JPH074743B2 - Automatic copy detector - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION The automatic copying detector of the present invention will be described according to the following items.

A. Industrial field of use B. Outline of the invention C. Prior art [Figs. 7 and 8] D. Problems to be solved by the invention E. Means for solving the problems F. Example a .Overview [Fig. 1] b. Cylindrical body [Fig. 1] c. Detection rod [Fig. 1] d. Light detecting means [Figs. 1 to 4] e. Operation [Figs. 3 and 4] ] F. Ambidextrous copying, unilateral copying [Fig. 5] g. Example of use of detector in automatic copying welding machine [Fig. 6] h. Operation of automatic copying welding machine [Fig. 6] G. Invention Effect of the Invention (A. Field of Industrial Application) The present invention relates to an automatic profile detector suitable for guiding a welding torch in an automatic profile welder by following a welding groove correctly. Specifically, in an automatic copying detector that optically detects the tilting state of the detection rod that traces the welding groove, etc., it is compact and operates reliably, and the tilt of the detection rod is accurately detected and extended. Then, it is intended to detect even a minute change in the welding groove line or the like.

(B. Outline of the Invention) In the automatic copying detector of the present invention, a plurality of light emitters are arranged at equal intervals on the same circumference in the cylindrical body, and the light receivers are provided at respective positions coaxially with each light emitter. By placing
In addition to reducing the outer diameter of the cylinder and simplifying the structure, the tilt of the detection rod can be reduced by changing the amount of light received by each light receiver with a shutter that moves as the detection rod tilts. It is an attempt to detect accurately.

(C. Prior Art) [FIGS. 7 and 8] Conventionally, in an automatic copying detector for guiding a welding torch of an automatic copying welding machine to a welding groove correctly, a welding groove and a detection rod tracing the welding groove. For example, Japanese Patent Application Laid-Open No. 57-102736 discloses a method for optically detecting the relative deviation from the.

This is a cylindrical tubular body a, a detection rod b tiltably supported at the lower end of the tubular body a, and one end of which protrudes from the tubular body, and an anti-projecting end of the detection rod b. A reflecting mirror surface c formed on the end face on the side perpendicular to the axis thereof, a light-emitting body d facing the reflecting mirror surface c and arranged on the axis when the detection rod b is in a neutral state, and the periphery of the light-emitting body d. Of the plurality of light receiving bodies e, e, ... Arranged on the same circumference. Then, when a relative deviation occurs between the detection rod b and the welding groove with which the detection rod b slides, the detection rod b is tilted from the neutral state, and the reflecting mirror surface c and the light emitting body d are also tilted in accordance with the tilt angle. Tilt with respect to the optical axis of. Then, the light from the light emitting body d is incident on the reflecting mirror surface c at the same incident angle as the tilt angle of the detection rod b, and is reflected at the same reflecting angle as this, so that it is arranged around the light emitting body d. If there are four light receivers e, the light amount irradiated to the light receiver e ₁ in the tilting direction of the upper end of the detection rod b increases, and the light amount irradiated to the light receiver e ₂ diagonally opposite to this. And the amount of irradiation light with respect to the other pair of photoreceptors e ₃ and e ₄ does not differ between them. Therefore, the photoreceptors that have different irradiation light amounts
The copying drive device is operated by the differential output signal between e ₁ and e ₂ to control the welding torch so as to follow the welding groove correctly.

(D. Problems to be Solved by the Invention) However, in the automatic copying detector, the photoreceptors e ₁ , e ₂ ,
Since e ₃ and e ₄ are arranged on the circumference of the luminous body d as the center,
Since there is a limit to narrowing the distance between the light receiving bodies e, e, ..., There is no choice but to increase the outer diameter dimension of the cylindrical body a, and it is not possible to downsize the device. . Further, since the light received by the light receiver is reflected light, there is a problem that tilting of the detection rod cannot be accurately detected when the reflecting surface becomes cloudy. Further, in such an automatic copying detector, the anti-projection end of the detection rod needs to be mirror-finished, but the reflection surface must be exactly perpendicular to the axis of the detection rod, and However, there has been a problem that the mirror surface has almost no irregular reflection, and such a mirror surface cannot be easily manufactured, resulting in high cost.

