JP2013244498A - Device and method for welding - Google Patents

Abstract

PROBLEM TO BE SOLVED: To weld a complicated three-dimensional construction portion in a narrow place without interference.SOLUTION: A welding head 6 is mounted on a welding device body 40 in such a manner to be capable of rotating and ascending/descending so as to weld a construction point 11 of a target. A filler supply part 10 is mounted on the welding device body 40 in such a manner to be capable of rotating and ascending/descending so as to supply a filler wire 12 to the construction point 11. In a control area 42, a desired position and a posture of the welding head 6 to the construction point 11 are calculated, welding head side posture angle data representing the position and the posture is generated, a desired position and a posture of the filler supply part 10 to the construction point 11 are calculated, and filler supply part side posture angle data representing the position and the posture is generated, and the welding device body 40 is controlled on the basis of the welding head side posture angle data and the filler supply part side posture angle data.

Description

  Embodiments described herein relate generally to a welding apparatus and a welding method for reliably and efficiently performing welding in a complicated and narrow place.

  Generally, in order to inspect, inspect, and weld a welded portion of a reactor internal structure, remote control is required due to restrictions on environmental conditions such as radiation and water. Such a welding apparatus capable of remote operation requires a function capable of scanning at a constant speed and positioning with high accuracy. Furthermore, in-core instrumentation cylinder (BMI) of pressurized water reactor (PWR) at the bottom of the reactor, control rod drive mechanism (CRD) stub tube and in-core monitor (ICM) housing of boiling water reactor (BWR), etc. In order to perform welding of the welded part in the nozzle stub, the construction target part must have a shape that changes three-dimensionally, and the distance between the lower mirror part of the reactor vessel or reactor pressure vessel and the nozzle stub Because it is narrow, special equipment is required.

  As such a welding device, an axis that pivots around the nozzle, an axis that moves up and down, an axis that expands and contracts in the radial direction of the pipe, a welding torch such as TIG welding, and a laser head for changing the position of the welding head There is an apparatus having a rotating shaft (for example, Patent Document 1). An axis that pivots around the nozzle base of the welding apparatus, an axis that moves up and down, an axis that expands and contracts in the radial direction of the pipe, and the like are mainly axes for positioning with respect to the construction site. Moreover, it is common that a rotating shaft is used as an axis | shaft for adjusting the angle with respect to the construction site | part of a welding head.

  However, in order to weld a shape that changes three-dimensionally using the above-described welding device, it is necessary to constantly change the attitude of the welding head part, and also to control the position and insertion direction of the filler wire so that an appropriate position can be obtained. There was a need to maintain.

  For such a problem, by providing a mechanism that can rotate the filler wire nozzle around the axis of the welding torch, the insertion angle of the filler wire can be changed according to the welding posture.

  However, in such a conventional welding apparatus, since the mechanism part for changing the position and attitude | position of the filler supply part which supplies a filler wire is attached to the welding head part, a welding head part must be large. It was difficult to perform construction without interfering with narrow construction parts.

JP 2011-85508 A

  A problem to be solved by the present invention is to provide a welding apparatus and welding method for an in-furnace structure capable of performing welding on a construction site having a complicated and narrow three-dimensional shape without interfering with the narrow portion. It is to provide.

  In order to achieve the above object, a welding apparatus according to an embodiment is attached to a welding apparatus main body installed on a cylindrical object disposed in a nuclear reactor, and is attached to the welding apparatus main body so as to be capable of at least turning and raising / lowering. A welding head portion for welding the construction point of the object, and a filler supply that is attached to the welding apparatus main body so as to be capable of turning and raising / lowering separately from at least the welding head portion and supplying a filler wire to the construction point And a portion.

  The welding method of the embodiment includes a welding apparatus main body installed on a cylindrical object disposed in a nuclear reactor, and is attached to the welding apparatus main body so as to be capable of at least swiveling and ascending and descending. A welding apparatus comprising: a welding head section that performs welding on the welding apparatus main body; and a filler supply section that is attached to the welding apparatus main body so as to be capable of at least swiveling and raising and lowering and that supplies a filler wire to the construction point. A step of calculating a desired position and posture with respect to the construction point, generating a welding head side posture angle data representing the position and posture, and calculating a desired position and posture of the filler supply unit with respect to the construction point. Generating filler-feeder-side posture angle data representing the position and posture of the welding head portion-side posture angle data and Characterized by comprising the step of controlling the welding apparatus main body based on the over supply side attitude angle data.

  According to the embodiment of the present invention, it is possible to control the position and posture of the welding head unit and the filler supply unit so as to have a position and posture suitable for construction with respect to a complicated and narrow three-dimensional shape construction site. .

