JPS5944145B2 - Profile welding equipment - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention improves work efficiency by providing a scanning sensor at a remote position that does not interfere with welding work, and eliminates the phase shift between the welding torch and scanning sensor to provide accurate and easy welding. The present invention relates to a profile welding device that can perform profile control.

Most conventional welding devices that perform pulse welding are of the type where the sensor follows the groove of the weld line and precedes the welding torch, and this applies regardless of whether it is a contact or non-contact method. It was done without any problems.

In this type of sensor-advanced type, the phase shift that occurs between the torch and the sensor complicates the control circuit because it requires a memory function, and when the sensor is placed close to the sensor, arcing There were practical problems such as the sensor being damaged by heat.

Furthermore, the sensor-advanced type cannot perform welding processes that repeatedly move forward and backward, and the welding work is restricted to one direction.
Attempting to solve this problem would require complicated procedures such as reversing the relative positions of the welding torch and sensor at the welding end, and considering the special case where the target weld line is continuous in an endless manner, it would be difficult to Repeated welding in one direction is undesirable because it causes twisting in the electrical wiring and welding wire, and the relative position of the welding torch and sensor must be reversed, making the operation cumbersome and the equipment complicated. The disadvantages of doing so could not be avoided.

The present invention was achieved as a result of various studies in order to cope with and improve the current situation as described above, and in particular, the present invention is based on a mutually orthogonal penetrating relationship between the long diameter cylindrical surface and the short diameter cylindrical surface. In the case of a specific welding operation in which welding follows a welding line consisting of a three-dimensional curve at the joint of interrelated bodies formed by The present invention is characterized in that it has been possible to provide a novel device that enables accurate detection, and its specific aspects will be explained in detail based on an example of a welding device with reference to the accompanying drawings. . As shown in Figure 1, the workpiece 1 to be welded by the welding device includes a long-diameter main pipe 2 having a long-diameter cylindrical surface, and a short-diameter branch pipe 3 having a short-diameter cylindrical surface smaller in diameter than the main pipe 2. In the illustrated example, the long-diameter main pipe 2 is horizontal, and the short-diameter branch Since the tube 3 is arranged vertically, it is clear that the shape of the tube is a three-dimensional curve formed around the periphery of a perfectly circular saddle shape.

Note that the weld line' along the above three-dimensional curve can be determined by tracking the pipe wall portion of the short diameter branch pipe 3 with a sensor for two horizontal axes among the three axis components. It is possible to detect it indirectly at a position distant from . The structure of the welding device that performs arc welding on the welding line' is, as shown in the basic skeleton form in Fig. 1, erected on a fixing base 4 and having a Z-axis with a degree of freedom in the vertical direction. The The Y-axis has a degree of freedom in the direction of approach and departure from the position of
It has four rotational axes F that perform a revolution movement maintaining equidistant parallelism around the Z-axis and the reference axis The pipes V are provided so that they both remain parallel, and the rotation axis F can rotate on the outside of the short diameter branch pipe 2.

A welding torch 6 is pivotally attached to the tip of the rotating shaft F so as to be swingable in a vertical plane. The vertical dimension of the z-axis is adjusted by a drive source such as an electric motor 7, and the vertical displacement at this time is measured as an electrical displacement by a Z potentiometer 8.

The horizontal dimension of the X-axis is adjusted by a driving source such as an electric motor 9, and the horizontal displacement at this time is measured as an electrical displacement by an X potentiometer 10.

Further, the longitudinal dimension of the Y axis is adjusted by an electric motor 11, and the longitudinal displacement at this time is measured as an electrical displacement by a Y potentiometer 12. Rotation axis F is electric motor 1
3 causes a revolution, and the rotational displacement at this time is measured by the F potentiometer 14 as an electrical displacement corresponding to a clockwise rotation angle with respect to the Y-axis.

Note that the rotation axis F is integrally connected to the reference axis via the horizontal arm 15, and performs one rotation on the axis for one revolution in the revolution.
Therefore, the welding torch 6 is attached to the end of the rotation axis F, and the X-Y-F scanning sensor 17 is attached to the rotation axis F with the neutral line aligned with the vertical plane including the pointing line of the torch 6. can always be directed toward the workpiece 1 side.

