JPS6238767A - Automatic welding device - Google Patents

Abstract

PURPOSE:To easily execute the position control of a torch by providing a driving in swinging/bending axial directions and a tactile sense for detecting the displacement of an axia Z and a swing direction, on a wrist connected to an arm driven in the directions X, Y and Z. CONSTITUTION:A rotatable wrist 13 and its tip welding torch 36 are connected to the tip of an arm 12 which can be driven in the direction of the X, Y and Z axes and an oscillating motor is provided on the wrist 31. The displacement of each tactile sensor 38, 39 is detected as a voltage signal through potentiometers 49, 50, and applied to a control device. B these signals, the position of a work is detected and a positioner 14 is held in a prescribed position. Such a position correction can be executed by holding the wrist 3 in an optional state. In this way, by a simple operation, the position control of the welding torch can be executed easily.

Description

[Detailed Description of the Invention] The present invention is an automatic welding device comprising an industrial robot.
6 regarding 1.
[The environment at welding work sites is poor due to the large amount of gas generated during welding, and it is one of the sectors that requires mechanization and unmanned work. Therefore, welding 1□work□. 5
7.71. Recently, there have been many attempts to do this by □, craftsmen, and □.
1.Have sensory functions and other high-grade sensory functions, and have a flexible body that allows you to perform extremely difficult and advanced tasks.
I can get rid of one problem. When trying to have a machine, such as a pot, perform tasks in place of humans, it often becomes extremely difficult to mechanize tasks that are easy for humans to perform. This is particularly evident in the automation of welding work. Are machines such as robots extremely capable of performing routine tasks? r,l! K(510of4ff″”<f
￥i″6°″zm*,s,.

However, since robots cannot make decisions on their own and change the work content, they lack flexibility and are difficult to work with.
“It includes problems that must be solved in order to change the work content of a robot.In other words, in order to change the work content of a robot, the worker must be re-taught one by one, and the welding work In 1, the precision of the shape and dimensions of the objects to be welded (hereinafter referred to as "workpieces") is usually poor, so the work contents differ depending on each workpiece, so the work contents are re-taught for each workpiece. There was a need. 1
Re-teaching the work contents for each workpiece means that a great deal of effort and time is required for teaching [7, the advantage of improving the welding work environment is labor saving and unmanned operation. This is not something I can be satisfied with. The biggest problem in automating welding work is how to improve this point and make it possible for the robot to continue the work without re-teaching each workpiece.

Conventionally, in order to improve this point, the precision of the shape and dimensions of the workpiece was improved to compensate for the robot's own lack of ability.
Efforts have been made to avoid reteaching each piece of work. for that purpose,
The steel plate must be precisely cut according to the designed circular pattern (~).In order to keep the workpiece dimensions at the time of temporary assembly within ±1 mm error, the cutting method is not gas cutting, which is convenient.
New methods such as Brahma cutting must be adopted. If gas cutting is to be used, it will be necessary to introduce an NC machine tool.

In addition, for temporary assembly work, instead of using simple gauges and jigs as in the past, the assembly itself must be mechanized to improve assembly accuracy.

Furthermore, the next step is to place the workpiece on the positioner.
However, it requires a great deal of effort and time to position accurately.

Furthermore, even if the positioning is completed by taking time and effort in such a pre-process, the occurrence of welding deformation during the welding operation cannot be avoided. Therefore, near the end of the welding work, this welding deformation causes the weld line to deviate considerably from the predetermined position.

Conventional methods are unable to absorb the displacement of the welding position due to this welding deformation. If welding is performed at a place other than the designated welding location, the strength of the weld will be significantly reduced, and repair will require a lot of effort and time, or the welding torch may collide with the workpiece, causing damage to the welding machine. Doing so may damage the robot or cause a short circuit accident.

In this way, with conventional automatic welding equipment, the welding work itself could be automated by replacing it with a robot, but the pre-processing process required a great deal of labor and time, or New additional equipment has become necessary.

