JPH02137671A - Automatic welding robot for curved-face body - Google Patents

Abstract

PURPOSE:To horizontally maintain the welding face of a curved-face body and to uniformize the build-up thickness and to automate welding work by fitting the curved- face body to a curved-face body fitting part of a curved-face body holding mechanism and inputting necessary information before and after this to actuate a welding control mechanism. CONSTITUTION:The curved-face body 2 is fitted to the curved-face fitting part 31 of the curved-face body holding mechanism 3 and the necessary information for control is inputted to the welding control mechanism 5 before and after this to actuate the welding control mechanism 5. Thereby, an angle of a curved-face body inclination part 32 is adjusted automatically and the welding face of the curved-face body 2 fitted to the curved-face body fitting part 31 to face a welding torch 41 of a welding torch mechanism 4 up and down each other is maintained almost horizontally. After ward, a switch of the welding torch 41 is turned ON automatically to start welding and interlocking with this, the curved-face body fitting part 31 also starts to turn automatically and the curved-face body 2 is allowed to make one rotation round the axis center and during this one rotation, the welding face of the curved-face body 2 is continuously subjected to build-up by welding. Afterward, the next welding face is maintained almost horizontally and the same welding work is repeated automatically and automation of build-up by welding of the curved-face body 2 is attained.

Description

[Detailed Description of the Invention] [Industrial Application Field] This invention relates to a curved surface that is hardened by welding overlay on various curved bodies, particularly curved bodies such as drum-shaped rollers used in ships, mining machines, etc. It concerns an automatic body welding robot.

[Conventional technology]

BACKGROUND ART Chilled casting, hardening, weld overlay, and the like are conventionally known methods for hardening the surface of curved bodies such as hourglass-shaped rollers used in ships, mining machines, and the like.

Among these, chilled castings have the disadvantage of becoming brittle if the hardening depth is increased. In addition, quenching has the disadvantage that the hardening depth is shallow and high hardness cannot be expected.

On the other hand, in the method of welding and overlaying the surface of a curved body such as an hourglass roller, the depth of hardening can be freely obtained, and the hardness can also be freely selected by selecting the welding wire.

(Problem to be solved by the invention) However, since curved bodies such as drum-shaped rollers have a special shape, all the work is done by hand, which is painful for the worker and takes a long time. Due to unfavorable conditions such as unstable product quality and high prices, it has not been easy to meet the demand although hardness and depth can be obtained.

Furthermore, although there are various types of automatic welding machines for welding simple cylindrical rollers and shafts, these machines are also unable to weld curved bodies such as drum-shaped rollers. This is because with these devices, the curved body must be welded in an inclined state, and as a result, the molten metal flows downward and the build-up thickness is not uniform.

This invention was devised in view of the above-mentioned problems and to solve the problems. To provide an automatic welding robot for a curved body that can constantly keep welding surfaces substantially parallel to prevent molten metal from flowing and maintain a uniform overlay thickness, and can automatically control these welding operations. There is a particular thing.

[Means for solving problems]

In order to achieve the above objects, the present invention provides a curved surface object mounting part that mounts and holds a curved surface object so as to be rotatable around an axis, and a curved surface object that is mounted along a virtual plane including the axis of the held curved surface object. A curved surface body holding mechanism consisting of a curved surface body inclined part that rotates the curved surface body mounting part in the vertical direction, and a welding torch disposed above the surface to be welded of the curved surface body that is movable horizontally and vertically. controlling the rotation of the welding torch mechanism and the curved body mounting portion, and controlling the inclination of the curved body inclined portion so that the surface to be welded of the curved body vertically opposed to the lower end of the welding torch is constantly kept substantially horizontal; In addition, the amount of horizontal and vertical movement of the welding torch is controlled so that the welding surface of the curved body vertically opposed to the lower end of the welding torch is maintained at a constant interval, and the welding temperature of the welding torch is also controlled.
The welding control mechanism controls N/OFF.

[Effect]

The present invention having the above configuration operates as follows.

That is, the curved surface body is attached to the curved surface body mounting portion of the curved surface body holding mechanism, and information necessary for control is input to the welding control mechanism at the same time as this to operate the welding control mechanism.