Next, the welding torch 6 is swingably attached to the end of the rotating shaft F so that the tip can always be oriented on the extension of the reference axis V.

The welding device configured as described above can determine the height and aiming angle of the welding torch 6 based on the electrical displacement of the Z potentiometer 8, and also includes the X potentiometer 10, the Y potentiometer 12, 3 with F potentiometer 14
It is possible to determine the relative position of the welding torch 6 with respect to the workpiece 1 by combining the two electric displacements, and by issuing correction commands for the Z-axis, X-axis, and Y-axis from both scanning sensors 5 and 17. , the welding torch 6 can be directed at a predetermined aiming angle with respect to the welding line'.

It should be noted that the weld line' is circular on the horizontal plane and extends diagonally upward with the groove portion where the overlay welding is performed.

The above-mentioned welding device includes tracing sensors 5 and 17 which are elements of the present invention.
and a speed command device 21 are provided as displacement detectors, but to explain the basic functions of the latter two 17 and 21 involved in the X-Y axis, the scanning sensor 17 directly touches the object. It is fixed to the rotation axis F, with the tactile part activated by the welding torch 6 pointing in the same direction as the welding torch 6, and its neutral state point correctly matching the extension of the reference axis, and above the welding torch 6. placed at a nearby location.

The scanning sensor 17 is capable of emitting five different signals: a neutral state indicating a predetermined position, an overshoot correction, an overreturn correction, a clockwise direction correction, and a counterclockwise direction correction.

On the other hand, the speed command device 21 has a known sine/cosine potentiometer as a component, and detects a clockwise rotation angle with respect to the longitudinal axis Y of the reference axis, and detects a sine/cosine potentiometer corresponding to the rotation angle. It is designed to be able to simultaneously output both the minute output Es and the cosine output EO, and is provided in relation to the reference axis V.

An example of the scanning sensor 17 is shown in FIG.
The switch 18B has the basic structure of an on-off switch, and is composed of an operating piece 20A, a contact portion 19A, a switch 18A, an operating piece 20B, and a contact portion 19B.
For example, the actuating pieces 20A and 20B are connected via a bullet so that they are attracted to each other, and are arranged line-symmetrically,
If the actuating pieces 20A, 20B are in contact with the object and their positions are appropriate, both contact portions 19A, 19B will be in a neutral state in which they do not emit any signals, and if the positions are not appropriate and they are too close or too far away. By doing so, the contact portion 19A,
The open/close states of 19B are different, and it is possible to emit a total of 10 combinations of signals as shown in FIG.

In FIG. 2 and FIG. 3, if the copying sensor 17 goes too far, that is, comes too close to the workpiece 1, the third
As shown in column O of the figure, the contact 19AR and the movable contact piece are closed at the contact portion 19A (indicated by the elbow number), and the contact 19BR and the movable contact piece are closed at the contact portion 19B.

Further, when the relative positions of the actuating pieces 20A and 20B with respect to the workpiece 1 are in an unbalanced state, and when the actuating piece 20B is closer to the actuating piece 20A than the actuating piece 20A, the position shown in FIG.
, 5. Three types of signals are output as shown in each column to indicate that clockwise correction is necessary. Conversely, when the actuating piece 20A is closer, 2. Indicate that counterclockwise correction is required as shown in each column.

In this way, apart from the 4 standby states, the neutral state @, over-return correction (preceding instruction) 01 over-return correction (backward instruction) @, clockwise rotation direction correction 8 to [F], counterclockwise rotation direction correction 7 to 2
Five types of signals can be emitted from the scanning sensor 17.

Next, the speed command device 21 is a circular sine/cosine potentiometer, as shown in FIG. , two sliding contact pieces 22A, 22 with phase angles shifted by 90
B is integrally rotated about the reference axis VffC so as to be brought into sliding contact with the resistor.

9 in the clockwise direction with the direction of the front-rear axis Y as the base line.
1 potential is applied to the part where the transition occurred after 0, and e is applied to the part where the transition was made to 270.
By applying a potential, the preceding sliding contact piece 22B outputs an output E according to O)Sθ.

