JP2019063844A - Horizontal fillet welding device and horizontal fillet welding method - Google Patents

Abstract

To provide a horizontal fillet welding device which can perform stable complete penetration welding, can eliminate welding residue, and can prevent positional deviation of a torch during welding.SOLUTION: This horizontal fillet welding device comprises: a frame 2 which is so provided as to extend in an arrangement direction of plural standing plates L above a lower plate U; a drive mechanism 5 which can relatively move the frame 2 in an extension of the standing plate L; a welding head 10 having a pair of head bodies 14A, 14B which have welding torches 55A, 55B, and a support member 11 which is so fitted to the frame 2 as to be movable along the frame 2 in the arrangement direction of the plural standing plates L, and supports the pair of head bodies 14A, 14B. The welding head 10 comprises a lateral movement mechanism 12 which moves the pair of head bodies 14A, 14B in the arrangement direction of the plural standing plates L with respect to the support member 11, and a pair of longitudinal movement mechanisms 13A, 13B which move the pair of head bodies 14A, 14B independently from each other in the extension direction of the standing plate L with respect to the support member 11.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a horizontal fillet welding apparatus and a horizontal fillet welding method.

  When horizontally welding long steel materials used in large structures such as shipbuilding and bridges automatically, a pair of welding heads provided with welding torches are arranged on both sides of a standing plate, and a pair of welding heads are provided. Welding is performed while moving along the welding direction. In such a horizontal fillet welding apparatus, high efficiency and high accuracy welding is required, and conventionally, improvement in efficiency by increasing the number of electrodes and improvement in accuracy by applying various sensors have been achieved. For example, in the gas shield arc welding apparatus described in Patent Document 1, the torch for filler wire is disposed between the two electrode torches in order to suppress the variation of the molten pool shape due to the arc interference when the two electrode torches are used. It is described that it comprises. In particular, in Patent Document 1, the electrode torch and the filler wire torch are rotated in a desired direction in all directions including the welding direction, the vertical direction, the butt direction, and the inter-electrode distance between the electrodes of each torch or By adjusting the torch angle appropriately, it is easily adjusted to the optimum welding conditions.

  Further, in Patent Document 2, a copying sensor for detecting a change in position of the welding portion prior to the welding torch, and a moving device for moving the welding torch according to a detection signal from the copying sensor to copy the welding portion In order to weld the welding torch accurately following changes in the position of the welding portion, a strip welding apparatus is disclosed.

JP 2012-179613 A JP-A-8-99173

  By the way, in terms of mechanical performance, it is preferable to completely weld the welds. However, in the case of perfect penetration of the weld in horizontal fillet welding, it is necessary to perform welding at high current. When high current welding is performed at the same position in the welding direction on both the left and right welding heads of the upright plate, arc interference significantly occurs between the two electrodes of the facing electrodes, and the possibility of occurrence of welding defects increases. For this reason, if it is desired to completely weld the welds, it is necessary to shift the welding position of each welding head in the welding direction, but simply shifting each welding head generates welding residue at the beginning or end of welding. There is a problem. Also, in order to prevent welding residue at the beginning or end of welding, the movable length of each welding head is made longer than the welding length by the shift length of each welding head, and the welding torch is at a position deviated from the welding It can be considered to turn off the arc of However, in this case, the guide mechanism for guiding the welding head following the lower plate or the upright plate contacts or separates with the lower plate or the upright plate at the beginning of welding or at the end of welding. is there. Conventionally, complete penetration is not assumed in the horizontal fillet welding device of such a mechanism, and the welding devices described in Patent Documents 1 and 2 do not consider the above problem.

  The present invention has been made in view of the above-mentioned problems, and an object thereof is a horizontal fillet welding apparatus which is capable of stable complete penetration melting welding and which has no welding residue and displacement of a torch during welding. And providing a horizontal fillet welding method.

