JP2902818B2 - 2-torch automatic welding equipment - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention
2 to automatically weld inner corners of pillars such as
(I) An automatic welding apparatus.

[0002]

2. Description of the Related Art When manufacturing a quadrangular prism-shaped member such as a crane boom, conventionally, four long plate-shaped members are butted at each end and temporarily fixed. After being formed in the shape of a quadrangular prism, the four inner corners are welded along each side. In this type of welding, a work (a quadrangular prism-shaped member to be welded) is inclined by about 45 degrees so that a corner to be welded is located below other corners, and two inner surfaces in contact with the corner are used. With the welding torch following the corner of the lower corner and welding along the side from one end to the other end,
Rotate the work about 90 degrees, turn another corner downward, weld the same in the same manner, rotate the work in the same way, perform two weldings, and perform all four corners. Are sequentially welded.

[0003]

As described above, when a quadrangular prism-shaped member is manufactured, it has conventionally been necessary to sequentially perform welding four times, and moreover, each time the welding position is changed, a work is performed. Is required to be rotated to position it at a predetermined inclination, so that the working process is relatively complicated and the time required for welding is long. In addition, it is difficult to hold the work in a state of being inclined by 45 degrees, and it is also difficult to align the work with the welding device in accordance with the change in the inclination of the work. Each time is completed, a relatively large amount of work is required.

SUMMARY OF THE INVENTION Accordingly, an object of the present invention is to shorten the time required for welding, simplify the work process, and facilitate the work associated with the rotation of the work.

[0005]

In order to solve the above problems SUMMARY OF THE INVENTION In the present invention, the hollow welding object a quadrangular prism, a support mechanism for holding in the horizontal one side of its; the Insert the position of the lower side and the upper side
A reversing mechanism for turning around the center axis by 180 ° for replacement ; two welding torches and each welding torch supported by the support mechanism
Two sides on both sides of the lower side of the inner surface and the lower side of the lifting weld object
Welding means comprising a and the scanning mechanism for positioning along each of the two corners which inner surface forms a; supporting it the welding means of the lower side of the welding object
A moving mechanism for transporting along a plane; and the welding means by the moving mechanism to the inner surface of the lower side of the welding object
The inner surface of the lower side of the object to be welded and the inner surfaces of the two sides on both sides of the lower side by the two welding torches of the welding means while being transported along
DOO welding control means for welding each of the two corners forming; a provided.

[0006]

According to the present invention, according to the present invention, a rectangular column-shaped hollow welding
The object is supported by a support mechanism with one side thereof being horizontal,
The welding control means melts the welding means via the moving mechanism.
Two welds while transporting along the inner surface of the lower side of the contact object
With the torch, the inner surface of the lower side of the object to be welded and both sides of the lower side
At the same time, each of the two corners formed by the inner surfaces of the two sides
Can be welded. Welding of these two corners is completed
Then, using a reversing mechanism, the welding object is
Turn around 180 ° and swap the positions of the lower and upper sides
And then again under the control of the welding control means
Welding means through the mechanism along the inner surface of the lower side of the workpiece
While transferring, the two welding torches under the workpiece
Two formed by the inner surface of the side and the inner surface of the two sides on both sides of the lower side
Can be welded simultaneously. that's all
Thus, the welding of the four corners inside the welding object is completed.
Therefore, the required welding time is 以下 or less as compared with the conventional apparatus requiring four welding steps. In addition, since the welding is performed in a state where the object to be welded is horizontal, the support and positioning of the object to be welded are easy, and the operation of turning the object to be turned upside down is also simplified.

[0007]

1 and 2 show the appearance of an entire automatic welding apparatus according to an embodiment. This automatic welding apparatus is an apparatus for welding a hollow quadrangular prism-shaped structure used as a crane boom. The object to be welded, that is, the boom 8 is formed into a quadrangular prism shape by combining four steel plates, and is temporarily fixed and fixed at a front position of the welding apparatus as shown in the figure. The boom 8 is held on two reversing machines 7A and 7B. The welding head 5 is arranged at a position facing the boom 8. A rail 3 is laid opposite the boom, and the traveling vehicle 1 is mounted on the rail 3. A support mechanism 22 on the traveling vehicle 1 via a screw jack 21
Is mounted, and one end of the arm 4 is engaged with the shaft of the support mechanism 22. An arm receiving roller mechanism 6 is provided at a position near one end of the boom 8, and the arm 4 is supported so as to be movable on the mechanism 6.

