DE2442725B2 - Automatic welding device - Google Patents

Description

The invention relates to an automatic welding device according to the preamble of claim 1.

In a known welding device of this type (US-PS 21 91 476) is the welding torch holder in three mutually perpendicular directions of movement movable. However, these are particularly in the case of workpieces with a complicated three-dimensional shape Movement possibilities are not sufficient to carry out the welding with optimal mutual position assignment of workpiece and torch holder.

The invention has for its object to provide an automatic welding device with which controlled welds in a favorable relative position even with complex workpieces of the workpiece and the torch holder and therewith can be carried out under favorable welding conditions.

To solve this problem, the welding device is designed as in the characterizing part of the Claim 1 specified.

Workpiece holders of welding devices which can be rotated about an axis are indeed from the US-PS 29 12 562 and 29 38 997 and rotatable burner mounts from US-PS 29 03 566 known; from this results However, there is no suggestion, both a rotatability of the workpiece holder and a rotatability of the Torch holder to provide axes that are perpendicular to each other.

The welding device according to the invention has a particularly large number of possible movements of the workpiece holder and the torch holder, so that the welding process is always optimal mutual position of workpiece and torch can be carried out. In particular, can always be welded from above.

Further refinements of the invention are specified in claims 2 to 14. Of special Significance is the design of the control system identified in claim 7 and its further developments. This creates a control of the PTP type (point-to-point), which is generally simple in construction but stops welding at each control point, in the direction of one Continuous working method according to the CP type (Continuos Path) improved

The invention is explained in more detail below with reference to exemplary embodiments shown in the drawings. It shows

F i g. 1A is a perspective view of an automatic Welding device according to a first embodiment;

F i g. 1B is a perspective view showing how a Workpiece is secured to the workpiece holder;

F i g. FIG. 2 is an enlarged view of the welding torch and arm of the device of FIG. 1;

3 is a perspective view of an automatic welding device according to a further embodiment.

Fig. 4 is a perspective view showing how a workpiece is secured to the workpiece holder; F i g. 5 shows a section V-V according to FIG. 4; F i g. 6 is an enlarged view of a MiG welding torch that is commercially available;

Fig.7 is a section showing how an adapter is brought into engagement with the end portion of the burner according to one embodiment; F i g. Fig. 8 is a section showing how an adapter can use a another embodiment is brought into engagement with the torch end portion;

Fig. 9 is a block diagram showing a numerical Shows control unit which serves as the basis for the attitude control device according to an embodiment; 10 is a block diagram showing the torque control device that serves as a basis for the attitude control device according to an embodiment;

F i g. 11 is a block diagram showing the attitude control device according to another embodiment;

F i g. Fig. 12 is a timing diagram of a conventional system; F i g. 13 is a timing diagram of the system of FIG. 11; F i g. 14 is a block diagram of a numerical control unit similar to that of FIG. 9, but opposite this one improved;

15 shows a perspective view of a further exemplary embodiment which, compared to that according to FIG is improved.

Fig. 1A is a full perspective view of a automatic welding device according to the first Embodiment, while Fig. IB is a perspective view showing how a workpiece is secured to the workpiece holder. The automatic welding apparatus is constructed so that the holder of the workpiece G moves in the direction V back and forth as well as can move in a lateral direction X and can rotate about a horizontal axis H and the holder for the burner TC can move in a vertical direction Z and can rotate about a vertical axis L. Furthermore, there is a control device 19 provided, which is used to automatically control the movements and angular positions of the workpiece G and the torch TC.

The welding device is explained in detail below.

A base plate 11 and a first frame part 12 are fixed in a planar L-shaped arrangement appropriate. A carriage 13, which can move in the lateral A ″ direction, is on the frame part 12 secured. As a drive for the carriage 13 is a Brake having motor (not shown) provided, which is provided in the embodiment with a known reduction gear. A so-called ball screw, consisting of a Kugelmutier and a screw bolt (not shown).

A second frame part 14, which is movable in the back and forth direction Y , is secured on top of the slide 13. A motor (not shown) with a brake and a known reduction gear is also used as the drive for the frame part 14 provided as well as a so-called ball screw.

A holder 15 for the workpiece G is arranged on the front side of the frame part 14 and is around dii. Horizontal axis H rotatable, which is in the same direction as the Y direction, as that through the

b5 rotation angle θ is shown in the drawing. As a drive for the bracket 15 is also a not shown motor with a brake and a known one reduction gear similar to the one mentioned earlier

intended. The horizontal axis H can also be selected to run in the same direction as the X direction

A third frame part 16 extends vertically upwards from the base plate 11, specifically at a point which is furthest away from the point at which the frame part 12 is secured to the base plate 11. An arm 17 extends in the back and forth direction and can be moved in the vertical direction, which is denoted by Z in the drawing, and is secured to the frame part 16. A motor (not shown) with a brake and a known reduction gear and a so-called ball screw is also provided as a drive for the arm 17. A holder 18 for the burner TC, which is rotatable about the vertical axis L in the direction indicated by Φ in the drawing, is secured to the front end of the arm 17. A motor (not shown) with a brake and a known reduction gear is again provided as the drive for the holder 18. The point at which the torch TC is arranged is selected so that the welding point PT, which is located on a line extending from the center line of the torch TC , can be brought into agreement with the vertical axis L , as is shown in detail in FIG G. 2 is shown. Further, the mounting angle for the torch TC is appropriately selected in accordance with the type of welding to be performed such as butt welding, fillet welding, etc., or the shape of the workpiece G, etc.

The control device 19 automatically controls the forward or backward revolutions of each of the drive motors, the current flow of the welding torch, etc. according to an entered program and also the relative positions of the holder 15 of the workpiece G and the holder 18 of the torch TQ so that the welding point PT along the The weld seam of the workpiece G lies and the automatic welding thus takes place in the most favorable position of the workpiece and the torch for the welding process.

In the case of automatic welding of workpiece G , the only thing that needs to be done is to program in such a way that the welding point PT lies along a welding line of workpiece G , the angle of the torch TC enables the most favorable position during the welding process and then the control device 19 is activated is set. Then the holders 15 and 17 are moved in accordance with the entered program, and the automatic welding process on the workpiece G is carried out

Since in this exemplary embodiment the welding point PT lies on a line continuing the center line of the burner TC and on the vertical axis L , the position of the welding point remains constant with respect to rotations of the holder 18 in the Φ direction Although respect to the same welding point P on the workpiece merely by the holder 18 is rotated, which the programming of the control device 19 simplifies further, since the frame part 16 is outside the range of movement of the frame part 14, does not enter the frame member 16 in overlap with the workpiece G, and not even if the extension of the workpiece G in the y-direction is considerably greater, regardless of the movement of the frame part 14 in the ^ -direction, which enables a satisfactory operation Influence of the frame part 16 with the fastening of the workpiece Can of the holder 15.

