JPH0839242A - Welding method and its equipment - Google Patents

Abstract

PURPOSE:To provide an automatic welding method and equipment in which such interference with an entire line of welding is eliminated as a welding truck with a welding torch loaded collides with the component members of a structure to be welded, and in which an automatic welding is possible even in a small place and the setting is easy. CONSTITUTION:A welding truck 8 is moved along a guide rail 9, above the welding face 1, with a fixed distance held from the welding face by means of an upright lever 6 of which the lower end is in contact with the welding face, parallelly to the welding line on the welding face; and the welding line is welded by a welding torch 5 which is supported by the welding truck 8 in such a manner as the welding point is positioned downward with a fixed distance held by the welding truck. The base end is supported by the guide rail 9 through a horizontally turning contact arm, the free end is hung by a hanger 23, the welding face is followed up by the upright lever with a small pressurizing force, and the welding truck is moved along the welding line by a profiling means 26.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a welding method and apparatus for automatically welding a welding line of a workpiece held so that the welding surface is horizontal in a downward position.

[0002]

2. Description of the Related Art As a method for automatically welding a welding line of a steel structure, an automatic traveling welding carriage equipped with a welding torch on a traveling carriage is used for a temporary guide rail provided along the welding line or for fillet welding. The most popular method is to perform automatic welding by guiding one of the base materials to travel, but in general, the automatic traveling welding carriage is larger than the welding torch and is suitable for the welding line of the welded structure. In the case where structural members, such as the intersections of flanges and reinforcements, have a part where the welding carriage cannot be automatically welded by being held by these structural members, or when a running surface sufficient to support the welding carriage cannot be obtained. However, automation has been hindered.

[0003]

SUMMARY OF THE INVENTION The present invention is conceived in view of the above problems of automatic welding by the above-mentioned automatic traveling welding carriage which has been widely adopted for automatic welding of steel structures, and structural members which intersect with the welding line. It is an object of the present invention to provide an automatic welding method that does not obstruct welding, and does not need to change the height and posture of the welding torch even in a narrow portion, and a welding method for performing this.

[0004]

A welding method of the present invention for solving the above-mentioned problems is to provide an upper part of a welding surface parallel to a welding line on the welding surface while keeping a constant distance from the welding surface. It is characterized in that the welding carriage is guided and moved, and the welding line is welded by a welding torch supported by the welding carriage so that the welding point is located below the welding carriage at a certain distance.

A welding apparatus of the present invention for carrying out this welding method is a guide rail extending horizontally above the welding surface in parallel with the welding line of the object to be welded, and the guide rail in the vertical direction. Elevating means for moving, means for moving the elevating means in a direction orthogonal to the extending direction of the guide rail in a horizontal plane, distance keeping for traveling along the guide rail and maintaining a constant distance from the object to be welded Means and a welding torch having a welding torch supported so that a welding point is located below the certain distance, moving means for moving the welding carriage along the guide rail, and the welding carriage to be welded The above-mentioned horizontally provided guide rail, which has a copying means for copying the welding line, has the above-mentioned ascending / descending means through a joint which allows the base end portion to rotate in a horizontal plane and in a vertical plane. Is a rocking lever connected to At its free end, characterized in that a means lifting with the guide rails and the coercive 距具, the biasing force upward of offsetting downward force due to the weight of the welding vehicle including welding torch.

[0006]

According to the present invention described above, since the welding carriage that supports the welding torch is guided and moved in parallel with the welding line above the welding surface while keeping a constant distance from the welding surface, Only the tip of the welding torch and the lower end of the distance maintaining tool move, and the structural members intersecting the welding line do not hinder the welding, and automatic welding of the entire welding line is possible.

The welding carriage has a guide rail for horizontally guiding the welding carriage, a lifting means for moving the guide rail in a vertical direction, and a lifting rail for moving the lifting means in a direction orthogonal to the extending direction of the guide rail in a horizontal plane. X,
It can be moved to any spatial position defined by y and z spatial Cartesian coordinates, a horizontal guide rail is located directly above the welding line of the workpiece, and the lower end of the distance maintaining tool and the welding torch are on the welding surface. The welding points are held so that they come into contact with each other, and the welding cart moves the welding carriage along the welding line. Since the base end of the horizontal guide rail is held by a joint that allows rotation in the horizontal plane and in the vertical plane, the deviation of the angle between the actual welding line and the x-axis and the z-axis is within the horizontal plane of the guide rail. It can be easily corrected by swinging in the vertical plane. Therefore, it is not necessary to position the guide rails with high precision, and the work becomes easy.

Since the free end of the guide rail is hoisted by hoisting means having an upward biasing force, an excessive force does not act on the lower end of the distance maintaining tool and the lower end of the welding torch.
Further, since the welding carriage is supported by the guide rails, even when the lower end of the welding torch or the distance maintaining tool comes off the welding surface, the welding torch or the distance maintaining tool is prevented from being suddenly dropped and damaged.

