JPS58168476A - Copying device for fillet welding - Google Patents

Abstract

PURPOSE:To provide a titled copying device which controls the position of a torch exactly, by controlling the distances between a horizontal base material and a vertical base material and the foward end of the torch for fillet welding with two sets of sensors which are disposed at right angles to each other. CONSTITUTION:Motor groups M1-Mn are driven and a welding torch 5 is moved and controlled with an arm 3 by a computer 6 in a horizontal direction, A, a vertical direction B and the direction C at right angles to the directions A, B. The 1st detection part 7 for a copying sensor A which detects the distance dA from a vertical base material 1 and the 2nd detection part 8 for a copying sensor B which detects the distance dB from a horizontal base material 2 are provided to a holding fitting 4. The signal detected with the part 7 is processed in the 1st signal processing part 9 for the sensor A and is inputted to the computer 6. The signal detected with the part 8 is processed in the 2nd signal processing part 10 for the sensor B and is inputted to the computer 6. The position of the torch 5 is moved in the direction A and the direction B by using the distance dA that the sensor A measures and the distance dB that the sensor B measures whereby the distances d1 and d2 from the forward end of the torch to both materials 1, 2 are controlled exactly.

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention is characterized in that the tip of a torch with a fillet width of 1 valley between a horizontal base material and a vertical base material is made to follow the position of the slope with respect to both said base materials.
The purpose of this product is to accurately control the position of the torch tip and groove of the n-meat C valley copying device.

Conventionally, various types of fillet caps have been used for direct placement, but the devices are complicated (this means that the position of the tip of the torch cannot be precisely controlled or placed directly on the torch). is one old pheasant.

This Genmei was made with the above points in mind,
Finally, this invention will be explained in detail with reference to 1Al, which shows that 1≠array.

This invention combines a vertical base material (1) and a horizontal base material (1) shown in Figure 41.
It is applied to make four fillet joints in the C direction at the joint part with the arm (3), which is the joint part with the arm (3).
The holding metal fitting 14) at the tip of the bathing torch (5) is held, and the distance d between the base of the torch (6) and the vertical base material
.

The distance d2 between the horizontal base material (2) and the horizontal base material (2) is accurately controlled, and the sameness of the contact point as 1 is measured.

As shown in FIG.
By driving (M, ), (Ml), -(Mn), the arm (3) is operated to move the welding torch (5) in the horizontal direction, in the vertical direction B and A, and in the vertical direction. A computer (6
), the holding metal fitting (4) is equipped with a ml direction part (7) for copying sensor A that detects the distance dA from the vertical base material (tl+), and a horizontal base material ( 2
): A2f for copying sensor B that detects dB
An f1 output section (8) is provided, and the coal mine signal from the first side output section (7) is processed by the first multiplication processing section 1 (9) for the copying sensor A and then input to the computer (6). The second side-out part (8) σj detection signal is processed by the second signal processing unit 4 for the scanning sensor B! Human power 11, 41 detection section (7) and (1 signal station, L! I! section (
9) a copying sensor A consisting of a second detection part (8) and a drain 2
The distance dA between the scanning sensor A and the perpendicular base material +1+ measured by the scanning sensor A and the scanning Copying sensor B and horizontal auxiliary material measured by sensor B (2)
Distance with dd? i- Use the 4-gun torch (5) position A
The distance d between the tip of the welding torch (5) and both base materials (11, +21) by one force in the direction and B direction.

and accurate control of noise.

By the way, each of the copying sensors A and B is equipped with a compensation function fr: for the noise magnetic flux generated by a silent torrent of several hundred amperes flowing from the tip of the ■.6 muzzle torch (6). The distance to materials il+ and +21 is exchanged to a digital signal, and it is possible to read the digital distance signal from the computer (6) at any time.
) It has two characteristics.

Next, the first. The second detection units (7) and (8) will be explained.