A welding head 5 is engaged with the other end of the arm 4. From the retracted position shown in FIG. 1 and FIG.
The traveling carriage 1 moves at a predetermined speed along the rail 3 in the direction, so that the arm 4 together with the welding head 5
Into the inner space of the room 8. At this time, while the welding head 5 is moving, the corners P1 and P2 (see FIG. 5) inside the boom 8 are subjected to the inner surface fillet welding. When the traveling vehicle 1 moves to the position shown in FIG. 4, one welding operation is completed.

A welding wire 23 is mounted on the traveling vehicle 1, and the wire 23 is supplied to the welding head 5 through the inner space of the arm 4. 2 is a cable bear. Screw jack 21 on traveling trolley 1 and arm receiving roll
By adjusting the screw jack 24 of the screw mechanism 6, the arm 4 is always kept horizontal.

The configuration of the arm receiving roller mechanism 6 will be described with reference to FIG. A screw jack 24 mounted on a support 25 supports the arm receiving frame 26.
Further, the arm receiving frame 26 is guided by the guide mechanisms 27 and 28 so as to be movable only in the vertical direction with respect to the support table 25. Accordingly, the driving of the screw jack 24 causes the arm receiving frame 26 to move up and down. The arm receiving frame 26 has rollers 29A and 29B for supporting the lower surface of the arm 4 and the rollers 3 for supporting the side surfaces of the arm 4.
0A and 30B are provided.

As shown in FIG. 4, when the traveling vehicle 1 advances and the arm 4 is inserted into the boom 8, the arm receiving roller mechanism 6 moves the vicinity of the rear end of the arm 4. As shown in FIGS. 4 and 5, the arm 4 is provided with wheels 31R and 31L. When the arm 4 enters the interior of the boom 8, the wheels 31R and 31L are moved. The distal end and the center of the arm 4 are supported by contacting the lower surface of the boom 8.

Next, the welding head 5 will be described. FIG.
8 is a front view of the welding head 5, FIG. 8 is a plan view, FIG. 9 and FIG.
0 is a sectional view taken along line IX-IX and line XX of FIG. 7, respectively. With reference to FIG.
The arm 41 is engaged with the tip of the arm 4 movably up and down by LM guides 42R and 42L. The rod of the air cylinder 13 fixed to the tip of the arm 4 is fixed to the frame 41. Therefore, by driving the air cylinder 13, the welding head 5 moves up and down with respect to the arm 4. The frame 43 is a frame
9 and is rotatable about the fulcrum pin 15 shown in FIG. 9, that is, about the axis in the welding direction.

The frame 43 has base members 44R and 44L disposed on the right and left sides, respectively (see FIG. 10).
Are integrally fixed. Base members 44R and 44L
Are provided with rotatable upper and lower copying rollers 14R and 14L, respectively, so as to protrude below the base member. The two rods 45A and 45B have one end fixed to the base member 44R and the other end fixed to the base member 44L. A base member 46A is attached to the rod 45A.
R and 46AL are slidably mounted in the axial direction,
Base members 46BR and 46BL are axially slidably mounted on the rod 45B. Base member 46A
One end of a tension coil spring 11A is connected to R via an adjustment mechanism 47A, and the other end of the spring 11A is connected to a base member 44L. One end of a tension coil spring 11B is connected to the base member 46BL via an adjustment mechanism 47B, and the other end of the spring 11B is connected to the base member 44R. That is, the tension coil spring 11A draws the base member 46AR toward the base member 44L, and
1B draws the base member 46BL toward the base member 44R.

The base members 46AR and 46BR are fixed to a slide frame 48R shown in FIG.
6AL and 46BL are fixed to a slide frame 48L. The air cylinder 10 is mounted on one of the slide frames 48R, and the rod of the air cylinder 10 is fixed to the other slide frame 48L.
As described above, these slide frames 48R and 4R
Base member 46AR, 46AL, 46B supporting 8L
Since R and 46BL are slidable on the rod 45A or 45B in the axial direction thereof, by extending the rod of the air cylinder 10, the slide frames 48R and 48L are extended.
Moves in the direction of the arrow AR2, and the interval between them increases.

