WO2007000835A1

WO2007000835A1 - Welding device

Info

Publication number: WO2007000835A1
Application number: PCT/JP2006/302705
Authority: WO
Inventors: Tadashi Tasaki; Masaru Kodama
Original assignee: Yoshimoto High Tech Co., Ltd.
Priority date: 2005-06-29
Filing date: 2006-02-16
Publication date: 2007-01-04
Also published as: JP2007007680A

Abstract

A welding device capable of properly controlling the amplitude of a swinging wire, comprising a welding torch movable in the welding direction. The welding device is characterized in that a welding wire swing mechanism capable of swinging the welding wire (5) and reference position setting means (21) and (27) capable of setting the reference position of the welding wire swung by the welding wire swing mechanism are installed in a torch body (1) forming the welding torch.

Description

Specification

Welding equipment

Technical field

[0001] The present invention relates to a welding apparatus.

Background art

[0002] A technique for improving welding efficiency by swinging an arc at a high speed by having a swing mechanism that swings a wire in a welding torch has been known in the past! 1)

[0003] Patent Document 1 discloses a technique related to a welding apparatus configured to swing a wire supply nozzle in a welding torch in order to solve the problem of swinging the welding torch. Specifically, the welding apparatus described in Patent Document 1 includes a wire supply nozzle, a pair of magnetic metals disposed on opposite sides of the wire supply nozzle, a pair of DC electromagnetic coils, and the DC electromagnetic A voltage generator or the like for applying a voltage to the coil is provided, and the wire supply nozzle is oscillated by alternately applying a voltage to the pair of direct current electromagnetic coils.

[0004] Patent Document 1: Japanese Patent Laid-Open No. 6-15449

Disclosure of the invention

Problems to be solved by the invention

[0005] Now, since the welding apparatus configured as described above is configured to swing the wire supply nozzle that is not used in the welding torch, problems such as an increase in the size of the swing mechanism can be solved. It became. However, it has the following problems.

[0006] First, according to the prior art (Patent Document 1), since the wire supply nozzle is simply oscillated by a pair of DC electromagnetic coils, the amplitude when oscillating is remotely controlled. It was difficult. In particular, there is a problem that amplitude control cannot be performed in real time during operation of the welding apparatus. Because the welded part does not always maintain the same state (for example, the groove width may change), the swinging wire amplitude can be adjusted as necessary. It is preferable that However, the above In the prior art, there was a problem that it was impossible to perform powerful amplitude control.

[0007] Further, in the prior art, there is a problem that welding cannot be performed properly when an obstacle or the like is present around the welded portion. For example, when multiple workpieces are erected (in a state where a plurality of vertical plates are combined so as to be orthogonal to the bottom plate), when performing fillet welding of the legs of each workpiece, adjacent There was a problem that proper fillet welding could not be performed due to the work piece to be welded.

[0008] Therefore, the present invention has been made to solve the above-described problems of the prior art, and can appropriately perform amplitude control (control of amplitude width, frequency, etc.) of the swinging wire. It is an object to provide a welding apparatus. Another object of the present invention is to provide a welding apparatus capable of appropriately performing fillet welding of the legs of each workpiece even when a plurality of workpieces are erected. .

Means for solving the problem

[0009] The present invention has been made to solve the above-described problems, and is a welding apparatus including a welding torch movable in a welding direction, and welding is performed in a torch body constituting the welding torch. A swing mechanism capable of swinging the wire and a reference position setting means capable of setting a reference position of the welding wire swung by the welding wire swing mechanism are provided.

[0010] According to such a configuration, since the reference position setting unit is provided, amplitude control (control of amplitude width, frequency, etc.) of the swinging wire can be appropriately performed.

[0011] Further, in the welding apparatus according to the present invention, the reference position setting means includes an optical sensor fixed to the main body of the torch, and an amount of light received by the optical sensor according to a swinging state of the welding wire. It is preferable to be configured with a shading plate that can be changed.

