JPS6318764B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to an automatic position control device, and in particular, but not limited to, for example, in an automatic fusing device, a tool (fusing torch) is used when fusing a workpiece. The present invention relates to an improvement of an automatic position control device that controls position movement in three dimensions.

A PTP-controlled playback type automatic welding device that controls the positions of the welding torch and workpiece relative to each other in space according to position information and control information stored in a storage device, and automatically performs welding according to a program. is well known. Regarding teaching when welding workpieces using such automatic welding equipment, there is no need to teach as many points because there are few curved parts in the processing line and the welding speed of the welding torch is not fast. Ta. However, automatic fusing equipment that fuses workpieces along processing lines has many curved parts and the fusing speed of the fusing torch is fast, so it is difficult to avoid energy due to mechanical movement and transient phenomena in electronic circuits. Therefore, it is difficult to cut the material accurately along the processing line. Therefore, in this case, it is necessary to increase the number of teaching points, and it is necessary to be able to easily teach such many points.

Therefore, a main object of the present invention is to provide an automatic position control device that can teach multiple points more accurately and easily.

To summarize the embodiments of the present invention, in a device for controlling the position movement of a tool in three orthogonal axes directions,
The direction in which the detection means should move centering on an appropriate position on a plane containing the first and second axes of the three orthogonal axes is set by the direction setting means, and the detection means moves in the set direction. The speed at which the vehicle should proceed is set using the speed setting means. The control means moves the detection means in a set direction and at a set speed, and calculates coordinates on a plane at the moved position.

The above objects and other objects and features of the present invention will become more apparent from the detailed description given below with reference to the drawings.

FIG. 1 is an external perspective view of an automatic fusing device to which an embodiment of the present invention is applied. In the figure, a first moving body 2 is mounted on a base 1 extending horizontally in the X direction so as to be movable in the X direction. A column 3 is integrally erected on this movable body 2, and a second movable body 4 is provided so as to be movable in the vertical Z direction along this column 3. Furthermore, this moving body 4 has
A beam 5 is supported so as to be movable in a horizontal Y direction perpendicular to the Z direction. At the tip of this beam 5, there is a Z
A shaft 6 is supported around an axis V, which is in the same direction as the direction, so as to be able to rotate at a free rotation angle Φ, and furthermore, a mounting bracket 8 for a fusing torch T is supported at the lower end of the shaft 6 via a parallel link device 7. This parallel link device 7 is configured so that the attitude angle Ψ of the torch T can be varied, and the position of the working point P of the torch T is at a constant point on the axis V at any angle Ψ. Furthermore, the mounting bracket 8
The attached torch T is configured to have a variable rotation angle τ around its axis TS.

That is, this automatic fusing device has X, Y, Z,
It has six degrees of freedom, Φ, Ψ, and τ, and although details are not shown, for each of these six degrees of freedom,
A drive source is provided to force the control position and angle. Furthermore, encoders (not shown) are provided for each of these control axes to output actual position and angle information. and,
Each drive source is controlled by computer G via an encoder. Furthermore, the mounting bracket 8
is constructed so that a sensor 42 shown in FIG. 5, which will be described later, can be attached in place of the torch T.

FIG. 2 is an illustrative view of a remote control board included in one embodiment of the present invention. In the figure, the mode changeover switch 21 is set to manual mode (M), manual operation teaching mode (MT),
The teaching mode (ST), test mode (TE), and auto mode (A) are set by activating the sensor 42, and the mode can be switched by rotating the knob in any one of them. ing. The r-axis speed setter 22 is used to set the speed at which the sensor 42 should advance from a suitable teaching point. The r-axis direction setter 23 sets the r-axis moving direction of the sensor 42, which moves at the speed set by the r-axis speed setter 22.The manual operation switch group 24 sets the direction of the r-axis movement of the sensor 42, which moves at the speed set by the r-axis speed setter 22. The position of the torch T is manually controlled, and by tilting it toward the "U" side or the "D" side, the torch T moves away from or toward the origin along each control axis. Furthermore, the manual operation switch group 24 is used to manually control the position of the sensor 42 along the r axis when the sensor 42 is attached in place of the torch T.
By tilting it toward the side or the "D" side, the sensor 42 moves in a direction along the r-axis toward or away from the origin. Manual operation switch group 25
is for manually controlling the Φ and Ψ angles, and by tilting it toward the "C" or "CC" side, the torch T rotates clockwise or counterclockwise.
The start button switch 26 is connected to the computer C.
This is to allow the user to perform the operation of capturing position data. Note that the r-axis speed setter 22, the r-axis direction setter 23, and the start button switch 26 constitute radius command means.

