CN109604775B

CN109604775B - Horizontal fillet welding device and horizontal fillet welding method

Info

Publication number: CN109604775B
Application number: CN201810957521.4A
Authority: CN
Inventors: 村上元章
Original assignee: Kobe Steel Ltd
Current assignee: Kobe Steel Ltd
Priority date: 2017-10-04
Filing date: 2018-08-21
Publication date: 2021-01-08
Anticipated expiration: 2038-08-21
Also published as: CN109604775A; KR20190039462A; JP2019063844A; KR102115731B1; JP6817175B2

Abstract

The invention provides a horizontal fillet welding device which can perform stable complete penetration welding and has no welding residue and no position deviation of a welding torch during welding. The horizontal fillet welding device is provided with: a frame (2) which is arranged above the lower plate (U) and extends along the parallel direction of the vertical plates (L); a driving mechanism (5) which can make the frame move relatively along the extending direction of the vertical plate; and a welding head (10) that includes a pair of head main bodies (14A, 14B) having welding torches (55A, 55B), and a support member (11) that is attached to the frame so as to be movable along the frame in the direction in which the plurality of vertical plates are arranged, and that supports the pair of head main bodies. The welding head is provided with: a left-right moving mechanism (12) for moving the pair of head main bodies relative to the supporting member along the direction in which the plurality of vertical plates are arranged; and a pair of forward and backward movement mechanisms (13A, 13B) for moving the pair of head main bodies independently of each other with respect to the support member in the extending direction of the vertical plate.

Description

Horizontal fillet welding device and horizontal fillet welding method

Technical Field

The invention relates to a horizontal fillet welding device and a horizontal fillet welding method.

Background

When automatically performing horizontal fillet welding on a long steel material for a large structure such as a ship building or a bridge, a pair of welding heads each having a welding torch are arranged on both sides of a vertical plate, and welding is performed while moving the pair of welding heads in a welding direction. In such a horizontal fillet welding apparatus, high-efficiency and high-precision welding is required, and in the past, improvement of efficiency by multi-electric polarization and improvement of precision by application of various sensors have been achieved. For example, patent document 1 describes a gas shielded arc welding apparatus including a filler wire torch between two electrode torches in order to suppress a fluctuation in a molten pool shape due to arc interference when the two electrode torches are used. In particular, in patent document 1, by rotating the electrode torch and the filler wire torch in desired directions in all directions including the welding direction, the vertical direction, and the butt direction, the inter-electrode distance between the electrodes of the respective torches and the torch angle are appropriately adjusted, thereby facilitating adjustment to an optimum welding condition.

Patent document 2 discloses a strip welding apparatus including: an emulation sensor that detects a change in position of the welded portion before the welding torch; the welding torch is moved based on a detection signal from the tracking sensor to track a change in the position of the welded portion, thereby tracking the welding torch and performing welding with high accuracy.

Prior art documents

Patent document

Patent document 1: japanese patent laid-open No. 2012-179613

Patent document 2: japanese laid-open patent publication No. 8-99173

Disclosure of Invention

Problems to be solved by the invention

However, from the viewpoint of mechanical properties, the weld is preferably completely melted through. However, when the welded portion is completely melted through in the horizontal fillet welding, the welding needs to be performed at a high current. When the welding heads on the left and right sides of the vertical plate perform high current welding at the same position in the welding direction, arc interference is caused between the two poles of the facing electrodes, and the possibility of occurrence of welding defects is increased. Therefore, when the welded portion is to be completely melted through, it is necessary to shift the welding position of each welding head in the welding direction, but if each welding head is simply shifted, there is a problem that welding remains at the start end or the end of welding. In order to prevent welding residue at the start end or the end of welding, it is considered that the movable length of each welding head is longer than the length of the welded portion by the offset length of each welding head, and the arc of the welding torch at a position offset from the welded portion is broken to perform welding. However, in this case, the guide mechanism that guides the welding head in conformity with the lower plate or the vertical plate comes into contact with or separates from the lower plate or the vertical plate at the initial stage or the final stage of welding, and therefore, there is a possibility that the position of the welding torch may be displaced at this time. In the horizontal fillet welding apparatus of this type, complete penetration may not be assumed, and the welding apparatuses described in

patent documents

1 and 2 are not considered for the above-described problem.

The present invention has been made in view of the above problems, and an object thereof is to provide a horizontal fillet welding apparatus and a horizontal fillet welding method that can perform stable complete penetration fusion welding and that do not have welding residue and positional deviation of a welding torch during welding.

Solution scheme

The above object of the present invention is achieved by the following structure.

(1) A horizontal fillet welding device for a structure comprising a lower plate and a plurality of vertical plates erected side by side on the upper surface of the lower plate, wherein horizontal fillet welding is simultaneously performed on welded portions on the left and right sides of the vertical plates, which are abutted by the lower plate and the vertical plates,

it is characterized in that the preparation method is characterized in that,

the horizontal fillet welding device is provided with:

a frame extending along the direction of the vertical plates above the lower plate;

a drive mechanism that can relatively move the frame or the lower plate in the extending direction of the vertical plate; and

at least one welding head including a pair of head main bodies each having one or more welding torches, and a support member that is attached to the frame so as to be movable along the frame in a direction in which the plurality of vertical plates are arranged side by side and supports the pair of head main bodies,

the welding head is provided with:

a left-right moving mechanism that moves the pair of head main bodies relative to the support member in a direction in which the plurality of vertical plates are arranged side by side; and

and a pair of forward and backward moving mechanisms for moving the pair of head main bodies independently of each other with respect to the support member in an extending direction of the vertical plate.

