200906530 九、發明說明： 【發明所屬之技術領域】 本發明係有關於一種用來進行如焊接焊搶或氣體截斷焊搶之 焊槍位置控制裝置，該焊接焊搶係用在由鐵、不鏽鋼、鋁等材質 所構成的構造物板類等之被焊接材料的焊接裝置中，而該氣體截 斷焊搶係用在諸如可熔斷被焊接材料之氣體截斷的氣體截斷裝 中。 【先前技術】 、習知技術上，已經開始以既實用又多樣式的方法作為用來熔化 連接要接合的複數個被焊接材料金屬之焊接方法。 其中’如第ίο圖範例所示’其表示利用母材料側與水冷銅壁 (:ater cool Cu hearth )來®繞熔化池而利用二氧化炭氣體(碳 來作ί紐，峨示產生1絲妨電氣體電 =之鋼獅2中之-鋼板丄上，能夠透過 槽，設置沿著2個鋼板〗和2的對接焊接部之焊槽3的行 東^過前述車輪6能夠在上述行錢滑軌4上行走自如搭^ 焊動裝置讓焊接台車7能夠行走。在上述 板1和2。其中符號9為操倾譬T [非專利文獻1]橋本憲一郎外、3位「古 、、、、f專利文獻U。 接裝置SEGARC：.2」，趙電弧焊 棒事業部技術部，聰年6月、第：司焊接 r 【發明内容】 【發明的欲解決之問題】 如果為非專利文獻1所記载的焊接裝置情況時，焊接台車7係 200906530 行走在行走用滑軌4上，而謓悝 接於焊槽3。，設置在被著焊槽3軸使前側部鄰 用滑軌4就必須設置之—上的行走 接線和行走用滑執4有稍許偏銘的接、、友之焊槽3平行，如果焊 讓焊接焊的前側與焊線的焊^’^會依^行走焊接台車7 烊接位置偏移的話，由於JL焊接置逐漸偏移。一旦產生 焊接焊的前側與辉接線之焊槽’因此必須修正 長度一旦增加的話，則要利用人六 偏移。另外，如果焊接 „業_度—旦增加也會降低 避免發生的問題。 叶伐双手將會產生一些無法 置齒條而讓設置在谭板1或2上設 接台車沿著鎌行走也會發生上述上I條’即使讓焊 於是，本發明將不需讓烊接台車沿著 即使是沿著行走用滑解來行走時，於行了ϋ 接職㈣触置鱗倾焊 複數 本發明為了解決上述問題點，其構造 構件中之其中-個之被焊接構件上的台 令讓上述驅動裝置動作或停止動作。 顺裝置的指 另外，與上述相同的構造中，將由驅動裝置將A 測器及職往上下方向鶴地捕、或者由軸 别進方向移動支撐來取代由驅練置將台車 搶往與焊漏直之左右方向移動地支撐。㈣^及焊 碰再H前^之構造中’藉由驅動裝置可將焊槽感測器與焊檢 在與Ml垂直之左右方向來移動支撐外，也能藉由不同於 200906530 ，裝置的驅動襄置往上下方向來移動支撐，甚 上述各驅動裝置之驅動裝置將焊 =:曰由不同於 方向來移動支撐。 购賴勒及缝沿著輝槽的前進 裝置及位置演减理裝置所喊， 遽處理 自焊槽感測器的焊槽信號，該心演Utii ίΐΐ=動’同時也包含具有能夠將指令發送給 [發明效果] 如果藉由3本發明的話，將會有效發揮以下的效果： ⑴求得所感_的焊槽位置與預先所設定的焊 谭槽感測器和焊搶飾使得其偏移量為零、:，因 自動將焊搶前側的位置對準所感應到的焊槽位置。 就了 mi上述⑴織_略如限定料㈣的_之設置進 而間化設備。 ϋ另il’f由上述’即使在設置有台車行走滑軌或齒條等場所 也可以lx置為粗輪面，此等將易於設置。 【實施方式】 =下，將參考圖面來說明用來實施本發明之最佳形態。 第1圖至第3圖係顯示以焊接焊搶的位置控制裝置範例來作為 本發明之其中一實施形態，也適用於對合被焊接材料之2 10、11來焊接之焊接場合。 在擺置在水平狀態之2片鋼板1〇和11上之對接烊接中，嬖如， 可於鋼板10上面載置焊接台車12，其係於前後左右各部安裝有車 輪13，而能夠往作為鋼板1〇和η的焊接線之焊槽14之平行的方向 來行走，在前述焊接台車12的上面中央部設置有左右方向驅動裝 置架台15，其能夠使得前述台車12可往與行走的前後方向垂直的 200906530 左右方向來延伸。 中一ΙίϋϋΤ動裝置架台15的上面不但於左右方向的其 二達4之驅動裝置16，同時於左右方向的另-側也 承]7，且於中央部分設置有可往左右方向平行延 前述而該螺检轴20能往左右方向貫通螺合於 紅4弟支撐〇座19,同時藉由讓另一側旋轉自如支撐於上述碟於 2=17、驅動該驅動裝置_螺栓 使支^ 台座19能夠卡合哪伽而往左右方向滑動。鱗❿使第1支採 亨的末端固定在上述第1支撐台座19的上面， 的支射22係向台車12的左右方向之其 二二 。上述支撐臂22的前側係固定在可往上下方向來的 巾央部，騎紅下 盘f臂支撐在上述第1支撐台座w上，而 。ϋϋι起能夠沿著導軌18往左右方向移動。 蹲導執t巾 下方向平魏伸的2條導。在上述 ΊΊ 中°又置有可在上下方向滑動自如卡合的第2去浐a成 螺栓軸28在上下方向貝通螺合於該第2支 叙二側部旋轉自如支撐於上述螺检抽轴承ϋ 在上述第2支撐台座27的侧面固定有可往/ 安褒構件觀其中-側部，秘前;f H向=的谭搶 能狗安裝射拆㈣為下方配置巧部， 200906530 32、32a ’而在前述焊槽感測器安裝構件32的前側部安裝有位在浐 槽I4上方的烊槽感測器33，能夠用來檢測鋼板⑽川焊接處之十 ，14的形狀或者感鱗接焊細的前嫩^或者祕定位輝 Ϊ之ϋ另外’在往後方延㈣焊触測11钱構件32a的前側 、二ί裝ΐ能夠定位在焊槽14上方的焊槽感測器33a，而藉由前述 知槽感測器33a就能夠監控焊接後的焊接狀態。 ，置在上述焊接焊搶31前後的焊槽感測器33、33a，嬖如 對象物或者位置，而位於沿著焊槽14的前進方 ^側^槽感測器33，能夠感應到焊槽形狀、焊接焊搶位置Ϊ ί ’以檢職峨號（麵號）之焊嫌 或者紅外線照相機或是CCD照相機及雷射收發感^ 完成另4二:= 焊 槽信號）的_狀® 躲【雜轉做況信號（焊 狀辨裝置34的方塊圖，其中前述焊槽形 所感應 置 前述驅動裝置 :田觸裝置34，妓-旦發生 又 前述偏移的話就 可以利用來自位置演算虚理驻— 動，為了讓偏移量為么触令使驅動裝置16或鄭 31的位置而讓_ ，槽感測器33和烊接焊搶 標位_動，逐接焊搶31能夠往焊槽14的原點座 動、糟由Ml感測器33來檢測，利用谭槽信號處理 200906530 财演算求得 自位置演算處理裝置36的偏置，如果來 16和24停止_。 料零的話’職可讓驅動褒置 用焊接焊搶前側況時’就可利 第2圖所示能夠將烊接台構因此如_以及 ί 開始 化(二元化)處理或錄處理加位置演 梦署料點之烊槽14的原點座標位置，而在位置運算，理 原ίΓ搶之原點座標、而將此作為初期所設定之焊槽之 置 移 ’而—邊藉由焊接烊搶31來焊接焊槽14。如^接 ^ί^^ηίί314^#&^133'33a'^^14--^ W 測抑ft 焊槽感測器33來感應焊槽形狀。利用焊槽感 行槽信號33A’係—利用烊槽信號處理裝置35來進 化Ϊ5ίυΐί (二元化)處理或位置處理之信號。其中，數位 的彩信號，無論彩色或黑白信號，甚至過渡處理 Λΐ;、田吕被皆可，或者利用紅外線所產生的信號也可以。 σ果利用上鱗槽錢處理裝置35進行焊槽職之數位化或 接焊搶31來焊接雜。如果焊接台」 33a沿著焊槽14 一開始移動 200906530 者位置處理的話，接著就要以位置演算處理裝置％來演算求得焊 接點之焊槽的位置座標，再來進行與於開始焊接前事先所預設的 焊槽原點座標位置作比較而演算處理。這種比較演算的結果，如 果在事先所設定的原點座標位置與感應到的焊槽之位置坐標之間 有偏移的話，就必須傳送動作指令給驅動裝置16或24而讓驅動 裝置16或24動作來修正其偏移量。 如果讓驅動裝置16動作的話，就會於焊接台車12上面的左右方 向驅動裝置架台15上，藉由往左右方向來滑動第丨支撑座19而透過 支擒臂22、、上下方向驅動裝置架台23及第2支撐座27來往左右方向 广 調整焊槽感測器33、33a以及焊接焊搶31的位置。另外，如果讓驅 ( 動錢24動作的話’就可以沿著上下方向驅動裝置架台23上面的 ¥執26讓第2支擇座27往上下方向移動，且也能往上下方向來調整 焊槽感測器33以及焊接焊搶31的位置。 &若進行上述之位置調整的話’就利用焊槽感測器33來感應此狀 態，利用焊槽信號處理裝置35來進行與前述相同的焊槽信號的數 位化或位置處理，其次，利用位置演算處理裝置36進行演算以求 得焊槽的位置座標而與焊槽之原點座標位置來進行比較^藉此即 可修正前祕移量，如糾贼測挪纖到已經為達到初期設 定焊槽之原點座標位置的話，將會從位置演算處理裝置36將中斷 | 指令傳送給驅動裝置16、24而能讓驅動裝置16、24停止。 本發明之焊搶位置㈣裝置，就如上述，也就是說能夠自動化 調整焊槽感測器33、33咏》焊接烊搶31的位置，因此不但可以將焊 接焊搶31定位到焊接點之焊槽η的中心，同時也能夠適當保持焊 接焊搶31的侧與焊槽14的位置。藉此就能夠經常保持在鋼板1〇 和11之焊槽14中心來正確又確實地進行焊接。 其次，第4圖及第5圖為表示本發明實施形態其中之一其他範 例’相同於第1圖及第2圖情況’於搭載在其中一方鋼板1〇上面之 焊接台車12上設置村往左右方向來鮮i狀座聯動自如，於 藉由驅動裝置16而卡合到導軌18的狀態下且能夠於左右方向來使 11 200906530 動之構造巾，在上雜支細9上能夠直接安 置有上下方向驅練置架台23的下卿且關觸焊接悍搶 /也就是說’設置在第！支撐座19上的上下方向驅動裝置架 二往上一下方向延伸的箱形狀’而於内部中設置有：相同前 來連、、，。雜賊f 24輸恤❿域__轴承25之螺栓轴^、 以及螺合於祕螺栓軸28而以卡合到雜26的狀態下能夠 方向滑動之第2支撐座27。