JPS6117589B2 - - Google Patents
Info
- Publication number
- JPS6117589B2 JPS6117589B2 JP5049679A JP5049679A JPS6117589B2 JP S6117589 B2 JPS6117589 B2 JP S6117589B2 JP 5049679 A JP5049679 A JP 5049679A JP 5049679 A JP5049679 A JP 5049679A JP S6117589 B2 JPS6117589 B2 JP S6117589B2
- Authority
- JP
- Japan
- Prior art keywords
- welding
- copying roller
- copying
- axis rail
- carriage
- 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.)
- Expired
Links
- 238000003466 welding Methods 0.000 claims description 18
- 238000006073 displacement reaction Methods 0.000 claims description 2
- 230000001105 regulatory effect Effects 0.000 claims 1
- 230000006835 compression Effects 0.000 description 4
- 238000007906 compression Methods 0.000 description 4
Landscapes
- Butt Welding And Welding Of Specific Article (AREA)
Description
本発明は同一平面上で連続した直線部と曲線部
より成る溶接線を有する被溶接物の溶接に於て、
テンプレート等のモデルを使用せずに直接被溶接
物を倣いながら自動溶接を可能にした自動溶接機
に関するものである。
以下、本発明を第1図,第2図に示す被溶接
物、即ち、第1図に示すように、上板1,下板1
aを外板2,内板2aにて挾持し、第2図に示す
ような箱形状を形成することにより構成される、
いわゆるCフレームの溶接継手4,4a,4b,
4cを自動溶接する溶接機を例に挙げて説明す
る。
即ち、第3図〜第5図において、キヤリツジ5
に内蔵の回転用ベアリング6により、キヤリツジ
5に対して回転自在の回転台7に固定された2本
のガイドバー8(1本のみ図示)に案内され、圧
縮ばね10にて常に前方に押された取付台9に、
所定距離1を保持して装着された半径rの先行ロ
ーラ11と半径rの後行ローラ12を、上記圧縮
ばね10にて前記Cフレーム3の外板2に常時押
圧し、又、一定間隔Lを有して取付台9に固定さ
れた先行トーチ13,後行トーチ14が、上記ロ
ーラ11,12と一体にて作動する。前記先行ロ
ーラ11と後行ローラ12により溶接進行方向を
検知する第1倣ローラが構成され、一対のローラ
11,12の間には回転台7に固定のホルダー1
6内を外板2に対して直角方向に自由に摺動し、
圧縮ばね17にて常に外板2に押圧される第2倣
ローラ15が位置している。上記倣ローラ15の
動きはホルダー16内の差動トランス18に伝達
される。ローラ11,12が圧縮ばね10により
Cフレーム3の外板2に押圧されることにより、
回転台7がキヤリツジ5に対して回転し、平歯車
19,19aを介しその回転角が1:1の比率で
シンクロリゾルバ20に伝えられる。キヤリツジ
5は第2軸駆動装置であるY軸駆動モータ21に
より第2軸レールであるレール22上を走行し、
レール22は第1軸駆動装置であるX軸駆動モー
タ23により第1軸レールであるレール24,2
4a上を走行する。なお、第1軸レールと第2軸
レールとによつて案内レールが構成される。Y軸
駆動モータ21によりキヤリツジ5の走行する方
向をY軸、X軸駆動モータ23によりキヤリツジ
5の走行する方向をX軸と称すると、X軸とY軸
は互に直交している。溶接継手4(以後溶接線と
称す)は上記X,Y平面上に置く。
ここで差動トランス18は、第7図のように軸
心方向の変位に対し比例した電気信号の得られる
もので、倣ローラ15の動きδに対して出力信号
△EGが得られる。
△EG=K1δ (K1;比例定数) …(1)
シンクロリゾルバ20は入力軸回転角θに応じ
第6図に示す端子27に入力EGを印加すると
The present invention is applicable to welding a workpiece having a welding line consisting of a continuous straight line and a curved line on the same plane.
The present invention relates to an automatic welding machine that enables automatic welding by directly copying the object to be welded without using a model such as a template. Hereinafter, the present invention will be described with reference to the objects to be welded shown in FIGS. 1 and 2, that is, as shown in FIG.
A is sandwiched between an outer plate 2 and an inner plate 2a to form a box shape as shown in FIG.
So-called C-frame welded joints 4, 4a, 4b,
The explanation will be given by taking a welding machine that automatically welds 4c as an example. That is, in FIGS. 3 to 5, the carriage 5
It is guided by two guide bars 8 (only one shown) fixed to a rotary table 7 that can freely rotate relative to the carriage 5 by a built-in rotation bearing 6, and is constantly pushed forward by a compression spring 10. On the mounting base 9,
A leading roller 11 with a radius r and a trailing roller 12 with a radius r, which are mounted at a predetermined distance 1, are constantly pressed against the outer plate 2 of the C frame 3 by the compression spring 10, and are mounted at a predetermined distance L. A leading torch 13 and a trailing torch 14, which are fixed to the mounting base 9 and have the following functions, operate together with the rollers 11 and 12. The leading roller 11 and trailing roller 12 constitute a first copying roller that detects the direction of welding progress, and between the pair of rollers 11 and 12 is a holder 1 fixed to the rotary table 7.
6 in a direction perpendicular to the outer plate 2,
A second copying roller 15 is located which is constantly pressed against the outer plate 2 by a compression spring 17. The movement of the copying roller 15 is transmitted to the differential transformer 18 inside the holder 16. By pressing the rollers 11 and 12 against the outer plate 2 of the C frame 3 by the compression spring 10,
The rotary table 7 rotates with respect to the carriage 5, and the rotation angle is transmitted to the synchro resolver 20 at a ratio of 1:1 via the spur gears 19, 19a. The carriage 5 travels on a rail 22, which is a second axis rail, by a Y-axis drive motor 21, which is a second axis drive device.