(2) The horizontal fillet welding apparatus according to item (1), wherein,

the forward/backward movement mechanism is connected to the head main body via a swing shaft that can swing and rotate.

(3) The horizontal fillet welding apparatus according to the item (1) or (2),

between the forward/backward movement mechanism and the head main body or on the head main body, a vertical sliding mechanism that allows vertical movement of the head main body and an elastic member that urges the head main body toward the lower plate are provided.

(4) The horizontal fillet welding apparatus according to any one of (1) to (3),

the welding torch of the pair of head bodies includes a leading electrode welding torch having a torch angle of 5 ° to 40 ° with respect to the surface of the lower plate and a trailing electrode welding torch having a torch angle of 40 ° to 60 ° with respect to the surface of the lower plate.

(5) The horizontal fillet welding apparatus according to item (4), wherein,

the welding torch has at least one bending part which is bent from a part extending in the upper and lower directions of the welding torch towards the parallel direction of the vertical plates, the curvature radius of the bending part of the former electrode welding torch is 60-120 mm, the bending angle is 50-85 degrees, the curvature radius of the bending part of the latter electrode welding torch is 60-120 mm, and the bending angle is 30-50 degrees.

(6) The horizontal fillet welding apparatus according to any one of (1) to (5),

the head main body includes at least one following mechanism that moves the head main body following the shape of the upright plate.

(7) The horizontal fillet welding apparatus according to any one of (1) to (6),

the moving stroke of the head main body in the extending direction of the vertical plate is set within the range of 0mm to 600mm based on the front-back moving mechanism.

(8) The horizontal fillet welding apparatus according to any one of (1) to (7),

the horizontal fillet welding device includes a controller that controls the drive mechanism so that the frame or the lower plate is continuously moved relatively from a welding start end to a welding end at a predetermined speed when the welded portion between the lower plate and the upright plate is fillet welded by a welding torch, and controls the forward-backward moving mechanism so that the pair of head bodies are relatively deviated by a predetermined deviation length amount from a state in which the pair of head bodies are relatively opposed in a direction in which the plurality of upright plates are arranged in parallel at an initial stage of welding in which welding is performed from the welding start end, and controls the forward-backward moving mechanism so that the pair of head bodies are relatively deviated by the predetermined deviation length amount from the pair of head bodies at a final stage of welding in which welding is performed to the welding end The set state.

(9) A horizontal fillet welding method for simultaneously horizontally fillet welding a lower plate and welded portions on both left and right sides of an upright plate, which is brought into contact with the lower plate, to a structure including the lower plate and the upright plates erected side by side on an upper surface of the lower plate, using the horizontal fillet welding device according to any one of (1) to (8),

the horizontal fillet welding method comprises the following steps:

a preparation step of positioning the pair of head bodies at positions forward in a welding direction of the forward-backward moving mechanism, and disposing the pair of head bodies on both left and right sides of the upright plate at a welding start end of the portion to be welded;

a first welding step of relatively moving the frame or the lower plate in an extending direction of the upright plate by the drive mechanism, welding the welded portion of one of the upright plate by a predetermined offset length by one of the pair of head bodies, and moving the other of the pair of head bodies at the same speed as a moving speed of the frame or the lower plate by the forward-backward moving mechanism without changing a relative position with respect to the welded portion;

a second welding step of stopping the movement of the other head main body by the forward-backward moving mechanism when the one head main body finishes the welding by the offset length, moving the pair of head main bodies together with the frame or the lower plate by the driving mechanism, and simultaneously welding the welded portions on both the left and right sides of the upright plate; and

and a third welding step of welding the remaining portion of the other welded portion of the upright plate by the other head main body while moving the one head main body at the same speed as the moving speed of the frame or the lower plate by the forward-backward moving mechanism without changing the relative position of the one head main body with respect to the welded portion when the one head main body is welded to the welding terminal of the one welded portion.

(10) The horizontal fillet welding method according to item (9), wherein,

the driving mechanism moves the frame in an extending direction of the upright plate, moves the other head main body in a direction opposite to a moving direction of the frame in the first welding step, and moves the one head main body in a direction opposite to the moving direction of the frame in the third welding step.

(11) The horizontal fillet welding method according to item (9), wherein,

the driving mechanism moves the lower plate in the extending direction of the upright plate, moves the other head main body in the same direction as the moving direction of the lower plate in the first welding step, and moves the one head main body in the same direction as the moving direction of the lower plate in the third welding step.

In the present invention, "horizontal fillet welding is simultaneously performed on the welded portions on both the left and right sides of the upright plate" includes a case where welding is performed in a state where the welding torches of the pair of head bodies are offset by an offset length in the extending direction of the upright plate.

Effects of the invention

The horizontal fillet welding device according to the present invention includes: the frame is arranged above the lower plate in an extending mode along the parallel direction of the vertical plates; a drive mechanism which can make the frame or the lower plate move relatively along the extending direction of the vertical plate; and at least one welding head including a pair of head main bodies each having one or more welding torches, and a support member that is attached to the frame so as to be movable along the frame in a direction in which the plurality of vertical plates are arranged, and supports the pair of head main bodies. The welding head is provided with: a left-right moving mechanism for moving the pair of head main bodies relative to the supporting member in the direction in which the plurality of vertical plates are arranged side by side; and a pair of forward and backward moving mechanisms for moving the pair of head main bodies independently of each other with respect to the support member in the extending direction of the vertical plate. Thus, horizontal fillet welding by full penetration welding can be stably performed without welding residue and positional deviation of the welding torch during welding.

