JPH05318120A - Automatic welding positioner - Google Patents

Abstract

PURPOSE:To reduce manufacturing time and to improve manufacturing efficiency by making a member to be welded inclinable in many sides, reducing man-hour and improving workability. CONSTITUTION:The device is provided with a frame 11 with a pair of arms 12 which is rotatably supported on a base 10 and extended from the rotational fulcrum, a rotational mechanism 20 by which the frame 11 is rotated, a holding mechanism 30 which is provided on the tip end of both arms of the frame 11 and in whose mutual cooperation a steel member 1 is rotatably held, and a revolving mechanism 40 by which one of the holding mechanisms 30 is driven rotatably. By driving the revolving mechanism 40, the steel members 1 is rotated. Then, by rotating the rotational mechanism 20, the frame 11 is inclined, and the positioning of the welding part is performed so that the direction of the throat depth of the welding material is made vertical. In this state, the welding of the steel member 1 is performed by means of an arc welding robot M.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a welding positioner, and more particularly to a welding positioner device for positioning a welding structure base material to be welded by a welding robot.

[0002]

2. Description of the Related Art A steel frame member for construction will be explained, for example, as shown in FIG. 8, when welding a steel frame member 1 used for an intermediate corner portion of a frame of a structure.
Is formed in a T-shape composed of a rectangular portion 3 which is orthogonally joined to the middle of the base portion 2, and each portion is joined to both side edges of the main plate 4 with a sub plate 5 orthogonal to the surface of the main plate 4 and has a cross section. It is formed in an I shape. Further, it is composed of a reinforcing plate 6 which is orthogonal to the surface of the main plate 4 and is installed between the sub plates 5. The welding of these members is performed by arc welding using a well-known robot for arc welding.

As shown in FIG. 9, for example, a fillet weld is performed at the joint 7 between the main plate 4 and the sub-plate 5. However, since this weld has fluidity in the molten metal, as shown in FIG. When each welded part of the member 1 is arranged vertically, the welding material causes a sag X (two-dot chain line in the figure) due to gravity, which affects the welding strength, so that this sag does not occur.
The steel frame member 1 is held by a welding positioner, and by this welding positioner, as shown in FIG. 10, the fillet weld portion of the steel frame member 1 makes the main plate 4 and the sub plate 5 form an angle of about 45 degrees with respect to the horizontal plane. It is desirable to change the posture and weld. That is, in FIG. 8, it is desirable that the longitudinal angle with respect to the base portion 2 and the orthogonal portion 3 be rotated in the + R direction and the −R direction, and the + P direction and the −P direction, respectively, and angularly positioned and welded.

In the conventional welding positioner, a device for mounting the steel frame member 1 is used, and the device is independently tilted and rotated. Further, the steel frame member 1 is held from both sides in a separate step, and the steel frame member 1 is rotated about this holding direction as an axis to manually perform angular positioning at a predetermined position.

[0005]

However, in the former welding positioner of the former type described above, since the steel frame member 1 is installed on the table, the steel frame member 1 is installed upside down for welding on the installed side. Since this has to be done again, there has been a problem that the number of work steps is increased, which is complicated, and the production time is prolonged. Moreover, in the latter welding positioner, since the steel frame member 1 is rotated only around the holding direction as an axis, it is impossible to incline the welding site in the direction orthogonal to the axial direction at a predetermined angle for welding. Even in this case, it will have to be installed again in order to change the holding direction.

Therefore, the work efficiency is poor and the production time is long, resulting in a high production cost.

Therefore, an object of the present invention is to provide a single device,
An object of the present invention is to provide an automatic welding positioner device in which the posture of a steel frame member can be freely changed and all the welding operations can be automatically performed with one setup.

[0008]

In order to solve the above problems, the present invention has the following constitutions.

The automatic welding positioner device of the present invention is an automatic welding positioner device for automatically welding by a welding robot while controlling the posture of a welded structure. The automatic welding positioner device is supported by a base having a bearing in the center and a bearing of the base. A pair of seesaw-shaped arms and a link mechanism for swinging the arm supported on one fulcrum on the base from the left and right side surfaces of the arm are provided. And a swinging mechanism for swinging the arm, a holding mechanism that is respectively provided at the tip of the arm and that holds the welded structure and can be positioned at a predetermined angular position, and a rotary encoder for the angular position of the arm A control device for detecting and controlling the drive mechanism so as to drive the drive mechanism to a predetermined angle and controlling the angular position of the holding mechanism is provided.

