SU1348107A1 - Method and apparatus for machining along circular contour - Google Patents

Abstract

This invention relates to mechanical engineering and is intended to automatically guide a welding tool along a circular contour line to be machined. The invention makes it possible to increase the processing accuracy due to automatic correction. The tool is mounted on one of the ends of the T-shaped cross bar, and a contour sensor is attached to its opposite end. The traverse is provided with a rotational drive and two translational displacement drives. A pre-orientation of the traverse axis along the center of the machined contour is performed. After that, the traverse is rotated until a signal appears on the loop sensor. At the same time, the measurement of the angle of rotation of the bar and the sign of the deviation of the position of the bar relative to the contour are made. According to the received signals, the traverse is moved along the line of its angular pole in the direction of compensation of the detected deviation. These operations are carried out until a stable zero deviation signal is obtained at the output of the transverse position sensor relative to the contour. The device comprises a traverse with a tool and a contour sensor, a drive of its rotation with a sensor of rotation angle, drives of linear displacements of the axis of the traverse with position sensors, a program control unit and an adaptation unit. 2 sec. f-ly, 4 ill. с 9 (Л 00 4; 00

Description

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The invention relates to the automation of technological processes carried out using automatic manipulators, such as cutting, marking, welding, and can be used in the processing of products mainly in the transport, chemical power engineering, such as blanks for vehicles, which must be round hatches, openings, welding of mortise elements, etc. are made.

The purpose of the invention is to improve the processing accuracy due to the automatic correction of the installation of the traverse axis in the center of the contour.

The essence of the invention is to automate the orientation of the axis of the T-shaped traverse with a tool and a contour sensor attached to its opposite ends. The orientation is carried out by means of the program output of the T-shaped crosspiece to the contour zone, with subsequent correction of its axis position according to the signal of the contour sensor.

FIG. 1 shows a flow chart for the processing of a circular contour; Fig. 2 is a block diagram of a device for performing the proposed method; FIG. 3 is a functional block diagram of the adaptation; 4 is a functional block diagram of a software control unit.

Point O (Fig. 1) is the center of the circular contour, point P is the actual position of the traverse axis after removing the traverse to the treatment area, point A is the end of the traverse with the instrument mounted on it, point B is the end of the traverse with the contour sensor mounted on it. With uniform nrasheniya tra-. Versions around its own axis, for example, counterclockwise, the sensor first captures the contour line contour and a trailing deviation sign appears on its contour relative to the contour. Taking into account the sign of deviation, the axis of the axis is corrected by moving it either in direction 1 of point A or in direction of point B. The approximate view of the path of movement of the axis of the traverse is shown by a dotted line (the axis of the traverse is asymptotically approximated to the contour center line). The process of correcting the position of the axis of the traverse is completed when the sensor is received.

traverse relative to the contour of a stable zero signal on a section of the contour line of a given length. After completion of the correction, the contour is processed by rotating the cross bar around its axis.

The device (figure 2) contains a T-shaped yoke 1, at one end of which is placed the tool 2, and at the opposite end is the sensor 3 circuit, the actuators 4 and 5 linear displacements of the axis of the yoke 1, the drive 6 of the rotation of the yoke 1 around its own axis, sensors 7 and 8 positions, a rotation angle sensor 9, an adaptation block 10 and a software control block 11, the first three inputs of which are connected to 1b strokes of the 7 and 8 position sensors and a rotation angle sensor 9, the first input of the adaptation block 10 is connected to the upsurge of the crosshead position sensor 3 regarding the contour, the second The third and fourth inputs of the adaptation block 10 are connected respectively to the first, second and third 4 outputs of the program control unit 1 1, the fifth input of the adaptation block 10 is connected to the output of the angle sensor 9, the first. Three, the outputs of the adaptation block 10 are connected respectively to the inputs of the drives 4 and 5 linear displacements and the drive input 6 of the rotation of the crosshead 1 around its own axis, and the fourth output of the adaptation block 10 is connected to the fourth input of the program control block 11.

