JPH0683166U - Self-propelled welding equipment - Google Patents

Abstract

(57) [Abstract] [PROBLEMS] To provide a self-propelled welding device capable of performing welding accurately along a welding line, having a simple device configuration, and reducing the device cost. [Structure] The carriage 10 is provided with a biaxial pressing slider 6, and the torch angle adjuster 2 is attached to the biaxial pressing slider 10. An arm 13 is supported by the torch angle adjuster 2, and a copying roller 1 is rotatably attached to the arm 13 at the tip thereof. The arm 13 is rotatable around a specific position on the copying roller 1 side. The biaxial pressing slider 6 is mounted on the arm 13 via the torch angle adjuster 2.
Is pressed to bring the copying roller 1 into contact with both the lower plate and the upright plate. Further, the torch clamp 14 moves together with the arm 13.

Description

[Detailed description of the device]

[0001]

[Industrial applications]

 The present invention relates to a self-propelled welding device that detects a welding line (hereinafter referred to as a route line) and performs fillet welding while moving along the route line.

[0002]

[Prior art]

 For example, in the shipbuilding process, it is necessary to fillet weld a portion where the root line is not straight, such as a welded portion of a curved outer plate block. A self-propelled welding device equipped with a mechanism that matches the target position of the torch with the root line is used at such welding points. This type of self-propelled welding device is equipped with wheels for traveling at the bottom, and by rotating this wheel by a motor, it moves on one of the materials to be welded (lower plate). There is. In addition, the torch angle is usually adjustable in self-propelled welding equipment. For example, if the other workpiece (standing plate) is inclined with respect to the lower plate, the torch angle can be adjusted. , The beat shape is adjusted.

In a conventional self-propelled welding apparatus, there is a method described below as a method for aligning the torch aiming position with the route line. (1) A method in which a guide roller or the like is provided on the dolly, and the mechanism for pressing the guide roller or the like against the standing plate is used to correct the deviation between the route line and the target position of the torch. (2) A method of converting a target amount detected by a contact terminal or a sensor into an electric signal, and driving and controlling an actuator based on the electric signal to move the torch to correct the target position of the torch. (3) A method in which a welding condition called arc copying is detected and fed back to the control device, and the target position of the torch is corrected by this control device.

As a method of adjusting the torch angle, one end side of the torch is rotatably supported, and the other end side is fixed to an engaging member engaged with an arc-shaped elongated hole, There is a method of rotating the other end of the torch along the direction. Further, in the welding robot, the torch angle is adjusted by the control device.

[0005]

[Problems to be solved by the device]

 However, the conventional self-propelled welding apparatus has the following problems. That is, the method (1) has a drawback that if the lower plate is inclined, for example, welding cannot be performed accurately along the route line. Further, in the methods (2) and (3), there is a problem that the device configuration becomes complicated, the device size becomes large and the weight becomes heavy, the versatility is impaired, and the device cost becomes high. .

In the method of adjusting the torch angle by rotating one end of the torch with the other end as a fulcrum, when the torch angle is adjusted, the target position of the torch shifts and problems such as uneven thickness are likely to occur. There is a problem. In addition, welding robots and the like use complicated control devices, which has the disadvantage that the device configuration becomes complicated and the device cost increases.

The present invention has been made in view of the above problems, and it is possible to perform fillet welding accurately along the route line and to avoid shifting the torch target position even if the torch angle is changed. An object of the present invention is to provide a self-propelled welding device that has a simple device configuration and can reduce the device cost.

[0008]

[Means for Solving the Problems]

 The self-propelled welding apparatus according to the present invention is a self-propelled welding apparatus that performs fillet welding while moving along a route line formed by first and second materials to be welded. A carriage that is movable along the surface of the contact material, a guide member that is supported by the carriage and that guides the carriage along the second welded material by contacting the second welded material, and an arm. And a copying roller rotatably arranged at the tip of this arm, and rotatably supporting the arm arranged on the carriage around a specific position on the copying roller side and pressing the arm. And an arm supporting member for bringing the copying roller into contact with both the first and second welded materials, and a welding torch supporting member for supporting the welding torch and moving together with the arm. .

