JP2895381B2 - Automatic welding machine for folding folds - 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 folding pleat plate welding apparatus suitable for welding a pleated thin plate structural material lap joint to be attached to a side wall of a large container.

[0002]

2. Description of the Related Art As shown in a perspective view of FIG. 8, a lining material to be attached to a side wall of a large container such as an LNG underground tank is the same as the lower plate fold plate 1a in which bent folds 2a are formed at equal intervals. The ends of the pleated section of the upper fold plate 1b on which the bent fold portions 2b are formed are overlapped,
There is a thin plate structural material obtained by welding the lap joint 3, and when welding the lap joint 3, since the welding line is three-dimensionally bent with a small curvature and the welding position changes every moment, it has been conventionally automated. Is difficult to use, and all of them rely on manual welding by skilled welding workers.If this kind of lap joint is used in large quantities in field construction, it will increase welding man-hours and cause variations in welding quality. There is a problem that the construction becomes difficult due to the decrease in the number.

[0003]

SUMMARY OF THE INVENTION The present invention has been proposed in view of such circumstances, and is suitable for use in a lightweight, compact, and portable device for a lap joint having a bent fold in which a welding line is bent at a small curvature. Automatic welding can be performed reliably and efficiently, and if there are a large number of joints of the same shape, a folded fold plate automatic lamination that can contribute to greatly reducing welding man-hours and improving the reliability of welding quality It is an object to provide a welding device.

[0004]

SUMMARY OF THE INVENTION For this purpose, the present invention provides a continuous lap joint in which ends of a pleated cross section of plates formed by folding at a small curvature and having a fold are overlapped by three-dimensional positioning control. A device for automatic welding, a support gantry for positioning and fixing to a welding line by means of a matching gauge provided on a vertex of a bending fold and both side ends thereof, a suction cup and a bending fold clamp mechanism, and a welding line on the support gantry. An X-axis rail mounted so as to move and position in parallel, a Y-axis rail mounted so as to move and position in parallel to the direction of the bent fold on the X-axis stage running on the X-axis rail, and the Y-axis. A torch head mounted at the end of the shaft rail so as to be accessible to the bent folds, and the torch head is moved, positioned and positioned in a direction orthogonal to the welding line. And Z-axis with rate function, the Z
It is characterized by comprising a θ axis attached to the axis moving stage so as to rotate about a welding line, and an AVC axis attached to the θ axis and holding the welding torch to keep its height constant.

[0005]

In the automatic folding fold plate welding apparatus according to the present invention, after the positioning and fixing of the apparatus with respect to the bending fold welding line by the three-point alignment gauge and the fixing mechanism of the support base, the posture and the turning radius of the welding torch are adjusted to the AVC axis. In the state initially set with θ and θ axes, the joints at the welding start point, pleat vertex, and end point are taught on three axes of X, Y, and Z axes to perform three-dimensional positioning and straight line Performs interpolation. In the inner corners of the folded folds, the length of the torch rotation radius initially set in the X-axis direction from the folds is input as a program as position data, and when traveling to that position, welding travel is performed by rotating the θ-axis and following the AVC axis. Becomes
However, since the torch radius of rotation changes continuously, signal data of the movement amount detector provided on the AVC axis is calculated at the specified angle, and the θ axis is speed-controlled so as to achieve proper traveling. On the other hand, at the corner of the top of the folded pleat, the torch attitude control is performed by circular interpolation using the X axis and the Y axis and the synchronous rotation operation of the θ axis, and the welding torch is always directed toward the bending center. The Z axis performs an oscillating operation of performing linear interpolation in the axial direction and oscillating on a linear interpolation trajectory with a set width.

[0006]

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a front view of the present invention, FIG. 2 is a plan view, FIG. 3 is a side view, and FIG. 4 is a torch head. 5, FIG. 5 is a view taken in the direction of arrow V in FIG. 2, and FIG.
FIG. 7 is a sectional view taken along the line VI, and FIG. 7 is an explanatory view of the operation of the welding torch. First, in FIGS. 1 to 4, folded pleats 2 a having the same shape are provided on a lower pleat plate 1 a and an upper pleat plate 1 b, respectively.
2b is formed, and the end of the pleated cross section of the upper pleated plate 1b is superimposed on the end of the pleated cross section of the lower pleated plate 1a.
The support frame 4 straddling the center 2b includes a center alignment gauge 5 and groove adjustment gauges 6a and 6b at both ends thereof, each of which has a compression spring 7a.
a, 7b, fitted by the pressing forces of the tension springs 8a, 8b, positioned equally to the left and right and parallel to the welding line of the lap joint 3, the clamp mechanism 9 behind the centering gauge 5 and the suction cups 10a, 10b, Fix by 10c and 10d.