The above object of the present invention is achieved by the following constitution.
(1) The left and right sides of the standing plate in which the lower plate and the standing plate abut against a structure provided with a lower plate and a plurality of standing plates erected on the upper surface of the lower plate. A horizontal fillet welding apparatus for simultaneously performing horizontal fillet welding of welds on both sides,
A frame extending in the arranging direction of the plurality of upright plates above the lower plate;
A drive mechanism capable of relatively moving the frame or the lower plate in the extending direction of the standing plate;
A pair of head bodies respectively having a single or a plurality of welding torches, and a support member mounted on the frame so as to be movable in the arranging direction of the plurality of standing plates along the frame and supporting the pair of head bodies At least one welding head having
Equipped with
The welding head moves the pair of head bodies relative to the support member in the arranging direction of the plurality of upright plates, and the pair of head bodies independently of each other with respect to the support member. A pair of longitudinal movement mechanisms for moving in the extending direction of the standing plate,
A horizontal fillet welding apparatus comprising:
(2) The horizontal fillet welding apparatus according to (1), wherein the longitudinal movement mechanism and the head main body are connected via a swingable pivoting shaft.
(3) A vertical slide mechanism which permits vertical movement of the head main body between the longitudinal movement mechanism and the head main body or the head main body, and elasticity which biases the head main body toward the lower plate The horizontal fillet welding apparatus according to (1) or (2), comprising: a member.
(4) The welding torch of the pair of head bodies comprises a leading electrode torch and a trailing electrode torch,
The torch angle of the leading electrode torch with respect to the surface of the lower plate is 5 ° to 40 °,
The horizontal fillet welding apparatus according to any one of (1) to (3), wherein the torch angle of the trailing electrode torch with respect to the surface of the lower plate is 40 ° to 60 °.
(5) The welding torch has at least one curved portion which curves in the direction in which the plurality of upright plates are arranged from the portion extending in the vertical direction,
The radius of curvature of the curved portion of the leading pole torch is 60 to 120 mm, and the bending angle is 50 ° to 85 °.
The horizontal fillet welding apparatus according to (4), wherein a curvature radius of a curved portion of the trailing electrode torch is 60 to 120 mm, and a bending angle is 30 ° to 50 °.
(6) The horizontal fillet according to any one of (1) to (5), wherein the head main body includes at least one copying unit for moving the head main body following the shape of the standing plate. Welding equipment.
(7) The movement stroke of the head main body in the extending direction of the standing plate by the longitudinal movement mechanism is set in a range of 0 mm to 600 mm. Horizontal fillet welder as described in.
(8) When performing horizontal fillet welding of the welded portion of the lower plate and the upright plate with a welding torch, the frame or the lower plate is continuously moved relative to the welding start end to the weld end at a predetermined speed In the initial stage of welding in which the drive mechanism is controlled and welding is performed from the welding start end, the pair of head bodies is previously determined from the state in which the pair of head bodies are opposed to each other in the arranging direction of the plurality of upright plates. The pair of head bodies are relatively shifted by a predetermined shift length at the end of welding in which one of the longitudinal movement mechanisms is controlled so as to be relatively shifted by the shift length, and welding is performed to the welding end. Providing a control unit for controlling the other longitudinal movement mechanism so that the pair of head bodies face each other in the direction in which the plurality of upright plates are arranged from the shifted state The horizontal fillet welding device according to any one of (1) to (7).
(9) A structure comprising a lower plate and a plurality of standing plates erected on the upper surface of the lower plate, using the horizontal fillet welding apparatus according to any one of (1) to (8). A horizontal fillet welding method for simultaneously welding horizontal fillets on the left and right sides of the standing plate in which the lower plate and the standing plate abut each other on the object,
A preparatory step of positioning the pair of head main bodies in the welding direction forward position of the longitudinal movement mechanism and arranging the pair of head main bodies on both left and right sides of the standing plate at the welding start end of the portion to be welded;
The drive mechanism relatively moves the frame or the lower plate in the extending direction of the standing plate, and welding of a predetermined shift length by the head body of one of the pair of head bodies is performed for the standing plate The moving speed of the frame or the lower plate is performed so that the relative position of the other head main body of the pair of head main bodies with the welded portion is not changed by the longitudinal movement mechanism. The first welding step to move at the same speed as
When the one head body finishes welding of the shift length, the movement of the other head body by the longitudinal movement mechanism is stopped, and the pair of head bodies is moved to the frame or the lower plate by the drive mechanism. A second welding step of simultaneously moving the welded portions on both the left and right sides of the standing plate by moving together with the
When the one head body is welded to the welding end of the one portion to be welded, the relative position of the one head body to the portion to be welded is not changed by the longitudinal movement mechanism. A third welding step of welding the remaining portion of the other portion to be welded of the standing plate by the other head main body while moving at the same speed as the moving speed;
A horizontal fillet welding method comprising:
(10) The drive mechanism moves the frame in the extending direction of the standing plate,
The first welding step moves the other head body in the direction opposite to the moving direction of the frame;
The horizontal fillet welding method according to (9), wherein the third welding step moves the one head main body in a direction opposite to the moving direction of the frame.
(11) The drive mechanism moves the lower plate in the extending direction of the standing plate,
The first welding step moves the other head main body in the same direction as the moving direction of the lower plate,
The horizontal fillet welding method according to (9), wherein in the third welding step, the one head main body is moved in the same direction as the moving direction of the lower plate.

  In the present invention, “performing horizontal fillet welding simultaneously on the left and right welded portions of the upright plate” means that the welding torches of the pair of head main bodies have a shift length in the extending direction of the upright plate. Including the case of welding in a shifted state.

  According to the horizontal fillet welding apparatus of the present invention, the frame extended in the direction in which the plurality of upright plates are arranged and the frame or the lower plate can be relatively moved in the extension direction of the upright plates above the lower plate. A driving mechanism, a pair of head bodies respectively having a single or a plurality of welding torches, and a support member mounted on the frame so as to be movable in a row direction of a plurality of standing plates along the frame and supporting the pair of head bodies And at least one welding head. The welding head has a left-right moving mechanism for moving the pair of head main bodies in the arranging direction of the plurality of upright plates with respect to the support member, and the pair of head main bodies independently of each other with respect to the support member And a pair of back and forth movement mechanisms for moving. Thereby, it is possible to stably perform horizontal fillet melting by complete penetration welding without any welding residue or positional deviation of the torch during welding.

  Further, according to the horizontal fillet welding method of the present invention, the above-mentioned horizontal fillet welding device is provided, and the pair of head main bodies are positioned in the welding direction forward position of the longitudinal movement mechanism, and the pair of head main bodies are welded Preparatory steps of arranging at the left and right sides of the upright plate at the welding start end of the upper plate and moving the frame or the lower plate relatively in the extending direction of the upright plate by the drive mechanism, and predetermined in one head body of the pair of head bodies The shift length welding is performed on one of the welded portions of the upright plate, and the front or back movement mechanism does not change the relative position of the other head body of the pair of head bodies with respect to the welded portion. In the first welding step of moving at the same speed as the moving speed of the plate, and when one head body finishes welding of the shift length, the movement of the other head body by the longitudinal movement mechanism is stopped to drive The second welding step of simultaneously welding the left and right welded portions of the upright plate by moving a pair of head bodies together with the frame or the lower plate by the structure, and welding one head body to the welding end of one welded portion When moving the one head body at the same speed as the moving speed of the frame or lower plate so that the relative position with respect to the welding portion does not change by the longitudinal movement mechanism, the other head body of the other welding portion of the upright plate And a third welding step of welding the remaining portion of Thereby, it is possible to stably perform horizontal fillet melting by complete penetration welding without any welding residue or positional deviation of the torch during welding.

