JP3602911B2 - Strip plate automatic welding equipment - Google Patents

Description

[0001]
TECHNICAL FIELD OF THE INVENTION
The present invention relates to an automatic welding apparatus for welding two side ends of a strip extending in a longitudinal direction z to a substrate surface, and in particular, though not intended to be limited to this, a thin plate joined to a surface of a thick steel plate as a structural base. The present invention relates to welding of a strip for covering a joint portion of a metal plate (clad material) to a clad material.
[0002]
[Prior art]
For example, as shown in FIG. 7 (a), a large floating structure installed on the sea produces a box-shaped floating block 1 made of a thick steel plate at a factory or shipyard and transports it to the sea. Floating in seawater, floating blocks are connected at sea. Such a floating structure 2 is used for, for example, a marine airport, a floating bridge, and the like. The floating block (one steel box) 1 which forms one unit of the floating structure 2 has a size of, for example, 100 m × 40 m × 5 m. When connecting floating blocks at sea, a "dry chamber" is used to prepare a working environment. FIG. 7B shows an example of the shape and installation. The dry chamber has side surfaces and a bottom surface excluding a surface in contact with the floating block, and an upper surface is open. When the dry chamber is disposed at a position where the work of connecting the floating blocks and the like is performed and the water inside is removed, the dry chamber is pressed against the floating block by water pressure. Since a seal is provided at the portion of the dry chamber that comes into contact with the floating block, once the water is removed, the subsequent work can be performed in the same environment as on land.
[0003]
Various methods have been used to prevent corrosion of the structure installed on the sea or the like, for example, titanium clad steel or the like at an outer surface of an iron floating block structure and other parts as necessary at a manufacturing plant. Is affixed. Alternatively, a multi-layer plate having a highly corrosion-resistant surface layer on the thick plate itself of the structural base is used. However, the corrosion-resistant thin plate is a plate of a fixed size (standard size) due to manufacturing restrictions, and therefore, a seam of the corrosion-resistant thin plate occurs on the floating block. Even when a multi-layer plate having a highly corrosion-resistant surface layer is used as the thick plate of the structural base, a seam is generated between the multi-layer plates. In any case, the seam has low corrosion resistance. Therefore, the seam portion is covered (overlaid) with a corrosion-resistant strip. In the case of the above-mentioned floating block structure, the strip is, for example, a titanium plate having a width of about 35 to 50 mm and a thickness of about 2 mm. Range.
[0004]
FIG. 8 shows a situation in which a strip (corresponding to the above-described titanium plate) 5 made of a corrosion-resistant material is overlapped in a gap (seam) between the corrosion-resistant thin plate (titanium clad) 4 attached to the side surface of the floating block 1. FIG. 8A is a front view of the side surface of the floating block 1, and FIG. 8B is a plan view of the upper surface.
[0005]
[Problems to be solved by the invention]
The overlapping (5) is performed by welding in the above-mentioned dry chamber. However, since the strip 5 is thin, narrow, and long, deformation such as bending and swelling due to heat input during welding is likely to occur. . Conventionally, in order to reduce this problem, after the strip 5 is tack-welded at a plurality of points (for example, spotted at a pitch of 100 mm), the upper and lower ends and the two side ends (four sides) of the strip 5 are continuously connected. Since the main welding was performed by manual welding, it took time and effort, was inefficient, was difficult to automate, and was unavoidable for manual work. Therefore, the finished quality must depend on the skill of the worker, and there is a difficulty in quality control.
[0006]
For example, a swelling occurs between spotting during tacking, and a gap between the backing plate (titanium clad) easily causes welding defects. Also, if the penetration of the welding is too deep, the iron component of the thick steel plate of the block base is exposed on the surface, so that the corrosion prevention effect is not achieved. However, in the case of manual welding, there is a possibility. Furthermore, since the welding condition changes in the temporarily attached spot, a trace of spotting appears even after the main welding, and the welding appearance is not good.