Further, the horizontal fillet welding method according to the present invention includes the horizontal fillet welding apparatus described above, and includes the steps of: a preparation step of positioning the pair of head bodies in front of the forward-backward moving mechanism in the welding direction and disposing the pair of head bodies on both left and right sides of the vertical plate at the welding start end of the portion to be welded; a first welding step of relatively moving the frame or the lower plate in the extending direction of the upright plate by the driving mechanism, welding the welded portion of one of the upright plates by a predetermined offset length by one of the pair of head bodies, and moving the other of the pair of head bodies at the same speed as the moving speed of the frame or the lower plate by the forward-backward moving mechanism without changing the relative position with respect to the welded portion; a second welding step of stopping the movement of the other head body by the forward-backward moving mechanism when the one head body finishes the welding of the offset length, moving the pair of head bodies together with the frame or the lower plate by the driving mechanism, and simultaneously welding the welded portions on the left and right sides of the vertical plate; and a third welding step of welding the remaining portion of the other welded portion of the upright plate by the other head body while moving the one head body at the same speed as the moving speed of the frame or the lower plate by the forward-backward moving mechanism without changing the relative position with respect to the welded portion when the one head body is welded to the welding end of the one welded portion. Thus, horizontal fillet welding by full penetration welding can be stably performed without welding residue and positional deviation of the welding torch during welding.

Drawings

FIG. 1 is a front view of the horizontal fillet welding device of the invention.

Fig. 2 is a side view of the horizontal fillet welding apparatus shown in fig. 1.

Fig. 3 is a perspective view showing a coupling structure of the frame and the support member.

Fig. 4 is a front view of the head main body.

Fig. 5 is a side view of the head main body.

Figure 6A is a front view of a prior electrode torch.

Figure 6B is a front view of the trailing electrode torch.

Fig. 7 is a perspective view showing a state of each head body at the start of horizontal fillet welding in one of the welding heads.

Fig. 8 is a perspective view showing a state of each head body at the start of horizontal fillet welding in the other welding head.

Fig. 9 is a perspective view showing a state of each head body when horizontal fillet welding is completed in one welding head.

Fig. 10 is a perspective view showing a state of each head body at the end of horizontal fillet welding in the other welding head.

Fig. 11 is a timing chart showing the moving speed of the frame with respect to the lower plate, the moving speed of one head body with respect to the frame, the moving speed of the other head body with respect to the frame, the moving speed of one head body with respect to the lower plate, and the moving speed of the other head body with respect to the lower plate.

Description of reference numerals:

1, a horizontal fillet welding device;

2, a frame;

10 welding a welding head;

11 a support member;

12 a left-right moving mechanism;

13A, 13B forward and backward movement mechanism;

14A, 14B head main body;

39 a swing shaft;

48 an elastic member;

50 an emulation roller (emulation mechanism);

53A, 53B lead electrode torch;

54A, 54B at the rear electrode torch;

55A, 55B welding torches;

70 a control unit;

a U lower plate;

an L-shaped vertical plate;

a W welded portion;

R₁、R₂a radius of curvature;

α₁、α₂a bend angle;

θ₁、θ₂the torch angle.

Detailed Description

Hereinafter, an embodiment of a horizontal fillet welding apparatus according to the present invention will be described in detail with reference to the drawings. Fig. 1 is a front view and fig. 2 is a side view of a horizontal fillet welding apparatus of the present invention.

As shown in fig. 1 and 2, a horizontal fillet welding apparatus 1 of the present embodiment is a so-called wire bonding machine that horizontally fillet welds a structural portion including a lower plate U horizontally disposed and a plurality of vertical plates L vertically arranged side by side on an upper surface of the lower plate U. That is, in the horizontal fillet welding apparatus 1, the lower plate U abuts against the upright plate L, and while moving the welding heads 10 relative to the welded portions W on both the left and right sides of the upright plate L, the welded portions W on both the left and right sides are simultaneously subjected to horizontal fillet welding by full penetration welding using the pair of head

main bodies

14A, 14B.

In the following description, the extending direction of the vertical plate L, that is, the welding direction is represented as the X direction or the front-rear direction, the parallel direction of the vertical plates L, that is, the horizontal direction orthogonal to the welding direction is represented as the Y direction or the left-right direction, and the direction orthogonal to the X direction and the Y direction is represented as the Z direction or the up-down direction.

The horizontal fillet welding apparatus 1 includes: a frame 2 extending along the Y direction, i.e. the parallel direction of the plurality of vertical plates L, above the vertical plates L; a driving mechanism 5 for moving the support columns 3 provided on the left and right sides of the frame 2 together with the frame 2 in the X direction, i.e., the extending direction of the vertical plate L; at least one (4 in the present embodiment) welding head 10 mounted on the frame 2 so as to be movable in the Y direction along the frame 2; and a control unit 70 for controlling the drive mechanism 5 and the bonding head 10.

Here, the frame 2 and the support 3 constitute a gate frame 4 disposed so as to straddle the lower plate U and the upright plate L. The driving mechanism 5 drives and rotates the travel roller 6 by a driving motor or the like, not shown, and thereby moves the gate frame 4 in the X direction. In the present invention, the lower plate U may be moved in the X direction as long as the gate frame 4 and the lower plate U are moved in the X direction.

The bonding head 10 includes: a support member 11; a pair of head

main bodies

14A, 14B; a right-left movement mechanism 12 for moving the head

main bodies

14A and 14B in the Y direction with respect to the support member 11; and a pair of forward-

backward movement mechanisms

13A, 13B that move the head

main bodies

14A, 14B independently of each other in the X direction with respect to the support member 11. The left-right moving mechanism 12 and the pair of front-

rear moving mechanisms

13A, 13B are provided between the support member 11 and the pair of head

main bodies

14A, 14B.

