JPH0653313B2 - Automatic width adjustment device for trolley - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION [Industrial field of application] The present invention relates to a carriage for an apparatus for automatically inspecting a fillet weld of a spherical tank or a large container with respect to a welding line of the fillet weld. TECHNICAL FIELD The present invention relates to an automatic trolling device for a trolley for automatically squeezing the trolley so that the trolley movement directions are parallel.

[Prior Art] An automatic flaw detector for fillet welds is equipped with equipment for flaw detection on a trolley that can be self-propelled on the surface of a large structure such as a spherical tank or large container. It is designed so that it can be automatically inspected by driving the cart.

The trolley used in the automatic flaw detection system for welds should be placed at a remote place so that it can be run parallel to the welding line so that it will be at a high place when inspecting the weld between a spherical tank and its supporting legs. is necessary.

Therefore, conventionally, there is an idea that a touch sensor is attached to the bogie so that the bogie follows the fillet weld, and the touch sensor touches the weld and then follows the welding line.

[Problems to be Solved by the Invention] However, according to the conventional idea in which the touch sensor touches the welding portion and then the truck follows the welding line, the truck is far from the welding line so that the touch sensor cannot touch the welding portion. Can not be adopted in the place.

In view of the above, the present invention provides a welding line in which the dolly moves accurately and efficiently even when the dolly is in a place where the dolly cannot travel close to the welding portion and the moving direction of the dolly and the direction of the welding line are appropriately deviated. It tries to automatically adjust the width so that it can move in parallel with.

[Means for Solving the Problems] In order to achieve the above object, the present invention provides an ultrasonic sensor at each of front and rear positions on one side of a trolley in which front, rear, left and right wheels can be independently driven to change directions. And a front and rear ultrasonic waves obtained by the range-finding unit and a distance-measuring unit that determines each distance from the two ultrasonic sensors to the welding line of the fillet weld on the carriage. When the coordinate value determining unit determines the distance from the center of the trolley to the welding line of the fillet weld based on each distance from the sensor to the fillet weld, and when the coordinate value on the trolley is determined by the coordinate value determining unit The vertical distance from the center of the bogie to the fillet weld and the tilt angle of the bogie axis with respect to the weld line of the fillet weld based on the points in the past bogie trajectory An arithmetic unit having a portion for calculating From the calculation result of the position, the direction of movement of the trolley and the steering direction corresponding to this are determined, and the movement direction determination unit of the trolley that gives a command to the wheel drive unit,
Equipped with.

[Operation] When the carriage is placed at a position where the ultrasonic sensor can detect the welding line of the fillet weld, after that, the distance between the two ultrasonic sensors and the welding line will automatically change from the center of the carriage to the fillet weld. The distance from the welding line is determined by the coordinate value determination unit, and when the coordinate value of the truck is determined by the coordinate value determination unit, the arithmetic unit calculates the vertical distance from the center of the truck to the fillet weld and the corner of the truck axis. Since the inclination angle of the meat weld with respect to the welding line can be calculated, by moving the bogie forward and backward while steering to the left and right based on the result, the bogie automatically moves to the side and the welder welds. It approaches a certain distance from the line and the moving direction becomes parallel to the welding line.

[Embodiment] An embodiment of the present invention will be described below with reference to the drawings.

FIG. 1 shows an example of a bogie 1. Legs 3 protruding in the left-right direction are provided in front of and behind a bogie frame 2, a wheel frame 4 is attached to the leg 3, and wheels 5 are respectively attached to the wheel frame 4.
Motor 6 attached to the wheel frame 4
The wheels 5 are independently driven to rotate, and the ultrasonic sensors 7, 8 are provided on the front, rear, left and right wheel frames 4 so as to oscillate ultrasonic waves in a direction perpendicular to the traveling direction of the carriage.
Are attached respectively. An arm 9 as a flaw detection device is rotatably mounted on the bogie frame 2, and an extendable arm 10 is connected to the arm 9.
A probe 11 is attached to the tip of the arm 10.

A trolley 1 used in the present invention is provided with a vertical sensor (not shown) on a trolley frame 2, and each motor 6 is controlled so that the direction of the trolley can be changed by changing the direction of the vertical sensor. Is done. Further, on the trolley 1, the ultrasonic sensors 7 and 8 measure the distance between the center of the trolley 1 and the welding line of the fillet welded portion 12, and then perform the steering to change the direction of the vertical sensor. Equipped with the necessary equipment. That is, the distance measurement for detecting the welding line by emitting ultrasonic waves 13 from the two ultrasonic sensors 7 and 8 on one side in the traveling direction of the carriage 1 and detecting the reflected wave reflected from the fillet weld 12 Part I and two ultrasonic sensors 7, 8 on one side
Corner from the center of the distance L ₂ Metropolitan of carriage 1 from the distance L ₁ and the rear ultrasonic sensor 8 from the front ultrasonic sensor 7 at the distance measuring unit I to fillet welds 12 to the fillet weld 12 by Coordinate value determination unit II on the trolley for finding the distance L ₃ to the meat weld 12
When the coordinate values on the trolley are determined, the center of the trolley 1 and the portion IV for calculating to move the current trolley 1 based on the point (past point) 14 in the past trolley trajectory at this trolley coordinate To the fillet welded portion 12 in the vertical direction and an arithmetic unit III having a portion V for calculating the inclination of the trolley 1 with respect to the welding line at this time, and the trolley 1 welds the welding line based on the value from the arithmetic unit III. To decide which way to steer to get closer to the car, and at the same time, decide to steer the truck so that it is parallel to the welding line to move the truck forward and then backward. The trolley 1 is equipped with a trolley movement direction (steering) determining unit VI that gives an instruction to the vertical sensor to change the direction of the trolley. 16 is a bogie axis line.

