JPS60111774A - Automatic welding device - Google Patents

Abstract

PURPOSE:To enable effective control of a welding torch even in welding of a narrow gap by detecting the displacement on the tip side of a welding torch with displacement meter sensors and controlling right and left motors for driving in such a way that the displacement is kept within a set range. CONSTITUTION:A torch 5 has a profiling roller 6 at the tip part and is supported on the root end side by supporting means 7, 7. Non-contact type displacement meter sensors 9, 10 decide the displacement of the torch 5 with respect to objects to be welded and motors 11, 12 move the torch 5 in the directions Y, Z. The potentiometers 13, 14 decide the overall position of the torch 5 and are connected together with the motors 11, 12 and the sensors 9, 10, etc. to a control device, by which automatic welding is accomplished. While the torch 5 is not in contact with objects 4, the outputs from the sensors 9, 10 are invariable even if the motors 11, 12 are driven. When the torch 5 is lowered and contacts with the objects, the output from the sensor 9 increases and provides the information on the decision of the pressing force of the torch 5. The displacement of the vibration of the torch 5 in the direction Y is decided by the sensor 10 in the same way.

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to an automatic welding device, and particularly to an improved means for controlling the movement of a welding torch.

As a welding line tracing method employed in conventional automatic welding equipment, there is a method using an arc sensor. In this method, as shown in FIG. 1, the welding torch 5 is vibrated in the left-right direction (indicated by the arrow) with respect to the welding object 4, and an arc sensor (not shown) is used to detect changes in the arc 3. The control method detects the welding current and controls the welding current at both ends of the vibration.

However, according to this method, if the width of the vibration in the left-right direction is narrowed, the change in the arc 3 will be reduced, and if the groove part is narrow, then -! There is a problem in that it is difficult to apply to welding narrow grooves.

The present invention has been made in view of the above circumstances, and an object of the present invention is to provide an automatic welding device that can effectively control a welding torch even when welding a narrow gap.

In this invention, a fulcrum supporting the base end side of the welding torch, a vertical drive motor and a left and right drive motor driving the front end side of the welding torch in the vertical and horizontal directions, and a fulcrum tool that supports the base end side of the welding torch, and displacement meter sensor means that is mounted at a fixed position and detects the amount of displacement on the tip side of the welding torch;
The above object is achieved by comprising means for controlling the motors for the left and right parts ηb so that the vibrations on the tip side of the welding torch oscillate within a set displacement range according to the output of the displacement meter sensor means. 17 in order to be achievable.

Embodiments of the present invention will be described below with reference to the drawings.

In FIG. 2, 4 is an object to be welded, and 5 is a welding torch. A tracing roller 6 is provided on the tip side of the welding torch 5, which allows the welding torch 5 to move smoothly over the object 4 to be welded, 1 and to avoid contact with the object 4 to be welded.
It is something that should not be used. The base end side of the welding torch 5 is supported by fulcrums 7, 7 within the holding device. The fulcrum 7.7 serves as a fulcrum when the tip side of the welding torch 5 vibrates.

Next, reference numerals 9 and 1o are non-contact displacement sensors provided at fixed positions, which are used to determine the amount of displacement of the welding torch 5 relative to the welding object 4.

In addition, motors (@naguru-bo motor, stepping motor, etc.) 11 and 12 move the welding torch 5 to Y.

This is for moving in two directions (indicated by arrows). In addition, the potentiometers 13 and 14 are connected to the welding torch 5.
This is only for determining the overall position of the object. Further, when the welding torch 5 moves in the X direction (indicated by an arrow), for example,
This is possible because the movable trolley (not shown) described in No. 205618 moves the entire body. 1 the above motor IJ, 12, potentiometer 1'
3, 14, displacement meter sensors 9, 1θ, etc. are connected to the control device (2
? - connected to a personal computer (not shown) for control and signal detection. This results in automatic welding.

Next, the operation of the automatic welding device described above will be explained. welding torch 5
When the welding torch 5 is in a free state where it is not in contact with the welding object 4, even if the motors 11 and 12'f are driven, the welding torch 5 as a whole only moves in parallel, and the displacement meter sensors 9 and 1o and the welding torch 5 The distance does not change. Therefore, the output voltages of the displacement sensors 9 and 10 do not change.

Now, when the two-way control motor 12 is driven to lower the welding torch 5 (in the two arrow directions in FIG. 2), the copying roller 6 comes into contact with the welding object 4. When the welding torch 5 is further lowered at this stage, the welding torch 5 is displaced around the fulcrums 7, 7, so that the distance between the displacement meter sensor 9 and the welding torch 5 becomes narrower than the distance between the displacement meter sensor 9 and the welding torch 5. The output voltage also increases. This output is input to the control device and is used as information for determining the pressing force of the welding torch 5.