[0009]

[Action]

 In the present invention, the arm is pressed by the arm supporting member, and the arm moves so that the copying roller provided at the tip of the arm comes into contact with both the first and second workpieces. That is, the copying roller is always arranged along the welding line (root line) by the arm supporting member. On the other hand, the welding torch support member moves together with the arm. Therefore, if the torch aiming position is set to match the root line when the copying roller is arranged along the root line in advance, the torch aiming position and the root line will always match, and Welding can be performed along. Further, the arm rotates around a specific position on the copying roller side (that is, the position of the root line). As a result, even if the torch angle is changed, there is no risk of the torch aiming position shifting.

As a method of rotating the arm around the specific position, for example, at least two guide holes provided on a concentric circle centered around the specific position, and inserted into these guide holes. A torch angle adjuster having a support shaft attached to the arm is provided, and the arm is configured to rotate along the guide hole with the guide hole and the support shaft engaged with each other. Good. According to this method, even if the torch angle is changed, there is an advantage that it is possible to avoid changing the wire protrusion length from the tip of the tip.

[0011]

【Example】

 Next, embodiments of the present invention will be described with reference to the accompanying drawings.

FIG. 1 is a perspective view showing a self-propelled welding apparatus according to an embodiment of the present invention. Four magnet wheels (not shown) that are rotationally driven by, for example, a motor are provided on the lower side of the carriage 10, and the carriage 10 can move while being magnetically attached to one welded material (lower plate). ing. As a result, it is possible to prevent the wheels from floating above the traveling surface, and to stably drive the bogie. Arms 11 are fixed to both sides of the carriage 10 and extend toward the other material to be welded (standing plate), and the guide rollers 5 are rotatably arranged at the tip ends thereof. Further, a biaxial pressing slider 6 is provided on the upper portion of the carriage 10. As shown in FIG. 2, the biaxial pressing slider 6 includes a fixed block 6a fixed to the carriage 10 and a moving block 6b movable in the vertical direction while engaging with the fixed block 6a. The moving block 6b is composed of a coil spring 6c for urging the moving block 6b toward the standing plate and an L-shaped arm 6d engaged with the moving block 6b so as to be vertically movable. A plate-shaped torch angle adjuster 2 is attached to the L-shaped arm 6d so as to be perpendicular to both the lower plate and the upright plate.

As shown in FIG. 3, the torch angle adjuster 2 has three concentric circles centered on the position where the lower plate 21 and the standing plate 22 contact each other (that is, the position of the root line). It is provided with three arc-shaped elongated holes 9a, 9b, 9c provided in the above, and a linear elongated hole 12 provided substantially horizontally. Rotating bodies (for example, bare rings) 8a, 8b, 8c are inserted into the long holes 9a, 9b, 9c, and the central axes of these rotating bodies 8a, 8b, 8c are the arm 13 on one end side and the other end. The side is fixed to the torch clamp 14. That is, the arm 13 and the torch clamp 14 sandwich the torch angle adjuster 2 and are fixed to each other via the rotating bodies 8a, 8b, 8c. Therefore, the arm 13 rotates along the slots 9a, 9b, 9c with the rotating bodies 8a, 8b, 8c engaged with the slots 9a, 9b, 9c, and the torch 3 moves together with the arm 13. A shaft 17 for connecting the rotating bodies 8a, 8b, 8c may be provided, and the torch clamp 14 may be fixed to the shaft 17.

The arm 13 is provided with the copying roller 1 at the tip thereof. The copying roller 1 is arranged so as to be inclined with respect to both the lower plate and the upright plate. On the other hand, the torch clamp 14 fixes the torch 3 so as to coincide with the central axis of the arm 13 in a side view, for example.

A rotating body 15 is inserted into the elongated hole 12 of the torch angle adjuster 2, and a torch angle adjusting rod 16 is rotatably attached to the rotating body 15. A rod 17 connects the rotator 15 and the rotator 8b. Therefore, by moving the rod 16 in the longitudinal direction, the torch angle can be changed within the range of 30 to 60 °, as shown in FIG.

The arm 13 is urged toward the standing plate by the spring 6c of the biaxial pressing slider 6, and is also pressed toward the lower plate by the gravity acting on the arm 13 and the torch 3 and so on. By the combined force of these two forces, as shown in FIG. 4, the copying roller 1 is disposed at a position where it always contacts both the lower plate 21 and the standing plate 22 (that is, a position along the route line 4). To be done. Since the torch 3 moves with the arm 13, the aiming position of the torch 3 always coincides with the route line 4.

