JP2016159301A - Welding system, and welding method - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a welding system and a welding method capable of shortening a labor time and reducing the burden on an operator.SOLUTION: A control device 104 causes: a rotation support device 101 to rotate a cylinder main body 21 and a position measuring device 102 to measure a first welding position P1 to be welded over an opening side end part 21a; a welding torch 131 to form a first bead 51 over one circumference of the circumference direction to the opening side end part 21a. The position, at which the inner circumference part 51a of the radial direction of the first bead 51 in the opening side end part 21a is measured as a second welding position P2 by the position measuring device 102. After this, the control device causes the welding torch 131 to form a second bead 52 over one circumference of the opening side end part 21a as to overlap a portion of the first bead 51 partially at the second welding position P2.SELECTED DRAWING: Figure 8

Description

  The present invention relates to a welding system and a welding method.

  Radioactive waste generated in a nuclear power plant nuclear reactor or the like is stored in, for example, a radioactive substance storage container described in Patent Document 1. Such a radioactive substance storage container has the trunk | drum formed in the cylindrical shape, for example. An opening is formed at one end in the axial direction of the body, and the lid is fixed with a screw or the like so as to close the opening.

  The surface of one end portion of such a body portion is covered with a weld layer such as stainless steel. Conventionally, this weld layer is formed by performing overlay welding on one end of the body. For example, in a state where the body portion is rotated in the circumferential direction, first, the welding torch is made to face the outer peripheral portion in the radial direction at one end portion, and a bead is formed over one circumference in the circumferential direction by rotation of the body portion. Thereafter, the welding torch is moved by a predetermined distance to the radially inner peripheral side, and a new bead is formed so as to partially overlap the already formed outer bead. Thereafter, the welding torch is moved to the radially inner peripheral side by the set distance, and a new bead is similarly formed. In this way, the bead is formed by moving the welding torch at equal pitches from the radially outer peripheral side of the one end portion to the inner peripheral side in a state where the trunk body is rotated.

JP 2007-205931 A

  However, the bead shape changes from bead to bead depending on the temperature of the base material, the outside air temperature, and the like. For this reason, in the method of moving the welding torch by equal pitches, when a new bead is stacked on a bead that has already been formed, the overlapping portion may become too large or insufficient. In such a case, it is necessary to temporarily stop the welding operation and correct the movement amount of the welding torch by the operator. For this reason, the work time becomes long and the burden on the worker becomes large.

  The present invention has been made in view of the above, and an object of the present invention is to provide a welding system and a welding method that can shorten the work time and reduce the burden on the operator.

  A welding system according to the present invention includes a rotation support device that supports a cylindrical body body that is rotatable in a circumferential direction, and a welding part that includes a plurality of beads at an axial end of the body body. A welding device that can move the welding torch in the radial direction of the trunk body, a position measuring device that can measure the position on the end, and the rotation support device to rotate the trunk body. In this state, the position measuring device measures the first welding position to be welded on the end portion, and causes the welding torch to perform the first over the circumference of the end portion at the first welding position. After forming one bead and causing the position measuring device to measure the position on the end where the radial end of the first bead is disposed as a second welding position, the welding torch One of the first beads at two welding positions And a control device to form a second bead over the circumferential direction of the circumference of said end portion to overlap the.

  According to the present invention, a new second bead is formed so as to overlap with the radial end of the first bead already formed as a reference. For this reason, even if the radial widths of the plurality of beads formed in the radial direction are different from each other, it is possible to prevent the overlap region between the beads from being excessive or insufficient, and the welded portion has a uniform dimension in the entire radial direction. Can be formed. Therefore, it is possible to save the labor for the operator to correct the moving amount of the welding torch. Thereby, work time can be shortened and a burden on an operator can be reduced.

  In the above welding system, when the first welding is performed on the end portion, the control device sets the outer peripheral edge portion in the radial direction of the end portion as the first welding position, and the end portion includes the first welding position. When welding is performed after welding one bead, the inner peripheral portion of the first bead is set as the second welding position.

  According to the present invention, a welded portion can be automatically formed from the outer peripheral side of the end portion to the inner peripheral side. Thereby, a welding part can be efficiently formed in an edge part.

