JP4409508B2 - Welding trolley - Google Patents

Description

  The present invention relates to a welding carriage that welds a corner of a horizontal member and a vertical member while traveling along a welding line, and more particularly to a welding carriage that can travel along a welding line having a bent portion having a small curvature radius. .

  FIG. 9 is a perspective view showing a transverse bulkhead block of a bulk carrier. The horizontal bulkhead block 51 is a hull block that stands on an inner bottom plate (not shown) and forms a horizontal bulkhead of a bulk carrier, and is configured by a corrugated panel 53 standing on the upper surface of the stool 52. The stool 52 is a base including a front swash plate 54, a rear swash plate 55, and a top plate 56, and the corrugated panel 53 is a panel formed by bending a steel plate into a corrugated shape.

  The horizontal partition block 51 is manufactured by first assembling the stool 52, mounting the corrugated panel 53 on the top plate 56 of the stool 52, and fixing the corner 57 between the top plate 56 and the corrugated panel 53 by welding.

  FIG. 10 is a horizontal sectional view of the corrugated panel 53, and the arrows in the figure indicate the traveling direction of a welding torch (not shown) when the corner 57 is welded. As shown in FIG. 10, the welding torch is connected to the straight portion 58 through the convex bent portion 59, the straight portion 58, the convex bent portion 59, the straight portion 58, the concave bent portion 60, the straight portion 58, and the concave bent portion 60. Returning to 58, the process proceeds by following the waveform welding line toward the convex bent portion 59. The corner 57 is welded by a semi-automatic welding performed by an operator holding the welding torch by hand. However, full automation is required to save labor.

  In many industrial fields, automation of welding work is realized by a teach-and-play type welding robot. However, the shape of the transverse bulkhead block 51 varies from ship to ship, and the transverse bulkhead block 51 is placed on the welding surface plate. Since it is difficult to position accurately, it is very difficult to automate the welding operation by the welding robot. Also, in general large steel structures other than ships, it is difficult to automate horizontal fillet welding in which bent portions repeatedly appear for the same reason.

  Therefore, it has been attempted to weld the corner 57 by mounting the welding torch on a small cart and running the cart following the cross-sectional shape of the corrugated panel 53. Various types of such so-called welding carts are already known.

  For example, Patent Document 1 discloses an arm that is provided forward and rearward in the traveling direction of a rail-free fillet welding carriage and extends in a direction orthogonal to the traveling direction, and a copying roller that is rotatably attached to the tips of these arms. There is proposed a self-propelled self-propelled small fillet welding cart in which the rotation axis of the copying roller is inclined from the vertical direction toward the traveling direction.

Patent Document 2 includes a vehicle body that supports a welding torch, and two copying rollers that are rotatably supported by the vehicle body and are provided with magnetic force, and the rotation shafts of the two copying rollers are provided. A welding torch transport cart that is arranged in parallel with each other and the distance between the rotation shafts is set such that the two copying rollers partially overlap each other when viewed in a direction parallel to the rotation shaft. Has been proposed.
JP-A-8-206836 JP 59-206197 A

  The trackless self-propelled small fillet welded carriage described in Patent Document 1 prevents the lift of the carriage caused by the inclination of the vertical member because the rotation axis of the copying roller is inclined from the vertical direction toward the traveling direction. Thus, the target height of the welding torch can be kept constant.

  However, the trackless self-propelled small fillet welding cart described in Patent Document 1 has a copying roller rotatably attached to the tip of the arm fixed to the front and rear in the traveling direction of the cart. Although it is possible to follow a gentle curve having a sufficiently large radius of curvature compared to the interval between two scanning rollers, there is a problem that it is not possible to cope with a weld line having a bent portion having a small radius of curvature.

  Further, since the inclination angle of the copying roller is fixed in a predetermined traveling direction, there is a problem that the traveling direction of the carriage cannot be changed.

  FIG. 11 is a schematic plan view showing the relationship between the welding torch transport carriage disclosed in Patent Document 2 and the welding line. In FIG. 11, 61 is a welding torch conveyance carriage, and 62 is a copying roller of the welding torch conveyance carriage 61. Reference numeral 63 denotes a straight line portion of the weld line, and reference numeral 64 denotes a convex bent portion.