Both detection parts (7) s (s) are the same (have shields, and as shown in Figure 3, the DC' current I is
The cut surface of the core (13) wound with the coil (121) through which B flows is connected to these two Hall elements, namely Hall element α04.
1 and the Hall element β (+5) are connected to each other with the lid, and the cut + and jT planes of the core (13) are straightened so as to be parallel to the surface of the base material.

And two Hall elements (+41 HQ5)
The magnetic flux generated by the current flowing through the coil (12) is added, but the magnetic flux of the Hall element α1141 i is the value Ba,
Hall element β (1ω has a magnetic flux density of value Bβ divided by η0,
One surface of Ba and Bβ is not the same, and the difference between da and Bβ changes depending on the change in distance d from the base material. Furthermore, the second
As shown in the figure, the production parts (7) and (s) are near the six-point torch (5) and are susceptible to the shadow of the magnetic flux generated by the 1.6 flux, and this magnetic flux causes noise. , this noise magnetic flux is caused by the Hall element αt141 placed in close contact with
and the Hall element β (151) are added with approximately the same size, and can be expressed by the size i bN of the Tian.

In addition, Hall element α(151) and Hall element β(151)
A control current Is of 151 is applied to the Hall element α.
From 1141, output voltage VHa 71 and Hall element β
The output magnetic pressure VHβ is extracted from (15).

Next, the Hall elements α, βQ41, +151 and the theoretical basis of this invention will be explained.

FIG. 4 is a perspective view of the Hall element, and as a general expression method, the Hall electromotive force Vl (is expressed by the +11 formula).

Vtl = RHB Is / (j!, b)
・・・－・・・・・・・・・・・・・・・・・・・・・
t1 + where Kl( is the Hall coefficient, Is is the control current, B is the magnetic flux density, /(] + b) is the length of the Hall element! and 0, which is a constant determined by the width. Now, if the Hall element is determined, (1 ) is replaced by the following equation (2) and the force/gill is calculated.

VtlgokBIs -・・・・・・・・・・・・・・・
・・・・・・・・・－・・・・・・・・・・・・・・・・・・
...+2, where k is a constant specific to the Hall element.

Therefore, in the detection portions (7) and (g) of the scanning sensor of the present invention shown in FIG.
The output Narita ■d and the output magnetic pressure V of the Hall element β (15)
Hβ is expressed by the equation (s), t+), similar to equation (2).

VHc1= k+ a (Bm+bN) Is −
−−−−= f31Vtl/ = k + / (B
/10bN) l s song-----...+41Also,
The current IB flowing through the coil f15 causes the Hall element α
I and Hall element β (difference in magnetic flux density applied to the field, Ba-B
β is a function of the distance d to the base material, and can be expressed by the following equation (5).

Ba −Bβ= kz ftd) In...
・・Song・ (5) Here, above +a and 1β are 2
Two Hall elements Q41.

(The output Vl generated when applying the same magnetic flux density and the same control current to 15j is a coefficient representing the variation in α and VHβ, and although they are not the same value, k+ = kaa - kta = ka/ ・kt /
If the gains kaa and k4β of the operational amplifier that lead to the skewing pressure of the Hall element are selected so that ----= (6), the two Hall elements 141 and α51 function as Hall elements with the same characteristics. do.

Therefore, equations (3) and (4) are replaced with the following equations (7) and (8).

kaa ・VHa: k+ (Ba 10 bN)
Ig −=・=−(7)ka/・Vt(/=k+
(Bβ+bN) Is-song...(8) And,
Subtracting and subtracting equation (8) from equation (7) gives kaa-VH
a-kaβ・Vf-1'lI=k* (Bct-B
))1s −= (9), and the noise magnetic flux density bN
effects are removed.

