CN102343472A - Profiling sensor and welding apparatus having the same - Google Patents
Profiling sensor and welding apparatus having the same Download PDFInfo
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- CN102343472A CN102343472A CN2011100612818A CN201110061281A CN102343472A CN 102343472 A CN102343472 A CN 102343472A CN 2011100612818 A CN2011100612818 A CN 2011100612818A CN 201110061281 A CN201110061281 A CN 201110061281A CN 102343472 A CN102343472 A CN 102343472A
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Abstract
Provided are a profiling sensor and a welding apparatus having the same, which can reduce the faults resulting from the influence of the heat upon the welding portion and detect the deformation of the corner-turning line of the filet weld joint around the point of weld, thus to make the welding gun correctly imitate the corner-turning line. The profiling sensor, detecting the welding line of corner-turning line of multiple combined strip boards, comprises a sensor body, an arm pedestal capable of being connected with the sensor body in a free swing manner, a pair of contacts, a supporting member fixing the contacts at the front ends of the supporting member, with the front ends extending into a cross shape and the rear ends of the supporting member being connected with the arm pedestal, and a welding line detecting member which, configured inside the sensor body, detects the swaying direction and angle of the arm pedestal.
Description
Technical field
The present invention relates to a kind of web angle welding welding profiling sensor; At length say relate to a kind of the deformation of the angle welding sealing wire that detects H shaped steel that the web combination is manufactured etc.; And move welding gun, thereby consistent web angle welding welding profiling sensor as purpose with said sealing wire according to detected information.
Background technology
Current, the automation of weld job constantly develops, and has used automatic moving bonding machine and automatic welding machine people in a lot of production scenes.Under the situation of carrying out said automatic welding; In the production scene of reality; Because member produced deformation when the occasional combination precision of welded part produced fluctuation or welding; So only before the welding beginning, the shiftable haulage line of welding gun is input in the bonding machine, the problem of corner stitch can not be correctly welded in existence.Therefore, use various welding profiling sensor,, also can correctly detect said deformation, and the welding position is suitably revised even be used for producing deformation etc. at the position that will weld.
For example, make under the situation of webs such as H shaped steel and T-steel utilizing the automatic moving angle welding to weld, make the detector front end directly contact the contact welding profiling sensor of welded part.This contact profiling sensor is made up of contact and the test section that detects the variation of this contact, and this contact profiling sensor is attached on the bonding machine with the mode that moves with the bonding machine one.When the bonding machine welding welded part of said contact profiling sensor is set up in utilization; If the contact that moves in the welding gun front detects the deformation of welded part and produces displacement; Then contact contacts with the electric terminal on the profiling sensor with being located at welding, and test section detects the displacement of said contact with the mode of electricity.Then, detected information passes to drive motor through control device, and welding gun moves according to the deformation of welded part.
But, such welding with the profiling sensor be contact and test section adjacent and both be contained in structure in the case (for example opening flat 5-104249 number) integratedly with reference to the open communique spy of Japan Patent.Therefore; For example in the welding method of the so big calorimetric of generation of submerged-arc welding, under the situation of utilizing described contact profiling sensor, if contact is arranged near the pad; Then heat labile test section is directly exposed under the high temperature, becomes the reason that the profiling sensor produces fault.For fear of this situation occurring, actual conditions are to make the contact of profiling sensor contact (for example opening 2004-74232 number with reference to the open communique spy of Japan Patent) with welded part in the upper reaches one side away from welding gun.
But,, be unfavorable in the described upper reaches one side that contact is configured in away from pad owing to following reason.That is, in the web that connects H shaped steel and the angle welding welding on the edge of a wing etc., generally carry out the two sides welding.In this case, when accomplishing a face down bonding and connect the opposite side of back welding, often welded part causes the very big bending of generation because of previous welding produces thermal deformation.So, contact is being configured under the situation of the position of leaving pad, be that skew (offset) quantitative change of the contact position of benchmark is big with the position that will weld.Therefore, according to producing very big error between indicated pad of the detected result of contact profiling sensor and the correct position that will weld, the problem of corner stitch can not be accurately welded in existence.
Summary of the invention
In view of said problem, the purpose of this invention is to provide a kind of welding profiling sensor, can suppress to produce fault through the influence that reduces heat, and can correctly hold the deformation of sealing wire.