In the automatic fillet weld inspection of a large structure, when the dolly 1 is brought close to the fillet weld 12, a large structure of the dolly 1 can be visually operated to a position where the ultrasonic sensors 7 and 8 on the dolly 1 can measure the distance. Set it on the object. After that, the welding line of the fillet welded portion 12 is inspected by the two ultrasonic sensors 7 and 8 on one side of the bogie 1, and based on this, the coordinate value determination unit II of the bogie has a relationship between the bogie center and the welding line. To know When the relationship between the dolly and the welding line is known, the position and orientation of the dolly 1 can be known by the arithmetic unit III. Utilizing this, the moving direction determination unit VI of the dolly can instruct the moving direction of the dolly and the steering. The direction of the vertical sensor on the bogie is changed by the above, and the same control is repeated successively, so that the distance between the bogie 1 and the welding line is constant, and the traveling direction of the bogie 1 is parallel to the welding line. 1
Performs the width-shifting operation while automatically taking the locus 15 shown in the figure.

[Effects of the Invention] As described above, according to the automatic width-adjusting device for a bogie of the present invention, the distance from each of these ultrasonic sensors to the welding line of the fillet weld is determined by two ultrasonic sensors on one side of the bogie. Measure the distance between the center of the carriage and the welding line to determine the coordinate value of the carriage based on this, determine the relationship between the welding line and the carriage with this carriage coordinate, and use the result to steer the carriage to the left or right. While touching, move back and forth so that the trolley and welding line are at a certain distance and the width of the trolley is automatically paralleled with the welding line. Even if you do not put the dolly close to the welding line from the beginning like this, the dolly itself can automatically adjust to the optimum position and move to the optimum position to ensure high-precision movement in a remote place and move efficiently. You can

[Brief description of drawings]

FIG. 1 is a plan view showing an example of a carriage according to the present invention, and FIG.
FIG. 3 is a block diagram of an apparatus of the present invention mounted on a truck, and FIG. 3 is a schematic plan view showing an embodiment of the present invention. I ... Distance measuring unit, II ... Bogie coordinate value determination unit, III ... Calculator, IV, V ... Calculation unit, VI ... Truck movement direction determination unit, 1 ... Truck, 5 ... Wheels , 7, 8 ... Ultrasonic sensor, 12 ... Fillet weld, 13 ... Ultrasound, 14 ... Points in past truck trajectory, 15 ... Truck trajectory, 16 ... Truck axis, L ₁ , L ₂ , L ₃ , A ... Distance.

 ─────────────────────────────────────────────────── ─── Continuation of front page (72) Inventor Toshio Nakamura 3-5-1 Mukodai-cho, Tanashi-shi, Tokyo Ishikawa Shima Harima Heavy Industries Ltd. Tanashi factory (72) Inventor Toshiaki Suzuki 3-chome, Mudaidai-cho, Tokyo 5-1-1 Ishikawa Shima Harima Heavy Industries Ltd. Tanashi Factory (72) Inventor Yusuke Takemura 3-2-16 Toyosu Koto-ku, Tokyo Ishikawajima Harima Heavy Industries Ltd. Toyosu General Office (72) Inventor Masahiro Ariyoshi Kanagawa Prefecture No. 1 Shin-Nakahara-cho, Isogo-ku, Yokohama Ishi, Kawashima Harima Heavy Industries Co., Ltd. Technical Research Institute (56) References Japanese Patent Publication Sho 59-13706 (JP, B2)

Claims (1)

[Claims] 1. An ultrasonic sensor is provided laterally at each of the front and rear positions on one side of a trolley in which front, rear, left, and right wheels can be independently driven to change their directions, and the trolley is provided with the above-mentioned 2
The distance-measuring unit that obtains each distance from each ultrasonic sensor to the weld line of the fillet weld, and the distances between each ultrasonic sensor before and after the ultrasonic-sensor obtained by the distance-measuring unit to the fillet weld Based on the coordinate value determination unit that determines the distance from the center of the truck to the welding line of the fillet weld, and when the coordinate value determination unit determines the coordinate value on the truck An arithmetic unit having a portion for calculating the carriage along the vertical axis and a portion for calculating the vertical distance from the center of the carriage to the fillet weld and the inclination angle of the carriage axis with respect to the weld line of the fillet weld; An automatic width of a trolley, which is equipped with a trolley movement direction determination unit that determines a movement direction of the trolley and steering corresponding thereto based on a calculation result of a calculation device and gives a command to a wheel drive unit. Gathering device.