JP2720781B2 - Attitude control method of heating torch - Google Patents
Attitude control method of heating torchInfo
- Publication number
- JP2720781B2 JP2720781B2 JP33739293A JP33739293A JP2720781B2 JP 2720781 B2 JP2720781 B2 JP 2720781B2 JP 33739293 A JP33739293 A JP 33739293A JP 33739293 A JP33739293 A JP 33739293A JP 2720781 B2 JP2720781 B2 JP 2720781B2
- Authority
- JP
- Japan
- Prior art keywords
- axis
- heating torch
- axis direction
- plane
- torch
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
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- Manipulator (AREA)
- Arc Welding In General (AREA)
Description
【０００１】[0001]
【産業上の利用分野】本発明は例えば加熱により残留塑
性変形を与えることができる金属材料である例えば鋼板
に対して加熱トーチにより線状加熱して鋼板を変形させ
る加工法において、加熱トーチを所定の姿勢を保って移
動させるように制御する加熱トーチの姿勢制御方法、特
に船舶の外板の線状加熱による曲げ加工に関するもので
ある。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a method of deforming a steel sheet, which is a metal material capable of imparting residual plastic deformation by heating, for example, to a steel sheet by linear heating with a heating torch. The present invention relates to a method for controlling a posture of a heating torch for controlling the movement of the outer torch while maintaining the posture of the ship, and particularly to a bending process by linear heating of an outer plate of a ship.
【０００２】[0002]
【従来の技術】船舶の外板の曲げ加工は、従来は現場で
鋼板に曲げ加工を行うための加熱位置をマーキングして
おき、人が手で加熱トーチを持ち、鋼板に対してほぼ直
角にし、高さを保ちながらマーキングに沿って移動して
行うものであった。しかし、人が行うために、手間がか
かると共に加工精度の点で問題があった。そこで、自動
化するためには曲面の表面に沿って任意に加熱トーチを
移動させることができる駆動機構が必要であるが、現在
までのところ実用化されたものはない。ところで、１方
向のみ傾斜のある溶接線を自動的に溶接するようにした
ものとして、例えば、特公昭５７−６０１１０号公報に
開示されている傾斜面を検知して行う溶接制御方法を実
施する自動溶接機がある。2. Description of the Related Art Conventionally, in the bending of a ship's outer plate, a heating position for bending a steel plate at a work site is marked in advance, and a person holds a heating torch by hand, and makes a right angle to the steel plate. , Moving along the marking while maintaining the height. However, since it is performed by a person, it is troublesome, and there is a problem in processing accuracy. Therefore, a drive mechanism capable of arbitrarily moving the heating torch along the curved surface is required for automation, but no drive mechanism has been put to practical use so far. By the way, as an example in which a welding line having an inclination only in one direction is automatically welded, for example, an automatic welding control method for detecting an inclined surface disclosed in Japanese Patent Publication No. 57-60110 is implemented. There is a welding machine.
【０００３】[0003]
【発明が解決しようとする課題】上記のような自動溶接
機では、一方向のみ傾斜のある溶接線に対して溶接トー
チを一定に保って自動的に溶接するものであるから、溶
接中に被溶接材が曲がるために傾斜が生じ、それが溶接
線の一方向だけでなく、それと直交する方向にも曲がっ
た場合には溶接トーチの位置と傾斜角がそれに対応して
一定に保てなくなるという問題点があった。そして、か
かる自動溶接機の溶接トーチを、加熱トーチに代えて被
加熱材を加熱するようにしたとしても同様な問題が生じ
るものであった。In such an automatic welding machine as described above, welding is performed automatically while maintaining a constant welding torch on a welding line having an inclination in only one direction. If the weld material bends, causing a tilt, and if it bends not only in one direction of the weld line, but also in a direction perpendicular to it, the position and tilt angle of the welding torch can not be kept constant correspondingly. There was a problem. A similar problem occurs even when the material to be heated is heated in place of the heating torch in the welding torch of the automatic welding machine.
【０００４】本発明は、このような問題点を解決するた
めになされたものであり、被加熱材の面が加熱により多
方向に傾いた場合でも、加熱トーチの位置と傾斜角がそ
れに対応して一定に保ちながら被加熱材に対して自動的
に加熱をすることができる加熱トーチの姿勢制御方法を
提供することを目的とする。The present invention has been made to solve such a problem. Even when the surface of a material to be heated is inclined in multiple directions due to heating, the position and the inclination angle of the heating torch correspond to the inclination. It is an object of the present invention to provide a heating torch attitude control method capable of automatically heating a material to be heated while keeping the temperature constant.
