JPS614651A - Curve automatic processing equipment - Google Patents

Abstract

PURPOSE:To make automatic machining performable without entailing any positional slip and variations in a removal rate, by installing a machining device, provided with a copying attachment, on plural rails installed radially in opposition to a work, while letting a copying mechanical part copy directly on a curve machining part. CONSTITUTION:A machining device 9, after starting its operation, performs its reciprocating travel along a vane 3 at cw or ccw rotation of a rotary table 5 and also performs the machining operation of welding or finishing of a work line 4 with a machining electrode 11 automatically. A machining rate at this time is detected by a speed detector 14 via a speed detecting roller 13 being rolled on the top of the vane 3 and self-controlled by speed control. That is to say, the predesignated machining rate is set to a control unit in advance, comparing it with the detected result of the speed detector 14, and a quantity variation value is calculated, outputting it to a driving device of the rotary table 5, thus constant-speed control is performable to meet the designated machining rate all the time. Thus, highly accurate automatic machining is made possible to be done in any machining device without entailing any positional slip in all machining parts and variations in the machining rate or the like.

Description

[Detailed Description of the Invention] [Field of Application of the Invention] The present invention relates to an automatic curve processing device, and in particular to a curve processing device suitable for processing work such as welding or finishing of a curved workpiece such as an impeller blade. This relates to automatic processing equipment.

[Background of the invention]

Conventionally, in the machining of impellers, etc., a rotary table that also rotates the center of the curved workpiece and a rotary table that rotates around the center of curvature of the workpiece line are combined in a hierarchical manner by setting their mutual positional relationship. The machining equipment was fixed and rotated around the center of curvature of the curved workpiece.

For this reason, the setup work was complicated, and it took time to align the processing lines, resulting in poor work efficiency and high equipment costs.

Furthermore, even with recent industrial robots, there are problems with teaching the workpiece line, positional deviation during playback, equipment costs, etc., so most of this type of processing has to be done manually by the operator. There were disadvantages that I could not get.

[Purpose of the invention]

The present invention was developed to solve the problems of the prior art described above, and automatically performs welding, finishing, etc. on curved parts without positional deviation or fluctuations in processing speed. The purpose is to provide an automatic curve processing device that can perform the following.

[Summary of the invention]

The automatic curve machining device according to the present invention has a rotary table device on which a curved workpiece is placed and rotated, a rail device provided with rails radially facing the curved workpiece, and a The installed processing device, a copying device that performs a copying motion along the workpiece as the curved workpiece rotates and allows the processing device to move freely, and operate these rail devices, processing devices, and copying device. and a control device for controlling the system.

As an additional note, the present invention provides a method in which a processing device equipped with a copying device is installed on each of a plurality of rails provided radially facing a workpiece, and the copying mechanism section is made to directly copy a curve processing section. There is. With such a configuration, only by rotating the workpiece around its center, the processing device is forced to run on the rail to perform the processing operation.

Further, the traveling speed can reliably achieve the above objective by automatically controlling the rotational speed of the rotation.

[Embodiments of the invention]

Hereinafter, one embodiment of the present invention will be described with reference to FIGS. 1 to 7.

First, FIG. 7 shows an impeller which is an example of a curved workpiece, in which (a) is a front view and (b) is a sectional view taken along the line AA in (,).

As shown in the figure, the impeller 1 consists of a core plate 2 and a plurality of blades 3, and the welded joint between the core plate 2 and the blades 3 is formed by a workpiece line 4.
It is.

Next, the configuration of an automatic curve processing device for welding the impeller 1 is shown in FIGS. 1 to 4.

FIG. 1 shows an automatic curve processing device according to an embodiment of the present invention, in which (a) is a plan view seen from above, (b) is a front view, and
The figures are an enlarged cross-sectional view taken along the line B--B in FIG. 1, FIG. 3 is a side view of FIG. 2 seen from the left, and FIG. 4 is a cross-sectional view taken along the line C-- in FIG. 2.

In FIG. 1, reference numeral 5 denotes a rotary table on which an impeller 1 related to a curved workpiece is placed, and is rotated by a drive device 16.

6 is a manipulator, and a rail unit 8' is attached to the tip of a boom 7 of the manipulator 6. In the rail unit 8', a plurality of rails 8, in this case three rails 8, are provided radially to form a rail device.

A processing device 9 is movably installed in a suspended state on each of the plurality of rails 8.

10 is a copying device integrally attached to the processing device 9;
It comes into contact with the upper surface of the blades 3 of the impeller 1 and rolls. 11 is
Processing device (2) constitutes a part of the processing device 9, and for example, when performing welding work, it is a welding torch.

In FIG. 2, the processing device 9 has a slide rod 9a at the top, and roller bearings 9b, 9 attached to the slide rod 9a.
It is configured to be able to move on the rail 8 via c.

That is, the roller bearing 9b rolls on the upper surface of the rail 8, and the roller bearing 9c is mounted on the side of the slide rod 9a and rolls while being guided by a guide groove 8a formed in the rail 8. processing equipment 9
It is suspended so that it can run on rail 8.

A support rod 12a is provided on the side surface of the processing device 9.

12b is attached to hold the processing tool 11.

In addition, a copying roller 1 with double flanges is installed at the bottom of the processing device.
A copying device [0a] supported by a pin 10b is integrally attached.

The copying device 1o is equipped with a speed detection means, and a fourth
As shown in the figure, a speed detection roller 13 is supported by a shaft 13a, and a speed detector 14 is attached to an end of the shaft 13a.

Next, the operation of the automatic curve processing apparatus configured as described above will be explained with reference to FIGS. 5 and 6 in conjunction with FIGS. 1 to 4.

