JPH06126442A - Self-travelling type automatic welding equipment - Google Patents

Abstract

PURPOSE:To precisely meet a welding torch to perform automatic fillet welding even if the surface of a vertical plate fitted on a panel is inclined. CONSTITUTION:The inclination of the vertical plate V is obtained based on the installation data of a reference profile roller 6A to abut on the vertical plate V and measured values of a first distance sensor 7 and a second distance sensor 8 to measure the distance in the orthogonal direction to the traveling direction of a self-traveling type carriage 1 and the vertical plate V by a torch controller 4 and the distance to a fillet weld line X from the self-traveling type carriage 1 is operated to output a control signal to a torch driving device 5 to advance and retreat the welding torch 3. Consequently, the distance between the self-traveling carriage and the vertical plate surface is measured at three points to obtain the three-dimensional inclination of the vertical plate surface.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to self-propelled automatic welding in which a joining portion where a vertical plate such as a stiffener for reinforcement is attached to a large panel such as a bridge or a hull block is welded to fillet by traveling on the panel. Regarding the device.

[0002]

2. Description of the Related Art Conventionally, in a self-propelled carriage that travels on a panel and welds fillets, a copying roller that contacts a vertical member to be joined to the panel is arranged at the front and rear positions via an arm and moves back and forth. Equipped with a free welding torch. Generally, when traveling along a straight vertical member, the arms are set to have the same length and run in parallel with the vertical member, and the position of the welding torch is adjusted correspondingly.

[0003]

By the way, when the panel mounting angle of the vertical member is not uniform and twisted, for example, only the traveling wheels on the outside of the carriage are driven and the traveling wheels on the inside are idled, At least the front copying roller is brought into contact with the vertical member to run. Then, the twisting angle causes the trailing copying roller to separate from the vertical member, changing the posture of the carriage with respect to the vertical material, and changing the distance between the carriage and the vertical material at the welding torch mounting position to the distance to the welding line. Change, the welding torch could not be set at the correct position and automatic welding work could not be performed.

The present invention solves the above problems and, even if the surface of the vertical member to be mounted on the panel has a twisted shape,
It is an object of the present invention to provide a self-propelled automatic welding device capable of performing automatic fillet welding by accurately matching a welding torch.

[0005]

In order to solve the above-mentioned problems, the self-propelled automatic welding apparatus of the present invention causes a self-propelled carriage to travel on a panel along a vertical member mounted on the panel. In a self-propelled automatic welding device for fillet-welding a joint between a panel and a vertical member by a welding torch attached to the self-propelled carriage, in the self-propelled carriage, a reference copying roller that abuts the surface of the vertical member. And a first distance sensor and a second distance sensor for measuring the distance to the surface of the vertical member in the direction perpendicular to the traveling direction of the self-propelled carriage at front and rear positions different in height from the reference copying roller. The distance from the self-propelled carriage to the fillet welding line at the welding torch arrangement position is calculated based on the detection signals of the first distance sensor and the second distance sensor and the previously input arrangement position data of the reference copying roller. Melting It is provided with a torch controller for outputting a control signal to torch projecting and retracting freely torch driving device.

[0006]

According to the above construction, the three-dimensional gradient of the surface of the vertical member with respect to the self-propelled carriage is calculated by the reference scanning sensor contacting the surface of the vertical member and the detection values of the first distance sensor and the second distance sensor. Since this calculates the welding position and controls the torch drive device, the welding position can be accurately determined even if the mounting angle of the vertical member with respect to the panel and the running posture and angle of the self-propelled carriage with respect to the vertical member change. Thus, the welding position of the welding torch can be reliably controlled, and fillet welding can be performed accurately along the welding line between the panel and the vertical member.

[0007]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of a self-propelled automatic welding apparatus according to the present invention will be described below with reference to the drawings.

1 to 3, reference numeral 1 denotes a self-propelled trolley which can travel on a panel P by traveling wheels 2A and 2B arranged at four corners. One of these traveling wheels 2A and 2B is opposite to a vertical plate member V. The front-rear traveling wheel 2A is composed of magnet wheels, and only the front-rear traveling wheel 2A is a magnet-type drive wheel 2A that is rotationally driven by an internal traveling drive device, and the traveling wheel 2B that idles the traveling wheel 2B on the vertical plate V side. 2B
Is configured so that it can travel along the vertical plate V on the panel P. A welding torch 3 capable of fillet welding is arranged along the welding line X between the panel P and the vertical plate member V at the rear portion of the carriage main body 1a. The welding torch 3 is a torch drive device by a torch control device 4. 5 is moved back and forth in a plane (indicated by A in FIG. 4) orthogonal to the traveling direction through the welding line X.
The fillets can be welded along. Further, the vertical plate member V to be fillet-welded on the panel P changes from the mounting angle α _{1 on one} end side to the mounting angle α ₂ on the other end side.

On the vertical plate member V side (right side portion) of the carriage main body 1a, copying rollers 6A and 6B are arranged in the same plane parallel to the panel P at the front and rear positions with a predetermined space therebetween via arms 6a and 6b. ing. The arms 6a and 6b of the copying rollers 6A and 6B are set to have the same length, and only the left traveling wheel 2A of the traveling wheels 2A and 2B is driven and the right traveling wheel 2B is idled so as to be self-propelled. A copying mechanism for moving the type carriage 1 in a direction always moving toward the vertical plate V is adopted, and at least the copying roller 6A or 6B at the front in the traveling direction is configured to surely abut the surface of the vertical plate V. . In this way, the copying roller 6A, which is always in contact with the vertical plate V in the front in the traveling direction, serves as a reference copying roller.

