JP2984124B2 - Fillet welding copy machine - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a copying apparatus for fillet welding.

[0002]

2. Description of the Related Art For example, when assembling a structure used on the bottom of a large ship, a large number of steel plates, that is, vertical plates, vertically arranged on a horizontal steel plate are arranged in a grid pattern. Inside, the welding torch is imitated at the corner where the horizontal plate and each vertical plate abut, and the welding torch is moved while moving in a rectangular shape in a horizontal plane. When performing this type of welding, conventionally, for example, JP-A-51-59046, JP-B-62
As disclosed in JP-A-54587 and JP-A-3-77782, a welding torch is placed on a self-propelled truck,
By moving the self-propelled truck, the welding torch is moved in parallel with the side of the vertical plate.

In this type of conventional welding apparatus, two vertical plate copying arms provided on a self-propelled carriage are extended horizontally, and a roller portion at the tip thereof is brought into contact with the vertical plate. By slightly shifting the traveling direction of the traveling vehicle in a direction approaching the vertical plate with respect to an axis parallel to the vertical plate, the self-propelled vehicle is positioned so that the copying roller always comes into contact with the vertical plate. Thus, the copying mechanism is configured so that the welding torch moves along the corner where the horizontal plate and the vertical plate abut.

[0004]

However, the vertical plate and the horizontal plate may bend, and the vertical plate may be arranged with a slight inclination with respect to the vertical axis. That is, the distance change amount with respect to the bogie may not be the same at the corner where the welding torch actually exists (the portion where the horizontal plate and the vertical plate abut) and the position on the vertical plate that the vertical plate copying mechanism follows. In some cases, the tracing position of the welding torch deviates from an appropriate welding line.

Accordingly, an object of the present invention is to precisely match the position of a welding torch with a target welding line.

[0006]

SUMMARY OF THE INVENTION In order to solve the above-mentioned problems, a fillet welding copying apparatus according to the present invention provides a scanning loom which is movable in a predetermined welding direction while being in contact with a plate material to be welded. (509) a first movable support mechanism (50 ) for rotatably supporting the copying roller means about a first axis (507) in a direction substantially perpendicular to the moving direction thereof.
6) a torch supporting means (505) including a member coupled to the first movable support mechanism and supporting a welding torch ; the torch supporting means substantially corresponding to the first shaft (507) ; Top parallel axis
(504) freely supported moves in the direction of the second movable support mechanism (503), the movable support mechanism of the second, the copying Russia - la means second axis of movement direction and substantially the same direction ( 50
A third movable support mechanism (501) rotatably supported around 2) , and a third movable support mechanism;
A moving means (1) for moving it in a predetermined welding direction.
00), the provision.

The symbols in the parentheses indicate the reference numerals of the corresponding elements in the embodiments described below for reference, and the respective constituent elements of the present invention are the elements actually used in the embodiments. However, the present invention is not limited to this.

[0008]

According to the present invention, the welding torch is provided with a torch supporting means.
(505) , the torch support means is supported by a second movable support mechanism (503) , and the second movable support mechanism is supported by a third movable support mechanism (501) .
A copying roller means (509) is connected to the torch support means (505) via a first movable support mechanism (506) . Therefore, the copying roller means is provided by the moving means (10
Center relative to 0), the motion to rotate about said second axis (502), said first shaft (507) and substantially parallel to the axial movement to move, and the first axis (507) The movement that rotates about the second axis (502) and the movement that moves in an axial direction substantially parallel to the first axis (507) are described below. Welding tower so as to follow the posture change of the
Ji's posture changes.

For example, in the example shown in FIGS. 1 and 2, the corner copying roller 509 has an arrow AR around the first shaft 507.
5 is rotatable, and an arm (to
A welding torch 600 is mounted on a member 510 connected to the arm 505, and the arm 505 and the welding torch 600 are connected to a bearing 503 as a second movable support mechanism .
And a shaft (an axis parallel to the first axis) 504 are movable in the direction of the arrow AR4 by relative movement in the axial direction, and the bearing 503 is rotatable in the direction of the arrow AR3 around the shaft 502 as the second axis. It is. Therefore, as shown in FIG. 1, the corner copying roller 509 comprises a horizontal plate FB and a vertical plate VB.
The position is naturally determined by the weight of the mechanism portion along the abutting portion, and as shown in FIG.
By disposing the tip of the welding torch 600 in the vicinity of the reference numeral 9, welding can be performed along the movement locus of the corner copying roller 509, that is, accurately following the abutting portion between the horizontal plate FB and the vertical plate VB. The torch 600 can be moved and welded.

[0010]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS FIG. 1 shows a substantially entire view of a welding apparatus according to an embodiment viewed from the front, and FIG. 2 shows a plan view of a main part thereof. As shown in FIG. 9, this welding apparatus is composed of a steel plate (horizontal plate) FB arranged horizontally on the floor and a number of steel plates (vertical plates) VB arranged vertically on the steel plate. After entering the inner space of each of the squares, the corner where the horizontal plate FB and the vertical plate VB abut as shown in FIG. 1 is substantially continuously welded while moving as shown in FIG.