An embodiment of an automatic welding device with five degrees of freedom has been explained above. B. for the burner holder 18 a total of three degrees of freedom can be provided by adding a degree of freedom that allows the downward mounting angle of the burner TC to change at will. Each of the drive motors can be an oddgL hydraulic unit. Finally, the torch TC can be a torch for an MIG welding process or a torch for a TIG welding process. The automatic control of the burner TC in the description given here can be carried out continuously using a position control device which will be explained in detail with reference to FIG.

3 is a complete perspective view of an automatic welding device according to another embodiment. It is characteristic of this embodiment that the torch holder 35 is movable in the back and forth direction Y, in a lateral direction X and in the vertical direction Z, and is rotatable about the vertical axis L. According to FIG i g. 3, a movable part 32 is movable in the back and forth direction Y along a guide 31 which extends in the horizontal direction. The movable part 32 is driven by a drive motor known per se. A movable column 33 is supported by the movable part 32 and is movable in the Z vertical direction. The column 33 is also driven by a motor known per se, which is not shown. The stroke of the column 33 is chosen so that it is half the height of the guide 31 or less. An arm 34 which is movable in the lateral A "direction is supported by the lower end of the column 33 and driven by a motor (not shown) known per se. The burner holder 35 is supported by the front end of the arm 34 and is rotatable in the Φ direction about a vertical axis L. A burner TC attached is, after its mounting angle has been predetermined and adjusted, is secured in the bracket 35. In this embodiment, the adjustable position of the torch is determined so that the position of the welding point of the torch TC can be located on the vertical axis L , or the mounting angle is according to the structure of the workpiece selected so appropriately

The workpiece holders 61 and 62 are secured opposite one another below the guide 31 and can be rotated in the β direction about the common horizontal axis H , which lies in the ^ direction The bracket 61 is firmly secured on a base plate 31 * which is integral with the guide 31, and is driven by a motor, not shown. The bracket 62 is secured in the direction of the horizontal axis H displaceable on the base plate 31 a and rotatable about the axis H.

Alternatively, the brackets 61 and 62 can also be rotatable about a horizontal axis that extends in the X direction runs

A unit 38 is provided to the weight of the Balance column 33 of Anns 34, bracket 35 and burner TC. The unit 38 consists of

a roller 38a, which is arranged in the lower part of the column 33 so as to be rotatable about the horizontal axis, made up of rollers 386 and 38c; which are arranged in the movable part 32 to be rotatable about the horizontal axis, from rollers 3Sd and 38e, which are arranged in the movable part 32 to be rotatable about the vertical axis, from a roller 38 /; which is arranged rotatably about the horizontal axis in the upper part of one end of the guide 31, made of a wire 3Sg and a weight 38Λ. The wire 3Sg is secured at one end to the other end of the guide 31, ie at the end opposite the roller 38 /, and is guided around the rollers 3Sd, 3Sb, 38a, 38c and 38 / and carries the weight at its other end 38A. The value of the weight 38 /) is such that it amounts to half of the total weight of the column 33, the arm 34, the holder 35 and the drive motor and the burner TC intended for it.

F i g. Fig. 4 is a perspective view showing how the workpiece G engages with the workpiece holder F i g. 5 is a cross-section V-V of FIG. 4. The workpiece G has welding lines W1, W2, ... W10, ...

The operation will now be described with reference to FIG. 3 to 5 First, the workpiece G is secured to the holders 61 and 62 using jigs (not shown) connected thereto, and the torch TIC is also secured to the holder 35 so that the position of the welding point with the vertical axis L. can be brought together and the burner is at a suitable angle of inclination.

The programming is carried out by means of the control device 37, the position of the welding point can move along the welding lines Wl, .., W10, ... of the workpiece G in compliance with a for the welding process favorable position of the work piece and the burner with respect to one another.

First, the workpiece G is welded in such a position that the welding lines W1, W2 and W3, W4 are welded with downward guidance. 5 rotated 90 ° to the right until the welding lines W5, W6 and WT, Wt coincide with the positions of the welding lines W1, W2 and W3, W4 shown in FIGS. A welding process is then carried out, with the welding lines W5,. The welding lines W9, .., W12 are also welded, after which the welding lines W13, .., W 16 are positioned in the sense of a downward guide, the brackets 61 and 62 being rotated 90 ° to the right each time. In order to then weld the welding lines W17, .., W20 arranged along an arc, the welding can only be carried out with downward guidance if the brackets 61 and 62 are rotated while the angular position of the torch 7C is changed.

Since in the exemplary embodiment the position of the welding point of the torch TC lies on the vertical axis L , the position of the welding point does not change in relation to rotations of the brackets 35, which has the result that the program is simplified. Furthermore, since the holder 62 is displaceable in the direction of the horizontal axis // and rotatable in the Θ direction, any stretching or torsion of the workpiece caused by the welding can be absorbed, and the holder 61 and its drive can therefore not be influenced in an unfavorable manner. Furthermore, since the column 33 is balanced by the compensation unit 38, no great load is exerted on the drive of the column 33 even if it is moved upwards, that is, the same load rests on the drive of the column 33 as when the column 33 is moved down.

The welding process was described above with reference to the exemplary embodiment in FIGS. 3 explained. However, essentially the same welding process is also carried out in the exemplary embodiment in FIG. 1 carried out with essentially the same result as would be readily apparent to the person skilled in the art can be seen

Fig.6 is a commercially available burner for MIG welding. Fig.7 is a cross section showing like an adapter according to a first embodiment is attached to the front end of the burner. Fig.8 is a cross-sectional view showing how an adapter according to a second embodiment is attached to the front end of the burner.

In the case of the automatic welding device explained here, the programming is carried out in such a way that the welding point PT, which lies on a line extending the center line of the torch TC , can coincide with the welding lines of the workpiece to be welded. In this case, in the case of FIG. 6, a filler metal piece 113 is advanced out of the torch for MIG welding into a position in which its front end indicates the welding point PT. In the case of the torch for TIG welding, e.g. B. a needle, the front end of which points to the welding point brought into engagement with the torch front end Control switch of the control device is set accordingly; These control switches for setting the position of the burner are, for. B. to switch to control the position in the forward and backward direction, in the lateral direction, in the vertical direction, in the direction of rotation, etc. When carrying out the welding process, however, it may happen that the torch is incorrectly moved to an unintended position, such as the incorrectly pressing one of the control switches or by pressing it in for too long, etc.

