JPH06190559A - Automatic welding machine - Google Patents
Automatic welding machineInfo
- Publication number
- JPH06190559A JPH06190559A JP4345690A JP34569092A JPH06190559A JP H06190559 A JPH06190559 A JP H06190559A JP 4345690 A JP4345690 A JP 4345690A JP 34569092 A JP34569092 A JP 34569092A JP H06190559 A JPH06190559 A JP H06190559A
- Authority
- JP
- Japan
- Prior art keywords
- vertical member
- work carriage
- horizontal member
- work
- carriage
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Landscapes
- Butt Welding And Welding Of Specific Article (AREA)
Abstract
Description
【０００１】[0001]
【産業上の利用分野】本発明は、水平部材と、該水平部
材上に配設された垂直部材との間の隅部を連続溶接する
ための自動溶接機に関する。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an automatic welding machine for continuously welding a corner portion between a horizontal member and a vertical member arranged on the horizontal member.
【０００２】[0002]
【従来の技術】従来、この種の自動溶接機として図４に
示すものがある。これは、作業台車１の前後端部から側
方に向けて突設した一対の支持アーム２ａ，２ｂの先端
部にそれぞれ倣いローラ３，３を回転自在に配設すると
共に、作業台車１の後端部に溶接トーチ４を取付けたも
のである。2. Description of the Related Art Conventionally, an automatic welding machine of this type is shown in FIG. This is because the copying rollers 3, 3 are rotatably arranged at the tip ends of a pair of support arms 2a, 2b projecting laterally from the front and rear ends of the work carriage 1, and The welding torch 4 is attached to the end.
【０００３】上記構成において、水平部材５と、該水平
部材５上に配設した垂直部材６とを隅肉溶接する場合に
は、作業台車１を水平部材５上に載置すると共に、倣い
ローラ３，３を垂直部材６に当接させ、作業台車１の車
輪１ａを回転駆動することにより、該作業台車１を垂直
部材６に沿って倣い走行させて、溶接トーチ４により水
平部材５と垂直部材６との間の隅部７を連続溶接するよ
うになっている。In the above structure, when the horizontal member 5 and the vertical member 6 disposed on the horizontal member 5 are fillet-welded, the work carriage 1 is placed on the horizontal member 5 and the copying roller is mounted. The work dolly 1 is caused to travel along the vertical member 6 by bringing the wheels 3 and 3 into contact with the vertical member 6 and rotationally driving the wheels 1a of the work dolly 1. The corner 7 between the member 6 and the member 6 is continuously welded.
【０００４】[0004]
【発明が解決しようとする課題】上記従来の自動溶接機
では、前側の支持アーム２ａの長さＬ1 に対して後側の
支持アーム２ｂの長さＬ2 を長くすることにより（Ｌ1
＜Ｌ2 ）、作業台車１を矢印方向に前進させる際に、該
作業台車１の前部を垂直部材６側に向けて、倣いローラ
３，３を垂直部材６の側面に常時接触させ、これによっ
て、作業台車１を垂直部材６に沿って倣い走行させるよ
うになっているが、上記作業台車１を後進させた時に
は、倣いローラ３，３が垂直部材６の側面から離間し、
該作業台車１を垂直部材６に沿って倣い走行させること
ができないという難点がある。In THE INVENTION It is an object of the conventional automatic welding machine, by increasing the length L 2 of the rear side of the support arm 2b with respect to the length L 1 of the front support arm 2a (L 1
<L 2 ), when the work carriage 1 is moved forward in the direction of the arrow, the copying rollers 3, 3 are always brought into contact with the side surface of the vertical member 6 with the front portion of the work carriage 1 facing the vertical member 6 side. Thus, the work carriage 1 is made to travel along the vertical member 6, but when the work carriage 1 is moved backward, the copying rollers 3 and 3 are separated from the side surface of the vertical member 6,
There is a drawback that the work carriage 1 cannot be made to travel along the vertical member 6.
