JPS6213740Y2 - - Google Patents

Description

[Detailed explanation of the idea] This invention relates to improvements in automatic welding equipment.

2. Description of the Related Art Conventionally, there are various apparatuses that perform automatic welding by three-dimensionally controlling the relative positions of a torch fixture and a workpiece. In addition, the torch mount and the welding line tracing sensor are supported at intervals on a member that can be rotated around the vertical axis, and the sensor is placed in front of the torch to determine the position of the welding point of the torch along the welding line of the workpiece. There are various types of automatic welding equipment available.

However, the neutral position of the sensor itself is determined in advance, and the orientation of the torch is also determined to be optimal depending on the welding conditions. and in the neutral position. The work of installing this sensor requires great skill and is time-consuming.

In this invention, the sensor is attached to the member three times.
The above-mentioned problem is attempted to be solved by configuring the position to be finely adjustable in different dimensions, and examples will be described in detail below.

First, the embodiment shown in FIGS. 1 to 3 will be described in detail.

1... These are two horizontal guides that are erected on a floor (not shown) and are parallel to the left and right direction (X direction).

2... A moving beam supported by the guide 1 and movable in the X direction by an electric motor (not shown).

3... A movable body supported by the movable beam 2 and movable in the front-back direction (Y direction) by an electric motor (not shown).

4... A column supported by the moving body 3 and movable in the vertical direction (Z direction) by an electric motor (not shown).

5... A member supported at the bottom of the column 4 and rotatable around the vertical axis 6 (in the ψ direction) by an electric motor (not shown).

7... This is a fixture for the torch T supported on the member 5, and although the details are not shown, in this embodiment,
The proximal end of a known parallelogram link system is connected to the member 5, and a torch T is attached to the distal end. Also, the position of the welding point of the torch T is the vertical axis 6
It coincides with one point on the center line L. By rotating the link system around the base end using an electric motor (not shown), the attitude of the torch T with respect to the center line L can be changed while keeping the welding point of the torch T coincident with the one point. It is.

8... An actuator attached to the member 5 in the Z direction at a position spaced apart from the fixture 7. 8a is the telescopic rod, and is provided with a known rotation stopper.

K... This is a mechanism that is provided between the rod 8a and the sensor 26 and can finely adjust the position of the sensor 26 in three dimensions with respect to the rod 8a.

The configuration of the adjustment mechanism K will be explained below.

21... A fixed piece fixed to the rod 8a of the actuator 8.

22... This is a vertically sliding piece that is supported by the fixed piece 21 below the fixed piece 21 and is guided by the rod 8a.

23...This is a mounting piece for a weld line tracing sensor 26, which will be described later, and is supported by the sliding piece 22 and guided in a direction perpendicular to the vertical direction.

24... A first adjustment mechanism that is interposed between the fixed piece 21 and the sliding piece 22 and is intended to adjust the vertical position of the sliding piece 22 with respect to the fixed piece 21. In the embodiment, the bolt 24a is vertically supported by the fixing piece 21 and fixed with a nut 24b. Further, the bolt 24a is screwed into an internal thread 22a provided on the sliding piece 22.

25 is a second adjustment mechanism that is interposed between the sliding piece 22 and the mounting piece 23 and adjusts the position of the mounting piece 23 relative to the sliding piece 22 in a direction perpendicular to the up-down direction.
5b are supported, and the mounting piece 23 is supported by these. The threaded rod 25b is supported by a nut 25c.
The threaded rod 25b can be fixed to the sliding piece 22 by this, and the threaded rod 25b is screwed into a female thread (not shown) provided on the sliding piece 22.

In this embodiment, the adjustment mechanism K is composed of numbers 21 to 25.

26... This is a welding line tracing sensor attached to the mounting piece 23. 26a is its main body, 26b, 26c
are crank-shaped contacts supported on the main body 26a so as to be rotatable around the vertical axis. The tips of both contacts 26b and 26c are biased by a tension spring 26d in a direction that is remote from each other.

W... is the object to be welded, and the first
It is fixed in the state shown in the figure. WL is the welding line, and Wa is a protruding piece attached to the workpiece W at the end of the welding line WL.