(E. Means for Solving Problems) The automatic copying detector of the present invention has a detection rod tiltably arranged in a cylindrical body, and a plurality of light emitting bodies are arranged on the same circumference around the axis of the cylindrical body. In addition to arranging at equal intervals, separate light-receiving bodies are arranged at respective positions corresponding to the respective light-emitting bodies on the same axis. A shutter for blocking or opening the optical path with the body is provided.

Therefore, according to the automatic copying detector of the present invention, since the light-emitting body is not arranged at the center of the arrangement position of each light-receiving body, the light-receiving bodies can be arranged closer to each other, and the outer diameter of the cylindrical body can be reduced. However, the size of the device can be reduced, and since the change in the amount of light received by each light receiver is caused by blocking or opening the optical path due to movement of the shutter accompanying tilting of the detection rod, its structure is simple. In addition, the tilt of the detection rod can be accurately detected.

(F. Embodiment) An embodiment of the automatic copying detector of the present invention will be described in detail below with reference to FIGS. 1 to 5.

(A. Overview) [FIG. 1] In FIG. 1, reference numeral 1 denotes an automatic copying detector, which is a metallic cylindrical body 2 and an intermediate portion of the cylindrical body 2 at a lower end opening thereof which is freely supported. Detecting rod 4 supported by 3 for tilting
And a light detecting means 5 disposed at the rear of the inside of the cylindrical body 2.

(B. Cylindrical body) [Fig. 1] The cylindrical body 2 is divided into a front half portion 2a having a free bearing 3 for supporting a detection rod 4 and a rear half portion 2b having a light detecting means 5, The part 2a and the latter half part 2b are connected so that one of them is rotatable in the circumferential direction with respect to the other, and further, the rotation is click-stopped at three points at intervals of about 45 degrees. Has become.

(C. Detecting Rod) [FIG. 1] A contactor 7 that comes into contact with the welding groove 6 is coaxially attached to the protruding end of the detecting rod 4 from the front half 2a of the cylindrical body 2, and The anti-projection end is formed to have a small diameter, the tip of the small diameter portion 8 is inserted into the light detecting means 5, and the thin diameter portion 8 inserted into the light detecting means 5 has a circular shape. Plate-shaped shutter 9
Are attached perpendicularly to the axis of the small-diameter portion 8.

Reference numerals 10 and 10 are springs for urging the tiltingly supported detection rod 4 in one direction, and both springs 10 and 10 are adapted to exert an urging force toward the central axis of the cylindrical body 2. And
The cylindrical body 2 so that the center angle formed by the direction of the force is substantially right angle
Is supported on the rear end side of the front half portion 2a.

Reference numerals 11 and 11 denote receiving pins for receiving the detection rods 4 biased by the two springs 10, 10. Each receiving pin 11 is attached to the cylindrical body 2 so as to be located on an extension of the spring 10. Has been done.

(D. Light detecting means) [Figs. 1 to 4] The light detecting means 5 is composed of four light emitting elements 12 ₁ , 12 ₂ arranged at equal intervals on the same circumference with the axis of the cylindrical body 2 as the center. , 12 ₃ , 12 ₄ and four light-receiving bodies 13 ₁ , 13 ₂ , 13 ₃ , which are coaxially arranged to face each of the light-emitting bodies 12 ₁ , 12 ₂ , 12 ₃ , 12 ₄ , respectively. 13 ₄ and
The light emitters 12, 12, ...
The shutter 9 is configured to block or open the respective optical paths between 13, 13, ... With tilting of the detection rod 4.

Reference numeral 14 denotes a luminous body holder that holds the luminous bodies 12 ₁ , 12 ₂ , 12 ₃ and 12 ₄ and is fitted into the rear end portion 2b of the cylindrical body 2. Is formed with a through hole 15 through which the small-diameter portion 8 of the detection rod 4 penetrates, and four luminous body insertion holes 16 ₁ , 16 ₂ , 16 ₃ are formed on the same circumference around the through hole 15. 16 ₄ are formed in a penetrating manner. Further, flat recesses 17, 17 are formed on both end surfaces of the luminous body holder 14.

