JPS58125367A - Fillet copy welding device - Google Patents

Abstract

PURPOSE:To perform fillet copy welding at a specified projecting rate of a copying roll and torch angle by detecting the projecting position of the copying roll and controlling the moving of a carriage and the turning of link mechanisms in accordance with the information thereof. CONSTITUTION:A copying roll 10 is brought into contact with the perpendicular surface of a plate material W2, and the projecting position of the roll 10 is detected with a detector S1 for projecting position. In accordance with the output information thereof, a moving body 5 of a traveling carriage 1 is moved and controlled so that the projecting rate of the roller 10 is made roughly constant. The turning of parallel link mechanisms 9 which are pivotally supported perpendicularly to the body 5 is controlled to make the angle of a welding torch T to the position P of a weld line roughly constant. Further, if necessary, means, etc. for controlling the speed of the carriage roughly constant and steering and controlling wheels so as to make the distance between the weld line WL and the carriage 1 roughly constant are provided. With such mechanism, the need for mounting many sensors is eliminated, and the fillet copy welding is accomplished with the simple construction.

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to an apparatus for profile welding fillet fillets by mounting a welding torch on a traveling carriage. There is a system in which a traveling truck is run at a constant speed while the welding torch is in contact with the welding line, and a welding torch mounted on the traveling truck is caused to follow the welding line. In the case of such profile welding equipment, the output of one profile sensor usually produces 1
Therefore, as the number of elements to be controlled increases, the number of sensors must also increase. Therefore, the structure of the welding device becomes complicated and becomes large.

The present invention was made in view of the above-mentioned circumstances, and aims to provide a fillet profile welding device that can control multiple elements with a single workpiece vertical surface profile sensor.Examples will be described in detail below. do.

W11W2 are workpieces, Wl is a horizontal plate, and W2 is a vertical plate. As shown in FIG. 4, the works wl and w2 are positioned relative to each other and tack welded in advance. WL (WL1 to WLa) are both plate materials Wl.

These are weld lines formed by W2.

1 is a running trolley (in the embodiment, the planar shape is square), and a total of four cars $2 are attached to it. In addition, all wheels 2 are
Chain 3a is controlled by electric motor M1 attached to the bottom of truck L.
and sprockets 8b, 8C, and bevel gears 8d, 8e
OEl, which is configured to be driven in the same direction via a power transmission mechanism 3 consisting of the following, is an encoder for detecting the traveling distance connected to the wheel 2, although details are not shown.

4 is a steering mechanism, and an electric motor M is attached to the bottom of the truck 1.
2, chain 4a and sprocket) 4b, 4
It is constructed so that all wheels 2 can be simultaneously steered in the same direction via the steering wheel c. E2 is a steering angle detection encoder of the mechanism 4, although details are not shown.

5 is a rotating body that is vertically supported by a shaft 5a at the upper center of the truck 1 and is rotated by an electric motor station (not shown); OF2 is an encoder for detecting the rotation angle of the rotating body 5, although details are not shown in the figure. .

The stove 106 is a movable body supported by the rotating body 5 and movable in the horizontal direction by an electric motor via a known ball screw set transmission mechanism 7. E4 is an encoder for detecting the position of the moving body 6.

Reference numeral 8 denotes a rotating member whose one end is horizontally connected 8a to the distal end of the movable body 6.

Reference numeral 9 denotes a parallel link mechanism that is vertically supported on the lower part of the member 8 in a horizontal state and is composed of two sets of parallelogram links. In the mechanism 9, when the member 8 is in a horizontal state, links 9a and 9b are vertically supported 9c and 9dL at the bottom of the member 8, and a link 9f with a leno (-9f') protruding from the tip of the link 9a is connected 9e, and a lever A pair of parallelogram links formed by joining 9g of the tip of link 9f and the tip of link 9b, and link 9
A link 9h is attached 91 to the tip of the lever 9a protruding from the tip a. In addition, a pair of parallelogram links are formed by connecting a link 9j to a joint 9 and a link 9t between the image tips of links 9f and 9h. M5 is an electric motor that rotates the link 9a. Note that the stock end link cjj of the mechanism 9 is formed as a holding member for the welding torch T in the structure 11.