The electric motors, actuator 8, welding current, etc. (not shown) are appropriately controlled by a known control device (not shown), and the position of the welding point of the torch T follows the sensor 9 and follows the welding line WL. It is designed for automatic welding.

Furthermore, the operation of this embodiment will be described.

First, in order to perform downward V-groove welding on the welding line WL of the workpiece W as shown in FIG. 1, the optimum posture of the torch T with respect to the center line L is determined. After determining the optimum posture of the torch T with respect to the center line L, the sensor 26 is temporarily attached to the mounting piece 23 in accordance with the posture of the torch T. Thereafter, the mechanisms 24 and 25 move the sensor 26 to the neutral position.
Finely adjust the position of the sensor 26 relative to the rod 8a. That is, loosen the nut 24b and tighten the bolt 24.
By turning a, the sliding piece 22 moves up and down with respect to the fixed piece 21. At this time, the sensor 26 also moves up and down. Then, the nut 24b may be tightened again at an appropriate position. Also, by loosening the nut 25c and turning the threaded rod 25b, the mounting piece 23 can be attached to the guide rod 25.
guided by a, the sensor 26 also moves accordingly. Then, the nut 25c may be tightened again at an appropriate position.

Then, the contacts 26b and 26c are brought into contact with the groove portion of the workpiece W to be welded, as shown in FIG. 3, for example.

After making the fine adjustment in this manner, the torch T and sensor 26 are positioned as shown in FIG. 1 by the control device as is well known, and welding is performed from the lower left to the lower right in FIG. Along line WL,
Weld automatically. Immediately before the end of this welding, the actuator 8 is retracted to raise the sensor 26 so that the sensor 26 does not collide with the protruding piece Wa.
As a result, the torch T remains in the same position and welds all the welding lines.
WL can be continuously welded.

Weld automatically.

The above description is an example, and for example, the mechanism K may be provided between the member 5 and the sensor 26 by eliminating the actuator 8, and replacement with equivalent components of each other is also included in the technical scope of this invention. Of course.

As mentioned above, this invention allows the position of the sensor 26 to be finely adjusted in three dimensions with respect to the member 5.
Even if the orientation of the torch T is appropriately determined depending on the welding conditions and the relative position of the sensor 26 with respect to the torch T changes, the member 5 of the sensor 26
The position can be adjusted very easily when installed. There is therefore no need to change the predetermined neutral position of the sensor 26 itself.

[Brief explanation of the drawing]

Figures 1 to 3 show one embodiment of this invention.
The figure is a partially omitted perspective view of the entire automatic welding device, FIG. 2 is a cross-sectional view of the main part, and FIG. 3 is a cross-sectional view taken along the arrow - in FIG. In the figure, 5... member, 6... vertical axis, 7...
...Torch fixture, 26...Welding line tracing sensor,
26a... Body of sensor, 26b, 26c... Contact, 24... First adjustment mechanism, 25... Second adjustment mechanism, K... Adjustment mechanism, T... Torch, W... Work to be welded, WL ...Welding line, X...Left and right direction, Y...
. . . front-back direction, Z . . . vertical direction, ψ . . . around the vertical axis 6.

Claims (1)

[Scope of utility model registration request] In an apparatus that performs automatic welding by three-dimensionally controlling the relative positions of a torch fixture and a workpiece, the torch fixture is supported on a member that is rotatable around a vertical axis, and , and a rod is provided vertically downward at a distance from the torch mount, and a fixed piece is fixed to this rod, and a vertical sliding piece is provided below the fixed piece, using the rod as a guide. , a first adjustment mechanism that can finely adjust the vertical position of the vertical sliding piece with respect to the fixed piece is interposed between the fixed piece and the vertical sliding piece; supports a mounting piece on the vertical sliding piece via a second adjustment mechanism that allows fine adjustment of the position in the perpendicular direction;
The above-mentioned automatic welding device comprises a welding line tracing sensor, which has two contacts provided on a sensor main body facing each other so as to be rotatable toward and away from each other, and is attached to the mounting piece.