JPH044071B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to automatic welding equipment used when welding a thin plate to a flat plate or the like that is a steel product.

This type of welding often involves downward and horizontal fillet welding in which the direction changes over a short weld line, but in the past, the welding location was stored in the welding machine's control device by teaching, and multiple The same welding process is repeated on the workpiece, or copy welding is performed by moving a sensor-equipped welding torch along the welding line.

However, the former method requires teaching work on the workpiece. Since there are assembly errors in dimensions depending on the workpiece, welding parts are likely to fail. Since there is a lot of input data to the control device,
There were some inconveniences such as the time required for programming. In addition, in the latter method, if the workpiece to be welded is a thin plate, it is difficult for the sensor to detect the weld line in the thickness direction of the plate, making it difficult to weld in the thickness direction, so welding must be performed manually in that area. Must be.
The arm type had the disadvantage that its movement was limited.

This invention was made to solve these problems, and the purpose is to provide relatively simple automatic welding equipment that can automatically weld even when the workpiece is a thin plate. shall be.

The present invention will be described below based on illustrated embodiments.

FIG. 1 shows an example in which an L-shaped thin plate 2 is simultaneously welded to a flat plate 1 at three locations.

The thin plate 2 is placed upright on a flat plate 1, the flat plate 1 is placed on a workpiece support 3, and the workpiece support 3 is provided movably in the x direction. This workpiece support 3 is moved by a first drive device 4 .

A beam 5 is provided above the workpiece support 3, and a welding device 6 is attached to the beam 5 so as to be movable in the y direction orthogonal to the x direction. This welding device 6 is moved by a second drive device 7.

Therefore, the welding torch 8 of the welding device 6 is moved in the y direction by the movement of the welding device 6, and is moved in the x direction by the movement of the workpiece support 3.

This welding torch 8 is rotatably provided with its tip as a fixed point, and the rotation angle is adjusted by a rotating device (not shown).

The welding device 6 includes an x-direction scanning detector 9 that moves together with the welding torch 8 to detect the welding location in the y-direction, a y-direction scanning detector 10 that detects the welding location in the x-direction, and the welding torch 8. A corner detector 11A, which is a type of tracing detector that is disposed on the front side in the welding direction and moves together with the welding torch 8 to detect the corner of the thin plate 2; and a front wall detector 11B that detects the front wall 2A of the thin plate 2. is arranged near the tip of the welding torch 8. Further, the welding device 6 is provided with a controller 12 for controlling each of the above-mentioned devices.

The controller 12 includes an x-direction scanning detector 9 and a y-direction scanning detector 10.
When a detection signal is input from the welding torch 8, the welding torch 8 is activated.

When the detection signal from the front wall detector 11B is input, the front wall detector 11B is first pulled up diagonally backward from the torch tip and retracted, and the welding torch 8 is directed toward the front wall 2A by the distance s from the detection tip to the torch tip. Once further advanced (forward welding to the corner point), the welding direction is changed by 90° and the welding torch 8 is moved back along the front wall 2A by a certain distance s' (backward welding), and then the welding torch 8
is rotated 90 degrees, and the front wall detector 11B is returned from the retracted position to its original position, and then moved forward (forward welding). When the detection signal from the corner detector 11A is input, first, from the detection end to the torch tip After further advancing the welding torch 8 to the corner by a distance s (forward welding to the corner), the welding direction is changed by 90°,
Then, the welding torch 8 is rotated by 90 degrees, and while operating the welding torch 8, the welding torch 8 is moved forward toward the next corner by a distance t to the corner (forward welding);
Next, the welding direction is changed by 90 degrees, and the welding torch 8 is rotated by 90 degrees, and the welding torch 8 is operated and moved forward toward the next corner (forward welding).

It is programmed as above. still,
When rotating the welding torch 8, it is desirable to temporarily stop its operation.

Distances s, s', t, corner angles, and corner angles are input and set into the controller 12 in accordance with the thin plate 2 of the member to be welded. Here, the distances s and s' are values that allow sufficient space for the welding torch 8 and various detectors to rotate without hitting the thin plate 2. The distance t needs to be set when welding around the edge of the thin plate 2 and when the thickness of the plate is so small that various detectors cannot be operated. Also,
The corner angle and corner angle are 90° for thin plate 2, so both are input and set to 90°.
If the angle is other than 90°, new settings are required.

In the above configuration, an L-shaped welding line along the x direction and y direction on the inner surface side of the thin plate 2, a U-shaped welding line along the y direction, x direction, and y direction around one end, and An L-shaped welding line along the y-direction and x-direction and a U-shaped welding line around the other end along the x-direction, y-direction, and x-direction are sequentially welded in the following steps.

(1) Point the welding torch 8 toward the thin plate 2 and
After the welding point in the y direction is detected by the x direction scanning detector 9, the thin plate 2
Move it in the x direction towards the corner point of .
Since the welding torch 8 is actuated by the detection signal from the x-direction scanning detector 9, fillet welding is performed along the x-direction welding line on the inner surface of the thin plate 2, as shown in FIG. 3A.

(2) After the front wall 2A of the thin plate 2 is detected by the front wall detector 11B and the front wall detector 11B is retracted, the welding torch 8 is further advanced by the distance s from the detection end to the torch tip. Since the welding torch 8 is activated by the detection signal from the x-direction tracing detector 9, the fillet welding over the x-direction weld line up to the corner point of the thin plate 2 is completed as shown in FIG. 3B.

(3) After changing the welding direction by 90 degrees and retracting the welding torch 8 by a certain distance s', then rotating the welding torch 8 by 90 degrees, and returning the front wall detector 11B from the retracted position to its original position. , move forward. Since the y-direction scanning detector 10 detects the front wall 2A of the thin plate 2 and the welding torch 8 is activated, the welding torch 8 performs backward welding and then forward welding to weld the corner of the thin plate 2, as shown in FIGS. 3C and 3D. Fillet welding is performed from the point along the y-direction weld line.