Referring also to fig. 3, the head

main bodies

14A and 14B are moved in the Y direction and the Z direction by the support member 11, and the slider 16 provided on the movable base plate 15 of the support member 11 is moved in the Y direction along the horizontal guide rails 17 by being driven by a drive motor, not shown, across two horizontal guide rails 17 fixed to the front surface of the frame 2.

Further, the slider 18 provided on the front surface of the movable base plate 15 is provided on a vertical guide rail 20 provided on a first pillar 19 of the support member 11 so as to straddle it, and guides the support member 11 in the Z direction along the vertical guide rail 20. An air cylinder 21 in which the tip end of a piston rod 22 is fixed to the movable base plate 15 is disposed above the first support 19. Thereby, the cylinder 21 is operated, and the piston rod 22 is pulled out or pushed in, thereby moving the support member 11 in the Z direction.

A pair of X frames 25 extending in the X direction are fixed to a lower portion of a second column 24 fixed in parallel to the first column 19 by upper and lower crossbars 23. Y frames 26 are fixed to both ends of the pair of X frames 25 in the X direction so as to extend in the Y direction.

In the present embodiment, the movable base 15, the first support 19, the crossbar 23, the second support 24, and the pair of X frames 25 constitute the support member 11.

Further, a slider 29 fixed to the upper surface of the head main body support frame 28 is provided across the left and right guide rails 27 fixed to the lower surfaces of the Y frames 26, and the slider 29 guides the pair of head main body support frames 28 in the Y direction along the left and right guide rails 27.

Referring also to fig. 4, the pair of head main body support frames 28 are connected to a cylinder main body 32 of a cylinder 31 for right and left movement and a cylinder rod 33 via a connecting plate 30 fixed to the head main body support frames 28, respectively. Thus, the pair of head main body support frames 28 can be moved in the direction of approaching or separating from each other by operating the leftward and rightward moving cylinder 31 to pull out or push in the cylinder rod 33.

That is, the Y frame 26, the left and right guide rails 27, the slider 29, and the left and right movement cylinder 31 constitute the left and right movement mechanism 12 that moves the pair of head main body support frames 28, and thus the head

main bodies

14A and 14B, in directions to approach or separate from each other.

Referring also to fig. 4 and 5, front and rear guide rails 35 are fixed to the lower surfaces of the pair of head main body support frames 28 so as to extend in the X direction. A pair of sliders 37 fixed to head main

body support plates

36A and 36B of the head

main bodies

14A and 14B are provided across the front and rear guide rails 35, respectively, and the pair of sliders 37 guide the head main body support plates 36, and thus the head

main bodies

14A and 14B, in the X direction, respectively.

The ball screw mechanism 34 and the forward-

backward movement motors

38A and 38B are disposed on the head main

body support plates

36A and 36B, and by operating the forward-

backward movement motors

38A and 38B, the ball screw mechanism 34 rotates, and the head main

body support plates

36A and 36B are guided along the forward-backward guide rail 35 and move in the forward-backward direction together with the head

main bodies

14A and 14B. The forward-

backward movement motors

38A, 38B are controlled by the control unit 70 to be operable independently of each other, and therefore the head

main bodies

14A, 14B are movable independently of each other in the X direction.

That is, the head main body support frame 28, the front-rear rail 35, the head main

body support plates

36A, 36B, the slider 37, the ball screw mechanism 34, and the front-

rear movement motors

38A, 38B constitute front-

rear movement mechanisms

13A, 13B that move the head

main bodies

14A, 14B in the X direction independently of each other.

The movement stroke of the head

main bodies

14A and 14B in the X direction by the forward-

backward movement mechanisms

13A and 13B is set within a range of 0mm to 600 mm.

The head

main bodies

14A and 14B are respectively disposed on the head main

body support plates

36A and 36B via swing shafts 39, and the head

main bodies

14A and 14B are respectively swingable about the swing shafts 39 with respect to the head main

body support plates

36A and 36B.

Next, the

head bodies

14A and 14B will be described. The head

main bodies

14A and 14B are different only in that the arrangement of a preceding electrode torch and a following electrode torch described later is reversed, but have substantially the same configuration except for this, and therefore, one head main body 14A will be described, and a part of the other head main body 14B will be omitted.

As shown in fig. 5, an コ -shaped frame 40 having a pair of leg portions 41b whose upper ends are connected by a top plate 41a of the head main body 14A is fixed to the swing shaft 39. Sliders 42 are fixed to inner surfaces of the pair of leg portions 41b, respectively. Each slider 42 is provided on a vertical guide 44 fixed to an outer surface of the head main body frame 43 so as to straddle the head main body frame 43, and guides the head main body frame 43 to be movable in the vertical direction with respect to the コ -shaped frame 40. Therefore, the コ -shaped frame 40, the slider 42, the up-down guide rail 44, and the head main body frame 43 constitute the up-down slide mechanism 60 that allows the up-down movement of the head

main bodies

14A, 14B.

The head main body frame 43 includes: a pair of upper and lower frames 45 extending in the vertical direction; and a pair of

coupling frames

46A, 46B (see also fig. 8) that couple the pair of upper and lower frames 45 to each other at upper and middle portions of the pair of upper and lower frames 45.

An elastic member 48 such as a coil spring is attached between the top plate 41a of the コ -shaped frame 40 and the connecting frame 46A above each head main body frame 43, and the elastic member 48 constantly biases the head main body frame 43 downward.