[0012] The welding apparatus according to the present invention preferably has a configuration capable of controlling at least one of the amplitude width and the frequency of the welding wire using the reference position setting means. That is, in the present invention, the reference position of the welding wire is determined using the reference position setting means, and the control of the welding wire (amplitude control) can be performed using the reference position setting means. Preferred to be. According to such a configuration, based on a comparatively simple configuration, the setting of the reference position and the amplitude control in the welding wire It can be performed.

[0013] In the welding apparatus according to the present invention, the swing mechanism transmits a drive motor, a swing bar connected to the welding wire, and a driving force of the motor to the swing bar. It is preferable to use a driving force transmission mechanism capable of swinging the welding wire via the swing bar.

[0014] Further, in the welding apparatus according to the present invention, a configuration in which a flexible conductor is provided at a connection point of a plurality of elements in the torch body is preferable. That is, in the present invention, it is preferable to use a flexible conductor as the connecting means. Examples of the flexible conductor that can be applied include knitted copper wire. With such a configuration, even when the welding wire is swung, the welding conductor is swung because the flexible conductor is provided at the connection location in the torch body. This can minimize the shake of the main body of the torch. That is, since this flexible conductor functions as a buffer member, according to the present invention, a more stable welding process can be performed.

[0015] Further, in the welding apparatus according to the present invention, it is preferable that the welding torch is curved at a predetermined angle. According to such a configuration, a plurality of workpieces are erected (in a state where a plurality of vertical plates are combined so as to be orthogonal to the bottom plate), and the corners of the legs of each workpiece are connected. Even when meat welding is performed, appropriate fillet welding can be performed while avoiding adjacent workpieces. In addition, even if the work piece has a large leg length, appropriate welding (large leg length welding) can be performed.

The invention's effect

[0016] According to the present invention, it is possible to obtain a welding apparatus capable of appropriately performing amplitude control of a swinging wire. Further, according to the present invention, it is possible to obtain a welding apparatus capable of appropriately performing fillet welding of the leg portions of each workpiece even when a plurality of workpieces are erected.

Brief Description of Drawings

FIG. 1 is a schematic diagram showing the overall configuration of a welding apparatus according to an embodiment of the present invention.

2 is a schematic cross-sectional view of a welding torch constituting the welding apparatus according to the present embodiment shown in FIG. [FIG. 3] A schematic sectional view taken along line III-III in FIG. 2 is shown.

[FIG. 4] A schematic sectional view taken along line IV-IV in FIG. 2 is shown.

FIG. 5 is a schematic cross-sectional view taken along line VV in FIG.

[Fig. 6] A schematic cross-sectional view along the line VI-VI in Fig. 2 is shown.

FIG. 7 is a schematic sectional view taken along line VII-VII in FIG.

FIG. 8 is a schematic diagram for explaining reference position setting means constituting the welding apparatus according to the present embodiment.

[9] FIG. 9 is a schematic diagram for explaining a use state of the present apparatus when welding a welding location where a plurality of workpieces are erected using the welding apparatus according to the present embodiment.

Explanation of symbols

1 ... Torch body

2 ... Water-cooled shield nozzle

3 ·

4.Conduit Cape Nore

5., Welding wire

6 ··· First control signal cable

7 ··· Bearing

8

9 ... Hinges

10 '

11 '

12 '' Fixing screw

13 ''

14 '' 'Water-cooled tip mount

15 '

16 '

17 '' 'Conductive cylinder

18 · '·· Fitting · "Gas hole

· "Electrical connector

.... Optical sensor

.... Drive motor

... crank

·-. First rod end

· "Connecting rod

Second rod end

...

.... Welding robot

··· Welding wire feeder · "Welding power supply

··· Robot controller

···· Sinored gas cylinder ··· Power cable

··· Gas hose

· '-Second control signal cable ·' Command signal cable · · · Welding arc

'· Nozzle cooling water outlet ·· -Second cooling water delivery direction ··· First cooling water delivery direction ··' Chip mounting cooling water outlet ·. -Nozzle cooling water inlet ··, -Second cooling water supply direction ··· 'Chip mount cooling water inlet ··-First cooling water supply direction 48… Chip mount cooling water outlet hose

49… Chip mount cooling water inlet side hose

50 ... Light passage

51 ... Liner

52..Oscillation control device

53… Tip conductive tube

BEST MODE FOR CARRYING OUT THE INVENTION

Hereinafter, embodiments of the present invention will be described with reference to the drawings.