However, outputs E8 corresponding to Sinθ are respectively taken out from the following sliding contact pieces 22A, and the polarities of both signals are COsθ→[present] and Sinθ→ in the first quadrant 4 in FIG.
1, and in the second quadrant 5, μsθ−ESSinθ−e1
In the third quadrant 5, COsθ→E. In the fourth quadrant 8, the polarity is changed to Slnθ→e, COsθ→1, and Sinθ→e, respectively. As is clear from the principle of X, the sine output Es and the cosine output Ec are simultaneously taken out from the speed command device 21 in accordance with the rotation angle of the reference axis, and there are four combinations of polarities. It will be taken out. Next, the copying sensor 5 is a Z-axis sensor attached to the rotation axis F, and when it is attached, it is a requirement of the present invention that it be arranged in a specific manner so as to satisfy the following conditions. It is.

That is, as shown in Fig. 7A, the pointing line of the scanning sensor 5 should always be made to intersect with the extension line R/ of the radius of curvature at the intersection A where the welding torch 6 on the welding line' is pointing. And, the line segment BA from the intersection point B to the intersection point A on the welding line' is projected onto a horizontal plane including the X-axis and Y-axis perpendicular to the Z-axis so that the line length S can always be maintained at a constant length. To make it easier to understand, there are two points:
A line of mutual penetration formed by a cylindrical surface coaxial with the cylindrical surface of the short diameter branch pipe 3 and having a larger diameter than that and the cylindrical surface of the long diameter main pipe 2, and a cylindrical surface of the short diameter branch pipe 3.
The purpose is to enable the sensor 5 to always detect the intersection between the axis of the welding torch 6 and the plane including the tip of the welding torch 6.

In order to satisfy the above conditions, for example, the pointing line of the copying sensor 5 should be directed vertically downward, and the copying sensor 5 should be arranged so as to be included in the swinging plane of the contacting torch 6. It can be done easily.

The above welding device is equipped with a speed control circuit (see Figure 5) and a Z-axis control circuit (see Figure 8) as a control circuit for automatic profile welding, but the speed control circuit is as shown in Figure 5. , a speed command main circuit 23 that supplies the sine output Es of the speed command 21 to the motor 11f1C of the longitudinal axis Y via the amplifier 25Y, and the cosine output Ec to the motor 9 of the left and right axis X, and the cosine output E. The speed correction circuit 24 provides a sine output Es to the electric motor 11 and a sine output Es to the electric motor 9, respectively. The speed command main circuit 23 has a cosine output Ec
The transmission line has a conversion switch 26A, and by switching the switch 26A, the cosine output Ec can be transmitted directly with the current polarity, or with the polarity inverted by the polarity inversion circuit 27A, and can be transmitted with the sine component output Ec. Similarly, in the transmission line of the output Es, there is a conversion switch 26B and a polarity inversion circuit 27B.
The sine component output E8 is transmitted directly or with the polarity inverted.

Note that the double conversion switches 26A, 26B and the polarity inverting circuits 27A, 27B are related to the second invention, and the double conversion switches 26A, 26B are arranged in relation to the F potentiometer 14. The rotation angle range is formed so that the upper limit position, for example, around 360, and the lower limit position, for example, around 00, of a preset rotation angle range are alternately and repeatedly interlocked and automatically switched.

Note that the conversion switches 26A and 26B may be configured to be convertible by manual operation as appropriate, and the welding torch 6 is rotated clockwise C.
Of course, it is also possible to manually switch when it is desired to advance in any direction of W or counterclockwise CCW.