  In the welding system, the control device causes the position measuring device to measure the position of the inner peripheral portion of the end portion as a welding end position, and a remaining welding distance based on the second welding position and the welding end position. And the second bead is formed on the welding torch when the remaining welding distance is equal to or greater than a predetermined threshold.

  According to the present invention, a plurality of welds can be automatically formed at the end until the remaining welding distance approaches a predetermined threshold without bothering the operator.

  In the above welding system, the control device causes the welding torch to end welding when the remaining welding distance is less than a predetermined threshold.

  ADVANTAGE OF THE INVENTION According to this invention, it can suppress that a welding part protrudes from an edge part.

  In the above welding system, a position reference portion that can be measured by the position measuring device is formed at a position spaced apart from the inner peripheral portion or the outer peripheral portion of the end portion in the radial direction by the position measuring device. The measurement device is caused to measure the position of the position reference portion, and the position of the inner peripheral portion or the outer peripheral portion is calculated based on the measurement result.

  According to the present invention, the position on the end can be measured more reliably. Thereby, a welding part can be formed with high precision.

  In the above-described welding system, the rotation support device supports the trunk body so that the end face in the axial direction of the end portion is disposed in a state of standing with respect to a horizontal plane.

  ADVANTAGE OF THE INVENTION According to this invention, when arrange | positioning in the state in which the end surface stood with respect to the horizontal surface, it becomes possible to form a welding part efficiently.

  The welding method according to the present invention includes a step in which a rotation support device that rotatably supports a cylinder body formed in a cylindrical shape in a circumferential direction rotates the cylinder body in the circumferential direction, and an axial end of the cylinder body A position measuring device that measures a first welding position, which is a welding target position, and a welding torch that is provided in the welding device and is movable in a radial direction of the trunk body at the first welding position. Forming a first bead over one circumference, a step in which the position measuring device measures a position of an inner peripheral portion of the first bead as a second welding position, and the welding torch includes the second welding. Forming a second bead over a circumference in the circumferential direction of the end so as to overlap a part of the first bead at a position.

  According to the present invention, it is possible to automatically form the first bead and the second bead at the end without bothering the operator. Moreover, even if it is a case where the radial width is mutually different in the several weld part formed in radial direction, a weld part can be formed in a uniform dimension to the whole radial direction. Accordingly, it is possible to save the labor of the operator such as correcting the radial width of the welded portion. Thereby, work time can be shortened and a burden on an operator can be reduced.

  According to the welding system and the welding method of the present invention, it is possible to shorten the work time and reduce the burden on the operator.

FIG. 1 is a perspective view showing an example of a welding system according to the present embodiment. FIG. 2 is a longitudinal sectional view showing the radioactive substance storage container. FIG. 3 is a diagram illustrating an example of an opening-side end portion of the trunk body. FIG. 4 is a flowchart showing an example of a welding method. FIG. 5 is a diagram illustrating an example of a measurement operation performed by the position measurement device. FIG. 6 is a diagram illustrating an example of a welding operation performed by the welding apparatus. FIG. 7 is a diagram illustrating an example of a measurement operation performed by the position measurement device. FIG. 8 is a diagram illustrating an example of a welding operation by the welding apparatus. FIG. 9 is a diagram illustrating an example of a measurement operation performed by the position measurement device. FIG. 10 is a diagram illustrating an example of a measurement operation performed by the position measurement device. FIG. 11 is a diagram illustrating an example of a welding operation performed by the welding apparatus. FIG. 12 is a diagram illustrating another example of the opening side end of the trunk body. FIG. 13 is a diagram illustrating another example of the opening side end portion of the trunk body. FIG. 14 is a diagram illustrating another example of the opening side end of the trunk body. FIG. 15 is a diagram illustrating another example of the opening-side end portion of the trunk body.

  Hereinafter, an embodiment of a welding system according to the present invention will be described with reference to the drawings. In addition, this invention is not limited by this embodiment. In addition, constituent elements in the following embodiments include those that can be easily replaced by those skilled in the art or those that are substantially the same.