The slide frame 48R has a left-right copy row.
12R and 12RR are rotatably mounted so as to protrude outside the frame, and a slide frame 48L
Since the left and right copying rollers 12L and 12LR are rotatably mounted so as to protrude outside the frame, when the distance between the slide frames 48R and 48L is increased, the left and right copying rollers 12L and 12LR are used. La 12R, 12RR, and 12L, 1
The 2LR is positioned so as to abut against the vertical plates 8R and 8L (see FIG. 5) of the boom 8, respectively. That is, the vertical plate 8
With reference to the position of the R, 8L surface, the slide frame 4
8R and 48L are positioned in the left-right direction. When the driving force of the air cylinder 10 is lost, the tension coil spring 1
The slide frame 48R, with the force of 1A and 11B,
The interval of 48L is reduced.

The welding frame is provided on the slide frame 48R.
And the equipment attached thereto, ie, welding wire, power cable, control cable, shield gas hose, air hose.
The other slide frame 48 is provided.
Also on L, a welding torch 9L and equipment attached thereto are provided. The welding torches 9R and 9L are torches for gas shielded arc welding. The tip of the welding torch 9R is directed downward at the right end in front of the welding head.
The tip of L is directed downward and to the left end in front of the welding head.

When actually performing welding, the welding head 5
The vertical scanning rollers 14R and 14L located on the lower surface of the
The upper and lower positions of the welding torches 9R and 9L are determined by contacting the lower horizontal plate 8B of the frame 8 so that the interval between the slide frames 48R and 48L is increased, and the left and right copying rollers 12 are moved.
The right and left positions of the welding torch 9R are determined by the R and 12RR contacting the vertical plate 8R, and the right and left scanning rollers 1 are determined.
The left and right positions of the welding torch 9L are determined by the contact of the 2L and 12LR with the vertical plate 8L. Accordingly, the positions of the welding torches 9R and 9L are always determined with reference to the positions of the surfaces of the vertical plates 8R and 8L and the horizontal plate 8B (or 8U) of the boom 8, so that each of them is at a predetermined position. Welding line (P in FIG. 5)
1, P2).

The crane boom is usually
, The second, the third, and the top parts are combined, and these have different sizes. In this embodiment, there are four kinds of sizes of the beam 8 to be welded by the apparatus of this embodiment. To adapt to the difference in size,
A plurality of welding heads 5 having different sizes are prepared in advance, and the welding head 5 to be used can be changed according to the size of the boom 8 to be welded.

Next, reversing machines 7A, 7 for supporting the boom 8
B will be described. The two reversing machines 7A and 7B have the same configuration. The structure of the reversing machine 7A is shown in FIG.
This is shown in section II line). Referring to FIG. 3, the support frame 51 of the reversing machine 7A is formed substantially in a drum shape, and a rectangular space is formed inside. Boom 8 to be welded
Is transported on the free roller 52 in the direction of the arrow AR3,
The support frame is inserted into the support frame through the opening 51a, and is placed on the frame 53.

Above the support frame 51, a hydraulic cylinder 54 and guide mechanisms 55A and 55B are fixed.
Rod and guide mechanism 55A, 55B of the hydraulic cylinder
The plate-like stopper 5 is attached to the rods 56A and 56B inserted into
7 are connected. By urging the hydraulic cylinder 54, the rod is extended, and the stopper 57
It moves in four directions and contacts the upper plate 8U of the boom to fix it. A plate-like stopper 59 supported by the frame 53 via a manual adjustment mechanism 58 is provided on the side of the boom 8. By pressing the two stoppers 57 and 59 against the beam 8, the beam 8 is securely fixed on the support frame 51.

The support frame 51 is a rotatable support row.
It is supported on the base 61 via the rails 60A and 60B, and is rotatable in the direction of the arrow AR5. A gear 63 connected to an electric motor 62 is engaged with the support frame 51. By energizing the electric motor 62, the support frame 51 is driven to rotate in the direction of arrow AR5. In the apparatus of this embodiment, the supporting frame 5
By rotating 1 by 180 degrees, the boom 8 is turned upside down. In FIG. 3, the point Pc is the center of rotation.
The two reversing machines 7A and 7B rotate synchronously at the same time.

FIG. 12 shows the configuration of the control system of this automatic welding apparatus.
Shown in This will be described with reference to FIG. The system controller 100 controls the entire automatic welding apparatus. Operation board 11 connected to system controller 100
Although not shown, various switches and indicators are provided at 0, and the system controller 100 performs control in response to switch operations of the operation board. The system controller 100 includes an arm height adjustment unit 120,
Solenoid driver 130, traveling bogie drive unit 14
0, the welding head control unit 150, the reversing machine control unit 160, and the welding control unit 170 are connected.