FIG. 3 is a schematic block diagram of one embodiment of the present invention. In configuration, computer C includes a central processing unit (CPU) 31, a read only memory (ROM) 32, and a random access memory (RAM) 33. The switch groups 24, 25, and 26 on the remote control board 20 are connected to the bus line BL of the computer C. Also,
The r-axis speed setter 22 of the remote control board 20 includes a variable resistor, and the voltage set by the variable resistor is applied to a timer 34 as timer means. The timer 34 generates a time signal determined based on the voltage set by the r-axis speed setter 22 and provides it to the CPU 31 . This timer 34 determines the speed at which the sensor 42 moves in the r-axis direction; if the speed set by the r-axis speed setter 22 is increased, a short period pulse signal is generated, and if the speed is decreased, a pulse signal with a short period is generated. Generates a pulse signal with a long period.
The timer 35 generates a constant pulse signal that is shorter than the period of the time signal, that is, the pulse signal output from the timer 34, and supplies it to the CPU 31. Also,
The voltage set by the r-axis direction setting device 23 of the remote control board 20 is converted into a digital value by the A-D converter 36 and connected to the bus line BL.

Further, positioning devices 37 to 41 for positioning the X, Y, Z, Φ, and Ψ control axes are connected to the bus line BL. The positioning device 37
A buffer 371 that temporarily stores command position information given from the CPU 31, a buffer 378 that stores current position information, a subtracter 372 that calculates the difference between the buffers 371 and 378, and D-A converts information into analog information
A converter 373, a servo amplifier 374 that amplifies the analog information, a DC motor 375 that rotates according to the output of the servo amplifier 374, and a drive means 376 that drives the control axis in the X-axis direction according to the rotation of the DC motor 375. and a detector 377 that detects the current position of the drive means 376 and provides current position information to the buffer 378. The positioning device 3
8, 39, 40, 41 are positioning devices 3, respectively.
It is constructed in the same manner as 7. Furthermore, the detection output of the Z position sensor 42 is converted into digital information by an A-D converter 43 and is applied to the bus line BL.

FIG. 4 is a flow diagram for explaining the operation of an embodiment of the present invention, and FIG. 5 is an illustrative diagram for explaining the relationship between the workpiece and the sensor.
FIG. 6 is an illustrative diagram showing the trajectory taught by the sensor.

Next, the specific operation of one embodiment of the present invention will be explained with reference to FIGS. 1 to 6.

First, the sensor 42 is attached to the mounting bracket 8 and the angle Ψ is controlled so that the sensor 42 is in a vertical position and the detection point is aligned with the point P. Then, when the power switch (not shown) is turned on, the CPU 31
The operation starts based on the program stored in the ROM 32. At this time, the mode changeover switch 21 is switched to ST mode. and,
The CPU 31 determines whether or not a timer output is provided from the timer 34. This is because when outputting a position command for movement in the r-axis direction, it is necessary to sequentially command a certain minute amount of movement at every certain minute time, so the presence or absence of the output from the timer 34 is determined. ing. As mentioned above, this timer 34 is
It determines the speed at which the sensor 42 moves in the r-axis direction, and if the speed set by the r-axis speed setter 22 is increased, a short-cycle pulse signal is emitted.
If the speed is slowed down, a pulse signal with a long period is generated. If the timer output of the timer 34 is not given, then it is determined whether or not the timer 35 has an output. This is because when outputting a position command for movement in the Z-axis direction, it is necessary to sequentially command a certain minute amount of movement at every certain minute time, so the presence or absence of the output from the timer 35 is determined. ing. When it is determined that there is an output from the timer 35, the current position of the sensor 42 is read.

Here, as shown in FIG. 5, the tip of the sensor 42 is set to always be located at a reference position l that is a certain distance away from the processing surface of the workpiece W, and this reference position l is set in advance by the ROM 32. is stored in A detection signal obtained by the sensor 42 detecting the processed surface of the workpiece W is converted into digital information by the AD converter 43 and is provided to the CPU 31 via the bus line BL. Then, if the tip of the sensor 42 is located a distance l' from the machining surface of the workpiece W, the CPU 31 changes the reference value l.
Subtract l' and read the deviation ΔZ between the reference position l and the current position. Then, the current position Z of the sensor 42 in the Z-axis direction is determined by adding the deviation ΔZ to the position Za in the Z-axis direction set in advance by the Z-axis setting switch 24. Then, a Z-axis position command signal is given to the Z-axis positioning device 39 to position the sensor 42 so that the tip of the sensor 42 is at the reference position l.