【０００５】[0005]
【課題を解決するための手段及び作用】本発明に係る加
熱トーチの姿勢制御方法は、ｘ軸及びｙ軸の２軸方向に
加熱トーチを移動させるための２軸移動機構と、２軸移
動機構に設けられ、加熱トーチをｚ軸方向に上下動させ
るｚ軸移動機構と、Ｘ軸方向の面内で加熱トーチの傾斜
角を調整するＸ軸面傾斜角調整機構と、加熱トーチをＸ
軸方向と直交するＹ軸方向の面内で傾斜させるＹ軸面傾
斜角調整機構とを用い、加熱トーチの中心軸の方向であ
るＺ軸方向における位置と加熱トーチのＸ軸方向の面内
とＹ軸方向の面内における傾斜角をそれぞれ一定に制御
して行う加熱トーチの姿勢制御方法において、加熱トー
チの近傍に加熱トーチと一体、かつそれぞれは加熱トー
チと平行に、加熱トーチの下方に設置された被加熱材に
おけるＺ軸方向の表面変位を距離として検出する第１、
第２及び第３の距離計を設け、上記第１及び第２の距離
計を前記Ｘ軸方向の面に平行な面内にそれぞれ配置し、
上記第３距離計を前記Ｙ軸方向の面に平行で、上記第１
及び第２の距離計の等分線を含む面内に配置し、被加熱
材の傾斜面によって生じる表面変位を検出した第１，第
２及び第３距離計の検出値の加算平均値に基づき、ｚ軸
移動機構をｚ軸方向に移動制御して加熱トーチのＺ軸方
向の位置を一定に保ち、被加熱材の傾斜面による第１及
び第２距離計の検出値の差に基づき、Ｘ軸面傾斜角調整
機構により加熱トーチをＸ軸方向の面内で傾斜制御して
加熱トーチのＸ軸方向の面内の傾斜角を一定に保ち、被
加熱材の傾斜面による第１、第２及び第３距離計の検出
値から、第１及び第２距離計の検出値の加算平均値を求
め、その加算平均値と第３距離計の検出値の差に基づ
き、Ｙ軸面傾斜角調整機構により加熱トーチをＹ軸方向
の面内で傾斜制御して加熱トーチのＹ軸方向の面内の傾
斜角を一定に保つようにしたものである。A posture control method of a heating torch according to the present invention comprises a two-axis moving mechanism for moving the heating torch in two directions of x-axis and y-axis, and a two-axis moving mechanism. , A z-axis moving mechanism for moving the heating torch up and down in the z-axis direction, an X-axis plane inclination angle adjusting mechanism for adjusting the inclination angle of the heating torch in a plane in the X-axis direction, and an X-axis plane inclination angle adjusting mechanism.
Using a Y-axis plane tilt angle adjustment mechanism that tilts in a plane in the Y-axis direction perpendicular to the axial direction, in the direction of the center axis of the heating torch.
In attitude control method of the heating torch performed by controlling the angle of inclination constant, respectively, in the Z-axis in the X-axis direction of the surface position to the heating torch in the direction and the Y-axis direction in the plane that the heated torch in the vicinity of the heating torches A first method for detecting, as a distance, a surface displacement in the Z-axis direction of a material to be heated placed below the heating torch, integrally and in parallel with the heating torch;
Providing a second and a third distance meter, disposing the first and second distance meters in a plane parallel to the plane in the X-axis direction,
The third distance meter is parallel to the surface in the Y-axis direction,
And a second rangefinder based on an average value of the detected values of the first, second and third rangefinders which are arranged in a plane including the equal lines of the rangefinder and which detect the surface displacement caused by the inclined surface of the material to be heated. , The z-axis moving mechanism is controlled to move in the z-axis direction to keep the position of the heating torch in the Z-axis direction constant, and based on the difference between the detection values of the first and second distance meters due to the inclined surface of the material to be heated, X The heating torch is tilted and controlled in the X-axis direction by the shaft surface tilt angle adjusting mechanism to keep the heating torch tilt angle in the X-axis direction constant, and the first and second inclined surfaces of the material to be heated. And an average value of the detected values of the first and second distance meters from the detected value of the third distance meter, and based on the difference between the average value and the detected value of the third distance meter, adjusts the Y-axis plane tilt angle. The mechanism controls the inclination of the heating torch in the Y-axis direction to maintain a constant inclination angle of the heating torch in the Y-axis direction. It is obtained by the.
【０００６】[0006]
【実施例】図１は本発明の一実施例に係る加熱トーチの
姿勢制御方法を実施する加熱トーチ装置の構成を示す正
面図、図２は同加熱トーチ装置のＹ軸傾斜角調整機構の
駆動部を示す断面図、図３は同加熱トーチ装置の構成を
示す側面図、図４は同加熱トーチ装置のセンサブロック
に設けられたスタイラスの配置を示す説明図、図５は同
加熱トーチの姿勢制御方法の制御ブロック図である。図
において、１０は地面に設置されたテーブル１の上に載
置させられた被加熱材２の長手方向であるｘ軸方向にレ
ール３上を走行するガントリー、１１はガントリー１０
の下部に設けられた走行輪、１２は被加熱材２の幅方向
であるｙ軸方向にガントリー１０の水平桁１０ａを走行
するｙ軸移動体、１３はｙ軸移動体１２を駆動するｙ軸
駆動モータ、１４はガントリー１０を走行させるための
ｘ軸駆動モータ、１５はｘ軸駆動モータ１４の回転をガ
ントリー１０の走行輪１１に伝達する駆動ローラであ
る。１６は加熱トーチ２０をｘ、ｙ軸方向に移動させる
２軸移動機構で、ガントリー１０〜駆動ローラ１５によ
り構成されている。１７は加熱トーチ２０を上下方向で
あるｚ軸方向に移動させるｚ軸移動機構で、ｙ軸移動体
１２に設けられ、ｚ軸方向に可動するｚ軸昇降部材１８
と、ｚ軸昇降部材１８を駆動するＺ軸駆動モータ１９と
から構成されている。FIG. 1 is a front view showing the structure of a heating torch device for carrying out a method of controlling the attitude of a heating torch according to one embodiment of the present invention, and FIG. 2 is a diagram showing a drive of a Y-axis tilt angle adjusting mechanism of the heating torch device. FIG. 3 is a side view showing a configuration of the heating torch device, FIG. 4 is an explanatory diagram showing an arrangement of a stylus provided in a sensor block of the heating torch device, and FIG. 5 is an attitude of the heating torch. It is a control block diagram of a control method. In the figure, reference numeral 10 denotes a gantry which runs on a rail 3 in an x-axis direction which is a longitudinal direction of a material to be heated 2 placed on a table 1 installed on the ground, and 11 denotes a gantry 10
A traveling wheel 12 provided on the lower part of the gantry 10, a y-axis moving body that travels on the horizontal girder 10a of the gantry 10 in a y-axis direction which is a width direction of the material 2 to be heated, and a y-axis moving body 13 for driving the y-axis moving body 12. A drive motor, 14 is an x-axis drive motor for running the gantry 10, and 15 is a drive roller for transmitting the rotation of the x-axis drive motor 14 to the running wheels 11 of the gantry 10. Reference numeral 16 denotes a two-axis moving mechanism for moving the heating torch 20 in the x and y-axis directions, and includes a gantry 10 and a driving roller 15. Reference numeral 17 denotes a z-axis moving mechanism that moves the heating torch 20 in the vertical z-axis direction, and is provided on the y- axis moving body 12 and moves in the z-axis direction.