Referring to FIG. 1, a direction substantially perpendicular to the traveling direction of the self-propelled carriage 100, that is, a vertical plate V to be welded
Toward B, vertical plate copying mechanism 400, corner copying mechanism 5
00 and a welding torch 600 extend from the self-propelled carriage. The base of the arm 401 of the vertical plate copying mechanism 400 is fixed on a horizontally arranged table 205, and the corner copying mechanism 500 and the welding torch 600 are connected to a horizontally arranged table. Bull 301 connected. The table 301 is movably mounted on a table 205 via a rail 222.

The arm 501 is rotatably supported in a horizontal plane by a shaft 306 provided vertically at one end of a table 301. The arm 501 has a horizontal direction (a direction perpendicular to the paper surface in FIG. 1: A in FIG. 2).
A shaft 502 extending in the R2 direction is rotatably mounted, and a bearing (thrust bearing) 503 is fixed to the shaft 502. That is, the bearing 503
FIG. 1 shows the arm 501 together with the shaft 502.
In the direction of arrow AR3. Both ends of a shaft 504 movably supported in the bearing 503 in the axial direction (AR4 direction in FIG. 1) are fixed to a support frame 510.

As shown in FIG. 2, a welding torch 600 and a copying arm 505 arranged adjacent to each other are fixed to the support frame 510. Therefore, the copying arm 50
5 is capable of rotating about the shaft 502 in the direction of AR3 and of moving the shaft 504 in the axial direction, ie, in the direction of AR4. The welding torch is moved with the movement of the copying arm 505. 600 do the same. A shaft 507 is rotatably supported at the distal end of the copying arm 505 via a bearing 506. At a tip end of a support member 508 coupled to one end of the shaft 507, a corner copying roller 509 is supported rotatably about a shaft 508a. The corner copying roller 509 comes into contact with the corner to be welded as shown in FIG. 1 and moves so as to follow that portion. The corner copying roller 509 is rotatable about an axis 507 in the direction of arrow AR5.
Is possible to move in the axial direction (AR4 direction) and to move in the AR3 direction about the shaft 502, so that the weight of the copying mechanism itself can be used to accurately follow a predetermined corner naturally. 1 can be moved.

Arm 50 supporting support frame 510
1, the slider 305 is engaged near the point P1 shown in FIG. The slider 305 is mounted on a guide rail 310 fixed on a table 301.
It is movable in the direction of arrow AR1. A screw rod 304 is engaged with a nut formed on the slider 305. The screw rod 304 is rotatably supported by a bearing provided on the table 301, and a pulley 311 mounted on one end thereof is connected to an electric motor via a belt 312.
Connected to the drive shaft of the motor M2. Accordingly, when the electric motor M2 is driven, the screw rod 304 rotates, and the slider 305 having a nut engaged with the screw rod 304 moves horizontally in the direction of the arrow AR1. When the slider 305 moves, the point P1 at the tip moves, and the arc engaged with the part moves.
The arm 501 rotates around the shaft 306 in the direction of arrow AR6 in a horizontal plane.

The movement of the arm 501 in the direction of the arrow AR6 causes the corner copying roller 5 at the tip of the corner copying mechanism 500 to move.
09 and the tip of the welding torch 600 in the horizontal plane can be changed. As a result, the corner copying roller 5
The movement locus of the tip of the welding torch 600, that is, the welding line can be accurately aligned with the line that the scanning line 09 follows. Limit switches 308 and 309 are arranged at positions where a striker 307 provided on the slider 305 passes, and the limit switches 308 and 309 detect the limit position of the movement range of the slider 305.

[0016] Corner copying mechanism 500 and welding torch 60
Table 301 supporting rails 221 and 22
2 and an arrow AR2 on the table 205.
It is movable in the direction and the opposite direction. A sprocket 224 mounted on a drive shaft of an electric motor M3 installed at one end of the table 205;
A chain 223 extends over a sprocket 226 mounted on a bearing 225 installed at the other end on the top 5.
A part of the chain 223 is connected to the table 301. Accordingly, by driving the electric motor M3, the chain 223 moves, and the table 301 connected to the chain 223 moves on the rails 221 and 222 by the arrow A.
Move in the R2 direction or the reverse direction.

The shaft of the sprocket 226 has a reduction mechanism 22
7, the cam 228 is connected. This cam 22
8 shows a state in which the table 301 has the tip on the table 205 (FIG. 2).
Of the cam 301. The limit switch 229 that engages with the cam 228 moves the table 301 within a predetermined moving range. The on / off state is switched depending on whether it is located forward or backward with respect to the center. That is, by detecting the switching of the state of the limit switch 229, it can be checked whether or not the table 301 has reached the center position. Limit switches 231 and 23
0 is turned on when the table 301 is at the leading end position and the trailing end position of the predetermined moving range, and is turned off at other times.

