JP2978323B2 - Temporary assembly welding equipment - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a temporary assembling and welding apparatus for temporarily welding between a horizontal member to be welded such as a panel member and a vertical member to be welded such as a long metal member standing on an upper surface thereof.
The present invention relates to a device for tack-welding a relatively large number of vertical members to be welded to a horizontal member to be welded having a relatively large area by horizontal fillet spot welding using a consumable electrode type gas shield arc welding machine.

[0002]

2. Description of the Related Art In horizontal fillet welding in which a long material is fully welded to a panel material, it is known that a fillet copying welder is mounted on a portal frame and driven in a horizontal y direction in which the long material extends. (For example, Japanese Patent Publication No. 50-8705, Japanese Patent Publication No. 50-289)
No. 03, JP-B-51-20381 and JP-B-52-12999
Publication).

[0003] On the other hand, the present applicant has proposed a tack welding apparatus for performing tack welding with a labor-saving and high efficiency by using a portal frame.
(JP-A-3-234370). In the case of this temporary welding device, a plurality of welding machines are installed side by side on a portal frame, and near each welding machine,
A clamping mechanism for clamping the side surface of the longitudinal material and forcibly positioning the panel material by pressing the upper end surface and forcibly positioning the panel material is provided.
A plurality of longitudinally long members are tack-welded to the panel material at a time. For example, when five welding machines and five clamping mechanisms are provided, one scanning movement in the y-direction of the gate-type gantry makes 5
The book material is tack welded onto the panel material.

Since the longitudinal member is positioned in parallel with the trajectory of the portal gantry in the y direction, the edge of the panel member extending in the y direction is not arranged parallel to the y reference line extending in the y direction, and / or Alternatively, when the edge is bent, the distance (x direction) of the panel material to the edge is different at each position in the y direction. That is, the longitudinal material is displaced from the panel material. In order to prevent this, the above-described tack welding apparatus is provided with an edge position sensor for detecting the x position of the edge of the panel material, and the edge of the edge is scanned while the gate type gantry is driven in the y direction. The x position of the edge corresponding to the x position is y
The welding machine and the clamping mechanism are adjusted and driven in the x direction by the amount deviated from the longitudinal line positioning line at a set distance in the x direction from the reference line, and the distance in the x direction of the longitudinal member to the edge of the panel material is fixed (set value). I try to keep it.

[0005]

In the case of the above-described tack welding apparatus, when the width of the panel material in the x direction is larger than the width of the portal frame in the x direction, the tacking of the region exceeding the width of the portal frame in the x direction is performed. Welding involves too much. For example, when the required number of longitudinal members are tack-welded to the required x position in the x-direction width of the portal gantry, the panel material is displaced in the x-direction by the width of the portal gantry in the x-direction, and the portal gantry is scanned in the y-direction. When driven, the required number of longitude members are temporarily welded to the required x position with respect to the width of the portal frame in the x direction. This process can be repeated to temporarily weld the required number of longitudinal materials to substantially the required positions on the entire required surface of the panel material. However, in the second and subsequent y-direction scanning drives, the x position of the edge of the panel material is determined. Since the edge position sensor to be detected is opposed to the upper surface of the panel material more than the edge in the x-direction width of the gate-type gantry, the edge position cannot be detected, and therefore, the gantry-type gantry is not used as the edge reference. Positioning of the longitudinal material with reference to the y reference line of the above, or detecting the x position of one of the longitudinal materials for which tack welding has already been completed by the edge position sensor, and following this, the welding machine and the clamping mechanism are operated. Adjustment driving in the x direction is conceivable. However, in the former case, there is a problem that the distance (x direction) of the panel material to the edge is different in the y direction. In the latter case, the detection error of the edge position sensor and the positioning error of the longitudinal material for the long material which has been subjected to the tack welding first, and the detection error of the edge position sensor and the positioning of the long material for the long material to be temporarily tacked this time. An error is added, and there is a problem that the longer the long material is assembled in the subsequent process, the larger the positional error with respect to the edge of the panel material becomes.

Therefore, in the case of the above-described tack welding apparatus,
The width in the x-direction of the portal gantry is set as wide as possible so as to match the maximum width in the x-direction of the panel material where tack welding is assumed.
The mounting of many welding machines and clamping mechanisms is highly versatile with respect to the size of the panel material, but in this case, the portal frame becomes large and heavy, and its support mechanism and y drive mechanism are provided. Becomes larger and heavier, which in turn necessitates lowering the moving speed in the y direction, making constant control in the y direction difficult, and lowering the efficiency of temporary assembly work compared to the size of the portal frame. I do.

An object of the present invention is to improve the various problems described above.

[0008]

Tack assembly welding apparatus of the present invention According to an aspect of the, x running motor - motor (BM _1, BM ₂₎ the first frame to travel in a horizontal x-direction comprise (1 _1, 1 _2, 2 _1, 2 _2); y driving motor - includes data (5),
Is mounted on the first frame, the second frame (6 _1, 6 _2, 7, 8) running in the horizontal y direction with respect to the first frame; attached to the second frame, one edge along the y-direction placement Mechanism (16 ₁ , 16 ₁ ) that clamps the vertical member (12 ₅ ) to be welded on the horizontal member (11) to be welded.
_2, 20) and welding device (95 = 10 _51, 10 ₅₂₎ supports, x position adjustment mode - includes a motor (25 _5), a mechanism for clamping (16 _1, 16 ₂ 20) and the welding device (95) the x position adjusting mechanism for driving the x direction relative to the second frame (9 _5, 25 _5); the welded horizontal member (11)
X-position detection means (15) for detecting the x-direction position (DR) of the one end edge; x for driving the first gantry in the x-direction
Drive control means (50); a second frame y drive control means for driving the y-direction (50); through in correspondence with the given x-position information x position adjusting mechanism (9 _5, 25 ₅₎ the The clamping mechanism (1
6 ₁ , 16 ₂ , 20) and x position adjustment control means (85) for driving the welding apparatus (95) for position adjustment in the x direction; y position detection means (Ry, 50) for detecting the y direction position of the second gantry Information storage means (53);
While the first gantry is located at a position closest to the one end edge of the horizontal member to be welded (11), the y-drive control means (50) drives the second gantry in the y-direction. Writing control means (50) for writing the detected x-direction position information (DR) to the information storage means (53) in association with the y-direction position information (YR) detected by the y position detection means (Ry, 50); And the horizontal member to be welded
(11) placing the first gantry at a position away from the one edge,
During the y-direction drive of the second gantry by the y-drive control means (50),
y-direction position information (YR) detected by the y-position detecting means (Ry, 50)
Read-out control means (50) for reading x-direction position information (DR) corresponding to the above from the information storage means (53) to the x-position adjustment control means (85).

The symbols in parentheses indicate the corresponding elements of the embodiment described later with reference to the drawings.

[0010]

[Operation] The second frame (6 ₁ , 6 ₂ , 7, 8) is the same as that of the above-mentioned JP-A-3-23437.
This corresponds substantially to the conventional portal type gantry disclosed in Japanese Patent Publication No. 0. Thus, the second gantry is mounted on the first gantry (1 ₁ , 1 ₂ , 2 ₁ , 2 ₂ ) running in the horizontal x direction, and the first gantry is
It is driven in the x direction by the x drive control means (50).

Therefore, for example, a horizontal material (11: panel material)
Is larger than the width of the second mount in the x direction,
When the required number of vertical members (12: longitudinal material) are tack-welded to the required x position on the panel material in the substantially x-direction width of the second frame by the first y-direction movement of the second frame, the first frame becomes Is driven in the x direction by the x drive control means (50) by the width of the second mount substantially in the x direction, and the second mount is driven in the y direction by scanning. The material is tack welded to the required x position on the panel material. By repeating this process, the required number of longitude materials can be temporarily welded to substantially the required positions on the entire required surface of the panel material.