1 is a front view of a horizontal fillet welding apparatus according to the present invention. It is a side view of the horizontal fillet welding apparatus shown in FIG. It is a perspective view which shows the connection structure of a flame | frame and a supporting member. It is a front view of a head body. It is a side view of a head main part. It is a front view of a leading pole torch. It is a front view of a trailing electrode torch. It is a perspective view which shows the state of each head main body at the time of horizontal fillet welding start in one welding head. It is a perspective view which shows the state of each head main body at the time of horizontal fillet welding start in the other welding head. It is a perspective view which shows the state of each head main body at the time of completion | finish of horizontal fillet welding in one welding head. It is a perspective view which shows the state of each head main body at the time of completion | finish of horizontal fillet welding in the other welding head. The moving speed of the frame with respect to the lower plate, the moving speed of one head body with respect to the frame, the moving speed of the other head body with respect to the frame, the moving speed of the one head body with respect to the lower plate, and the moving speed of the other head body with respect to the lower plate. Is a time chart showing

  Hereinafter, an embodiment of a horizontal fillet welding apparatus according to the present invention will be described in detail based on the drawings. FIG. 1 is a front view of a horizontal fillet welding apparatus of the present invention, and FIG. 2 is a side view thereof.

  As shown in FIG.1 and FIG.2, the horizontal fillet welding apparatus 1 of this embodiment is the lower board U installed horizontally, and several standing board L arrange | positioned vertically in a line on the upper surface of the lower board U. And a so-called line welder for performing horizontal fillet welding on a structure including the and. That is, the horizontal fillet welding apparatus 1 moves the welding head 10 with respect to the welded portions W on the left and right sides of the standing plate L where the lower plate U and the standing plate L abut each other, the pair of head main bodies 14A , 14B, the horizontal fillet welds are simultaneously performed by full penetration welding.

  In the following description, the extending direction of the standing plate L, that is, the welding direction is the X direction or the front-rear direction, and the arranging direction of the plurality of standing plates L, that is, the horizontal direction orthogonal to the welding direction is the Y direction The direction perpendicular to the X direction and the Y direction is referred to as the Z direction or the up and down direction.

  The horizontal fillet welding apparatus 1 includes a frame 2 extending in the Y direction above the standing plate L, that is, a direction in which the plurality of standing plates L are arranged, and a support 3 provided on both left and right sides of the frame 2 Along the frame 2 and at least one (four in this embodiment) of the drive mechanism 5 mounted on the frame 2 so as to be movable in the Y direction along the frame 2. A welding head 10 and a control unit 70 that controls the drive mechanism 5 and the welding head 10 are provided.

  Here, the frame 2 and the support 3 constitute a portal frame 4 disposed so as to straddle the lower plate U and the standing plate L. Further, the drive mechanism 5 rotates the traveling roller 6 by a drive motor (not shown) or the like to move the portal frame 4 in the X direction. In the present invention, the lower plate U may be moved in the X direction as long as the portal frame 4 and the lower plate U move relative to each other in the X direction.

  The welding head 10 includes a support member 11, a pair of head main bodies 14A and 14B, a lateral movement mechanism 12 for moving the head main bodies 14A and 14B in the Y direction with respect to the support member 11, and a head main body with respect to the support member 11. A pair of front and rear moving mechanisms 13A and 13B are provided to move 14A and 14B independently in the X direction. The left and right moving mechanism 12 and the pair of front and rear moving mechanisms 13A and 13B are provided between the support member 11 and the pair of head main bodies 14A and 14B.

  Referring also to FIG. 3, the support member 11 is for moving the head main bodies 14A and 14B in the Y and Z directions, and the slider 16 provided on the movable substrate 15 of the support member 11 is on the front surface of the frame 2. Two fixed horizontal guide rails 17 are straddled and driven by a drive motor (not shown) to move the support member 11 in the Y direction along the horizontal guide rails 17.

  Further, the slider 18 provided on the front surface of the movable substrate 15 is straddled on the vertical guide rail 20 provided on the first column 19 of the support member 11, and along the vertical guide rail 20 in the Z direction invite. An air cylinder 21 in which the tip of the piston rod 22 is fixed to the movable substrate 15 is disposed on the upper portion of the first column 19. Thus, the air cylinder 21 is operated to pull out or pull in the piston rod 22 to move the support member 11 in the Z direction.

A pair of X frames 25 extending in the X direction is fixed to the lower part of the second column 24 fixed parallel to the first column 19 by the upper and lower horizontal stays 23. Y frames 26 extend in the Y direction and are fixed to both ends of the pair of X frames 25 in the X direction.
In the present embodiment, the movable substrate 15, the first column 19, the horizontal stay 23, the second column 24, and the pair of X frames 25 constitute a support member 11.

  Further, a slider 29 fixed to the upper surface of the head main body support frame 28 is straddled on the left and right guide rails 27 fixed to the lower surface of each Y frame 26, and the pair of head main body support frames 28 Guide along the Y direction.

