JPS5937274B2 - Orbit correction device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a trajectory correction device for a moving body moving in a straight line.

For example, in a ship hull block assembly process, an automatic steel plate alignment machine (hereinafter abbreviated as alignment machine) is used to align two outer plates to be welded together so as to form a predetermined groove.

This alignment machine moves linearly along the welding line, and when the alignment machine is stopped, the welding machine installed on the alignment machine moves in the vertical direction (stepping direction) of the alignment machine to temporarily attach the outer skin once. conduct. When this temporary attachment is completed, the matching machine advances to the next section, performs alignment again in this section, and then performs temporary attachment for this section. By repeating these operations, the temporary attachment of all weld lines is completed. In this case, the welding machine is configured to be able to guide and traverse to some extent so that even if there is a slight discrepancy in the horizontal angle between the vertical movement direction of the welding machine and the direction of the weld line, tack attachment can be performed without any problem. However, since there may already be some discrepancy when the alignment machine is first unloaded from the crane onto the outer panel, this discrepancy will increase with each subsequent step, and once the welding machine's traversal limit is finally exceeded, subsequent tentative Attachment becomes impossible. In order to improve this situation, it is an object of the present invention to propose a trajectory correction device that corrects the trajectory of a moving object that generally moves in a straight line before it starts moving, so that the moving direction and lateral position match a predetermined path. do.

The illustrated embodiment in which the present invention is applied to a matching machine will be described below.

In FIG. 1 to FIG. 3, a frame 1 has a main frame 2 and a sub-frame 3 that is closely guided and supported by the main frame and can move in the lateral direction (X direction). The width of the frame 1 is expanded or contracted by a width expansion/contraction device provided between them, such as hydraulic cylinders 4, 4.

A control panel 5, a hydraulic unit 6, and a welding power source 7 are placed on the upper part of the main frame 2, and a welding machine frame 8 is fixed to the lower part.
Vertical rails 9 provided on the pedestal 8 as schematically shown in the figure.
A self-propelled welding machine truck 10 is provided on the top, and a welding machine 11 is guided and supported by the truck 10 so as to be able to move laterally. Two surface leveling hydraulic cylinders 12a, 12b, 12c, and 12d are installed vertically on the lower surfaces of the main frame 2 and the subframe 3 so as to be located at the four corners of the rectangle, and a cylinder box 13 is attached to the rod of each hydraulic cylinder. to fix.

Each cylinder box 13 is prevented from rotating by a guide device (not shown) provided on the main frame 2 and sub frame 3.
There is a vertical movement device inside, such as a movement hydraulic cylinder 14a.
, 14b, 14c, and 14d are each fixed in the Y direction. Further, a guide rod 15 is fixed to each cylinder box 13 in the Y direction, and is inserted into a hole of a guide piece 16 protruding from the cylinder tube of the hydraulic cylinder 14a, etc., to prevent the cylinder tube from rotating.
Each cylinder tube 6 and vertical shaft 17 are fixed.

A rolling ball 18 is installed in a spherical holding part 17a formed at the lower end of each vertical shaft 17 to support the weight of the alignment machine, and a lifting electromagnet with a movable pole 19a, 19b, 19c,
19d is inserted and supported so that it can vertically slide and rotate.

When two sets of electromagnets 19a and 19d or 19b and 19c act together to attract the steel plate A or B to be welded, the frame 1 is attracted to one steel plate by the attractive force of one set of electromagnets. In the fixed state, the other set of electromagnets has an adsorption ability that can partially lift the other steel plate or lift it and move it in the X direction or the Y direction.

In order to move the alignment machine forward in the Y direction, electromagnets 19a, 1
After magnetizing the electromagnets 9b and demagnetizing the electromagnets 19c and 19d, the frame 1 is pushed forward by the hydraulic cylinders 14a and 14b, and the electromagnets 19c and 19d are moved forward relative to the frame 1 by the hydraulic cylinders 14c and 14d. urge Next, the electromagnets 19c and 19d are magnetized to become the electromagnet 19a.
, 19b to operate the hydraulic cylinders 14a to 14d in the opposite direction. Hydraulic cylinder 4, 12a~
12d and the magnetization control of electromagnets 19a to 19d to automatically align the steel plates A and B.
Direction detector and steel plate AI:. A Z-direction detector is provided in contact with the top surface of B, and automatic alignment is performed using these detection signals, but since the alignment operation is not directly related to the present invention, a description thereof will be omitted.