[0007]
A first object of the present invention is to automate strip welding, a second object is to bring a strip into close contact with a substrate surface, and a third object is to omit multi-point temporary attachment. .
[0008]
[Means for Solving the Problems]
The automatic strip welding apparatus of the present invention includes a base (15) disposed parallel to the longitudinal direction z of the strip (5) to be welded to the substrate surface (4);
A welding carriage (YD) mounted on the base (15) and traveling in the z-direction with respect to the base (15);
a torch support (12) supported on a welding carriage (YD) movably in a thickness direction x of the strip (5) perpendicular to the z-direction;
X driving means (11) for driving the torch support (12) in the x direction;
Presser roller (PR) rotatably supported by the torch support base (12) and having a peripheral surface facing the strip (5);
Guide bars (7, 8) fixed to the torch support (12) and extending in the y direction orthogonal to the x and z directions ;
A pair of torch holders (SL1,2) which are movably mounted in the y-direction on the guide bars (7,8) and which are distributed on both sides of the strip (5) in the y-direction with the strip (5) interposed therebetween. SL2);
A pair of copying rollers (GR1, GR2) rotatably supported by the torch holders (SL1, SL2) and facing each other in the y direction with the strip (5) therebetween;
Y-driving means (SP1, SP2) for driving the torch holders (SL1, SL2) in the y-direction such that the copying rollers (GR1, GR2) supported by them hold the strip plate (5); and,
A pair of welding torches (TC1, TC2) each supported by each of the torch holders (SL1, SL2), with each of the two side ends of the strip (5) aiming at a welding position;
The two side ends extending in the longitudinal direction z of the strip (5) arranged parallel to the substrate surface (4) are welded to the substrate surface (4).
In addition, in order to facilitate understanding, the reference numerals of the corresponding elements in the embodiments shown in the drawings and described below are added to the parentheses for reference.
[0009]
According to this, when the x driving means (11) drives the torch support (12) in the x direction, the press roller (PR) presses the band plate (5), whereby the band plate is pressed. (5) closely adheres to the substrate surface (4). The y driving means (SP1, SP2) drives the torch holders (SL1, SL2) in the y direction in such a manner that the copying rollers (GR1, GR2) pinch the band plate (5). Each of the torch holders (SL1, SL2) follows each of the two side ends of the plate (5), and the welding torches (TC1, TC2) supported by the torch holders (SL1, SL2). ) Is automatically determined at each of the two side ends of the strip (5), and the welding position with respect to the strip (5) is accurately determined at any position in the z direction.
[0010]
Thus, the welding cart (YD) travels in the z direction with respect to the base (15) disposed parallel to the longitudinal direction z of the strip (5) to be welded to the substrate surface (4), so that the welding -H (TC1, TC2) continuously welds the two side ends of the strip (5) in the z direction.
[0011]
In this manner, the band plate (5) is pressed against the substrate surface (4) by the press roller (PR), and the welding torches (TC1, TC2) are copied to the two side ends of the band plate (5). At the same time, welding is performed while driving the presser roller (PR), the welding torch (TC1, TC2), etc. in the z direction, and these are all performed automatically, so that the conventional multi-point tack welding becomes unnecessary. No trace of multi-point tack welding appears. During this welding, the press roller (PR) presses the strip (5), so that the strip (5) does not weld while being bent or swelled, and the finished quality in shape. High continuous welding is realized. In particular, the penetration becomes uniform in the z direction, and the management of the welding quality (properties quality) becomes easy and reliable.
[0012]
Other objects and features of the present invention will become apparent from the following description of embodiments with reference to the drawings.