In order to solve said problem, the present invention provides a kind of profiling sensor, it is characterized in that, detects the sealing wire as the corner stitch of a plurality of rectangular sheet materials after the combination, and this profiling sensor comprises: sensor main body; The arm pedestal is connected with said sensor main body with freely swinging; A pair of contact; Supporting member stretches out into two forks, and said a pair of contact is fixed on the front end of said two forks, and the rear end of this supporting member is connected with said arm pedestal; And the sealing wire detection part, be configured in the sensor main body, be used for the swaying direction and the pendulum angle of detection arm pedestal.
This web angle welding welding is fixed with a pair of contact with the profiling sensor on a pair of front end of supporting member; The rear end of supporting member is connected with the arm pedestal; This arm pedestal can be connected with sensor main body with freely swinging; The sealing wire detection part of the swaying direction of configuration detection arm pedestal and angle in this sensor main body; A pair of contact is moved at a pair of sheet material upper edge long side direction that constitutes sealing wire; And will this a pair of contact displacement up and down convert the wobbling action of arm pedestal to by supporting member; Utilize the swaying direction and the angle of detection part detection arm pedestal, thereby can detect the displacement up and down of a pair of contact.
This web angle welding is welded with the profiling sensor owing to have described structure; And connect a pair of contact and sensor main body through supporting member; Even so contact is configured near the pad; Also can be configured in the little position of heat affecting of being welded to sensor main body; Its result can reduce the fault of profiling sensor and the misoperation that Yin Re causes.In addition; This web angle welding is welded with the profiling sensor owing on a pair of front end of the supporting members that stretch out into two forks, fix a pair of contact; Clip on the position of pad so can be configured in a pair of contact on a pair of sheet material that constitutes sealing wire; Can reduce because of contact position and weld locations separate the side-play amount of the sensing (sensing) that causes, thereby can improve the accuracy of detection of sealing wire.
Preferably, said contact is configured in and comprises on pad and the intersection perpendicular to the face of sealing wire and a pair of plate surface that constitutes this sealing wire.Through a pair of contact is configured in about pad, can further suppresses the side-play amount of described sensing, thereby can further improve the accuracy of detection of sealing wire.
Preferably, said contact is the roller of pottery system.Through making contact is that pottery is made, and can make contact is heat-resisting structure, and contact is more contacted with plate surface near pad, therefore can more correctly detect the deformation of sealing wire.In addition, preferably, said contact rotates and is connected with said supporting member freely, makes said contact move at the sheet material upper edge long side direction that constitutes sealing wire.Through contact being made roller and contact can suchly as stated being rotated, contact can move on sheet material smoothly, is not easy to damage sheet material, and contact also is not easy damage.
In this profiling sensor, preferably, said supporting member is the center with the basic attitude axis of orientation of the oscillation center through said arm pedestal, can rotate with respect to said arm pedestal.Through supporting member can be rotated, even rotate under the situation that changes attitude, supporting member is rotated with respect to the arm pedestal through attitude according to welded part at the welded part linea angulata that rotates, contact is contacted with plate surface.
In this profiling sensor, preferably, this profiling sensor is arranged to make through the basic attitude direction of the oscillation center of said arm pedestal and is pointed near the pad.Thus, as stated,, sensor main body is moved, supporting member is rotated changing under the situation of contact position according to the attitude of welded part, just can contact be configured in can with assigned position that sheet material contacts reliably on.Wherein, so-called " near the pad " that said basic attitude direction is pointed to is to comprise pad itself, comprises in addition aforesaidly utilizing the rotation of supporting member can make contact be configured in the notion of the scope of assigned position.
Preferably, the said sealing wire detection part detection arm pedestal angle that is the rotation and the rotation at center with said basic attitude axis of orientation.Thus; Can make said basic attitude axis of orientation be altered to multiple; So can correctly detect sealing wire, and can be configured in the littler position of heat affecting that receives to said sensor main body, thereby can prevent further that the welding of web angle welding from producing fault with the profiling sensor.