Reference numeral 10 denotes a vertical surface tracing roller for the plate material W2, which is horizontally joined 10a to the tip of the holding member 9j and urged to protrude by a bullet (not shown).

Sl is attached to the holding member 9j and is a protrusion position detector (differential transformer) of the roller 10.

Reference numeral 11 denotes a free roller for tracing the upper surface of the plate material Wl, which is attached to the lower part of the holding member 9j (coaxially with the shaft 9).

Note that the position of the joint 10a of the roller 10 is such that the distance between the shafts 9c and 9e is equal to the distance between the shafts 9 and 10b at the standard protruding position of the roller 10 at the preset standard output value of the detector S1, and the distance between the shafts 9c and 9e is equal to the distance between the shafts 9 and 10b. .

9 and the distance between the axes 9c and 10b are set to be equal. Further, the attachment position of the torch T to the holding member 9j is such that the position P of the welding point of the torch T coincides with the horizontal plane passing below the tip of the row 210 and the lower end of the roller 11 at the above-mentioned standard protruding position of the roller 10. is set to . Regardless of the rotation of the link 9a, the torch T rotates about the shaft 10b, so that the angle of the torch T with respect to the welding line WL can be changed. E5 is an encoder for detecting the angle of the torch T with respect to the welding line WL.

S2 is a plate material W# indicator (4 pieces in total protruding from each side of the trolley 1).
For example, a limit switch).

C is a device that controls the electric motors M1 to M5 and the welding power source ws, and is mainly a computer including a central processing unit CPU and a memory MEM. And electric motor M1~
M5, drive circuit (driver) MD of each of these motors, -
MD5, encoders E1 to E5, detector S1, detector S
2 and the power source ws are connected to the control device C via a pass line B as shown in FIG.

The control device C includes a first means Al for controlling the movement of the movable body 6 so that the amount of protrusion of the row 210 is approximately constant based on the output information of the detector s1, and a welding line W of the torch T.
A second means A2 for controlling the rotation of the mechanism 9 so that the angle with respect to L is constant; a third means A3 for controlling the speed of the truck 1 so that the welding speed is constant; and a welding line WL and the truck. 1 and fourth means for controlling all the wheels 2 so that the distance between the wheels 1 and 418 is substantially constant.

Note that the first means A includes means for calculating the difference between the output value from the detector S1 and a preset reference value (step 5T2).
)It is included. Further, the second means A2 includes means (step 5T5) for calculating the direction of a straight line passing through both positions (direction of the welding line WL) from the position information of the position P 11 Pi+1 of each welding point before and at the present time for a certain period of time. ) and a means for calculating the torch angle with respect to the direction of the straight line (in the embodiment, the torch angle θ with respect to the normal direction to the straight line) (
Step 5T6) is included. Furthermore, the eighth means A
3 includes the step S Ts described above, and means (step 5Ts) for calculating the position Pi+2 of the next virtual welding point that will be reached on the straight line and after a certain period of time has elapsed;
A certain distance L2 from the Pi+2 position to the current moving direction of the moving body 6 (left-right direction of the trolley 1) and towards the trolley 1 side (the position of the welding point of the torch T at the standard protrusion position of the moving body 6 and the vertical axis 5)
next vertical axis 5a virtual position Oi separated by distance from a)
+2 calculation means (stencil 14 block 5T9), O1+2 and the current position Oi of the vertical axis 5a.
It includes means for calculating the distance t from +1 and further dividing the distance t by a certain time t (step 5T10). Furthermore, the fourth means A4 further includes the step S.
Ts, step ST8, step ST9, Oi
+2 and Oi + 1, and further calculate the angle φ of that straight line with respect to the current steering direction of all wheels 2.
(step ST12).

Further, the operation of this embodiment will be explained based on the flowcharts of FIGS. 9(a) and 9(b) and FIG. 1O.

First, the operator places the trolley 1 at the position shown by the solid line in FIG. At this time, the rotating body 5 is configured such that the moving direction of the movable body 6 is the truck l.
The rotation angle is set to be perpendicular to the direction in which the robot is desired to move (vertical direction in FIG. 4). Further, the roller 10 is in contact with the vertical surface of the plate material W. Furthermore, roller 1
1 is brought into contact with the upper surface of the plate material Wtl, and its rotation is restrained by the gravity of the member 8 about the shaft 8a. For convenience of explanation, the mechanism 4 is shown with all wheels 2 facing upward in FIG.
Let us assume that the ship is being steered at an angle of 615.