Therefore, such constraints prevent automation of welding operations.
This has become a necessary obstacle.

The present invention provides an automatic welding device that can easily detect the posture of the workpiece by itself, and thereby controls the positional relationship between the welding torch and the workpiece using only simple calculations. The purpose is to make it possible. Welding involves applying a voltage between the workpiece and the electrodes of the welding machine, blowing off the arc, melting the core wire with the resulting heat, and melting and joining the steel plates while dripping molten metal onto the welding area. Welding must be performed in a position where the molten metal falls downward, in other words, welding quality can be ensured.

Recently, ultra-compact computers such as microcomputers have been developed, and it has become possible to control robots with computers. The present invention utilizes such a computer, reviews welding work with a focus on improving the functionality of the robot, and attempts to achieve the above-mentioned objectives through cooperative operation with the positioner of the workpiece used in welding work. It is something.

The present invention is based on a rectangular coordinate system consisting of X, Y, and Z axes.
In an automatic welding device, the automatic welding device has an arm that can be driven in the Z-axis direction, a wrist that is connected to the tip of the arm and is rotatable, and a welding torch that is connected to the wrist. An automatic welding device characterized in that a tactile sense for detecting the posture of the welding object is provided via a swing motor, thereby obtaining a signal for controlling the positional relationship between the welding torch and the welding object. I will provide a. The tactile sense can be composed of a tactile sense that detects displacement in the z-axis direction and a tactile sense that is connected via a swing motor and detects displacement of the motor in the radial direction. The haptic can be connected to the wrist in such a way that it moves forward and backward relative to the welding torch. Further, a plurality of tactile senses may be used to measure the posture of the workpiece in two axial directions.

To change the position of an object to be welded to a posture that makes it easy to detect a welding line, and to make it easy for a robot body to search for a welding line even when the size and shape of the object are different. Non-contact type tactile senses can also be used. For example, the distance between the contact and the workpiece may be calculated by reading changes in magnetic force.

An embodiment of the present invention will be described below with reference to the drawings.

Figure 1 shows the center frame of a construction machine as an example.
2 and 8 show an automatic welding apparatus according to the present invention.

Workpiece 10# in Figure No. 1: t, various steel plate work shown in the diagram or 7
and various types of steel 8.9 are assembled and completed. These materials are welded by automatic welding equipment.

In Figure 2, the automatic welding device has 11% of the robot body.
A positioner 14 on which the arm 12, wrist 18, and workpiece 10 are placed.

The robot main body II includes a running base 18 provided horizontally within a pedestal 17, and a back-shaped bearing box 19 having a bearing (not shown) mounted on the running base. Vertical support 201 fixed to this
A cross bearing box 21 having a bearing (not shown) is attached to this column, and a cross bearing box 21 is fixed to this cross bearing box 21 and has a bearing (not shown).
It mainly consists of a cross-shaped bearing box 22 containing a built-in (not shown). The bearing box 19 is an X-axis hydraulic cylinder 25 provided on the pedestal 17.
By operating this hydraulic cylinder 25, the bearing box 19 and the device attached thereto move in the X-axis direction. Furthermore, the bearing box 19 is equipped with a Z-axis hydraulic cylinder 26, and by operating this hydraulic cylinder 26 provided between the bearing boxes 19 and 22, the bearing boxes 21 and 22 and the devices attached thereto are moved in the Z-axis direction. move in the direction. A Y-axis hydraulic cylinder 28 is fixed to the bearing box via a fixing device 27.
A piston tip 29 of this hydraulic cylinder 28 is fixed to the arm 12, and by operating this hydraulic cylinder 28, the arm 12, wrist 13, and parts attached thereto move in the Y-axis direction. Therefore, it can be easily understood that the arm 12 and wrist 13 and the parts attached thereto are movable in the X, Y, and Z axis directions.

