JP2819644B2 - Automatic fillet welding robot inside the frame - Google Patents

Description

Description: TECHNICAL FIELD The present invention relates to an automatic fillet welding robot in a frame.

[Prior Art] A plate structure such as a tank, a ship or a bridge has a large number of frames formed by combining plate members.

FIG. 13 shows an example of such a frame body. The frame body 4 is formed by combining four standing plates 2 on a bottom plate 1 in a rectangular shape.

The frame 4 has a bottom portion in the frame 4 depending on the purpose and use.
5, 6, 7 and 8 are formed with notches 9 formed by cutting the standing plate 2;
Alternatively, a reinforcing plate 3 or the like may be attached to the inner surface of the standing plate 2.

Conventionally, the frame 4 as described above has inner bottom portions 5, 6, 7, 8
Was formed by fillet welding with a fillet welding apparatus in the frame as shown in FIG.

In the figure, reference numeral 10 denotes a welding torch directed to the base 5, and reference numeral 11 supports the welding torch 10, and a fixed distance from the base 5 is maintained by a pair of roller arms 12 whose front side is shorter than the rear side. It is a traveling vehicle for straight traveling, which is obliquely turned so as to approach the base 5 as it goes forward as indicated by an arrow in the figure.

Since the traveling vehicle 11 is directed obliquely, the traveling vehicle 11 tries to approach the bottom 5 as it goes forward. However, the distance between the traveling vehicle 11 and the bottom 5 is maintained at a constant interval by the roller arm 12. Therefore, the traveling vehicle 11 cannot approach the bottom 5 and travels straight in parallel with the bottom 5 while slipping in a direction away from the bottom 5 (so-called skew-following).
Weld the bottom part 5 with 10.

After welding the base 5, the worker turns the traveling vehicle 11 so as to move along the adjacent base 6, and welds the base 6 in the same manner as described above.

Thereafter, the workers also change the direction of the traveling vehicle 11 on the bottom portions 7 and 8 to perform welding, thereby manufacturing the frame 4.

In addition, when there is a missing portion 9 at the bottom portion 5, 6, 7, and 8, when the welding torch 10 is welded to the beginning of the missing portion 9, the traveling vehicle 11 stops at the portion of the missing portion 9 so as to stop. A stopper is placed in advance, and when the traveling vehicle 11 hits the stopper and stops, the worker moves the traveling vehicle 11 so that welding is restarted from the end of the missing portion 9.

Further, even when there is an obstacle such as the reinforcing plate 3 inside the standing plate 2, a stopper is placed in the same manner as described above, and welding is performed while avoiding the standing plate portion.

[Problems to be Solved by the Invention] However, the above-described conventional fillet welding apparatus in a frame is
Since the traveling vehicle 11 can only go straight, only one of the bottoms 5, 6, 7, and 8 in the frame 4 can be welded at a time. There was a problem that the direction of the car 11 had to be changed, and that workers had to be clearly monitored, and a problem that the turning of the traveling car 11 was troublesome and production efficiency was reduced. .

Further, since the welding torch 10 is supported so as not to move in the left-right direction with respect to the traveling vehicle 11, the reinforcing plate 3 is provided in the frame 4.
When there is such an obstacle, welding cannot be performed while avoiding the obstacle.

Further, since the welding torch 10 is supported so as not to be able to move in the front-rear direction with respect to the traveling vehicle 11, the inner bottom 5 of the frame body 4,
Large welding residue occurred at both ends of 6, 7, and 8.

The present invention has been made in view of the above circumstances, and has as its object to provide an automatic fillet welding robot in a frame that can weld all of the bottom portion of the frame at once.

