JPH10277749A - Method for automatic forming of opening part of panel - Google Patents

Abstract

PROBLEM TO BE SOLVED: To automatically form the opening part on a membrane panel. SOLUTION: To a panel 5 consisting of tubes 1 with a diameter of 40 mm or below or the tubes and fins 2, plasma cutting torch 3 and articulated robot are provided, and while controlling uniquely a locus according to a hollow member, cutting speed and the posture of the plasma cutting torch in the direction where a hollow part is not allowed to exist, the fin is cut. Successively, a tube in the opening part coming into contact with the cut fin part, is cut to a specific depth along a cutting line. The plasma cutting torch is automatically changed over to a gas cutting torch by a tool changer, and by inserting the gas cutting torch into the cut part of the tube through the notch part of the fin, cutting is performed.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION The present invention relates to a plasma cutting torch for a membrane panel constituting a water cooling wall of a boiler or a panel formed by arranging a plurality of pipes close to each other because a hollow portion exists. It enables cutting that was difficult only by moving it, and the diameter of the pipe is 40 m.
The present invention relates to a method for automatically forming a panel opening which cannot be obtained by an approach from one side of a panel by using only a plasma cutting torch to exceed m.

[0002]

2. Description of the Related Art A membrane panel used for a water-cooled wall of a boiler is formed by welding and joining tubes and fins by a multi-electrode panel welding device to form a long rectangular panel having a width of 2 to 3 m and a length of 14 to 17 m. It is molded, but the pipe used at that time varies depending on the use conditions, and even the only one usually used has an outer diameter of 34.0 to 88.9 mm and a wall thickness of 4.0 to 8.0.
The range is extremely wide at 0 mm.

On the other hand, there are various types of openings formed in a membrane panel, such as a stepped shape, a curved shape, a window shape, and a notched shape. It is wasteful, and it is efficient to first arrange the tubes and fins in a fully automatic manner, and then use a robot to form the openings at the required locations.

[0004]

When the required opening is formed after the completion of the membrane panel, if the membrane panel can be freely turned upside down, if the diameter of the tube used for the panel is within the above-mentioned range, the plasma is formed. Although the cutting torch alone can easily and efficiently perform cutting, the equipment or space for turning a long membrane panel upside down is extremely large, and the equipment cost is large and work is difficult. .

[0005] Therefore, there has been a demand for a method of cutting by only an approach from one side without inverting the membrane panel. Water jet cutting was sometimes used as a means to do this.
In this method, the distance of the pressurized water is long, and the opening can be formed relatively easily even with a membrane panel using a pipe having a considerably large diameter. It is necessary to move the catcher to the lower part of the cutting part for the treatment of the above, and the equipment for this requires a large scale, and therefore, its implementation involves various difficulties.

As an alternative, there is a cutting with a gas cutting torch. However, cutting with gas only
It takes a long time to preheat the cutting part due to the property that heat is difficult to concentrate,
Due to the influence, there is a problem that the temperature of the peripheral portion may be excessively increased and over-melting may occur in a part of the work.

In the plasma cutting torch, the time required to form a hole in a specific portion of a work is as short as about 0.5 seconds, but the arc reach is about 40 mm. Therefore, it seems that a panel having a tube diameter of less than 40 mm can be easily cut with a plasma cutting torch alone, but when cutting a member made of a solid material having no hollow portion and having a different plate thickness portion. Can be cut by adjusting the cutting conditions according to the change in plate thickness.However, when cutting a structure including a hollow portion, such as a membrane panel composed of tubes and fins, a plasma cutting torch is used. The plasma arc does not sufficiently hit the lower portion of the hollow portion, and only the upper portion is easily cut off only by the vertical and horizontal movements of.

Further, when cutting the upper part of the member, the flow rate and the concentration of the plasma arc flow are reduced, so that the cutting quality of the lower part of the hollow part is deteriorated.

On the other hand, in a membrane panel using a tube whose diameter is larger than the reach of the arc or a panel arranged close to the tube, it is impossible to form an opening with a plasma cutting torch alone. Met.

