CN102554412A - Automatic fillet welding device and automatic fillet welding method - Google Patents
Automatic fillet welding device and automatic fillet welding method Download PDFInfo
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- CN102554412A CN102554412A CN2011104485915A CN201110448591A CN102554412A CN 102554412 A CN102554412 A CN 102554412A CN 2011104485915 A CN2011104485915 A CN 2011104485915A CN 201110448591 A CN201110448591 A CN 201110448591A CN 102554412 A CN102554412 A CN 102554412A
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- 238000003466 welding Methods 0.000 title claims abstract description 291
- 238000000034 method Methods 0.000 title claims description 18
- 239000000463 material Substances 0.000 claims abstract description 253
- 238000005476 soldering Methods 0.000 claims description 67
- 230000015572 biosynthetic process Effects 0.000 claims description 9
- 229910000679 solder Inorganic materials 0.000 claims description 8
- 230000005674 electromagnetic induction Effects 0.000 claims description 5
- 230000007246 mechanism Effects 0.000 abstract description 4
- 229910000831 Steel Inorganic materials 0.000 description 42
- 239000010959 steel Substances 0.000 description 42
- 239000000758 substrate Substances 0.000 description 10
- 230000004888 barrier function Effects 0.000 description 6
- 238000005755 formation reaction Methods 0.000 description 6
- 238000011144 upstream manufacturing Methods 0.000 description 6
- 238000010586 diagram Methods 0.000 description 4
- 230000009471 action Effects 0.000 description 3
- 238000007747 plating Methods 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 230000003321 amplification Effects 0.000 description 2
- 230000000977 initiatory effect Effects 0.000 description 2
- 238000003199 nucleic acid amplification method Methods 0.000 description 2
- 230000003287 optical effect Effects 0.000 description 2
- 230000002787 reinforcement Effects 0.000 description 2
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- 230000008439 repair process Effects 0.000 description 1
- 238000001179 sorption measurement Methods 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
- B23K37/02—Carriages for supporting the welding or cutting element
- B23K37/0294—Transport carriages or vehicles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
- B23K37/02—Carriages for supporting the welding or cutting element
- B23K37/0258—Electric supply or control circuits therefor
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
- B23K37/02—Carriages for supporting the welding or cutting element
- B23K37/0264—Carriages for supporting the welding or cutting element magnetically attached to the workpiece
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- Mechanical Engineering (AREA)
- Butt Welding And Welding Of Specific Article (AREA)
Abstract
The present invention relates to an automatic fillet welding device, which can reliably detect the tip end and the tail end of the fillet welding range in any environment, wherein in a welding apparatus (1) with a trolley (3) traveling on a plate material (A), at the periphery of guide rollers (3h, 3i) rotating on a plate material (B) fillet-welded on the plate material (A), there are provided proximity sensors (3j, 3k).additionally, the side surfaces (31, 3m) of the trolley are respectively provided with proximity sensors (3p, 3q) for detecting the plate material (A) on which the trolley travels. Each proximity sensor uses an eddy current sensor for detecting a plate material of magnetic mechanism. When any one of the proximity sensors (3p, 3q) do not detect the plate material (A), or any one of the proximity sensors (3j, 3k) do not detect the plate material (B), the welding of a welding gun is stopped. But, when the proximity sensors (3p, 3q) are all in the period of detecting the plate material (A), the trolley continuously travels.
Description
Technical field
The present invention relates to a kind ofly on the chassis that goes automatically, carry welding gun angle welding automatic soldering device and angle welding automatic soldering method that angle welding is welded automatically
Background technology
As the automatic soldering device that utilizes the welding gun that carries on the chassis go automatically to weld automatically, it detects the top of welding scope and the technology at terminal is known.Specifically, detect the riser that exists on the travel route of chassis, judge that it is the terminal of welding scope; Stop welding action (like patent documentation 1) then; And the top and the terminal of opening that detects the riser of welding, in the time need not welding, interrupt welding action (like patent documentation 2).
The prior art document:
Patent documentation 1: japanese kokai publication hei 11-216566 number
Patent documentation 2: TOHKEMY 2007-190589 number
In the above-mentioned prior art, in the technology of the riser that on detecting the course of chassis, exists, when not having such riser, then can't detect the terminal of welding scope.In addition, detect in the technology at top and terminal of peristome of riser of welding, under the situation at the top that detects peristome, during the terminal that detects this peristome, can't specify what detected especially is the top of peristome or the terminal of riser.Thereby above-mentioned prior art can not also be brought into play desired effect outside situation about limiting.
Summary of the invention
The present invention In view of the foregoing accomplishes; The purpose of this invention is to provide a kind of particular environment that is not limited to; Can detect the top and the angle welding automatic soldering device at terminal of angle welding welding scope reliably, and use that this angle welding automatic soldering device carried out the angle welding automatic soldering method that suits.
In order to achieve the above object; The angle welding automatic soldering device of the present invention of record in the scheme one; The welding seam part that utilizes the welding gun on the chassis that goes automatically on the side plate material that carries in two seams formation sheet materials that said two seams are formed sheet material carries out the angle welding welding, it is characterized in that: comprising:
This first proximity transducer of first proximity transducer is disposed at, and said chassis position relative with this side plate material when on said side plate material, going detects the sheet material relative with this position non-contactly;
Second proximity transducer, this second proximity transducer be disposed at said chassis when on said side plate material, going and said two seams form the relative position of opposite side sheet material in the sheet material, detect the sheet material of this relative position non-contactly; And
Control device; With from the state that detects that utilizes the sheet material that said first proximity transducer detects to the non-variation interlock that detects state; And stop to go of said chassis; And the non-of sheet material of the sensor of at least one side detects in the zone in said first and second proximity transducer, stops the welding that said two seams form the welding seam part of sheet material.
Angle welding automatic soldering device of the present invention according to record in the scheme one; The result that detects according to first proximity transducer that has or not of the sheet material that detects the side that chassis goes controls going of chassis, controls the welding that two seams form the welding seam part of sheet materials according to detecting the result that detects that two seams as the angle welding welding object form first and second proximity transducer that has or not of sheet materials respectively.Thereby, the beginning of going and welding that can control chassis respectively with stop.Thus, can not receive the restriction of specific environment, detect the top and the terminal of angle welding welding scope reliably.