By the operation of the welding control mechanism, the angle of the curved surface body inclined part is automatically adjusted, and the curved surface body attached to the curved surface body mounting part is
The welding surface of the welding torch mechanism that faces the welding torch vertically becomes approximately horizontal. After that, the welding torch switch is automatically turned on and welding begins, and in conjunction with this, the curved surface object mounting part also automatically begins to rotate, causing the curved surface object to rotate once around its axis. Overlay welding is continuously performed on the surface of the curved body to be welded. After exactly one rotation, the inclination angle of the sloped part of the curved body is automatically adjusted, and the welding torch is also automatically adjusted to move horizontally and vertically, so that the next surface of the curved body to be welded is approximately horizontal. The curved body mounting portion automatically rotates, and the above welding operations are automatically and continuously repeated, thereby achieving automation of overlay welding of the curved body.

〔Example〕

Hereinafter, the present invention will be described in more detail based on embodiments shown in the drawings.

Here, FIG. 1 is an overall perspective view.

In the figure, an automatic welding robot l for curved bodies is a device for hardening the surface of a curved body 2 made of, for example, a drum-shaped roller by overlay welding, and includes a curved body holding mechanism 3, a welding torch mechanism 4, and a welding control device. It mainly consists of mechanism 5 and the like.

The curved surface object holding mechanism 3 includes a curved surface object attachment section 31 that attaches and holds the curved surface object 2, and a curved surface object attachment section 31 that rotates in the vertical direction to tilt the curved surface object 2 held by the curved surface object attachment section 31. It is composed of a curved surface body inclined part 32 that makes it possible to

The curved surface body attachment part 31 includes a three-jaw chuck 31a and a two-jaw chuck 31 for mounting the curved surface body 2 made of a drum-shaped roller or the like.
The rotary plate 31b has a rotary plate 31b attached thereto, a rotary motor 3IC that rotates the rotary plate 31b, and the like.

: The claws of the two-jaw chuck 31a are arranged on the surface of the rotating plate 31b at intervals of approximately 120 degrees around the center of rotation, and the bottom or top surface of the curved surface body 2 is directly connected to the two-jaw chuck 31a. Installed. The rotating plate 31b is attached to a rotating arm 32a forming the curved inclined portion 32 so as to be rotatable in forward and reverse directions. That is, the distal end side of the rotary plate 31b is interlocked and connected to the rotary motor 31c on the opposite side, for example, via a gear mechanism. The rotary motor 31c is a device that rotates the rotary plate 31b, and the rotary motor 31c is attached to the opposite side of the rotary plate 31b with the swing arm 32a in between. A curved body attachment section 31 comprising the three-jaw chuck 31a, rotary plate 31b, rotary motor 31c, etc. is attached to the rotating arm 32a.

Further, the curved surface body inclined part 32 is for tilting the curved surface body 2 held by the curved surface body mounting part 31, and includes the above-mentioned turning arm 32a and a tilted base on which the turning arm 32a is attached so as to be able to freely turn in the vertical direction. 32b, a tilting motor 32c that rotates and tilts the swing arm 32a, and the like.

The swing arm 32a has an L-shape bent at a right angle from the middle, and the swing arm 32a can freely swing vertically by a swing shaft 32d on its base end side or on the side of the upright wall 32b1 of the inclined base 32b. The rotating plate 31tl is rotatably attached to the inner surface of the attached and bent tip side, and the rotating morph 31c is attached to the outer surface of the bent tip side.

The inclined base 32b is composed of the above-mentioned upright wall 32b1 and a rectangular bottom pedestal 32b2. The standing wall 32bl is the bottom plate 3
The base end side of the above-mentioned swing arm 32a is attached to the side surface of this upright wall 32b1 facing the surface of the base 32b2, and the side surface on the opposite side A tilt motor 32C is attached to the rotary arm 32a for vertically rotating the swing arm 32a. That is, a pivot shaft 32d, which swingably attaches the pivot arm 32a to the side surface of the upright wall 32b1, is operatively connected to the tilt motor 32c on the opposite side, for example, via a gear mechanism. Since the pivot shaft 32d is installed horizontally, the pivot arm 32a pivots in the vertical direction.
When a rotates, the curved surface body mounting portion 31 attached to the swing arm 32a tilts, and therefore the curved surface body 2 attached to this curved surface body mounting portion 31 also tilts.

Fig. 2 is a plan view of the horizontal girder, and Fig. 3 is a side view of the strut.