And a Z-axis drive motor 19 for driving the z-axis elevating member 18.
【０００７】４０は加熱トーチ２０をｙ軸移動体１２の
移動方向とは別の所定方向であってもよいＹ軸方向の面
内で傾斜させるＹ軸面傾斜角調整機構である。Ｙ軸面傾
斜角調整機構４０はｚ軸昇降部材１８に垂下して設けら
れたＹ軸調整機構取付板４１と、Ｙ軸調整機構取付板４
１の側面に固定され、弧状ギヤ穴４２ａを有する弧状案
内板４２と、弧状案内板４２にスライド自在に取り付け
られ、側面に設けられた歯車（図示省略）が弧状ギヤ穴
４２ａに歯合するＹ軸回動スライダ４３と、Ｙ軸回動ス
ライダ４３の下部に取り付けられ、歯車を回転駆動する
Ｙ軸駆動モータ４４とから構成されている。Reference numeral 40 denotes a Y-axis plane tilt angle adjusting mechanism for tilting the heating torch 20 in a plane in the Y-axis direction which may be a predetermined direction different from the moving direction of the y-axis moving body 12. The Y-axis surface tilt angle adjusting mechanism 40 includes a Y-axis adjusting mechanism mounting plate 41 provided to hang down on the z-axis elevating member 18 and a Y-axis adjusting mechanism mounting plate 4.
An Y-shaped guide plate 42 fixed to the side surface and having an arcuate gear hole 42a, and a gear (not shown) provided on the arcuate guide plate 42 slidably attached to the arcuate guide plate 42 meshes with the arcuate gear hole 42a. The shaft rotation slider 43 and the Y-axis rotation slider
A Y-axis drive motor 44 is attached to the lower part of the rider 43 and drives the gears to rotate.
【０００８】４５はＹ軸面傾斜角調整機構４０に設けら
れ、加熱トーチ２０を上記Ｙ軸方向と直交する方向であ
るＸ軸方向の面内で傾斜させるＸ軸面傾斜角調整機構で
ある。Ｘ軸面傾斜角調整機構４５はＹ軸回動スライダ４
３の下部に垂下して設けられたＸ軸調整機構取付板４６
と、Ｘ軸調整機構取付板４６の側面に固定され、弧状ギ
ヤ穴４７ａを有する弧状案内板４７と、弧状案内板４７
にスライド自在に取り付けられ、側面に設けられた歯車
４８ａが弧状ギヤ穴４７ａに歯合するＸ軸回動スライダ
４８と、Ｘ軸回動スライダ４８に取り付けられ、歯車４
８ａを回転駆動するＸ軸駆動モータ４９とから構成され
ている。Ｘ軸回動スライダ４８の下部には吊下げ部材５
０を介して加熱トーチ２０が吊下げられている。５１は
加熱トーチ２０の側方に加熱トーチ２０と一体に設けら
れたセンサブロックである。Ｙ軸及びＸ軸面傾斜角調整
機構４０、４５の弧状案内板４２と弧状案内板４７の円
弧はその中心が溶接トーチ２０の先端にくるように設定
されており、Ｙ軸及びＸ軸面傾斜角調整機構４０、４５
はいずれも溶接トーチ２０の先端を原点としてＹ軸回動
スライダ４３とＸ軸回動スライダ４８がそれぞれ弧状案
内板４２と弧状案内板４７とをスライドすることによ
り、溶接トーチ２０がその先端を原点としてＹ軸面内と
Ｘ軸面内で傾斜するように構成されているものである。
なお、弧状案内板４２と弧状案内板４７の円弧の中心と
なる溶接トーチ２０の先端の位置は条件によって若干変
わるものである。Reference numeral 45 denotes an X-axis surface tilt angle adjusting mechanism provided in the Y-axis surface tilt angle adjusting mechanism 40 for tilting the heating torch 20 in a plane in the X-axis direction which is a direction orthogonal to the Y-axis direction. The X-axis plane tilt angle adjusting mechanism 45 is a Y-axis rotation slider 4.