Then, when the start switch of the control device C is turned on, the power source WS is turned on. On the other hand, position information on the position Pi of the welding point is taken into the computer C, with the axis 5a as the origin O1 and the steering direction of all wheels 2 as the xi axis (step 5TI). Moreover, the forward rotation output of the driver MDI is turned ON, the electric motor M1 is driven to rotate in the forward direction, all wheels 2 are rotated in the forward direction via the mechanism 3, and the bogie 1 is moved upward from the solid line position in FIG. 4 at a predetermined welding speed. At the same time as moving forward, encoder E
1 starts counting the distance traveled.

Then, the computer C takes in the output of the detector S1, calculates the difference from a predetermined reference value, converts the difference to the length of the moving body 6 in the moving direction (Step 5T2), and then keeps the converted value constant. Divide by time t. Note that this constant time t is related to the welding speed, but in this example it is 0.1
seconds (welding speed 10/sec). If the division value is positive, the counterclockwise rotation output of driver MD4 is O.
N, the motor M4 moves the movable body 6 protrusively at the speed of the above-mentioned divided value (absolute value). Conversely, if it is negative, the clockwise rotation output of the driver MD4 turns ON, and the moving body 6 moves at the speed of the above-mentioned divided value (absolute value). (absolute value) (step 5T3)
). Note that in steps ST2 to sT3, the detector S1
The second means A2 is configured to control the movement of the movable body 6 so that the amount of protrusion of the roller 10 is approximately constant based on the output information.

Then, after a certain period of time t has elapsed, the current position P i + 1 of the welding point is calculated from the position information of Pi and the outputs of encoders E1, E2% E4, and the position information of Pi + 1 is imported into the computer C (step 5T4 ).

Then, the current steering angle is calculated from the output of the encoder E2, and the steering direction is the xi+1 axis, and the vertical axis 5a is the origin O1.
+1, and in that new coordinate system, P
Coordinate transformation is performed at position i and Pi+1. And Pi, Pi
Step S Ts) to calculate the direction of the straight line passing through +1 (direction of welding line WL), further calculate the normal direction to the straight line, and further calculate the torch angle θ with respect to the normal direction (Step S T6). , and furthermore, the torch angle θ is divided by a constant time ti17. If the division value θ/l is positive, the clockwise rotation output of the driver MD5 is turned ON, and the torch T is rotated clockwise by the electric motor M5 at the speed of the division value (absolute value), and vice versa. If so, the counterclockwise rotation output of driver MD5 is ON.
Then, the torch T is rotated to the left at a speed equal to the division value (absolute value) (step 577). Note that step S Tl
Steps ST4 to ST7 constitute a second means A2 for controlling the rotation of the mechanism 9 so that the angle of the torch T with respect to the welding line WL is substantially constant.

Then, the preset welding speed (10 wm/sec) is multiplied by the constant time t (0,1 sec), and Pt+Pi+l
The position of the next virtual welding point Pi+2, which is separated from the multiplication value (distance L1, that is, 1 in this example) by the multiplication value (distance L1, that is, 1■ in this example) from the s Pi+1 position on the straight line passing through the line, that is, the Pi+2 position that will be reached after a certain period of time has elapsed. Calculate (
Step 5Ts). Furthermore, a certain distance L is extended from the Pi+2 position to the left and right direction of the trolley 1 (towards the current movable blade 5 of the movable body 6).
2 (that is, the distance between the welding point position P and the vertical axis 5a when the reference position of the moving body 6 is set in advance and the reference flat 18 position of the moving body 6)
virtual position O1+ of the next vertical axis 5a, which is away from the trolley 1 side by
2 is calculated (step 5T9). Furthermore, the current position Oi+1 of the vertical axis 5a and the position O1+2 of the next virtual point
The distance t is calculated, and the distance t is divided by a certain time t (step ST10). Then, the division value t/l is output to the driver MDt (step S Tu), and the trolley 1
is run at the divided value, that is, the speed value. Note that steps STI, ST4-5T51ST8-S Tht are configured as eighth means A3 for controlling the speed of the truck 1 so that the welding speed is constant.