In addition, the present invention provides a kind of welder that has the profiling sensor, it is characterized in that comprising: bonding machine possesses the welding gun of being arranged to adjust the welding position; And be attached to the described profiling sensor on this bonding machine.The said welder that has a profiling sensor can be configured in sensor main body on the little position of the heat affecting that receives the welding that the welding gun because of bonding machine causes, can reduce fault and because of thermogenetic misoperation.In addition; The said welding system that has the profiling sensor is configured in a pair of contact on the position that clips pad; Can reduce to separate the side-play amount of the sensing that causes, can improve the accuracy of detection of sealing wire, thereby can improve welding precision because of the position of the position of contact and pad.
Wherein, so-called " corner stitch " is meant that on the angle welding welding point that is made up of a plurality of sheet materials the intersection of temporary fixed two adjacent plate surfaces is the lines that will weld.So-called in addition " basic attitude " attitude that to be the index arm pedestal do not tilt to any direction in the left and right sides up and down with respect to sensor main body.
As explained above; According to web angle welding welding profiling sensor of the present invention; Owing to can suppress as far as possible from the influence of the heat of welding position to said sensor main body; So can reduce fault; In addition owing to can be arranged on contact near the pad, so can correctly detect sealing wire.
Description of drawings
Fig. 1 is the right side view of the web angle welding welding of first embodiment of the invention when using with the profiling sensor.
Fig. 2 is the front view of the profiling sensor of Fig. 1.
Fig. 3 is the I-I line cutaway view of the profiling sensor of Fig. 2.
Fig. 4 is the right side view of the web angle welding welding of second embodiment of the invention when using with the profiling sensor.
Fig. 5 is the front view of the profiling sensor of Fig. 4.
Fig. 6 is the vertical view of the profiling sensor of Fig. 4.
Fig. 7 is sensor main body and the cutaway view of arm base part of the profiling sensor of Fig. 4.
(X) of Fig. 8 and (Y) of Fig. 8 are the partial sectional views that schematically illustrates the welded part attitude.
Fig. 9 is the stereogram of the web angle welding welding of third embodiment of the invention with the profiling sensor.
Description of reference numerals
1 sensor main body
2 arm pedestals
The 2a recess
2b bolt through hole
The 2c protuberance
The 2d protuberance
3 contacts
4 supporting members
5 sealing wire detection parts
6 roller boxes
7 wheel shafts
8 locating snap rings
9 arms
The 9a bolt hole
The nicked circular port of 9b
10 bars
11L shape pedestal
12 screws
13 metal flexible pipe 14 circular substrates
The 14a recess
14b bolt through hole
The 14c through hole
The 14d flange part
The 14e stage portion
15 covers
The 15a through hole
16 contact detection switches
The 16a detection terminal
17 universal joints (universal coupling)
17A Y-piece (yoke)
The 17B Y-piece
The 17C cross axle
18 electric wires
19 retainer rings
20 nuts
21 bolts
22 bolts
23 stop pins
33 contacts
34 supporting members
35 arm turntables
The 35a recess
The 35b through hole
36 connecting elements
37 roller supporting members
38L shape part
39 arms
40 bars
41 bearings
42 screws
43 screws
44 screws
52 spring anchor clamps
53 anchor clamps
The 53a axial region
The 53b head
53c negative thread portion
54 slide plates
55 pressing plates
56 helical springs
57 central screws
61 sensor main bodies
62 arm pedestals
64 supporting members
65O type circle
70L shape bar
The A welding gun
The B steel plate
The specific embodiment
The suitable accompanying drawing of following reference describes embodiment of the present invention.
< first embodiment >
When utilizing the full rotation type submerged arc welding that webs such as H shaped steel are carried out the angle welding welding etc., use the web angle welding welding profiling sensor of Fig. 1.This profiling sensor comprises sensor main body 1, arm pedestal 2, a pair of contact 3,3 and supporting member 4.
Sensor main body 1 is fixed on the bonding machine (only represented welding gun among the figure, omitted whole diagram), and this bonding machine possesses the welding gun of being arranged to adjust the welding position.In order to adjust the welding position, the welding gun A of this bonding machine is arranged to and can moves, and this bonding machine possesses the driver part (for example drive motor) that can move welding gun A.In addition, this bonding machine has the welding gun control device of control driver part and/or welding gun A.
