JP2001276973A - Automatic upward welding apparatus - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an automatic upward welding apparatus which is able to move freely on road surface instead of using a rail for running welding apparatus, without the influence of obstruction such as concavity and convexity on road surface, enabling the upward welding performed. SOLUTION: The automatic upward welding apparatus comprises of non-rail type running device 1 where wheels run on road surface 100 by automatic steering system, non-rail type welding machine 2 which carries out upward welding while transferring on the surface of welded member 200, a boom device arranged on the running device that supports pivotally the welding machine 2 on top end, air cylinders which moves up down a boom 30, a sliding device 6 for turning which turns freely the boom 30, a sliding device 7 for moving laterally freely the boom 30 in the direction of groove width, and two front and rear guide rollers 41, 42 for to make the welding machine 2 follow a groove 210.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

The present invention relates to an automatic upward welding apparatus for automatically performing upward welding of a large member such as a hull block.

[0002]

2. Description of the Related Art Conventionally, most of welding work in a construction dock handling a large structure is performed by a skilled welder. In particular, butt welding of a bottom shell is performed by hand welding from the inside of a hull. Had to be automated. However, when performing welding from inside the hull, there are many aggregates inside and it is necessary to carry out in a narrow space, so it is very difficult to install and operate welding equipment inside the hull . Therefore, it is more convenient to perform welding from the outside (lower side) of the hull, but in this case, the welding is upward welding.

[0003] In the case of upward welding, it is necessary to run a welding machine that supports devices such as a welding torch, a groove scanning sensor, and a backing material from below along a welding line. A rail is attached to an object to be welded in parallel with a welding line by using an attraction force of a magnet, and a welding head portion runs on the rail.
As disclosed in Japanese Patent Application Laid-Open No. 0-230359 and Japanese Patent Application Laid-Open No. 10-230360, there has been a method in which upward welding is performed while traveling while being attracted to the bottom plate of a ship using a traveling crawler of a magnet type.

[0004]

However, in the case of performing upward welding from the outside of the hull, unevenness on the surface of the culvert and the outer plate of the hull is particularly problematic. The road surface in the building dock has irregularities, and there are vertical and horizontal gradients and steps, and many cables and hoses used for welding and cutting are scattered. Therefore, even if the traveling rail of the welding machine is removably laid on the bottom of the culvert, it is necessary to eliminate or avoid these obstacles such as uneven portions and hoses.
The work is very complicated, and there are many difficulties in implementation. Also,
Even when the rail is directly attached to the object to be welded using magnets or the like, the surface of the bottom outer plate is not necessarily flat, and there are projections such as welding beads in addition to inclination and bending, and furthermore, the hull outer plate Similarly, rail mounting work is not easy due to the variety of forms. Therefore, the method using the rail is not suitable for upward butt welding of the bottom plate of the ship.

[0005] Further, in the case of using the attraction type traveling crawler as disclosed in the above-mentioned publication, when the magnetic force of the magnet is weak, it is necessary to limit the weight of the welding machine or to install a safety device in case of detachment. On the other hand, when the magnetic force is strong, there is a problem that the operation of desorption is difficult and inefficient. Therefore, the adsorption traveling type welding apparatus also has many practical difficulties.

Further, in order to realize automatic upward welding of the outer shell portion of a ship, in the construction dock, due to the characteristics of the dock,
It is impossible to move the welding joint, and the welding equipment cannot be permanently installed. Therefore, it is a natural prerequisite that it be mobile.

SUMMARY OF THE INVENTION The present invention has been made to solve the above-described problems, and can freely travel on a road surface without using a traveling rail of a welding device. It is an object of the present invention to provide an automatic upward welding device which enables upward welding of a member to be welded without being affected by obstacles.

[0008]

SUMMARY OF THE INVENTION An automatic upward welding apparatus according to the present invention is a trackless traveling means for traveling on a road surface by an automatic steering system of wheels, and a trackless traveling means for performing welding by moving the surface of a member to be welded. A welding machine, a boom means installed on the traveling means and supporting the welding machine, a drive cylinder means for vertically moving the boom means, and a sliding slide means for freely rotating the boom means. A sliding means for laterally moving the boom means freely in the width direction of the groove, and two front and rear guide rollers which engage the groove and follow the groove to the welding machine. It is characterized by the following.

