| 摘要 |
PURPOSE:To obtain an automatic welding set which is controlled easily and is handled simply, by forming a main shaft system given to a welding torch and a correcting shaft system by total four degrees of freedom of three degrees of freedom and one degee of freedom, respectively, and reducing a control system comparing with a conventional system. CONSTITUTION:Especially, said main shaft system is formed by three degrees of freedom of an R shaft, a Z shaft and an X shaft, and on the other hand, as for a correcting shaft system, a line being parallel to the Z axis is made a center shaft. Subsequently, a lower shaft which can be rocked around this center shaft is formed by one degree of freedom, and a welding torch 6 and a detector holding part 9 are fitted to this lower shaft. A detector holding shaft 10 which is parallel to the Z axis and moves linearly in the upper and lower directions is supported pivotally by this holding part 9, and a pair of profile detectors 7a, 7b are directed in the extending direction of the center shaft of a fixed base part 4 being a device base shaft by which each shaft 10 is made to conform with a shaft of a nozzle 2. Also, the detectors 7a, 7b are fixed vertically against the shaft 10 in a state that the torch 6 is pinched and is placed symmetrically to both sides, the side of the nozzle 2 is detected, the position and direction of the torch 6 are controlled, and also control of calculation, regeneration of a memory value of the Z axis, etc. are executed. |
