JPS62137176A - Automatic copying welding method for end edge of corrugated panel - Google Patents

Abstract

PURPOSE:To execute easily welding of a high accuracy by tack-welding an end edge of a corrugated panel and a flat member, and thereafter, detecting a relative position relation of both of them by a sensor, and executing the welding by a robot copying device in the course of correcting a position of a welding torch. CONSTITUTION:An end edge having irregularity, of a corrugated panel 1 is tack-welded to an edge member 2 in a specified position W. A shell structure material 4 of a container which has been tack-welded is fixed horizontally on a surface plate 3. The tip of a sensor 22 is moved by making it contact the uneven surface of the corrugated panel 1, and detected as a function of an X coordinate of the tip of a welding torch 18. This detected value is inputted as a signal to a welding robot 10, and welding is executed. By using this device, an automatic copying welding can be executed exactly.

Description

[Detailed Description of the Invention] [Field of Industrial Application] The present invention relates to a method for butt fillet welding a flat member to a flat member using a welding robot equipped with a device for copying the edge of a corrugated panel along the direction of unevenness. In particular, this method is suitable for use in the outer shell structure of a container made by welding a corrugated panel to its edge member.

[Summary of the invention]

This invention provides a method for welding a flat member by a welding robot equipped with a tool 61H that traces the edge of a corrugated panel along the direction of the unevenness, in which a welding start point is traced for each predetermined length of the edge. By detecting this with the device's sensor and correcting the position of the welding torch based on the command from this sensor, it is possible to obtain good welding even if the machining accuracy of the material is insufficient.

[Conventional technology]

For example, as a conventional technique for automatically copying and welding the uneven edge of a corrugated panel to an edge member having a rectangular cylindrical cross section, thereby obtaining the outer shell structure of a container, there is
There is a method disclosed in Japanese Patent No.-4527.

In this method, a program is set in advance for each pitch of unevenness on the edge of a corrugated panel, and movement of the welding torch is controlled by repeating this program. Also, in order to make the welding torch follow the actual welding line,
Three sensors are provided near the welding torch to detect the position, and welding is performed while correcting the position of the welding torch based on commands from these sensors.

(Problems to be Solved by the Invention) However, according to the above method, welding must be performed with the corrugated panel standing. Further, if a camber is provided to the edge member to eliminate welding distortion during single-sided fillet welding, welding becomes impossible. Furthermore, since it is necessary to use three sensors to make the welding torch follow the actual welding line, there are problems such as difficulty in adjusting these sensors.

[Failure to solve the problem]

The present invention provides a method for butt-fillet welding the edge of a corrugated panel along the direction of unevenness to a flat member using a welding robot equipped with a 11-m-long welding device. After welding, the welding start point based on the relative positional relationship between this edge and the member is detected by the sensor of the copying device for each predetermined unit of unevenness of the edge, and the welding is performed based on the command of this sensor. The present invention relates to an automatic copy welding method for the edge of a corrugated panel in which the welding robot is caused to follow and weld the uneven surface of the corrugated panel using the copying device while correcting the position of the torch.

[Effect]

Therefore, after the position of the welding start point is corrected for each predetermined unevenness unit of the edge of the corrugated panel, the welding torch welds the length of the predetermined unit while being controlled by the copying device to follow the contour of the corrugated panel. Even if a camber is provided to the flat member to remove welding distortion, there will be no inconvenience such as welding being performed outside the actual welding line.

Furthermore, since the welding start point is detected by the sensor of the copying device, there is no problem of difficulty in adjusting the sensors due to the large number of sensors as in the prior art.

〔Example〕

DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment in which the present invention is applied to an outer shell structure of a container formed by welding a corrugated panel to an edge member will be described below with reference to FIGS. 1 to 4.

First, as shown in FIG. 1, the uneven edge of the corrugated panel 1 is tack-welded to the edge member 2 at a position W shown in the figure. Note that this position W is selected so that the gap between the welds is small and the appearance of the bead after main welding is good.

Next, in this tacking, the outer shell structure 4 of the container consisting of the welded corrugated panel 1 and edge member 2 is horizontally fixed on the surface plate 3 as shown in FIG. In this case, the four corners of the outer shell structural member 4 are pressed from above with clamps 5a and fixed with poles 1-5b, but the center position of the edge member 2 is pushed up by applying a pusher 8 from below as shown in the figure, and welding is performed. The amount of camber necessary for strain relief (300 to 70 camber for a panel length of 6 to 12 m)
0 fin) to the edge member 2.

In addition, a guide 9 is provided along the direction of the unevenness of the corrugated panel, and a movable trolley 11 loaded with the welding robot 1-10 is provided.
is guided by this guide 9.

Reference numerals 12 and 15 in FIG. 2 are a robot control panel and a welding machine, respectively, and both are connected to the welding robot IO via a gear tire cable 16.

The welding torch 18 is provided with a holder I9 at the free end of an arm 17 which projects from the welding robot 10 and is vertically swingable, and is held by this holder 19 as shown in FIG. Further, the holder 19 similarly holds a contact type signal limit sensor 22 with a built-in microsinch included in the copying device 21, so that the relative positional relationship with the welding torch 18 is always kept constant. Although the distance between the tip of the welding wire 23 protruding from the welding torch 18 and the tip of the spindle 22a of the sensor 22 was selected to be 50++ m, it is preferable that this distance be as small as possible.