  FIG. 1 is a perspective view showing an example of a welding system 100 according to the present embodiment. As shown in FIG. 1, the welding system 100 includes a rotation support device 101, a position measurement device 102, a welding device 103, and a control device 104.

  The welding system 100 forms a welded portion on an annular end surface (41a, 42a, 43a) formed at one end in the axial direction of the trunk body 21 formed in a cylindrical shape. Here, before explaining the configuration of each device of the welding system 100, the trunk body 21 will be explained. This trunk body 21 constitutes a part of the cask 11 as a radioactive substance storage container. FIG. 2 is a longitudinal sectional view showing an example of the cask 11.

  As shown in FIG. 2, the cask 11 has a trunk portion 12, a lid portion 13, and a basket 14. The trunk portion 12 includes the trunk body 21, the outer cylinder 25, and the bottom plate 28. The trunk body 21 is formed in a cylindrical shape, and has an opening 22 at one end in the axial direction of the central axis AX, and a bottom 23 at the other end. Hereinafter, the end on the side where the opening 22 is formed in the trunk body 21 will be referred to as an opening end 21a, and the end on the side where the bottom 23 is formed will be referred to as a bottom end 21b. A cavity 24 is formed inside the trunk body 21. The inner surface of the trunk body 21 has a shape that matches the outer peripheral shape of the basket 14. The basket 14 has, for example, a plurality of cells that individually store radioactive materials (not shown) that are spent fuel assemblies. The trunk body 21 including the bottom 23 is a forged product made of carbon steel having a γ-ray shielding function.

  The outer cylinder 25 is provided on the outer peripheral side of the trunk body 21. The outer cylinder 25 is disposed with a predetermined gap between the outer cylinder 25 and the outer peripheral surface of the trunk body 21. A plurality of heat transfer fins (not shown) that conduct heat are welded at predetermined intervals in the circumferential direction between the outer peripheral surface of the trunk body 21 and the inner peripheral surface of the outer cylinder 25. The gap is filled with a resin (neutron shield) 27. As the resin 27, for example, a polymer material containing a large amount of hydrogen is used. Such a polymer material may contain, for example, boron or a boron compound having a neutron shielding function.

  Further, the bottom plate 28 is connected to the bottom side end portion 21 b of the trunk body 21. The bottom plate 28 is disposed with a predetermined gap between the bottom plate 28 and the bottom portion 23. A resin (neutron shield) 29 is provided in the gap between the bottom 23 and the bottom plate 28. A trunnion 30 is fixed to the side surface of the body portion 12.

  A first step portion 41, a second step portion 42, and a third step portion 43 are formed on the opening side end portion 21 a of the trunk body 21. The first step portion 41 has an annular first end surface 41a perpendicular to the axial direction of the central axis AX. A plurality of screw holes 41 b are formed in the first end surface 41 a at equal intervals in the circumferential direction of the trunk body 21. The second step portion 42 is formed on the outer side of the opening 22 than the first step portion 41. The second step portion 42 has an annular second end surface 42a parallel to the first end surface 41a. A plurality of screw holes 42 b are formed in the second end surface 42 a at equal intervals in the circumferential direction of the trunk body 21. The third step portion 43 has an annular third end surface 43a parallel to the first end surface 41a and the second end surface 42a. A plurality of screw holes 43 b are formed in the third end surface 43 a at equal intervals in the circumferential direction of the trunk body 21.

  The lid portion 13 includes a primary lid 31, a secondary lid 32, and a tertiary lid 33. The primary lid 31 is detachably attached to the first step portion 41 of the trunk body 21. The primary lid 31 is fitted to the first step portion 41 and is in close contact with the first end surface 41a. The primary lid 31 is fastened to the first step portion 41 by a bolt 71. The primary lid 31 maintains the negative pressure on the cavity 24 side and prevents leakage of gas filled in the cavity 24. Further, the primary lid 31 shields radiation (γ rays) emitted from the radioactive substance stored in the cavity 24. A resin (neutron shield) is provided outside the primary lid 31 (on the secondary lid 32 side). A pressure monitoring boundary pressurized against the atmosphere is formed between the primary lid 31 and the secondary lid 32.