在上述第2支撐座27安 =測1133、33a及焊接焊搶31而往焊_的方//突 焊I焊 1ΛΪ!ϋ8的前ί1部，安裝有可旋轉之大直徑齒輪39和 搶支撐構件4G，同時在前述支撐框架38_面（於圖面上 二·! ί)设置有馬埃等之驅練置4卜而於前侧可讓具有可盘 齒輪39咬合之小直徑*輪42以透過搞合器44來連接； 輸出軸且同時也支撐於軸承49，再藉由前述驅 而讓大直㈣輪39旋轉帶動焊接 μ 述焊接谭搶支擇構件4〇的前側部，安裝有可固定配置在 4D Α^谭接焊槍31。再者，如圖示之上述焊接焊槍支撐構件 以於Ϊ If f為前側部伽和底側部働’其中前侧部40a係能夠 赁ί Ϊ f來連結而往上下方向轉動而且在前側部4〇a的後側面’ ί ft圓f狀而固定刻成齒狀之半月齒條 丨喜ir 在上达底側部.上面之驅動裝置47來旋轉的 咬合到上述半月狀齒條46，藉由前述小齒輪48 檢半月狀歯條46能夠往上下方向來回作動，而讓焊接焊 ^支擇構件40的前側部40a能夠以水平方向往左右方向來回作 再者’在上述支撐框架38的前後兩側面可以讓焊槽感測器安裝 12 200906530 向且水平來突出，而於各焊槽感測器安裝構 33时口上裝有嬋槽感測器33、33a，谭槽感測器33、 蚜上述知接焊搶31皆位在焊槽14感測器上面。 其他構造將與第1圖至第3圖相同。 1 種實施形態的話，就可以利用驅動褒置π透過第1 動裝置架台23往左右方向移動，因此就 I對=感測為33、33咖焊接焊搶31的焊槽14 號^1穿^35爽伽t接知搶31的高度位置。因此，利用焊槽信 )ίί^ί^ΐί _的焊槽感測器33所感應的焊槽信號進 或置處理’級再與位置演算處理裝置％事先所設定 立f Jf f較演算，如果有偏移的話，就會傳送 24 5 11^3 的^^處理娜 之小直徑齒輪42的正轉 40 大直徑齒輪39轉動，進而轉動焊接焊搶支撐構件 。藉此，就能夠往前後方向來轉鱗接焊搶31的前側。 * Ϊ設置在焊接焊搶支撐構件40之驅動裝置47動作，且藉 处轉/逆轉小齒輪48透過與前述小齒輪48咬合的半月 二栓，45為中心而往水平之左右方向轉動焊接焊搶支尤 止鋼板厚賴焊接祕。 ❹有效防 圖表示本發明之其他實施形態，其中也能夠往 ^^ 平仙前後方向來移動焊接焊搶31、焊槽感測器 13 200906530 另外，第7圖及第8圖之範例為表示可適用於第1圖及第2圖所示 之焊搶位置控制裝置的實施形態。 也就是說，於相同於第1圖及第2圖的構造中，能夠從前述焊接 台車12上面來分離設置在焊台車12上的左右方向驅動襞置架台 15，而對前述焊接台車12也能與上述左右方向驅動裝置架台15來 讓上下方向驅動裝置架台23、焊接焊搶31、焊槽感測器33、33a前 進、後退。 ( /如果詳細描述的話，也就是於焊接台車12上面的左右兩側部平 =設置有一可往前後方向延伸的導軌50，於前述導執5〇中卡合有 安裝在左右方向驅動裝置架台15下面的滑塊51，能夠讓前述左右 方向驅動裝置架台15沿著導軌50往前後方向移動。在作為上述左 f導執50之間的焊接台車12的左右方向中央部位置，配置有可往 前後方向延伸的1根螺栓軸52，能夠讓前述螺栓軸52的其中一侧 轉自如支撐在螺栓轴軸承53。 再者，將螺合於前述螺栓轴52的外侧而藉由螺栓軸52的轉 夠往前述螺栓軸52的軸心方向來移動的第3支撐座54安裝在上 左右方向，鶴裝置架纟15的下面，啊也麟透她合器’前 ^^練置55的輸出軸，再藉域述驅 、置5讓螺权軸52正轉/逆轉’使得左右方向驅動裝 進方向A而於導軌50上前進或後退，且也能夠於 來讓焊槽感測器33、33a^焊接焊搶31前進，後退。、 " 的^虎他構造將相同於第1圖及第2圖，其中相同構造者將賦予相同 另外，第9圖所示之職形狀辨識錢34的構造 圖戶也就是如果基於來自焊槽感測器33的焊槽信號％ ; 槽#喊處_置35來對焊槽錢進行數位域位^ 蔣 處理。這_脑糾絲，如果在耗===== 200906530 與所感應到的焊槽的座標位置财偏移的 ，動裝置卿4來修正其偏移量，相同地 7給驅動裝置55來讓驅動裝置16或24或55動作。 這種實施形祕情況，如果—1购該 動而使得第3支撐座54能夠焱螺栓二4 使得在下面固定有第3支撐座54的左右方 二ΐΐί σ 15，隨著前後方向移動焊接台車12，透過支撐在 ίίίΐίΞ驅Ϊ裝置架台15上的第1支撐座19之支撐臂22ί 置ϋ3上的m架广台923、以及支揮在前述上下方向驅動裝 r檢ϊγ估if ^支撐座之焊槽感測器33、33a以及焊接焊 舰㈣沿著行财向a彳績财⑽動。 以及焊二槽14往爾進方向錄動上述焊槽感測器33、33a 對作為被焊接構件的鋼板10、11為較厚的 it況疋有效的（適用厚度較厚之焊接）。 予的 邊讓是ϋ果f板io u1的厚度較厚情況時，就可以藉由一 = 方向移動焊接焊搶31 ’來增加焊接炫化部之 &板之熔人範®，因而可避免焊接缺點。 雖車12上料接職31往焊接額軸的時序， 防止鋼板厚種實罐來_接咖而有效地 將/搶上，雖然係以台車來作為禪接台車12且 是本發日ίϋϊίΐΐ來ί接鋼板10和11的焊槽14進行說明，但 于搶位置控制裝置，也可以直接適用在具備氣體鑛 15 200906530 焊搶之氣體截斷裝置。 sH;接；體===== 後，再=======断位置。之 來制定截斷線:' 進行氣體載斷焊搶吏 =線，係-邊峨斷線㈣後方向來讓台車触而一邊進行 氣體 形^而不管為焊接或者 焊各===;';=^ S裝、33a或焊°接焊 構，係由糊__16， 16 200906530 20的第1支撐座19所構成，另外，作為使第2支撐座27往上下方向 移動的機構’係由馬達等的驅動裝置24、螺栓軸28以及栓螺於前 述螺栓軸28的第2支撐座27所構成，但是以諸如油壓、氣壓等流體 壓缸之如致動裝置作為驅動裝置可移動上述第丨支撐座19或第2支 撐座27，另外，能夠使得驅動裝置16與螺栓軸軸承17、導軌18、 第1支撐座19、螺栓軸20、耦合器21，相同地’驅動褒置24、螺栓 軸軸承25、導執26、第2支樓座27、螺栓軸28以及耦合器29作為整 體性的線性馬達’其中焊槽感測器33、33a雖然侧來舉例作為光 學照相機與收發雷射感測器之情況’但是也能夠用來作為收 射脈衝裝置或超音波㈣Μϋ (能夠收發信號）或雷射陣 測器（收發信號）或物理性觸控式陣列感測器，另外，在第丨圖及 第2圖所示之實施形態上說，雖然表示在上下方向驅動裝置架二23 的前側面設置有驅動裝置24、導執26、螺栓⑽以及第2支撐^ f ’但是上下方向驅動裝置架台23也能夠作成如第4圖及第5圖 不之箱型狀，而於内侧設置驅動裝置24或第2支撐座27等亦可，Α 他萬然只要不脫離本發明之宗旨的範圍内皆可進行各種變更形 式。 / ^ 【圖式簡單說明】 第1圖為表示本發明嬋搶位置控制裝置其中之一實施形態，而從 2圖之I-Ι方向所視之示意前視圖； 第2圖為表示第1圖之示意俯視圖； ^3圖為表示本發明焊搶位置控繼置當中的控制方塊圖； 弟=為表示本發明焊搶位置控继置之其他實施賴，而$ 〜圖IV-IV方向所視之示意前視圖； 第5圖為表示第4圖之示意前視圖； p圖為表示第5圖VI部之放大立體圖； 第7圖，絲本發爾搶位置控健置之其他實施職，而 圖VII-VII方向所視之示意前视圖； 17 200906530 第8圖為表示第7圖之示意俯視圖； 第9圖為表示第7圖及第8圖所示實施形態當中的控制方塊圖 以及 第10圖為表示習知焊接裝置其中之一前視圖。 【主要元件符號說明】 卜2、10、11鋼板（被焊接構件） 3、14 4 5 r 6、13 7、12 8 9 15 16 17 18 19 , 20 "21 22 23 24 25 26 27 28 29 焊槽 行走用滑軌 磁鐵 車輪 焊接台車 焊接焊搶 操作箱 左右方向驅動裝置架台 驅動裝置 螺栓軸軸承 導執 第1支撐座 螺栓轴 輕合器 支撐臂 上下方向驅動裝置架台 驅動裝置 螺检轴轴承 導軌 第2支撐座 螺栓轴 輕合器 18 200906530 30 焊搶安裝構件 31 焊接焊搶 32 > 32a 焊槽感測器安裝構件 33、33a 焊槽感測器 33A 焊槽信號 34 焊槽形狀辨識裝置 35 焊槽信號處理裝置 36 位置演算處理裝置 37 焊接棒 38 支撐框架 39、42 齒輪 40 焊接焊搶支撐構件 40a 前側部 40b 底側部 41 驅動裝置 45 栓銷 46 半月狀齒條 47 驅動裝置 48 小齒輪 49 轴承 50 導軌 51 滑塊 52 螺栓轴 53 螺栓轴轴承 54 第3支撐座 55 驅動裝置 56 搞合器 19200906530 IX. Description of the Invention: [Technical Field] The present invention relates to a welding gun position control device for performing welding or gas interception welding, which is used for iron, stainless steel, aluminum In a welding device for a material to be welded such as a structural plate composed of a material, the gas cut-off welding is used in a gas cut-off device such as a gas