L-shaped plates 49 extending in the Y direction toward the vertical plate L are attached to the lower ends of the pair of upper and lower frames 45, respectively, and a roller unit 61 in which an dummy roller 50 rotatable about a vertical axis and a running roller 51 rotatable on the lower plate U are unitized is disposed on each plate 49. As shown in fig. 4, the dummy rollers 50 constitute a dummy mechanism that sandwiches the vertical plate L from both the left and right sides and moves the pair of head main body frames 43, in other words, the pair of head

main bodies

14A and 14B, in accordance with the shape of the vertical plate L.

Further, a torch holder 52 is provided on each of the pair of upper and lower frames 45, and the torch holder 52 holds portions of the leading electrode torch 53A and the trailing electrode torch 54A extending in the vertical direction. That is, the head main body 14A includes a set of welding torches 55A including the leading electrode welding torch 53A and the trailing electrode welding torch 54A, and the head main body 14B includes another set of welding torches 55B including the leading electrode welding torch 53B and the trailing electrode welding torch 54B.

Fig. 6A and 6B show the leading electrode torch 53A and the trailing electrode torch 54A of the head main body 14A, but the leading electrode torch 53B and the trailing electrode torch 54B of the head main body 14B also have the same configuration. That is, the leading

electrode torches

53A and 53B and the trailing

electrode torches

54A and 54B include the bent portion 56 that is bent in the Y direction from the portion extending in the vertical direction so that the welding electrode at the leading end portion is directed to the welded portion W of the upright plate L. Radius of curvature R of curved portion 56 of leading

electrode torches

53A and 53B₁60-120 mm, bending angle alpha₁Is 50 DEG-85 DEG, and a welding torch angle theta relative to the surface of the lower plate U₁Is set to 5 DEG to 40 deg. The radius of curvature R of the curved portion 56 of the trailing

electrode torches

54A and 54B₂60-120 mm, bending angle alpha₂Is 30-50 DEG, and a welding torch angle theta relative to the surface of the lower plate U₂Is set to 40 DEG to 60 deg.

The torch holder 52 holds the leading

electrode torches

53A and 53B and the trailing

electrode torches

54A and 54B to be finely adjustable in the Y direction and the Z direction.

Next, a horizontal fillet welding step by the horizontal fillet welding apparatus 1 will be described with reference to fig. 1 and fig. 7 to 11. Fig. 7 shows a state of the pair of head bodies at the start of horizontal fillet welding in one welding head, and fig. 8 shows a state of the pair of head bodies at the start of horizontal fillet welding in the other welding head. Fig. 9 shows a state of the pair of head bodies when horizontal fillet welding is completed in one of the welding heads, and fig. 10 shows a state of the pair of head bodies when horizontal fillet welding is completed in the other welding head. Fig. 11 is a timing chart showing the operation of the frame and the pair of head bodies, and illustrates acceleration and deceleration at the time of driving the driving mechanisms 5 (a) and the front and

rear driving mechanisms

13A and 13B (B) and (C).

First, as shown in fig. 1, the cylinder 31 for right-left movement of the right-left movement mechanism 12 is operated to pull out the cylinder rod 33, and the pair of head main body support frames 28 are moved outward. Thus, the pair of head

main bodies

14A and 14B are separated from each other at a position where they do not interfere with the vertical plate L when they are lowered.

As shown in fig. 4 and 7, the front-

rear movement motors

38A and 38B of the front-

rear movement mechanisms

13A and 13B are operated to position the

head bodies

14A and 14B at positions forward in the welding direction (X direction) of the pair of head body support frames 28 of the front-

rear movement mechanisms

13A and 13B.

Next, the frame 2 is moved in the X direction by the drive mechanism 5 to be positioned at the welding start position, and the support member 11 is moved in the Y direction by a drive motor, not shown, to be positioned above a position where the pair of head

main bodies

14A and 14B sandwich the vertical plate L.

Then, the air cylinder 21 is operated to lower the support member 11, and the lower plate U is pressed against both sides of the vertical plate L by the traveling rollers 51 of the pair of

head bodies

14A, 14B. The pair of head

main bodies

14A and 14B have a margin in the vertical direction by the elastic member 48 attached between the top plate 41a of the vertical slide mechanism 60 or コ -shaped frame 40 and the connecting frame 46A above each head main body frame 43, and therefore can press the lower plate U with a substantially constant pressure.

When the cylinder rod 33 of the left-right movement cylinder 31 is pushed in, the pair of head main body support frames 28 move in the direction approaching each other, the pair of dummy rollers 50 of the head

main bodies

14A and 14B contact both side surfaces of the vertical plate L to sandwich the vertical plate L, and the welding preparation is completed (see fig. 4).

After the welding preparation is completed, the arc of the welding torch 55A (the leading electrode welding torch 53A and the trailing electrode welding torch 54A) of the head main body 14A is turned on, and the frame 2 is moved in the X direction by the drive mechanism 5 at, for example, 1200mm/min (see fig. 11 a).

At the same time, the front-rear movement motor 38B of the head main body 14B is driven with the arc of the welding torch 55B (the leading electrode welding torch 53B and the trailing electrode welding torch 54B) of the head main body 14B turned off, and the head main body 14B is moved in the direction opposite to the movement direction of the frame 2 at the same speed (-1200mm/min) as the movement speed of the frame 2 (see fig. 11C). That is, the pair of

head bodies

14A and 14B are shifted from the state opposed to each other in the Y direction shown in fig. 7 to the state of being relatively deviated by the predetermined offset length amount shown in fig. 8.

Thus, welding torch 55A (53A, 54A) of head body 14A moves together with frame 2, and horizontal fillet welding of welded portion W on one side (left side in fig. 7) of vertical plate L is performed at welding speed 1200mm/min (see fig. 11 (D)).

