JP2540259B2 - Automatic welding method and automatic welding device - Google Patents

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an automatic welding method and an automatic welding apparatus for automatically welding a strip material to a plate material having a three-dimensional curved surface.

[0002]

2. Description of the Related Art Conventionally, an automatic welding apparatus has been used when manufacturing a hull block such as a bow and a stern of a ship. By the way, when a strip is welded to such a boat block, that is, a plate having a three-dimensional curved surface, as shown in FIG. 6, the welding line 103 of the strip 102 to the plate 101 is not straight and the strip 102 is The mounting angle θ is not constant. For example, as shown in FIG. 6, theta ₁
And θ ₂ are not equal. Therefore, such a plate material 10
In the automatic welding device that automatically welds the strip 102 to 1), the welding line and the attachment angle of the strip are separately detected during welding, and the attitude of the welding torch is based on these detected values. And a control device is provided for determining the tip position of the welding torch, that is, the horizontal position and the vertical position, and guiding the tip of the welding torch on the welding line.

[0003]

However, according to the structure of the above-mentioned conventional automatic welding apparatus, each of them requires a sensor for detecting the attachment angle of the welding line and the strip, and the detection from both of these sensors is necessary. Based on the value, the welding torch has a proper posture, and the control device for guiding the welding torch tip to a predetermined horizontal position and vertical position is very complicated (for example, at least three-axis control is required) and There was a problem that it became large.

Therefore, an object of the present invention is to provide an automatic welding method and an automatic welding apparatus which can solve the above problems.

[0005]

In order to solve the above-mentioned problems, the automatic welding method of the present invention is an automatic welding method for automatically welding a strip material to a plate material having a three-dimensional curved surface, which travels on the plate material. The guide member and distance detector provided on the free traveling carriage determine the mounting angle of the strip to the plate and the distance from the traveling carriage to the strip, and based on this mounting angle and distance, a welding torch is attached to one end. Guide the other end of the attached torch attachment member to the guide groove consisting of the conchoid curve, and move the moving body that supports the intermediate portion of the torch attachment member in the direction orthogonal to the welding line to set the posture of the welding torch. This is a welding method in which the tip position of the welding torch is guided along the welding line while controlling according to the attachment angle of the material.

In order to solve the above-mentioned problems, the automatic welding apparatus of the present invention is an automatic welding apparatus for automatically welding a strip material to a plate material having a three-dimensional curved surface, and a traveling carriage that can travel freely on the plate material. A guide member that abuts the side surface of the strip and a distance detector that detects the distance to a side surface position different from the contact position of the strip with the guide member are provided on one side of the traveling carriage. A movable body is movably provided in a direction orthogonal to the welding line of the material, and a swing lever that can be swung in a plane orthogonal to the welding line is provided on the movable body, and an axis center parallel to the welding line is provided. Is provided with a rotatable support member, and the middle portion of the torch mounting member, to which the welding torch is attached at one end, is slidably inserted and supported by the rotary support member, and the other end of the torch mounting member is attached to the moving body side. Conchoid curve formed on the Is connected to the guide body guided by the guide groove, and the mounting angle of the strip material with respect to the plate material is calculated from the distance from the distance detector and the contact position of the guide member. Control device for swinging the moving lever to move the other end of the torch mounting member along the guide groove and the moving body to position and position the welding torch attached to one end of the torch mounting member. It is equipped with.

[0007]

According to the above construction, the mounting angle of the strip material to the plate material is calculated based on the distance detection value obtained from the distance detector,
Based on this calculated value, guide the other end of the torch mounting member along the conchoid curve, and move the support part by the moving body along the plate material so that the tip of the welding torch is located on the welding line. Therefore, compared to, for example, the one that controls the position of the welding torch and the horizontal and vertical positions of the tip of the welding torch, the control parameters are less and moreover, the mounting angle of the strip and the position of the welding line are detected during control. Unlike the case, only the distance to the strip needs to be detected, which simplifies the control and the configuration of the apparatus itself.