  The secondary lid 32 is detachably attached to the second step portion 42 of the trunk body 21. The secondary lid 32 is fitted to the second step portion 42 and is in close contact with the second end surface 42a. The secondary lid 32 is fastened to the second step portion 42 by a bolt 72. The secondary lid 32 prevents gas leakage from the primary lid 31. Further, the secondary lid 32 ensures the pressure on the cavity 24 side.

  The tertiary lid 33 is detachably attached to the third step portion 43 of the trunk body 21. The tertiary lid 33 is fitted to the third step portion 43 and is in close contact with the third end surface 43a. The tertiary lid 33 is fastened to the third step portion 43 by a bolt 73. The tertiary lid 33 is fixed to the third step 43 in the opening 22 of the trunk body 21. The tertiary lid 33 protects the secondary lid 32 from external impacts.

  FIG. 3 is an enlarged cross-sectional view showing a main part of the trunk body 21 on the opening side end 21a side. In FIG. 3, only a part of the third step portion 43 is shown, and the configuration of the tertiary lid 33, the bolt 73, and the screw hole 43b, and the first step portion 41 and the second step portion 42 are omitted. In the following description, a part of the third step portion 43 will be described, and the description of the tertiary lid 33 and the like, and the description of the first step portion 41 and the second step portion 42 will be omitted.

  As shown in FIG. 3, a welded portion 50 is formed on the surface of the third step portion 43. The welded portion 50 is formed across the end surface 21r, the inclined surface 21c, and the inner peripheral surface 21f of the opening-side end portion 21a of the trunk body 21. The weld 50 is formed by overlay welding with a material such as stainless steel. The first step portion 41 and the second step portion 42 are also formed with the welded portion 50 in the same manner as the third step portion 43, and the same explanation is possible.

  Then, the structure of each apparatus of the protection member insertion system 100 is demonstrated. As shown in FIG. 1, the rotation support device 101 supports the trunk body 21 in a laid state so that the end surface 21r of the opening-side end portion 21a is disposed in a state standing in a direction perpendicular to the floor surface 113, for example. To do. In addition, when rotating the trunk | drum main body 21 with the rotation support apparatus 101, it is easier to control rotation by arrange | positioning and rotating so that it may receive a load in one edge part (for example, bottom part side edge part 21b) of an axial direction. There are cases where it can be done. In this case, the end surface 21r is disposed to be inclined with respect to a state perpendicular to the floor surface 113. The inclination angle at this time is preferably set to 1 ° or less, for example.

  The rotation support device 101 can rotate in the circumferential direction while supporting the trunk body 21. For example, a turning roller is used as the rotation support device 101. In addition, in FIG. 1, the state before the welding part 50 is formed in the opening side edge part 21a is shown. Therefore, the opening-side end portion 21a shown in FIG. 1 has an end surface 21p corresponding to the first end surface 41a, an end surface 21q corresponding to the second end surface 42a, and an end surface 21r corresponding to the third end surface 43a exposed. It has become.

  The rotation support device 101 includes a support base 111 and a pair of support rollers 114 and 115. The support base 111 is installed on the floor surface 113 by a plurality of leg portions (not shown). The floor surface 113 is formed, for example, parallel to the horizontal plane. The pair of support rollers 114 and 115 are rotatably provided. The support rollers 114 and 115 are arranged at two locations in the axial direction of the central axis AX so as to support the opening side end 21a and the bottom side end 21b of the trunk body 21 respectively. A driving device (not shown) is connected to each of the support rollers 114 and 115. The driving device rotationally drives the support rollers 114 and 115 in one circumferential direction and the other.

  The position measuring device 102 measures the position on the opening side end 21 a of the trunk body 21. As the position measuring device 102, for example, a CCD camera is used. The position measuring device 102 is attached to an arm 120 such as a 6-axis articulated robot (not shown). Note that the position measuring device 102 may be a sensor that measures the distance to an object, such as a laser sensor, an ultrasonic sensor, or an infrared sensor, instead of the CCD camera. In FIG. 1, the position measuring device 102 can move around the opening-side end portion 21 a in six axial directions. The position measuring device 102 images the opening side end 21a. The position measurement device 102 transmits the captured image data to the control device 104.

