JP2006095598A - Apparatus, system and method for performing impact plastic working of metal structural body, and program and storage medium - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To stably perform the impact plastic working of a metal structural body. <P>SOLUTION: An impact plastic working apparatus of a metal structural body is provided with a working means to perform the impact plastic working, a holding means to hold the impact plastic working means at a predetermined position and in a predetermined posture, a measurement means to measure the vibration of a tip tool in the impact plastic working means, an analysis means to analyze the period of the vibration, and a control means to change the position and the posture of the tip tool. <P>COPYRIGHT: (C)2006,JPO&NCIPI

Description

  The present invention relates to an impact plastic working apparatus, system and method for metal structures used in automobiles, ships, bridges, construction machines, building structures, offshore structures, storage tanks, penstocks, etc., and processing steps for carrying them out. Are related to a program and a storage medium.

  Metal structures represented by steel structures are subjected to various processing such as cutting, pressing, welding, and punching to the metal that is the raw material, and the processed part should be the starting point of fatigue failure mainly due to structural causes There are many. For the purpose of improving the durability of such parts, impact plastic processing methods such as shot peening, laser peening, water jet peening, hammer peening, needle peening, wire peening, and ultrasonic impact treatment have been used so far. ing.

  Except for shot peening, laser peening, and water peening, in which an energy medium that plastically deforms a metal structure is ejected from the device, each method of hammer peening, needle peening, wire peening, and ultrasonic impact treatment This is a machining method in which the tip tool excited by the vibrating body repeatedly collides with the metal structure. However, if the contact state between the tool and the metal structure before the start of processing is inappropriate, the tip tool vibrates with the metal structure. There are many cases where the body is not enough or irregular enough to be plastically deformed, and there is an urgent need for the emergence of a method and apparatus for stably obtaining effective impact plastic working.

  Under such circumstances, the ultrasonic impact treatment is sufficiently equipped with a method for measuring the shape of the processing portion using a laser displacement meter, a method for observing the structure of the metal surface, and a method for measuring the hardness. A fatigue strength improving method for determining that ultrasonic impact treatment has been performed is disclosed in Patent Document 1. Further, Patent Document 2 discloses a method for controlling the vibration of a tool based on a voltage signal from an ultrasonic transducer in the ultrasonic impact processing apparatus.

  Furthermore, although the tip tool is not a processing method that repeatedly collides with the metal structure, the step of measuring the thickness of the confinement medium layer from the back of the test piece using an ultrasonic transducer in laser peening, the flow rate of the confinement medium and the nozzle Patent Document 3 discloses a laser peening method including a step of resetting a position and a step of determining continuation of laser peening.

  Further, Patent Document 4 discloses a peening method and apparatus provided with means for controlling the distance between a nozzle and a workpiece for imparting sufficient plastic deformation to the workpiece in ultra-high pressure water peening. Similarly, in the water jet peening, means for analyzing the vibration frequency characteristic of the nozzle based on the output from the shock pulse detection sensor or the underwater acoustic detection sensor attached to the nozzle, and the frequency characteristic and the preset frequency characteristic optimum value Patent Document 5 discloses a water jet peening apparatus having means for obtaining a deviation and means for controlling a distance between a nozzle and a processing surface or a water jet pressure so as to obtain an optimum frequency characteristic value.

Hereinafter, the impact plastic processing in the present invention means a type of processing in which the tip tool repeatedly collides with a work piece such as hammer peening, needle peening, wire peening, ultrasonic impact treatment, and gives plastic deformation, shot peening, This does not include laser peening or water peening, in which objects that come into contact with the workpiece are ejected and scattered after processing.
Ultrasonic impact treatment is the improvement of surface shape and residual by applying plastic deformation by pressing ultrasonic vibrations of several tens of KHz generated from an ultrasonic generator against a workpiece via a tip or other tip tool. This is a process for stress relaxation / relocation.

JP 2003-113418 A US Pat. No. 6,289,736 JP 2001-174245 Japanese Patent Laid-Open No. 11-333724 Japanese Unexamined Patent Publication No. 6-47668

  Among the prior arts, Patent Document 1 discloses a method for determining that ultrasonic impact processing has been performed. In any case, after the ultrasonic impact processing is completed, shape measurement and tissue observation are performed on a processed part. The present invention is a method for confirming the presence of plastic deformation and compressive residual stress, and is different from the method and apparatus of the present invention that measures the vibration of the tip tool online to control the position and posture of the tip.

  Patent Document 2 discloses a control method for performing feedback to the oscillator based on the voltage output from the ultrasonic transducer. However, the vibration of the tip tool is also measured to control the position and posture of the tip. It is an invention different from the method and apparatus of the present invention.

  Further, Patent Document 3 is a method of measuring the vibration state of a workpiece in laser peening from the back surface of the workpiece with an ultrasonic measuring instrument, and controlling the flow rate of the confining medium and the nozzle position. The position and orientation of the tip tool are controlled by measuring the vibration of the tip tool that gives plastic deformation, and these are different inventions in that the object of vibration measurement and the factors to be fed back are different.

  In Patent Document 4, there is no specific description about a method for measuring and determining whether or not sufficient plastic deformation is given. However, Patent Document 4 and Patent Document 5 both describe water jet peening. However, the vibration of the nozzle and / or the vibration in the water existing around the nozzle is measured by an acoustic sensor. In contrast, the present invention controls the position and orientation of the impact plastic working device by measuring the vibration of the tip tool in contact with the workpiece with a measuring device installed between the spring receiving the vibrating body and the exterior. Is a different invention.

  An object of the present invention is to provide an apparatus, a system, a method, a program, and a storage medium for stably obtaining vibration in impact plastic working.

In order to solve the above problems, the gist of the present invention is as follows.
(1) An apparatus for impact plastic working,
Impact plastic working means for performing impact plastic working, holding means for holding the impact plastic working means in a predetermined position and posture, measuring means for measuring vibration of a tip tool in the impact plastic working means, and period of the vibration An impact plasticity processing apparatus for a metal structure, comprising: an analysis means for analyzing the position; and a control means for changing a position and posture of a tip tool of the impact plasticity processing means based on the analysis result of the period;

    (2) The measuring means is mounted in the impact plastic working means, and has a function of measuring any one or more of displacement, load, and acceleration between the vibrating body that gives the impact plastic working and the exterior. An impact plastic working apparatus for a metal structure according to the above (1),

    (3) The measuring means has a function of measuring any one or more of voltage, current, air pressure, air flow rate, voltage returned from the impact plastic working means, and current supplied to the impact plastic working means. An impact plastic working apparatus for a metal structure according to the above (1), characterized by comprising:

    (4) In the above (1) to (3), the holding means has a function of holding at least one of three orthogonal coordinates that determine the position of the tip tool and three angles that determine the posture. An impact plastic working device for a metal structure according to any one of the above,

    (5) The analysis means has a function of analyzing the period of the vibration based on any one or two or more of displacement, load, and acceleration between a vibrating body that gives impact plastic working and an exterior. (1), (2), the impact plastic working apparatus of the metal structure according to any one of (4),

    (6) The analysis means may determine the period of the vibration based on any one or more of voltage, current, air pressure, air flow, voltage returned from the impact plastic working means, and current supplied to the impact plastic working means. An impact plastic working apparatus for a metal structure according to any one of the above (1) to (4), which has a function of analyzing

    (7) The control unit has a function of controlling any one or more of three orthogonal coordinates for determining the position of the tip tool and three angles for determining the posture within a preset range. To (6) an impact plastic working apparatus for a metal structure according to any one of the above,

    (8) An impact plastic working system in which a plurality of devices are communicably connected, and at least one of the plurality of devices is the impact plasticity described in any of (1) to (7) above. An impact plastic processing system for metal structures, characterized by comprising a processing device;

(9) A method in which a computer controls impact plastic working,
An input step for inputting the initial position, posture and movement conditions of the tip tool to the computer, an input step for inputting the allowable change range and position of the tip tool and the vibration cycle allowable range to the computer, and the initial position of the tip tool A processing start step of starting impact plastic working while maintaining the initial position and posture of the tip tool so as to be in the posture, and the position and posture of the tip tool within the allowable change range of the position and posture of the tip tool A control step for controlling, a measuring step for measuring a vibration cycle of the tip tool, a determination step for determining whether the vibration cycle is within an allowable range based on an input of the allowable vibration cycle range, and a tip tool. The computer determines whether to move to the next process based on the moving condition and the moving condition. And but determining, impact plastic working method of the metal structure, characterized in that the end step of the impact plastic working comprises a termination step of terminating,

    (10) A program for causing a computer to realize the function of the impact plastic working device according to any one of (1) to (7),

    (11) A program for causing a computer to realize the function of the impact plasticizing system described in (8) above,

    (12) A program for causing a computer to realize the processing steps of the impact plastic working method according to (9) above,

(13) A storage medium used for impact plastic working of a metal structure, readable by a computer in which the program according to any one of (10) to (12) is recorded,
It is in.

  The method, apparatus, system, program, and storage medium of the present invention can stably obtain vibration of a tip tool when impact plastic working is performed on a metal structure, and its industrial significance is great.

Embodiments of the present invention will be described below with reference to the drawings.
The present invention is applied to, for example, an impact plastic working system 100 as shown in FIG.
<Overall configuration of impact plastic processing system 100>
As shown in FIG. 1, an impact plastic working system 100 according to an embodiment of the present invention includes an impact plastic working device 112, a measuring device 120 for measuring vibration, and a frequency analysis device that receives an output signal of the measuring device and measures a period. 121, a control device 122 that outputs a continuation or change signal of the position and posture of the device by comparing the measured cycle with an appropriate range of the cycle that has been input in advance, impact plastic machining that receives a control signal of the position and posture of the device The apparatus holding machine 125 is connected through wiring.

  Although the vibration cycle of the tip tool varies depending on the machining state, it is a parameter that can determine whether or not sufficient impact plastic machining is performed. That is, if the cycle exceeds the appropriate range, the tip tool may be too far away from the workpiece and contact may be insufficient, or the tip tool may slip sideways without stably contacting the workpiece, etc. It is possible to shorten the cycle within the appropriate range by controlling the tip tool close to the workpiece, increasing or decreasing the angle in the direction perpendicular to the moving direction, or combining these, and sufficient impact plastic processing Can be done.

  Also, if the tip tool cycle falls below the appropriate range, the tip tool may be fixed between the workpiece and the vibrator, and the vibrator cycle may be the tip tool cycle. In this case, for example, the tool can be moved away from the workpiece, or the angle of the tool can be increased or decreased in the direction perpendicular to the moving direction, or the combination can be controlled to increase the cycle within the appropriate range. Similarly, sufficient impact plastic working can be performed.

<Outline of configuration and operation of impact plastic working device 112>
The impact plastic processing device 112 is a hammer peening device, a wire peening device, a needle peening device, an ultrasonic impact processing device, or the like that uses air pressure, ultrasonic waves or the like as an energy source, and includes a power source and control device 111 and an impact plastic processing device main body 110. Further, the main body 110 is vibrated by the vibration body 104 by the electric power and control signal from the power source and the control device 111, and the vibration is transmitted to the tip tool 102 via the vibration transmitting portion 103, and an impact load is applied to the workpiece 130. give.

  The impact processing apparatus 110 is held by the holding unit 124 of the holding machine 125 in the exterior 105, and the tip thereof is brought to a target position and posture. Although it is difficult to directly measure the vibration of the tip tool 102, it is found that the vibration is transmitted as the vibration of the spring 106 connecting the vibration systems 103 and 104 in the impact plastic working apparatus and the exterior 105, and the exterior 105 of the impact plastic working apparatus. It is possible to measure the vibration state of the tip tool by disposing the measuring instrument 120 that measures vibration between the two.

<Outline of configuration and operation of vibration measuring instrument 120>
The vibration measuring instrument 120 is not particularly defined as long as it can measure vibration between the vibration systems 103, 104 and the exterior 105 in the impact plastic working apparatus, and is a measurement instrument for measuring the displacement between the vibration system and the exterior. However, it may be a measuring instrument that measures the load generated in the spring via the spring between the vibration system and the exterior, the displacement between the spring and the exterior, or the acceleration when the spring expands and contracts. In addition, the vibration of the tip tool 102 to be measured here is not the vibration itself oscillated from the vibration systems 103 and 104 of the impact plastic working device, but the result of contacting the oscillated vibration to the machining unit 130, It means the vibration of the tip tool 102 that reciprocates while colliding between the workpiece 130 and the vibration system 103. In particular, in the case of ultrasonic impact treatment, the vibrator of the main body continuously vibrates at a frequency of several tens of kHz, but the tip tool mainly undergoes plastic impulse deformation due to discrete impulse vibration. Therefore, it is important for sufficient impact plastic working to generate this vibration stably.

<Outline of configuration and operation of periodic analysis device 121>
The output signal of the vibration measuring instrument 120 is transferred to the analysis device 121 that analyzes the period of vibration. The method for determining the period in the period analyzer 121 is not particularly specified. Based on data of a predetermined measurement time, a method for obtaining a period at which the signal crosses a preset level, or time-series data of the signal There is no problem even if it is a method of calculating the period from the main frequency by frequency analysis.