【０００５】そこで、作業台車１に垂直部材６を挟持す
る３乃至４個の倣いローラを設けて、該作業台車１を垂
直部材６に沿って前後に強制的に倣い走行させることが
考えられているが、これでは、倣いローラの数が多くな
り、構造が極めて複雑で、製作費が高くなるという欠点
がある。Therefore, it is considered that the working carriage 1 is provided with three or four copying rollers for sandwiching the vertical member 6 and the working carriage 1 is forcibly moved back and forth along the vertical member 6. However, this has a drawback that the number of copying rollers is large, the structure is extremely complicated, and the manufacturing cost is high.
【０００６】本発明は、上記従来の問題点に鑑み、作業
台車を垂直部材に沿って前後に倣い走行させることがで
きると共に、構造が簡単で、安価に製作することができ
る自動溶接機を提供することを目的としている。In view of the above-mentioned problems of the prior art, the present invention provides an automatic welding machine which allows a work carriage to travel back and forth along a vertical member, has a simple structure, and can be manufactured at low cost. The purpose is to do.
【０００７】[0007]
【課題を解決するための手段】上記目的を達成するた
め、本発明は、水平部材上に作業台車を載置すると共
に、該作業台車の一方側部に設けた一対の倣いローラを
水平部材上に配設した垂直部材の側面に当接させた状態
で、上記作業台車を垂直部材に沿って走行させることに
より、該作業台車に取付けた溶接トーチで水平部材と垂
直部材とを隅肉溶接するようにした自動溶接機におい
て、上記作業台車には、その他方側部に設けられた前後
一対の車輪を駆動する駆動装置が設けられ、その前後一
対の車輪のうち、前側車輪の軸心が前方に、後側車輪の
軸心が後方に、それぞれ所定の小角度傾斜していること
を特徴とする。In order to achieve the above-mentioned object, the present invention places a work carriage on a horizontal member, and a pair of copying rollers provided on one side of the work carriage on the horizontal member. The work trolley is run along the vertical member in a state of being brought into contact with the side surface of the vertical member, and the fillet welding between the horizontal member and the vertical member is performed by the welding torch attached to the work trolley. In the automatic welding machine configured as described above, the work carriage is provided with a drive device that drives a pair of front and rear wheels provided on the other side portion, and of the pair of front and rear wheels, the axis of the front wheel is forward. In addition, the axis of the rear wheel is inclined rearward by a predetermined small angle.
【０００８】[0008]
【作用】上記構成において、作業台車を水平部材上に載
置すると共に、該作業台車の一方側部に配設した倣いロ
ーラを垂直部材の側面に当接させ、駆動装置を駆動する
だけで、該作業台車を走行させて、溶接トーチにより水
平部材と垂直部材とを隅肉溶接することができるが、こ
の場合、作業台車の他方側部に設けられた前後一対の車
輪のうち、前側車輪の軸心が前方に、後側車輪の軸心が
後方に、それぞれ所定の小角度傾斜しており、前進時に
は、作業台車の前部が垂直部材側に近づこうとし、後進
時には、作業１車の後部が垂直部材に近づこうこうとす
るため、前後進いずれの場合も、作業台車を垂直部材に
沿って倣い走行させることができる。In the above structure, the work carriage is placed on the horizontal member, and the copying roller disposed on one side of the work carriage is brought into contact with the side surface of the vertical member to drive the drive device. It is possible to run the work carriage and perform fillet welding of the horizontal member and the vertical member with the welding torch. In this case, of the pair of front and rear wheels provided on the other side of the work carriage, the front wheel is The shaft center is forward and the shaft of the rear wheel is tilted rearward at a predetermined small angle.When moving forward, the front part of the work truck tries to approach the vertical member side, and when moving backward, the rear part of the work vehicle 1 Tries to approach the vertical member, the work carriage can be made to travel along the vertical member in both forward and backward movements.