Adaptation unit 10 (FIG. 3) contains three switches 12-14, three elements AND 15-17, two dividers 18 and 19 frequencies, sine-cosine converter 20, converter 21 code-frequency, first OR 22 element 22, counter 23, first the comparison circuit 24, the first register 25, the adder 26, the fourth switch 27, the second register 28 and the fourth element AND 29, while the outputs of the first, second and third switches 12-14 are the first three outputs b;: eye 10 adaptation, the first input the first switch 12 is connected to the output of the first divider

18 frequency, the first input of the second switch 13 is connected to the output of the second frequency divider 19, the first input of the third switch 14 is connected to the second inputs of both dividers 18 and

19 frequencies and to the output of the fourth element And 29, the second inputs of the switches

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12-14 are connected respectively to the outputs of the first three elements 15-17, the third inputs of the switches 12-14 are connected to the first input of the first element OR 22 and are the third input of the adaptation block 10. The first inputs of the first three elements And 15-17 serve as the second input of the adaptation block 10, their second inputs are connected to the first element And 35, its second input

The fourth input of element 29 and 29, with the output of converter 21, the code is frequency, and with the first input of counter 23, the first inputs of the first 18 and second 19 frequency dividers are connected respectively to the first and second outputs of the sine-co-converter 20, whose input is the output of the adder 26. The first input of the adder 26 is the fifth input of the adaptation unit 10, its second input is connected to the output of the fourth switch 27, the first input of which is connected to the output of the parallel switch is performed by its fifth operator when the device is turned on. In this case, the address counter 37 is reset on its second input. At the address indicated by the counter 37

second register house 28, his second

the input is connected to the frame bus, the address is three, the memory block 30 is in the first three

this and its fourth inputs jointly with the outputs indicate the values moved by the second input of the first element OR

22 form the first input of block 10

adaptation. Converter input 21

code - frequency serves as the fourth input 30 (positioning), on the fifth output

SRI on linear coordinates and angle of rotation, on the fourth exit gives the command to output to the treatment area

block 10 adaptation, the output of the first element OR 22 is connected to the second input of counter 23, the output of which is connected to the first input of the first comparison circuit 24, the second input of the first comparison circuit 24 is connected to the output of the first register 25, and its output is connected to the second input of the fourth AND element 29 and serves as the fourth output of the adaptation block 10.

The software control unit 11 (Fig. 4) contains a memory block 30, second, third and fourth comparison circuits 31 to 33, fifth 34 and sixth 35 AND elements, a second OR 36 element and an address counter 37, with the first three outputs of block 30 the memories are connected to the second inputs of the second, third and fourth comparison circuits 31-33, and their first inputs are the first three inputs of the software control unit 11. The outputs of the second, third and fourth comparison circuits 31 - 33 form the first output of the software control unit 11 and are connected to the first three inputs of the fifth And element

34, the fourth input of which is connected to the first input of the sixth element AND

35, the fourth output of block 30 memory

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and the second output 6j; oKa 1 1 software control. The second input of the sixth element AND 35 is the fourth input of the program control unit 11, the fifth output of the memory unit 30 is the third output of the program control unit 11, the first input of the second element OR 36 is connected to the output of the second element 34, the input it is connected to the input of the counter 37 of the address, the output of which is connected to the input of the memory block 30.

The device works as follows.

In memory 30, an item processing program is included. The initial installation of the software control unit 11 is performed by its fifth operator when the device is turned on. In this case, the address counter 37 is reset on its second input. At the address indicated by the counter 37

SRI on linear coordinates and angle of rotation, on the fourth exit gives the command to output to the treatment area

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sets the generation frequency for converter 21 code - frequency. Until the specified displacement values are worked out, the first three eligents AND 15-17 transmit impulses of the converter 21 code-frequency to the inputs of the first, second and third switches 12-14. At the positioning command on the TpeTbiix inputs of the specified switches, these impulses are transmitted to the corresponding drives 4- 6 When testing the specified movements by signals from the second, third and fourth comparison circuits 31-33, the first three elements AND 15-17 are locked and the signal at the output of the fifth element 34 is produced, which through the second element 36 takes the address counter 37 to the new state - the device proceeds to automatically search for the contour center.

In doing so, the first, second, and third switches 12-14, at the command at the third inputs, are transferred to receive g information at the first inputs. The rotation angle sensor 9 measures the azimuth angle "i of the position of the crosspiece 1 on the plane. Sensor 3 contour fixes the direction of the mismatch of positions

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5 - 13

itself and the contour line by excitation of the third or fourth inputs of the fourth switch 27 depending on the error signal sign. If the sensor 3 of the contour is currently inside the contour, then the signal of the casing bus is transmitted to the output of the fourth switch 27 and the output of the adder 26 has a signal angle oi. . If the loop sensor 3 is outside the loop, then the number T from the second register 28 is transmitted to the output of the fourth switch 27, and the output of the adder 26 is a signal (), i.e. mirror image angle o.

