CN109604775A - Horizontal fillet welding device and horizontal fillet welding method - Google Patents

Horizontal fillet welding device and horizontal fillet welding method Download PDF

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Publication number
CN109604775A
CN109604775A CN201810957521.4A CN201810957521A CN109604775A CN 109604775 A CN109604775 A CN 109604775A CN 201810957521 A CN201810957521 A CN 201810957521A CN 109604775 A CN109604775 A CN 109604775A
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China
Prior art keywords
main body
welding
head main
vertical plate
frame
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Granted
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CN201810957521.4A
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Chinese (zh)
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CN109604775B (en
Inventor
村上元章
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Kobe Steel Ltd
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Kobe Steel Ltd
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Publication of CN109604775A publication Critical patent/CN109604775A/en
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Classifications

    • 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
    • B23K9/00—Arc welding or cutting
    • B23K9/12—Automatic feeding or moving of electrodes or work for spot or seam welding or cutting
    • B23K9/121—Devices for the automatic supply of at least two electrodes one after the other
    • 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
    • B23K37/0211—Carriages for supporting the welding or cutting element travelling on a guide member, e.g. rail, track
    • 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
    • B23K37/0282—Carriages forming part of a welding unit
    • 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
    • B23K9/00—Arc welding or cutting
    • B23K9/02—Seam welding; Backing means; Inserts
    • B23K9/0206—Seam welding; Backing means; Inserts of horizontal seams in assembling vertical plates, a welding unit being adapted to travel along the upper horizontal edge of the plates
    • 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
    • B23K9/00—Arc welding or cutting
    • B23K9/02—Seam welding; Backing means; Inserts
    • B23K9/025—Seam welding; Backing means; Inserts for rectilinear seams
    • 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
    • B23K9/00—Arc welding or cutting
    • B23K9/24—Features related to electrodes
    • B23K9/28—Supporting devices for electrodes
    • 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
    • B23K9/00—Arc welding or cutting
    • B23K9/32—Accessories

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Mechanical Engineering (AREA)
  • Plasma & Fusion (AREA)
  • Optics & Photonics (AREA)
  • Butt Welding And Welding Of Specific Article (AREA)
  • Arc Welding In General (AREA)

Abstract

The present invention provides a kind of horizontal fillet welding device of position deviation for being able to carry out stable complete full penetration and welding residual and the welding torch in welding being not present.The horizontal fillet welding device has: in the frame (2) that the top of lower plate (U) is extended along the direction side by side of multiple vertical plates (L)；The driving mechanism (5) that frame can be made to relatively move along the extended direction of vertical plate；And plumb joint (10) comprising the supporting member (11) that there is a correct main body (14A, 14B) of welding torch (55A, 55B) and be installed on frame in a manner of it can move on the direction side by side of multiple vertical plates along frame and a correct main body is supported.Plumb joint has: the left/right movement device (12) for moving a correct main body along the direction side by side of multiple vertical plates relative to supporting member；And a pair of of back-and-forth motion mechanism (13A, 13B) for moving a correct main body along the extended direction of vertical plate independently of each other relative to supporting member.

Description

Horizontal fillet welding device and horizontal fillet welding method
Technical field
The present invention relates to horizontal fillet welding device and horizontal fillet welding methods.
Background technique
When automatically carrying out horizontal fillet welding to the strip steel for large structures such as shipbuilding or bridges, will have respectively One butt joint of standby welding torch is configured in the two sides of vertical plate, is welded while moving a butt joint along welding direction It connects.High efficiency, high-precision welding are required in such horizontal fillet welding device, realize the efficiency based on multi-electrode in the past The precision for improving and applying various sensors improves.For example, the gas protective arc welding documented by patent document 1 fills When recorded in setting in order to inhibit using two electrode welding torches by electric arc interfere caused by melting pool shape variation and two Has scheme as filler wire welding torch between a electrode welding torch.Especially in patent document 1, by using electrode Welding torch and filler wire welding torch comprising the whole side including welding direction, vertical direction, abutting direction up towards wishing The direction rotation of prestige suitably adjusts interelectrode interpolar distance, the welding torch angle of each welding torch, is thus easily tailored as optimal Welding condition.
In addition, recording following web welder in patent document 2: to the position of weld part before welding torch Change the imitation sensor detected；Keep welding torch mobile according to the detection signal from the imitation sensor and imitates weld part Mobile device, thus make welding torch follow weld part position variation and be accurately proceed welding.
Citation
Patent document
Patent document 1: Japanese Unexamined Patent Publication 2012-179613 bulletin
Patent document 2: Japanese Unexamined Patent Publication 8-99173 bulletin
Summary of the invention
Subject to be solved by the invention
However, weld part preferably uses complete penetration from the viewpoint of mechanical performance.However, making in horizontal fillet welding In the case where the complete penetration of weld part, need to be welded with high current.When the plumb joint of the left and right sides of vertical plate is in welding side When carrying out high current welding upwards with identical position, significantly electric arc is caused to interfere between two poles of facing electrode, welded A possibility that defect generates is connect to get higher.Therefore, in the case where wanting to make the complete penetration of weld part, need to make the weldering of each plumb joint It connects position to deviate along welding direction, but when merely deviating each plumb joint, exists and generate weldering at the beginning or terminal of welding Connect remaining project.In addition, the welding at the beginning or terminal that weld in order to prevent remains, consider to make the removable of each plumb joint Length grows the amount of the deflected length of each plumb joint compared with weld part length, by the welding torch at the position for deviateing weld part Electric arc disconnect to be welded.However, in this case, imitating lower plate or vertical plate that the guiding mechanism of plumb joint is guided to weld It connects initial stage or welding latter stage contacts or is detached from lower plate, vertical plate, therefore, welding torch position may deviate from this time.In the past, this In the horizontal fillet welding device of mechanism, complete penetration is not imagined sometimes yet, welder documented by patent document 1 and 2 is not It is the welder for being directed to the above subject and considering.
The present invention be completed in view of the above subject, it is intended that provide it is a kind of be able to carry out it is stable completely molten Welding is dissolved thoroughly and there is no weld the horizontal fillet welding device and horizontal fillet welding that the position of the welding torch in residual and welding is deviateed Method.
Solution
Above-mentioned purpose of the invention is realized by following structures.
(1) a kind of horizontal fillet welding device, the horizontal fillet welding device for have lower plate and the upper surface of the lower plate simultaneously Row erects on ground the works of multiple vertical plates of setting, the left and right two of vertical plate abutted to the lower plate with the vertical plate, described The soldered portion of side carries out horizontal fillet welding simultaneously,
It is characterized in that,
The horizontal fillet welding device has:
Frame is extended in the top of the lower plate along the direction side by side of the multiple vertical plate；
Driving mechanism can make the frame or the lower plate carry out opposite move along the extended direction of the vertical plate It is dynamic；And
At least one plumb joint comprising be respectively provided with a correct main body of single or multiple welding torch and along institute The mode stating frame and capable of moving on the direction side by side of the multiple vertical plate is installed on the frame and to the pair of head The supporting member that main body is supported,
The plumb joint has:
The left and right for moving the pair of head main body along the direction side by side of the multiple vertical plate relative to the supporting member Mobile mechanism；And
Make the pair of head main body relative to the supporting member independently of each other along the extended direction of the vertical plate Mobile a pair of of back-and-forth motion mechanism.
(2) the horizontal fillet welding device according to documented by (1), which is characterized in that
The back-and-forth motion mechanism is connect with the head main body via the swinging axle of swingable rotation.
(3) the horizontal fillet welding device according to documented by (1) or (2), which is characterized in that
Between the back-and-forth motion mechanism and the head main body or in the head main body, having allows the head main body The up-down slide mechanism moved up and down and the elastic component to exert a force to the head main body towards the lower plate.
(4) the horizontal fillet welding device according to documented by any one of (1)~(3), which is characterized in that
The welding torch of the pair of head main body includes first electrode welding torch and in rear electrode welding torch, the first electrode Welding torch is 5 °~40 ° relative to the welding torch angle on the surface of the lower plate, the table in rear electrode welding torch relative to the lower plate The welding torch angle in face is 40 °~60 °.
(5) the horizontal fillet welding device according to documented by (4), which is characterized in that
The welding torch, which has, to be bent from the part that lower section upwardly extends on it towards the direction side by side of the multiple vertical plate At least one bending section, the radius of curvature of the bending section of the first electrode welding torch is 60~120mm, and bending angle is 50 ° ~85 °, the radius of curvature of the bending section in rear electrode welding torch is 60~120mm, and bending angle is 30 °~50 °.
(6) the horizontal fillet welding device according to documented by any one of (1)~(5), which is characterized in that
The head main body has the shape for imitating the vertical plate and makes at least one imitation mechanism of the head main body movement.
(7) the horizontal fillet welding device according to documented by any one of (1)~(6), which is characterized in that
Movement of the head main body based on back-and-forth motion mechanism realization on the extended direction of the vertical plate Travel settings are in the range of 0mm~600mm.
(8) the horizontal fillet welding device according to documented by any one of (1)~(7), which is characterized in that
The horizontal fillet welding device has control unit, and the control unit is in utilization welding torch between the lower plate and the vertical plate Soldered portion when carrying out horizontal fillet welding so that the frame or the lower plate are continuously begun from welding with defined speed The mode of end relative movement to solder terminal controls the driving mechanism, also, is carrying out from the welding beginning The welding initial stage of welding controls the back-and-forth motion mechanism of a side, so that from the pair of head main body described On the direction side by side of multiple vertical plates relatively opposed state become the pair of head main body relatively deviate from it is pre-determined inclined The state of Length Quantity is moved, and in the welding latter stage for being soldered to the solder terminal, to the back-and-forth motion mechanism of another party It is controlled, so that the state for relatively deviating from pre-determined deflected length amount from the pair of head main body becomes described One correct main body state mutually opposed on the direction side by side of the multiple vertical plate.
(9) a kind of horizontal fillet welding method uses water documented by any one of (1)~(8) in the horizontal fillet welding method Straight angle welder, for having lower plate and abreast erect the works of multiple vertical plates of setting in the upper surface of the lower plate, The soldered portion of the left and right sides of the vertical plate abutted with the vertical plate to the lower plate carries out horizontal fillet welding simultaneously, special Sign is,
The horizontal fillet welding method has following process:
Preparatory process makes the pair of head main body be located at the welding side for being moved forward and backward mechanism in the preparatory process Position forwards, also, the pair of head main body is made to be configured at the left and right of the vertical plate at the welding beginning in the soldered portion Two sides；
First welding sequence makes the frame or the lower plate using the driving mechanism in first welding sequence It is relatively moved along the extended direction of the vertical plate, using the head main body of the side in the pair of head main body, to described vertical The soldered portion of one side of plate carries out the welding of pre-determined deflected length, using the back-and-forth motion mechanism, makes institute The head main body of another party in a correct main body is stated in a manner of not changing relative to the relative position in the soldered portion with The identical speed of the movement speed of the frame or the lower plate is mobile；
Second welding sequence, in second welding sequence, when the head main body of the party finishes the deflected length Welding when, make by it is described back-and-forth motion mechanism carry out described another party head main body mobile stopping, utilizing the driving Mechanism moves together the pair of head main body with the frame or the lower plate, to the quilt of the left and right sides of the vertical plate Weld part is welded simultaneously；And
Third welding sequence, in the third welding sequence, when the head main body of the party is soldered to the quilt of a side When the solder terminal of weld part, on one side utilize the back-and-forth motion mechanism, make the head main body of the party with do not change relative to The mode of the relative position in the soldered portion is mobile with speed identical with the movement speed of the frame or the lower plate, and one Lateral dominance is welded with remainder of the head main body of described another party to the soldered portion of another party of the vertical plate.
(10) the horizontal fillet welding method according to documented by (9), which is characterized in that
The driving mechanism moves the frame along the extended direction of the vertical plate, in first welding sequence In, move the head main body of described another party along the direction opposite with the moving direction of the frame, in the third Welder In sequence, move the head main body of the party along the direction opposite with the moving direction of the frame.
(11) the horizontal fillet welding method according to documented by (9), which is characterized in that
The driving mechanism moves the lower plate along the extended direction of the vertical plate, in first welding sequence In, move the head main body of described another party along direction identical with the moving direction of the lower plate, in the third Welder In sequence, move the head main body of the party along direction identical with the moving direction of the lower plate.
It should be noted that " carrying out horizontal angle simultaneously to the soldered portion of the left and right sides of the vertical plate in the present invention Weldering " include one enemy main body welding torch along the extended direction of vertical plate deviate from deflected length in the state of welded Situation.
Invention effect
Horizontal fillet welding device according to the present invention, has: frame, in the top of lower plate along the direction side by side of multiple vertical plates It is extended；Driving mechanism can be such that frame or lower plate relatively moves along the extended direction of vertical plate；And at least one Plumb joint comprising be respectively provided with a correct main body of single or multiple welding torch and with can be along frame in multiple vertical plates The supporting member that the mode moved on direction side by side is installed on frame and is supported to a correct main body.Plumb joint has: making The left/right movement device that one correct main body is moved relative to supporting member along the direction side by side of multiple vertical plates；And make a correct master A pair of of back-and-forth motion mechanism that body is moved along the extended direction of vertical plate independently of each other relative to supporting member.As a result, can It is enough steadily to carry out being based on full penetration in the state of there is no the position of the welding torch in welding residual and welding is deviateed Horizontal fillet welding.
In addition, horizontal fillet welding method according to the present invention, has above-mentioned horizontal fillet welding device, and have following process: Preparatory process makes a correct main body be located at the welding direction front position for being moved forward and backward mechanism in the preparatory process, also, A correct main body is set to be configured at the left and right sides of vertical plate at the welding beginning in the portion of being soldered；First welding sequence, in first weldering It connects in process, relatively moves frame or lower plate along the extended direction of vertical plate using driving mechanism, utilize a correct main body In a side head main body, the welding of pre-determined deflected length is carried out to the soldered portion of a side of vertical plate, utilizes front and back Mobile mechanism makes the head main body of another party in a correct main body in a manner of not changing the relative position relative to soldered portion It is mobile with speed identical with the movement speed of frame or lower plate；Second welding sequence, in second welding sequence, as a side Head main body when finishing the welding of deflected length, stop the movement of the head main body of the another party carried out by back-and-forth motion mechanism Only, move together a correct main body with frame or lower plate using driving mechanism, it is same to the soldered portion of the left and right sides of vertical plate Shi Jinhang welding；And third welding sequence, in the third welding sequence, when the head main body of a side is soldered to being welded for a side When the solder terminal of socket part, on one side using mechanism is moved forward and backward, make the head main body of a side not change relative to soldered portion The mode of relative position is mobile with speed identical with the movement speed of frame or lower plate, utilizes the head main body pair of another party on one side The remainder in the soldered portion of another party of vertical plate welds.Thereby, it is possible in remaining and welding there is no welding The position of welding torch steadily carries out the horizontal fillet welding based on complete full penetration in the state of deviateing.
Detailed description of the invention
Fig. 1 is the main view of horizontal fillet welding device of the invention.
Fig. 2 is the side view of horizontal fillet welding device shown in FIG. 1.
Fig. 3 is the perspective view for showing the connecting structure of frame and supporting member.
Fig. 4 is the main view of a main body.
Fig. 5 is the side view of a main body.
Fig. 6 A is the main view of first electrode welding torch.
Fig. 6 B is the main view in rear electrode welding torch.
Fig. 7 is the perspective view for showing the state of each head main body when the horizontal fillet welding in the plumb joint of a side starts.
Fig. 8 is the perspective view for showing the state of each head main body when the horizontal fillet welding in the plumb joint of another party starts.
Fig. 9 be the horizontal fillet welding shown in the plumb joint of a side at the end of each head main body state perspective view.
Figure 10 be the horizontal fillet welding shown in the plumb joint of another party at the end of each head main body state perspective view.
Figure 11 be show frame relative to the movement speed of lower plate, the head main body of a side relative to frame movement speed, The head main body of another party is relative to the movement speed of frame, the head main body of a side relative to the movement speed of lower plate and another Timing diagram of the head main body of side relative to the movement speed of lower plate.
Description of symbols:
1 horizontal fillet welding device；
2 frames；
10 plumb joints；
11 supporting members；
12 left/right movement devices；
13A, 13B are moved forward and backward mechanism；
14A, 14B main bodys；
39 swinging axles；
48 elastic components；
50 imitate roller (imitating mechanism)；
The first electrode welding torch of 53A, 53B；
54A, 54B are in rear electrode welding torch；
55A, 55B welding torch；
70 control units；
U lower plate；
L vertical plate；
W is soldered portion；
R1、R2Radius of curvature；
α1、α2Bending angle；
θ1、θ2Welding torch angle.
Specific embodiment
Hereinafter, being described in detail based on an embodiment of the attached drawing to horizontal fillet welding device of the invention.Fig. 1 is this hair The main view of bright horizontal fillet welding device, Fig. 2 are its side views.
As shown in Figures 1 and 2, the horizontal fillet welding device 1 of present embodiment is to carry out the so-called of horizontal fillet welding to structural portion Seam welder, multiple vertical plates which has horizontally disposed lower plate U and be vertically arranged side-by-side in the upper surface of lower plate U L.That is, lower plate U is abutted with vertical plate L in horizontal fillet welding device 1, make plumb joint 10 relative to the quilt of the left and right sides of vertical plate L on one side Weld part W is moved, and on one side using correct main body 14A, 14B, is soldered by complete full penetration to the left and right sides Portion W carries out horizontal fillet welding simultaneously.
It should be noted that in the following description, the extended direction of vertical plate L, i.e. welding direction are expressed as the side X To or front-rear direction, the direction side by side of multiple vertical plate L, horizontal direction i.e. orthogonal with welding direction are expressed as Y-direction or a left side The direction orthogonal with X-direction and Y-direction is expressed as Z-direction or up and down direction by right direction.
Horizontal fillet welding device 1 has: being extended in the top of vertical plate L along the direction side by side of the i.e. multiple vertical plate L of Y-direction Frame 2；Making the pillar 3 being arranged in the left and right sides of frame 2 with frame 2, the extended direction of i.e. vertical plate L is moved in X direction together Dynamic driving mechanism 5；Be installed in a manner of it can be moved in the Y direction along frame 2 frame 2 at least one (in this reality Apply is 4 in mode) plumb joint 10；And to the control unit 70 that driving mechanism 5 and plumb joint 10 are controlled.
Here, frame 2 and pillar 3 constitute the gate frame 4 configured in a manner of across lower plate U and vertical plate L.In addition, Driving mechanism 5 drives traveling roller 6 to be rotated by drive motor (not shown) etc., moves gate frame 4 in X direction It is dynamic.As long as, can also be with it should be noted that the structure that gate frame of the invention 4 and lower plate U is relatively moved in X direction Move lower plate U in X direction.
Plumb joint 10 has: supporting member 11；One correct main body 14A, 14B；Make main body 14A, 14B relative to bearing structure The left/right movement device 12 that part 11 is moved along Y-direction；And make main body 14A, 14B relative to the phase in X direction of supporting member 11 A pair of of back-and-forth motion mechanism 13A, 13B mutually independently moved.Left/right movement device 12 and a pair of of back-and-forth motion mechanism 13A, 13B Setting is between supporting member 11 and correct main body 14A, 14B.
Fig. 3 is also referred to, supporting member 11 moves main body 14A, 14B along Y-direction and Z-direction, and setting is in bearing structure Sliding block 16 in the movable substrate 15 of part 11 leads to across being arranged on two horizontal guide rails 17 of the front surface for being fixed on frame 2 Drive motor (not shown) is crossed to be driven and move supporting member 11 in the Y direction along horizontal guide rail 17.
In addition, the sliding block 18 for being set to the front surface of movable substrate 15 is crossed over to be arranged in and is set to the first of supporting member 11 On the vertical guide rail 20 of pillar 19, supporting member 11 is guided in z-direction along vertical guide rail 20.In the upper of the first pillar 19 Portion is equipped the front end of piston rod 22 being fixed on cylinder 21 made of movable substrate 15.So that cylinder 21 is worked as a result, will live Stopper rod 22 pulls out or push-in, moves supporting member 11 along Z-direction.
In the lower part for the second pillar 24 fixed in parallel by upper and lower cross bar 23 relative to the first pillar 19, it is fixed with A pair of of the X frame 25 extended in X direction.At the X-direction both ends of a pair of of X frame 25, Y frame is fixed with extending along Y-direction 26。
It should be noted that in the present embodiment, movable substrate 15, the first pillar 19, cross bar 23, the second pillar 24 with And a pair of X frame 25 constitutes supporting member 11.
In addition, being fixed on a main body branch across being provided on the left and right rail 27 of lower surface for being fixed on each Y frame 26 The sliding block 29 of the upper surface of support frame frame 28, the sliding block 29 by a correct body abutment frame 28 along left and right rail 27 in the Y direction Upper guidance.
Also refer to Fig. 4, a correct body abutment frame 28 is respectively via being fixed on a link plate for body abutment frame 28 30 and linked with moving left and right with the working cylinder main body 32 of working cylinder 31 and work cylinder rod 33.As a result, by making to move left and right It is worked with working cylinder 31 and pulls out or be pushed into work cylinder rod 33, thus it enables that a correct body abutment frame 28 is close to each other Or it is moved on isolated direction.
That is, Y frame 26, left and right rail 27, sliding block 29 and moving left and right and making a correct main body branch with the composition of working cylinder 31 The left/right movement device 12 that support frame frame 28 and then head main body 14A, 14B move on direction close to each other or isolated.
Fig. 4 and Fig. 5 is also referred to, in the lower surface of a correct body abutment frame 28, is divided in a manner of extending in X direction It is not fixed with front and rear guide rails 35.In each front and rear guide rails 35, across the head body abutment plate being provided in head main body 14A, 14B Fixed a pair of of sliding block 37 on 36A, 36B, a pair of sliding block 37 is by head body abutment plate 36 and then head main body 14A, 14B is distinguished It guides in X direction.
Ball screw framework 34 and back-and-forth motion motor 38A, 38B are equipped on head body abutment plate 36A, 36B, By making back-and-forth motion motor 38A, 38B work, so that ball screw framework 34 rotates, by head body abutment plate 36A, 36B It is guided along front and rear guide rails 35, moves it along the longitudinal direction together with head main body 14A, 14B.It is moved forward and backward and uses motor 38A, 38B It is controlled by control unit 70 and can be functioned independently, therefore, head main body 14A, 14B can move in X direction independently of each other It is dynamic.
That is, head body abutment frame 28, front and rear guide rails 35, head body abutment plate 36A, 36B, sliding block 37, ball-screw machine Structure 34 and back-and-forth motion constitute the front and back for moving main body 14A, 14B in X direction independently of each other with motor 38A, 38B and move Motivation structure 13A, 13B.
Shift motion based on the X-direction for being moved forward and backward head main body 14A, 14B that mechanism 13A, 13B carries out is set in 0mm In the range of~600mm.
It is separately equipped with main body 14A, 14B via swinging axle 39 on head body abutment plate 36A, 36B, head main body 14A, 14B can be swung centered on swinging axle 39 respectively relative to head body abutment plate 36A, 36B.
Then, correct main body 14A, 14B is illustrated.It should be noted that head main body 14A, 14B is only aftermentioned first Electrode welding torch is different from opposite this aspect of configuration in rear electrode welding torch, but in addition to this has substantially the same structure, Therefore, the head main body 14A of a side is illustrated, omits the explanation of the head main body 14B of a part of another party.
As shown in figure 5, head main body 14A's has upper end by the U-shaped frame 40 of top plate 41a a pair of of the leg 41b linked It is fixed on swinging axle 39.Sliding block 42 is respectively fixed in the medial surface of a pair of of leg 41b.Each sliding block 42 is being fixed on across setting On the upper/lower guide 44 of the lateral surface of head main body frame 43, correct main body frame 43 is with can be relative to U-shaped frame 40 along upper The mobile mode in lower direction guides.Therefore, U-shaped frame 40, sliding block 42, upper/lower guide 44, head main body frame 43 are constituted Allow the up-down slide mechanism 60 of head main body 14A, 14B moved up and down.
Head main body frame 43 has: vertically extending a pair of of upper and lower frames 45 of setting；And above and below a pair A pair of upper and lower frames 45 a pair of of framework 46A, 46B connected to each other (is also referred to figure by the top of frame 45 and middle part 8)。
Between the framework 46A of the top of the top plate 41a and each head main body frame 43 of U-shaped frame 40, it is equipped with The elastic components such as helical spring 48, the correct main body frame 43 of the elastic component 48 exert a force downward always.
In the lower end of a pair of of upper and lower frames 45, it is separately installed with the plate 49 towards the vertical plate L L-shaped extended along Y-direction, The traveling that is equipped with the imitation roller 50 that will be pivoted about with vertical axis on each plate 49 and can be rotated on lower plate U Roller unit 61 made of 51 blocking of roller.Vertical plate L is clamped from the left and right sides and imitates vertical plate as shown in figure 4, roller 50 is imitated to constitute The shape of L and make a correct main body frame 43, the in other words mobile imitation mechanism of correct main body 14A, 14B.
In addition, being respectively arranged with welding torch retainer 52 in a pair of of upper and lower frames 45, welding torch retainer 52 welds first electrode It torch 53A and is kept in the part of rear electrode welding torch 54A vertically extended.That is, head main body 14A has by first Electrode welding torch 53A and the one group of welding torch 55A constituted in rear electrode welding torch 54A, head main body 14B have by first electrode welding torch The 53B and another group of welding torch 55B constituted in rear electrode welding torch 54B.
Fig. 6 A and Fig. 6 B show the first electrode welding torch 53A of a main body 14A and in rear electrode welding torch 54A, but head master The first electrode welding torch 53B of body 14B and also there is same structure in rear electrode welding torch 54B.That is, first electrode welding torch 53A, 53B and has from the part vertically extended in rear electrode welding torch 54A, 54B, is directed toward with the welding electrode of front end The mode of the soldered portion W of vertical plate L is towards the curved bending section 56 of Y-direction.The song of the bending section 56 of first electrode welding torch 53A, 53B Rate radius R1For 60~120mm, bent angle alpha1It is 50 °~85 °, the welding torch angle θ on the surface relative to lower plate U1It is set to 5 ° ~40 °.In addition, the radius of curvature R in the bending section 56 of rear electrode welding torch 54A, 54B2For 60~120mm, bent angle alpha2For 30 °~50 °, the welding torch angle θ on the surface relative to lower plate U2It is set to 40 °~60 °.
It should be noted that welding torch retainer 52 is by first electrode welding torch 53A, 53B and in rear electrode welding torch 54A, 54B Remaining can be micro-adjusted along Y-direction and Z-direction.
Then, referring to Fig.1 and Fig. 7~Figure 11 illustrates the horizontal fillet welding step carried out by horizontal fillet welding device 1.It needs Illustrate, the state of the correct main body of one when the horizontal fillet welding that Fig. 7 shows in the plumb joint of a side starts, Fig. 8 shows another The state of correct main body when horizontal fillet welding in the plumb joint of side starts.In addition, Fig. 9 shows the water in the plumb joint of a side The state of a correct main body at the end of flat fillet weld, Figure 10 show a pair at the end of the horizontal fillet welding in the plumb joint of another party The state of head main body.In addition, Figure 11 is the timing diagram for showing the movement of frame and a correct main body, (A) is omitted in diagram The acceleration and deceleration when driving of driving mechanism 5 and front and back driving mechanism 13A, 13B of (B) and (C).
Firstly, as shown in Figure 1, moving left and right for left/right movement device 12 is made to be worked with working cylinder 31 and pull out work cylinder rod 33, move a correct body abutment frame 28 outward.Correct main body 14A, 14B Xiang Buyu vertical plate L in decline as a result, The position separation interfered.
In addition, making back-and-forth motion motor 38A, 38B work for being moved forward and backward mechanism 13A, 13B as shown in Fig. 4 and Fig. 7 Make, main body 14A, 14B is made to be located at the welding direction (side X for being moved forward and backward a correct body abutment frame 28 of mechanism 13A, 13B To) front position.
Then, it using driving mechanism 5, moves frame 2 in X direction and is located at welding start position, also, utilize and do not scheme The drive motor shown makes supporting member 11 move and be located at the position of a correct main body 14A, 14B clamping vertical plate L along Y-direction Top.
Then, so that cylinder 21 is worked and decline supporting member 11, the traveling roller 51 using correct main body 14A, 14B exists The two sides of vertical plate L press lower plate U.One correct main body 14A, 14B is by the top plate in up-down slide mechanism 60, U-shaped frame 40 The elastic component 48 that is assembled between the framework 46A of the top of 41a and each head main body frame 43 and have in the up-down direction There is margin, therefore, lower plate U can be pressed with approximately fixed pressure.
Then, when push-in moves left and right the work cylinder rod 33 with working cylinder 31, a correct body abutment frame 28 is in phase Mutually being moved on close direction, a pair of of head main body 14A, 14B imitates roller 50 to abut with the two sides of vertical plate L and clamp vertical plate L, Weld preparation is completed (referring to Fig. 4).
After above-mentioned weld preparation is completed, by the welding torch 55A of head main body 14A (first electrode welding torch 53A, in rear electricity Pole welding torch 54A) electric arc be set as connecting, so that frame 2 is for example moved (reference in X direction with 1200mm/min using driving mechanism 5 (A) of Figure 11).
In addition, simultaneously, by the welding torch 55B's of head main body 14B (first electrode welding torch 53B, in rear electrode welding torch 54B) Electric arc be set as disconnect in the state of drive a back-and-forth motion of main body 14B with motor 38B, make a main body 14B with frame The identical speed (- 1200mm/min) of the movement speed of frame 2 moves (reference along the direction opposite with the moving direction of frame 2 (C) of Figure 11).That is, correct main body 14A, 14B mutually opposed state in the Y direction shown in Fig. 7 becomes shown in Fig. 8 The pre-determined deflected length amount of relative depature state.
The welding torch 55A (53A, 54A) of head main body 14A is moved together with frame 2 as a result, with speed of welding 1200mm/min The horizontal fillet welding (1 (D) referring to Fig.1) of the soldered portion W for the side (being left side in Fig. 7) for carrying out vertical plate L.
On the other hand, the welding torch 55B (53B, 54B) of head main body 14B is since the movement speed of frame 2 is with head main body 14B's Movement speed is offset, and the relative position relative to soldered portion W has not been changed, and electric arc also disconnects, therefore, without welding Stay in welding beginning (1 (E) referring to Fig.1).
It should be noted that the stroke of back-and-forth motion mechanism 13A, 13B of head main body 14A, 14B, i.e. pre-determined inclined Moving length is, for example, 600mm.
Then, as shown in figure 8, the welding torch 55A of head main body 14A makes head master when having welded pre-determined deflected length The back-and-forth motion of body 14B stops (1 (C) referring to Fig.1) with the rotation of motor 38B, by the electric arc of the welding torch 55B of head main body 14B It is set as connecting (1 (E) referring to Fig.1).
Head main body 14B starts the movement (referring to Fig.1 1 to X-direction along with the movement to X-direction of frame 2 as a result, (E)), carry out to the welding torch 55A co-operating of the welding torch 55B and head main body 14A of head main body 14B the two sides of vertical plate L simultaneously It is soldered the horizontal fillet welding of portion W.That is, the horizontal fillet welding of the soldered portion W of the two sides of vertical plate L is mobile along with the X-direction of frame 2 It is carried out simultaneously by the four root bead torches of welding torch 55A (53A, 54A) and welding torch 55B (53B, 54B).
At this point, head main body 14A is located at welding direction (X-direction) front position of head body abutment frame 28, head main body 14B Positioned at the front position with head body abutment frame 28 rearward at a distance of the rear position of deflected length.
Then, as shown in figure 9, by sensor (not shown) this case that head main body 14A reaches the terminal for being soldered portion W When detecting, the electric arc of the welding torch 55A (53A, 54A) of head main body 14A is set as disconnecting, also, moves the front and back of a main body 14A Motor 38A rotation is employed, makes the head main body 14A guided by back-and-forth motion mechanism 13A with speed identical with the movement speed of frame 2 Degree moves (1 (B) referring to Fig.1) along the direction opposite with the moving direction of frame 2.That is, correct main body 14A, 14B is from figure The state that deflected length amount is relatively deviated from shown in 9 becomes mutually opposed state in the Y direction shown in Fig. 10.
For head main body 14A, the movement speed of frame 2 and the movement speed of head main body 14A are offset, relatively It is had not been changed in the relative position for being soldered portion W, goes out the shape without being welded to stopping in the terminal location for being soldered portion W State.
Then, as shown in Figure 10, followed by the movement to X-direction of frame 2, the welding torch 55B of head main body 14B (53B, 54B) welds the unwelded portion (remainder) of soldered portion W.
At the end of the welding of the soldered portion W carried out by welding torch 55A, 55B, head main body 14A, 14B is respectively positioned on a main body The rear position of scaffold 28.In addition, the traveling roller 51 of correct main body 14A, 14B is also vertical plate L's at solder terminal Two sides press lower plate U, also, a pair of of imitation roller 50 is abutted with the two sides of vertical plate L and clamped.
In this way, the frame 2 driven by driving mechanism 5, head main body 14A, Yi Jiyou driven by back-and-forth motion motor 38A These three front mobile mechanisms of the head main body 14B of back-and-forth motion motor 38B driving 13A, 13B are separately controlled.By This, is in the case where welding torch 55A, 55B are arc starting, the welding torch 55B of the welding torch 55A and head main body 14B of head main body 14A As the state of offset, it can prevent the electric arc between welding torch 55A, 55B from interfering.In addition, the movement speed of frame 2 from welding beginning Continuously driven in a fixed manner to solder terminal, even if also, welding initial stage and weld latter stage welding torch 55A, In the case that either 55B is arc starting, correct main body 14A, 14B, which all becomes, draws lower plate U and vertical plate L The state led therefore can be in the state of deviateing to soldered portion W there is no the position of the welding torch in welding residual and welding It is welded.
It should be noted that the shape of vertical plate L is less the case where being substantially parallel either complete plane with sealing wire, greatly There is bending more or rise and fall.But a pair of of imitation roller 50 is clamped with abutting with the two sides of vertical plate L, therefore, by adjoint The progress to X-direction of frame 2 and swing main body 14A, 14B centered on swinging axle 39, thereby, it is possible to it is vertical The bending of plate L or the shape edge for accordingly making imitation roller 50 imitate vertical plate L that rises and falls move left and right.
That is, a pair of imitate roller 50 to function as mechanism is imitated, swung by making main body 14A, 14B, Neng Gou Welding torch 55A, 55B are welded in the state of not departing from sealing wire.
In addition, as described above, a pair of imitate the X-direction of roller 50 and correct main body 14A, 14B of frame 2, one mobile independently, It is abutted always with the two sides of vertical plate L in the entire stroke of welding, without departing from vertical plate L, it is therefore prevented that the production of vibration It is raw, it is therefore prevented that because the position of welding torch 55A, 55A caused by the vibration are deviateed.In addition, lower plate U is traveling the pressing of roller 51, and vertical plate L Roller 50 is imitated to clamp by a pair, therefore, lower plate U and vertical plate L will not be moved, and can be realized stable welding.
The imitation mechanism is not limited to the imitation roller 50 of above-mentioned contact, is also configured to comprising optical sensor, swashs The noncontacting proximity sensors such as optical sensor, image processing apparatus.
In addition, as shown in figure 11, it is entire being welded by welding torch 55A, 55B of either head main body 14A, 14B Period, frame 2 continuously move.Therefore, with welding torch 55A, 55B welding midway there are the initiating of the big frame 2 of quality with And stop such control and compare, the generation of the vibration because of caused by the initiating of frame 2 and stopping is prevented, there is no in welding Welding torch 55A, 55B position deviate, and will not generate welding residual, can steadily carry out based on complete full penetration Horizontal fillet welding.
As described above, horizontal fillet welding device 1 according to the present embodiment has: frame 2, lower plate U's Top is extended along the direction side by side of multiple vertical plate L；Driving mechanism can make extended direction of the frame 2 along vertical plate L Relative movement；And plumb joint 10 comprising be respectively provided with a correct main body of welding torch 55A (53A, 54A), 55B (53B, 54B) 14A, 14B and be installed in a manner of it can be moved on the direction side by side of multiple vertical plates along frame 2 frame 2 and to one enemy The supporting member 11 that main body 14A, 14B is supported.Plumb joint 10 has: making correct main body 14A, 14B relative to bearing structure The left/right movement device 12 that part 11 is moved along the direction side by side of multiple vertical plate L；And make correct main body 14A, 14B relative to branch A pair of of back-and-forth motion mechanism 13A, 13B that bearing member 11 is moved along the extended direction of vertical plate L independently of each other.As a result, not Deviate in the presence of the position of welding torch 55A, 55B in welding residual and welding, can steadily carry out based on complete full penetration Horizontal fillet welding.
In addition, back-and-forth motion mechanism 13A, 13B and head main body 14A, 14B are connected via the swinging axle of swingable rotation, Therefore, head main body 14A, 14B can imitate the shape of vertical plate L to be swung.
In addition, head main body 14A, 14B, which has, allows the up-down slide mechanism 60 moved up and down of head main body 14A, 14B and right Therefore the elastic component 48 that head main body 14A, 14B exerts a force towards lower plate U can make main body 14A, 14B have up and down direction Margin presses it to lower plate U with approximately fixed power, can steadily be welded.
It should be noted that up-down slide mechanism 60, elastic component 48 can also be moved forward and backward mechanism 13A, 13B and head It is constituted between main body 14A, 14B.For example, it is also possible to constitute up-down slide mechanism and swinging axle 39 is set as collapsed shape 60, elastic component 48 is configured around swinging axle 39.
In addition, welding torch angle θ of first electrode welding torch 53A, the 53B for the surface of lower plate U1It is 5 °~40 °, rear Welding torch angle θ of electrode welding torch 54A, the 54B for the surface of lower plate U2It is 40 °~60 °, therefore, is able to carry out stable Complete full penetration.This is because by by the welding torch angle θ of first electrode welding torch 53A, 53B1Be set as 5 °~40 ° of range and Tilt welding torch extremely, it can be ensured that deeper penetration effect, also, by by subsequent in rear electrode welding torch 54A, 54B Welding torch angle θ2It is set as 40 °~60 ° of range and is capable of forming good weld bead shape.
In addition, formerly electrode welding torch 53A, 53B and rear electrode welding torch 54A, 54B have from it lower section prolong upwards It rises towards the curved bending section 56 of Y-direction, the radius of curvature R of the bending section 56 of first electrode welding torch 53A, 53B the part stretched1It is 60 ~120mm, bent angle alpha1It is 50 °~85 °, the radius of curvature R in the bending section 56 of rear electrode welding torch 54A, 54B2For 60~ 120mm, bent angle alpha2It is 30 °~50 °, therefore, can effectively feeds soldered material, facilitate full penetration It stabilizes.Especially from the extremely inclined welding torch angle of first electrode welding torch 53A, 53B, feeding is easy to produce in mechanism Bad situation, but by by radius of curvature R1、R2And bent angle alpha1、α2It is defined as above range, can be obtained significant Effect.
Imitate roller 50 as imitation vertical plate L's in addition, head main body 14A, 14B has from a pair of of sandwich vertical plate L Shape and therefore the imitation mechanism for keeping main body 14A, 14B mobile not will receive the influence of bending or the fluctuating of vertical plate L, can Welding position without departing from the state of welded.
In addition, based on head main body 14A, 14B of mechanism 13A, 13B realization is moved forward and backward in the extended direction of vertical plate L On shift motion be set in the range of 0mm~600mm, therefore, can prevent the electric arc between welding torch 55A, 55B from interfering, and And soldered portion W can be welded in the state of there is no welding residual.
In addition, have control unit 70, the control unit 70 using welding torch 55A, 55B to being welded between lower plate U and vertical plate L When socket part W carries out horizontal fillet welding, so that frame 2 is with defined speed continuously from the relative movement of welding beginning to solder terminal Mode controls driving mechanism 5, also, at the welding initial stage welded from welding beginning, moves to the front and back of a side Motivation structure 13B is controlled, so as to become one correct for mutually opposed state in the Y direction from correct main body 14A, 14B Main body 14A, 14B relatively deviates from the state of pre-determined deflected length amount, and in the welding for being soldered to solder terminal Latter stage controls the back-and-forth motion mechanism 13A of another party, so that relatively deviating from from correct main body 14A, 14B The state of pre-determined deflected length amount becomes correct main body 14A, 14B mutually opposed state in the Y direction.As a result, It can steadily carry out in the state of there is no the position of welding torch 55A, 55B in welding residual and welding are deviateed based on complete The horizontal fillet welding of penetration welding.
In addition, horizontal fillet welding method according to the present invention, comprises the following steps: preparatory process makes in the preparatory process One correct main body 14A, 14B is located at the welding direction front position for being moved forward and backward mechanism 13A, 13B, also, makes a correct main body 14A, 14B are configured at the left and right sides of vertical plate L at the welding beginning for being soldered portion W；First welding sequence, in first Welder In sequence, move frame 2 in X direction using driving mechanism 5, using the welding torch 55A of head main body 14A, to the quilt of a side of vertical plate L Weld part W carries out the welding of pre-determined deflected length, using mechanism 13B is moved forward and backward, makes a main body 14B not change phase Mode for being soldered the relative position of portion W is moved with speed identical with the movement speed of frame 2；Second Welder Sequence, when the welding torch 55A of head main body 14A finishes the welding of deflected length, makes by being moved forward and backward in second welding sequence The mobile stopping for the head main body 14B that mechanism 13B is carried out makes enemy main body 14A, a 14B and frame 2 together using driving mechanism 5 It is mobile, the soldered portion W of the left and right sides of vertical plate L is welded simultaneously using welding torch 55A, 55B of head main body 14A, 14B； And third welding sequence, in the third welding sequence, when the welding that head main body 14A is soldered to the soldered portion W of a side is whole When end, on one side using mechanism 13A is moved forward and backward, make a main body 14A not change the side of the relative position relative to soldered portion 3 Formula is mobile with speed identical with the movement speed of frame 2, on one side using the welding torch 55B of head main body 14B to another party of vertical plate L The remainder of soldered portion W welded.Thereby, it is possible to the position of the welding torch in remaining and welding there is no welding is inclined The horizontal fillet welding based on complete full penetration is steadily carried out from the state of.
In addition, as in the present embodiment, in the case where driving mechanism 5 moves frame 2 in X direction, the first welding In process, moves a main body 14B along the direction opposite with the moving direction of frame 2, in third welding sequence, make a main body 14A is moved along the direction opposite with the moving direction of frame 2.
On the other hand, in the case where driving mechanism 5 moves lower plate U in X direction, in the first welding sequence, make head master Body 14B is moved along direction identical with the moving direction of lower plate U, in third welding sequence, makes a main body 14A along with lower plate U's The identical direction of moving direction is mobile.
It should be noted that the present invention is not limited to the above-described embodiments, modifications, improvements, and the like can be appropriately made.
For example, it is also possible to be acceleration or deceleration of the driving mechanism 5 when starting or completing the movement of frame 2 or lower plate U When, make a pair of two sides driving for being moved forward and backward mechanism 13A, 13B, not change correct main body 14A, 14B relative to soldered Shift motion amount when the mode of the relative position in portion 3 controls the acceleration or when slowing down.

Claims (11)

1. a kind of horizontal fillet welding device, which, which is directed to, has lower plate and abreast erects in the upper surface of the lower plate Erect the works for the multiple vertical plates set, the quilt of the left and right sides of vertical plate abutted to the lower plate with the vertical plate, described Weld part carries out horizontal fillet welding simultaneously,
It is characterized in that,
The horizontal fillet welding device has:
Frame is extended in the top of the lower plate along the direction side by side of the multiple vertical plate；
Driving mechanism can be such that the frame or the lower plate makes a relative move along the extended direction of the vertical plate； And
At least one plumb joint comprising be respectively provided with a correct main body of single or multiple welding torch and along the frame Frame and the mode that can be moved on the direction side by side of the multiple vertical plate is installed on the frame and to the pair of head main body The supporting member supported,
The plumb joint has:
Move left and right the pair of head main body along what the direction side by side of the multiple vertical plate was moved relative to the supporting member Mechanism；And
Move the pair of head main body along the extended direction of the vertical plate independently of each other relative to the supporting member A pair of be moved forward and backward mechanism.
2. horizontal fillet welding device according to claim 1, which is characterized in that
The back-and-forth motion mechanism is connect with the head main body via the swinging axle of swingable rotation.
3. horizontal fillet welding device according to claim 1, which is characterized in that
Between the back-and-forth motion mechanism and the head main body or in the head main body, having allows the upper and lower of the head main body Mobile up-down slide mechanism and the elastic component to exert a force to the head main body towards the lower plate.
4. horizontal fillet welding device according to claim 1, which is characterized in that
The welding torch of the pair of head main body includes first electrode welding torch and in rear electrode welding torch,
The welding torch angle on surface of the first electrode welding torch relative to the lower plate is 5 °~40 °,
The welding torch angle on the surface in rear electrode welding torch relative to the lower plate is 40 °~60 °.
5. horizontal fillet welding device according to claim 4, which is characterized in that
The welding torch have from the part that upwardly extends of lower section on it towards the direction side by side of the multiple vertical plate it is curved to A few bending section,
The radius of curvature of the bending section of the first electrode welding torch is 60~120mm, and bending angle is 50 °~85 °,
The radius of curvature of the bending section in rear electrode welding torch is 60~120mm, and bending angle is 30 °~50 °.
6. horizontal fillet welding device according to claim 1, which is characterized in that
The head main body has the shape for imitating the vertical plate and makes at least one imitation mechanism of the head main body movement.
7. horizontal fillet welding device according to claim 1, which is characterized in that
Shift motion of the head main body based on back-and-forth motion mechanism realization on the extended direction of the vertical plate It is set in the range of 0mm~600mm.
8. horizontal fillet welding device according to claim 1, which is characterized in that
The horizontal fillet welding device has control unit, and the control unit is in utilization welding torch to the institute between the lower plate and the vertical plate When stating soldered portion's progress horizontal fillet welding, so that the frame or the lower plate are with defined speed continuously from welding beginning phase The mode for being moved to solder terminal controls the driving mechanism, also, is welded from the welding beginning Welding initial stage, the back-and-forth motion mechanism of a side is controlled, so that from the pair of head main body the multiple Mutually opposed state becomes the pair of head main body relatively to deviate from pre-determined offset long on the direction side by side of vertical plate The state of measurement controls the back-and-forth motion mechanism of another party in the welding latter stage for being soldered to the solder terminal, So that relatively deviating from the state of pre-determined deflected length amount from the pair of head main body becomes the pair of head master Body state mutually opposed on the direction side by side of the multiple vertical plate.
9. a kind of horizontal fillet welding method uses level described in any one of any one of claims 1 to 88 in the horizontal fillet welding method Fillet welding device, it is right for having lower plate and abreast erect the works of multiple vertical plates of setting in the upper surface of the lower plate The soldered portion of the left and right sides of the vertical plate that the lower plate is abutted with the vertical plate, described carries out horizontal fillet welding simultaneously,
It is characterized in that,
The horizontal fillet welding method comprises the following steps:
Preparatory process, in the preparatory process, before making the pair of head main body be located at the welding direction for being moved forward and backward mechanism Orientation is set, also, the pair of head main body is made to be configured at the left and right sides of the vertical plate at the welding beginning in the soldered portion；
First welding sequence makes the frame or the lower plate along institute in first welding sequence using the driving mechanism The extended direction relative movement for stating vertical plate, using the head main body of the side in the pair of head main body, to the vertical plate The soldered portion of one side carries out the welding of pre-determined deflected length, using the back-and-forth motion mechanism, makes described one The head main body of another party in correct main body in a manner of not changing relative to the relative position in the soldered portion with it is described The identical speed of the movement speed of frame or the lower plate is mobile；
Second welding sequence, in second welding sequence, when the head main body of the party finishes the weldering of the deflected length When connecing, makes the mobile stopping of the head main body of the described another party carried out by the back-and-forth motion mechanism, utilize the driving mechanism It moves together the pair of head main body with the frame or the lower plate, the described of the left and right sides of the vertical plate is soldered It is welded simultaneously in portion；And
Third welding sequence is soldered in the third welding sequence when the head main body of the party is soldered to the described of a side When the solder terminal in portion, the back-and-forth motion mechanism is utilized on one side, makes the head main body of the party not change relative to described The mode of the relative position in the portion of being soldered is mobile with speed identical with the movement speed of the frame or the lower plate, a lateral dominance It is welded with remainder of the head main body of described another party to the soldered portion of another party of the vertical plate.
10. horizontal fillet welding method according to claim 9, which is characterized in that
The driving mechanism moves the frame along the extended direction of the vertical plate,
In first welding sequence, make the head main body of described another party along the direction opposite with the moving direction of the frame It is mobile,
In the third welding sequence, move the head main body of the party along the direction opposite with the moving direction of the frame It is dynamic.
11. horizontal fillet welding method according to claim 9, which is characterized in that
The driving mechanism moves the lower plate along the extended direction of the vertical plate,
In first welding sequence, make the head main body of described another party along direction identical with the moving direction of the lower plate It is mobile,
In the third welding sequence, move the head main body of the party along direction identical with the moving direction of the lower plate It is dynamic.
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CN103347637A (en) * 2011-02-28 2013-10-09 株式会社神户制钢所 Gas shielded arc welding apparatus
CN104105571A (en) * 2012-02-02 2014-10-15 小池酸素工业株式会社 Welding carriage
CN102672315A (en) * 2012-06-07 2012-09-19 中国东方电气集团有限公司 Autonomous mobile double-sided double-arc welding robot system
CN104708168A (en) * 2013-10-21 2015-06-17 浙江飞力科技股份有限公司 Automatic welding machine with PLC

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109877504A (en) * 2019-04-19 2019-06-14 杜宗英 Ship welds longitudinal parallel muscle ancillary equipment with heavy steel plate
CN114273832A (en) * 2022-01-20 2022-04-05 广东省科学院中乌焊接研究所 Welding equipment and welding method

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JP6817175B2 (en) 2021-01-20

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