[0020] Fig. 1 is a schematic diagram showing the overall configuration of a welding apparatus according to an embodiment of the present invention. FIG. 2 shows a schematic cross-sectional view of a welding torch constituting the welding apparatus according to the present embodiment shown in FIG. Fig. 3 shows a schematic cross-sectional view along line III-III in Fig. 2. Fig. 4 shows a schematic cross-sectional view along the line IV-IV in Fig. 2. FIG. 5 shows a schematic cross-sectional view along the line V-V in FIG. Figure 6 shows a schematic cross-sectional view along the line VI-VI in Figure 2. FIG. 7 shows a schematic cross-sectional view along the line VII-VII in FIG. FIG. 8 is a schematic diagram for explaining the reference position setting means constituting the welding apparatus according to the present embodiment. FIG. 9 is a schematic diagram for explaining a use state of the present apparatus when welding a welding location where a plurality of workpieces are erected using the welding apparatus according to the present embodiment.

As shown in FIG. 1, the welding apparatus according to the present embodiment includes a torch body 1, a welding robot 28 to which the torch body 1 is attached, and a welding wire that supplies a welding wire to the torch body 1. It is configured using a supply device 29, a welding power source 30, a robot control device 31 for controlling the welding robot 28, a shield gas cylinder 32 for supplying a shield gas, an oscillation control device 52, and the like.

Referring to FIG. 1 in more detail, the welding apparatus according to the present embodiment supplies power, gas, and welding wire to the torch body 1 between the torch body 1 and the welding wire supply device 29. Conduit cable 4 is provided. Also, a first control signal cable 6 is provided between the torch body 1 and the oscillation control device 52 to connect the motor and optical sensor built in the torch body 1 and the oscillation control device 52. . Also robot Between the control device 31 and the oscillating control device 52, there is provided a second control signal cable 36 provided to electrically connect them and to exchange various signals. A command signal cable 37 for sending a command from the robot control device 31 to the welding power source 30 is provided between the robot control device 31 and the welding power source 30. Further, a power cable 33 for supplying electric power from the welding power source 30 to the welding wire supply device 29 is provided between the welding power source 30 and the welding wire supply device 29. A ground cable 34 is provided between the workpiece and the welding power source 30. Further, a gas hose 35 for supplying shield gas from the shield gas cylinder 32 to the welding wire supply apparatus 29 is provided between the welding wire supply apparatus 29 and the shield gas cylinder 32.

In FIG. 1, using the welding apparatus that is effective in the present embodiment, along the corner of the workpiece to be welded provided on the bottom plate A so that the two standing plates Bl and B2 are substantially orthogonal to each other. This is an example of welding. That is, FIG. 1 shows a plurality of workpieces Bl and B2 standing upright (a state in which a plurality of vertical plates Bl and B2 are combined so as to be orthogonal to the bottom plate A). The case where the fillet welding of the leg part is performed is shown.

As shown in FIG. 1, the welding apparatus according to the present embodiment is provided with a torch body 1 at the end of an arm of a welding robot 28, and based on a signal from a robot control device 31, an object to be welded is provided. The torch body 1 can be moved along the welding lines A, Bl, and B2.

[0025] The welding current at this time is supplied to the torch main body 1 via the welding power source 30, the power cable 33, the welding wire supply device 29, and the conduit cable 4, and from the torch main body 1 by this welding current. Protruding and generating a welding arc 39 at the wire tip. The welding wire is supplied from the welding wire supply device 29 to the torch body 1 via the conduit cable 4. The shield gas is supplied to the torch body 1 via the shield gas cylinder 32, the gas hose 35, the welding wire supply device 29, and the conduit cable 4. This shield gas is released by the force of the shield nozzle (water-cooled shield nozzle 2) and functions to maintain the integrity of the weld. Although not shown in FIG. 1, in this embodiment, the torch body 1 and the shield nozzle are protected from welding heat, and the cooling water is slid so that severe welding work can be performed for a long time. Using cooling mechanism is also provided FIG. 2 is a schematic cross-sectional view of a welding torch (torch body 1) that constitutes a welding apparatus that can be used in the present embodiment shown in FIG. 3 to 7 show schematic cross-sectional views of each part of FIG. Hereinafter, the welding torch as the main part of the welding apparatus that works on the present embodiment will be described with reference to FIGS. 2 to 7 in addition to FIG. 1 described above.

