JP2904247B2 - Welding robot for corrugated lap joints - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a welding robot for splicing a corrugated laminate, which is used for automatically welding a corrugated laminate having a corrugated shape.

[0002]

2. Description of the Related Art Conventionally, a contact-type profile sensor has been used for recognition of a corrugation shape. In addition, when using an automatic welding machine (TIG welding) for lap welding having a corrugation shape, the adjustment of the arc position in the left and right direction (lateral direction) is performed by a human visually performing seam tracking and manually aligning the arc on the welding line. I was

[0003]

However, in the above-mentioned type using the conventional contact type profile sensor, sensing is performed particularly when performing welding at a higher speed than other welding methods such as plasma arc welding. In some cases, a delay was caused, and it was difficult to cope with high-speed welding. Further, since the adjustment and control of the arc position in the left-right direction (lateral direction) are manual, the work is troublesome and there is a problem in accuracy.

Further, in plasma arc welding, the welding speed is 2.5 times as fast as that of conventionally used TIG welding, and the arc spot is smaller than that of TIG welding. No control.

An object of the present invention is to provide a welding robot for corrugated lap joints, which can automatically perform sensing and adjustment of an arc position and can cope with high-speed welding.

[0006]

In order to achieve the above object, a welding robot for splicing corrugated lap joints according to the first invention is provided.
A welding machine body that is movable along the welding line of the corrugated lap plate is provided, and the welding machine body is movable in the horizontal direction perpendicular to the moving direction and in the vertical direction and is rotatable in the moving direction. And a control device for controlling the movement and rotation in both directions is provided, and a first direction for corrugation shape recognition is provided on the movement direction side with respect to the welding torch.
A non-contact type sensor and a second non-contact type sensor for measuring a welding line are provided, and these sensors are connected to the control device.
Between the vertical direction and the rotation by the measurement method using a sensor
The line data is created by the controller and the second non-contact type
The welding line data in the left and right direction is determined by the sensor measurement method.
Data is created by the control device, and is sequentially created by this control device
Based on the delay control from the control device by both data,
Control the welding torch moving after the sensor and
Transport over the weld line of the corrugation shape
Make up.

The welding robot for splicing corrugated lap joints according to the second invention is provided with a plasma arc welding torch.

[0008]

According to the configuration of the first aspect of the present invention, the welding machine body is moved in a state where both the non-contact sensors are located above the front edge in the moving direction, so that the measurement can be performed by both the sensors. Welding can be performed automatically. That is, in the corrugation-shaped portion, the welding line data of the up-down direction (vertical direction) and the rotation can be created by the measurement method by the first non-contact sensor, and the welding line data can be created by the measurement method by the second non-contact sensor. ) Welding line data can be created. Therefore, by controlling the movement and rotation of the welding torch by the control device based on both data, the arc of the welding torch can be carried on the welding line of the corrugation-shaped portion.

According to the configuration of the second aspect of the present invention, welding can be performed at high speed by the plasma arc method.

[0010]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS One embodiment of the present invention will be described below with reference to the drawings. Reference numerals 1 and 2 denote corrugated plates having a corrugation shape. Corrugation-shaped portions 1B and 2B are formed at predetermined pitches on the thin plate flat portions 1A and 2A. The two corrugated plates 1 and 2 have their corrugation-shaped portions 1B,
By fitting the 2B in the up-down direction and overlapping the edges, the corrugated laminated plate portion 3 long in the direction orthogonal to the direction of the corrugation-shaped portions 1B and 2B is formed. Thereby, the welding line 4 is formed at the edge position of the corrugated plate 2 which is higher in the corrugated laminated plate portion 3.

A guide (rail or the like) 10 extending in a direction along the welding line 4 is finally located above the welding line 4 by movement adjustment, conveyance adjustment and the like. A welding machine body 11 supported and guided by the guide body 10 and having a direction along the welding line 4 as a moving direction L (a driving device for movement is omitted) is provided.