FIG. 3 shows the self-propelled trolley 100, the forward / backward drive mechanism 200, and the vertical plate copying mechanism 400 as viewed from the opposite side (back side) of FIG. 1, and FIG. 4 shows the forward / backward drive mechanism 200 as viewed from above. FIG. 5 shows a plan view of the internal configuration of the self-propelled trolley 100, and FIG. 6 shows a cross-sectional view of the self-propelled trolley 100. The description will be continued with reference to these drawings as well.

As shown in FIG. 1 and FIG.
5 is supported slidably in the axial direction by two rods 203 and 203B extending in the direction of the arrow AR1. Rods 203 and 203B
Is fixed on the self-propelled carriage 100 via bearings 201 and 202. A rack 207 is connected to the slider 204, and as shown in FIG. 4, the rack 207 meshes with a gear 206 connected to a drive shaft of the electric motor M1 via a speed reducer G1. Therefore, the electric motor
By driving the table M1, the slider 205 moves in the direction of the arrow AR1, and the vertical plate copying mechanism 400 is driven forward and backward with respect to the self-propelled vehicle 100 in that direction. A striker 208 is formed on the rack 207, and the striker 20 is formed.
8 are provided with limit switches 209 and 210. The limit switches 210 and 209 are turned on when the vertical plate copying mechanism 400 is at the predetermined copying position and the retracted position, respectively, and are turned off at other times.

As shown in FIG.
Two wheels 101, 102, 103 and 104 are provided. Wheels 101 and 102 are frame 1 of the self-propelled truck.
05 are provided at both ends of an axle 110 supported via bearings, and wheels 103 and 104 are provided at both ends of an axle 109. The gear 108 provided on the axle 109 is
It is connected to the drive shaft of the electric motor M4 via a speed reducer G4. Also, a sprocket 111 provided on the axle 109
And a sprocket 112 provided on the axle 110
Are connected to each other by a pin 113. Therefore, by driving the electric motor M4, the four wheels 101,
102, 103 and 104 are rotationally driven in a predetermined direction,
The self-propelled trolley 100 moves.

Usually, four wheels 101, 102, 103
And 104 touch the ground (horizontal plate FB), and the self-propelled carriage 100 moves by driving these wheels. However, in order to rotate the self-propelled vehicle 100 at corners of the eyes, it is better to lift the self-propelled vehicle 100 itself and lift the wheels 101, 102, 103 and 104 from the ground to facilitate rotation. good. Therefore, the bogie rotation drive mechanism 15
0 includes a mechanism for rotation and a mechanism for elevating.

The bogie rotation drive mechanism 150 will be described with reference to FIGS. On the lower surface of the self-propelled carriage 100, a disc-shaped push-up plate 132 is arranged. Base member 129
Is a bearing 12 fixed to the frame 105 of the self-propelled truck.
8 and is supported by a self-propelled vehicle, and is rotatable with respect to the self-propelled vehicle in the direction of arrow AR8. This base
A rod 130 is passed through a through hole provided in the support member 129, and the rod 130 is slidable in its axial direction, that is, in the direction of the arrow AR7. The rod 130 has a lower end fixed to the push-up plate 132 and an upper end fixed to the elevating plate 131. The upper end of the compression coil spring 134 disposed in the center hole of the base member 129 is in contact with the lower surface of the lift plate 131, and the lift plate 131 is attached to the base member 129.
Always receives an upward force.

The elevating plate 131 comes into contact with an eccentric cam 126 arranged on the upper side thereof. The cam shaft 123 is supported by the frame 105 via bearings 124 and 125. One end of the shaft 123 is connected to the drive shaft of the electric motor M5 via gears 122 and 121, and a striker 136 is mounted on the other end. Striker 1
The upper and lower sides of 36 are limit switches 1 respectively.
37 and 138 are provided. By driving the electric motor M5 to rotate the shaft 123, the distance of the portion of the eccentric cam 126 that comes into contact with the lift plate 131 from the center of rotation changes, whereby the lift plate 131 moves upward or downward. I do. As the elevating plate 131 moves up and down, the push-up plate 132 connected thereto via the rod 130 moves up and down. When the push-up plate 132 descends to the lower limit position,
The lower surface of the push-up plate 132 protrudes below the wheels 101 to 104, abuts against the ground, and contacts the wheels 101 to 104 of the self-propelled truck.
Lift off the ground. When the push-up plate 132 rises to the upper limit position, the lower surface of the push-up plate 132 is
4, the wheels 101 to 104 touch the ground, and the self-propelled carriage can run.

