PURPOSE: To develop a small-sized and inexpensive automatic welding device for welding of structures wherein the positions and attitudes of joints change by mounting three units of traveling carriages which move an automatic welding device in three-dimensional space and a sensor and a welding torch swivelably thereto.
CONSTITUTION: In the stage of welding a member 41 of an elliptical shape or the like in section to a curved member 40, a mounting frame 1 is fixed to the flange part of the member 41, and traveling frames 2, 4, 5, 6 for the 1st traveling carriage 7 are mounted. The 2nd traveling carriage 9 and further the 3rd traveling carriage 12 in parallel therewith are mounted to the carriage 7. A welding torch 16 and a detecting sensor for swiveling commands are mounted to the carriage 12. A weld line is detected with the detecting sensor for swiveling commands, and the commands for the movement of the carriage 7 in the X-axis direction, the movement of the 2nd carriage in the Y-axis direction, the movement of the 3rd carriage in the Z-axis direction by the moving member 10 mounted to the carriage 9 and the movement for these carriages around a rotating shaft 15 are emitted. The intricate joint parts are automatically welded stably by the movements combining said movements.
MISHIMA TAKEKATSU
FUJIMOTO MICHIO
KIMURA AKIHIKO
MASAKI TSUTOMU
| JPS5131107A | 1976-03-17 |