A plurality of the above-mentioned welding devices are provided on rails extending in a straight line so that the above-mentioned horizontal guide rails are movable so as to be orthogonal thereto, and the longitudinal direction of the structure is parallel to the extending direction of the rails. By installing the multi-point simultaneous welding device, it is possible to simultaneously weld a plurality of welding lines orthogonal to the longitudinal direction of the structure.

[0010]

Embodiments of the present invention will now be described in detail with reference to the drawings.

1 and 2 are views showing an embodiment of the welding apparatus of the present invention. In the figure, as an example of the material to be welded, an H-section structure that is often used in iron structures is selected. The H-section structure is composed of a web 1, a flange 2 and a reinforcing material 3. The welding device of the present invention is intended for the fillet welding 4 between both surfaces of the reinforcing material 3 and the web 1.
Is. Regarding this welding, a conventional welding carriage is directly placed on the web 1 and is run with the reinforcing material 3 as a guide,
In the method of welding with the welding torch fixed to the welding carriage, the welding carriage moves toward the flange 2 when approaching the end of the welding line 4.
It was impossible to carry out full-line automatic welding because it could not be advanced.

In the welding apparatus of this embodiment, the welding carriage 8 supporting the welding torch 5 does not run on the welding surface, but rather on the welding surface.
It is movable along a guide rail 9 provided parallel to the welding line 4 at a predetermined distance above the welding surface. An upright rod 6 that rolls or slides on the welding surface by a contact point such as a wheel or a ball point provided at the tip and has the upper end fixed to the welding carriage 8 is used as a distance maintaining tool for holding the above predetermined distance. in use. The welding torch 5 is fixed to the upright rod 6 so that its welding point follows the welding line on the welding surface.

In this embodiment, the upright rod 6, as shown in detail in FIG. 2, reinforces one portion connected to the welding carriage 8 and two leg portions 6'whose lower ends are in contact with the welding surface. Two welding torches 5 for joining fillet welding between the both sides of the reinforcing member 3 and the web are fixed to the horizontal rod, which are connected to each other by a horizontal rod straddling the material 3. Further, at the lower end of the rod fixed to the center of the horizontal rod and extending downward, a copying wheel 26 that engages with the upper edge of the reinforcing member 3 and rolls is provided.

Wheels 8'are provided on the upper side and the lower side of the welding carriage 8 respectively at two front and rear positions in the traveling direction, and these wheels 8'are rotatably fitted in guide grooves 9'provided on the upper and lower surfaces of the guide rail 9, respectively. I am fit. The guide rail 9 is provided with a feed screw shaft 11 that rotates around its own axis by an electric motor 10 over substantially the entire length in the longitudinal direction, and is screwed into a nut (not shown) provided on the welding carriage 8 to drive the electric motor. By rotating the feed screw shaft 11 by 10, the welding carriage 8 can be moved along the guide rail 9.
As a drive mechanism for the welding carriage, various known means such as fixing a rack to the guide rail 9 and rotating a pinion meshing with the rack by an electric motor provided on the welding carriage 8 can be used. .

As shown in FIG. 1, the guide rail 9 is provided at the upper end of a column 15 standing on a carriage 12 driven by an electric motor 14 on a rail 13 provided in a direction orthogonal to the welding direction. The horizontal swivel joint 1
9 and a vertical rotary joint 20.

The movement of the welding carriage 8 is transmitted to the welding torch 5 via the upright rod 6. When the rail 9 is tilted, the tilt angle is transmitted to the welding torch, and the torch can be tilted.

A horizontal turning joint 22 is provided near the upper end of the column 15.
The jib crane 21 is attached via the hook, and the hanger 2 is provided between the tip of the jib crane 21 and the tip of the guide rail 9.
3 is provided. The suspending tool 23 has an urging force in a direction in which the downward force due to the self-weight of the welding carriage including the welding torch 5 and the distance-measuring tool 6 and the self-weight of the proposed rail 9 is diminished, whereby the lower end of the distance-measuring tool 6 With a small pressing force, it moves smoothly without following the welding surface, and can always hold the welding point of the welding torch 5 so as to match the welding line.

Further, even when the welding point deviates from the welding surface, the downward force due to the own weight of the welding carriage and the guide rail is applied to the lifting tool 23.
Therefore, it is possible to prevent the welding torch and the distance-measuring tool from being damaged due to a sudden drop.

In order to ensure that the copying wheel 26 follows the reinforcing material 3, the copying wheel 26 may be a picking roller that sandwiches the reinforcing material 3 from both sides, or a magnetizing roller that is attracted to one surface of the reinforcing material 3 and rolls. Is good.

