JPH1085932A - Y stud automatic welding equipment - Google Patents

Abstract

PROBLEM TO BE SOLVED: To improve working efficiency and to reduce an equipment cost by providing a chucking device, a pressing means, a welding torch and a robot hand mounting these and transferring. SOLUTION: The chuck claw 11a of the chucking device 11 is opened and closed by the robot hand to receive and hold a Y stud 5 from a stud feeding device. The robot hand is descended % an elevator and positioned within a shell tubular body. The joint of the robot hand and a turning means are regulated based on a pre-programmed setting value, the chucking device 11 is advanced to the shell side by the pressing means 12, and the base end part of the Y stud 5 is pressed to the shell and seated. The crotch part 5a of the Y stud 5 is supported from the rear with advance and retreating pins 14a, 14b, 14c in accordance with the kind of the Y stud. As soon as a pair of welding torches 13 begins welding, welding torches 13 are relatively transferred with respect to the chucking device 11 along the linear guide of a transfer mechanism.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a method for lining an irregular-shaped refractory on the inner and outer peripheries of an iron skin cylinder such as a lance.
The present invention relates to an automatic welding apparatus for a refractory Y stud which automatically welds a Y stud holding an irregular-shaped refractory to a steel shell side.

[0002]

2. Description of the Related Art In a refining process of molten steel or the like, when performing degassing of molten steel, addition of alloy components, and the like, a lance in which an irregular-shaped refractory is lined with an inner peripheral portion of a steel shell is used. When lining an irregular-shaped refractory on the inner and outer peripheral portions of an iron sheath cylindrical body such as a lance, a Y-shaped stud is attached to the iron skin side by welding. The Y-studs hold the irregular-shaped refractory solidified on the inner and outer peripheral surfaces of the iron-sheath by projecting the branched distal end of the Y-stud from the iron-shell side into the irregular-shaped refractory. I have.

Conventionally, as a technique relating to such a stud welding, a "semi-automatic stud welding gun" disclosed in JP-A-5-69140 and a "stud welding gun" disclosed in JP-A-6-19978 have been proposed. I have.

[0004] First, the invention relating to a "semi-automatic stud welding gun" relates to a semi-automatic stud welding gun in which an operator holds a gun holder and operates an operation switch. And the stud gun main body is largely movably moved between the stud mounting position and the stud pushing position after the stud is melted. According to the present invention, when welding is performed using the semi-automatic stud welding gun, the worker's welding posture including the stud mounting operation and the worker's movement posture accompanying the change of the welding location are both set to the standing posture. be able to.

The invention relating to a "stud welding gun" includes a "collet for holding a stud, a piston for pushing the stud to the collet, and a feed pipe for automatically feeding the stud one by one. A stud receiving member for receiving and containing the stud is provided between the collet and the stud feed pipe, and the receiving member has at least two studs.
One stud receiving portion is formed and each stud receiving portion is movable between a first position for receiving the stud and a second position through which the stud is pushed by the piston and held by the collet through the collet. Part 16
Is in the second position, the other stud housing is in the first position. The gist is that. According to the invention,
Receiving studs and loading studs at the same time,
Work time can be reduced.

[0006]

However, the former invention relating to the "semi-automatic stud welding gun" requires an operator to perform welding for each stud using a welding gun. However, there is a problem that the working time increases.

Further, the latter invention relating to the "stud welding gun" can only cope with a stud having a fixed shape, and it is difficult to set the position of the welding gun when using several types of studs. was there.

[0008] Further, in both cases, the studs are welded by using a welding gun, so that only spot welding having a short welding length can be performed. Therefore, in order to increase the mounting strength of the stud, it is necessary to perform several spot weldings on one stud, and it is necessary to set the position of the welding gun (gun) each time.
There was a problem that work efficiency was reduced.

SUMMARY OF THE INVENTION The present invention has been made to solve the above problems, and can automate a series of operations from receiving a Y stud from a stud supply device to chucking and welding. It is an object of the present invention to provide an automatic welding device for Y studs, which can surely perform automatic chucking and automatic welding of Y studs by one unit and can improve work efficiency.

[0010]

SUMMARY OF THE INVENTION According to the present invention, when lining an irregular refractory on the inner and outer peripheral portions of a steel tubular body, the irregular refractory is held on the steel side. In an automatic welding device for Y studs that automatically welds Y studs,
A chucking device that receives the Y stud from the stud supply device and grips the base side thereof, pressing means for pressing the base end of the chucked Y stud against the steel bar side, and a Y stud seated on the steel bar. This is achieved by an automatic Y-stud welding apparatus including a welding torch disposed so as to face the base end and a robot hand mounted and moved.

Preferably, the chucking device is Y
This is achieved by an automatic Y-stud welding device having a plurality of retraction pins supporting the stud crotch.

[0012] Preferably, the welding torch is achieved by an automatic Y stud welding apparatus having a moving mechanism that moves relatively to a chucking device.

[0013] More preferably, this is achieved by an automatic Y-stud welding apparatus in which a pair of welding torches are provided on both sides of the chucking device.

[0014] Preferably, the robot hand is achieved by an automatic welding device for Y studs, which is a six-axis robot hand provided with turning means.

Preferably, the robot hand is achieved by an automatic welding device for Y studs mounted on a lifting device.

Further, preferably, an automatic Y-stud welding apparatus is provided with a movable carriage provided with a turntable on which the iron-barrel cylinder is mounted and turned in the vicinity of a frame to which the elevating device is fixed. Is achieved.

According to the present invention, the stud feeder can
The entire process from receiving the stud to chucking and welding is automated, and since the chucking device and welding torch are mounted on one robot hand, the main parts of the device can be made compact. And work efficiency is improved.

[0018]

Preferred embodiments of the present invention will be described below in detail with reference to the accompanying drawings. FIG. 1 shows an embodiment of an automatic welding device for a Y stud according to the present invention,
(A) is a plan view of the whole appearance, and (b) is a front view of the whole appearance.

As shown in the figure, an automatic welding device 1 for a Y stud according to the present embodiment is fixed to an upper portion of a frame 2.
Specifically, an elevating device 4 that moves the robot hand 3 up and down on the frame 2 is fixed. This lifting device 4
By rotating a ball screw (not shown) by the servo motor 4a, the robot hand 3 is moved up and down along the ball screw.

A stud supply device 6 for sequentially supplying Y studs 5 as shown in FIG. 5 is provided on the frame 2 on the upper side of the lifting device 4. Two stud supply devices 6 are provided so as to supply several types of Y studs 5 having different angles and sizes. Y stud 5
Is supplied by the stud supply device 6 with its crotch portion 5a facing the robot hand 3 side.

In the vicinity of the frame 2 to which the lifting / lowering device 4 is fixed, a movable trolley 8 on which an iron-clad tubular body 7 such as a lance is mounted and travels is arranged as ancillary equipment. The movable trolley 8 is equipped with a turntable 9 for rotating the iron cylinder 7. The traveling movement of the movable carriage 8 is performed by driving a wheel 8b with a motor 8a by a belt or the like, and the turning of the turntable 9 is performed by driving the turntable 9 with a servomotor 9a by a gear or the like. In addition, 10
Is a cable reel.

The robot hand 3 mounted on the lifting device 4 is formed as an articulated 6-axis robot hand.
The tip is provided with a turning means (not shown) which turns around the axis. As shown in FIGS. 2 and 3, the robot hand 3 is provided with a chucking device 11 for gripping the Y stud 5 via a turning device, and interposed between the chucking device 11 and the turning device. Pressing means 12 and Y
A welding torch 13 for welding the stud 5 to the iron sheath 7 is mounted. Here, in the case where the Y stud is welded to the inner peripheral portion of the iron cylinder, the circumferential position of the iron cylinder can be determined using the turntable 9 of the movable carriage 8 and / or the turning means of the robot hand 3. When welding the Y stud to the outer periphery of the iron sheath, the turntable 9 of the movable carriage 8 is used.
Can be used to position the iron sheath. The positioning of the iron sheath in the height direction is performed by the elevating device of the robot hand 3.

The chucking device 11 has a pair of chuck claws 11a which are opened and closed in parallel by an opening / closing mechanism (not shown). The chuck claws 11a receive the Y stud 5 from the stud supply device 6, and the front and rear surfaces thereof Is gripped at the base side. Also, the chuck claw 11
a is provided with three pairs of advance / retreat pins 14a, 14b, 14c for supporting the crotch portion 5a of the Y stud 5. The three pairs of advance / retreat pins 14a, 14b, 14c are provided to support the crotch 5a of the Y stud 5 having three different angles and sizes as shown in FIG. Chuck claw 1
When the gripper 1a grips three types of Y studs 5, the small Y studs 5 have all the pins 14a, 14b, 1
4c, the two Y-studs 5 have two advance / retreat pins 14b and 14c, and the large Y-stud 5 has only one advance / retreat pin 14c. In this embodiment, three pairs of forward / backward pins 14a, 14b, and 14c are provided for three types of Y studs 5. However, the present invention is not limited to this, and the types of Y studs and the number of forward / backward pins are limited. Not done.

The chucking device 11 is connected via a mounting frame 15 and an insulator 16 to a pressing means 12 for pressing the base end of the chucked Y stud 5 against the steel skin. In the present embodiment, an air cylinder is employed as the pressing unit 12. The adjustment of the pressing force is easy if an air cylinder is adopted,
Other pressing mechanisms may be employed.

A pair of welding torches 13 are disposed on both sides of the chucking device 11. Pressing means 1
2, the base end of the Y stud 5 is seated on the iron skin, but the tip of each welding torch 13 is set so as to face the base end of the seated Y stud 5. That is, the inclination angle θ of each welding torch 13 with respect to the chucking device 11 is 45 degrees, thereby preventing interference with the Y stud 5. The welding torch 13 shown in FIG.
Although it is compatible with 2 / MAG welding, other welding methods that can support automation such as TIG welding may be employed. As shown in FIG. 1, a welding machine 18 and a wire reel 19 are connected to a welding torch 13 via a cable bear 17.
Is connected.

A linear guide 21 is disposed between the welding torch 13 and the mounting frame 20 to which the welding torch 13 is fixed, with an insulator 16 interposed therebetween. Each welding torch 13 is relatively moved with respect to the chucking device 11 by rotating a ball screw (not shown) by a servo motor 22. That is, by this moving mechanism,
Since the pair of welding torches 13 moves along the linear guide 21, both sides of the base end of the Y stud 5 can be reliably welded by fillet welding having a relatively long welding length. In addition,
In the above example, the relative movement in the horizontal direction has been described. However, when the base of the Y stud 5 is cylindrical, a pair of welding torches 13 is used.
May be welded while rotating around the base end of the Y stud 5.

Automatic Y-stud welding apparatus 1 of the present embodiment
Is configured as described above, and works, for example, in the following procedure. First, the mobile trolley 8 waiting outside the frame 2
Is mounted on the turntable 9 described above, such as a lance or the like, which is suspended by a crane or the like. Then, the movable trolley 8 on which the iron skin cylinder 7 is mounted travels into the frame 2 and stops immediately below the lifting / lowering device 4. At this time, the robot hand 3 is waiting upward by the lifting device 4.

The robot hand 3 includes the chucking device 1
The stud supply device 6 is opened and closed by opening and closing the first chuck jaw 11a.
Receives and grips the Y stud 5. After gripping the Y stud 5 by the chucking device 11, the joint at the base end of the robot hand 3 is turned, and the lifting device 4
To lower the robot hand 3 and position it in the iron skin cylinder 7.

The joints and the turning means of the robot hand 3 are adjusted based on the preset values programmed, and the chucking device 11 is advanced by the pressing means 12 to the steel side.
The base end of the Y stud 5 gripped by the chuck pawls 11a is pressed against the steel skin and seated. At this time, the advancing / retreating pins 14a, 14b, and 14c support the crotch portion 5a of the Y stud 5 from the rear according to the type of the Y stud 5, so that the base end of the Y stud 5 is securely connected to the iron skin. Pressed.

Thereafter, the pair of welding torches 13 starts welding, and the welding torches 13 move relative to the chucking device 11 along the linear guide 21 of the moving mechanism. By this relative movement, both sides of the base end of the Y stud 5 can be reliably welded by fillet welding having a relatively long welding length. In this embodiment, the pair of welding torches 13 is moved synchronously. However, the present invention is not limited to this, and each welding torch may be configured to move separately.