As is apparent from FIG. 11, since the welding torch transport carriage 61 has two scanning rollers 62 arranged in parallel, the distance d ₁ between the welding torch transport carriage 61 and the weld line at the convex bent portion 64 is: It becomes smaller than the distance d ₂ in the straight line portion 63. For this reason, the aim of the welding torch is slightly shifted between the straight portion 63 and the convex bent portion 64. Therefore, the welding torch transport carriage 61 brings the two copying rollers 62 close to each other when viewed from the direction parallel to the rotation shaft when the rotation shafts of the two copying rollers 62 are viewed from a direction parallel to the rotation axis, and the distance d ₁ the difference in distance d ₂ is made smaller. However, when the distance between the rotating shafts is short, the moment generated around the rotating shaft of the other copying roller 62 is reduced by the magnetic force applied to one of the copying rollers 62, so as shown in FIG. When the cable tension (f) is applied to the welding torch conveyance carriage 61, the welding torch conveyance carriage 61 easily turns. That is, if the distance between the rotation axes of the copying roller 62 is designed to be small so that the distance between the welding torch and the welding line at the convex bent portion 64 is practically the same as that at the straight portion 63, the posture of the welding torch is fixed at the straight portion 63. The problem that it becomes difficult to keep it is caused.

Further, as shown in FIG. 13, in the welding torch transport carriage 61, when the cross-sectional shape of the vertical member (that is, the planar shape of the welding line) is a concave curve 65 having a small curvature radius, the copying roller 62 receives from the vertical member. the running direction of the component force F _h of the welding torch conveyance carriage 61 of the reaction force F, hampered the movement of the welding torch transporting carriage 61, the welding torch transporting carriage 61 there is a problem that stops. Of course, if Sonaere driving means, such as the force component F _h greater than the thrust T is obtained, this problem is solved, the problem that the mass of the welding torch conveyance carriage 61 becomes large. Further, since the welding torch transport carriage 61 needs to travel at a constant speed, the thrust T must be adjusted according to the shape of the weld line, and thus a complicated control device is required.

  Further, since the welding torch conveyance carriage described in Patent Document 2 supports the weight by wheels provided on the lower surface of the welding torch conveyance carriage, the corrugated panel 53 of the top plate 56 as indicated by α in FIG. There exists a problem that it cannot be used in the place where the width | variety of the part (board ear part) which protruded outside is narrow.

  Under such a background, the present invention can maintain the distance and posture of the welding torch with respect to the welding line regardless of whether the portion is a straight line or curved line, and follows a concave curve with a small radius of curvature. It is an object of the present invention to provide a welding carriage that can travel and can follow the travel even in a place where the width of the plate ear portion of the horizontal member is narrow.

  A first configuration of a welding carriage according to the present invention is a welding carriage that welds a corner of a horizontal member and a vertical member while traveling along a welding line, a vehicle body that supports a welding torch, and the vehicle body is rotatable. And a magnetically driven scanning roller that is supported by the vertical member, and provided on the front and rear in the traveling direction of the welding carriage, around the swing axis parallel to the rotational axis of the magnetically driven copying roller. Two guide arms supported in a swingable manner, urging means for urging the guide arm toward the vertical member, and a rotation axis parallel to the rotation axis of the magnetic force imitation roller on the guide arm And an auxiliary scanning roller that is rotatably supported by the roller and abuts against the vertical member.

  According to this configuration, the two guide arms provided at the front and rear of the vehicle body travel along the surface of the vertical member, so that the vehicle can travel along the concave bent portion having a small curvature radius. Moreover, the angle of the welding torch with respect to the welding line can be kept at a predetermined value in the straight line portion.

  If necessary, an auxiliary roller other than the magnetically applied copying roller and the auxiliary copying roller may be provided so as to contact the vertical member or the horizontal member. Further, the driving wheel that applies thrust to the welding carriage may be a magnetically applied copying roller, but a dedicated driving wheel may be provided so as to abut against a vertical member or a horizontal member.