The wrist 13 attached to the tip of the arm 12 has a bifurcated seven-lunge 31, and a hydraulic swing motor 32 rotatably installed between them. It consists of another hydraulic swing motor 33 that is integrated with this hydraulic swing motor 82, and a bifurcated flange 84 that holds this hydraulic swing motor 33. The former hydraulic swing motor 82 is parallel to the X axis and can rotate around the D axis, and the latter hydraulic swing motor 33 is rotatable around the SW axis that is perpendicular to the BD axis. . Therefore, by operating the hydraulic oscillating motor 82,88, the wrist 13
can be bent in various directions.

A protruding flange 85 is fixed to the seventh flange 84, and a welding torch 36 and a haptic device 37 are attached to this seventh flange. Details of this welding torch 86 and tactile device 37 will be explained based on FIG. 3.

A cylindrical welding torch 86 is removably fixed to the flange 85, inside which a welding core wire 41 runs, and carbon dioxide gas flows around it so that a voltage can be applied between it and the workpiece 10. It has become.

As for the welding method, if it is done by a well-known method, it will be 1.
Detailed advice is recommended! )-986F)
.

A slidable tactile device 37 is provided around the periphery. The tactile device 37 has a main body 43%, a Z tactile 38 and a Y tactile 89, and the main body 48 has two surfaces 44, 45 that can be parallel to the Y-axis direction and the Z-axis direction.

The main body 48 is provided with cavities 46 and 47 in the Z-axis direction and the Y-axis direction, and these cavities have openings in the surfaces 44 and 45. Each void 46.47 has a displacement detector 49.
50 is installed, the displacement detector 49°sO can detect the displacement of the tactile rod 51,52. The tip of each tactile rod 5.1.52 projects from the opening, and a disk portion 58.54 is formed in the middle of the tip.
As shown, coil springs 55, 56 are installed between 8.54 and the inner wall of the cavity to constantly press each tactile rod 51, 52 in the opening direction. Therefore, each tactile rod 51,52
The position of the workpiece can be detected by touching each part of the workpiece. A pneumatic mechanism 55 is provided between the main body 43 and the 7 langes 35.
is provided, and by introducing air into the pneumatic chamber 57 through the air pipe 61, the pneumatic cylinder 56 is moved to a piston 60.
KG moves upwards, and therefore the haptic device 37 moves upwards.

Also, by introducing air into the pneumatic chamber 58 via the air pipe 62, the pneumatic cylinder 56 moves downward along the piston 60, and the haptic device 37 similarly moves downward. In this way, the haptic device 37 is moved forward and backward relative to the welding torch 36.
The purpose of moving the tactile device 37 backward is to ensure ease of work and safety.The tactile device 37 is moved forward when detecting the posture of the workpiece 10, and the tactile device 37 is moved forward when performing welding work.
to retreat.

In FIG. 2, the positioner 14 is a rotatable surface plate 6.
5, the posture of the workpiece 10 can be changed so that welding can be performed facing downward. Details of the positioner 14 are shown in FIG. The surface plate 65 is supported by a fulcrum bearing box 67 having a bearing (not shown) supported by a frame 66 so as to be rotatable about its central axis (hereinafter referred to as PTW axis). The bearing box 67 has a disk 68 on its upper part that supports the surface plate 65, and a bearing 69 is installed in the center of the disk 68, and a gear is attached to the tip of a rod 70 rotatably supported by the bearing 69. 71 is connected. Further, a drive motor 72 is installed on the first disc 68, and a gear 74 is connected to its output shaft 73, and this gear 74 meshes with the gear 71. Further, the gear 71 meshes with another gear 75, and its central rod 76 is connected to a position detector 77 provided on the disc 68.

Therefore, the positioner 14 is mounted on the bearing door 8 of the frame 66.
(has a PBD axis, and the PBD axis is perpendicular to the PTW axis) as shown in the figure, and rotates as shown by the solid line and chain line 5, and rotates around the PTW axis by operating the drive motor 72.