[0008]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described below with reference to FIGS. As shown in FIG. 1, the automatic welding apparatus according to the present invention is used for producing a hull block 1 at the bow or stern, that is, a strip 2 on a plate 2 having a three-dimensional curved surface.
Is automatically welded.

First, the automatic welding apparatus will be described. 1 to 3, reference numeral 11 denotes a traveling carriage that can travel on the surface of the plate member 2, and traveling wheels 13 are provided at front, rear, left and right positions of a lower portion of the carriage main body 12. Of course, the predetermined traveling wheels 13 are rotated by a drive device (not shown, for example, a drive motor). On one end side of the carriage main body 12, a direction orthogonal to the traveling direction, that is, an arrow a
As shown in, a moving body 14 is provided that is movable in a predetermined range in the horizontal direction (direction along the surface of the plate material) orthogonal to the welding line 4 of the strip 3 to the plate material 2.

On the upper part of the moving body 14, one end of a rocking lever 16 is supported via a horizontal mounting pin 15, and a rocking device (not shown in the figure) disposed inside the moving body 14 is provided. (For example, a drive motor), the movable body 14 is swingably provided in a vertical plane orthogonal to the welding line 4 as shown by an arrow b. A slide bush (rotary support member) 17 is rotatably provided.

A torch mounting rod (torch mounting member) 18 having the welding torch 5 mounted on one end thereof is inserted into and supported by the slide bush 17, and the other end of the torch mounting rod 18 is located on the side of the moving body 14. The guide body 20 guided through a first pin body 20a protruding from one side (the back side in the drawing) is fixed to a cam groove (guide groove) 19 formed of a conchoid curve, Further, a second pin body 20b protruding from the other side portion (front side in the drawing) of the guide body 20 is inserted and engaged with an elongated hole 16a formed at the tip of the swing lever 16. The swing lever 16 is swung by the swing device, for example, a drive motor, via the horizontal mounting pin 15.

Guide members 21 for guiding the traveling carriage 11 along the strip 3 are provided at the front and rear positions above one side surface of the carriage body 12 of the traveling carriage 11, and also on one side surface of the carriage body 12. A distance sensor (distance detector) 22 for measuring the distance from one side surface (reference surface) to the strip 3 is provided in the lower part of the.

Each of the guide members 21 is composed of an arm 23 projecting from the carriage body 12 and a guide roller 24 attached to the tip of the arm 23.
The guide roller 24 is always in contact with the surface of the strip 3 when the carriage body 12 travels. For example, among the traveling wheels 13 provided on the lower surface of the bogie main body 12, the rotation speed of the wheel closer to the strip 3 side is made slower than the rotation speed of the far wheel.

Further, a distance detection signal from a distance sensor 22 is input to the traveling carriage 11 so that the distance X (known in advance) from the traveling carriage 11 to the upper portion of the strip 3 by the guide member 21 and The difference from the detected distance x and the height H from the surface of the plate material 2 to the guide roller 24
And the height h to the distance sensor 22 are used to calculate the attachment angle of the strip 3 to the plate 2, and the tip position of the welding torch 5 attached to the torch attachment rod 18 is always a constant distance from the traveling carriage 11. That is, the moving body 14 is moved in the direction a orthogonal to the welding line 4 so as to be located on the welding line 4, that is, the control signal is output to the drive motor of the moving body 14, and the other end portion of the torch mounting rod 18 is provided. A control device (not shown) that outputs a control signal to the drive motor of the swing lever 16 is provided so as to move the guide body 20 connected to the cam groove 19 along the cam groove 19.

By the way, a part of a conchoid curve is used for the cam groove 19, and by using this, the tip of the welding torch 5 can be moved on a fixed straight line, that is, on the welding line 4.

This principle will be described with reference to FIG. 4. For example, the slide bush 1 which is a support portion of the torch mounting rod 18 is provided.
7 is fixed, and one end of the torch mounting rod 18 is moved in the direction of arrow b by the swing lever 16. At this time, the guide body 20 fixed to one end of the torch mounting rod 18
Will move on the conchoid curve. Then
The tip of the welding torch attached to the one end side of the torch attachment rod 18 moves on the straight line c. Therefore, at this time, if the slide bush 17 is moved in the direction of the arrow a, that is, the moving body 14 is moved at a predetermined speed, the tip of the welding torch is always guided to a fixed position, that is, on the welding line 4. You can

Here, a method of detecting the attachment angle of the strip 3 will be described. As shown in FIG. 3, for example, the guide member 2
At the mounting position of 1, the distance X from one side surface of the traveling carriage 11 to the surface of the strip 3 and the height H from the surface of the plate 2 are known, and the mounting height of the distance sensor 22 provided on the carriage body 12 is known. H is also known. Therefore, the mounting angle θ of the strip 3 is obtained from the following formula by obtaining the distance x from the one side surface of the carriage main body 12 (the tip surface of the distance sensor) to the surface of the strip 3 at the height h by the distance sensor 22. To be

Θ = π / 2 + tan ⁻¹ [(X−x) / (H−h)] ... Next, a method for detecting the position of the welding line 4 will be described. As shown in FIG. 3, the position of the welding line 4 is L when the distance from one side surface of the carriage main body 12 to the welding line 4 is L
This distance L is calculated by the following formula.

L = X−h × tan (θ−π / 2) ... Next, a method for detecting the angle at which the swing lever is swung will be described. The swing angle φ of the swing lever 16 is calculated by the following formula.

[0020]

[Equation 1]

However, C _x and C _y are the swing center position coordinates S of the swing lever with respect to the rotation center of the slide bush, and although not shown, the distance T from the tip of the welding torch to the center position of the guide body is the plate surface. It is the height from the center of rotation of the slide bush.

Next, a method for detecting the moving distance of the moving body for always positioning the welding torch at a predetermined position, that is, the welding line, that is, the moving distance M from one side surface of the carriage main body 12 will be described. However, the proper attitude of the welding torch shall be half the attachment angle θ of the strip.

This moving distance M is obtained by the following equation. M = T × cot (θ / 2) −L ... Based on the above equations, the swing angle φ of the swing lever 16 is controlled, and the moving distance M of the moving body 14 is controlled, and the welding torch is controlled. The inclination angle of 5 is set to half of the attachment angle θ of the strip 3, and the tip of the welding torch 5 is always positioned on the welding line 4.

In the calculation of the distance in each of the above equations, the reference position is one side surface of the carriage main body 12 (the tip surface of the distance sensor). Of course, the reference can be set at any position. In this case, it goes without saying that the above calculation formulas change.

The control of the welding torch in the automatic welding method will be described below with reference to the flow chart shown in FIG. First, the guide roller 2 provided on the carriage main body 11
In the state where 4 is in contact with the surface of the strip 3, the distance sensor 22 detects the distance x to the strip 3 as shown in step 1.

When the distance x is detected, the mounting angle θ of the strip 3 is calculated using the formula as shown in step 2, and the formula of the welding line 4 is calculated as shown in step 3. The position is calculated.

Next, as shown in step 4, the swing angle φ of the swing lever 16 is obtained based on the equation, and the moving distance M of the moving body 14 is obtained from the equation. The above steps are sequentially repeated to obtain an appropriate posture, that is, an inclination angle of the welding torch 5 at each position of the strip 3, and the tip of the welding torch 5 is welded to the welding line 4.
You will be guided to the top.

It should be noted that FIG. 2 shows, in phantom lines, the posture and the tip position of the welding torch 5 when the torch mounting rod 18 and the welding torch 5 follow it when the mounting angle θ of the strip 3 changes.

As described above, according to the structure of this embodiment, the welding torch 5 can be controlled only by detecting the distance to the strip 3, and the attitude and position of the welding torch 5 can be controlled by swinging. Swing angle φ of lever 16 and moving body 14
Since it is performed by the moving distance M of the welding torch, as compared with the conventional case where the posture of the welding torch and the horizontal and vertical distances of the tip of the welding torch are obtained and controlled, the control method is changed from three-axis control to two-axis control. As a result, the structure of the control device becomes simple.

