JPS60180670A - Welding robot having double torch - Google Patents
Welding robot having double torchInfo
- Publication number
- JPS60180670A JPS60180670A JP3571684A JP3571684A JPS60180670A JP S60180670 A JPS60180670 A JP S60180670A JP 3571684 A JP3571684 A JP 3571684A JP 3571684 A JP3571684 A JP 3571684A JP S60180670 A JPS60180670 A JP S60180670A
- Authority
- JP
- Japan
- Prior art keywords
- welding
- axis
- torch
- welding torch
- arrow
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K9/00—Arc welding or cutting
- B23K9/24—Features related to electrodes
- B23K9/28—Supporting devices for electrodes
- B23K9/287—Supporting devices for electrode holders
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Plasma & Fusion (AREA)
- Mechanical Engineering (AREA)
- Butt Welding And Welding Of Specific Article (AREA)
- Arc Welding In General (AREA)
- Manipulator (AREA)
Abstract
Description
【発明の詳細な説明】
本発明は2本の溶接トーチを有するダブルトーチ付溶接
ロゲットに関する。DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a double-torch welding loget having two welding torches.
一般に、溶接口?ットは、1本の溶接トーチを有しその
溶接トーチの方向、姿勢を制御する手首部と、この手首
部の位置を制御する複数の軸を有する腕部とからなシ、
前記各軸を制御することにより溶接トーチを予めティー
チングした溶接線に沿って移動させるようKしている。In general, the welding port? The kit consists of a wrist part that has one welding torch and controls the direction and posture of the welding torch, and an arm part that has a plurality of axes that control the position of the wrist part,
By controlling each of the axes, the welding torch is moved along a previously taught welding line.
この種の溶接ロゲットの一例としては、第1図に示すよ
うな溶接ロボットがある。この溶接ロゲットは、天井走
行片持型の溶接ロゲットで、X。An example of this type of welding robot is a welding robot as shown in FIG. This welding logget is a cantilever type welding logget that runs overhead.
y、z軸の直交3軸の腕部と、溶接トーチ1を旋回させ
るB軸2、溶接′トーチを振るB軸3を有する手首部と
を有して込る。It has an arm part with three orthogonal axes of y and z axes, a wrist part having a B axis 2 for rotating the welding torch 1, and a B axis 3 for swinging the welding torch.
かかる溶接ロゲットによって、第2図に示すワーク4,
5間の溶接@6,7をそれぞれ水平隅肉溶接する場合、
各溶接線別にティーチングを行ない、またそれぞれ別々
に溶接しなければならないため、ティーチング時間およ
び溶接時間が長くなるばかシでなく、溶接歪が生じやす
いという問題があった。With this welding loget, the workpiece 4 shown in FIG.
When welding between 5 @ 6 and 7 with horizontal fillet welding,
Since each welding line must be taught separately and each welded separately, there is a problem that not only does the teaching time and welding time become longer, but welding distortion is more likely to occur.
本発明は上記実情に鑑みてなされたもので、T型継手等
の両側隅肉溶接を行なう際に、両側の溶接線を同時に溶
接し、もって溶接時間の短縮とともに溶接歪の発生を防
止することができるダブルトーチ付溶接口がヮトを提供
することを目的とする。The present invention has been made in view of the above circumstances, and it is an object of the present invention to simultaneously weld the weld lines on both sides when performing fillet welding on both sides of a T-type joint, etc., thereby shortening the welding time and preventing the occurrence of welding distortion. The purpose is to provide a welding port with a double torch that can be used.
この発明(支)よれば、溶接トーチの姿勢を制御するS
軸およびB +1%lIを有する手首部において、該手
首部のB軸に配設される溶接トーチに対して前記手首部
のS軸を挾んで対称位置に別の+(:接トーチを配設し
5.2本の溶接トーチによって同時に両側隅肉溶接を行
なうようにしている。According to this invention (support), the S
At the wrist portion having an axis and B 5. Fillet welding on both sides is performed simultaneously using two welding torches.
以下、本発明を添付図面を参照して詳細に説明する。Hereinafter, the present invention will be described in detail with reference to the accompanying drawings.