The rail 22 is moved by the X-axis drive motor 23, which is a first-axis drive device, to the rails 24, 2, which are first-axis rails.
Run on 4a. Note that a guide rail is constituted by the first axis rail and the second axis rail. When the direction in which the carriage 5 travels by the Y-axis drive motor 21 is referred to as the Y-axis, and the direction in which the carriage 5 travels by the X-axis drive motor 23 is referred to as the X-axis, the X-axis and the Y-axis are orthogonal to each other. The weld joint 4 (hereinafter referred to as the weld line) is placed on the X, Y plane. Here, the differential transformer 18 is capable of obtaining an electric signal proportional to the displacement in the axial direction as shown in FIG. 7, and an output signal ΔE G is obtained in response to the movement δ of the copying roller 15. △E G =K 1 δ (K 1 ; proportionality constant) ...(1) When the synchro resolver 20 applies the input E G to the terminal 27 shown in Fig. 6 according to the input shaft rotation angle θ,
【表】
なる出力EX,EYが、又、端子28に入力△EG
を印加すると、[Table] The outputs E X and E Y are also input to terminal 28 △E G
When you apply
【表】
〓…(3)
π[Table] 〓…(3)
π
Claims (1)
2軸レールからなり上記第2軸レールが上記第1
軸レールに沿つて移動する案内レールと、上記第
2軸レールに沿つて移動するキヤリツジと、この
キヤリツジに回転可能に支持されている回転台に
設けられかつ被溶接物に押圧される一対のローラ
からなり溶接進行方向を検知する第1倣ローラ
と、この第1倣ローラの中心を通る線分の垂直二
等分線上を移動可能に上記回転台に支持され、さ
らに被溶接物に押圧される第2倣ローラと、この
第2倣ローラの変位を電気信号に変換する変位一
電気信号変換器と、上記キヤリツジに固定されて
おり、入力された溶接速度信号及び上記変位―電
気信号変換器の出力信号を上記第1倣ローラが検
知した溶接進行方向に応じて互いに直交した第1
軸成分と第2軸成分に分解する回転角―電気信号
変換器と、上記第1軸成分を入力信号として上記
第2軸レールを走行させる第1軸駆動装置と、上
記第2軸成分を入力信号として上記キヤリツジを
走行させる第2軸駆動装置と、上記回転台に支持
された溶接トーチを備えた自動溶接機。 2 溶接トーチを第2倣ローラによりその位置を
規制された一本の溶接トーチにより構成すること
を特徴とする特許請求の範囲第1項記載の自動溶
接機。 3 溶接トーチを溶接進行方向に一定間隔を保持
した先行,後行各溶接トーチとから構成し、第1
倣ローラを上記先行,後行各溶接トーチに相対す
る被溶接物に接触する一対の倣ローラから構成し
たことを特徴とする特許請求の範囲第1項記載の
自動溶接機。[Scope of Claims] 1. A first axis rail and a second axis rail arranged perpendicularly to each other, the second axis rail being connected to the first axis rail.
A guide rail that moves along the axis rail, a carriage that moves along the second axis rail, and a pair of rollers that are mounted on a rotary table that is rotatably supported by the carriage and that are pressed against the workpiece. a first copying roller that detects the direction of welding progress; a first copying roller that is movably supported by the rotary table on the perpendicular bisector of a line passing through the center of the first copying roller; and is further pressed against the workpiece. a second copying roller; a displacement-electrical signal converter that converts the displacement of the second copying roller into an electrical signal; The output signal is transmitted to the first copying rollers perpendicular to each other according to the welding progress direction detected by the first copying roller.
a rotation angle-to-electrical signal converter that decomposes into an axial component and a second axial component; a first axial drive device that uses the first axial component as an input signal to run the second axial rail; and inputs the second axial component. An automatic welding machine comprising: a second shaft drive device that causes the carriage to travel as a signal; and a welding torch supported by the rotary table. 2. The automatic welding machine according to claim 1, wherein the welding torch is constituted by a single welding torch whose position is regulated by a second copying roller. 3 The welding torch consists of leading and trailing welding torches that are spaced apart from each other in the direction of welding progress;
2. The automatic welding machine according to claim 1, wherein the copying roller is comprised of a pair of copying rollers that come into contact with the workpiece facing each of the leading and trailing welding torches.
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP5049679A JPS55141380A (en) | 1979-04-24 | 1979-04-24 | Automatic welding machine |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP5049679A JPS55141380A (en) | 1979-04-24 | 1979-04-24 | Automatic welding machine |
Publications (2)
Publication Number | Publication Date |
---|---|
JPS55141380A JPS55141380A (en) | 1980-11-05 |
JPS6117589B2 true JPS6117589B2 (en) | 1986-05-08 |
Family
ID=12860533
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP5049679A Granted JPS55141380A (en) | 1979-04-24 | 1979-04-24 | Automatic welding machine |
Country Status (1)
Country | Link |
---|---|
JP (1) | JPS55141380A (en) |
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS63116386U (en) * | 1987-01-23 | 1988-07-27 | ||
JPS6448493U (en) * | 1987-09-21 | 1989-03-24 |
-
1979
- 1979-04-24 JP JP5049679A patent/JPS55141380A/en active Granted
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS63116386U (en) * | 1987-01-23 | 1988-07-27 | ||
JPS6448493U (en) * | 1987-09-21 | 1989-03-24 |
Also Published As
Publication number | Publication date |
---|---|
JPS55141380A (en) | 1980-11-05 |
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