  The welding device 103 has a welding torch 131. The welding torch 131 is attached to an arm 130 such as a 6-axis articulated robot (not shown). The welding torch 131 is disposed so as to face the opening side end portion 21a and is movable in the radial direction of each surface. The welding torch 131 supplies welding current and shielding gas. A nozzle 132 is provided at the tip of the welding torch 131. The welding torch 131 can supply the welding wire 133 to the nozzle 132 side.

  The control device 104 comprehensively controls the rotation support device 101, the position measurement device 102, and the welding device 103. The control device 104 controls the driving device of the rotation support device 101 to rotate the support rollers 114 and 115. The control device 104 includes an image processing unit 141 and a position calculation unit 142. The image processing unit 141 performs image processing such as binarization processing on the image data transmitted from the position measurement device 102. The position calculation unit 142 calculates the position of the opening side end 21a based on the image data processed by the image processing unit 141. The position calculation unit 142 calculates the position of the opening-side end 21a as, for example, the position coordinates in the radial direction of the trunk body 21. In addition, the position calculation unit 142 calculates the position of an uneven portion such as a bead formed on each end face as a position coordinate in the radial direction. In this case, the position calculation unit 142 can use, for example, the center axis AX of the trunk body 21 as a reference position of coordinates.

  When a sensor that measures a distance to an object such as a laser sensor is used as the position measurement device 102, the control device 104 moves the position measurement device 102 in the radial direction from the center axis AX of the trunk body 21, for example. I will let you. In this case, there is a portion where the distance between the position measuring device 102 and the measurement object changes while the position measuring device 102 is moved in the radial direction. For example, when the end face 21p, the end face 21q, and the end face 21r appear, or when irregularities such as beads appear on each end face, the distance from the position measuring device 102 changes. By detecting such a position where the distance changes in correspondence with the position coordinate in the radial direction, the position coordinate in the radial direction of each end face and the position coordinate in the radial direction of the uneven portion such as the weld 50 can be obtained.

  Then, the welding method which forms the welding part 50 using the welding system 100 which concerns on this embodiment is demonstrated. FIG. 4 is a flowchart showing an example of a welding method. Hereinafter, the case where the welding part 50 is formed in the end surface 21r etc. of the trunk | drum main body 21 and the 3rd step part 43 is formed is mentioned as an example, and is demonstrated. The same applies to the case where the first step portion 41 is formed by forming the welded portion 50 on the end surface 21p or the like, and the case where the second step portion 42 is formed by forming the welded portion 50 on the end surface 21q or the like. Explanation is possible.

  First, the trunk body 21 is transported using a crane or the like (not shown), and the trunk body 21 is placed on the support rollers 114 and 115 of the rotation support device 101 in a lying state. The trunk body 21 is placed on the four support rollers 114 and 115 in a state where the opening-side end 21a is directed in the direction along the floor surface 113, so that the trunk body 21 can be rotated by the rotation support device 101. Supported by Thereafter, the control device 104 drives and controls the rotation support device 101 to rotate the trunk body 21 (step S11).

  After rotation of the trunk body 21, the control device 104 causes the position measuring device 102 to measure the position of the inner peripheral portion 21e of the end face 21r as the welding end position PE (step S12). FIG. 5 is a diagram illustrating an example of a measurement operation performed by the position measurement device 102. In step S <b> 12, the control device 104 causes the position measurement device 102 to photograph an area including the inner peripheral portion 21 e, and the obtained image data is processed by the image processing unit 141. Thereafter, the position calculation unit 142 calculates the position of the inner peripheral part 21e (welding end position PE) based on the processed image data. The position of the inner peripheral portion 21e that is the welding end position PE is used in a later step.

  Next, the control device 104 causes the position measurement device 102 to measure the first welding position P1, which is the welding target position, of the end surface 21r (step S13). In step S13, as shown in FIG. 5, the control device 104 causes the position measuring device 102 to measure the position of the outer peripheral portion 21d of the end face 21r as the first welding position P1. Although FIG. 5 shows a state in which the position measuring device 102 moves up and down in accordance with the measurement target position, the present invention is not limited to this. If the welding end position PE and the first welding position P1 can be respectively measured, the position measuring device 102 may not be moved.