In still another embodiment, the link mechanism swings a fulcrum provided at symmetrical positions or at the same position with a bearing on the base as a center and a link serving as a fulcrum on the arm via a pin. Engage freely to form a dogleg shape
The hydraulic cylinder is a servo cylinder, and the swing mechanism is driven by a fulcrum on the base and a hydraulic cylinder rotatably supported by a link shaft.

The pair of seesaw-shaped arms is a frame whose side surface is V-shaped or plane-shaped, and the holding mechanism is an electric motor that pivots a steel member on one of the seesaw-shaped swinging arms to angularly position it at a predetermined angle. A rotating mechanism including a motor (cyclomotor) is provided, and the other is supported by a bearing stand that is rotatable.

[0012]

The automatic welding positioner apparatus of the present invention operates as follows.

A control device for automatically performing welding comprehensively controls both the welding robot and the automatic welding positioner device.

The posture of the steel frame member is performed by program-controlling a holding mechanism capable of angular positioning and a swinging mechanism equipped with the holding mechanism.

This swing mechanism is performed by a hydraulic cylinder that swings a seesaw type swing arm via a link mechanism.

The holding mechanism holds the steel frame member and can position it at a predetermined angle.

The seesaw type swinging arm can be used with a side surface having a V shape or a plane shape.

The link mechanism may be provided at left and right symmetrical positions around the bearing on the base, or may be supported at the same position. Since the link can be bent in a dogleg shape through the pin, the posture of the steel member can be changed in angle.

The holding mechanism is equipped with an electric motor (cyclomotor) on one side of the seesaw type swing arm so as to be rotatable, and the other side is supported by a rotatable bearing stand. Can be positioned at a predetermined angle.

[0020]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS A welding positioner device according to an embodiment of the present invention will be described below with reference to the accompanying drawings. As shown in FIG. 1, the welding positioner device according to the embodiment is for changing the posture of the steel frame member 1 at the time of welding to facilitate the work by the arc welding robot M. As described above, the steel frame member 1 is formed in a T-shape including a base portion 2 and an orthogonal portion 3 that is orthogonally joined to the middle of the base portion 2 as shown in FIG. Sub-plates 5 are joined to both side edges of 4 at right angles to the surface of the main plate 4 to form an I-shaped cross section. Further, a reinforcing plate 6 which is orthogonal to the surface of the main plate 4 and is provided between the sub plates 5 is provided.

The basic structure of the welding positioner according to the embodiment is, as shown in FIGS. 1 to 4, respectively, a base 10 formed by assembling a steel aggregate and grounded, and rotatably supported by the base 10. Arm 11, a rotating mechanism 20 for rotating the arm 11, and an arm 1 provided on the arm 11.
The holding mechanism 40 is driven to rotate on an axis line orthogonal to the swing axis direction of No. 1.

The swing arm 11 is a pair of left and right arms 12 each having a V-shaped cross section and extending to an angle of about 45 °, and a recess 13 is formed between the pair of arms 12. Also, both arms 1
The second joint 14 is swingably supported by the base 10 via a bearing 17. FIG. 5 showing the I-I cross section of FIG. 2 shows the structure of the rotating portion of the swing arm 11. Reference numeral 15 penetrates the joint 14 of the arm 12 and the joint 1
The swing shaft is fixed to No. 4 and has an axis in a direction orthogonal to a line connecting the distal ends of the arms 12, and both ends thereof are pivotally supported by bearings 17 fixed to the base 10. A guide plate 18 is welded to the front ends of both arms 12 on the same plane.