By the way, the plurality of times y of the second mount
In the directional movement, the y-axis of the second gantry, in which the first gantry is located at a position closest to one edge along the y-direction of the horizontal member (11) to be welded.
During the directional movement (first y-direction scanning movement), the writing control means (50) transmits the x-direction position information (DR) detected by the x-position detecting means (15) to the y-position detecting means (Ry, 50). ) Is written in the information storage means (53) in association with the detected y-direction position information (YR).
Then, the y-direction movement of the second frame with the first frame placed at a position away from the one edge (the y-direction scanning movement after the second time)
During this time, the read control means (50) sets the y position detection means (Ry, 5
The x-direction position information (DR) corresponding to the y-direction position information (YR) detected by (0) is read out from the information storage means (53) and given to the x-position adjustment control means (85). Thus, during the second and subsequent y-direction movements of the second gantry, the x-position adjustment control means (85) operates the x-position adjustment mechanism based on the x-direction position (DR) of the one edge detected earlier. through (9 _5, 25 _5), a mechanism for the clamping is mounted on the second frame (16 _1, 16 _2, 20) and welding apparatus (95) for positioning the drive in the x-direction. Thereby, the x position detecting means (15)
In any of the second and subsequent y-direction scanning movements of the second frame that cannot detect the x position of the edge, the position detection means (1
The x-direction position of one edge of the horizontal member to be welded (11) detected by 5)
In response to (DR), the clamping mechanism (16 ₁ , 16 ₂ , 20) and the welding device (95) are driven along the x direction, and any longitude material is set with respect to one edge of the panel material. Positioned at a distance. The detection error of the x position detecting means (15) and the positioning error of the panel material do not accumulate for a plurality of times.

As described above, the second end of the panel material is
In the region beyond the x-direction width of the gantry (6 ₁ , 6 ₂ , 7, 8), the position detecting means (15) is also used for the tack welding of the longitudinal material, that is, in the y-direction scanning movement of the second gantry after the second time. Detected horizontal material to be welded
Welding device (95) corresponding to the x direction position (DR) of one edge of (11)
Since the x-direction scanning drive is performed as described above, the number of longge materials that can be tack-welded by one movement of the second mount in the y-direction can be reduced. That is, even if the width of the second gantry in the x direction is reduced, it is possible to position many long materials with a substantially constant accuracy on a wide-area panel material and perform temporary welding. Therefore, the width in the x direction of the second mount does not need to be set as wide as possible so as to match the maximum width in the x direction of the panel material in which the tack welding is assumed, and the number of welding machines and clamping mechanisms is increased. No need to
The second mount is small and lightweight, and its support mechanism and y
The drive mechanism can be reduced in size and weight, and accordingly, the moving speed in the y direction can be increased, and the constant speed control in the y direction can be performed stably and with high accuracy. The efficiency of the temporary assembling operation is improved as compared with the size of the second gantry.

Other objects and features of the present invention will become apparent from the following description of embodiments with reference to the drawings.

[0015]

1 to 10 show an outline of a mechanism of an embodiment of the present invention, FIGS. 11 and 12 show an outline of an electric control system, and FIGS.
3 to 19 show the outline of the control operation of the electric control system.

First, an outline of the mechanism will be described with reference to FIGS. Floor The two base horizontal y parallel to built in which these base on each Le - Le BR _1, BR ₂ is fixed (Figure 1-3). Le - Le BR _1, BR _2, the first frame 1 ₁ extending in the y-direction, 1 ₂ rests is loaded wheels, Le - electric wheels on Le BR ₁ via a power transmission mechanism motor - is rotated by motor BM _1, Le - electric wheels on Le BR ₂ via a power transmission mechanism motor - is rotated at a motor BM _2. As a result, the first frames 1 ₁ and 1 ₂
It moves in the x direction along R ₁ and BR ₂ . Electric motor BM
B The _first rotation axis - Tarienko - da Rx is coupled, electric motor - motor rotation of a predetermined angle of BM ₁ (first frame 1 _1,
1 electrical pulses of one pulse generated per movement of ₂ in the x direction given distance), give to the interrupt input terminal Inx of the microprocessor 50 (hereinafter referred to as CPU1) via the signal processing circuit SP shown in FIG. 11 . Note CPU1 generates a first frame ₁ 1, 1 ₂ of the x-position information by counting the electric pulses. In the vicinity of the rails BR ₁ and BR _2, a first mount 1
_1, 1 to ₂ in the x direction base position, the second frame 6 _and 62 by a predetermined pitch (to be described later, may be welded with provisionally the longitudinals material on a single panel member 11 in the y-direction movement of the 7, 8 x Knock widths KPR are installed in the direction width).
A knock pin (not shown) that fits into the first base ₁₁ ,
1 ₂ is equipped in each air - cylinders (not shown)
It is connected to. The first knock pin seat at the leftmost end in FIG. 1 is the base position in the x direction. When there is a one-region drive instruction input from the operation & display board 71, the CPU 1 switches the electromagnetic pressure change valve (not shown) to low pressure release to retract the knock pin driving air cylinder to retract the knock pin upward. , The motors BM ₁ and BM ₂ are urged forward to rotate the first base ₁₁ ,
When 1 _second x-position information is an indication slightly before the position the position of the next knock pin seat KPR motor - motor BM _1, B
Stop the M ₂ electromagnetic switching valve air for knock pin drive is switched to the high-pressure connecting - high-pressure air to the cylinder - by supplying,
Press the dowel pin into the seat KPR. The first frame by press-fitting 1 _1, 1 ₂ is positioned at the position of automatically accurately knock pin seat, where the movement is locked contracture.

[0017] The first frame ₁ 1, 1 ₂ is - le 2 _1, 2
₂ (FIGS. 1, 4, and 5) are fixed parallel to the y direction.
Les - le 2 _1, 2 _2, the second frame of inverted gantry (6 _1,
6 ₂ , 7, 8) wheels 3 ₁₁ , 3 _22, etc. are mounted, and these wheels are rotationally driven by an electric motor 5 via a power transmission mechanism including a bevel gear mechanism 4, whereby 2 frames (6
₁ , 6 ₂ , 7, 8) move in the y direction. A rotary encoder Ry is coupled to the rotating shaft of the electric motor 5,
An electric pulse of one pulse is generated for each rotation of the electric motor 5 at a predetermined angle (movement of the second gantry by a predetermined short distance in the y direction), and an interrupt input of the CPU 1 via the signal processing circuit SP shown in FIG. Give to terminal Iny. Note CPU1, the second frame by counting the electric pulses (6 _1, 6 _2, 7, 8) generates the y position information YR of. The details will be described later with reference to FIG.

The second frame (6 _1, 6 _2, 7, 8) of Tsuhashira 6 _1, 6 ₂ in the vertical direction substantially beams extending intermediate portion in the x direction 7 (Figure 5) is fixed. Tsuhashira 6 _1, 6 ₂ of the lower end extending in the x-direction in the bi - beam 8 is secured the bi - the beam 8, in this embodiment, one of them five carriage (FIGS. 8 and 9 9 ₅ shows a) is mounted movably in the x-direction. These carriage (9 _5), ball - bearings (not shown) is circulated Le - is equipped to form up, these ball - a portion of the bearings (plurality of ball -
In the bearing groove of the beam 8 extending in the x direction at the upper and lower edges.

[0019] With reference now in the carriage 9 ₅ For (FIGS. 8 and 9), ball - bearings via a carriage 9 ₅ bi - but movement in the y and z directions relative to the arm 8 are sealed contracture , X direction. Bi - the beam 8, a rack extending in the x-direction (not shown) is fixed, a pinion meshing with the rack (not shown) are rotatably supported on the carriage 9 _5, the pinion speed reducer Through the electric motor 25 ₅ (FIGS. 4, 8, 9)
Is driven to rotate. The carriage 9 ₅ moves in the x direction. Rotary encoders and hoes
Is equipped with home position switch, bi - the beam 8, the carriage 9 ₅ E stipulated in it - when in the home position, Ho - constant home position switch striker x direction to close distance interval It is equipped with. The above-described electric motor, rotary encoder, home position switch, and the like are connected to a welding controller 85 shown in FIG. The welding controller 85 has a microprocessor (C) substantially similar to the electric circuit configuration shown in FIG.
PU), and the CPU of the welding controller 85 urges the electric motor 25 in the forward and reverse directions. In the case of the forward rotation, the rotary encoder generates one pulse. to update the contents of the x-position register X ₅ to show a 1 large number, when the reverse rotation b - Tarienko - da within those numerical one less the content of the x-position register X ₅ in each generation of one pulse Is updated, and when the home position switch is switched from closed to open, the x position register X
₅ Clear hold constantly x position information in the x-position register X _5, the contents of the x-position register X ₅ is described below CPU2
X position specified by TPR ₅ = IP ₅ + DR (target position)
To conform to, performing x-direction positioning of the carriage 9 _5. The other four carriages also has the same structure as the carriage 9 _5, the welding control - structure and operation of La 81-84 also welding control - is the same as La 85.

