JPH07115176B2 - Standing plate end face position detection method for fillet joints in automatic welding equipment - Google Patents

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an automatic welding apparatus such as a welding robot, which uses a sensing means having a welding torch supporting a welding wire set to have a predetermined protruding length as a sensor to form a standing plate for a fillet joint. The present invention relates to a method for detecting an end face position.

[0002]

2. Description of the Related Art Generally, a bridge girder of a bridge has a plurality of horizontal and vertical reinforcements (hereinafter referred to as standing plates) arranged in a predetermined pattern on an I type steel material (hereinafter referred to as lower plate) which is a main material, It is manufactured by arc welding a T-shaped fillet joint in which the end face on the plate thickness side of the standing plate is in contact with the lower plate surface. At this time, fillet welding is performed on both side surfaces and both end surfaces of the standing plate to the lower plate,
So-called square winding welding is performed on both end surfaces of the standing plate.

In such welding, for example, a pair of welding torches are opposed to each other and are arranged in a twin type, and a pair of welding torches are positioned near one end face of the standing plate to simultaneously emit an arc and form a bead. The procedure is to make the end-angle winding welding by joining them together, then continuously fillet both side parts of the standing plate, and then position a pair of welding torches near the other end surface to associate the beads and perform the end-angle winding welding. Has been taken.

At this time, in order to carry out the square winding welding without any defect by automatic welding, there is a cutting error in the standing plate or an error in mounting the standing plate to the lower plate. Must be detected and the position of the welding torch must be controlled based on the detected position.

Therefore, conventionally, as a means for detecting the position of the end plate end face of the fillet joint by an automatic welding device (welding robot), for example, one disclosed in Japanese Patent Laid-Open No. 2-268974 has been proposed. There is.

According to this conventional means, the welding torch is pulled back by a predetermined distance ΔY ₁ from the side surface position of the standing plate which is located above the lower plate surface by a predetermined distance ΔZ ₁ and is first detected, and then the standing plate end surface is pulled back. Is moved by a predetermined distance ΔX in the direction, and is moved from this position to a position separated by a distance ΔY ₁ + ΔY _{2 in} the lateral direction of the standing plate. During this movement, it is determined whether the side surface of the standing plate is detected by the sensing means. When the side surface of the standing plate is detected, the welding torch is pulled back by the distance ΔY ₁ , moved again in the direction of the end surface of the standing plate by the predetermined distance ΔX, and the same operation is performed.

On the other hand, when the side surface of the standing plate is not detected until the welding torch reaches the position separated by the distance ΔY ₁ + ΔY _{2 in} the side surface direction of the standing plate, that is, the welding torch has passed the end surface of the standing plate. If it is determined that the position has been reached,
The welding torch is moved toward the lower plate. Then, after the lower plate surface position is detected by the sensing means, the welding torch is pulled back and the tip of the welding wire is arranged at a position close to the lower plate surface. Next, the welding torch is moved in the direction opposite to the direction of the end plate end face, the position data of the position detected by the sensing means during this movement is stored, and this position data is detected as the position of the end plate end face in the vicinity of the lower plate surface. is doing.

[0008]

However, in the conventional means for detecting the position of the end face of the standing plate of the fillet joint, the welding torch is
Until it reaches the position facing the standing plate end face, it is repeatedly moved by a certain distance (step width) ΔX in the direction approaching the standing plate end face. However, if this distance ΔX is set small, the standing plate end face position When the detection time becomes long and the distance ΔX is set to be large, there is a problem that when the member is arranged in a direction substantially orthogonal to the standing plate, the welding torch hits the member and the sensing cannot be performed.

The present invention is intended to solve such a problem, and the position of the end plate end surface can be accurately detected in a short time without being affected by a member or the like arranged near the end face of the stand plate. An object of the present invention is to provide a method for detecting the position of the end plate end face of a fillet joint in an automatic welding device.