第3図は第1図に示す接溶ロゲットに適用した本発明に
係るダブルトーチ付溶接ロゲットの手首部の一実施例を
示す斜視図である。同図において、溶接トーチ1は、B
軸3に取シ付けられ、該B軸3を割出1するモータ8に
ょシ矢印A −A’方向に±90°の範囲で回動制御さ
れる。また、モータ8はブラケット9を介してS軸2に
配設されている。FIG. 3 is a perspective view showing an embodiment of the wrist portion of the welding logget with a double torch according to the present invention applied to the welding logget shown in FIG. 1. In the figure, welding torch 1 is B
A motor 8, which is attached to the shaft 3 and indexes the B-shaft 3, is controlled to rotate within a range of ±90° in the direction of the arrow A-A'. Further, the motor 8 is arranged on the S-axis 2 via a bracket 9.
なお、S軸2は蛇腹lo内に収納されているモータによ
って矢印B −B’力方向±2700の範囲で回動制御
される。Note that the S-axis 2 is rotationally controlled within a range of ±2700 in the force direction of arrow B-B' by a motor housed in the bellows lo.
したがって、溶接トーチ1ばS軸2、B軸3が制御され
ることにょシ任意の溶接線に対して所望の姿勢をとるこ
とができる。Therefore, by controlling the S-axis 2 and B-axis 3, the welding torch 1 can take a desired attitude with respect to an arbitrary welding line.
一方、溶接トーチ11は、該溶接トーチ11を矢印c
= c’力方向直線移動させる移動機構、該移動機構を
矢印]) −o1方向に回転させる回転機構、および該
回転機構を支持するブラケット12を介してS軸2に配
設される。なお溶接トーチ11は、S軸2を挾んで溶接
トーチ1と対称位置にあり、かつ第3図の図示状態では
溶接1−−チ1を矢印A−A/力方向振って形成される
平面と同一平面内にある。また、溶接トーチ11はS軸
2に対して45°の傾斜をもって前記直線移動機構に固
定されておシ、その先端の2軸位置は、溶接トーチ1を
45°回動させたときのその先端位置と同じである。On the other hand, the welding torch 11 moves along the arrow c
= c' A moving mechanism that moves linearly in the force direction, the moving mechanism is indicated by an arrow]) A rotating mechanism that rotates in the -o1 direction, and a bracket 12 that supports the rotating mechanism, and is disposed on the S-axis 2. The welding torch 11 is located in a symmetrical position with the welding torch 1 across the S-axis 2, and in the state shown in FIG. are in the same plane. Further, the welding torch 11 is fixed to the linear movement mechanism with an inclination of 45 degrees with respect to the S-axis 2, and the two-axis position of the tip thereof is determined when the welding torch 1 is rotated 45 degrees. Same as position.
次に、上記溶接トーチ11の直線移動機構および回転機
構を第4図に示す要部断面図を参照しながら説明する。Next, the linear movement mechanism and rotation mechanism of the welding torch 11 will be explained with reference to a sectional view of the main parts shown in FIG. 4.
直線移動機414は、主としてモータ13、モータ13
によって回転するボールスクリー−14、yy−ルスク
リュ−14に騨合するボールナツト15、および?−ル
ナット15に固定されカイト17上を移、動するスライ
ダ16とから構成されている。The linear moving machine 414 mainly includes the motor 13 and the motor 13
A ball screw 14 rotated by a ball screw 14, a ball nut 15 fitted to the yy screw 14, and - a slider 16 that is fixed to the lug nut 15 and moves on the kite 17.
スライダ16には1点録線で示すように溶接トーチ11
が固定されておシ、このスライダ16がが一ルスクリー
ー14の回転によってs動することによって溶接トーチ
11もその固定部11aが範囲りの間で直線移動する。A welding torch 11 is attached to the slider 16 as shown by a one-point recording line.
is fixed, and when the slider 16 moves by the rotation of the screen 14, the welding torch 11 also moves linearly within a range of its fixed portion 11a.
1だ、回転機構は、主として前記直線移動機4+、jに
固定された回転軸18、回転軸18を軸支する軸受19
、および軸受19に固定され前記回転軸18を回転させ
るモータ20とから構成されている。なお、軸受19は
ブラケット12(第3図)によってS軸2に固定されて
いる。1, the rotation mechanism mainly includes a rotating shaft 18 fixed to the linear moving machine 4+, j, and a bearing 19 that pivotally supports the rotating shaft 18.