[0027] The welding torch that is applied to the present embodiment is provided at the tip portion of the torch body 1 (and various components provided therein) whose tip portion is curved at a predetermined angle, and at the tip portion of the torch body 1. It is configured using a water-cooled shield nozzle 2 or the like. Further, the rear end portion of the torch body 1 is provided with a lid portion 3 made of an electrically insulating material.

A conduit cable 4 is passed through the lid 3. The conduit cable 4 is inserted into the torch body 1 through the lid portion 3, and a conductive cylinder 17 constituting the conduit cable 4 is fixed to the lid portion 3 by a joint 18. In the present embodiment, the welding wire 5 is supplied through the conduit cable 4 as described above.

Further, the lid 3 is also provided with a first control signal cable 6, and the first control signal cable 6 is connected to an electrical connector 20 provided on the lid 3. An optical sensor 21 and a drive motor 22 are electrically connected to the electrical connector 20. A swing bar 10 that can swing the welding wire 5 is connected to the drive motor 22 via a crank 23, a first rod end 24, a connecting rod 25, and a second rod end 26. In addition, a light shielding plate 27 that constitutes a reference position setting unit for the welding wire 5 is provided at the upper end of the swing bar 10 in cooperation with the optical sensor 21. The optical sensor 21 and the light shielding plate 27 correspond to the “reference position setting means” according to the present invention.

[0030] In the extending direction of the conductive tube 17 constituting the conduit cable 4 (from the lid 3 to the inside of the torch body 1), a tip conductive tube 53 is provided. The tip conductive cylinder 53 can be swung while maintaining the electrical conduction state via the knitted copper wire 16 (corresponding to the “flexible conductor” of the present invention). As shown in FIG. A fixed ring 11 is provided on the outer peripheral portion of the knitted copper wire 16 in order to appropriately maintain the connection state between the conductive tube 17 and the tip conductive tube 53 using the knitted copper wire 16.

In addition, the tip conductive cylinder 53 is connected to the vibrator 8 with the fixing screw 12 via the insulating cylinder 13. It is fixed. That is, the tip conductive cylinder 53 is fixed to the vibrator 8 using the insulating cylinder 13 and the fixing screw 12 while maintaining an electrically insulated state.

The vibrator 8 is swingably attached inside the torch body 1 via a pair of bearings 7 provided on the inner side surface of the torch body 1 and a hinge 9. In addition, a swing bar 10 is fixed to the back side of the resonator 8 (the back side in FIG. 2). As described earlier, the swing bar 10 is provided at the tip of the swing bar 10. The second rod end 26, the connecting rod 25, and the first rod end 24 are connected to a crank 23 provided in the drive motor 22. Therefore, the swing bar 10 and the vibrator 8 fixed to the swing bar 10 vibrate (swing) according to the drive state (swing state) of the drive motor 22.

[0033] The crank 23, the first rod end 24, the connecting rod 25, and the second rod end 26 described above correspond to the "driving force transmission mechanism" according to the present invention. The drive force transmission mechanism, the drive motor 22, and the swing bar 10 correspond to the “swing mechanism” according to the present invention.

In addition, a water-cooled chip mount 14 is fixed to the tip conductive cylinder 53, and a power feed tip 15 is fixed to the tip of the water-cooled chip mount 14. As described above, the welding wire 5 is fed out from the welding wire supply device 29, and the force at the tip of the power feed tip 15 is also projected through the conduit cable 4 and the like. The welding arc 39 is generated at the tip of the welding wire 5 by the power supply from the welding power source 30.