The welding torch mechanism 4 hardens the surface of the curved body 2, such as an hourglass-shaped roller attached to the curved body holding mechanism 3, by welding. It is composed of a beam 42, a support 43 that holds the horizontal beam 42 movably in the vertical direction, and the like. In this embodiment, the welding torch mechanism 4 is constructed separately from the curved body holding mechanism 3.

The welding torch 41 is detachably attached to the tip of the cross beam member 42a of the horizontal beam 42, and is also attached facing downward.

The welding torch 41 is arranged so that its tip is located directly above the surface to be welded of the curved surface body 2 attached to the curved surface body holding mechanism 3.

The horizontal beam 42 includes a horizontal beam member 4.2a, a horizontal screw member 42b, a lifting member 42C1, a horizontal beam control servo motor 42d
It is composed of etc. Furthermore, a welding wire feeding device 42e is attached to the side surface of the end of the cross beam member 42a. The cross beam member 42a of the horizontal beam 42 is configured to be movable in the horizontal direction, and the elevating member 42C is configured to be movable up and down along the support 43.

That is, as shown in FIG. 2, a horizontal screw member 42b is attached to the crossbeam member 42a in the axial direction thereof so as to be rotatable in forward and reverse directions, and one end of this horizontal screw member 42b is connected to the crossbeam control servo motor 42d. Linked together. The cross beam control servo motor 42d is attached to one end of the cross beam member 42a. The horizontal screw member 42b, which is attached so as to be rotatable in forward and reverse directions, is screwed into a screw hole drilled horizontally in the elevating member 42c, and the crossbeam member 42a is screwed in the horizontal direction relative to the elevating member 42C. It is now possible to do so. In other words,
The rotation of the horizontal screw member 42b causes the crossbeam member 42a to move by screwing in the horizontal direction. By moving the cross beam member 42a in the horizontal direction, the welding torch 41 attached to the tip thereof can be moved in the horizontal direction.

Further, a screw hole is bored in the vertical direction in the lifting member 42c, and an lifting screw member 43a, which is attached to the column 43 so as to be rotatable in the vertical direction, is screwed into this screw hole.
The elevating member 42c can be threadedly moved in the vertical direction relative to the support column 43. In other words, the lifting screw member 43a
As a result of the rotation, the elevating member 42c moves by performing a screw movement in the vertical direction. By vertically moving the elevating member 42c, the welding torch 41 can be moved vertically via the crossbeam member 42a, which is attached to the elevating member 42c so as to be movable in the horizontal direction.

As shown in FIG. 3, the support column 43 is composed of a column 43b arranged vertically in the above-mentioned lifting screw member 43a1, a bottom plate 43C1 to which the lower end of the column 43b is fixed, a vertical control servo motor 43d, and the like. As aforementioned,
The elevating screw member 43a is attached to the column 43b so as to be able to rotate forward and backward in the vertical direction, and the upper end side of the elevating screw member 43a is interlocked and connected to a vertical control servo motor 43d.

The vertical control servo motor 43d is attached to the upper end of the column 43b.

The welding control mechanism 5 automatically performs weld build-up on the surface of the curved body 2 to be welded while automatically controlling the curved body holding mechanism 3 and the welding torch mechanism 4. The welding control mechanism 5 uses, for example, an 8-bit microcomputer 51, and is controlled based on input data.

The welding control mechanism 5 is connected to the curved body mounting portion 3 of the curved body holding mechanism 3.
By controlling the rotary motor 31C of 1, the curved body 2
Controls the welding speed of the surface to be welded.

The welding control mechanism 5 also controls the tilting motor 32c of the curved body inclined portion 32 of the curved body holding mechanism 3 to keep the surface to be welded of the curved body 2 vertically opposed to the lower end of the welding torch 41 substantially horizontal. to prevent molten metal from flowing and achieve uniform weld build-up thickness.

Further, the welding control mechanism 5 controls the amount of movement of the welding torch 41 in the horizontal and vertical directions by controlling the crossbeam control servo motor 42d and the vertical control homotor 43d of the welding torch mechanism 4. The surfaces to be welded of the curved surface body 2 vertically opposed to the lower end of the welding torch 41 are maintained at a constant interval, and the welding work on the surface of the curved surface body 2 to be welded is continuously performed. Further, the welding control mechanism 5 is configured to turn on/off the welding of the welding torch 41.
Controls OFF.