cut-off that can melt the material to be welded. [Prior Art] Conventionally, a practical and multi-patterned method has been used as a welding method for melting a plurality of metals to be joined to be joined. Wherein 'as shown in the example of the figure ίο', it is indicated that the carbon dioxide gas is used to make a wire around the melting pool by using the parent material side and the water-cooled copper wall (: ater cool Cu hearth). It is possible to use the above-mentioned wheel 6 to be able to pass through the groove and set the welding groove 3 along the butt welding portion of the two steel plates and the two. The slide rails 4 are freely traversable. The welding device allows the welding carriage 7 to walk. In the above-mentioned plates 1 and 2. The symbol 9 is the operation tilting T [Non-Patent Document 1] Hiroshi Hashimoto, and 3 "Ancient, , Patent Document U. Connection device SEGARC: .2", Technical Department of Zhao Arc Welding Rod Division, Cong Nian, June: Division welding r [Summary of the Invention] [Problem to be solved by the invention] If it is a non-patent document In the case of the welding device described in the first embodiment, the welding carriage 7 system 200906530 travels on the traveling rail 4 and is connected to the welding groove 3. The front side is adjacent to the sliding rail 4 by the welding groove 3 shaft. It must be set up - the walking wiring and the walking slipper 4 have a slightly biased connection, and the friend's welding groove 3 If the welding causes the welding of the front side of the welding and the welding of the welding wire to be offset according to the position of the welding station, the JL welding is gradually offset. Once the welding of the welding side and the welding wire are generated, the welding is performed. The trough 'thus must be corrected once the length is increased, then the person's six offset is used. In addition, if the welding is increased, the problem will be reduced. The leaf felling hands will produce some racks that cannot be placed. It is also possible to provide the above-mentioned upper one when the trolley is placed along the raft on the tan plate 1 or 2. Even if the welding is performed, the present invention does not require the splicing trolley to travel along the slide even if it is slid along the walking.于 于 接 接 ( 四 四 四 四 四 四 四 四 四 四 四 四 四 四 四 四 四 四 四 四 四 四 四 四 四 四 四 四 四 四 四 四 四 四 四 四 四 四 四 四 四 四 四 四 四 四 四 四 四 四 四 四 四 四 四 四 四 四 四 四 四 四 四 四 四 四 四 四 四 四 四 四 四 四 四 四 四 四 四 四 四 四 四 四 四 四 四 四 四 四 四 四 四In addition, in the same structure as described above, the A-tester and the position of the A-tester and the upper-middle-side crane are moved by the driving device, or the shaft is moved in the direction of the shaft to replace the left and right sides of the trolley by the driving device. Supporting to the mobile ground. (4) ^ and the welding touch and the structure of the front of the H. The driving device can move the welding bath sensor and the welding inspection in the left and right direction perpendicular to M1, and can also be different from 200906530, the driving device of the device moves to the upper and lower direction to move the support, and even the driving device of each of the above driving devices will be welded =: 移动 is moved by a different direction from the direction. Purchase raising and the advancement device and position along the gully The damper device shouts, 遽 handles the soldering groove signal from the soldering slot sensor, and the heartbeat Utii ΐΐ 动 动 动 ' also includes the ability to send instructions to the [invention effect]. Effectively exert the following effects: (1) Finding the position of the welding groove and the pre-set soldering slot sensor and welding splicing make the offset of zero::, automatically align the front side of the welding The position of the solder bath sensed. In the case of the above-mentioned (1) weave _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ The other il'f can be set