[0035] Further, at this time (when welding arc 39 is generated), for example, a shielding gas such as carbon dioxide gas is supplied from the shielding gas cylinder 32 into the torch main body 1 through the gap of the liner 51 in the conduit cable 4 and the gas hole 19. Is done. The shield gas supplied into the torch body 1 in this way is finally discharged from the water-cooled shield nozzle 2 and functions to prevent weld metal from oxidation and to maintain the soundness of the weld. .

[0036] In the welding apparatus according to the present embodiment, as described above, the welding arc 39 is generated, and at the same time, the drive motor 22 is rotationally driven. Thus, according to this embodiment, the drive motor 22 is driven via the crank 23, the first rod end 24, the connecting rod 25, the second rod end 26, the peristaltic bar 10, and the vibrator 8. Since the welding wire 5 vibrates (oscillates) due to the force, a good weld can be obtained. [0037] In the welding apparatus according to the present embodiment, cooling processing of the torch body 1 and the shield nozzle (water-cooled shield nozzle 2) using cooling water is performed as necessary. In the present embodiment, cooling water is supplied from a pump (not shown) via a cooling water supply hose (not shown) to cool the power supply tip 15 in the torch body 1. At this time, the torch body 1 is also cooled. Next, the cooling water after cooling the torch body 1 and the power feed tip 15 is supplied to the water cooling shield nozzle 2 via a connecting hose (not shown), and after cooling the water cooling shield nozzle 2, the cooling water is returned to the cooling water. Flow IS 'through pump hose (not shown).

[0038] More specifically, the cooling water supplied via the pump power cooling water supply hose is supplied from the chip mount cooling water inlet 46 into the water cooling chip mount 14 via the chip mount cooling water inlet side hose 49. (Supplied in the first cooling water supply direction 47), after cooling the power supply chip 15 and the like, from the chip mount cooling water outlet 43 through the chip mount cooling water outlet hose 48, to the outside of the water cooling chip mount 14 (first It is sent to the cooling water delivery direction (42). The cooling water delivered from the chip mount cooling water outlet 43 is then supplied from the nozzle cooling water inlet 44 into the water cooling shield nozzle 2 (supplied in the second cooling water supply direction 45) to cool the water cooling shield nozzle 2. Later, it is sent out from the nozzle cooling water outlet 40 to the outside of the water cooling shield nozzle 2 (in the second cooling water delivery direction 41). The cooling water sent out from the nozzle cooling water outlet 40 to the outside of the water cooling shield nozzle 2 is returned to the pump side via the cooling water recirculation hose.

[0039] Next, reference position setting means constituting the welding apparatus according to the present embodiment will be described. FIG. 8 is a schematic diagram for explaining the reference position setting means constituting the welding apparatus according to the present embodiment as described above. More specifically, FIG. 8 (a) shows a partially enlarged view of the vicinity of the optical sensor 21 and the light shielding plate 27 in FIG. 2, and FIG. 8 (b) shows the bottom surface of FIG. 8 (a). FIG. 8 (c) is a graph showing changes in the received light amount data of the optical sensor 21 when the light shielding plate 27 is moved.

In FIG. 8C, the horizontal axis indicates the position of the light shielding plate 27, and the vertical axis indicates the amount of light received by the optical sensor 21. In this embodiment, the state where the light shielding plate 27 is positioned at the substantially central portion of the optical sensor 21 (the light receiving amount of the optical sensor is 50% when positioned at the approximate central portion of the light shielding plate 27). Is the reference position. Note that this “reference position” is not limited to such a set value, and “the position where the received light amount becomes 100%”, “the position where the received light amount becomes 0%”, or “the received light amount is 10%”. It is possible to determine appropriately such as “the position that has become”.

[0041] When power is turned on to the control system of the welding apparatus that works according to the present embodiment, the current position of the welding wire 5 is first determined by the oscillation control apparatus 52. Specifically, the position of the welding wire 5 is determined by the position of the light shielding plate 27 provided at the upper end portion of the swing bar 10 connected to the welding wire 5.