Further, the welding control mechanism 5 is provided with, for example, a hand belt computer 52 so that parameters can be set.

The parameters set by this hand belt computer are as follows.

■ Setting the horizontal movement speed of the welding torch 41.

■Setting the vertical movement speed of the welding torch 41.

Setting the movement speed of the inclination angle of the 0-curved surface body 2.

■ Setting the amount of horizontal movement of the welding torch 41 per beat (during teaching and automatic).

■ Dwell time setting immediately after arcing (automatic) ■ Number of beats per one time during continuous welding (automatic) Next, the effects of the configuration of the above embodiment will be explained below.

First, the curved surface object 2 is attached to the curved surface object mounting portion 31 of the curved surface object holding mechanism 3.
Install. For attachment, the bottom or top side of the curved surface body 2 is held by the three-jaw chuck 31a.

At the same time, information necessary for control is input to the welding control mechanism 5 to operate the welding control mechanism 5. As input information, for example, the moving speed of the welding torch 41 in the horizontal and vertical directions, the moving speed of the inclination angle of the curved surface body 2, the amount of horizontal movement of the welding torch 41 per beat, the amount of movement of the welding torch 41 in the horizontal direction immediately after the arc person, etc. These include dwell time settings, number of beats per continuous welding, etc.

By operating the welding control mechanism 5, the angle of the curved body inclined portion 32 is automatically adjusted. The angle can be adjusted using the tilt motor 32.
c is rotated by a predetermined amount, and in conjunction with this rotation, the pivot shaft 32d is rotated by a predetermined angle. Due to the rotation of the pivot shaft 32d, the pivot arm 32a pivots in the vertical direction about the pivot shaft 32d as a rotation center.

In this embodiment, the swing arm 32a is tilted downward at a predetermined angle. In this way, the surface of the curved surface object 2 attached to the three-jaw chuck 31a of the curved surface object numbering part 31, which vertically faces the lower end of the welding torch 41 of the welding torch mechanism 4, becomes horizontal.

After the surface to be welded of the curved surface object 2 is adjusted horizontally, the switch of the welding torch 41 is automatically turned on to start welding, and in conjunction with this, the rotating plate 31b of the curved surface object mounting part 31 is also automatically turned on. The rotation is started, and the curved surface body 2 is rotated once around the axis. In this rotation, the rotary motor 31c rotates at a predetermined speed, and in conjunction with this rotation, the rotary plate 31b rotates at a predetermined speed. Since the curved surface body 2 is fixedly attached to the rotary plate 31b via the three-jaw chuck 31a, it rotates together with the rotary plate 31b.

Overlay welding is continuously performed on the surface of the curved surface body 2 to be welded during one rotation of the rotary plate 31b. In this case, since the rotational speed of the curved surface body 2 is constant, the thickness of the weld overlay is kept uniform. Then, when the welding control mechanism 5 rotates exactly once, the crossbeam control servo motor 42d and the vertical control servo motor 43d rotate by a predetermined amount based on a command from the welding control mechanism 5.

As the cross beam control servo motor 42d rotates, the horizontal screw member 42b rotates in conjunction with this rotation. When the horizontal screw member 42b rotates, the crossbeam member 42a moves up and down the elevating member 42.
Although the lifting member 42C performs a screw movement in the horizontal direction relative to C, since the lifting member 42C is prevented from moving in the horizontal direction,
The crossbeam member 42a moves slightly in the horizontal direction. The movement of the cross beam member 42a causes the welding torch 41 to move in the horizontal direction, and the amount of movement is determined in advance by input information.

Similarly, as the vertical control servo motor 43d rotates, the elevating screw member 43a rotates in conjunction with this rotation. When the lifting screw member 43a rotates, the lifting member 42C makes a screw movement in the vertical direction relative to the column 43b, but since the column 43b is fixed, the lifting member 42C
moves slightly in the vertical direction. The movement of the elevating member 42c causes the welding torch 41 to move in the vertical direction, and the amount of movement is determined in advance by input information. By this slight downward movement, it is possible to maintain the welding surface of the curved body 2 vertically opposed to the lower end of the welding torch 41 at a constant interval.