  A second configuration of the welding carriage according to the present invention is the first configuration having the two magnetic force copying rollers, the rotation axes of the two magnetic force copying rollers being parallel to each other, and The distance between the rotating shafts is set such that the two copying rollers overlap each other when viewed in a direction parallel to the rotating shaft.

  According to this configuration, when the distance between the rotation shafts of the two magnetic force copying rollers is viewed in a direction parallel to the rotation shaft, the two magnetic force copying rollers are set so as to overlap each other. The vehicle can travel following a convex bent portion having a small curvature radius.

  According to a third configuration of the welding cart according to the present invention, in the first or second configuration, the magnetically applied scanning roller is a drive wheel that applies thrust to the welding cart, and the magnetic force applied to the guide arm. A wheel support member rotatably supported about a turning axis parallel to the rotation axis of the roller; and a wheel support member rotatably supported about a rolling axis orthogonal to the turning axis and contacting the horizontal member It is characterized by comprising a caster comprising wheels.

  According to this configuration, since the magnetically applied copying roller is used as a driving wheel, the caster can be configured by a non-powered small wheel. Further, since the caster is provided on the guide arm urged so as to always come into contact with the vertical member, the caster does not come off even if the width of the plate ear portion is narrow. Therefore, the welding trolley | bogie by this structure can weld the welding target object with a narrow board | plate ear | edge part.

According to a fourth configuration of the welding carriage according to the present invention, in the third configuration, the height of the caster attached to the vehicle body in front of the vehicle body in the traveling direction (from the grounding surface of the wheel of the caster to the vehicle body). The distance (hereinafter the same) is set to be smaller than the mounting height of the caster on the rear of the vehicle body in the traveling direction with respect to the vehicle body, and the vehicle body is inclined forward in the traveling direction of the vehicle body .

According to this configuration, the welding carriage is tilted forward in the traveling direction. Therefore, since a downward component force is generated in the thrust of the welding carriage, it is possible to suppress the lifting of the welding carriage during traveling.

According to a fifth configuration of the welding carriage according to the present invention, in the third or fourth configuration, the caster has an attachment height with respect to the guide arm (a distance from a ground contact surface of the wheel of the caster to the guide arm). It is supported by the guide arm so as to be adjustable .

According to this structure, since the direction of the inclination of the welding carriage can be changed, the traveling direction of the welding carriage can be changed. That is, the welding carriage can freely move back and forth.

  As described above, the welding carriage of the present invention can travel while maintaining the relative position and posture of the welding torch with respect to the weld line, and can travel following the concave bent portion having a small curvature radius. Further, it is possible to travel in a portion where the width of the plate ear portion is narrow. Therefore, if the welding cart of the present invention is applied to fillet welding of a corrugated panel, the welding work automation rate can be improved.

  The best mode for carrying out the present invention will be described below with reference to the drawings.

  FIG. 1 is a perspective view showing an outer shape of a welding carriage 1 according to an embodiment of the present invention. Here, for convenience of explanation, the following orthogonal coordinate system is used. That is, the direction from the right to the left in the drawing, that is, the traveling direction of the welding carriage 1 is orthogonal to the X axis and the X axis, and the horizontal axis from the back to the front of the welding carriage 1 is orthogonal to the Y axis, the X axis, and the Y axis. The vertical axis is the Z axis.

  Reference numeral 2 denotes a vehicle body of the welding cart 1. A torch support mechanism (not shown) is provided on the back surface of the vehicle body 2 to support the welding torch 3. The welding torch 3 is attached so as to dive below the vehicle body 2 from the rear surface of the vehicle body 2 and face the front surface of the vehicle body 2 so as to aim at the weld line of the fillet joint of the welding object consisting of a vertical member and a horizontal member (not shown). It has been. The torch support mechanism is configured to freely adjust the position and posture of the welding torch 3 with respect to the vehicle body 2 so that the welding torch 3 can take an optimum position and posture with respect to the welding object. The details of the torch support mechanism are well known in Japanese Patent Application Laid-Open No. H10-260, etc., and thus description thereof is omitted here.