, and a motor 20 fixed to the bearing 19 and rotating the rotating shaft 18. Note that the bearing 19 is fixed to the S-axis 2 by a bracket 12 (FIG. 3).
したがって、モータ20によって回転軸18が回転する
と、前記直線移動機構全体がその回転軸18の軸を中心
にして回転する。Therefore, when the rotating shaft 18 is rotated by the motor 20, the entire linear movement mechanism rotates around the rotating shaft 18.
さて、かかるダブルトーチ付溶接ロピットによってT型
継手等の両側水平隅肉溶接を行なう場合について説明す
る。この場合、まず、第5図に示すように溶接トーチ1
が矢印入方向(第3図)に45°回転させたときの溶接
トーチ1と溶接トーチ11との隙間がワーク5の板厚W
K対応するように溶接トーチ11の矢印C−C方向の位
置を前記直線移動機構によって調節する。続いて、回転
機構によシ直線移fil)機構′f、第3図または第5
図の図示の状態から90°または1800回転させる。Now, a case will be described in which horizontal fillet welding on both sides of a T-type joint or the like is performed using such a welding rope pit with a double torch. In this case, first, as shown in FIG.
The gap between welding torch 1 and welding torch 11 when rotated 45 degrees in the direction of the arrow (Fig. 3) is the plate thickness W of workpiece 5.
The position of the welding torch 11 in the direction of arrow C-C is adjusted by the linear movement mechanism so as to correspond to K. Then, the rotation mechanism is used to move the linear translation mechanism 'f, Fig. 3 or Fig. 5.
Rotate 90 degrees or 1800 degrees from the state shown in the figure.
これによシ、溶接トーチ1による溶接線6(第2図)の
ティーチノブ時の移動およびティーチング終了後、溶接
線6の始端位置1での移動に際して、溶接トーチ11が
邪魔にならないようすることができる。This makes it possible to prevent the welding torch 11 from getting in the way when the welding torch 1 moves the welding line 6 (FIG. 2) during the teaching knob and when moving the welding line 6 at the starting end position 1 after teaching is completed. can.
そして、溶接線6のティーチングが終了し、溶接トーチ
1がその始端位置まで移動すると、前記回転機構によシ
直線移動機構を90″または180゜反転し、溶接トー
チ11が溶接トーチ1と対峙するようKし、その後溶接
トーチ1と溶接トーチ11から同時にアークをスタート
させる。Then, when the teaching of the welding line 6 is completed and the welding torch 1 is moved to its starting position, the linear movement mechanism is reversed by 90'' or 180° by the rotation mechanism, so that the welding torch 11 faces the welding torch 1. After that, arcs are started from welding torch 1 and welding torch 11 at the same time.
ここで、溶接ロボットは、ティーチングデータによシ溶
接トーチ1が溶接線4に沿うように、またティーチング
データと実際の溶接線とがずれている場合にはそのずれ
を補正するように倣い制御を行なうが、溶接トーチ11
は溶接トーチ1と同一の動きをし、かつワーク5の板厚
Wは一定であるため、溶接トーチ11も溶接線7上を正
確に移動することができる◎
なお、溶接トーチ1はアークセンサを用いた倣い制御を
行なうためにウィービングを行ない、溶接トーチ11は
ウィービングを行なわないので、両方の溶接が同一の脚
長になるようにそれぞれの溶接条件(アーク電流、アー
ク電圧)を設定する必要がある。もち論、溶接トーチ1
饗ウイービングさせず、倣い制御は行なわない溶接態様
も考えられる。Here, the welding robot performs tracing control so that the welding torch 1 follows the welding line 4 according to the teaching data, and if there is a deviation between the teaching data and the actual welding line, the deviation is corrected. Welding torch 11
The welding torch 1 moves in the same way as the welding torch 1, and the thickness W of the workpiece 5 is constant, so the welding torch 11 can also move accurately on the welding line 7◎ Note that the welding torch 1 is equipped with an arc sensor. Weaving is performed to perform the tracing control used, and weaving is not performed for the welding torch 11, so it is necessary to set each welding condition (arc current, arc voltage) so that both welds have the same leg length. . Mochi Theory, Welding Torch 1
It is also possible to consider a welding mode in which no weaving is performed and no tracing control is performed.