  Here, the period of vibration is the time from when the tip tool 102 collides with the work piece 130 to cause plastic deformation to the next collision, and when the tip tool 102 collides with the work piece 130 In this case, it is difficult to detect the moment because the tip tool 102 is separated from the vibration system 103, but the tip tool 102 bounces back when it collides with the workpiece 103, and then returns to the vibration system 103 and collides. When the shock is transmitted to the spring 106 through the vibration system 103, the displacement generated when the spring 106 is contracted from the stretched state, the load generated when the spring 106 contracts, or the movement of the spring 106 contracting By measuring the generated acceleration, it is possible to detect the presence or absence of a collision and its time interval, that is, the vibration period.

  Therefore, for time series data of one or more of load, displacement, and acceleration, enter a numerical value such as 5 kgf for load, 0.5 mm for displacement, 500 m / s for acceleration, and so on. The time from when the value is exceeded to when the value is exceeded again can be obtained as the period of vibration. Also, load, displacement, and acceleration time series data is input to a commercially available FFT analyzer, etc., and the frequency component with the largest amplitude is selected from the calculated frequency components, and the reciprocal of that frequency is taken as the vibration period. Good. The obtained periodic data is transferred to the control device 122 in order to control the position and posture of the tip tool of the impact plastic working device.

<Outline of configuration and operation of position and orientation control device 122>
In the device 122 for controlling the position and orientation of the holding machine 125, a signal for continuing or changing the current position and posture of the impact plastic working device is compared with the allowable range of the cycle inputted in advance, and the control unit of the holding machine 125 Forwarded to 123. As an example of the control method, if the cycle is longer than the allowable range, the tip tool may be too far away from the workpiece, or the contact angle between the tip tool and the workpiece may be improper and skidding may occur. [1] Bring the tip tool closer to the workpiece, [2] Increase or decrease the angle in the direction perpendicular to the moving direction with the tip tool position unchanged, [3] Use both [1] and [2] together . In addition, when the cycle is shorter than the allowable range, there is a possibility that the tip tool is sandwiched between the vibrator and the workpiece and is vibrated integrally with the vibrator at the period of the vibrator. Controls such as moving the tool away, [5] increasing / decreasing the angle in the direction perpendicular to the moving direction without changing the position of the tip tool, and using both [6], [4] and [5] can be considered. These control signals are transferred from the position and orientation control device 122 to the control unit 123 of the holding machine.

  The parameters for determining the position and orientation are the three orthogonal coordinates X, Y, Z that determine the position of the space, and the angles θx, θy, θz with each coordinate for determining the orientation, etc., and these parameters are set in advance. Control is performed by changing the numerical value of at least one parameter within a predetermined range. Further, when the vibration period falls within the allowable range, for example, control is performed such that the workpiece moves while being processed along a processing portion to be processed of the workpiece 130 such as a continuous weld bead. Furthermore, when moving to the next step moving condition, for example, because the weld is bent halfway, the vibration period is first measured at the initial position and initial posture at the start point of the next step, and the allowable range is reached. When the tool length is longer, the tool is moved closer to the workpiece or the angle is changed. When the tool is shorter than the allowable range, the tool is moved away or the angle is changed until the cycle is within the allowable range. Thereafter, control is performed so as to start the movement of the next step along the workpiece. In order to determine the position and orientation, the functions of the periodic analysis device 121 and the device 122 for controlling the position and orientation may be executed by one analysis / control device.

<Outline of configuration and operation of holding machine 125>
Signals such as approaching or moving away the tip tool transferred from the device 122 for controlling the position and orientation to the processing unit, or changing the angle are received by the control unit 123, and the holding unit 124 and the like are moved so that the impact plastic processing device 110 The distance between the tip tool and the workpiece or the angle of the tip tool is changed. As a result, the vibration cycle of the tip tool 102 changes, and if the changed cycle is longer than the allowable range, if it is longer than the allowable range, for example, the tip tool is brought closer to the work piece or the angle in the plane perpendicular to the moving direction. If the signal is shorter than the permissible range, for example, a signal such as moving the tip tool away from the workpiece or changing the angle in a plane perpendicular to the moving direction is issued, and the control unit follows the signal. The position and orientation of the tool is adjusted again and continued until an appropriate vibration period is obtained.

  When the vibration period falls within the allowable range, the tip tool of the impact plastic working device is moved along the working portion to be processed by the signal from the position and orientation control device 122. Also when moving to the moving condition of the next step, the position and posture are changed by a signal from the position / orientation control device 122 until the vibration cycle of the tip tool falls within the allowable range, and then the moving is performed according to the moving condition of the next step.

In the configuration example of the present invention, a control mode for transmitting a control signal for changing the vibration state from the position / orientation control device 122 to the power source / control device 112 of the impact plastic working device for the purpose of keeping the vibration cycle within an allowable range. Although there is no particular mention, even when such control forms overlap, the effect of the present invention is not inhibited.
The present invention is applied to another impact plastic working system 101 as shown in FIG. 5, for example.

<Overall configuration of impact plastic working system 101>
As shown in FIG. 5, an impact plastic working system 101 according to another embodiment of the present invention includes a voltage supplied to the impact plastic working apparatus main body 110 from the impact plastic working apparatus 112 and the power supply / control device 111 of the impact plastic working apparatus 112. Electricity / air measurement / period analysis device 131 for measuring and analyzing any one or more of current, air pressure, air flow rate, voltage returned from impact plastic working apparatus main body 110, and current, and measured period And a control device 122 that outputs a signal for continuation or change of the position and posture of the device in comparison with an appropriate range of the cycle that has been input in advance, and a holding machine 125 of the impact plastic working device that receives the control signal for the position and posture of the device. Are connected through wiring.

  Although the vibration cycle of the tip tool varies depending on the machining state, it is a parameter that can be used to determine whether or not sufficient impact plastic processing is being performed, but the vibration cycle of the tip tool is the voltage and current supplied to the impact plastic processing device body. It has been found that there is a correlation with one or two or more fluctuation periods of air pressure, air flow rate, voltage returned from the impact plastic working apparatus main body 110, and current.

  That is, when the fluctuation period of any one or more of the voltage, current, air pressure, air flow rate, voltage returned from the impact plastic processing apparatus main body 110, or current supplied to the impact plastic processing apparatus main body falls below the appropriate range. This means that the vibration cycle of the tip tool is longer than the appropriate range. If the tip tool is too far away from the workpiece and contact is insufficient, or the tip tool does not stably contact the workpiece and slides sideways. As a countermeasure against this, the vibration cycle can be controlled within the appropriate range by controlling the tip tool closer to the workpiece, increasing or decreasing the angle perpendicular to the direction of movement of the tip tool, or combining them. Can be shortened to a sufficient length, and sufficient impact plastic working can be performed.