[0013]
DESCRIPTION OF THE PREFERRED EMBODIMENTS
[0014]
【Example】
FIG. 1A shows a plan view of an embodiment of the present invention mounted on a floating block 1 floating on the sea, FIG. 1B shows a front view thereof, and FIG. 1 (b) is a sectional view taken along line AA. On the upper surface of the floating block 1, working columns 16 and 17 extending in the horizontal x direction are temporarily attached using an existing mounting bracket, and a column 18 extending in the horizontal y direction is further mounted thereon. . The columns 18 are provided with columns 25 and 26 extending in the vertical z direction.
[0015]
A dry chamber-3 having a shape similar to that shown in FIG. 7B is attached to the columns 25 and 26. The dry chamber-3 is in close contact with the floating block 1, the seawater inside is drained, and the seawater is not substantially present in the inner space of the dry chamber-3.
[0016]
In this state, working columns 21 and 22 extending in the horizontal x direction are mounted on the lower surface of the floating block 1, and a lower guide column 24 extending in the horizontal y direction is attached to a tip end thereof. Further, columns 19, 20 extending in the horizontal x direction are attached to the columns 18, and an upper guide column 23 extending in the horizontal y direction is attached to the tips of the columns 19, 20.
[0017]
The upper end of a column 15 extending in the vertical z direction, which is the base of the welding device, is movably supported in the y direction by an upper guide column 23, and the lower end of the column 15 is movably in the y direction by a lower guide column 24. Supported. That is, the wheels WLU provided on the upper portion of the column 15 and the wheels WLL provided on the lower portion are supported by the columns 23 and 24 below. The movement of the column 15 in the y direction is performed manually. This is a mechanism for adjusting the welding torch to a desired y position. Note that a manual locking mechanism (not shown) is provided at the upper and lower portions of the column 15, and after the column 15 is moved to a required position in the y direction, the column 15 is fixed (locked) to the upper and lower guide columns 23 and 24. .
[0018]
FIG. 3A shows an enlarged plan view of the welding head WH and the welding cart YD, and FIG. 3B shows a back surface of the welding head WH. First, referring to FIG. 3 (a), a guide rail 14 extending in the z direction is fixed to a support 15 which is a base of the welding apparatus, and a rack is fixed to the guide rail 14. , The pinion gear 13 is engaged. A guide roller of a welding carriage YD for driving the welding head WH including the pair of welding torches TC1 and TC2 in the z direction is mounted on the guide rail 14 so as to be movable in the z direction. The carriage YD can move up and down (z direction) along the support column 15. The up and down movement of the welding carriage YD moves the pinion gear 13 meshing with the rack on the guide rail 14 through the electric motor on the carriage YD. This is performed by rotating the MTR.
[0019]
An air cylinder 11 and guide sleeves 9 and 10 are fixed to the carriage YD, and a pressure plate 12 as a torch support base is fixed to the tip of a piston rod of the air cylinder 11. The distal end of a guide rod penetrating the guide sleeves 9 and 10 is also fixed to the pressure plate 12. When the air-cylinder 11 projects the piston rod, the pressure plate 12 moves in the direction approaching the floating block 1 (+ x direction), and when the air-cylinder 11 retracts the piston rod, the pressure plate 12 moves away from the floating block 1. (1x direction).
[0020]
Next, referring to FIG. 3B, the front surfaces of the pressing plate 12 and the welding head WH face the strip 5 mounted on the floating block 1. Roller support arms RS1 and RS2 are fixed to the pressing plate 12, and a holding roller PR is rotatably supported by these arms RS1 and RS2. When the air cylinder 11 protrudes the piston rod and the pressing plate 12 moves in the direction (+ x direction) approaching the floating block 1, the pressing roller PR hits the band plate 5 and the band pressure is applied by the air cylinder 11. Hold plate 5. Guide bars 7, 8 extending in the y direction are fixed to the pressing plate 12, and the sliders SL1, SL2 as torch holders are supported by these guide bars 7, 8 so as to be movable in the y direction. I have. The left slider SL1 is pulled by the extension coil spring SP1 in the direction approaching the arm RS1, and the right slider SL2 is pulled by the extension coil spring SP2 in the direction approaching the arm RS2.