In addition; The angle welding automatic soldering device of the present invention of record in the scheme two; On the basis of the angle welding automatic soldering device described in the scheme one; It is characterized in that said chassis has the magnet that is used to utilize the said side plate material that magnetic force absorption is made up of magnetic, said first proximity transducer is for detecting the eddy current type sensor of the sheet material relative with self through electromagnetic induction.
Angle welding automatic soldering device of the present invention according to record in the scheme two; On the basis of the angle welding automatic soldering device of in scheme one, putting down in writing of the present invention; Because chassis goes with the state that utilizes permanent magnet magnetic force to be adsorbed on the side plate material; Thereby,, also can detect the top and the terminal of angle welding welding scope reliably even erectting under the situation of welding.
In addition; The angle welding automatic soldering device of the present invention of record in the scheme three; On the basis of scheme one or two described angle welding automatic soldering devices; It is characterized in that said second proximity transducer is to utilize electromagnetic induction to detect the eddy current type sensor of relative with self sheet material that is made up of magnetic.
Angle welding automatic soldering device of the present invention according to record in the scheme three; On the basis of the angle welding automatic soldering device of the present invention that scheme one or two is put down in writing; Under the situation that the opposite side sheet material of the side plate material that non-chassis went in two seams formation sheet materials is made up of magnetic; Can utilize second proximity transducer to detect the having or not of sheet material of magnetic, thereby can suitably control beginning and stopping of welding.
In addition; In order to reach above-mentioned purpose; The angle welding automatic soldering method of the present invention of record in the scheme four; The angle welding automatic soldering device that the welding seam part that use forms sheet material through going automatically on the side plate material in two seams formation sheet materials to said two seams carries out the angle welding welding is characterized in that
As the angle welding automatic soldering device of record in the said angle welding automatic soldering device operational version three,
Said two seams on the travel direction of the chassis of said angle welding automatic soldering device form the terminal of sheet material; And the solder joint that forms sheet material in said two seams forms end face partly; The butt assistant board that travels continuously on said travel direction; This assistant board that travels has greater than the front end of the chassis of the above angle welding automatic soldering device of said travel direction and the size at the interval between welding gun; And this assistant board that travels has the cross sectional shape that forms the solder joint formation part of sheet material corresponding to said two seams after the welding
In the said assistant board that goes, form the part that the opposite side sheet material that is made up of magnetic in the sheet material is connected with said two seams at least and constitute by nonmagnetic material,
When first proximity transducer of said angle welding automatic soldering device is located on said side plate material, going of said chassis and the relative position of said side plate material; And detect the sheet material relative non-contactly with this position; With the state of this first proximity transducer Zi to the state that detects of sheet material of relative position to the non-variation interlock that detects state; And stop to go of said chassis
When second proximity transducer that is made up of the eddy current type sensor of said angle welding automatic soldering device is located on said side plate material, going of said chassis and said two seams form the relative position of said opposite side sheet material that constitutes by magnetic in the sheet material; And detect relative with this position sheet material of processing by magnetic non-contactly; In the zone of the sheet material that constitutes by magnetic of relative position, do not stop the welding that said two seams form the welding seam part of sheet material detecting.
Angle welding automatic soldering method of the present invention according to record in the scheme four; The result that detects according to first proximity transducer that has or not that detects the side plate material that chassis goes controls going of chassis, controls the welding that two seams form the welding seam part of sheet materials according to detecting the result that detects that two seams as the angle welding welding object form first and second proximity transducer that has or not of sheet materials respectively.Thereby, the beginning of going and welding that can control chassis respectively with stop.
In addition, form the terminal of the side plate material in the sheet material to two seams even chassis goes, during first proximity transducer detected the assistant board that goes, chassis all can continue to go in travel direction.Thus; Even chassis goes to the terminal of side plate material; Can't proceed under the situation of position relation at terminal that two seams form sheet materials even be configured to welding that two seams form the welding seam part of sheet materials, also can make the welding of welding seam part proceed to the terminal that two seams form sheet materials at welding gun.Thereby, welding gun can be moved in the whole process that two seams form the welding seam part of sheet materials, therefore the whole process of butt welded seam portion is welded reliably.
And; In order to reach above-mentioned purpose; The angle welding automatic soldering method of the present invention of record in the scheme five makes the angle welding automatic soldering device form on the side plate material in the sheet material two seams and goes automatically, to carrying out the angle welding welding at the opposite side sheet material and the welding seam part between said side plate material that in a plurality of said two seams formation sheet material of interval straight line configuration, are made up of magnetic on the travel direction of this angle welding automatic soldering device; It is characterized in that
Said angle welding automatic soldering device is the angle welding automatic soldering device of record in the scheme three;
Between two adjacent on the said travel direction said opposite side sheet materials, to be embedded with the state of the removable assistant board that constitutes by nonmagnetic material, the chassis of said angle welding automatic soldering device is travelled on said first sheet material automatically,
When first proximity transducer of said angle welding automatic soldering device is located on said side plate material, going of said chassis and the relative position of said side plate material; And detect the sheet material relative non-contactly with this position; With the state of this first proximity transducer Zi to the state that detects of the sheet material at institute relative position place to the non-variation interlock that detects state; And stop to go of said chassis
When second proximity transducer that is made up of the eddy current type sensor of said angle welding automatic soldering device is located on said side plate material, going of said chassis and the relative position of said opposite side sheet material; And detect relative with this position sheet material of processing by magnetic non-contactly; In the zone of the sheet material that constitutes by magnetic of relative position, do not stop the welding that said two seams form the welding seam part of sheet material detecting.
Angle welding automatic soldering method of the present invention according to record in the scheme five; The result that detects according to first proximity transducer that has or not that detects the side plate material that chassis goes controls going of chassis, controls the welding that two seams form the welding seam part of sheet materials according to detecting the result that detects that two seams as the angle welding welding object form first and second proximity transducer that has or not of sheet materials respectively.Thereby, the beginning of going and welding that can control chassis respectively with stop.