Reference numeral 24 in the drawing denotes a supply line for guiding the welding core wire and solvent to the welding portion by being guided by the welding torch 5, and 25 denotes a welding material supply terminal including a wire feeder. With the above configuration, only the tip of the welding torch and the tip of the distance maintaining device are in contact with the welding surface, members that intersect with the welding line do not interfere with welding, and automatic welding is possible over the entire welding line. Become.

In general, the welding of the reinforcing material and the web and the welding of the web and the flange are often avoided, and the shape of the torch or the upright rod does not hinder the welding of the end portion.
If necessary, the guide rail can be tilted or the upright rod can be tilted to eliminate the blind spot of welding.

The base end of the guide rail is connected to the up-and-down moving body 16 by a joint that allows the guide rail 9 to rotate in a horizontal plane and a vertical plane, and the guide rail 9 is left slightly downward by a hanger. Therefore, even if the welding point of the welding torch changes in the vertical direction and in the direction orthogonal to the welding line by the distance maintaining tool and the copying wheel, it can easily follow the welding point and the welding line of the welded material. There is no need for the guide rails to be aligned in exactly the same direction.

As described above, according to the method of the present invention, the welding carriage 8 carrying the welding torch 6 on the welding line 4 is guided by the guide rail 9 provided above the welding surface. For meat welding and butt welding multi-layer deposition, and weaving welding, in the case of multi-layer deposition, the welding torch is pre-positioned vertically and horizontally with respect to the welding line.
For weaving, insert the weaving mechanism between the welding carriage and the welding torch or
It becomes possible by continuously controlling the directional positioning during welding. The most common means is biaxial positioning control. In the coordinate system continuous control of each link by a 5-6 axis articulated robot as a conventional technique, the control logic is difficult and the mechanism is complicated, and an input by teaching is required every time, but in the method of the present invention, guidance is provided. The control is simple by positioning the xyz orthogonal three axes, which is a combination of the rail direction and the two axes orthogonal to the rail direction.

H shown in FIGS. 1 and 2 as an example of the object to be welded.
Like welding of reinforcements for beam structures such as cross-section buildings and bridge girders, and welding of columns and joint structures during large-scale column construction in building structures, many welding points are scattered at intervals in the longitudinal direction. In this case, if a large number of welding devices are arranged in the longitudinal direction and welding is performed at the same time, a great effect can be obtained in saving labor and shortening processing time. FIG. 3 is a diagram showing an example of a multi-point simultaneous welding apparatus that simultaneously performs fillet welding of a plurality of reinforcing members 3 of the H-section structure and the web 1.

In this apparatus, the object to be welded 30 is conveyed to the welding position by the conveyance carriage 32 traveling on the conveyance rail 31 with its longitudinal direction aligned with the conveyance direction. A welding device moving rail 33 is provided in parallel with the transport rail 31. A plurality of welding devices 34 are mounted on the rail 33. The welding device 34 has substantially the same configuration as the device described with reference to FIGS. 1 and 2, and members having the same functions are designated by the same reference numerals and description thereof will be omitted. still,
In the welding apparatus of FIG. 3, the welding material supply terminal 25 is provided with a welding wire reel.

The welding device 34 is moved by the traveling motor 14 on the rail 33 so as to match the position of the welding line of the workpiece 30. In this way, it becomes possible to simultaneously weld a plurality of welding lines of the object to be welded 30.

In each of the above-described embodiments, the support rails 15 for supporting the guide rails 9 and the jib crane 21 of the welding apparatus are set up on the carriage 12 running on the rails 13 laid on the ground. It is not necessarily installed vertically on a truck that travels on the ground, but can be movably hung on a beam supported by a ceiling girder or a pillar of a factory building.

FIG. 4 is a diagram showing an example of a welding device in which a pillar 15 of the welding device is suspended from a beam 35 provided on the ceiling. 4, members having the same functions as those in FIG. 1 are designated by the same reference numerals. A traveling electric motor 37 is mounted on a carriage 36 to which the upper ends of the columns 15 are attached, and
The wheels 39 rolling on the carriage rail 38 laid on the upper surface of the lower flange are driven. Other configurations are the same as those in FIG.

FIG. 5 shows a structure in which a plurality of welding devices 40 each having a pillar suspended from the ceiling beam described in FIG. 4 are attached to a beam 35 extending parallel to the longitudinal direction of the workpiece. It is a figure which shows an example of a spot simultaneous welding apparatus. The action at the time of welding is similar to that of each of the above-described embodiments. By suspending the welding device from the ceiling as described above, the arrangement of the equipment on the ground can be simplified, and the transportation of the equipment and the movement of workers can be facilitated.

In the embodiments shown in FIGS. 3 and 5, the conveying direction of the work piece is aligned with the longitudinal direction of the work piece, but the conveying direction of the work piece is not limited to this. It does not matter even if the direction is perpendicular to the longitudinal direction.