[0010]

SUMMARY OF THE INVENTION The present invention has been made in view of the above-mentioned circumstances, and a plasma cutting torch which is easy to locally raise the temperature and has a short arc reach is provided with a unique cutting locus and cutting. Used alone under conditions, diameter 4
A method for automatically forming an opening from one side of a membrane panel using a tube of less than 0 mm or a panel arranged close to the tube, a plasma cutting torch, and a gas cutter that is difficult to concentrate heat but has a long reach By using a torch together, an opening of any shape can be easily formed by automatic operation on a membrane panel using a large-diameter pipe exceeding 40 mm in diameter or a panel arranged close to the large-diameter pipe. It is an object of the present invention to provide a method of automatically forming an opening in a panel that can be made to work.

The above object is achieved by a method for automatically forming an opening in a panel according to the present invention. That is, (1) a membrane panel having a welded structure composed of a plurality of pipes having a diameter of less than 40 mm and flat fins arranged between the pipes and connecting adjacent pipes, only from one side of the panel. A method for obtaining a required opening by automatic driving by an approach, comprising a plasma cutting torch,
Consisting of an articulated robot, plasma cutting is performed by controlling the posture of the plasma cutting torch so that the fin surface is almost perpendicular to the fin surface along the cutting line perpendicular to the panel opening tube and plasma cutting. When the torch approaches the tube, the plasma cutting torch is tilted so that there is no hollow between the side and bottom of the tube, and the apparent thickness of the tube is integrated with the side and bottom. While adjusting the cutting speed to adapt, the cutting is performed while gradually increasing the inclination of the plasma cutting torch until the direction of the plasma cutting torch reaches the lower center of the tube. When the plasma cutting torch is reached, if necessary, the plasma cutting torch is kept inclined and plasma cutting is continued for a certain period of time. While controlling the posture of the cutting torch, only the upper part of the tube is cut, and when the plasma cutting torch approaches the fin on the other side, there is no hollow part between the side and the lower part of the tube The plasma cutting torch is tilted in the direction, and the cutting is performed while adjusting the cutting speed according to the apparent thickness in which the side and bottom of the tube are integrated, and the direction of the plasma cutting torch is in the lower center of the tube. When the plasma cutting torch is reached, the plasma cutting torch is kept tilted as necessary and plasma cutting is continued for a certain period of time. , And repeat this operation to complete the cutting at both axial ends of the opening tube,
Then, a fin at both ends in the axial direction of the tube at the opening is cut by a plasma cutting torch to automatically generate a membrane panel opening.

(2) A method of obtaining a required opening by automatic operation by an approach only from one side of a panel in a panel formed by arranging a plurality of tubes having a diameter of less than 40 mm so that the tubes are close to each other. It consists of a plasma cutting torch and an articulated robot, and along a cutting line perpendicular to the tube at the panel opening, firstly, in a direction in which there is as little hollow space between the side and lower part of the tube as possible. While tilting the plasma cutting torch and adjusting the cutting speed by adapting to the apparent plate thickness integrating the side and lower part of the tube, gradually reduce the plasma until the direction of the plasma cutting torch reaches the lower center part of the tube. The cutting is performed while increasing the inclination of the cutting torch, and when the orientation of the plasma cutting torch reaches the lower central part of the tube, the state where the plasma cutting torch is inclined as necessary is maintained. The plasma cutting is continued for a certain period of time, then the plasma cutting torch is cut along the shape of the upper part of the tube, and only the upper part of the tube is cut while controlling the attitude of the plasma cutting torch. When approaching the part, the plasma cutting torch is tilted so that the hollow part does not exist between the side and lower part of the tube as much as possible, and the apparent side thickness of the side and lower part of the tube is integrated. When the direction of the plasma cutting torch reaches the lower central part of the tube, the cutting is performed while adjusting the cutting speed by adapting it,
If necessary, hold the plasma cutting torch in an inclined state, continue plasma cutting for a certain period of time, then cut the tube side while gradually raising the plasma cutting torch, and repeat this operation to open the tube at the opening. A method for automatically forming an opening in a panel that completes cutting at both ends in the axial direction.