On the other hand, the speed correction circuit 24 has contacts Fl and F2, which are closed when the two contacts 19AF and 19BF of the scanning sensor 17 are both closed, as shown in column C of FIG. 3, and two contacts 19A.
Contacts Rl and R2 that close when R and 19BR are both closed in the state shown in column O of FIG. 3, and polarity inversion circuits 28A and 28.
B, and constant multiplication circuits 29A and 29B,
In a state where the contacts Fl and F2 are closed, that is, in a state 0 where the copying sensor 17 is emitting an excessive return correction signal, the cosine output is E.
.

is directly transmitted to the longitudinal axis Y as output KlOO with X (7) polarity, and the polarity of the sine output Es is reversed to output K2.
It is transmitted to the left and right axis X as eS. On the other hand, the contacts Rl, R,
is closed, that is, when the copying sensor 17 is emitting an overshoot correction signal, the cosine component output is E. is transmitted to the longitudinal axis Y by inverting the polarity as the output 1Klec, and transmitting the sine output Es to the left and right axis Y with the polarity of X as the output K2eS.
lfC transmit. Next, the relationship between the signal and output of the scanning sensor 17 is expressed as follows.

(a) When the scanning sensor 17 is in the neutral state @, neither the sine component output Es nor the cosine component output Ec is transmitted in the speed correction circuit 24.

On the other hand, no rotation command is issued to the rotation axis F either. (b) When the copying sensor 17 is in the overtravel correction signal transmission state @,
The speed correction circuit 24 inverts the polarity of the cosine output Ec,
The sine output Es is directly transmitted to the front-rear axis Y and the left-right axis X, respectively.

On the other hand, no rotation command is issued to the rotation axis F. (c) When the copying sensor 17 is in the excessive return correction signal generation state O, the speed correction circuit 24 outputs a cosine component E.

The polarity of the direct sine output Es is inverted and transmitted to the front-rear axis Y and the left-right axis X, respectively. On the other hand, no rotation command is issued to the rotation axis F. (d) Each state 1 in which the copying sensor 1r is transmitting a clockwise direction correction signal. In the case of θ, 5, in the speed correction circuit 24, each contact Fl, F2, R, , R2 is open, so the sine component output E is the same as in the neutral state @.
,, cosine output E.

No communication is achieved. On the other hand, the contacts 19AF, 19
When at least one of the BRs is closed, a clockwise direction correction output (not shown) is given to the electric motor 13 to control the scanning sensor 17 to return to the neutral state.

(e) In each state 1, 4, and 2 in which the copying sensor 17 is transmitting a counterclockwise rotation direction correction signal, the speed correction circuit 24 transmits both the sine output Es and the cosine output Ec, as in the above-mentioned term d. On the other hand, the contacts 19AR and 19BF
When at least one of them is closed, a counterclockwise correction output (not shown) is given to the electric motor 13 to control the scanning sensor 17 to return to the neutral state.

Next, the Z-axis system control circuit operates the potentiometer 5' as the copying sensor 5, the origin adjustment potentiometer 30 provided on the control device side, and the electric signal difference between the two potentiometers 5' and 30. A comparison amplifier 32 that generates an output, a Z potentiometer 8, and a memory 3 provided on the control device side.
1, a changeover switch 33 for switching between memory operation and control operation, an output amplifier 34, and a Z-axis drive motor 7. This will be explained in detail in the operation description.

Regarding the profile welding means of the welding device configured as described above,
The gist is explained below. The welding device is arranged near the workpiece 1 as shown in Figure 1, and set so that the reference axis is located closer to the workpiece 1 with respect to the rotation axis F, and the longitudinal axis Y is approximately aligned with the central axis of the workpiece 1. Further, the stroke of the vertical axis Z and the swing angle of the welding torch 6 are adjusted so that the welding torch 6 is oriented toward the bottom through the groove center line of the welding line C. The origin alignment of the welding equipment is completed.

In the initial state where the origin alignment is performed in this way, that is, at the start position, the changeover switch 3 is turned on as shown in Figure 8.
3 is in a state where contact C is closed and contacts A and B are open.

In order to determine the Z-axis of the start position, first, the electric motor 7 is rotated by the origin adjustment potentiometer 30 to set the sensor 5 to the start position.

Once the position is determined, the value of the z-axis potentiometer 8 at that time is stored in the memory 31.

Next, the tracing operation is started, but first, to explain about the z-axis, before the operation, the changeover switch 33 is set to the contact point A,
Switch B to close and contact C to open.

In any state of the sensor 5, each potentiometer 5, 8,
The following conditions hold between the values S2, P2, S2O of 30 and the stored value ZM of the memory 31.