A gear 133 formed on the outer periphery of the base member 129 meshes with a gear 135, and the gear 135 is connected to a drive shaft of the electric motor M6 via a speed reducer G6. Therefore, when the electric motor M6 is driven, the gear 13
5 rotates, and the position at which it meshes with the gear 133 changes. That is, when the push-up plate 132 is grounded and the gear 133 does not move, the gear 135 revolves around the gear 133, and the self-propelled carriage 100 uses the center of the gear 133 as a rotation axis on the push-up plate 132. Rotate and change direction.
A rotation detector RE is connected to the gear 133 as shown in FIG. The rotation detector RE outputs one pulse signal every time the gear 133 makes a minute rotation. Gear 13
3, a striker 139 is formed, and an origin detection switch 140 is provided at a position facing the striker 139.

A front wall detection switch 106 for detecting the presence of the front wall (vertical plate VB) by contact and detecting the target stop position is provided at the tip of the self-propelled carriage 100 in the traveling direction. In the vicinity of the front wall detection switch 106, a non-contact sensor 1 that detects the vertical plate VB on the front side in the traveling direction without contact is provided.
07 is provided. The non-contact sensor 107 is a reflection-type optical sensor, and is located on the front side (A
R2), receives light reflected from the vertical plate, and outputs an electric signal at a level corresponding to the received light intensity. The light receiving intensity of the non-contact sensor 107 changes according to the magnitude of the distance between the sensor and the vertical plate at a position facing the sensor. Although this light receiving intensity is affected by the light incident due to the inclination of the angle between the detection axis of the sensor and the vertical plate and the multiple reflections, the intensity of the light to some extent is higher than that of the non-contact sensor 1.
This is a case where a vertical plate exists inside a relatively short distance from the reference numeral 07.

Accordingly, the level of the electric signal output from the non-contact sensor 107 is binarized at a predetermined threshold level, and a light receiving level above the threshold is set as a detection level, and a light receiving level below the threshold is set as a non-detection level. When the self-propelled trolley 100 is arranged near the center of the square and rotated by 360 degrees, the detection level can be obtained only in a certain rotation angle range as shown in FIG. For example, if a detection level is obtained between the rotation angles P1 and P2, an intermediate angular position Pe between P1 and P2 can be regarded as a direction perpendicular to the front vertical plate surface.

By the way, in this embodiment, as shown in FIG.
06, compared to the distance L1 to the tip,
Is set such that the distance L2 in the AR1 direction to the tip of the copying roller 402 when the is pushed to the copying position becomes large. The distance L1 means a turning radius when the self-propelled bogie is rotated 90 degrees clockwise at the corners of the corner as shown in FIG. 7 (however, the vertical plate copying mechanism 400 is in a retracted state until it enters the inside thereof). The distance L2 is the same as the distance from the center of rotation to the vertical plate when the self-propelled vehicle 100 moves along the vertical plate VB by the vertical plate copying mechanism 400. As shown in FIG. 7, with the front wall detection switch 106 detecting the vertical plate and the self-propelled vehicle 100 stopped, the vertical plate copying mechanism 400 is retracted to a predetermined retreat position, and then the self-propelled vehicle is turned 90 degrees. When rotated clockwise, the result is as shown in FIG. Here, when the retracted vertical plate copying mechanism 400 is pushed to a predetermined copying position, the distance L to the tip of the copying roller 402 at the time of pushing out is longer than the distance L1 from the rotation center to the vertical plate.
2 is longer by the offset amount Loss, so that the vertical plate VB2
The self-propelled vehicle 100 itself is pushed back in a direction opposite to the direction in which the self-propelled vehicle 100 is pushed out, and retreats by the distance Los.
By this movement, the self-propelled trolley 100 mechanically moves the vertical plate VB
2 is forcibly positioned.

FIG. 1 shows the configuration of the electric circuit of the welding apparatus according to the embodiment.
It is shown in FIG. Electronic control unit ECU included in this welding device
Performs control such as movement, rotation, and posture adjustment of the welding device. The input terminals of the electronic control unit ECU are connected to the limit switches 137, 138, 209, 21 described above.
0, 229, 230, 231, 308, 309, front wall detection switch 106, origin detection switch 140, and non-contact sensor 107, a start switch SSW, direction adjustment switches SCW and SCC are connected. The start switch SSW is a switch for instructing the start of an automatic welding operation, and the direction adjustment switches SCW and SCC are shown in FIG.
Is a switch for instructing the clockwise and counterclockwise attitude adjustments of the welding torch 600 and the corner copying mechanism 500 in the direction of the arrow AR6 about the axis 306 shown in FIG. The signal output from the non-contact sensor 107 is binarized by the level determiner LV and input to the ECU. Electronic control unit EC
The electric motors M1 to M6 described above are connected to the output terminal of U via a motor driver DRV. Further, the ECU outputs a signal for instructing the welding machine body to start and stop welding.