Further, the tilt motor 32C is activated before or at the same time as this, and the tilt motor 32c rotates by a predetermined amount, and in conjunction with this rotation, the pivot shaft 32d rotates by a predetermined angle. Rotating axis 32d
Due to the rotation, the pivot arm 32a pivots in the vertical direction about the pivot shaft 32d. In this embodiment, the swing arm 32a is tilted downward at a predetermined angle. In this way, the three-jaw chuck 31a of the curved body mounting portion 31
The curved surface body 2 attached to the welding surface has a horizontal surface to be welded which vertically faces the lower end of the welding torch 41 of the welding torch mechanism 4, which has moved slightly horizontally and vertically from the initial welding position. In this way, the curved surface body inclined portion 32 is automatically
The inclination angle of the curved body 2 is adjusted, and the welding torch 41 is also automatically adjusted to move horizontally and vertically, so that the next surface of the curved body 2 to be welded is kept horizontal.

After this, the rotary plate 31b of the curved body mounting part 31 is automatically moved to the 1st position.
It rotates, and welding is performed on the surface of the curved surface body 2 to be welded.

Then, the above welding operations are automatically and continuously repeated, and automation of overlay welding of the curved surface body 2 is achieved.

It should be noted that this invention is not limited to the above embodiments, and it goes without saying that various modifications can be made without departing from the spirit of the invention.

〔Effect of the invention〕

As is clear from the above description, according to the automatic welding robot for curved objects according to the present invention, the curved object is attached to the curved object attachment part of the curved object holding mechanism, and the welding control mechanism is controlled by the welding control mechanism at the same time. By simply inputting the necessary information and activating the welding control mechanism, it is possible to automatically harden the surface of a curved body such as a drum-shaped roller used in ships, mining machines, etc. by welding overlay.

Moreover, in this case, during weld build-up, the surface of the curved object such as an hourglass roller is constantly kept approximately parallel to prevent the molten metal from flowing and maintain a uniform build-up thickness. Welding work can be performed automatically.

In this way, it is possible to easily perform welding overlay on a curved surface body, which requires a high degree of work ability, while maintaining a uniform overlay thickness. Furthermore, this welding overlay work can be carried out reliably and with a certain level of work accuracy even by non-skilled workers.

In addition, this work can be done efficiently and the work time can also be shortened, which is an extremely novel and beneficial effect.

[Brief explanation of the drawing]

The drawings show an embodiment of the automatic welding robot for curved bodies according to the present invention, in which Fig. 1 is an overall perspective view, Fig. 2 is a plan view of the horizontal girder, and Fig. 3 is a side view of the strut. , 4th
The figure is a schematic system diagram of welding control. [Explanation of symbols] 1: Automatic welding robot 2: Curved body 3: Curved body holding mechanism 31: Curved body attachment part 31a:
Three-jaw chuck 31b: Rotating plate 31c: Rotating morph 32: Curved inclined portion 32a: Swivel arm
32b: (IJt inclined base 32bl j standing wall
32b2: Bottom stand 32c: Incline motor 32d
: Swivel axis 4: Welding torch mechanism 41; Welding torch 42
: Horizontal girder 42a: Cross beam member 42b: Horizontal screw member 42c: Lifting member 42d: Cross beam control servo motor 42e: Welding wire feeding device 43: Support column 43a: Lifting screw member 43b;
Column 43c: Bottom plate 43d: Vertical control servo motor 5: Welding control mechanism 51: Microcomputer 52:
Hand belt computer patent applicant Kyowa Iron Works Co., Ltd. Patent attorney Tadashi Harasaki

Claims (1)

[Claims] 1. A curved surface body mounting part that rotatably attaches and holds the curved surface body around its axis, and a curved surface that rotates the curved surface body mounting part in the vertical direction along a virtual plane that includes the axis of the curved surface body that is mounted and held. a curved body holding mechanism consisting of an inclined body part; a welding torch mechanism having a welding torch disposed above the surface to be welded of the curved body so as to be movable in horizontal and vertical directions; and a rotation of the curved body mounting part. The slope of the slope of the curved body is controlled so that the surface to be welded of the curved body vertically opposed to the lower end of the welding torch is kept substantially horizontal, and the curved body vertically opposed to the lower end of the welding torch. A welding control mechanism that controls the horizontal and vertical movement of the welding torch so as to maintain the surface to be welded at a constant interval, and further controls the welding ON/OFF of the welding torch. Automatic body welding robot.