It is a conceptual diagram at the time of performing laser welding on the groove portion of the butt portion between the lower mirror of the reactor vessel of the BMI nozzle and the BMI nozzle, showing the configuration of the welding apparatus according to the present embodiment. It is a figure which shows the installation method of the welding apparatus of FIG. It is a figure which shows another installation method of the welding apparatus of FIG. It is a figure which shows each drive shaft of the control system connected to the welding apparatus main body as a structure of the welding apparatus which concerns on this embodiment, and a welding apparatus main body. It is a flowchart which shows operation | movement (welding method) of the welding apparatus which concerns on this embodiment. It is a flowchart which shows the calculation method of the torque made to act on each drive shaft of the welding apparatus which concerns on this embodiment. It is a figure which shows reflection of a laser beam regarding avoidance of the reflected light of the welding apparatus which concerns on this embodiment. It is a flowchart which shows the avoidance method of the reflected light in the welding apparatus which concerns on this embodiment.

  Hereinafter, embodiments of a welding apparatus according to the present invention will be described with reference to the drawings. Here, in the following embodiments, a BMI nozzle or a BWR reactor installed at the bottom of a PWR reactor (with a water depth of about 30 m) is used for welding in a complex shape of a reactor internal structure and a severe environment. As an example, a laser welding apparatus for welding a CRD stub installed at the bottom of the furnace will be described.

  FIG. 1 shows a configuration of a welding apparatus according to the present embodiment, and a concept when laser welding is performed on a groove portion of a butt portion between a lower mirror of a reactor vessel of a BMI nozzle 1 and the BMI nozzle 1. FIG.

  The welding apparatus according to the present embodiment includes a welding apparatus main body 40, a welding head unit 6, and a filler supply unit 10.

  The welding apparatus main body 40 is installed on a cylindrical object standing in the nuclear reactor. The welding head part 6 is attached to the welding apparatus main body 40 so that at least turning and raising / lowering are possible, and it welds with respect to the construction point 11 of a target object. The filler supply unit 10 is attached to the welding apparatus main body 40 so as to be at least capable of turning and raising and lowering, and supplies the filler wire 12 to the construction point 11.

  The welding apparatus main body 40 includes a welding head side drive unit 81, a filler supply unit side drive unit 82, and the turning unit 2.

  The welding head unit 6 is attached to the tip of the welding head side drive unit 81, and the filler supply unit 10 is attached to the tip of the filler supply unit side drive unit 82. The swivel unit 2 serves as a common swivel axis for the welding head unit side drive unit 81 and the filler supply unit side drive unit 82, and the common swivel shaft 46 (see FIG. 4), which is the central axis of the BMI nozzle 1 ) Is a mechanism for carrying out construction while turning around.

  The welding head side drive unit 81 includes a front / rear left / right drive unit 3, a lift drive unit 4, and rotation drive units 5 a to 5 c.

  The three linear axes of the front / rear left / right drive unit 3 and the lift drive unit 4 are mechanisms for controlling the positioning of the welding head unit 6 so that the laser irradiation point becomes the construction point 11. The front / rear / left / right drive unit 3 is connected between the turning unit 2 and the elevating / lowering drive unit 4 and is provided to be movable front / rear / right / left along the front / rear left / right drive shaft 47 (see FIG. 4). The elevating drive unit 4 is connected between the front / rear left / right drive unit 3 and the rotation drive unit 5a, and is provided so as to be capable of elevating along the elevating drive shaft 48 (see FIG. 4) parallel to the above-described common pivot shaft 46. Yes.

  The three rotation axes of the rotation driving units 5 a to 5 c are mechanisms for controlling the irradiation angle of the laser irradiated from the welding head unit 6. The rotation drive unit 5a is connected between the elevating drive unit 4 and the rotation drive unit 5b, and is provided so as to be rotatable around a rotation drive shaft 49a (see FIG. 4) parallel to the elevating drive shaft 48 described above. . The rotation drive unit 5b is connected between the rotation drive unit 5a and the rotation drive unit 5c, and is provided so as to be rotatable about a rotation drive shaft 49b (see FIG. 4) orthogonal to the rotation drive shaft 49a. The rotation drive unit 5c is connected between the rotation drive unit 5b and the welding head unit 6, and is provided to be rotatable about a rotation drive shaft 49c (see FIG. 4) orthogonal to the rotation drive shafts 49a and 49b. .

  The filler supply unit side drive unit 82 includes a front / rear left / right drive unit 7, a lift drive unit 8, and a rotation drive unit 9.

  The three linear axes of the front / rear left / right drive unit 7 and the lift drive unit 8 are mechanisms for performing positioning control so that the insertion position of the filler wire 12 from the filler supply unit 10 becomes the construction point 11. The front / rear / left / right drive unit 7 is connected between the turning unit 2 and the elevating / lowering drive unit 8 and is provided to be movable front / rear / right / left along the front / rear left / right drive shaft 50 (see FIG. 4). The elevating drive unit 8 is connected between the front / rear left / right drive unit 7 and the rotary drive unit 9 and is provided so as to be elevable along the elevating drive shaft 51 (see FIG. 4) parallel to the above-described common turning shaft 46. Yes.

  The rotation drive unit 9 is a mechanism that controls the insertion angle of the filler wire 12. The rotation drive unit 9 is connected between the elevating drive unit 8 and the filler supply unit 10 and is provided so as to be pivotable about a rotation drive shaft 52a (see FIG. 4) parallel to the elevating drive shaft 51 described above. . The filler supply unit 10 is connected to the rotation drive unit 9 and is provided so as to be rotatable about a rotation drive shaft 52b (see FIG. 4) orthogonal to the rotation drive shaft 52a.

  In general, three degrees of freedom are required to position the laser irradiated from the welding head with high accuracy with respect to the construction point 11, and three degrees of freedom are required to freely determine the laser irradiation angle. It is. However, as the degree of freedom increases, the number of drive shafts of the welding apparatus increases and the mechanism configuration becomes more complicated. Therefore, it is generally configured with the degrees of freedom necessary for construction. For example, in FIG. 1, the axis capable of changing the posture in order to determine the filler insertion angle with respect to the construction point 11 of the filler supply unit 10 is the two degrees of freedom of the swivel unit 2 and the rotation drive unit 9. A shaft that rotates with respect to the direction is omitted because it is not necessary.

  In addition, the swivel unit 2 is a common movable unit provided in the welding apparatus main body 40 that gives one degree of freedom in both the welding head unit 6 and the filler supply unit 10, but depending on the configuration of the drive shaft of the welding apparatus. In addition to the swivel axis, three orthogonal linear axes may be provided.

  With the apparatus configuration shown above, the position and posture of the welding head unit 6 and the position and posture of the filler supply unit 10 can be controlled independently. It becomes possible to respond. In addition, since the welding head 6 and the filler supply unit 10 do not exist in the same housing, the apparatus also interferes with a narrow construction location between the nozzle and the lower mirror part of the reactor vessel. Welding can be performed.

  FIG. 2 is a diagram illustrating an example of a method for installing the welding apparatus of FIG. 1.

  As shown in FIG. 2, the welding apparatus according to the present embodiment is fixed to a support portion 20, and the support portion 20 attaches a BMI nozzle 22 (similar to the BMI nozzle 1 of FIG. 1) to the reactor vessel 21. Installed to cover. In some cases, the support unit 20 can be used as a chamber whose inside is made into an air environment using an inert gas such as Ar gas, and can be constructed by forming a partial air environment in water.

  FIG. 3 is a diagram showing another installation method of the welding apparatus of FIG.

  As shown in FIG. 3, the welding apparatus is fixed to the installation part 30, and the installation part 30 is fitted to the CRD housing 32 on the CRD stub tube 31 to determine the position with respect to the reactor pressure vessel 33. Can do.

  FIG. 4 is a diagram illustrating a control system connected to the welding apparatus main body 40 as a configuration of the welding apparatus according to the present embodiment, and each drive shaft of the welding apparatus main body.

  The control area 42 is provided on the operation floor at the upper part of the reactor building. In the control area 42, a drive mechanism control device 43, a drive controller 44, and a state display controller 45, which are control units, are provided.

  The drive mechanism control device 43 is a computer and includes a storage device in which a computer program is stored, a main memory, a CPU, and the like (not shown), a welding head side posture angle data generation unit 43a, and a filler supply unit side posture angle. The data generation part 43b, the welding apparatus main body control part 43c, and the reflected light avoidance data generation part 43d are provided.

  The welding head side posture angle data generation unit 43a calculates a desired position and posture with respect to the construction point 11 of the welding head unit 6, and generates welding head side posture angle data representing the position and posture. The filler supply unit side posture angle data generation unit 43b calculates a desired position and posture with respect to the construction point 11 of the filler supply unit 10, and generates filler supply unit side posture angle data representing the position and posture. The welding apparatus main body control part 43c controls the welding apparatus main body 40 based on a drive control signal (welding head part side attitude angle data and filler supply part side attitude angle data). The reflected light avoidance data generation unit 43d generates data for avoiding an attitude (described later in detail) that is affected by the reflected light of the laser when calculating the value of each drive shaft of the welding apparatus main body 40.

  The state display controller 45 is a display device such as a liquid crystal display or a plasma display. The drive controller 44 is a computer for displaying the execution result of the drive mechanism control device 43 on the state display controller 45, and includes a storage device in which a computer program is stored, a main memory, a CPU, and the like (not shown).

  The drive controller 44 uses the welding head side attitude angle data and filler supply side attitude angle data output from the drive mechanism control device 43 to determine the welding device, the BMI nozzle 1 and the reactor vessel (reactor vessel 21 in FIG. 2). Alternatively, a three-dimensional graphical display is performed on the state display controller 45 with respect to the position and posture relationship with the reactor pressure vessel 33) of FIG.

  For transmission / reception of the drive control signal from the control area 42 to the welding apparatus main body 40, a signal is transmitted from the drive mechanism control apparatus 43 to the welding apparatus main body 40 by the signal cable 41 of about 30 m to 50 m in the case of construction at the bottom of the reactor. The

  Next, the welding procedure will be described with reference to FIG.

  After the welding apparatus is installed on the bottom of the reactor by the installation method shown in FIGS. 2 and 3, shape measurement is performed before welding work, and a three-dimensional shape model of the work target shape is created. The drive mechanism control device 43 generates construction data of a construction target location using this three-dimensional shape model.

  The construction data is data generated as a coordinate point sequence of construction points, and is generally called CL data. The CL data can be automatically created by using 3D CAD or CAM software, and information on the surface normal direction can be given. A specific method for generating CL data will be described later.

  Next, the drive mechanism control device 43 calculates the welding head side posture angle data and the filler supply unit side posture angle data for each construction point included in the obtained CL data. The attitude angle data is angle data of each drive shaft. In the example of FIG. 4, the welding head side posture angle data includes the common swivel shaft 46, the front / rear left / right drive shaft 47, the lift drive shaft 48, the rotation drive shaft 49 a, the rotation drive shaft 49 b, and the rotation drive shaft 49 c. The filler supply unit side attitude angle data is angle data with respect to each drive shaft including the front / rear left / right drive shaft 50, the lift drive shaft 51, the rotation drive shaft 52a, and the rotation drive shaft 52b. The welding head side attitude angle data or filler supply part side attitude angle data further includes angle data with respect to the common pivot axis 46 described above.

  Next, the drive mechanism control device 43 is a welding head portion side posture that achieves both the position and posture of the welding head portion 6 and the filler supply portion 10 with respect to the construction point 11 and the overall posture of the welding device that does not interfere with surrounding structures. Angle data and filler supply unit side attitude angle data are calculated. Here, the attitude angle data corresponding to each coordinate point sequence of the CL data is collectively referred to as RL data. A specific method for generating RL data will be described later.

  Next, the drive mechanism control device 43 performs a construction simulation using the three-dimensional shape model using the generated RL data, and verifies the RL data. The verification result is displayed on the display on the state display controller 45, and the laser operation locus (position and angle) irradiated from the welding head section 6, the filler wire 12 scanning locus (position and angle), the welding head section 6 and the construction. The distance from the object, the presence / absence of interference (superimposition) between the reflected light and the welding apparatus, the presence / absence of interference between the surrounding structures (for example, the BMI nozzle 22 and the reactor vessel 21) and the welding apparatus are checked.

  As a result of the construction simulation, when interference is confirmed, the RL data is corrected and confirmation by the construction simulation is performed again. When it is determined that there is no interference and construction is possible, actual construction is performed. In the case of multilayer welding, the surface shape is measured and the 3D CAD data is updated after the first layer of welding is completed. After CL data and RL data are generated again, verification by construction simulation is performed, and if there is no problem, construction of the next layer is started. Here, when the CL data is directly corrected from the point cloud data obtained by the shape measurement when measuring the surface shape, it is not necessary to update the 3D CAD data.

  Next, operation | movement of the welding apparatus which concerns on this embodiment is demonstrated using FIG. 1 and FIGS. 4-6. FIG. 5 is a flowchart showing the operation (welding method) of the welding apparatus according to the present embodiment. FIG. 6 is a flowchart showing a calculation method of torque to be applied to each drive shaft of the welding apparatus according to the present embodiment.

  First, the welding head part side attitude angle data generation unit 43a of the drive mechanism control device 43 calculates a desired position and attitude with respect to the construction point 11 of the welding head part 6 including the position and attitude of the turning unit 2, Welding head side posture angle data representing the position and posture is generated (step S1).