[0020] FIG. 8 shows an enlarged view of the front of the carriage 9 _5. The carriage 9 _5, two consumable-electrode gas-shield arc welding machine 10 _51, 10 ₅₂ are equipped. These configurations will be described later. At the rear of the welder 10 _51, 10 _52, as shown in FIG. 9, it is equipped with clamping mechanism for pressing the longitudinals member 12 ₅ vertically sandwiched and downward.

Referring to FIG. 9, the carriage 9 _5,
Fixed support leg 16 ₁ are secured vertically extending z, the supporting leg 16 ₁ four steel balls 17 _{11-17 22,}
They are distributed on the same vertical plane in the x, y, and z directions, and are rotatably supported by spherical bearings. To face the fixed supporting leg 16 ₁ and one support leg 16 _2, movably in the x-direction, it is supported by the carriage 9 ₅ and extends parallel to the z-direction. The movable supporting leg 16 ₂ to 4 steel balls 18 _{11-18 22,} on the same vertical plane, x, are arranged distributed in the y and z directions, it is rotatably supported by ball bearings. The steel balls 18 ₁₁ to 18 ₂₂ are respectively steel balls 17 ₁₁ to
17 ₂₂ . Movable supporting leg 16 ₂ forward in the x direction by the first hydraulic cylinder 19, is restored driven.

[0022] make a longitudinals member 12 ₅ between the stationary support leg 16 ₁ and the movable supporting leg 16 _2, that the movable supporting leg 16 ₂ in the first hydraulic cylinder 19 is driven toward the fixed support leg 16 ₁ As a result, the steel balls 18 ₁₁ to 18 _22
5 longitudinals member 12 ₅ impinges on the back surface and longitudinals member 12 ₅ is pushed its surface hits the steel ball 17 _{11-17 22} is positioned at a position determined by the x position of the fixed supporting leg 16 ₁ and the the power of first hydraulic cylinder 19, longitudinals member 12 ₅ is forced perpendicularly been squeezed.

[0023] The carriage 9 ₅ second hydraulic cylinder 2
1 is fixed, and a bearing is fixed to the lower end of the piston rod extending therefrom, and the pressing roller 20 is horizontally and freely rotatably supported by the bearing.
The hydraulic port of the upper end of the second hydraulic cylinder 21 to the high pressure, by connecting the hydraulic port of the lower end to the drain, the longitudinals member 12 ₅ in contact with the upper surface of the longitudinals member 12 ₅ pressing roller 20 is lowered downwardly Apply pressure. Thus the lower surface of the longitudinals member 12 ₅ is in close contact with the upper surface of the panel member 11. Above the steel ball 17 _{11-17 22,} 18 _{11-18 22} and the relative positional relationship between the pressing roller 20 and longitudinals member 12 ₅ is shown in FIG. 10. FIG. 10 is an enlarged plan view.

Referring again to FIG. The carriage 9 _5, is mounted vertically movably welder base 26 in z-direction, the base 26, the elevation driving the carriage 9 _5, via a reduction gear by an electric motor (not shown) Is done. The welding machine base 26 has a y-direction guide 42 on which a footrest 43 is attached.
Are movably mounted in the y direction. The footrest 43 is driven in the y direction by the electric motor 27 via a speed reducer. Vertically extending legs 28 ₁ , 2
8 ₂ are freely coupled rotated about the shaft extending in the y-direction. The vertical times Doashi 28 _1, 28 _2, the link 29 _1,
29 ₂ at one end are rotatably coupled rotated about the shaft extending in the y direction, the distal ends of the links 29 _1, 29 ₂ of the other end of the air cylinder 30 the piston rod, the axis extending in the y-direction It is rotatably connected around the body. When the air cylinder 30 protrudes its piston rod downward, the pivoting legs 28 ₁ , 28 ₂ open in a direction away from the longitudinal material 20, and when the piston rod is pulled up, the pivoting legs 28 ₁ , 28 ₂ are extended. Close in the direction approaching the material 20.

The consumable electrode type gas shielded arc welding torch 31 ₁ is fixed to a torch holder 32 ₁ , and this torch holder 32 ₁ is connected to a vertical adjustment mechanism 34 ₁ .
Legs 33 ₁ copying is vertically adjusting mechanism 34 ₁ is equipped.
Scanning the lower end of the leg 33 ₁ has spherical roller, which is in contact with the upper surface of the panel member 11, thereby, the vertical adjustment mechanism 34 ₁
Is maintained at a fixed distance from the upper surface of the panel material 11. Torch 31 _first height with respect to the upper surface of the panel member 11 may be manually adjusted by the adjustment knob in the vertical adjustment mechanism 34 _1. Vertical adjustment mechanism ₃₄₁ is coupled to Kaidoashi 28 ₁ through the x-position adjustment mechanism, it is possible to manually adjust the x position of the vertical adjustment mechanism ₃₄₁ by Wath around the manual adjustment knob 36 ₁ .

The welding machine 10, which is attached to the Kaidoashi 28 ₂
The support structure of the consumable-electrode gas-shield arc nozzle 31 _{and second 52,} is the same as the welder 10 ₅₂ described above. Figures 3, 4,
In 5, it indicated with 95 a pair of welder 10 ₅₁ and welder ₅₂ as one block.

The drive control of each mechanism described above is performed by the welding controller 85.

[0028] In the above, the carriage 9 has ₅ been described clamping mechanism and welder 95 of longitudinals member equipped in the various mechanisms are equipped other four carriages and their and welder 91 to 94 Also carriage 9
It has the same structure as the one equipped in ₅ . The welding controllers 81 to 84 also have the same structure and function as those of the welding controller 85, and control each mechanism of each carriage in the same manner as described above.

In this embodiment, the long members 12 ₁ , 12 ₂ , 12, 12
In order to determine the arrangement position (x position) of 12 ₃ ,.
The x position of the left end of the panel material 11 is determined by a sensor 15 (FIGS. 3 and 5).
To 7). A mechanism for driving the x position sensor 15 in the x direction is provided at the left end of the beam 8, and the sensor base 15b (FIG. 6) is movably supported in the x direction by this mechanism. A position sensor 15 is supported. An electric motor 14m of the sensor driving mechanism drives the sensor base 15b in the x direction via a power transmission mechanism. A rotary encoder 14r is connected to a rotating shaft of the electric motor 14m. The reciprocating rod of the air-cylinder 15a is fixed to the sensor base 15b (FIG. 6).
A sensor support arm 15 is provided at the lower end of the air cylinder 15a.
sb (FIG. 7) is fixed. Air cylinder 15a
Are supported by the sensor base 15b so as to be rotatable about the z axis and movable in the z direction. A rotation drive mechanism 13 (FIG. 3, FIG. 3) for driving the air cylinder 15a to rotate by approximately 90 degrees when the air cylinder 15a is lowered to the lowest position is provided on the sensor base 15b.
When the electric motor 13m rotates forward, the air cylinder 15a rotates counterclockwise and the roller arm 15ar (FIG. 7) is substantially parallel to the y direction. It rotates approximately 90 degrees from the retracted position to the detection position (FIGS. 3, 5, and 7).

Referring to FIG. Sensor support arm 15s
A sensor box 15s is fixed to b, and one end of the roller arm 15ar enters the sensor box 15s, and a light shielding plate is fixed to the leading end. Roller arm 15a
A constant pushing force is applied to r by a compression coil spring in the sensor box 15s. A roller 15r is rotatably supported at the other end of the roller arm 15ar. When the roller 15r rotates to the detection position, the left end of the panel member 11 is rotated. Surface (FIGS. 7 and 3). In this state the second frame (6 _1, 6 _2, 7, 8) is y
When it moves in the direction, the roller arm 15ar moves in the x direction due to the unevenness of the left end face of the panel material 11 in the x direction or the shift angle with respect to the y reference line. That is, the sensor box 15
The light-shielding plate in s moves in the x direction (the horizontal direction in FIG. 7).
In the sensor box 15s, emission between the light shielding plate diode - de 39 ₁ and the light receiving element 39 ₂ are opposed to each other, the movement of the light shielding plate, the light emitting diode - de 39 ₁ of the light receiving element 39 ₂
Receiving (39 ₂ on) is or light is blocked (39 ₂ off) in.