When changing the torch angle, the rod 16 is moved in the lengthwise direction as shown in FIG. As a result, the rotating bodies 8a, 8b, 8c move along these elongated holes 9a, 9b, 9c while being engaged with the arcuate elongated holes 9a, 9b, 9c, respectively, and the torch target position is the root position. The torch angle changes while it matches the line.

In the present embodiment, the copying roller 1 is arranged at a position where it always contacts both the lower plate 21 and the upright plate 22, and the torch 3 moves together with the arm 13 that supports the copying roller 1, so that the torch is The target position always coincides with the route line 4. Therefore, in this embodiment, an electric sensor, a control device, etc. are not required, welding can be performed accurately along the route line with a relatively simple structure, and there is no problem such as uneven thickness. You can get a quality weld. Moreover, the versatility is excellent because the size of the device can be reduced and the weight of the device can be reduced. Further, for example, even when the standing plate is inclined toward the front side (welding device side), the torch angle can be easily adjusted, workability is excellent, and a bead with a good appearance can be obtained.

FIG. 5 is a plan view showing another example of the torch angle adjuster. The torch angle adjuster 30 has two linear elongated holes 31 and 32. The long hole 31 is formed in a substantially horizontal plane, and the long hole 32 is formed so as to form an angle with the horizontal plane. Rotating bodies 33 and 34 are engaged with these elongated holes 31 and 32, and a rod 35 is connected between these rotating bodies 33 and 34. The torch clamp 14 is fixed to the end of the rod 35. The angles of the long holes 31 and 32 are set so that the central axis of the rod 35 passes through the contact portion (that is, the root line) between the lower plate 21 and the upright plate 22. The angle adjusting rod 16 is rotatably engaged between the rotating bodies 33 and 34 of the rod 35.

Such a torch angle adjuster has a drawback that the wire protrusion length from the tip end of the tip changes by changing the torch angle, but it is smaller than the torch angle adjuster shown in FIG. It has the advantage that it can be done.

[0021]

[Effect of device]

 As described above, according to the present invention, an arm provided with a copying roller at its tip and an arm that supports this arm and presses the arm so that the copying roller serves as both the first and second workpieces. Since the arm supporting member to be brought into contact with the torch is provided, the torch aiming position can be always aligned with the route line with a relatively simple structure. Therefore, the self-propelled welding apparatus according to the present invention has an effect that the size and the weight can be easily reduced and the installation cost can be reduced.

[Brief description of drawings]

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

FIG. 2 is a schematic perspective view showing the biaxial pressing slider, the arm and the like.

FIG. 3 is a plan view showing the torch angle adjuster.

FIG. 4 is a plan view showing a copying roller and its arrangement position.

FIG. 5 is a plan view showing another example of the torch angle adjuster.

[Explanation of symbols]

 1; Copying roller 2; Torch angle adjuster 3; Torch 4; Route line 5; Guide roller 6; Biaxial pressing slider 9a, 9b, 9c, 12; Slot 10; Bogie 11, 13; Arm 14; Torch clamp 21; Lower plate 22; Standing plate

 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Inventor Isao Yoshino 100-1 Urakawachi, Miyamae, Fujisawa-shi, Kanagawa Stock Company Fuji Steel Works, Fujisawa Works

Claims (2)

[Scope of utility model registration request] 1. A self-propelled welding apparatus for performing fillet welding while moving along a route line formed by first and second workpieces, and moving along a surface of the first workpiece. A trolley that can be moved, a guide member that is supported by the trolley and that guides the trolley to the second welded material by contacting the second welded material, an arm, and an arm and a rotation at the tip of the arm. A copying roller that is movably arranged and the arm that is arranged on the carriage so as to be rotatable around a specific position on the copying roller side, and presses the arm to move the copying roller to the first position. And a welding torch support member that supports the welding torch and moves together with the arm, and a self-propelled welding device. 2. The arm support member has at least two guide holes arranged concentrically around the specific position and a support shaft inserted into the guide holes and attached to the arm. Equipped with a torch angle adjuster,
The self-propelled welding apparatus according to claim 1, wherein the arm rotates along the guide hole in a state where the guide hole and the support shaft are engaged with each other.