FIG. 5 is a vector diagram showing the operation of the device shown in FIG. 1, and FIG. 6 is a control block diagram.

First, the impeller 1 shown in FIGS. 7(a) and 7(b) is set on the rotary table 5 shown in FIG. 1(b).

Next, the manipulator 6 turns and the boom 7 comes out.

The rail unit 8' is positioned at the center of the impeller 1 while adjusting its position.

After that, when the manipulator 6 is lowered, the plurality of rails 8, which have been arranged in advance to match the pits of the blades 3, and the flange copying rollers 10a of each of the processing devices 9 and the copying device 1o, which are suspended from the rails 8, are moved. is inserted and abutted on the upper surface of the blade 3. This operation is generally performed at either end of the blade 3, and this position serves as the starting point for starting processing operations such as welding or finishing.

This automatic curve processing device operates a rotary table 5 by a drive device 16.
The processing device 9 is operated and processing automatically proceeds by simply rotating it by the . This operation will be explained with reference to FIG. 5.

The vector around the center 0 point of the processing device 9 is given N force as the rotary table 5 rotates, and this component force is 6 in the tangential direction of the blade 3 and strong in the vertical direction, and furthermore, the direct force is as shown by the broken line. Generate component forces of σ and ○E shown by. Here, the processing device 9 is as shown in FIGS. 2 and 3,
The upper slide rod 9a is connected to roller bearings 9b, 9.
Since the copying roller loa, which is guided by the rail 8 via c and is attached to the lower copying device 10, is inserted into and abuts the blade 3 to perform a copying motion, the processing device 9
As the rotary table 5 rotates, the above ○
It moves naturally on rail 8 with the component force of E.

In this way, after starting the processing, the processing device 9 reciprocates along the blade 3 by rotating the rotary table 5 in the forward and reverse directions, and performs processing such as welding or finishing the wire 4 to be processed using the processing tool 11. Do the work automatically.

The machining speed at this time is detected by the speed detector 14 via the speed detection roller 13 that moves on the upper surface of the blade 3, and
It is self-controlled by the speed control block diagram shown in the figure.

That is, as shown in FIG. 6, a predetermined machining speed is set in the control device 15, and an increase or decrease is calculated by comparing it with the detection result of the speed detector 14. 16, the machining speed can be constantly controlled to a specified machining speed.

According to this embodiment, by rotating the impeller 1, which is the curved workpiece, the processing device 9 automatically travels via the copying device 10 that rolls on the workpiece, and the traveling speed is adjusted. Since it is configured to be self-controlled, there will be no positional deviation of the machined parts or fluctuations in the machining speed, and highly accurate automatic machining is possible with any of the machining devices.

Therefore, work efficiency and product quality are improved, productivity is further increased, and the work environment is greatly improved.

In the above-mentioned embodiment, an example of welding or finishing the impeller as a curved workpiece was explained, but the apparatus of the present invention is not limited to welding or finishing the impeller, but can also be used to weld or finish the impeller as a curved workpiece. It is widely applied to various automatic processing of articles with

Furthermore, the apparatus shown in FIGS. 1 to 4 described above is an embodiment of the present invention, and the shapes of the two parts of the structure of each part of the apparatus are not limited to these, and the shapes of the curved workpiece and the like are not limited to these. This does not preclude changes in the design of the nine structural parts of each part of the device, etc., depending on the processing conditions, as long as equivalent effects can be expected.

〔Effect of the invention〕

As described above, according to the present invention, there is provided an automatic curve processing device that can automatically perform processing operations such as welding or finishing on a curved section without positional deviation or variation in processing speed. be able to.

[Brief explanation of the drawing]

FIG. 1 shows an automatic curve processing device according to an embodiment of the present invention, in which (a) is a plan view, (b) is a front view, and FIG. 2 is an enlarged cross-sectional view taken along line B-B in FIG. Figure 3 is a side view of Figure 2 seen from the left; Figure 4 is a sectional view taken along line CC in Figure 2; Figure 5 is a side view of Figure 2;
FIG. 1 is a vector diagram during operation of the device, FIG. 6 is a control block diagram, and FIG. 7 is an impeller which is an example of a curved workpiece, (a) is a front view, (b) is a , (a) is a sectional view taken along line A-A. 1. Impeller, 3. Blade, 4. Workpiece line, 5. Rotary table, 6. Manipulator, 7. Boom, 8.
...Rail, 8'...Rail unit, 8a...Guide groove, 9...Processing device, 9a...Slide rod, 9b
, 9c roller bearing, 10・copying device, 10a...
・Copying roller 1.11 Processing tool, 12 a, '12 b
- Support rod, 13... Speed detection roller, 14... Speed detector, 15... Control device, 16... Drive device.

Claims (1)

[Scope of Claims] 1. A rotary table device on which a curved workpiece is placed and rotated, a rail device provided with rails radially facing the curved workpiece, and a machining device installed on the rails. a copying device that performs a copying motion along the workpiece as the curved workpiece rotates, and allows the processing device to travel freely; and a control device that operates the rail device, the processing device, and the copying device. An automatic curve processing device comprising: 2. In the item described in claim 1, the processing device is installed on the rail so that it can run while being guided by a guide groove formed in the rail, and the copying device is used for processing curved surfaces. An automatic curve processing device comprising a copying roller that rolls in contact with an object, and the copying roller is integrally attached to the processing device. 3. In either of claims 1 or 2, the copying device is provided with a speed detection means, and the machining speed of the processing device along the processed portion of the curved workpiece is determined by the curved workpiece. An automatic curve processing device that is configured to perform constant speed control by controlling the rotation of objects.