JPH11197830A - Welding equipment - Google Patents

Abstract

PROBLEM TO BE SOLVED: To weld a material to be welded having partial different inclination without any manual work. SOLUTION: A traveling truck A is directly placed on a material C to be welded, and traveled. A main body of the traveling truck A is provided with an inclination sensor to detect the inclination of the main body in the inside, a welding torch B in the outside, a touch sensor preceding the welding torch B and an operation panel in which a control part to constitute a control device is built in. The angle of inclination is set within plural ranges in a storage part of the control part and the data of the optimum welding condition to the inclination within each of the ranges to be set are written therein. The angle of inclination of the material to be welded C is recognized in response to a signal to be generated from the inclination sensor as the welding is executed, and the corresponding data are read to drive a power supply device 32, a gas feed device 33 and motors. The motors are driven in response to a signal from the touch sensor to be generated when a contactor is brought into contact with a groove face.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a welding apparatus configured to be able to perform welding under a welding condition set in advance corresponding to an inclination when welding an inclined welding line.

[0002]

2. Description of the Related Art While a traveling carriage travels along a target welding line, a mounted welding torch is driven to weld a steel plate. The traveling trolley is engaged with a guide rail laid along a welding line, and is attracted to a steel plate by wheels provided by magnets and magnets provided on the trolley body and travels, so that the steel plate moves from a horizontal position. You can drive at any angle between the vertical.

[0003] In the case of welding an inclined portion as described above,
The molten metal may drool from the molten pool, causing poor welding. Therefore, in order to form a good molten pool constantly, the welding conditions such as the welding torch driving conditions such as welding current and voltage or the traveling speed of the traveling vehicle are appropriately set in accordance with the inclination angle of the steel sheet. Welding of inclined steel plates.

On the other hand, butt welding of ship grain is also performed. Generally, in ship grain, the cross section along the welding ship is formed in a curved shape, or the whole is formed in a spherical shape. For this reason, the welding line is inclined with respect to the horizontal line,
In addition, the degree of the inclination is partially different. That is, in the welding of hull materials, it is necessary to change the welding conditions in accordance with the change in the inclination of the welding portion as the welding progresses.

[0005] In a welding apparatus constructed by mounting a welding torch on a traveling trolley capable of traveling on the above-mentioned steel plate, welding is performed based on welding conditions set in advance. The conditions cannot be changed. For this reason, the welding of ship grain is performed manually by skilled welding workers.

[0006]

SUMMARY OF THE INVENTION As described above, a welding apparatus having a traveling carriage equipped with a welding torch is advantageous when performing welding with constant welding conditions. However, it is not possible to perform welding of ship grain whose inclination changes with progress, and when performing welding of the ship grain using the welding device forcibly, according to the change in inclination. The operator needs to adjust the driving conditions of the welding torch and the traveling speed of the traveling vehicle. Therefore, there is a problem that monitoring of the operator is essential, and there is a limit in reducing costs or shortening the construction period.

[0007] When butt welding steel plates, a guide rail is laid along the welding line, and the traveling carriage is caused to travel along the guide rail. Therefore, the work of laying the guide rails along the welding line performed prior to the start of the welding work is time and labor consuming and complicated, and the accuracy of laying the guide rails affects the quality of welding. However, there is a problem that it is essential to perform the work with sufficient care.

An object of the present invention is to provide a welding apparatus capable of performing welding without manual intervention even when the welding line is inclined.

[0009]

SUMMARY OF THE INVENTION In order to solve the above problems, a welding apparatus according to the present invention is provided with a traveling vehicle traveling on a workpiece to be welded along a target welding line, and an object mounted on the traveling vehicle. A welding torch for welding a welding line, an inclination detecting member for detecting the inclination of the traveling vehicle and generating a signal, and a driving condition of the welding torch or a speed condition of the traveling vehicle corresponding to the signal from the inclination detecting member. And a control device for changing the value.

In the above welding apparatus, when the traveling vehicle travels on the workpiece along the target welding line, the inclination detecting member detects the inclination of the traveling vehicle accompanying the traveling and generates a signal. The signal is transmitted to a control device, which changes a driving condition or a speed condition of the traveling torch according to the inclination of the traveling vehicle.

Therefore, the welding conditions can be appropriately changed according to the inclination of the traveling vehicle without the intervention of the operator. In this case, the inclination of the material to be welded may be constant or may be partially different. In any case, by placing the traveling cart on the workpiece,
By detecting the inclination of the traveling vehicle, welding can be performed under optimum welding conditions.