The piece of filler metal or needle or the torch itself can contact the workpiece, bending or damaging the filler metal or needle, and the torch itself can change position or be damaged. This would result in the position of the front end of the filler metal piece or the needle indicating the welding point being changed or the information about this position being lost, so that it would be pointless to continue the operation. In such a situation it is necessary to start the program from the beginning.

To overcome these difficulties, the burner TC is provided with an adapter according to FIGS. 7 and 8. The adapter consists of a needle, the front end of which indicates the welding point PT , and an elastic support part carrying the needle and can be removed from the front end of the torch.

Before a detailed description of such an adapter is given, the one used for MIG welding, in Fi g. 6, which is commercially available, in its basic features explained: The hollow burner body 110 is surrounded on the outside by insulating material 111. One

The hollow point 112 is concentric with the front end of the hollow body 110 and can be detached from it. The Füllmetallstück 113 is inserted into the interior of the hollow body 1 10 and into the interior of the hollow tip 1 12th A mouthpiece 114 is releasably attached to the front end of the hollow body 1 10 and to its outer surface. A cylindrical nozzle 115 is designed so that it can be detached from the front end of the insulating sheath Ul, and surrounds the hollow point 112 and the mouthpiece 114. The welding point PT on the line continuing the center line of the torch TC is located in a certain position at the front end of the Filler metal piece 113, namely at a distance LH from the front end of the nozzle 115.

The front front of the torch TC detachable adapter is now illustrated with reference to FIG. 7 and 8 explained: According to FIG. 7, the adapter 120 is releasably secured to the front end of the insulating sleeve 111 of the torch TC. A threaded 12Γ allows for releasable securing of the holder 121 attached at the front end of the insulating sleeve 111. A resilient support member 122, which preferably consists of a rubber hose piece, with its base end on the outside of the front end of the holder 121 with a retainer ring 123rd A needle 124 is held within the front end of the elastic support member 122 by a retaining ring 125 . The adapter 120 is designed such that it coincides with the welding point PT when it is in engagement with the insulating sleeve 111 .

The elastic support part 122 , since it only has to carry the weight of the needle 124, cannot be bent or damaged regardless of the position of the torch. The outer diameter of the front end 123 'of the elastic support member is chosen to be equal to the outer diameter of the front end of the nozzle, and the distance between the front end of the elastic support member 122 and the weld point PT at the front end of the needle 124 is chosen to be equal to that The distance LH between the front end of the nozzle 115 and the weld point PT at the front end of the filler metal piece 113 is

According to FIG. 8, the adapter 130 is releasably secured at the front end of the insulating sleeve 111 of the burner TC . A thread 13Γ allows the holder 131 to be released from the front end of the insulating sleeve 111 . The elastic support part 132, which consists of a coil spring in this embodiment, is attached with its base end to the outer surface of the front end of the bracket 131 . A needle 132 " is designed as an extension of the elastic support part 132 The front end of the needle 132" is arranged so that it coincides with the weld point Pl 'when the adapter 130 is attached to the insulating sleeve Ul . The base end of the elastic support part 132 is not compressible, the dimension of this non-compressible part being chosen so that it is larger than the dimension of the part adhering to the holder 131 in any case

The elastic support part 132 cannot be bent due to its own weight, regardless of the position of the burner 7TC; as was discussed analogously in the embodiment of FIG. The outer diameter of the front end 132 'of the spiral spring is chosen to be equal to the outer diameter of the front end 115 of the nozzle. The distance between the front end of the elastic support member 132 and the weld point PT at the front end of the needle 132 "is chosen equal to the distance LH

When programming a certain workpiece to be welded in the arrangement explained, first the filler metal piece 1 13, the nozzle 1 15, the mouthpiece 114 and the tip 112 are removed, and the adapter 120 or 130 is connected to the insulating sleeve 111 through the thread 12Γ or 13Γ in Fig.7 or 8 brought into engagement. Then the front end of the needle 124 or 132 " indicating the welding point PT must coincide with the welding line of the workpiece and

ίο lie along this in the selected position of the torch TC with respect to the workpiece when the control switches of the control device (not shown) are operated manually. The needle 124 or 132 " or the elastic support part 122 or 132 cannot be permanently bent or damaged due to their elasticity (bending and compression), even if the outer edge of the front end 122 ' or 132' of the needle 124 or 132" or the elastic support part 122 or 132 strikes the workpiece in an undesired manner

An impact of the outer edge of the front end 122 ' or 132' of the elastic support member on the workpiece means, even if the position of the torch TC corresponds to optimal welding conditions, the impossibility of a welding process in each position. In such a case, it is only necessary to change the position of the torch when the welding conditions deteriorate somewhat.

When the program has ended in this manner, the adapter 120 or 130 is removed from the insulating sleeve 111 and the tip 112, mouthpiece 114, nozzle 115 and filler metal piece 113 are reattached, as in FIG. 6 Then, the operation of the control device causes the burner to be repeatedly controlled according to the program, as will be explained.

In the adapters 120 and 130 described here, the outer diameter of the front end 122 ' and 132' of the elastic support member are chosen so that they are equal to

«O outside diameter of the nozzle, and the distance of the respective front end of the elastic support part 122 or 132 to the front end of the needle 124 or 132 indicating the welding point PT is selected equal to LH . If therefore the outer edge of the front end

• * 5 122 'and 132' of the elastic supporting part during the programming process on the workpiece is incident results in a simple manner that the welding process at this position of the burner is not feasible In the adapter 130, the outer edge is also the

so the front end of the holder bevelled 131 and the base end of the elastic supporting member 132 is nichtkompressibel formed, the dimension of this non-compressible portion is selected so that it is in any case greater than the dimension of the voltage applied to the bracket 131 part Accordingly, not scrape the elastic part 132 at the Front end of the bracket 131 when a bending force is applied to the elastic support member. The elastic supporting member 132 comes therefore readily in its initial state, and the position of the welding spot FTbleibt unchanged 9 is a block diagram of a numerical control device which serves as a first embodiment as a basis for attitude control device, the numerical control device operates with a paper tape and has numeric input units 1 and Γ that can produce numeric values representing the state of objects to be controlled and other information necessary for control , and

furthermore shift registers 3 and 3 ', which are used to store the numerical output values of one of the input units 1 and Γ, a punched tape reader 2 and a punched tape writer 4, which is switched so that with its help the numerical output values of the shift registers 3 and 3' on the punched tape can be written. During the writing of the values on the perforated tape T and while reading from the perforated tape T , the numerical output values from the input units 1 and 1 'or the values passed through the ι ο shift registers 3 and 3' are selectively fed to a control mechanism 5 Numerical output values from the shift registers 3 and 3 'are selectively supplied to information selection circuits Sund S' via connected buffer registers Sund B ' , so that either the output signal of the numerical input units 1 and Γ or of the paper tape reader 2 is selected. The output signal of the information selection circuit 5 is converted into an analog value by a digital-to-analog converter C, which is referred to below as a DA converter, and fed to the control mechanism 5

The numerical output unit 1 contains a manually operable pulse generator la and an inverted counter ib. The device 1 is designed for this. To provide signals for controlling the location of the torch and workpiece of the automatic welder as numerical values encoded as 12 bits in five channels. The generator la generates pulses in any desired manner, such as one after the other for each channel or each time a given number of pulses or a respectively desired number of pulses. The contents of the reversible counter \ b can be changed as desired in order to provide the appropriate output pulse for each channel. The numerical value corresponding to the content of the reversible counter \ b is output from the device 1 as an output signal.