Said sensor main body 1 mainly is made up of circular substrate 14, cover 15, sealing wire detection part 5 and universal joint 17, and the integral body of sensor main body 1 is roughly cylindrical.Specifically, sealing wire detection part 5 mainly constitutes (with reference to Fig. 3) by four bar-shaped contact detection switches 16.
Said universal joint 17 is made up of crotched a pair of Y- piece 17A, 17B and the cross axle 17C that is roughly U-shaped.The structure of cross axle 17C is that two axles of intersection (vertically) are fixed, and is arranged to cross.Each end of cross axle 17C respectively can rotary axis of earth be bearing in the both ends of a pair of Y-piece 17A, 17B.Therefore, a pair of Y- piece 17A, 17B can rotate around two vertical turning cylinders through cross axle 17C, and a pair of Y- piece 17A, 17B connect into: with respect to a Y-piece 17A, another Y-piece 17B can freely swing.In addition, a Y-piece 17A embeds among the recess 14a of circular substrate 14 central authorities, is fixed on the circular substrate 14 through bolt 21 and stop pin 23.In addition, another Y-piece 17B embeds among the recess 2a of arm pedestal 2 central authorities, is fixed on the arm pedestal 2 through bolt 22 and stop pin 23.
Said arm pedestal 2 has protuberance 2d, and the central part of the rear side end face of arm pedestal 2 stretches out to rear side and forms said protuberance 2d, and this protuberance 2d inserts the inboard of said flange part 14d with the mode that certain interval is arranged.In addition, arm pedestal 2 only can swing on the circular substrate 14 with protuberance 2d and flange part 14d between the corresponding part in gap.
Can be configured to that the locational mode that pad is clipped in the middle is provided with a pair of contact 3,3.In addition, contact 3 can move along long side direction on a pair of sheet material that constitutes sealing wire.Contact 3 is configured in and comprises on pad and the intersection perpendicular to the face of sealing wire and a pair of plate surface that constitutes said sealing wire.Through like this a pair of contact be configured in pad about, can make that to separate the side-play amount of the sensing that causes, with the pad be benchmark very little because of contact position and weld locations, can significantly improve the accuracy of detection of sealing wire.
Specifically, contact 3 is made up of the roller of pottery system.This contact 3 rotates and is connected freely on the supporting member 4, and specifically, contact 3 is accommodated in roller box 6 inboards, can be bearing on the wheel shaft 7 by rotary axis of earth.
Front end one side of supporting member 4 is stretched out into two forks.This supporting member 4 can support a pair of contact 3,3 by rotary axis of earth on a pair of front end of two forks that stretch out, the rear end of supporting member 4 is fixed on the arm pedestal 2.Supporting member 4 is the center with the basic attitude axis of orientation of the oscillation center through arm pedestal 2, can rotate relative to arm pedestal 2.Specifically, supporting member 4 mainly is made up of arm 9, a pair of bar 10,10, pair of L-shaped pedestal 11,11 and pair of rolls box 6,6.
A pair of bar 10,10 from the two ends of arm 9 to stretching out with arm 9 vertical directions.Say that at length the rear end of bar 10 is inserted among the nicked circular port 9b, and utilize screw 12 to be fixed on the arm 9.In addition as stated, contact 3 is fixed on front end one side (front side) of bar 10.Specifically, L shaped pedestal 11 is fixed on the front end of bar 10, and roller box 6 is fixed on front end one side of L shaped pedestal 11.Said bar 10 has enough length (in this embodiment, being 200mm), thus, makes sensor main body 1 leave pad fully, sensor main body 1 can be configured to do not produce fault because of the influence that receives sweating heat.Wherein, preferably sensor main body 1 to be configured in the surface temperature that makes arm pedestal 2 front sides be on the position below 100 ℃.
To utilize this welding to be welded as example, the content of this welding with the profiling working sensor described below with the H shaped steel angle welding that the profiling sensor carries out.At first, the web of the H shaped steel of temporary fixed welding (steel plate B) is placed on the supporting station that fully automatic mobile submerged-arc welding meets sb. at the airport (accomplishes the welder of the band profiling sensor of the application's invention).The welding gun A that this sensor main body 1 is arranged on the sealing wire (does not have expression that the nozzle of welding agent is provided with the nozzle that welding agent is provided among the figure.) the upper reaches one side (also not welding a side).