(3) Only from one side of the panel in a welded membrane panel comprising a plurality of pipes having a diameter of 40 mm or more and flat fins arranged between the pipes and connecting adjacent pipes. A method of obtaining a required opening by automatic operation by the approach of the above, comprising a plasma cutting torch, a gas cutting torch, a tool changer,
It consists of an articulated robot, and the plasma cutting torch cuts the fins on both sides in contact with the cutting line of the tube located in the panel opening at a distance of at least 1 mm from the surface of the tube to which the fins are connected, and cuts it. A pipe in the opening that contacts the cut fin portion by the plasma cutting torch and cuts by holding a length larger than the diameter of the gas cutting torch in the axial direction of the tube from the line and centering the cutting line. Is cut to a certain depth along the cutting line, and the cutting of the fin and the cutting of the pipe to a certain depth are performed at both axial ends of the pipe in the opening, and the axial fin of the pipe in the opening is cut. Then, the plasma cutting torch is automatically switched to the gas cutting torch by the tool changer, and the gas cutting torch is cut through the cut portion of the tube through the cutout portion of the fin. Insert and complete the cutting of the uncut part of the pipe.After all the cutting of the unfinished part of the pipe is completed by gas cutting, the gas cutting torch is automatically switched to the plasma cutting torch by the tool changer and opened. A method for automatically forming a panel opening, in which fins at both ends in the axial direction of a tube are cut and a membrane panel opening is automatically generated.

(4) In a panel formed by arranging a plurality of pipes having a diameter of 40 mm or more at a pitch such that the pipes are in close contact with each other, the required opening portion is automatically operated by an approach only from one side of the panel. A plasma cutting torch, a gas cutting torch, a tool changer, and an articulated robot.The plasma cutting torch cuts a pipe located in a panel opening to a certain depth along a cutting line. This is a method for automatically forming an opening in a panel in which a plasma cutting torch is automatically switched to a gas cutting torch by a tool changer to complete cutting of an unfinished portion of a tube.

[0015]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS FIG. 1 is a view showing a first embodiment of the present invention, and is a view for explaining a method for accurately cutting a membrane panel using a tube having a diameter of less than 40 mm using a plasma cutting torch alone. is there. In FIG. 1, (a) shows a case where the fin 2 is cut, and the plasma cutting torch 3 cuts at a normal speed in a state where the posture is controlled so as to be substantially perpendicular to the surface of the fin 2.

In (b), when the plasma cutting torch 3 approaches the tube 1, the plasma cutting torch 3 is
Begin cutting the sides and bottom of the. At this time, the plasma cutting torch 3 is positioned so that no hollow portion exists between the side portion and the lower portion of the tube 1, and the apparent plate thickness in which the side portion and the lower portion of the tube 1 are integrated increases. The cutting speed is reduced accordingly.

In (c), the plasma cutting torch 3
And cut to a substantially middle portion of the lower part of the tube 1. At this time, the plasma arc 9 is emitted while stopping the plasma cutting torch 3 near the lower center of the tube 1 as necessary.

In (d), the plasma cutting torch 3
Continue cutting along the top of tube 1. At this time, the plasma cutting torch 3 is moved at a high speed in the same manner as the thin plate.

In (e), when the plasma cutting torch 3 reaches the opposite side, the plasma cutting torch is inclined so that no hollow portion exists between the side and the lower part of the tube 1, and The cutting is performed while adjusting the cutting speed according to the apparent thickness in which the side and the lower are integrated. When the direction of the plasma cutting torch 3 reaches near the center of the lower part of the tube 1, it is necessary. The plasma cutting is continued for a certain period of time while maintaining the inclined state of the plasma cutting torch 3 so that the plasma arc 9 passes through the lower part of the tube 1.

In (f), the side of the tube 1 is cut while the inclination of the plasma cutting torch 3 is returned to the original position. At this time, the apparent plate thickness also increases, so that the cutting speed is reduced.

By repeating this operation, even with a membrane panel having a hollow portion, it is possible to cut accurately from one side using a plasma cutting torch and obtain a predetermined opening by automatic operation.

In the above embodiment, the description has been made with respect to the membrane panel. However, when the panel is formed by arranging a plurality of tubes having a diameter of less than 40 mm close to each other, the above-mentioned fins may be used. Similarly, the opening can be automatically and efficiently obtained only by the plasma cutting torch 3 without the cutting process.

FIGS. 2 to 5 are views for explaining a second embodiment according to the present invention. The main part of an automatic opening forming method for a membrane panel using a tube having a diameter of 40 mm or more. FIG. First, as shown in FIG. 2, while controlling the attitude of the plasma cutting torch 3 so as to be substantially perpendicular to the surfaces of the tube 1 and the fin 2 of the membrane panel 5 on the cutting line of the opening, the direction perpendicular to the axis of the tube 1 The tube 1 and the fin 2 are cut by running.