to a coarse tread even if it is provided in a place where a trolley travels a rail or a rack, and this will be easy to set. [Embodiment] The best mode for carrying out the invention will be described with reference to the drawings. Figs. 1 to 3 show an example of a position control device for welding and welding, which is also an embodiment of the present invention, and is also applicable to a welding case for welding 2 10, 11 of a material to be welded. In the butt joint of the two steel sheets 1〇 and 11 placed in a horizontal state, for example, a welding carriage 12 can be placed on the steel sheet 10, and the wheels 13 are attached to the front, rear, left and right portions, and can be used as The welding groove 14 of the welding line of the steel sheet 1 and η travels in parallel, and a center-side driving device mount 15 is provided at a central portion of the upper surface of the welding carriage 12, which enables the bogie 12 to be moved forward and backward. Vertical 200906530 extends in the left and right direction. The upper surface of the gantry gantry 15 is not only the drive device 16 of the two in the left-right direction, but also the other side of the left-right direction, and is disposed at the central portion in parallel with the left-right direction. The screw shaft 20 can be screwed into the support seat 19 of the red body in the left-right direction, and at the same time, the other side can be rotatably supported on the disk at 2=17, and the driving device is driven to support the pedestal 19 It is possible to snap to which side and slide in the left and right direction. The scale is fixed to the upper surface of the first support base 19 by the end of the first pick, and the branch 22 is directed to the left and right of the carriage 12. The front side of the support arm 22 is fixed to a central portion of the towel that can be moved up and down, and the arm of the red lower disk f is supported by the first support base w. Ϋϋι can move in the left and right direction along the guide rail 18.蹲 Guided t towel 2 guides in the direction of Wei Wei. In the above-mentioned ΊΊ, the second 浐a-forming bolt shaft 28, which is slidably slidable in the up-and-down direction, is rotatably supported by the second branch in the vertical direction. Bearing ϋ On the side of the second support pedestal 27, the detachable/amplifier member is fixed to the side portion, the front part, and the f H direction=Tan robbing dog is installed and disassembled (four) for the lower part of the configuration, 200906530 32, 32a', and a groove sensor 33 positioned above the gutter I4 is mounted on the front side of the aforementioned soldering pot sensor mounting member 32, and can be used to detect the shape or scale of the steel plate (10). The front side of the welded or the second part of the soldering device can be positioned on the front side of the eleventh member 32a, and the soldering groove sensor 33a can be positioned above the soldering groove 14 Further, the welding state after welding can be monitored by the above-described groove sensor 33a. The soldering groove sensors 33, 33a disposed before and after the welding welding 31, such as an object or a position, are located along the advancing side of the soldering groove 14 and are capable of sensing the soldering groove. Shape, welding and welding position Ϊ ί 'With the inspection nickname (face number) welding or infrared camera or CCD camera and laser transmission and reception ^ complete the other 4: = welding channel signal) _ shape ® hide [ A miscellaneous condition signal (a block diagram of the welding device 34, wherein the aforementioned welding groove shape senses the driving device: the field contact device 34, and the offset can be utilized to obtain the virtual operation from the position calculation - Move, in order to make the offset to make the position of the drive device 16 or Zheng 31, let _, the slot sensor 33 and the splicing of the splicing position _ move, the welding sniper 31 can go to the welding groove 14 The origin of the seat is detected by the M1 sensor 33, and the offset of the position calculation processing device 36 is obtained by using the Tan trough signal processing 200906530. If the 16 and 24 are stopped, the job is zero. When the drive is used to weld the front side of the welding, it can be connected as shown in Figure 2 Therefore, for example, _ and ί start (binary) processing or recording processing plus the location coordinates of the position of the dream station, and in the position calculation, the original coordinates will be grabbed. This is used as the initial setting of the solder bath, and the soldering slot 14 is soldered by soldering 31. For example, ^^^^ηίί314^#&^133'33a'^^14--^ W ft-slot sensor 33 is used to sense the shape of the soldering groove. The groove sensing signal 33A' is used to simulate the signal of the υΐ5ίυΐί (binary) processing or position processing. , digital color signal, whether color or black and white signal, or even transition processing Λΐ;, Tian Lu can be used, or the signal generated by infrared rays can also be used. σ fruit using the upper scale groove money processing device 35 for the welding groove position If the welding station "33a" moves along the welding groove 14 and starts to move to the position of 200906530, then the positional coordinate of the welding groove of the welding point is calculated by the position calculation processing device %. , and then proceed with the preset before the start of welding The position of the origin coordinates of the welding groove is calculated and compared. The result of this comparison calculation must be transmitted if there is a deviation between the previously set origin coordinate position and the position coordinates of the sensed welding groove. The drive unit 16 or 24 is operated to correct the offset amount to the drive unit 16 or 24. If the drive unit 16 is operated, the drive unit 16 is driven in the left and right direction on the upper side of the welding carriage 12 by the left and right direction. The third support seat 19 is slid, and the position of the weld groove sensors 33 and 33a and the welding nip 31 is widely adjusted in the left-right direction through the support arm 22 and the vertical drive unit mount 23 and the second support base 27. In addition, if the driver (moving money 24 is operated), the second holder 27 can be moved in the up and down direction by driving the upper side of the apparatus frame 23 in the up and down direction, and the welding groove can be adjusted in the up and down direction. The position of the detector 33 and the welding pad 31. & if the position adjustment described above is performed, the state is sensed by the groove sensor 33, and the same groove signal as described above is performed by the groove signal processing device 35. The digitization or position processing is followed by calculation by the position calculation processing device 36 to obtain the position coordinates of the welding groove and compare it with the origin coordinate position of the welding groove, thereby correcting the amount of the front secret, such as correcting When the thief detects the fiber to the position of the origin coordinate of the initial setting of the welding groove, the position calculation processing device 36 transmits the interrupt | command to the driving devices 16, 24 to stop the driving devices 16, 24. The welding position (4) device is as described above, that is to say, the position of the welding groove sensor 33, 33咏" welding can be automatically adjusted, so that the welding welding 31 can be positioned not only to the welding point. At the same time, the center of the groove η can also appropriately maintain the position of the welding pad 31 and the position of the welding groove 14. Thereby, it is possible to always maintain the center of the welding groove 14 of the steel plates 1 and 11 to perform correct and sure welding. 