Means for Solving the Problems To achieve the above object, in the automatic fillet welding robot in a frame according to the present invention, a traveling vehicle traveling along one side of a bottom portion in the frame, and a traveling direction of the traveling vehicle A traversing frame provided on the traveling vehicle so as to be able to move to the left and right, a forward and backward moving frame provided on the traversing frame so as to be able to move in the traveling direction of the traveling vehicle,
A swinging frame that can swing up and down at a speed of about 0 to 180 times, a welding torch attached to the swinging frame so as to face the bottom of the frame, and a switch attached to a front part of the traveling vehicle. A turntable with a lifter provided on the traveling vehicle and changing the direction along a side adjacent to the one of the bottom sides of the frame in a state where the traveling vehicle is lifted by a signal from the switch. I have.

[Action] The traveling vehicle goes straight along one of the bottom sides of the frame,
When welding is performed on the one piece by the welding torch, a switch attached to the front of the traveling vehicle is turned on with the front of the traveling vehicle hitting the frame, the turntable is operated, and the traveling vehicle is moved to the bottom of the frame body. The direction is changed along the side adjacent to the part.

Thereafter, the above steps are repeated, and all the bottom sides are welded while rotating in the frame.

Also, if there is an obstacle in the frame and the traveling vehicle runs around the obstacle, the traversing frame moves left and right to move the welding torch to fit the bottom of the frame, and welding is continued. You.

Further, the welding torch is moved back and forth by the front and rear moving frame at the end of the bottom of the frame to perform welding up to the bottom.

In addition, the swing frame supporting the welding torch
It is swung up and down at a speed of about 100 to 180 times to form a wide and uniform weld bead.

[Example] Hereinafter, an example of the present invention will be described with reference to the drawings.

 1 to 12 show an embodiment of the present invention.

 FIG. 13 is also used for explanation.

As shown in FIG. 3 and FIG. 4, the vehicle body 13 passes through an axle 14 extending in the left-right direction at the front and rear portions in the traveling direction, and wheels 15 are attached to left and right ends of the axle 14, respectively. The driving motor 16 is fixed and the driving force of the driving motor 16 is
17, the belt 18, the sheave 19, the clutch 20, the sheave 21, the belt 22, the sheave 23 to be able to transmit to the front axle 14, and the rotation of the front axle 14 sheave 24, the belt 25,
A straight traveling vehicle 27 is formed so as to be able to transmit to the rear axle 14 via the sheave 26.

A pair of front and rear portions, which extend obliquely rightward to the front and rear right portions of the traveling vehicle 27 and are urged in the extension direction by springs (not shown), are slightly shorter in length than the rear portions. Is mounted so that the traveling vehicle 27 and the standing plate 2 maintain a fixed distance.

Note that the wheels 15 may be provided in parallel with the traveling vehicle 27, and the front roller arm 28 may be shorter than the rear roller arm 28.

As shown in FIGS. 5 to 7, a mounting base 29 is integrally formed at the center of the upper part of the vehicle body 13 of the traveling vehicle 27, and a rod 30 is formed in the upper part of the mounting base 29 in the internal space 31 formed in the vehicle body 13. The lifter composed of the cylinder 32 is fixed, and the turning center shaft 35 of the turntable 34 located on the lower surface of the vehicle body 13 is attached to the lower end of the rod of the cylinder 32 via the rotary joint 33.

A turning motor 37 is fixed to the mounting base 29 with the rotating shaft 36 facing the internal space 31 of the vehicle body 13, a thick gear 38 is fixed to the rotating shaft 36, and the outer periphery of a turning center shaft 35 of the turntable 34 is fixed. A thin gear 39 that meshes with the thick gear 38 so as to be able to move up and down is fixed.

As shown in FIG. 7 to FIG.
A nut portion 42 having a screw hole 40 and a guide hole 41 extending left and right at the front and rear upper portions is integrally provided, and at an upper portion of the nut portion 42,
A U-shaped traverse frame 44 having a slide space 43 extending left and right on the lower surface and having a left-side open U-shape when viewed from above is placed movably to the left and right, and a guide that passes through the guide hole 41 of the nut portion 42 in the traverse frame 44. Along with fixing the rod 45, a screw rod 46 for screwing the screw hole 40 of the nut portion 42 into the traversing frame 44 is rotatably held.
Rotating shaft 47 on the upper part near the left end of the screw rod 46 behind 44
The traversing motor 48 is fixed with the
48 can be transmitted to the rear screw rod 46 via the worm 49 and the worm wheel 50, and the rotation of the rear screw rod 46 is transmitted to the sheave 51 and the belt 5
2.The transverse frame 44 can be transmitted to the front screw rod 46 through the sheave 53 so that the
To move left and right.