FIG. 10 shows the contents of the processing of the electronic control unit ECU.
And FIG. ECU with reference to FIGS. 10 and 11
Will be described. When the main power supply is turned on, first, an initialization operation is performed in step 11. That is, the carriage rotation drive mechanism 150 described above is controlled to
Position the striker 139 at the rotational position where it is detected,
The vertical copying mechanism 400 is retracted until the striker 208 is engaged with the limit switch 209, and is positioned at the retracted position. Further, the electric motor M3 is driven to operate the limit switch 230 at the rearmost position (FIG. 2). To the right)
Bull 301 is moved in the direction opposite to arrow AR2. In this state, the operator places the welding device near the center of one square while taking care not to twist the cables connecting the welding device and the power supply device. When the operator operates the direction adjustment switches SCW and SCC after the welding device is placed in the eye, the electric motor is operated while the direction adjustment switches SCW and SCC are on (unless the limit switches 308 and 309 are operated). The motor M2 is driven in the normal rotation direction or the reverse rotation direction.

When the start switch SSW is pressed by the operator after the welding device is arranged near the center of the eye as shown in FIG. 12 or FIG.
To 13 and thereafter perform the welding operation automatically as described below until the entire welding within the square is completed.

In order for the welding device to automatically follow the surface of the vertical plate, it is necessary to approach the welding device in a direction substantially perpendicular to the surface of the vertical plate. The direction in which the self-propelled vehicle 100 moves forward is determined so as to satisfy the condition.
In step 13, the electric motor M5 is driven, the turntable, that is, the push-up plate 132 is lowered, and the self-propelled carriage 100 is raised until the wheels 101 to 104 float.
Then, the self-propelled trolley 100 is rotated 360 degrees counterclockwise. At this time, the vertical plate is detected to determine the moving direction, and the self-propelled trolley is directed in that direction.

That is, by referring to the electric signal output from the non-contact sensor 107, at least one angle range in which the vertical plate is detected is detected as shown in FIG. 13, and the direction is determined based on the detected angle range. I do. The direction information can be obtained by counting the number of pulse signals output from the rotation detector RE.

In case 1 of FIG. 13, each direction P1,
When the number of pulses from the base point P0 of P2, P3, and P4 is α, β, γ, and δ, respectively, the number of pulses P at the central angular position of P1 and P2 and the central angular position of P3 and P4
e is obtained by the following equations (1) and (2), respectively.

[0034]

## EQU1 ## Pe = C360− (β + α) / 2 (1) Pe = C360 + (C360−δ) + (δ−γ) / 2 = C720− (δ−γ) / 2 (2) However, C360: the number of pulses corresponding to 360 degrees C720: the number of pulses corresponding to 720 degrees Similarly, in case 2, each direction P1, P2, P3 and P
4 are α, β, γ, and δ, respectively, from the base point P0 of P4, the central angular position of P1 and P4 and P2
And the pulse number Pe at the central angular position between P3 and P3 are obtained by the following equations (3) and (4), respectively.

[0035]

## EQU2 ## Pe = C360−α + (α + C360−δ) / 2 = C360 × 3 / 2− (α + δ) / 2 = C540− (α + δ) / 2 (3) Pe = C360 + (C360−γ) + (Γ−β) / 2 = C720− (γ + β) / 2 (4) where C540: the number of pulses corresponding to 540 degrees Similarly, in case 3 and case 4, the respective directions P1 and P in case 4
When the number of pulses from the base point P0 of P2 is α and β, respectively, the number of pulses Pe at the central angular position of P1 and P2
Is obtained by the following equations (5) and (6).

[0036]

## EQU3 ## Pe = C360 + (C360−β) + (β−α) / 2 = C720− (β + α) / 2 (5) Pe = C360−α + (α + C360−β) / 2 = C360 × 3 / 2- (α + β) / 2 = C540− (α + β) / 2 (6) In this embodiment, when the robot moves along the vertical plate, it is rotated clockwise five times, that is, 450 degrees. If the copying operation is started after rotating counterclockwise by 450 degrees in advance, the twist of the cables when the welding operation is completed is reduced to zero.
Degree. Zero torsion at the end of welding operation
Although it is not necessarily the best to set the maximum amount of twist, it is better to keep the maximum amount of torsion during operation small. For example, after rotating 360 degrees counterclockwise to detect the direction of the vertical plate, further rotating 45 degrees counterclockwise, then proceeding toward the vertical plate, and starting vertical plate copying, The maximum amount of torsion can be suppressed to 405 degrees counterclockwise, and the amount of torsion at the end of welding can also be suppressed to 45 degrees clockwise. Therefore, after rotating 360 degrees in the counterclockwise direction to detect the direction of the vertical plate, the direction of the rotating operation for turning to the direction of the target vertical plate may be the case where the clockwise return direction is good, and In some cases, the direction in which the twist is further applied clockwise is good. However, since it is better to keep the maximum amount of twist to about 450 degrees, adding more twist in the counterclockwise direction
The rotation is limited to the case of 90 degrees or less, and if it exceeds 90 degrees, the clockwise return direction is selected.