[0031] The light-emitting diode - de 39 ₁ lamp driver L
In D (FIG. 11), the light receiving element 39 ₂ is the signal processing circuit SP
(FIG. 11), and the CPU 1
9 ₂ when the on-mode - urges the motor 14m forward, urges reversed when the off mode - coupled to motor 14m B -
When the tally encoder generates one pulse, the x-position information DR is updated to show a numerical value larger by one when energized in the forward direction, and the x-position information DR is updated to one smaller numerical value when energized in the reverse direction. . By controlling such a motor 14m, the unevenness in the x direction or the y in the left end face of the panel material 11 is obtained.
Roller arm 15 ar corresponding to the deviation angle from the reference line
There corresponding to interlock in the x direction, it tips of integral of the light shielding plate (left end in FIG. 7) light-emitting diode - the air to be in the center of the optical path between the de 39 ₁ and the light receiving element 39 ₂ - The cylinder 15a, that is, the sensor base 15b supporting the cylinder 15a is x
Move in the direction. That is, x on the left end face of the panel material 11
The sensor box 15s moves in the x direction following the position in the direction,
The position in the x direction of the left end surface of the panel member 11 with respect to the y reference line (the x position of the sensor box 15s) is represented by the x position information DR.

[0032] Incidentally, five in each of the carriage (9 _5), welder 91 to 95 are each pendant box (40 ₅₎ is equipped, welding current welding condition, etc., the operator - Pendant by motor Set in the box.

The second frame (6 _1, 6 _2, 7, 8) shown in FIGS. 11 and 12 the configuration of an electric device mounted on. FIG.
FIG. 11 shows an electric device of a tack welding control system mounted on the beam 8 (FIGS. 3, 5, and 6) of the second gantry for controlling the driving of devices related to tack welding. 1 shows an electric device of a scanning drive system and an x-position detection system for driving a beam 8 two-dimensionally (x, y), detecting the x-position of the left end face of the panel material 11 and holding it in a memory. CPU 2 shown in FIG. 12 and FIG.
The CPU 1 shown in FIG. 1 exchanges control information and position information with each other via a communication controller 54.

In FIG. 11, SP is a signal processing circuit, M
D is motor - motor driver, LD lamp driver, SD solenoid _{driver, Lx 1, Lx 2, Ly} 1, Ly 2 etc. are limit switches.

The limit switch Lx _1, Lx ₂ is mounted on the first frame ₍₁ 1, 1 ₂₎ a normally closed, Lx ₁
Is opened (off) when the first gantry (1 ₁ , 1 ₂ ) reaches the left limit position in FIG. 1, and Lx ₂ is the first gantry (1 ₁ , 1 ₂ ).
₂ ) Open (off) when the right limit position is reached in Fig. 1.
Becomes A motor that rotationally biases the y running motors BM ₁ and BM ₂
These limit switches Lx ₁ ,
Lx ₂ is connected, and in this motor driver MD, when the y-traveling motors BM ₁ and BM ₂ are urged to rotate in the forward direction (the first base is driven to the right in FIG. 1), Lx ₂ is connected. Open (off)
, The forward rotation energizing circuit opens and the motor stops automatically. y running motor - motor BM _1, BM ₂ a becomes Lx ₁ is open (off) the open reverse biasing circuit when they are urged reversed (left driving the first frame in FIG. 1), motor - motor is Stop automatically.

The limit switch Ly _1, Ly ₂ is the second frame to a normally closed (6 _1, 6 _2, 7, 8) is mounted on, Ly ₁ right limit position is the second frame in FIG. 2 Is reached, and Ly ₂ is opened (off) when the second frame reaches the left limit position in FIG. These limit switches Ly ₁ and Ly ₂ are connected to a motor driver MD for urging the x traveling motor 5 to rotate. In this motor driver MD, the x traveling motor 5 is rotated forward. (When the second frame is driven to the left in FIG. 2)
_{When 2 is} opened (off), the forward rotation energizing circuit opens and the motor 5
Automatically stops. x Running motor 5 is reversely urged (second
It becomes Ly ₁ is open (off) the open reverse biasing circuit when you are right driving) the frame in FIG. 2, motor - motor 5 is automatically stopped.

The limit switch Ldx _1, Ldx ₂ is mounted on the sensor base 15b a normally closed, Ldx ₁
Ldx is opened when the sensor base 15b reaches the forward limit position most protruding toward the panel material 11 side.
₂ is opened (off) when the sensor stand 15b reaches the retreat limit position where it retreats most from the panel material 11. Mode - motor rotates urging the motor 14m - the motor driver MD are these limit switches Ldx _1, Ldx ₂ is connected, the motor - in motor driver MD is motor - motor 14m
The urging forward Ldx ₂ are opened and become (off) forward biasing circuit while (projecting drive to the panel member 11 side of the sensor base 15b) is opened, motor - motor 14m is stopped automatically . The motor 14m is urged in the reverse direction (the sensor base 15b is
More retracting) the evacuation side to become Ldx ₂ is opened (off) when being opened reverse biasing circuit, motor - motor 14m is stopped automatically.

The limit switches 13 _1, 13 ₂ are mounted on the sensor base 15b a normally closed, 13 ₁ b -
Raa - open when the arm 15ar reaches the detection position parallel to the x-direction (off), and 13 ₂ b - Raa - beam 1
It is opened (off) when 5ar reaches the retreat position substantially parallel to the y direction. A motor that urges the motor 13m to rotate
These limit switches 13 ₁ ,
13 ₂ is connected, the mode - In motor driver MD, mode - urging the motor 13m forward (B - Raa - arm 15a
r when the 13 ₂ is opened and becomes (off) opens forward biasing circuit that rotational drive) to the detection position from the retracted position, motor -
13m stops automatically. Mode - urging reversing motor 13m 13 ₂ is opened becomes (off) and reverse biasing circuit opens while (b - - Raa rotary drive to the retracted position beam 15ar from the detection position), motor - motor 13m Automatically stops.

FIGS. 13 to 19 show an outline of a part of the control operation of the CPU 1 and the CPU 2 and the welding controller 81. FIG.
The control operations of the welding controllers 82 to 85 are the same as those of the welding controller 81. Next, with reference to these drawings, the control operation of the CPU 1 and the CPU 2 and the welding controller 81 will be described together with the operation of the operator.

(1) The operator turns on the power to the required parts, confirms the safety of the surroundings, and operates and displays the board 71.
Input the "Initial positioning" instruction with.

When the power is turned on, the CPU 1 of FIG. 11 sets its input / output port to the signal level of the standby state (non-operation) and clears the internal registers, counters, timers, etc. (Step 1: FIG. In the description, the terms “step” and “subroutine” are omitted, and only the numerals are written.)

[0042] The operation and display board - and from de 71 are instructed to "initial positioning" CPU1, first limit switch 13 ₁ is opened until the (off) mode - and urged reverse the motor 13m and Russia - Raa - driving the beam 15ar to the retracted position, motor until the limit switch Ldx ₁ is open (off) - motor 14
m to reversely urge the sensor base 15b to the retracted position,
Next, the electromagnetic switching valve 13v is de-energized (the cylinder 15a rises).
To Next, the first frame of the ₍₁ 1, 1 ₂₎ until the limit switch Lx ₁ is open (off), and the left drive in FIG. 1, the second frame (6 _1, 6 _2, 7, 8) to limit Switch Ly ₁
Until it opens (see 2, 3, 3 in FIG. 13).
3SR). As a result, the first gantry and the second gantry are positioned at the retracted position.

Note that the CPU 1 has a limit switch Ld
when it is x ₁ is open (off), the edge x of panel material 11
Storing location information (B - Tarienko - counts the pulses generated during Da 14m) clears the register DR, when it becomes the limit switch Lx ₁ is open (off) and stores the x-position information of the first frame ( (Count the number of pulses generated by the rotary encoder Rx) Clear the register XR,
When the limit switch Ly ₁ is opened to store the y position information of the second frame (B - Tarienko - counts the pulses generated during da Ry) clears the register YR.

The instruction of "initial positioning" is issued by the CPU 1
Is transferred to the CPU 2, and in response to this, the CPU 2 transfers this instruction to the welding controllers 81 to 85. In response to this, the welding controllers 81 to 85 set the welding machines 91 to 95 and the holding mechanism (FIGS. 8 and 9) to the retracted positions, respectively. As a result, the welding machines 91 to 95 and the holding mechanism are respectively at home positions, and they are distributed at a constant pitch (reference pitch) in the x direction. The holding mechanism is in an open position for releasing the holding of the longitudinal material, and the welding machine is in a standby position away from the material to be welded.

