JPH0323071A - Automatic welding equipment - Google Patents

Abstract

PURPOSE:To easily carry out teaching without considering a detouring point and to perform efficient welding work by setting automatically the detouring point to prevent an interference on a mobile path to a next weld zone and providing a torch detouring point automatic setting means to be given to a torch path setting means. CONSTITUTION:When shape and dimension of a work and a welding state of a weld zone are inputted to an interactive screen 15a, a torch path 26 is calculated by a controller 25. When a start button of an operating box or a hand box is pushed, since automatic operation is carried out on the basis of the torch path 26 formed in this way, the interference of the torch with respect to the work is prevented and efficient welding work can be performed. At this time, since the controller 25 calculates automatically the torch path, it is not necessary at all for a worker to be conscious of the interference, etc., of the work.

Description

[Detailed description of the invention] [Purpose of the invention] (Industrial application field) The present invention relates to automatic welding equipment.

(Prior Art) In recent years, welding machines have been automated, and it has become possible to control the welding torch by numerical control, and the movement of the torch can be controlled by a program.

Conventionally, in this type of programmable automatic welding equipment, regarding the movement of the torch, position data is programmed point by point by so-called indirect teaching, or position data is programmed point by point by so-called indirect teaching, or
They taught directly by applying the tip of the torch to the workpiece).

For example, in direct teaching, the tip of the torch is applied to a welding part while the workpiece is clamped by a clamping device, and the teaching is performed to perform spot welding at this point or arc welding from this point to the next point.

However, if the workpiece is a three-dimensional object and the welding part spans two surfaces, the torch may interfere with the workpiece when finishing welding one welding part and moving on to the next welding part. Therefore, detour points must also be set to prevent interference. The same applies to indirect teaching.

(Problem to be Solved by the Invention) However, in the conventional automatic welding apparatus as described above, it is necessary to teach even detour points by indirect teaching or direct teaching, so the teaching work is time-consuming. There was a problem in that the work efficiency was reduced.

Furthermore, in air cutting, in which the torch is moved to the target position without welding, there is a problem in that the operator is too conscious of interfering objects, which may lead to incorrect teaching and damage to the torch or workpiece.

SUMMARY OF THE INVENTION Therefore, an object of the present invention is to provide an automatic welding device that can easily teach without considering detour points and can perform efficient welding work without interference from a torch.

[Structure of the Invention] (Means for Solving the Problems) The automatic welding apparatus of the present invention for solving the above problems, as shown in FIG. A torch moving point setting means 1 for setting a moving point of a welding torch T on the surface of the workpiece W to sequentially weld each welding part S1.32 to S1, S2...; Each welding part Sl. a torch path setting means 2 for setting a torch movement path to sequentially perform welding S2; and a torch driving means 3 for driving the torch T while sequentially determining target positions based on the completed movement path set by the means 2. , a torch detour point automatic setting means 4 is provided which automatically sets a detour point P for interference prevention regarding the movement route to the next welding part during air cutting, and provides it to the torch route setting means. .

(Function) In the automatic welding apparatus of the present invention, the torch path setting means 2 sets the movement path for each welding part or between each welding part based on the teaching point of each welding part set by the torch moving point setting means 1. Then, the torch T is driven by the torch driving means 3. Further, regarding the movement between the respective welding parts 31 and 52, the torch detour point automatic setting means 4 that automatically sets the torch detour point P is operated, and for example, the welding part S with different welding surfaces is operated on the three-dimensional workpiece W.
1 and S2, a detour point P is determined at a position P where both welding parts Sl and S2 can be seen, and the torch T is moved to this detour point P.
is passed through and moved to the next welding area.

(Example) Examples of the present invention will be described below.

FIG. 1 is a perspective view of an automatic welding machine embodying the present invention.

As shown in the figure, the automatic welding machine 5 of this example has a main post 7 erected on a base 6 with vertical (Z), horizontal (XY), rotation (θ)
) A movable torch T is provided, and a work clamp device 8 for clamping a workpiece in a vertically movable manner is provided on the front side of the torch T.

A vertically movable abutment 9 is provided between the workpiece clamping device 8 and the torch T for defining the position of the workpiece before starting welding.

Further, a sub-post 1o is provided at a corner of the base 6,
A pendant type operation box 12 is provided on the upper part via an arm 11 so that its posture can be adjusted. Further, a hook 13 is provided on one side of the sub-post 10, and a hand box 14 can be hung from this hook 13.

The operation box 12 is provided with a CRT 15 and a large number of operation keys (MDI panel) 16, and these can be used to perform various operations including program editing.

The handle box 14 is a portable operation box and is used during welding work.

FIG. 3 is a block diagram of a control device that controls the automatic welding machine 5. As shown in FIG.

The control device includes a motherboard 18 on which data can be manually input from a memory card 17, and a programmable controller (PC) 19 connected to the motherboard 18.

A relay board 20 and positioning control modules PCL-X, Y, and Z are connected to the PCI9. Each positioning control module PCL-XY, Z has encoders EX, E"T', E via each servo amplifier X, Y, Z.
Servo motors MX, MY, and Mz with Z are connected. A brake B is provided on the Z-axis to securely fix the shaft.

The relay board 20 includes various solenoids, magnets, and sensors 5a of the automatic welding machine 5 and the MDI panel 1.
6. Hand box 14 is connected and welding power source 21
and a welding detection section 22 are connected.