The conversion constant of Sz is set to AV/71111, the conversion constant of P2 is set to By/K. The gain of the comparison amplifier 32 is set to K, and as a result of the value Sz of the sensor 5 changing by V volts, the height of the X angle changes again. Assuming that it has stopped, as is clear from the circuit of FIG.

However, the increase in the value P2 of the potentiometer 8 means that the sensor 5 is moved along the Z axis, so its value Sz
Needless to say, this will decrease.

From Equations 1 and 2, K(V-AX) = BX, so if we transform the above equation, or, as is clear from the above equation, the change in the scanning sensor 5 is proportional to the vertical movement of the Z axis. It will be necessary to do so.

Therefore, the displacement generated when the tracing sensor 5 moves while contacting a predetermined position of the long-diameter main pipe 2 is output in proportion to the Z-axis, and the welding torch 6 is moved in the vertical direction according to the displacement. be able to.

In this case, the contact position of the scanning sensor 5 is located a little distance from the weld line', and the displacement of this position does not exactly match the vertical displacement of the weld line'.

That is, as is clear from what is shown in Figure 7 A, 7A and 7C, there is a concentric circle with a constant distance S between the weld line' and the contact point locus of the copying sensor 5 in Figure A projected on the horizontal plane. On the other hand, when compared on a vertical plane including the radius of curvature, the difference in the Z-axis direction is zero at the top of the main tube 2 as shown in the diagram, but on the vertical plane in the direction orthogonal to this top It is clear that there is a certain level difference in the z-axis direction, and at each point in between, the level difference value increases and decreases in a line-symmetrical manner, as shown in diagram C. In this way, the value in the Z-axis direction detected by the scanning sensor 5 cannot completely match the value in the Z-axis direction of the welding line, except for the value at the top surface. As a result of actual measurements, it has been found that when the value (see B) is set to a value of about 45701, the maximum error due to this level difference has an error class of about 10-2, which poses no problem in practice.

The calculation method will be explained below based on an example with reference to FIGS. 9 and 10.

In FIG. 10, when the intersection angle on the horizontal plane between the radius of curvature at an arbitrary point of the weld line '-H and the top generatrix of the main pipe 2 is defined as θ, The level difference in the Z-axis direction between the point on this weld line' and the top generatrix of the main pipe 2 is Zdf2Zd=K-4P)2-(?)2si
It becomes n2θ.

Similarly, the level difference Zd' at the contact position of the scanning sensor 5, which is about 451 shoulders away from this welding line' on the horizontal projection plane.
becomes Zd'=1000-/(笀)2-(8)2sin2θ.

By the way, since the position where Zd shows the maximum value (Zdmax) is naturally θ=90, that is, Sinθ=1, Zdmax=sign/(?)2−(piece)2.

Similarly, Zd'Max=窀-/(?)2-(X)2.

Therefore, if the welding torch is changed in proportion to Zd/, the position of the welding torch at this time is Zd = φ5
・Zd/. However, φ5=Zdmax/Zd′Ma
x Therefore, true height Zd and approximate value? Error between △(θ)
is △(θ) = φ7・Zd'(θ) - Zd(θ), which is an expression in which Sinθ is a function, so this △(0)
If we find the maximum value △Max of these, welding torch Zd
Needless to say, this is the maximum error value in the Z direction when the control is performed in proportion to .

That is, △Max is set so that the horizontal projection movement angle (θ) based on the top generatrix of the main tube is changed by 90 parts.
It shows the maximum value when calculated from time to time by Zd/(θ)-Zd(θ) to the previous formula △CO)2φ, and in Fig. 9, it is calculated for the main pipe 2 with a diameter of 1000 mm. On the other hand, the values obtained when the diameter of the branch pipe 3 is changed by 10 mm in the range of 250 to 350 Rm are shown as absolute values.

In addition, the numerical value in parentheses shown after the numerical value of ΔMax in FIG. 4 is the horizontal projection movement angle at the time of this maximum error (ΔMax). Next, an actual calculation example is shown below. In this example, the diameter D of the main pipe 2 is 1000 m, the diameter d of the branch pipe 3 is 200 m, and the diameter d' of the detection position of the tracing sensor 5 is 290 m.
7! 11! This is the case of l. The above formula △(=φ to Zd'
(θ)-Zd(, where θ is 90 at intervals of 0 to 5
The results of substituting each value up to 0 are shown in the table below.