The arm height adjusting unit 120 adjusts the height of the screw jacks 21 and 24, and
The height is adjusted to the designated height while maintaining the horizontal position of the program 4. The height of the screw jacks 21 and 24 is
These are detected by height detectors 91 and 92, respectively.

In the temporary welding and the normal welding,
Significant spatter and scale are generated. This type of spatter, scale, and the like remains inside the columnar body to be welded, and becomes an obstacle in the next welding process. Therefore, in this embodiment, prior to the welding process, an air blower is used.
To remove spatter and scale from the welding line. To automatically perform this cleaning, a welding head 5 is provided with a toe as shown in FIG.
Pipes 70R and 70L are arranged at positions rearward of the shell with their openings facing the respective welding lines. These pipes 70R,
70L is supplied with high-pressure air via the solenoid valve 93 of FIG. That is, by opening and closing the solenoid valve 93, the on / off of the air blow can be switched.

The traveling vehicle drive unit 140 moves the electric motor 94, which is the driving source of the traveling vehicle 1, forward, backward and at a constant speed, and moves the traveling vehicle 1 to move the position of the welding head 5. The traveling trolley drive unit 140 detects the position of the traveling trolley 1 or the welding head 5 by various position detectors 95, and outputs position information at a predetermined position to the system controller 1.
00 or switching the control state (constant speed forward, backward and stop) at a position designated in advance.

The welding head control unit 150 switches the amount of air between the left and right copying air cylinders 10 and the head lifting / lowering air cylinder 13 in accordance with an instruction from the system controller 100, and sets the distance between the welding torches 9R and 9L. Adjustment and height adjustment of the welding head 5 are performed. When the air amount of the left-right copying air cylinder 10 is small, the spring 11
The slide frame 48 is pulled by the pulling force of A and 11B.
R, 48L move inward, and the distance between the welding torches 9R, 9L is reduced. By supplying predetermined air to the left and right copying air cylinder 10, the slide frames 48R and 48R are supplied.
L moves right and left, respectively, at positions where the rollers 12R and 12RR contact the vertical plate 8R of the beam 8 to be welded, and the rollers 12L and 12LR contact the vertical plate 8L. Positioned. When the air amount of the head lifting / lowering air cylinder 13 is sufficiently large, the rod of the cylinder extends to lift the welding head 5 to a predetermined position with respect to the arm 4. Air cylinder 13 for head lifting
When the air volume of the welding head 5 is small,
The welding head 5 descends. At this time, the welding head 5
If it has entered the beam 8, the upper and lower tracing rollers 14R and 14L projecting from the lower surface of the welding head are lowered to a position where they contact the lower plate 8B of the boom, and the welding head 5 is positioned at that position. .

The reversing machine control unit 160 switches the hydraulic pressure of the hydraulic cylinder 54 and positions the stopper 57.
When the oil pressure is low, the rod is pulled into the cylinder,
When the stopper 57 is at the retracted position shown in FIG. 3 and the hydraulic pressure is sufficiently large, the rod is extended to position the stopper 57 against the upper plate 8U of the boom. Upon receiving a predetermined reversal instruction from the system controller 100, the reversing machine control unit 160 drives the electric motor 62, rotates the support frame 51 by 180 degrees, and moves the boom 8 up and down. Is inverted.

The welding control unit 170 includes a power supply for welding, various switching circuits, a solenoid valve for controlling a shield gas, and the like, like the general automatic welding machine, and performs the same operation as the general automatic welding machine. It is configured as follows.

FIG. 11 shows an example of a processing procedure of the system controller 100 corresponding to all steps when welding one boom. The contents of each processing step in FIG. 11 will be described with reference to each drawing.

Step 1: Initialize the entire apparatus. In the initialized state, the support frames 51 of the reversing machines 7A and 7B are provided.
Is positioned as shown in FIG. 3, and the stopper 57 is also positioned as shown in FIG.
Is positioned in the retracted state shown in FIG. The traveling vehicle 1 is positioned at the retracted position (home position) shown in FIGS. 1 and 2, and the welding head 5 is positioned in a state of being lifted up. Further, the welding device is set to a stopped state.