The relay board 20 is for transmitting and receiving signals between these connecting parts and the PC 19, and the PCI 9 connects the connecting members according to an internally programmed program or according to contents entered manually from the memory card 17 or the motherboard 18. is operated as appropriate. The motherboard 1
8 is connected to the CRT 15.

In the above configuration, when the welding position of the welding part of the workpiece W is manually determined from the MDI panel 16, a program is set on the motherboard 18 to determine the torch path passing through this position and the welding current, and the servo motors Mx, MY, Mz are set. A predetermined current is passed through the torch T via the welding power source 21.

FIG. 4 is a flowchart showing a torch path determination method.

First, as shown in FIG. 5, C R T 1. Assume that welding portions S3 and S4 are set on different surfaces of the workpiece W displayed in FIG. 5 from the MDI panel 16, respectively.

At this time, regarding each welding part S3, S4, since the torch T does not interfere with the workpiece W when welding on the same surface, the movement of the torch T from the first welding point to the second welding point does not interfere with the workpiece W. The torch path is determined by a normal program, such as moving the torch T away from W by a predetermined amount.

Therefore, in FIG. 5, the torch path when moving from the welding part S3 to the welding part S4 on a different surface will be considered.

In step 401, an extension line 24 passing through the workpiece point 23 is
Above, the detour point P for air cutting is determined at the minus (one) end point of the Y-axis movable range.

This detour point P only needs to be a position where both welding parts S3 and S4 can be seen, a position that can be moved from welding part S3 without interference, and a position that can be moved to the next welding part S4 without interference.

In step 402, for air cutting, if the direction of the Y axis is the negative (=) direction (direction away from the workpiece), the axis is sequentially moved in the order of Y, then X, and then Z.

In step 403, regarding the air cut, if the moving direction of the Y axis is the plus (+) direction (direction toward the workpiece),
2, then move the axes sequentially in the order of X and Y.

The reason why the detour point P is set at the minus (one) end point of the Y-axis in step 401 is that in the automatic welding machine 5 of this example, the Y-axis is set in the direction toward and away from the workpiece. Furthermore, the reason why the axes X, Y, and Z are moved sequentially is to operate the torch T without completely interfering with the workpiece W. These sequential operating procedures are determined by the arrangement relationship between the workpiece W and the torch T.

As described above, in this example, as shown in FIG. 6, when the workpiece shape and dimensions and the welding form of the welding part are entered manually on the dialog screen 15a, the torch path 26 is calculated by the control device 25 shown in FIG. When the start button on the operation box 12 or the hand box 14 is pressed, automatic operation is executed based on the torch path 26 created in this way, so interference of the torch T with the workpiece W is prevented, resulting in efficient welding. Able to perform work. At this time, since the control device 25 automatically calculates the torch path, the operator does not need to be aware of any interference from the workpiece.

In the above embodiment, the detour point P was found on the extension line of the point 23, but the detour point P may be any position as long as the welded portion before and after the air cut can be seen.

Furthermore, for convenience of the apparatus, each axis was operated sequentially, but the present invention is not limited to this.

For example, the torch is retracted a little in the normal direction to the welding part of the workpiece, and then the three axes are operated simultaneously to reach the detour point P.
You can direct them to. Furthermore, when moving from the detour point P to the next weld, the
Alternatively, the welding point may be moved in a continuous manner, and then this moving point may be continuously moved to the next welding start point.

Further, in the above embodiment, the interference was explained as being with respect to the workpiece W, but the interference relationship with other members of the automatic welding machine 5 is registered in order to prevent interference with other members. You can also do that.

The present invention is not limited to the above embodiments, but can be implemented in any appropriate manner by making appropriate design changes.

[Effects of the invention] As above. ．． Since the present invention is an automatic welding device as described in the claims, teaching can be easily performed without considering detour points, and efficient welding work can be performed without interference from the torch.

[Brief explanation of drawings]

FIG. 1 is a diagram showing an overview of the present invention, FIG. 2 is a perspective view of an automatic welding machine implementing the present invention, FIG. 3 is a block diagram of its control device, and FIG. 4 is a flowchart of the torch path setting method. FIG. 5 is an explanatory diagram of detour points, and FIG. 6 is an explanatory diagram of a data processing method. 1...Torch moving point setting means 2...Torch route setting means 3...Torch driving means 4...Torch detour point automatic setting means T...Torch W...Work P...Detour point Sl, S2...welding part

Claims (3)

[Claims] (1) Torch moving point setting means for setting a moving point of a welding torch on the surface of the three-dimensional workpiece in order to sequentially weld each welding part to each welding part of the three-dimensional workpiece, and the set torch movement a torch path setting means for setting a torch movement path to sequentially weld each welding part based on the point; and a torch driving means for driving the torch while sequentially determining a target position based on the movement path set by the means. and an automatic torch detour point setting means that automatically sets a detour point for interference prevention regarding the travel route to the next welding part during air cutting, and provides the torch detour point automatic setting means to the torch route setting means. Welding equipment. (2) In the automatic welding apparatus according to claim 1, the torch detour point automatic setting means refers to the welding end point before air cut and the next target point, and sets the detour point at a position where both points can be seen. An automatic welding device characterized by: (3) In the automatic welding apparatus according to claim 1, the torch detour point automatic setting means refers to the next target point during air cutting to determine whether there is interference, and sets the detour point only when there is a possibility of interference. An automatic welding device characterized by: