JPH0357331Y2 - - Google Patents

Description

[Detailed Description of the Invention] <Industrial Application Field> The present invention relates to an automatic welding device for welding pieces such as latches to large structures such as shipbuilding and other steel structural products.

<Prior Art> In general, large structures such as shipbuilding and other steel structures have a large number of latches through which hanging wires for loading and unloading are inserted, which are attached by welding in all positions. Conventionally, this welding has mostly been done manually.

<Problems to be solved by the invention> Since this type of latch is relatively simple and short, automation is being considered, but conventional automatic welding equipment has problems with portability and torch operation.
It has not been put into practical use yet. Therefore, the present invention has been devised for the purpose of providing an automatic welding device that can easily and automatically weld any of a large number of pieces (small pieces) such as latches that are attached in various positions.

<Means for solving the problems> In order to solve the above problems, the present invention has the following features:
A horizontally arranged X-axis rail fixed to a portable support stand; an X-axis truck slidably supported on the X-axis rail and moved along the X-axis rail by driving a motor; supported on an X-axis trolley,
a Z-axis trolley that slidably supports a vertically oriented Z-axis rail and slides the Z-axis rail in the axial direction by driving a motor; A Y-axis rail that slidably supports a Y-axis rail arranged perpendicular to the X-axis rail, and slides the Y-axis rail in the axial direction by driving a motor.
an axis truck, a pivot shaft fixed to the tip of the Y-axis rail, having a vertically oriented hollow shaft that is freely pivotable, and that rotates the hollow shaft when driven by a motor;
an oscillating shaft supported by the lower end of the hollow shaft of the rotating shaft and oscillating a torch support plate by driving a motor; a welding torch body held by the torch support plate; a torch cable inserted into the hollow shaft; The automatic piece welding device is equipped with a welding torch that is adjusted to the position of the welding torch, and is automatically controlled via a pulse encoder that detects the mutual movement of each rail and each truck and the rotational distance of the pivot axis. be.

<Function> In this device, a support stand is placed near the piece, the wire tip of the welding torch is positioned at the center of rotation of the hollow shaft, and each axis is operated to ensure that the wire tip is on the piece. After teaching the robot to move along the welding line, the oscillating axis is operated and at the same time the X, Y, and Z axes are operated by the respective motors to perform automatic welding.

<Example> Next, an example of the present invention will be described with reference to the drawings.

As shown in FIGS. 1 to 3, in this device, an X-axis rail 2 is fixed horizontally to a support stand 1, and an X-axis truck 3 is slidably mounted on the X-axis rail 2. A Z-axis truck 4 is fixed to the X-axis truck 3, and a Z-axis rail 5 is supported to be slidable in the vertical direction with respect to the Z-axis truck 4.
Further, a Y-axis truck 6 is fixed to the upper end of the Z-axis rail 5, and a Y-axis rail 7 is supported on the Y-axis truck 6 so as to be slidable in a horizontal direction and in a direction orthogonal to the X-axis rail 2. . Furthermore, a pivot shaft body (hereinafter referred to as α-axis body) 8 is supported at the tip of this Y-axis rail 7 so as to be able to rotate 360 degrees around a vertical axis.
An oscillating shaft body (hereinafter referred to as W-shaft body) 9 that supports a welding torch 10 is supported by this α-shaft body 8 . The mutual movement between each of the rails 2, 5, 7 and each of the corresponding carriages 3, 4, 6 is performed by a drive mechanism having the same structure. That is, as shown in FIGS. 4 and 5, a rattle 11 is fixed to each rail 2, 5, and 7, and a pinion 12 that meshes with this rattle 11 is attached to each truck 3, 4, and 6. pinion 1
2 is placed on each trolley 3, 4, 6.
This allows it to rotate.

As shown in FIGS. 4 and 5, the drive transmission mechanism from the motor 13 to the pinion 12 includes a bevel gear 1, in which a bevel gear 14 is fixed to the drive shaft of the motor 13, and a worm shaft 16 is fixed to the worm shaft 16, which is arranged perpendicular to the drive shaft.
The worm wheel 18 fixed to the pinion shaft 19 is meshed with the worm 17 of the worm shaft 16, and the pinion 1 described above is meshed with the worm wheel 18 fixed to the pinion shaft 19.
2 is fixed. A pulse encoder 21 is connected to this pinion shaft 19 via a coupling 20. Each rail 2,
5, 7 and each of the carriages 3, 4, 6, as shown in FIG. Slider 23, 2 with a ball built into it
3 are fitted together, and the sliders 23, 23 are fixed to each of the carriages 3, 4, 6.
3a, 4a, 4a and 6a, 6a, thereby each rail 2, 5, 7 and each trolley 3, 4, 6
are slidably fitted into each other. Each trolley 3,
A pair of limit switches 24a and 24b for stroke ends are attached to 4 and 6, respectively. In the figure, 25a and 25b are switch operating protrusions.

Further, as shown in FIGS. 1 to 3, the Z-axis truck 6 has a pair of brackets 27,
27, and the Y-axis truck 6 is fixed to the upper surface of a plate 28 fixed to the upper end of the Z-axis rail 5. As shown in FIG. 6, a hollow shaft 29 passing through the α-shaft main body 8 from above and below is rotatably supported by bearings 30, 30. This hollow shaft 29 is driven by an electric motor 31. As shown in FIGS. 6 and 7, the drive transmission mechanism consists of a vertical shaft 34 with a bevel gear 32 fixed to the drive shaft of a motor 31 inside the α-axis main body 8.
A gear 35 fixed to the lower end of the vertical shaft 34 is meshed with a gear 36 fixed to the outer periphery of the hollow shaft 29. Further, a gear 37 fixed to a rotation shaft of a pulse encoder 38 is meshed with the gear 35 . On the other hand, a screw 34a is carved in the upper half of the vertical shaft 34, and the rod nut 39 hits the screw 34a and attaches to the α-shaft main body 8.
When the nut 39 moves up and down, the upper and lower limit switches 40a and 40b are turned on, thereby limiting the rotation range of the hollow shaft 29 to approximately 360°. are doing.

