NO822874L

NO822874L - WELDING CIRCUIT.

Info

Publication number: NO822874L
Application number: NO822874A
Authority: NO
Inventors: Franz Vokurka
Original assignee: Igm Ind Geraete Maschf Gmbh
Priority date: 1981-08-25
Filing date: 1982-08-24
Publication date: 1983-02-28
Also published as: DE3262877D1; EP0073185B1; AT381056B; EP0073185A1; ATA369481A; JPS5841676A

Description

Oppfinnelsen vedrører en sveiseautomat med en horisontal bjelke, hvorpå to eller flere sveispistoler eller- tenger, The invention relates to a welding machine with a horizontal beam, on which two or more welding guns or pliers,

som kan beveges etter flere frihetsgrader, er forskyvbart anordnet i bjelkens lengderetning. which can be moved according to several degrees of freedom, is displaceably arranged in the longitudinal direction of the beam.

En slik sveiseautomat er kjent i fra AT-PS 363 298.Such an automatic welding machine is known in AT-PS 363 298.

Ved sveiseautomater støter man ofte på det problem at sveise-pistolen eller- tengene skal ha størst mulig posisjonerings-nøyaktighet samtidig som de skal ha størst mulig bevegelses-rom (rekkevidde). De i og for seg kjente knekkarmroboter har god posisjoneringsnøyaktighet og et brukbart bevegelsesområde men av økonomiske grunner og av plassgrunner vil det ikke all-tid være fordelaktige å lagre hver knekkarmrobot separat forskyvbart. With automatic welding machines, one often encounters the problem that the welding gun or the tongs must have the greatest possible positioning accuracy while at the same time they must have the greatest possible room for movement (range). The articulated arm robots known in and of themselves have good positioning accuracy and a usable range of motion, but for economic reasons and for reasons of space it will not always be advantageous to store each articulated arm robot separately in a movable manner.

Hensikten med oppfinnelsen er med utgangspunkt i den gitte problemstilling å foreslå en videreutvikling av de kjente sveiseautomater. The purpose of the invention is, based on the given problem, to propose a further development of the known automatic welding machines.

Ifølge oppfinnelsen utmerker sveiseautomaten seg ved at sveisepistolene eller sveisetengene bæres av knekkarmroboter som har forskyvbar føring på bjelken i bjelkens lengderetning. According to the invention, the automatic welding machine is distinguished by the fact that the welding guns or welding rods are carried by articulated arm robots which have displaceable guidance on the beam in the beam's longitudinal direction.

Takket være dette tiltak økes innsatsmulighetene og bevegelses-området for knekkarmroboten ganske betydelig. Thanks to this measure, the input possibilities and the range of movement for the articulated arm robot are increased quite significantly.

Ytterligere trekk og vesentlige detaljer ved oppfinnelsen vil gå frem av underkravene og av den etterfølgende beskrivelse av det på tegningen skjematisk viste utførelseseksempel. Further features and essential details of the invention will emerge from the subclaims and from the subsequent description of the exemplary embodiment shown schematically in the drawing.

På en i hovedsaken horisontal bjelke 1 er to knekkarmroboterOn a mainly horizontal beam 1 are two articulated arm robots

2 forskyvbart opplagret, slik at de kan forskyves i retning2 displaceably stored, so that they can be shifted in direction

av doppeltpilene 3, dvs. i bjelkens 1 lengderetning. of the double arrows 3, i.e. in the longitudinal direction of the beam 1.

Knekkarmrobotene 2 kan ha en i og for seg kjent oppbygging.The articulated arm robots 2 may have a structure known per se.

I det viste utførelseseksemplet er det således tenkt anvendt knekkarmroboter 2 med fem akser. Knekkarmrobotenes bevegelses-muligheter er vist med pilene 4, 5, 6, 7 og 8. In the embodiment shown, articulated arm robots 2 with five axes are thus intended to be used. The articulated arm robots' movement options are shown with arrows 4, 5, 6, 7 and 8.

For ytterligere å øke bevegelsesmulighetene er bjelken 1 vedTo further increase the movement options, beam 1 is wood

en eller begge ender lagret hev og senkbar langs søyler 9, som antydet med doppelt pilen 10. Videre kan søylene 9 være utført slik at de kan beveges frem og tilbake loddrett på tegneplanet, som antydet med dobbelt pilene 11, hvorved det oppnås en horisontal bevegelse av bjelken 1. one or both ends stored raised and lowered along columns 9, as indicated by the double arrow 10. Furthermore, the columns 9 can be designed so that they can be moved back and forth vertically on the drawing plane, as indicated by the double arrows 11, whereby a horizontal movement is achieved of beam 1.

