CS254022B1 - Apparatus for tilting off the sensor of welds trajectory - Google Patents

Abstract

Device for tilting trajectory sensors adaptive welding systems is Designed for welding industrial robots a manipulators and automatic welding complexes. The essence of the solution lies in the fact that importing welds at the critical site of the device swivels the weld trajectory sensor on side while lifting it so that it did not interfere with the movement of the torch during welding critical point. This is achieved by the trajectory sensor weld is pressed in the non-working position air through pneumatic cylinder. She is dreaming of a non-working position spring-loaded extractor. equipment it is possible to use the sensors to open the sensors to live on any welding industrial robot equipped with an adaptive system; \ tor. \ t in any welding line.

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a device for swiveling a trajectory sensor of adaptive welding systems.

When welding welding with a robot or electric arc manipulator, it is necessary to determine from the technological point of view with a certain accuracy the beginning of the weld and to guide the welding torch along the weld trajectory. For sensing the weld trajectories, a variety of physical sensors are used, based on different physical principles, whose sensed trajectory point precedes the torch end point (eg tactile sensor) when sensing. Previously known applications of such sensors are realized mostly with a firm grip of the sensor but on a withdrawable mechanism.

In practice, it is often the case that it is necessary to remove the transducer transversely from the torch when welding welds in tight conditions. To this end, devices are provided which make this possible. One of them is a mechanical air-operated device which, if necessary in the direction of the torch axis, pulls the sensor out of the welding path. However, said device has the disadvantage that the availability of welds in confined spaces depends on the lift height of the sensor. With the necessary height, the necessary handling space for the device increases. A further disadvantage is that the last axis of the kinematic chain is identical to the axis of the torch, requiring the use of a robot with 6 ° freedom or to apply such a device only for surface welding on a welding machine.

The above-mentioned disadvantages are eliminated by a device for tilting the weld trajectory sensor of adaptive welding systems, characterized in that the sensor is located on a carrier whose ring surrounding the cylinder comprises a guide engaging in the groove of the cylinder and having teeth engaging in the bottom of the pneumatic cylinder. the carrier is mechanically coupled to the cylinder piston under which the return spring is located.

In particular, the advantages of such a sensor arrangement lie in its small handling space, in manufacturing simplicity not exceeding one year in great accuracy, in a short adjusting time from the operating position of the sensor to the tilted and opposite, so as not to interfere with the welding process. The invention can be applied to robots with 5-6 degrees of freedom, with certain limitations to robots with 4 degrees of freedom, and welding machines.

In the drawing, the device for tilting the weld trajectory sensor is drawn in a partial longitudinal section with the sensor in the tilted - inoperative position.

The hinged device consists of the sensor carrier 1, which is connected to the piston 3 of the air cylinder 4 by a screw 5. In the working position of the sensor 2, the piston 3 of the air cylinder 4 is forced into the lower position by air. In this position, the sensor carrier 1 is locked by means of an annular ring 7 of the carrier 1, which is circumferentially provided with several teeth. These teeth fit into the cutouts of the bottom 8 of the cylinder 4. The rotation of the carrier 1 around the cylinder 4 while it is being lifted is secured by a guide element 9 protruding from the ring 7 into the groove 10 of the cylinder 4.

The shape of the groove 10 directly determines the lift height and the angle of rotation of the sensor carrier 1. The piston 3 is sealed by the seal 11 and forced by the spring 6 into the non-working position. The air supply to the cylinder 4 is via the air duct 12.

The sensor tilting device is used for tilting the sensor 2 in the bottlenecks in critical, hard to reach places. In the working position, the sensor 2 is compressed by compressed air and locked by engagement of the ring teeth 7 in the cutouts 8 of the air cylinder 4. In the second non-working position when the critical point is being retracted, the carrier 1 is raised and tilted aside. In this position, the sensor 2 does not obstruct the burner and can be pulled up to the perpendicular wall with the burner.

The construction of the hinged device according to the present invention is simple to manufacture and its application will make it possible to better utilize the possibilities of adaptive welding systems, especially industrial robots.

Claims (3)

SUBJECT An apparatus for tilting a weld trajectory sensor of adaptive welding systems, characterized in that the sensor (2) is disposed on a support (1), whose ring (7) comprises a guide element (9) which fits into the guide groove (10) of the cylinder (4). ). 2. A device according to claim 1, characterized by: INVENTION in that the support (11) is provided with teeth in the ring (7) surrounding the roller (4) and the bottom (8) of the roller (4) is provided with cut-outs. Device according to Claims 1 and 2, characterized in that the carrier (1) is mechanically connected to the piston (3) under which the spring (6) is.