Rotation about the PBD axis is performed by rotating a crescent-shaped gear 79 integrally attached to the bearing box 67 using a gear 80. A gear box 81 is mounted on the frame 66.
A drive motor 82, a gear 83 rotated by the drive motor 82 via an output shaft 89, and gears 84 and 85 that mesh with these K are arranged and supported by various bearings as shown in the figure. It is. A worm gear 87 is provided on the output shaft 86 of the gear 84.
7 meshes with the gear 80 mentioned above. Also, gear 85
The output shaft 90 of is connected to a position detector 91. Therefore, when the drive motor 82 is operated, the crescent gear 79 can be rotated through the gear mechanism, and the degree of rotation can be detected by the position detector 91.

The outline of the apparatus shown in FIG. 2 is shown in FIG. 5 in a simple drawing. However, in this example, a swing motor 93 is provided on the wrist in addition to the swing motors 32 and 33. Therefore, the swing motor 32 is rotatable around the BD axis that is parallel to the X axis, and the swing motor 33 is rotatable around the SW axis that is perpendicular to the BD axis. 93 can be made rotatable around the TW axis that is perpendicular to the SW axis. The coordinate system of the entire welding device is shown in FIG.

Since the positioner 14 can be driven to rotate about the two axes PBD and PTW, the surface plate 65 can be oriented in any direction, and its flat angle can be oriented in any direction. For example, as shown in Figure 6, a box assembled from steel plates of A%B%C, D and E is
To make the steel plate A that is the base parallel to the X-Y plane of the robot's coordinates when the robot is attached in a certain posture, first rotate it by θp around the PTW axis of the positioner 14, and then It is sufficient to rotate it by ω around the PB axis.

To measure how much steel plate A is tilted in the X-axis direction with respect to the X-Y plane before correcting its posture,
The coordinates of any two points along the axis (X+, y+, z+), (x
2, y2, Z2), and the difference ΔXI+Δ2. If θp is used, θp can be easily obtained from the following equation.

Further, the inclination ωp with respect to the Y-axis direction can be obtained from Δz7 and Δy obtained from the coordinates of two points along the Y-axis using the following equation.

Since it is easy to measure the coordinates of two points along the AOX axis of the steel plate with a robot, the difference is calculated from the coordinates and θp is calculated using the computer used to control the robot.

ωp is calculated and the positioner 14 uses the value as an indication value.
By rotating the steel plate A about the PTW and PBD axes, it is easy to make the steel plate A (that is, any plane on which a certain welded structure is located) parallel to the XY plane of the robot. Furthermore, if the steel plate B is parallel to the Y-Z plane, the angle of the steel plate B in the Y-axis direction may be determined in the same manner as described above, and the steel plate B may be rotated by that angle 02 about the PTW axis.

If one steel plate A is aligned with the X-Y plane in this way,
The illustrated welding line QR can be detected without directly tracing it. If the welded structure is rectangular as shown in the figure, the Y-axis coordinate Y^ of the front edge of steel plate A and side steel plate B
If the coordinate XD of the side steel plate, the coordinate Xa of the steel plate X-axis, the coordinate YD of the side steel plate, and the coordinate 2Δ of the two axes of the steel plate A are known, the weld line can be found.

In order to obtain the coordinate XB, the tactile sense 87 of the robot may be projected toward the steel plate B, and the coordinate of the X axis when the tactile sense detects the steel plate B may be read. If the posture of the workpiece 10 is corrected to match the coordinate system of the robot in this way, all the welding lines can be easily determined by determining the five coordinate points YA% YD% X01x, ..., ZA. Therefore, the steps of welding work can be greatly reduced, and at the same time, the robot itself can use its tactile sense 37 to find the place to be welded and perform welding work without having to memorize detailed welding lines. It is possible to do this.

A calculation method may also be considered for detecting the weld line. First, straight QR
can be determined from the intersection line of plane A and plane B, but it must be calculated from the equation of the two planes (3). The equation of this plane is three points (
X1% Yh zl )% (X2% Yes
If we know zi )−(Xh V'szs ),
It is obtained by solving the following equation.