[0010]

In order to achieve the above object, the method for detecting the position of the end plate end face of the fillet joint in the automatic welding apparatus of the present invention comprises a control means for controlling the position of the welding torch with three spatial axes. A sensing voltage is applied between the welding torch and the work in a state where the welding torch supports a welding wire set to have a predetermined protrusion length to detect an energized state due to contact between the welding wire and the work. Using an automatic welding device having a sensing means for detecting the work position by means of an end face position of the standing plate of a fillet joint consisting of a lower plate and a standing plate, and a side surface of the standing plate among the three axes. A method of detecting in a state of being arranged substantially orthogonal to one axis, wherein the welding torch is arranged at a position P _k which is separated from an end face position of the standing plate by a predetermined distance and faces a side surface of the standing plate.
With the position P _k as a reference, the welding torch is moved in the surface direction of the lower plate and in the lateral direction of the standing plate, and the sensing means causes the lower plate surface position P _s and the standing plate side surface position P ₁ to be moved.
And then pulling back the welding torch to a position P ₂ which is separated from the lower plate surface position P _s and the vertical plate side surface position P ₁ by predetermined distances ΔZ ₁ and ΔY ₁ , respectively. after the welding torch, from the position P ₂ to the vertical plate end surface direction along the side surface of the upright plate, it is moved to the predetermined distance and the position P ₂ at a distance substantially equal to the distance [Delta] X ₀ ', the welding torch At a position P ₃ distant from the position P ₂ ′ by a predetermined distance (ΔY ₁ + ΔY ₂ ) in the lateral direction of the standing plate.
Moving toward, during this movement, to determine whether the side surface of the standing plate is detected by the sensing means,
When the side surface of the standing plate is detected in the above step, the welding torch is pulled back to the position P ₂ ′, and then the distance ΔX is extended along the side surface of the standing plate toward the standing plate end surface. After moving to a position P ₂ ″ separated by a distance ΔX _i shorter than ₀ , the process returns to the above step, while if the side surface of the standing plate is not detected in the above step, the welding torch is removed. , The position data of the position P ₅ detected by the sensing means during this movement is stored from the position P _{3 in the} direction opposite to the end face direction of the standing plate, and the standing data is stored based on the position data of the position P _5. It is characterized in that the position of the end face of the plate is detected.

In the above step, the end face position of the standing plate may be detected by correcting the position data of the position P ₅ according to the end shape of the standing plate.

[0012]

In the above-described method for detecting the position of the end plate end face of the fillet joint in the automatic welding apparatus of the present invention, the lower plate surface position P _s and the side face of the stand plate are detected by the sensing means at a position apart from the end plate end face position by a predetermined distance. The position P ₁ is detected and the welding torch is separated by a distance Δ from these positions P _s and P _1.
Z _1, after being placed in a position P ₂ at a distance [Delta] Y _1, is moved to the vertical plate edge direction by a predetermined distance substantially the same distance [Delta] X _0, the distance [Delta] Y from the position P ₂ 'in the direction of the upright plate side ₁ + Δ
It is moved toward position P ₃ which is separated by Y ₂ .

During this movement, it is judged by the sensing means whether or not the side surface of the standing plate is detected. When the side surface of the standing plate is detected, the welding torch is pulled back to the position P ₂ ′,
After moving by a distance ΔX _i shorter than the distance ΔX _{0 in the} direction of the end face of the standing plate, it is moved toward the position P ₃ in the same manner as described above, and the same determination is performed.

On the other hand, when the side surface of the standing plate is not detected until the welding torch reaches the position P ₃ , that is, when it is determined that the welding torch has reached the position where the end surface of the standing plate has passed, the welding torch is determined. is moved from the position P ₃ to the vertical plate end face the opposite direction, the position data of the position P ₅ detected by the sensing means during the movement is stored, the position P ₅
The end face position of the standing plate is detected based on the position data of 1.

Further, by correcting the position data of the position P ₅ according to the end shape of the standing plate, the correct standing plate end face position corresponding to the standing plate end shape can be detected.

[0016]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS A method for detecting the position of an end plate end face of a fillet joint in an automatic welding apparatus according to an embodiment of the present invention will be described below with reference to the drawings. FIG. 1 is a flow chart for explaining the procedure, and FIG. FIG. 3 is a perspective view showing the movement of a welding torch whose position is controlled according to the method, and FIG. 3 is a perspective view showing the configuration of an automatic welding apparatus to which the present method is applied.