The numerical output unit Γ contains a group of switches Ic and a coding matrix id. The unit 1 'is designed to encrypt the control signals required for programming, described later, in a different way than the numerical output values of the unit 1, namely «5 according to two channels and 12 bits via the matrix id by selective actuation of a switch of the switch group Ic The coded numerical value is taken as an output signal from the unit 1 '.

The strip reader 2 is designed so that it reads the numerical values located on the perforated tape Γ. In this embodiment, the perforated tape T is a 2.41 cm wide perforated tape with eight holes in each line, i.e. h with eight channels. Of these eight channels, five each have a signal for controlling the position of the torch and workpiece holders of the automatic welding device of FIG. 1 and 3 each assigned to one of the directions X, Y, Z, θ and Φ. Each of these channels has 12 bits, which thus form a word. One of the remaining three channels is used to ^Μ determine the speed of the above-mentioned position control, the size of the welding current of the torch and the status of the lock switch, so that this one channel also has 12 bits every bit of the six channels and also used for the word clock

The shift registers 3 and 3 'have this

Embodiment 12 bit positions each. The shift register saves the numerical output values of five channels of unit 1. The slide register 3 'saves the numerical output values of a channel of the unit 1 '. The ones in shift registers 3 and 3 ' stored numeric values are output one after the other starting from a lower digit.

The punch tape recorder 4 is operated by a command signal from another command device (not shown), and the numerical values stored in the shift registers 3 and 3 'are written into the punch tape T one by one. As already explained, the numerical values of the shift register 3 are written into five of the eight channels of the tape T based on the output signal from the unit 1, while the numerical values from the shift register 3 'are written into one channel based on the output signal from the unit Γ.

The output signals of the units 1 and Γ and the tape reader 2 are fed into the information selection circuits 5 and S ' , respectively. When the perforated tape recorder 4 is switched on, the output signals of the units 1 and Γ, and when the perforated tape reader 2 is switched on, the output signals of the perforated tape reader 2 via the registers 3 and 3 'and the buffer B' are selectively from the circuits 5bzw. S 'issued on the basis of the command signal from another command unit. The output of the circuit S ' is supplied to a decoding matrix M to decode the numerical value, and a control signal commanded from the group of switches Ic is extracted.

The control mechanism 5 has a differential amplifier A, a potentiometer P and a servo system SM. The output of the potentiometer P changes with the state of the servo system SM and, in this embodiment, with the position of each part of the automatic welding apparatus. An analog value, which is the output value of the potentiometer P , is fed back to the differential amplifier A. On the other hand, the analog value from the DA converter C is also fed to the differential amplifier A. The servo system SM is controlled in such a way that the difference between the two analog values fed to the differential amplifier A. The control mechanism 5 also contains a control stage CO. The control stage CO enables the output signal of the matrix M to control the speed of movement and the welding current of the torch and to effect interconnection with an internal device such as a clock generator (not shown)

The DA converter C does not need to be very accurate when the mechanism is constructed in the manner shown 5 because of the digital value of the input signal and the analog value of the output signal may not always be proportional. An operator operates the unit 1 while observing the operation of the object to be controlled. The signal pathway that. goes to the object to be controlled in front of the unit 1 during the write operation , the circuit S, the D / A converter C, the differential amplifier A and the servo system SAi run in exactly the same way during the read operation via the shift register 3, the buffer B _1. However, if there is any distortion in the D / A converter Q, the amplifier A and the servo system SN , exactly the same state of the controlled object will be reproduced in reading as long as the distortion is the same

remain

The operation of the arrangement will now be described with reference to FIG. 9 Explained First, let us consider a case where the recorder 4 is turned on: First, each position of the torch and the workpiece of the automatic welding device is adjusted to correspond to the program to be created. For this purpose, the unit la is operated manually and a pulse is generated for a specific channel, thereby changing the numerical value of the reversible counter \ b. At the same time, the numerical value is selected via the circuit 5 and fed into the D / A converter C , where it is converted into an analog value. The analog value is introduced into the mechanism 5 to control the servo system SN. The control of the servo system SM performs a selection of the appropriate channel, z. B, the position of the torch holder is controlled in the Z direction. B. to achieve said channel. In a similar way, actuation of the unit 1 a carried out individually for the corresponding channels results in the device finally being brought into the desired state with respect to the positions in the directions X, Y, θ and Φ. By selectively pressing a switch of the switch group Ic is also z. B. provides a signal to disable the clock, which determines a hold time for the desired state of the automatic welding device, and for this purpose a timer (not shown) is controlled. After completion of these operations, the writer 4 is switched on by the command device (not shown ).The numerical output values of the device 1 and the numerical output values of the device Γ are successively written from the lowest point in each channel of the perforated tape T by means of punching, via the register 3 or 3 'while a parity check is being performed. In this way, writing of the 12 bits is completed at the certain point, and then 12 bits are written again at the following point in the same manner. By turning on a switch in switch group Ic, it is possible to write commands to control the speed of movement and the welding current of the torch. With repetition of these operations, the units 1 and Γ are repeatedly operated in the above-mentioned manner to successively write the information on the tape T while the object to be controlled of the automatic welding device is moved along the desired path.

The activity of the reader 2 will now be explained: The punched tape produced in the above manner by the writer 4 is brought into the reader 2. First, the punched tape reader 2 reads the numerical values written in the punched tape Γ. The data read out from the five channels are entered into the register 3, while the data read out from the remaining one channel are entered into the register 3 '. Furthermore, they get via the buffers B and B ' and the circuits S and S' to the D / A converter C and to the matrix M. The numerical value that has reached the D / A converter C is fed into the amplifier A to convert the To control the servo system SM to a position corresponding to this numerical value. Furthermore, the numerical value that has reached the control stage CO controls the drive device DR and the other necessary facilities. The servo system SM is therefore sequentially controlled by the values read out by the reader 2, while the tape T advances illustrated embodiment the automatic Control of the welding device.