[0009] With this configuration, the traveling means travels on the road surface by the automatic steering system of the wheels without using the rail, and is attached to the tip of the traveling means via the boom means mounted on the traveling means. The welding machine also moves on the surface of the member to be welded without using a rail. Therefore,
The rail and the work of mounting and removing the rail are completely unnecessary. Further, during welding, the welding machine is pressed against the member to be welded by the drive cylinder means, so that there is no relative displacement between the welding torch and the surface of the member to be welded in the vertical direction. Further, since the two front and rear guide rollers provided on the welding machine roll while engaging with the groove, the welding machine can be moved while mechanically following the groove. At this time, the sliding means for turning and the sliding means for lateral movement can both move freely in the groove width direction. Therefore, even if the welding line direction deviates from the initial direction, the welding line direction and the moving direction of the welding machine can be obtained. Always matches.

The automatic upward welding apparatus according to the present invention comprises a trackless traveling means for traveling on a road surface by an automatic steering system of wheels, and a trackless welding machine for performing welding by moving the surface of a member to be welded. A slide mechanism attached to the welding machine for freely moving the welding machine in the front-rear direction of the welding line; a boom means installed on the traveling means for supporting the slide mechanism; and vertically moving the boom means. A driving cylinder means for rotating the boom means, a turning slide means for freely turning the boom means, a lateral moving slide means for freely moving the boom means in the groove width direction, and engaging with the groove,
It is characterized by comprising: a front and rear two-wheel guide roller for causing the welding machine to follow a groove; and a traveling mechanism of the welding machine that can be driven independently of the traveling means.

The first invention is a free-running type welding machine, while the second invention is a traveling drive type welding machine which can be driven independently of the traveling surface of the traveling means. Therefore, one or both of the two front and rear guide rollers are driven to rotate. When the degree of the road surface condition such as unevenness of the road surface is large or the like, a more accurate welding speed can be obtained by running the welding machine independently of the running means. For this reason, the welding machine and the boom means are connected via a slide mechanism that freely moves in the longitudinal direction of the welding line. The traveling means may control traveling so that the welding machine is located within the range of the stroke of the slide mechanism.

In the automatic upward welding apparatus according to the present invention, at least two of the wheels of the traveling means are drive wheels having a steering function, and one of the two front and rear wheels is a cradle type vehicle body. Characterized in that it is attached to a chassis that is pivotally supported.

When traveling on a road surface having irregularities, slopes, steps, etc., such as a bottom of a culvert, it is necessary for the traveling means to smoothly overcome these obstacles. One of the drive wheels having a steering function is attached to, for example, a front position of a cradle-type chassis, and the other drive wheel is disposed at a position behind a vehicle body that supports the cradle-type chassis. Even if there is, the cradle-type chassis swings up and down, so that the obstacle can be smoothly overcome with all wheels always in contact with the ground. Further, since the drive wheels have a steering function, the traveling means can be caused to travel such that the welding torch of the welding machine always moves on the welding line.

In the automatic upward welding apparatus according to the present invention, the traveling means includes a welding power source, a welding torch, a sensing device, a control device, a shielding gas supply device, a wire supply device, a cooling water supply device, and other welding equipment. It is characterized by being equipped with a set.

With this configuration, the automatic upward welding apparatus is made compact, and cables and hoses are not routed, so that traveling on a narrow culvert can be performed smoothly.

Further, in the automatic upward welding apparatus according to the present invention, the welding machine has a sensor means for detecting a moving speed.

By this sensor means, the actual moving speed of the welding machine moving on the surface of the member to be welded is detected, and by correcting the running speed of the running means, a predetermined welding speed can be maintained.

In the automatic upward welding apparatus according to the present invention, the boom means is pivotally supported by the drive cylinder means, and the base end of the boom is movably provided on the slide means for lateral movement. It is characterized in that it is pivotally supported by a turning shaft of the turning slide means.

With this configuration, the welding machine attached to the tip of the boom can be turned by the swivel axis of the swivel slide means freely moving laterally, and can be swiveled with the swivel slide means attached. When the lateral movement axis of the moving slide means freely moves laterally, the entire welding machine laterally moves in the groove width direction. Therefore, by detecting the amount of movement of the turning axis of the turning slide means, the angle between the moving direction of the welding machine (that is, the welding line direction) and the running direction of the running means can be determined. The means can be automatically steered.

Further, in the automatic upward welding apparatus according to the present invention, the boom means has an extendable boom.

Especially when welding from a horizontal bottom shell to a bilge shell having a bend, the height of the weld from the bottom changes greatly, so that the boom means is configured to be extendable. Is preferred.

Further, in the automatic upward welding apparatus according to the present invention, the welding machine is characterized by having sensor means for detecting an inclination angle of the welding machine and an inclination angle of the boom means, respectively.

