JPS60244480A - Automatic welding equipment - Google Patents
Automatic welding equipmentInfo
- Publication number
- JPS60244480A JPS60244480A JP7232384A JP7232384A JPS60244480A JP S60244480 A JPS60244480 A JP S60244480A JP 7232384 A JP7232384 A JP 7232384A JP 7232384 A JP7232384 A JP 7232384A JP S60244480 A JPS60244480 A JP S60244480A
- Authority
- JP
- Japan
- Prior art keywords
- welding
- line
- welding line
- detectors
- storage device
- 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.)
- Pending
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
- B23K9/12—Automatic feeding or moving of electrodes or work for spot or seam welding or cutting
- B23K9/127—Means for tracking lines during arc welding or cutting
- B23K9/1272—Geometry oriented, e.g. beam optical trading
- B23K9/1276—Using non-contact, electric or magnetic means, e.g. inductive means
Landscapes
- Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Geometry (AREA)
- Plasma & Fusion (AREA)
- Mechanical Engineering (AREA)
- Numerical Control (AREA)
- Manipulator (AREA)
Abstract
Description
【発明の詳細な説明】
〔発明の利用分野〕
本発明は、自動溶接装置に係シ、特に記憶装置内に記憶
し九位置データに従って順次溶接するプレイバック方式
の自動浴接装置に関する。DETAILED DESCRIPTION OF THE INVENTION [Field of Application of the Invention] The present invention relates to automatic welding equipment, and more particularly to a playback type automatic bath welding equipment that sequentially welds according to nine position data stored in a storage device.
プレイバック方式の溶接機制御装置の一例を第1図につ
いて説明すると、1は記憶装置、2は演算制御装置、・
3−1〜33はサーボ装置である。サーボ装置31〜3
3は図では省略しであるが機構部に取付けた溶接トーチ
を演算制御装置2に設けられている操作コンソール20
から構成される装置指令に従って位置決めする。操作コ
ンソールは一般にティーチ点指定スイッチ21.チェッ
ク点指定スイッチ221手動入力装置23などから構成
される装置
られた操作コンノールの手動入力装置をオペレータが操
作することによシ得られる。または記憶装置1に記憶し
た位置データを演算制御装置2が読出し、これをもとに
補間計算等の所要演算を施して得られる。An example of a playback type welding machine control device will be explained with reference to FIG. 1. 1 is a storage device, 2 is an arithmetic control device,
3-1 to 33 are servo devices. Servo devices 31-3
3 is not shown in the figure, but the welding torch attached to the mechanism is connected to the operation console 20 provided in the arithmetic and control unit 2.
Positioning is performed according to the device commands consisting of: The operation console generally has a teach point designation switch 21. This can be obtained by the operator operating the manual input device of the control console, which is comprised of the check point designation switch 221, manual input device 23, and the like. Alternatively, the position data stored in the storage device 1 is read out by the arithmetic and control unit 2, and the position data is obtained by performing necessary calculations such as interpolation calculations based on this.
このような制御装置を有する自動溶接機の運転方法は、
周知のように先ず手動運転で溶接トーチを所望の位置に
位置決めして、その時の位置データを記憶装置1に記憶
させる。溶接作業に必要な溶接トーチの一連の動きをこ
のように位置データとして記憶装置1に記憶させて2き
、自動運転時に記憶装置内の前記位置データを演算制御
装置2内に逐次読出し、データ間の補間計算等の所要演
算を施し、演算結果に応じて駆動軸を選択しながら位置
指令を逐時サーボ装置31〜33に出力して記憶装置1
に記憶させた位置データに対応して軌跡で自動的に溶接
を行うのである。The method of operating an automatic welding machine with such a control device is as follows:
As is well known, first, the welding torch is manually positioned at a desired position, and the position data at that time is stored in the storage device 1. A series of movements of the welding torch necessary for welding work is thus stored in the storage device 1 as position data, and during automatic operation, the position data in the storage device is sequentially read out into the arithmetic and control device 2, and the data Performs necessary calculations such as interpolation calculations, and outputs position commands to the servo devices 31 to 33 one by one while selecting the drive axis according to the calculation results, and stores them in the storage device 1.