The welding machine main body 11 is movable in a horizontal direction W perpendicular to the moving direction L and in a vertical direction H and is rotatable about an axis 16 parallel to the horizontal direction W. A welding torch 12 is provided, wherein the welding torch 12 uses a plasma arc welding method. Furthermore, the welding machine body 11 has
A control device 13 for controlling the movement of the welding torch 12 in both directions W and H and the rotation Θ is provided, and the control device 13 includes a delay circuit (the reason will be described later).

The welding torch is attached to the welding machine body 11.
Laser displacement sensor for corrugation shape recognition (an example of a first non-contact type sensor)
And a visual sensor (an example of a second non-contact type sensor) 15 for measuring a welding line, and these sensors 14 and 15 are connected to the control device 13. Here, the laser displacement sensor 14 is disposed on the side of the visual sensor 15.
Further, the laser displacement sensor 14 is arranged on the front side in the moving direction with respect to the visual sensor 15, but may be arranged at the same position or on the rear side.

Next, the welding operation of the corrugated lap joint in the above embodiment will be described. As described above, welding line 4
The guide body 10 is positioned above the
With the laser displacement sensor 14 positioned above the front edge of the welding machine, the welding machine main body 11 is moved by the guidance of the guide body 10 so that the measurement by both the sensors 14 and 15 is performed and the intended operation is performed by the plasma arc method. Perform welding.

That is, normally, at the start of welding, the laser displacement sensor 14 performs normal measurement (sensing) on the front plane part A of the thin plate plane part 2A as shown by the solid line in FIG. As shown by the solid line 4, the visual sensor 15 performs a normal measurement (seam tracking) on the front welding line portion E of the welding line 4 corresponding to the thin plate flat portions 1A and 2A. The values measured by the sensors 14 and 15 are input to the control device 13, and based on the measured values, the welding torch is used.
12 is controlled to move in the left-right direction W.

At this time, the two sensors 14 and 15 precede, and the welding torch 12 follows.
The adjustment is performed by delay-controlling the movement of the welding torch 12 in the left-right direction W by a delay circuit incorporated in the same. The movement and rotation of the welding torch 12 in the vertical direction H, which will be described later, are similarly delayed.

The welding operation corresponding to the thin plate flat portions 1A and 2A as described above is continued, and the laser displacement sensor 14 is moved to the position shown in FIG.
When the laser displacement sensor 14 is opposed to the rising inclined surface portion B of the corrugation-shaped portion 2B, the laser displacement sensor 14 cannot catch the reflected light due to the presence of the inclined angle, and the measurement becomes impossible.

When the laser displacement sensor 14 faces the top C shown by the imaginary line in FIG. 3, the state returns to a state in which reflected light is captured by its planar shape, and measurement becomes possible. Next, similarly, the laser displacement sensor 14 faces the falling inclined surface portion D shown in FIG. 3 so that the measurement becomes impossible again, and the laser displacement sensor 14 faces the rear plane portion a of the thin plate flat portion 2A. Measurement becomes possible.

In the measurement state by the laser displacement sensor 14, the point at the highest position among the points measured within the range of the top C is the point indicating the center position of the corrugation-shaped portion 2B. Here, in the control device 13, since the shape of the corrugation shape portion 2B is given in advance, data of the welding line 4 is created using the position of the input highest point as a reference point, and the welding torch 12 is moved to the corrugation shape portion 2B. Along the vertical direction H.

FIG. 4 shows a state in which seam tracking is performed while moving the visual sensor 15 in the moving direction L.
When facing the corrugated shape part welding line part F shown in
Due to the increase in the detection level, the visual sensor 15 goes out of the field of view, and the measurement becomes impossible. This non-measurable state is the entire region facing the corrugation-shaped portion welding line portion F, and returns to measurable again when the visual sensor 15 faces the rear welding line portion e.