  When the fluctuation period of one or more of the voltage, current, air pressure, air flow, voltage, current, and current supplied from the impact plastic processing device main body 110 exceeds the appropriate range This means that the vibration cycle of the tip tool is shorter than the appropriate range, and the tip tool is fixed between the workpiece and the vibrator and the vibrator cycle is the same as that of the tip tool. In such a case, for example, the tip tool is moved away from the workpiece, the angle of the tip tool in the direction perpendicular to the moving direction of the tip tool is increased or decreased, or the combination thereof is controlled within this range. In the same way, sufficient impact plastic working can be performed.

<Outline of configuration and operation of impact plastic working device 112>
The impact plastic working device 112 is the same as the impact plastic working device 112 of the impact plastic working system 100 of FIG. 1 and its description is omitted to avoid repetition.

<Outline of configuration and operation of electrical / air measurement / period analysis device 131>
Energy such as electricity and air supplied from the power supply / control device 111 of the impact plastic processing device 112 to the impact plastic processing device 112 passes through the electricity / air measurement / periodic analysis device 131, so that the supplied voltage, current, and air pressure are supplied. Any one or more of the air flow rate, the returned voltage, and the current are measured by the electricity / air measurement / period analysis device 131. The method for determining the period in the electrical / air measurement / period analysis device 131 is not particularly specified, and the period is determined by obtaining the time at which the signal crosses the preset level based on the data of the predetermined measurement time. There is no problem even if it is a method for obtaining or a method for obtaining a period from a main frequency by performing frequency analysis of time series data of a signal.

  The period here means the period of supply voltage and current, the fluctuation period of the pressure and flow rate of the air being supplied, and the period of voltage and current returned when the supply is interrupted. This cycle is closely related to the proper operation of the impact plastic working device 112, the supply voltage and current cycle, the supply air pressure and flow rate fluctuation cycle, the voltage returned when the supply is interrupted, By measuring the current period, it is possible to detect whether the tip tool 102 repeatedly collides with the workpiece 130 and its time interval, that is, the vibration period of the tip tool.

Therefore, for one or more time-series data of the supply voltage or current cycle, the supply air pressure or flow rate fluctuation cycle, or the voltage or current cycle returned when the supply is interrupted, for example, the voltage cycle If there is a value of 100V, 1A for current, 5kgf / cm ^{2 for} air pressure, etc., the time from when the value is exceeded to when the value is exceeded is obtained as the period of vibration. I can do it. Further, regarding the voltage and current, since not only the supply voltage and supply current but also the vibration of the vibrating body 104 excited by electricity returns the voltage and / or current, the return voltage and / or return current cycle. By measuring the above, it is possible to detect the normal operation of the impact plastic working device 112, and hence the vibration cycle of the tip tool 102.
The obtained fluctuation cycle data is transferred to the control device 122 in order to control the position and posture of the tip tool of the impact plastic working device.

<Outline of configuration and operation of position and orientation control device 122>
In the device 122 for controlling the position and orientation of the holding machine 125, a signal for continuing or changing the current position and posture of the impact plastic working device is compared with the allowable range of the cycle inputted in advance, and the control unit of the holding machine 125 Forwarded to 123. The position / orientation control device 122 is the same as the position / orientation control device 122 of the impact plastic working system 100 of FIG. 1, and a description thereof is omitted to avoid repetition. In order to determine the position and orientation, the functions of the electrical / air measurement / periodic analysis device 131 and the device 122 for controlling the position and orientation may be executed by one analysis / control device.

<Outline of configuration and operation of holding machine 125>
The holding machine 125 is the same as the holding machine 125 of the impact plastic processing system 100 of FIG. 1, and a description thereof will be omitted to avoid repetition.

  In the configuration example of the present invention, a control mode for transmitting a control signal for changing the vibration state from the position / orientation control device 122 to the power source / control device 112 of the impact plastic working device for the purpose of keeping the vibration cycle within an allowable range. Although there is no particular mention, even when such control forms overlap, the effect of the present invention is not inhibited.

<Overall operation of impact plastic processing system 100>
FIG. 2 is a flowchart showing the overall operation of the impact plastic working system 100.
First, the initial position and initial posture of the tip tool 102 of the impact plastic working device 112 are set in the position / posture control device 122. At this time, the moving condition of the tool is also set in accordance with the information on the position where the workpiece 130 is to be processed. The condition setting of the position of the tip tool differs depending on the control type of the holding machine, but for example, the X, Y, Z and X axis, Y axis, Z axis of the processing part position in Cartesian coordinates like NC control machine If the holding machine is of a type that moves the tip tool to that position by specifically inputting the angles θx, θy, θz formed by X, Y, Z, angles θx, θy, The value of θz is set such that X = Y = Z = 0, θx = θz = 45 °, and θy = 90 °.

  In addition, the moving direction, for example, the Y direction and the moving speed are input as 10 cm / min. In the case of a teaching robot, instead of giving specific coordinate values, the tip tool is moved in advance to the position and posture to be processed, and the position, posture and moving direction, and the position, posture and moving direction of the next step are set. It is also conceivable that the initial position / posture and the moving condition are input by inputting the moving speed separately.

  Next, the allowable range of the vibration cycle of the tip tool and the change range of the coordinate and angle parameters that determine the position and orientation are set in the position / posture control device 122 in the same manner. The allowable range of the vibration cycle depends on the output of the impact plastic processing device 112, the size of the workpiece 130, etc., and is determined based on the measurement results of the vibration cycle at the time of appropriate machining performed on the same device and workpiece. However, for example, in the case of hammer peening, it is set to 0.003 to 0.03 seconds, and in the case of ultrasonic impact treatment, it is set to 0.0002 to 0.005 seconds.

  In addition, the change range of the parameters for the position and orientation of the tip tool depends greatly on the constant of the spring 106 in the impact plastic working device and the rigidity of the work piece 130. Therefore, appropriate processing performed on the same device and work piece is performed. Although it is desirable to determine based on the measurement result of the vibration period at the time, for example, the change ranges of the positions X, Y, and Z are set to ± 5 mm, and the change ranges of the angles θx, θy, and θz are set to ± 10 °.

Next, in the impact plastic working device 112, the power source / control device 111 is activated, and the vibrating body 104 of the impact plastic working device main body 110 starts vibrating, and the tip tool 102 starts vibrating through the vibration transmitting portion 103.
Subsequently, the control unit of the holding machine 125 from the position / posture control device 122 based on the initial position and posture set values, that is, X = Y = Z = 0, θx = θz = 45 °, θy = 90 °. A signal is transmitted to 123, and the holding machine 125 moves the position and posture of the tip tool 102 to the initial setting state. At this time, the tip tool 102 starts to contact the workpiece 130.

  Next, the vibration of the tip tool 102 is measured by the vibration measuring instrument 120 installed in the impact plastic working apparatus main body 110, and the measurement result of the measuring instrument is transferred to the vibration period analyzing apparatus 121. The vibration period analyzer 121 obtains the vibration period based on the measurement result of the vibration measuring instrument.

  Further, the obtained vibration cycle is compared with the allowable range of the vibration cycle in the position / posture control device 122, and one or more coordinates and angle parameters that determine the position / posture are selected according to the deviation, and are changed within the allowable range. Thus, the signal is transferred to the control unit 123 of the holding machine 125. Specifically, when the vibration period is larger than the allowable range, control is performed so that the tool tip is brought closer to the machined part, so that the distance between the tool tip and the workpiece is reduced, for example, within an allowable range of ± 5 mm. A signal to reduce Y, Z, and 1 mm each is transmitted. In addition, control to change the angle is also possible.For example, if the tool movement direction is the Y direction, a signal that changes the angle θx in the plane perpendicular to the Y direction by 2 ° within the allowable range of ± 10 ° is transferred. The

  If the vibration cycle is smaller than the allowable range, for example, a signal to increase X, Y, Z by 1 mm within the allowable range ± 5 mm or to increase the distance between the tip tool and the workpiece, or in a plane perpendicular to the Y direction. Signals that change the angle θx by 2 ° within the allowable range of ± 10 ° are transferred sequentially or in combination.

  The holding machine 125 changes the position and posture of the tip tool 102 according to this signal. Such loops for changing the position and orientation of the tip tool 102, measuring the vibration of the tip tool, analyzing the vibration cycle, comparing with the allowable range of the vibration cycle, and re-changing the position and posture are not possible. Continue as long as possible.

  When the vibration cycle falls within the allowable range, the tip tool 102 starts moving along the portion of the processing unit 130 to be processed while vibrating. When the movement is completed, if there is a machining part to be processed next, a signal for moving the tip tool 102 to the initial position and initial posture of the next processing part is output from the position / posture control device 122, and vibration measurement is performed in the same manner. The vibration cycle of the tip tool vibration measurement by the instrument 102, the vibration cycle analysis by the periodic analysis device 121, the comparison with the allowable range of the vibration cycle by the position / posture control device 122, and the re-change of the position and posture are permitted. After being repeated until it falls within the range, the next processing unit is processed while the tip tool vibrates. When all the processing parts to be processed are processed, the vibration of the impact plastic processing apparatus stops, and the system of the present invention ends the operation.

In addition, the system of the present invention can control a plurality of sets of impact plastic working devices, vibration measuring devices, and holding machines by using a single set of vibration period analysis device and position and orientation control device.
As described above, according to the present invention, by measuring the vibration period of the tip tool in the impact plastic processing of the metal structure, it is possible to control the position and orientation of the impact plastic processing appropriately.

<Overall operation of impact plastic working system 101>
The overall operation of the impact plastic working system 101 is the same as that of the impact plastic working system 100 shown in FIG. 5, but only the setting of the allowable vibration range of the tip tool, the tip tool vibration measurement, and the vibration period analysis are different. Description of other flows is omitted to avoid repetition.

  In the flow of setting the allowable vibration range of the tip tool, one or more fluctuation cycles of supply voltage / supply current, supply air pressure / supply air flow rate, return voltage / return current for detecting the vibration cycle of the tip tool Are set in the position / posture control device 122 in the same manner, and the change range of the coordinate and angle parameters that determine the position and posture. The permissible range of one or more of the supply voltage / supply current, return voltage / return current, supply air pressure / supply air flow rate depends on the output of the impact plastic working device 112, the size of the workpiece 130, etc. At the time of appropriate machining performed with the same equipment and workpiece, the fluctuation cycle of one or more of supply voltage / supply current, return voltage / return current, supply air pressure / supply air flow rate and vibration cycle of the tool tip It is desirable to measure and determine these relations in advance to determine an appropriate range.For example, in the case of hammer peening, the fluctuation period of the supply air pressure is 0.003 to 0.03 seconds. In this case, it is set to 0.01 milliseconds to 0.1 milliseconds.

  In the tip tool vibration measurement flow, one or more of the voltage, current, return voltage, current, supplied air pressure, and air flow rate supplied to the impact plastic processing device main body 110 are measured by electric / air measurement / periodic analysis. It is measured by the device 131 and the fluctuation period of these values is analyzed in the device.

  Further, the obtained fluctuation cycle is compared with the allowable range of the fluctuation cycle in the position / posture control device 122, and one or more coordinate and angle parameters that determine the position / posture are selected according to the deviation, and are changed within the allowable range. Thus, the signal is transferred to the control unit 123 of the holding machine 125.

  The system of the present invention can control a plurality of sets of impact plastic working devices, electrical / air measurement / periodic analysis devices, and holding machines with a single position and orientation control device.

  As described above, according to the present invention, any one of the electric supply voltage, supply current, return voltage, return current, supply air pressure, and supply air flow rate, which is the energy of the vibrating body in the impact plastic processing of the metal structure, is provided. By measuring the above fluctuation cycle, the vibration cycle of the tip tool can be maintained in an appropriate range, and as a result, it can be controlled to an appropriate impact plastic working position and posture.

  Another object of the present invention is to supply a storage medium storing software program codes for realizing the functions of the measuring instrument, analysis apparatus, and control apparatus of the present embodiment to the system or apparatus, and the system or apparatus is a storage medium. Needless to say, this can also be achieved by reading and executing the program code stored in. In this case, the program code itself read from the storage medium realizes the function of the present embodiment, and the storage medium storing the program code constitutes the present invention.

  As a storage medium for supplying the program code, ROM, flexible disk, hard disk, optical disk, magneto-optical disk, CD-ROM, CR-RW, magnetic tape, nonvolatile memory card, DVD or the like can be used.

  The present invention having a vibration measuring instrument was applied to the partial model test body shown in FIG. 3 in which the automobile parts in which durability is a problem are simplified. In the partial model specimen, an appendage with a U-shaped cross section (70 mm in length, width, and height) is attached to the upper surface of a steel member 300 mm long, 150 mm wide and 30 mm high by arc welding. When a load is applied to an appendage with a U-shaped cross section, there is a high possibility that a fatigue crack will occur from the toe, so impact filleting was applied to the fillet weld outside the three sides forming the U-shape. .