In step S1, the drive shafts of the swivel unit 2 and the welding head unit drive unit 81 (the common swivel shaft 46, the front / rear left / right drive shaft 47, FIG. 4) to satisfy the position and posture represented by the welding head side posture angle data The torque acting on the elevating drive shaft 48 and the rotary drive shafts 49a, 49b, 49c) is calculated. Specific calculation methods include a method of calculating the value of each drive shaft by performing inverse kinematics as an analytical method from the position and orientation of the welding head 6, and transposing the Jacobian matrix as a method of numerical calculation. A method of calculating torque acting on each drive shaft using a matrix is conceivable. Hereinafter, a method for calculating torque acting on each drive shaft using a transposed matrix of a Jacobian matrix will be described as an example. Here, when the torque is τ, the Jacobian matrix is J, the transposition matrix of the Jacobian matrix J is J ^T , and the force and moment matrix acting on the welding head 6 is F, the torque τ is expressed by τ = J ^T F expressed.

First, the welding head side posture angle data generation unit 43a of the drive mechanism control device 43 calculates the Jacobian matrix J from the current position and posture of each drive shaft of the welding device body 40 (step S10). Next, the welding head side posture angle data generation unit 43a calculates a force and a moment F toward the target position and posture of the welding head unit 6 (step S11). At this time, the welding head side attitude angle data generation unit 43a calculates torque τ to be applied to each drive shaft of the welding apparatus main body 40 by τ = J ^T F (step S12). Next, the welding head side posture angle data generation unit 43a updates the angle of each drive shaft in proportion to the torque τ (step S13), and determines whether the position and posture of the welding head unit 6 have converged to the target. (Step S14), and calculation is performed sequentially until convergence.

  Next, the filler supply unit side posture angle data generation unit 43b of the drive mechanism control device 43 is a filler when the position and posture of the turning unit 2 included in the welding head unit side posture angle data generated in step S1 is fixed. When a desired position and orientation with respect to the construction point 11 of the supply unit 10 can be calculated, filler supply unit side posture angle data representing the position and posture is generated (step S2).

  In step S2, the drive shafts of the filler supply unit side drive unit 82 (in FIG. 4, front and rear left and right drive shafts 50, the lift drive shaft 51, and the rotation drive shaft 52a so as to satisfy the position and posture represented by the filler supply unit side posture angle data. , 52b) is calculated. In this case, the torque is calculated by replacing the welding head unit 6 with the filler supply unit 10 (steps S10 to S14).

  Here, when the welding head part side attitude angle data and the filler supply part side attitude angle data are generated, RL data corresponding to one point of CL data is generated. In this case, the welding apparatus main body control unit 43c of the drive mechanism control device 43 stores one point of RL data in the drive mechanism control device 43 (step S3-YES).

  On the other hand, the filler supply unit side posture angle data generation unit 43b has a construction point 11 of the filler supply unit 10 when the position and posture of the swivel unit 2 included in the welding head unit side posture angle data generated in step S1 is fixed. If the desired position and orientation cannot be calculated (NO in step S3-), the desired position and orientation for the construction point 11 of the filler supply unit 10 including the position and orientation of the swivel unit 2 are calculated, and the position and orientation are calculated. Is generated (step S4).

  In step S4, the drive shafts of the filler supply unit side drive unit 82 (in FIG. 4, the common turning shaft 46, the front / rear left / right drive shaft 50, and the lift drive shaft 51 so as to satisfy the position and posture represented by the filler supply unit side posture angle data). The torque acting on the rotary drive shafts 52a and 52b) is calculated (steps S10 to S14).

  Next, the welding head side posture angle data generation unit 43a is the construction point of the welding head unit 6 when the position and posture of the swivel unit 2 included in the filler supply unit side posture angle data generated in step S3 is fixed. 11 calculates a desired position and orientation with respect to 11, and generates the position and orientation as welding head side orientation angle data (step S5).

  Here, one point of RL data (welding head part side attitude angle data and filler supply part side attitude angle data) is generated. In this case, the welding device main body control unit 43 c stores one point of RL data in the drive mechanism control device 43. When all the RL data according to the construction procedure is not stored in the drive mechanism control device 43 (step S6-NO), step S1 is executed.

  On the other hand, when the RL data is stored in the drive mechanism control device 43 (step S6-YES), the welding device main body control unit 43c outputs the RL data to the welding device main body 40 as a drive control signal. That is, the welding apparatus main body control part 43c controls the welding apparatus main body 40 based on a drive control signal (step S7).

