JPS58134274U

JPS58134274U - Arc welding equipment using industrial robots

Info

Publication number: JPS58134274U
Application number: JP247083U
Authority: JP
Inventors: 吉村　勝夫; 滝山　富夫
Original assignee: 株式会社電元社製作所
Priority date: 1983-01-12
Filing date: 1983-01-12
Publication date: 1983-09-09

Abstract

(57)【要約】本公報は電子出願前の出願データであるた
め要約のデータは記録されません。(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

[Brief explanation of the drawing]

第１図は、ロボットの腕のＸ軸の駆動回路にウィービン
グ回路を付加した説明図。第２図は、ロボットの腕のＹ
軸の制御回路にウィービング回路を付加した説明図。第
３図は、ロボットの腕のＸ軸、Ｙ軸による２軸ルリ御で
Ａ、　Ａ’に示した溶接線の溶接作業を行なうときのウ
ィービング方法と効果を示す説明図。第４図ａは溶接継
手の突合せキャップが変化している状態の説明図。第４
図すはその変化しているギャップに対応させてウィービ
ングの条件を変えることの説明図。第５図は、シャーシ
ー〇フレームとギャップの分布の説明図。第６図は、シャーシー・フレームの断面図。（図面の簡単な説明）、１・・・・・・Ｘ軸移動指令信
号発生器、１′・・・・・・Ｙ軸移動指令信号発生器、
２・・・・・・ウィービング回路（Ｘ軸）、２′・・・
・・・ウィービング回路（Ｙ軸）、３・・・・・・Ｘ勅
願算器、３′・・・・・・Ｙ勅願算器、４・・・・・・
Ｘ軸サーボアンプ、４′・・・・・・Ｙ軸サーボアンプ
、５・曲・Ｘ軸サーボ弁、５′・・・・・・Ｙ軸サーボ
弁、６・・曲Ｘ軸駆動シリンダ、６′・・・・・・Ｙ軸
駆動シリンダ、７・・曲Ｘ軸ラック、７′・・・・・・
Ｙ軸うック、８・・−−−−Ｘ軸ピニオン、８　−′・
・・・・・Ｙ軸ピニオン、９・・−−−−Ｘ軸位置検出
器、９′・・・・・・Ｙ軸位置検出器。FIG. 1 is an explanatory diagram in which a weaving circuit is added to the X-axis drive circuit of the robot's arm. Figure 2 shows the Y of the robot's arm.
An explanatory diagram in which a weaving circuit is added to the axis control circuit. FIG. 3 is an explanatory diagram showing the weaving method and effect when welding the welding lines shown at A and A' using two-axis Luri control using the X-axis and Y-axis of the robot's arm. FIG. 4a is an explanatory diagram of a state where the butt cap of the welded joint is changing. Fourth
The figure is an explanatory diagram of changing the weaving conditions in response to the changing gap. FIG. 5 is an explanatory diagram of the chassis frame and gap distribution. FIG. 6 is a sectional view of the chassis frame. (Brief explanation of the drawings), 1...X-axis movement command signal generator, 1'...Y-axis movement command signal generator,
2...Weaving circuit (X axis), 2'...
...Weaving circuit (Y axis), 3...X Imperial request calculator, 3'...Y Imperial request calculator, 4...
X-axis servo amplifier, 4'... Y-axis servo amplifier, 5. Curved X-axis servo valve, 5'... Y-axis servo valve, 6... Curved X-axis drive cylinder, 6 '...Y-axis drive cylinder, 7...Curved X-axis rack, 7'...
Y-axis hook, 8...---X-axis pinion, 8 -'
...Y-axis pinion, 9...---X-axis position detector, 9'...Y-axis position detector.

Claims

[Scope of utility model registration request]

In an apparatus that performs arc welding by operating a plurality of moving axes that form a servo system and are driven by a teaching playback method using a program signal that records a scheduled work operation in an electrical storage device, the moving axes a weaving circuit for performing a weaving operation by adding a low frequency signal from an arbitrary function generator to a movement command signal that sequentially instructs the next target point to be moved to, and the amplitude, frequency, and waveform of the low frequency signal. and a selection circuit for specifying the welding width, frequency, waveform, weaving direction, etc., according to electrical commands stored in the storage device, and performs weaving according to changes in the welding line. An arc welding device designed to operate.