JPS6161903B2 - - Google Patents

Description

[Detailed description of the invention] The present invention relates to an automatic welding device and a welding method,
The present invention relates to an automatic welding device and a welding method particularly suitable for welding work in narrow welding locations.

As a recent advanced automatic welding technology, a method has been proposed that uses an automatic welding device with an arc welding torch attached to the tip of an articulated arm with a rotating joint, and performs automatic welding by moving the torch along the welding line. has been done. Although this conventional technique is relatively flexible in welding workpieces (objects to be welded) of a wide variety of shapes, it is not suitable for welding operations in confined spaces. In other words, in conventional automatic welding equipment, the arm that holds the torch is constructed in an articulated manner, so it requires a large moving space to maneuver the torch, and it also takes a large amount of space to maneuver the welding core wire supplied to the torch. Requires moving space. Therefore, when welding multiple rib plates within a curved plate, for example, the space formed between the curved plate and the rib plates is small, so the torch portion must be inserted into the space. Even if it is possible to do so, it becomes difficult to move the narch along the welding line, and in the end, automatic welding cannot be realized in many cases in such a situation.

The present invention has been made in view of the actual situation in the prior art, and its purpose is to provide an automatic welding device and an automatic welding method that can realize the routing of a welding torch and welding core wire in a minimum moving space. It is about providing.

To achieve this objective, the automatic welding device of the present invention comprises: a support frame connected to a predetermined holding body and forming a main body; a swing device having a swing gear supported by the support frame; The welding torch is provided integrally with the rotary gear and rotates with the rotation of the rotating gear, holds the welding torch, moves the welding torch forward toward the object to be welded, and retreats the welding torch in the direction away from the object to be welded. a back-and-forth movement device, which is movable integrally with the back-and-forth movement device, and sends signals to control the forward movement, forward stop, backward movement, and backward stop of the back-and-forth movement device in accordance with contact with the workpiece to be welded, and contact with the object to be welded. A scanning sensor consisting of a contact electrode that outputs an output, and a scanning sensor that is rotatable in synchronization with each other.
The welding core wire is supplied to the welding torch in a state where the welding core wire is sandwiched, and the welding core wire feeding device has a pair of coal feeding rollers that rotate integrally with a turning gear, and the welding core wire is welded by the pair of feeding rollers. The position where the core wire is held is set on the center of rotation of the swing gear.

Further, the automatic welding method of the present invention includes an automatic welding device including the above-described tracing sensor, a back-and-forth movement device, a swivel device having a swivel gear, and a welding core feeding device having a pair of feeding rollers, which is made of a curved plate. The object to be welded is placed at a predetermined reference position in the internal space surrounded by the curved plate, and in this state, the swing gear is rotated in one direction to move the welding torch to the welding start point via the forward and backward movement device. The welding torch is rotated to the position, and then the forward and backward moving device is advanced until the copying sensor contacts the workpiece to be welded, the position where the copying sensor contacts is set as the welding start point, and welding current is applied to the welding torch,
The welding torch is rotated along a predetermined welding line to the welding end point by rotating the swing gear in the opposite direction to the above-mentioned one direction through the forward and backward movement device, and the welding torch is rotated from the welding start point to the welding end point. While rotating, the welding torch intermittently performs welding, and the signals output depending on whether the scanning sensor contacts or does not contact the object to be welded causes the forward and backward movement device to move backward, stop backward, move forward, and move forward. The welding core wire is fed to the welding torch by repeatedly stopping and rotating the feed roller at the same time.

Hereinafter, the present invention will be explained based on the drawings. First, the automatic welding apparatus of the present invention will be explained, and then the automatic welding method of the present invention will be explained.

FIG. 1 is a perspective view showing an example of the arrangement of an automatic welding device of the present invention. In this figure, 1 is an automatic welding device, 2 is a holder, that is, a slide arm, which is attached to the tip of the automatic welding device 1 and is movable back and forth, and 3 is a vertical slide block that movably holds the slide arm 2. , can move up and down along the support column 4. Further, 5 is a workpiece having a U-shaped cross section and made of a curved plate forming the object to be welded, and 6 is five rib plates to be welded into this workpiece 5. This rib plate 6 is temporarily attached to the workpiece 5, for example. A positioner 7 holds the work 5, and holds the work 5 rotatably.