[0021]
The plasma arc welding torches TC1 and TC2 are held by sliders SL1 and SL2, respectively, and their ends are connected to the two side ends of the strip 5 to be welded, that is, the edges of the sides parallel to the z direction. It is attached to sliders SL1 and SL2 so as to face each other. The copying rollers GR1 and GR2 are rotatably supported by sliders SL1 and SL2, respectively.
[0022]
FIG. 4A illustrates a side surface of the welding carriage YD and the welding head WH. The left and right copying rollers GR1 and GR2 are stepped rollers for sandwiching the width (y) direction of the band plate 5, the left roller GR1 is a slider SL1, and the right roller GR2 is a slider SL2. Supported. FIG. 4B shows a relative positional relationship between the band plate 5 and the stepped copying rollers GR1 and GR2. Since the tension coil springs SP1 and SP2 described above are respectively pulling the sliders SL1 and SL2 rightward and leftward (speaking on FIG. 3B), the roller GR1 is located on the left side of the band plate 5. At the end, the roller GR2 hits the right end of the strip 5. Therefore, when the welding carriage YD moves in the z direction, the sliders SL1 and SL2 (torch TC1 and TC2) can move left and right so as to follow the left and right ends of the strip 5, respectively.
[0023]
The right and left torches TC1 and TC2 are provided with a torch x position adjusting mechanism (manual adjustment), a torch y position adjusting mechanism (manual adjustment) and a two-axis attitude adjusting mechanism (not shown) on the sliders SL1 and SL2. (Manual adjustment), and can finely adjust (manually) the x and y positions and the inclination angles (two directions). Once these are set, the welding position is always determined at the adjustment point (y-direction) near the strip edge, regardless of the width of the strip 5. In the plasma arc welding portion in this embodiment, a portion 1 mm inward from the edge was set as a target (welding target position). Since the air cylinder 11 presses the holding roller PR against the band plate 5, the distance between the torches TC1 and TC2 and the band plate 5 (distance in the x direction) is constant, and the torch TC1 and TC2 with respect to the band plate 5 are fixed. Is also constant.
[0024]
In the case of a non-ferrous material such as titanium, it is desirable that there is no post-treatment. Therefore, in general, plasma arc welding or TIG (tungsten inert gas) welding is used. Used a plasma arc welding torch. This was determined based on the result of comparing the two weldings under the conditions shown in FIG. FIG. 6 (b) schematically shows a welding state using a plasma arc welding torch, and FIG. 6 (c) schematically shows a TIG welding state.
[0025]
Next, the grounds for adopting the plasma arc welding torch will be described.
[0026]
(A) Welding speed: In plasma arc welding, a welding speed 1.5 to 2.5 times faster than TIG welding can be obtained. This is because in plasma arc welding, the arc is narrowed by a water-cooled nozzle (thermal pinch effect), so that the degree of heat concentration is high. (B) Welding stability: In plasma arc welding, arc stability is good and there is no fluctuation of arc. The reason is the same as above. On the other hand, in TIG welding, the arc fluctuates greatly, and in two-torch simultaneous welding, a magnetic blowing phenomenon is likely to occur.
[0027]
(C) Electrode consumption: The negative electrode of the tungsten electrode is surrounded by an inert gas (Ar) atmosphere in plasma arc welding, so that it is not consumed by oxidation, so that stable welding can be performed for a long time. can get. On the other hand, in TIG welding, the electrode protrudes to the tip of the torch and is covered with shield gas (Ar), but the effect of preventing the electrode from being oxidized is weak.
[0028]
Therefore, the electrode must be frequently polished, and the welding conditions are liable to change due to wear.
[0029]
(D) In the plasma arc welding, the main arc is generated by bringing the pilot arc close to the base metal, so that the startability of the arc is ensured. In TIG welding, the starting of the arc is caused by blowing high frequency between the electrode and the base material, so that the starting property of the arc is uncertain.
