JPS6133770A - Automatic horizontal fillet welding device - Google Patents

Abstract

PURPOSE:To execute fillet welding with uniform quality and high accuracy over the entire length of a weld line by providing a sensor which detects three- dimensionally the terminal shape of a work and controlling a welding torch to the programmed operating condition in accordance with the detection result thereof. CONSTITUTION:The sensor 8 is provided near the head part of the curved nozzle type welding torch 4 and detects three-dimensionally the terminal shape of the work W. The sensor 8 has sensor bars 8a, 8b, 8c. The bar 8a retreats the torch 4 to make a crater treatment according to the signal detecting the contact with another stiffener W2' disposed in contact with a stiffener W2 in the attitude orthogonal therewith. The bar 8b detects the terminal of the stifferner W2 from the release of the contact therewith and changes the direction and attitude of the torch 4 to the attitude facing the stiffener W2 to make a square boxing treatment when the stiffeners W2, W2' exist apart at a space from each other. The bar 8c retreats the torch 4 to make the crater treatment by detecting the depression formed to a flat plate W1 or stops the operation of the torch. The processing conforming to the program is thus executed.

Description

[Detailed Description of the Invention] Finished FIA is, for example, fillet welded with lip material stiffeners arranged in a lattice pattern on a flat plate, such as plate girders of ships, bridges, and various other structures. It is used for manufacturing, especially for ship hull structural members, which have a wide variety of welded end shapes such as scoop ends, clip ends, and slot parts. It is an object of the present invention to provide a suitable and simple robotic horizontal fillet automatic welding equipment.

What has been conventionally known as fillet self-help welding equipment (ig) has the following features: (a) Automatic downward movement by gravity along the sloped surface of the workpiece using the short hand on the equipment body, and A so-called gravity welding device performs welding while controlling the downward movement speed to be constant or almost constant by the tensile action of a welding rod that is pressed against the corners of all workpieces, and (b) a robot welding device using a feeding play pack method. There is.

However, the bait user (a) did the end treatment of the member himself.
There is a deafness that cannot be carried out and we have to replace each 41kl tree by welding.
Since the length of each welding rod is short, the weldable length per rod is short. < f9 Efficiency is poor because of frequent changes. If the welding rod length is not divisible by the welding line length, welding will be left over. There were many drawbacks such as.

Also, is the latter (b) a tedious and time-consuming teaching method for each work? Because the required row number range is limited, it would require a large number of expensive devices to improve efficiency, and the installation costs would be enormous.It would be difficult to configure the system to automatically detect various end shapes. This method has disadvantages in that it requires a large memory and a controller 9, which increases the cost of equipment per unit, and it takes a considerable amount of time to detect the edge.

The horizontal fillet automatic welding device according to the present invention, which was developed in view of the above circumstances, consists of two arms that are located parallel to each other within an inclined plane at a set target angle with respect to the horizontal fillet welding line, and A mechanism f for driving and swinging a parallel four-link mechanism constituted by links that pivotally connect the arms at least at both ends in the longitudinal direction around an axis perpendicular to the inclined surface; The lower end link of the parallel quadruple link mechanism that undergoes full link motion is parallel to the horizontal fillet weld line. A welding torch t-n is attached to the lower end link of the parallel four-link mechanism that moves in a straight line vlP, and the head of the welding torch is fixed at a corner of the workpiece. Alternatively, for almost constant pressing, a short roller that rotates while being in contact with force and a rotation speed detection tool are provided, and the moving speed of the welding torch is constant or almost constant based on the rotation speed detected by this detection tool. provided in the control device 1 for automatically controlling the operating speed of the drive mechanism so that it is maintained constant;
Further, a sensor for three-dimensionally detecting the end shape of the workpiece is provided in the head portion of the welding torch, and the welding torch is adjusted based on the detection result of this sensor. It has a characteristic configuration in that it is equipped with a control mechanism that automatically controls the operating state programmed in advance, and this has led to the effects listed below.