On the other hand, since the movement speed of the frame 2 and the movement speed of the head main body 14B cancel each other out, the welding torch 55B (53B, 54B) of the head main body 14B is not moved to the welding target portion W and the arc is also broken, and therefore welding is not performed and remains at the welding start end (see fig. 11 (E)).

The stroke of the forward and

backward movement mechanisms

13A and 13B of the head

main bodies

14A and 14B, that is, the predetermined offset length is, for example, 600 mm.

Then, as shown in fig. 8, when the welding torch 55A of the head main body 14A is welded by a predetermined offset length, the rotation of the forward/backward movement motor 38B of the head main body 14B is stopped (see fig. 11C), and the arc of the welding torch 55B of the head main body 14B is turned on (see fig. 11E).

Accordingly, the head main body 14B starts moving in the X direction in accordance with the movement of the frame 2 in the X direction (see fig. 11E), and the welding torch 55B of the head main body 14B performs horizontal fillet welding of the welded portions W on both sides of the vertical plate L simultaneously in cooperation with the welding torch 55A of the head main body 14A. That is, horizontal fillet welding of the welded portions W on both sides of the vertical plate L is performed simultaneously by four welding torches of the welding torch 55A (53A, 54A) and the welding torch 55B (53B, 54B) in association with the X-direction movement of the frame 2.

At this time, the head body 14A is located at a position forward in the welding direction (X direction) of the head body support frame 28, and the head body 14B is located at a position rearward of the forward position of the head body support frame 28 by a length offset rearward.

Then, as shown in fig. 9, when the head main body 14A reaches the end of the portion W to be welded is detected by a sensor (not shown), the arc of the welding torch 55A (53A, 54A) of the head main body 14A is turned off, and the forward-backward movement motor 38A of the head main body 14A is rotated to move the head main body 14A guided by the forward-backward movement mechanism 13A in the direction opposite to the movement direction of the frame 2 at the same speed as the movement speed of the frame 2 (see fig. 11B). That is, the pair of

head bodies

14A and 14B are shifted from the state shown in fig. 9 by the offset length amount to the state shown in fig. 10 facing each other in the Y direction.

Thus, the head body 14A is in a state in which the movement speed of the frame 2 and the movement speed of the head body 14A are cancelled out, the relative position with respect to the portion to be welded W is unchanged, and the portion to be welded W is stopped without being welded at the end position of the portion to be welded W.

Then, as shown in fig. 10, immediately after the movement of the frame 2 in the X direction, the welding torch 55B (53B, 54B) of the head main body 14B welds the non-welded portion (remaining portion) of the welded portion W.

When welding of the to-be-welded portion W by the welding torches 55A and 55B is completed, both the head

main bodies

14A and 14B are positioned rearward of the head main body support frame 28. At the welding terminal end, the traveling rollers 51 of the pair of head

main bodies

14A and 14B also press the lower plate U against both sides of the upright plate L, and the pair of dummy rollers 50 are in contact with both side surfaces of the upright plate L and are sandwiched therebetween.

In this way, the three

front movement mechanisms

13A and 13B, i.e., the frame 2 driven by the drive mechanism 5, the head main body 14A driven by the front-rear movement motor 38A, and the head main body 14B driven by the front-rear movement motor 38B, are independently controlled. Accordingly, when both the welding torches 55A and 55B are arc-on, the welding torch 55A of the head body 14A and the welding torch 55B of the head body 14B are in an offset state, and arc interference between the welding torches 55A and 55B can be prevented. Further, the movement speed of the frame 2 is continuously and constantly driven from the welding start end to the welding end, and even when one of the welding torches 55A and 55B at the initial stage and the final stage of welding is on, the pair of head

main bodies

14A and 14B are in a state of guiding the lower plate U and the upright plate L, and therefore, the welding target portion W can be welded without welding residue and positional deviation of the welding torch during welding.

The shape of the vertical plate L is rarely completely parallel to the weld line or completely planar, and is often curved or undulated. However, since the pair of dummy rollers 50 are held in contact with both side surfaces of the vertical plate L, the dummy rollers 50 can be moved leftward and rightward in accordance with the curve or undulation of the vertical plate L by swinging the head

main bodies

14A and 14B about the swing shaft 39 as the frame 2 moves in the X direction.

That is, the pair of dummy rollers 50 function as a dummy mechanism, and welding can be performed without separating the welding torches 55A and 55B from the welding line by swinging the head

main bodies

14A and 14B.

Further, as described above, the pair of dummy rollers 50 always abut against both side surfaces of the upright plate L throughout the entire welding process regardless of the movement of the frame 2 and the pair of head

main bodies

14A and 14B in the X direction, and do not come off the upright plate L, so that the occurrence of vibration is prevented, and the positional deviation of the welding torches 55A and 55A due to the vibration is prevented. Further, since the lower plate U is pressed by the traveling rollers 51 and the upright plate L is sandwiched between the pair of dummy rollers 50, the lower plate U and the upright plate L do not move, and stable welding can be achieved.

The dummy mechanism is not limited to the contact type dummy roller 50, and may be configured to include a non-contact type sensor such as an optical sensor, a laser sensor, or an image processing device.

As shown in fig. 11, the frame 2 is continuously moved throughout the welding by the welding torches 55A and 55B of either one of the head

main bodies

14A and 14B. Therefore, compared to the control in which the start and stop of the frame 2 having a large mass are present during the welding of the welding torches 55A and 55B, the occurrence of vibration due to the start and stop of the frame 2 is prevented, the positional deviation of the welding torches 55A and 55B during welding is not caused, the welding remains are not generated, and the horizontal fillet welding by the full penetration welding can be stably performed.

As described above, the horizontal fillet welding apparatus 1 according to the present embodiment includes: a frame 2 extending along the direction of the plurality of vertical plates L above the lower plate U; a drive mechanism capable of relatively moving the frame 2 along the extending direction of the vertical plate L; and a welding head 10 including a pair of head

main bodies

14A, 14B each having a welding torch 55A (53A, 54A), 55B (53B, 54B), and a support member 11 that is attached to the frame 2 so as to be movable along the frame 2 in the direction in which the plurality of upright plates are arranged, and supports the pair of head

main bodies

14A, 14B. The bonding head 10 includes: a left-right moving mechanism 12 for moving the pair of head

main bodies

14A and 14B relative to the support member 11 in the direction in which the vertical plates L are arranged; and a pair of front-

rear moving mechanisms

13A and 13B for moving the pair of head

main bodies

14A and 14B independently of each other with respect to the support member 11 in the extending direction of the vertical plate L. Thus, there is no welding residue and no positional deviation of

welding torches

55A and 55B during welding, and horizontal fillet welding by full penetration welding can be stably performed.

Further, since the forward-backward moving

mechanisms

13A and 13B and the head

main bodies

14A and 14B are connected via a swing shaft that can swing, the head

main bodies

14A and 14B can swing following the shape of the standing plate L.

Further, since the head

main bodies

14A and 14B include the up-down sliding mechanism 60 that allows the up-down movement of the head

main bodies

14A and 14B and the elastic member 48 that biases the head

main bodies

14A and 14B toward the lower plate U, the head

main bodies

14A and 14B can be pressed against the lower plate U with a substantially constant force with a margin in the up-down direction, and stable welding can be performed.

The vertical sliding mechanism 60 and the elastic member 48 may be provided between the forward/backward moving

mechanisms

13A and 13B and the head

main bodies

14A and 14B. For example, the vertical sliding mechanism 60 may be configured by making the swing shaft 39 have an expanding and contracting shape, and the elastic member 48 may be disposed around the swing shaft 39.

Further, the torch angle θ of the leading

electrode torches

53A and 53B with respect to the surface of the lower plate U ₁5 DEG to 40 DEG, and a torch angle theta of the rear electrode torches 54A and 54B with respect to the surface of the lower plate U ₂40 DEG to 60 DEG, and therefore, stable complete penetration welding can be performed. This is because the torch angle θ of the leading

electrode torches

53A, 53B is adjusted by₁The welding torch is inclined extremely in the range of 5 ° to 40 °, so that a deep penetration effect can be secured, and the torch angle θ of the subsequent trailing

electrode welding torches

54A and 54B is set to be larger₂A favorable bead shape can be formed in the range of 40 DEG to 60 deg.

The leading

electrode torches

53A and 53B and the trailing

electrode torches

54A and 54B have a curved portion 56 that is curved in the Y direction from a portion extending vertically upward and downward, and the curved portion 56 of the leading

electrode torches

53A and 53B has a radius of curvature R₁60-120 mm, bending angle alpha ₁50 DEG to 85 DEG, and the curvature radius R of the curved portion 56 of the trailing

electrode torches

54A and 54B₂60-120 mm, bending angle alpha₂The angle is 30 DEG to 50 DEG, so that the material to be welded can be fed efficiently, contributing to stabilization of complete penetration welding. In particular, in view of the torch angle in which the leading

electrode torches

53A and 53B are extremely inclined, the feed failure is likely to occur mechanically, but the radius of curvature R is set to be larger₁、R₂And a bending angle alpha₁、α₂The above range provides a significant effect.

Further, since the head

main bodies

14A and 14B include a pair of engaging rollers 50 that sandwich the upright plate L from both sides thereof as engaging means for moving the head

main bodies

14A and 14B in accordance with the shape of the upright plate L, welding can be performed without being affected by bending or undulation of the upright plate L and without deviating the welding position.

Further, since the movement stroke of the head

main bodies

14A and 14B in the extending direction of the upright plate L by the forward and backward moving

mechanisms

13A and 13B is set in the range of 0mm to 600mm, arc interference between the welding torches 55A and 55B can be prevented, and the welding portion W can be welded without welding residue.

Further, the welding apparatus is provided with a control unit 70 for controlling the driving mechanism 5 so that the frame 2 is continuously moved relatively from the welding start end to the welding end at a predetermined speed when the welding portion W to be welded between the lower plate U and the upright plate L is horizontally fillet-welded by the welding torches 55A and 55B, and for controlling the one forward-backward moving mechanism 13B so that the pair of

head bodies

14A and 14B are relatively deviated by a predetermined deviation length amount from a state where the pair of

head bodies

14A and 14B are opposed to each other in the Y direction at the initial stage of welding from the welding start end, and for controlling the other forward-backward moving mechanism 13A so that the pair of

head bodies

14A and 14B are relatively deviated by the predetermined deviation length amount from the pair of

head bodies

14A and 14B at the final stage of welding to the welding end, 14B are opposed to each other in the Y direction. Thus, horizontal fillet welding by full penetration welding can be stably performed without welding residue and positional deviation of

welding torches

55A and 55B during welding.