Since the plasma cutting torch 3 has an arc reach of about 40 mm, when the diameter of the tube 1 is larger than the arc reach 40 mm, the tube 1 and the fins are indicated by hatching in FIG. Only 2 is cut, and the lower part of the cross section of the tube 1 (white portion) remains without being cut.

In this state, the plasma cutting torch 3 is switched to the gas cutting torch 4 by a tool changer connected to an articulated robot (not shown), and the remaining portion of the cut portion of the pipe 1 shown by hatching in FIG. 3 is cut.

FIGS. 4 and 5 show the above-mentioned plasma cutting torch 3.
FIG. 4 is a view for explaining a cut-off state between the pipe 1 and the fin 2 due to the above. First, as shown in FIG. 4, virtual cutting lines 7, 8 are provided at positions to be opened on the pipe 1 and fin 2 of the membrane panel.
The fin 2 and the tube 1 are continuously cut to a certain depth by the plasma cutting torch 3 held by a robot (not shown) according to the locus shown in FIG. The cutting of the fin 2 connecting the cutting line 7 and the cutting line 8 is performed by the plasma cutting torch 3 at the beginning or end of each cutting line 7, 8.

As described above, when the diameter of the tube 1 is smaller than the arc length of the plasma cutting torch 3, both the tube 1 and the fin 2 can be cut by the plasma cutting device 3 alone. , The diameter of the tube 1 is the plasma cutting torch 3
When the length of the arc is larger than the length of the arc, after the plasma cutting torch 3 completes the cutting, the gas cutting torch 4 is caused to travel along the cutting line of the tube 1 in the trajectory shown in FIG. The desired opening is completed.

In the above embodiment of the present invention, the description has been given with respect to the membrane panel.
When a plurality of pipes each having a diameter of at least mm are arranged close to each other, the plasma cutting torch 3 and the gas cutting torch 4 may be appropriately replaced without the fin cutting process described above. Thus, the opening can be obtained automatically and efficiently.

[0029]

As described above, according to the present invention, even with a panel having a hollow portion, which has conventionally been difficult to cut with a plasma cutting torch alone, the plasma cutting torch has a unique trajectory and cutting method corresponding to the hollow member. By using conditions,
In addition to enabling automatic cutting from one side, even panels with thick or complex cross-sections that cannot be cut at once with a plasma cutting torch can be cut automatically and accurately and quickly. This makes it possible to form openings of various shapes.

[Brief description of the drawings]

FIG. 1 is a diagram illustrating a process of cutting a membrane panel according to a first embodiment of the present invention.

FIG. 2 is a partial sectional view of a membrane panel showing a second embodiment of the present invention.

FIG. 3 is a partial sectional view of a membrane panel showing a second embodiment of the present invention.

FIG. 4 is a plan view of a notch formed in a membrane panel according to a second embodiment of the present invention.

FIG. 5 is an example of a locus of a plasma cutting torch for forming a notch in a membrane panel according to a second embodiment of the present invention.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Tube 2 Fin 3 Plasma cutting torch 4 Gas cutting torch 5 Membrane panel 6 Notch 7,8 Cutting line 9 Plasma arc

Continuing on the front page (72) Inventor Toshimitsu Araki 118 Futatsuka Noda-shi, Chiba Prefecture Kawasaki Heavy Industries Noda Factory Co., Ltd.

Claims (4)

