JPS60244480A - Automatic welding equipment - Google Patents

Abstract

PURPOSE:To elevate a welding accuracy by grasping an actual welding line with a welding line detector provided to a welding torch and also by playing back with the amendment of the related data of the inside of a memory device. CONSTITUTION:A welding torch 7 is provided to welding line detectors 8, 9. The output of the detectors 8, 9 becomes zero when the distance between the tip thereof and mother materials 5, 4 reaches the prescribed value. Namely, the detectors 8, 9 detect respectively coordinates (x), (z) of a welding line 6. If an actual weldig line 11 moves to a welding line 10 stored in the memory device, the welding line detectors 8, 9 detect the movement of the welding line and correct the related data of the inside of the memory device. A welding is then performed with playing back. Due to a correct welding line being traced with this method, the accuracy in welding is elevated.

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Application of the Invention] The present invention relates to automatic welding equipment, and more particularly to a playback type automatic bath welding equipment that sequentially welds according to nine position data stored in a storage device.

[Background of the invention]

An example of a playback type welding machine control device will be explained with reference to FIG. 1. 1 is a storage device, 2 is an arithmetic control device,
3-1 to 33 are servo devices. Servo devices 31-3
3 is not shown in the figure, but the welding torch attached to the mechanism is connected to the operation console 20 provided in the arithmetic and control unit 2.
Positioning is performed according to the device commands consisting of: The operation console generally has a teach point designation switch 21. This can be obtained by the operator operating the manual input device of the control console, which is comprised of the check point designation switch 221, manual input device 23, and the like. Alternatively, the position data stored in the storage device 1 is read out by the arithmetic and control unit 2, and the position data is obtained by performing necessary calculations such as interpolation calculations based on this.

The method of operating an automatic welding machine with such a control device is as follows:
As is well known, first, the welding torch is manually positioned at a desired position, and the position data at that time is stored in the storage device 1. A series of movements of the welding torch necessary for welding work is thus stored in the storage device 1 as position data, and during automatic operation, the position data in the storage device is sequentially read out into the arithmetic and control device 2, and the data Performs necessary calculations such as interpolation calculations, and outputs position commands to the servo devices 31 to 33 one by one while selecting the drive axis according to the calculation results, and stores them in the storage device 1.
Welding is performed automatically according to the trajectory according to the position data stored in the machine.

By using such a playback type automatic welding machine, it is possible to manufacture a large number of products by repeatedly playing back products with the same specifications using position data that has been memorized once, but with almost no human intervention. This method does not have a function to detect and correct dimensional errors or installation errors for individual workpieces, and the welding line created by playback does not match the workpiece to the desired ideal welding line. It becomes something out of place. Such errors are not negligible for long objects, and even if welding is performed, the welding strength will drop sharply. However, the larger the workpiece, generally the higher the welding strength is required, and therefore it has been difficult to obtain an automatic welding machine that can perform high-quality welding using the playback method.

[Purpose of the invention]

SUMMARY OF THE INVENTION An object of the present invention is to provide an automatic welding apparatus that eliminates the drawbacks of the prior art described above and is capable of high-quality bath welding using a playback method.

[Summary of the invention]

The present invention includes a welding line detector, uses this welding line detector to search for an actual bath tangent line during playback, grasps accurate data of the welding line, and utilizes such accurate position data. Modify the related data stored in the storage device, playback based on the modified position data, operate the torch to accurately match the actual welding line, and perform high-quality welding work. This is what made it possible.

[Embodiments of the invention]

Next, the configuration of an automatic welding device according to the present invention will be explained with reference to the drawings. FIG. 2 is a diagram showing a detection situation by a weld line detector, in which the X and z axes are defined as shown, and the axis perpendicular to the plane of the paper is the y axis. The figure shows a case in which strawberry materials 4 and 5 are butted together and welded along a welding line 6 parallel to the y-axis, and base metal detectors 8 and 9 are attached to a welding torch 7. These base material adjusting devices 8 and 9, when the distance between the tip and the base material reach a certain distance,
The output becomes zero, and in this case, the base material detector 8
detects the X coordinate f: of the welding line 6, and similarly the base metal detector 9 detects the two coordinates of the welding line 6. In other words, these pair of base metal detectors constitute a welding line detector. , locate the weld line position with respect to the mark perpendicular to the bath tangent. The torch 7 equipped with such a welding line detector was driven at a slow speed in the X@ and Z-axis directions using the control device shown in FIG. 1, and the output signal of the base metal detector 8°9 became zero. If the axis is stopped at that point, the output of the position detector provided in the servo device indicates the exact position of the weld line 6.

Next, the operating method will be explained with reference to FIG. Figure 3 is xy
A case is shown in which a single bath tangent line on a plane is welded, and the storage device 1 stores position data regarding a welding line 10. In this case, the minimum required position data is al b, c,
There are four points, point d. In this case a-b, b-c, c-d
A point at which such data, which is a weld line segment, is stored is called a teach point. The position of the welding line 10 is memorized by these four teaching points, but when actually welding, due to installation errors of the workpiece, the actual bath tangent line is temporarily moved in parallel to the position shown by the broken line 11. Suppose there is. According to the present invention, in such a case, points e and f are memorized as check points for the operation of the contact torch, and before welding the welding line 10, the method explained in FIG. Check the actual position of the base material at the 98 points and the f point. As a result, it becomes clear that point e stored in the storage device has moved to point 07, and fA has moved to point f'. So these e, e', f.

By playing back two points in the X direction and the Y direction from the coordinates of the four points f', it is possible to melt away along a trajectory that exactly matches the actual weld line 11. In other words, in the lifting platform of the embodiment shown in FIG. 3, the opposing weld line c-d of a-1) is
Since it is sufficient to perform the correction for χ (=e' - e), there are only two check points, e and f.

As described above, according to the present 4G, in a play pack type automatic welding device, welding line position errors caused by processing errors, workpiece mounting errors, welding distortion, etc. can be corrected before welding. A line detector is used to search for the weld line, capture the position data of the weld line, and use this to correct the position data stored in the storage device, so when performing bath welding, it is necessary to check the exact weld line. It can be traced, high-quality welds can be obtained even on long items, and it is useful for saving labor in bath welding work.

The above explanation uses a weld line detector for fillet welding, but it is also possible to use a suitable weld line detector for welding such as butt welding. It can be implemented similarly.

In addition, the welding line detector is used not only to correct data during playback, but also during so-called teaching, in which necessary position data is written into a storage device, to efficiently memorize the work order. Can be done.

〔Effect of the invention〕

According to the present invention, highly refined welding can be performed.

[Brief explanation of drawings]

Fig. 1 is a block diagram of a control device for a playback type automatic welding machine, Fig. 2 is a diagram showing an example of a welding line detector used in the automatic welding device according to the present invention, and Fig. 3 is an explanatory diagram of the device of the present invention. It is.

Claims (1)

[Claims] 1. A plurality of drive shaft drive servo devices that position and drive the welding torch, a storage device that captures and stores the position data of the servo devices, and performs necessary calculations such as interpolation according to the position data in the storage device to determine the servo position. An automatic welding device comprising: an arithmetic and control unit for outputting a position command to the welding torch; and a position detection means for the welding torch, the automatic welding device being characterized in that the bath welding position is corrected during playback to perform welding.