JPS6317586Y2 - - Google Patents

Description

[Detailed Description of the Invention] (Industrial Application Field) The present invention relates to a torch angle automatic adjustment control device.

(Prior Art) Conventionally, the bottom plate _S5 of the three-dimensional inclined block shown in FIGS. 1 to 3, longitudinal materials _S1 , _S2, and transformer materials are used.
When performing fillet welding at the intersection of S ₃ and S ₄ , the mounting angles θ ₃ , θ ₄ , θ ₅ and θ ₆ of each member are different, so select the torch angle suitable for each mounting angle. It was necessary to weld it.

However, automatic welding equipment that satisfies this requirement has not yet been put into practical use, and manual welding has been required. This reduces the burden on welding workers.
It has been desired to realize an automatic torch angle adjustment control device in automatic welding equipment that reduces the

(Problems to be Solved by the Invention) As a means of solving the above-mentioned problems, the present invention uses two tilt sensors B ₁ and B ₂ mounted on a movable trolley to attach the bottom plate, longitudinal material, and transformer material. The present invention provides a control device that detects the angle and automatically adjusts the angle of a welding tote.

(Means for solving problems) The present invention will be described in detail below with reference to the drawings.

In Figures 4 and 5, 1 is the longitudinal material S ₁ , S ₃
It is a rail laid on the bottom plate _S5 approximately parallel to the
2 is a movable trolley. The movable truck 2 is configured to travel along the rail 1 by rotation of a sprocket 3 connected to a travel drive unit (not shown) built into the truck 2.

The movable cart 2 has a pedestal 8 having a rotation mechanism composed of sprockets 5, 6 and a chain 7.
It is mounted so that it can be rotated by a motor 4, and the pedestal 8 is further provided with rotation drive motors 9 and 1 for each joint.
Multi-joint arms 12 and 13 with 0 are mounted.

Further, a torch clamp hand 17 that holds a welding torch 16 is attached to the arm 13 so as to be rotatable in the direction of arrow Z by a motor 15.
B ₁ is a sensor that detects the mounting angle between the longitudinal materials S ₁ and S ₃ and the bottom plate S ₅ , and B ₂ is a sensor that detects the mounting angle between the transformer materials S ₂ and S ₄ and the bottom plate S ₅ .

Sensors B ₁ and B ₂ are connected via tracing shafts 22 and 23,
It is attached to the pedestal 8, and the copying shafts 22, 23
is sent toward the longitudinal materials S ₁ and S ₃ or the transformer materials S ₂ and S ₄ by the copying shaft feed motors 24 and 25 and a spring (not shown) built into the copying shaft, respectively, and the sensors B ₁ and B ₂ is pressed against the longitudinal members S ₁ and S ₃ or the transformer members S ₂ and S ₄ .

The sensors B ₁ , B ₂ have built-in rotary potentiometers, and the sensors B ₁ , B ₂ are connected to the longitudinal materials S ₁ , S ₂ ,
Or when pressed against transformer materials S ₃ and S ₄ ,
Each of the members S ₁ to _{S 4} has an inclination angle with respect to the copying shafts 22 and 23 corresponding to the attachment angle of the bottom plate S ₅ , and this inclination angle is taken out as the electrical resistance value of the potentiometer. Accordingly, the mounting angle is detected.

In addition, when the base 8 is turned, the tracing axis feed motors 24, 25 are arranged so as not to hinder the turning.
By reversing the above, the sensors B ₁ and B ₂ can be retracted.

6 and 7 show the torch angle automatic adjustment control circuit diagram of the present invention.

In FIG. 6, the attachment angle between the longitudinal material S ₁ or S ₃ and the bottom plate S ₅ detected by the sensor B ₁ is input to the bridge circuit B as a resistance value of a potentiometer. The input resistance value is converted into a voltage signal by the bridge circuit B, and is input to the comparison adjustment control section C through the resistor R.

The comparison adjustment control section C compares the output of the bridge circuit B and the voltage signal from the torch angle reference voltage setting section Es, and outputs the comparison result.

In the reference voltage setting part Es, the longitudinal material S ₁ or
A voltage is set based on the voltage output from bridge circuit B when the mounting angle between S ₃ and the bottom plate S ₅ is 90°, and when the reference voltage value and the mounting angle vary from 90°, It is configured so that the changing voltage value from the bridge circuit B is compared with the voltage value from the bridge circuit B in a comparison adjustment control section C and outputted.