FIG. 2 is a perspective view showing an embodiment of the automatic welding apparatus of the present invention, and FIG. 3 is a partially cutaway perspective view of the embodiment shown in FIG.

2 and 3, 8 is a welding torch, and 9 is a tracing sensor provided on this welding torch 8 and used for positioning the welding torch 8, which is formed by a contact electrode. Further, 10 is a slide bar connection body in which the welding torch 8 is held, and 11 is a slide bar connection body 1 near one end.
A pair of slide bars fixed at 0, 12 a slide bar connection body to which the vicinity of the other end of each slide bar 11 is fixed, and 13 a pair of slide blocks into which the slide bar 11 is movably inserted. . This slide block 13 is fixed to a pivot ring 14. Further, 15 is a front sheave rotatably held by the slide bar connecting body 10, 16 is a rear sheave rotatably held by the slide bar connecting body 12, and 17 and 18 are front sheaves 15.
Sheaves 19 are arranged between the rear sheave 16 and the rear sheave 16 and above and below each other.
It is a wire cable wound around 5, 16, 17, and 18. This wire cable 19 is connected to the front sheave 15, the rear sheave 1,
Sheaves 17 and 18
The end is wrapped around the clamp piece 2 twice.
0 and 21 are fixed to the sheaves 17 and 18, respectively.

Further, in FIG. 3, 22 is a bevel gear that rotates coaxially with and integrally with the sheave 18, and 23 is a bevel gear that rotates coaxially and integrally with the sheave 17.
Further, 24 is a bevel pinion engaged with both bevel gears 22 and 23, and this bevel pinion 24
By rotating the bevel gears 22, 23
rotate in opposite directions. Note that 25 is a drive shaft that rotates the bevel pinion 24.

The slide bar coupling bodies 10, 12, slide bar 11, slide block 13, front sheave 15, rear sheave 16, sheaves 17, 18, wire cable 19, bevel gears 22, 23, bevel pinion 24, and drive shaft 25 are as follows: welding torch 8
It constitutes a back-and-forth movement device that moves back and forth. The above-mentioned scanning sensor 9 outputs a signal for controlling the forward movement, forward stop, backward movement, and backward movement stop of the back and forth movement device depending on whether the workpiece 5 is in contact or not.

In the back-and-forth motion device configured in this way, the tip of the copying sensor 9 is grounded on the workpiece 5 near the location to be welded.
An electric signal is output from the welding torch 8, and by processing the output signal, the forward and backward movement device is activated to position the welding torch 8 along a predetermined welding line.
and can guide you.

Also, the bevel pinion 24 is connected via the drive shaft 25.
, thereby rotating the bevel gear 22, for example.
By rotating the bevel gear 23 counterclockwise in FIG. 3 and clockwise, the sheave 18 and the sheave 17 are rotated counterclockwise and clockwise, respectively. At this time, as shown in FIG. 4, the wire cable 19 located on the front sheave 15 side
The wire cable 19 that is wound up by the rear sheave 16 and located on the rear sheave 16 side is pulled out in the direction of the rear sheave 16. In this case, since the slide block 13 is fixed to the turning ring 14, the front sheave 15 is is arrow 26 in Figure 4.
As shown, the welding torch 8 moves in the direction of the sheaves 17 and 18, and as a result, the slide bar coupling body 10, slide bar 11, and slide bar coupling body 12 move backward together with the front sheave 15, and the welding torch 8 retreats. .

Contrary to the above, when the bevel gear 22 is rotated clockwise in FIG. 3 and the bevel gear 23 is rotated counterclockwise, the sheave 18 is rotated clockwise and the sheave 17 is rotated clockwise.
rotates counterclockwise. At this time, as shown in FIG. 4, the wire cable 19 located on the rear sheave 16 side is wound around the sheaves 17 and 18, and the wire cable 19 located on the front sheave 15 side is pulled out in the direction of the front sheave 15. . In this case, the rear sheave 16 moves in the direction of the sheaves 17 and 18 as shown by the arrow 27 in FIG. 4 due to the traction force when the wire cable 19 is wound up. The slide bar coupling body 12, the slide bar 11, and the slide bar coupling body 10 move forward together with the sheave 16, and the welding torch 8 moves forward. Note that the forward and backward moving speed of the welding torch 8 at this time is set to, for example, about 5 mm/sec.