The swing mechanism 20 comprises a link mechanism 21 and a hydraulic cylinder 25 provided on both arms 12, respectively. Since the link mechanism 21 is provided for left and right as shown in FIG. 2, the description will be made on one arm 12 side. Two links 21 are provided at both ends of the shaft 22.
a and 21b are pivotally supported so that they can be opened and closed, and one link 21a is pivotally supported by the side portion of the arm 12 through a shaft 26. As shown in FIG. 5, the other link 21b is supported by the base 10. The bearing 23 is pivotally supported by the shaft 23a, and the arms 21 are swung by opening and closing the links 21a and 21b, so that the swing arm 11 can be swung. Further, a shaft body 24 parallel to the swing shaft 15 is provided on the base 10 below the rotary shaft 15 of the swing arm 11, and the shaft body 24 and the shaft 22 are provided.
A trunnion type hydraulic cylinder 25 is provided between the shaft body 2 and the cylinder portion ends 25a and 25b of the hydraulic cylinder 25.
4, and the tip of the rod is rotatably supported on the shaft 22. When the rod of the hydraulic cylinder 25 is extended, the links 21a and 21b are closed to lower the arm 12, and when the rod of the hydraulic cylinder 25 is retracted, the links 21a and 21b are opened and the arm 12 can be raised.

A hydraulic circuit for driving the hydraulic cylinder 25 is shown in FIG.

The hydraulic oil in the oil tank 51 is the variable displacement pump 5.
It is pumped up by an electric motor 53 that drives 2, is branched into two systems by a direction switching valve 54, and is supplied to the hydraulic cylinder 25 via a pilot check valve 55 and a flow control valve 56, respectively. Further, the amount of oil supply is adjusted by the flow control valve 56 so that the arm 12 can be adjusted to a predetermined rotation speed.

Reference numeral 57 is a directional control valve with a pilot having a pressure adjusting function for adjusting the pressure inside the circuit, and adjusts the discharge amount of the variable displacement pump 52. It should be noted that the hydraulic cylinder 25 may be stopped when one of them is driven.

The holding mechanism 30 is provided at each end of the arm 12 so as to hold both ends of the steel frame member 1. A shaft 32 is fixed to the face plate 31 at right angles to the face plate 31, and the axis of the shaft 32 is the swing shaft 1 of the arm 12.
5 is orthogonal to the axis and is pivotally supported by the bearing stand 33. The bearing stand 33 is slidable in a linear direction with respect to the guide plate 18 at the tip of the arm 12,
By manually setting the position of the bolt 35, the distance between the face plates 31 can be adjusted according to the length of the steel frame member 1.

As shown in FIG. 2, the holding mechanism 30 further includes a rotating mechanism 40 for rotating the face plate 31 to position the steel frame member 1 at a predetermined angle. A shaft 32 fixed to the face plate 31 is supported by a bearing stand 33, and one face plate 31 includes an electric motor 41 (cyclo reduction gear) and the electric motor 41.
And a chain transmission mechanism 42 for transmitting the rotation of the shaft to the shaft 32 of the holding plate 31. The other face plate 31 is rotatably supported by a bearing stand 33 so that it can rotate freely.
The steel frame member 1 held between the face plates 31 is set to a required angular position by the angular positioning of.

Further, the welding positioner device according to the embodiment comprises a control device 61 as shown in FIG. 7, and the control device 61 controls the drive of the hydraulic cylinder 25 and the electric motor 41.

In FIG. 7, reference numeral 61 is a control personal computer, which processes overall control. PC 62 is link 62
Connected to the sequencer 63 via the I / O 6
Panel panel 65, positioner operation Box 66,
Robot controller 67, power relay 68, inverter 6
9, the rotary encoder 70, the brake 71, etc., respectively.

The power relay 68 is a variable displacement pump 52,
It is connected to a direction switching valve 54 for operating the hydraulic cylinder 25.

The inverter 69 is connected to the cyclomotor 41 for rotating the steel frame member 1.

The swing angle of the arm 11 is measured by the rotary encoder 70.

Next, the operation of the automatic welding positioner device of the present invention will be described.

When the welding positioner device according to this embodiment is used to perform welding by the arc welding robot M, the following is performed. First, as shown in FIG. 1, the steel frame member 1 partially preliminarily welded in advance is operated by operating the electric motors 41 of the left and right holding mechanisms 30 at both ends of the one side portion 2 thereof to form the face plate 31.
And hold it between the face plates 31.