[0030]
For automation of welding, welding speed, welding stability and operability are important. Therefore, the plasma arc welding torches TC1 and TC2 are employed in the automatic welding machine of the present invention for the above-mentioned reason.
[0031]
FIG. 5 shows an outline of an electric system of the present automatic welding machine. A plasma gas and a shield gas SG, a cooling water SW, and a power supply SE are supplied to the plasma arc welding units WPU1 and WPU2 mainly composed of a power supply device, and the plasma arc welding torches are supplied to the WPU1 and WPU2. The controlled (adjusted) gas, water, current, and voltage are supplied to TC1 and TC2. The control box CON includes a motor driver for a z-drive motor MTR, a solenoid driver for driving a valve of a pneumatic switching circuit of the air cylinder 11, and a control circuit. The control circuit includes a z limit switch LSU, The LSL and the operation box CBX at hand are connected. The control box CON controls the gas, water, current and voltage output from the welding units WPU1 and WPU2 together with the hand box CBX (that is, the control relating to the welding torch), the control of the z-drive motor MTR, and the presser foot. Control of the rod advance / retreat of the air syringe 11 for driving the roller PR is performed.
[0032]
The outline of the procedure for automatically welding the strip 5 to the vertical surface of the floating block 1 using the above-described automatic welding machine of one embodiment of the present invention is as follows:
(1) Attach the columns 16 to 26 and the dry chamber-3 to the working area of the floating block 1;
(2) The strip 5 is arranged and positioned at a position covering the gap (seam) of the titanium clad 4 on the vertical surface of the floating block 1 and the upper short side thereof is temporarily attached or fully welded;
(3) The support 15 and the welding carriage YD are mounted and moved in the left and right (+ y to -y) directions to fix the support 15 at a position where the copying rollers GR1 and GR2 sandwich the strip 5. The welding torches TC1 and TC2 generally pass at the width end position of the strip 5, but are finely adjusted as necessary so that a target is located 1 mm inward from the end in the y direction;
(4) Similarly, the distance (x direction) and posture (angle) between the welding torches TC1, TC2 and the strip 5 are finely adjusted as necessary;
(5) Operate the manual bogie movement switch of the operation box CBX of the automatic welding machine to move the welding bogie YD in the vertical direction (+ z to -z) and position it at the welding start point of the strip 5.
[0033]
(6) Adjust the bogie speed adjusting knob of the operation box CBX to 200 to 300 mm / min (welding speed in the z direction), and turn on the left and right arc start switches;
(7) The push roller PR switch of the operation box CBX is turned on, and the press roller PR in the welding head WH is pressed toward the band plate 5;
(8) By turning on the automatic welding switch of the operation box CBX, the left and right arcs are turned on, the bogie starts to move downward (-z), and automatic welding is started;
(9) When the bogie reaches the welding end point of the strip 5, the limit switch LSL is switched from closed to open, and the automatic welding is automatically terminated. Alternatively, the automatic welding switch of the operation box CBX is manually turned off to terminate the welding.
[0034]
If the strip length is 2 m and the bogie speed is 200 mm / min, the welding time can be 10 minutes. That is, in the present automatic welding machine, a strip (2 mm thick titanium plate) 5 as a material to be welded is pressed against the titanium clad 4 by a roll PR, and the two side ends of the strip 5 are scanned right and left. The two torches TC1 and TC2, which follow the GR1 and GR2 and are fixed to the strip 5 at the same time, weld the two side ends of the strip 5 at the same time. There is no bending or lifting, and efficient and constant relatively high-speed automatic welding can be performed.
[0035]
In the present embodiment, the method of automatically welding “vertically” by placing the strip 5 vertically on the side surface of the floating block 1 (downward welding from above to below) has been described. It is also possible to place the strip 5 horizontally on the upper surface and to perform automatic welding “downward” in the x direction or the y direction. In this case, the column 15 is disposed in parallel to the x direction or the y direction.