First, referring to FIG. 3, a portal welding robot for fillet welding, which is one type of automatic welding equipment to which the present method is applied.
To describe (hereinafter referred to as a welding robot), in FIG. 3, 1a and 1b are a pair of guide rails that are laid at a predetermined interval.
A gate-shaped welding robot body runs on 1b.

The main body of the welding robot comprises a gate beam 2, gate carriages 3a and 3b, a traverse carriage 4, an elevating arm 5 and welding heads 6a and 6b. Here, the gate-shaped beam 2 has a laying direction of the guide rails 1a and 1b (X direction).
The pair of left and right gate-shaped carriages 3a and 3b are fixed to the leg portions 2a and 2b on both sides of the gate-shaped beam 2 and wheels (not shown) are arranged in a direction (Y direction) orthogonal to the above. It runs on the guide rails 1a and 1b in the X direction to form the X axis. In addition, the traversing carriage 4 travels along the gate-shaped beam 2 and constitutes the Y-axis, and includes the lifting arm 5
Is supported by this traverse carriage 4 and is orthogonal to the X and Y directions.
The Z axis is constructed by moving up and down in the direction.

The pair of left and right welding heads 6a, 6b are supported via a turning mechanism 5a around the θ direction provided at the lower end of the lifting arm 5, and are movable in the T direction which is the same direction as the X direction. The T-axis sliders 6at and 6bt that form the T-axis by the slide mechanism, and the V-axis sliders 6av and 6bv that form the V-axis by the slide mechanism that can move in the V direction that is the same direction as the Y direction and the Z-direction. It is composed of U-axis sliders 6au and 6bu that form a U-axis by a slide mechanism that can move in the U direction.

The welding torches 7a and 7b attached to the tips of the welding heads 6a and 6b respectively have wire packs 8a and 8 mounted on the portal carriages 3a and 3b, respectively.
b to push side wire feeder 9a,
The welding wires 7aw, 7bw are fed via the conduit cables 11a, 11b passing through the wire feeding device 10a, 10b and the pull-side wire feeding device 10a, 10b.

A control unit 12, an operation panel 13, and welding power sources 14a and 14b are mounted on one of the portal carts 3a.

The control device 12 has a microcomputer, and includes an NC control device, a main axis system servo unit and an auxiliary axis system servo unit.
Here, the NC control device has a shape and dimensions of a work (in this embodiment, a fillet joint consisting of a lower plate D and a standing plate F as shown in FIGS. 2 and 4) created in advance by a CAD system or the like. It is for converting the coordinates of NC data (numerical data) regarding to the coordinates of the spindle system consisting of X, Y, Z and θ according to a predetermined procedure.
According to a control command from the control device, each part (see reference numerals 3a, 3b, 4, 5, 5a) forming each axis of the main spindle system is drive-controlled, and the auxiliary axis system servo unit has an NC-controlled main axis system. T, V used to modify the position of the welding torches 7a, 7b provided, by means including the method.
Each part (reference numeral 6a) constituting each axis of the auxiliary shaft system including U
t, 6 bt, 6 av, 6 bv, 6 au, 6 bu). Further, the welding conditions are instructed to the welding power supplies 14a and 14b according to the leg length dimension of the fillet input in the NC data.

Further, the welding power source 14a is provided with a sensing power source for applying a sensing voltage (different from the welding voltage) between the welding torch 7a supporting the welding wire 7aw and the work to be welded. In the control device 12, an energization detecting device is provided which detects an energization state due to contact between the welding wire 7aw and the work when a sensing voltage is applied and outputs a command signal for fetching work position data when the energization occurs. The sensing power source and the energization detecting device constitute a sensing means for detecting the work position. Then, if necessary, a sensing means corresponding to the other welding torch 7b supporting the welding wire 7bw is provided.

As the method of the sensing means, the technique disclosed in Japanese Patent Laid-Open No. 2-92459 is used. However, another method may be used as long as accurate position data can be obtained. Further, the method according to the present embodiment is performed according to a predetermined program executed by a microcomputer provided in the control device 12.