[0030]

As described above, according to the configuration of the present invention, the attachment angle of the strip material to the plate material is calculated based on the distance detection value obtained from the distance detector, and the other end of the torch attachment member is calculated based on the calculated value. The part is guided along the conchoid curve, and the rotary support part supporting the intermediate part is moved by the moving body along the plate material so that the tip of the welding torch is located on the welding line. Compared to the conventional one that controls the position of the welding torch and the horizontal and vertical positions of the tip of the welding torch, the control parameters are less, and in the control, the attachment angle of the strip and welding Unlike the case of detecting the position of the line, it is only necessary to detect the distance to the strip, and therefore the control thereof is easy and the configuration of the apparatus itself is simple.

[Brief description of drawings]

FIG. 1 is a partially cutaway front view of an automatic welding apparatus according to an embodiment of the present invention.

FIG. 2 is a front view of relevant parts for explaining the operation of the automatic welding device according to the embodiment.

FIG. 3 is a front view of relevant parts for explaining an operating mechanism of the automatic welding apparatus according to the embodiment.

FIG. 4 is a schematic diagram for explaining the operation principle of the automatic welding apparatus of the same embodiment.

FIG. 5 is a flowchart illustrating an automatic welding method according to the same embodiment.

FIG. 6 is a schematic perspective view of a boat body block.

[Explanation of symbols]

 1 Ship body block 2 Plate material 3 Article material 4 Welding line 5 Welding torch 11 Traveling vehicle 12 Vehicle body 13 Traveling wheel 14 Moving body 16 Swing lever 17 Slide bush 18 Torch mounting rod 19 Cam groove 20 Guide body 21 Guide member 22 Distance sensor 23 arm 24 guide roller

─────────────────────────────────────────────────── ─── Continuation of the front page (51) Int.Cl. ⁶ Identification code Internal reference number FI Technical display location B25J 13/08 B25J 13/08 Z (72) Inventor Go Sakai 5 Nishikujo, Nishinoko-ku, Osaka-shi, Osaka 3-8 28 Hitachi Shipbuilding Co., Ltd. (72) Inventor Yoshio Nakajima 5-3-28 Nishikujo Nishikonohana-ku, Osaka City, Osaka Prefecture Hitachi Shipbuilding Co., Ltd.

Claims (2)

(57) [Claims] 1. An automatic welding method for automatically welding a strip material to a plate material having a three-dimensional curved surface, wherein a guide member and a distance detector provided on a traveling carriage capable of traveling on the plate material are used to strip the strip material. Determine the mounting angle of the material and the distance from the traveling carriage to the strip material, and based on this mounting angle and distance, guide the other end of the torch mounting member with the welding torch mounted on one end to the guide groove consisting of the conchoid curve. In addition to moving the moving body that supports the middle part of the torch mounting member in the direction orthogonal to the welding line to control the attitude of the welding torch according to the mounting angle of the strip, position the tip of the welding torch on the welding line. Automatic welding method characterized by leading to. 2. An automatic welding device for automatically welding a strip material to a plate material having a three-dimensional curved surface, wherein a guide member abuts a side surface of the strip material on one side of a traveling carriage that can travel on the plate material. And a distance detector that detects the distance to the side surface position different from the contact position of the strip with the guide member, and the movable body can be freely moved in the direction orthogonal to the welding line of the strip on the traveling carriage. The movable body is provided with a swing lever that is swingable in a plane orthogonal to the welding line, and a rotary support member that is rotatable about an axis parallel to the welding line is provided at one end of the welding torch. While supporting the intermediate portion of the torch mounting member to which is attached slidably through the rotation supporting member,
The other end of the torch mounting member is connected to a guide body guided by a guide groove formed on the movable body side and formed of a conchoid curve, and the plate member is attached to the plate member by the distance from the distance detector and the contact position of the guide member. The attachment angle of the strip is calculated, and the swing lever is swung based on the calculated value to move the other end of the torch mounting member along the guide groove and the moving body to move the torch mounting member. An automatic welding device, comprising a control device for controlling the posture and positioning of a welding torch attached to one end of the welding torch.