JPS60180670A - Welding robot having double torch - Google Patents

Abstract

PURPOSE:To obtain the titled welding robot that shortens time for welding and prevents welding distortion by arranging welding torches at symmetrical positions on both sides of S-axis in the wrist part having S-axis and B-axis that control attitude of welding torches, and carrying out welding from both sides. CONSTITUTION:In the wrist part of a welding robot having S-axis 2 turned and controlled in the direction of the arrow B-B' by a motor incorporated in a bellows 10 and B-axis to which a welding torch 1 turned in the direction of the arrow A-A' by a motor 8 attached to it, another welding torch 11 is placed at symmetrical position to above-mentioned welding torch 1 with S-axis between. The welding torch 11 is provided on S-axis 2 through a shifting mechanism that shifts the torch linearly in the direction of the arrow C-C', a turning mechanism that turns the shifting mechanism in the direction of the arrow D-D' and a bracket 12. The welding robot makes horizontal fillet welding of weld lines 6, 7 between works 4, 5 from both sides simultaneously without causing welding distortion using above-mentioned welding torches 1, 11.

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a double-torch welding loget having two welding torches.

In general, the welding port? The kit consists of a wrist part that has one welding torch and controls the direction and posture of the welding torch, and an arm part that has a plurality of axes that control the position of the wrist part,
By controlling each of the axes, the welding torch is moved along a previously taught welding line.

An example of this type of welding robot is a welding robot as shown in FIG. This welding logget is a cantilever type welding logget that runs overhead.

It has an arm part with three orthogonal axes of y and z axes, a wrist part having a B axis 2 for rotating the welding torch 1, and a B axis 3 for swinging the welding torch.

With this welding loget, the workpiece 4 shown in FIG.
When welding between 5 @ 6 and 7 with horizontal fillet welding,
Since each welding line must be taught separately and each welded separately, there is a problem that not only does the teaching time and welding time become longer, but welding distortion is more likely to occur.

The present invention has been made in view of the above circumstances, and it is an object of the present invention to simultaneously weld the weld lines on both sides when performing fillet welding on both sides of a T-type joint, etc., thereby shortening the welding time and preventing the occurrence of welding distortion. The purpose is to provide a welding port with a double torch that can be used.

According to this invention (support), the S
At the wrist portion having an axis and B 5. Fillet welding on both sides is performed simultaneously using two welding torches.

Hereinafter, the present invention will be described in detail with reference to the accompanying drawings.

FIG. 3 is a perspective view showing an embodiment of the wrist portion of the welding logget with a double torch according to the present invention applied to the welding logget shown in FIG. 1. In the figure, welding torch 1 is B
A motor 8, which is attached to the shaft 3 and indexes the B-shaft 3, is controlled to rotate within a range of ±90° in the direction of the arrow A-A'. Further, the motor 8 is arranged on the S-axis 2 via a bracket 9.

Note that the S-axis 2 is rotationally controlled within a range of ±2700 in the force direction of arrow B-B' by a motor housed in the bellows lo.

Therefore, by controlling the S-axis 2 and B-axis 3, the welding torch 1 can take a desired attitude with respect to an arbitrary welding line.

On the other hand, the welding torch 11 moves along the arrow c
= c' A moving mechanism that moves linearly in the force direction, the moving mechanism is indicated by an arrow]) A rotating mechanism that rotates in the -o1 direction, and a bracket 12 that supports the rotating mechanism, and is disposed on the S-axis 2. The welding torch 11 is located in a symmetrical position with the welding torch 1 across the S-axis 2, and in the state shown in FIG. are in the same plane. Further, the welding torch 11 is fixed to the linear movement mechanism with an inclination of 45 degrees with respect to the S-axis 2, and the two-axis position of the tip thereof is determined when the welding torch 1 is rotated 45 degrees. Same as position.

Next, the linear movement mechanism and rotation mechanism of the welding torch 11 will be explained with reference to a sectional view of the main parts shown in FIG. 4.

The linear moving machine 414 mainly includes the motor 13 and the motor 13
A ball screw 14 rotated by a ball screw 14, a ball nut 15 fitted to the yy screw 14, and - a slider 16 that is fixed to the lug nut 15 and moves on the kite 17.

A welding torch 11 is attached to the slider 16 as shown by a one-point recording line.
is fixed, and when the slider 16 moves by the rotation of the screen 14, the welding torch 11 also moves linearly within a range of its fixed portion 11a.

1, the rotation mechanism mainly includes a rotating shaft 18 fixed to the linear moving machine 4+, j, and a bearing 19 that pivotally supports the rotating shaft 18.
, and a motor 20 fixed to the bearing 19 and rotating the rotating shaft 18. Note that the bearing 19 is fixed to the S-axis 2 by a bracket 12 (FIG. 3).

Therefore, when the rotating shaft 18 is rotated by the motor 20, the entire linear movement mechanism rotates around the rotating shaft 18.

Now, a case will be described in which horizontal fillet welding on both sides of a T-type joint or the like is performed using such a welding rope pit with a double torch. In this case, first, as shown in FIG.
The gap between welding torch 1 and welding torch 11 when rotated 45 degrees in the direction of the arrow (Fig. 3) is the plate thickness W of workpiece 5.
The position of the welding torch 11 in the direction of arrow C-C is adjusted by the linear movement mechanism so as to correspond to K. Then, the rotation mechanism is used to move the linear translation mechanism 'f, Fig. 3 or Fig. 5.
Rotate 90 degrees or 1800 degrees from the state shown in the figure.

This makes it possible to prevent the welding torch 11 from getting in the way when the welding torch 1 moves the welding line 6 (FIG. 2) during the teaching knob and when moving the welding line 6 at the starting end position 1 after teaching is completed. can.

Then, when the teaching of the welding line 6 is completed and the welding torch 1 is moved to its starting position, the linear movement mechanism is reversed by 90'' or 180° by the rotation mechanism, so that the welding torch 11 faces the welding torch 1. After that, arcs are started from welding torch 1 and welding torch 11 at the same time.

Here, the welding robot performs tracing control so that the welding torch 1 follows the welding line 4 according to the teaching data, and if there is a deviation between the teaching data and the actual welding line, the deviation is corrected. Welding torch 11
The welding torch 1 moves in the same way as the welding torch 1, and the thickness W of the workpiece 5 is constant, so the welding torch 11 can also move accurately on the welding line 7◎ Note that the welding torch 1 is equipped with an arc sensor. Weaving is performed to perform the tracing control used, and weaving is not performed for the welding torch 11, so it is necessary to set each welding condition (arc current, arc voltage) so that both welds have the same leg length. . Mochi Theory, Welding Torch 1
It is also possible to consider a welding mode in which no weaving is performed and no tracing control is performed.

Further, similarly to the B axis 3 of the welding torch 1, the welding torch 11
Pressure may also be provided to provide a mechanism for shaking. In this way, both the welding torch 1 and the welding torch 11 can be weaved if necessary, and the mutual attitude of the welding torch 1 and the welding torch 11 can be other than 45°. Furthermore, it is possible to avoid interference between the welding torch 11 and the workpiece (for example, move the welding torch 11 straight to the left end, then turn it counterclockwise 4 times).
If the welding torch 11 is rotated by 5 degrees, the welding torch 11 can be made horizontal.) The above-mentioned rotation mechanism becomes unnecessary.

In this embodiment, the welding torch 11 can be adjusted electrically, but it may also be adjusted manually when starting welding. Further, in this embodiment, the height of the workpiece 5 is limited to, for example, 250 cm or less, but this can be easily overcome if the welding torch 11 is mounted using a bracket of a desired shape. Furthermore, the welding ports to which the present invention can be applied are not limited to three-axis orthogonal types, but also various welding ports such as multi-joint types. As explained above, according to the present invention, since two welding torches are provided, two welding lines can be simultaneously welded (
Fillet welding on both sides) can be performed, reducing welding time. Further, teaching only needs to be performed for one welding line, and by controlling one welding torch, the other welding torch can also be substantially followed and controlled. Furthermore, since fillet welding is performed on both sides at the same time, there is an advantage that welding distortion and the like can be prevented from occurring.

[Brief explanation of the drawings] Fig. 1 is an external view showing an example of a conventional welding port M y );
Fig. 2 is a perspective view of a T-joint workpiece, Fig. 3 is a perspective view showing an embodiment of the wrist part of a welding robot with a double torch according to the present invention, and Fig. 4 is a detail of the mechanism shown in Fig. 3. FIG. 5 is a sectional view of a main part showing a welding mode using the apparatus of the present invention. 1.11...Welding torch, 2...B axis, 3...B
Axis, 4.5...Work, 6#7...Welding line, 8,
13.20...Motor, 9.12...Bracket,
14... Ball screw, 15... Gear nut, 17...-Slider, 19... Bearing. Figure 1 Figure 2 Figure 3

Claims (2)

[Claims] (1) In a welding robot equipped with a wrist portion having a B-axis and a B-axis for controlling the posture of a welding torch, and an arm portion having a plurality of axes for controlling the position of the wrist portion, the B-axis of the wrist portion is provided. 1. A welding rosette with a dasol torch, characterized in that a second welding torch is disposed at a symmetrical position sandwiching the S1141+ of the wrist portion with respect to the first welding torch disposed on the wrist. (2) The second welding torch connects the first welding torch to the first welding torch. B of the wrist portion is moved through a moving means for linearly moving the second welding torch along a straight line connecting the second welding torch, and a rotating means for rotating the moving means about an axis in the direction of the straight line.
A welding loget with a double torch according to claim (1), which is disposed on a shaft.