As shown in FIG. 4, a welding torch 11 is mounted on a welding machine truck 10.
Providing a roller 20 that presses between the grooves near a,
The support plate 21 of the roller is configured to be slidable in the X direction with respect to the cart 10.

When the welding machine 11 moves in the Y direction, when the roller 20 traverses in the X direction along with the welding line 22, the welding machine 11 also moves in the same X direction together with the roller 20 according to the traverse position signal. To first align the roller 20 with the welding line 22, the support plate 21 is laterally moved by the motor 23, and then separated so that the support plate 21 can freely move laterally. Therefore, the change in the position of the welding torch 11a0X direction is between the base point P and the roller 20.
It is expressed by the horizontal distance 2, that is, the change in the traverse position. In FIG. 5, it is assumed that the matching machine has finished matching in a certain section and the frame 1 and the electromagnets 19a to 19d are at the solid line position.

Next, the welding machine 11 moves in the Y direction, and the welding torch 11a
It is assumed that the temporary attachment is performed while moving along the welding line 22 from the starting point a to the ending point b. Now, if the transverse positions of the welding torch 11a at both points A and b are represented by 2a and 2b, respectively, and as shown in the figure, if 1b>1a, the alignment machine should be stepped from the solid line position to the chain line position parallel to the welding line 22. It is necessary to make a direction correction.

That is, the working length La of the hydraulic cylinder 14a may be made smaller than the working length Lb of the hydraulic cylinder 14b by ΔL. Also, when the direction is corrected, the frame 1 will normally shift in the X direction with respect to the welding line 22, so this shift will cause the welding machine 11
It is necessary to correct the deviation so as not to exceed the transversal limit. FIG. 6 shows a block diagram of the electrical circuit of the direction correction device.

1a and 1b are electrical signals Ea and Ea, respectively, by the converter 24.
The data is converted into Eb and stored separately in the storage devices 25a and 25b.

In the comparator 26, a difference signal Eb-Ea-ΔE between both signals is obtained.
is determined, and the gain adjustment section 2r adds ΔL. :! :
GΔE is obtained by multiplying by a constant G corresponding to the ratio of 11b-11a.
and input it to the pole number discriminator 28. The pole number determining device 28 has output terminals P and n, and selectively outputs the difference signal GΔE from the terminal p or n depending on whether the difference signal ΔE is positive or negative.

The output of the other terminal which is not selected at this time is O. The setters 29a and 29b output a first setting signal E1 corresponding to the working length Lb, and when the difference signal ΔE>O, the first subtractor 30 subtracts the difference signal GΔE from the setting signal E1. The subtracted signal Ea is input to the differential amplifier 32a.

At this time, the adder 31 sends only the setting signal E1 to the differential amplifier 3.
Output to 2b. Further, when the difference signal ΔE<O, the adder 31 adds the setting signal E1 and the difference signal GΔE, and the added signal Eb is input to the differential amplifier 32b, and the added signal Eb is input to the differential amplifier 32a. Only the setting signal E1 is input to. 33
a and 33b are hydraulic cylinders 14a and 14b, respectively.
The converters 34a and 34b convert the operating amount of the hydraulic cylinder 14a or 14b into an electrical signal and feed it back to the differential amplifier 32a or 32b.

That is, the differential amplifiers 32a, 32b1 control device 33a,
The 33b1 converters 34a and 34b respectively set the signal Ea or Eb as a target value to the hydraulic cylinder 14a or 14b.
A first automatic control device R1 that performs closed-loop control is configured. When correcting the direction, use the electromagnet 19a in Fig. 5.
, 19b are magnetized, the electromagnets 19c and 19d are demagnetized, and the first control device R1 is operated differentially. When scolded 1b
>1a, the hydraulic cylinder 14b advances the frame 1 by Lb using the signal E1 as a target value, and the hydraulic cylinder 14
a moves frame 1 forward by La using signal Ea as a target value. As a result, the frame 1 moves forward to the position indicated by the chain line and the direction is corrected. In this case each electromagnet is free to rotate about the vertical axis 17 and does not interfere with direction correction. In the above, it is assumed that the target signals Ea and eb are positive, but the control device 33a
, 33b, the hydraulic cylinder 14 is activated depending on whether the input signal is positive or negative.
If a device is provided to switch the operating directions of the cylinders a and 14b, for example, the hydraulic cylinder 14a can move the frame 1 backward, and the hydraulic cylinder 14b can move the frame 1 forward, thereby increasing the direction correction angle. When the above direction correction is completed, the input signals of the control devices 33a and 33b both become O, so the output signal 0 of the AND gate 35 is used as the start signal E for the next deviation correction.

used for FIG. 7 shows a block diagram of the electric circuit of the deviation correction device.