Next, by substituting equation (5) into equation (9), equation (g), that is, kadVHa−kaIVHβ= k+ k2/ldl
Is IB-0, α1 is obtained, and if we further divide both sides of the α1 formula by + k2Is IB, we get ■"[]71π(kaaVHm-ka/VHβ)=f(
Mountain... = (Ill), and the value of the distance d function /fdl can be found, so d can be found from this /fdl.

Next, the first. The second signal processing units (9) and (10) will be explained with reference to FIG.

As shown in the figure, the signal processing unit (9) and Ql are respectively an analog signal processing unit and a digital signal processing unit (
The analog signal processing section +161 outputs the output VHa of the Hall element αQ41 and the Hall element βQ5).
From the output output 'voltage VH/, use the formula shown in equation (11)! (It is a circuit that calculates the peak, that is, a circuit that calculates the value of the constant multiplied by 3, that is, 5 meds, in order to match the input voltage range of the ~Φ converter, strictly speaking), and the digital signal processing unit (1? + has the function of converting / (d) into a digital quantity, calculating the digital d, that is, the distance to the sen! rich material from the value of digital f ldl, and passing it to the computer (6).★ First , the analog signal processing unit Qllll will be explained in detail.

The analog signal processing unit Qfi has two first . 2nd instrumentation amplifier (instrumentation amplifier), α feed, two 1st instrumentation amplifiers. The second low-pass filter, @υ, the three first... Second. It is composed of a third power coefficient amplifier (G) and one differential amplifier (C), and the output voltage VHβ of the Hall element α and the output of the Hall element , respectively. Second
The common mode transmission noise that is input to the instrumentation amplifier H, +19) and superimposed on the transmission line is removed, and the 1st . Cross-mode transmission noise superimposed on the transmission line at the 20th-pass filter, Cυ, and the detection unit (7) e
High frequency component noise added to (a) is removed.

Here, the output signal of the low-pass filter 4, i.e., p
The l and P2 signals have the values of the above-mentioned equations (3) and (4).

PI = k+ a (Ba + bN) l5P2=
kt/(BJ+bN)Is Signals Pi and P2 are then multiplied by coefficients kam and kaβ in the first and second coefficient amplifiers, respectively. That is, the calculations of equations (7) and (8) described above are performed. Therefore, the values of the outputs P3 and P4 are P3=kam k+m(Bm+bN)Is=kt(l
dlbN) IgP←i/ k+ /(B/+bN) l
s = + (B/+bN) I m.

The output of the differential amplifier is P5=+(B11-B/)Is=+k2/1d)
It will be 111m.

Furthermore, these P55 pieces are the third coefficient amplifier (24)
is multiplied by kslk+k21B Is, and the output P6 becomes the ks7N mountain.

Here, in the equation (111) mentioned above, ks is applied to the output P6 of the analog signal processing section
The person who gave the value with /ldl and 5 in the coefficient is the following Koyori Akata.

That is, as shown in FIG. 6, / (between dl and d,
History 1 When the thread is 1d or zero, / (maximum up to the dth point, and as d becomes larger, f(the mountain becomes smaller). 161 output P
6 is the maximum input span value (maximum input voltage) of the A/'0 converter (Anahuaku/Digital Hen: Okushi) described below Vimax
It is multiplied by a factor of 3 so that That is, V
imax=ks/ldl d=o---1
A number 3 can be decided on a number like 121.

Next, the digital signal processing section (1η) will be explained in detail.

The configuration of the digital signal processing unit (1η) is as shown in FIG. , input register gate f
az, address decoder l331 to mfJy: and are connected as shown in FIG.

First, the output signal P6 of the analog 1g processing section 1e+ is A.
/D converter, where it is converted into a digital signal and sent to the RO
This becomes an address signal for M or PROMe2!1.

Here, a general A/D converter (to) uses a clock signal and a timing signal P7t to start A/D conversion for its operation.
- When the operation of converting the analog signal into digital data is completed, the converted digital data signal is outputted to the outside, and a signal indicating the completion of the A/D conversion is outputted.