Note: When ΔMax is 45 to 35/, as is clear from the above results, even if the welding torch is proportionally controlled by the tracing sensor that detects the Z-axis position 45 degrees away from the branch pipe 3 on a concentric circle, Horizontal projection movement angle is 4
The error is maximum near 5 inches, but the error class is about 10-2 and does not pose a practical problem.

The axis control will be explained below.The welding device automatically selects a position where the tactile part of the tracing sensor 17 contacts the pipe wall of the short diameter branch pipe 3 and maintains a neutral state at all times.
Welding line' with the welding torch 6 at a constant aiming angle and constant speed.
It is possible to move according to the following.

Proper automatic profile welding is carried out in this way because the profile sensor 17 controls the rotation axis F to maintain a neutral state, and the speed control circuit controls the speed to a constant level. Of these, the constant speed control function will be explained by dividing it into a speed command and a speed correction command.

(1) When the speed command copying sensor 17 is in the neutral state (at the mouth comb in Figure 3,
When the welding torch 6 is viewed projected onto a horizontal plane, it is correctly oriented in a normal direction to the welding line' (a direction perpendicular to a tangent circumscribed to the welding line').

In order to move the welding torch 6 along the welding line' at a constant speed v from this neutral state with the rotation axis F rotating by θ0 as shown in FIG. Vsia, which is a sine component, on the longitudinal axis Y, and V, which is a cosine component,
By giving cOsθ to the left and right axis X, its composition is the one that matches the velocity V (IC).

Therefore, the speed command main circuit 23 always gives speed commands to both axes X and Y that correspond to the rotation angle θ and meet the above-mentioned conditions. By decomposing the composite speed V according to the neutral state angle θ and giving commands to both the X and Y axes, it becomes possible to control the welding torch 6 to move at a constant target angle and constant speed.

8 Speed correction command When the copying sensor 17 is in either an over-travel or an over-return state, an appropriate correction command is given respectively, for example, in the first quadrant 4, that is, the rotation angle.

If θ is in the range of 0≦θ≦90, and the copying sensor 17 returns too far (the state shown in column C of FIG. 3), both contacts 19AF and 19BF become 0N in FIG.

On the other hand, in the first quadrant 4, as is clear from FIG. 4, both the cosine output and the sine output output from the speed command device 21 are positive values.

Therefore, the left-right axis X correction signal is -K2vsinθ, the front-rear axis Y correction signal is K, vCOsθ, and the combination of the movements of both axes X and Y is in the direction approaching the weld line' as shown by the vector in Fig. 6 A correction speed command is issued, and correction is made so that the copying sensor 17 is in a neutral state.

Similar corrections are made for each of the other quadrants (5), 8, and 8, and although the explanation of the overshooting correction state (support) Fig. 3 d) is omitted, the composite correction speed command of the vector that is suitable for the correction is It operates to regulate the copying sensor 17 to a neutral state. As described above, the speed command is appropriately issued in the neutral state, and the speed correction command is appropriately issued in the overreach and return states, so that the welding torch 6 moves at a constant target angle and constant speed, and stable welding is automatically performed. It is carried out according to

In addition, in the control circuit shown in Fig. 5, the speed command main circuit 2
When the changeover switches 26A and 26B of No. 3 are kept in the illustrated state, the welding torch 6 always repeats clockwise rotation, and therefore the swing angle of the welding torch 6 is changed every rotation by an appropriate means. If it is squared, multi-layer overlay welding in the clockwise direction is possible.

On the other hand, each time the welding torch 6 rotates, the changeover switch 26
When A and 26B are reversed, the polarity of the sine and cosine outputs issued from the speed command device 21 is reversed, so that an appropriate speed command is issued according to the rotational direction. Reversible rotation method multi-layer overlay welding becomes possible.