Further, in FIGS. 2 and 3, reference numeral 28 denotes a swing gear, which is integrally fixed on the above-mentioned swing ring 14 and is coaxial with this swing ring 14, the above-mentioned bevel gears 22, 23, and sheaves 17, 18. It is located in The bevel gear 28 is supported by a support ring 30 via a pivot bearing 29, and the support ring 30 is supported by a support frame 31 forming the main body of the automatic welding device. Further, 32 is a turning gear 28
A spur gear 33 engages with this spur gear 3.
2 is a bevel gear that rotates coaxially with the spur gear 32 and integrally with the spur gear 32, 34 is a bevel pinion that rotates the bevel gear 33, and 35 is a drive shaft that rotates the bevel pinion 34. The support frame 31 that supports the support ring 30 is connected to a support bracket 37 attached to the tip of the slide arm 2 via a support pin 36.

The above-described swing ring 14, swing gear 28, swing bearing 29, support ring 30, spur gear 3
2, the bevel gear 33, the bevel pinion 34, and the drive shaft 35 constitute a turning device that turns the above-mentioned longitudinal movement device.

In the turning device configured in this way, the bevel pinion 34 is rotated via the drive shaft 35,
For example, when the bevel gear 33 is rotated clockwise in FIG. 3, the spur gear 32 is rotated clockwise,
Along with this, the swing gear 28 and the swing ring 14
rotates counterclockwise. And swivel ring 1
4, the slide block 13 constituting the longitudinal movement device rotates counterclockwise, thereby causing the slide bar 11, the slide bar connection body 10,
12 rotates, and the welding torch 8 pivots counterclockwise.

Further, contrary to the above, when the bevel gear 33 is rotated counterclockwise in FIG.
And the turning ring 14 turns clockwise. As the rotation ring 14 rotates, the slide block 13 rotates clockwise, thereby causing the slide bar 11 and the slide bar coupling bodies 10 and 12 to rotate.
rotates, and the welding torch 8 turns clockwise.

Incidentally, as the above-described rotation ring 14 rotates, that is, the slide block 13 rotates, the slide bar coupling bodies 10 and 12 rotate.
Since the rotation center of the swivel ring 14 and the rotation centers of the sheaves 17 and 18 coincide, the sheave 17,
The amount of wire cable 19 wound up by sheave 18 and the amount of wire cable 19 pulled out from sheaves 17, 18 are always the same, therefore, during this turning operation, neither the front sheave 15 nor the rear sheave 16 In other words, the welding torch 8 does not move in the front-back direction. Therefore, the swinging motion does not have any effect on the back-and-forth movement of the back-and-forth movement device, and highly accurate swing control and back-and-forth movement control of the welding torch 8 can be realized.

Further, in FIGS. 2 and 3, reference numeral 38 denotes a feed roller support stand integrally provided with the turning gear 28 of the above-mentioned turning device, and 39 and 40 respectively indicate main feed rollers rotatably attached to the feed roller support stand 38. roller, auxiliary feeding roller. These main feeding rollers 39,
The auxiliary feeding rollers 40 rotate synchronously while sandwiching the welding core wire, that is, the wire 41 and meshing with each other, to feed the wire 41 to the welding torch 8 . The position where the wire 41 is held between the feed rollers 39 and 40 is set on the center of rotation of the swing gear 28, as shown in FIGS. 5a and 5b.
Further, 42 shown in FIG. 3 is a spur gear coaxially fixed on the main feed roller 39, 43 shown in FIG. 2 is a spur gear that engages with this spur gear 42, and 44 is a spur gear 43. A bevel gear 45 is provided coaxially and integrally with the bevel gear 44, and a bevel pinion 45 rotates the bevel gear 44.
6 is a drive shaft that rotates this bevel pinion 45. In addition, spur gear 43, bevel gear 4
4, the bevel pinion 45 and the like are supported by a feed drive unit support 47, and this feed drive unit support 4
7 is fixed to a support frame 31.

The above-mentioned feeding roller support stand 38, main feeding roller 39, auxiliary feeding roller 40, spur gears 42, 4
3, the bevel gear 44, the bevel pinion 45, and the drive shaft 46 constitute a welding core wire feeding device that feeds the wire 41 to the welding torch 8.