Then, calculate the direction of the straight line passing through Oi+1 and 0i+2, and the angle φ of that straight line with respect to the xi+1 axis (that is, the angle of that straight line with respect to the current steering direction of all wheels 2)
(step 5T12), and further divides the angle φ by the time t. If the division value φ/l is positive, the counterclockwise rotation output of driver MD2 is turned ON, and all wheels 2
is steered to the left at the speed of the above-mentioned division value (absolute value), and if it is negative, the clockwise rotation output of 419 driver MD2 is turned ON, and all wheels 2 are steered to the left at the speed of the above-mentioned division value (absolute value). The vehicle is then steered to the right (step 5T13). Note that steps S Tl, S T4 to S
T5, ST8, ST9, STL-S'n3 so that the distance between the truck 1 and the welding line WL is almost constant.
That is, the fourth means A4 is configured to perform steering control on all the wheels 2 so that the amount of movement of the moving body 6 relative to a preset reference position becomes approximately zero.

Thereafter, the position information of Pi+1 is replaced with the position information of Pi, and the same operation as last time is repeatedly performed.

Therefore, according to the output of the detector Sl, the protrusion amount of the roller 10 is almost constant, the torch angle with respect to the welding line WLI is almost constant, and the welding speed is almost constant regardless of the direction of the welding line WL. So that it stays constant,
In addition, the speeds are controlled as described above so that the distance between the trolley 1 and the welding line WL1 is approximately constant, and the welding line WL is automatically welded from bottom to top in FIG. 4. become.

When the cart 1 finally collides with the plate W2 as indicated by the two-dot chain line 1' in FIG. 4, the output of the detector S2 turns ON. Then, the amount counted (mileage) by the encoder E1 up to that point is temporarily stored in the memo IJMEM.
Further, the driver MDI is turned off, and the trolley 1 is stopped. Then, the clockwise rotation output of the driver MD3 is turned on, the rotating body 5 is rotated to the right, and counting by the encoder E3 is started. Then, when the count reaches Kl, that is, when the count reaches Kl, the driver MD3 turns OF.
F, the rotating body 5 is stopped, and the power source WS is also turned off.
It becomes F. Therefore, at this point, welding is completed for the weld line WLI.

Further, the reverse rotation output of the driver MDI is turned on, the truck I moves backward, and moreover, the encoder E1 starts counting the force. The driver M
DI is turned OFF and truck 1 is stopped.

Flat 21- And furthermore, the clockwise rotation output of driver MD3 is turned ON.
Therefore, the rotating body 5 is rotated to the right, and the encoder E
Counting by 3 is started. When the count reaches 3, that is, when the torch T reaches the position indicated by the two-dot chain line 1 in FIG. 4 to the position shown by the two-dot chain line 1 in FIG. .

Furthermore, the left rotation output of the driver MD2 is turned on, and all wheels 2 are steered to the left, and the encoder E
Counting by 2 is started. Then, when the count reaches 4, that is, when all the wheels 2 are steered 90 degrees to the left and turned to the left in FIG. 5, the driver MD2 is turned off and the steering is stopped. Further, the forward rotation output of the driver MDI is turned ON, and the truck 1 moves to the left in FIG. When the truck 1 collides with the plate material W2 as shown by the two-dot chain line 1 in FIG.
It becomes FF and the trolley I is stopped.

Further, the clockwise rotation output of the driver MD2 becomes O22N, all wheels 2 are steered to the right, and counting is started by the encoder E2. When the count reaches 5, that is, all wheels 2 move to the right by 9.
When the vehicle has been steered by 0 degrees and is pointing upward in FIG. 5, the driver MD2 is turned off and the steering operation is stopped. Furthermore, the forward rotation output of driver MDI is O
N, and the truck l moves forward. Then finally Laura 1
0 collides with the vertical surface of the plate W2, the output of the detector S1 is released from the limit, and the release output signal causes the driver M
DI is turned OFF, and the truck I is stopped at the position shown in FIG.

Further, the counterclockwise rotation output of the driver MD3 is turned on, the rotating body 5 is rotated to the left, and counting is started by the encoder E3. And the count amount is 6
In other words, the torch T is indicated by the two-dot chain line 1 in Fig.
When reaching the T position from the r position, the driver MD3 turns O.
It becomes FF, and the rotating body 5 is stopped.