[0031]

As described above, according to the present invention, the welding carriage is not directly mounted on the welding plane, but is provided on the space guide rail, and only the welding torch and the upright rod supporting the welding torch are brought close to the welding portion. The peripheral shape of the weld does not interfere with the welding. Furthermore, since the guide rail is lifted by a lifting tool to maintain the height of the welding torch, the lower end can follow the welding plane smoothly, and the upright rod moves smoothly, and even if the upright rod is out of the welding plane, the welding torch is moved. It is possible to prevent a large force from being applied to it and to prevent it from dropping suddenly.

Although the entire device has a shape conforming to the orthogonal coordinate system, the mounting portion of the guide rail is composed of horizontal rotation and vertical rotation joints, and the guide rail is installed in the vertical direction with respect to the welding line and in the horizontal direction with respect to the welding line. Since the welding line can be traced by the lateral copying mechanism that engages with the member to be formed, positioning of the guide rail does not require strictness.

For multi-layer welding and weaving welding, a control axis for positioning the welding line provided on the welding carriage by vertical and horizontal biaxial positioning control and indicating the welding speed and the starting and ending points of the welding. In addition, automation can be easily achieved with 3-axis numerical control.

[Brief description of drawings]

FIG. 1 is a front view showing an embodiment of a welding device of the present invention.

FIG. 2 is a perspective view showing a detailed configuration of a main part thereof.

FIG. 3 is a perspective view showing an example of a multipoint simultaneous welding apparatus using a plurality of the welding apparatuses.

FIG. 4 is a front view showing another embodiment of the welding apparatus of the present invention.

FIG. 5 is a perspective view showing an example of a multi-point simultaneous welding device using a plurality of the welding devices.

[Explanation of symbols]

 1 Web which becomes a welding plane 2 Flange which becomes obstacle for welding 3 Reinforcement material 4 Welding line 5 Welding torch 6 Welding torch holding mechanism (upright rod) 7 Contact point 8 Welding trolley 9 Welding trolley guide rail 10 Electric motor 11 Screw rod 12 Traveling vehicle 13 Truck rail 14 Traveling motor 15 Support 16 Vertical moving body 17 Vertical moving motor 18 Screw rod 19 Horizontal swing joint of guide rail 20 Vertical rotation joint of guide rail 21 Sib crane 22 Swivel joint of shib crane 23 Tip of guide rail Hanging equipment 24 Welding material supply line 25 Welding material supply terminal 26 Copying wheel 30 Welding object 31 Conveying rail 32 Conveying carriage 33 Welding device moving rail 34 Welding device 35 Beam 36 Carriage 37 Traveling electric motor 38 Rail 39 Wheel 40 Welding device

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[Procedure amendment]

[Submission date] November 11, 1992

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─────────────────────────────────────────────────── ─── Continuation of the front page (51) Int.Cl. ⁶ Identification code Internal reference number FI technical display location B23K 37/02 BC

Claims (3)

[Claims] 1. A welding method for automatically welding a welding line of a workpiece to be held so that the welding surface is horizontal in a downward posture, wherein the upper side of the welding surface is kept at a constant distance from the welding surface. The welding carriage is guided and moved in parallel with the welding line on the welding surface, and the welding line is welded by the welding torch supported by the welding carriage so that the welding point is located below the welding carriage with a certain distance. Welding method characterized by: 2. A welding apparatus for automatically welding a welding line of an object to be welded held so that the welding surface is horizontal in a downward posture, in which a straight line is formed above the welding surface in parallel with the welding line of the object to be welded. A guide rail extending in the vertical direction, an elevating means for moving the guide rail in the vertical direction, a means for moving the elevating means in a direction orthogonal to the extending direction of the guide rail in a horizontal plane, and traveling along the guide rail. A welding carriage having a distance maintaining means for keeping a constant distance from the object to be welded and a welding torch supported so that a welding point is located at a certain distance below the welding carriage, and the welding carriage on the guide rail. The horizontal guide rail has a moving means for moving the welding carriage and a copying means for making the welding carriage follow the welding line of the work to be welded. Allow rotation in plane An oscillating lever connected to the above-mentioned lifting means via a joint, and at its free end, an upward urging force for reducing the downward force due to the own weight of the welding carriage including the guide rail, the distance maintaining tool, and the welding torch. A welding device, characterized in that it is provided with a lifting means having. 3. A plurality of the welding devices according to claim 2 are movably provided on a rail extending in a straight line in a direction orthogonal to the horizontal guide rails of these welding devices, and the longitudinal direction thereof is A multi-point simultaneous welding device capable of simultaneously welding a plurality of welding lines orthogonal to the longitudinal direction of an object to be welded, which are installed parallel to the rail extending direction.