  Referring also to FIG. 4, the pair of head main body support frames 28 are connected to the cylinder main body 32 and the cylinder rod 33 of the left and right movement cylinder 31 via the connection plate 30 fixed to the head main body support frame 28 respectively. . Thus, the pair of head main body support frames 28 can move in directions to approach or separate from each other by operating the left and right movement cylinders 31 and pulling out or pulling in the cylinder rods 33.

  That is, the Y frame 26, the left and right guide rails 27, the slider 29, and the left and right movement cylinder 31 move the pair of head main body support frames 28 and the head main bodies 14A and 14B in the direction to move the head main bodies 14A and 14B toward or away from each other. The mechanism 12 is configured.

  Referring also to FIGS. 4 and 5, front and rear guide rails 35 extend in the X direction and are fixed to the lower surfaces of the pair of head main body support frames 28, respectively. A pair of sliders 37 fixed to the head main body support plates 36A and 36B of the head main bodies 14A and 14B is straddled on the respective front and rear guide rails 35, and the head main body support plates 36 and further, head main bodies 14A and 14B. Guide each in the X direction.

  A ball screw mechanism 34 and back and forth movement motors 38A and 38B are disposed on the head main body support plates 36A and 36B, and the ball screw mechanism 34 is rotated by operating the back and forth movement motors 38A and 38B. The head main body support plates 36A and 36B are guided by the front and rear guide rails 35, and move in the front-rear direction together with the head main bodies 14A and 14B. The back and forth movement motors 38A and 38B are controlled by the control unit 70 and can be operated independently of each other, so the head bodies 14A and 14B can be moved in the X direction independently of each other.

That is, the head body support frame 28, the front and back guide rails 35, the head body support plates 36A and 36B, the slider 37, the ball screw mechanism 34, and the back and forth movement motors 38A and 38B independently operate the head bodies 14A and 14B in the X direction. The front and rear moving mechanisms 13A and 13B are configured to be moved.
The movement stroke in the X direction of the head main bodies 14A and 14B by the front and rear moving mechanisms 13A and 13B is set in the range of 0 mm to 600 mm.

  The head bodies 14A and 14B are disposed on the head body support plates 36A and 36B via a swing shaft 39, and the head bodies 14A and 14B are swing shafts 39 relative to the head body support plates 36A and 36B. Can be rocked around each of

  Next, the head bodies 14A and 14B will be described. The head bodies 14A and 14B are different in that the arrangement of the leading electrode torch and the trailing electrode torch described later is reversed, but the other parts have substantially the same structure, so one head body 14A will be described. The description of the other head main body 14B is partially omitted.

  As shown in FIG. 5, in the head main body 14A, a U-shaped frame 40 having a pair of leg portions 41b whose upper ends are connected by a top plate 41a is fixed to a swing shaft 39. The sliders 42 are respectively fixed to the inner side surfaces of the pair of legs 41 b. Each slider 42 straddles the upper and lower guide rails 44 fixed to the outer surface of the head main body frame 43 and guides the head main body frame 43 so as to be movable in the vertical direction with respect to the U-shaped frame 40. Therefore, the U-shaped frame 40, the slider 42, the upper and lower guide rails 44, and the head body frame 43 constitute an up and down slide mechanism 60 which allows the head bodies 14A and 14B to move up and down.

  The head main body frame 43 includes a pair of upper and lower frames 45 extending in the vertical direction, and a pair of connecting frames 46A and 46B connecting the pair of upper and lower frames 45 at upper portions and middle portions of the pair of upper and lower frames 45. And (see also FIG. 8).

  An elastic member 48 such as a coil spring is mounted between the top plate 41a of the U-shaped frame 40 and the connection frame 46A above each head main body frame 43 to always bias the head main body frame 43 downward. ing.

  At the lower end of the pair of upper and lower frames 45, L-shaped plates 49 extending in the Y direction toward the standing plate L are attached respectively, and each plate 49 has a copying roller 50 rotatable around a vertical axis; A roller unit 61 in which traveling rollers 51 capable of rolling on the lower plate U are unitized is disposed. As shown in FIG. 4, the copying roller 50 holds the standing plate L from the left and right sides, moves the pair of head main body frames 43 according to the shape of the standing plate L, in other words, moves the pair of head main bodies 14A and 14B. Configure copying means to

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

6A and 6B show the leading pole torch 53A and the trailing pole torch 54A of the head body 14A, but the leading pole torch 53B and the trailing pole torch 54B of the head body 14B have the same configuration. That is, the leading electrode torches 53A and 53B and the trailing electrode torches 54A and 54B are curved in the Y direction so that the welding electrode at the tip end points from the portion extending in the vertical direction to the welding portion W of the standing plate L. And a curved portion 56. Leading electrode torch 53A, 53B is the radius of curvature _{R 1} of the curved portion 56 is 60～120Mm, bending angle alpha ₁ is 50 ° to 85 °, the torch angle theta ₁ with respect to the surface of the lower plate U is 5 ° to 40 ° It is set to. Further, the trailing electrode torch 54A, 54B is the radius of curvature _{R 2} is 60~120mm bending portion 56, a bending angle alpha ₂ is 30 ° to 50 °, the torch angle theta ₂ to the surface of the lower plate U is 40 ° It is set to ~ 60 °.
The torch holder 52 holds the leading pole torches 53A and 53B and the trailing pole torches 54A and 54B in a finely adjustable manner in the Y and Z directions.

  Next, the horizontal fillet welding procedure by the horizontal fillet welding apparatus 1 will be described with reference to FIGS. 1 and 7 to 11. 7 shows the state of a pair of head bodies at the start of horizontal fillet welding in one welding head, and FIG. 8 shows the state of a pair of head bodies at the start of horizontal fillet welding in the other welding head. Show. 9 shows the state of a pair of head bodies at the end of horizontal fillet welding in one welding head, and FIG. 10 shows the state of a pair of head bodies at the end of horizontal fillet welding in the other welding head. Show. Further, FIG. 11 is a time chart showing the movement of the frame and the pair of head main bodies, and acceleration and deceleration at the time of driving the drive mechanism 5 of (A) and the front and rear drive mechanisms 13A and 13B of (B) and (C). Is not shown.

  First, as shown in FIG. 1, the left and right movement cylinder 31 of the left and right movement mechanism 12 is operated to pull out the cylinder rod 33, and the pair of head main body support frames 28 are moved outward. As a result, the pair of head main bodies 14A and 14B separate from each other at a position where they do not interfere with the standing plate L when the head main bodies 14A and 14B are lowered.

  Further, as shown in FIGS. 4 and 7, the back and forth movement motors 38A and 38B of the back and forth movement mechanisms 13A and 13B are operated to move the head bodies 14A and 14B to the pair of head body support frames of the front and back movement mechanisms 13A and 13B. Position in the welding direction (X direction) forward position of 28.

  Next, the frame 2 is moved in the X direction by the drive mechanism 5 to be positioned at the welding start position, and the support member 11 is moved in the Y direction by a drive motor (not shown). The standing plate L is positioned above the sandwiching position.

  Then, the air cylinder 21 is operated to lower the support member 11, and the lower plate U is pressed on both sides of the standing plate L by the traveling rollers 51 of the pair of head main bodies 14A and 14B. The pair of head main bodies 14A and 14B is provided by an elastic member 48 mounted between the upper and lower slide mechanism 60, the top plate 41a of the U-shaped frame 40, and the connecting frame 46A above each head main body frame 43. Since a margin is provided in the vertical direction, the lower plate U can be pressed with a substantially constant pressure.

  Then, when the cylinder rod 33 of the left and right moving cylinder 31 is pulled in, the pair of head main body support frames 28 move in the direction to approach each other, and the pair of copying rollers 50 of the head main bodies 14A and 14B are on both sides of the upright plate L. To hold the standing plate L, and the preparation for welding is completed (see FIG. 4).

  After the above-mentioned preparation for welding is completed, the arc of welding torch 55A (leading pole torch 53A, trailing pole torch 54A) of head body 14A is turned on, and frame 2 is moved by driving mechanism 5 at, for example, 1200 mm / min. It is moved in the direction (see FIG. 11A).

  At the same time, with the arc of welding torch 55B (leading pole torch 53B, trailing pole torch 54B) of head body 14B turned off, motor 38B for moving head body 14B back and forth is driven to frame head body 14B. It is moved in the direction opposite to the moving direction of the frame 2 at the same speed (-1200 mm / min) as the moving speed of 2 (see (C) in FIG. 11). That is, the pair of head main bodies 14A and 14B are relatively shifted from each other in the Y direction shown in FIG. 7 by a predetermined shift length shown in FIG.

  Thus, the welding torch 55A (53A, 54A) of the head main body 14A moves together with the frame 2 and welds the horizontal fillet of one of the standing plates L (left side in FIG. 7) at a welding speed of 1200 mm / min. (See (D) in FIG. 11).

  On the other hand, in the welding torch 55B (53B, 54B) of the head body 14B, the moving speed of the frame 2 and the moving speed of the head body 14B offset each other, the relative position with respect to the portion W to be welded does not change, and the arc is also OFF. As it is, it remains at the welding start without welding (see (E) in FIG. 11).

  The stroke length of the front and rear moving mechanisms 13A and 13B of the head main bodies 14A and 14B, that is, the predetermined shift length is, for example, 600 mm.

  Then, as shown in FIG. 8, when the welding torch 55A of the head main body 14A welds by a predetermined shift length, the rotation of the motor 38B for forward and backward movement of the head main body 14B is stopped (see FIG. ), The arc of the welding torch 55B of the head body 14B is turned ON (see (E) in FIG. 11).

  As a result, the head body 14B starts moving in the X direction as the frame 2 moves in the X direction (see (E) in FIG. 11), and the welding torch 55B of the head body 14B welds the head body 14A. In cooperation with the torch 55A, horizontal fillet welding of the welded portions W on both sides of the standing plate L is simultaneously performed. That is, as the horizontal fillet welding of the welded portions W on both sides of the upright plate L moves the four of the welding torch 55A (53A, 54A) and the welding torch 55B (53B, 54B) as the frame 2 moves in the X direction. It takes place simultaneously with the torch.

  At this time, the head body 14A is positioned forward of the welding direction (X direction) of the head body support frame 28, and the head body 14B is positioned rearward by a shift length from the front position of the head body support frame 28. doing.

  Then, as shown in FIG. 9, when the sensor (not shown) detects that the head body 14A has reached the end of the portion to be welded W, the arc of the welding torch 55A (53A, 54A) of the head body 14A is turned off. While moving the head body 14A back and forth movement motor 38A to move the head body 14A guided by the back and forth movement mechanism 13A in the direction opposite to the moving direction of the frame 2 at the same speed as the moving speed of the frame 2 (See FIG. 11B). That is, the pair of head main bodies 14A and 14B are mutually opposed in the Y direction shown in FIG. 10 from the state relatively shifted by the shift length shown in FIG.

  As a result, the moving speed of the frame 2 and the moving speed of the head body 14A are offset and the relative position with respect to the portion to be welded W does not change, and the head body 14A is stopped without welding at the end position of the portion to be welded W It will be in a state of

  Then, as shown in FIG. 10, the welding torch 55B (53B, 54B) of the head body 14B welds the unwelded portion (remaining portion) of the portion to be welded W by the subsequent movement of the frame 2 in the X direction.

  At the end of welding of the portion to be welded W by the welding torches 55A and 55B, both of the head main bodies 14A and 14B are located at the rear position of the head main body support frame 28. Also at the welding end, the traveling rollers 51 of the pair of head main bodies 14A and 14B press the lower plate U on both sides of the standing plate L, and the pair of copying rollers 50 abut on both sides of the standing plate L Holding.

  Thus, the three forward moving mechanisms 13A and 13B of the frame 2 driven by the drive mechanism 5, the head main body 14A driven by the back and forth movement motor 38A, and the head main body 14B driven by the back and forth movement motor 38B Each is controlled independently. As a result, when welding torches 55A and 55B are both arc ON, welding torch 55A of head main body 14A and welding torch 55B of head main body 14B are shifted, and arc interference between welding torches 55A and 55B is obtained. It can be prevented. In addition, while the moving speed of the frame 2 is continuously driven constant from the welding start end to the welding end, the pair of heads is also performed when one of the welding torches 55A and 55B in the welding initial stage and welding final stage is arc ON. Since the main bodies 14A and 14B guide the lower plate U and the standing plate L, there is no welding residue or positional deviation of the torch during welding, and the welding portion W can be welded.

  In addition, the shape of the standing plate L is not completely parallel to the welding line or is not a perfect plane, and in many cases, has a bend or a wave. However, since the pair of copying rollers 50 abut on both sides of the standing plate L and sandwich it, the head main bodies 14A and 14B centering on the swinging shaft 39 as the frame 2 advances in the X direction. By swinging, the copying roller 50 can move to the left and right following the shape of the standing plate L in response to the bending or waviness of the standing plate L.

  That is, the pair of copying rollers 50 function as copying units, swing the head main bodies 14A and 14B, and weld the welding torches 55A and 55B without being separated from the welding line.

Further, as described above, regardless of the movement of the frame 2 and the pair of head main bodies 14A and 14B in the X direction, the pair of copying rollers 50 always abuts on both sides of the standing plate L over the entire welding process. Since it does not come off from the standing plate L, generation of vibration is prevented, and displacement of the welding torches 55A, 55A due to the vibration is prevented. Further, the lower plate U is pressed by the traveling roller 51, and the standing plate L is held between the pair of copying rollers 50, so that the lower plate U and the standing plate L do not move, and stable welding is possible. It becomes.
The copying means is not limited to the contact copying roller 50 described above, but may be configured to include a non-contact sensor such as a photo sensor, a laser sensor, or an image processing apparatus.

  Further, as shown in FIG. 11, the frame 2 is continuously moved over the entire period in which the welding by the welding torches 55A and 55B of one of the head main bodies 14A and 14B is performed. Therefore, generation of vibration due to start and stop of frame 2 is prevented during the welding by welding torches 55A and 55B as compared with control such that start and stop of frame 2 having a large mass are caused during welding. It is possible to stably perform horizontal fillet melting by complete penetration welding without any positional deviation of the welding torches 55A and 55B and without generation of welding residue.

  As described above, according to the horizontal fillet welding apparatus 1 of the present embodiment, the frame 2 extending in the direction in which the plurality of standing plates L is arranged above the lower plate U, and the frame 2 A pair of head main bodies 14A and 14B having welding torches 55A (53A and 54A) and 55B (53B and 54B), respectively, and a plurality of standing plates along the frame 2 And a welding head 10 having a support member 11 which is movably attached to the frame 2 and supports the pair of head main bodies 14A and 14B. The welding head 10 has a left-right moving mechanism 12 for moving the pair of head main bodies 14A, 14B in the direction in which the plurality of upright plates L is arranged relative to the support member 11, and a pair of head main bodies 14A, 14B relative to the support member 11. A pair of front and rear moving mechanisms 13A and 13B are provided to move in the extending direction of the standing plate L independently of each other. Thereby, it is possible to stably perform horizontal fillet melting by complete penetration welding without any welding residue or positional deviation of welding torches 55A and 55B during welding.

  Further, since the longitudinal movement mechanisms 13A and 13B and the head main bodies 14A and 14B are connected via a rocking shaft capable of rocking and rotating, the head bodies 14A and 14B sway according to the shape of the standing plate L. Can move.

  In addition, since the head main bodies 14A and 14B include the vertical slide mechanism 60 which allows the head main bodies 14A and 14B to move up and down, and the elastic member 48 which biases the head main bodies 14A and 14B toward the lower plate U The body 14A, 14B is allowed to have an allowance in the vertical direction, and the lower plate U can be pressed with a substantially constant force, and welding can be performed stably.

  The vertical slide mechanism 60 and the elastic member 48 may be configured between the longitudinal movement mechanisms 13A and 13B and the head main bodies 14A and 14B. For example, by making the rocking shaft 39 into a telescopic shape, the vertical slide mechanism 60 may be configured, and the elastic member 48 may be disposed around the rocking shaft 39.

Further, the leading electrode torch 53A to the surface of the lower plate U, the torch angle theta ₁ of 53B is 5 ° to 40 °, the trailing electrode torch 54A to the surface of the lower plate U, the torch angle theta ₂ of 54B is 40 ° to 60 ° Therefore, stable full penetration welding can be performed. This is achieved by the following pole electrode 54A, 54B while securing a deep penetration effect by extremely tilting the torch within the range of 5 ° to 40 ° of the torch angle θ ₁ of the leading pole torches 53A, 53B. the torch angle theta ₂ due to being able to form a good bead shape in a range of from 40 ° to 60 °.

The leading pole torches 53A and 53B and the trailing pole torches 54A and 54B have a curved portion 56 which curves in the Y direction from the portion extending in the vertical direction, and the curved portion 56 of the leading pole torches 53A and 53B. the radius of curvature _{R 1} of 60～120Mm, bend angle alpha ₁ is a 50 ° to 85 °, the trailing electrode torch 54A, the radius of curvature _{R 2} of the curved portion 56 of the 54B is 60～120Mm, the bending angle alpha ₂ 30 As the temperature is in the range of 50 to 50, the material to be welded can be efficiently fed, which contributes to the stabilization of complete penetration welding. In particular, the leading pole torches 53A and 53B are prone to mechanical feeding failure due to the extremely inclined torch angle, but the curvature radiuses R ₁ and R ₂ and the bending angles α ₁ and α ₂ should be defined in the above range. Can produce remarkable effects.

  In addition, since the head main bodies 14A and 14B are provided with a pair of copying rollers 50 which sandwich the standing plate L from both sides as copying means for moving the head main bodies 14A and 14B according to the shape of the standing plate L It is not affected by bending or waviness, and welding can be performed without displacement of the welding position.

  Furthermore, since the moving stroke of the head bodies 14A and 14B in the extending direction of the standing plate L by the front and rear moving mechanisms 13A and 13B is set in the range of 0 mm to 600 mm, arc interference between the welding torches 55A and 55B is prevented. At the same time, the welded portion W can be welded without any welding residue.

  Also, when welding the welded portion W between the lower plate U and the upright plate L by horizontal welding with the welding torches 55A and 55B, the frame 2 is continuously moved relative to the welding start end to the weld end at a predetermined speed. At the initial stage of welding in which the drive mechanism 5 is controlled and welding is performed from the welding start end, the pair of head main bodies 14A and 14B are shifted by a predetermined shift length from the state where the pair of head main bodies 14A and 14B face each other in the Y direction. At the end of welding where one longitudinal movement mechanism 13B is controlled so as to be relatively shifted and welding is performed to the welding end, the pair of head main bodies 14A and 14B are relatively shifted from each other by a predetermined shift length. The control unit 70 controls the other longitudinal movement mechanism 13A such that the pair of head main bodies 14A and 14B face each other in the Y direction. Thereby, it is possible to stably perform horizontal fillet melting by complete penetration welding without any welding residue or positional deviation of welding torches 55A and 55B during welding.

  Further, according to the horizontal fillet welding method of the present invention, the pair of head main bodies 14A, 14B are positioned in the welding direction forward position of the longitudinal movement mechanisms 13A, 13B, and the pair of head main bodies 14A, 14B are welded The frame 2 is moved in the X direction by the drive mechanism 5 and the welding torch 55A of the head main body 14A stands the welding of a predetermined shift length by a preparatory step of arranging the frame 2 at both the left and right of the standing plate L The first welding process is performed on one of the welded parts W of the plate L, and moves the head main body 14B at the same speed as the moving speed of the frame 2 so that the relative position to the welded parts W does not change When the welding torch 55A of the head main body 14A finishes the welding of the shift length, the movement of the head main body 14B by the back and forth movement mechanism 13B is stopped. And moving the pair of head bodies 14A and 14B together with the frame 2 by the drive mechanism 5 to simultaneously weld the left and right welded portions W of the standing plate L with the welding torches 55A and 55B of the head bodies 14A and 14B. When the head body 14A is welded to the welding end of one of the welded portions W, the head body 14A is moved at the same speed as the moving speed of the frame 2 so that the relative position with respect to the welded portion 3 does not change. And a third welding step of welding the remaining portion of the other welding portion W of the upright plate L with the welding torch 55B of the head main body 14B. Thereby, it is possible to stably perform horizontal fillet melting by complete penetration welding without any welding residue or positional deviation of the torch during welding.

When the drive mechanism 5 moves the frame 2 in the X direction as in the present embodiment, in the first welding step, the head main body 14B is moved in the direction opposite to the moving direction of the frame 2; In the welding process, the head main body 14A is moved in the direction opposite to the moving direction of the frame 2.
On the other hand, when the drive mechanism 5 moves the lower plate U in the X direction, the first welding step moves the head body 14B in the same direction as the moving direction of the lower plate U, and the third welding step moves the head The main body 14A is moved in the same direction as the movement direction of the lower plate U.

The present invention is not limited to the above-described embodiment, and appropriate modifications, improvements, and the like can be made.
For example, when accelerating or decelerating when the drive mechanism 5 starts or completes the movement of the frame 2 or the lower plate U, the moving stroke during acceleration or decelerating drives both of the pair of longitudinal movement mechanisms 13A and 13B. It may be controlled so that the relative position of the pair of head main bodies 14A and 14B with respect to the portion to be welded 3 does not change.

DESCRIPTION OF SYMBOLS 1 Horizontal fillet welding apparatus 2 Frame 10 Welding head 11 Support member 12 Left-right moving mechanism 13A, 13B Front-back moving mechanism 14A, 14B Head main body 39 Swinging axis 48 Elastic member 50 Copy roller (Copying means)
53A, 53B leading electrode torches 54A, 54B trailing electrode torches 55A, 55B welding torch 70 control unit U lower plate L standing plate W welded portion R ₁ , R ₂ curvature radius α ₁ , α ₂ bending angle θ ₁ , θ ₂ Torch angle

Claims (11)

The lower plate and the standing plate contact the structure on the left and right sides of the standing plate with respect to a structure including a lower plate and a plurality of standing plates erected on the upper surface of the lower plate. A horizontal fillet welding apparatus for simultaneously performing horizontal fillet welding of welds,
A frame extending in the arranging direction of the plurality of upright plates above the lower plate;
A drive mechanism capable of relatively moving the frame or the lower plate in the extending direction of the standing plate;
A pair of head bodies respectively having a single or a plurality of welding torches, and a support member mounted on the frame movably in the direction of arrangement of the plurality of standing plates along the frame and supporting the pair of head bodies At least one welding head having
Equipped with
The welding head moves the pair of head bodies relative to the support member in the arranging direction of the plurality of upright plates, and the pair of head bodies independently of each other with respect to the support member. A pair of longitudinal movement mechanisms for moving in the extending direction of the standing plate,
A horizontal fillet welding apparatus comprising:   The horizontal fillet welding apparatus according to claim 1, wherein the longitudinal movement mechanism and the head body are connected via a swingable pivoting shaft.   An up-and-down slide mechanism that allows the head body to move up and down, and an elastic member that biases the head body toward the lower plate, between the longitudinal movement mechanism and the head body, or to the head body. The horizontal fillet welding apparatus according to claim 1 or 2, further comprising: The welding torch of the pair of head bodies comprises a leading electrode torch and a trailing electrode torch,
The torch angle of the leading electrode torch with respect to the surface of the lower plate is 5 ° to 40 °,
The horizontal fillet welding apparatus according to any one of claims 1 to 3, wherein the torch angle of the trailing electrode torch with respect to the surface of the lower plate is 40 ° to 60 °. The welding torch has at least one curved portion that curves in a direction in which the plurality of upright plates are arranged from a portion extending in the vertical direction thereof,
The radius of curvature of the curved portion of the leading pole torch is 60 to 120 mm, and the bending angle is 50 ° to 85 °.
The horizontal fillet welding apparatus according to claim 4, wherein a curvature radius of a curved portion of the trailing electrode torch is 60 to 120 mm, and a bending angle is 30 to 50 degrees.   The horizontal fillet welding apparatus according to any one of claims 1 to 5, wherein the head body comprises at least one copying means for moving the head body according to the shape of the standing plate.   The movement distance of the said head main body in the extending direction of the said standing plate by the said longitudinal movement mechanism is set in 0 mm-600 mm, The horizontal interval of any one of the Claims 1-6 characterized by the above-mentioned. Meat welding equipment.   When performing horizontal fillet welding of the welded portion of the lower plate and the upright plate with a welding torch, the frame or the lower plate is continuously moved relative to the welding start end to the weld end at a predetermined speed. In the initial stage of welding in which the drive mechanism is controlled and welding is performed from the welding start end, the shift length in which the pair of head main bodies are predetermined from the state where the pair of head main bodies are opposed to each other in the arranging direction of the plurality of upright plates A state in which the pair of head main bodies are relatively shifted by a predetermined shift length at the end of welding which controls one of the longitudinal movement mechanisms so as to be relatively shifted by a minute and welds to the welding end And a control unit for controlling the other longitudinal movement mechanism such that the pair of head bodies face each other in the direction in which the plurality of standing plates are arranged. Horizontal fillet welding apparatus according to any one of claims 1 to 7 that. A structure comprising a lower plate and a plurality of standing plates erected in parallel to the upper surface of the lower plate using the horizontal fillet welding device according to any one of claims 1 to 8. A horizontal fillet welding method for simultaneously welding horizontal fillets on the left and right sides of the standing plate, wherein the lower plate and the standing plate are in contact with each other,
A preparatory step of positioning the pair of head main bodies in the welding direction forward position of the longitudinal movement mechanism and arranging the pair of head main bodies on both left and right sides of the standing plate at the welding start end of the portion to be welded;
The drive mechanism relatively moves the frame or the lower plate in the extending direction of the standing plate, and welding of a predetermined shift length by the head body of one of the pair of head bodies is performed for the standing plate The moving speed of the frame or the lower plate is performed so that the relative position of the other head main body of the pair of head main bodies with the welded portion is not changed by the longitudinal movement mechanism. The first welding step to move at the same speed as
When the one head body finishes welding of the shift length, the movement of the other head body by the longitudinal movement mechanism is stopped, and the pair of head bodies is moved to the frame or the lower plate by the drive mechanism. A second welding step of simultaneously moving the welded portions on both the left and right sides of the standing plate by moving together with the
When the one head body is welded to the welding end of the one portion to be welded, the relative position of the one head body to the portion to be welded is not changed by the longitudinal movement mechanism. A third welding step of welding the remaining portion of the other portion to be welded of the standing plate by the other head main body while moving at the same speed as the moving speed;
A horizontal fillet welding method comprising: The drive mechanism moves the frame in the extending direction of the standing plate,
The first welding step moves the other head body in the direction opposite to the moving direction of the frame;
The horizontal fillet welding method according to claim 9, wherein in the third welding step, the one head body is moved in a direction opposite to the moving direction of the frame. The drive mechanism moves the lower plate in the extending direction of the standing plate,
The first welding step moves the other head main body in the same direction as the moving direction of the lower plate,
The horizontal fillet welding method according to claim 9, wherein, in the third welding step, the one head main body is moved in the same direction as the moving direction of the lower plate.

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