【０００９】[0009]
【実施例】図１及び図２は本発明の一実施例である自動
溶接機により水平部材５と垂直部材６との間の隅部７を
連続溶接している状態を示すものであって、作業台車１
１の一方側部１１ａの前後から側方に同一長さの支持ア
ーム１２，１２を一対突設すると共に、該各支持アーム
１２，１２の先端部に垂直部材６の側面に当接する倣い
ローラ１３，１３を回転自在に配設し、作業台車１１の
後部に、上下左右に位置調節自在な倣い装置（図示せ
ず）を介して溶接トーチ１４を取付けている。1 and 2 show a state in which a corner portion 7 between a horizontal member 5 and a vertical member 6 is continuously welded by an automatic welding machine according to an embodiment of the present invention, Work trolley 1
A pair of support arms 12 and 12 of the same length are provided so as to project from the front and rear sides of one side portion 11a of the first one, and the tip ends of the support arms 12 and 12 are in contact with the side surface of the vertical member 6 to follow the roller 13. , 13 are rotatably arranged, and a welding torch 14 is attached to the rear portion of the work carriage 11 via a copying device (not shown) whose position can be adjusted vertically and horizontally.
【００１０】上記作業台車１１の一方側部１１ａ側に設
けた前後一対の車輪１５ａ，１５ｂは、その軸心Ｏ1 ，
Ｏ2 が作業台車１１の前後方向に対し直交する方向に沿
った状態で、作業台車１１の軸受１６，１６に回転自在
に支持されている。The pair of front and rear wheels 15a, 15b provided on the one side 11a side of the work carriage 11 has axes O 1 ,
O 2 is rotatably supported by bearings 16 and 16 of the work carriage 11 in a state of being along a direction orthogonal to the front-rear direction of the work carriage 11.
【００１１】また、作業台車１１の他方側部１１ｂ側に
設けた前後一対の車輪１７ａ，１７ｂは、その前側車輪
１７ａの軸心Ｏ3 が前方に、後側車輪１７ｂの軸心Ｏ4
が後方に、それぞれ所定の小角度α（例えば１°乃至５
°）傾斜した状態で、作業台車１１の軸受１８，１８に
回転自在に支持されており、駆動モータ（駆動装置）１
９により、傘歯車２０，２１、スプロッケトホイール２
２，２３、チェーン２４及びユニバーサルジョイント２
５，２６を介して同期回転駆動されるようになってい
る。In the pair of front and rear wheels 17a, 17b provided on the other side 11b side of the work carriage 11, the axis O 3 of the front wheel 17a is forward and the axis O 4 of the rear wheel 17b is front.
To the rear, each has a predetermined small angle α (for example, 1 ° to 5).
°) Inclined, the bearings 18, 18 of the work carriage 11 are rotatably supported by the drive motor (drive device) 1.
9, bevel gears 20, 21, sprocket wheel 2
2, 23, chain 24 and universal joint 2
It is adapted to be synchronously driven via 5, 26.
【００１２】上記構成において、作業台車１１を水平部
材５上に載置すると共に、両倣いローラ１３，１３を垂
直部材６の側面に当接させた状態で、作業台車１１を矢
印Ａ方向に前進させると、上述したように、作業台車１
１の他方側部１１ｂ側に設けた前後一対の車輪１７ａ，
１７ｂの軸心Ｏ3 ，Ｏ4 の傾斜によって、その作業台車
１１が図１において左方向Ｃに曲がろうとし、これによ
って、両倣いローラ１３，１３が垂直部材６の側面に常
時接触させられ、作業台車１１を垂直部材６に沿って倣
い走行させることができる。In the above structure, the work carriage 11 is placed on the horizontal member 5, and the work carriage 11 is moved forward in the direction of arrow A with both of the copying rollers 13 and 13 in contact with the side surface of the vertical member 6. Then, as described above, the work carriage 1
A pair of front and rear wheels 17a provided on the other side portion 11b side of 1,
Due to the inclination of the axes O 3 and O 4 of 17b, the work carriage 11 tries to bend in the left direction C in FIG. 1, so that the copying rollers 13 and 13 are constantly brought into contact with the side surface of the vertical member 6. The work carriage 11 can be made to travel along the vertical member 6 in a copying manner.