(2) The operator places the panel material 11 on the surface plate and aligns one edge of the panel material with the y reference line on the surface plate. Note that this y reference line corresponds to the welding machine 91 when the first gantry is at the position of the first knock pin seat (the base position in the x direction).
It is the same as the y reference line for determining the x position of ~ 95.

The operator then operates the operation & display board 71.
To input an instruction of "1 area x movement". In response to this instruction, the CPU 1 first supplies high-pressure air to the air-cylinder that presses and drives the knock pin downward, de-energizes an electromagnetic switching valve (not shown), and releases the pressing of the knock pin.
Next, the x traveling motors BM ₁ and BM ₂ are driven to rotate in the normal direction, and the value of the register XR (x position information of the first gantry: FIG.
6 is updated by the same processing as steps 44 to 46 of the YPP) to a value representing the immediate vicinity of the x position of the first knock pin seat (the leftmost one in FIG. 1 among the KPRs: the base position in the x direction). Then, a high-pressure air is supplied to an air cylinder that presses and drives the knock pin downward by energizing an electromagnetic switching valve (not shown) (2-5-5SR in FIG. 13). This means that the first gantry has been positioned at the position of the first knock pin receiver (x direction base point position). (3) The operator operates the position adjustment instruction key of the operation & display board 71 to move the second mount to the panel material 11.
It is positioned at the front end position (start position in the y direction) of the edge material extending in the x direction or the long material 12 to be temporarily attached to the BR ₁ on the panel material 11. When the y-forward key is pressed, the CPU 1 urges the y-travel motor 5 to rotate forward while the y-forward key is pressed, and when the y-reverse key is pressed, the y-travel motor 5 is pressed. 13 is reversely urged (2-5-5 in FIG. 13).
SR). While the y-travel motor 5 is rotating, the y-position information YR is updated, and YR indicates the y-direction position of the second gantry.

(4) The operator uses the operation and display board 72 of FIG. 12 to set the x-positions IP _{1 to} IP _{5 where the} long materials to be temporarily welded by the welding machines 91 to 95 are to be placed.
Enter the - (welder each e x-direction distance from the home position), or welder specified key - the position adjusting instruction key - at the welder 91 to 95, the position IP ₁ ~ should place each longitudinals material to set the IP _5.

The operator - If a time is entered the specified x position IP ₁ ~IP ₅ of each welder 91 to 95, CPU 2 is welded in the name destined welder controller - La 80 + i (i = 1~
5) This data IPi is transferred to the welding controller 8.
0 + i positions the welding machine 90 + i at the designated x position IPi (the distance in the x direction from the home position of the welding machine). By this positioning, the contents of the x position register IPi of controller 80 + i indicate the designated x position.

When the operator operates the welding machine designation key and the position adjustment instruction key, the CPU 2 operates the welding controller 80 + i of the designated welding machine 90 + i to operate the position adjustment instruction key. Notify, welding controller 80 + i
Drives the welding machine 90 + i to the right in FIG. 5 while the x-forward command key is pressed, and to the left while the x-reverse key is pressed. By this positioning, the contents of the x position register IPi of controller 80 + i indicate the designated x position.

(5) The operator inputs the distance to be traveled (set stop position) in the y direction of the second gantry through the operation and display board 71 in FIG. The CPU 1 converts this input into y
Write to the stop position register ENDR (2, 4 in FIG. 13)
4SR).

(6) The operator operates the operation and display board 72 shown in FIG. 12 to perform a tack welding mode (a traveling welding mode for performing tack welding while traveling at a constant speed on the second gantry, A stop welding mode in which the second mount is stopped to perform tack welding, a facing welding mode in which tack welding is performed at the same position in the y direction on the front and back surfaces of the long material, and a y direction in front and back surfaces of the long material. Staggered welding mode in which tack welding is performed at different positions), pitch of tack welding (y direction), tack welding length of each tack welding (y direction), etc.
Enter welding conditions (dimensions related). The CPU 2 holds all of these input information in its own registers as it is.

(7) The operator is the required longitude material 1
Placed upright 2 on the panel member 11, the distal end, the carriage (9 ₅₎ supported clamping mechanism (16 _1, 16 _2, 2
0: FIG. 9) and a pair of welding machines (10 ₅₁ , 10 ₅₂ )
, The front end is positioned at a predetermined position (y direction: usually the y position of the edge of the panel material 11 parallel to the x direction). This is performed for each of the welding machines 91 to 95.

(8) The operator operates the initial start key of the operation & display board 71 shown in FIG. CPU
1 transfers a start signal to the CPU 2 and stores the y position information YR at that time in a y start position register STRR.
Write and execute “1st scan control” 7SR (FIG. 1)
3 2-7-7SR). This content will be described later with reference to FIG.

[0054] CPU2 This static - instructs the clamping mechanism on La 81-85, welding control - - welding controller in response to preparative signal La 81-85 are clamping mechanism (16 _1, 16 _2,
20: 8 and 9) to one (16 ₂ to close the drive & 20 foot drive). As a result, each of the long members 12 on the panel member 11 is vertically clamped by the clamping mechanism and pressed downward to come into close contact with the panel member 11. X position of the clamping mechanism (16 ₁
The x position) or x position of longitudinals material 12, operating by the above (4) - x data is set position IP ₁ ~IP ₅
Is determined.

When the CPU 1 executes the “first scan control” 7SR, the second gantry moves in the y direction. In accordance with this, the rotary encoder Ry generates a pulse. As will be described later, every time n pulses are generated, the CPU 1 causes the x-position (y) of the left end (the end shown in FIG. 7) of the panel material 11 to be determined. The information DR indicating the x-direction deviation distance from the reference line and the y-position information YR of the second gantry are transferred to the CPU 2.

As shown in FIG. 17, the CPU 2 receives the information DR and YR (61) and transfers the DR to the welding controllers 81 to 85 (63). CPU2
Based on the y position information YR and the welding conditions (dimension-related) set in the above (6), when CPU 1 next transfers data, it issues a stop instruction / restart instruction to CPU 1. (When the welding position is reached in the stop welding mode / when the one-time welding is completed: 62 in FIG. 17), welding start instructions / end instructions are given to the welding controllers 81 to 85. Then, the tack welding control of the welding conditions set in the above (6) is executed.

(8A) Contents of "first scan control" 7SR: See FIG. "1st scan control" 7SR
The CPU 1 supplies power to the electromagnetic switching valve 13v to supply high-pressure air to the air cylinder 15a to drive the 15a to the lowest position, to urge the motor 13m to rotate forward and to operate the roller arm.
Drive 15ar to the detection position (FIG. 7). The light-emitting diode - lighting the de 39 ₁ (11 in FIG. 14). Then y
The traveling motor 5 is biased forward (12 in FIG. 14), and the interrupt In is performed.
y and the interrupt INdx are permitted (13, 14).

[0058] Next, the sensor 39 ₂ on / off (the light-receiving /
(No light reception) is checked (15), and if it is on, the motor 14m is set to the forward rotation energization, and if it is off, the motor 14m is turned on.
Is set to the reverse bias (16, 17). Next, in "speed control of y traveling motor 5" 18, processing for setting the rotation speed of the motor 5 to the set speed is executed, and the y position (the value of the register YR) is set.
But either reaches a set stop position ENDR set in the above (5), or the limit switch Ly ₂ is open (off)
Check and if becomes (20, 21), both when not satisfied, and returns to the on / off check sensor 39 _1. By repeating these steps 15 to 21-15 to..., The y traveling speed of the second gantry is controlled at a constant speed to the set value, and the sensor box 15s is substantially located above the left end of the panel material 11 (FIG. 7). Sensor box 15s so that it is at a certain distance
Are driven in the x direction.

When the interrupt Indx is permitted, C
PU1 is rotated by rotating the motor 14m.
Each time the pulse 14r generates one pulse, the "interrupt Indx process" DXP shown in FIG. 15 is executed. That is,
When the motor 14m is energized in the forward direction, the content of the end portion x position register DR is updated to one larger value (32), and when the reverse direction is energized, the content is updated to one smaller value (33). Then, the process returns to the main routine (FIG. 14) immediately before proceeding to the interrupt process. As a result, the content of the end portion x position register DR indicates the shift amount of the sensor box 15s in the x direction with respect to the y reference line, that is, the left end portion of the panel material 11 (FIG. 7).
In the x direction with respect to the y reference line.