Two types of impact plastic processing are used: hammer peening and ultrasonic impact treatment. Hammer peening uses a tip tool with a diameter of 18 mm and a pneumatic pressure of 6 kgf / cm ^2. Ultrasonic impact treatment uses a tip tool with a diameter of 3.5 mm. Was used to apply vibration under the condition of a vibrator frequency of 27 kHz. In the hammer peening apparatus and the ultrasonic impact treatment apparatus, an acceleration sensor having a response frequency of several Hz to several tens of kHz was attached as a vibration measuring instrument in order to measure the vibration of the tip tool between the exterior and the spring. Sampling for 10 seconds from the output of this acceleration sensor, using a vibration period analyzer with a frequency analysis function to determine the power spectrum (relationship between frequency and square of amplitude), and extracting the frequency with the largest amplitude from this Then, a cycle of the reciprocal number was obtained, and a circuit and a program for transmitting the cycle were incorporated into a computer which is a vibration frequency analyzer.

Next, after receiving the transmitted cycle and determining whether it is within the allowable range of the cycle inputted in advance, a computer incorporating software for performing the following control is defined as a position / posture control device.
That is, if the vibration period is longer than the allowable range [1] First, a signal is issued so that the tip tool is closer to the workpiece by Amm than the current one. [2] If the period is still longer than the allowable range, the in-plane direction is perpendicular to the moving direction. A signal that increases the angle of B by B ° is given to the allowable range of angle. [3] If the signal is still longer than the allowable range, a signal that decreases the angle in the plane perpendicular to the moving direction by B ° is given to the allowable range. [4] Return to [1] again and move closer to the workpiece to perform the control of [2] and [3] to the allowable range of the position of the tip tool.

  Conversely, if the period is shorter than the allowable range [1] First, a signal is sent to move the tip tool away from the workpiece by A mm from the present, [2] If the period is still shorter than the allowable range, it is in a plane perpendicular to the moving direction. A signal for increasing the angle by B ° is given to the allowable range of the angle. [3] If the signal is still shorter than the allowable range, a signal for decreasing the angle in the plane perpendicular to the moving direction by B ° is given to the allowable range. 4] Return to [1] again and move away from the work piece and perform the controls [2] and [3] to the allowable range of the position of the tip tool.

  The allowable range of the period was 0.003 to 0.03 seconds for hammer peening and 0.0002 to 0.005 seconds for ultrasonic impact treatment. In addition, coordinates and angle parameters indicating position and orientation are selected from Cartesian coordinates X, Y, Z, and angles θx, θy, θz formed by the respective axes. ± 10mm for Cartesian coordinates X, Y, Z, ± 15 ° for angles θx, θy, θz, ± 5mm for Cartesian coordinates X, Y, Z, ± 10 ° for angles θx, θy, θz did.

  The control pitches A and B were set to A = 2 mm for the hammer peening orthogonal coordinate, B = 3 ° for the angle, A = 1 mm for the orthogonal coordinate for ultrasonic impact treatment, and B = 2 ° for the angle. Further, as a moving condition of the tip tool, a condition for processing the position shown in FIG. 4 was input. First, the initial moving direction is the Y direction, the initial position is the welding start end of the U-shaped weld, the initial posture is θx = θz = 45 °, θy = 90 °, and these are computers that are position / posture control devices in advance Was input. Furthermore, as a tool movement condition, after moving at a speed of 10 cm / sec by 70 mm in the Y direction, which is the first moving direction, then toward the -X direction with an initial posture of θx = 90 ° and θy = θz = 45 ° Move at a speed of 10cm / sec by 76mm, and finally enter the condition to move at a speed of 10cm / sec by 70mm in the -Y direction in the initial posture of θx = 135 °, θy = 90 °, θz = 45 ° did.

  In addition, the power source of the computer and the ultrasonic shock treatment device was connected by a cable, and the device was designed to transmit the vibration start / stop command of these ultrasonic shock treatment devices.

  The holding machine is designed to move in response to a control signal from a computer, which is a position / posture control device, using an NC machine, and a holder is attached to hold the exterior of the hammer peening device and the ultrasonic impact treatment device. It was.

  These models are partial model specimens, impact plastic processing devices such as hammer peening and ultrasonic impact processing devices, vibration measuring devices such as acceleration sensors, vibration period analysis devices, position / posture control devices, computers, and holding machines. An NC machine was prepared and connected for communication.

  Next, the operation situation will be described in the case of hammer peening. In order to start this system, the hammer peening power was first turned on to start vibration, and then a signal from the position / posture control device was transmitted to control the holding machine to the initial position / posture. In the initial position and posture, the tip tool was slightly separated from the workpiece, so that sufficient plastic working was not given. Therefore, the frequency with the largest amplitude was in the range of 1 to 5 Hz, and the vibration period was 0.2 to 1 second. It was long. For this reason, although the coordinates X, Y, and Z of the tip tool were all close to 2 mm, the period was not improved, so the period was examined at each pitch to ± 15 ° within the allowable range, but it was not improved. Eventually, with the tip tool approaching 6 mm, the frequency was reduced to 100 Hz, that is, the vibration period was shortened to 0.01 seconds, so the tool was moved by 70 mm in the Y direction.

  Even in the second step, the frequency ranged from 1 to 2 Hz at the initial position / posture, that is, the vibration cycle was as long as 0.5 to 1 second. Therefore, the frequency was about 70 Hz with the X, Y and Z coordinates of the tip tool approaching 10 mm. The vibration period was shortened to 0.015 seconds. As a result, the movement of the tip tool started, and processing of 76 mm was performed along the weld line.

  Furthermore, in the third step, when the coordinates of the tip tool are brought closer to 10 mm, the frequency is reduced to 50 Hz, that is, the vibration period is shortened to 0.02 seconds, so the tip tool starts to move, and 70 mm along the welding line is processed, and U-shaped welding is performed. Processing has been completed. Good impact plastic working parts were obtained over the entire weld line.

  Next, in the case of ultrasonic impact processing, as with hammer peening, in order to activate this system, the ultrasonic impact processing power is first turned on to start vibration, and then a signal from the position / posture control device is sent. The holding machine was controlled to the initial position and posture. At the initial position and posture, the tool tip was too close to the workpiece, so there was no room for the tool tip to vibrate, and the frequency was 20 kHz. Therefore, the vibration cycle was very short, 0.00005 seconds, which is close to the ultrasonic vibration cycle. For this reason, the X, Y, and Z coordinates of the tip tool were all moved away by 1 mm, but since the cycle was not improved further, the cycle was examined at each pitch to ± 10 ° within the allowable range, but it was not improved. . Eventually, with the tip tool moved 3 mm away, the frequency dropped to 1000 Hz, that is, the vibration period increased to 0.001 seconds, so the tool movement started and moved by 70 mm in the Y direction.