Furthermore, the clockwise rotation output of driver MD2 is Ol62
8 N, all wheels 2 are steered to the right, and counting is started by encoder E2. When I applied that count to 7, that is, all wheels 2 moved to the right by 9.
When the vehicle is steered by 0 degrees and turns to the right in FIG. 6, Drino'MD2 is turned off and the steering operation is stopped.

Then, the power supply WS is turned ON again 9, and the driver MD
The clockwise rotation output of 3 is also turned on, and the rotating body 5 is rotated clockwise.
Moreover, counting is started by the encoder E3. Then, when the count reaches eight, that is, when the torch T reaches the T position from the two-dot chain line T position in FIG. 6, the dry no. Therefore, the welding line WL2 between the two-dotted chain line position in FIG. 6 and the T position is automatically welded.

Then, the forward rotation output of the driver MDI becomes oH, and the above-mentioned count amount (corresponding to the traveling distance of 10 carts from the welding start position to the T position in Fig. 4 ) is used as the initial value, the counting by the encoder E1 is restarted, and the operations after the aforementioned step STi are executed again.

Therefore, the welding line WL2 is automatically welded toward the right from the position of the two-dot chain line T in FIG.

Then, welding lines WL2 and WL3 are automatically welded in the same manner as described above, and when the count by encoder E1 finally reaches 9, that is, when the trolley l has traveled until the torch T reaches the lower end position of welding line WL3 in Fig. 4. For example, the power source WS is turned off, the driver MIh is also turned off, the trolley 1 is stopped, and the automatic welding of the welding line WL is completed.

As is clear from the above explanation, each welding line WLl~WL
The vicinity of the intersection point 3 is automatically welded based on the subroutine flowchart shown in FIG. Furthermore, the welding speed is set so that the welding speed is approximately constant regardless of the direction of the welding line WL, the torch angle with respect to the welding line WL is approximately constant, and the welding speed is approximately constant regardless of the direction of the welding line WL. Automatic welding is performed while the speed is controlled by 25 degrees so that the distance from the line WL is approximately constant i.

The above description is an example. For example, if the welding line WL is approximately straight, (1) the rotating body 5 is eliminated and the movable body 6 is replaced.
is supported so as to be movable in the left and right direction with respect to the trolley 1, the steering mechanism 4 is also eliminated and all wheels 2 are directed forward, and means A
4, or both A3 and A4. (2) The rotating body 5 and the movable body 6 are eliminated, and the link mechanism 9 is mounted on the trolley 1 with vertical shaft supports 9c, 9dL, and means A.
1 or both AI + A3 may be abolished. Note that the fourth means A4 in this case is Oi + 1, Ot
Angle φ of the straight line passing through +2 with respect to the x i +1 axis
Rather than steering control of all wheels 2 based on this, all wheels 2 are controlled so that the amount of protrusion of roller 10 is approximately constant. Or again (3) Rotating body 5
It is also possible to omit the means A3, to make the movable body 6 movable in the left-right direction with respect to the trolley l, and to omit the means A3. In addition, the means At+ A21 A4 may be used for position control instead of speed control; the earth rotating body 5 may be omitted;
Furthermore, the technology of the present invention also allows for the replacement of each structure with equivalents, such as the center of rotation of the torch T by the link mechanism 9 may be set to match the tip position of the roller 10 at the reference protrusion position of the roller 1026. Of course, it is included in the scope.

As is clear from the above description, this invention uses the output information of one detector S1 to determine (a) the amount of movement of the moving body 6 and the torch angle with respect to the welding line WL, or (b) the amount of movement of the moving body 6, The torch angle with respect to the welding line WL and the speed of the truck 1, or (c) the torch angle with respect to the welding line WL and the steering angle of all wheels 2, or (c) the torch angle with respect to the welding line WL and the speed of the truck 1. , and the steering angle of all the wheels 2, or furthermore) the amount of movement of the moving body 6, the torch angle with respect to the welding line WL, and the steering angle of all the wheels 2, or furthermore (to) the moving amount of the moving body 6. The amount of travel, the torch angle with respect to the welding line WL, the speed of the truck I, and the steering angle of all wheels 2 can be controlled.

That is, since a plurality of elements can be controlled by one detector Sl, there is no need to attach many sensors to the welding equipment as in the conventional case, and the structure can be made simple, lightweight, and compact.