When the member to be welded has a curved surface or an inclined surface, the amount of expansion and contraction of the boom means is controlled so that the welding speed of the welding machine and the traveling speed of the traveling means are equal. For this purpose, the sensor device measures the inclination angle of the welding machine and the inclination angle of the boom for each unit time to determine the amount of expansion and contraction of the boom.

Further, in the automatic upward welding apparatus according to the present invention, the front wheel of the guide roller is provided on a disk portion to be inserted into the groove, and is provided on both sides of the disk portion, and is associated with the groove edge portion. The rear wheel comprises a hub engaged with the groove edge and a spacer formed with or without a gap between the hubs on both sides. I do.

That is, since the front and rear guide rollers each have a hub that engages with the groove edges on both the left and right sides, the welding machine can follow the groove along the welding line at the center of the groove. it can. In addition, since the guide roller of the front wheel has a disk portion inserted into the groove at the center, the minimum gap of the allowable gap of the groove can be secured by the thickness of the disk. The guide roller for the rear wheel may or may not be provided with a gap between the hubs on both sides depending on the form of the welding torch. When a gap is provided, the curved tip of the welding torch can be pulled out using the gap.

[0026]

FIG. 1 is a schematic side view of an automatic upward welding apparatus showing an embodiment of the present invention, FIG. 2 is a top view, and FIG.
Is a front view. This automatic upward welding equipment is roughly divided into
A trackless traveling device 1 that travels on the culvert 100 by an automatic steering system of wheels (the traveling direction is indicated by an arrow a).
A boom device 3 for supporting a trackless welding machine 2 (moving direction is indicated by an arrow b) at its tip end;
A traveling mechanism 4 having two front and rear guide rollers 41 and 42 for causing the boom device 3 to follow the groove 210, and a drive cylinder device 5 for performing vertical movement, turning, and lateral movement in the groove width direction of the boom device 3, respectively. It comprises a sliding device 6 for turning and a sliding device 7 for lateral movement. Further, the traveling mechanism 4 having the two guide rollers 41 and 42, the turning slide device 6 and the lateral movement slide device 7 of the boom device 3 constitute an automatic welding line following mechanism of the welding machine 2. In the drawing, reference numeral 200 denotes a ship bottom outer plate portion of a member to be welded, and 201 denotes an aggregate.

As shown in FIGS. 4 and 5, the traveling device 1 further includes four wheels, at least two of which are drive wheels 11 having a steering function, and the other two are free wheels 12. . Further, the two front and rear drive wheels 11 and the universal wheels 12 are connected to the vehicle body 10 by pins 13.
All four wheels, regardless of the road surface condition of the culvert 100 (existence of irregularities, gradients, steps, and other obstacles such as hoses) , So that these obstacles can be smoothly overcome (see FIG. 6). In the figure, 1
5 is a motor for driving the driving wheel 11, 16 is the driving wheel 11
The steering motor rotates the wheel 11 on a plane via the spur gear 17 for steering. An encoder (not shown) for setting the steering angle of the drive wheel 11 is attached to the steering motor 16.

The boom device 3 is mounted on the vehicle body 10.
, A welding power source 81, a control device 82, a welding wire feeding device 83, a shielding gas supply device 84, a water cooling device 8, which are auxiliary equipments 8 necessary for welding.
5. Equipped with a set of welding equipment such as cables and hoses and an operation panel (not shown).

The welding machine 2 comprises a trackless free running body which does not use rails in this example. The welding machine traveling mechanism 4 has one side as shown in FIGS. 2, 3 and 7 to 9. Are the non-driven wheels 23 and the other side is the front and rear two guide rollers 41 and 42 that engage with the groove 210. The welding machine 2 also includes welding torches 21 and 22 and an encoder 24 for detecting a moving speed (welding speed) of the welding machine 2, and the vehicle body 20 is attached to the tip of the boom 30 by two orthogonal pins 31 and 32. The outer surface (lower surface) of the bottom plate 200 is supported by a non-driven wheel 23 and guide rollers 41 and 42 that are supported by a shaft. In addition, welding machine 2
As the wheels 23, wheels of a type capable of bidirectional rotational movement in a traveling direction and a transverse direction perpendicular to the traveling direction, which is called "Omni Wheel", are used.