Similarly, in the Y direction, when the motor 11 is driven to vibrate the welding torch 5, the output voltage 9 of the displacement meter sensor 10 and the amount of displacement can be determined. In this invention, as described above, displacement information of the welding torch 5 in the Y direction and two directions can be obtained.

Next, the control operation of the above system will be explained with reference to FIG. The motors 11 and 12 are controlled via a control device, and the control device includes displacement meter sensors 9 and 1.
The control amount of the motors 11 and 12 is set based on the output information of 0.

When welding work is started (step S1), the entire welding torch 5 is first lowered, and then the copying roller 6 is lowered until it comes into contact with the object 4 to be welded. This can be detected because the output of the displacement sensor 9 changes. Next, the entire welding torch 5 is raised, and the welding torch 5 is set in a floating state.

This is a position where there is no problem in vibrating the welding torch 5 vertically and horizontally. The degree to which the welding torch 5 is floating can be determined based on the state in which the welding torch 5 is in contact with the object to be welded and how much the mortar 12 is rotated.

When determining the force 1 to which the welding torch 5 is floating,
From this determination result, to what extent can the force 1 vibrate the welding torch 5 vertically and horizontally? can be judged. This is done by recognizing in advance the shape of the part of the object 4 to be welded, and setting the degree of floating of the welding torch 5 in correspondence with the allowable range for photographing in the memory circuit. It is possible by

Next, during welding, five welding torches are vibrated in the Y direction, and the amount of displacement of the sensor voltage at that time is set in advance. (Step S2) and step (S3) are
The sensor voltage in a free state in which the welding torch 5 is floating is also stored. Next, the process moves to step (S4), and it is determined whether or not the force that causes the welding torsion and -5 to vibrate in the Y direction is 1. If the force is to be vibrated, the process moves to step (S5), and whether or not the motor 11 is rotating in the forward direction is determined. A determination is made whether or not. If the motor 11 is rotating in the normal direction, in step (S6), it is determined whether the displacement amount of the sensor voltage exceeds the set displacement amount with respect to the current direction of movement. If the displacement exceeds the set displacement amount, the transfer motor 11 is rotated in the reverse direction at step (S7). On the other hand, when it is determined in Stella 7' (S5) that the motor 11 is in the reverse direction, the process moves to Stella 17'' (S8), and the sensor voltage is Determine whether the displacement amount exceeds the set displacement amount.

will be done. This movement is continued until the displacement amount of the sensor voltage exceeds the set displacement amount, and when the displacement amount exceeds the set displacement amount, the process moves to step (S9) and the motor 11 is switched to normal rotation.

As mentioned above, this system controls the welding torch 5 position in two directions with a displacement vJ that does not interfere with welding.
Since the configuration is such that control can also be performed in the Y direction, amplitude control can be performed in the Y direction as shown in FIG.

In other words, the welding torch 5
It is possible to control the one-stroke movement range 20.21 of . The present invention can be applied to systems such as product names, impellers, compressor casings, blowers, etc. According to the present invention described above, the displacement of the sensor voltage of the displacement meter sensor provided opposite to the base end side of the welding torch The amount of displacement on the tip side of the welding torch is accurately detected using the amount of displacement, and the left and right drive motor 1 is
1, the width of the vibration in the left and right direction can be changed depending on the height when the welding torch 15 is in a floating state and in a descending state. Therefore, compared to a case where the vibration width is constant, the load on the motor can be reduced when the welding torch is lowered.

Also, with this control, melt 4! No excessive force is applied to the torch, etc., which is preferable as a protection measure.

Furthermore, since the displacement meter sensor is provided on the base end side of the welding torch, which is away from the front end side, the structure is also effective for protection from arcs. Furthermore, it is easy to set the vibration width narrowly, and it is sufficiently applicable to profile welding of narrow grooves.

[Brief explanation of the drawing]

FIG. 1 is an explanatory diagram of an arc output section in a conventional welding device, FIG. 2 is an explanatory diagram of a configuration showing an embodiment of the present invention, and FIG.
The fourth figure is an explanatory diagram for explaining the effects of the present invention, and the fourth figure is an explanatory diagram for explaining the control operation of the apparatus of the present invention. 4... Welding object, 5... Welding torch, 6... Copying roller, 7... Fulcrum, 9.10... Displacement meter sensor, 11.12... Motor, 13.14. ...Potentiometer.

Claims (1)

[Claims] a fulcrum supporting the base end side of the welding torch; a vertical drive motor and a left/right drive motor driving the distal end side of the welding torch vertically and horizontally; and a fixed position facing the base end side of the welding torch. displacement meter sensor means attached to the welding torch for detecting the amount of displacement on the tip side of the welding torch, and the tip side of the welding torch vibrates within a set displacement amount according to the output of the displacement meter sensor means. An automatic welding device characterized by comprising: means for controlling the left and right drive motors.