[Brief explanation of the drawing]

The figures all show an embodiment of the present invention, with Figure 1 being a perspective view for explaining the whole, Figure 2 being a bottom view of the traveling truck, Figure 3 being a plan view of the parallel link mechanism, and Figures 4 to 7 being Action explanatory diagram, No. 8
The figure is a block diagram of the control device, and FIGS. 9(a), (b), and 10 are flowcharts for explaining the operation. In the figure, Wl...work (horizontal plate material), w2...
・Work (vertical plate material), W L (WLt ~ W L
3) - Welding line, T... Welding torch, P... Position of welding point of torch T, l... Traveling truck, 2... Wheels, 4... Steering mechanism, 5...・Rotating body, 5a... Vertical axis, 6... Moving body, 9... Parallel link mechanism, 9j.
...Holding member, 10...° tracing roller, Sl...Protrusion position detector of roller 10, C...Control device, ST1
°゛・Means for calculating the difference between the output value from the detector Sl and a preset reference value, S T5・・・From the position information of the positions P1+Pf+1 of each welding point between the previous and the current time for a certain period of time, both of them are calculated. Means for calculating the direction of a straight line passing through a position, S T
6...Means for calculating the position Pi+2 of the next virtual welding point that will be reached after the torch angle with respect to the straight line direction of the means ST5 has passed a certain period of time, ST9...Pi+2
A certain distance L2 from the position to the left and right direction of the trolley l and towards the trolley l side
Means for calculating the virtual position Oi+2 of the next vertical axis 5a separated by S T'to...Oi+2 and the current vertical axis 5
Means for calculating the distance t from the position Oi+1 of a and further dividing the distance t by a certain time t, S TL2...Oi
+2s Oi+t means to calculate the direction of a straight line and further calculate the angle φ of the straight line with respect to the current steering direction of all wheels 2, A1...The moving body 6 so that the amount of protrusion of the roller 1o is constant A first means for controlling the movement of
2... A second means for controlling the rotation of the mechanism 9 so that the angle of the torch T with respect to the welding line WL is approximately constant;
3... Eighth means for controlling the speed of the truck 1 so that the welding speed is approximately constant, A4... Steering all wheels 2 so that the distance between the welding line WL and the truck 1 is approximately constant This is a fourth means for controlling. Applicant ShinMaywa Industries Co., Ltd. Agent Tadashi Bengami (and 1 other person)

Claims (9)