■ The mechanism for driving the welding torch along the horizontal fillet welding line corrects the distance movement of the welding torch relative to the welding line due to the parallel four-link mechanism and its link motion, and moves the welding torch along the welding line. Since it is constructed from a combination of a mechanism that moves the welding torch in a straight line at a position separated by a certain distance*1, for example, a horizontal guide frame T- longer than the entire length of the welding line is provided, and the welding torch is moved along this guide frame. The frame structure that supports the entire device is simpler than when a set of trolleys are driven in a straight line, and only needs to be light and small.Compared to conventional robot welding devices, the entire device is more compact, making it easier to transport to the site and store. It is easy to set and set.

■ Since the main driving mechanism is a parallel four-link mechanism, especially when a curved nozzle type torch is used, the forward or backward angle of the welding torch relative to the welding line (t) - a1 can be kept constant over the entire length of the welding tangent line. .

■ By installing a stiff roller on the head of the welding torch that rotates and presses the corner of the workpiece with constant or almost constant force, even if the workpiece may be slightly deformed due to thermal distortion, etc. The head of the welding torch can be reliably maintained at a set aiming angle with respect to the corner of the workpiece, that is, the welding line, and at a constant distance from the welding line.

■ ia based on the rotational speed detection result of the slow roller
Due to the automatic speed control of the drive beam structure, the moving speed of the welding torch along the welding line can be reliably maintained constant or almost constant.

■ The sensor t installed in the head of the welding torch detects the end shape of the workpiece three-dimensionally, and based on the detection result, the welding torch can be automatically operated according to programs such as crater geography and square winding geography. Therefore, two welding operations can be performed successively on workpieces having different end shapes, compared to a robotic welding device in which the end shape is taught each time one workpiece is welded.

As described above, the device of the present invention has a small capacity of 1L and a specific a
It has a function to accurately and automatically weld the fillet weld ends of structures (bonds, stays, etc.) according to the shape of the object, so one worker can handle several machines at the same time, increasing work efficiency. It is possible to reliably and accurately detect and determine the end shape of each workpiece and perform accurate terminal processing according to each shape, while achieving significant improvements and labor savings, and reducing the total equipment cost. It has become possible to realize fillet welding that can be performed automatically and that is uniform and highly accurate over the entire length of the weld line.

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

Figures 1 to 3 show the M factors of the entire automatic horizontal fillet welding device, where (l(2) is a frame frame, and the four corners of the lower horizontal frame (]Oθ) have movement ji, $Ith( The lower end horizontal frame α with which the river is attached
In the middle of the OA), there is a magnetic metal flat plate in front of the workpiece (B) (magnetic holder for fixing the device position by adsorption to the W). is provided, and on the left and right outer surfaces of the lower horizontal frame (10~), as shown in Figure 4, there are stiffeners (w) made of angle material, which is the other side of the workpiece (w).The installation position is determined by abutting against the inner surface (1) is a parallel four-link mechanism, which is used to connect the horizontal fillet weld line 16 of the workpiece (6).
Two arms located parallel to each other in an inclined plane with a set aiming angle (17) for a C banknote of 45 degrees
11, +1') and these two arms (1),
+1') is composed of links (IA:), (IIo!i) which are pivotally connected to each other at both ends of the ty arm in the hand direction. (2) is the front arm +1) in the parallel quadruple link mechanism (1). This is a mechanism in which the parallel quadruple link mechanism 11)' is reciprocated and reciprocated around the axis (1) by making a swing motion around the axis (3) perpendicular to the inclined surface. The framework frame (1
It consists of a DC servo motor (2A) fixedly supported at 1 and a gear pair (2B), (2B5). (3
) is the reciprocating part oscillates via the elrJ drive ridge structure (2)! I
A straight line in which the arm i11 of the bridge head of the parallel four-link machine undergoes J (link motion), and its leading part (lower end part) moves in parallel along the horizontal fillet method 1 tangent m1aLl. This is a mechanism for converting motion into motion, and it is composed of a torque motor with a linear head (3A). (4) is a welding torch, which has a holder (
4A) It is a curved nozzle type which is detachable and replaceable via 1 and has an advance angle (θ1) in the direction of welding progress. (W) is a short roller that comes into contact with the corner of the workpiece and rotates in conjunction with the link motion of the parallel four-speed link m1ll, which means that the head of the welding torch (4) is connected to the welding line. While always maintaining the aiming angle VAk as set with respect to the welding line t,
The distance M (1) from al It is configured as follows.

