• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    A process and device for seeking and following a fillet weld (1) during inert gas arc welding, especially when the inert gas used during welding is carbon dioxide. The welding torch (4) is moved by a continuous-path control manipulator, and the spatial coordinates of one or several reference points of the hollow weld (1) are sought by mechanical contouring and the real location thus obtained of the hollow weld is supplied to the continuous path control. The longitudinal driving is done then only by the continuous path control, corrected correspondingly, and only the height of the welding torch above the root of the seam is readjusted according to the welding current. The mechanical probe contouring is done by probing the adjacent flanks of the reference points of the seam and by calculating the coordinates of the root (b) of the seam on the basis of these data. The welding torch tube (4) is pivotally mounted and provided with a switching disk (9) which lifts when the welding arch tube (4) deviates and touches the flanks (2, 3) of the seam, generating a switching signal.
    公开号:SU1713424A3
    申请号:SU884355971
    申请日:1988-06-17
    公开日:1992-02-15
    发明作者:Циммер Эрнст
    申请人:Кука Швейсанлаген Унд Роботер Гмбх (Фирма)；
    IPC主号:
    专利说明:

    This invention relates to mechanical engineering, in particular to welding equipment.
    The aim of the invention is to simplify the device and increase reliability.
    FIG. 1 schematically shows a touch sensor; in fig. 2 shows a variant of the position of the burner at the corner joint.
    FIG. 1 and 2 shows a cross-section of the corner seam 1 with the left 2 and right 3 edges of the seam and the point 4 of the seam root. The corner seam 1 (Fig. 1) is open upwards and has a bevel angle of more than 90 °. FIG.
    2 shows an open side angular seam with a bevel angle of 90 °.
    A welding torch, which is also a touch sensor, is an integral part of a welding device for gas-arc welding, in particular for welding using carbon dioxide as a protective gas. The welding torch is moved using a multi-axis manipulator, preferably a six-axis industrial robot (not shown). During welding, the welding torch 5 moves along a predetermined path, and its height above the weld base is adjusted depending on the size of the welding current. At the beginning of welding, point 4 of the root of the weld is considered as the base of the weld, whereas in multi-layer welds, the layer applied last is used as the base.
    In order to prevent collisions of welding torch 5 with edges 2 during welding,
    The 3 sections of the seam, the preprogrammed path relative to its position, must be aligned with the actual position of the fillet 1. For this, one or more base points of the seam, characteristic of the actual position of the fillet, are determined.
    1. The welding torch 5 moves to the preprogrammed search point 6 on top and between the edges.
    2.3 cutting seam. From this point, the welding torch moves along a predetermined path to the first edge 2 in the direction of the programmed target point 7. Target point 7 must lie on the edge 2, 3 of the seam groove or behind it. Since the bevel angle of an edge is set and has only neglected tolerances, the movement is carried out at a right angle to the previously known slope of the edge. When the welding torch 5 is in contact with the edge 2 of the seam, a control pulse is generated, resulting in the memorization of the three-dimensional coordinates of this point of contact.
    Similarly, the right edge 3 of the seam cutting is detected and the position of this point of contact is determined and stored. In addition, the movement of the welding torch 5 is carried out in both cases at a right angle to the preprogrammed longitudinal direction of the corner seam 1. Based on the coordinates of the points of contact and
    the specified slope of the edge by performing computational operations determines the position of the root point of the seam 4. Point 4 of the root of the seam can be used as a starting point.
    If the orientation of the edges with respect to theoretical fillet seam 1 is known, the search for edges 2, 3 is carried out from point 8, located on the bisector of corner of seam passing through point 4 of the seam between
    edges 2, 3 cutting seam and at a given distance from them. This distance should be as small as possible. The longitudinal axis 9 of the welding torch tube 5 is on the same straight line as the bisector.
    The touch sensor is made as follows.
    On the welding torch 5, preferably a circular disk 10 is switched to 1/1, in which two or more, preferably radially opposite, microswitches 11 are mounted. The disk 10 with the welding torch 5 is located freely on the protruding flanges
    12 corps 13. A switching disc 10 with a pin prevents twisting around the longitudinal axis 9 of the welding torch 5. Further, two or more springs 14 are supported against the body
    13 and pressing the switch 10 to the flanges 12. At the flanges 12, the sub-microswitches 11 install the adjusting screws 15, by means of which the microswitches 11 are adjusted. As soon as the welding torch contacts the edge 2 or 3 of the seam, it deviates with the disk 10. This one or both microswitches 11 are triggered. This switching signal leads to memorization.
    data on the coordinates of the point of contact. When the burner moves backward, the spring 14 presses the switching disk 10 to the flanges 12 and all microswitches 11 are closed again.
    权利要求:
    Claims (1)
    [1]
    Invention Formula
    Apparatus for detecting and tracking a weld during gas-arc welding, comprising a manipulator with a control system, a welding torch with a housing
    and a conductive mouthpiece mounted on the manipulator, a touch sensor, a welding current sensor and a burner lift height regulator, characterized in that, in order to simplify the device and increase reliability, the touch sensor is made in the form of a disc mounted in the burner housing and spring loaded, and the current-carrying mouthpiece is fixed in the disk, contact elements electrically connected with the control system of the manipulator, the welding current sensor is connected to the contacting surfaces of the disk and the housing, symmetrically to the axis burner lift height adjuster.
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    同族专利:
    公开号 | 公开日
    WO1987003832A1|1987-07-02|
    CN86108654A|1987-07-29|
    DE3670229D1|1990-05-17|
    EP0277140A1|1988-08-10|
    DE3545505C2|1995-08-10|
    US4935597A|1990-06-19|
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    EP0277140B1|1990-04-11|
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    引用文献:
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    JPS6195775A|1984-10-18|1986-05-14|Mitsubishi Heavy Ind Ltd|Wire extension control device in consumable electrode welding|DE3825345A1|1988-07-26|1990-02-01|Kuka Schweissanlagen & Roboter|WELDING TORCH|
    JP2512099B2|1988-08-24|1996-07-03|松下電器産業株式会社|Robot motion teaching method and control device|
    JPH0810949A|1994-06-23|1996-01-16|Fanuc Ltd|Method for controlling welding robot system in multi-layer over laying|
    SE515773C2|1995-12-22|2001-10-08|Esab Ab|Procedure for automatic multilayer welding|
    DE19642701C2|1996-09-23|1999-11-11|Schweistechnische Lehr Und Ver|Portable device for mechanized welding of fillet welds in two axes|
    AT411340B|1999-11-08|2003-12-29|Fronius Schweissmasch Prod|METHOD FOR POSITIONING A WELDING TORCH BY MEANS OF A WELDING SEQUENCE|
    DE10007837A1|2000-02-21|2001-08-23|Nelson Bolzenschweis Technik G|Welding stud positioning method and stud welding head|
    US6492618B1|2000-11-02|2002-12-10|Tri Tool Inc.|Automatic weld head alignment and guidance system and method|
    AT411882B|2002-10-08|2004-07-26|Fronius Int Gmbh|SHUT-OFF BOX FOR A ROBOT SYSTEM|
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    法律状态:
    优先权:
    申请号 | 申请日 | 专利标题
    DE3545505A|DE3545505C2|1985-12-20|1985-12-20|Method and device for locating and tracking a fillet weld in gas-shielded arc welding|
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