The output signals Ea and Eb of the storage devices 25a and 25b are added in an adder 36, and the added signal EO is subtracted from the second setting signal E2 from the setting device 38 in a second subtracter 37.
The setting signal E2 corresponds to twice the traversable distance of the welding machine 11, and therefore the output signal Ed of the subtractor 37 corresponds to the deviation in the X direction between the center line of the welding machine 11 in the Y direction and the welding line 22. represents. 39 is a differential amplifier, 40 is a control device similar to the control devices 33a and 33b for the hydraulic cylinders 4, 4, and 41 is a device that converts the operating amount of the hydraulic cylinders 4, 4 into electrical signals; A closed-loop second automatic control device R2 is configured with a target value of 1/2 of Ed.

42 is a start signal E.

This is a gate that closes the path of the signal Ed. When correcting the deviation, the electromagnets 19a and 19d are magnetized, the electromagnets 14b and 14c are demagnetized, and the second control device R2 is operated.

At that time, the hydraulic cylinders 4, 4 move the main frame 2 in the X direction by an amount corresponding to 1/2 of the signal Ed to correct the deviation. When the direction correction and deviation correction are completed as described above, the storage devices 25a and 25b are set, and the trajectory correction is completed.

After finishing, move the alignment machine forward in the Y direction. The present invention has the above-mentioned configuration, and includes a frame that includes a drive device that moves linearly in the vertical direction and whose width can be expanded and contracted, a cart that guides and moves in the vertical direction, and a traversal position detection device that can guide and traverse on the cart. The present invention has the effect of automatically correcting the trajectory of a mobile object so that its moving direction and lateral position match a predetermined path before the mobile object starts moving, based on the traverse position detection signal at the front and rear end positions of the truck. However, especially when applied to a matching machine, even if the position when the matching machine is first lowered onto the steel plate does not exactly match the welding line, it is possible to align the welding torch with the welding line at the starting point. Once you adjust the horizontal position, you can not only automatically correct the trajectory and perform tack welding, but also be able to tack it without any problems even if the welding line is slightly curved. , it has the effect of significantly improving work efficiency.

[Brief explanation of drawings]

The drawings show one embodiment of the present invention, in which Fig. 1 is a plan view of an automatic steel sheet alignment machine, Fig. 2 is a partially cutaway front view, Fig. 3 is a side view of the same, and Fig. 4 is a support for rollers. FIG. 5 is a front view showing the structure, FIG. 5 is an explanatory diagram of the operation of the present invention, FIG. 6 is a block diagram of the electric circuit of the direction correction device, and FIG. 7 is a block diagram of the electric circuit of the deviation correction device. 1...Frame, 4...Frame width expansion and contraction device, 10...Dolly, 14a, 14b.
...Vertical direction movement device, 20, 24...Transverse position detection device, 25a, 25b...Storage device, 28...Polarity discrimination device, 30... ...First subtractor, 31... Adder, 37...
・Second subtractor, E1...First setting signal, E
2... Second setting signal, P, n... Output terminal, R1... First automatic control device, R2.
...Second automatic control device.

Claims (1)

[Claims] 1. A trolley provided on a frame whose width expands and contracts so that it can be guided and moved in the vertical direction, a traverse position detection device that is guided and supported on the trolley so that it can traverse, and a traverse position detection device at two points separated in the vertical direction. It includes a storage device that stores each detection signal, and a pair of output terminals, and outputs a difference signal between the storage signals of the storage device from one output terminal selected according to the positive/negative of the signal, and outputs the difference signal from the other output terminal that is not selected. a polarity discriminator that outputs no signal; a first subtracter that subtracts the difference signal from the first setting signal when the difference signal is positive; and a first subtracter that subtracts the difference signal from the first setting signal when the difference signal becomes negative; an adder that adds to the setting signal, a pair of vertical moving devices provided on both sides of the frame in the horizontal direction, and each vertical moving device using each output signal of the first subtracter and adder as a target value. a first automatic control device that controls an operating amount; a second subtractor that subtracts the sum signal of the stored signals from a second setting signal; a frame width expansion/contraction device; and an output of the second subtractor. A second automatic control device that controls the operating amount of a frame width expansion and contraction device using the signal as a target value.