X-axis is provided by hanging the lower portion of the third adjustment mechanism mounting plate 46
An arcuate guide plate 47 fixed to the side surface of the X-axis adjustment mechanism mounting plate 46 and having an arcuate gear hole 47a;
The X-axis rotation slider 48 is slidably mounted on the X-axis rotation slider 48 and the gear 48a provided on the side faces meshes with the arcuate gear hole 47a.
And an X-axis drive motor 49 for rotating the motor 8a. A suspension member 5 is provided below the X-axis rotation slider 48.
The heating torch 20 is suspended via the “0”. Reference numeral 51 denotes a sensor block provided integrally with the heating torch 20 on the side of the heating torch 20. The arcs of the arc-shaped guide plate 42 and the arc-shaped guide plate 47 of the Y-axis and X-axis plane tilt angle adjusting mechanisms 40 and 45 are set so that the centers thereof are at the tip of the welding torch 20, and the Y-axis and X-axis plane tilt Angle adjusting mechanism 40, 45
In both cases, the Y-axis rotating slider 43 and the X-axis rotating slider 48 slide the arc-shaped guide plate 42 and the arc-shaped guide plate 47, respectively, with the tip of the welding torch 20 as the origin. Are configured to be inclined in the Y-axis plane and the X-axis plane.
The position of the tip of the welding torch 20, which is the center of the arc of the arc-shaped guide plate 42 and the arc-shaped guide plate 47, slightly changes depending on conditions.
【０００９】センサブロック５１は内部のスプリングに
より被加熱材２に一定の圧力で接触せしめられ、Ｚ軸方
向にそれぞれ移動可能で、前記Ｘ軸方向の面と平行な面
内に配置してそれぞれ設けられた第１スタイラス５２及
び第２スタイラス５３と、上記Ｙ軸方向の面に平行で、
上記該第１及び第２スタイラス５２、５３の等分線を含
む面内に配置して設けられた第３スタイラス５４と、第
１スタイラス５２の移動量を検出する第１ポテンショメ
ータ５５、第２スタイラス５３の移動量を検出する第２
ポテンショメータ５６及び第３スタイラス５４の移動量
を検出する第３ポテンショメータ５７とを備えて構成さ
れている。The sensor block 51 is brought into contact with the material to be heated 2 at a constant pressure by an internal spring, is movable in the Z-axis direction, and is disposed in a plane parallel to the plane in the X-axis direction. The first stylus 52 and the second stylus 53 provided are parallel to the surface in the Y-axis direction,
A third stylus 54 provided in a plane including a bisector of the first and second styluses 52 and 53, a first potentiometer 55 for detecting the amount of movement of the first stylus 52, and a second stylus The second to detect the movement amount of 53
It comprises a potentiometer 56 and a third potentiometer 57 for detecting the amount of movement of the third stylus 54.
【００１０】６０は２軸移動機構のｘ軸及びｙ軸の移動
量と、加熱トーチ２０のｚ軸方向の移動量とＸ軸、Ｙ軸
方向の面内の傾斜角を設定する加熱トーチ移動・姿勢設
定器、６１は加熱トーチ２０の制御すべき傾斜角を第
１、第２及び第３ポテンショメータ５５，５６，５７の
検出値から演算する演算手段、６２はｘ軸駆動モータ１
４を駆動制御するｘ軸モータ制御器、６３はｙ軸駆動モ
ータ１３を駆動制御するｙ軸モータ制御器、６４はｚ軸
駆動モータ１９を駆動制御するｚ軸モータ制御器、６５
はＹ軸駆動モータ４４を駆動制御するＹ軸モータ制御
器、６６はＸ軸駆動モータ４９を駆動制御するＸ軸モー
タ制御器である。Reference numeral 60 denotes a heating torch movement for setting the movement amounts of the x-axis and y-axis of the two-axis movement mechanism, the movement amount of the heating torch 20 in the z-axis direction, and the in-plane tilt angles in the X-axis and Y-axis directions. An attitude setting device, 61 is a calculating means for calculating an inclination angle to be controlled by the heating torch 20 from detection values of the first, second and third potentiometers 55, 56, 57, and 62 is an x-axis drive motor 1
4 is an x-axis motor controller for controlling the driving of the y-axis driving motor 13; 63 is a z-axis motor controller for controlling the driving of the z-axis driving motor 19;
Reference numeral denotes a Y-axis motor controller for controlling the driving of the Y-axis driving motor 44, and reference numeral 66 denotes an X-axis motor controller for controlling the driving of the X-axis driving motor 49.
【００１１】次に上記実施例の動作を図１〜図４を参照
して説明する。まず、地面に設置されたテーブル１の上
に載置させられた被加熱材２の加熱線の位置に加熱トー
チ２０がくるように加熱トーチ移動・姿勢設定器６０を
操作する。加熱トーチ移動・姿勢設定器６０のｘ軸指令
信号に基づき、ｘ軸モータ制御器６２はｘ軸駆動モータ
１４を駆動してガントリー１０を走行させ、被加熱材２
の加熱線の位置にきたところで、ｘ軸駆動モータ１４の
駆動を止めてガントリー１０を停止させる。Next, the operation of the above embodiment will be described with reference to FIGS. First, the heating torch moving / posture setting device 60 is operated so that the heating torch 20 comes to the position of the heating wire of the material to be heated 2 placed on the table 1 placed on the ground. The x-axis motor controller 62 drives the x-axis drive motor 14 to move the gantry 10 based on the x-axis command signal of the heating torch movement / posture setting device 60,
When the position of the heating wire is reached, the drive of the x-axis drive motor 14 is stopped to stop the gantry 10.