In the above welding apparatus, the inclination detecting member preferably detects at least the inclination of the traveling vehicle in the front-rear direction, and the control device sets the inclination angle of the traveling vehicle in advance as a plurality of ranges. With a storage unit that stores data of welding conditions consisting of driving conditions of the welding torch or speed conditions of the traveling trolley set for each range, and when a signal from the inclination detecting member arrives, it corresponds to the signal. It is preferable that the welding condition data is read from the storage unit and the welding torch is driven or the traveling carriage is controlled based on the data.

By configuring the welding device as described above, the traveling carriage mounted on the workpiece can detect at least the inclination in the front-rear direction (traveling direction) by the inclination detecting member. Then, the control device that receives the signal corresponding to the inclination of the traveling vehicle sets the inclination angle as a plurality of ranges in advance and sets the driving conditions or traveling of the welding torch such as welding current and voltage set in correspondence with each range. Corresponding data is read from a storage unit in which welding condition data including a speed condition of the bogie is stored, and the welding torch or the traveling bogie can be driven based on the read data.

Therefore, when the operator performs the operation of starting welding, the subsequent welding can be automatically performed.

Preferably, the welding torch is a welding torch for performing mag welding, and a plurality of welding torches are mounted on a traveling vehicle. By using the welding torch in this way, the condition of the molten pool can be monitored from the outside, and the traveling vehicle makes one pass regardless of the thickness of the material to be welded, thereby realizing the intended welding. I can do it.

Further, it is preferable that the traveling vehicle has a touch sensor that comes into contact with a groove surface forming a target welding line, and is configured to be able to travel based on a signal from the touch sensor. By configuring the traveling cart in this way, it is possible to travel along the groove without requiring a guide rail. Therefore, the work of laying the guide rails along the welding line becomes unnecessary, and the setup work prior to welding can be easily performed.

[0017]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Preferred embodiments of the above welding apparatus will be described below with reference to the drawings. 1 is a plan view of the traveling vehicle, FIG. 2 is a front view of the traveling vehicle, FIG. 3 is a side view of the traveling vehicle, FIG. 4 is a diagram illustrating an internal configuration of the traveling vehicle, FIG.
FIG. 6 is a diagram illustrating a relationship between a groove of a welding portion and a touch sensor, FIG. 6 is a block diagram of a control system, and FIG. 7 is a schematic diagram illustrating a state of welding ship grain.

The welding apparatus according to the present invention drives a traveling torch B mounted on the traveling carriage A while driving the traveling carriage A mounted on the workpiece to be moved along a target welding line. In the case where the material to be welded (weld line) has a partially different inclination, the inclination angle of the traveling vehicle A that inclines according to the inclination of the material to be welded is detected, and this inclination angle is determined. By driving the welding torch B under the condition set in advance or running the traveling vehicle A in the condition set in advance, it is configured to save labor of the welding operation.

In particular, as shown in FIG. 7, as shown in a ship grain 31 formed in a shape combining a straight line and a curve or a spherical shape depending on a component, the inclination with respect to a horizontal line or a horizontal plane is partially changed. It is advantageous when butt-welding the material to be welded C, that is, when welding a welded part where manual welding has to be performed conventionally or a welded part where manual intervention is required. is there.

The configuration of the welding apparatus according to this embodiment will be described with reference to FIGS. The traveling carriage A includes two drive systems 2 and 3 provided separately on the left and right inside the main body 1 and a workpiece C to be welded.
A magnet 4 is provided so as to be able to be attached to and detached from the vehicle, and an inclination sensor 5 serving as an inclination detecting member for detecting the inclination of the traveling trolley is arranged. Outside the main body 1, two welding torches B, An operation panel 6 having a built-in device, a touch sensor 7 for generating a signal by contacting a groove surface formed on the workpiece C,
Is arranged.

Each of the drive systems 2 and 3 rotates the wheels 2a and 3a provided on the right and left sides of the main body 1 independently of each other, so that the traveling carriage A moves straight or is steered.
Therefore, each drive system 2, 3 has motors 2b, 3b and reduction gears 2c, 3c driven by independent signals, respectively, and the rotation of these motors 2b, 3b is transmitted via timing belts 2d, 3d. Front and rear wheels 2a, 3a
It is configured to be able to transmit to.

In the driving systems 2 and 3 configured as described above,
When the motors 2b and 3b are rotated at the same rotation speed, the traveling vehicle A can travel straight, and by rotating one of the drive systems (2) faster than the other drive system (3). It is possible to control the traveling direction by steering the traveling vehicle A.