Step 2: The beam 8 to be welded is positioned on the reversing machines 7A and 7B by a crane (not shown) and a manual operation. That is, in FIG. 3, the boom placed on the free roller 52 is moved from the left side through the opening 51a by an arrow A.
Push in the R3 direction and position at the position (center) shown in FIG. When a predetermined switch is operated, the hydraulic cylinder 54 is driven, the stopper 57 is lowered, and the brake is moved.
Fix the program 8. The position of the stopper 59 is manually adjusted as necessary, and the lateral position of the boom 8 is fixed.

Step 3: By operating a predetermined switch,
Specify the height of the arm 4. In response to this switch operation, the system controller 100 and the arm height adjustment unit 120 adjust the height of the screw jacks 21 and 24. As a result, while the arm 4 is kept horizontal, its height is adjusted to match the height of the positioned boom 8.

Step 4: When a predetermined start switch is operated, the solenoid valve 93 is opened to open the pipes 70R, 70L.
Is started, and the traveling vehicle 1 is controlled to move forward at a constant speed.

Steps 5 and 6: When it is detected that the traveling carriage 1 has moved forward and the welding head 5 mounted on the arm 4 has entered the interior of the boom 8, the welding head control unit 1
An instruction is given to 50 to release the air in the air cylinder 13 and lower the welding head 5 by its own weight. The lowering of the welding head 5 is achieved by a vertical scanning roller 14 projecting from the lower surface thereof.
R and 14L stop at the position where they contact the lower plate 8B of the boom. Also, supply sufficient air into the air cylinder 10,
Increase the distance between the slide frames 48R and 48L. As a result, the slide frame 48R moves to the right and the copying rollers 12R and 12RR mounted thereon are mounted on the vertical plate 8R of the boom, and the slide frame 48L moves to the left and mounted thereon. Copy rollers 12L and 12LR are
It stops in a state of being in contact with each of the vertical plates 8L. Therefore, the welding torch 9 fixed to the slide frame 48R.
R is positioned so that the distance between the lower plate 8B and the vertical plate 8R of the boom is constant, and the welding torch 9L fixed to the slide frame 48L includes the lower plate 8B and the lower plate 8B of the boom. Positioning is performed so that the distance from the vertical plate 8L is constant. That is, even when the surfaces of the lower plate 8B and the vertical plates 8R and 8L are bent, the positions of the welding torches 9R and 9L are automatically adjusted so that each welding torch follows a predetermined welding line. Adjusted.

Steps 7 and 8: The traveling vehicle 1 points to the arrow AR1.
When it is detected that the front end of the welding head 5 has reached the rear end of the boom 8, that is, the welding end position, as shown in FIG. 4, the solenoid valve 93 is closed to stop the air blow. An instruction is given to the traveling vehicle drive unit 140 so that the traveling vehicle 1 moves backward (moves in the opposite direction to AR1) at a predetermined speed.

Steps 9, 10, 11: The welding head 5 is moved to a predetermined welding start position (the welding head 5 is moved to the front end within the beam 8 (the left end of the beam in FIG. 4) by the retreating operation of the traveling vehicle 1. When it is detected that the vehicle has retreated to a certain state), the traveling vehicle 1 is first stopped. Next, an instruction is given to the traveling vehicle drive unit 140 so that the traveling vehicle 1 moves forward at a predetermined speed, and an instruction to start welding is given to the welding control unit 170. As a result, the two welding torches 9R and 9L are moved while the welding head 5 advances in the beam 8 at a constant speed.
, Two weldings are performed simultaneously. That is, the welding torch 9R moves the lower right corner P1 of the beam 8 to the welding torch 9R.
L welds the lower left corner P2 of the boom 8 respectively. In this state, the welding head 5 is movable in the vertical direction, and is rotatable (swingable) in the direction of the arrow AR6 as shown in FIG. 9, so that the two vertical scanning rollers 14R and 14L are provided.
The lower plate 8B of the boom is surely secured by the weight of the welding head 5.
And the height of the welding torches 9R and 9L is always
It is set at a certain distance from the lower plate 8B. Further, the right and left scanning rollers 12R and 12RR projecting sideways from the slide frame 48R on which the welding torch 9R is mounted are pressed by the vertical plate 8R of the boom. The horizontal position is always maintained such that the distance from the vertical beam plate 8R is constant. Similarly, since the right and left scanning rollers 12L and 12LR projecting sideways from the slide frame 48L on which the welding torch 9L is mounted are pressed by the vertical plate 8L of the boom, the welding torch 9L is formed. The horizontal position of
The distance from the boom vertical plate 8L is always kept constant.