As shown in FIGS. 8 and 10, a rising portion 54 extending forward and backward is integrally formed on the right and left sides of the transverse frame 44, and a slide groove 55 extending forward and backward is formed on the right surface of the rising portion 54. A screw rod 56 extending back and forth is rotatably supported inside the slide groove 55, and a longitudinal frame 57 is screwed onto the screw rod 56 so as to be movable back and forth.

A front / rear motor 59 is fixed to the rear of the rising portion 54 with the rotating shaft 58 facing right, and the driving force of the front / rear motor 59 is bevel gear
It can be transmitted to the screw rod 56 via 60,61.

As shown in FIG. 1, FIG. 2, and FIG. 10, a swing frame 63 is pivotally supported by a swing center shaft 62 extending forward and backward at the rear portion of the forward and backward movable frame 57 so as to be able to swing left and right. Moving frame 57
An eccentric shaft 64 is rotatably supported to the right of the swing center shaft 62, and an eccentric portion 65 of the eccentric shaft 64 is movably fitted to a left and right elongated hole 66 formed in the swing frame 63, A rocking motor 67 is fixed to the longitudinal frame 57 with the rotating shaft directed downward, and the driving force of the rocking motor 67 is transmitted to the eccentric shaft 64 via the worm 68 and the worm wheel 69 to move the rocking frame 63. Be able to rock.

A welding torch 70 is attached to the swing frame 63 toward the bottom 5 in the frame 4.

Switches 71 and 7 are provided at the front and rear of the body 13 of the traveling vehicle 27, respectively.
2, a roller-shaped switch 73 for detecting the missing portion 9 formed on the upright plate 2 is provided on the front roller arm 28,
An ammeter 74 for detecting a welding current is provided for the welding torch 10, and the signals from the switches 71 and 72, the roller-shaped switch 73, and the ammeter 74 are input to the arithmetic and control unit 75. Control commands are sent to the traveling motor 16, the cylinder 32, the turning motor 37, the traversing motor 48, the front and rear motor 59, the swing motor 67, and the welding torch 70.

 In addition, 76 is a bearing.

 Next, the operation will be described.

When starting welding from the bottom 5 of the frame 4, the twelfth
On the right side of the standing plate 2 forming the bottom portion 8 located on the lower side in the figure, the front ends of the front and rear roller arms 12 contact the standing plate 2 forming the bottom portion 5 respectively, and the rear switch 72 is connected to the bottom. The traveling vehicle 27 is slightly inclined to the right so as to be in contact with the upright plate 2 forming the portion 8.

 Then, the welding operation is started.

That is, first, when the switch 72 at the rear of the traveling vehicle 27 is turned ON, the arithmetic and control unit 75 drives the front and rear motor 59 shown in FIG. 10 to rotate the rotary shaft 58, bevel gears 60 and 61, and the screw rod 58.
, The welding torch 70 is moved from the center of the traveling vehicle 27 to the rear as shown by the line A in FIG.

Then, when the welding torch 70 reaches the rear part of the traveling vehicle 27, the welding current is supplied to the welding torch 70 while moving the welding torch 70 from the rear part of the traveling vehicle 27 to the center part by the front-rear moving frame 57 in the opposite manner. Then, the section indicated by line B in FIG. 12 is fillet welded. In this manner, welding can be performed up to the bottom 5.

When the welding in the section indicated by the line B is completed, the welding control device 75 drives the traveling motor 16 shown in FIG.
Belt 18, sheave 19, clutch 20, sheave 21, belt 2
2, by rotating each wheel 15 through the sheave 23, the front axle 14, the sheave 24, the belt 25, the sheave 26, the rear and the axle 14, the welding torch 70 with the traveling vehicle 27 is moved forward, as shown in FIG. The welding in the section indicated by line C is performed continuously with the section indicated by line B.