In FIGS. 7 to 9, the front wheel guide roller 41 has a central disk portion 43 which enters into the gap of the groove 210, and a groove provided on both sides of the disk portion 43. Inclined outer peripheral surface 4 that engages with the lower edge portion of the lower surface 210
4 and a hub 45 having the same.
On the other hand, the guide roller 42 of the rear wheel has a roller shape including a hub 46 having the same diameter and the same shape as the hub 45 and a spacer portion 47 located between the hubs 46 and having a smaller diameter than the hub 46. Therefore, there is a gap 48 between the hubs 46 on both sides, and the preceding welding torch 21 can be pulled out using the gap 48. The thickness of the disk portion 43 of the front wheel guide roller 41 is adjusted to the minimum value of the allowable gap of the groove 210, and when the gap becomes smaller than the minimum value due to mounting accuracy, the welding machine 2 stops running. . The front and rear wheel guide rollers 41 and 42 are respectively connected to hubs 45 and 4.
Since the outer peripheral surface 44 of the roller 6 rolls while engaging with the lower edge of the groove 210, the welding machine 2 can be made to follow the groove 210 mechanically. That is, automatic welding line tracking is possible.

The welding torches 21 and 22 are inserted into the gap of the groove 210. The groove 210 is an I-shaped groove because processing is easy, and improvement in processing accuracy and mounting accuracy can be expected. However, the present invention is not limited to this.

The welding method is not particularly limited. For example, for example, a patent application filed by the present applicant (Japanese Patent Application No. 11-138).
No. 405) is suitable.
In this method, as shown in FIGS. 7 and 10, the curved distal ends of the small-diameter welding torches 21 and 22 are inserted substantially horizontally into the gap of the groove 210, and the lower leading electrode and the higher trailing electrode are inserted. The welding is performed in one run (one run) by the electrode. In the figure, 26 is a welding wire for each electrode, and 27 is a body 20
With a backing material attached to, for example, a water-cooled copper plate,
As the welding machine 2 moves, the lower surface of the groove 210 is slid. 28 is a preceding bead and 29 is a following bead.

The welding torches 21 and 22 are attached to the X-axis moving mechanism in the groove width direction, the Y-axis moving mechanism in the torch height direction, and the Z-axis moving mechanism in the welding line direction as position adjusting mechanisms (not shown). These moving mechanisms are constituted by known ball screw mechanisms. Further, a swing mechanism (not shown) is provided to swing the tip of the torch for weaving welding.

The boom device 3 is capable of performing various operations such as up and down (upturn), turning, and lateral movement of the boom 30 in the groove width direction. The vertical movement of the boom 30 is performed by a drive cylinder device, for example, an air cylinder 51.
The air cylinder 51 is also provided with the welding machine 2 at the end of the boom.
Is pressed against the hull outer panel 200. Therefore, the middle part of the boom 30 is connected to the cylinder rod 52 by means of T-shaped free shafts 33 and 34 with the middle part of the boom 30 as the center of rotation 33, and the base end of the boom is similarly T-shaped
5 and 36 are connected to the turning shaft 60 of the turning slide device 6. Further, the air cylinder 51 is connected to the outer frame of the turning slide device 6 by a pin 37.

Each of the turning slide device 6 and the horizontal moving slide device 7 installed thereunder has a turning shaft 60 and a horizontal moving shaft 70 which are made of a slide block or a slide table which can freely move linearly in the groove width direction. Have. Therefore, the pivot 6
When 0 moves laterally in the direction of arrow c or d, the boom 30 and the welding machine 2 pivot about the vertical axis 33 of the free shafts 33 and 34, and the lateral movement shaft 70 moves laterally in the direction of arrow e or f. By moving, the boom 30 and the entire welding machine 2 can move laterally in the groove width direction.
The amounts of movement of the pivot shaft 60 and the lateral movement shaft 70 of the boom 30 are detected by encoders attached to the respective shafts.

Next, the operation of the automatic upward welding apparatus will be described. The automatic upward welding apparatus is installed on the culvert bottom 100, the boom 30 is lifted by the air cylinder 51, and the welding machine 2 attached to the boom tip is pressed against the bottom shell 200 from below. At this time, before and after 2
The guide rollers 41 and 42 of the wheels are set so as to engage with the groove 210. Next, the distal ends of the welding torches 21 and 22 are positioned by the torch position adjusting mechanism, and the distal end of the welding wire 26 is positioned at a target position (here, a groove center position).
Start welding.

The butt welding of the bottom shell 200 is an upward welding in which two electrodes of the welding torches 21 and 22 are used in one run. The shielding gas is blown from a nozzle (not shown) attached to each electrode. Further, while holding the molten pool by the water-cooled copper plate as the backing material 27, the water-cooled copper plate 27
Is moved together with the welding machine 2 to perform welding (see FIG. 10).

The welding control is adaptive control based on the optimum welding conditions extracted from the welding condition database. According to the experiment, when a steel plate having a plate thickness of 19 mm and a groove gap of 13 mm was carried out under the welding conditions shown in Table 1, good welding results were shown.