When the interrupt Iny is permitted, the CP
U1 is rotated by the rotation of the motor 5 and the rotary encoder Ry.
Generates one pulse each time “interrupt Iny” shown in FIG.
Process "YPP is executed. That is, the frequency division register F
The content of R is updated to one larger value (41), and the updated value is n
It is checked whether (numerical value) has been reached (42). If n has not been reached, the process returns to the process of the main routine (FIG. 14) immediately before proceeding to the interrupt process. When the updated value becomes n, the frequency dividing register FR is cleared (43), and the y running mode is cleared.
When the motor 5 is energized in the forward direction, the content of the y position register YR is updated to a value indicating one larger value (45), and when the reverse direction is energized, it is updated to a value indicating a smaller value (46). . The content of the y position register YR indicates the y position of the second gantry. CPU1 then proceeds to the y position register YR
(Y position) is converted into an address code MAD for writing the x position information DR of the left end of the panel material in the RAM 53 (47), and if it is the first (first time) scan, the RAM 5
3 at the address MAD, the contents D of the end x position register DR.
Write R (49). In the case of the second and subsequent scans in the y direction for the same panel material, the end x position data DR is read from the address MAD of the RAM 53 (50). Then, the written x-position data DR or the read x-position data DR is transferred to the CPU 2 (51), and control information (y-scan stop instruction, restart instruction, etc.) is sent from the CPU 1 in response to this transfer (51). ) Is received (52). Then, the process returns to the main routine (FIG. 14) immediately before proceeding to the interrupt process.

C responding to the data transfer of CPU 1 described above.
The processing of PU2 is shown in FIG. 17 and has already been described in the above section (8). Note that the CPU 2 immediately transfers the received end portion x position information DR to the welding controllers 81 to 85.

Next, referring to FIG.
The holding mechanism (16 ₁ , 16 ₂ , 20) for holding the welding machine 91 and the long material of the rubber 81, that is, the long material 12 ₁
To the x position set in the above (4), that is, a fixed distance to the y reference line, corresponding to the position shift DR in the x direction with respect to the y reference line of the left end (FIG. 7) of the panel material 11, The forced x position control will be described.

When the latest (current y position of the second stand) x position shift information DR of the left end of the panel material 11 is received from the CPU 2 (71, 72), the welding controller 81 sets the x direction target position register. to update the contents of the TPR ₁ to IP ₁ + DR (73). IP ₁ is set in (4) above,
This is the initial x position of the welding machine 91. And the welding control
La 81, as x position of the welding machine 91 (longitudinals member 12 ₁₎ reaches a target position TPR _1, motor - the motor 25 ₁ positive, it stops when it matches the reverse bias to the target position. The other welding controllers 82 to 85 also execute the same X position control as 81.

The CPU 1 detects the x-position DR of the left end (FIG. 7) of the panel material 11, transfers the data DR to the welding controllers 81 to 85, and transmits the data DR to the welding controllers 81 to 85. the x-position control described above, longitudinals member 12 ₁ to 12 ₅ on the panel member 11, over the entire length thereof in the y direction, positioning each set distance in the x direction than the respective left end of panel member 11 (FIG. 7) Is done.

Referring back to FIG. When y position of the second frame reaches the set stop position ENDR of the above (5), or becomes a limit switch Ly ₂ is opened (off),
Alternatively, if the information received at step 52 of FIG. 16 from the CPU 2 includes a stop instruction,
Alternatively, if there is a stop input from the operation & display board 71,
The CPU 1 then stops the y-travel motor 5 (22) and stops the motor 14m (23). Furthermore, light-emitting diodes - turns off the de 39 _1, mode - limit the motor 13m switch 13 ₁
Until it is opened (off), then the energization of the solenoid on-off valve is stopped and the air-cylinder 15a is switched to low pressure and
5a is raised to the retracted position (24). In addition, interrupt I
ny is prohibited (25), and the interrupt Indx is prohibited (2).
6) and wait for input (27). The restart instruction is
When given from the CPU 2 or the operation & display board 71,
The CPU 2 returns to step 11 described above and restarts the movement of the second gantry in the y direction.

[0066] (9) first the second frame and y scanning movement (first time) is completed is stopped, operator - motor, the second frame is disengaged to the outside of the tail end of the longitudinals material (BR ₂ side) (If it does not come off, the position adjustment key is operated to make it come off: the CPU 1 proceeds to step 27-28 in FIG. 14).
13 through 5 in FIG.
Release of the clamping mechanism by the operation & display board 72 of FIG.
Enter 2 The CPU 2 sends this to the welding controller 81.
Instructs 85, the welding controller - La 81 to 85 (opening 16 _2, the upper drive 20) releasing the clamping mechanism is.

[0067] ₍₂ 2) operator - data, the operation and display board -
In step 71, an instruction of "1 area x movement" is input. CPU1
Recognizes this instruction in step 27 of FIG.
Through steps 27 to 29 of FIG.
5, the “position change” 5SR, first, the electromagnetic switching valve (not shown) that supplies high-pressure air to the air cylinder that presses and drives the knock pin downward is de-energized to release the pressing of the knock pin, The x traveling motors BM ₁ and BM ₂ are driven to rotate forward, and the value of the register XR (x position information of the first gantry: updated by the same processing as steps 44 to 46 of YPP in FIG. 16) is changed to the second. Knock pin seat (Fig. 1 of KPR
When the value indicates the position closest to the x position (the position next to the leftmost one), an electromagnetic switching valve (not shown) is energized to supply high-pressure air to an air cylinder that drives the knock pin downward. (2-5-5SR in FIG. 13). This means that the first gantry has been positioned at the position of the second knock pin seat. That second cradle, so that the longitudinals member 12 _{6-16 10} of the next five were moved to the area to be temporarily attached welded to the panel member 11.

[0068] (3 ₂₎ operator - data, the tip position of the longitudinals member 12 _{6-12 10} appointment with the next temporary (the even-numbered may become y-direction scanning movement of BR ₂ side end portion), the previous To set the same stop position as the y-direction scanning movement, the last stop position designation key in the position adjustment instruction key of the operation & display board 71 is operated. In response to this, the CPU 1 saves the information of the y-start position register STRR in the previous start-position register SAVR, and stores the information in the previous y-start position register SRR.
The information of the y-stop position register ENDR is written to TRR, and the second gantry is positioned at this position YS = STRR.

The tip position of the next longied material 12 _{6 to} 12 _{10 to} be temporarily attached (if even-numbered y-direction scanning movement is BR
_{When the second} end is located at a position different from the previous stop position of the y-direction scanning movement, the operator operates the operation & display button.
By operating the position adjustment instruction key of the door 71, the second frame is moved to the desired tip position on the panel member 11 of the long members 12 _{6 to} 12 ₁₀ (in the case of the even-numbered y-direction scanning movement, the BR ₂ side). (End). When the y-forward key is pressed, the CPU 1 urges the y-travel motor 5 to rotate forward while the y-forward key is pressed,
While the y-reverse key is pressed, the y-travel mode
13 is reversely urged (2-5-5SR in FIG. 13).

[0070] (4 ₂₎ operator - data, the operation shown in FIG. 12 &
Display board - in de 72, should put the welder 91 to 95 each longitudinals member 12 _{6-16 10} welding with temporary each x
Position IP ₁ ~IP ₅ - Enter the (welder each e x-direction distance from the home position), or welder specified key -
Position adjustment instruction key and - the welding machine 91 to 95, set to the position IP ₁ ~IP ₅ should place each longitudinals material. CP
The control operation of U1 is the same as the above (4). If the same x position as in the previous scanning movement in the y direction is sufficient, this setting operation is omitted.

[0071] (5 ₂₎ operator - data is the last y direction scanning movement of the Star - when in bets position may be stopped y direction scanning movement of this time, the operation of FIG. 11 and the display board - last de 71 Star -Operate the key position designation key. In response to this, the CPU 1 writes the information of the previous y-start position register STRR into the y-stop position register ENDR (2 in FIG. 13).
4,4SR).

When the current y-direction scanning movement is stopped at a position different from the start position of the previous y-direction scanning movement, the operator operates the operation & display board 71 shown in FIG.
The distance (stop position) to travel in the y direction of the second gantry is input. The CPU 1 inputs this input to the y-stop position register END
Write to R (2, 4, 4SR in FIG. 13).