【００１３】また、 作業台車１１を矢印Ｂ方向に後進
させると、他方側部１１ｂ側に設けた前後一対の車輪１
７ａ，１７ｂの軸心Ｏ3 ，Ｏ4 の傾斜によって、その作
業台車１１が図１において右方向Ｄに曲がろうとし、こ
れによって、両倣いローラ１３，１３が垂直部材６の側
面に常時接触させられ、作業台車１１を垂直部材６に沿
って倣い走行させることができる。When the work carriage 11 is moved backward in the direction of arrow B, the pair of front and rear wheels 1 provided on the other side 11b side.
Due to the inclinations of the axes O 3 and O 4 of the shafts 7a and 17b, the work carriage 11 tries to bend in the right direction D in FIG. 1, whereby the copying rollers 13 and 13 are constantly in contact with the side surface of the vertical member 6. Thus, the work carriage 11 can be made to travel along the vertical member 6 in a copying manner.
【００１４】従って、作業台車１１の前後進いずれの場
合も、溶接トーチ１４により隅部７を所望通りに連続溶
接することができ、また、両倣いローラ１３，１３のい
ずれか一方が垂直部材６から不測に離れたとしても、作
業台車１１と溶接トーチ１４との間に設けた倣い装置に
より、溶接トーチ１４と隅部７との間の間隔を一定に保
持することができるので、所定通り隅肉溶接することが
できる。Therefore, the corner 7 can be continuously welded by the welding torch 14 as desired regardless of whether the work carriage 11 is moved forward or backward, and one of the two copying rollers 13 and 13 has a vertical member 6. Even if it is accidentally separated from the welding torch 14, the copying apparatus provided between the work carriage 11 and the welding torch 14 can keep the distance between the welding torch 14 and the corner 7 constant, so that the corners can be kept as predetermined. It can be meat welded.
【００１５】前記作業台車１１の後部には倣いローラ逸
脱検出センサー２８が設けられている。これは、その先
端部２８ａが作業台車１１から倣いローラ１３，１３と
同一長さ側方に突出されたものであって、倣いローラ１
３，１３が垂直部材６の側面から逸脱したときに、先端
部２８ａが同じく垂直部材６の側面から離れて、その逸
脱を検出するものであって、ここで特に、図２に示すよ
うに、該センサー２８を倣いローラ１３，１３と同一高
さ位置に設けているので、例えば、図２仮想線で示すよ
うに、垂直部材６が傾斜している場合でも、倣いローラ
１３，１３と同一条件でその垂直部材６の側面に当た
り、誤作動することがない。A copy roller deviation detection sensor 28 is provided at the rear of the work carriage 11. This is one in which the tip end portion 28 a thereof is projected laterally from the work carriage 11 by the same length as the copying rollers 13 and 13, and
When 3 and 13 deviate from the side surface of the vertical member 6, the tip portion 28a also separates from the side surface of the vertical member 6 and detects the deviation, and in particular, as shown in FIG. Since the sensor 28 is provided at the same height position as the copying rollers 13 and 13, for example, even when the vertical member 6 is inclined as shown by the phantom line in FIG. Therefore, the vertical member 6 does not hit the side surface of the vertical member 6 and does not malfunction.
【００１６】上記実施例では、作業台車１１に４個の車
輪１５ａ，１５ｂ，１７ａ，１７ｂを設けたが、図３に
示すように、一方側部１１ａ側の車輪１５ａ，１５ｂを
省略し、他方側部１１ｂ側の車輪１７ａ，１７ｂをマグ
ネットで形成して、該両車輪１７ａ，１７ｂを水平部材
５に吸着させて、作業台車１１が転倒しないようにして
もよい。In the above embodiment, the work carriage 11 is provided with the four wheels 15a, 15b, 17a, 17b, but as shown in FIG. 3, the wheels 15a, 15b on the one side 11a side are omitted and the other side is omitted. The wheels 17a and 17b on the side portion 11b side may be formed of magnets so that the wheels 17a and 17b are attracted to the horizontal member 5 so that the work carriage 11 does not fall.