Therefore; Two seams form on the travel direction of the angle welding automatic soldering device that goes on the side plate material in the sheet material; Even a plurality of opposite side sheet materials dispose across linearity ground, interval; Detect at second proximity transducer that the eddy current type sensor constitutes the opposite side sheet material that constitutes by magnetic during, welding gun can weld the welding seam part that two seams form sheet materials.With respect to this, there is not opposite side sheet material, and having in the part of the assistant board that constitutes by nonmagnetic material for it, second proximity transducer does not detect opposite side sheet material, thereby stops to utilize welding gun that two seams are formed the welding that the welding seam part of sheet materials carries out.
Thus,, two seams are not formed the welding seam part of sheet materials with in a series of move of chassis, not omitting, weld aptly even having across arranged spaced under the situation of a plurality of another sheet materials.
According to angle welding automatic soldering device of the present invention and angle welding automatic soldering method, can be not limited to particular environment, detect the top and the terminal of angle welding welding scope reliably.
Description of drawings
(a) is the side view of schematic configuration of the angle welding automatic soldering device of expression one embodiment of the invention among Fig. 1, (b) is its vertical view.
Fig. 2 is the calcspar of the roughly electrical structure of control module in the presentation graphs 1.
Fig. 3 is the flow chart that the CPU of the control module of Fig. 2 controls according to the program that is stored among the ROM.
Fig. 4 shows the amplification profile of pith of hull of an example of the object that the angle welding automatic soldering device that uses Fig. 1 welds.
Fig. 5 is the cross-section parts of presentation graphs 4 and the amplification stereogram of the portion of reporting to the leadship after accomplishing a task in vertical logical next door.
The key diagram of the completion example of Fig. 6 situation that to be expression carried out the angle welding welding to vertical logical next door and the portion of reporting to the leadship after accomplishing a task between band steel of Fig. 5.
Fig. 7 is illustrated in the key diagram that has utilized the situation of the assistant board that goes in the angle welding welding of the angle welding automatics of having used Fig. 1.
Fig. 8 is that a plurality of band steels of expression are by the key diagram across the example of indulging the situation of leading to the next door that is welded on Fig. 5.
Fig. 9 amplifies angle welding automatic soldering device that expression uses Fig. 1 when the welding of carrying out the band steel in the vertical logical next door of Fig. 8, has utilized the key diagram of the situation of assistant board.
Symbol description
1-welder, 3-chassis, the 3a-wheel that goes, the 3b-wheel that goes, 3c-motor, 3e-permanent magnet, 3f-arm, 3g-arm; The 3h-deflector roll, 3i-deflector roll, 3j-proximity transducer, 3k-proximity transducer, 3l-side, 3m-side, 3n-limit switch, 3o-limit switch; The 3p-proximity transducer, 3q-proximity transducer, 5-welding gun, 5a-position adjusting mechanism, 5b-position adjusting mechanism, 7-control module, 7a-CPU, 7b-RAM; 7c-ROM, 7d-driver, 7f-driver, the 7g-beginning switch that goes, the 7h-beginning switch that goes, 10-cabin portion, 11-two-fold shipboard portion, 13-two-fold bottom; The 15-upper deck, the 17-side plate, the 19-Bottom Plate, the vertical logical next door of 21-, shell in the 23-, the cross-section material of 25-, the 27-band steel, 29-is rectangular; 31-welding seam part, the 40-assistant board that goes, 43-riser, 50-assistant board, 51-substrate, 53-clamping part, A-sheet material; B-sheet material, the C-welding portion, the X-travel direction, the X1-travel direction, the X2-travel direction, the X3-travel direction, the Y-solder joint forms part.
The specific embodiment
Following with reference to description of drawings embodiment of the present invention.
Fig. 1 shows the schematic configuration of the angle welding automatic soldering device in the embodiment of the present invention, (a) is side view, (b) is vertical view.
Shown in Fig. 1 (a), the angle welding automatic soldering device 1 (being designated hereinafter simply as welder) in this embodiment has chassis 3 and welding gun 5.Chassis 3 respectively has two go wheel 3a, 3b before and after constituting, and utilizes the power of respectively the going wheel 3a that is located in the chassis 3, motor 3c (with reference to Fig. 2) that 3b uses to move back and forth at the travel direction X shown in Fig. 1 (b).And, four go the wheel 3a, 3b also can be by motor drive separately.
Shown in Fig. 1 (a); Be equipped with permanent magnet 3e in the bottom surface of chassis 3; This permanent magnet 3e; During for magnetic (being steel plate system in this embodiment), utilize magnetic force that chassis 3 is adsorbed on the sheet material A at the sheet material A of the tread that constitutes chassis 3 (seam that is equivalent in the claim forms sheet material and side plate material), thereby the wheel 3a that goes, 3b can not leave from sheet material A.Thereby when sheet material A was riser, chassis 3 went on sheet material A through the wheel 3a that goes, 3b with the state that is adsorbed on sheet material A.
Shown in Fig. 1 (b), outstanding a pair of arm 3f, the 3g of being provided with in the front of chassis 3 is separately installed with deflector roll 3h, 3i and proximity transducer 3j, 3k (being equivalent to the 2nd proximity transducer in the claim) at the front end of each arm 3f, 3g.
To carrying out angle welding as sheet material B of riser (seam that is equivalent in the claim forms sheet material and another sheet material) and sheet material A when welding, deflector roll 3h, 3i are the free roller with sheet material B butt.Driving in chassis 3 travels on the sheet material A, rotate through deflector roll 3h, 3i are gone up in sheet material B, thereby guiding chassis 3 goes along sheet material B.
In this embodiment, proximity transducer 3j, 3k use the sensor of eddy current type, when the sheet material B with deflector roll 3h, 3i butt is magnetic, (are steel plate system in this embodiment), flow through sheet material B through making vortex flow, detect the existence of sheet material B non-contactly.
In addition, last at two sides 3l, the 3m of the travel direction X of chassis 3, limit switch 3n, 3o and proximity transducer 3p, 3q are installed respectively.Limit switch 3n, 3o are used to detect the side 3l of contact chassis 3, the barrier of 3m.Proximity transducer 3p, 3q are the eddy current type sensor in this embodiment;, the sheet material A of the tread that constitutes chassis 3 (is steel plate system in this embodiment) when being magnetic, itself and proximity transducer 3j, the same existence that detects sheet material A through the noncontact mode of 3k.
Shown in Fig. 1 (a), the front end of welding gun 5 is with the mode of the welding portion C that points to two sheet material A, B, extends to the place ahead of chassis 3 to be provided with.Inching is carried out in the position adjusting mechanism 5a on the top that the pointing direction of welding gun 5 can be through being located at chassis 3 in addition, the adjustment operation of 5b.
In addition, chassis 3 is provided with the control module 7 of the welding action of going of control chassis 3 and welding gun 5.As shown in Figure 2, control module 7 comprises CPU7a, and CPU7a is used to carry out the operating area of having used RAM7b also to be handled according to the program that is stored in ROM7c.And the driver 7f of the driver 7d of said motor 3c, welding gun 5, proximity transducer 3j, 3k, 3p, 3q and limit switch 3n, 3o are connected CPU7a.In addition,, and respectively indicate going and travel direction that the welding of welding gun 5 begins of chassis 3, be connected with go beginning switch 7g, 7h respectively at CPU7a in each travel direction along the travel direction X of chassis 3.In addition, if do not have obstacle in the utilization, the beginning switch 7g that then goes, 7h also can constitute a switch.
Then, with reference to the CPU7a of the flowchart text control module 7 of Fig. 3 according to being stored in the control that the program among the ROM7c is carried out.
Whether power supply when Access Control unit 7, CPU7a confirm to go beginning switch 7g, 7h by operation (step S1).If not by operation (being not among the step S1), then CPU7a returns step S1 with after mark F3 is set at " 0 " (step S3) jointly in go middle mark F1 and the welding in the set marked region among the RAM7b.If by operation (among the step S1 for being), then CPU7a confirms whether on the travel direction X of chassis 3, be positioned at the sensor of locating in the place ahead among proximity transducer 3p, the 3q detects sheet material A (step S5).
Do not detect sheet material A (step S5 is for denying) if on the travel direction X of chassis 3, be positioned at the sensor at place, the place ahead among proximity transducer 3p, the 3q, whether mark F1 is " 1 " (step S6) in then confirming to go.When mark F3 is for " 1 " in the welding (step S6 is for being), behind the CPU7a delay certain hour (step S8), the step S9 that states after being transferred to, when mark F3 is not " 1 " in the welding (step S6 is for denying), CPU7a then is transferred to step S9 forthwith.
On the one hand; Detect sheet material A (step S5 is for being) if on the travel direction X of chassis 3, be positioned at the sensor at place, the place ahead among proximity transducer 3p, the 3q, then confirm arbitrary whether detecting and the side 3l of chassis 3, the barrier (step S7) that 3n contacts among limit switch 3n, the 3o.Both all do not detect barrier (step S7 for not) like limit switch 3n, 3o, and the step S19 that states after then being transferred to when detecting barrier (step S7 is for being), then is transferred to step S9 when arbitrary.
In step S9, when chassis 3 arrives the terminal of sheet material A, to driver 7d, the 7e output of motor 3c, 3d the going stop signal time of wheel 3a, 3b of going, to the welding stop signal of driver 7f output welding gun 5.Then, after signal F3 was made as " 0 " (step S11) jointly in signal F1 and the welding during CPU7a will go, stop this series of processes.
On the one hand; In step S7; Limit switch 3n, 3o both when all not detecting barrier (denying); For chassis 3 is gone, take turns 3a, 3b to driving signal (step S13) corresponding to rotating the going of the direction of travel direction to feasible the going of driver 7d, the 7e output of motor 3c, 3d on corresponding to the travel direction of in step S1, having confirmed operated go beginning switch 7g, 7n.Thereby after output was gone and driven signal, mark F1 was set at " 1 " (step S15) in will going.
Then, CPU7a confirms whether the sensor that on the travel direction X of chassis 3, is positioned at place, the place ahead among proximity transducer 3j, the 3k detects sheet material B (step S17).If proximity transducer 3j, 3k both do not detect sheet material B (step S17 is for denying), the step S27 that states after then being transferred to.Detect sheet material B (step S17 is for being) if on the travel direction X of chassis 3, be positioned at the sensor at place, the place ahead among proximity transducer 3j, the 3k, confirm then whether mark F3 is " 1 " (step S19) in the welding.
When mark F3 is for " 1 " in the welding (step S19 is for being), behind the CPU7a delay certain hour (step S21), then drive the welding driving signal (step S23) of welding gun 5 to driver 7f output.When mark F3 is not " 1 " in the welding (step S19 is for denying), then CPU7a drives signal (step S23) to driver 7f output welding forthwith.After the output welding drove signal, mark F3 was set at " 1 " (step S25) during CPU7a will weld, and returned step S7 then.
In addition, on the travel direction X of chassis 3, be arranged in the step S27 that is transferred to when the sensor of locating in the place ahead detects sheet material B (denying) among the step S17 among proximity transducer 3j, the 3k, confirm whether mark F3 is " 1 " in the welding.When mark F3 is for " 1 " in the welding (step S27 is for being), behind the CPU7a delay certain hour (step S29), then to driver 7f output welding stop signal (step S31).When mark F3 is not " 1 " in the welding (step S27 is for denying), then CPU7a is forthwith to driver 7f output welding stop signal (step S31).After the output welding stop signal, mark F3 was set at " 0 " (step S33) during CPU7a will weld, and returned step S7 then.
Next the angle welding automatic soldering method of the welder 1 in this embodiment that as above constitutes has been used in explanation.Fig. 4 can use the welder 1 in this embodiment to carry out the angle welding profile of the hull of welding automatically.