[0042] The position of the welding wire 5 is determined by the position in the light path 50 (see FIG. 8 (b)) of the optical sensor 21 where the light shielding plate 27 exists, and more specifically, the light shielding plate. Judgment is based on the amount of light received by the photosensor 21 (see Fig. 8 (c)), which varies with the position of 27.

In the present embodiment, centering processing (reference position setting processing) for setting the position of the welding wire 5 determined by the amount of light received by the optical sensor 21 to an appropriate position is performed. This reference position setting process is a process performed before the welding process is started, and based on the current position of the welding wire 5 recognized by the oscillation control device 52, the drive motor 22 is rotated forward or backward. Is done by.

More specifically, when the control system is turned on, the light shielding plate 27 completely blocks the optical path 50 of the optical sensor 21, and the output (the amount of received light) at the optical sensor 21 is zero (0% ), The light shielding plate 27 and the rocking bar 10 are at least on the right side of the virtual position shown in FIG. 8 (a) (the positions of the light shielding plate 27 'and the rocking bar 10' shown by the two-dot chain line). Judged to be located. In such a case, in this embodiment, since the swing bar 10 is positioned on the right side of the reference position, the drive motor 22 is determined in any direction (this direction is appropriately determined by the oscillation control device 52). ) To rotate the swing bar 10 back to the reference position (reference position setting process). At this time, in this embodiment, the light receiving amount in the optical sensor 21 is blocked by the rocking bar 10 until the light receiving amount reaches the “reference position” (in this embodiment, the light receiving amount is 50%). Move plate 27 to the left (left side in Fig. 8).

[0045] Further, when the control system is powered on, the light shielding plate 27 does not block the light path 50 of the optical sensor 21 at all, and the output (the amount of received light) in the optical sensor 21 is 100%. The right end of the light shielding plate 27 is completely separated from the light path 50 (the left side in FIG. Is determined). In such a case, in this embodiment, since the swing bar 10 is positioned on the left side of the reference position, the drive motor 22 is determined in any direction (this direction is appropriately determined by the oscillation control device 52). ) To rotate the swing bar 10 back to the reference position (reference position setting process). At this time, in the present embodiment, the light-shielding plate is interposed via the swing bar 10 until the light-receiving amount in the optical sensor 21 reaches the “reference position” (in this embodiment, the position where the light-receiving amount is 0%). Move 27 to the right (right side in Fig. 8).

The welding apparatus according to the present embodiment starts the actual welding process after performing the “reference position setting process (centering process)” of the welding wire 5 as described above. Specifically, an oscillation start command signal is transmitted from the robot control device 31 to the oscillation control device 52 via the second control signal cable 36, and this oscillation start command signal is sent from the oscillation control device 52 to the first control signal. Sent to welding torch via cable 6. Based on this oscillation start command signal (speed command signal, amplitude width signal, etc.), the rotational drive of the drive motor 22 is started.

[0047] When the rotational driving of the reference position force drive motor 22 is started (forward rotation), the amount of light received by the optical sensor 21 is 0%. In this embodiment, the width from the robot controller 31 is unchanged. The drive motor 22 is rotated until the target number based on the set value (the target number based on the width set value included in the oscillation start command signal (for example, a predetermined rotation angle)) is reached.

[0048] After the rotation speed (rotation angle) of the drive motor 22 reaches the target rotation speed (target rotation angle), the drive motor 22 is then rotated in the reverse direction. When the drive motor 22 is rotated in the reverse direction, the light sensor 21 is turned on and the amount of received light increases. Even if the amount of light received by the light sensor 21 increases, the drive motor 22 continues to rotate in the reverse direction. Starts counting the rotational speed (rotation angle) of the drive motor 22 from the ON state (when the amount of received light reaches a specified percentage (eg, 5%, 10%, 50%, etc.)). Then, when the rotation speed (rotation angle) of the drive motor 22 reaches the target number based on the width setting value, the rotation direction of the drive motor 22 is switched to normal rotation.