F i g. 10 is a block diagram showing a current time attitude control device used as a basis for the Attitude control device according to an embodiment

ίο This instantaneous time attitude control device is used provides the digital current time situation information in the an automatic control device that has an analog servo system that works by an analog feedback signal. The direction is with a shift register R for storing the digital information, an up-down counter {/ for presetting the information in the shift register R, a D / A converter D for converting the information from the counter Lf into analog form, an analog one Servo system S, which is controlled by the output signal of the D / A converter D, a zero detector N, which is connected to the output signal of the servo amplifier A of the analog servo system 5, and a flip-flop F, which is provided by the output signal of the Zero detector W is set and is reset by the output signal of an erasure stage RE provided for initial erasure. The information from the counter U can be controlled by the inverted output of the flip-flop F, and its output signal can also be used as an unlock signal.

In Fig. 10, the case is illustrated that the automatic welding device has five degrees of freedom each a facility, each with a degree of freedom of automatic welding device according to FIG. 1 and 3 The construction of the device 10 corresponds to that of that in FIG Z-direction up and down position control of the racing frame of the automatic welding device is assigned, is explained in detail below

The shift register R is formed with an input terminal R 1 for the digital information from a program device (not shown) for controlling the Positions of the torch holder in the Z-direction, and has an output terminal R 2 for serial output of the information.

The analog servo system S has a servo amplifier A and an object to be controlled Cl, for example

a drive for the torch holder in the Z-direction. The servo system S is controlled by the analog output signal of the converter D. This analog signal is first fed to the servo amplifier A. The output signal of a potentiometer, its rotation angle is determined by the up / down position of the controlled object Ci, namely the torch holder, is also fed to the amplifier A. This type of analog servo system is known per se

The zero detector N is designed so that it detects the signal zero at the output of the amplifier A. The zero detector N generates an output signal when the position of the controlled object C 1 matches that coming from the input terminal R 1 Control information matches. The initial reset stage RE is connected to the counter U to clear its digital information and is also connected to the lonely; Fl des FliDfloDS F

connected to reset the flip-flop F. The output of the zero detector N is connected to the input F2 of the flip-flop F. An inverted output F3 of the flip-flop F corresponding to the input Fl is applied to the downstream AND element AN 1. Furthermore, the output F4 of the flip-flop F is applied to the AND element AN 2 according to the input Fl

Furthermore, pulses from the pulse generator PG are fed to the AND gate ANi. Accordingly, the AND gate ANi is opened by the reverse output F3 and feeds the pulses from the pulse generator PG to the counter LJ. This input signal into the counter U from the AND element ANi causes an addition to the digital information of the counter t / and a subtraction from the same. is

The output signal FA can be used to generate an unlock signal to unlock the control stage (not shown) to control the up / down positions of the controlled object CI. However, in order to solve the corresponding locks at the same time in this Ausführungsforni, the z. B. the control stage for the forward / back position Y of the controlled object Cl according to the device 20, the control stage for the left / right position X of the controlled object Cl according to the device 3G, the control stage for the angle of rotation position Φ of the controlled object Cl corresponding to the device 40 and the control stage for the angle of rotation position θ of the controlled object C1 corresponding to the device 50, an output signal is taken from the AND element AN 2 , which as an input signal the outputs of the devices 10, namely from F4, 20,30, 40 and SO receives, ι. this output signal is used as an unlock signal for unlocking the control stages (not shown) of the entire automatic welding device

The operation will now be explained with reference to FIG. 10. It is assumed that the Power supply for devices 10, 20, .10, 40 <o and 50 and the control stage for the automatic Welding device has been turned off once and then on again Assume that to this time the control stage has been blocked by means known per se, which are not shown in more detail. Accordingly, the automatic welding device is not operated by this control stage.

First the stage RE is switched on in order to clear the counter U. The Ausgangssigna appear at the same time] of the flip-flop F at F3, and the pulses so the generator PG are introduced successively in the counter U via the AND gate ANi The numerical value in the counter (/ is sequentially changed, the output signal of the counter U is the DA converter DD successively supplied and into an analog value converted the analog value is supplied to the servo amplifier a is supplied to the analog value of the instantaneous time-layers of the controlled object Cl in on - / corresponds to the downward direction, the amplifier a is supplied, and from the stage N a w Output signal is only emitted when the difference between the two values is 0. When an input value passed from the DA converter D to the amplifier A has become equal to the analog value corresponding to the instantaneous position of the controlled object Cl, namely by changing the numerical value Value in the counter U, and the output signal of the amplifier A has become zero, the zero detector generates N is an output, and the output of amplifier A is transferred to F4. Accordingly, the AND gate ANi no longer transmits a pulse to the counter U , and the numerical value in the counter U remains constant. Since the output signals from the devices 10 (namely from FA), 20,30,40 and 50 occur together, the unlocking occurs the control circuit of the automatic welding apparatus caused by the output signal of the aND circuit AN 2 the numerical value in the register R is equal to the numerical value in the counter U, and the current time-position information of the controlled object Cl with respect to the up / down direction is set Thereupon begins the automatic welding device with the following operation based on the sequential information from the input terminal R 1. The signal at the output terminal R 2 is used to make the program by first bringing the objects controlled by the automatic welding device into a desired position one after the other and every point on the punched tape is recorded.

FIG. 11 is a block diagram showing another embodiment of the attitude control apparatus. Most of the arrangement of FIG. 11 is based on the embodiment of FIG. As already described, the embodiment shown is characterized in that it is determined whether the output of the servo amplifier A has become zero in order to generate a signal to store the value of the shift register 3 in the buffer register B, the timer Π for the purpose of advancing the output unit z. B. the reader 2 to operate and to introduce the output signal into the shift register 3. The zero detector stage Ni is connected to the output of the servo amplifier A for this purpose. The zero detector output signal is fed to a control stage CO. This generates pulses either directly on command from the device 2 or after a time interval. The value of the register 3 is stored in the buffer B by means of the pulse signal, and furthermore the timer circuit Ti is actuated to advance the drive device DR by one word, whereby the following position command signal is output to the buffer B. When the controlled object has reached a command position, the next position command signal is immediately entered into the buffer B. So you can see that the controlled object moves so that its position is continuously controlled.