The Y studs 5 are mounted on the steel shell side when lining an irregular-shaped refractory on the steel shell body 7 such as a lance. For example, about 5,000 Y studs are mounted on one lance. That is, as shown in FIG. 4, the Y stud 5 is solidified on the inner and outer peripheral surfaces of the iron shell 23 by protruding the branched tip portion from the iron shell 23 side into the irregular refractory 24 in a dendritic manner. It serves to hold the irregular shaped refractory 24. In order to hold the irregular-shaped refractory 24 firmly, it is effective to weld several types of Y studs 5 having different angles and sizes to the steel bar 23 while changing the mounting angle. Since the hand 3 is formed by a six-axis robot hand provided with a turning means, it is extremely suitable for automation of such complicated work.

Thus, according to the present embodiment, three types of Y
Since the stud 5 can be automatically welded, and the welding position of the target steel bar 23 and the positional relationship of the tip of the welding torch 13 are set to be the same for the three types of Y studs 5, stable Welding is possible. In addition, a chucking device 11 and a welding torch 13 are attached to one robot hand 3.
Are integrally mounted, so that the main part of the device can be made compact. Further, since the turning of the welding torch 13 can be adjusted by the turning means of the robot hand 3, the welding torch 13 can be brought closer to the target steel bar 23 from an oblique direction, and welding can be performed while avoiding interference with the adjacent Y stud 5. be able to. If the servomotor 22 constituting the moving mechanism of the welding torch 13 is rotated at a low speed, welding at a very low speed can be performed, and the welding quality can be improved.

[0033]

As described above, according to the automatic stud welding apparatus for Y studs according to the present invention, the Y studs are supplied from the stud supply apparatus.
The entire process from receiving the stud to chucking and welding can be automated. In addition, since the chucking device and the welding torch are mounted on one robot hand, work efficiency can be improved and equipment costs can be reduced.

[Brief description of the drawings]

FIG. 1 shows an embodiment of an automatic welding device for Y studs according to the present invention, wherein (a) is a plan view of the entire appearance, and (b).
Is a front view of the entire appearance.

FIG. 2 is a front view showing a main part of the automatic welding device for Y studs of the present embodiment.

FIG. 3 is a side view showing a chucking device and a pressing means of the automatic welding device for Y studs of the present embodiment.

FIG. 4 is a schematic diagram showing a mounting state of a Y stud in the present embodiment.

FIG. 5 is a perspective view showing an appearance of a Y stud in the present embodiment.

[Description of Signs] 1 Automatic welding device for Y stud 2 Frame 3 Robot hand 4 Lifting device 5 Y stud 5a Crotch portion of Y stud 6 Stud supply device 7 Iron cylinder 8 Moving trolley 9 Turntable 11 Chucking device 12 Pressing Means 13 Welding torch 14a, 14b, 14c Reciprocating pin 23 Iron shell 24 Irregular refractory

Claims (7)

[Claims] When lining an irregular-shaped refractory on the inner and outer peripheral portions of an iron-sheath cylindrical body, a Y for holding the irregular-shaped refractory on the iron-sheath side.
In an automatic welding device for Y studs that automatically welds studs, a chucking device that receives the Y studs from a stud supply device and grips the base side thereof, and attaches the base end of the chucked Y studs to a steel bar side. Y, comprising: pressing means for pressing; a welding torch disposed so as to face a base end of a Y stud seated on a steel shell; and a robot hand mounted and moved with the welding torch.
Stud automatic welding equipment. 2. The automatic welding device for a Y stud according to claim 1, wherein the chucking device includes a plurality of reciprocating pins for supporting a crotch portion of the Y stud. 3. The automatic Y-stud welding apparatus according to claim 1, wherein the welding torch includes a moving mechanism that moves relative to the chucking device. 4. The automatic Y-stud welding apparatus according to claim 1, wherein a pair of welding torches is provided on both sides of the chucking device. 5. The Y stud automatic welding apparatus according to claim 1, wherein said robot hand is a six-axis robot hand provided with a turning means. 6. The Y according to claim 1, wherein the robot hand is mounted on a lifting device.
Stud automatic welding equipment. 7. A self-welding Y stud according to claim 6, further comprising a movable carriage provided with a turntable for mounting and turning the iron-barrel tubular body near the frame to which the lifting device is fixed. apparatus.