However, although this formula itself is simple, it takes a long time to calculate it on the microcomputer used to control the robot. K to find a straight line requires this many calculations, but K to determine the straight line QR must also find the Q point and the R point. Since point Q and point R are determined as the intersection of plane B, plane C, and a straight line, the same degree of calculation as before is required. K, which calculates all the welding lines, must also perform the same calculation on straight line PQ and straight line R5.

Therefore, a welding method based on detecting a weld line using this calculation method is not practical.

As another method, it may be proposed to detect the weld line itself by touch. In this case, controlling the robot would be complicated and difficult.

This is ``AK! itf, !71i9Ky 7 welding 1 construction
) It is also possible to easily detect weld lines on objects. The welding line LK shown in FIG. 17 is located in a narrow and intricate area that cannot be directly detected by touch. Detection of such weld line LK is L%
M% Illustrated coordinates of N points Xn%
i■ By reading Ym and Yl, the slope of MK can also be determined.
1 diagonal can be done by knowing in advance. Therefore, by controlling the posture of the workpiece 10 and using an indirect weld line detection method, the weld detection range can be significantly expanded, making it possible to automate the welding of complex structures. Become.
(In the above example, if the weld line is a straight line as shown in Figure 6, -A, KA1, weld line force, one curve in cubic space, i6□work, 2,
aOJ! IKwao yowa, eke, molten line yuu
jCannot be detected. The coordinates of the curve must be detected.

r: Assuming that the welding line PQ shown in Fig. 6 is bent, thrust the wrist 18 into the box 40 and use the Y tactile sense to determine the position of the steel plate DQ in the Y-axis direction, and the Z tactile sense to determine the position of the steel plate A in the Z-axis direction. If detected, the welding line PQ can be searched and welding can be performed along it.

Since the Z tactile sense always faces two axes even when the wrist is rotated, the position that can be detected by the Z tactile sense is always the coordinate of the Z axis, but the Y tactile sense is based on the rotation of the SW swing motor on the wrist. Since it is fixed to a shaft and its radial displacement is detected, the direction of displacement that can be detected varies depending on the rotation angle of the wrist. By using this, it is possible to search for and follow welding lines that are parallel to the X-axis and Y-axis, or welding lines that have a certain slope with respect to the X-axis.

For example, when searching for weld line PQ in Fig. 6, if you turn your wrist 90 degrees counterclockwise with respect to the SW axis, you can detect the position in the steel plate BOX axis direction with Y tactile sense, so you can search for weld line PQ along this weld line. You can make the torch follow you.

Also, as shown in Figure 11, the welding line AB is Qp with respect to the X axis.
If the wrist is tilted by Qp, the wrist is bent counterclockwise on the SW axis by Qp, and the displacement obtained by the Y tactile sense is 51 m0 on the X axis.
By distributing 50 p of Co on the Y axis, the welding torch can be moved to weld line AB to perform welding.

As mentioned above, the welding robot can adjust the position of the workpiece on the positioner based on the tactile information obtained by the tactile sense to make it easier to weld, but the robot itself can adjust the welding line along the welding line based on the tactile information. You can also weld by following.

Figure 8 shows the control system of the entire welding device. Control device 95
is mainly composed of a microcomputer, the details of which are well known. The control device 95 issues movement commands X to each part of the robot according to a predetermined program.
s%Ys, Zs, SWs.

BDs is given, and the positioner 14 is given a movement command PBDs%PTWs. The values of these signals and the detectors 98'C, 98D198E, 98F, 9
The difference between the detection signal values from 8G and 91.77 is taken (feedback control), and the difference is determined by the servo amplifier 97C.
, 97D, 97E, 97F, 97G and 97A, 97B
The width is increased by Each servo valve 96C, 96D, 96E, 96F, 96G and 96A corresponds to the increased value.
, 96B operate, and the oil from this is transferred to the hydraulic cylinder 25.
28.26 and swing motor 33.32 and drive motor 8
It was introduced on 2,72. This gives the amount of movement in the X, Y, and Z axis directions, the amount of rotation about the SW and BD axes, and the amount of rotation about the positioner about the PBD and PTW axes. In particular, when the amount of rotation about the PBD axis and the PTW axis is given, the Z tactile sense 38 and the Y tactile sense 38
This is done by processing signals from the tactile sense 39 by the control device 95.