In addition, the horizontal fillet welding method according to the invention comprises the following steps: a preparatory step of positioning the pair of head main bodies 14A and 14B at positions forward of the forward-backward moving mechanisms 13A and 13B in the welding direction, and disposing the pair of head main bodies 14A and 14B on both the left and right sides of the upright plate L at the welding start end of the portion W to be welded; a first welding step of moving the frame 2 in the X direction by the drive mechanism 5, welding the portion W to be welded of one of the upright plates L by a predetermined offset length by the welding torch 55A of the head main body 14A, and moving the head main body 14B at the same speed as the moving speed of the frame 2 by the forward-backward moving mechanism 13B without changing the relative position with respect to the portion W to be welded; a second welding step of stopping the movement of the head main body 14B by the forward-backward movement mechanism 13B when the welding torch 55A of the head main body 14A finishes the welding by the offset length, moving the pair of head main bodies 14A, 14B together with the frame 2 by the driving mechanism 5, and simultaneously welding the welded portions W on the left and right sides of the upright plate L by the welding torches 55A, 55B of the head main bodies 14A, 14B; and a third welding step of welding the remaining portion of the other welded portion W of the upright plate L by the welding torch 55B of the head main body 14B while moving the head main body 14A at the same speed as the moving speed of the frame 2 by the forward-backward moving mechanism 13A without changing the relative position with respect to the welded portion 3 when the head main body 14A is welded to the welding end of the one welded portion W. Thus, horizontal fillet welding by full penetration welding can be stably performed without welding residue and positional deviation of the welding torch during welding.

In addition, as in the present embodiment, when the drive mechanism 5 moves the frame 2 in the X direction, the head main body 14B is moved in the direction opposite to the movement direction of the frame 2 in the first welding step, and the head main body 14A is moved in the direction opposite to the movement direction of the frame 2 in the third welding step.

On the other hand, when the driving mechanism 5 moves the lower plate U in the X direction, the head main body 14B is moved in the same direction as the moving direction of the lower plate U in the first welding step, and the head main body 14A is moved in the same direction as the moving direction of the lower plate U in the third welding step.

The present invention is not limited to the above embodiments, and modifications, improvements, and the like can be appropriately made.

For example, the driving mechanism 5 may drive both the pair of forward and backward moving

mechanisms

13A and 13B at the time of acceleration or deceleration at the time of starting or completing the movement of the frame 2 or the lower plate U, and may control the amount of movement stroke at the time of acceleration or deceleration so as not to change the relative positions of the pair of head

main bodies

14A and 14B with respect to the portion to be welded 3.

Claims

1. A horizontal fillet welding device for a structure comprising a lower plate and a plurality of vertical plates erected side by side on the upper surface of the lower plate, wherein horizontal fillet welding is simultaneously performed on welded portions on the left and right sides of the vertical plates, which are abutted by the lower plate and the vertical plates,

it is characterized in that the preparation method is characterized in that,

the horizontal fillet welding device is provided with:

the welding head is provided with:

a pair of forward and backward moving mechanisms for moving the pair of head main bodies independently of each other with respect to the support member in an extending direction of the vertical plate,

the horizontal fillet welding device further includes a controller that controls the drive mechanism so that the frame or the lower plate is continuously moved relatively from a welding start end to a welding end at a predetermined speed when the welded portion between the lower plate and the upright plates is fillet-welded by a welding torch, and controls the forward-backward moving mechanism so that the pair of head bodies are relatively deviated by a predetermined deviation length amount from a state in which the pair of head bodies are opposed to each other in the parallel direction of the plurality of upright plates at an initial stage of welding in which welding is performed from the welding start end, and controls the forward-backward moving mechanism so that the pair of head bodies are relatively deviated by the predetermined deviation length amount from the pair of head bodies at a final stage of welding in which welding is performed to the welding end so that the pair of head bodies are opposed to each other in the parallel direction of the plurality of upright plates The state of (1).

2. The horizontal fillet welding device according to claim 1,

3. The horizontal fillet welding device according to claim 1,

4. The horizontal fillet welding device according to claim 1,

the welding torches of the pair of head bodies include a leading electrode welding torch and a trailing electrode welding torch,

the torch angle of the leading electrode torch relative to the surface of the lower plate is 5 to 40 degrees,

the torch angle of the trailing electrode torch relative to the surface of the lower plate is 40-60 °.

5. The horizontal fillet welding device according to claim 4,

the welding torch has at least one bent portion bent from a portion extending in an upper and lower direction thereof toward a side-by-side direction of the plurality of standing plates,

the curvature radius of the bending part of the prior electrode welding torch is 60-120 mm, the bending angle is 50-85 degrees,

the curvature radius of the bending part of the rear electrode welding torch is 60-120 mm, and the bending angle is 30-50 degrees.

6. The horizontal fillet welding device according to claim 1,

7. The horizontal fillet welding device according to claim 1,

8. A horizontal fillet welding method for simultaneously performing horizontal fillet welding on welded portions on both left and right sides of a vertical plate, which are abutted by a lower plate and the vertical plate, with respect to a structure including the lower plate and the vertical plates erected side by side on an upper surface of the lower plate, using the horizontal fillet welding device according to any one of claims 1 to 7,

it is characterized in that the preparation method is characterized in that,

the horizontal fillet welding method comprises the following procedures:

9. The horizontal fillet welding method according to claim 8,

the driving mechanism enables the frame to move along the extending direction of the vertical plate,

in the first welding step, the other head main body is moved in a direction opposite to a moving direction of the frame,

in the third welding step, the one head main body is moved in a direction opposite to a moving direction of the frame.

10. The horizontal fillet welding method according to claim 8,

the driving mechanism enables the lower plate to move along the extending direction of the vertical plate,

in the first welding step, the other head main body is moved in the same direction as the moving direction of the lower plate,

in the third welding step, the one head main body is moved in the same direction as the moving direction of the lower plate.