[0049] In the welding apparatus according to this embodiment, based on the control signal (oscillation start command signal) from the robot controller 31, the above-described forward rotation and reverse rotation of the drive motor 22 are performed. Repeatedly, this causes the welding wire 5 to oscillate (vibrate). This rotational drive (forward rotation and reverse rotation) of the drive motor 22 is repeated until a stop command signal is transmitted from the robot control device 31. That is, the welding process using the welding apparatus according to the present embodiment is performed until the stop command signal is transmitted.

As described above, the welding apparatus according to the present embodiment performs the welding process while swinging (vibrating) the welding wire 5 with a predetermined amplitude based on the control signal from the robot control device 31. It can be performed. Further, since the welding apparatus according to the present embodiment includes the optical sensor 21 and the light shielding plate 27 that constitute the reference position setting means, it is possible to appropriately control the “amplitude” of the welding wire 5. That is, according to the present embodiment, the “reference position” set using the optical sensor 21 and the light shielding plate 27 etc. is used as the origin, and the external (robot control device 31 etc.) force is applied according to the oscillating width setting value indicated. By driving the drive motor 22 to rotate (forward and reverse), the welding wire 5 is swung (vibrated) via the rocking bar 10 and the vibrator 8, and the frequency and amplitude (oscillation) during welding are oscillated. Oscillation can be performed while controlling the width) in real time.

[0051] The welding apparatus according to the present embodiment can appropriately remotely control the frequency and amplitude of the welding wire 5 based on the control signal from the robot control apparatus 31 as described above. Therefore, the following effects can be obtained.

[0052] For example, when performing horizontal fillet welding, by adding a gap detection mechanism, gap information obtained by the gap detection mechanism is fed back to the robot controller 31, and welding is performed based on the feedback information. The amplitude of wire 5 can be controlled in real time. According to such a configuration, even if the gap is constant and strong, welding can be performed with a uniform bead. Further, according to the present embodiment, even if the gap detection mechanism is not provided, if the gap information is provided to the robot control device 31 in advance, the amplitude of the welding wire 5 is determined based on the information. The welding process can be performed with a uniform bead with appropriate adjustment.

[0053] Further, when performing butt welding, even if the groove width fluctuates (even if the groove width is not constant), information on the groove width (groove width fluctuation information) is previously controlled by the robot. By giving it to the apparatus 31, the welding apparatus according to the present embodiment is based on the information, and the welding wire is used. The defect-free butt welding can be performed while appropriately adjusting the amplitude of the chamber 5. Furthermore, if a groove width detection mechanism for detecting groove width fluctuation information is provided, the groove width fluctuation information obtained by the groove width detection mechanism is fed back to the robot controller 31. The welding apparatus according to the present embodiment can perform butt welding without defects while controlling the amplitude of the welding wire 5 in real time.

[0054] Even when the route gap varies, the variation information is given to the robot control device 31 in advance or appropriately, so that the welding apparatus according to the present embodiment allows the welding wire according to the route gap. Since the amplitude of 5 can be varied, good back wave welding can be performed.

[0055] Further, the welding torch constituting the welding apparatus that works according to the present embodiment is configured such that the tip thereof is curved at a predetermined angle (see FIG. 9 and the like). For example, an angle of about 120 ° to 135 ° is set as a bending angle of 0 formed by the central axis of the torch main body 1 shown in FIG. 9 and the central axis of the welding wire 5 protruding from the torch main body 1. Has been.

[0056] In Fig. 9, the torch body 1 'shown by the phantom line (two-point difference line) shows the above-described case of the curve angle Θ force of 180 ° (that is, the case of the prior art). Compared with the torch main body 1 according to the prior art, the welding apparatus according to the present embodiment (the torch main body 1 constituting the torch main body 1) has the following effects.

[0057] For example, when performing fillet welding of a workpiece in which a plurality of standing plates Bl and B2 are erected on the bottom plate A (when performing fillet welding of the legs of the standing plate B2 in Fig. 9), If the torch body 1 ′ that works with the conventional technology is used, the torch body 1 ′ interferes (contacts) with the other vertical plate B1 as shown in FIG. Even if the main body 1 'is used, the welding process of the work piece cannot be performed properly.