4 and 5 are views showing another example of the embodiment of the present invention, which is the same as the case of the first and second drawings, and is provided on the welding carriage 12 mounted on one of the steel plates 1〇 in the left-right direction. The fresh i-shaped seat is freely movable, and in the state of being engaged with the guide rail 18 by the driving device 16, and the construction towel of the 2009 20093030 can be moved in the left-right direction, the up-and-down direction can be directly placed on the upper miscellaneous support 9 The lower frame of the racking table 23 is closed and the welding is smashed/that is, the box shape of the upper and lower direction driving device racks disposed on the first support frame 19 is extended upward and downward, and the inside is provided with the same: Come on, and, the thief f 24 shirts _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 27. In the above 2nd support seat 27A = 1133 33a and welding welding grab 31 and the welding _ side / / welding I welding 1 ΛΪ ϋ 8 front ί 1 part, installed with a rotatable large diameter gear 39 and grab support member 4G, while at the front of the support frame 38_ ( On the drawing surface, the 轴 ) 设置 设置 设置 马 马 马 马 马 马 马 马 马 马 马 马 马 马 马 马 马 马 马 马 马 马 马 马 马 马 马 马 马 马 马 马 马 马 马 马 马 马 马 马 马 马 马 马 马It is also supported by the bearing 49, and the large straight (four) wheel 39 is rotated to drive the front side of the welding member 4, and the front side portion of the welding member 4 is mounted, and the fixing can be fixedly disposed on the 4D 谭^ tan welding torch 31. As shown in the above-mentioned welding torch support member, the Ϊ If f is the front side gamma and the bottom side 働 ', wherein the front side portion 40a is capable of being coupled to the upper and lower sides and is rotated in the up and down direction. The rear side of the a' ί ft round f-shaped and fixed-toothed half-moon rack 丨 hi ir on the bottom side. The upper drive unit 47 is rotatably engaged to the above-mentioned half-moon rack 46, by the foregoing The pinion 48 detects the half-moon beam 46 and can move back and forth in the up and down direction, and let the welding weld the front of the member 40 The portion 40a can be reciprocated in the horizontal direction to the left and right direction. 'The front and rear sides of the support frame 38 can be horizontally protruded from the soldering sensor mount 12 200906530, and the solder bump sensor mounting structure 33 The slot sensor 33, 33a is mounted on the mouth, and the tan slot sensor 33 and the above-mentioned solder joint 31 are all located on the sensor of the soldering slot 14. Other configurations will be the same as those of Figs. 1 to 3. In one embodiment, the driving device π can be moved in the left-right direction through the first movable device gantry 23, so that the pairing = sensing is 33, 33, and the welding groove of the coffee-welding welding 31 is worn. 35 cool ga t received the height position of 31. Therefore, the solder bath signal induced or processed by the solder bath sensor 33 of the solder bath signal _ is recalculated with the position calculation processing device % before the setting f Jf f If there is an offset, the forward rotation 40 large-diameter gear 39 of the small diameter gear 42 of the 24 5 11^3 is transferred, and then the welding support member is rotated. Thereby, it is possible to turn the front side of the squash weld 31 in the front-rear direction. * The driving device 47 provided in the welding and welding support member 40 is operated, and the rotating/reversing pinion 48 is transmitted through the half moon second bolt engaged with the pinion gear 48, and the center is rotated to the horizontal direction. The support is especially thick. ❹ 防 ❹ 表示 ❹ ❹ ❹ ❹ ❹ ❹ ❹ ❹ ❹ ❹ ❹ ❹ ❹ 、 、 、 、 、 、 、 、 、 、 、 、 、 、 、 、 、 、 、 、 、 、 、 、 、 、 、 、 、 、 、 、 、 、 、 Applicable to the embodiment of the welding position control device shown in