  In step S7, when the angle data representing the position and orientation of the swivel unit 2 is included with respect to the welding head side posture angle data of each RL data of the drive control signal, the welding apparatus main body control unit 43c The swivel unit 2 and the welding head unit side drive unit 81 are controlled based on the part side posture angle data, and the filler supply unit side drive unit 82 is controlled based on the filler supply unit side posture angle data of each RL data of the drive control signal. To do.

  In step S7, when the angle data representing the position and orientation of the swivel unit 2 with respect to the filler supply unit side attitude angle data of each RL data of the drive control signal is included, the welding apparatus main body control unit 43c The welding head unit side drive unit 81 is controlled based on the welding head unit side attitude angle data, and the turning unit 2 and the filler supply unit side drive unit 82 are controlled based on the filler supply unit side attitude angle data of each RL data of the drive control signal. To control.

  As described above, according to the welding apparatus of the present embodiment, the position and posture of the welding head unit 6 and the position and posture of the filler supply unit 10 are independently set for a complicated and narrow three-dimensional construction site. By controlling, welding can be performed without interference in a narrow area.

  In addition, you may replace step S1 and S2 and step S4 and S5 as operation | movement of the welding apparatus which concerns on this embodiment.

  That is, the filler supply unit side posture angle data generation unit 43b calculates a desired position and posture with respect to the construction point 11 of the filler supply unit 10 including the position and posture of the turning unit 2, and represents the position and posture. Supply unit side attitude angle data is generated (step S4). Next, the welding head side posture angle data generation unit 43a has a desired position with respect to the construction point 11 of the welding head unit 6 when the position and posture of the turning unit 2 included in the filler supply unit side posture angle data are fixed. If the posture can be calculated, it is generated as welding head side posture angle data representing the position and posture (step S5).

  On the other hand, the welding head side posture angle data generation unit 43a is a desired position and posture with respect to the construction point 11 of the welding head unit 6 when the position and posture of the swivel unit 2 included in the filler supply unit side posture angle data are fixed. Can not be calculated (step S3-NO), a desired position and posture with respect to the construction point 11 of the welding head portion 6 including the position and posture of the swivel portion 2 are calculated, and the welding head portion side representing the position and posture is calculated. Attitude angle data is generated (step S1). Next, the filler supply unit side posture angle data generation unit 43b has a desired position with respect to the construction point 11 of the filler supply unit 10 when the position and posture of the turning unit 2 included in the welding head unit side posture angle data are fixed. The attitude is calculated, and filler supply side attitude angle data representing the position and attitude is generated (step S2).

  On the other hand, when all the RL data according to the construction procedure is stored in the drive mechanism control device 43 (step S6-YES), the welding device main body control unit 43c determines the welding device based on the drive control signal (RL data). The main body 40 is controlled (step S7).

  FIG. 7 is a diagram illustrating reflection of laser light with respect to avoiding reflected light of the welding apparatus according to the present embodiment.

  As shown in FIG. 7, the laser irradiated from the welding head unit 6 reflects at a construction point 11 at a reflection angle determined from the relationship between the incident angle of the laser and the construction surface 60. At this time, the reflected light 61 hits the welding head unit 6 and the filler supply unit 10 to cause damage to the apparatus, and hitting the BMI nozzle 1 or the like causes a tilt of the BMI nozzle 1 due to heat input. is there. Therefore, the attitude of the welding head 6 is controlled within the incident angle condition so that the reflected light 61 does not hit the BMI nozzle 1, and the insertion angle of the filler wire 12 is set so that the reflected light 61 does not hit the construction condition. It is necessary to control the posture of the filler supply unit 10 within a range that falls within the range.

Specifically, the reflected light avoidance data generation unit 43d of the drive mechanism control device 43 sets the value of each drive shaft of the welding apparatus main body 40 in step S2 and step S5 in FIG. 5, particularly in step S11 in FIG. When calculating, avoidance of the reflected light 61 is considered. For example, when a numerical calculation method is used, the force and moment terms toward the target position and orientation and the reflected light 61 are expressed with respect to the force and moment components of F represented by the above-described equation τ = J ^T F. An avoidance posture can be generated by adding the terms of force and moment to avoid.

  FIG. 8 is a flowchart showing a method for avoiding reflected light in the welding apparatus according to the present embodiment.