Next, the procedure of the present method performed using the welding robot configured as described above will be described with reference to FIGS. 1 and 2. In the description of the flow chart shown in FIG. 1, S1 to S16 indicate process procedure (step) numbers, and FIG. 2 schematically shows the trajectory of the tip of the wire 7aw when the present method is applied. . Further, as shown in FIG. 2, the standing plate F constituting the fillet joint of the present embodiment is arranged such that the side surface FS thereof is substantially orthogonal to the Y (-Y) direction in the present embodiment.

First, as shown in FIG. 2, the welding wire 7aw having a predetermined protruding length is supported, and the welding torch 7a forming a torch angle of, for example, 30 to 50 degrees with respect to the surface DF of the lower plate D is positioned at the position P. _It is positioned at _k and a sensing voltage is applied (step S1). This position P _k is a position separated from the end face FE position of the standing plate F by a predetermined distance L (for example, about 20 to 40 mm), and the welding torch 7a faces the side surface FS of the standing plate F. It is taught in advance based on.

The welding torch 7a is lowered from this P _k in the preset Z direction, and the lower plate D is detected by the sensing means.
The surface position P _s of the _object is detected, and its position data (x _s , y _s , z
_s ) is stored (step S2).

Next, the welding torch 7a is attached to the lower plate surface position P.
_The distance is raised from _s by a distance ΔZ _{1 in the} preset −Z direction and then pulled back (step S3). Position data stored in step _{S2 (x s, y s,} z s) are used to obtain the distance [Delta] Z ₁ only pullback position in step S3, after retraction distance [Delta] Z ₁ in the case of welding start detection Only the Z position data z _s is stored.

Further, the welding torch 7a is moved in the preset Y direction from the position where it is pulled back from the lower plate surface,
The position P ₁ on the side surface FS of the standing plate F is detected by the sensing means.
Is detected and its position data (x ₁ , y ₁ , z ₁ ) is stored.
(Step S4).

Then, the welding torch 7a is pulled back from the standing plate side face position P _{1 in the} preset −Y direction by the distance ΔY ₁ (step S5), and is arranged at the position P ₂ . Step S4
The position data (x ₁ , y ₁ , z ₁ ) stored in step S5 is used to obtain the position pulled back by the distance ΔY _{1 in} step S5, and after pulling back the distance ΔY _1, Y is detected only when the welding start point is detected. The position data y ₁ is stored. Also,
As for the position data (x ₂ , y ₂ , z ₂ ) of the position P ₂ , only the component y _{2 in the} Y direction is stored, and steps S6 and S described later are performed.
9 is used as Y direction data.

Here, the pullback distances ΔZ ₁ and ΔY ₁ of the welding torch 7a in steps S3 and S5 are, for example, when the standing plate F and the lower plate D are temporarily attached as shown in FIG. The welding torch 7a (the tip of the welding wire 7aw) is set to be larger than the height and width of the assumed tack bead so that the tack bead 15 is not affected. As a result, as shown in FIG. 6, after step S5, the end face position detection of the standing plate F is performed without being influenced by the temporary bead 15.

The processes of steps S2 and S3 described above and the processes of steps S4 and S5 may be executed in reverse order.

Subsequently, the welding torch 7a is moved along the side surface FS of the standing plate F in the preset X direction (standing plate end surface direction) approaching the end surface FE of the standing plate F from the position P ₂ . A large distance ΔX ₀ (for example, about 20 to 40 mm) substantially equal to the predetermined distance L is moved to a position P ₂ ′ (step S6). Here, since the error between the taught data of the sensing start position P _k and the position at the time of actual welding does not become so large, the welding torch 7a moves in the vicinity of the end face FE of the standing plate F by the movement of this step S6. Therefore, end sensing as will be described later is started from the placement position P ₂ ′.

From the position P ₂ ′, the welding torch 7a is moved toward the position P ₃ which is separated by a preset distance (ΔY ₁ + ΔY ₂ ) in the Y direction (step S7). Where the distance Δ
Y ₂ is a preset distance, and its value is at least a value smaller than the plate thickness t of the standing plate F, for example, a value of about ½ of the plate thickness t.