また、溶接トーチ1のB軸3と同様に、溶接トーチ11
を振らせるための機構を設けるよう圧してもよい。この
ようにすれば、必要に応じて溶接トーチ1と溶接トーチ
11をともにウィービングさせることもでき、また溶接
トーチ1と溶接トーチ11の相互の姿勢も45°以外の
姿勢をとることができる。更に、溶接トーチ11とワー
クとの干渉を回避させることができ(例えば溶接トーチ
11を左端まで直線移動させ、その後、反時計回シに4
5°回転させるととKより溶接トーチ11を水平にする
ことができ)前述した回転機構が不要になる。Further, similarly to the B axis 3 of the welding torch 1, the welding torch 11
Pressure may also be provided to provide a mechanism for shaking. In this way, both the welding torch 1 and the welding torch 11 can be weaved if necessary, and the mutual attitude of the welding torch 1 and the welding torch 11 can be other than 45°. Furthermore, it is possible to avoid interference between the welding torch 11 and the workpiece (for example, move the welding torch 11 straight to the left end, then turn it counterclockwise 4 times).
If the welding torch 11 is rotated by 5 degrees, the welding torch 11 can be made horizontal.) The above-mentioned rotation mechanism becomes unnecessary.
なお、本実施例では溶接トーチ11を電動によって調整
し得るようにしたが、溶接開始の際に適宜手動で調整す
るようにしてもよい。また、本実施例ではワーク5の高
さとして例えば250簡以下というような制限を受ける
が、所要形状のブラケットによる溶接トーチ11の取付
けを工夫すればこれに容易に対処することができる。ま
た、本発明が適用できる溶接口&ツ)も3軸直交型に限
らず、多関節型等種々の溶接口?ットに適用できるO
以上説明したように本発明によれば、2本の溶接トーチ
を設けるようにしたため、2本の溶接線を同時に溶接(
両側隅肉溶接)ができ、溶接時間の短縮を図ることがで
きる。また、ティーチングも1本の溶接線についてのみ
行なえばよく、片方の溶接トーチの制御によシ、もう片
方の溶接トーチも実質的に追従制御ができる。更に、同
時に両側の隅肉溶接を行なうため、溶接歪等の発生も防
止できるという利点がある。In this embodiment, the welding torch 11 can be adjusted electrically, but it may also be adjusted manually when starting welding. Further, in this embodiment, the height of the workpiece 5 is limited to, for example, 250 cm or less, but this can be easily overcome if the welding torch 11 is mounted using a bracket of a desired shape. Furthermore, the welding ports to which the present invention can be applied are not limited to three-axis orthogonal types, but also various welding ports such as multi-joint types. As explained above, according to the present invention, since two welding torches are provided, two welding lines can be simultaneously welded (
Fillet welding on both sides) can be performed, reducing welding time. Further, teaching only needs to be performed for one welding line, and by controlling one welding torch, the other welding torch can also be substantially followed and controlled. Furthermore, since fillet welding is performed on both sides at the same time, there is an advantage that welding distortion and the like can be prevented from occurring.
【図面の簡単な説明】
第1図は従来の溶接口M y )の−例を示す外観図、
第2図はT型継手のワークの斜視図、第3図は本発明に
係るダブルトーチ付溶接ロボットの手首部の一実施例を
示す斜視図、第4図は第3図の機構部の詳細を示す要部
断面図、第5図は本発明装置による溶接態様を示す正面
図である。
1.11・・・溶接トーチ、2・・・B軸、3・・・B
軸、4.5・・・ワーク、6#7・・・溶接線、8 、
13.20・・・モータ、9.12・・・ブラケット、
14・・・ボールスクリュー、15・・・ぎ−ルナッー
ト、17・・・−スライダ、19・・・軸受。
第1図
第2図
第3図[Brief explanation of the drawings] Fig. 1 is an external view showing an example of a conventional welding port M y );
Fig. 2 is a perspective view of a T-joint workpiece, Fig. 3 is a perspective view showing an embodiment of the wrist part of a welding robot with a double torch according to the present invention, and Fig. 4 is a detail of the mechanism shown in Fig. 3. FIG. 5 is a sectional view of a main part showing a welding mode using the apparatus of the present invention. 1.11...Welding torch, 2...B axis, 3...B
Axis, 4.5...Work, 6#7...Welding line, 8,
13.20...Motor, 9.12...Bracket,
14... Ball screw, 15... Gear nut, 17...-Slider, 19... Bearing. Figure 1 Figure 2 Figure 3
Claims (2)
する手首部と、該手首部の位置を制御する複数の軸を有
する腕部とを具備した溶接ロボットにおいて、前記手首
部のB軸に配設される第1の溶接トーチに対して前記手
首部のS 1141+を挾んで対称位置に第2の溶接ト
ーチを配設したことを特徴とするダゾルトーチ付溶接ロ
ゼツト。(1) In a welding robot equipped with a wrist portion having a B-axis and a B-axis for controlling the posture of a welding torch, and an arm portion having a plurality of axes for controlling the position of the wrist portion, the B-axis of the wrist portion is provided. 1. A welding rosette with a dasol torch, characterized in that a second welding torch is disposed at a symmetrical position sandwiching the S1141+ of the wrist portion with respect to the first welding torch disposed on the wrist.