[0073] (6 ₂₎ operator - data, similar to the above (6), the operation of FIG. 12 and the display board - in de 72, tack welding mode - de pitch of tack welding (y-direction), The welding conditions (dimension-related) such as the tack welding length (y direction) of each tack welding are input. The CPU 2 holds all of these input information in each register as it is. The operator omits this input operation when the same operation as in the previous scanning movement in the y direction may be performed.

[0074] (7 ₂₎ operator - data, similar to the above (7), the required longitudinals member 12 _{6-12 10} panel members 11
Placed upright above the end, the clamping mechanism (16 _1, 1
6 ₂ : FIG. 9) and a pair of welding machines (10 ₅₁ , 1)
Throughout the 0 _52), place the end portion (y-direction: Normally the panels 11, positioned on the y-position) parallel edges in the x-direction. This is performed for each of the welding machines 91 to 95.

[0075] (8 ₂₎ operator - data, the operation shown in FIG. 11 &
The start key of the display board 71 is operated two or more times.
The CPU 1 transfers the start signal to the CPU 2 and stores the y position information YR at that time in the y start position register S.
Write to TRR and execute “m-th scan control” 8SR (2-7-8SR in FIG. 13). This content will be described later with reference to FIG.

In response to this start signal, the CPU 2 instructs the welding controllers 81 to 85 to turn on the clamping mechanism in the same manner as in the above (8), and the welding controllers 81 to 85 switch the clamping mechanisms ( 16 ₁ , 16 ₂ , 20: FIGS. 8 and 9) are turned on (1
6 ₁ and 16 ₂ are closed and & 20 is pressed and driven. As a result, each of the long members 12 _{6 to} 12 ₁₀ on the panel member 11 is vertically held by the holding mechanism and pressed downward to be in close contact with the panel member 11. The center position of the holding mechanism, that is, the x position of the long material 12 is determined at the x position set by the operator according to the above (5).

When the CPU 1 executes the “m-th scanning control” 8SR, the second gantry moves in the y direction. Along with this, the rotary encoder Ry generates a pulse, and every time n pulses are generated, the CPU 1 causes the left end of the panel material 11 (FIG. 7).
X position (end distance shown in x direction from reference line)
DR and the y-position information YR of the second gantry
Transfer to

As shown in FIG. 17, the CPU 2 receives the information DR and YR (61) and transfers the DR to the welding controllers 81 to 85 (63).

(8A ₂ ) “m-th Scan Control” 8SR
Contents: See FIG. “M-th scan control” 8S
When proceeding to R, the CPU 1 first checks whether or not the scanning is the even-numbered scanning (81). If the scanning is the even-numbered scanning, the CPU 1 forwardly rotates the y traveling motor 5 in order to drive the second frame to return in the y direction. The power is set (82), and if it is an odd number, the reverse rotation urging of the y traveling motor 5 is set (83). Next, interrupt Iny is permitted (84).

Next, "speed control of y traveling motor 5" 85
Executes the process of setting the rotation speed of the motor 5 to the set speed.
y position (value of the register YR) is above or reaches a set stop position ENDR set in (5 _2:: For even-numbered / 5 If the odd-numbered) or limit switch Ly
_It is checked whether or not ₁ (even number) or Ly ₂ (odd number) has been opened (off) (87, 88). Control 85. These steps 85, 87, 88,
85, the y traveling speed of the second gantry is controlled to a set value at a constant speed.

When the interrupt Iny is permitted, the CP
U1 is rotated by the rotation of the motor 5 and the rotary encoder Ry.
Generates one pulse each time “interrupt Iny” shown in FIG.
Process "YPP is executed. That is, the frequency division register F
The content of R is updated to one larger value (41), and the updated value is n
It is checked whether (numerical value) has been reached (42). If n has not been reached, the process returns to the process of the main routine (FIG. 14) immediately before proceeding to the interrupt process. When the updated value becomes n, the frequency dividing register FR is cleared (43), and the y running mode is cleared.
When the data 5 is being forwardly urged (odd-numbered y-scan movement), the content of the y-position register YR is updated to a value showing a larger value by one (45), and the reverse rotation is urged (even-numbered y-scan movement). If so, the value is updated to a value that is smaller by one (46). The content of the y position register YR indicates the y position of the second gantry. CPU1 then proceeds to the y position register YR
(Y position) in the RAM 53, x
Convert the position information to the address code MAD for writing (4
7) In the second and subsequent scans, the end x position data DR is read from the address MAD of the RAM 53 (50). Then, the read x position data DR is transferred to the CPU 2 (51), and the control information (y
Scan stop instruction, restart instruction, etc.) (5)
2). Then, the process returns to the main routine (FIG. 14) immediately before proceeding to the interrupt process.

In the second and subsequent y scan movements, as described above, the end x position data DR written in the RAM 53 is read.
Are read out and passed through the CPU 2 to the welding controllers 81-81.
85. The control operation of the CPU 2 is described in (8) above.
Is the same as that described with reference to FIG. 17 and the control operation of the welding controllers 81 to 85 is the same as that described with reference to FIG. is there.

Referring back to FIG. The 2 y position of the cradle above the (5: odd-numbered / 5 ₂ even-numbered) set reaches the stop position ENDR of, or limit switch L
When y ₁ (odd number) or Ly ₂ (even number) is opened (off), or when the CPU 1 includes a stop instruction in the information received from the CPU 2 in step 52 of FIG. When there is a stop input from the display board 71, the CPU 1 stops the y traveling motor 5 there (89). Further, interrupt Iny is prohibited (90), and input is waited (91). When the restart instruction is given from the CPU 2 or the operation & display board 71, the CPU 2 returns to the above-mentioned step 81 and resumes the movement of the second stand in the y direction.

[0084] (10) y scanning movement of the two second frame ends stops, operator - that the data is the second frame is out on the outside of the tip (BR ₁ side) of the longitudinals material After confirmation (if it does not come off, the position adjustment key is operated to make it come off: CPU 1 goes through steps 91-92-93 in FIG. 19 and executes 5SR through 3-5 in FIG. 13) and FIG.
The release of the holding mechanism is input to the CPU 2 by the operation & display board 72. The CPU 2 sends this to the welding controllers 81 to 85.
Instructs the welding controller - La 81 to 85 (opening 16 _2, the upper drive 20) releasing the clamping mechanism is.

[0085] (2 ₃₎ operator - data, the operation and display board -
In step 71, an instruction of "1 area x movement" is input. CPU1
Recognizes this instruction in step 27 of FIG.
Through steps 27 to 29 of FIG.
5, the "position change" 5SR, first, supply high-pressure air to the air cylinder that presses and drives the knock pin downward, de-energizes an electromagnetic switching valve (not shown) to release the press of the knock pin, The x traveling motors BM ₁ and BM ₂ are driven to rotate in the normal direction, and the value of the register XR (x position information of the first gantry: updated by the same processing as steps 44 to 46 of YPP in FIG. 16) is changed to the third. Knock pin seat (Fig. 1 of KPR
When the value indicates the position closest to the x position (the position next to the leftmost one), the electromagnetic switching valve (not shown) is energized to supply high-pressure air to the air cylinder that presses and drives the knock pin downward ( (2-5-5SR in FIG. 13). This means that the first gantry has been positioned at the position of the third knock pin receiver. That is, the second gantry has moved to the region where the next five longitude materials 12 _{11 to} 16 ₁₅ are temporarily welded to the panel material 11.

[0086] Hereinafter, the above-mentioned (3 ₂₎ ~ y scanning movement processing by the third time (8A _2), i.e. longitudinals material 12 ₁₁ -
16 ₁₅ tack welding is executed, and the y scanning movements after the second time for the same panel material are all performed in the above (9),
The processing is performed in the same manner as (2 ₂ ) to (8A ₂ ). However, in the odd-numbered y-scanning movement, the y-travel motor 5 is energized in the forward direction, and the content of the y-position register YR is incremented (counted up). The y-travel motor 5 is reversely energized, and the y-position register Y
The contents of R are decremented (counted down).

Therefore, regardless of whether the y-scanning movement is the odd-numbered movement or the even-numbered movement, the scanning No. There Nevertheless, when the second frame (6 _1, 6 _2, 7, 8) are in the y-direction the same position, data of y-position register YR - data YR becomes substantially the same, the left end of the x of panel 11 The same position data DR is read out. As a result, in all of the first (first) y-scanning movement and the second and subsequent y-scanning movements, the long material 12i (i = 1 to 5, 6 to 10, 11 to 1) is used.
,... Are the x positions (IPs) set by the operator.
i), the position where the shift amount DR in the x direction with respect to the y reference line of the left end of the panel member 11 (FIG. 7) is corrected, that is, the set distance (IPi) from the left end of the panel member 11 (FIG. 7).
Are all parallel to the left end of the panel material 11 (FIG. 7) and mutually parallel.