【００１２】次に、被加熱材２の加熱線がｙ軸方向に延
びている場合には、その加熱線に沿って加熱トーチ２０
が移動するように加熱トーチ移動・姿勢設定器６０を操
作する。加熱トーチ移動・姿勢設定器６０のｙ軸指令信
号に基づき、ｙ軸モータ制御器６３はｙ軸駆動モータ１
３を駆動してｙ軸移動体１２をガントリー１０の水平桁
１０ａ上を走行させる。ｙ軸移動体１２の移動により、
加熱トーチ２０が被加熱材２の上方を移動する。そし
て、被加熱材２においていずれの方向にも傾斜している
傾斜面、即ち曲面に至ると、第１スタイラス５２、第２
スタイラス５３及び第３スタイラス５４がＺ軸方向に移
動するので、第１スタイラス５２の位置は第１ポテンシ
ョメータ５５の出力電圧で与えられ、第２スタイラス５
３の位置は第２ポテンショメータ５６の出力電圧で与え
られ、第３スタイラス５４の位置は第３ポテンショメー
タ５７の出力電圧で与えられる。そして、これらの出力
電圧は演算手段６１にそれぞれ入力される。Next, when the heating wire of the material to be heated 2 extends in the y-axis direction, the heating torch 20 is moved along the heating wire.
The heating torch moving / posture setting device 60 is operated so that the. Based on the y-axis command signal of the heating torch movement and posture setter 60, y-axis motor controller 63 is y-axis drive motor 1
3 is driven to move the y-axis moving body 12 on the horizontal girder 10a of the gantry 10. By the movement of the y-axis moving body 12,
The heating torch 20 moves above the material to be heated 2. When the surface of the material to be heated 2 reaches an inclined surface inclined in any direction, that is, a curved surface, the first stylus 52 and the second stylus 52
Since the stylus 53 and the third stylus 54 move in the Z-axis direction, the position of the first stylus 52 is given by the output voltage of the first potentiometer 55, and the position of the second stylus 5
The position of 3 is given by the output voltage of the second potentiometer 56, and the position of the third stylus 54 is given by the output voltage of the third potentiometer 57. These output voltages are input to the calculation means 61, respectively.
【００１３】演算手段６１では第１，第２及び第３ポテ
ンショメータ５５，５６，５７の検出値の加算平均値を
求め、さらに第１及び第２ポテンショメータ５５，５６
の検出値の差を求め、さらにまた第１、第２及び第３ポ
テンショメータ５５，５６，５７の検出値から第１及び
第２ポテンショメータ５５，５６の検出値の加算平均値
を求め、その加算平均値と第３ポテンショメータ５７の
検出値の差を求める。そして、第１，第２及び第３ポテ
ンショメータ５５，５６，５７の検出値の加算平均値は
ｚ軸モータ制御器６４に入力され、ｚ軸モータ制御器６
４はｚ軸駆動モータ１９の駆動を制御し、その加算平均
値が被加熱材２に対して当初に加熱トーチ２０が垂直に
設定されたときの第１，第２及び第３ポテンショメータ
５５，５６，５７の検出値の加算平均値との差が零にな
るように、即ち加熱トーチ２０のＺ軸方向の位置が被加
熱材２の傾斜面に対して当初に被加熱材２の表面に対し
て設定された位置とほぼ同じ一定位置に保たれるように
ｚ軸駆動モータ１９が駆動される。The calculating means 61 calculates the average of the detected values of the first, second and third potentiometers 55, 56 and 57, and further calculates the first and second potentiometers 55 and 56.
Of the detected values of the first and second potentiometers 55, 56, 57, and the average of the detected values of the first and second potentiometers 55, 56 is calculated from the detected values of the first, second, and third potentiometers 55, 56, 57. The difference between the value and the value detected by the third potentiometer 57 is determined. Then, the average value of the detected values of the first, second and third potentiometers 55, 56 and 57 is input to the z-axis motor controller 64, and the z-axis motor controller 6
Reference numeral 4 controls the driving of the z-axis drive motor 19, and the first, second and third potentiometers 55, 56 when the heating torch 20 is initially set vertically with respect to the material 2 to be heated. , 57, so that the position of the heating torch 20 in the Z-axis direction is initially set with respect to the inclined surface of the heated material 2 with respect to the surface of the heated material 2. The z-axis drive motor 19 is driven such that the z-axis drive motor 19 is maintained at a substantially same position as the preset position.