Hull shown in Fig. 4 is the cabin portion 10 with oil tanker of double casing structure.This cabin portion 10 will be linked by a plurality of double shipboard portion 11 and a plurality of two-folds bottom 13 that steel plate forms.And a plurality of double shipboard portion 11 and two-fold bottom 13 by linking constitute upper deck 15, side plate 17, Bottom Plate 19 and ship inner casing 23.In addition, in cabin portion 10, be provided with vertical logical next door 21 at the length direction of ship, the beam direction is provided with cross-section material 25.All be welded with the reinforcement of rib shape in upper deck 15, side plate 17, Bottom Plate 19 and the ship inner casing 23 with rectangular 29 of steel plate system.
And, for example, the angle welding welding in the portion of reporting to the leadship after accomplishing a task of vertical logical next door 21 as shown in Figure 5 and cross-section material 25, and the angle welding welding of the portion of reporting to the leadship after accomplishing a task of the band steel 27 used of vertical logical next door 21 and welding reinforcement so far etc., can use the welder among Fig. 1.
In the angle welding welding of the portion of reporting to the leadship after accomplishing a task of vertical logical next door 21 and cross-section material 25, the front end that makes welding gun 5 (referring to Fig. 1) is towards the angle welding part, with chassis 3 magnetic force of welder 1 be adsorbed on cross-section sheet material 25 near the position of Bottom Plate 19.
The proximity transducer 3p of the side 3l of chassis 3,3m, 3q can detect the existence as the cross-section material 25 of the sheet material A among Fig. 1 (a) (seam that is equivalent in the claim forms sheet material and side plate material) thus, and the proximity transducer 3j of arm 3f, 3g, 3k can detect the existence as the vertical logical next door 21 of the sheet material B among Fig. 1 (a) (seam that is equivalent in the claim forms sheet material and opposite side sheet material).
Under this state, the switch corresponding to the travel direction side of chassis 3 among go beginning switch 7g, the 7h (referring to Fig. 2) to be operated, chassis 3 promptly goes towards the top with the state of magnetic sorption in cross-section material 25.At this moment, deflector roll 3h, 3i (referring to Fig. 1) rotate on vertical logical next door 21, and guiding chassis 3 moves up on cross-section material 25 along vertical logical next door 21.This moment, the travel direction of chassis 3 was represented with symbol X1 in Fig. 5.
When chassis 3 arrives the upper end of cross-section material 25, when the sensor that is positioned at the place ahead of travel direction X1 among proximity transducer 3p, the 3q can not detect existing of cross-section material 25, chassis 3 promptly stopped to go.So chassis 3 on the cross-section material 25 to above go during, utilize the angle welding of 25 of 5 pairs of vertical logical next doors 21 of welding gun and cross-section materials to weld.
In addition, when chassis 3 goes, when proximity transducer 3j, 3k detect existing of the vertical logical next door 21 that do not detect before this, begin to utilize the welding of welding gun 5 on cross-section material 25, afterwards, the angle welding of 25 of vertical logical next door 21 and cross-section materials is welded.
And, arrive the chassis 3 that stops to utilize the welding of welding gun 5 simultaneously and go behind the upper end of cross-section material 25, also can be moved downward to the lower end of cross-section material 25 by the CPU7a control of control module 7.
With respect to this, the angle welding of the portion of reporting to the leadship after accomplishing a task that vertical logical next door 21 and band steel are 27 is welded on vertical logical next door 21 and cross-section material 25 is assembled to stage before the Bottom Plate 19, carries out in that vertical logical next door 21 is become under the horizontal state as illustrated in fig. 6.And, when band steel 27 being soldered to vertical logical next door 21, the chassis of welder 1 being placed the position of initiating terminal of the band steel 27 in the vertical logical next door 21 of welding in 3 years, the front end that makes welding gun 5 (referring to Fig. 1) is towards the angle welding part.
Thus; The side 3l of chassis 3, the proximity transducer 3p of 3m, 3q can detect the existence as the vertical logical next door 21 of the sheet material A among Fig. 1 (a) (seam that is equivalent in the claim forms sheet material and side plate material), and the proximity transducer 3j of arm 3f, 3g, 3k can detect the existence as the band steel 27 of the sheet material B among Fig. 1 (a) (seam that is equivalent in the claim forms sheet material and opposite side sheet material).
Under this state, then as shown in Figure 6 when operational drive begins among switch 7g, the 7h (referring to Fig. 2) switch corresponding to the travel direction side of chassis 3, chassis 3 goes to its terminal on vertical logical next door 21 along band steel 27.At this moment, deflector roll 3h, 3i (referring to Fig. 1) rotate on band steel 27, thereby guiding chassis 3 goes on vertical logical next door 21 along band steel 27.The travel direction of chassis 3 is in this case represented with symbol X2 in Fig. 6.
When chassis 3 arrives the terminal in vertical logical next door 21, when the switch that is arranged in the place ahead of travel direction X2 among limit switch 3n, the 3o touches Fig. 6 and omits illustrated barrier, stop to go of chassis 3.So chassis 3 on the vertical logical next door 21 when band steel 27 goes; Deflector roll 3h, 3i (referring to Fig. 1) rotate on band steel 27; Proximity transducer 3j, 3k detect band steel 27 existence during, utilize the angle welding welding of 27 of vertical logical next door 21 and the band steels of welding gun 5.
During this vertical logical next door 21 and band steel 27 welded corner joints; If the chassis 3 that on vertical logical next door 21, goes makes deflector roll 3h, 3i (referring to Fig. 1) break away from from vertical logical next door 21 to the direction running that departs from from original travel direction, then the proximity transducer 3j of arm 3f, 3g, among the 3k one or two detect the existence less than band steel 27.At this moment, stop to utilize the welding of welding gun 5.
In addition, travel on 21 last times of vertical logical next door at chassis 3, proximity transducer 3j, 3k begin to utilize the welding of welding gun 5 after detecting so far still NF band steel 27, indulge the angle welding of logical next door and band steel 27 afterwards and weld.
Thereby shown in the dotted line of Fig. 6, the welding seam part 31 that the welding because of welding gun 5 forms can not appear in the position in the portion of reporting to the leadship after accomplishing a task that departs from 27 of vertical logical next door 21 and band steels.Thereby, need not carry out repair procedure to unnecessary weld seam 31.
According to the welder 1 of discussed above embodiment, can utilize the result that detects of the proximity transducer 3p that detects the sheet material A shown in Fig. 1 (a) non-contactly, 3q to control going of chassis 3 and stop.In addition, can utilize detecting the result and utilizing proximity transducer 3p, 3q that the result that detects of sheet material A is controlled beginning and stopping of the welding that utilizing welding gun 5 of the proximity transducer 3j that detects the sheet material B shown in Fig. 1 (a) non-contactly, 3k.
Therefore; Since can according to as the mutual different mode of welding object sheet material A, B detect the result control going of chassis 3 and stop, the welding of welding gun 5 begins and stops, thereby can going and utilize the welding of welding gun 5 to control respectively to chassis 3.Thereby,, during the sheet material A that detects the tread that constitutes chassis 3, can make chassis 3 continue to go even detected the terminal of angle welding welding.Even, also can detect the top and the terminal of angle welding welding scope reliably so before the terminal of angle welding welding, have next top.
In addition; Welder 1 according to this embodiment; As the same when the vertical portion of reporting to the leadship after accomplishing a task of leading to next door 21 and cross-section material 25 is carried out welded corner joint; Even be not provided for detecting the parts (anchor clamps) at terminal and utilize limit switch 3n, 3o to detect having or not of terminal,, also can near the upper end of vertical logical next door 21 and cross-section material 25, stop to go or the welding of welding gun 5 of chassis 3 only according to the result that detects of proximity transducer 3j, 3k, 3p, 3q in the upper end of vertical logical next door 21 and cross-section material 25.Therefore, even, also can easily carry out weld job at the terminal that the eminence that as the upper end of vertical logical next door 21 and cross-section material 25, is difficult to be provided with the parts (anchor clamps) that detect the terminal exists angle welding to weld.
Thereby; Since chassis 3 go and the control of the welding of welding gun 5 in; Therefore limit switch 3n, 3o etc. detect detecting of end fitting and inessential, also can omit for based on the detecting the result of limit switch 3n, 3o etc. and to some formations of going and stopping to control of chassis 3.
In addition, in the above-mentioned embodiment, proximity transducer 3p, 3q, 3j, the 3k that detects sheet material A, B shown in Fig. 1 (a) non-contactly separately is the eddy current type sensor that detects magnetic through electromagnetic induction.Yet, detect the proximity transducer 3p, 3q of sheet material A or detect proximity transducer 3j, the 3k of sheet material B, that is to say that above-mentioned whole sensor also can be for through waiting the sensor that detects object like ultrasonic wave or reflection of light signal.
In addition; In the welder 1 in the above-mentioned embodiment; When proximity transducer 3p or proximity transducer 3q detect the terminal of the sheet material A (being cross-section material 25 or vertical logical next door 21 in the example among Fig. 5) as tread; Thereby when stopping to utilize the welding of welding gun 5, the terminal that the angle welding of sheet material A, B is welded on sheet material A just is through with before.Likewise, when proximity transducer 3j or proximity transducer 3k detect the terminal of sheet material B (being vertical logical next door 21 or band steel 27 in the example among Fig. 5), promptly stop to utilize the welding of welding gun 5, the angle welding welding of sheet material A, B can finish before the terminal of sheet material A.
And; In the welder 1 in the above-described embodiment; When chassis 3 travels on last time of sheet material A (being cross-section material 25 or vertical logical next door 21 in the example among Fig. 5); Proximity transducer 3j, 3k detect the initiating terminal of sheet material B (being vertical logical next door 21 or band steel 27 in the example among Fig. 5); When beginning to utilize the welding of welding gun 5, the angle welding of sheet material A, B welding never exists the position of the upstream side of travel direction X (be travel direction X1 in Fig. 5 example, be travel direction X2 in Fig. 6 example) sheet material B, lean on chassis 3 than the top of sheet material B to begin.
This is because shown in Fig. 1 (b); Detect proximity transducer 3p, the 3q at the terminal of sheet material A; And the proximity transducer 3j, the 3k that detect top and the terminal of sheet material B; All be configured among the travel direction X (in Fig. 5 example for travel direction X1, the travel direction X2 in Fig. 6 example) of chassis 3 upstream side with respect to welding gun 5.
Therefore; Hope is after terminal, proximity transducer 3j, 3k that proximity transducer 3p, 3q detect sheet material A detect the terminal of sheet material B; The sensor and the welding gun 5 that begin to make chassis 3 only go from this position again and detect the terminal (are travel direction X1 at directions X Fig. 5 example; Be travel direction X2 in Fig. 6 example) on spacing distance after, stop the welding with welding gun 5 of going of chassis 3 again.
In addition; Also hope after proximity transducer 3j, 3k detect the top of sheet material B; Begin from this position; Behind sensor that makes chassis 3 only go again to detect top and welding gun 5 spacing distance on travel direction X (being travel direction X1 in Fig. 5 example, is travel direction X2 in Fig. 6 example), begin the welding of welding gun 5 again.
In this case; Output time with the stop signal of going of step S9 in the flow chart of Fig. 3; Be made as the sensor that in step S5, is in anterior position among proximity transducer 3p, the 3q on the travel direction X of chassis 3 and do not detect detecting of sheet material A and constantly begin, only postpone chassis 3 again and go moment of required time (step S8) at above-mentioned spacing distance.
Likewise; Output time with the welding stop signal of step S29; Also be made as the sensor that in step S27, is in anterior position among proximity transducer 3j, the 3k on the travel direction X of chassis 3 and do not detect opportunity that detects of sheet material B, only postpone chassis 3 again and go moment of required time (step S21) at above-mentioned spacing distance.
And; The welding of step S23 is driven the output time of signal; Also be made as the sensor that in step S17, is in anterior position among proximity transducer 3j, the 3k on the travel direction X of chassis 3 and detect detecting of sheet material B and constantly begin, only postpone chassis 3 again and go moment of required time at above-mentioned spacing distance.
In addition, detect the terminal of sheet material A after, under the situation that chassis is still temporarily gone, even be necessary to be provided with the terminal that has surpassed sheet material A but the tread that chassis 3 still can go.
Therefore; As shown in Figure 7; Carry out the example of the situation of Bottom Plate 19 and rectangular 29 angle welding welding; Bottom Plate 19 forms on the end face of part Y (the T seam of angle welding welding forms part among Fig. 7) with rectangular 29 solder joint, butt have the assistant board 40 that goes of non magnetic system that forms the cross sectional shape of part Y corresponding to this solder joint, thereby can use welder 1 (not showing among Fig. 7) to carry out the angle welding welding.This assistant board 40 that goes comprises substrate 41 and riser 43.Solder joint form part Y the end face butt under the state of the assistant board 40 that goes, substrate 41 connects Bottom Plates 19, riser 43 connects a part of rectangular 29.
In addition, welder 1 does not in this case use the eddy current type sensor as the proximity transducer 3p that detects Bottom Plate 19,3q, and uses ultrasonic sensor or optical sensor etc.Thereby proximity transducer 3p, 3q not only can detect the sheet material of magnetic, also can detect the sheet material of nonmagnetic material.
At this moment, the welder 1 in this embodiment is arranged on the Bottom Plate 19, deflector roll 3h, 3i are rotated on rectangular 29 in, chassis 3 outside plate 19 upper edge travel direction X3 alow goes.Thus; The side 3l of chassis 3, the proximity transducer 3p of 3m, 3q detect the existence as the Bottom Plate 19 of sheet material A among Fig. 1 (a) (seam that is equivalent in the claim forms sheet material and side plate material), and the proximity transducer 3j of arm 3f, 3g, 3k detect rectangular 29 existence as sheet material B among Fig. 1 (a) (seam that is equivalent in the claim forms sheet material and opposite side sheet material).And behind the terminal of chassis 3 arrived ship bottom platings 19, the sensor of upstream side that is positioned at the travel direction X3 of chassis 3 among the proximity transducer 3j of arm 3f, 3g, the 3k arrives rectangular 29 the terminal that exists together mutually with the terminal location of Bottom Plate 19.
At this; Because arm 3f, the proximity transducer 3j of 3g, 3k are the eddy current type sensor; Be positioned at the sensor of upstream side of the travel direction X3 of chassis 3 among proximity transducer 3j, the 3k; If relative sheet material is transformed to the riser 43 of non magnetic system from rectangular 29 of magnetic system, then can not detect sheet material.
On the other hand; Because side 3l, the proximity transducer 3p of 3m, the 3q of chassis 3 are ultrasonic sensor or optical sensor; Thereby be positioned at the sensor of upstream side of the travel direction X3 of chassis 3 among the proximity transducer 3p, 3q; Even relative sheet material is transformed to the substrate 41 of non magnetic system from the Bottom Plate 19 of magnetic system, also can continue to detect sheet material.
Therefore, when chassis 3 arrived ship bottom platings 19 and rectangular 29 terminal, this position begins certainly, on substrate 41, go the again distance of compartment of proximity transducer 3p, 3q of side 3l, 3m of welding gun 5 to chassis 3 of chassis 3.Afterwards, stop the welding of welding gun 5.Chassis 3 continues to go, when among the proximity transducer 3p of the side of chassis 3 3l, 3m, the 3q after the sensor of the upstream side of the travel direction X of chassis 3 detects the terminal of substrate 41, stop to go.
Thus; Carry out the angle welding welding through the use 40 pairs of Bottom Plates of assistant board 19 and rectangular 29 that go; Can utilize welding gun 5 that angle welding is welded the terminal that proceeds to Bottom Plate 19 and rectangular 29, also can be only interior stably mobile behind the terminal of chassis 3 arrived ship bottom platings 19 in necessary distance.
In addition; Riser 43 at the assistant board 40 that only will go is made as non magnetic system; Substrate 41 is made as under the situation of magnetic system,, also can carries out angle welding welding same as described above even use the eddy current type sensor as the proximity transducer 3p that detects Bottom Plate 19,3q.
In addition; As shown in Figure 8; On vertical logical next door 21, weld under the situation of a plurality of band steels 27 by certain intervals; When using above-mentioned welder 1 that chassis 3 is gone with travel direction X2 on vertical logical next door 21, the side 3l of chassis 3, the proximity transducer 3p of 3m, 3q detect vertical logical next door 21 during in, chassis 3 goes along band steel 27.And,, proximity transducer 3j, the 3k of arm 3f, 3g utilize the welding of welding gun 5 in detecting the zone of band steel 27, in the zone that does not detect band steel 27, stop to utilize the welding of welding gun 5.
In addition, as shown in Figure 9, can the assistant board 50 that nonmagnetic material is processed be embedded in the gap of adjacent two band steels 27,27, thereby carry out the angle welding welding between vertical logical next door 21 and each band steel 27.At this moment; Two clamping parts 53 of assistant board 50 are embedded adjacent band steel 27,27 respectively; The substrate 51 with assistant board 50 be configured in band steel 27 conplane states under, make chassis 3 go at vertical logical next door 21 upper edge travel direction X2 along band steel 27.
Owing to used this assistant board 50, made the deflector roll 3h of welder 1,3i also on substrate 51, rotate in the gap of adjacent two band steels 27, thereby can stably guide chassis 3 along band steel 27.In addition, because assistant board 50 be non magnetic system, thereby the proximity transducer 3j of arm 3f, 3g, 3k can not detect assistant board 50 (substrate 51) and band steel 27 with obscuring.Therefore, can realize only utilizing the vertical logical next door 21 of welding gun 5 and the angle welding welding of band steel 27 in the zone that band steel 27 exists.
Claims (5)
1. angle welding automatic soldering device; This angle welding automatic soldering device utilization is equipped on and forms the welding seam part that the welding gun on the chassis that goes automatically on the side plate material in the sheet materials forms sheet material to said two seams two seams and carry out the angle welding welding; It is characterized in that, comprising:
First proximity transducer, this first proximity transducer are disposed at said chassis position relative with this side plate material when on said side plate material, going, and detect the sheet material relative with this position non-contactly;
Second proximity transducer, this second proximity transducer be disposed at said chassis when on said side plate material, going and said two seams form the relative position of opposite side sheet material in the sheet material, detect the sheet material of this relative position non-contactly; And
Control device; With from the state that detects that utilizes the sheet material that said first proximity transducer detects to the non-variation interlock that detects state; And stop to go of said chassis; And the non-of sheet material of the sensor of at least one side detects in the zone in said first and second proximity transducer, stops the welding that said two seams form the welding seam part of sheet material.
2. angle welding automatic soldering device as claimed in claim 1 is characterized in that,
Said chassis has the magnet that is used to adsorb the said side plate material that is made up of magnetic, and said first proximity transducer is for detecting the eddy current type sensor of the sheet material relative with self through electromagnetic induction.
3. according to claim 1 or claim 2 angle welding automatic soldering device is characterized in that,
Said second proximity transducer is to utilize electromagnetic induction to detect the eddy current type sensor of relative with self sheet material that is made up of magnetic.
4. angle welding automatic soldering method; This angle welding automatic soldering method uses through going automatically on the side plate material in two seams formation sheet materials the welding seam part that said two seams form sheet material is carried out the angle welding automatic soldering device that angle welding is welded; It is characterized in that
Use the angle welding automatic soldering device of putting down in writing in the claim 3 as said angle welding automatic soldering device,
Said two seams on the travel direction of the chassis of said angle welding automatic soldering device form the terminal of sheet material; And the solder joint that forms sheet material in said two seams forms end face partly; The butt assistant board that travels continuously on said travel direction; This assistant board that travels has greater than the front end of the chassis of the above angle welding automatic soldering device of said travel direction and the size at the interval between welding gun; And this assistant board that travels has the cross sectional shape that forms the solder joint formation part of sheet material corresponding to said two seams after the welding
In the said assistant board that goes, form the part that the opposite side sheet material that is made up of magnetic in the sheet material is connected with said two seams at least and constitute by nonmagnetic material,
When first proximity transducer of said angle welding automatic soldering device is located on said side plate material, going of said chassis and the relative position of said side plate material; And detect the sheet material relative non-contactly with this position; With the state of this first proximity transducer Zi to the state that detects of sheet material of relative position to the non-variation interlock that detects state; And stop to go of said chassis
When second proximity transducer that is made up of the eddy current type sensor of said angle welding automatic soldering device is located on said side plate material, going of said chassis and the relative position of said opposite side sheet material; And detect relative with this position sheet material of processing by magnetic non-contactly; In the zone of the sheet material that constitutes by magnetic of relative position, do not stop the welding that said two seams form the welding seam part of sheet material detecting.
5. angle welding automatic soldering method; This angle welding automatic soldering method makes the angle welding automatic soldering device form on the side plate material in the sheet material two seams and goes automatically; To carrying out the angle welding welding at the opposite side sheet material and the welding seam part between said side plate material that in a plurality of said two seams formation sheet material of interval straight line configuration, constitute on the travel direction of this angle welding automatic soldering device by magnetic; It is characterized in that
Said angle welding automatic soldering device is the angle welding automatic soldering device of record in the claim 3;
Between two adjacent on the said travel direction said opposite side sheet materials, to be embedded with the state of the removable assistant board that constitutes by nonmagnetic material, the chassis of said angle welding automatic soldering device is travelled on said first sheet material automatically,
When first proximity transducer of said angle welding automatic soldering device is located on said side plate material, going of said chassis and the relative position of said side plate material; And detect the sheet material relative non-contactly with this position; With the state of this first proximity transducer Zi to the state that detects of the sheet material at institute relative position place to the non-variation interlock that detects state; And stop to go of said chassis
When second proximity transducer that is made up of the eddy current type sensor of said angle welding automatic soldering device is located on said side plate material, going of said chassis and the relative position of said opposite side sheet material; And detect relative with this position sheet material of processing by magnetic non-contactly; In the zone of the sheet material that constitutes by magnetic of relative position, do not stop the welding that said two seams form the welding seam part of sheet material detecting.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2010293906A JP2012139712A (en) | 2010-12-28 | 2010-12-28 | Automatic fillet welding device, and automatic fillet welding method |
| JP2010-293906 | 2010-12-28 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN102554412A true CN102554412A (en) | 2012-07-11 |
| CN102554412B CN102554412B (en) | 2015-07-29 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201110448591.5A Active CN102554412B (en) | 2010-12-28 | 2011-12-28 | Angle welding automatic soldering device and angle welding automatic soldering method |
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| Country | Link |
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| JP (1) | JP2012139712A (en) |
| KR (1) | KR101289677B1 (en) |
| CN (1) | CN102554412B (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102909460A (en) * | 2012-10-08 | 2013-02-06 | 沈阳大学 | Water-cooling slide block device for automatic welding machine for vertical fillet weld |
| CN109108508A (en) * | 2017-06-22 | 2019-01-01 | 金明基 | Form the welding method of uniform welding bead |
| CN110193690A (en) * | 2019-06-27 | 2019-09-03 | 广船国际有限公司 | A kind of welding method of fillet welding trolley auxiliary mould and fillet weld |
Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
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| JP6021172B2 (en) * | 2012-07-31 | 2016-11-09 | 小池酸素工業株式会社 | Traveling cart |
| KR101356240B1 (en) * | 2012-10-16 | 2014-01-29 | 주식회사 현대미포조선 | Automatic welding machine |
| CN106271270B (en) * | 2016-08-29 | 2017-10-24 | 青岛北海船舶重工有限责任公司 | Flat fillet weld dolly auxiliary welding equipment |
| CN107520564B (en) * | 2017-08-29 | 2024-04-23 | 张家港凯航通力船用设备有限公司 | Welding positioning device for welding ship deck |
| CN109648231A (en) * | 2019-01-14 | 2019-04-19 | 上海振华重工(集团)股份有限公司 | Auxiliary mould and the welding system with it, welding method |
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Also Published As
| Publication number | Publication date |
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| CN102554412B (en) | 2015-07-29 |
| KR101289677B1 (en) | 2013-07-26 |
| JP2012139712A (en) | 2012-07-26 |
| KR20120075433A (en) | 2012-07-06 |
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