Reference numeral 18 denotes a light-receiver holder for holding the above-mentioned light-receivers 13 ₁ , 13 ₂ , 13 ₃ , and 13 ₄ , and has the same shape as that of the above-described light-emitter holder 14. That is, a through hole 19 is formed in the axis of the photoreceptor holder 18, and four photoreceptor insertion holes 20 ₁ , 20 ₂ , 20 ₃ , 20 ₄ are formed on the same circumference around the through hole 19. It is formed to penetrate,
Flat recesses 21, 21 are formed on both end surfaces of the photoreceptor holder 18.

Then, the light emitter insertion hole 1 is formed in the light emitter holder 14.
6 ₁ , 16 ₂ , 16 ₃ , 16 ₄ are fitted with the light emitters 12 ₁ , 12 ₂ , 12 ₃ , 12 ₄ and each lead wire of each light emitter 12, 12, ... Is a light emitter. It is connected to a circuit (not shown) of the holder 14 of the front flat recess 17 within _one printed circuit board 22 which is attached to, and thereby is supported by the printed circuit board 22.

Further, in the photoreceptor holder 18, the photoreceptor insertion holes 20 ₁ , 2
The photoconductors 13 ₁ , 13 ₂ , 13 ₃ , 13 ₄ are fitted and mounted on 0 ₂ , 20 ₃ , 20 _4, and the lead wires of the photoconductors 13, 13, ... is supported by the printed circuit board 23 is connected to a circuit (not shown) of the side flat recess 21 ₂ attached to the printed board 23 ,, and whereby after.

Then, with respect to the luminous body holder 14 and the photoreceptor holder 18, the rear end of the luminous body holder 14 and the front end of the photoreceptor holder 18 are brought into contact with each other, and the luminous bodies 12, 12, ... Are fixedly fitted in the latter half 2b of the cylindrical body 2 in a state where they are positioned coaxially with the corresponding light receiving bodies 13, 13 ,.

Further, at the contact portion between the light emitter holder 14 and the light receiver holder 18, it is defined by the rear flat recessed portion 17 ₂ of the light emitter holder 12 and the front flat recessed portion 21 ₁ of the light emitter holder 18. Storage room 24
The shutter 9 is housed therein, and the shutter 9 is attached to the small-diameter portion 8 of the detection rod 5 which penetrates the through hole 15 of the light emitter holder 14 from the front side.

The circular shutter 9 has a light-emitting body 12 ₁ having four diameters.
To 12 ₄ on the diagonal of the light emitters 12 ₁ and 12 ₃ or 12 ₂ and
12 ₄ distance and are formed to be substantially the same, the detection rod 4 is neutral state (the tilt angle of 0 degrees) the outer peripheral edge each light emitter 12, 12 of the shutter 9 when viewed from above the shutter 9 when, -・ ・ It is designed to be located on the central axis.

25 is each light-emitting body 12, 12, ... And light-receiving body 13, 13, ...
And a connector for electrically connecting an external operation power supply (not shown) and a control circuit of a slide unit for copying operation, which is attached to the rear end of the rear half 2b of the cylindrical body 2. There is.

(E. Operation) [Figure 3, Figure 4] Thus, in the detector 1, a light flux emitted from the light emitting element 12 ₁ to 12 ₄ were respectively opposed to the light emitting element 12 ₁ to 12 ₄ The light is incident on each of the light receivers 13 _{1 to} 13 ₄ . Then, a state in which the axis of the detection rod 4 substantially coincides with the axis of the cylindrical body 2, that is,
When in the neutral state (tilt angle 0 °), the luminous bodies 12 _{1 to} 1
As shown in FIG. 3 (a), the shutter 9 arranged between 2 ₄ and the light receiving members 13 _{1 to} 13 ₄ is composed of the light emitting members 12 _{1 to} 12 ₄ and the light receiving members 13 _{1 to} 13 ₄ . Since each optical path is blocked by a fixed amount, the amount of light incident on each of the photodetectors 13 _{1 to} 13 ₄ becomes equal.

Then, when the detection rod 4 is in the neutral state, each light receiving body 13 ₁
To 13 as the _fourth light receiving state is shown in FIG. 3 (b), a state in which the light receiver receives the light beam of the same amount, to which accompanied not each photoreceptor
The output levels of the electric output signals photoelectrically converted by 13 _{1 to} 13 ₄ are also equal. Therefore, the slide unit control circuit (not shown) that has received the electric output signals determines that the detection rod 4 is in the neutral state.