Further, by switching the conversion switches 26A and 26B in the counterclockwise direction, it is also possible to perform multilayer overlay welding in the counterclockwise direction.

As is clear from the above description, the present invention
By simply providing three degrees of freedom: 1 left and right axes, 1 vertical axis, and rotation axis F, it is possible to perform copying processing on cubic curves, simplifying the overall structure of the device and simplifying the control system. This allows the device to be provided compactly and at low cost. Furthermore, the detection elements for controlling the scanning speed only need to be two members: a simple on-off type scanning sensor 5, 17, and a speed command device 21 using a sine/cosine potentiometer. Since the three axes including the vertical axis Z can be controlled one-dimensionally, the control system is extremely simplified compared to conventional devices of this type.

In particular, since the scanning sensors 5 and 17 are arranged at locations distant from the target line' to perform position detection, workability is improved compared to conventional devices that perform detection in the vicinity of the welding torch 6. Not only is this improved, but it also has the advantage of easy and reliable control since it is possible to prevent temporal deviation between the aiming position of the torch 6 and the detected positions of the copying sensors 5, 17. Therefore, the present invention is a highly practical profile welding device.

[Brief explanation of the drawing]

FIG. 1 is a schematic structural diagram of an example of the device of the present invention, FIG. 2 is a schematic diagram of the X-Y scanning sensor in the device of the present invention, FIG. 3 is a table of operating characteristics of the scanning sensor, and FIG. 4 is a diagram of the present invention. FIG. 5 is a diagram illustrating the principle of the output characteristics of the speed command device in the device of the invention, FIG. 5 is a diagram of the speed control circuit according to the device of the invention, and FIG. 6 is a diagram illustrating the operation of the speed control circuit. In addition, FIGS. 7A, 7B, and 7C are a plan view, a front view, and a developed view showing the relationship between the weld line on the workpiece and the trace sensor detection point locus according to the apparatus of the present invention, and FIG. 8 is a diagram shown in FIG. FIG. 9 is an explanatory diagram numerically displaying the relationship between the welding line and the tracing sensor detection point locus according to the device of the present invention;
FIG. 10 is an explanatory diagram for determining the error in the Z-axis direction according to the apparatus of the present invention. 1... Work, 5...
...Copying sensor, 6...Welding torch, 17...
...Copying sensor, 21 ... Speed command device, 2
3...Speed command main circuit, 24...Speed correction circuit,'...Target line, F...Rotation axis,... Reference axis, X...Left and right axis, Y...
...Anteroposterior axis.

Claims (1)