An X-axis rail 11 is attached to the support base 4 in a welding line direction, and an X-axis motor 13 drives a ball screw (not shown) to move the X-axis stage 12. A Y-axis stage 15 is attached to the X-axis stage 12 in a direction perpendicular to the lower fold plate 1a and the upper fold plate 1b, and a Y-axis motor 16 drives a ball screw (not shown) to drive the Y-axis rail 14. To move. Further, a torch head portion 17 is attached to the tip of the Y-axis rail 14 so that the torch head portion 17 is arranged so as to be as close as possible to the folded fold 2b. Thus, the torch head 17 is mounted on the Y-axis rail 1.
4, a Z-axis 18 having a mechanism for moving, positioning and oscillating in the direction orthogonal to the welding line,
A θ-axis 21 attached to the axis moving stage 19 so as to rotate around the welding line, and a θ-axis 21 attached to the θ-axis 21 and gripping the welding torch 24 so that the height thereof is made constant by arc voltage control. And an AVC axis 23. The Z axis 18 has a Z axis moving stage 19,
The Z-axis motor 20 for oscillation and the θ-axis 21 are respectively provided with a θ-axis motor 22 for rotating the same with respect to the welding line.

Next, in FIG. 5 and FIG. 6, the upper pleat plate 1b
The slide unit 26 attached to the center of the horizontal plate 25 of the support base 4 set at the center is always stretched in the fold direction by the force of the compression springs 7a and 7b, and the top of the fold is positioned on the plate 27 at the tip of the slide unit 26. Center alignment gauge 5
Is installed. In addition, a pin 29
The clamp arms 28a, 28b connected by a, 29b are in symmetrical positions, and the right-hand screw nut 30
A tightening screw rod 31 having a right-hand screw and a left-hand screw is also screwed into a and the left-hand screw nut 30b. By turning the handle 32, the clamp arms 28a and 28b open and close. On the other hand, at the lower ends of the clamp arms 28a and 28b, the pleats are sandwiched by the contact rods 33a and 33b, which are made of rubber having high frictional resistance as clamping contacts, without slipping, and are positioned and fixed.

In such a device, the center setting gauge 5 and the groove setting gauges 6a and 6b of the support base 4, the clamping mechanism 9 and the suction cups 10a and 10b are used to set the bending folds 2a and 2b to the welding line of the lap joint 3. After performing the positioning of the welding torch 24 shown in FIG. 7, the X-axis 11, the X-axis 11, and the rotation radius of the welding torch 24 are initially set with the AVC axis 23 and the θ axis 21. By instructing the joints at the welding start point, pleat apex, and end point on the three axes of the Y-axis 14 and the Z-axis 18, positioning in the three-dimensional direction is performed and linear interpolation is performed. For the inner corners of the folded folds 2a and 2b, the length of the rotation radius of the welding torch 24 initially set in the X-axis 11 direction from the fold surface is input as a program as position data. And the welding traveling by following the AVC shaft 23. However, since the turning radius of the welding torch 24 changes continuously, the speed control is performed on the θ-axis 21 at a specified angle to calculate the signal data of the movement amount detector provided on the AVC shaft 23 so that the proper running is performed. Is executed.
On the other hand, at the corners at the tops of the folded folds 2a and 2b, X
The torch attitude control by the circular interpolation by the shaft 11 and the Y-axis 14 and the synchronous rotation operation of the θ-axis 21 is executed, and the welding torch 24 is always directed toward the bending center. The Z axis 18 performs an oscillating operation of performing linear interpolation in the axial direction and swinging the linear interpolation trajectory at a set width. Thus, by inputting the welding line position data to the control device in advance for the same joint shape, continuous welding can be performed while positioning and traveling with high accuracy, and appropriate automatic welding can be performed even without monitoring.

Thus, according to this automatic welding apparatus, high-precision positioning traveling in the three-dimensional direction can be performed with respect to the lap joint 3 between the lower plate fold plate 1a and the upper plate fold plate 1b which are folded in a fold with a small curvature. Rotation speed control, torch follow-up control, and torch attitude control for continuously welding the running part of the X-axis 11, the Y-axis 14, and the Z-axis 18 having the oscillating function, and the joint of the R portion bent in a fold shape. Automatic welding with a lightweight, compact and highly portable device equipped with a θ axis 21 and AVC axis 23 that enables the automation of the parts that had been done by hand welding can be automated. In this case, continuous welding can be performed without monitoring while positioning and traveling with high precision by inputting the welding line position data to the control device in advance, greatly reducing welding man-hours and improving welding quality reliability. Bye It can be.