【００１４】つぎに、第１及び第２ポテンショメータ５
５，５６の検出値の差はＸ軸モータ制御器６６に入力さ
れ、Ｘ軸モータ制御器６６はＸ軸駆動モータ４９の駆動
を制御し、その差が零になるように、即ち、加熱トーチ
２０のＸ軸方向の面内の傾斜角が一定、即ち加熱トーチ
２０の姿勢が被加熱材２の傾斜面に対して当初に設定さ
れた例えば垂直位置と同じ一定の垂直位置に保たれるよ
うにＸ軸駆動モータ４９が駆動される。さらに、第１、
第２及び第３ポテンショメータ５５，５６，５７の検出
値から第１及び第２ポテンショメータ５５，５６の検出
値の加算平均値を求め、その加算平均値と第３ポテンシ
ョメータ５７の検出値の差はＹ軸モータ制御器６５に入
力され、Ｙ軸モータ制御器６５はＹ軸駆動モータ４４の
駆動を制御し、その差が零になるように、即ち、加熱ト
ーチ２０の姿勢が被加熱材２の傾斜面に対して当初に設
定された例えば垂直位置と同じ一定の垂直位置に保たれ
るようにＸ軸駆動モータ４４が駆動される。従って、被
加熱材２の傾斜面が多方向に傾いている場合でも、加熱
トーチ２０のＺ軸方向の位置が被加熱材２の傾斜面に対
して当初に被加熱材２の表面に対して設定された位置と
ほぼ同じ一定位置に保たれると共に、加熱トーチ２０の
姿勢が被加熱材２のＸ軸及びＹ軸方向において傾斜して
いる傾斜面に対して当初に設定された垂直位置と同じ一
定の垂直位置に保たれるから、被加熱材２の傾斜面、即
ち曲面に対して加熱トーチ２０を一定の高さと姿勢を保
ちながら自動的に加熱していくことができる。Next, the first and second potentiometers 5
The difference between the detected values of 5, 56 is input to the X-axis motor controller 66, which controls the driving of the X-axis drive motor 49 so that the difference becomes zero, that is, the heating torch. 20 has a constant in-plane tilt angle in the X-axis direction, that is, a heating torch.
The X-axis drive motor 49 is driven such that the posture of the object 20 is maintained at the same vertical position as the vertical position initially set, for example, with respect to the inclined surface of the material 2 to be heated. In addition, the first,
From the detection values of the second and third potentiometers 55, 56, 57, an average value of the detection values of the first and second potentiometers 55, 56 is obtained, and the difference between the average value and the detection value of the third potentiometer 57 is Y The Y-axis motor controller 65 controls the driving of the Y-axis drive motor 44 so that the difference is zero, that is, the attitude of the heating torch 20 is adjusted such that the posture of the heating torch 20 is inclined. The X-axis drive motor 44 is driven so as to be kept at the same vertical position as the initially set vertical position with respect to the surface, for example. Therefore, even when the inclined surface of the material to be heated 2 is inclined in multiple directions, the position of the heating torch 20 in the Z-axis direction is initially set with respect to the inclined surface of the material to be heated 2 with respect to the surface of the material to be heated 2. The position of the heating torch 20 is maintained at substantially the same constant position as the set position, and the posture of the heating torch 20 is the same as the initially set vertical position with respect to the inclined surface of the material 2 to be inclined in the X-axis and Y-axis directions. Since the same constant vertical position is maintained, the heating torch 20 can be automatically heated with respect to the inclined surface, that is, the curved surface, of the material to be heated 2 while maintaining a constant height and posture.
【００１５】上記実施例では、鋼板の熱加工においては
周囲温度、対象物温度が高いこと及び水並びに水蒸気が
存在することから、これらの影響を受けにくい第１〜第
３スタイラス５２〜５４及び第１〜第３ポテンションメ
ータ５５〜５７が加熱トーチ２０の下方に設置された被
加熱材におけるＺ軸方向の表面変位を距離として検出す
る接触型の第１、第２及び第３の距離計として用いられ
ている。また、非接触型の距離計としてレーザ式変位セ
ンサ、静電容量式変位センサ、超音波式変位センサも使
用可能であるが、鋼板の熱加工においては周囲温度、対
象物温度が高いこと及び水並びに水蒸気が存在すること
による影響を受けにくい渦電流式変位センサ、エアハイ
トセンサを使用することが望ましい。In the above embodiment, since the ambient temperature and the temperature of the object are high and water and water vapor are present in the thermal processing of the steel sheet, the first to third styluses 52 to 54 and the fourth stylus 52 to 54, which are not easily influenced by these, are present. The first to third potentiometers 55 to 57 are contact-type first, second, and third distance meters that detect surface displacement in the Z-axis direction of a material to be heated installed below the heating torch 20 as a distance. Used. A laser displacement sensor, a capacitance displacement sensor, and an ultrasonic displacement sensor can also be used as a non-contact distance meter. In addition, it is desirable to use an eddy current displacement sensor and an air height sensor that are not easily affected by the presence of water vapor.
【００１６】[0016]
【発明の効果】以上のように本発明によれば、ｘ軸及び
ｙ軸の２軸方向に加熱トーチを移動させるための２軸移
動機構と、２軸移動機構に設けられ、加熱トーチをｚ軸
方向に上下動させるｚ軸移動機構と、Ｘ軸方向の面内で
加熱トーチの傾斜角を調整するＸ軸面傾斜角調整機構
と、加熱トーチをＸ軸方向と直交するＹ軸方向の面内で
傾斜させるＹ軸面傾斜角調整機構とを用い、加熱トーチ
の中心軸方向であるＺ軸方向における位置と加熱トーチ
のＸ軸方向の面内とＹ軸方向の面内における傾斜角をそ
れぞれ一定に制御して行う加熱トーチの姿勢制御方法に
おいて、加熱トーチの近傍に加熱トーチと一体、かつそ
れぞれは加熱トーチと平行に、加熱トーチの下方に設置
された被加熱材におけるＺ軸方向の表面変位を距離とし
て検出する第１、第２及び第３の距離計を設け、上記第
１及び第２の距離計を前記Ｘ軸方向の面に平行な面内に
それぞれ配置し、上記第３距離計を前記Ｙ軸方向の面に
平行で、上記第１及び第２の距離計の等分線を含む面内
に配置し、被加熱材の傾斜面によって生じる表面変位を
検出した第１，第２及び第３距離計の検出値の加算平均
値に基づき、ｚ軸移動機構をｚ軸方向に移動制御して加
熱トーチのＺ軸方向の位置を一定に保ち、被加熱材の傾
斜面による第１及び第２距離計の検出値の差に基づき、
Ｘ軸面傾斜角調整機構により加熱トーチをＸ軸方向の面
内で傾斜制御して加熱トーチのＸ軸方向の面内の傾斜角
を一定に保ち、被加熱材の傾斜面による第１、第２及び
第３距離計の検出値から、第１及び第２距離計の検出値
の加算平均値を求め、その加算平均値と第３距離計の検
出値の差に基づき、Ｙ軸面傾斜角調整機構により加熱ト
ーチをＹ軸方向の面内で傾斜制御して加熱トーチのＹ軸
方向の面内の傾斜角を一定に保つようにしたので、被加
熱材の傾斜面が多方向に傾いている場合でも、その傾斜
面、即ち曲面に対して加熱トーチを一定の高さと姿勢を
保ちながら自動的に加熱していくことができるという効
果を有する。As described above, according to the present invention, the two-axis moving mechanism for moving the heating torch in two directions of the x-axis and the y-axis, and the two-axis moving mechanism are provided with the heating torch, A z-axis moving mechanism that moves up and down in the axial direction, an X-axis plane tilt angle adjusting mechanism that adjusts the tilt angle of the heating torch in a plane in the X-axis direction, and a plane in the Y-axis direction that is orthogonal to the X-axis direction. And a tilt angle adjusting mechanism for tilting the inside of the heating torch, the position in the Z-axis direction which is the center axis direction of the heating torch, and the tilt angles in the X-axis direction and the Y-axis direction of the heating torch, respectively. In the method for controlling the attitude of the heating torch, which is performed with constant control, the surface in the Z-axis direction of the material to be heated placed below the heating torch, integrated with the heating torch near the heating torch, and in parallel with the heating torch, respectively. 1st, 2nd that detects displacement as distance And a third distance meter are provided, and the first and second distance meters are respectively arranged in a plane parallel to the plane in the X-axis direction, and the third distance meter is parallel to the plane in the Y-axis direction. And addition of the detection values of the first, second and third distance meters arranged in a plane including the equal lines of the first and second distance meters and detecting the surface displacement caused by the inclined surface of the material to be heated. Based on the average value, the z-axis moving mechanism is controlled to move in the z-axis direction to keep the position of the heating torch in the z-axis direction constant, and the difference between the detection values of the first and second distance meters due to the inclined surface of the material to be heated. Based on
The tilting of the heating torch in the plane of the X-axis direction is controlled by the X-axis plane tilt angle adjusting mechanism to keep the tilt angle of the heating torch in the plane of the X-axis direction constant. From the detected values of the second and third rangefinders, an average value of the detected values of the first and second rangefinders is obtained. Based on the difference between the averaged value and the detected value of the third rangefinder, the Y-axis plane inclination angle is calculated. The inclination of the heating torch is controlled in the Y-axis direction by the adjusting mechanism so that the inclination angle of the heating torch in the Y-axis direction is kept constant. In this case, the heating torch can be automatically heated while maintaining a constant height and posture on the inclined surface, that is, the curved surface.
【図１】本発明の一実施例に係る加熱トーチの姿勢制御
方法を実施する加熱トーチ装置の構成を示す正面図であ
る。FIG. 1 is a front view illustrating a configuration of a heating torch device that executes a heating torch attitude control method according to an embodiment of the present invention.
【図２】同加熱トーチ装置のＹ軸傾斜角調整機構の駆動
部を示す断面図である。FIG. 2 is a cross-sectional view showing a driving unit of a Y-axis tilt angle adjusting mechanism of the heating torch device.
【図３】同加熱トーチ装置の構成を示す側面図である。FIG. 3 is a side view showing a configuration of the heating torch device.
【図４】同加熱トーチ装置のセンサブロック内に設けら
れたスタイラスの配置を示す説明図である。FIG. 4 is an explanatory diagram showing an arrangement of a stylus provided in a sensor block of the heating torch device.
【図５】同加熱トーチの姿勢制御方法の制御ブロック図
である。FIG. 5 is a control block diagram of the attitude control method of the heating torch.
２ 被加熱材 １６ ２軸移動機構 １７ ｚ軸移動機構 ２０ 加熱トーチ ４０ Ｙ軸傾斜角調整機構 ４５ Ｘ軸傾斜角調整機構 ５１ センサブロック ５２ 第１スタイラス（第１距離計） ５３ 第２スタイラス（第２距離計） ５４ 第３スタイラス（第３距離計） ５５ 第１ポテンショメータ（第１距離計） ５６ 第２ポテンショメータ（第２距離計） ５７ 第３ポテンショメータ（第３距離計）2 Material to be heated 16 Two-axis moving mechanism 17 Z-axis moving mechanism 20 Heating torch 40 Y-axis tilt angle adjusting mechanism 45 X-axis tilt angle adjusting mechanism 51 Sensor block 52 First stylus (first distance meter) 53 Second stylus (Second stylus) 2 rangefinder) 54 third stylus (third distance meter) 55 first potentiometer (first range finder) 56 second potentiometer (second range finder) 57 third potentiometer (third distance meter)
Claims (1)
移動させるための２軸移動機構と、２軸移動機構に設け
られ、加熱トーチをｚ軸方向に上下動させるｚ軸移動機
構と、Ｘ軸方向の面内で加熱トーチの傾斜角を調整する
Ｘ軸面傾斜角調整機構と、加熱トーチをＸ軸方向と直交
するＹ軸方向の面内で傾斜させるＹ軸面傾斜角調整機構
とを用い、加熱トーチの中心軸の方向であるＺ軸方向に
おける位置と加熱トーチのＸ軸方向の面内とＹ軸方向の
面内における傾斜角をそれぞれ一定に制御して行う加熱
トーチの姿勢制御方法において、 加熱トーチの近傍に加熱トーチと一体、かつそれぞれは
加熱トーチと平行に、加熱トーチの下方に設置された被
加熱材におけるＺ軸方向の表面変位を距離として検出す
る第１、第２及び第３の距離計を設け、上記第１及び第
２の距離計を前記Ｘ軸方向の面に平行な面内にそれぞれ
配置し、上記第３距離計を前記Ｙ軸方向の面に平行で、
上記第１及び第２の距離計の等分線を含む面内に配置
し、被加熱材の傾斜面によって生じる表面変位を検出し
た第１，第２及び第３距離計の検出値の加算平均値に基
づき、ｚ軸移動機構をｚ軸方向に移動制御して加熱トー
チのＺ軸方向の位置を一定に保ち、被加熱材の傾斜面に
よる第１及び第２距離計の検出値の差に基づき、Ｘ軸面
傾斜角調整機構により加熱トーチをＸ軸方向の面内で傾
斜制御して加熱トーチのＸ軸方向の面内の傾斜角を一定
に保ち、被加熱材の傾斜面による第１、第２及び第３距
離計の検出値から、第１及び第２距離計の検出値の加算
平均値を求め、その加算平均値と第３距離計の検出値の
差に基づき、Ｙ軸面傾斜角調整機構により加熱トーチを
Ｙ軸方向の面内で傾斜制御して加熱トーチのＹ軸方向の
面内の傾斜角を一定に保つことを特徴とする加熱トーチ
の姿勢制御方法。1. A two-axis moving mechanism for moving a heating torch in two x-axis and y-axis directions, and a z-axis moving mechanism provided in the two-axis moving mechanism for moving the heating torch up and down in a z-axis direction. An X-axis plane tilt angle adjustment mechanism for adjusting the tilt angle of the heating torch in a plane in the X-axis direction; and a Y-axis plane tilt angle adjustment for tilting the heating torch in a Y-axis direction orthogonal to the X-axis direction. The mechanism of the heating torch is performed by controlling the position in the Z-axis direction which is the direction of the center axis of the heating torch and the inclination angles of the heating torch in the plane of the X-axis direction and the plane of the Y-axis direction to be constant. In the attitude control method, a first method for detecting, as a distance, a surface displacement in the Z-axis direction of a material to be heated installed below the heating torch, integrally with the heating torch in the vicinity of the heating torch, and in parallel with the heating torch, respectively. Providing second and third distance meters, Serial first and second distance meters respectively disposed in a plane parallel to the plane of the X-axis direction, parallel to the third rangefinder surface of the Y-axis direction,
The average of the detected values of the first, second, and third distance meters, which are arranged in the plane including the equal lines of the first and second distance meters and detect the surface displacement caused by the inclined surface of the material to be heated. Based on the value, the z-axis moving mechanism is controlled to move in the z-axis direction so that the position of the heating torch in the z-axis direction is kept constant, and the difference between the detection values of the first and second distance meters due to the inclined surface of the material to be heated. The X-axis plane inclination angle adjusting mechanism controls the inclination of the heating torch in the plane of the X-axis direction to keep the inclination angle of the heating torch in the plane of the X-axis direction constant. , An average of the detected values of the first and second distance meters from the detected values of the second and third distance meters, and based on the difference between the average and the detected value of the third distance meter, the Y-axis plane The tilt angle of the heating torch is controlled in the Y-axis direction by the tilt angle adjustment mechanism to keep the tilt angle of the heating torch in the Y-axis direction constant. Attitude control method of the heating torch and wherein the keep.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP33739293A JP2720781B2 (en) | 1993-12-28 | 1993-12-28 | Attitude control method of heating torch |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP33739293A JP2720781B2 (en) | 1993-12-28 | 1993-12-28 | Attitude control method of heating torch |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPH07185672A JPH07185672A (en) | 1995-07-25 |
| JP2720781B2 true JP2720781B2 (en) | 1998-03-04 |
Family
ID=18308206
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP33739293A Expired - Fee Related JP2720781B2 (en) | 1993-12-28 | 1993-12-28 | Attitude control method of heating torch |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP2720781B2 (en) |
-
1993
- 1993-12-28 JP JP33739293A patent/JP2720781B2/en not_active Expired - Fee Related
Also Published As
| Publication number | Publication date |
|---|---|
| JPH07185672A (en) | 1995-07-25 |
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