  First, the reflected light avoidance data generation unit 43d of the drive mechanism control device 43 calculates the laser irradiation angle vector from the attitude of the welding head unit 6 when the welding head side attitude angle data and the filler supply unit side attitude angle data are generated. Is calculated (step S20), and a reflected light vector representing the optical path of the reflected light 61 is calculated based on the laser irradiation angle vector and the surface shape data (normal vector) at the construction point 11 (step S21). An intersection determination is made between the light vector and a place where it is desired to avoid reflected light, such as the welding head unit 6, the filler supply unit 10, and the BMI nozzle 1 (step S22).

In the intersection determination, for example, a rectangular surface that can be defined from coordinates of four points with respect to the posture of the filler supply unit 10 is considered, and the surface and the reflected light vector are determined geometrically. When the reflected light 61 strikes (step S22—YES), the orientation of the welding head portion 6 is changed to prevent the reflected light 61 from hitting the welding head portion 6 and the filler supply portion 10, and the laser irradiation angle vector is set. It is necessary to change or change the attitude of the filler supply unit 10 so that the reflected light does not enter, and the intersection of the force and moment terms of F represented by the above-described equation τ = J ^T F A value proportional to the geometric distance between the obtained portion and the reflected light is set. That is, the posture represented by the welding head portion side posture angle data and the filler supply portion side posture angle data is corrected (step S23).

  As described above, according to the welding apparatus of the present embodiment, the position and posture of the welding head unit 6 and the position and posture of the filler supply unit 10 are independent of each other for a complicated and narrow three-dimensional construction site. By controlling to, welding can be performed without interference in a narrow area.

  In addition, according to the welding apparatus of the present embodiment, the welding head unit 6 and the filler supply unit 10 are corrected in order to correct the posture of the welding head unit 6 and the posture of the filler supply unit 10 in consideration of the optical path of the reflected light 61. It is possible to prevent the reflected light 61 from hitting.

  This embodiment is presented as an example and is not intended to limit the scope of the invention. This novel embodiment can be applied not only to lasers but also to welding such as TIG, and can be implemented in various other forms, and various omissions and replacements are possible without departing from the spirit of the invention. Can be changed. This embodiment and its modifications are included in the scope and gist of the invention, and are included in the invention described in the claims and the equivalents thereof.

DESCRIPTION OF SYMBOLS 1 ... BMI nozzle 2 ... Turning part 3 ... Front-rear left-right drive part 4 ... Elevating drive part 5a, 5b, 5c ... Rotation drive part 6 ... Welding head part 7 ... Front-rear left-right drive part 8 ... Elevation drive part 9 ... Rotation drive part DESCRIPTION OF SYMBOLS 10 ... Filler supply part 11 ... Execution point 12 ... Filler wire 20 ... Support part 21 ... Reactor vessel 22 ... BMI nozzle 30 ... Installation part 31 ... CRD stub tube 32 ... CRD housing 33 ... Reactor pressure vessel 40 ... Welding device Main body 41 ... Signal cable 42 ... Control area 43 ... Drive mechanism control device 43a ... Welding head side posture angle data generation unit 43b ... Filler supply unit side posture angle data generation unit 43c ... Welding device main body control unit 43d ... Reflected light avoidance data Generation unit 44 ... drive controller 45 ... status display controller 46 ... common swivel axis 47 Front / rear left / right drive shaft 48 ... Lifting drive shaft 49a, 49b, 49c ... Rotation drive shaft 50 ... Front / rear left / right drive shaft 51 ... Lift drive shaft 52a, 52b ... Rotation drive shaft 60 ... Construction surface 61 ... Reflected light 81 ... Welding head section Side drive unit 82 ... Filler supply unit side drive unit

Claims (10)