[0039]

[Table 1]

The upward butt welding of the bottom shell 200 is carried out by moving the welding machine 2 attached to the tip of the boom 30 along the welding line of the bottom shell 200 by the traveling device 1. You. Here, the traveling device 1 is a trackless type that does not use rails, and travels on the culvert 100 by an automatic steering method of the drive wheels 11.
The welding machine 2 is also of a trackless type, and has a boom 30
All the wheels 23 of the welding machine 2 come into contact with the bottom outer panel 200 by lifting the boom 30 with the air cylinder 51 because the boom 30 is lifted up and down and left and right by the pins 31 and 32 at the tip of the. In addition, the guide rollers 41 and 42 are engaged with the groove 210, and thus move while being pressed by a constant pressure. For this reason, welding machine 2
There is no relative displacement between the 0 and the member to be welded in the vertical direction.

As described above, the culvert bottom 100 has irregularities, gradients, steps, cables and hoses, and the like. However, the traveling device 1 has four wheels, at least two of which are drive wheels 11 having a steering function.
As shown in FIG. 6, the traveling device 1 is mounted on a cradle-type chassis 14 supported by 3.
In a state where both wheels are in contact with the bottom 100 of the culvert, obstacles 110 such as these irregularities can be passed over smoothly. In addition, when the driving wheel 11 or the free wheel 12 passes over the obstacle 110, the lifting force and the sinking force acting on the vehicle body 10, or a slight impact force, etc., are applied to the air cylinder 51.
Does not affect the pressing state of the welding machine 2, in other words, the welding state by the welding torches 21 and 22. Note that a trapezoidal tread plate may be placed on cables and hoses that cross the traveling path.

Further, on the vehicle body 10 of the traveling device 1, a welding power source 81, a control device 82, a welding wire feeding device 83, a shielding gas supply device 84, a water cooling device 85, other cables and hoses and an operation panel (see FIG. (Not shown) etc., so that cables and hoses can be shortened, and the cables and hoses are not routed, so that traveling in a narrow culvert can be performed smoothly.

Next, an automatic groove copying method during welding will be described. The two guide rollers 41 and 42 before and after the welding progress direction (the direction of arrow b in FIG. 1)
0, and is engaged with the rotary shaft 60 that supports the boom 30 and the horizontal movement shaft 7 in the groove width direction.
0 can move freely, so that the angle of the welding machine 2 always changes while coinciding with the direction of the welding line 220 (FIG. 1).
1). At this time, the positional relationship between the welding torches 21 and 22 and the guide rollers 41 and 42 is based on the guide rollers 41 of the front wheels.
Needs to be in front of all the welding torches 21 and 22, but the guide roller 42 of the rear wheel only needs to be between the final beads, and the positional relationship with the welding torch is not particularly limited.

The welding torches 21 and 22 are on a straight line connecting the two guide rollers 41 and 42, and the welding machine 2 is attached to the distal end of the boom 30, and the base end of the boom 30 is a universal shaft 35, The pivoting shaft 60 of the pivoting slide device 6 is supported via the pivot 36, and the intermediate portion of the boom 30 is
Since it is supported by the air cylinder 51 via 3 and 34, the turning shaft 60 freely moves laterally, so that the welding machine 2 turns around the shaft 33 on the upper portion of the air cylinder. In addition, the horizontal movement axis 70 of the horizontal movement slide device 7 to which the turning slide device 6 is attached is freely laterally moved in the left-right direction, so that the entire welding machine 2 becomes boom 3.
You can move left and right horizontally by 0.

Next, the welding line automatic tracking method will be described. Unlike the conventional welding device, the traveling device 1 according to the present invention employs a traveling method that does not use a rail, and thus needs to perform automatic steering traveling along a welding line. In order to perform automatic steering travel, first, the welding line direction and the traveling device 1
It is an essential condition to detect the displacement angle with respect to the traveling direction. Here, the displacement angle between the welding line direction and the traveling direction of the traveling device 1 is detected from the turning angle of the boom 30 to which the welding machine 2 is attached.

FIG. 11 shows a method for detecting a displacement angle between the direction of the welding line and the traveling direction of the traveling device 1. In the welding machine 2 attached to the tip of the boom 30, two guide rollers 41, 42 are always stuck in the groove 210 before and after on the welding line 220. A groove tracing control mechanism that performs groove tracing by turning or laterally moving 30 is operating. That is, the boom 30 is always oriented in the same direction as the welding line 220 by the groove tracing control mechanism including the guide rollers 41 and 42. This means that if the turning angle of the boom 30 is detected, the welding line direction and the traveling device 1 Means that the displacement angle with respect to the traveling direction of the vehicle is detected.