[Claims] 1. A welded membrane panel comprising a plurality of pipes having a diameter of less than 40 mm and a flat fin disposed between the pipes and connecting adjacent pipes, only from one side of the panel. It is a method to obtain the required opening by automatic driving by the approach, consisting of a plasma cutting torch and an articulated robot, along the cutting line in the vertical direction with the panel opening tube, and on the fin surface at the fin part When the plasma cutting torch approaches the tube, the plasma is cut in such a direction that there is no hollow space between the side and the lower part of the tube when the plasma cutting torch approaches the tube. By tilting the cutting torch and adjusting the cutting speed by adapting to the apparent plate thickness where the side and bottom of the tube are integrated, the orientation of the plasma cutting torch is centered on the bottom of the tube. Until the plasma cutting torch gradually inclines, and when the orientation of the plasma cutting torch reaches the lower center of the tube, hold the plasma cutting torch as required. Continue plasma cutting for a certain period of time, then place the plasma cutting torch along the top of the tube,
Only the upper part of the tube is cut while controlling the attitude of the plasma cutting torch, and when the plasma cutting torch approaches the fin on the other side, there is no hollow part between the side and the lower part of the tube Incline the plasma cutting torch in the direction, adjust the cutting speed according to the apparent plate thickness integrating the side and lower part of the tube, and perform cutting while adjusting the cutting speed. When it reaches the part, the plasma cutting torch is kept tilted as necessary and plasma cutting is continued for a certain period of time, and then the tube is set while gradually setting the plasma cutting torch in a direction almost perpendicular to the fin surface. This operation is repeated to complete the cutting of both ends of the opening tube in the axial direction. Then, the fins of both ends of the opening tube in the axial direction are cut by the plasma cutting torch, and the female member is cut. Opening the automatic method of making a panel, characterized in that to produce a blend panel opening automatically. 2. A method for obtaining a required opening by automatic operation by an approach only from one side of a panel in a panel formed by arranging a plurality of tubes having a diameter of less than 40 mm close to each other. It consists of a plasma cutting torch and an articulated robot. Along the cutting line perpendicular to the tube at the panel opening, the plasma is first oriented in such a direction that there is as little hollow space between the side and lower part of the tube as possible. Increasing the cutting torch and adjusting the cutting speed by adapting to the apparent plate thickness integrating the side and bottom of the tube, and gradually plasma cutting until the direction of the plasma cutting torch reaches the lower center of the tube The cutting is performed while increasing the inclination of the torch, and when the direction of the plasma cutting torch reaches the lower center of the tube, the state where the plasma cutting torch is inclined as necessary is maintained. Continues for a predetermined time plasma cutting, then along the plasma cutting torch to the top of the shape of the tube,
While controlling the position of the plasma cutting torch, only the upper part of the tube is cut.When the plasma cutting torch approaches the other side of the tube, make the hollow space as much as possible between the side and the lower part of the tube. The plasma cutting torch is inclined so that it does not exist, and the cutting is performed while adjusting the cutting speed according to the apparent plate thickness integrating the side and lower part of the tube. When reaching the lower central part, the plasma cutting torch is kept inclined as necessary, and plasma cutting is continued for a certain period of time, and then the tube side is cut while gradually raising the plasma cutting torch. A method for automatically forming an opening in a panel, wherein the operation is repeated to complete the cutting of both ends in the axial direction of the tube of the opening. 3. A membrane panel having a welded structure comprising a plurality of pipes having a diameter of 40 mm or more and flat fins arranged between the pipes and connecting adjacent pipes, only from one side of the panel. A method of obtaining a required opening by an automatic operation according to an approach, comprising a plasma cutting torch, a gas cutting torch, a tool changer, and an articulated robot, and cutting a pipe located in a panel opening by the plasma cutting torch. The fins on both sides contacting the line are kept at a distance of at least 1 mm from the surface of the tube to which the fin is connected, and have a length greater than the diameter of the gas cutting torch in the axial direction of the tube from the cutting line. Cut and distribute by holding the cutting line as the center, then cut by the plasma cutting torch. The pipe is cut to a certain depth along the cutting line, and the cutting of the fin and the cutting of the pipe to a certain depth are performed at both axial ends of the pipe in the opening. Cutting, the plasma cutting torch is automatically switched to the gas cutting torch by the tool changer, and the gas cutting torch is inserted into the cut portion of the tube through the cutout portion of the fin to complete the cutting of the uncut portion of the tube. After the gas cutting completes the cutting of the uncompleted portion of the pipe, the gas cutting torch is automatically switched to the plasma cutting torch by the tool changer, and the fins at the axial ends of the opening pipe are cut off. A method for automatically forming an opening in a panel, comprising automatically generating an opening in a membrane panel. 4. A panel formed by arranging a plurality of tubes having a diameter of 40 mm or more at a pitch such that the tubes are in close contact with each other, by an approach from only one side of the panel.
A method for obtaining a required opening by automatic operation, comprising a plasma cutting torch, a gas cutting torch, a tool changer, and an articulated robot, and using a plasma cutting torch to cut a pipe located in a panel opening along a cutting line. A plasma cutting torch is automatically switched to a gas cutting torch by a tool changer to complete the cutting of the unfinished portion of the tube.