Before beginning welding, a pair of contact 3,3 is configured in comprises on pad and the intersection perpendicular to the face of sealing wire and a pair of plate surface of the said sealing wire of formation.Specifically, a pair of contact 3,3 is configured to: the front end that comprises welding gun A and with the vertical face of sealing wire in sealing wire about the surface of steel plate B contact.As shown in Figure 2, regulate the attitude of contact 3, make contact 3 substantially and carry out the surface vertically upright (wheel shaft 7 and the steel plate B level of contact 3) of left and right sides steel plate B of the sealing wire of angle welding welding, and on the long side direction of steel plate B, roll.Serves as that axle rotates arm 9 through unclamping bolt 22 with bolt 22, perhaps makes bar 10 regulate the attitude of said contact 3 around its rotation through unclamping screw 12.At this moment, confirm that through the display lamp of control device (not having expression among the figure) two contacts 3 all contact with steel plate B, and the contact detection switch 16 in the sensor main body is not pushed by arm pedestal 2 all.
If begin welding, then the steel plate B upper edge long side direction of contact 3 about pad rolls and advances.At this moment, copy the deformation of surface of steel plate, the position of contact 3 is to move left and right up and down.The bar 10 that moves through of contact 3 passes to arm pedestal 2, and arm pedestal 2 produces swing.In addition, four contact detection switches 16 detect the swaying direction of arm pedestal 2 and the angle of swing, and detected information is passed to the welding gun control device.The welding gun control device sends to drive motor to indication through holding the deformation of corner stitch like this, and welding gun A is moved up and down, thereby makes the position of welding gun A and the position consistency that will weld.Like this, the limit wants the detection of welding position and the welding position of Butt welding gun A to revise repeatedly, and weld automatically on the limit.
Second embodiment
The welding of facing second embodiment of Fig. 4 down describes with the profiling sensor.The welding of Fig. 4 mainly is made up of sensor main body 1, arm pedestal 2, arm turntable 35, spring anchor clamps 52, a pair of contact 33,33, supporting member 34 and the sealing wire detection part 5 that is configured in the sensor main body 1 with the profiling sensor.In addition, the concrete structure of the sensor main body 1 of first embodiment and second embodiment is identical substantially, so common means adopts identical symbol, has omitted the explanation to them.
Spring anchor clamps 52 comprise anchor clamps 53, slide plate 54, pressing plate 55, helical spring 56 and central screw 57.Anchor clamps 53 comprise: axial region 53a is made up of outer screw section; Head 53b is attached on the rear end of said axial region 53a; And the 53c of negative thread portion, depression is arranged in the central authorities of said head 53b anterior end surface.Through axial region 53a is threaded on the Y-piece 17B of universal joint 17 through the bolt through hole 2b of arm pedestal 2, anchor clamps 53 are fixed on the anterior end surface of arm pedestal 2.
In addition, also identical with first embodiment in second embodiment, arm pedestal 2 can swingingly be installed on the sensor main body 1, and both are connected arm pedestal 2 and sensor main body 1 with the mode that certain clearance is arranged.In second embodiment, the gap portion of arm pedestal 2 and sensor main body 1 accompany can strain O type circle 65.
A pair of contact 33,33 moves at a pair of sheet material upper edge long side direction that constitutes sealing wire, and is configured on the position that pad is clipped in the middle.Specifically, a pair of contact 33,33 rollers by pottery system constitute, and can rotary axis of earth be bearing on a pair of front ends of two forks that supporting member 34 stretches out.
The rear end of supporting member 34 is connected on the arm pedestal 2.In addition, supporting member 34 is the center with the basic attitude axis of orientation of the oscillation center through arm pedestal 2, can rotate with respect to arm pedestal 2.Specifically, supporting member 34 is made up of arm turntable 35, arm 39, bar 40, connecting elements 36 and roller supporting member 37.
As shown in Figure 5, roller supporting member 37 comprises: horizontal component, from the pad one side front end of bar 40 stride across sealing wire to the left and right symmetry stretch out; And the part that hangs down, sagging from the two ends of said horizontal component.Roller supporting member 37 utilizes and is arranged on said horizontal component central L shaped part 38 and screw 44, is installed on the front end of bar 40.Contact 33 utilizes screw 42 can be installed in rotationally on the lower end partly of hanging down at roller supporting member 37 two ends through bearing 41.