The turning angle α of the boom 30 is, as shown in FIG. 11, the length between the boom turning center 33 (the connecting pin to the air cylinder 51) and the turning force point 36 (the connecting pin to the boom turning shaft 60). L2) and a distance (lateral movement position of the boom turning shaft 60) W from the turning center line (running direction of the traveling device 1) 221 of the boom turning shaft 60 can be obtained by Expression (1).

[0048]

(Equation 1)

FIG. 12 shows a method of steering the traveling device 1. There are two steering / drive wheels 11 on the front left wheel and the rear right wheel of the vehicle body 10. The drive motor 15 is directly connected to the wheels 11, and is rotated by a steering motor 16 via a spur gear 17 to rotate the wheels 11 on a plane to perform steering. By steering the two front and rear wheels 11, not only front wheel steering traveling, but also traversing traveling,
Turning is also possible, and movement on a narrow culvert can be performed smoothly.

FIG. 13 is a conceptual diagram of the steering control method. The turning angle of the boom 30 is detected from the lateral movement position information of the boom 30 detected by the sensor of the boom turning shaft 60 and the length (predetermined value) between the turning center 33 of the boom turning shaft 60 and the action point 36. The boom turning angle is a displacement angle between the welding line direction and the traveling direction of the traveling device 1, and is also a steering angle of the traveling device 1. Therefore, the detected boom turning angle is used as a steering command angle as a steering command angle to the front drive wheel 11 of the traveling device 1 for steering. by this,
The trackless traveling device 1 can always automatically follow the welding line.

Next, a method of controlling the traveling speed of the traveling device will be described with reference to FIGS. FIG. 14 is a schematic side view showing a relationship between a traveling direction of the traveling device and a welding direction on an uneven road surface, and FIG. 15 is a conceptual diagram of a traveling speed control method of the traveling device. Since the traveling device 1 travels on the culvert 100 having obstacles 110 such as unevenness, the traveling direction of the traveling device 1 and the welding direction are not the same direction but produce an angle difference.
However, simply instructing the welding speed to the target cannot obtain the desired welding speed. Also, when riding over the uneven surface, a backlash or the like acts on the drive wheel 11, and a predetermined welding speed cannot be obtained at the same drive speed. As a countermeasure, a welding speed detecting encoder 24 (see FIG. 1) is attached to the welding machine 2 to detect an actual moving speed (welding speed) of the welding machine 2 by the encoder 24, and a target welding speed (welding condition database). From the welding speed) and the actual welding speed (the speed detected by the encoder 24).
The traveling speed of the vehicle is to be corrected.

That is, as shown in FIG. 15, the traveling speed control method uses the traveling device so that the difference between the command welding speed from the welding condition database and the actual welding speed (detected speed of the encoder 24) becomes zero. Is to feedback control the traveling speed of the vehicle.

Further, this automatic upward welding apparatus enables continuous welding not only to the hull bottom plate portion 200 but also to the bilge outer plate portion 202. FIG. 16 is a schematic side view showing the relationship between the traveling speed of the traveling device and the welding speed during welding of the bilge outer plate, and FIG. 17 is a conceptual diagram of a traveling speed control method of the traveling device. The boom 30 is configured to be able to expand and contract with respect to the support member 30a.

In the welding of the horizontal bottom shell part 200, if the welding line is parallel to the culvert 100, the traveling speed of the traveling device 1 and the welding speed are equal, and even if some irregularities are present on the traveling surface, as shown in FIG.
The speed control shown in FIG. However, in the bilge skin 202 having a bend, an angle is generated in the direction of the welding line of the traveling device 1, the angle increases as welding progresses, the traveling speed and the welding speed greatly differ, and the boom 30 becomes When it does not reach the speed, speed control becomes impossible. Therefore, in the bilge outer plate portion 202, the boom expansion / contraction amount control for gradually extending the boom 30 in accordance with the inclination is performed to expand the welding range.

Now, as shown in FIG. 18, if the boom 30 is extended so that the traveling speed (welding speed) of the welding torch portion and the traveling speed of the traveling device 1 become the same, the speed control of the traveling device 1 becomes extremely easy. Become. In the case of the inclination α of the bottom shell and the angle θ of the boom 30, the extension amount ΔL of the boom 30 per unit time for equalizing the welding speed v and the speed of the traveling device 1 is expressed by the following equation according to a geometric relationship. Can be represented by ΔL ≒ v ｛cos (θ−α) −cosθ｝ + v ² (1−cosα) / L (2) Here, α is obtained from the inclination sensor 25a installed in the welding machine 2.
Is measured at every unit time (every second) by the inclination sensor 25b installed on the boom 30, and the extension amount Δ of the boom 30 is measured.
Determine L. As described above, by performing the boom length control on the inclined portion, it is possible to control the traveling speed up to the point where the boom extends to the maximum.

By controlling the boom expansion / contraction amount in this manner, continuous welding from the bottom shell 200 to the bilge shell 202 at the target welding speed becomes possible. The boom 30 can be erected up to 90 degrees by the air cylinder 51, and by extending the boom 30,
Welding is possible up to a height of about 4 m.

FIG. 19 is a schematic side view of an automatic upward welding apparatus showing another embodiment of the present invention. In this embodiment, the welding machine 2 is a free-running type (non-driving type) in the above-described example, but is a traveling-drive type welding machine 2A. Therefore, the welding machine 2A and the boom 30 are connected by the pin 31 via the slide table 9 which can freely move in the front-rear direction of the welding line. Therefore, welding machine 2
Since A travels independently within the stroke range of the slide table 9 independently of the traveling drive of the traveling device 1, the welding speed can be controlled more accurately.

Since the traveling of the welding machine 2A is of a driving type,
The welding machine traveling mechanism 4 including the wheels 23 and the guide rollers 41 and 42 is also driven by a servo motor (not shown). Drive all wheels or at least two wheels. Further, as the welding torches 21 and 22, the above-mentioned ones whose tip portions are curved substantially horizontally can be used.
In the case where the plate thickness is particularly small, it is also possible to use a substantially vertical electrode. In this case, since the preceding welding torch 21 can be disposed after the rear wheel guide roller 42, the shape of the guide roller 42 has the same outer diameter of the intermediate spacer portion 47 and the hub 46 as shown in FIG. Can be The shape of the front wheel guide roller 41 is the same as in FIG.

FIG. 21 is a conceptual diagram of speed control of the welding machine 2A and the traveling device. Since the welding machine 2A and the traveling device 1 are driven independently of each other, in the welding machine 2A, the actual moving speed (welding speed) of the welding machine 2A is detected by the encoder 24 attached to the welding machine 2A, and the target welding is performed. The difference between the speed (command speed from the welding condition database) and the actual welding speed (detected speed of the encoder 24) is obtained, and the traveling speed (welding speed) of the welding machine 2A is corrected based on the difference. In the traveling device 1, the position of the slide table 9 is detected by an encoder, a potentiometer, or the like.
The travel control is performed so that the welding machine 2A is located within the stroke limit of the slide table 9. Thus, welding machine 2A
In addition, by independently controlling the traveling of the traveling device 1, the welding speed can be accurately controlled regardless of the state of the culvert 100 when the degree of obstacles such as the unevenness of the culvert 100 is large.

[0060]

As described above, according to the present invention,
As it is possible to automatically weld large workpieces such as the bottom shell part from outside without using rails,
Welding efficiency is improved. In addition, the traveling means can travel on a road surface having unevenness or a gradient such as a culvert, and the welding machine is moved along the surface of the material to be welded through a boom means capable of moving up and down, turning and laterally moving. The welding machine can be made to automatically follow the welding line by mechanically following the groove with the two front and rear guide rollers provided on the welding machine.

[Brief description of the drawings]

FIG. 1 is a schematic side view of an automatic upward welding apparatus according to the present invention.

FIG. 2 is a schematic top view of the same device.

FIG. 3 is a schematic front view of the same device.

FIG. 4 is a schematic top view of the traveling device.

FIG. 5 is a schematic side sectional view of the traveling device.

FIG. 6 is an explanatory diagram of an operation of the traveling device on an uneven road surface.

FIG. 7 is a diagram showing an arrangement relationship between a guide roller and a welding torch.

FIG. 8 is a sectional view taken along line AA of FIG. 7;

FIG. 9 is a sectional view taken along line BB of FIG. 7;

FIG. 10 is an explanatory diagram illustrating an example of a welding method.

FIG. 11 is an explanatory diagram showing a method of detecting a displacement angle between a welding line direction and a traveling direction of a traveling device.

FIG. 12 is an explanatory diagram illustrating a steering method of the traveling device.

FIG. 13 is a conceptual diagram illustrating a steering control method of the traveling device.

FIG. 14 is a schematic side view showing a relationship between a traveling direction of the traveling device and a welding direction on an uneven road surface.

FIG. 15 is a conceptual diagram showing a traveling speed control method of the traveling device.

FIG. 16 is a schematic side view showing the relationship between the traveling speed of the traveling device and the welding speed during bilge outer plate welding.