  Even in the second step, the frequency was about 13kHz at the initial position / posture, that is, the vibration cycle was very short, 0.00006 seconds.As a result of moving the coordinates X, Y, Z of the tip tool 3mm away, the frequency dropped to 700Hz and the vibration cycle was It became longer to 0.0015 seconds, and the movement of the tip tool started, and processing of 76 mm was performed along the weld line.

In the third step, since the tip tool has moved away from the workpiece, the frequency is low as 10 Hz, that is, the period is as long as 0.01 seconds, and as a result of bringing the tool tip close to 3 mm, the frequency is increased to 1000 Hz, that is, the vibration period is Shortening to 0.001 seconds, tool movement started and 70mm weld processing was completed. Good impact plastic working was obtained in all the treated parts.
Thus, a good impact plastic working process could be stably obtained by the present invention.

  The present invention having the supply / return electricity / air measurement / period measurement device was applied to the test body of FIG. The impact plastic working was performed on the fillet weld on the outside of the three sides forming the U-shape as in Example 1.

Two types of impact plastic processing are used: hammer peening and ultrasonic impact treatment. Hammer peening is performed using a tip tool with a diameter of 18 mm and a supply air pressure of 6 kgf / cm ^2. Ultrasonic impact treatment is performed with a tip with a diameter of 3.5 mm. Using a tool, vibration was applied under the condition of a vibrator frequency of 27 kHz. In the case of hammer peening, an air pressure measurement / period analysis device is used between the hammer peening device main body and the ultrasonic shock treatment device main body and these power supply / control devices. The analysis device was connected. In the air pressure measurement / periodic analysis device, the pressure sensor samples the supplied air pressure for 5 seconds, and the power spectrum (relationship between frequency and square of amplitude) is obtained using a periodic analysis device with a frequency analysis function. The frequency with the largest amplitude was extracted to obtain the reciprocal period, and the circuit and program for transmitting the period were incorporated into a computer which is an air pressure measurement / period analysis device. Also, the return voltage measurement / period analysis device in ultrasonic shock processing provides a transmission stop period of 0.1 ms between transmission voltages, incorporates a circuit to measure the return voltage during this period, finds the period of the voltage, A circuit and a program for transmitting the signal are incorporated into a computer which is a voltage measurement / period analysis device.

  Next, after receiving the transmitted fluctuation cycle and determining whether it is within the allowable range of the fluctuation cycle inputted in advance, a computer incorporating software for performing the following control was used as the position / posture control device.

  That is, if the fluctuation period is shorter than the allowable range [1] First, a signal is issued so that the tip tool is closer to the workpiece by A mm than the current one. A signal that increases the angle of B by B ° is output to the allowable range of angles. [3] If the signal is still shorter than the allowable range, a signal that decreases the angle in the plane perpendicular to the moving direction by B ° is output to the allowable range. [4] Return to [1] again and move closer to the workpiece to perform the control of [2] and [3] to the allowable range of the position of the tip tool.

  On the contrary, if the fluctuation period is longer than the allowable range, [1] First, a signal is sent to move the tip tool away from the workpiece by A mm from the current time. [2] If the period is still longer than the allowable range, in-plane perpendicular to the moving direction A signal that increases the angle of B by B ° is given to the allowable range of angle. [3] If the signal is still longer than the allowable range, a signal that decreases the angle in the plane perpendicular to the moving direction by B ° is given to the allowable range. [4] Return to [1] again and move away from the work piece and perform the controls [2] and [3] to the allowable range of the position of the tip tool.

  The allowable range of the fluctuation period was 0.003 to 0.05 seconds for the supply air pressure in hammer peening, and 0.038 to 0.05 milliseconds for the return voltage in the ultrasonic impact treatment. In addition, coordinates and angle parameters indicating position and orientation are selected from Cartesian coordinates X, Y, Z, and angles θx, θy, θz formed by the respective axes. ± 10mm for Cartesian coordinates X, Y, Z, ± 15 ° for angles θx, θy, θz, ± 5mm for Cartesian coordinates X, Y, Z, ± 10 ° for angles θx, θy, θz did.

The control pitches A and B were set to A = 2 mm for the hammer peening orthogonal coordinate, B = 3 ° for the angle, A = 1 mm for the orthogonal coordinate for ultrasonic impact treatment, and B = 2 ° for the angle. Further, as a moving condition of the tip tool, a condition for processing the position shown in FIG. 4 was input. First, the initial moving direction is the Y direction, the initial position is the welding start end of the U-shaped weld, the initial posture is θx = θz = 45 °, θy = 90 °, and these are computers that are position / posture control devices in advance Was input. Furthermore, as a tool movement condition, after moving at a speed of 10 cm / sec by 70 mm in the Y direction, which is the first moving direction, then toward the -X direction with an initial posture of θx = 90 ° and θy = θz = 45 ° Move at a speed of 10cm / sec by 76mm, and finally enter the condition to move at a speed of 10cm / sec by 70mm in the -Y direction in the initial posture of θx = 135 °, θy = 90 °, θz = 45 ° did.
In addition, the power source of the computer and the ultrasonic shock treatment device was connected by a cable, and the device was designed to transmit the vibration start / stop command of these ultrasonic shock treatment devices.

  The holding machine is designed to move in response to a control signal from a computer, which is a position / posture control device, using an NC machine, and a holder is attached to hold the exterior of the hammer peening device and the ultrasonic impact treatment device. It was.

  These are part model specimens that are workpieces, hammer peening and ultrasonic impact treatment devices that are impact plastic processing devices, pneumatic / periodic analysis devices or voltage / periodic analysis devices, computers that are position / posture control devices, and holding machines. An NC machine was prepared and connected for communication.

  Next, the operation situation will be described in the case of hammer peening. In order to start this system, the hammer peening power was first turned on to start vibration, and then a signal from the position / posture control device was transmitted to control the holding machine to the initial position / posture. In the initial position and orientation, the tip tool was slightly separated from the workpiece, so that sufficient plastic working was not given.Therefore, the largest frequency in the supply air pressure fluctuation was in the range of 2 to 5 Hz, so the fluctuation period was 0.2 It was as long as ~ 0.5 seconds. For this reason, the coordinates X, Y and Z of the tip tool were all close to 2 mm, but the fluctuation period was not improved, so the period was examined at each pitch to ± 15 ° within the allowable range, but it was not improved. . Next, with the tip tool approaching 4 mm, the supply air pressure frequency was 40 Hz, that is, the fluctuation period was shortened to 0.025 seconds, so the tool was moved by 70 mm in the Y direction.