Down in the face of the welding of this second embodiment with the profiling sensor in, describe according to the order of the attitude of the attitude adjusting contact 3 of welded part.In the welding of the angle welding of H shaped steel, shown in Fig. 8 (X), the angle θ that exists the surface of steel plate B to be become with vertical
XBe roughly the situation of 45 degree attitudes, after the edge of a wing of the H shaped steel one side welding, weld under the situation of an opposite side wing edge etc.,, also have the θ shown in (Y) of Fig. 8 for the edge of a wing of avoiding welding earlier
YThan the little a lot of situation of 45 degree.The welding of second embodiment with the profiling sensor in; Because supporting member 34 can rotate with respect to arm pedestal 2; So attitude that can be different according to welded part, the attitude of regulating contact 33 goes up on the suitable position thereby can be configured in steel plate B to contact 33.
In addition; It can be that rotate at the center with the basic attitude axis of orientation through oscillation center that arm pedestal 2 is configured to make supporting member 34; And make near the basic attitude direction sensing pad through oscillation center; So as stated; Even in order to regulate the attitude of contact 33 according to welded part; Make supporting member 34 rotate the fixed position that also need not to change the sensor main body 1 on the welder with respect to arm pedestal 2.Promptly; For the welding of said first embodiment profiling sensor; Supporting member 34 is rotated with respect to arm pedestal 2; Thereby when contact 3 being rotated according to welded part; Need the relative position of change sensor main body 1 and welded part, so need the operation of the fixed position of change sensor main body 1 on welder.On the other hand; For the welding of second embodiment profiling sensor; Because a pair of contact 33 can be that rotate at the center with the basic attitude axis of orientation of the oscillation center through pointing to pad; So do not change the relative position of sensor main body 1 and welded part, only regulating through the rotation of arm pedestal 2 just can be corresponding with various welded parts.
The attitude of contact 33 is adjusted at and begins to carry out before the welding.As shown in Figure 5, the steel plate B surface about contact 33 and the sealing wire that carries out the angle welding welding is vertically upright substantially, and the attitude of regulating contact 33 makes contact 33 to roll along the long side direction of steel plate B.Stretch to pad one layback if hold arm turntable 35, then the elastic force of arm turntable 35 dipscrews springs 56 is moving to pad one sideslip along anchor clamps 53, can remove the state of the protuberance 2c tabling of arm turntable 35 and arm pedestal 2.Then, arm turntable 35 is swayed, can rotate the attitude of regulating contact 3.
As shown in Figure 4, because the basic attitude axis of orientation of arm pedestal 2 through near the pad, so sensor main body 1 is moved, only through arm turntable 35 is rotated, just can be configured in contact 3 on the position of regulation.In addition,, arm 39 and bar 40 are rotated respectively around separately axle, can finely tune the position of contact 33 through unclamping the screw of connecting elements 36.
The 3rd embodiment
The welding of facing the 3rd embodiment of Fig. 9 down describes with the profiling sensor.The welding of the 3rd embodiment mainly is made up of sensor main body 61, arm pedestal 62, a pair of contact 3,3, supporting member 64 and sealing wire detection part (not expression among the figure) with the profiling sensor.Sensor main body 61 is roughly cylindrical, is clamped in (movable support element, holder be not expression in the drawings) on the movable support element of bonding machine, and what make sensor main body 61 axially is vertical.Sensor main body 61 possesses sealing wire detection part (not expression among the figure) in inside.In addition, in the structure of the 3rd embodiment,, omitted explanation sometimes to them for the structure identical substantially with first embodiment or second embodiment.
That to be diameters identical substantially with the external diameter of sensor main body 61 is flat cylindrical for arm pedestal 62.Arm pedestal 62 to be can swinging with respect to sensor main body 61, and can be that the mode that rotate at the center is connected with sensor main body 61 with the basic attitude axis of orientation of the oscillation center through arm pedestal 62 (following also abbreviate as sometimes " axially ").As sensor main body 61 and the method that arm pedestal 62 is connected like this, there is not special qualification, can suitably adopt known method.Specifically, utilize the such combination universal joint of said first embodiment and second embodiment and the method for bearing, can connect into and to swing and can rotate.Wherein, also can to detect axially be the rotational angle at center with arm pedestal 62 to the sealing wire detection part.