Next, the operator sets the angle θ1 as the direction in which the sensor 42 should move along the machining line WL on the workpiece W using the r-axis direction setting device 23, and the moving speed of the sensor 42 using the r-axis speed setting device 22. Set. Here, the distance Δr that the sensor 42 moves is predetermined, and if the speed set by the speed setter 22 is V, then the period Δt of the timer output derived from the timer 34 is expressed as Δr/V. . Therefore, the timer 34 derives a pulse signal with a period determined by the distance Δr and the speed V. CPU3
1 reads the angle θ set by the direction setting device 23 when determining that the timer output has been given from the timer 34. Then, if the initial value of the r-axis is r=0, the sensor 42 receives 1 from the timer 34.
Radius r of distance traveled from position P for each pulse
is expressed as r=r±Δr (1). That is, every time there is an output from the timer 34, Δr changes to the current r (r=0 in the intended state).
is added to and output as the following r. here,
It is assumed that the current position of the sensor 42 is at position P (X _a , Y _a ) as shown in FIG. Then, at position P (X _a , Y _a ), the angle θ between the r axis and the Y axis can be determined by the value set by the direction setting device 23, so the next point P to which the sensor 42 moves is ₁
The position X on the X axis of is expressed by the following equation.

X=X _a +rcosθ (2) Also, the position Y on the Y axis is expressed by the following equation.

Y=Y _a +rsinθ (3) Based on the above three equations, the CPU 31 calculates and stores each X and Y at the positions P ₂ , P ₃ . , are sequentially rewritten as data for calculating the position to go to the next teaching point. Further, the CPU 31 gives position command signals to the X-axis positioning device 37 and the Y-axis positioning device 38 at positions P ₂ , P ₃ , . . . Pi to which the CPU 31 should sequentially proceed. In response, positioning devices 37 and 38 move sensor 42 to a determined position.

When the sensor 42 moves to a predetermined teaching position along the processing line WL, the start button switch 26 is operated. Accordingly, the CPU 1 calculates the coordinates (X,
Y, Z) are read and recorded as teaching points.

Next, when the direction θ2 in which the sensor 42 is moved is set by the direction setter 23 and the speed V is set by the speed setter 22, the CPU 31 performs the same operation as described above. Then, the sensor 42 is moved in the set direction and at the set speed. Note that r in the above-mentioned equation (3) only needs to be known in the initial state, so it is reset each time the start button switch 26 is operated thereafter. Then, the CPU 31 reads the coordinates on the X-axis, Y-axis, and Z-axis at the position to which the sensor 42 has moved in response to the operation of the start button switch 26. By repeating this operation and slowing down the speed V set by the speed setter 22 in areas where the curvature of the machining line WL is small, the moving speed of the sensor 42 will become slower and the sensor 42 can be moved more accurately along the machining line WL. Teaching can be done using

As described above, according to the present invention, the speed and direction at which the detection means should move about an appropriate position on a plane including two of the three orthogonal axes are set, and the set speed and direction are set. Since the detection means is moved based on the direction and the coordinates on the plane at the moved position are calculated, it is possible to slow down the speed when teaching a processing line that is relatively simple and has a small curvature. Therefore, teaching can be performed extremely accurately.

[Brief explanation of the drawing]

FIG. 1 is an external perspective view of an automatic fusing device to which an embodiment of the present invention is applied. FIG. 2 is an illustrative view of a remote control board included in one embodiment of the present invention. FIG. 3 is a schematic block diagram of one embodiment of the present invention. FIG. 4 is a flow diagram for explaining the operation of one embodiment of the present invention. FIG. 5 is an illustrative diagram for explaining the positional relationship between the workpiece and the sensor. FIG. 6 is an illustrative diagram showing the trajectory taught by the sensor. In the figure, 20 is a remote control board, 22 is r
Axis speed setting device, 23 is r-axis direction setting device, 26 is start button switch, 31 is CPU, 32 is
ROM, 33 is RAM, 34, 35 are timers, 3
7 to 41 are positioning devices, 42 are sensors, 3
6 and 43 are A-D converters, 100 is an automatic fusing device, W is a workpiece, and WL is a processing line.

Claims (1)

[Scope of Claims] 1. In an automatic position control device in which a controlled object is position-controlled by a control device along three orthogonal axes, the controlled object has a workpiece in the direction of one of the three orthogonal axes. A piece detection sensor can be attached, and the control device is provided with an operation panel, and the operation panel includes at least direction command means and radius command means on a plane including the remaining two of the orthogonal three axes, and further The control device includes a calculation means that receives the outputs of the direction command means and the radius command means, and calculates and outputs movement command values in the remaining two axis directions.
Automatic position control device.