In case 1 and case 2 of FIG. 13, since the vertical plate is detected in each of two angle ranges, it is possible to select which range the direction of the vertical plate belongs. The selection condition in this case is also determined in consideration of the two conditions of making the maximum amount of twist during operation smaller than 450 degrees and reducing the amount of twist at the end of operation. Of the two conditions, the former has a higher priority than the latter.

When the direction of the vertical plate to be headed is determined, the vehicle rotates counterclockwise or clockwise, and the self-propelled carriage 1 moves in that direction.
Turn the direction of travel 00. In any case, the amount of twisting of the cables at this time is in a range from 90 degrees to 450 degrees in a counterclockwise direction. If the direction of the self-propelled carriage 100 is oriented in the detected direction, the process proceeds to step 15, in which the electric motor M5 is driven, and the turntable, that is, the push-up plate 132 is raised and returned to the retracted position. As a result, the wheels 101 to 104 again touch the ground, and the self-propelled carriage 100 can move forward. In step 16, the electric motor M4 is driven to drive the wheels 101-101.
The front wall detection switch 10 is driven in step 17.
Check the status of 6. Step 16 is repeatedly performed until the tip of the front wall detection switch 106 contacts the vertical plate VB, and the self-propelled carriage 100 moves forward. Front wall detection switch 10
When the tip of 6 comes in contact with the vertical plate VB, the process proceeds to step 18 to stop the forward movement of the self-propelled vehicle.

In the next step 19, the electric motor M is again turned on.
5 is driven to lower the push-up plate 132, and the wheels 101-1
04 is raised. In step 20, the electric motor M6 is driven to rotate the self-propelled carriage 100 in the horizontal plane by 90 degrees clockwise. As a result, the vertical plate copying mechanism 400 and the corner copying mechanism 50 in the retracted state at this time.
The self-propelled trolley 100 is oriented such that the welding torch 600 approaches the vertical plate VB. When the rotation is completed, the process proceeds to the next step 21, in which the electric motor M5 is driven to raise the push-up plate 132 to a predetermined retracted position, and
1 to 104 are grounded.

In the next step 22, the electric motor M1 is driven to drive the electric motor M1 to the table 2 in the direction of AR1 (the direction approaching VB).
05 is moved to push the vertical plate copying mechanism 400 toward the vertical plate. Before the vertical plate copying mechanism 400 is pushed out, the self-propelled bogie is stopped when the front wall detection switch 106 detects the vertical plate, so the distance in the AR1 direction from the center of rotation to the vertical plate is the same as in FIG. L1. Therefore, when the vertical plate copying mechanism 400 is extruded toward the vertical plate, the distance L2 from the center of rotation to the tip of the vertical plate copying mechanism 400 is more Los than L1.
The self-propelled carriage 100 is mechanically forcibly moved in a direction away from the opposed vertical plate by being pushed back by Los. By this operation, the vertical plate copying mechanisms 400F and 4F
The self-propelled carriage 100 is automatically positioned so that each of the copying rollers 402 of 00R comes into contact with the vertical plate VB, that is, in the direction of the surface of the vertical plate VB.

In step 23, the electric motor M4 is driven to drive the wheels 101 to 104. In step 24, the state of the front wall detection switch 106 is checked. Step 23 until the tip of the front wall detection switch 106 contacts the vertical plate VB.
Are repeatedly executed, and the self-propelled carriage 100 moves forward. When the front end of the front wall detection switch 106 comes into contact with the vertical plate VB, that is, as shown in FIG. Stop the forward movement of the bogie.

In the next step 26, the electric motor M1 is driven to move the table 205 in the direction AR1 (in a direction away from VB), and the vertical plate copying mechanism 400, the corner copying mechanism 500 and the welding toe are moved. H is returned to a predetermined retracted position. In the following step 27, the electric motor M5 is driven again to lower the push-up plate 132, thereby causing the wheels 101 to 104 to float. In step 28, the electric motor M6 is driven to rotate the self-propelled vehicle 100 in the horizontal plane by 90 degrees clockwise.
To rotate. As a result, the vertical plate copying mechanism 400, the corner copying mechanism 500 and the welding toe in the retracted state at this time.
The self-propelled trolley 100 is directed so that the switch 600 approaches the vertical plate VB. When the rotation is completed, the process proceeds to the next step 29, in which the electric motor M5 is driven to raise the push-up plate 132 to a predetermined retracted position, and the wheels 101 to 104 are grounded.

In the next step 30, the above step 22
Similarly, the electric motor M1 is driven to move in the AR1 direction (VB
Table 205 is moved in the direction of approaching the vertical plate, and the vertical plate copying mechanism 400 is extruded toward the vertical plate, and the self-propelled carriage 100 is positioned so as to follow the vertical plate VB.