The other end of L shaped bar 70 inserts among the nicked circular port 9b of arm 9, and utilizes screw 12 fixing.L shaped bar 70 is made up of vertical part and horizontal component, and the vertical part is stretched out to the vertical below from arm 9, and crooked 90 degree become horizontal component thus forward at the position of specific length.
To with part identical with first embodiment in the structure of roller box 6 grades, common member is adopted identical symbol, omitted explanation to them.
Under the situation that the welding that utilizes the 3rd embodiment is welded with the profiling sensor, make the horizontal component of L shaped bar 70 parallel with sealing wire, contact 3 is configured on the steel plate B.Contact 3 moves on steel plate B, if according to the deformation of surface of steel plate, the position of contact 3 is moving up and down, and then this moves through L shaped bar 70 and is delivered to arm pedestal 62, becomes the oscillating motion of arm pedestal 62 and axially is the rotation at center with arm pedestal 62.The sealing wire detection part detect arm pedestal 62 oscillating motion direction and angle and axially being the rotational angle at center.Like this; Because it axially is the rotational angle at center with arm pedestal 62 that the sealing wire detection part also can detect; So can in the structure of supporting member 64, adopt L shaped bar 70, and can make the central shaft (the basic attitude axis of orientation of arm pedestal) of sensor main body 61 be vertical.Thus; Sensor main body 61 can be configured in the oblique upper of the upper reaches one side (side of also welding) of pad; Not only the influence that directly receives from the heat of welding position can be alleviated, and the influence of the heat that is delivered to steel plate and distributes from surface of steel plate can be alleviated sensor main body 61.In addition, around the direction of basic attitude axis of orientation rotation and the structure of angle, can suitably adopt known method for sealing wire detection part detection arm pedestal 62.In addition, the attitude of sensor main body and the structure of supporting member also are not limited to this embodiment, can suitably change.
In said first embodiment, second embodiment and the 3rd embodiment; An example as the material of bar 10,40, L shaped bar 70, roller supporting member 37, L shaped pedestal 11, roller box 6, wheel shaft 7 can be enumerated chrome-molybdenum steel, but can suitably select their material according to required hear resistance and durability.In addition, aluminium oxide can be enumerated, but their material can be suitably selected according to required hear resistance and durability as an example of the material of contact 3,33.
In addition, the invention is not restricted to the concrete structure of said each embodiment, in the scope that the invention is intended to, can suitably change design.In addition, also can be the structure appropriate combination of said each embodiment.In addition; Web angle welding of the present invention welding with the profiling sensor so long as a pair of contact get final product through the structure that supporting member can swingingly be connected on the arm pedestal; It can be any structure; For example can adopt through the arm pedestal is rotated with respect to main body, come structure according to the attitude change contact position of welded part.In addition,, be not limited to the method for submerged arc welding, also can be used for other welding method so long as the angle welding of web is welded.
Industrial applicibility
As stated, because web angle welding of the present invention welding can be configured in contact near the pad with the profiling sensor, thus can correctly detect the position that will weld, thus can make welding gun correctly imitate the line that will weld.In addition, because sensor main body is configured to leave fully pad, so fault of the present invention is few.Therefore welding of the present invention can perform well in the automatic moving angle welding welding of web with the profiling sensor.
Claims (9)
1. a profiling sensor is characterized in that, detects the sealing wire as the corner stitch of a plurality of rectangular sheet materials after the combination, and this profiling sensor comprises:
Sensor main body;
The arm pedestal is connected with said sensor main body with freely swinging;
A pair of contact;
Supporting member stretches out into two forks, and said a pair of contact is fixed on the front end of said two forks, and the rear end of this supporting member is connected with said arm pedestal; And
The sealing wire detection part is configured in the sensor main body, is used for the swaying direction and the pendulum angle of detection arm pedestal.
2. profiling sensor according to claim 1 is characterized in that, said contact is configured in and comprises on pad and the intersection perpendicular to the face of sealing wire and a pair of plate surface that constitutes this sealing wire.