The magnet 4 has a function of causing the traveling carriage A to press against the material C by applying an attractive force to the material C to be welded. In particular, in this embodiment, a permanent magnet is used as the magnet 4, and the magnet 4 is moved up and down with respect to the main body 1 by operating the handle 4a.
, The air gap between the magnet 4 and the workpiece C is changed to change the attraction force to the workpiece C.

By configuring the magnet 4 as described above, when welding is performed on the workpiece C, the magnet 4
Can be brought close to the material C to be welded, and the traveling vehicle A can be stably pressed against the workpiece C and can exert a high traction force.
When the carriage A is transported to another work site after welding is completed, the carriage 4 is easily separated from the workpiece C by separating the magnet 4 from the workpiece C and reducing the pressing force. It is possible to

The tilt sensor 5 is fixed to the main body 1 and detects a tilt of the main body 1 to generate a signal. The inclination sensor 5 does not directly detect the inclination of the workpiece C. However, since the wheels 2a and 3a of the traveling vehicle A directly contact the workpiece C, the generated signal is
Can be considered as the inclination of

It is preferable that the inclination sensor 5 can detect the inclination of the main body 1 in the front-back direction and the left-right direction. However, if the width of the welding portion of the material C to be welded is narrow and can be regarded as substantially a line, a sufficient effect can be obtained even if only the inclination of the main body 1 in the front-rear direction is detected. Is possible. That is, the inclination sensor 5 may be any sensor that can detect at least the inclination of the traveling vehicle A in the front-rear direction.

The structure of the tilt sensor 5 is not particularly limited. In short, any structure can be used as long as it can detect the tilt of the main body 1 and generate a signal. As such a tilt sensor, for example, a gyro, or a coil provided with a rotatable shaft at the center is horizontally arranged, and a contact that contacts the weight and the coil is attached to the shaft, and the weight always indicates the vertical direction. It is possible to selectively use a sensor or the like configured so that the contact can be aligned with the direction of the weight.

A sensor selected from the above sensors is referred to as a tilt sensor 5, and this tilt sensor 5 is
It is possible to detect at least the inclination of the traveling vehicle A in the front-rear direction by arranging it in the front-rear direction.
In addition, by arranging the vehicle A in the front-rear direction and the left-right direction so as to coincide with each other, it is possible to detect the inclination of the traveling vehicle A in the front-rear and left-right directions and the inclination with respect to a horizontal plane obtained by combining these inclinations.

The welding torch B is for performing welding on the material C to be welded, and is not particularly limited as long as it has this function. However, in this embodiment, a welding torch B capable of performing a carbon dioxide gas welding method, which is a type of mag welding method, so that the molten pool can be externally monitored during welding.
Is adopted.

Since the welding torch B for carrying out the carbon dioxide welding method has a limit on the amount of build-up in one pass, one to a plurality of welding torches are provided on the traveling vehicle A in accordance with the thickness of the material C to be welded. It is preferable that the welding torch A be mounted at the same time as B, so that sufficient overlay can be realized.

In this embodiment, two welding torches B are arranged on the side surface of the main body 1, and each welding torch B is attached to a torch holder 10.

The torch holder 10 is configured to be capable of reciprocating rotation about a fulcrum 10a. By this rotation, the welding torch B swings (weaves), and it is possible to sufficiently build up the welding portion. Also one torch holder
The torch holder 10 is fixed to the main body 1, and the other torch holder 10 is attached to a bracket 11 configured to adjust the separation distance from the main body 1 in accordance with the operation of the handle 11a.

As shown in FIG. 7, the power supply device 32 for driving the welding torch B and the gas supply source 33 for supplying carbon dioxide gas are not placed on the workpiece C, and Installed near the work site. The power supply device 32 and the gas supply source 33 are controlled by control devices each having a control unit 20 described later.

The operation panel 6 controls the driving of the traveling vehicle A and the driving of the welding torch B, and includes various switches, meters, and a control unit 20.

The touch sensor 7, as shown in FIG.
A contact 7a provided at the tip is disposed between the groove surfaces 12 and 13 of the pair of materials C to be welded constituting the welding line D, and any of the groove surfaces 12 and 13 as the traveling vehicle A advances. Generates a signal corresponding to the groove surface 12 or 13 contacted, and based on this signal, the motors 2b, 3 constituting the drive systems 2, 3
b is selectively driven to steer the traveling vehicle A.

For this reason, the touch sensor 7 is mounted on the traveling vehicle A
Is disposed in front of the welding torch B at
a and a line connecting the axis of the welding torch B is arranged in parallel with the traveling direction of the traveling vehicle A. Therefore, when the traveling bogie A is run with the contact 7a disposed between the groove surfaces 12 and 13 at the welding line D, the contact 7a is formed when the traveling direction of the welding line D and the traveling bogie A is parallel. Does not contact the groove surfaces 12 and 13, the motors 2b and 3b of the drive systems 2 and 3 rotate at the same rotation speed, and the traveling vehicle A maintains the straight traveling.