Hydraulic cylinder 2 for driving the swing arm 11
5 is a personal computer 60 for controlling the variable displacement hydraulic pump 52
An operation command is given via the sequencer 63 based on the control command of the rotary encoder 70 provided on the swing shaft 15.
The angle is detected by and is positioned at a predetermined angular position. Similarly, the swinging motion of the steel frame member 1 is given a motion command through the sequencer 63 based on the control command of the personal computer 60, the angle is detected by the encoder provided on the swing shaft 15, and the steel frame member 1 is positioned at a predetermined angle. ..

In the control of the swing shaft 15, the planned movement amount and speed pattern are input to the personal computer, the pattern control is performed up to immediately before the target position by the feedforward control, and the feedback control is performed to the target position at a low constant speed. It moves, stops power supply at the target position, and is positioned at the target position by the electromagnetic brake.

In this state, the hydraulic cylinder 25 and the electric motor 41 are controlled by the control of the sequencer 63 of the control device, and the welding robot M is controlled to control the steel frame member 1.
Perform the welding work.

First, any one of "manual operation", "semi-automatic operation" and "general operation" is selected by the button on the panel 65. For example, if this is the first work, select "manual operation" and proceed with the independent operation while checking the operating state of the program. After correcting the defective part, "OK" is automatically performed by "semi-automatic operation", and manual operation is performed while confirming the corrected part. When the program is completed, switch to "general operation" to automatically operate the positioner device and robot.

For example, when the base portion 2, the orthogonal portion 3, the main plate 4, the sub-plate 5 and the like which compose the steel frame member 1 shown in FIG. 8 are fillet welded, the welding material is melted in the same strength in the right and left directions. It is desirable that they be welded so that Therefore, the automatic welding positioner device controls the attitude of the steel member so that the fillet portion of the steel member 1 faces upward. For this attitude control, as shown in FIG. 1, the hydraulic cylinder 25 that drives the seesaw-shaped swing arm 11 and the holding mechanism 40 are controlled by the control device to be positioned at a predetermined angular position.

That is, the control personal computer 60 comprehensively controls the robot M and the automatic welding positioner device. The personal computer 60 is connected to the sequencer 63 via a link 62,
The sequencer 63 gives an instruction as to which procedure to operate. For example, when welding the part a (the joint between the main plate 4 and the sub plate 5) of the one side portion 2 of the steel frame member 1, only the rotating mechanism 40 is driven to move the holding plate 31 in the + P direction from the state shown in the drawing. Is rotated 45 °, the steel frame member 1 is tilted 45 °, and the portion a is positioned so that the direction of the throat thickness of the welding material is the vertical direction. Then, in this state, the welding robot M welds the portion a.

Further, for example, when welding the b portion of the orthogonal portion 3 (joint portion of the main plate 4 and the reinforcing plate 6) or the c portion of one side portion 2 (joint portion of the main plate 4 and the reinforcing plate 6), rotation is performed. The mechanism 40 is driven to rotate the holding plate 31 in the + P direction in the figure by 90 ° from the state shown in the figure, and the rotating mechanism 20 is driven to tilt the frame 11 in the + R direction in the diagram by 45 ° to weld the b portion. Position so that the direction of the throat thickness of the material is vertical, and perform welding in this state.

Further, when welding the portion corresponding to the c portion on the side d where the orthogonal portion 3 of the one side portion 2 in the drawing is not present, for example, the holding plate 31 is moved in the -P direction from the state shown in the drawing by 90. Rotation is carried out, the orthogonal portion 3 is directed downward, and the frame 11 is tilted by 45 ° in the + P direction in the drawing for welding.

In this way, the rotation mechanism 40 is driven to rotate the holding plate 31 in the + P or -P direction, and the rotation mechanism 20 is driven to move the frame 11 to + P.
Alternatively, the welding portion is tilted in the -P direction, the welding portion is positioned so that the direction of the throat thickness of the welding material is vertical, and welding is performed in this state. In this case, since the frame 11 is expanded,
A recess 13 is formed between the arms 12, so that
Since the orthogonal portion 3 of the steel frame member 1 can pass through the recess 13, the steel frame member 1 does not collide with the frame 11.