That is, the displacement of each haptic 38,39 is detected as a voltage signal by a potentiometer 49,50. That value is the 9th
As shown in the figure, when the threshold K set to a certain value (the value at which the tactile sense clearly detects the object) is reached, the precedent circuit 99A
, 99B as a signal SZ% SY) whose magnitude is detected by the A/D converters 100A, 100B as signals Tz, TY, and these signals are given to the control device 95. . The posture of the workpiece 10 is detected by these signals, the deviation from the predetermined posture is calculated by the control device, and the signal PB is calculated based on the calculated value.
Ds and PTWs are issued, and the positioner 14 is held in the fixed posture F"A. When the robot is at the origin, that is, the robot's coordinates x=o, y=o, 2=0, B
When D=0.5W=O, the SW axis is parallel to the Z axis.

Next, referring to FIGS. 10 to 12, a case will be described in which the temporarily assembled workpiece 10 is installed on the bojin yonner 14 and a welding operation is performed on the welding line.

Now, it is assumed that welding work is to be performed on weld line 111 in FIG. 10 (AB in FIG. 11).

To do this, the weld line 58 must first be detected. Since the welding line is within plane 1, plane 1 and the robot's X-Y
It must be rotated to match the surface. Side 1
Since it is in close contact with the surface plate 65, it is sufficient to measure only Qp and cause the positioner to perform an attitude correction operation. ``In order to do this, the bending angle ωp of surface 1 must be measured using a robot. Straighten the robot's wrist 13 5W=O
1BD=O) and move the Z tactile sense 38 so that it touches surface l. In this case, there is a large hole in surface l, so be careful to avoid such a place. When the Z tactile sense 38 contacts the surface 1, a signal Tz is obtained, so the position of the contact point (XFt
tYF, *ZF+) is read and stored. Then X
Leaving P+ as it is, move the wrist in the Y-axis direction and move the robot so that surface 1 is detected by contact again at an appropriate point. When the Z tactile sense 38 detects surface 1, the coordinates of that point (XF2 s Read YF2 * Zyt ) (where XFI = Xp2), -Yyl YF
2 and ZIFI ZF2, ωp = t an
-' (ZLFI ZF2/YFI YF2)
--(obtained as 51. If the positioner 14 is driven with this value, plane 1 will match the dimension X-Y plane.Next, when the welding source QR is aligned with the X axis,
Correcting the position of the workpiece so that it is aligned with the axis simplifies the detection of the welding source and the welding operation.

As before, as shown in Figure 12, keep the wrist straight and extend the Y touch 39 until it touches surface 2, and read the coordinates (X, YI, ZI,) at the point of contact. is constant, that is, the height is constant, and the coordinates of another contact point (XI2
s YI2 s Z”2 ) (However, Zl,=ZI
When z) is read, θp is found from , and from this the angle at which the positioner should be rotated can be obtained. If a corrective operation command is given based on this value, the welding line AB will become parallel to the X-ray. Furthermore, as shown in FIG. 12, bend the wrist 13 by 90 degrees and touch the positions XG and XH on the X axis with respect to the copper plate surface 3 and the steel plate surface 4.
By reading the height ZF of the steel plate surface 1 at step 8, the position of the weld line AB is completely determined.

If surfaces 4.3.2 are combined at 90 degrees as shown, welding lines AC, AB%BD can be completely determined by determining the front edge of surface 1, that is, the position YA on the Y axis. usually,
Since welded structures are often box-shaped and assembled at right angles to each other on a plane, most weld lines can be easily searched in 6 points by aligning the reference plane of the positioner with the coordinate plane or axis of the robot. It can be determined by movement. If the steel plates are not assembled at right angles to each other, successive position movements may be performed for each weld line to continuously detect the weld lines. The same applies when there is a possibility that the weld line may be changed due to welding.