  Next, the control device 104 moves the welding torch 131 to the first welding position P1, and causes the welding torch 131 to perform welding at the first welding position P1 (step S14). FIG. 6 is a diagram illustrating an example of a welding operation performed by the welding apparatus 103. In step S <b> 14, the control device 104 causes the nozzle 132 of the welding torch 131 to face the first welding position P <b> 1 and performs welding while supplying the welding wire 133 as shown in FIG. 6. Since the trunk body 21 is rotating in the circumferential direction, a bead (first bead) 51 is formed over one circumference of the end surface 21r in the circumferential direction.

  Next, the control device 104 causes the position measurement device 102 to measure the position of the inner peripheral portion 51a of the bead 51 (step S15). FIG. 7 is a diagram illustrating an example of a measurement operation performed by the position measurement device 102. In step S15, as shown in FIG. 7, the control device 104 causes the position measuring device 102 to measure the position of the inner peripheral portion 51a of the bead 51 as the second welding position P2, which is the next welding target position.

  Next, the control device 104 moves the welding torch 131 to the second welding position P2, and causes the welding torch 131 to perform welding at the second welding position P2 (step S16). FIG. 8 is a diagram illustrating an example of a welding operation performed by the welding apparatus 103. In step S16, as shown in FIG. 8, the control device 104 makes the nozzle 132 of the welding torch 131 face the second welding position P2 and supplies a welding wire 133 so as to overlap with a part of the bead 51. The bead (second bead) 52 is welded. Since the trunk body 21 rotates in the circumferential direction, the bead 52 is formed over one circumference of the end surface 21r in the circumferential direction.

  Next, the control device 104 causes the position measurement device 102 to measure the position of the inner peripheral portion 52a of the bead 52 (step S17). FIG. 9 is a diagram illustrating an example of a measurement operation performed by the position measurement device 102. In step S17, as shown in FIG. 9, the control device 104 causes the position measurement device 102 to measure the position of the inner peripheral portion 52a of the bead 52 as the third position P3 that is the next welding target position.

  Next, the control device 104 determines whether or not the remaining welding distance is greater than or equal to a threshold value (step S18). In step S18, as shown in FIG. 9, the control device 104 calculates the distance between the third position P3 measured in step S17 and the welding end position PE measured in step S12 as the remaining welding distance t. The threshold value can be stored in advance in a storage unit (not shown) of the control device 104. This threshold value can be set to a value (for example, about 5 mm) that is equal to or less than the average diameter of the beads.

  As a result of the determination, when the remaining welding distance is equal to or greater than the threshold (Yes in Step S18), the control device 104 repeatedly performs the processes after Step S16. In this case, the control device 104 moves the welding torch 131 to the measurement position (third position P3), and forms a new bead over the entire circumference of the end surface 21r at the third position P3. Thereafter, the position of the inner periphery of the newly formed bead is measured, and it is determined whether the remaining welding distance is equal to or greater than a threshold value.

  Moreover, when the remaining welding distance is less than a threshold value as a result of determination (No of step S18), the control apparatus 104 complete | finishes the welding of the end surface 21r. After the end surface 21r has been welded, the control device 104 performs the same operation to form beads on the inclined surface 21c and the inner peripheral surface 21f.

  FIG. 10 is a diagram illustrating an example of a measurement operation performed by the position measurement device 102. In FIG. 10, after the bead 52 is formed, a plurality of new beads 53 are formed so as to overlap each other, and the inner peripheral portion 53a of the bead 53 approaches the inner peripheral portion 21e of the end face 21r. However, the inner peripheral portion 53a of the bead 53 does not reach the inner peripheral portion 21e of the end face 21r. In this state, when it is determined that the remaining welding distance t is less than the threshold value, the welding is terminated, and therefore, the remaining region of the end surface 21r becomes an unwelded region where no bead is formed.