[Brief description of the drawings]
FIG. 1A is a plan view showing an arrangement of a welding device (YD + WH) when a band plate 5 is welded to a side surface (vertical surface) of a floating block 1 using an automatic welding device according to an embodiment of the present invention. It is a figure and (b) is a front view.
FIG. 2 is a sectional view taken along the line AA of FIG. 1 (b).
FIG. 3A is a plan view of a welding carriage YD and a welding head WH shown in FIG. 1, and FIG. 3B is a rear view of the welding head WH.
4 (a) is a side view of the welding carriage YD and the welding head WH shown in FIG. 3 (a), and FIG. 4 (b) is a band plate 5 and a copying roller GR1 shown in FIG. 3 (b). , GR2 is an enlarged plan view showing the state of contact with GR2.
FIG. 5 is a block diagram showing an outline of an electric system of the embodiment shown in FIG. 3;
6A is an enlarged plan view showing a positional relationship between the welding torches TC1 and TC2 shown in FIG. 3 and the strip 5, and FIG. 6B is a longitudinal section schematically showing a plasma arc welding state. FIG. 3C is a longitudinal sectional view schematically showing a TIG welding state.
FIG. 7A is a perspective view showing a situation in which a large-scale floating structure 2 is constructed by combining the iron floating blocks 1 and FIG. 7B is a diagram when processing is performed on the outer surface of the iron floating block 1 at sea; FIG. 3 is a perspective view showing a shape and a mounted state of a dry chamber-3 used for the present invention.
FIG. 8A is an enlarged front view showing a state in which a band plate (titanium plate) 5 is welded to a gap (seam) of the titanium clad 4 on the surface of the iron floating block 1 shown in FIG. 7; (b) is an enlarged plan view.
[Explanation of symbols]
1: Floating block made of iron 2: Large-scale floating structure 3: Dry chamber 4: Titanium clad 5: Strip 6: Welding wire 7, 8, 9, 10: Guide bar 11: Air cylinder
12: Pressing plate 13: Pinion gear 14: Guide rail 15-26: Support column CBX: Hand control box CON: Control boxes GR1, GR2: Copying roller LSL: Lower limit switch LSU: Upper limit switch MTR: Drive Motor PR: presser roller SA: air SE: power supply SG: gas SW: cooling water SL1, SL2: slider SP1, SP2: extension coil spring TC1, TC2: welding torch WLL: lower wheel WLU: upper wheel WH: Welding head WPU1, 2: Welding unit YD: Welding trolley

Claims (2)

A substrate disposed parallel to the longitudinal direction z of the strip to be welded to the substrate surface;
A welding carriage mounted on the base and traveling in the z-direction relative to the base;
a torch support movably supported by the welding trolley in a thickness direction x of the strip perpendicular to the z direction;
X driving means for driving the torch support in the x direction;
A holding roller rotatably supported by the torch support base and having a peripheral surface facing the band plate;
A guide bar fixed to the torch support and extending in the y direction orthogonal to the x and z directions ;
A pair of torch holders movably mounted on the guide bar in the y direction and distributed on both sides of the strip in the y direction with the strip therebetween;
A pair of copying rollers each rotatably supported by each of the torch holders and facing each other in the y-direction with a strip therebetween;
Y-driving means for driving the torch holders in the y-direction such that the copying rollers they support pinch the strip; and
A pair of welding torches each supported on each of the torch holders and having each of the two side ends of the strip as a welding target;
An automatic strip welding apparatus for welding two side ends of a strip arranged parallel to a substrate surface, the two ends extending in the longitudinal direction z, to the substrate surface. 2. The automatic strip welding apparatus according to claim 1, wherein the welding torch is a plasma arc welding torch.

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