Steps 12, 13, 14: When it is detected that the welding head 5 has advanced to the welding end position shown in FIG. 4, an instruction to end the welding is given to the welding control unit 170 and the traveling bogie drive unit 140 is stopped. Give instructions.
Further, an instruction is given to the traveling vehicle drive unit 140 so that the traveling vehicle 1 moves backward at a predetermined speed.

Steps 15 and 16: When it is detected that the welding head 5 has retreated to the predetermined welding start position by the retreating operation of the traveling vehicle 1, an instruction is given to the welding head control unit 150 to perform the left and right scanning air. The air in the cylinder 10 is evacuated, and a sufficient amount of air is supplied to the head lifting / lowering air cylinder 13. By bleeding air from the air cylinder 10, the slide frames 48R and 48L are moved inward by the tensile force of the springs 11A and 11B, respectively, and the welding head is separated from the vertical plates 8R and 8L of the boom. Also, by supplying air to the air cylinder 13, the rod of the cylinder is extended and the welding head 5 is lifted, so that the welding head 5 is lifted and separated from the lower plate 8B of the boom. In this state, the traveling vehicle 1 continues the retreating operation, so that the welding head 5 can get out of the boom 8 without colliding with the boom 8.

Steps 17 and 18: When it is detected that the traveling vehicle 1 has returned to the predetermined home position (the state shown in FIGS. 1 and 2), an instruction is given to the traveling vehicle driving unit 140, and the traveling vehicle 1 is instructed. Stop moving.

Step 19: In response to a predetermined inversion start switch operation, an inversion instruction is given to the inverter control unit 160. In response to this instruction, the inverter control unit 1
Reference numeral 60 drives the electric motor 62 to rotate the support frame 51 until the position detector (limit switch) 96 detects that the support frame 51 has been rotated by 180 degrees. Since the boom 8 is supported in the support frame 51, when the support frame 51 is rotated by 180 degrees, the boom 8 is supported.
The boom 8 is also rotated by 180 degrees, and the boom 8 is in a state where the vertical position is inverted. The two reversing machines 7A and 7B rotate simultaneously.

Step 20: Supporting frame 51 of the reversing machine
The height of the lower plate (8U) supported by the boom is different from the height of the lower plate 8B before the reversal.
The height of the arm 4 is readjusted to match the inverted height. By redesignating the height with a switch, the arm height adjustment unit 120 adjusts the height of the screw jacks 21 and 24 and corrects the height while keeping the arm 4 horizontal. I do.

Step 21: Steps 4 to 10 described above
The same processing is performed. That is, air blow is started to advance the traveling vehicle 1 and the welding head 5 is moved to the boom 8.
When it enters, the welding head 5 is lowered and the torch 9R,
When the welding head reaches the rear end of the boom, the air blow is stopped to start the retreat of the traveling vehicle, and when the welding head 5 returns to the welding start position, the traveling vehicle is stopped. By this air blow process, welding residues and the like generated in the previous welding process can be removed from the welding lines P3 and P4 (see FIG. 5).

Step 22: Steps 11-16 described above
The same processing is performed. That is, when the traveling carriage starts to advance and starts welding, and when the welding head reaches the rear end of the boom, the welding is terminated, the traveling carriage is stopped, and the traveling carriage starts retreating and the welding head starts welding. When returning to the starting position, the interval between the torches is reduced and the welding head is raised. By this welding process, two welding lines P3, P on the inner surface of the boom 8 are formed.
4 can be simultaneously welded at two locations.

Steps 23 and 24: When it is detected that the traveling vehicle 1 has returned to the predetermined home position (the state shown in FIGS. 1 and 2), an instruction is given to the traveling vehicle driving unit 140, and the traveling vehicle 1 is provided. Stop moving.

Thereafter, in response to a predetermined switch operation,
The hydraulic pressure of the hydraulic cylinder 54 is lowered, the stopper 57 is raised, the fixing of the boom 8 is released, and the boom 8 is taken out of the reversing machines 7A, 7B using a crane or the like.