【００１７】この構成によれば、構造が一層簡単にな
り、製作費を安くすることができる。According to this structure, the structure is further simplified and the manufacturing cost can be reduced.
【００１８】 [0018]
【発明の効果】本発明によれば、作業台車の他方側部に
設けられた前後一対の車輪のうち、前側車輪の軸心が前
方に、後側車輪の軸心が後方に、それぞれ所定の小角度
傾斜されており、その作業台車の走行方向を前進時と後
進時とでは互いに逆方向に曲げることができるため、上
記作業台車を水平部材上に載置すると共に、該作業台車
の一方側部に配設した一対の倣いローラを水平部材上に
配設した垂直部材の側面に当接させるだけで、その作業
台車を前後進いずれの場合も垂直部材に沿って倣い走行
させることができる。According to the present invention, of the pair of front and rear wheels provided on the other side of the work carriage, the front wheel has a predetermined axial center and the rear wheel has a predetermined rear axis. Since the work trolley is inclined at a small angle and the traveling direction of the work trolley can be bent in the opposite directions when moving forward and backward, the work trolley is placed on a horizontal member and one side of the work trolley is used. The work carriage can be made to travel along the vertical member in both forward and backward movements by merely bringing the pair of copying rollers provided in the section into contact with the side surface of the vertical member provided on the horizontal member.
【００１９】また、３乃至４個の倣いローラにより垂直
部材を挟持して作業台車を前後に強制的に倣い走行させ
る自動溶接機に比べて、構造が簡単で、安価に製作する
ことができる。Further, as compared with an automatic welding machine in which a vertical member is sandwiched by 3 to 4 copying rollers and the working carriage is forcibly moved forward and backward, the structure is simple and the manufacturing cost is low.
【図１】本発明の一実施例である自動溶接機により溶接
している状態を示す平面図である。FIG. 1 is a plan view showing a state of welding by an automatic welding machine according to an embodiment of the present invention.
【図２】同背面図である。FIG. 2 is a rear view of the same.
【図３】本発明の他の実施例を示す背面図である。FIG. 3 is a rear view showing another embodiment of the present invention.
【図４】従来例を示す平面図である。FIG. 4 is a plan view showing a conventional example.
５ 水平部材 ６ 垂直部材 １１ 作業台車 １１ａ 作業台車１１の一方側部 １１ｂ 作業台車１１の他方側部 １３ 倣いローラ １４ 溶接トーチ １７ａ 前側車輪 １７ｂ 後側車輪 １９ 駆動モータ（駆動装置） α 車輪１７ａ，１７ｂの傾斜角度 5 horizontal member 6 vertical member 11 work carriage 11a one side of work carriage 11b one side of work carriage 11 other side 13 work roller 13 welding torch 17a front wheel 17b rear wheel 19 drive motor (drive device) α wheels 17a, 17b Tilt angle
───────────────────────────────────────────────────── フロントページの続き (72)発明者 坂井 剛 大阪府大阪市此花区西九条５丁目３番28号 日立造船株式会社内 (72)発明者 中島 義男 大阪府大阪市此花区西九条５丁目３番28号 日立造船株式会社内 ─────────────────────────────────────────────────── ─── 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)
該作業台車の一方側部に設けた一対の倣いローラを水平
部材上に配設した垂直部材の側面に当接させた状態で、
上記作業台車を垂直部材に沿って走行させることによ
り、該作業台車に取付けた溶接トーチで水平部材と垂直
部材とを隅肉溶接するようにした自動溶接機において、
上記作業台車には、その他方側部に設けられた前後一対
の車輪を駆動する駆動装置が設けられ、その前後一対の
車輪のうち、前側車輪の軸心が前方に、後側車輪の軸心
が後方に、それぞれ所定の小角度傾斜していることを特
徴とする自動溶接機。1. A work carriage is placed on a horizontal member, and
In a state in which the pair of copying rollers provided on one side of the work carriage are brought into contact with the side surfaces of the vertical member arranged on the horizontal member,
In an automatic welding machine configured to perform fillet welding of a horizontal member and a vertical member with a welding torch attached to the work carriage by running the work carriage along a vertical member,