As described above, measurement cannot be performed over the entire area of the corrugation-shaped portion welding line portion F. However, since the corrugation-shaped portion welding line portion F and the two welding line portions E and e are almost perpendicular to each other, the rise is not possible. Above the line connecting the coordinates of the point (starting point or the like) measured in the range of the inclined surface portion B and the coordinates of the point (end point or the like) measured in the range of the falling inclined surface portion D, the welding line portion of the corrugation shape portion Welding line at F 4
Therefore, the movement of the welding torch 12 in the left-right direction W can be controlled and the welding torch 12 can be rotated.

Therefore, the corrugation-shaped portions 1B, 2
In the part B, welding line data in the vertical direction (vertical direction) H is created by the measurement method using the laser displacement sensor 14,
Welding line data in the left-right direction (lateral direction) W can be created by the measurement method using the visual sensor 15. Then, both data are sequentially created, and the arc of the welding torch 12 that moves after the two sensors 14 and 15 can be conveyed onto the corrugation-shaped weld line F based on the delay control.

[0023]

According to the first aspect of the present invention, the welding line data can be created by measuring the flat portion and the corrugation top using the first non-contact sensor having a wide measurement range. Corrugation shape can be automatically recognized, and high-speed welding such as plasma arc welding can be supported.

Further, the seam tracking can be automatically performed by the second non-contact type sensor, and the horizontal (horizontal) adjustment of the arc position can be automatically performed based on the measured value.

Further, according to the second aspect of the present invention, welding at a higher speed than that of another welding method, called plasma arc welding, can be employed, and thereby the welding operation can be performed efficiently.

[Brief description of the drawings]

FIG. 1 is a schematic perspective view showing an embodiment of the present invention and showing a welding robot for welding a corrugated lap joint during welding.

FIG. 2 is a schematic plan view at the time of welding by the welding robot for joining the corrugated lap joints.

FIG. 3 is an explanatory diagram of a measurement state by the non-contact sensor.

FIG. 4 is an explanatory diagram of a measurement state by the visual sensor.

[Explanation of symbols]

 REFERENCE SIGNS LIST 1 corrugated plate 1A thin plate flat portion 1B corrugated shape portion 2 corrugated plate 2A thin flat plate portion 2B corrugated shape portion 3 corrugated laminated plate portion 4 welding line 11 welding machine body 12 plasma arc welding torch 13 control device 14 laser displacement sensor (first 1 Non-contact sensor) 15 Visual sensor (2nd non-contact sensor) 16 Axis B Rising slope C Top D Falling slope F Corrugation shape welding line L Moving direction W Left-right direction H Vertical direction 回 動 Rotation

──────────────────────────────────────────────────続 き Continuation of the front page (72) Inventor Minoru Ohno 5-3-28 Nishikujo, Konohana-ku, Osaka City, Osaka, Japan (56) References JP-A-4-237566 (JP, A) ( 58) Field surveyed (Int.Cl. ⁶ , DB name) B23K 9/127 502-508 B23K 9/028 B23K 10/00 502

Claims (2)

(57) [Claims] 1. A welding machine body which is movable along a welding line of a corrugated laminated plate portion, and which is movable and movable in a horizontal direction and a vertical direction orthogonal to a moving direction. In addition to providing a welding torch that can rotate in the direction, a control device that controls movement and rotation in both directions is provided,
A first non-contact type sensor for corrugation shape recognition and a second non-contact type sensor for welding line measurement are provided on the movement direction side with respect to the welding torch, and these sensors are connected to the control device. In the part,
Up and down direction by the measurement method with the first non-contact sensor
The controller creates the welding line data for
In addition, left and right by the measurement method with the second non-contact sensor
Direction welding line data is created by the controller, and this controller
Control from the control unit by both data created in sequence
A welding torch that moves after both sensors
Control the arc to the welding line of the corrugation shape
A welding robot for splicing corrugated sheets, wherein the welding robot is configured to be carried on a part . 2. The welding robot according to claim 1, further comprising a plasma torch welding torch.