In the welding core wire feeding device configured in this way, when the drive shaft 46 is rotated to rotate the bevel pinion 45 and thereby the bevel gear 44 is rotated clockwise in FIG. 4
4, the main feed roller 39 rotates in the direction of the arrow 48 in FIG. 49 direction, thereby feeding the wire 41 to the welding torch 8 as shown by the arrow 50. Note that the wire feeding speed at this time is set to, for example, about 150 mm/sec. When the swing gear 28 is rotated in the direction of the arrow 51 in FIG.
Since the position where the wire 41 is held by the wire 40 coincides with the position where the wire 41 is held by the wire 40, as shown in FIG.
is bent along the outer periphery of the auxiliary feeding roller 40,
It is sent to welding torch 8 as indicated by arrow 52.
Further, when the swing gear 28 is rotated in the direction opposite to the direction of the arrow 51 in FIG.

Therefore, with this welding core wire feeding device, the wire 41 can be bent at an extremely small radius determined by the diameters of the main feeding roller 39 and the auxiliary feeding roller 40, and without twisting or the like. It can be stably sent to the welding torch 8.

In addition, 53 in FIG. 1 is a drive motor arrangement part, which includes, for example, a motor for moving the torch back and forth to rotate the drive shaft 25, a motor for rotating the torch to rotate the drive shaft 35, and a wire feeder for rotating the drive shaft 46. and a motor for moving the arm back and forth to move the slide arm 2 in the front and back direction, and a vertical slide block 3, that is, the slide arm 2.
A motor for moving the arm up and down is installed.

Although not specifically shown, the longitudinal movement device is equipped with a longitudinal position sensor that detects the position in longitudinal movement and outputs a signal, and the swing device is equipped with a turning angle sensor that detects the turning angle and outputs a signal. ing. Each motor and each sensor described above is
As shown, it is connected to a control unit 54 having storage, comparison, arithmetic functions, and a timer.

Next, an example of a welding method using the automatic welding device configured as described above will be explained using an explanatory diagram schematically illustrating the operation mode shown in FIG. 7 and a flowchart shown in FIG. do.

In addition, as shown in FIG. 1, the automatic welding device 1 is
For example, assume that three units are arranged, and as shown in FIG. shall be carried out.

Further, prior to the welding operation, settings as shown in FIG. 8a are made in the control device 54 shown in FIG. 6. That is, with a predetermined position of the welding torch 8 before turning as a reference position, setting a starting turning angle that is a rotation angle from this reference position to a welding start point;
Setting the end rotation angle, which is the rotation angle from the welding end point to the above reference position. and the setting of the vertical position of the first arm for arranging the three automatic welding devices 1 so as to fit each of the top three rib plates 6 of the workpiece 5 shown in FIG. Setting the vertical position of the second arm for arranging two of the three automatic welding devices 1 so as to fit each of the two rib plates 6 from the bottom of the workpiece 5 shown in FIG. 1, and the workpiece shown in FIG. This is the same as setting the vertical position of the third arm to arrange the three automatic welding devices 1 so as to fit each of the top three rib plates 6 of the workpiece 5 when the workpiece 5 is rotated by 180 degrees. When workpiece 5 is rotated 180 degrees,
Setting the upper and lower positions of the fourth arm in which two of the three automatic welding devices 1 are arranged so as to fit each of the two rib plates 6 from the bottom of the workpiece 5. and setting of the arm forward position, which is the position of the slide arm 2 when the welding torch 8 is advanced to the reference position within the workpiece 5. and setting of the welding speed, which is the rotation speed of the welding torch 8 during welding.

Note that the value used to determine whether or not to rotate the workpiece 5 by 180 degrees from the state shown in Figure 1 is N (=1, 2).
The value used to judge the vertical position of the arm is K (=
1, 2, 3, 4).

First, N=1 and K=1 are input to the control device 54 as initial values, and the determination in step 100 of FIG. 8a is performed. In this procedure 100, N-1>
A determination of 0 is made, but since N=1 now, this determination is not satisfied and the process moves to step 101. In step 101, the positioner 7 is appropriately rotated to position the workpiece 5 in a vertically erected first position as shown in FIG. 1, and then the process moves to step 102. In step 102, it is determined whether the workpiece 5 has been positioned in the first position, and if the first position is not satisfied, the process returns to step 101. If the judgment in step 102 is satisfied, the process moves to step 103.