Calculations for determining a straight line in a plane from the coordinates of two points are not impossible even with a microcomputer, so if it is difficult to perform the correct positioning motion for each welding line, the microcomputer program Equipped with (software), it is possible to detect diagonal lines and perform welding work.

If the welding line matches the coordinate axis of the robot, for example, if the welding line AB after the corrective action matches the X-axis, then when welding with the robot holding a welding torch, welding can only be done in the X-axis direction. Since it only needs to be driven, high-quality welding can be performed. Furthermore, since the entire program is a combination of several simple sub-programs, it is easy to handle and welding work can be easily performed without the need for hot wires.

As described above, according to the present invention, since the wrist is provided with a tactile sense that measures the posture of the workpiece through the swing motor, it is easy to calculate the positional relationship between the welding torch and the workpiece. Become. In addition, if the tactile sense is configured with a tactile sense that detects displacement in two axial directions and a tactile sense that detects displacement in the radial direction (direction perpendicular to the rotational axis) of the swing motor, it can be used for welding by simply performing simple calculations. The position of the torch can be easily controlled.

[Brief explanation of the drawing]

Fig. 1 is a diagram showing the shape of steel plates used to assemble a welded structure, Fig. 2 is a diagram showing the arrangement of an automatic welding device and the configuration of each device, which is an embodiment of the present invention, and Fig. 3
two. is a partially detailed view of Figure 2, Figure 4 is the positioner 〇
゛5 Cross-sectional view for explaining the structure, 5th
The figure is an explanatory diagram showing the coordinate system of each drive part of automatic welding equipment, Figure 6 is an explanatory diagram showing the correction angle of the box-shaped structure and its correction method, and Figure 7 is the workpiece shown in Figure 2. 8 is a block diagram showing a system diagram of the control system of the entire welding device, and FIG. 9 is an explanation showing a method of detecting the corrected tilt angle ωp of a workpiece by tactile change. FIG. 11 is an explanatory diagram showing a method of detecting the corrected rotation angle Op of a workpiece using tactile information of the robot, and FIG. 12 is an explanatory diagram showing a method of measuring the position of each part of the workpiece. Explanation of symbols 10 Workpiece 11 Robot body 12 Arm 13 Wrist 14 Positioner 31 Hydraulic swing motor 32 Hydraulic swing motor 36 Welding torch 37 Tactile device 38 Z touch 39 Y touch 49 Displacement detector 50 Displacement detector 55 Transformation cylinder 65 Constant Panel 67 Bearing box 72 Drive motor 82 Drive motor No. 1 Figure E <No change in content) No. 3 Section i/ No. ', '4S! 1 $ 6 Diagram No. 8 Concave q / No. 9 Concave transfer Amendment form (method) 'J'('1''''''''' [Showa 6
Patent Application No. 155914 Year 0 Name of the invention Relationship to the automatic welding device amendment case Patent applicant Name 15101 IT Co., Ltd. Hitachi Manufacturing
Place 1 [:

Claims (1)

[Claims] 1. An arm is formed so as to be movable in the directions of the X, Y, and Z axes of a rectangular coordinate system consisting of the X, Y, and Z axes, and a wrist is connected to the tip of the arm; In an automatic welding device connected to a welding torch, the wrist is configured to be movable in the SW (swing) and BD (bending) axis directions, and the wrist is equipped with a tactile sense for detecting displacement in the Z-axis direction, and a tactile sense for detecting displacement in the SW axis direction. A tactile sense for detecting displacement in the radial direction is provided, and the mutual relationship between the welding torch and both tactile senses is such that these three tactile senses are on the same plane and both tactile senses are orthogonal to each other on both sides of the welding torch. An automatic welding device characterized by the following. 2. The automatic welding device according to claim 1, characterized in that a pair of tactile senses are provided on the wrist through a common member so that both tactile senses move forward and backward with respect to the welding torch.