Figs. 1 and 2 . In other words, in the structure similar to the first and second figures, the left-right direction driving mount 15 can be separated from the upper surface of the welding carriage 12, and the welding carriage 12 can be used for the welding carriage 12 as well. The gantry 15 is driven in the left-right direction to advance and retreat the vertical drive device mount 23, the weld weld 31, and the weld groove sensors 33 and 33a. ( / If it is described in detail, that is, the left and right sides of the upper surface of the welding carriage 12 are flat = a guide rail 50 extending in the front-rear direction is provided, and the guide table 5 is mounted in the left and right direction in the guide 5 In the lower slider 51, the left and right direction drive device mount 15 can be moved in the front-rear direction along the guide rail 50. The front and rear positions of the welding carriage 12 between the left f guides 50 in the left-right direction are arranged. One bolt shaft 52 extending in the direction allows one of the bolt shafts 52 to be rotatably supported by the bolt shaft bearing 53. Further, the screw shaft 52 is screwed to the outside of the bolt shaft 52 and rotated by the bolt shaft 52. The third support base 54 that moves in the axial direction of the bolt shaft 52 is mounted in the upper and lower directions, and the lower side of the crane device frame 15 is also spliced through the output shaft of the front device By means of the domain drive, the 5th rotation/reversal of the screw shaft 52 is caused to drive the loading direction A in the left and right directions to advance or retreat on the guide rail 50, and the welding groove sensors 33, 33a can also be welded. Welding grabs 31 forwards, retreats., " The structure of the tiger will be the same as that of the first and second figures, wherein the same constructor will be given the same structure, and the structure of the figure 34 shown in Fig. 9 is if it is based on the sensor 33 from the welding bath sensor 33. The soldering cell signal %; slot # shouting _ set 35 to carry out the digital domain of the soldering trough money ^ Jiang processing. This _ brain correction wire, if at the consumption ===== 200906530 with the coordinates of the sensed soldering groove If the position is offset, the device 4 corrects the offset, and the drive device 55 is similarly actuated to drive the drive device 16 or 24 or 55. This implementation of the case, if -1 purchase The third support base 54 is capable of smashing the bolts 2 such that the left and right sides of the third support base 54 are fixed to the lower side, and the welding carriage 12 is moved in the front-rear direction, and is transmitted through the first support frame 15 of the ί Ϊ Ϊ 架The support arm 22 of the support base 19 is disposed on the m-mounting platform 923 on the ϋ3, and the welding groove sensors 33, 33a and the welding welding ship (4) which are supported in the above-mentioned up and down direction to drive the y The financial direction is a profit (10) movement, and the welding two slots 14 forward direction to record the above-mentioned welding groove sensing 33, 33a is effective for the steel sheets 10 and 11 which are the members to be welded, which is thicker (for thicker welding). When the thickness of the plate io u1 is thicker, It is possible to increase the soldering of the soldering splicing section by a direction welding of 31 ', so that the welding defects can be avoided. Although the timing of the loading of the car 12 to the welding front axle is prevented, The thick plate of the steel plate can be used to effectively grab/grab it, although the trolley is used as the zenning trolley 12 and it is the welding groove 14 of the steel plates 10 and 11 for the purpose of this, but it is robbed. The position control device can also be directly applied to the gas shutoff device with gas mine 15 200906530 welding. sH; pick; body =====, then ======= break position. To