Welding is performed automatically according to the trajectory according to the position data stored in the machine.
かかるプレイバック方式の自動溶接機を用いることによ
り、一度記憶した位置データで、人手を殆んど使わずに
同一仕様の製品を繰返しプレイバックして多数の製品を
製造することが可能となるしかしこの方法では、個々の
ワークについての寸法誤差、或いは取付は誤差等を検出
して修正する機能を持っておらず、プレイバックによっ
て施工した溶接線は、ワークが所望の理想的溶接線に対
してずれたものになる。このような誤差は長尺物では無
視できない大きさになシ、溶接をおこ彦っだとしても溶
接強度は急激に低下する。しかるにワークが大きくなる
程一般に溶接強度が必要になり、従ってプレイバック方
式では良質な溶接施工を行なう自動溶接機を得ることは
困難であった。By using such a playback type automatic welding machine, it is possible to manufacture a large number of products by repeatedly playing back products with the same specifications using position data that has been memorized once, but with almost no human intervention. This method does not have a function to detect and correct dimensional errors or installation errors for individual workpieces, and the welding line created by playback does not match the workpiece to the desired ideal welding line. It becomes something out of place. Such errors are not negligible for long objects, and even if welding is performed, the welding strength will drop sharply. However, the larger the workpiece, generally the higher the welding strength is required, and therefore it has been difficult to obtain an automatic welding machine that can perform high-quality welding using the playback method.
本発明の目的は、上記従来技術の欠点を除去しプレイバ
ック方式に19良質な浴接ができる自動溶接装置を提供
することにある。SUMMARY OF THE INVENTION An object of the present invention is to provide an automatic welding apparatus that eliminates the drawbacks of the prior art described above and is capable of high-quality bath welding using a playback method.
本発明は、溶接線検出器を備え、プレイバック時にこの
溶接線検出器を用いて実際の浴接線を探索し、該溶接線
の正確なデータを把握し、かかる正確な位置データを利
用して記憶装置内に記憶している関連データに修正を加
え、その修正された位置データをもとにしてプレイバッ
クし、実際の溶接線に精度良く合致するようにトーチを
動作させ、良質な溶接施工を可能にしたものである。The present invention includes a welding line detector, uses this welding line detector to search for an actual bath tangent line during playback, grasps accurate data of the welding line, and utilizes such accurate position data. Modify the related data stored in the storage device, playback based on the modified position data, operate the torch to accurately match the actual welding line, and perform high-quality welding work. This is what made it possible.
次に図面について本発明に係る自動溶接装置の構成を説
明する。第2図は溶接線検出器による検出状況を示す図
で、Xおよびz軸を図示のように定め、紙面に垂直な軸
をy軸とする。図は苺材4および5を突き合せ、y軸に
平行な溶接線6に沿って溶接する場合を示し、溶接トー
チ7には母材検出器8,9を取付ける。この母材慣出器
8,9は、その先端と母材間がある距離になったとき、
出力が零になるものであって、この場合の母材検出器8
は溶接線6のX座標f:検出し、同様に母材検出器9は
溶接線6の2座標を検出するのである即ちこれら一対の
母材検出器は溶接線検出器を構成しておシ、浴接線に垂
直な〃標に関して溶接線位置ヲ梗出する。かかる溶接線
検出器を備えたトーチ7を第1図に示した制御装置を用
いてX@およびz軸方向に微速度で駆動し、母材検出器
8゜9の出力信号が零になった時点で該軸を停止させる
と、サーボ装置に設けた位置検出器の出力は溶接線6の
正確な位置を示している。Next, the configuration of an automatic welding device according to the present invention will be explained with reference to the drawings. FIG. 2 is a diagram showing a detection situation by a weld line detector, in which the X and z axes are defined as shown, and the axis perpendicular to the plane of the paper is the y axis. The figure shows a case in which strawberry materials 4 and 5 are butted together and welded along a welding line 6 parallel to the y-axis, and base metal detectors 8 and 9 are attached to a welding torch 7. These base material adjusting devices 8 and 9, when the distance between the tip and the base material reach a certain distance,
The output becomes zero, and in this case, the base material detector 8
detects the X coordinate f: of the welding line 6, and similarly the base metal detector 9 detects the two coordinates of the welding line 6. In other words, these pair of base metal detectors constitute a welding line detector. , locate the weld line position with respect to the mark perpendicular to the bath tangent. The torch 7 equipped with such a welding line detector was driven at a slow speed in the X@ and Z-axis directions using the control device shown in FIG. 1, and the output signal of the base metal detector 8°9 became zero. If the axis is stopped at that point, the output of the position detector provided in the servo device indicates the exact position of the weld line 6.