[0011]

In summary, according to the present invention, a lap joint, which is formed by folding at a small curvature and having a pleated portion at the end of a pleated cross section, is continuously and automatically welded by three-dimensional positioning control. A support gantry for positioning and fixing to a welding line by means of a matching gauge provided on a vertex of a bending fold and a side end thereof and a suction cup and a bending mechanism for a bending fold, and moving the support gantry parallel to the welding line. An X-axis rail attached for positioning, and a Y-axis attached to an X-axis stage running on the X-axis rail so as to be moved and positioned in parallel with the direction of the folded fold.
An axis rail, and a torch head mounted on a tip of the Y-axis rail so as to be accessible to a bent fold. The torch head has a function of moving, positioning and oscillating in a direction orthogonal to a welding line. An axis, an θ-axis mounted on the Z-axis moving stage so as to rotate about a welding line, and an AVC axis mounted on the θ-axis and holding a welding torch to keep its height constant. By using a lightweight, compact and portable device, it is possible to automatically and accurately weld a lap joint of a bent fold part where the welding line is bent with a small curvature, and if there are a large number of joints of the same shape, The present invention is extremely useful industrially because an automatic welding apparatus for folding folded folds can be obtained which can contribute to greatly reducing the number of welding steps and improving the reliability of welding quality.

[Brief description of the drawings]

FIG. 1 is a front view of an embodiment of an automatic welding apparatus for folding and folding plates according to the present invention.

FIG. 2 is a plan view of the same device.

FIG. 3 is a side view of the same device.

FIG. 4 is a side view of a torch head of the same device.

FIG. 5 is a view taken in the direction of the arrow V in FIG. 2;

FIG. 6 is a sectional view taken along line VI-VI of FIG.

FIG. 7 is an explanatory view of the operation of the welding torch of the above device.

FIG. 8 is a perspective view of a known folded-folded plate lap joint.

[Explanation of symbols]

 1a Lower plate fold plate 1b Upper plate fold plate 2a, 2b Bent fold 3 Lap joint 4 Supporting stand 5 Center alignment gauge 6a, 6b Groove alignment gauge 7a, 7b Compression spring 8a, 8b Tension spring 9 Clamp mechanism 10a, 10b 10c, 10d Sucker 11 X axis rail 12 X axis stage 13 X axis motor 14 Y axis rail 15 Y axis stage 16 Y axis motor 17 Torch head 18 Z axis 19 Z axis moving stage 20 Z axis motor 21 θ axis 22 θ axis Motor 23 AVC shaft 24 Welding torch 25 Horizontal plate 26 Slide unit 27 Plate 28a, 28b Clamp arm 29a, 29b Pin 30a Right screw nut 30b Left screw nut 31 Tightening screw rod 32 Handle 33a, 33b

──────────────────────────────────────────────────続 き Continued on the front page (72) Inventor Eiji Tsuchida 12 Nishikicho, Naka-ku, Yokohama-shi Mitsubishi Heavy Industries, Ltd.Yokohama Works (72) Inventor Masuo Kumakura 12-nishikicho, Naka-ku, Yokohama-shi Mitsubishi Heavy Industries, Ltd. 72) Inventor Keiji Sugawara 12 Nishiki-cho, Naka-ku, Yokohama-shi Mitsubishi Heavy Industries, Ltd.Yokohama Works (72) Inventor Yoshiaki Fukunaga 2-9-1, Araimachi Shinhama, Takasago-shi, Hyogo Takahashi Engineering Co., Ltd. (56) References JP-A-6-246448 (JP, A) JP-A-6-39551 (JP, A) JP-A-56-165673 (JP, U) (58) Fields investigated (Int. Cl. ⁶ , DB name) B23K 9/12 331 B23K 9/127 502 B23K 9/00 501 B23K 9/02 B23K 37/02

Claims (1)

(57) [Claims] An apparatus for continuously and automatically welding, by three-dimensional positioning control, a lap joint in which ends of a pleated cross section of plates which are bent at a small curvature to form a fold are overlapped. A support gantry for positioning and fixing to the welding line by means of a matching gauge provided on the apex and both side ends thereof, a suction cup and a bending fold clamping mechanism, and mounted on the support gantry so as to move and position parallel to the welding line. X-axis rail and X traveling on the X-axis rail
A Y-axis rail attached to the axis stage so as to move and position in parallel with the direction of the folding pleats; and a torch head mounted at the end of the Y-axis rail so as to be accessible to the folding pleats. The torch head is mounted on the Z axis having a function of moving, positioning and oscillating in a direction orthogonal to the welding line, a θ axis mounted on the Z axis moving stage so as to rotate on the welding line, and mounted on the θ axis. And an AVC shaft for holding the welding torch at a constant height by holding the welding torch.