[0088]

As described above, according to the temporary assembling / welding apparatus of the present invention, any of the second and subsequent y-direction movements of the second gantry in which the x-position of the edge cannot be detected by the x-position detecting means (15). Also, the horizontal member (11) to be welded detected by the position detecting means (15)
Corresponding to the x-direction position (DR) of one edge of the holding mechanism (16 ₁ , 1
6 ₂ , 20) and the welding device (95) are driven along the x-direction, and each of the longitudinal members is set at a set distance from one edge of the panel member.
(IP ₅ ). The detection error of the x position detecting means (15) and the positioning error of the panel material do not accumulate for a plurality of times.

As described above, the second end of the panel material is
Gantry (6 _1, 6 _2, 7, 8) in the region beyond the x-direction width of, tack welding or second times or later position detecting means in the y-direction movement of the second frame of the longitudinals member (15) is detected Welding target horizontal material (11)
The x-direction scanning drive of the welding device (95) or the like corresponding to the x-direction position (DR) of one edge of the second frame is performed, so that the y
The number of longge materials that can be tack-welded by moving in the direction can be reduced. That is, even if the width of the second gantry in the x direction is reduced, it is possible to position many long materials with a substantially constant accuracy on a wide-area panel material and perform temporary welding. Therefore, the width in the x direction of the second mount does not need to be set as wide as possible so as to match the maximum width in the x direction of the panel material in which the tack welding is assumed, and the number of welding machines and clamping mechanisms is increased. No need to
The second mount is small and lightweight, and its support mechanism and y
The drive mechanism is reduced in size and weight, and accordingly, the moving speed in the y direction is increased, and the constant speed control in the y direction can be performed stably and with high accuracy. Work efficiency is improved.

[Brief description of the drawings]

FIG. 1 is a plan view of a mechanism section according to an embodiment of the present invention.

FIG. 2 is a side view of a mechanism according to an embodiment of the present invention.

FIG. 3 is an enlarged front view showing a part of a mechanism according to an embodiment of the present invention.

FIG. 4 is a plan view showing a part of the mechanism of the embodiment of the present invention in a further enlarged manner.

FIG. 5 is a front view showing a part of the mechanism of the embodiment of the present invention in a further enlarged manner.

FIG. 6 is a side view showing a part of the mechanism of the embodiment of the present invention in a further enlarged manner.

FIG. 7 is an enlarged front view of the x position sensor 15 shown in FIGS. 3, 5, and 6;

FIG. 8 is an enlarged front view of the welding machine 95 shown in FIGS. 1, 4 and 5;

[9] the carriage 9 ₅ shown in FIG. 8, the welder 10 ₅₁
Is a longitudinal sectional view showing the longitudinals material clamping mechanism in a 10 ₅₂ back of.

FIG. 10 shows a press roller 20 and a long material 12 shown in FIG.
FIG. 3 is an enlarged plan view showing a mutual positional relationship between _{No. 5} and nozzles 31 ₁ and 31 ₂ .

FIG. 11 shows a second frame (6 ₁ , 6 ₂ ,
It is a block diagram which shows the structure outline of the control electric device which performs x, y direction drive control of (7,8).

FIG. 12 shows welding machines 91 to 95 shown in FIGS.
Control in the x-direction and pinching bias of the longitudinal pinching mechanism /
FIG. 3 is a block diagram illustrating a schematic configuration of a control electric device that performs release control.

FIG. 13 is a flowchart showing an outline of a part of a control operation of the CPU 1 shown in FIG. 11;

FIG. 14 shows a “first scan control” 7SR shown in FIG.
Is a flowchart showing the contents of the above.

FIG. 15 is a flowchart showing the contents of one interrupt processing of CPU 1 shown in FIG. 11;

FIG. 16 is a flowchart showing the content of another interrupt processing of the CPU 1 shown in FIG. 11;

FIG. 17 is a flowchart showing a part of the control operation of CPU 2 shown in FIG.

FIG. 18 is a flowchart showing a part of a control operation of the welding controller 81 shown in FIG.

FIG. 19 shows “m-th scan control” 8SR shown in FIG.
Is a flowchart showing the contents of the above.

[Explanation of symbols]

BR _1, BR _2: Les - Le KPR: knock pin seat BM _1, BM _2: x running motor - motor Rx: Russia - Tarienko - da 1 _1, 1 _2: the first frame 2 _1, 2 _2: les -
Le 3 _{11-3 12:} wheels 4: bevel gear 5: electric motor - motor 6 _1, 6 _2: Tsuhashira 7: Beams 8: bi - beam 9 _5: Carriage 10 _51, 10
_52: welding machine 11: panel material (welded horizontal member) 12, 12 ₁ to 12 _5: longitudinals material (welded uprights) 13: rotary driving mechanism 13m: electric motor - motor 14m: electric motor - motor 14r: B -Tari encoder 15: x position sensor 15a: air
Cylinder 15a: Air - Cylinder 15b: sensor base 15aR: Russia - Raa - arm 15r: B - La 15s: Sensor box 15Sb: sensor support A - arm 16 _1: fixed supporting leg 16 _2: movable supporting leg 17 _{11-17 22} , 18 ₁₁ -18 ₂₂ : Steel ball 19: Hydraulic cylinder 20: Presser rod
LA 21: Hydraulic cylinders 25 _{1 to} 25 ₅ :
Electric motor 26: Welder base 27: Electric motor
Tabs 28 ₁ , 28 ₂ : Vertically rotating legs 29 ₁ , 29
_2: link 30: Air - cylinder 31 _1, 31
_2: nozzle 32 _1, 32 _2: City - Chihoruda 33 _1, 33:
Copying legs 34 ₁ , 34 ₂ : up and down adjustment mechanism 35 ₁ , 35
_2: Adjustment knob 36 _1, 36 _2: adjustment knob 39 of the x-position adjusting mechanism _1: light emitting diode - de 39 _2: light receiving element 40 _5: Pendant box 91-95: welder Lx _1, Lx _2, Ly _1, Ly ₂ , Ldx ₁ , Ldx ₂ , 13 ₁ , 1
3 _2: limit switch SP: signal processing circuit MD: motor - motor driver LD: lamp driver SD: solenoid driver

──────────────────────────────────────────────────続 き Continuation of the front page (56) References JP-A-3-234370 (JP, A) JP-A-54-49946 (JP, A) JP-A-4-242401 (JP, A) JP-A-59-1979 218278 (JP, A) JP-A-2-307679 (JP, A) (58) Fields investigated (Int. Cl. ⁶ , DB name) B23K 9/00 B23K 9/12 B23K 9/235 B23K 37/02 B23K 37/04

Claims (1)

(57) [Claims] 1. A first gantry including an x-travel motor and traveling in a horizontal x-direction; including a y-travel motor, mounted on the first gantry;
A second gantry traveling in the horizontal y-direction with respect to the first gantry;
A x-position adjusting motor, which supports a mechanism and a welding device for holding a vertical member to be welded mounted on a horizontal member to be welded which is mounted on a gantry and whose one edge is arranged along the y direction;
An x-position adjusting mechanism for driving the holding mechanism and the welding device in the x-direction with respect to the second mount; x-position detecting means for detecting the x-direction position of the one end edge of the horizontal member to be welded; X-drive control means for driving the first gantry in the x direction; y-drive control means for driving the second gantry in the y-direction; X position adjustment control means for adjusting the position of the welding mechanism and the welding device in the x direction; y position detection means for detecting the y direction position of the second gantry; information storage means; closest to the one edge of the horizontal member to be welded During the y-direction drive of the second gantry by the y-drive control means with the first gantry placed at the position, the x-direction position information detected by the x-position detection means corresponds to the y-direction position information detected by the y-position detection means Attached to the information storage means. No write control means; and, a first to a position away from said one end edge of the welded horizontal member
During the y-direction driving of the second gantry by the y-drive control means on which the gantry is placed, x-direction position information corresponding to the y-direction position information detected by the y-position detection means is read from the information storage means and the x-position adjustment is performed. Read-out control means provided to the control means;