During the movement of the welding torch 7a in step S7, it is judged whether or not the side surface FS of the standing plate F is detected by the sensing means (step S8), and the side surface F of the standing plate F is determined.
When S is detected, that is, when it is determined that the welding torch 7a moved in the X direction has not passed the end face FE of the standing plate F, the welding torch 7a is moved to -Y.
Direction and pull back to the position P ₂ ′ (step S
9), along the side surface FS of the standing plate F in the X direction (standing plate end surface direction)
To a position P ₂ ″ separated by a distance ΔX _i shorter than the distance ΔX ₀ (step S10), and then step S7.
Return to. When returning to step S7, the position P ₂ ″ is replaced with the position P ₂ ′, and the same processing is executed.

At this time, the moving distance ΔX _i in step S10 is set to a value approximately 1/3 to 1/4 of the distance ΔX ₀ , for example, about 3 to 10 mm, and the welding torch 7a is repeated by repeating steps S7 to S10. Edge sensing is performed by moving the to the end face of the standing plate in small steps.

On the other hand, in step S8, the side surface FS of the standing plate F is
There if not detected, is once stopped at a position P ₃ the movement of the welding torch 7a (step S11), and the welding torch 7a, -X direction (vertical plate end face and reverse directions from the position P ₃ ) Is moved toward the position P ₄ (step S12). Here, the position P ₄ is a position relatively distant from the position P _{3 in the} −X direction by a distance ΔX ₂ , and this distance Δ 4
X ₂ serves as an error output determination reference when the standing plate cannot be detected in steps S13 and S16 described later.

During the movement of the welding torch 7a in step S12, it is judged whether or not the end face FE of the standing plate F is detected by the sensing means (step S13). If the end face FE of the standing plate F is detected, that is, , when the welding torch 7a which is moved in the -X direction is determined to have reached the position P ₅ on the end face FE of the upright plate F is the movement of the welding torch 7a is stopped at the position P _5, the position P The position data of ₅ is stored (step S14).

Then, the position data of the position P ₅ stored in step S14 is corrected according to the end shape of the standing plate F, and the accurate end face position P ₆ of the standing plate F is detected (step S15). As the end shape of the standing plate F, there are, for example, those shown in FIGS. 4 (a) to 4 (c), and FIG. 2 shows the standing plate F having the end shape shown in FIG. 4 (c). However, the end shape is given in advance as teaching data. Further, as for the correction in step S15, for example, with respect to the end face position of the standing plate F having the end shape shown in FIG. 4A, the position P ₅ is detected in steps S1 to S14 described above as shown in FIG. In this case, the correction amount is obtained based on the curvature of the end shape, and the accurate end face position P ₆ where the standing plate F and the lower plate D contact each other is detected from the correction amount. In the case of the end shape shown in FIGS. 4 (b) and 4 (c), P
_In some cases, ₅ = P ₆ .

If the welding torch 7a reaches the position P ₄ without detecting the end face FE of the standing plate F in step S13, it is determined that the end face FE of the standing plate F cannot be detected for some reason, and an error output is issued. Perform (step S16).

The procedure for detecting the end face FE of the standing plate F has been described for the case of being applied to the welding torch 7a, but it may be carried out for each of the twin-type welding torches 7a and 7b, or one of them may be welded. Only the torch 7a or 7b is operated, and the result is obtained with the other welding torch 7.
It may be reflected in b or 7a.

When the end face position of the standing plate F at the welding start end or the end is detected by performing the sensing in the above-described procedure, the position data stored at the time of sensing is utilized as follows, for example. Regarding the welding start end, the corner position P _c is calculated from the position data x ₆ , y ₁ , z _s and used to set the start position of square winding welding. For the welding end portion, position data of the corner position P _c of the start end portion or position data of the detection position P _{6 in} step S15
Only the X position data of (x ₆ , y ₆ , z ₆ ) is stored,
For example, if a well-known arc tracing is used during welding, the end position can be accurately grasped with only the X position data in the welding advancing direction.