Further, in this embodiment, the rotating mechanism 20 is driven by the pair of hydraulic cylinders 25, but it may be an electric type in which the ball screw is directly driven by the servo motor.

Although the swing arm 11 is V-shaped,
Depending on the welded structure, it may be linear.

In the above embodiment, the case where the T-shaped steel frame member 1 is fillet welded has been described, but the present invention is not necessarily limited to this, and groove welding may be used, and any shape member may be used. However, unmanned welding is possible.

[0048]

As described above, according to the automatic welding positioner apparatus of the present invention, the posture of the steel frame member can be freely changed by using the control device for the swinging mechanism having the link mechanism and the holding mechanism. All welding operations can be performed automatically and efficiently with a single setup. Further, if a work command programmed in the personal computer is input, the same work can be repeated, so that unmanned operation can be performed and labor can be saved.

[Brief description of drawings]

FIG. 1 is a perspective view showing a system using an automatic welding positioner device and an arc welding robot according to an embodiment of the present invention.

FIG. 2 is a front view showing an automatic welding positioner device according to an embodiment of the present invention.

FIG. 3 is a plan view showing an automatic welding positioner device according to an embodiment of the present invention.

FIG. 4 is a side view showing an automatic welding positioner device according to an embodiment of the present invention.

5 is a cross-sectional view of the main part of the automatic welding positioner device according to the embodiment of the present invention taken along the line II of FIG.

FIG. 6 is a hydraulic circuit diagram for driving a hydraulic cylinder used in the automatic welding positioner device according to the embodiment of the present invention.

FIG. 7 is a block diagram showing a control device of the automatic welding positioner device according to the embodiment of the present invention.

FIG. 8 is a perspective view showing an example of a steel frame member handled by the automatic welding positioner device according to the embodiment of the present invention.

FIG. 9 is a diagram illustrating an optimum welding state of a welded structure.

FIG. 10 is a diagram showing a welding state in which the welded structure is tilted.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Steel member (welded structure) 10 Base 11 Oscillating arm 12 Arm 15 Oscillating shaft 20 Oscillating mechanism 21 Link mechanism 25 Hydraulic cylinder 30 Holding mechanism 31 Holding plate 32 Shaft 33 Rotating mechanism 41 Electric motor

Claims (7)

[Claims] 1. A welding roller while controlling the posture of a welded structure.
For automatic welding positioner device that automatically welds with a bot
And a base having a bearing in the center, and a pair of seesaw-shaped arms supported by the base bearing.
And supported at one fulcrum on the base from the left and right sides of the arm.
Provided with a link mechanism that swings the arm, and acts on the link mechanism to swing the arm independently.
A swinging mechanism for tightening, and the welding structure provided at the tip of the arm.
Hold the base material and position it at the specified angular position.
And a rotary mechanism that detects the angular position of the arm with a rotary encoder.
Controlled to drive the drive mechanism so that it is at a predetermined angle
And equipped with a control device that controls the angular position of the holding mechanism.
Automatic welding positioner device characterized by the above. 2. A link mechanism has a fulcrum provided at symmetrical positions centering on a bearing on a base, and a link serving as a fulcrum on an arm swingably engaged with a pin to form a dogleg shape. The automatic welding positioner device according to claim 1, wherein 3. The automatic welding positioner device according to claim 1, wherein the drive mechanism is driven by a fulcrum on the base and a hydraulic cylinder rotatably supported by the shaft of the link. 4. The automatic welding positioner device according to claim 3, wherein the hydraulic cylinder is a servo cylinder. 5. The automatic welding positioner device according to claim 1, wherein the pair of seesaw-shaped arms have a V-shaped side surface. 6. The automatic welding positioner device according to claim 1, wherein the pair of seesaw-shaped arms have a side surface having a planar shape. 7. The holding mechanism is provided with a rotating mechanism equipped with a cyclomotor for rotating a steel frame member at one of a pair of seesaw-shaped arms to angularly position it at a predetermined angle, and the other is rotatable. The automatic welding positioner device according to claim 1, wherein the automatic welding positioner device is supported on a bearing base.