A bracket 41 is attached to the side surface of the lower end of the rotating hollow shaft 29 of the α-axis main body 8 attached as described above.
The W-axis main body 9 is supported via. This W-axis main body 9 is shown in FIGS. 8 and 9.
The stage plate 43 is slidably supported on a pair of guide shafts 42, 42 fixed to the stage plate 42, and a torch support plate 44 (shown in FIG. 3) is fixed to the stage plate 42. This stage board 43
is linearly oscillated by driving the motor 45. Its operation transmission mechanism is the 8th
As shown in the figure, a bevel gear 47 fixed to an eccentric shaft 48 is meshed with a bevel gear 46 fixed to a drive shaft of a motor 45, and a ring 50 carrying a bearing 49 is inserted into the tip of the eccentric shaft 48, and the bearing 49 is placed on a stage. The stage plate 43 is sandwiched between the side plates 51 and 51 raised up from the plate 43, and when the eccentric shaft 48 is rotated, the stage plate 43 is aligned with the guide shaft 4.
The signal is oscillated linearly along lines 2 and 42. In addition, three detection objects 52 are provided on the eccentric shaft 48, separated by 90 degrees with the eccentric direction as the center.
The center and both ends of the oscillation are detected by operating the positioning sensors 53, 53, 53 corresponding to each detection object 52, respectively.

A welding torch 10 is held on the torch support plate 44 of this W-axis main body 9, and a torch cable 54 connected to the torch 10 is inserted into the hollow shaft 29 of the α-axis main body, and is attached to the upper surface of the Y-axis truck 6. It is held at the upper end of an upright pole 55.

When using the piece automatic welding device constructed in this way, the support stand 1 is placed at a predetermined position near the latch A, and the wire tip of the welding torch 10 is placed on the rotation center of the hollow shaft 29 of the α-axis main body 8. The pulse encoder measures the relative movement of each rail 2, 5, 7 and each trolley 3, 4, 6 from the welding start point of latch A to each corner point and back to the original position. 21 and 38 to be read and stored. In addition, teach data such as operating speed and number of oscillation speed passes.
The operation is started from the starting point and welding is performed automatically in sequence.

<Effects of the invention> The piece automatic welding device of the invention is constructed as described above, and the X-axis rail is fixed on a portable support stand, the X-axis truck is supported by this, and the Z-axis truck is supported by the X-axis truck. At the same time, the Z-axis truck supports the Z-axis truck rail so that it can move up and down, the Y-axis truck is supported on the upper end of this Z-axis rail, and the Y-axis rail is supported on this so that it can slide freely. By supporting the rotating shaft at the tip and supporting the oscillating shaft to which the welding torch is fixed, the entire assembly is compact, making it easy to set up before welding, and allowing one worker to operate several units. It is possible to automatically weld multiple pieces such as latches at the same time regardless of location. In addition, by supporting the welding torch cable by passing it through the rotating hollow shaft, the rotation range can be increased, the load on the rotary motor can be reduced, and the necessary driving force can be obtained with a small motor.

[Brief explanation of drawings]

Fig. 1 is a front view showing the entire device as an example of the implementation of the present invention, Fig. 2 is a partial plan view of the same, Fig. 3 is a side view of the same, and Fig. 4 is a sectional view taken along the line A-A in Fig. 3. , FIG. 5 is a cross-sectional view taken along line B-B in FIG. 4, FIG. 6 is a cross-sectional view taken along line C-C in FIG. 3, FIG. 7 is a cross-sectional view taken along line D-D in FIG. Figure 8 is a cross-sectional view taken along the line E-E in Figure 3, Figure 9 is a cross-sectional view taken along the line F-F in Figure 8, and Figure 10 is a front view of an example of a latch to be welded with the device according to the present invention. be. In the drawing, A is the latch, 1 is the support stand, 2 is the X-axis rail, 3 is the X-axis truck, 4 is the Z-axis rail, 5
is the Z-axis rail, 6 is the Y-axis trolley, 7 is the Y-axis rail,
8 is a rotating shaft body, 9 is an oscillating shaft body, 10 is a welding torch, 11 is a rack, 12 is a pinion, 1
3 is a motor, 29 is a hollow shaft, 31 is a motor, 38
41 is a pulse encoder, 41 is a bracket, 42 is a guide shaft, 43 is a stage plate, 44 is a torch support plate, and 45 is a motor.

Claims (1)

[Scope of utility model registration request] Horizontal X fixed on a portable support stand
an X-axis rail, an X-axis truck that is slidably supported on the X-axis rail and moves along the X-axis rail by driving a motor; a Z-axis truck that slidably supports a Z-axis rail and slides the Z-axis rail in the axial direction by driving a motor; a Y-axis trolley that slidably supports a Y-axis rail arranged perpendicular to the rail and slides the Y-axis rail in the axial direction by driving a motor, and is fixed to the tip of the Y-axis rail,
A rotating shaft that has a vertically oriented hollow shaft that can freely rotate and rotates the hollow shaft when driven by a motor; and a welding torch having a welding torch body held by the torch support plate and a torch cable inserted through the hollow shaft. A piece automatic welding device that is automatically controlled via a pulse encoder that detects the distance of rotational movement.