[0046]

As described above, according to the present invention, two welding torches (9R, 9L) are mounted on the welding means.
The two lower corners (P1 and P2 or P3 and P4) of the horizontally positioned welding object (boom 8) are connected to two welding toes.
Each weld simultaneously. When the first welding is completed , the welding object is moved around the center axis using the reversing mechanism.
Rotate 180 ° and swap the positions of the lower and upper sides
Can be. After this upside down, the first welding
Similarly, welding the other two corners simultaneously
it can. That is, all four corners (P1 to P4) can be welded by two welding steps . Therefore, the required welding time is 以下 or less as compared with the conventional apparatus requiring four welding steps. In addition, since welding is performed in a state where the object to be welded is horizontal, it is easy to support and position the object to be welded, and the operation for inverting the object to be welded is also easy.

[Brief description of the drawings]

FIG. 1 is a plan view showing the entire appearance of an automatic welding apparatus according to an embodiment.

FIG. 2 is a front view of the apparatus of FIG.

FIG. 3 is an enlarged cross-sectional view taken along the line III-III of FIG. 1, showing a reversing machine 7A.

FIG. 4 is a front view showing a state in which the arm has entered the inside of the boom 8;

FIG. 5 is an enlarged sectional view taken along line VV of FIG. 4;

FIG. 6 is an enlarged sectional view taken along the line VI-VI of FIG. 1;

FIG. 7 is an enlarged front view of the welding head 5.

8 is an enlarged plan view of the welding head 5. FIG.

FIG. 9 is a sectional view taken along line IX-IX of FIG. 7;

FIG. 10 is a sectional view taken along line XX of FIG. 7;

FIG. 11 is a flowchart showing the work procedure of the entire welding process mainly based on the operation of the system controller of FIG. 12;

FIG. 12 is a block diagram showing a configuration of the entire system of the automatic welding device of FIG. 1;

[Description of Signs] 1: Traveling trolley 2: Cable bear 3: Traveling rail 4: Arm 5: Welding head 6: Earth
Rollers 7A, 7B: Reversing machine 8: Boom 9R, 9
L: welding torch 10: air cylinder 11A, 11B: tension coil spring 12: left-right copying roller 13: air cylinder 14: vertical copying roller 15: fulcrum pin 21, 24: screw jack 22: support mechanism 23: welding wire 25: support base 26: arm receiving frame 27, 28: guide mechanism 29A,
29B: Roller 30A, 30B: Roller 31R,
31L: Wheel 41: Frame 42R, 42L: LM Guide 43: Frame 44R, 44L: Base member 45A, 45B: Rod 46AR, 46AL, 46BR, 46BL: Base member 47A, 47B: Adjusting mechanism 48R, 48L:
Slide frame 51: Support frame 51a: Opening 52: Free roller 53: Frame 54: Hydraulic cylinder 55A, 5
5B: Guide mechanism 56A, 56B: Rod 57,5
9: Stopper 58: Manual adjustment mechanism 60A, 60B: Support roller 61: Base 62: Electric motor 63: Gear 70R, 70L: Pipe 100: System controller 110: Operation board 120: A- Height adjustment unit 130: solenoid driver 140: traveling carriage drive unit 150: welding head control unit 160: reversing machine control unit 170: welding control unit

──────────────────────────────────────────────────の Continued on the front page (51) Int.Cl. ⁶ Identification code FI B23K 37/047 501 B23K 37/047 501C (72) Inventor Takeshi Miyamae 7-6-1, Higashi Narashino, Narashino City, Chiba Prefecture, Japan Iron & Steel Welding Industry Co., Ltd. Equipment Division (56) References Japanese Utility Model Sho-49-11022 (JP, U) (58) Fields investigated (Int. Cl. ⁶ , DB name) B23K 9/12 331 B23K 9/00 501 B23K 9/02 B23K 9/127 503 B23K 37/047 501

Claims (1)

(57) [Claims] 1. A rectangular column-shaped hollow object to be welded ,
As a support mechanism for the holding in the horizontal side; the welding object placed position of the lower side and upper side of the time
A reversing mechanism for turning around the center axis by 180 ° for replacement ; two welding torches and each welding torch supported by the support mechanism
Two sides on both sides of the lower side of the inner surface and the lower side of the lifting weld object
Welding means comprising a and the scanning mechanism for positioning along each of the two corners which inner surface forms a; supporting it the welding means of the lower side of the welding object
A moving mechanism for transferring along the surface ; and the moving mechanism moves the welding means under the object to be welded.
While transferring along the inner surface of the side, the inner surface of the lower side of the object to be welded and the two sides of the lower side by the two welding torches of the welding means .
Weld each of the two corners formed by the inner surfaces of the two sides .
A two-torch automatic welding apparatus comprising: