JPH0318985B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to an automatic processing method and apparatus for three-dimensional curved surfaces, and in particular, in a plastically worked spherical end plate, marking of reference lines and welding grooves of nozzle holes and flange end surfaces is performed. The present invention relates to an automatic processing method and apparatus suitable for performing combined processing including cutting and cutting.

The end plate of a pressure vessel or the like has a three-dimensional curved surface, and because it is generally plastically worked, there is a large error in the dimensions of the drawing, and it is difficult to obtain uniform processing accuracy. Therefore, it is very difficult to automate secondary processing after plastic working, such as cutting a welding groove for a nozzle hole.

Traditionally, scribing has been done manually, and beveling cutting has been done manually or by semi-automatic gas or plasma cutting, or by cutting with a machining allowance and using a machine tool. There is.

By the way, in order to automate the marking of reference lines A and B of the end plate after plastic working as shown in Fig. 1, and the bevel cutting of the nozzle hole and flange end face,
A scribing and cutting torch 1 as shown in FIG.
The tips of Nos. 1 and 12 are controlled at a predetermined angle θ (angle with the vertical line) with respect to the workpiece 18 and kept at a constant height h, so that a constant trajectory follows the curved shape of the workpiece 18. It is necessary to perform processing to obtain a predetermined scribing line and groove shape by moving the groove.

In this case, it is possible to change the torch tip to a predetermined angle θ and control the moving trajectory to a constant value, but if the curved shape of the workpiece does not conform to the specified dimensions and may vary individually or in parts. If it is non-uniform, the distance between the torch tip and the workpiece surface will fluctuate, making it impossible to obtain a predetermined score line and groove shape.

Due to the above-mentioned problems, a complex automatic processing device for scribing and beveling workpieces such as end plates, which are plastic processed products, has not been put into practical use.

The object of the present invention is to move a workpiece having a three-dimensional curved surface and a circular machined part formed at a predetermined angle with respect to the curved part by numerical control with the machined part. To provide an automatic processing method and device for a three-dimensional curved surface, which can keep the distance between the processing device and the processing device constant regardless of the manufacturing accuracy of the workpiece, and make the processing device follow the processing location of the workpiece with high accuracy. There is a particular thing.

The present invention provides an automatic processing method for a three-dimensional curved surface in which a circular processing portion formed at an angle with respect to the curved surface is machined on a workpiece having a three-dimensional curved surface. The position and angle of the central axis of the circularly machined part to be obtained and the position of the surface of the circularly machined part are set as initial setting values, and the direction of the rotation axis and the direction of the central axis of the circularly machined part in the workpiece are determined by the initial setting values. The measuring means is arranged at an initial setting position that is aligned with the position and is a predetermined distance away from the surface of the circular processing part, and the measuring means is sequentially rotated with a rotation radius that matches the radius of the circular processing part, and the initial setting is performed. The distance from the initial setting position to the surface of the circular machining part is automatically measured by moving it from the position in the direction of the rotation axis, and the measurement is performed at a plurality of locations on the surface of the circular machining part, and the initial value is determined based on each measured value. Correct the position of the surface of the circular processing part of the set numerical value, install a processing means instead of the measuring means so that the position of the measuring part of the measuring means and the processing part of the processing means match, and adjust the initial set numerical value after the correction. The present invention is characterized in that the processing means is operated to process a circular processing portion of the workpiece.

Further, the present invention provides a rotary table on which a workpiece having a three-dimensional curved surface and a circular processing part formed at an angle to the curved surface is placed, and rotatably supports the workpiece. a rotary table control means for controlling the rotation of the workpiece on the rotary table; a main shaft mounted on a frame disposed above the rotary table so as to be movable in two-dimensional directions in a vertical plane; an arm that is installed on the main shaft and rotates a measuring means and a processing means that will be described later to match the central axis angle of the circular processing section of the workpiece; a measuring means for measuring the surface position of the machined part by moving in the direction of the central axis of the circular machined part and coming into contact with the surface of the machined part; a processing means for processing a circular processing section; a drive system control means for controlling the main shaft and the arm to drive the measurement means and the processing means;
Measuring the position of the surface of the circular machined part of the workpiece by the measuring means using the position and angle of the central axis of the circular machined part obtained from the drawing dimensions of the workpiece and the position of the surface of the circular machined part as initial setting values. outputting a measurement operation command to the drive system control means, modifying the initial setting value based on the measurement result obtained by the measuring means, and operating the processing means using the corrected initial setting value. and control means for outputting machining operation commands to the drive system control means.

An embodiment of the present invention will be described below with reference to FIGS. 3 to 5. 1 and 1' are columns, 2 is the column 1,
This is a frame supported by 1'. A head 3 having a head drive motor 4 is installed on the frame 2 so as to be slidable in the longitudinal direction of the frame 2, that is, in the left-right direction (Y direction), and is moved by the head drive motor 4. A main shaft 5 has a main shaft drive motor 6 and is attached to the head 3 with its axial direction perpendicular to the head 3. The main shaft 5 is hollow, and is movable in the vertical direction (Z direction) by the main shaft drive motor 6. Reference numeral 7 denotes an arm installed at the lower part of the main shaft 5, and the angle of its axis can be changed by a drive motor 8 in the direction shown by the arrow α in FIG. The driving force of the drive motor 8 is transmitted to the arm 7 through the hollow part of the main shaft 5. Further, the arm 7 is configured to be rotatable about its axis by a drive motor 9. 1
Reference numerals 0, 11, and 12 designate a measurement terminal, a scribing torch, and a cutting torch that are detachably attached to the tip of the arm 7. The measurement terminal 10 constitutes a measurement means, which detects contact with the surface of the workpiece 18 and measures the position of the surface of the processed part of the workpiece 18 in collaboration with a drive system control device and a control device, which will be described later. It is something to detect. The scribing torch 11 and the cutting torch 12 are processing means for scribing the surface of the workpiece 18 and drilling holes such as circular nozzle holes. In this way, the measuring terminal 10, the marking torch 11, and the cutting torch 12 are attached to the tip of the arm 7, and the rotation of the arm 7 measures or processes the circular part. The rotation radius is changed by the operator's adjustment at the time of installation on the arm 7. Further, the measuring terminal 10, the scribing torch 11, and the cutting torch 12 are designed so that their positions coincide with each other when they are installed on the arm 7. Reference numeral 13 denotes a rotary table on which a workpiece 18 is placed, and the workpiece 18 can be rotated to any angle by a rotary table drive motor 14. The rotation angle of the rotary table 13 is controlled by a rotation control command sent from the rotary table control device 16 to the rotary table drive motor 14. Note that the drawing dimensions of the workpiece 18, that is, the position of the circular processing part on the workpiece 18, are inputted to the rotary table control device 16 as an angle from the reference position of the rotary table 13, It has a function of outputting a rotation control command to the rotary table drive motor 14 to position the workpiece 18 within the movement range of the central axis. 1
Reference numeral 5 denotes a drive system control device that controls the head drive motor 4, main shaft drive motor 6, drive motor 8, and drive motor 9 by numerical control. A control device 17 outputs a control command to the drive system control device 15. The drive system control device 15 has a function of controlling the head drive motor 4, main shaft drive motor 6, drive motor 8, and drive motor 9 based on control commands from the control device 17. Further, the drawing dimensions of the circular processing portion of the workpiece 18 are input to the control device 17 . The control device 17 uses the drawing dimensions to set the initial setting values for operating the respective devices, that is, the central axis position and central axis angle of the circular machining part of the workpiece 18, and the position of the circular machining part surface. A function of determining and storing the amount of operation of the equipment, a function of outputting a control command for the measuring means based on the initial setting value to the drive system control device 15, and a measuring operation of the measuring means consisting of the measuring terminal 10. A function for correcting the initial setting value of the circular processing part surface position based on the actual position of the circular processing part surface of the workpiece 18, and controlling the drive system to control the processing means according to the corrected initial setting value. It has a function of outputting to the device 15. Note that the drawing dimension of the workpiece 18, that is, the position of the circular machined part on the workpiece 18 is input to the rotary table control device 16 as an angle from the reference position of the rotary table 13, and It has a function of outputting a rotation control command to the rotary table drive motor 14 to position the workpiece 18 within the movement range of the central axis.

By the way, the initial setting values set by the control device 17 include, specifically, the distance in the Y direction and the Z direction from the position of the central axis of the circular processing portion in the workpiece 18, that is, the reference position in this device; The angle of the central axis of the circular machining section with respect to the reference vertical axis, which is used to position the measuring means attached to the arm 7 away from the workpiece 18 so as not to contact the surface of the workpiece before the measurement operation. The position that takes into account the amount of movement in the Y direction and the Z direction is used as the position of the surface of the circular processed part. Therefore, the position of the surface of the circular processing portion having the initial setting value does not need to correspond to the actual shape of the surface of the workpiece, that is, the three-dimensional shape, and may be a planar shape.

Next, the operating state of the present apparatus will be described by taking as an example the cutting process of a nozzle hole in a dish-shaped end plate using the workpiece 18. Note that the workpiece 18 is placed on the upper surface of the rotary table 13 in a state in which it is positioned with respect to a reference position of the rotary table 13.

(1) First, the drawing dimensions of the nozzle hole, which is a circularly machined portion in the workpiece 18, are input to the rotary table control device 16 and the control device 17.

(2) Based on the input data, the rotary table control device 16 outputs a rotation control command to the rotary table drive motor 14. The rotation control command causes the rotary table drive motor 14 to rotate the rotary table 1.
3 to position the workpiece 18 at a predetermined position, that is, so that the central axis of the circular processing section is located within the movement range of the main shaft 5.

(3) The control device 17 outputs a control command to the drive system control device 15 based on the input data, and the drive system control device 15 controls the head drive motor 4, main shaft drive motor 6, drive motors 8 and 9 according to the control command. is operated by numerical control. The operation of these devices causes the arm 7 to perform the operations described in the next section.

(4) A measurement terminal 10 is attached to the tip of the arm 7, which is set in advance to a predetermined radius, that is, a radius that matches the radius of the circular machined part to be measured. 6. The arm 7 performs a measuring operation by the operation of the drive motors 8 and 9. That is, the central axis of the arm 7 is located at the central axis of the circular processing section,
After the measurement terminals 10 are arranged to match the angles, the measurement terminals 10 are moved in the direction of the central axis of the arm 7 based on the initial setting values until they come into contact with the surface of the workpiece. Then, while the measurement terminal 10 is in contact with the surface of the workpiece, the amount of movement of the contact terminal 10 is measured and stored as a measurement result. In this manner, the actual position of the surface of the circular processing portion of the workpiece 18 is measured while sequentially rotating the arm 7 by a predetermined angle. Based on the measurement results obtained in this manner, the control device 17 corrects and stores the initial setting values.

(5) Next, the measurement terminal 10 of the arm 7 is replaced with a cutting torch 12 which is a processing means. and,
The control device 17 outputs a control command to the drive system control device 15 based on the stored corrected initial setting values. Drive system control device 1 receiving the control command
5 is a head drive motor 4, a main shaft drive motor 6,
The drive motors 8 and 9 are operated to move the cutting torch 12 so as to correspond to the surface of the circular processing portion of the workpiece 18 for processing.

Although the above work is an example of hole machining, the scribing work is carried out in the same manner, and only the scribing torch 11 is set on the arm 7 in place of the cutting torch 12.

As described above, according to the above-described embodiment, the combined work of scribing or drilling by cutting is automatically performed by simply inputting the drawing dimensions of the workpiece. Further, in the above embodiment, the measurement terminal 10 corresponding to the radius of the circular machined part is attached to the arm 7, which is set so that its central axis coincides with the central axis of the circular machined part.
1, the measurement terminal 10 is sequentially rotated around the center axis of the circular processing section, and moved in the direction of the center axis to actually measure the position of the surface of the processing section of the workpiece. Even if the workpiece 18 itself has a dimensional error due to manufacturing, the error can be corrected by the measurement operation. Therefore, the accuracy of the circular processing portion is not affected by the manufacturing accuracy of the workpiece 18, and complex operations such as drilling by marking or cutting can be performed easily and accurately.

As explained above, according to the present invention, in automatic machining of a workpiece having a three-dimensional curved surface and a circular machining section formed at an angle to the curved surface, the circular machining section is Since the measuring means and the processing means can be easily and accurately tracked, the circular processing portion can be processed accurately with a simple operation.

[Brief explanation of the drawing]

Fig. 1 is a front view of an example of a workpiece to be processed by the present invention, Fig. 2 is an explanatory diagram showing the relationship between the torch and the workpiece surface, and Fig. 3 is a plan view showing an embodiment of the apparatus of the present invention. 4 is a front view thereof, and FIG. 5 is a flowchart of the present invention. 1...Column, 2...Frame, 3...Head, 4...Head drive motor, 5...Main shaft, 6...
... Main shaft drive motor, 7 ... Arm, 8, 9 ... Drive motor, 10 ... Measurement terminal, 11 ... Marking torch, 12 ... Cutting torch, 13 ... Rotary table, 14 ... Rotary table drive motor , 15...
Drive system control device, 16, 17...control device, 18
...Workpiece.

Claims (1)

[Scope of Claims] 1. In an automatic processing method for a three-dimensional curved surface in which a circular processing portion formed at an angle to the curved surface is machined on a workpiece having a three-dimensional curved surface, The position and angle of the central axis of the circular machined part obtained from the drawing dimensions and the position of the surface of the circular machined part are set as initial values, and the central axis of the circular machined part in the workpiece is set to the rotation axis based on the initial set values. The measuring means is arranged at an initial setting position with the same direction and position and a predetermined distance from the surface of the circularly machined part, and the measuring means is sequentially rotated with a rotation radius that matches the radius of the circularly machined part. The distance from the initial setting position to the surface of the circular processing part is automatically measured by moving from the initial setting position in the direction of the rotation axis, and the measurement is performed at a plurality of locations on the surface of the circular processing part, and based on each measured value. Then, correct the position of the circular processing part surface according to the initial setting value,
A processing means is installed in place of the measuring means so that the positions of the measuring part of the measuring means and the processing part of the processing means match, and the processing means is operated according to the initial setting value after the correction to produce the workpiece. An automatic machining method for three-dimensional curved surfaces characterized by machining circular machining parts. 2. A rotary table on which a workpiece having a three-dimensional curved surface and a circular processing part formed at an angle to the curved surface is placed and rotatably supports the workpiece, and the rotary table a rotary table control means for controlling the rotation of the workpiece above; a main shaft mounted on a frame disposed above the rotary table so as to be movable in two-dimensional directions in a vertical plane; an arm that rotates a measuring means and a processing means to be described later to coincide with the central axis angle of the circular machined part of the workpiece; a measuring means for measuring the surface position of the machined part by moving in the axial direction and contacting the surface of the machined part; and a measuring means that is removable from the arm and is driven by the main shaft and the arm to machine the circular machined part. a processing means for controlling the main axis and the arm to drive the measuring means and the processing means; and a position and angle of the central axis of the circular processing section obtained from the drawing dimensions of the workpiece. and outputting a measurement operation command to the drive system control means for measuring the position of the surface of the circular machining part of the workpiece by the measuring means using the position of the surface of the circular machining part as an initial setting value, and also outputting a measurement operation command to the drive system control means, and also outputting a measurement operation command to the drive system control means, and a measurement operation command for measuring the position of the surface of the circular machining part of the workpiece by using the measuring means as an initial setting value. and a control means for correcting the initial setting value based on the measurement result and outputting a machining operation command to the drive system control means to operate the machining means according to the revised initial setting value. Automatic processing equipment for three-dimensional curved surfaces.