In step 103, it is determined that K-2>0, but since K=1 now, this determination is not satisfied and the process moves to step 104. In step 104, it is determined that K-1>0, but now K=1
Therefore, this judgment is not satisfied and step 105
Move to. In step 105, the automatic welding device 1
A signal is output from the control device 54 to the arm vertical movement motor so that the arm reaches the vertical position of , and the vertical slide block 3 , that is, the slide arm 2 moves along the column 4 . Next, the process moves to step 106, in which it is determined whether each of the upper and lower slide blocks 3 has reached the first arm up or down position. If this judgment is not satisfied, step 1
Return to 05. If this judgment is satisfied, the process moves to step 107 in FIG. 8b.

In step 107, the control device 54 outputs a signal to the motor for moving the arm back and forth, thereby moving the slide arm 2 forward toward the workpiece 5 as shown in FIG. 7a. Next, proceed to step 108,
It is determined whether the slide arm 2 has reached a preset arm forward position. If this judgment is not satisfied, the process returns to step 107. If this judgment is satisfied, each of the automatic welding devices 1 has reached the reference position within the workpiece 5, and step 1
09, the arm front and rear motors are stopped.

Next, the process moves to step 110, where the control device 54 outputs a signal to the torch rotation motor, thereby driving the drive shaft 35 of the rotation device as shown in FIG. The welding torch 8 is rotated to the left by rotating the turning gear 28 and turning the back-and-forth movement device. Then step 1
11, it is determined whether the welding start position has been reached, that is, whether the value of the signal output from the rotation angle sensor has become equal to a preset start rotation angle. If this determination is not satisfied, the process returns to step 110. If this judgment is satisfied, it means that the welding torch 8 has reached the position opposite the predetermined welding start point, and the process moves to step 112, where the torch rotation motor is stopped.

Next, the process moves to step 113, where a signal is output from the control device 54 to the torch longitudinal motor, thereby causing the drive shaft 25 of the longitudinal motion device to move as shown in FIG. 7c.
, bevel pinion 24, bevel gear 2
2 and 23 to rotate the sheaves 17 and 18, and the slide bar connection body 1 is rotated through the slide bar 11.
0 and 12, and the welding torch 8 is advanced. Next, the process moves to step 114, where it is determined whether a signal has been output from the scanning sensor 9 to the control device 54, that is, whether the scanning sensor 9 has been grounded to a portion of the workpiece 5 corresponding to a predetermined welding start point. If this judgment is not satisfied, the process returns to step 113. If this judgment is satisfied, proceed to step 115,
Stop the motor for moving the torch back and forth.

Next, the process moves to step 116, where welding current is applied and welding is started. Next, the control shown in FIG. 8c is performed. First, in step 117, the torch turning motor is activated to turn the welding torch 8 to the right as shown in FIG. 7d. The turning speed at this time is
This is a preset welding speed. Next, the process moves to step 118, where it is determined whether the copying sensor 9 is energized, that is, whether the copying sensor 9 is in contact with the workpiece 5. If this judgment is satisfied, the process moves to step 119, where the torch forward and backward movement motor is activated to drive the drive shaft 25, reversely rotate the sheaves 17 and 18 via the bevel pinion 24 and bevel gears 22 and 23, and the slide bar 11 , the welding torch 8 is retreated from the welding line via the slide bar connection body 12. In other words, it performs backward control of the longitudinal movement device. Next, in step 120, it is determined whether the copying sensor 9 is energized. If this judgment is satisfied, the process returns to step 119. If this judgment is not satisfied, the process moves to step 121, where the motor for moving the torch back and forth is stopped, and the backward movement of the welding torch 8 is stopped. That is, based on the signal from the scanning sensor 9, the backward and forward movement device is controlled to stop backward. Next, the process moves to step 122, where the timer of the controller 54 is activated, and
After counting the predetermined time, the process moves to step 123. The predetermined time at this time is a non-welding time during which welding by the welding torch 8 is not performed. Then this step 123
Then, it is determined whether the welding torch 8 has reached the welding end point. If this judgment is not satisfied, the process returns to step 117 above.

Note that if the judgment in step 118 above, that is, the judgment as to whether the copying sensor 9 is energized, is not satisfied, the process moves to step 124, where the torch longitudinal movement motor is activated, the longitudinal movement device is moved forward, and the welding torch 8 is moved forward. advance in the direction of the weld line. Next, the process moves to step 125, where it is determined whether or not the scanning sensor 9 is energized. If this determination is not satisfied, the process returns to step 124. If this judgment is satisfied, it means that the copying sensor 9 has touched the workpiece 5, and the process moves to step 126, where the total back-and-forth movement motor is stopped and the welding torch 8 is stopped from moving forward.
That is, forward control of forward and backward movement is performed based on the signal from the copying sensor 9. Next, the process moves to step 127, where the timer of the control device 54 is activated, and after counting a predetermined period of time, the process moves to step 123 described above. The predetermined time at this time is the time during which welding by the welding torch 8 is performed. Welding is performed intermittently in this manner.

Note that while the welding torch 8 described above rotates along a predetermined welding line, a drive signal is simultaneously output from the control device 54 to the wire feeding motor, thereby driving the wire feeding motor. A shaft 46 drives a bevel pinion 45, a bevel gear 44,
The feed roller 39 rotates via the spur gear 43 and the spur gear 42, and the feed roller 40 rotates in synchronization with the rotation of the feed roller 39, whereby the wire sandwiched between the feed rollers 39 and 40 is rotated. 41 is sent to the welding torch 8. In this case, as described above, the wire 41 is constantly fed at a speed of about 150 mm/sec, whereas the welding torch 8 is moved back and forth at a speed of about 5 mm/sec via a back and forth movement device, and the wire 41 is fed at a speed of about 5 mm/sec. The feeding speed changes relatively as the welding torch 8 moves back and forth, but the amount of change is (5/150) x
It is about 100≒3.3 (%) and does not cause any trouble to welding work.

Furthermore, as described above, by rotating the welding torch 8 while grounding the copying sensor 9 on the workpiece 5 at predetermined intervals, it is possible to prevent wear and tear on the tips of the copying sensor 9 and the welding torch 8, and to prevent malfunctions due to this wear. It is possible to prevent this, and it is possible to perform welding work with high precision.

If step 123 is satisfied, that is, when the welding torch 8 reaches a predetermined welding end point, the process moves to step 128 in FIG. The welding operation will be stopped and the welding work will be completed. Next, the process moves to step 129, where the torch back and forth movement motor is operated to move the back and forth movement device backward, and the welding torch 8 is moved back as shown in FIG. 7f. Next, the process moves to step 130, in which it is determined whether the welding torch 8 has returned to a predetermined position based on the signal output from the longitudinal position sensor.
If this judgment is not satisfied, the process returns to step 129.
If this judgment is satisfied, the process moves to step 131, where the motor for moving the torch back and forth is stopped, and the backward movement of the welding torch 8 is stopped.

Next, the process moves to step 132, in which the torch rotation motor is operated to rotate the rotation gear 28, and the process shown in FIG.
Turn the welding torch 8 to the left as shown in FIG. Next, the process moves to step 133, where it is determined whether the welding torch 8 has returned to the reference position, that is, whether the value of the signal output from the rotation angle sensor has become equal to the preset end rotation angle.
If this determination is not satisfied, the process returns to step 132.
If this judgment is satisfied, the process moves to step 134,
The torch rotation motor is stopped to stop the welding torch 8 from rotating.

Next, the process moves to step 135, where the motor for moving the arm back and forth is activated, and the slide arm 2 is moved back from the workpiece 5, as shown in FIG. 7h. Then, the process moves to step 136, where it is determined whether the slide arm 2 has retreated to a predetermined retreat end. If this judgment is satisfied, the top three rib plates 6 in FIG.
This means that welding on the top surface of
The process moves to step 137.

In step 137, the calculation K=K+1 is performed. Now, since K=1, here K=1+1
=2. The process then moves to step 138, where it is determined whether K is 2 or 4. Now K=2
Therefore, this judgment is satisfied and the process moves to step 103 in FIG. 8a described above.