  FIG. 11 is a diagram illustrating an example of a welding operation performed by the welding apparatus 103. When the unwelded region is formed on the end surface 21r as described above, as shown in FIG. 11, when the end face 21r is welded after the end surface 21r is welded, the control device 104 does not connect the end surface 21r. Welding can be performed with a position including the welding region as a position to be welded. Moreover, an operator may set so that a bead is formed in an unwelded area. Thereby, since formation of an unwelded area | region can be suppressed, the welding part 50 will be formed uniformly in the whole opening side edge part 21a.

  As described above, according to the present embodiment, the new second bead 52 is formed so as to overlap with the radially inner peripheral portion 51a of the first bead 51 already formed as a reference position. For this reason, even if the radial widths of the plurality of beads formed in the radial direction are different from each other, it is possible to prevent the overlap region between the beads from being excessive or insufficient, and the welded portion has a uniform dimension in the entire radial direction. 50 can be formed. Therefore, it is possible to save the labor of the operator to correct the moving amount of the welding torch 131 and the like. Thereby, work time can be shortened and a burden on an operator can be reduced.

  It should be noted that the technical scope of the present invention is not limited to the above-described embodiment, and modifications can be made as appropriate without departing from the spirit of the present invention. For example, in the above-described embodiment, when the position measuring device 102 measures the welding end position PE, the inner peripheral portion 21e of the end face 21r is photographed and measured. However, the present invention is not limited to this. For example, a position reference portion that can be measured by the position measuring device 102 may be provided at a position away from the inner peripheral portion 21e by a predetermined distance from the inner peripheral portion 21e in the radial direction.

  FIG. 12 is a diagram illustrating another example of the opening-side end portion 21 a of the trunk body 21. As shown in FIG. 12, it is good also as a structure by which the spot welding part 61 was formed as a position reference part in the position away from the inner peripheral part 21e by the predetermined distance d to the outer peripheral side. The spot welded portion 61 can be formed using the base material of the trunk body 21 or the material of the welded portion 50. When the spot welded portion 61 is formed, the control device 104 calculates the radial position of the inner peripheral portion 21e based on the position of the spot welded portion 61 measured by the position measuring device 102 and the predetermined distance d. It is possible.

  FIG. 13 is a diagram illustrating another example of the opening-side end portion 21 a of the trunk body 21. As shown in FIG. 13, a marking portion 62 may be formed as a position reference portion at a position away from the inner peripheral portion 21 e by a predetermined distance d toward the outer peripheral side. When the marking part 62 is formed, the control device 104 can calculate the radial position of the inner peripheral part 21e based on the position of the marking part 62 measured by the position measuring device 102 and the predetermined distance d. Is possible. In the case where a CCD camera is used as the position measuring device 102, the image data obtained by photographing the marking unit 62 is displayed as a black line when binarized by the image processing unit 141. For this reason, it becomes easy to distinguish between surrounding images.

  FIG. 14 is a view showing another example of the opening-side end 21a of the trunk body 21. As shown in FIG. As shown in FIG. 14, it is good also as a structure by which the groove part 63 was formed as a position reference part in the position away from the inner peripheral part 21e by the predetermined distance d to the outer peripheral side. The groove part 63 is formed by processing the end face 21r in advance. When the groove portion 63 is formed, the control device 104 can calculate the radial position of the inner peripheral portion 21e based on the position of the groove portion 63 measured by the position measuring device 102 and the predetermined distance d. is there. When a CCD camera is used as the position measuring device 102, the image data obtained by photographing the groove 63 is displayed as a black line when binarized by the image processing unit 141 as in the case of the marking unit 62. Is done. For this reason, it becomes easy to distinguish between surrounding images.

  FIG. 15 is a diagram illustrating another example of the opening-side end portion 21 a of the trunk body 21. As shown in FIG. 15, a protrusion 64 may be formed as a position reference portion at a position away from the inner peripheral portion 21e by a predetermined distance d toward the outer peripheral side. The protrusion 64 can be formed by processing when the end surface 21r of the trunk body 21 is formed. When the protruding portion 64 is formed, the control device 104 can calculate the radial position of the inner peripheral portion 21e based on the position of the protruding portion 64 measured by the position measuring device 102 and the predetermined distance d. Is possible.