次に運転方法を第3図について説明する。第3図はxy
平面にある一本の浴接線を溶接する場合を示し、記憶装
置1には溶接線10に関する位置データが記憶されてい
る。この場合最小限必要な位置データはal b、c、
d点の4点である。この場合a−b、 b−c、c−d
はそれぞれ溶接線分というこのようなデータを記憶させ
る点をティーチ点と呼称する。この4個のティーチ点に
よって溶接線10の位置が記憶されているが、実際に溶
接するに際してワークの取付誤差によシ、実際の浴接線
は仮に破線11で示すような位置に平行移動していると
する。本発明によればこのような場合、#接トーチの動
作としてe点およびf点をチェック点として記憶させて
置き、溶接線10を溶接するに先立ち、第2図にあ・い
て説明した方法によ98点およびf点で実際の母材の位
置をチェックする。この結果、記憶装置に記憶している
e点は07点に、fAはf′点に移動していることが明
らかとなる。そこでこれらe、e’、f。Next, the operating method will be explained with reference to FIG. Figure 3 is xy
A case is shown in which a single bath tangent line on a plane is welded, and the storage device 1 stores position data regarding a welding line 10. In this case, the minimum required position data is al b, c,
There are four points, point d. In this case a-b, b-c, c-d
A point at which such data, which is a weld line segment, is stored is called a teach point. The position of the welding line 10 is memorized by these four teaching points, but when actually welding, due to installation errors of the workpiece, the actual bath tangent line is temporarily moved in parallel to the position shown by the broken line 11. Suppose there is. According to the present invention, in such a case, points e and f are memorized as check points for the operation of the contact torch, and before welding the welding line 10, the method explained in FIG. Check the actual position of the base material at the 98 points and the f point. As a result, it becomes clear that point e stored in the storage device has moved to point 07, and fA has moved to point f'. So these e, e', f.
f′の4点の座標からX方向およびy方向の2点をプレ
イバックすれば、実際の溶接線11に正確に一致した軌
跡で溶去することができる。すなわち第3図のような実
施例の揚台はa−1)の対向溶接線c−dについてはΔ
χ分(=e’ −e)の補正をおこなえばよいのでチェ
ック点はe、fの2点でよい。By playing back two points in the X direction and the Y direction from the coordinates of the four points f', it is possible to melt away along a trajectory that exactly matches the actual weld line 11. In other words, in the lifting platform of the embodiment shown in FIG. 3, the opposing weld line c-d of a-1) is
Since it is sufficient to perform the correction for χ (=e' - e), there are only two check points, e and f.
以上のように本4G明によれば、プレイパック方式の自
動溶接装置おいて、加工誤差、ワーク取付は誤差、溶接
歪等によシ生じる溶接線の位置誤差を、溶接を施工する
前に溶接線検出器を用いて溶接線を探索し、溶接線の位
置データを取込み、これを用いて記憶装置内に記憶して
いる位諏データを修正するため、浴接を行うときには正
確な溶接線をトレースすることができ、長尺物において
も良質な溶接が得られ、浴接作業の省力化に役立つ。As described above, according to the present 4G, in a play pack type automatic welding device, welding line position errors caused by processing errors, workpiece mounting errors, welding distortion, etc. can be corrected before welding. A line detector is used to search for the weld line, capture the position data of the weld line, and use this to correct the position data stored in the storage device, so when performing bath welding, it is necessary to check the exact weld line. It can be traced, high-quality welds can be obtained even on long items, and it is useful for saving labor in bath welding work.
なお上記説明では、隅肉溶接の場曾の溶接線検出器を用
いて説明したが、突合せ溶接等地の溶接の場合について
も、それぞれに適した溶接線検出器を用いることによシ
、上記同様に実施できる。The above explanation uses a weld line detector for fillet welding, but it is also possible to use a suitable weld line detector for welding such as butt welding. It can be implemented similarly.
また前記溶接線検出器は、プレイバック時のデータ修正
に用いるばかりでなく、記憶装置に必要な位置データを
書込む、所謂ティーチング時においても、これを用いて
能率良く作業順序を憶え込ませることができる。In addition, the welding line detector is used not only to correct data during playback, but also during so-called teaching, in which necessary position data is written into a storage device, to efficiently memorize the work order. Can be done.
本発明によると、精製のよい溶接をおこなうことができ
る。According to the present invention, highly refined welding can be performed.
第1図はプレイバック方式自動溶接機の制御装置のブロ
ック図、第2図は本発明に係る自動溶接装置に用いる溶
接線検出器の一例を示す図、第3図は本発明装置の説明
図である。Fig. 1 is a block diagram of a control device for a playback type automatic welding machine, Fig. 2 is a diagram showing an example of a welding line detector used in the automatic welding device according to the present invention, and Fig. 3 is an explanatory diagram of the device of the present invention. It is.
Claims (1)
用サーボ装置と、サーボ装置の位置データを取込み記憶
させる記憶装置と、記憶装置内の位置データに従って補
間演算等の所要演算を施してサーボ位置に位置指令を出
力する演算制御装置と、前記溶接トーチには位置検出手
段とを有しプレイバック時に浴接位置を修正して溶接を
おこなうことを%徴とする自動溶接装置。1. A plurality of drive shaft drive servo devices that position and drive the welding torch, a storage device that captures and stores the position data of the servo devices, and performs necessary calculations such as interpolation according to the position data in the storage device to determine the servo position. An automatic welding device comprising: an arithmetic and control unit for outputting a position command to the welding torch; and a position detection means for the welding torch, the automatic welding device being characterized in that the bath welding position is corrected during playback to perform welding.
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP7232384A JPS60244480A (en) | 1984-04-11 | 1984-04-11 | Automatic welding equipment |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP7232384A JPS60244480A (en) | 1984-04-11 | 1984-04-11 | Automatic welding equipment |
Related Parent Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP49125465A Division JPS5932233B2 (en) | 1974-11-01 | 1974-11-01 | automatic welding equipment |
Publications (1)
Publication Number | Publication Date |
---|---|
JPS60244480A true JPS60244480A (en) | 1985-12-04 |
Family
ID=13485954
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP7232384A Pending JPS60244480A (en) | 1984-04-11 | 1984-04-11 | Automatic welding equipment |
Country Status (1)
Country | Link |
---|---|
JP (1) | JPS60244480A (en) |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO1995035187A1 (en) * | 1994-06-17 | 1995-12-28 | Komatsu Ltd. | Control device for robot |
Citations (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS4888654A (en) * | 1972-02-29 | 1973-11-20 |
-
1984
- 1984-04-11 JP JP7232384A patent/JPS60244480A/en active Pending
Patent Citations (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS4888654A (en) * | 1972-02-29 | 1973-11-20 |
Cited By (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO1995035187A1 (en) * | 1994-06-17 | 1995-12-28 | Komatsu Ltd. | Control device for robot |
GB2305142A (en) * | 1994-06-17 | 1997-04-02 | Komatsu Mfg Co Ltd | Control device for robot |
US5711697A (en) * | 1994-06-17 | 1998-01-27 | Komatsu Ltd. | Robot control system |
GB2305142B (en) * | 1994-06-17 | 1998-07-01 | Komatsu Mfg Co Ltd | Robot control system |
US6021361A (en) * | 1994-06-17 | 2000-02-01 | Komatsu, Ltd. | Robot control system |
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