In addition, a first distance sensor 7 and a second distance sensor 8 capable of detecting the distance to the vertical plate V are provided at a predetermined distance in the front-rear direction below the copying rollers 6A and 6B on the right side of the carriage main body 1a. The first distance sensor 7 and the second distance sensor 8 are placed at the same height, and the vertical plate member and the self-propelled carriage 1 perpendicular to the traveling direction of the self-propelled carriage 1 in a horizontal plane parallel to the panel P are provided. It is configured so that the distances d ₁ and d ₂ from V can be measured.

The torch control device 4 is, as shown in FIG.
The point a determined by the detection signal of the first distance sensor 7 and the second
A surface (virtual plane) C of an inclined vertical plate V is assumed from a point b obtained by a detection signal from the distance sensor 8 and a contact point c of the reference copying roller 5A which is input in advance. A crossing point x (welding line X) between the surface C of the vehicle and the moving surface A of the welding torch 3 and the distance Y along the plane of the panel P between the self-propelled carriage 1 are calculated. At this time, the other copying roller 5B may or may not be in contact with the vertical plate member V.

The distance Y can be calculated by the following rough calculation.
You can also ask. That is, the first and second distance centers
Of the surface C of the vertical plate V at the height h at which the sensors 7 and 8 are arranged.
Horizontal plane inclination angle θ_STo calculate. Of the first distance sensor 7
The detected value is d₁, The detection value of the second distance sensor 8 is d₂, First distance
The distance between the separation sensor 7 and the second distance sensor 8 is L₁To
And θ_S= Tan^-1(d₁-d₂) / L₁ Becomes Horizontal plane inclination angle θ of the surface C of the vertical plate V_SIs a vertical plate
It changes depending on the height of V, but the change is small here
The horizontal plane inclination angle θ on the surface of the panel P_LAnd standard imitation
Horizontal roller inclination angle θ at the height H of the roller 5A_HHaho
Almost equal θ_S≈ θ _L≈ θ_HI think.

Next, the distance D ₁ between the vertical traveling plate V and the self-propelled carriage 1 at the height H position of the reference copying roller 5A in the vertical plane at the mounting position of the first distance sensor 7 is equal to that of the reference copying roller 5A. If the contact distance to the vertical plate V is D _S and the distance between the first distance sensor 7 and the reference scanning roller 5A on the horizontal plane is L ₂ , then D ₁ = D _S + L ₂ tan θ _S.

Further, the horizontal distance y between the self-propelled carriage 1 on the surface of the panel P and the welding line X on the vertical plane of the mounting position of the first distance sensor 7 is y = (H × d ₁ −D ₁ × h) / (H−h) y = {H × d ₁ − [D _S + (L ₂ tan θ _S )] × h} / (H−h) Therefore, the distance L between the welding torch 3 and the first distance sensor 7 ₃ , the horizontal distance Y on the panel P surface between the self-propelled carriage 1 and the welding line X at the actual mounting position of the welding torch 3 is: Y = y + L ₃ tan θ _S Y = y + L ₃ (d ₁ -d ₂ ) / L _{1 and} thus the distance Y of the welding torch 3 on the surface of the panel P can be obtained.

[0015]

As described above, according to the self-propelled automatic welding apparatus of the present invention, the reference scanning sensor, the first distance sensor and the second distance sensor, which are in contact with the vertical member, allow the longitudinal movement of the self-propelled carriage. Since the torch moving device is controlled by calculating the three-dimensional gradient of the side surface facing the material and thereby obtaining the welding position, even if the attachment angle of the vertical member to the panel and the attitude of the self-propelled carriage with respect to the vertical member change, The welding position of the welding torch can be reliably controlled by accurately determining the welding position, and the fillet weld of the joint between the panel and the vertical member can be performed accurately.
Of course, welding work by traveling in the front-back direction is also possible.

[Brief description of drawings]

FIG. 1 is a perspective view showing a self-propelled automatic welding device according to the present invention.

FIG. 2 is a plan view showing the self-propelled automatic welding device.

FIG. 3 is a front view showing the self-propelled automatic welding device.

FIG. 4 is a perspective view illustrating a schematic calculation method in the self-propelled automatic welding apparatus.

[Explanation of symbols]

 P panel V Vertical plate material X Welding line 1 Self-propelled trolley 2A Magnet type drive traveling wheel 2B Idling traveling wheel 3 Welding torch 4 Torch control device 5 Torch drive device 6A Reference copying roller 6B Copying roller 7 First distance sensor 8 2nd Distance sensor

 ─────────────────────────────────────────────────── ─── Continuation of front page (72) Inventor Go Sakai 5-3, Nishikujo 5-chome, Konohana-ku, Osaka City, Osaka Prefecture Hitachi Shipbuilding Co., Ltd. (72) Yoshio Nakajima 5-chome, Nishikujo, Konohana-ku, Osaka No. 28 in Hitachi Shipbuilding Co., Ltd.

Claims (1)

[Claims] 1. A self-propelled trolley is made to travel on a panel along a vertical member attached to the panel, and a welding torch attached to the self-propelled trolley is used to fillet the joint between the panel and the vertical member. In a self-propelled automatic welding device for welding, the self-propelled carriage is provided with a reference copying roller that comes into contact with the surface of a longitudinal member, and the traveling direction of the self-propelled carriage is at a front-back position different in height from the reference copying roller. A first distance sensor and a second distance sensor for measuring the distance to the surface of the vertical member in a direction perpendicular to the reference material, and the arrangement of the reference copying roller pre-input with the detection signals of the first distance sensor and the second distance sensor. Based on the position data, a torch control device that calculates the distance from the self-propelled carriage at the welding torch installation position to the fillet welding line and outputs a control signal to the torch drive device that can freely move the welding torch is installed. A self-propelled automatic welding device that features