  4 is a first drive wheel, and 5 is a second drive wheel. Both the first driving wheel 4 and the second driving wheel 5 are wheels to which a magnetic force is applied, and are attracted by a magnetic force to the vertical member of the welding object and roll on the surface of the vertical member to form the vehicle body 2. A thrust in the X-axis direction is applied to the above and follows the vertical member. Further, the rotation axes of the first drive wheel 4 and the second drive wheel 5 are both parallel to the Z axis, and the distance between both rotation axes is smaller than the diameter of the first drive wheel 4 and the second drive wheel 5. Is set to For this reason, when the welding carriage 1 is viewed from the Z-axis direction, a part of the first drive wheel 4 and the second drive wheel 5 appear to overlap.

  Reference numeral 6 denotes an electric motor that drives the first drive wheel 4 and the second drive wheel 5. Since the electric motor 6 and the first drive wheel 4 and the second drive wheel 5 are mechanically coupled via a power transmission mechanism (not shown) installed inside the vehicle body 2, the first drive wheel 4 and the second drive wheel 4 are connected. The drive wheels 5 rotate at the same speed in the same direction.

  7 is the first wheel, and 8 is the second wheel. The first wheel 7 and the second wheel 8 are supported by the vehicle body 2 and freely rotate around a rotation axis parallel to the Z axis, and abut against the surface of the vertical member. The details of the operation of the first wheel 7 and the second wheel 8 will be described later with reference to FIG.

  9 is a front guide arm, and 10 is a rear guide arm. The front guide arm 9 and the rear guide arm 10 are at the front end and rear end of the vehicle body 2 (here, the traveling direction (+ X direction) of the welding carriage 1 is the front and the reverse direction (−X direction) is the rear). It is pivotally supported so as to be swingable about a swing axis parallel to the Z axis. In addition, a spring (not shown) is stretched around the swing shaft to urge the front guide arm 9 and the rear guide arm 10 in the front direction of the vehicle body 2 (+ Y direction), that is, in the direction of pushing out toward the welding object. ing.

  An auxiliary scanning roller 11 is pivotally supported at the front ends of the front guide arm 9 and the rear guide arm 10 so as to be rotatable about a rotation axis parallel to the Z axis. A caster 12 is fixed with a bolt (not shown) below the auxiliary copying roller 11 at the tips of the front guide arm 9 and the rear guide arm 10. Further, the caster 12 is supported by a wheel support member 13 that is pivotably supported around a turning axis parallel to the Z axis, and a wheel 14 that is supported by the wheel support member 13 and rotates around a rotation axis that is orthogonal to the Z axis. It is composed of The mounting height of the caster 12 (the distance from the front guide arm 9 and the rear guide arm 10 to the ground contact surface of the wheel 14) is adjustable, and usually the mounting height of the caster 12 of the front guide arm 9 is It is lower than that of the rear guide arm 10, that is, adjusted so that the vehicle body 2 is inclined toward the traveling direction. A magnetic force is applied to the auxiliary copying roller 11. For this reason, the auxiliary copying roller 11 is attracted to the welding object by a magnetic force in addition to being pressed by a spring stretched around the swing shaft of the front / rear guide arms 9, 10. Abut.

  Reference numeral 15 denotes a limit switch mount mounted on the front and rear of the vehicle body 2. If a limit switch is attached to the limit switch mounting base 15, the end of the welding line is detected by the limit switch, the welding carriage 1 is automatically stopped, and a welding power source (not shown) can be instructed to execute the termination processing. The detection target of the limit switch may be the welding object itself, or a small piece temporarily provided on the welding object. It goes without saying that the same effect can be obtained by using various sensors that detect an object in a non-contact manner instead of the limit switch.

  FIG. 2 is a schematic plan view showing the operation of the first wheel 7 and the second wheel 8. The rotation shaft S of the first and second wheels 7 and 8 is supported by the vehicle body 2 so as to be displaceable in the direction indicated by the arrow in FIG. The direction of the object toward the vertical member 16 is biased so that the line of action of the spring force intersects the front surface of the vehicle body 2. Therefore, the first wheel 7 and the second wheel 8 always abut against the vertical member 16. In addition to the first drive wheel 4 and the second drive wheel 5, the four wheels of the first wheel 7 and the second wheel 8 come into contact with the vertical member 16, so that the welding carriage 1 can perform a stable copying run. it can.