establish the cut-off line: 'For gas load-breaking welding 吏 = line, line - side 峨 break line (four) rear direction to let the trolley touch the side of the gas shape ^ regardless of welding or welding each ===; '; = ^ The S-mount, the 33a or the welded-welded structure is composed of the first support base 19 of the paste __16, 16 200906530 20, and the mechanism for moving the second support base 27 in the vertical direction is a motor or the like. The driving device 24, the bolt shaft 28, and the second support base 27 of the bolt shaft 28 are configured, but the first support base can be moved by a fluid pressure cylinder such as oil pressure or air pressure as an actuating device. 19 or the second support base 27, in addition, the drive unit 16 can be driven by the drive shaft 16 in the same manner as the bolt shaft bearing 17, the guide rail 18, the first support base 19, the bolt shaft 20, and the coupler 21, and the bolt shaft bearing 25 can be driven. The guide 26, the second stand 27, the bolt shaft 28, and the coupler 29 are used as a unitary linear motor. The weld bead sensors 33, 33a are exemplified as an optical camera and a transceiving laser sensor. Situation 'but can also be used as a receiving pulse device or ultrasonic (four)Μ ϋ (capable of transmitting and receiving signals) or laser array (transceiver signal) or physical touch array sensor, in addition, in the embodiment shown in the second and second figures, although shown in the up and down direction The front side of the drive unit frame 23 is provided with a driving device 24, a guide 26, a bolt (10) and a second support ^f', but the vertical drive unit mount 23 can also be formed in a box shape as shown in Figs. 4 and 5 Further, the drive unit 24 or the second support base 27 may be provided on the inner side, and various modifications may be made without departing from the spirit and scope of the invention. BRIEF DESCRIPTION OF THE DRAWINGS Fig. 1 is a schematic front view showing one embodiment of the grab position control device of the present invention, taken from the I-Ι direction of Fig. 2; Fig. 2 is a view showing Fig. 1 Schematic view of the top view; ^3 is a control block diagram showing the position control relay of the present invention; brother = to indicate the other implementation of the welding position control relay of the present invention, and the view of the direction of $ to IV-IV Fig. 5 is a schematic front view showing Fig. 4; Fig. 5 is an enlarged perspective view showing a portion of Fig. 5; Fig. 7 is a view showing another implementation of the position control of the silkworm. Figure VII-VII shows a schematic front view; 17 200906530 Figure 8 is a schematic plan view showing Figure 7; Figure 9 is a control block diagram showing the embodiment shown in Figures 7 and 8. Figure 10 is a front elevational view showing one of the conventional welding devices. [Description of main component symbols] 2, 10, 11 steel plates (welded members) 3, 14 4 5 r 6, 13 7, 12 8 9 15 16 17 18 19 , 20 "21 22 23 24 25 26 27 28 29 Welding groove walking rail magnet wheel welding trolley welding welding grab operation box left and right direction drive device frame drive device bolt shaft bearing guide 1st support bolt shaft light coupling support arm up and down direction drive device frame drive device screw inspection shaft bearing guide 2nd support bolt shaft lighter 18 200906530 30 Welding grabbing member 31 Welding welding grab 32 > 32a Weld groove sensor mounting member 33, 33a Weld groove sensor 33A Weld groove signal 34 Weld groove shape recognizing device 35 Welding groove signal processing device 36 Position calculation processing device 37 Welding rod 38 Support frame 39, 42 Gear 40 Welding welding support member 40a Front side portion 40b Bottom side portion 41 Driving device 45 Pin 46 Half-moon rack 47 Drive device 48 Pinion 49 Bearing 50 Guide 51 Slider 52 Bolted shaft 53 Bolted shaft bearing 54 3rd support 55 Drive unit 56 Engager 19