As described above, according to the standing plate end face position detecting method of this embodiment, the welding torch 7a is first moved from the position P ₂ to the position X.
When the vertical side surface is detected by moving the predetermined distance L substantially the same as the predetermined distance L by ΔX ₀ , the welding torch 7a is detected.
While the moving shorter by [Delta] X _i little by little than [Delta] X ₀ to the upright plate edge direction, repeating the upright side motion detection, if the upright sides has reached the position P ₃ is not detected, the welding torch 7
a in the -X direction to move the position P ₅ of the end face FE of the standing plate F.
Is detected and the position P _{5 is} corrected according to the shape of the end of the standing plate to obtain an accurate position P _{6 of the} standing plate end surface.
The position of the end surface of the standing plate can be detected in a short time and with extremely high accuracy, without being affected by members or the like arranged near the end surface of the standing plate.

Further, the sensing according to this method is performed by the standing plate F
Since it is started in the vicinity of the end of the, there are less restrictions on tacking for its sensing, for example, as shown in FIG.
The temporary bead 15 can be formed to temporarily attach the standing plate F and the lower plate D.

When the standing plate end face position detection (starting end position / terminal position) by wire sensing according to the above-described method is applied to weld the fillet joint between the standing plate F and the lower plate D, 7 (a) to (d) have four welding patterns as schematically shown by the locus of the welding wire tip (however,
This method is not applied to the welding pattern shown in FIG. 7 (d)).

That is, FIG. 7 (a) shows a case where square winding welding is performed at the starting end S and the ending end E of the standing plate F, that is, the starting end face position and the ending end face position of the standing plate F are detected. , In FIG. 7 (a), is the start second evacuation point, is the start first
The withdrawal point is the sensing start point of the end face position,
Is a start first retreat point, is a sensing start point of a start end face position and a welding start point, is a welding end point, is an end first retreat point, and is an end second retreat point.

FIG. 7B shows the case where there is no square winding welding at the starting end S of the standing plate F and there is square winding welding at the end E, that is, only the end face position of the standing plate F is detected. Figure 7 (b)
In, is the start second retreat point, is the start first retreat point, is the end end face position sensing start point ,, is the start first retreat point, is the vertical plate lower plate sensing start point and welding start point,
Is the welding end point, is the end first withdrawal point, and is the end second withdrawal point.

FIG. 7C shows a case where there is square winding welding at the starting end S of the standing plate F and no square winding welding at the terminal end E, that is, the case where only the starting end face position of the standing plate F is detected. Figure 7 (c)
In the figure, is a start second retreat point, is a start first retreat point, is a sensing start point of a start end face position and a welding start point, is a welding end point, is an end first retreat point, and is an end second retreat point.

FIG. 7D shows the case where there is no square winding welding at both the starting end S and the ending end E of the standing plate F, that is, when it is not necessary to detect the starting end face position and the ending end face position of the standing plate F.
(When there is no need to apply this method) is shown in FIG.
In (d), is the start second evacuation point, is the start first evacuation point,
Is a sensing start point and a welding start point of the lower plate of the standing plate, is a welding end point, is an end first withdrawal point, and is an end second withdrawal point.

[0050]

As described in detail above, according to the method for detecting the position of the end plate end face of the fillet joint in the automatic welding apparatus of the present invention, the welding torch is first moved to the predetermined position P facing the side face of the stand plate.
_{If the} side surface of the standing plate is detected by moving the welding torch from ₂ to the standing plate end face direction by ΔX ₀ substantially the same as the predetermined distance between the position P ₂ and the standing plate end face position, then the welding torch is moved to the standing plate end face direction. Is ΔX
_{The same} vertical plate side face detection is performed by moving ΔX _i shorter than _0. On the other hand, when the vertical plate side face is not detected, the welding torch is moved in the direction opposite to the vertical plate end face direction and detected during the movement. By the procedure of detecting the position of the end plate end face based on the position P _5, there is an effect that the position of the end plate end face can be accurately detected in a short time without being affected by members or the like arranged near the end plate end face. is there.

Further, by correcting the position P ₅ according to the shape of the end plate of the standing plate to obtain the end face position of the standing plate, it is possible to detect an accurate end face position according to the shape of the end plate of the standing plate. There is also.