F i g. 12 is a timing chart for the embodiment of Fig. 9. Fig. 12 (1) shows a pulse signal which occurs due to a signal from the zero detector. A read start signal according to FIG. 12 (2) of the next information is generated from this signal, and the next Information is loaded through this signal. A high signal period as shown in Fig. 12 (3) shows that the information is loaded. After completion of the charging process, a charging completion signal according to Fig. 12 (4) output. The information is carried out on the basis of the charge completion signal. F i g. 12 (5) shows a state in which a mechanical Operation is performed based on such a signal just described. Referring to Fig. 12 (5) the high value period indicates that the engine is actually being operated. Accordingly, the machine remains during the period in which the next information is loaded; unactuated Men recognizes that the activity

the machine in the arrangement according to FIG. 9 is not continuous

F ί g. 13 is a timing diagram for the embodiment of FIG. 11. FIG. 13 (1), (2), (3), (4) and (5) correspond to the corresponding pulse trains of FIG. 12. It should be pointed out, however, that as soon as the execution (kl) of the information of the previous point is started on the basis of a signal h, for example from the zero detector, a start signal (i) for loading the next information is supplied. Information corresponding to the next machine actuation kl is loaded during an information loading period j. Since the next information is already being loaded during the period during which the machine operation is being performed, the machine operation does not stop as in Fig. 12 while the information is being loaded. Fig. 13 (4) shows a loading complete signal, however, this only in a special case is required

Fig. 14 is a block diagram of a numeric Control device similar to that of FIG. 9, but with improvements. The device of FIG. 9 is supposed to serve to write a program into a punched tape with a simple playback operation, without the need for a person to perform a piercing operation, in which the advantages of a Perforated tape are used; nevertheless, it is difficult to avoid mistakes when writing the made inadvertently by the operator during the playback operation during writing will. If an error has been found by reproducing, for test purposes, the control operation of the controlled objects by performing the erroneously written information, the Teaching process to be repeated anew to correct the mentioned errors in the punched tape. the The apparatus of Figure 14 has therefore been improved with the aim of any found in the test To be able to correct errors easily and precisely.

In FIG. 14, the same parts are denoted by the same reference numerals as in FIG. 9; a flow of signals during the teaching process including the writing process is shown in solid lines; signal flow during the test mode is shown in single dotted lines; a signal flow during correcting in the test mode is shown in two-dotted lines; a signal flow during the automatic control mode is shown in broken lines. It should also be noted that the numerical output unit 1 and the buffer B of FIG. 9 in FIG. 14 have been replaced by a presettable up / down counter PC

In the "test" and "automatic operation" modes, the shift register 3 is connected in such a way that one of the five channels of the read-out value is connected, which indicate the commanded positions in the above-mentioned five axis directions. During the teaching mode and the correction during the test mode, however, the connection is made such that the output of the counter PC is supplied to the shift register 3 as an input signal. During the write mode, the output signal of the shift register from the device W is written into the punched tape TL . A switch 5Wl is connected to an oscillator O , so that the actuation of the switch 5Wl has the consequence that the output signal of the oscillator is introduced into the counter PC , whereby its count is changed. Furthermore, a correction pushbutton BTi is dem Push button BTi pressed to turn on the switch so that an output signal from the oscillator O changes the counts of the counter PC , these counts being fed to the device 4, preferably before an output signal from the device 2. An output signal from the counter PC is fed to the converter C, as will be explained

A servo system SB has a differential amplifier A, a drive unit M and a potentiometer P. The

ίο drive unit M is used to move each controlled object in relation to one of five axial directions and is designed so that it is either with the mentioned displacement of the controlled object in terms of high or in terms of low speed is selectable The servo system SB, the shift register 3, the counter PQ of the oscillator O and the converter C are for each axis direction X, Y, Z, θ, and Φ are provided separately, i.e.,. there are five sentences, each consisting of one Servo system SB, a register 3 etc., provided for each of the five axes. It should be noted that only one such sentence in FIG. 14 is shown

An indicator lamp L and an interlock switch / are connected to the output of the buffer B ' . the Indicator lamp L is designed as a group of indicator lamps to display the speed of movement "high" or "low" for each of the five axis directions of the controlled objects, to display four areas of the welding current Burner and from “on” or “off” of the interlock switch. When the lock switch / is closed, a timer (not shown) is switched on. A signal from the buffer B ' during the automatic operation is fed to the control stage WE.

The control stage WE is used to control the welding device including the torch TC, namely to control the welding current of the torch in four areas. With the shift register 3 'are four switches 5W2 each of which is assigned three bits out of a total of twelve bits. Only one switch is shown in FIG. 14, which is also intended to represent the others. Two of these four switches are used to set the speed of movement for the X, Y and Z axes together controlled objects as well as »high« or »low« for the rotation speed around the Θ-axis, while the remaining two switches from one Rotary switch to select the four ranges of the welding current of the torch and from a switch for

so there is a selection of »On« or »Off« of the interlock switch. The correction pushbutton BTI is connected to the shift register 3 'via a timing circuit TV , corresponding to each of the four switches SW2. After switching on the switch 5W2 during the Writing and proofreading becomes a selected Signal fed to device 4 via shift register 3 'during testing and automatic Operation will be signals from device 2 that are "high" or "low" with respect to the amount of motion speed of the controlled objects, which denote four ranges of the welding current of the torch and "on" or "off" for the interlock switch, through the shift register 3 'to the device 4 and through the buffer B' to the lamp L, the switch / and the Facility WF led. After pressing the button BT2 during the correction, the switch 5W2 is switched on, and a signal emanating from it

,., i, H J "c; ..;" k "." "ι u. : λ

"» Um! UilllluilUllgT lArlLU) JI Wl tlllCIII Γ \ 113 | ζdl 1 | ξ3 "

signal of the device 2, supplied

A numerical output device DO, which is used to output any numerical words of a plurality of words required for control, includes the oscillator O, the counter PQ, the switches SWi and SW2 and the push buttons BTi and BTX. A control mechanism CO for controlling the Controlled objects contains the lamp L, the switch /, the system SB and the device WE

The operation of the embodiment according to FIG. 14 will now be explained. During the teaching mode, a perforated band Π is introduced into the device 4. A toggle switch (not shown) is set to the "teaching" position so that the connections shown in volume in FIG. 14 are established will. Appropriate actuation of the switch SW1 activates the oscillator O so that the counter PC generates numerical values in five channels for controlling the position and position of the torch 70 and the workpiece WO. The numerical values generated in this way are fed to the system SB via the converter C so that the movement in the five degrees of freedom of the torch and the workpiece G is controlled and the welding point at the end of the torch TC is brought to a point on the workpiece G , at which welding is to be started. Then the switch SW2 is turned on to turn on a high moving speed.