Knekkarmrobotene 2 kan være forskyvbare på bjelken uavhengig av hverandre, eller de kan, ved fremstilling av innbyrdes paralel-le eller symmetriske sveisesømmer, være forskyvbare på bjelken ned over like lange strekninger, i motsatte eller i samme retning. Ved en slik utførelsesform er det tilstrekkelig å pro-grammere styreenheten for bevegelsene av sveiseautomaten, i samsvar hermed og så styre begge knekkarmroboter 2 samtidig. Dersom det er flere enn to knekkarmroboter på en og samme bjelke 1, kan man naturligvis foreta en samtidig styring av mer enn to knekkarmroboter, eventuelt av samtlige knekkarmroboter. Denne utførelsesform ville man velge dersom man eksempelvis vil fremstille samtidige og likeartede sveisesømmer på forskjellige emner. The articulated arm robots 2 can be displaceable on the beam independently of each other, or they can, when producing mutually parallel or symmetrical welding seams, be displaceable on the beam down equal lengths, in opposite or in the same direction. In such an embodiment, it is sufficient to program the control unit for the movements of the welding machine in accordance with this and then control both articulated arm robots 2 at the same time. If there are more than two articulated arm robots on one and the same beam 1, one can of course carry out simultaneous control of more than two articulated arm robots, possibly of all articulated arm robots. This embodiment would be chosen if, for example, you wanted to produce simultaneous and similar welding seams on different workpieces.

Ved en fremstilling av i seg selv lukkede, eksempelvis symmetriske sveisesømmer, vil det være fordelaktig dersom sveisepistolene 2 utfører sveisesømmene i motsatte retninger, fra samme startpunkt, slik at sveisen begynner i et felles bad av smelteflytende metall og ender i et felles bad. Det er fordelaktig dersom dreieaksen 13 til knekkarmrobotene 2 ikke går para-llelt med hverandre, men danner en vinkel med hverandre. Det finnes her flere muligheter. Eksempelvis kan begge (eller i det tilfellet at det forefinnes flere knekkarmroboter: samtlige akser 13) akser i det samme, fortrinnsvis vertikale eller horison-tale plan, i hvilket eksempelvis også bjelkens 1 lengdeakse kan ligge. Minst en av aksene 13 danner da en spiss vinkel med bjelkens 1 lengdeakse. En annen mulighet er å la aksen 13 til en knekkarmrobot 3 gå vertikalt, mens aksen til den andre knekkarmrobot går horisontalt. When producing inherently closed, for example symmetrical weld seams, it would be advantageous if the welding guns 2 perform the weld seams in opposite directions, from the same starting point, so that the weld begins in a common bath of molten metal and ends in a common bath. It is advantageous if the axis of rotation 13 of the articulated arm robots 2 does not run parallel to each other, but forms an angle with each other. There are several possibilities here. For example, both (or in the case that there are several articulated arm robots: all axes 13) axes can be in the same, preferably vertical or horizontal plane, in which, for example, the longitudinal axis of the beam 1 can also lie. At least one of the axes 13 then forms an acute angle with the longitudinal axis of the beam 1. Another possibility is to allow the axis 13 of one articulated arm robot 3 to run vertically, while the axis of the other articulated arm robot runs horizontally.

Forøvrig kan dreieaksene 13 til knekkarmrobotene 2 gå i vil-kårlige retninger, således eksempelvis loddrett eller horisontalt. Otherwise, the pivot axes 13 of the articulated arm robots 2 can go in arbitrary directions, thus for example vertically or horizontally.

Claims

1. Automatic welding machine with a horizontal beam on which two or more welding guns that can be moved in the longitudinal direction of the beam or tongs that can be moved according to several degrees of freedom are stored, characterized in that the welding guns .(12) or- the tongs are stored on the beam (1) with in and of themselves known articulated arm robots (2) which have displaceable guidance on the beam (1) in the beam's longitudinal direction.

2. Automatic welding machine according to claim 1, characterized in that the articulated arm robots (2) are displaceable on the beam (1) independently of each other.

3. Automatic welding machine according to claim 1, characterized in that the articulated arm robots (2) are displaceable on the beam (1) in the same sections opposite or in the same directions.

4. Automatic welding machine according to one of claims 1-3, characterized in that at least one articulated arm robot (2) is rotatable about an axis (13) which forms an acute angle with the longitudinal axis of the beam (1).

5. Automatic welding machine according to claim 4, characterized in that the rotary axes (13) of the articulated arm robots (2) run parallel to each other.

6. Automatic welding machine according to claim 4, characterized in that the axes (13) of the articulated arm robots form an angle of, for example, 90° with each other, where at least one of the axes (13) lies in a plane perpendicular to one of the longitudinal axes of the beam.

7. Automatic welding machine according to one of the claims 1-6, characterized in that the beam (1) at one end or at both ends has a guide that can be raised and lowered (arrow 10) on a respective two vertical columns. (9) .

8. Automatic welding machine according to one of claims 1-7, characterized in that the beam (1) is horizontally displaceable (arrow ID .

9. Device according to claims 7 and 8, characterized in that the beam (1) is horizontally displaceable by displacement of its supporting column, respectively. pillars (9).