  Further, in the above embodiment, when photographing corners such as the outer peripheral part 21d and the inner peripheral part 21e of the end surface 21r, photographing is performed in a state in which light is projected onto an area other than the corners by a light source unit (not shown). In addition, halation may be generated in a region other than the corner portion of the image data. As a result, the corners of the image data are conspicuous, and the corners can be easily identified.

DESCRIPTION OF SYMBOLS 11 Cask 12 trunk | drum 13 cover part 14 basket 21 trunk | drum main body 21a opening side end part 21b bottom part side end part 21c inclined surface 21d outer peripheral part 21e inner peripheral part 21f inner peripheral surface 21p, 21q, 21r end face 22 opening part 23 bottom part 24 cavity 25 outer cylinder 27 resin 28 bottom plate 30 trunnion 31 primary lid 32 secondary lid 33 tertiary lid 41 first step portion 42 second step portion 43 third step portions 41a, 42a, 43a end faces 41b, 42b, 43b screw holes 50 welded portions 51, 52, 53 Beads 71, 72, 73 Bolts 51a, 52a, 53a Inner peripheral portion 61 Spot welded portion 62 Marked portion 63 Groove portion 64 Projection portion 100 Protective member insertion system 100 Welding system 101 Rotation support device 102 Position measuring device 103 Welding Device 104 Control device 111 Support stand 113 Floor surfaces 114, 115 Support roller 1 0,130 arm 131 welding torch 132 nozzle 133 welding wire 141 image processing unit 142 the position calculation unit AX central axis d predetermined distance P1, P2, P3 position PE welding end position t welding distance

Claims (7)

A rotation support device for rotatably supporting a cylinder body formed in a cylindrical shape in the circumferential direction;
A welding torch that forms a welded portion including a plurality of beads at an axial end of the trunk body, and a welding device that can move the welding torch in the radial direction of the trunk body;
A position measuring device capable of measuring a position on the end;
The trunk main body is rotated by the rotation support device, the first welding position to be welded on the end portion is measured by the position measuring device, and the welding torch makes the end at the first welding position. The first bead is formed over one circumference in the circumferential direction of the part, and the position measuring device measures the position at which the radial end of the first bead is disposed on the end as the second welding position. A control device for forming a second bead over a circumference in the circumferential direction of the end so that the welding torch overlaps a part of the first bead at the second welding position;
Welding system comprising. The control device, when performing the first welding to the end portion, the outer peripheral edge portion in the radial direction of the end portion as the first welding position,
The welding system according to claim 1, wherein when welding is performed after the first bead is welded to the end portion, an inner peripheral portion of the first bead is set as the second welding position. The control device causes the position measuring device to measure the position of the inner peripheral portion of the end portion as a welding end position, calculates a remaining welding distance based on the second welding position and the welding end position, and The welding system according to claim 1, wherein the second bead is formed on the welding torch when a welding distance is equal to or greater than a predetermined threshold. The welding system according to claim 3, wherein the control device causes the welding torch to terminate welding when the remaining welding distance is less than a predetermined threshold. A position reference portion that can be measured by the position measuring device is formed at a position spaced a predetermined distance in the radial direction from the inner peripheral portion or outer peripheral portion of the end portion,
The said control apparatus makes the said position measurement apparatus measure the position of the said position reference part, and calculates the position of the said inner peripheral part or an outer peripheral part based on a measurement result. The welding system described in. The said rotation support apparatus supports the said trunk | drum main body so that the end surface of the said axial direction may be arrange | positioned with respect to the horizontal surface among the said edge parts. The described welding system. A step of rotating a trunk body in the circumferential direction by a rotation support device that rotatably supports the trunk body formed in a cylindrical shape in the circumferential direction;
A step of measuring a first welding position, which is a position to be welded, of the axial end of the trunk body by a position measuring device;
A welding torch provided in a welding apparatus and movable in a radial direction of the trunk body forms a first bead over a circumference of the end portion at the first welding position;
The step of measuring the position of the inner periphery of the first bead as the second welding position by the position measuring device;
Forming a second bead over a circumferential circumference of the end so that the welding torch overlaps a portion of the first bead at the second welding position;
Including welding method.

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