[Scope of Claims] 1. A weld line l consisting of a tertiary interpenetration curve at a joint of an interpenetrator formed by a mutually orthogonal penetrating relationship between a major diameter cylindrical surface and a minor diameter cylindrical surface. A device for performing counter-conforming welding, the Z-axis parallel to the generatrix of the short-axis cylindrical surface, the Z-axis
The three axes are X-axis and Y-axis, which are perpendicular to each axis and mutually orthogonal.
A main shaft having a degree of freedom, with the Y-axis being a front-rear axis in the direction of approaching and separating from the interrelated body, and the X-axis being a left-right axis, and a reference axis V parallel to the Z-axis at the tip of the main shaft. a rotation axis F that is connected to the main shaft so as to be able to rotate around the same distance and parallel to each other, and a rotation axis F that is swingable with its tip facing the reference axis V.
A welding torch 6 attached to the end, and a tactile section that emits five types of signals: a neutral state indicating a predetermined position, an overshoot correction, an overreturn correction, a clockwise rotation direction correction, and a counterclockwise rotation direction correction are connected to the welding torch 6. a copying sensor 17 that is oriented in the same direction and fixed to the rotation axis F and provides a rotational output to the rotation axis V according to a clockwise rotation direction correction signal and a counterclockwise rotation direction correction signal; A speed command device 21 detects a rotation angle in a predetermined direction with respect to the longitudinal axis Y and outputs two outputs, a sine output and a cosine output corresponding to the rotation angle, and a Z-axis component of the welding torch 6 is detected. It consists of a copying sensor 5 provided on the rotation axis F, and a speed control circuit that gives speed commands to both the X and Y axes, and the latter copying sensor 5 is coaxial with and larger than the short diameter cylindrical surface. A relative positional relationship is established such that the copying sensor 5 detects an intersection between a mutual line formed by the diameter cylindrical surface and the long diameter cylindrical surface, and a surface including the axis of the short diameter cylindrical surface and the tip of the welding torch 6. The Z-axis component is indirectly detected by the Z-axis direction level detected by the copying sensor 5 at a predetermined position on the long-diameter cylindrical surface that is formed between the welding torch 6 and the welding line l and is located on the outside of the welding line l. While the speed control circuit is configured as possible, the speed control circuit is connected to the speed command device 21
The speed command main circuit 23 transmits the sine output to the Y-axis and the cosine output to the X-axis, and receives the signals from the copying sensor 17. In the neutral state, no output is transmitted and an overtravel correction signal is sent. Then, the cosine output is transmitted to the Y-axis with the polarity inverted, and the sine output is transmitted to the X-axis with the same polarity.
For the excessive return correction signal, the cosine output is output with the same polarity as Y.
The welding torch 6 is configured to weld at a constant aiming angle and a constant speed with respect to the welding line 1. Features Aim welding equipment. 2 Perform profile welding on the weld line l consisting of a three-dimensional interpenetration curve at the joint of the interpenetrator formed by the long-axis cylindrical surface and the short-axis cylindrical surface having a mutually orthogonal penetrating relationship. The device has three degrees of freedom: a Z-axis parallel to the generatrix of the short diameter cylindrical surface, an X-axis and a Y-axis that are perpendicular to the Z-axis and mutually orthogonal, and the Y-axis is A main axis formed by forming the X-axis as a left-right axis on the front-rear axis in the direction of approaching and separating from the interstitial body, and a reference axis V parallel to the Z-axis at the tip of the main axis, maintaining equidistant parallelism. A rotating shaft F that is connected to the main shaft so as to be able to rotate in general, a welding torch 6 that is swingably attached to the end of the rotating shaft F with its tip facing the reference axis V, and a neutral state that indicates a predetermined position. , a tactile part that emits five types of signals: overshoot correction, overback correction, clockwise rotation direction correction, and counterclockwise rotation direction correction is fixed to the rotation axis F with the tactile part pointing in the same direction as the welding torch 6, A tracing sensor 17 provides a rotational output to the rotational axis V based on a rotational direction correction signal and a counterclockwise rotational direction correction signal, and detects the rotational angle of the rotational axis F in a predetermined direction with respect to the longitudinal axis Y. a speed command device 21 that emits two outputs, a sine output and a cosine output corresponding to the rotation angle;
It consists of a copying sensor 5 installed on the rotation axis F to detect the Z-axis component of the welding torch 6, and a speed control circuit that gives speed commands to both the X and Y axes. The copying sensor 5 detects the intersection of a mutual line formed by a cylindrical surface that is coaxial with the diameter cylindrical surface and has a larger diameter and the long diameter cylindrical surface, and a surface that includes the axis of the short diameter cylindrical surface and the tip of the welding torch 6. The Z-axis direction level detected by the scanning sensor 5 at a predetermined position on the long-diameter cylindrical surface located on the outside with respect to the welding line l is formed with the welding torch 6 such that the relative positional relationship is detected by the welding torch 6. While the Z-axis component is configured to be indirectly detectable, the speed control circuit is configured to transmit the sine component output of the speed command device 21 to the Y-axis and the cosine component output to the X-axis, respectively, so that the polarity can be changed. In response to the signals from the circuit 23 and the scanning sensor 17, no output is transmitted in the neutral state, and the polarity of the output is inverted by the cosine in the overshoot correction signal, and Y is output.
axis, and transmits the sine component output to the X axis with the same polarity, and also transmits the cosine component output to the Y axis with the same polarity in the overreturn correction signal, and reverses the polarity of the sine component output. Do X
The welding torch 6 is constructed of a speed correction circuit 24 that transmits data to each shaft, and is characterized in that the welding torch 6 is welded at a constant aiming angle and a constant speed with respect to the welding line l, and the direction of movement can be changed. Welding equipment.