Since the tip of the spindle 22a of the sensor 22 moves while contacting the uneven surface of the corrugated panel 1 during welding,
The sensor 22 detects the amount of unevenness of the corrugated panel 1 by moving the spindle 22a up and down.
It can be detected as a function of coordinates (direction of movement of the mobile cart 11: see FIG. 2). Therefore, when this detected value is input to the welding robot IO as a signal, the welding robot 1
0 means that welding is performed following the actual irregularities of the corrugated panel 1.

In the case of the present invention, the sensor 22 is also used to detect the welding start point. That is, as shown in FIG. 4, the tip of the spindle 22a of the sensor 22 first moves (1) from the starting point pi to a point 91 where it contacts the surface 2b of the edge member 2 perpendicular to the surface 2a to be welded. In this way, the height of the orthogonal plane 2b is searched. Next, (2), when moving horizontally in the direction perpendicular to the edge member 2, 1
The corner position of the edge member 2 is searched at two points. Furthermore, (3), continue moving in the above direction and corrugate panel l
When the snow falls upward, corrugated panel 1
The height of the convex surface 1a is searched at 93 points that are in contact with the convex surface 1a as seen from the side to be welded. Next, (4), when moving horizontally in the direction parallel to the edge member 2, q4
The corner position of the convex surface is searched.

Thus, the spatial coordinates of the first welding start point rl, which is the intersection of the welded surface 2a of the edge member 2 and the corner line of the end of the convex surface la, are detected by the sensor 22. Therefore, when the above detected value is input as a signal to the welding robot 10,
Even if the edge member 2 has a camber as described above, the welding robot 10 can start welding without making a mistake in the welding start point.

By the way, this welding is performed on the convex surface 1a of the corrugated panel 1 and one inclined surface 1b continuous with this convex surface 1a in the direction shown by arrow A in FIG. 4 from the first welding start point r1.

Next, the tip of the sensor 22 moves to the next starting point p, which is separated from the starting point p1 by an amount corresponding to about I pinch of the unevenness.
2, this tip performs the same movement as described in (1) to (4) above, and as a result, the sensor 22 detects the coordinates of the second welding start point r2.

Therefore, when the detected value is input as a signal to the welding robot 10, welding by the welding robot 10 is started from the second welding start point r2.

This welding is performed from the second welding start point r2 to the arrow B in FIG.
In the direction shown by, the other inclined surface 1c of the corrugated panel l
This is performed for the concave surface ld continuous with the inclined surface IC. The reason why the uneven I-pinch welding was divided into two as described above was to obtain good welding by downward welding.

In this way, when the edge of the corrugated panel l is welded by one pitch of the unevenness as described above, the 8-contact torch 18 is moved to the second welding starting point r2, and the welding robot 10
As described above, this second welding starting point r2
Welding is performed for one pinch of the next unevenness. The welding of the edge of the corrugated panel 1 is completed by repeating welding of each pitch of the irregularities.

Although the present invention has been described above with reference to examples, the above-mentioned examples do not limit the present invention, and various changes can be made based on the technical idea of the present invention. For example, the sensor 22 may be of a non-contact type.

Furthermore, since the contours of the corner parts of the edge member 2 and the corrugated panel 1 are often formed in circular arcs, there is a possibility that the detection of the 9 points 2 and 94 points will be inaccurate in the search method of the embodiment. Therefore, in order to avoid this, the tip of the spindle 22a of the sensor 22 is connected not only to the surface 2b perpendicular to the welding surface 2a of the edge member 2 and the convex surface 1a of the corrugated panel l (but also to the welding surface 2a of the edge member 2 and the corrugated surface, respectively). The configuration may be such that the inclined surface IC of the panel 1 can also be searched.

〔Effect of the invention〕

Since the present invention has the above-described configuration, even if the machining accuracy of the corrugated panel and the members welded thereto is insufficient, good welding can always be achieved.

Moreover, even if a camber is previously attached to the above-mentioned member for eliminating strain during welding, accurate automatic tracing welding can be performed.

Furthermore, since the corrugated panel is placed horizontally during welding, both edges of the panel can be welded to the member at the same time. For this reason, the workplace may be small. Moreover, unlike conventional methods, there is no need for any jigs or the like to stand up and weld the corrugated panels.

Furthermore, the welding robot and copying device used may be simple and easy to maintain, which is extremely advantageous in reducing welding costs.

[Brief explanation of drawings]

Figures 1 to 4 show an embodiment in which the present invention is applied to the outer shell structural material of a container. FIG. 3 is a perspective view of the shell structural material and the welding device, FIG. 3 is a perspective view of the covered part and its vicinity, and FIG. 4 is an explanatory diagram of the welding procedure. In addition, in the symbols used in the drawings, 1----------1----- Corrugated panel 1a---------- Convex surface 1d-- ---1-----Concave surface 2-----1~----Edge member 2a--
−・・−・・−・Welding surface 10・−・−−−−−m−・−・−Welding robot 1 B
−−−−−・−−−−−? 8 contact torch 21----
−・−・−=−Copying device 22・・−−−−−−−1・−
Contact sensors rl, r2 - are welding start points.

Claims (1)

[Claims] In a method of butt fillet welding an edge of a corrugated panel along the direction of unevenness to a flat member using a welding robot equipped with a tracing device, the edge of the corrugated panel is temporarily welded to the member. After welding, the welding start point based on the relative positional relationship between this edge and the member is detected by the sensor of the copying device for each predetermined unit of unevenness of the edge, and the welding torch is controlled based on the command from this sensor. An automatic copying welding method for an edge of a corrugated panel, wherein the welding robot is caused to follow and weld the uneven surface of the corrugated panel using the copying device while correcting the position of the corrugated panel.