(4) When the inner corner of one end of the thin plate 2 is detected by the corner detector 11A, the welding torch 8 is further advanced by the distance s from the detection end to the torch tip. Since the welding torch 8 is actuated by the detection signal of the y-direction scanning detector 10, FIGS. 4A and B
As shown in FIG. 2, fillet welding is continued to the inner corner of one end of the thin plate 2, and the fillet welding over the entire length of the inner y-direction weld line of the thin plate 2 is completed.

(5) Change the welding direction by 90° and turn the welding torch 8.
The welding torch 8 is rotated by 90 degrees and moved forward by a distance t (plate thickness) to the next corner. This completes the fillet welding over the entire length of the end surface side x-direction welding line. Next, set the welding direction.
90 degrees, and the welding torch 8 is rotated 90 degrees to operate the welding torch 8 and move it forward toward the next corner. As a result, fillet welding along the y-direction welding line on the outer surface of the thin plate 2 is started.
For this purpose, rotation welding is performed on one end of the thin plate 2, as shown in FIGS. 3C and 3D.

(6) When the outer corner of the corner point of the thin plate 2 is detected by the corner detector 11A, the torch is further advanced by a distance s from the detection end to the tip of the torch. The welding torch 8 is activated by the detection signal of the y-direction scanning detector 10.
is in operation, fillet welding over the entire length of the weld line on the outer surface side of the thin plate 2 in the y direction is completed. Next, change the welding direction by 90° and turn the welding torch 8.
The welding torch 8 is rotated by 90 degrees and moved forward toward the next corner while operating the welding torch 8. As a result, fillet welding along the x-direction welding line on the outer surface of the thin plate 2 is started.

(7) When the outer corner of the other end of the thin plate 2 is detected by the corner detector 11A, the torch is further advanced by a distance s from the detection end to the tip of the torch. Since the welding torch 8 is activated by the detection signal from the x-direction scanning detector 10, fillet welding over the entire length of the x-direction weld line on the outer surface of the thin plate 2 is completed.

(8) Change the welding direction by 90° and turn the welding torch 8.
The welding torch 8 is rotated by 90 degrees and moved forward by a distance t (plate thickness) to the next corner. This completes fillet welding over the entire length of the end surface side y-direction weld line. Next, set the welding direction.
90 degrees and rotate the welding torch 8 by 90 degrees to move the welding torch 8 forward toward the corner point while operating the welding torch 8. As a result, rotation welding is performed on the other end of the thin plate 2, and fillet welding along the welding line on the inner surface side of the thin plate 2 in the x direction is started, and by overlapping the beads at the welding start point, an L-shaped The fillet welding over the entire length of the groove line of the thin plate 2 is completed.

As described above, the present invention allows the corner detector and the front wall detector to be arranged at the front in the welding direction, while preventing the corner detector and the front wall detector from interfering with the workpiece to be welded when the welding torch is rotated. The distance from the detection end to the tip of the torch is sufficient to allow for rotation, the angle at which the welding direction is changed and the rotation angle of the welding torch is sufficient, and the thickness of the plate is such that it is not possible to operate the various detectors when welding around the edges of thin plates. When the size is small, the operator can simply input and set the dimensions, and regardless of whether the workpiece is a thin plate or not, the inner, outer, and By moving the welding torch of the welding device along the continuous weld line on the end surface side, fillet welding can be reliably and satisfactorily performed. Therefore, the conventional workpiece teaching work is no longer necessary, and it is also possible to process a large number of workpieces at the same time, reducing costs. It can also be used for workpieces. Furthermore, because many detectors are used, relatively simple equipment is required.

[Brief explanation of drawings]

FIG. 1 is a plan view showing an automatic welding device according to the present invention, FIG. 2 is a perspective view showing the arrangement of the detector,
Figures 3A, B, C, and D are schematic diagrams showing the welding procedure when the workpiece has a front wall, and Figures 4A, B,
C and D are schematic diagrams showing the procedure of rotary welding at the end of the welded member.

Claims (1)

[Claims] 1. A workpiece support stand movable in the x direction, and a welding device attached to a beam provided above the workpiece support stand and movable in the y direction perpendicular to the x direction. , automatic welding equipment for welding a welded member to a workpiece on the workpiece support using this welding device; a y-direction scanning detector that moves together with the welding torch to detect the welding location in the x-direction; an x-direction scanning detector that moves together with the welding torch to detect the welding location in the y-direction; and a welding torch that moves together with the welding torch to detect the front wall of the welded member. A front wall detector, a corner detector for detecting a corner of a workpiece to be welded, a rotation device for rotating a welding torch, a first drive device for moving a workpiece support, and a second drive device for moving a welding device. and a controller for controlling each of the devices, the controller being programmed as follows. When the detection signals from the x-direction scanning detector and the y-direction scanning detector are input, the welding torch is activated. When a detection signal from the front wall detector is input, the front wall detector is first retracted backward from the torch tip, and the welding torch is further advanced toward the front wall by the distance from the detection end to the torch tip. Change the welding direction to move back a certain distance along the front wall, then rotate the welding torch,
After returning the front wall detector from the retracted position to its original position, it is moved forward. When a detection signal from the corner detector is input, the welding torch is first moved forward toward the corner by the distance from the detection end to the torch tip, then the welding direction is changed, and the welding torch is rotated to detect the corresponding While activating the welding torch, move the welding torch forward by the distance to the next corner, then change the welding direction, and rotate the welding torch and move the welding torch forward toward the next corner while activating the welding torch. let