At this time, since the traveling vehicle 27 is disposed so as to be inclined rightward with respect to the base 5 in accordance with the pair of front and rear roller arms 28 having different lengths, the traveling vehicle 27 tries to go straight forward diagonally right, but approaches the base 5 with the roller arms 28. As a result, the traveling vehicle 27 travels straight in parallel with the bottom 5 while slipping to the left (skews).

Further, during welding, the swing control motor 75 drives the swing motor 67 shown in FIG. 12 to swing the swing frame 63 through the worm 68, the worm wheel 69, and the eccentric shaft 64. The welding torch 70 is swung up and down at a speed of about 100 to 180 times per minute by swinging up and down about the moving center shaft 62.

When the welding is performed while the welding torch 70 is shaken up and down in this manner, a wide, uniform and high-quality welding bead is formed on the bottom 5.

And when there is a missing part 9 in the middle of the bottom part 5,
The roller-like switch 73 attached to the front roller arm 28 is turned on at the beginning of the missing portion 9 and turned off at the end of the missing portion 9 to detect the position and size of the missing portion 9. Based on the signal from the switch 73, the welding current of the welding torch 70 at the missing portion 9 is set to zero.

For this reason, welding that avoids the missing portion 9 is automatically performed by the traveling of the traveling vehicle 27.

If there is an obstacle such as the reinforcing plate 3 on the inner surface of the standing plate 2 forming the bottom 5, the roller arm 12 is
The welding torch 70 may move to the left with the traveling vehicle 27, and the welding torch 70 may be separated from the bottom 5 so that welding to the bottom 5 cannot be performed. On the other hand, in the present invention, when the welding voltage is constant, the welding current is reduced when the tip of the welding torch 70 is separated from the base 5, and the welding current is increased when approached. When the welding current falls below the fluctuation range of the welding current when the welding torch 70 is swung up and down as described above,
The arithmetic and control unit 75 is caused to determine that the reinforcing plate 3 exists. Then, the arithmetic and control unit 75 drives the traversing motor 48 shown in FIG.
50, screw rod 46, sheave 51, belt 52, sheave
53, nut portion of traveling vehicle 27 via screw rod 46
The welding torch 70 is moved to the right with respect to the traversing frame 44 relative to 42, and the welding torch 70 is always positioned at the bottom 5 portion.

For this reason, even if the standing plate 2 is provided with the reinforcing plate 3 or the like,
The traveling torch 27 automatically moves the welding torch 70 to the bottom 5
And the welding is advanced.

When welding of the section indicated by line C in FIG. 12 is completed in this way, the traveling vehicle 27 is hit by the standing plate 2 forming the bottom side 6 whose front portion is located on the upper side in FIG. 27 The switch 71 provided at the front is turned ON.

Then, the arithmetic and control unit 75 first stops the traveling vehicle 27 and, at the same time, moves the welding torch 70 with the longitudinal frame 57 together with the traveling vehicle.
Movement from the central portion of 27 to the front portion, welding of the section at the bottom portion 5 indicated by the line d in FIG. 12 is continuously performed.

When the welding of the section of the line d is completed, the welding current is set to 0, and the welding torch 70 is returned from the front part of the traveling vehicle 27 to the center part by the front and rear moving frame 57 as shown by the line e.

If necessary, the vehicle is retracted slightly diagonally to the left with respect to the traveling vehicle 27, and then the cylinder 32 shown in FIG. Drive the thick gear 38, thin gear 39
12, the welding torch 70 is turned to the left by 90 degrees as indicated by the broken line in FIG. 12, and then the cylinder 32 is contracted to bring the traveling vehicle 27 into contact with the ground.

At the time of turning, the guide roller arm 28 bends when it comes into contact with the upright plate 2, and when it comes away from the upright plate 2, it expands due to the force of a spring (not shown). It is extended and used for guidance.