(6) is a pulse encoder (an example of a speed detection device) that detects the rotational speed of the roller (W) noted in 0II by measuring the number of pulses. , (15B) and (15C) are interlocked with the short roller (W), and
Based on the number of measured pulses (transverse rotational speed) K, the DC servo motor of the drive mechanism (2) (the number of pulses per unit time of the rotational speed C of the short roller (111) in the rotational speed 1 of 2 to 1) is calculated. A constant or almost constant constant
1 f! It outputs a command signal to a control device that controls the IJ (this is a very general feedback controller, so detailed explanation and drawings are omitted). 18)
is a sensor which is installed near the head of the curved nozzle type welding torch (4) and detects the end shape of the workpiece (W) three-dimensionally, and the welding process is performed based on the detection result of this sensor (8). It is configured to automatically control the torch (4) to a preprogrammed operating state, and specifically, it is not provided in a state that projects forward in the direction of welding progress, and is called a clip end. As shown in FIG. 10(A), < 6Tr stiffener (welding torch f4 in response to a contact detection signal to another stiffener (wI/) arranged in contact with another stiffener (wI/) in an orthogonal attitude to W)'! i-Sensor bar for performing crater geography with a slight setback (
8a) is called the h1 snip end, which is provided in a state that protrudes laterally with respect to the direction of welding progress, and as shown in FIG. When the stiffener (wa) is located with a gap between it and another stiffener (wll) arranged in
A sensor bar (8t )) It is provided in a downwardly protruding state and is called a slot portion, and is formed in the μ-shaped flat plate (W″) shown in s'io diagram (c). and a sensor bar (8C) for performing crater treatment by slightly retracting the entire welding torch (4) in response to the detection signal, or for automatically stopping the welding torch (4) production u1. position of the end in the direction of travel;
It is designed to detect and determine the shape and perform all terminal processing according to the program. Furthermore, each sensor? -(Ba)
, (F3h), and (8c) are shock sensors made of elastic material. ()) is the welding torch (
4) When the head is running welding, the welding line IJ1 is
It is a mechanism that can be freely switched between a zuging motion that reciprocates in the longitudinal direction with a constant amplitude and a quieping motion that reciprocates with a constant amplitude □ in a direction perpendicular to the longitudinal direction of the weld line. 1I11 parallel quadruple link mechanism 11> is attached to the lower end link (17IO). This switching mechanism (7) is connected to the DC motor by gear (171 A linear hex F that slides F in the axial direction of the shift gear HTh
A torque motor is installed and a cone clutch 09 is installed in front of the song P.
1 through a DC motor (a rotary member 121 that is interlocked with
1 and the other cone clutch 0
The rotating member that is interlocked with the groan, the torch holder (4A
) is fixed to one end in the axial direction and supported on the frame (7A) of the switching device LIT 17+ so as to be freely rotatable and slidable in the axial direction. The welding torch (4) can be arbitrarily switched between surging motion and weaving motion by selectively turning on and off the cone clutch (II, 01) via the linear head torque motor H1. It is a drum device that feeds the welding wire to the head of the welding torch (4), and is connected to the cable carrier (end) and parallel four-speed link mechanism (1). The arm is guided to the head of the welding torch (4) through a flexible tube Q71 disposed along the ladle.
The crawler link mechanism is capable of freely swinging within a small angular range limited by the stone A-(2) around the axis (7) which is orthogonal to the axes (X) and K. Yes, □This' is caused by thermal distortion of the workpiece (support) as welding progresses.

Change in aiming angle (θ)! I - Arrangement for absorption by a short device comprising the above-mentioned short roller (W).

Next, an overview of the automatic welding operation by the horizontal fillet automatic welding equipment configured as described above will be explained. Before fully operating the DC servo motor (2A) and torque motor (3), Quadruple link mechanism (1) to axis (X)
Ti! While making a swing motion, the welding torch (4)'s spatula F moves in parallel along the horizontal fillet welding line tlLl, converting it into a linear motion, and at the same time detecting the rotational speed of the roller (W). Based on the automatic speed control of the DC servo motor (2A), fillet welding is performed by moving the welding torch 141vc-welding line 1jLl at a constant speed. At this time, by switching the switching mechanism (7) to the forward motion side in advance according to the type, material, wall thickness, etc. of the workpiece (B), high-efficiency welding with good weld penetration by surging or quieping can be achieved. Perform any of a wide variety of overlay welding. Then, when the welding torch (4) moves to the end position of the welding line IJLI, the sensor (8) detects the end position of the workpiece (W) and detects the shape and sound to determine the position and shape of the workpiece (W) as described above in Figs. C)
Terminal processing for any one of the following? This leads to # execution.

In addition, in the device of the present invention, the front torch holder (4A
), it is also possible to replace the welding torch (4) with a cutting torch.

In addition, the F ram device (to) does not necessarily need to be set on a frame (tied), and may be used by placing it on the floor, etc. In this case, there is an advantage that the frame (lO) can be configured to be simple and small. be.

[Brief explanation of drawings]

Figure 81 is an overall front view, Figure 2 is an overall side view, Figure 3 is an overall plan view, Figure 4 is an enlarged side view of the main part, Figure 5 is an enlarged partially cutaway front view of the main part, Figure 6 ii' Figure 4 ■ A view in the direction of the arrows, Figure 7 is an enlarged view in the direction of the Figure 4 ■ Arrows, Figures 8 and 9 are a partially cutaway front view of the surging/weaving switching mechanism, and Figure 8 m 10(A) to 10(C) are explanatory diagrams showing examples of the shape of the end portion of the workpiece. fil... Arm, +21... Swing motion drive mechanism, (3)... Linear moss eye conversion mechanism, (4) Surface welding torch, 1a1...
...Horizontal fillet weld line, (i9)...Setting aiming angle, (Xl...Axis center.

Claims (1)

[Claims] [1] Set aiming angle (θ) with respect to the horizontal fillet weld line (a)
Two arms (1) located parallel to each other in the inclined plane of
, (1') and links (1A) and (1A') that pivotally connect these two arms (1) and (1') at least at both ends in the longitudinal direction. (1) is provided with a mechanism (2) for reciprocating drive and swing around an axis perpendicular to the inclined surface, and the drive mechanism (2)
Parallel four-link mechanism with link motion through (
1) is provided with a mechanism (3) that converts the motion so that its lower end link (1A') moves linearly in parallel along the horizontal fillet weld line (a), and a parallel quadruple link mechanism ( 1) Welding torch (
4), and a fleeting roller (6) that rotates and travels by contacting the head of the welding torch (4) with a corner of the workpiece (W) with a constant or almost constant pressing force, and detecting its rotational speed. A tool (6) is provided, and the operating speed of the drive mechanism (2) is adjusted so that the moving speed of the welding torch (4) is maintained constant or almost constant based on the rotational speed detected by the detection tool (6). a control device for automatically controlling the welding torch (4), and a sensor (8) for three-dimensionally detecting the end shape of the workpiece (W) in the head of the welding torch (4);
An automatic horizontal fillet welding device characterized in that it is provided with a control mechanism that automatically controls the welding torch to a preprogrammed operating state based on the detection result of the sensor (8). [2] The horizontal fillet automatic welding device according to claim [1], wherein the rotational speed detector (6) is a pulse encoder. [3] The automatic horizontal fillet welding device according to claim [1], wherein the welding torch (4) is a curved nozzle having an advancing angle (θ1). [4] The horizontal fillet automatic welding apparatus according to claim [1], wherein the sensor (8) is a shock sensor made of an elastic material and protruding forward, laterally, and downward in the welding progress direction.