After pressing a start button (not shown), the numerical values of the five channels that were generated in the counter ff are punched into the punched tape Ti via the register 3 by means of the device 4, and the command contents based on the switch SW2 are written into the punched tape Ti punched by means of the device 4 over the register 3 '.

Then the welding point at the end of the torch is brought to a point on the workpiece where the welding is to take place, in the same way as already explained by a suitable actuation of the switch A Wi. At the same time, a selection is made using the switch SW2 as to whether the movement to the mentioned point is to be made at high or low speed. Conventionally, moving from one point to another is made by performing welding at low speed, and such movement without a welding operation at high speed performed the size of the welding current of the burner is selected by the switch SW2 again, the start button is pressed and, as already explained, the contents of counter PCm the hole strip Ti inscribed by means of the device 4 through the register 3, and the command information is also written into the punched tape 7 * 1 by means of the device 4 via the register 3 '

In the same way, the commands or instructions are then punched into the perforated strip by means of the device 4, point by point. If it is desired to provide a pause using a timer (not shown) in the course of the described movement from point to point, the locking command is punched into the punched tape 7 * 1 by switching on the switch SW2 corresponding to this command.

The teaching of all the data relating to the movement of the entire welding of the workpiece G and the movement of the torch TC is ended.

and a punched tape 7 * 1 is obtained, which has the called program contains

Next, the punched tape Ti is inserted into the device 2 by means of the punched tape T2, and a toggle switch (not shown) is set to the "test" position so that the dotted lines in FIG. 14 connections shown are formed. Each time the start button is pressed, the reads

ίο device 2 the strip Tl word on a word that is 12 bits to 12 bits, these 'to load, and the device 4 writes in the hole strip 7 * 1 in the shift registers 3 and 3' into the shift registers 3 and 3, a stored contents. Of the so distinguished numerical values are those that correspond to the five channels for position control, via the shift register 3 and the counter PC to the converter C where they are converted into analog signals that are introduced into the system SB to determine the position of the The workpiece and the torch. More precisely, after pressing the start button, the welding point at the end of the torch TC is brought into a position in which welding of the workpiece is to begin. From the numerical read out in this way The value that corresponds to the one channel for providing other commands is transferred to the lamp L, the switch / and the device M via the shift register 3 'and the buffer B' . Thus, the control returns to the initial position as above explained carried out at high speed.

If no error is found in checking the mentioned one initial word, then the start button pressed again, so that the device 2 reads out the next word and the mentioned error-free The numerical values are written into the punched tape 7 * 1 by means of the device 4. Then, through the explanatory reading, the following instructions are verified. If an error occurs in the attitude control, key B 1 is pressed, and

w the switch SWl is turned on to correct the content in the counter PC so that the positions of the workpiece G and the torch FC are corrected. If an error occurs with regard to other commands, this is indicated by the lamp L and the button

BT2 is printed and the switch SW2 becomes

switched on to the content in shift register 3 ' correct so that the mentioned error is in the

Instructions is corrected. Then after pressing the start button (not

shown) the device 2 writes the next word in the tape T2, and the output signal obtained will 'go' into the shift registers 3 and 3, and at the same time the original numerical values or the corrected values stored in the Shift registers 3 and 3 'were stored, written into the punched tape 7 * 1 by means of the device 4. When making the correction, turning on switches SWi and SW2 without pressing keys 57 "I and 57 * 2 does not result in any operation.

ω, which ensures that an erroneous actuation of the switches SWi and SW2, which would require a correction, does not change the content in the counter PC and in the shift register 3 '. So the examination and the correction are carried out word for word performed and the correct program is in the punched in the punched tape 7 "II in the desired manner.

To do this properly in the strip Ti

To carry out the punched program, it is by means of

of the strip T1 is entered into the device 2, the toggle switch is set to the "automatic operation" position, and the above-mentioned start button is pressed so that the device 2 reads the tape T2 , one 12-bit group after the other , and the position control signal is transmitted through the shift register 3, the counter PQ, the converter C and the servo system SB to control the position of the controlled objects. The other control signal reaches the lamp L, the switch /, the device WE and the unit M via the shift register 3 'and the buffer β'. At each time one of the commands consisting of 12 bits is carried out and terminated; the device is driven directly by means of sequential control, or if the timer is actuated, the device DR is operated according to the set time delay, so that the contents of the strip T2 are automatically carried out one after the other. The device 4 is not switched on.

When making corrections at the time of the test, other commands or instructions may be desired to insert. For this purpose, the changeover switch is temporarily placed in the teaching position If it is desired that certain instructions be cleared, the activation of the device becomes 2s 4 temporarily stopped. Many other variations on the use of the device can be made in FIG Consideration.

FIG. 15 shows a perspective view of a further embodiment which is opposite to that according to FIG Fig.3 is improved. In detail differs the structure of FIG. 15 differs from that of FIG. 3; however, the basic characteristics are the same in both cases. The structure and the way of working of the embodiment according to FIG. 15 with regard to the basic features are for the person skilled in the art due to the in connection with F i g. 3 given explanation and with simultaneous reference to 15 is readily understandable. In the following, therefore, only the structural and work-related Features received, which only in the embodiment according to F i g. 15 apply.

The workpiece holder 61 is accommodated in a U-shaped support part 303 in FIG. 15 and is rotatable about the Θ-axis. The support member 303 is secured to a U-frame 300 and a Φ-axis rotatably extending in the X direction side of a side of the U-support member 303, a fan-like gear portion 301 is arranged, which meshes with a driving gear 302 in engagement with the Drive of the fan-like gearwheel part 301 in the sense of a rotation about the Φ-axis. The rotation of the U-support part 303 and thus of the workpiece holder 61 is controlled by the drive gear 302 , so that the angle of inclination of the workpiece holder 61 can be changed from 0 °, i.e. from the Y direction, to 90 °, i.e. in the Z direction Drive gear can be designed so that its angle of rotation can be adjusted by hand. However, this is preferred in connection with FIG. 9, 10, 11 and 14 explained control system with an additional channel for controlling the angle of rotation Φ of the drive gear 302 and thus the workpiece holder 61 is formed the explanation of FIGS. 9, 10, 11 and 14 can easily be carried out.

It now becomes a major advantage of the embodiment according to Fig. 15 explains without the possibility of rotating the workpiece holder 61 by di < Φ-axis, d. H. without a control of the inclination win angle of the bracket 61, it can only be rotated around the Y-axis. It can now happen that a corner which is formed between two metal plates that are in contact with each other at right angles, ζ. Β cannot be oriented so that the corner is pointing downwards If welding is performed on metal plates that are relatively thick, the filler metal tends to stick to it Melt with the metal plates to a much lesser extent because the molten filler metal is added tends to flow in an undesirable manner so that fell a bad weld results in the embodiment according to FIG. 15, however, enables any desired orientation of the workpiece holder with respect to the Horizontal direction and therefore avoids the disadvantage mentioned, which in the embodiments according to Fig. ' and 3 can occur.