With the above operation, as shown in FIG. 8, the self-propelled trolley 100 has moved to the position where welding is to be started, and has been positioned so as to follow the vertical plate. To start the welding operation. Step 3
In step 2, the electric motor M3 starts normal rotation driving, and advances the rearmost portion, that is, the table 301 positioned at the right end in FIG. 2, in the direction of the arrow AR2. As a result, the corner copying mechanism 50 supported on the table 301
0 and the welding torch 600
0 in the direction of the arrow AR2, and the corner copying mechanism 50
With 0, the tip moves of the welding torch 600 according to the butted portion of the horizontal plate FB and the vertical plate VB, that is, the welding line.

In step 33, the limit switch 22
Examine the state of No. 9. When the table 301 advances to the center of the predetermined moving range, the cam 228 rotates 180 degrees and moves the limit switch 229.
Changes state. When this change is detected, that is, when the table 301 advances to the center of the predetermined moving range, the process proceeds to the next step.

In step 34, the driving of the electric motor M3 is stopped to stop the movement of the table 301, and the driving of the electric motor M4 is started. Start the forward motion of. Accordingly, the movement following the welding line of the corner copying mechanism 500 and the welding torch 600 is changed from the movement of the table 301 to the self-propelled carriage 100.
The movement is switched to itself, and the movement for welding is continued.

In step 35, the front wall detection switch 10
Check the status of 6. The movement of the self-propelled carriage 100 is continued until the tip of the front wall detection switch 106 contacts the vertical plate VB. When the tip of the front wall detection switch 106 contacts the vertical plate VB, the process proceeds to the next step 36. In step 36, the driving of the electric motor M4 is stopped to stop the self-propelled trolley 100, the normal driving of the electric motor M3 is started again, and the movement of the table 301 in the direction of the arrow AR2 is started. Start.

In step 37, the limit switch 23
State 1 is checked, and the process waits until the table 301 reaches the forward limit position (the left end in FIG. 2) of the predetermined moving range. When the table 301 reaches the limit position and the limit switch 231 is turned on, the routine proceeds to step 38, where the drive of the electric motor M3 is stopped and the movement of the table 301 is terminated. In the next step 39, an instruction is given to the welding machine body to temporarily stop the welding operation.

By the processes in steps 31 to 39 described above, welding is completed for one side of the rectangular area forming the grid. Although there is a part that cannot be welded at the corner of the square, the combination of the movement of the self-propelled vehicle 100 itself and the relative movement of the welding torch 600 with respect to the self-propelled vehicle as in this embodiment. Non-weldable areas can be minimized.

In step 40, the electric motor M1 is driven to move the table 20 in the direction AR1 (in a direction away from VB).
5, the vertical plate copying mechanism 400 and the corner copying mechanism 50
0 and the welding torch 600 are returned to a predetermined retracted position. In the next step 41, the electric motor M3 is driven in the reverse direction to move (retreat) the table 301 in the direction opposite to the arrow AR2. When the table 301 returns to the center of the predetermined moving range, the cam 228 rotates half a turn and the limit switch 2
29 operates, and when it is detected, the electric motor M3
Stop driving.

In the next step 42, the electric motor M
5 is driven to lower the push-up plate 132, and the wheels 101-1
04 is raised. In step 43, the electric motor M6 is driven to rotate the self-propelled vehicle 100 in the horizontal plane by 90 degrees clockwise. Thereby, the direction of the self-propelled carriage 100 is changed at the corner of the square. In the following step 44, the electric motor M3 is driven in the reverse direction again to move (retreat) the table 301 in the direction opposite to the arrow AR2. When the table 301 returns to the backward limit position in the predetermined movement range (the right end in FIG. 2: the position at the start of welding), the limit switch 230 operates, and when the limit switch 230 is detected, the drive of the electric motor M3 is stopped. Then, the table 301 is stopped at that position.

In the next step 45, the electric motor M5 is driven to raise the push-up plate 132 to a predetermined retracted position. As a result, the wheels 101 to 104 touch the ground, and the self-propelled carriage becomes movable again. In step 46, the electric motor
By driving the table M1, the table 205 is moved in the AR1 direction (direction approaching VB), the vertical plate copying mechanism 400 is pushed out toward the vertical plate, and the self-propelled carriage 100 is positioned so as to follow the vertical plate VB.

By the operations of steps 40 to 46,
The 90-degree direction change of the self-propelled carriage 100 and the positioning of the next side for vertical plate copying, and all necessary posture adjustment operations are performed accordingly.

In step 47, the above steps 31 to 3 are performed.
The same processing as in step 9 is performed, and welding is performed on one side of the square. In the next step 48, the same processing as in the above steps 40 to 46 is executed, and 9
Positioning for turning the direction by 0 degrees and following the vertical plate on the next side, and performing all necessary posture adjustment operations accordingly. Then, in the same way, in step 49,
Welding is performed on one side, in step 50, a direction change of 90 degrees is performed, and in step 51, welding is performed on one side of the square.

With all of the above operations, the welding device performs the welding operation while moving along the vertical plate VB within one square as shown in FIG. And automatically perform welding at the four corners.