Next, the control system of the welding device will be described with reference to the block diagram of FIG.

In the figure, reference numeral 20 denotes a control unit, which temporarily stores a microprocessor 20a, a previously input plate thickness data of the workpiece C, a signal generated from the inclination sensor 5, a signal generated from the touch sensor, and the like. Temporary storage unit 20
b, welding condition data including a welding condition and a driving condition of the welding torch B such as a welding current and a voltage according to the inclination of the material C to be welded or a speed condition of the traveling vehicle A are written;
Storage unit 20 in which a program or the like for driving the motors 2b and 3b in accordance with the signals from
c.

The signals generated from the tilt sensor 5 and the touch sensor 7 are transmitted to the control unit 20 via the interface 21, and the signals from the control unit 20 are transmitted via the interface 21 to the motors 2 b, 3 b and the power supply 32, source
It is transmitted to 33 and drives each according to the signal.

The welding conditions for setting the welding penetration depth and the build-up amount when welding the material C to be welded are welding current, voltage and welding speed, which are important factors, and these factors must be set appropriately. Thus, it is possible to control the state of the welding portion. When the material C to be welded is inclined,
The apparent thickness of the welded portion becomes larger than the actual thickness depending on the inclination angle.

That is, when welding the inclined workpiece C, the apparent thickness is calculated based on the thickness of the workpiece C and the inclination angle of the welded portion, and the apparent thickness obtained as a result of this calculation is calculated. Optimum welding can be performed by driving the welding torch B under the welding conditions corresponding to the plate thickness or by running the traveling vehicle A. Further, when welding is performed under specified welding conditions, there is a certain width as a plate thickness that can be optimally welded.

For this reason, the storage unit 20c stores the welding current data, the welding voltage data and / or the traveling vehicle A when the workpiece C is in a horizontal state in accordance with the plate thickness of the workpiece C. The data of the welding conditions consisting of the speed data of FIG.
(Degrees) and data of a plurality of welding conditions including data of optimum welding conditions in the angle range are written.

The procedure relating to the steering of the traveling vehicle A is also written in the storage unit 20c. In this procedure, when the contact 7a of the touch sensor 7 comes into contact with the groove surface 12 or 13 as the traveling vehicle A travels, the motor 2b responds to the contact.
Alternatively, by rotating 3b faster than the other, the contact 7
a is released from contact with the groove surface 12 or 13 and the contact 7
After the contact of a is released, the motors 2b and 3b are rotated at the same rotation speed, and this rotation is maintained until a new signal is generated from the touch sensor 7.

Next, a description will be given of a procedure for welding the workpiece C consisting of the hull material 31 shown in FIG. 7 by the welding apparatus configured as described above.

First, the carriage A is placed on the workpiece C in the vicinity of the welding line D, and the contact 7a of the touch sensor 7 is inserted into the groove surfaces 12 and 13 of the welding line D while welding. The torch B is made to face. By operating the handle 4a, the magnet 4 is brought close to the workpiece C to exert an attractive force. In this state, the switches of the operation panel 6 are operated, and the power supply device 32 and the gas supply device 33 are operated based on the signal of the control unit 20 to drive the welding torch B and start the traveling of the traveling vehicle A.
Thereby, welding to the welding line D is performed.

When the workpiece C (welding line D) is horizontal, the signal generated from the inclination sensor 5 corresponds to 0 degree, and this signal is transmitted to the control unit 20. Then, the control unit 20 recognizes that the signal generated from the inclination sensor 5 corresponds to 0 degree, and the welding condition data corresponding to this signal (for example, the inclination of the material C to be welded is in the range of 0 degree to 5 degrees). Data) from the storage unit 20c, and transmits a drive signal based on the read data to the power supply device 32 and the gas supply source 33, and also to the motors 2b and 3b, and in accordance with these signals, the welding current of the welding torch B. , Voltage, trolley A
Control the speed of the car.

While the traveling vehicle A is traveling, a signal corresponding to the inclination of the traveling vehicle A is generated from the inclination sensor 5,
The information is transmitted to the control unit 20. When the inclination of the workpiece C changes to, for example, 5 degrees or more, the control unit 20 changes the inclination of the workpiece C to 5 degrees or more and, for example, 10 degrees or less by a signal from the inclination sensor 5. Then, the data of the welding conditions corresponding to this range is read out from the storage unit 20c, and the drive signal based on the read data is supplied to the power supply device 3.
2. Transmission to the gas supply source 33 and motor 2b, 3b
And the welding current and voltage of the welding torch B and the speed of the traveling vehicle A are controlled in accordance with these signals.

As described above, the inclination of the workpiece C is detected by the inclination sensor 5, and the workpiece C can be welded under welding conditions set in advance in accordance with the detected inclination.

When the contact 7a of the touch sensor 7 comes into contact with any one of the groove surfaces 12 (13) as the traveling vehicle A travels, a signal corresponding to the groove surface contacted from the touch sensor 7 is output. Generated and transmitted to the control unit 20. In the control unit 20, a motor 2b or 3b capable of separating the contact 7a from the groove surface with which the contact 7a is in contact in response to the signal.
Is generated at a higher rotational speed than the other motor 3b or 2b, and the motor 2b or 3b is driven based on the drive signal. As a result, the traveling vehicle A is steered, and the traveling vehicle A travels along the welding line D.

As described above, the welding line D of the material C to be welded can be welded without manual intervention.

[0051]

As described above in detail, the welding apparatus according to the present invention has a traveling carriage mounted on a workpiece and traveling, and detects the inclination of the traveling carriage to drive the welding torch. Since the conditions and the speed conditions of the traveling trolley are changed, even when a part or the whole is formed in a curved shape like a hull material, welding can be performed under the conditions corresponding to the inclination. . Therefore, stable welding can be performed without manual intervention.

Further, by mounting a plurality of welding torches on the traveling vehicle, it is possible to realize welding in one pass even if the material to be welded is a thick plate.

When a touch sensor that generates a signal by contacting the groove surface of the welding line is provided, welding can be performed without installing a guide rail or the like along the welding line.

[Brief description of the drawings]

FIG. 1 is a plan view of a traveling vehicle.

FIG. 2 is a front view of the traveling vehicle.

FIG. 3 is a side view of the traveling vehicle.

FIG. 4 is a diagram illustrating an internal configuration of a traveling vehicle.

FIG. 5 is a diagram illustrating a relationship between a groove of a welding portion and a touch sensor.

FIG. 6 is a block diagram of a control system.

FIG. 7 is a schematic diagram illustrating a state in which hull materials are welded.

[Explanation of symbols]

 Reference Signs List A traveling cart B welding torch C material to be welded D welding line 1 main body 2, 3 drive system 2a, 3a wheels 2b, 3b motor 2c, 3c reduction gear 2d, 3d timing belt 4 magnet 4a handle 5 tilt sensor 6 operation panel 7 touch Sensor 7a contact 10 torch holder 10a fulcrum 11 bracket 11a handle 12, 13 groove 20 control unit 20a microprocessor 20b temporary storage unit 20c storage unit 21 interface 31 hull material 32 power supply device 33 gas supply source

 ──────────────────────────────────────────────────続 き Continuing on the front page (72) Inventor Isamu Hatanaka 3-35-16 Nishi Koiwa, Edogawa-ku, Tokyo Inside Koike Oxygen Industry Co., Ltd. (72) Inventor Yasuhiro Koike 3-35-16, Nishi Koiwa, Edogawa-ku, Tokyo Koike Oxygen Industries Co., Ltd. 100-1 Kobe Steel, Ltd. Fujisawa Plant

Claims (5)

[Claims] 1. A traveling vehicle traveling on a workpiece to be welded along a target welding line, a welding torch mounted on the traveling vehicle and welding the target welding line, and detecting an inclination of the traveling vehicle. A welding device comprising: a tilt detecting member that generates a signal; and a control device that changes a driving condition of a welding torch or a speed condition of a traveling vehicle in accordance with a signal from the tilt detecting member. 2. The welding apparatus according to claim 1, wherein the inclination detecting member detects at least an inclination of the traveling vehicle in the front-rear direction. 3. The control device sets in advance the inclination angle of the traveling vehicle as a plurality of ranges and stores welding condition data including welding torch driving conditions or traveling vehicle speed conditions set for each range. When a signal from the inclination detecting member arrives, data of welding conditions corresponding to the signal is read out from the storage unit, and a welding torch is driven or a traveling bogie is driven based on the data. The welding device according to claim 1, wherein the welding device is controlled in a manner as described above. 4. The welding apparatus according to claim 1, wherein the welding torch is a welding torch for performing MAG welding, and a plurality of welding torches are mounted on a traveling vehicle. 5. The vehicle according to claim 1, wherein the traveling vehicle has a touch sensor that comes into contact with a groove surface forming a target welding line, and is configured to travel based on a signal from the touch sensor. The welding device according to claim 1.