前記第1.第2の溶接トーチを結ぶ直線に沿うて直線移
動させる移動手段と、該移動手段を前記直線の方向の軸
に関して回転させる回転手段とを介して前記手首部のB
軸に配設されるものである特許請求の範囲第(1)項記
載のダブルトーチ付溶接ロゲット。(2) The second welding torch connects the first welding torch to the first welding torch. B of the wrist portion is moved through a moving means for linearly moving the second welding torch along a straight line connecting the second welding torch, and a rotating means for rotating the moving means about an axis in the direction of the straight line.
A welding loget with a double torch according to claim (1), which is disposed on a shaft.
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP59035716A JPH0638984B2 (en) | 1984-02-27 | 1984-02-27 | Welding robot with double torch |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP59035716A JPH0638984B2 (en) | 1984-02-27 | 1984-02-27 | Welding robot with double torch |
Publications (2)
Publication Number | Publication Date |
---|---|
JPS60180670A true JPS60180670A (en) | 1985-09-14 |
JPH0638984B2 JPH0638984B2 (en) | 1994-05-25 |
Family
ID=12449582
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP59035716A Expired - Lifetime JPH0638984B2 (en) | 1984-02-27 | 1984-02-27 | Welding robot with double torch |
Country Status (1)
Country | Link |
---|---|
JP (1) | JPH0638984B2 (en) |
Cited By (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2010284699A (en) * | 2009-06-12 | 2010-12-24 | Ihi Corp | Welding apparatus for large size member |
CN102642069A (en) * | 2012-04-01 | 2012-08-22 | 茂名重力石化机械制造有限公司 | Automatic welding device for annular symmetrical fillet welds |
CN106312259A (en) * | 2016-10-17 | 2017-01-11 | 唐山开元自动焊接装备有限公司 | Horizontal fillet welding seam angle-wrapping process suitable for automatic welding |
CN113828978A (en) * | 2021-09-08 | 2021-12-24 | 山东豪能数控机械有限公司 | Automatic hoop welding equipment and using method thereof |
Families Citing this family (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
KR101530908B1 (en) * | 2013-12-14 | 2015-06-23 | 이진성 | Welding apparatus for branched tube |
Citations (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS5346454A (en) * | 1976-10-09 | 1978-04-26 | Nippon Kokan Kk | Welding robot |
-
1984
- 1984-02-27 JP JP59035716A patent/JPH0638984B2/en not_active Expired - Lifetime
Patent Citations (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS5346454A (en) * | 1976-10-09 | 1978-04-26 | Nippon Kokan Kk | Welding robot |
Cited By (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2010284699A (en) * | 2009-06-12 | 2010-12-24 | Ihi Corp | Welding apparatus for large size member |
CN102642069A (en) * | 2012-04-01 | 2012-08-22 | 茂名重力石化机械制造有限公司 | Automatic welding device for annular symmetrical fillet welds |
CN106312259A (en) * | 2016-10-17 | 2017-01-11 | 唐山开元自动焊接装备有限公司 | Horizontal fillet welding seam angle-wrapping process suitable for automatic welding |
CN113828978A (en) * | 2021-09-08 | 2021-12-24 | 山东豪能数控机械有限公司 | Automatic hoop welding equipment and using method thereof |
CN113828978B (en) * | 2021-09-08 | 2024-05-14 | 山东豪能数控机械有限公司 | Automatic hoop welding equipment and application method thereof |
Also Published As
Publication number | Publication date |
---|---|
JPH0638984B2 (en) | 1994-05-25 |
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