[0056]

As described above, according to the present invention, the welding torque
The torch (600) is supported by the torch support means (505), and the torch support means is provided by a second movable support mechanism (503).
, And the second movable support mechanism is supported by the third movable support mechanism (501). A copying roller means (509) is connected to the torch support means via a first movable support mechanism (506). Accordingly, the copying roller means moves relative to the moving means (100) about a second axis, a movement in an axial direction substantially parallel to the first axis, and a movement about the first axis. A pivoting motion is possible, and a pivoting motion about the second axis and a motion moving in an axial direction substantially parallel to the first axis are as follows.
The posture of the welding torch changes so as to follow the posture change of the copying roller means. Therefore, the welding torch can be moved and welded exactly following the butted portion of the horizontal plate and the vertical plate.

[Brief description of the drawings]

FIG. 1 is a front view showing a substantially entire view of a welding apparatus of an embodiment during a welding operation.

FIG. 2 is a plan view of a mechanical part on a table 205 of the apparatus of FIG.

FIG. 3 is a partial cross-sectional view showing the self-propelled trolley and a vertical plate copying mechanism as viewed from the rear side in FIG. 1;

FIG. 4 is a partial cross-sectional view of a mechanism disposed below the vertical plate copying mechanism when viewed from above.

FIG. 5 is a plan view showing an internal mechanism of the self-propelled carriage.

FIG. 6 is a longitudinal sectional view of the self-propelled carriage viewed from a side.

FIG. 7 is a plan view of a mechanism located below the vertical plate copying mechanism.

FIG. 8 is a plan view of a mechanism located below the vertical plate copying mechanism.

FIG. 9 is a perspective view showing a horizontal plate and a vertical plate constituting a square to be welded.

FIG. 10 is a part of a flowchart showing details of the operation of the ECU.

FIG. 11 is a remaining portion of the flowchart showing the operation of the ECU.

FIG. 12 is a plan view showing one square and a movement locus of the welding machine.

FIG. 13 is a plan view of a grid and a welding machine showing a vertical plate detection range under four types of conditions.

FIG. 14 is a block diagram illustrating a configuration of an electrical unit of the device according to the embodiment.

[Explanation of symbols]

100: Self-propelled trolley 101-104: Wheel 1
05: Frame 106: Front wall detection switch 107: Non-contact sensor 1
08: Gears 109, 110: Axles 111, 112: Sprockets 113: Chains 121, 122: Gears 1
23: shaft 124, 125, 128: bearing 1
26: Eccentric cam 129: Base member 130: Rod 1
31: lifting plate 132: push-up plate 133, 135: gear 1
34: spring 136, 139: striker 137, 138, 209, 210, 229, 230, 231, 308, 309: limit switch 140: origin detection switch 150: bogie rotation drive mechanism 200: forward / backward drive mechanism 201, 202: bearing 203, 203B: rod 204: slider 2
05: Table 206: Gear 207: Rack 2
08: striker 221, 222: rail 223: chain 224, 226: sprocket 2
25: Bearing 227: Reduction mechanism 228: Cam 3
01: Table 304: Screw bar 305: Slider 3
06: shaft 307: striker 310: guide rail 3
11: pulley 312: belt 400, 400F, 400R: vertical plate copying mechanism 401: arm 402: copying roller 500: corner copying mechanism 501: arms 502, 504: shaft 503: bearing 5
05: Copy arm 507: Shaft 509: Corner copying roller 510: Support frame 600: Welding torch M1 to M6: Electric motors G1, G4, G6: Reduction gears VB, VB1, VB2: Vertical plate F
B: Horizontal plate ECU: Electronic control unit RE: Rotation detector

──────────────────────────────────────────────────続 き Continuation of the front page (56) References JP-A-62-240164 (JP, A) JP-A-63-16568 (JP, U) JP-A-57-111509 (JP, U) JP-A-59-111 1472 (JP, U) Fully open sho 61-27568 (JP, U) Fully open sho 64-38176 (JP, U) Real open sho 49-46019 (JP, U) (58) Field surveyed (Int. ⁶ , DB name) B23K 9/127 B23K 9/00 B23K 9/02 B23K 37/02

Claims (1)

(57) [Claims] 1. A copying roller means movable in a predetermined welding direction in a state of contact with a plate material of a welding target portion, and a first axis in a direction substantially orthogonal to the moving direction of the copying roller means . the first movable support mechanism for rotatably supported around a, coupled with the first movable support mechanism, welding bets - including members for supporting the switch, bets - Ji supporting means,該To - Ji supporting means A second movable support mechanism for movably supporting the second movable support mechanism in a direction of an axis substantially parallel to the first axis , wherein the second movable support mechanism is substantially in the same direction as the moving direction of the copying roller means. freely supported rotates about the second axis of provided third movable support mechanism, and supports the movable support mechanism of the third, moving means for moving toward it in a predetermined welding direction, and Fillet welding copy machine.