On the other hand, when the detection rod 4 is tilted, for example, when the detection rod 4 is tilted at an arbitrary angle in the direction of arrow A in FIG. ₁ , the light reception is performed between the light receiving bodies 13 ₁ and 13 ₃ facing each other. There is a difference in the amount of light received, and there is no difference in the amount of light received between the other photoreceptors 13 ₂ and 13 ₄ facing each other.

That is, the shutter 9 when the detection rod 4 is tilted
As shown in FIG. 4 (a), the center of the position of is shifted from the axial center of the cylindrical body 2, for example, tilted toward the light receiving body 13 ₃ side, and the light emitting body 12 ₃
The light path from the light source to the light receiving body 13 ₃ is blocked more than the light path from the light emitting body 12 ₁ to the light receiving body 13 ₁ facing. When the detection rod 4 is tilted in the A direction, the amount of light received by each of the light receiving bodies 13 _{1 to} 13 ₄ is increased by the amount of light received by the light receiving body 13 ₁ , and the amount of light received by the light receiving body 13 ₃ opposite to this increases. The amount of light received decreases. At this time, there is no difference in the amount of light received by the light receiving bodies 13 ₂ and 13 ₄ . Then the photoreceptors 13 ₁ and 1
The relative difference in the amount of received light between the _three becomes large, and the control circuit determines that the detection rod 4 is tilted in the direction of arrow A.

Further, when the detection rod 4 tilts in the direction opposite to the arrow A direction, the light receiving amount of the light receiving body 13 ₃ becomes larger than the light receiving amount of the light receiving body 13 ₁ , and the control circuit causes the detection rod 4 to move. When it is determined that the detection rod 4 is tilted in the direction opposite to the arrow A direction and the detection rod 4 is tilted in the direction perpendicular to the arrow A direction, the light receiving member 13
₂ and 13 relative light amount difference in the amount of light received ₄ occurs, the detection rod 4 is determined to have been tilted in the arrow A direction perpendicular to the direction.

(F. Both handed copying, migraine handed copying) [Figure 5] or to the automatic scanning detector 1 ambidextrous the copying light emitter 12 ₁ depending on whether or not to right-handed, or left-handed
To 12 ₄ and the photoreceptor 13 _to 134, must be changed relative positional relationship in the circumferential direction of the cylindrical body 2 between the spring 10, 10 and the receiving pins 11, 11. The relative positional relationship may be changed by rotating the front half portion 2a of the cylindrical body 2 with respect to the rear half portion 2b in the circumferential direction.

That is, in the case of a ambidextrous person, as shown in FIG. 5 (a), the springs 10 having the two circumferential directions of the front half 2a of the tubular body 2,
The direction of the resultant force of the urging forces of 10 is upward, and the direction of the rear half 2b of the cylindrical body 2 in the circumferential direction is the optical path between the pair of light emitters 12 ₁ and the light receiver 13 ₁ . Extension line and the spring
Make the force directions of the resultant forces of 10 and 10 intersect,
The cylindrical body 2 may be fixed.

In case of unilateral, as shown in FIG. 5 (b) and (c),
The front half portion 2a of the tubular body 2 may be rotated by 45 degrees as compared with the above-described ambidextrous case. The direction of this rotation depends on whether it is right-handed or left-handed.

The front half portion 2a and the rear half portion 2b of the cylindrical body 2 rotatably attached in the circumferential direction are click-stopped in the positional relationship of ambidextensive copying and the positional relationship of each unilateral copying. It is possible to easily set ambidextrous copying and unilateral copying.

(G. Example of using the detector in an automatic copy welding machine) [6th
FIG. 6 is an overall view of an automatic copying welding machine using the automatic copying detector 1 of the present invention.

The welding machine includes a first slide mechanism 26 that moves in one direction (left and right direction), and a second slide mechanism 27 that moves in a direction (vertical direction) perpendicular to the moving direction of the slide mechanism 26. Is equipped with.

The first slide mechanism 26 is held by a feed mechanism (not shown) that operates along the line of the groove 29 of the welding base materials 28, 28, and the movable portion 30 of the first slide mechanism 26 is held. Is horizontally slid by a feed screw (not shown) rotated by a left-right motor 31 mounted on the slide mechanism 26, and the second slide mechanism 27 is fixed to the movable portion 30. There is.

The second slide mechanism 27 has a feed screw (not shown) rotated by a vertical movement motor 32 mounted on the second slide mechanism 27.
It has a movable part 33 that can be slid vertically by
A bracket 34 extending horizontally from the movable portion 33 is provided on the movable portion 33.
Is fixed to the base portion of the bracket 34,
A welding groove for the base materials 28, 28 via an adjusting block 35 and a holder 36 for finely adjusting the position in the horizontal direction and the vertical direction.
The detector 1 copying 29 is held. That is, the position adjusting block 35 has a structure in which the position of the holding portion 36 can be finely adjusted in the same horizontal direction as the moving direction by the first slide mechanism 26 by the knob 37 provided on the position adjusting block 35. The position adjusting block 35 is provided with a shaft 39 having a knob 38 that is finely moved in the same vertical direction as the moving direction of the second slide mechanism 27, and the lower end of the shaft 39 is provided with a metal fitting 40 through the metal fitting 40. The holder 36 is integrally connected, and the holder is operated by operating the knobs 37 and 38.
The detection rod 4 of the detector 1 gripped by 36 is the groove of the base material 28, 28
It can be aligned with 29.

A welding torch 41 is fixed to the bracket 34 at a position slightly behind the adjustment block 35 so as to be vertically opposed to the base material 28.

Then, the detector 1 is attached to the holder 36 by inserting the tube body 2 of the detector 1 from an oblique direction into a mounting hole 42 formed in the holder 36 and tightening a tightening screw 43. After mounting, the position of the detection rod 4 is adjusted by operating the knobs 37 and 38 so as to maintain an appropriate positional relationship with the welding torch 41. In this case, the detector 1 is supported with its upper end inclined with respect to the vertical line with respect to the welding base material 28 at an appropriate angle in the feed direction of the welding machine (direction of arrow X in FIG. 6).

(H. Operation of Automatic Copy Welding Machine) [Fig. 6] The automatic copy welding machine described above operates as follows.

When the tip of the contactor 7 of the detector 1 is not pressed against the welding groove 29, the detection rod 4 is urged by the springs 10 and 10 in the direction opposite to the arrow A in FIG. The shutter 9 is tilted until it abuts, and the shutter 9 is biased to the side of the light emitter 12 ₁ and the light receiver 13 ₁ and stopped. Therefore, the magnitude relationship of the amount of light received between the photoconductors 13 ₁ and 13 ₃ and 13 ₂ and 13 ₄ facing each other is as follows: photoconductor 13 ₁ <photoconductor 13 ₃ ; photoconductor 13 ₂ = photoconductor 13 ₄ electrical signals corresponding to the respective light intensity of light emitted from the light receiving element 13 ₁ to 13 ₄ with the is fed to a control circuit (not shown) through the connector 25, the tilting state of the detection rod 4 is determined. Then, in the above-mentioned state, it is determined that the detection rod 4 is tilted downward about the free bearing 3, and a drive command is given to the vertical movement motor 32 to start the motor 32 in the reverse direction. , The movable part 33 is lowered. And
Along with the lowering of the movable portion 33, the welding torch 41 and the detector 1 integrated with the bracket 34 are lowered toward the groove 29, and the contact 7
The tip of the rod contacts the groove 29 and the detection rod 4 is slightly rotated in the direction of arrow A in FIG. 1 against the elastic force of the springs 10 and 10 about the bearing 3 and the detection rod 4 is neutral. It becomes a state. Then, the shutter 9 evenly blocks the respective light paths of the light emitters 12 _{1 to} 12 ₄ and the light receivers 13 _{1 to} 13 _{4 so} that the light from the light emitters 12 _{1 to} 12 ₄ is emitted from the light receivers 13 _{1 to} 12 ₄ , respectively. If so it hits evenly with respect _to 134,
The control unit determines that the detection rod 4 is in the neutral state, and stops the rotation of the vertical movement motor 32, whereby the lowering operation of the movable unit 33 of the slide mechanism 27 is stopped. As a result, the welding torch 41 is set at the optimum position with respect to the welding groove 29 of the base materials 28, 28.

Then, when the feed welding mechanism (not shown) feeds the copy welding machine including the first and second slide mechanisms 26, 27, the detector 1 follows the groove 29 of the base materials 28, 28 and is guided by this. The welding torch 41 sequentially welds the groove 29.

At this time, if there is a bend in the base material plane direction or an undulation in the base material thickness direction in the line of the groove 29, the detection rod 4 is rotated around the bearing 3 as a fulcrum and the position of the shutter 9 is followed. There moved, to detect the displacement of the detection rod 4 by detecting the amount of light received by each light receiving element 13 ₁ to 13 _4. Then, in response to this, one or both of the motors 31 and 32 rotate forward or backward to operate the slide mechanism 26 or 27 horizontally or vertically, so that the welding torch 41 always follows the groove line correctly. Has been

(G. Effects of the Invention) As is clear from the above description, the automatic copying detector of the present invention is configured such that the detection rod is inserted into the cylinder body so that one end of the detection rod projects from the tip of the cylinder body. Support the middle part of the detection rod so that it can be tilted, and in the vicinity of the anti-projection end of the detection rod inside the cylinder, a plurality of light emitters are centered on the axis of the cylinder at equal intervals on the same circumference. Each of the light emitters is arranged at a corresponding position on the same axis as each light emitter, and a light receiver is separately disposed between the light emitters and the light emitters. A shutter for blocking or opening an optical path between the light emitting body and the light receiving body is provided, and the tilted state of the detection rod is detected based on the difference in the light receiving amount of each light receiving body.

Therefore, according to the automatic copying detector of the present invention, the light-emitting body and the light-receiving body are arranged so as to face each other, so that the light-receiving body is arranged around the light-emitting body as in the conventional example using the reflecting mirror. In comparison with the above, it is not necessary to increase the outer diameter of the cylindrical body, and the device can be downsized, and the amount of light received by each light receiver can be changed by the shutter that moves with the tilt of the detection rod. Therefore, the tilt of the detection rod can be accurately detected.

[Brief description of drawings]

1 to 5 show an example of an embodiment of the automatic copying detector of the present invention. FIG. 1 is a vertical sectional view, FIG. 2 is an enlarged vertical sectional view of an essential part, and FIG. 3 (a). , (B) are for explaining the light receiving state of each light receiving body in the neutral state. FIG. (A) is an explanatory view schematically showing the luminous flux of each light emitting body, and (b) is a view showing the shutter and the light receiving body. Explanatory diagram showing the relationship, FIG. 4 (a),
(B) is for explaining the light receiving state of each light receiving body in a tilted state, (a) is an explanatory view schematically showing the luminous flux of each light emitting body, (b) is a position of the shutter and the light receiving body 5A to 5C are explanatory views showing the relationship, and FIGS. 5A to 5C are explanatory views showing the different positional relationships between the spring and the receiving pin and the respective light detection means.
FIG. 6 is an overall perspective view showing an example of an automatic copying welder using the automatic copying detector of the present invention, FIGS. 7 and 8 show a conventional automatic copying detector, and FIG. Floor plan, No. 8
The drawing is a sectional view taken along the line VIII-VIII in FIG. Explanation of reference numerals 1 ... Automatic copying detector, 2 ... cylindrical body, 4 ... detecting rod, 9
...... Shutter, 12 _{1 to} 12 ₄ ...... Light emitter, 13 _{1 to} 13 ₄ ......
Photoreceptor

Claims (1)

[Claims] 1. A detection rod is inserted into a cylindrical body such that one end of the detection rod protrudes from a tip of the cylindrical body, and an intermediate portion of the detection rod is tiltably supported in the cylindrical body. In the vicinity of the anti-projection end, a plurality of light emitters are arranged at equal intervals on the same circumference with the shaft center of the cylindrical body as the center, and at respective positions corresponding to the respective light emitters coaxially, A light receiving body is separately arranged, and a shutter is provided between the light emitting body and the light receiving body to block or open an optical path between the light emitting body and the light receiving body according to tilting of the detection rod. An automatic copying detector characterized by detecting the tilted state of the detection rod based on the difference in the amount of light received by the light receiver.