However, according to the present embodiment, since the torch body 1 has a predetermined bending angle Θ, the torch body 1 interferes (contacts) with another standing plate B1 as shown in FIG. Without welding, the welding process of the work piece can be performed appropriately. That is, the welding apparatus according to the present embodiment can perform good welding work when there are obstacles around the welding location. Therefore, for example, when a plurality of workpieces are erected (in a state where a plurality of vertical plates are combined so as to be orthogonal to the bottom plate), fillet welding of the legs of each workpiece is performed. Even if it is the case, an appropriate fillet welding can be performed while avoiding adjacent workpieces. Further, according to the welding apparatus according to the present embodiment, appropriate welding (large leg length welding) can be performed even if the work piece has a large leg length.

Note that the present invention is not limited to the above embodiments, and various modifications can be made as necessary.

In the above-described embodiment, the case where the received light amount in the reference position force optical sensor 21 of the welding wire 5 is the position of 50% has been described, but the present invention is not limited to this configuration. Therefore, for example, the position at which the received light amount at the optical sensor 21 becomes 0%, the position at which the received light amount reaches 100%, or the received light amount reaches a predetermined percentage (any value between 0% and 100%). The position position may be used as the reference position. If necessary, the amount of light received by the optical sensor 21 may be a predetermined% (an arbitrary value between 0% and 100%), and the position after several microseconds may be set as the reference position. Furthermore, if necessary, it may be a “reference position” having a predetermined width (for example, a “reference position” if the received light amount of the optical sensor 21 is within a range of 0% to 60%).

[0061] In the above-described embodiment, the type of the drive motor 22 is not particularly mentioned. However, the drive motor 22 used in the present invention is anything as long as it can exhibit the various functions described above. It is not limited to the configuration. Accordingly, for example, a servo motor or a pulse motor can be used as the drive motor 22.

[0062] Also, in the above embodiment, as a constituent element of the reference position setting means of the welding wire 5 and means (reference position setting means, etc.) for performing real-time control of the amplitude width, frequency, etc. The force described in the case of using the optical sensor 21 and the light shielding plate 27 The present invention is not limited to this configuration. Therefore, for example, other sensors such as a touch sensor and a proximity sensor may be used as elements constituting the reference position setting means.

[0063] Further, in the above-described embodiment, the force described in the case where the knitted copper wire 16 is used as the flexible conductor used as a connecting means for a plurality of elements in the torch body 1 is limited to this configuration. Not. Thus, for example, as another flexible conductor, a thin copper plate laminate or a fluid metal such as mercury sealed in an appropriate container may be used. Industrial applicability

The welding apparatus according to the present invention can appropriately perform amplitude control of the swinging wire. In addition, the welding apparatus according to the present invention can appropriately perform fillet welding of the leg portions of each workpiece even when the plurality of workpieces are erected.

Claims

The scope of the claims

[1] A welding apparatus having a welding torch movable in a welding direction,

In the torch body constituting the welding torch, a swing mechanism capable of swinging the welding wire and a reference position setting means capable of setting a reference position of the welding wire swinged by the welding wire swing mechanism are provided. Being

A welding apparatus characterized by that.

[2] The reference position setting means includes an optical sensor fixed to the torch body and a light shielding plate that can change the amount of light received by the optical sensor in accordance with the swinging state of the welding wire.

The welding apparatus according to claim 1.

[3] The reference position setting means can be used to control at least one of the amplitude width and the frequency of the welding wire.

The welding apparatus according to claim 1 or 2.

[4] The swing mechanism transmits a drive motor, a swing bar connected to the welding wire, and a driving force of the motor to the swing bar, and the welding via the swing bar. Constructed with a driving force transmission mechanism that can swing the wire! Scold

The welding apparatus according to any one of claims 1 to 3.

[5] A flexible conductor is provided at a connection point of a plurality of elements in the torch body.

The welding apparatus according to any one of claims 1 to 4.

[6] The welding torch is curved at a predetermined angle.

The welding apparatus according to any one of claims 1 to 5.