Sine-cosine transducer 20 decomposes the value of the angle on the projection, which controls: 1 the operation of the first 18 and second 19 frequency dividers. The first 18 and second 19 frequency dividers are counters with a variable division factor that let them through. The pulses from the converter 21 are the frequency through the quarter element I 29 to the first inputs of the first 12 and second 13 switches. The first input of the third switch 14 receives impulses of the converter 21 code - frequency. During positioning, the counter 23 is held in the reset state by the second pass from the signal from the third output of the program control unit 11, which comes through the input of the first element OR 22. frequency until the number is in the first register 25. The signal from the output of the first comparison circuit 24 prohibits further arrival of pulses to the drives through the fourth element 29 and translates the address counter 37 into a new state through the sixth element And 35 and the second element OR 36. The search for the center of the contour is completed; the device proceeds directly to the processing of the circular contour. Here, the command signal level at the fourth output of the memory block 30 is the same as during positioning. The magnitudes of the linear displacements are not specified. The fourth element And 29 opens, as the counter 23 is reset. As a result of the traverse 1, at its ends, describes a circle with a given angular velocity. The sensor 3 circuit while in

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work is not involved. The sign of the completion of the contour processing is the coincidence of the numbers in the fourth comparison circuit 33. Then, the program proceeds with a transition to the next round contour.

Performing additional operations when searching for the contour center allows you to compensate for positioning errors of the traverse axis and form a trajectory.

The tool movement path with the required accuracy is relative to the contour.

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Claims (2)

Claim 5 one . A circular contouring method, in which the tool and the contour sensor are fixed at equal distance along the different sides. 0 rotating traverse, a traverse is introduced into the contour zone and, during processing, bypasses its tools, characterized in that, in order to increase the machining accuracy by automatically correcting the traverse axis setting in the contour center, the traverse is rotated until a signal appears at the contour sensor, the angle of rotation of the traverse and the sign of the deviation of the position of the traverse relative to the contour are measured; the traverse is moved along the line of its angular position in the direction of compensation of the detected deviation; these operations are carried out until 5 of a stable zero deviation signal in the code for the position sensor of the crosshead relative to the contour. 2. Device; I1 processing by a circular contour containing a T-shaped traverse, on which an instrument is fixed at an equal distance from its axis of rotation at one end, and the other is a contour sensor, lead) turning the yoke around its own axis, equipped with a rotation angle sensor, linear axis displacement drives of a traverse equipped with positioning sensors, and a software control unit, the first three inputs of which are connected to the outputs of position sensors and a rotation angle sensor, characterized in that in order to improve processing accuracy due to automatic axis setting correction traverse in the center of the contour; an adaptation block is additionally inserted in it: the first input of which is connected to the output 7П The contour sensor's second, third, and fourth inputs are connected to the first, second, and third outputs of the software control unit, the fifth input is connected to the output of the angle sensor, the first three outputs are connected to the inputs of the linear movement drives of the traverse axis and its own axis, and the fourth output is connected to the quarter-input by the program control unit, the adaptation block containing the switch's chip, the AND chip, the two frequency dividers, the sine-cosine transistor bauser, code-frequency converter, OR element, counter, comparison circuit, two registers, day-time, outputs of the first, second and third switches are the first three outputs of the adaptation block, the first input of the first switch is connected to the output of the first frequency divider, the first input the second switch is connected to the output of the second frequency divider, the first input of the third switch is connected to the second inputs of both frequency dividers and the output of the fourth And element, the second inputs of the named switches are connected respectively to the outputs of the first three elements And, the third inputs of the ET1GC switches are connected to  78 The first input of the element is TO and is the third input of the adapter unit, the first inputs of the first three elements are the second input of the module and the second inputs are connected to the first input of the fourth element, the output of the code-frequency converter and the first input of the counter, the first the inputs of the first and second frequency dividers are connected respectively to the first and second terminals of the sinus-cosine transducer, the input of which poi o is connected with the output of the adder, the first input of the adder is the fifth input of the adaptation unit, the second input of it Connected to the output of the fourth switch are the first input of which is connected to the output of the second register, the second input is connected to the frame bus, the third and quarter inputs together with the second input of the OR element form the first input of the adaptation block, the code – frequency converter input is the fourth input of the block adaptation, the output of the OR element is connected to the second input of the counter, the output of which is connected to the first input of the comparison circuit, the second input of the comparison circuit is connected to the output of the first register, and its output is connected to the second input of rtogo of AND and fourth output is the adaptation unit. FIG. one i: :: e- t CD Editor A. Ogar Compiled by V. Gribov Tehred A. Kravchuk Order 5149/12 Circulation 969 Subscription VNIIPI USSR State Committee for inventions and discoveries 113035, Moscow, Zh-35, Raushsk nab., 4/5 Production and printing company, Uzhgorod, st. Project, 4 Fy Proofreader M. Demchik