A welding apparatus main body installed on a cylindrical object disposed in the nuclear reactor,
A welding head that is attached to the welding apparatus main body so as to be at least capable of turning and raising and lowering, and welds to a construction point of the object;
A filler supply unit that is attached to the welding apparatus main body at least separately from the welding head unit so as to be capable of turning and raising and lowering, and that supplies a filler wire to the construction point;
A welding apparatus comprising: A desired position and orientation of the welding head portion with respect to the construction point is calculated, welding head side posture angle data representing the position and orientation is generated, and a desired position and orientation of the filler supply portion with respect to the construction point is generated. Control for generating filler supply portion side posture angle data representing the position and posture thereof, and controlling the welding apparatus main body based on the welding head portion posture angle data and the filler supply portion side posture angle data And
The welding apparatus according to claim 1, comprising: The welding apparatus body is
A welding head side drive unit in which the welding head unit is attached to a tip part; and
A filler supply unit side drive unit in which the filler supply unit is attached to the tip; and
A swivel unit that serves as a common swivel axis for the welding head unit drive unit and the filler supply unit drive unit;
The welding apparatus according to claim 2, comprising: The controller is
Welding head side posture angle data for calculating a desired position and posture with respect to the construction point of the welding head unit including the position and posture of the swivel unit and generating the position and posture as the welding head side posture angle data A generator,
A desired position and posture with respect to a construction point of the filler supply unit when the position and posture of the swivel unit included in the welding head side posture angle data are fixed, and the position and posture are calculated by the filler supply unit. A filler supply unit side posture angle data generating unit that generates side posture angle data;
A welding apparatus main body that controls the swivel unit and the welding head unit side drive unit based on the welding head unit side posture angle data and controls the filler supply unit side drive unit based on the filler supply unit side posture angle data. A control unit;
The welding apparatus according to claim 3, further comprising: The controller is
A filler supply unit side attitude angle that calculates a desired position and attitude with respect to the construction point of the filler supply unit including the position and attitude of the swivel unit and generates the position and attitude as the filler supply unit side attitude angle data A data generator;
A desired position and posture with respect to a construction point of the welding head portion when the position and posture of the swivel portion included in the filler supply portion side posture angle data are fixed, and the position and posture are calculated. A welding head side posture angle data generation unit for generating side posture angle data;
A welding apparatus main body that controls the swivel unit and the filler supply unit side drive unit based on the filler supply unit side posture angle data, and controls the welding head unit side drive unit based on the welding head unit side posture angle data. A control unit;
The welding apparatus according to claim 3, further comprising: The filler supply unit side posture angle data generation unit calculates a desired position and posture with respect to a construction point of the filler supply unit when the position and posture of the swivel unit included in the welding head side posture angle data are fixed. If not, calculate the desired position and orientation for the construction point of the filler supply unit, including the position and orientation of the swivel unit, and generate the position and orientation as the filler supply unit side attitude angle data,
The welding head side posture angle data generation unit calculates a desired position and posture with respect to the construction point of the welding head unit when the position and posture of the swivel unit included in the filler supply unit side posture angle data are fixed. Then, the position and posture are generated as the welding head side posture angle data,
The welding apparatus main body control unit controls the turning unit and the filler supply unit side drive unit based on the filler supply unit side posture angle data, and the welding head unit side based on the welding head unit side posture angle data Control the drive,
The welding apparatus according to claim 4. The welding head side posture angle data generation unit calculates a desired position and posture with respect to the construction point of the welding head unit when the position and posture of the swivel unit included in the filler supply unit side posture angle data are fixed. If not, calculate the desired position and orientation for the construction point of the welding head portion including the position and orientation of the swivel portion, and generate the position and orientation as the welding head side orientation angle data,
The filler supply unit side posture angle data generation unit calculates a desired position and posture with respect to a construction point of the filler supply unit when the position and posture of the swivel unit included in the welding head side posture angle data are fixed. Then, the position and posture are generated as the filler supply unit side posture angle data,
The welding apparatus main body control unit controls the swivel unit and the welding head unit side drive unit based on the welding head unit side attitude angle data, and based on the filler supply unit side attitude angle data, the filler supply unit side Control the drive,
The welding apparatus according to claim 5. The welding head is a device that irradiates a laser;
The controller is
When the welding head side posture angle data and the filler supply unit side posture angle data are generated, an optical path of reflected light is calculated based on a surface shape of the object and a laser incident angle, and the welding head unit And a reflected light avoidance data generation unit that corrects the position and orientation represented by the welding head side posture angle data and the filler supply unit side posture angle data so as to prevent the reflected light from hitting the filler supply unit,
The welding apparatus according to claim 4, further comprising:   The said welding apparatus main body is being fixed to the support part installed in the periphery of the said target object, or the installation part fitted to the said target object, The any one of Claim 1 thru | or 8 characterized by the above-mentioned. The welding apparatus as described in. A welding apparatus main body installed on a cylindrical object disposed in a nuclear reactor, and a welding head which is attached to the welding apparatus main body so as to be capable of at least turning and raising and lowering and welding the construction point of the object And a filler supply unit that is attached to the welding apparatus main body so as to be capable of at least turning and raising and lowering, and that supplies a filler wire to the construction point.
Calculating a desired position and orientation of the welding head portion with respect to the construction point, and generating welding head side posture angle data representing the position and orientation;
Calculating a desired position and orientation with respect to the construction point of the filler supply unit, and generating filler supply unit side posture angle data representing the position and orientation;
Controlling the welding apparatus main body based on the welding head side attitude angle data and the filler supply part side attitude angle data;
The welding method characterized by comprising.

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