The automatic welding device can have a program device for outputting a command information mation must be designed that includes pendulum conditions that a right-angled coordinate system de: Torch and / or the workpiece to be welded are assigned, and with a pendulum repetition Control to continuously carry out the Pendelvor gear according to the command information. distance may include means for entering the pendulum condition between the program device and the pendulum Repeat control be arranged. In this way, the automatic welding device mi a pendulum control device provided.

Some features of the illustrated embodiment of the invention are summarized again below summed up

1) Since the workpiece holder is designed so that it can be rotated around the horizontal axis // the The welding line of the workpiece always lie on the top side, so that the welding process ir a favorable position of the burner, for example in the sense of a weld with downward guidance is feasible

2) Since the degrees of freedom of movement between dei Workpiece holder and the torch holder are divided, the construction is in the Device according to the invention easier in comparison with a device in which all freedom degree of movement of one of the brackets are assigned.

3) Compared with a device for controlling the spatial position according to the usual cylindrical coordinates or polar coordinates for the implementation of automatic welding, the welding line of the workpiece in the invention can generally extend in three directions, namely front and back, laterally and vertically. Accordingly, programming the automatic welding is easier. Also, the control device does not always require such complicated devices as an interpolation device.

4) Since the workpiece holder can be rotated in a simple manner about the horizontal axis , the work piece can have considerably larger dimensions.

5) Although the controller is of the PTP type, the location of the controlled object, such as the Torch, can be continuously controlled, which results in a considerably increased weld quality Has.

In addition 11 sheets of drawings

Claims (12)

Patent claims: 1. Automatic welding device with a holder for a workpiece, a holder for a welding torch and a movable bearing for at least one of said holders, the adjustment movements of the workpiece holder and the torch holder relative to each other in three mutually perpendicular directions, characterized in that <o that the Workpiece holder (15) is rotatable about an axis (Θ) which extends in a first (Y) of said three directions (X, Y, Z) , that the torch holder (18) is rotatably supported about an axis (Φ), which extends in a second (Z) of the> ³ named three directions (X, Y, Z) , where ■ n in a manner known per se on an axial The welding point located on the extension line of the torch with the aforementioned axis (Φ) is aligned, and that control means for controlling the rotations of the workpiece holder (15) and the Burner support (18) and the aforementioned adjustment movements are provided. 2. Apparatus according to claim 1, characterized in that the movable bearing has a guide (31) which runs in the first direction ^ V ^, which is a horizontal direction, a sliding part (32) which runs along the guide ( 31) is slidably movable in the first direction (V?), A column (33) which extends in the second direction (Z) , which is a vertical direction and which is on the sliding part in the second direction (Z ) is slidably arranged, and comprises an arm (34) which is slidably secured to one end of the column (33) in the third direction (X) which is a J5 horizontal direction and the burner holder ( 35) carries. 3. Apparatus according to claim 2, characterized in that compensating means (38) for compensating the weight of the column (33) are provided. ίο 4. The device according to claim 1, characterized in that the movable bearing has a member (14) which in the first direction (Y) and in the third direction (X) is movable, and an arm (17) in the second direction (Z) , that the workpiece holder (15) is rotatably supported by the movable member (14) about an axis (Θ) extending in the first direction (Y) , and that the welding torch holder (18) is supported by the arm (17) is rotatably supported about an axis (Φ) extending in the second direction (Z). 5. The device according to claim 4, characterized in that the member (14) on a carriage in the first direction (Y) is arranged slidably μ net, which is slidably movable in the third direction (X) . 6. Welding device according to one of the preceding claims, characterized in that an adapter (120; 130) is detachably arranged at the end of the torch & o (TC) and a needle (124; 132 ") which indicates the welding point (PT) at its pointed end and has an elastic connecting part (122; 132) for carrying the needle. 7. Device according to one of the preceding claims, characterized in that said control means comprise: storage means for Save the necessary for the control Information, a shift register (3) for storage the information read out from the storage means and a control mechanism (5) which controls the rotations and setting movements based on the output signal of the shift register (3) 8. Apparatus according to claim 7, characterized in that the memory means have a punched tape (T) and a punched tape reader (2). 9. Apparatus according to claim 8, characterized in that information generating means (1) are provided for generating information signals necessary for the control, that the shift register (3) selectively information either from the storage means (T, 2) or from the information generating means (1) and that a writing device (4) is provided for writing information output from the shift register (3) into a punched tape (T) which can be used in the storage means, which enables the information data required for the desired movement and rotation processes to be created and recorded 10. The device according to claim 9, characterized in that correction means (BTi; BTT) are provided for correcting information erroneously written into the punched tape (Tl) and are designed so that the information from the punched tape reader (2) via the shift register ( 3) to the writing device (4) and to the control mechanism (SB) and, when the correction means (STl; BT2) is actuated, the information from the information provision means (SWl, O; SW2), preferably before the information from the tape reader (2), via the shift register (3) to the writing device (4) and to the control mechanism (SB) . 11. Welding device according to one of claims 7-10, characterized in that the control mechanism contains a servo system (5) which has a servo amplifier (A) which operates on the basis of the information from the shift register (3) and that the control mechanism also has a zero detector (NX) has to generate a zero signal in response to the fact that the output of the servo amplifier (A) is in the vicinity of zero, the zero signal triggering an incrementation of the information storage means (T, 2) for loading an output signal of the same into the shift register (3). 12. Apparatus according to claim 9 or 10, characterized in that the control mechanism has a servo system (5) with a servo amplifier (A) responsive to the information from the shift register (R ) and a zero detector (N) which is close to zero Output signal of the servo amplifier (A) responds that an up / down counter (U) cooperates with the shift register (R) to preset its information and that a digital-to-analog converter (D) to convert the information an up / Down counter (U) into an analog signal fed to the servo amplifier (A) , a clearing stage (RE) for generating a clear signal for clearing the information in the up / down counter and a flip-flop (F) are provided, which is provided by the Zero signal of the zero signal generator (Λ / ^ is set and is reset by the cancellation signal from the cancellation stage (RE) . υ. νörnCiiiüng next to a ucT vGräfigeiienuen Claims, characterized in that a device (301, 302) is provided for controlling the angle of inclination of the workpiece holder (61). 14. Apparatus according to claim 13, characterized characterized in that the control means also controls the means (301, 302) for controlling the angle of inclination of the workpiece holder (61).