  Even in the second step, the frequency ranged from 1 to 4 Hz at the initial position / posture, that is, the fluctuation cycle was as long as 0.25 to 1 second, so the frequency was about 50 Hz with the X, Y and Z coordinates of the tip tool approaching 6 mm The vibration period has been shortened to 0.02 seconds. As a result, the movement of the tip tool started, and processing of 76 mm was performed along the weld line.

  Furthermore, in the third step, when the tip tool coordinate is brought closer to 6 mm, the supply air pressure fluctuation frequency is 20 Hz, that is, the fluctuation cycle has been shortened to 0.05 seconds, so the tip tool starts moving, and 70 mm is processed along the weld line. Processing of the U-shaped weld has been completed. Good impact plastic working parts were obtained over the entire weld line.

  Next, in the case of ultrasonic impact processing, as with hammer peening, in order to activate this system, the ultrasonic impact processing power is first turned on to start vibration, and then a signal from the position / posture control device is sent. The holding machine was controlled to the initial position and posture. At the initial position and orientation, the tool tip was too close to the workpiece, so there was no room for the tool tip to vibrate, the return voltage was small, and the frequency was 200-500 Hz, so the fluctuation period was very long, 2-5 ms. It was. For this reason, the X, Y, and Z coordinates of the tip tool were all moved away by 1 mm, but since the cycle was not improved further, the cycle was examined at each pitch to ± 10 ° within the allowable range, but it was not improved. . With the tip tool moved 2 mm away, the frequency increased to 26000 Hz, that is, the return transmission cycle was shortened to 0.0385 milliseconds, so the tool movement was started and moved 70 mm in the Y direction.

  Even in the second step, the frequency was about 1 kHz at the initial position / posture, that is, the fluctuation cycle was very long, 1 millisecond.As a result of moving the X, Y, and Z coordinates of the tip tool 2 mm away, the frequency increased to 25500 Hz, and the fluctuation cycle Was shortened to 0.00392 milliseconds, the tip tool began to move, and 76 mm was processed along the weld line.

  In the third step, the tip tool is slightly disengaged from the work piece, so the frequency is as high as 27.5 kHz, that is, the period is shortened to 0.0036 milliseconds, and the tool tip is moved closer to 3 mm, resulting in a frequency of return voltage of 25500 Hz. In other words, the vibration period was increased to 0.00392 seconds, the tool movement started, and the 70 mm weld processing was completed. Good impact plastic working was obtained in all the treated parts. Thus, a good impact plastic working process could be stably obtained by the present invention.

It is a figure which shows the structure of the impact plastic working system of this invention. It is a flowchart for demonstrating operation | movement of the impact plastic working system of this invention. It is a perspective view which shows the partial model test body to which this invention is applied in an Example. It is a top view which shows the processing position of the partial model test body to which this invention is applied in an Example, and the moving direction of a tip tool. It is a figure which shows another structure of the impact plastic working system of this invention.

Explanation of symbols

100 impact plastic working system
102 Tip tool
103 Vibration transmitter
104 vibrator
105 Exterior
106 spring
110 Impact plastic processing equipment
111 Power supply and control equipment for impact plastic processing equipment
112 Impact plastic processing equipment
120 Vibration measuring instrument
121 Vibration period analyzer
122 Position / Attitude control device
123 Control unit of holding machine
124 Holding part of holding machine
125 holding machine
130 Workpiece
131 Electrical / Air Measurement / Period Analyzer

Claims (13)

An apparatus for impact plastic working,
Impact plastic working means for performing impact plastic working, holding means for holding the impact plastic working means in a predetermined position and posture, measuring means for measuring vibration of a tip tool in the impact plastic working means, and period of the vibration An impact plasticity processing apparatus for a metal structure, comprising: an analysis means for analyzing the position and a control means for changing the position and orientation of the tip tool based on the analysis result of the period.   The measuring means is mounted in the impact plastic working means and has a function of measuring any one or two or more of displacement, load, and acceleration between a vibrating body that gives impact plastic working and an exterior. The impact plastic working apparatus for a metal structure according to claim 1.   The measuring means has a function of measuring one or more of voltage, current, air pressure, air flow rate, voltage returned from the impact plastic working means, and current supplied to the impact plastic working means. The impact plastic working apparatus for a metal structure according to claim 1, characterized in that:   The said holding | maintenance means has a function which hold | maintains any 1 or more of three angles which determine the orthogonal | vertical 3 coordinate which determines the position of the said front-end tool, and an attitude | position. Impact plastic processing equipment for metal structures.   The analysis means has a function of analyzing a period of the vibration based on any one or two or more of displacement, load, and acceleration between a vibrating body that gives impact plastic working and an exterior. The impact plastic working apparatus for a metal structure according to any one of 1, 2, and 4.   The analyzing means calculates the period of the vibration based on one or more of voltage, current, air pressure, air flow rate, voltage returned from the impact plastic working means, and current supplied to the impact plastic working means. The impact plastic working apparatus for a metal structure according to any one of claims 1 to 4, wherein the apparatus has an analysis function.   The control means has a function of controlling any one or more of three orthogonal coordinates for determining the position of the tip tool and three angles for determining an attitude within a preset range. The impact plastic working apparatus for a metal structure according to any one of the preceding claims. An impact plastic working system in which a plurality of devices are communicably connected,
At least one device among the devices comprises the impact plastic working device according to any one of claims 1 to 7, wherein the impact plastic working system for a metal structure is provided. A method for a computer to control impact plastic processing,
An input step for inputting the initial position, posture and movement conditions of the tip tool to the computer, an input step for inputting the allowable change range and position of the tip tool and the vibration cycle allowable range to the computer, and the initial position of the tip tool A processing start step of starting impact plastic working while maintaining the initial position and posture of the tip tool so as to be in the posture, and the position and posture of the tip tool within the allowable change range of the position and posture of the tip tool A control step for controlling, a measuring step for measuring a vibration cycle of the tip tool, a determination step for determining whether the vibration cycle is within an allowable range based on an input of the allowable vibration cycle range, and a tip tool. The computer determines whether or not to move to the next machining based on the moving condition and the moving condition. Motor and is determining the impact plastic working method of the metal structure impact plastic working computer comprising a termination step of terminating.   The program for making a computer implement | achieve the function of the impact plastic working apparatus of any one of Claims 1-7.   The program for making a computer implement | achieve the function of the impact plastic working system of Claim 8.   The program for making a computer implement | achieve the process step of the impact plastic working method of Claim 9. A storage medium used for impact plastic working of a metal structure, which can be read by a computer in which the program according to any one of claims 10 to 12 is recorded.

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