The work carriage is provided with a drive device that drives a pair of front and rear wheels provided on the other side portion, and of the pair of front and rear wheels, the axis of the front wheel is the front, and the axis of the rear wheel is the front. The automatic welding machine is characterized in that each of them is inclined backward by a predetermined small angle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP4345690A JPH06190559A (en) | 1992-12-25 | 1992-12-25 | Automatic welding machine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP4345690A JPH06190559A (en) | 1992-12-25 | 1992-12-25 | Automatic welding machine |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPH06190559A true JPH06190559A (en) | 1994-07-12 |
Family
ID=18378308
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP4345690A Pending JPH06190559A (en) | 1992-12-25 | 1992-12-25 | Automatic welding machine |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH06190559A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR100695935B1 (en) * | 2005-12-29 | 2007-03-19 | 삼성중공업 주식회사 | Autonomous Traveling Method and Traveling Robot for Unmanned Welding |
| CN103722298A (en) * | 2013-12-26 | 2014-04-16 | 广州有色金属研究院 | Trail-welding control method for root gaps of flat-plate double-sided butt welding joints |
| CN103722272A (en) * | 2013-12-26 | 2014-04-16 | 广州有色金属研究院 | Method for controlling root gaps and buckling deformation of single-side butt-welded joints of sheets |
-
1992
- 1992-12-25 JP JP4345690A patent/JPH06190559A/en active Pending
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR100695935B1 (en) * | 2005-12-29 | 2007-03-19 | 삼성중공업 주식회사 | Autonomous Traveling Method and Traveling Robot for Unmanned Welding |
| CN103722298A (en) * | 2013-12-26 | 2014-04-16 | 广州有色金属研究院 | Trail-welding control method for root gaps of flat-plate double-sided butt welding joints |
| CN103722272A (en) * | 2013-12-26 | 2014-04-16 | 广州有色金属研究院 | Method for controlling root gaps and buckling deformation of single-side butt-welded joints of sheets |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| JP2769636B2 (en) | Driverless car | |
| JP3186854B2 (en) | Traveling equipment for horizontal and horizontal automatic welding of large diameter square steel columns | |
| WO2005082566A1 (en) | Welding device and welding method | |
| JPH06190559A (en) | Automatic welding machine | |
| JP2006218506A (en) | Inclined upward fillet welding method, and its automatic fillet welding equipment | |
| JP4409508B2 (en) | Welding trolley | |
| WO2014119613A1 (en) | Travel carriage | |
| JPH107043A (en) | Unmanned conveying vehicle | |
| JP3137460B2 (en) | Suction type mobile manipulator | |
| JP4220891B2 (en) | Track rail type automatic traveling cart | |
| JP3928260B2 (en) | Turning posture correction device for work vehicle in tunnel | |
| JPH0788647A (en) | Automatic welding equipment | |
| JPH0683898B2 (en) | Self-propelled welding robot | |
| JPH10109671A (en) | Magnetic attraction crawler type working device | |
| JPH0857781A (en) | Welding equipment | |
| JPH0396489A (en) | Travel vehicle | |
| JP2765074B2 (en) | Horizontal fillet welding equipment | |
| JPH078049Y2 (en) | Automatic painting equipment | |
| EP0876871A1 (en) | Welding vehicle | |
| JPH07185813A (en) | Carriage for fillet welding | |
| JP2022030117A (en) | Fillet welding dolly | |
| JP2001212670A (en) | Simplified automatic welding machine | |
| JPH0615586A (en) | Attitude holding mechanism of conveyor | |
| JPH06305417A (en) | Traveling device | |
| JPS5927998Y2 (en) | track running trolley |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| FPAY | Renewal fee payment (prs date is renewal date of database) |
Free format text: PAYMENT UNTIL: 20081113 Year of fee payment: 10 |
|
| LAPS | Cancellation because of no payment of annual fees |