FIG. 3 is a schematic plan view of the welding cart 1. FIG. 3A shows a state in which the first driving wheel 4, the second driving wheel 5, and the auxiliary scanning roller 11 are in contact with the vertical member 16, and the vehicle body 2 is kept in parallel to the vertical member 16 and travels by copying. Show. As shown in FIG. 3B, when a turning moment for turning the vehicle body 2 counterclockwise due to the disturbance f occurs in the vehicle body 2 in this state, the front guide arm 9 and the rear guide arm 10 are moved relative to the vehicle body 2. Since each of them rotates clockwise, a clockwise resistance moment is generated in the vehicle body 2 by the elasticity of the spring stretched between the front guide arm 9 and the rear guide arm 10 and the vehicle body 2. For this reason, the turning of the vehicle body 2 stops at a position where the turning moment and the resistance moment are balanced. As described above, the welding carriage 1 suppresses a change in the posture of the vehicle body 2 due to a disturbance, so that a change in the posture of the welding torch 3 (not shown in FIG. 3) with respect to the vertical member 16 is suppressed to stabilize the welding quality. Can do.

  FIG. 4 is a schematic plan view showing a state in which the welding carriage 1 travels following the convex bent portion 17 of the vertical member of the welding object. As shown in FIG. 4, the welding cart 1 is convexly bent while the auxiliary scanning roller 11 is in contact with the wall surface by the elasticity of a spring stretched between the front guide arm 9 and the rear guide arm 10 and the vehicle body 2. Since the portion 17 can be passed, the posture of the vehicle body 2 with respect to the convex bent portion 17 can be kept constant.

  FIG. 5 is a schematic plan view showing a state in which the welding carriage 1 travels following the concave bent portion 18 of the vertical member of the welding object. As shown in FIG. 5, since the front guide arm 9 rotates clockwise with respect to the vehicle body 2, the vehicle body 2 is rotated clockwise by the elasticity of the spring stretched between the front guide arm 9 and the vehicle body 2. Since a turning moment is generated, the welding carriage 1 can pass through the concave bent portion 18 with a small thrust.

  FIG. 6 is a schematic front view of the welding cart 1, and FIG. 6 (a) shows a normal traveling direction, that is, a case of proceeding from the right to the left (+ X direction in FIG. 1). In this case, as described above, since the mounting height of the caster 12 of the front guide arm 9 is adjusted to be lower than that of the rear guide arm 10, the vehicle body 2 tilts to the left. Therefore, the vertical component force Tv of the thrust T of the welding carriage 1 works downward and presses the vehicle body 2 against the horizontal member 19 of the object to be welded, so that the welding carriage 1 travels following the horizontal member 19. FIG. 6B shows a traveling direction opposite to the normal direction. That is, the case where it progresses from the left of the figure to the right is shown. In this case, the mounting height of the caster 12 of the front guide arm 9 and the rear guide arm 10 is changed so that the mounting height of the caster 12 of the rear guide arm 10 is lower than that of the front guide arm 9. The vehicle body 2 is tilted to the right. Therefore, the vertical component force Tv of the thrust T of the welding carriage 1 works downward, and the welding carriage 1 can travel following the horizontal member 19. As described above, the welding cart 1 can change the traveling direction by changing the mounting height of the casters 12.

  FIG. 7 is a schematic side view of the welding cart 1 and shows a state in which the welding cart 1 is running along the transverse partition block 51. As shown in FIG. 7, since the auxiliary copying roller 11 follows the corrugated panel 53 and the caster 12 is fixed directly below the auxiliary copying roller 11, the width of the plate edge portion of the top plate 56 protruding from the corrugated panel 53 is as follows. Even if it is small (a width obtained by adding a slight margin to the width of the caster 12), the vehicle can travel without being removed from the top plate 56.

  FIG. 8 is a schematic plan view showing another example of the welding carriage of the present invention. This welding carriage 31 is welded in that the first drive wheel 4 and the second drive wheel 5 are arranged coaxially, that is, the distance between the rotation axes of the first drive wheel 4 and the second drive wheel 5 is zero. Different from cart 1. Since the distance between the rotation axes of the first drive wheel 4 and the second drive wheel 5 is set to 0, it can follow a convex bent portion having a smaller curvature radius. Alternatively, the first drive wheel 4 and the second drive wheel 5 may be configured integrally to form one drive wheel.