The digital data signal of this A/D converter, parts, and lees is k
As mentioned above, it is used as an address signal for OM or PROIVIQ91, but this itOM or F
ROM +291 Niha, ks /ld shown in Figure 6
The relationship between l and d is written in advance, and if ks/(di is given as an address signal, the value of d is output. However, access is disabled until stable data is output after the address is given. A passage of time called time is required, and this access time is denoted by [a].

On the other hand, the timing signal indicating the completion of A/D conversion, that is, the A/D complete number P8 in FIG.
A negative pulse P9 is output, which enters the second monomulti 31+, and the second monomulti 131) is triggered at the rising edge of P9 and outputs a negative pulse P10'E with a pulse width of [2], but this PIO The input register gate C (210 is used as a hold signal, and the input register gate tl (Z) is used as a hold signal when the input data, that is, R
The output data d of OM or FROM 129+ is taken into an internal register, and its value is held when the hold signal changes to high.

FIG. 7 shows a time chart showing the main control signals of the digital signal processing section 1171 described above.

Here, the pulse of the first monomulti 301 @t1t-k
If the access time ta of LOg or PILOMf2fl is set to be greater than the access time ta, the determined data can be correctly taken into the internal register of the manual register gate.

In addition, the first shift of d held in the internal register of the input register gate t3z is automatically generated for each cycle of the counter name, that is, the cycle of the A/D start signal P7, regardless of the operation of the computer (6). will be further analyzed. Therefore, from the computer (6) to the signal processing section (9),
When looking at αQ, the detection parts (7), (8) and the base material (1
).

(2) The foldable value of the distance d from the computer (6) is stored as a digital signal at all times in the input register gate ('1).
can be imported into. Note that with the general input quality of the computer (6), the address signal and read timing signal are output from the computer (6), so the digital signal processing section (+71) contains this address signal and a predetermined An address decoder is built in to check if the address matches the sensor address, and only when the address matches and a read timing signal is output from the computer (6), the address decoder is held in the register in the input register gate 012. The value of is sent to the computer (6).

As described above, this invention can be summarized as a digital distance meter that can measure the distance to a steel plate without contact in an environment where a noise magnetic field exists. It is a ``sensor that can be easily connected to a computer'' and can be used as a copying sensor for fillet contact.

Fig. 1 is an illustration of fillet welding, Fig. 2 is a schematic diagram of the entire device, the third factor fat and Ibl are an enlarged view of a part and a part of the detection part, and Fig. 4 is a Hall element. σ) Sushi Akira A1
Figure 5 is a block circuit diagram of the signal processing section, Figure 6 is a relationship diagram between the output of the analog signal processing unit and the detection distance, and Figure 7 is 1a.
l, fbl, fcl, fdl, tel
, bol and Igl respectively receive the time chart of the signal of the digital signal processing section, lal is the clock, and [b
llJ P7. fcl+;! P8, Idllt
ks f tci+ ,, tel is d, lfl is P9
, fgli! PIO (7) indicates each signal il+...vertical base material, (2)...horizontal base material, (3)...
end, (4) - Holding metal fitting, (5)... Welding torch, (6) - Computer, (7)... First detection section, (
8)...Second detection unit, (9)...First signal processing unit, (
To)...Second signal processing section 1.

Figure 1 2 Figure 2 Figure 3 1.2 Figure 4 H

Claims (1)

[Claims] (i) a first detection part that is provided on the holding fitting of the fillet welding torch and detects the distance between the tip of the torch and the vertical base material;
a second converting section provided on the holding fitting and detecting the distance between the tip of the torch and the horizontal base material; a first signal processing section processing the effect signal of the first detecting section; It is characterized by comprising a processing section No. 21g that processes a shipping signal for exhibition, and a middle stage for controlling the position of the tip of the torch with respect to the picture base material according to the processing signals of both signal processing sections No. 4. A copying device for fillet welding.