Further, the output from the comparison adjustment control section C is converted into a digital signal by a digital converter A/D, and the torch is made up of drive motors 9 and 10 of the multi-joint arm and control sections A ₉ and A 10 of the motors 9 and ₁₀ . It is input to the angle adjustment drive section D.

The control units A ₉ and A ₁₀ are configured to generate pulses according to the magnitude of the output signal from the digital converter A/D, drive the motors 9 and 10 by the number of generated pulses, and control the torch 16. control the angle of the

In FIG. 7, the mounting angles of the transformer materials S ₂ and S ₄ and the bottom plate S ₅ detected by the sensor B ₂ are input to the bridge circuit Bt as the resistance value of the potentiometer. The resistance value input to the bridge circuit Bt is converted into a voltage signal, which passes through the resistor Rt and is input to the comparison adjustment control unit Ct.

The comparison adjustment control section Ct compares the output of the bridge circuit Bt and the voltage signal from the torch angle reference voltage setting section Est, and outputs the comparison result.

In the reference voltage setting section Est, set a voltage based on the voltage output from the bridge circuit Bt when the installation angle of the transformer material S ₂ or S ₄ and the bottom plate S ₅ is 90 degrees, and set the voltage based on the voltage output from the bridge circuit Bt. The comparison adjustment control section Ct is configured to compare and output the voltage value from the bridge circuit Bt that changes when the mounting angle changes from 90 degrees.

Furthermore, the output from the comparison and adjustment control section Ct is converted into a digital signal by a digital converter A/Dt and stored in the storage section M. Further, the stored signal in the storage section M is input to a torch angle adjustment drive section D, which is made up of drive motors 9 and 10 for the multi-joint arm and control sections A ₀ and A ₁₀ for the drive motors.

6 and 7, the torch angle adjustment drive section D is common to both figures, and the workpiece to be welded is
Depending on S ₁ , S ₃ or S ₂ , S ₄ , sensor B ₁ or
The detection result of _B2 is selectively input to the drive unit D, and the multi-jointed arm is driven.

The selection of which of the detection results from the sensor _B1 or _B2 is to be input to the drive unit D is made by a limit switch (not shown) provided on the copying shaft 23, which is the support shaft of the sensor _B2 .

That is, the copying shaft 23 is configured to be sent out in the direction of the transformer materials S ₂ and S ₄ by the motor 25 via a built-in spring, and when the sensor B ₂ comes into contact with the transformer material, the spring is compressed. , the limit switch is activated.

The operating signal of the limit switch is transmitted to sensor B ₁ ,
B ₂ detection result selection signal.

(Function) The function of the device of the present invention having the above configuration will be explained according to the welding procedure.

Longitudinal materials arranged in a square pattern on the bottom plate _S5
Among the S ₁ and S ₃ transformer materials S ₂ and S ₄ , the movable trolley ₂ is installed along the rail 1 laid approximately parallel to S _{1 or S 2} .
First, the intersection of the longitudinal material _S1 and the bottom plate _S5 is welded.

During welding of the longitudinal material S ₁ and the bottom plate S ₅ , the sensor B ₁ is pressed against the longitudinal material S ₁ , detects the mounting angle θ ₃ between the member and the bottom plate S ₅ , and drives the motors 9 and 10. Welding is performed while maintaining the appropriate angle of the torch.

Immediately before the welding of the longitudinal material S ₁ and the bottom plate S ₅ is completed, the sensor B ₂ comes into contact with the transformer material S ₂ , and the transformer material S ₂
and the mounting angle of the bottom plate _S5 are detected, and the detection results are stored in the storage section M.

After the above operation is completed, the copying shafts 22 and 23 are moved back in preparation for the rotation of the pedestal 8, and welding of the longitudinal material _S1 and the bottom plate _S5 is completed. After the above-mentioned welding is completed, the transformer material S ₂ and the bottom plate S ₅ are welded not by moving the movable trolley 2 but by rotating the base 8.

Therefore, during welding of the transformer material S ₂ and the bottom plate S ₅ , the sensors B ₁ and B ₂ are not in contact with any member to be welded.
Based on the stored signal in the storage section M, the appropriate torch angle is maintained and welding proceeds.

As mentioned above, depending on the workpiece, the sensor B ₁ ,
Switch the detection signal of B ₂ and input it to the drive section D.
The appropriate torch angle is automatically adjusted by driving the motors 9 and 10.

When the welding of the transformer material S ₂ and the bottom plate S ₅ is completed, the trolley 8 turns further, and when the turning is completed, the sensor
The copying shaft 22 provided with B ₁ is extended, and the longitudinal material S ₃
Sensor B ₁ is pressed against the longitudinal material S ₃ and the bottom plate.
While detecting the mounting angle of S ₅ , the movable trolley moves backward, and welding of longitudinal material S ₃ and bottom plate S ₅ is performed.

Thereafter, the welding of the transformer material _S4 and the bottom plate _S5 is also performed by repeating the above-mentioned operations, completing one process.

(Effect of the invention) As mentioned above, the sensor mounted on the movable trolley 2
B ₁ detects the installation angle of the longitudinal material and the bottom plate,
Sensor B ₂ detects the mounting angle between the transformer material and the bottom plate and can automatically perform fillet welding of square blocks, so it can be used at various mounting angles θ ₃ as shown in Figures 1 to 3. It becomes possible to automatically weld objects to be welded having an angle of ˜θ ₅ , and the device of the present invention has a great practical effect.

[Brief explanation of drawings]

1 is a schematic diagram of the object to be welded, FIG. 2 is a view in the direction of the X arrow in FIG. 1, FIG. 3 is a view in the direction of the Y arrow in FIG. 1, and FIG. 4 is a side view of an example of application of the present invention. FIG. 5 is a plan view of FIG. 4, FIG. 6 is a detection circuit diagram using sensor B ₁ of the present invention, and FIG. 7 is a detection circuit diagram using sensor B ₂ . 1: Rail, 2: Movable trolley, 3: Movable trolley sprocket, 4: Pedestal rotation motor, 5, 6: Pedestal sprocket, 7: Chain, 8: Pedestal, 9, 1
0: Arm drive motor, 12, 13: Arm,
15: Clamp hand drive motor, 16: Welding torch, 17: Clamp hand, 22, 23: Copy axis, 24, 25: Copy axis drive motor, B ₁ : Longitudinal material detection sensor, B ₂ : Transformer material detection sensor,
_S1 , _S3 : Longitudinal material, _S2 , _S4 : Transformer material, _S5 : Bottom plate, B, Bt: Bridge circuit, R: Resistor, C,
Ct: comparison adjustment control section, A/D, A/Dt: A/D
Converter, D: Torch angle adjustment drive unit, M: Storage unit, Es, Est: Reference voltage setting unit, E: Reference voltage power supply, A ₉ , A ₁₀ : Control unit.

Claims (1)

[Scope of utility model registration request] In a torch angle automatic adjustment control device for a self-propelled welding device that performs horizontal fillet welding between a bottom plate, a longitudinal material, and a transformer material, a rotary potentiometer attached to the welding device detects the attachment angle of the bottom plate and the longitudinal material. Tilt detection sensor B ₁ with built-in
Tilt detection sensor with built-in rotary potentiometer that detects the installation angle of the bottom plate and transformer material
B ₂ , the bridge circuits B and Bt connected to the sensors B ₁ and B ₂ respectively, the reference voltage setting sections Es and Est, and the comparison adjustment that compares the outputs of the bridge circuits B and Bt and the signals from the reference voltage setting sections Es and Est. Control units C, Ct, A/D converter A/D which digitally converts the output of the comparison adjustment control unit C and uses it as a torch angle adjustment signal when welding the longitudinal material and the bottom plate, and the output of the comparison adjustment control unit Ct. A/D converter A/Dt and digital signal of converter A/Dt are stored, which are converted into digital signals and used as torch angle adjustment signals when welding the transformer material and the bottom plate.
A memory section M obtains memory data for adjusting the torch angle when welding the transformer material and the bottom plate, and a digital signal of the A/D converter A/D or a digital signal of the memory section M is transferred to the support shaft of the sensor _B2 . a motor 9 that drives the arm 12 that is selectively inputted and activated by an activation signal from a limit switch provided in the
The automatic torch angle adjustment control device is composed of a motor 10 that drives an arm 13, a control section A9 of the motor 9, and a torch angle adjustment drive section D consisting of a control section A10 of the motor 10.