In step 103, it is determined that K-2>0, but since K=2 now, this determination is not satisfied and the process moves to step 104. In step 104, it is determined that K-1>0, but now K=2
Therefore, this judgment is satisfied and step 13
Move on to 9. In this step 139, the arm vertical movement motor is operated to lower the slide arm 2 to the second arm vertical position,
Proceed to step 140. When the judgment in step 140 is satisfied, that is, when the slide arm 2 is positioned at the second arm upper and lower positions, the process moves to step 107, and the same operations and welding operations as described above are performed.

In this way, the welding work on the upper surface portions of the bottom two rib plates 6 in FIG. 1, that is, all five rib plates 6, is completed.

Then, in step 137 of FIG. 8d, K=K+1
However, since K=2 now, K=2+1=3, and the process moves to step 138. In step 138, it is determined whether K is 2 or 4, but since K=3, this determination is not satisfied and the process moves to step 141.
In this step 141, the calculation N=N+1 is performed, but since N=1 now, N=1+
1=2, and the process moves to step 142. In step 142, it is determined that N-2>0, but since N=2 now, this determination is not satisfied and the process returns to step 100 of FIG. 8a described above.

In this procedure 100, it is determined that N-1>0, but since N=2 now, this determination is satisfied and the process moves to procedure 143. In this step 143, the workpiece 5 is rotated 180 degrees from the state shown in FIG.
Grafting is done by turning the crop upside down. Next, the process moves to step 144, in which it is determined whether the workpiece 5 has reached the second position where it is completely inverted by 180 degrees and is erected. If this judgment is not satisfied, the process returns to step 143. If this judgment is satisfied, the process moves to step 103.

In this step 103, it is determined that K-2>0, but since K=3 now, this determination is satisfied and the process moves to step 145. In step 145, K-3
>0 is determined, but since K=3 now, this determination is not satisfied and the process moves to step 146.
In this step 146, the arm vertical movement motor is activated to move the slide arm 2 up and down corresponding to each of the three rib plates 6 from above so as to reach the third arm vertical position. . Next, proceed to step 147, and slide arm 2
It is determined whether the arm has reached the third vertical position. If this determination is not satisfied, step 146
Return to If this judgment is satisfied, the process moves to step 107 described above, and the same operations and welding work as described above are performed.

In this way, the welding work of the upper and lower surfaces of the top three rib plates 6 of the workpiece 5 is completed.

Then, in step 137 of FIG. 8d, K=K+
1 is performed, but since K=3 now, K=3+1=4, and step 13
Move on to 8. In this step 138, K is 2 or 4.
Since K=4, this judgment is satisfied and the process moves to step 103 in FIG. 8a described above. In this step 103, K
It is determined that -2>0, but since K=4 now, this determination is satisfied and the process moves to step 145.
In this step 145, it is determined that K-3>0, but since K=4 now, this determination is satisfied and the process moves to step 148. In this step 148,
Corresponding to each of the lower two rib plates 6, the arm vertical movement motor is activated to move the slide arm 2 up and down to the fourth arm vertical position. Then step 149
Then, it is determined whether the slide arm 2 has reached the fourth arm up/down position. If this determination is not satisfied, the process returns to step 148. If this judgment is satisfied, the process moves to step 107 described above, and the same operations and welding work as described above are performed.

In this way, the welding work of the upper and lower surfaces of the two rib plates 6 from the bottom of the workpiece 5 is completed.

Then, in step 137 of FIG. 8d, K=
An operation of K+1 is performed, and since K=4 now, K=4+1=5. Next, in step 138, it is determined whether K is 2 or 4, but since K=5 now, this determination is not satisfied and the process moves to step 141.

In this step 141, the calculation N=N+1 is performed, but since N=2 now, N=2+1
=3. Next, the process moves to step 142, and N-2>
A determination of 0 is made, but since N=3 now, this determination is satisfied and all operations are completed.

In this way, desired welds can be formed on the upper and lower surfaces of the five rib plates 6 of the workpiece 5 shown in FIG.

As described above, the present invention provides an automatic welding device that
The welding torch and welding core wire are formed by a copying sensor, a back-and-forth movement device, a turning device, and a welding core wire feeding device, and the welding core wire is configured so that it can be bent along the outer periphery of the feeding roller. This allows automatic welding to be carried out in narrow welding areas, which was difficult to do in the past.
This has the effect of improving the efficiency of welding work.

[Brief explanation of the drawing]

FIG. 1 is a perspective view showing an example of the arrangement of the automatic welding device of the present invention, FIG. 2 is a perspective view showing an example of the automatic welding device of the present invention, and FIG. 3 is an embodiment of the automatic welding device shown in FIG. FIG. 4 is an explanatory diagram illustrating the longitudinal movement mechanism of the longitudinal movement device provided in the embodiment shown in FIG. 2, and FIGS. FIG. 2 is an explanatory diagram illustrating the operation of the welding core wire feeding device included in the embodiment shown in FIG. Figures a to 7h and Figures 8a to 8d are explanatory diagrams showing one embodiment of the automatic welding method of the present invention, and Figures 7a to 7h schematically illustrate the operation mode. The illustrated explanatory diagrams, FIGS. 8a to 8d, are flowcharts showing the operating procedure. 1... automatic welding device, 2... slide arm, 3...
Vertical slide block, 5... Workpiece, 6... Rib plate, 8... Welding torch, 9... Copying sensor, 10, 1
2...Slide bar connection body, 11...Slide bar,
13...Slide block, 14...Swivel ring, 1
5... Front sheave, 16... Rear sheave, 17, 18... Sheave, 19... Wire cable, 20, 21... Clamp piece, 22, 23, 33, 44... Bevel gear, 24, 34, 45... Bevel pinion, 25,
35, 46... Drive shaft, 28... Swivel gear, 29... Swivel bearing, 30... Support ring, 31... Support frame, 32, 42, 43... Spur gear, 38...
Feed roller support stand, 39...Main feed roller, 40...
Auxiliary feeding roller, 41...Wire (welding core wire), 4
7... Feeding drive part support body, 54... Control device.

Claims (1)

[Scope of Claims] 1. A swing device having a support frame connected to a predetermined holder and forming a main body, a swing gear supported by the support frame, and a swing device provided integrally with the swing device, the swing gear being provided integrally with the swing device. a back-and-forth movement device that rotates as the welding torch rotates, holds the welding torch, advances the welding torch in a direction toward the object to be welded, and retreats the welding torch in a direction away from the object to be welded; A tracing sensor consisting of a contact electrode that is movable integrally with the moving device and outputs signals to control the forward/backward moving device to move forward, stop moving forward, retreat, or stop backwards depending on whether there is contact or non-contact with the object to be welded. and are provided so as to be rotatable in synchronization with each other,
a welding core wire feeding device configured to feed the welding core wire to the welding torch while holding the welding core wire therebetween, and having a pair of feeding rollers that rotate integrally with the swivel gear; An automatic welding device characterized in that the position where the welding core wire is held between the rollers is set on the rotation center of the swing gear. 2. A swivel device having a swivel gear, a back-and-forth movement device that rotates with the rotation of the swivel gear and moves the welding torch back and forth, a tracing sensor that moves integrally with this back-and-forth movement device and consists of a contact electrode, and a welding A welding method that includes a pair of feed rollers that feed the welding torch while holding the core wire, and that are arranged so that the holding position is located on the center of rotation of the swing gear, and that rotate integrally with the swing gear. An automatic welding device equipped with a core wire feeding device is placed at a predetermined reference position in the internal space surrounded by the curved plate of the object to be welded made of a curved plate, and in this state, the swing gear is rotated in one direction. The welding torch is rotated to the position corresponding to the welding start point via the back-and-forth movement device, and then the back-and-forth movement device is advanced until the tracing sensor contacts the workpiece to be welded, and welding starts at the position where the tracing sensor makes contact. point, apply welding current to the welding torch, rotate the swing gear in the opposite direction to the one direction, and swing the welding torch along a predetermined welding line to the welding end point via the forward and backward movement device. , while the welding torch rotates from the welding start point to the welding end point, the welding torch intermittently performs welding according to whether the scanning sensor contacts or does not contact the welded object. By the signal
An automatic welding method characterized in that the back-and-forth moving device is repeatedly moved backward, stopped backward, moved forward, and stopped forward, and at the same time, the feeding roller is rotated to supply a welding core wire to a welding torch.