  Alternatively, the first driving wheel 4 may be the second driving wheel 5 and the non-powered wheel may be used to power the caster 12. Alternatively, the first driving wheel 4, the second driving wheel 5, and the caster 12 may be non-powered wheels provided with driving wheels that contact the horizontal member and travel on the horizontal member.

It is a perspective view which shows the external shape of the welding trolley | bogie which concerns on the Example of this invention. It is a typical top view which shows the effect | action of a 1st wheel and a 2nd wheel. It is a typical top view of a welding cart. It is a typical top view which shows the state which a welding trolley drive | works following a convex bending part. It is a typical top view which shows the state which a welding trolley drive | works following a concave bending part. It is a typical front view of a welding cart. It is a typical side view which shows the state which the welding trolley is moving according to a horizontal partition block. It is a typical top view which shows another example of a welding trolley | bogie. It is a perspective view which shows the horizontal partition block of a bulk carrier. It is a plane sectional view showing a horizontal section of a corrugated panel. It is a typical top view which shows the relationship between the conventional welding torch conveyance trolley | bogie and a welding line. It is a typical side view which shows the state which the welding torch conveyance trolley received the disturbance. It is a typical side view showing the case where a welding torch conveyance cart follows a concave curve.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Welding cart 2 Car body 3 Welding torch 4 1st drive wheel 5 2nd drive wheel 6 Electric motor 7 1st wheel 8 2nd wheel 9 Front guide arm 10 Rear guide arm 11 Auxiliary copying roller 12 Caster 13 Wheel support material 14 Wheel 15 Limit switch mounting base 16 Vertical member 17 Convex bent portion 18 Concave bent portion 19 Horizontal member 31 Welding carriage 51 Horizontal partition block 52 Stool 53 Corrugated panel 54 Front swash plate 55 Rear swash plate 56 Top plate 57 Corner 58 Straight portion 59 Convex Bending part 60 Concave bending part 61 Welding torch conveyance carriage 62 Follow roller 63 Straight line part 64 Convex bending part 65 Concave curve

Claims (5)

In a welding carriage that welds while traveling along the welding line at the corners of the horizontal member and the vertical member,
A vehicle body that supports the welding torch;
A magnetically imitation roller that is rotatably supported by the vehicle body and abuts against the vertical member;
Two guide arms provided forward and rearward in the traveling direction of the welding carriage and supported by the vehicle body so as to be swingable about a swing axis parallel to a rotation axis of the magnetic force copying roller;
Biasing means for biasing the guide arm toward the vertical member;
A welding carriage, comprising: an auxiliary copying roller that is rotatably supported around a rotation axis parallel to a rotation axis of the magnetic force copying roller and is in contact with the vertical member. Having two of the magnetically imprinted rollers,
The rotating shafts of the two magnetically applied copying rollers are parallel to each other, and the distance between the rotating shafts is set such that the two copying rollers overlap each other when viewed in a direction parallel to the rotating shaft. The welding carriage according to claim 1, wherein the welding carriage is provided. The magnetically applied copying roller is a drive wheel that applies thrust to the welding carriage,
A wheel support member supported by the guide arm so as to be able to turn about a turning axis parallel to a rotation axis of the magnetically applied copying roller; and a wheel support material supported to be rotatable about a rolling shaft orthogonal to the turning axis. The welding cart according to claim 1, further comprising a caster made of a wheel that is in contact with the horizontal member. The height of the caster attached to the vehicle body in the forward direction of the vehicle body (the distance from the ground contact surface of the wheel of the caster to the vehicle body (hereinafter the same)) The welding cart according to claim 3 , wherein the vehicle body is tilted forward in the traveling direction of the vehicle body so as to be smaller than a mounting height with respect to the vehicle body . The caster is supported by the guide arm so that the mounting height (distance from the ground contact surface of the wheel of the caster to the guide arm) is adjustable.
Welding vehicle according to claim 3 or 4, characterized in that.

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