is a converter to f)/, 56.57 is an amplifier, 58 is a control φII+, 59 is a tachometer non-rake, 6o is a pulse transmitter, 61 is a cut UI device, θ is a torch rotation angle, φ is a torch M angle It is.

Claims (3)

[Claims] (1) In a device that cuts and welds angle-shaped materials, the machined surface of the angle-shaped materials is expressed in an orthogonal coordinate system of X, Y, and Z, and the processing line is expressed in X, Y, and Z coordinates. x parallel to the Z coordinate system
, y, z coordinate system, so that the corner part of the angle-shaped material can be machined by turning A mechanism is provided to give φ, and the machining line f (X, Y, Z
, Φ) to the coordinate system g (x, y, z, θ, φ) of the processing device, and give the processing speed along (X, Y, Z) to the processing line, and This is a machining device for angle-shaped materials that converts the speed to φ and performs machining using numerical control. (2) The machining line f (X, Y, Z, Φ) of the angle-shaped material is
The motion of the processing device is defined as the coordinate system g (x, y, z, θ, φ) with respect to the x, y, z orthogonal coordinate system parallel to the Z orthogonal coordinate system, and the torch rotation angle θ at the corner of the angle shape is used as a parameter. According to the logic of coordinate transformation, x, y,
Calculate the minute increments of z, θ, φ and calculate the increment Δx_i of x, y, z, θ, φ by the moving speed of the torch on the processing line.
, Δy_i, Δz_i, Δθ_i, Δφ_i, and numerically controlled by calculating minute time ΔT_i for Δy_i, Δz_i, Δθ_i, Δφ_i and converting these into pulses. (3) In a device for cutting and welding angle-shaped materials, a column (z-axis) that stands upright on a trolley that provides linear driving force (x-axis);
Conventional orthogonal coordinate positioning is performed using an arm (y-axis) that is perpendicular to the driving direction of the column and bogie, and a processing tool such as a cutter or a cutting torch is attached to the tip of the arm that rotates on the y-z plane around that point. A processing device for a chevron-shaped material, which is characterized in that it holds and rotates the material.