[Claims] (1) A traveling truck, a moving body supported by the traveling truck and movable in the left-right direction of the traveling truck, and a welding torch supported by the moving body via a vertically supported parallel link mechanism. a holding member; a profiling roller on the vertical surface of the workpiece supported by the holding member and urged to protrude; and a protruding position detector of the profiling hole; and a position of the welding point of the welding torch based on the output of the detector. a control device configured to always align the contour roller with the welding line; A fillet profile welding device comprising: one means and a second means for rotationally controlling the parallel link mechanism so that the angle of the welding torch with respect to the weld line is substantially constant. (2) The first means includes an output value from the detector and /I
62 The second means includes a means for calculating a difference from a preset reference value, and the second means calculates the direction of a straight line passing through both positions (the direction of the weld line) from the position information of each welding point a certain time ago and the present time. ); and means for calculating the torch angle with respect to the linear direction. (3) A traveling truck, a moving body supported by the traveling truck and movable in the left-right direction of the traveling truck, and a welding tool i supported by this moving body via a vertically supported parallel link mechanism. a holding member of the welding torch, a profiling roller for the vertical surface of the workpiece supported by the holding member and urged to protrude, a protruding position detector of the profiling roller, and an output of the detector to determine the position of the welding point of the welding torch. a first means for controlling the movement of the movable body so that the amount of protrusion of the profiling roller is substantially constant based on the output information of the detector; a second means for controlling the rotation of the parallel linkage mechanism so that the angle of the welding torch with respect to the welding line is constant; and a second means for controlling the rotation of the parallel linkage mechanism so that the angle of the welding torch with respect to the welding line is constant; and controlling the speed of the traveling truck so that the welding speed is approximately constant. A fillet profile welding device comprising preferably eight means. (4) The eighth means includes means for calculating the direction of a straight line passing through both positions from the position information of each welding point a certain time ago and the present, and reaching the direction on the straight line and after the elapse of the certain time. a certain distance from the position of the virtual welding point in the current movement direction of the moving body (of the welding point of the welding torch at the reference protruding position of the moving body); position and distance from the traveling trolley)
means for calculating the next virtual position of the traveling carriage that has moved away from the traveling carriage by the amount of time; and means for calculating a distance between the next virtual position and the current position of the traveling carriage, and dividing the distance by the predetermined time. Claim 8 comprising:
Fillet profile welding equipment as described in section. (5) a traveling truck to which a steering mechanism is connected to all wheels; a holding member for a welding torch supported by the traveling truck via a vertically supported parallel link mechanism; and a welding torch supported by the holding member;
and a protrusion-biased workpiece vertical surface profiling roller, a protrusion position detector of the profiling roller, and a control device configured to always align the welding point of the welding torch with the welding line by the output of the detector. The control device includes a second means for controlling the rotation of the parallel link mechanism so that the angle of the welding torch with respect to the welding line is approximately constant based on the output information of the detector; and fourth means for steering and controlling all of the wheels so that the distance from the traveling truck is substantially constant. (6) The fourth means includes means for calculating a position along a straight line passing through both positions from the position information of each welding point a certain time ago and the current time, and a means for calculating a position in the direction of a straight line passing through both positions from the position information of each welding point a certain time ago and the present, and means for calculating the next virtual position of the traveling truck which is separated by a certain distance (fL5 distance between the position of the welding point of the welding torch and the traveling truck) toward the truck; Calculate the direction of the straight line that passes through the position of the cart, and then
6. The fillet profile welding apparatus according to claim 5, further comprising means for calculating the current angles of all said wheels with respect to the steering direction. (7) a traveling truck to which all wheels are connected to a steering mechanism; a holding member for a welding torch supported by the traveling truck via a vertically supported parallel link mechanism; and a welding torch supported by the holding member;
and a protrusion-biased workpiece vertical surface profiling roller, a protrusion position detector of the profiling roller, and a control device configured to always align the welding point of the welding torch with the welding line by the output of the detector. The control device includes a second means for rotationally controlling the parallel link mechanism so that the angle of the welding torch with respect to the welding line is constant based on the output information of the detector, and a welding speed. an eighth means for controlling the speed of the traveling truck so that the distance between the welding line and the traveling truck is approximately constant; A fillet profile welding device comprising four means. (8) A running bogie with all wheels connected to a steering mechanism, a moving body supported by this running bogie and movable in the left and right direction of the running bogie, and a parallel link mechanism with a vertical axis supported on this moving body. a holding member for the welding torch supported through the welding torch; a profiling roller for the vertical surface of the workpiece supported by the holding member and urged to protrude; and a protruding position detector for the profiling roller; a control device configured to always align the position of the welding point of the torch with the welding line, and the control device, based on the output information of the detector,
a first means for controlling the movement of the movable body so that the amount of protrusion of the profiling roller is approximately constant; and rotating the parallel link mechanism so that the angle of the welding torch with respect to the welding line is approximately constant. A fillet profile welding device comprising a second means for controlling the welding line and a fourth means for steering and controlling all the wheels so that the distance between the welding line and the traveling truck is substantially constant. 47 (9) A running bogie with a steering mechanism connected to all wheels, a movable body supported by the bogie and movable in the left and right directions of the bogie, and a parallel link mechanism with a vertical axis supported on this movable body. a holding member for the welding torch supported through the welding torch; a profiling roller for the vertical surface of the workpiece supported by the holding member and urged to protrude; and a protruding position detector for the profiling roller; a control device configured to always align the position of the welding point of the torch with the welding line, and the control device, based on the output information of the detector,
a first means for controlling the movement of the movable body so that the amount of protrusion of the profiling roller is approximately constant; and a first means for controlling the rotation of the parallel link mechanism so that the angle of the welding torch with respect to the welding line is approximately constant. The second means to do so,
Eighth means for controlling the speed of the traveling truck so that the welding speed is approximately constant; and eighth means for controlling the steering of all the wheels so that the distance between the welding line and the traveling truck is approximately constant. A corner that includes four means. Meat profile welding equipment. Japanese Patent Publication No. 58-125367 (3)