CS254022B1 - Weld trajectory tilt sensor device - Google Patents

Abstract

The device for tilting the trajectory sensors of adaptive welding systems is designed for welding industrial robots and manipulators and automatic welding complexes. The essence of the solution is that when welding in a critical point, the device tilts the trajectory sensor of the welds to the side while simultaneously lifting it so that it does not interfere with the movement of the torch when welding the critical point. This is achieved by the fact that the trajectory sensor of the weld is pressed in the non-working position by air through a pneumatic cylinder. The sensor is pushed into the non-working position by a spring. The device for tilting the sensors can be used on any welding industrial robot equipped with an adaptive system or in any welding line.

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention The invention relates to a device for tilting a trajectory transducer of adaptive welding systems.

When welding welds with a robot or an electric arc manipulator, it is necessary from a technological point of view to determine with certain precision the start of the weld and to guide the welding torch over the weld trajectory. To scan the trajectory of the welds, spit sensors based on different physical principles are used, whose trajectory point of the trajectory is ahead of the burner end point (eg tactile sensor). So far known applications of such sensors are realized mostly with fixed attachment of the sensor but on the withdrawable mechanism. In practice, it is often the case that the transducer must be removed to remove the burner from the welds in the confined conditions. To this end, devices are provided that allow this. One of them is a mechanical air-operated device, which pulls the sensor out of the weld path in the direction of the torch axis if necessary. However, said device has the disadvantage that the availability of welds in confined spaces depends on the height of the sensor stroke. The larger the necessary height increases the necessary handling space for this device. A further disadvantage is that the last axis of the kinematic chain is identical to the torch axis, which requires the use of a robot with 6 ° freedom or such a device to be applied only to the surface welding of the welding machine.

The above drawbacks are eliminated by the device for tilting the trajectory sensor of the adaptive welding systems, the sensor being located on a carrier whose ring surrounding the cylinder comprises a guide engaging the groove of the cylinder and at the bottom has teeth engaging the cutouts of the pneumatic cylinder bottom, wherein the carrier is mechanically coupled to the cylinder piston, under which the return spring is located.

In particular, the advantages of such a sensor arrangement lie in its small handling space, in the simplicity of production 4 years of high precision, in the short adjustment time from the sensor's working position to the tilted and opposite, such that the welding process is not disturbed. The invention can be applied to robots with 5-6 degrees of freedom, with certain limitations on robots with 4 degrees of freedom and welding machines.

In the drawing, there is a device for tilting the weld trajectory sensor drawn in a partial longitudinal section with the sensor in the open - non - working position.

The hinged device comprises a sensor carrier 1, which is connected to the piston 3 of the air cylinder 4 by a screw 5. In the working position of the sensor 2, the piston 3 of the air cylinder 4 is pressed into the lower position by air. In this position, the sensor carrier 1 is locked by the ring 7 of the carrier 1, which is provided circumferentially with several teeth. These teeth engage the notches of the bottom 8 of the cylinder 4. The rotation of the carrier 1 around the cylinder 4, while simultaneously lifting it, is secured by the guide element 9 protruding from the ring 7 into the groove 10 of the cylinder 4.

The shape of the groove 10 directly determines the height of the stroke and the angle of rotation of the sensor carrier 1 is plunged by the seal 11 and pushed by the spring 6 to a non-working position. The air supply to the cylinder 4 is through the air channel 12.

The sensor detachment device is used to lift the sensor 2 when moving in critical, hard-to-reach places. In the working position, the sensor 2 is pressurized with compressed air and arrested by the engagement of the teeth of the ring 7 in the notches of the bottom 8 of the air cylinder 4. In the second non-working position, when the critical point is being transported, the carrier 1 is raised and folded aside and maintained by the spring Β. In this position, the sensor 2 does not obstruct the burner and the burner can be moved to the perpendicular wall.

The structure of the folding device according to the present invention is simple to manufacture and its application will make it possible to make better use of the possibilities of adaptive welding systems, especially industrial robots.

Claims (3)

SUBJECT An apparatus for tilting a weld trajectory sensor of adaptive welding systems, characterized in that the sensor (2) is disposed on a support (1), whose ring (7) comprises a guide element (9) which fits into the guide groove (10) of the cylinder (4). ). 2. A device according to claim 1, characterized by: INVENTION in that the support (11) is provided with teeth in the ring (7) surrounding the roller (4) and the bottom (8) of the roller (4) is provided with cut-outs. Device according to Claims 1 and 2, characterized in that the carrier (1) is mechanically connected to the piston (3) under which the spring (6) is.