When the turning is completed, the traveling vehicle 27 is moved backward until the rear portion hits the upright plate 2 forming the bottom portion 5, and the positioning is performed.

Thereafter, the above steps are repeated and the bottom portions 6, 7, 8 are sequentially welded, and the bottom portions 5, 6, 7, 8 in the frame 4 are all automatically welded.

The automatic fillet welding robot in the frame according to the present invention is not limited to the above-described embodiment, but may be an ultrasonic wave, an infrared ray, or a laser as a means for moving the traveling vehicle straight along one side of the bottom in the frame. Needless to say, a distance measuring device using a beam may be used, and various changes may be made without departing from the scope of the present invention.

[Effects of the Invention] As described above, according to the automatic fillet welding robot in the frame of the present invention, the following various excellent effects can be obtained.

Since the traveling vehicle is provided with a turntable, it is possible to automatically change the direction of the traveling vehicle and to weld all the bottom portions while rotating around the inside of the frame. In addition, since the turntable is equipped with a lifter, it is lifted by the lifter to change the direction of the traveling vehicle, causing misalignment due to sand spatters such as welding spatter scattered a lot on the bottom plate. It is possible to accurately change the direction of the traveling vehicle without causing the problem.

Since the welding torch is supported movably to the left and right via the traversing frame with respect to the traveling vehicle, the position of the welding torch can always be aligned with the bottom of the frame even if there is an obstacle in the frame. Even if there is an obstacle, the welding can proceed automatically.

Since the welding torch is supported movably back and forth with respect to the traversing frame via the longitudinal movement frame, welding can be performed up to the bottom of the frame.

Since the welding torch is supported on a swing frame that can swing up and down at a speed of about 100 to 180 times per minute, a wide, uniform, high-quality weld bead can be formed at the bottom of the frame. .

[Brief description of the drawings]

FIG. 1 is an external view of one embodiment of the present invention as viewed from the rear, FIG.
1 is an external view of FIG. 1 as viewed from above, FIG. 3 is a cross-sectional view of the traveling vehicle portion in FIG. 1 as viewed from behind, FIG. 4 is a cross-sectional view of FIG. 3 as viewed from above, and FIG. Is a cross-sectional view of the turntable portion in FIG. 1 as viewed from the rear, and FIG. 6 is a sectional view of FIG.
VI-VI arrow view, FIG. 7 is a VII-VII arrow view of FIG. 5, FIG.
The figure is a cross-sectional view of the traversing frame portion of FIG.
9 is a sectional view of FIG. 8 as viewed from above, FIG. 10 is a sectional view of the rising portion of FIG. 1 as viewed from above, FIG. 11 is a control circuit diagram of FIG. 1, and FIG. FIG. 1 is an operation view of FIG.
FIG. 13 is a perspective view of a frame for performing welding in the present invention and the conventional example, and FIG. 14 is a schematic plan view showing the operation of the conventional example. In the figure, 4 is a frame, 5, 6, 7, and 8 are bottom portions, 27 is a traveling vehicle, 34 is a turntable, 44 is a traversing frame, 57 is a forward and backward moving frame, 63 is a swing frame, 70 is a welding torch, 71 indicates a switch.

Claims (1)

(57) [Claims] 1. A traveling vehicle that travels along one side of a bottom portion of a frame body, a traverse frame provided on the traveling vehicle so as to be able to move left and right in the traveling direction of the traveling vehicle, and a front and rear direction in the traveling direction of the traveling vehicle. A forward and backward moving frame provided on the traversing frame so as to be movable to 100 to 180 per minute provided on the front and rear frame;
A swing frame capable of swinging up and down at a speed of about twice, a welding torch attached to the swing frame so as to face a bottom of the frame, a switch attached to a front portion of the traveling vehicle, A turntable provided with a lifter that is provided on the vehicle and that changes direction along a side adjacent to the one side of the bottom of the frame in a state where the traveling vehicle is lifted by a signal from the switch. Automatic fillet welding robot inside the frame.