[Brief description of drawings]

FIG. 1 is a flowchart for explaining a procedure of a method for detecting a position of an end plate end face of a fillet joint in an automatic welding apparatus according to an embodiment of the present invention.

FIG. 2 is a perspective view showing the movement of a welding torch whose position is controlled according to the present method.

FIG. 3 is a perspective view showing a configuration of an automatic welding apparatus to which the present method is applied.

4 (a) to 4 (c) are perspective views of essential parts showing various end face shapes of a standing plate constituting a fillet joint.

FIG. 5 is a side view for explaining an end face position correcting means when the standing plate has the end face shape shown in FIG. 4 (a).

FIG. 6 is a side view showing an essential part of a fillet joint temporarily attached to explain the effect of the present method.

7 (a) to (d) are side views of standing plates for explaining a welding pattern by detecting the end face position of the standing plate by wire sensing.

[Explanation of symbols]

 1a, 1b Guide rails 2 Gate beams 2a, 2b Legs 3a, 3b Gate dolly 4 Traverse dolly 5 Lifting arm 5a Revolving mechanism 6a, 6b Welding head 6at, 6bt T-axis slider 6av, 6bv V-axis slider 6au, 6bu U Axle slider 7a, 7b Welding torch 7aw, 7bw Welding wire 8a, 8b Wire pack 9a, 9b Push side wire feeding device 10a, 10b Pull side wire feeding device 11a, 11b Conduit cable 12 Control device 13 Operation panel 14a, 14b Welding Power 15 Temporary bead

Claims (2)

[Claims] 1. A control means for controlling the position of a welding torch in three spatial axes, and a sensing voltage between the welding torch and a work piece with the welding torch supporting a welding wire having a predetermined protruding length. By using an automatic welding device having a sensing means for detecting the work position by detecting the energization state due to the contact between the welding wire and the work, the fillet joint of the lower plate and the standing plate A method of detecting an end face position of a standing plate in a state in which a side face of the standing plate is arranged substantially orthogonal to one of the three axes, comprising: (1) the welding torch, the end face of the standing plate. It is arranged at a position P _k which is separated from the position by a predetermined distance and faces the side surface of the standing plate,
(2) With the position P _k as a reference, the welding torch is moved in the surface direction of the lower plate and the lateral direction of the standing plate, and the lower plate surface position P _s and the standing plate side surface position P ₁ are detected by the sensing means. After each detection, the welding torch is pulled back to a position P ₂ which is apart from the lower plate surface position P _s and the vertical plate side surface position P ₁ by predetermined distances ΔZ ₁ and ΔY ₁ , respectively, and arranged. (3) After moving the welding torch from the position P ₂ to the position P ₂ ′ along the side surface of the standing plate in the direction of the end plate end face, the position P ₂ ′ is separated by a distance ΔX ₀ substantially the same as the predetermined distance,
(4) The welding torch is moved toward a position P ₃ apart from the position P ₂ ′ by a predetermined distance (ΔY ₁ + ΔY ₂ ) in the lateral direction of the standing plate, and during the movement, the sensing is performed. It is determined by means whether or not the side surface of the standing plate is detected. (5) When the side surface of the standing plate is detected in step (4), the welding torch is moved to the position P ₂ ′
Then, after moving back to the position P ₂ ″ separated by a distance ΔX _i shorter than the distance ΔX ₀ along the side surface of the standing plate in the direction of the end plate end surface, the process returns to the step (4). On the other hand, (6) when the side surface of the standing plate is not detected in the step (4), the welding torch is moved to the position P.
The position data of the position P ₅ detected by the sensing means during the movement is moved from ₃ to the direction opposite to the end face of the standing plate, and (7) the standing plate is stored based on the position data of the position P _5. Of a vertical plate end face position of a fillet joint in an automatic welding device, characterized in that the end face position of the joint is detected. 2. The end surface position of the standing plate is detected by correcting the position data of the position P ₅ according to the end shape of the standing plate. Standing plate end face position detection method for fillet joints in automatic welding equipment.