3. profiling sensor according to claim 1 is characterized in that, said contact is the roller of pottery system.
4. profiling sensor according to claim 1 is characterized in that, said contact rotates and is connected with said supporting member freely, makes said contact move at the sheet material upper edge long side direction that constitutes sealing wire.
5. profiling sensor according to claim 1 is characterized in that, said supporting member is the center with the basic attitude axis of orientation of the oscillation center through said arm pedestal, can rotate with respect to said arm pedestal.
6. profiling sensor according to claim 5 is characterized in that, this profiling sensor is arranged to make through the basic attitude direction of the oscillation center of said arm pedestal and is pointed near the pad.
7. profiling sensor according to claim 5 is characterized in that, the angle that said sealing wire detection part detection arm pedestal is the rotation and the rotation at center with said basic attitude axis of orientation.
8. profiling sensor according to claim 1 is characterized in that, the position upper edge long side direction that clip pad of said contact on a pair of sheet material that constitutes sealing wire moves.
9. welder that has the profiling sensor is characterized in that comprising:
Bonding machine possesses the welding gun of being arranged to adjust the welding position; And
Be attached to each described profiling sensor in the claim 1 to 8 on this bonding machine.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2010-171151 | 2010-07-29 | ||
| JP2010171151A JP5411080B2 (en) | 2010-07-29 | 2010-07-29 | Copying sensor for fillet fillet welding |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN102343472A true CN102343472A (en) | 2012-02-08 |
| CN102343472B CN102343472B (en) | 2015-04-08 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201110061281.8A Expired - Fee Related CN102343472B (en) | 2010-07-29 | 2011-03-11 | Profiling sensor and welding apparatus having the same |
Country Status (2)
| Country | Link |
|---|---|
| JP (1) | JP5411080B2 (en) |
| CN (1) | CN102343472B (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103917323A (en) * | 2012-03-16 | 2014-07-09 | 松下电器产业株式会社 | Weld line-detecting method and industrial robot |
| CN113333924A (en) * | 2021-08-05 | 2021-09-03 | 宝嘉智能科技(南通)有限公司 | Intelligent welding machine for metal pressure container |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109352232B (en) * | 2018-11-19 | 2024-04-02 | 上海建工五建集团有限公司 | Welding equipment for small-section steel member and construction method thereof |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS52133220U (en) * | 1976-04-06 | 1977-10-11 | ||
| JPS5655569U (en) * | 1979-10-05 | 1981-05-14 | ||
| JPS60221178A (en) * | 1984-04-18 | 1985-11-05 | Nippon Steel Corp | Welding device |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5759254Y2 (en) * | 1977-07-26 | 1982-12-17 |
-
2010
- 2010-07-29 JP JP2010171151A patent/JP5411080B2/en not_active Expired - Fee Related
-
2011
- 2011-03-11 CN CN201110061281.8A patent/CN102343472B/en not_active Expired - Fee Related
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS52133220U (en) * | 1976-04-06 | 1977-10-11 | ||
| JPS5655569U (en) * | 1979-10-05 | 1981-05-14 | ||
| JPS60221178A (en) * | 1984-04-18 | 1985-11-05 | Nippon Steel Corp | Welding device |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103917323A (en) * | 2012-03-16 | 2014-07-09 | 松下电器产业株式会社 | Weld line-detecting method and industrial robot |
| CN103917323B (en) * | 2012-03-16 | 2016-03-09 | 松下知识产权经营株式会社 | Sealing wire detection method and industrial robot |
| US10105784B2 (en) | 2012-03-16 | 2018-10-23 | Panasonic Intellectual Property Management Co., Ltd. | Weld line-detecting method and industrial robot |
| CN113333924A (en) * | 2021-08-05 | 2021-09-03 | 宝嘉智能科技(南通)有限公司 | Intelligent welding machine for metal pressure container |
| CN113333924B (en) * | 2021-08-05 | 2021-10-01 | 宝嘉智能科技(南通)有限公司 | Intelligent welding machine for metal pressure container |
Also Published As
| Publication number | Publication date |
|---|---|
| JP5411080B2 (en) | 2014-02-12 |
| JP2012030246A (en) | 2012-02-16 |
| CN102343472B (en) | 2015-04-08 |
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