FIG. 17 is a conceptual diagram showing a traveling speed control method of the traveling device.

FIG. 18 is a conceptual diagram showing a welding speed control method using boom expansion and contraction.

FIG. 19 is a schematic side view of an automatic upward welding apparatus showing another embodiment of the present invention.

FIG. 20 is a front view of a rear wheel guide roller in FIG. 19;

21 is a conceptual diagram showing a method for controlling a welding speed and a traveling speed in the welding device of FIG.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Traveling device 2, 2A Welding machine 3 Boom device 4 Welding machine traveling mechanism 5 Drive cylinder device 6 Swivel slide device 7 Lateral movement slide device 8 Attached device 9 Slide table 10 Body 11 Drive wheel 12 Free wheel 14 Undercarriage 21, 22 Welding torch 23 Wheel 24 Encoder 25a Inclination sensor of welding machine 25b Inclination sensor of boom 30 Boom 41, 42 Guide roller 51 Air cylinder 60 Swivel axis 70 Horizontal movement axis 100 Drain bottom 200 Ship bottom outer panel 210 Groove

──────────────────────────────────────────────────続 き Continued on the front page (51) Int.Cl. ⁷ Identification FI FI Theme Court ゛ (Reference) B23K 9/127 503 B23K 9/127 503A (72) Inventor Yasuhiko Nishi 1-1-2 Marunouchi, Chiyoda-ku, Tokyo No. Nippon Kokan Co., Ltd. (72) Inventor Hiroshi Murayama 1-2-1 Marunouchi, Chiyoda-ku, Tokyo F-term in Nippon Kokan Co., Ltd. 4E081 BA40 BB17 CA07 DA11 DA21 EA14 EA55 FA15 YA01

Claims (9)

[Claims] A trackless traveling means for traveling on a road surface by an automatic steering system of wheels, a trackless welding machine for performing welding by moving a surface of a member to be welded, and a welding machine installed on the traveling means, Boom means for supporting the welding machine; drive cylinder means for vertically moving the boom means; turning slide means for freely turning the boom means; and freely laterally moving the boom means in the groove width direction. An automatic upward welding apparatus, comprising: a sliding means for lateral movement; and two front and rear guide rollers which engage with the groove and cause the welding machine to follow the groove. 2. A trackless traveling means for traveling on a road surface by an automatic steering system of wheels, a trackless welding machine for performing welding by moving the surface of a member to be welded, and a welding machine mounted on the welding machine, A slide mechanism for freely moving the machine in the front-rear direction of the welding line, a boom means installed on the traveling means and supporting the slide mechanism, a drive cylinder means for vertically moving the boom means, and the boom means. A swivel slide means for freely swiveling; a lateral movement slide means for freely laterally moving the boom means in the groove width direction; front and rear 2 for engaging with the groove and causing the welding machine to follow the groove; An automatic upward welding apparatus comprising: a wheel guide roller; and a traveling mechanism of the welding machine that can be driven independently of the traveling means. 3. The wheels of the traveling means are such that at least two of the four wheels are drive wheels having a steering function, and the two front and rear wheels on one side are mounted on a chassis which is cradle-supported by the vehicle body. 3. The method according to claim 1, wherein
Automatic upward welding equipment as described. 4. The traveling means is equipped with a set of welding equipment such as a welding power source, a welding torch, a sensing device, a control device, a shield gas supply device, a wire feed device, and a cooling water supply device. Claim 1 to Claim 3
The automatic upward welding apparatus according to any one of the above. 5. The welding machine according to claim 1, wherein said welding machine has a sensor means for detecting a moving speed.
The automatic upward welding apparatus according to any one of the above. 6. The boom means is pivotally supported by the drive cylinder means, and a base end of the boom is pivoted by a pivot axis of the pivot slide means provided movably on the lateral slide means. The automatic upward welding apparatus according to any one of claims 1 to 5, wherein the automatic upward welding apparatus is supported. 7. The automatic upward welding apparatus according to claim 1, wherein said boom means has a boom that can expand and contract. 8. The automatic machine according to claim 1, wherein the welding machine has sensor means for detecting an inclination angle of the welding machine and an inclination angle of the boom means, respectively. Directional welding equipment. 9. The front wheel of the guide roller includes a disc portion inserted into a groove, and hubs provided on both sides of the disc portion and engaging with a groove edge portion, and the rear wheel is The hub according to any one of claims 1 to 8, comprising a hub engaged with the groove edge portion, and a spacer portion provided with or without a gap between the hubs on both sides. The automatic upward welding apparatus according to claim 1.