JPS58138574A - Pipe welding machine - Google Patents

Abstract

PURPOSE:To join pipes of any shapes, by constituting a torch driving mechanism of a member which is capable of moving in the circumferential direction, the axial direction and the radial direction of a pipe to be welded, a turning shaft being parallel with the shaft, and a moving shaft to which a welding torch for turning in the falling direction against the turning shaft has been fitted. CONSTITUTION:A torch driving mechanism of a pipe welding machine is constituted of a member which is capable of moving in the circumferential direction, the axial direction and the radial direction of pipes to be welded 2a, 2b, a turning shaft 15 centering around one shaft being parallel with the shaft of the pipes 2a, 2b, and a moving shaft 12 in the falling direction against this turning shaft 15. Accordingly, it is possible to make a welding torch 1 take every attitude, and also the torch driving mechanism is fit-installed to the pipes to be welded 2a, 2b, therefore, accessibility to a weld, of the torch 1 can be solved. Moreover, a numerical control system is adopted, automatic welding can be executed.

Description

[Detailed description of the invention] [Invention? III Cost] The present invention is a pipe Sm suitable for dynamically welding a curved part.
Regarding machines.

[Technical background of the invention]

In general, when joining members that both have curved surfaces, such as pipes, the joining part of the joint is 8-dimensional curve - and 1k. Do some welding. Recently, general-purpose welding robots such as those shown in FIGS. 1 and 2 have been proposed that automatically weld curved sections.

In other words, for these welding 11m pots, place the welding torch l on the flame 5r in the left-right direction X1 in the front-rear direction! , is supported so as to be movable in the vertical direction 2, so that the torch 1 can be moved along the curved line 1lliiIIK.

[Background technology]

When joining the pipes 2 movably supported by the support base T4C using a bath welding robot as shown in FIGS. 1 and 2 above, welding on the side opposite to the installation side of the robot
When welding along line 8, the torch 1 must be guided and controlled by cutting through the pipe.
It is. Shut up, hand lv! q;);, な;・There was one point where it could not be automated with an umbrella,
It is not possible to improve device efficiency.

[Purpose of the invention]

Therefore, an object of the present invention is to provide a pipe welding machine that can automatically and quickly join together pipe materials of any shape along the 1% nucleus fusion.

[Structure of the invention]

In order to achieve the above objects, the present invention includes a member that is movable in the *mva pie direction, axial direction, and radial direction, and that is rotatable in the tilting direction with respect to the a1 rotation axis parallel to the above axis and the wII rotation axis. A torch drive mechanism is formed by the movable shaft to which the 91W contact torch is attached, and this torch drive mechanism is connected to the flN1! The gist is that it is constructed so that it can be fitted onto the outer periphery of the A-b.

[Example of Actual Invention] Next, the actual I/1fl# of the present invention will be explained by referring to FIGS. 8 to 8 as sand layers.

Figure 8 is a cross-sectional view of the pipe welding machine according to the present invention, Figure 4 is a plan view, and Figure 6 is a side view.
# To be welded pipes, these pipes to be welded im,! b
is the 8th dimension - melting with a line 1! ! l! Welded along 8.

And, one *gm bike 2aK is fitted with a pipe bath welding machine. In this #I bonding, a ring-shaped rail 6 is fixed to the outer periphery of the ring-shaped adapter 4 fitted to the pipe 2a, and 1! [Number of small wheels 6
．． A ring-shaped frame 7 is attached via a ring-shaped rail 60, and a motor 8 is attached to this frame 7. The ring-shaped frame 7 rotates on the rail 6 by driving a motor 8 with a ring gear KW (not shown) mounted on the circumference.

The frame 7 has 92 ring pieces 7 arranged vertically at intervals. a and connecting rods 7a for connecting these two pieces.

Then, a base 9 is placed on the 111th side of this ring-shaped 7V
is fixed, and the base (2) is configured to rotate integrally with the ring-shaped frame member (2).

Further, a support plate 1G is attached to the base s6c, and this support plate 10 is connected to the motor 19 shown in FIGS. 4 and 6.

One feed) connected to this motor 19 by screw b1.

The pipe to be welded 2a can be moved in the ``local direction'' and the wrapping direction IKII. l! ! Support [10K is 11
1 is soaked, and the motor field fixed to the upper surface of the support plate 10, and the motor 20, 11'
Connect, feed) Me connection pipe with screw b! Axial direction zK of a! The middle spear 11 is guided by guide rods g, g), and one end of the arm 12 is fixed to the middle spear 11. The base 9, The support plate 10, motor 19% noodles, etc. constitute a holding mechanism for holding the arm.

At the tip of the arm 12 above is a gear box 1m1-11.
A motor 14 is installed on the gear box ls, and the motor 14 is used to drive the gearbox 11 in both the working direction and direction 2 of the intermediate gear 11 and the central axis direction of the #lIl pipe 2a. A shaft 15 parallel to the above is centered downward from the gear box 13, a gear l11g is attached to the lower end of the shaft 15, and a holder 17 and a motor 18 are attached to the shaft 15. Therefore, the nine torches held by the torch holder 17 are rotated by the rotation KPP of the axis 15''. By rotating the friend motor 18, the gear 1'16
- This causes the torch holder 17 to be driven via the torch IK! [The inside of the full pipe 21 is angled with respect to the 6 axes.]

The gear box 13, shaft 15, torch, holder 17, motor 14, 18, etc. constitute a support mechanism for supporting the torch.
It becomes possible to control the torch posture as shown in FIG. That is,
1! i-welded pipe! If the orientation of the torch l with respect to any connection 418 on a is 1 minute AB, then this - minute B is the angle of hip rotation - 1 radial axis R 1 perpendicular axis 2 . Swing axis angle α, tilt axis angle! regulated by six lI8 of
These six axis angles are the rotation of the ring-shaped frame member, the sliding of the base 10, the sliding of the middle wheel 11, and the 11! of axis II, respectively. This corresponds to the rotation of the torch holder 17 and the rotation of the torch holder 17.

FIG. 7 also shows the motors 8.14. for changing the six shaft angles mentioned above. IIl, 19. It is a memory device that shows the drive circuit of 20 and stores the path and attitude data of the torch l). As a signal, the torch IK predetermined! It is possible to take a predetermined torch posture along IimK. 21 in Figure 1
is a jettance controller, and this sequence controller 21 is used to control a welding power source, wire feed line, gas, water, pulp, etc. (not shown).
Ru.

Incidentally, the structure KTo shown in *s, v to 111th is.

The amount of offset of the rotary axis of the torch holder, which is the 1-tavo indented torch control point during torch attitude control, is 1, but when calculating the torch path, the amount of offset due to the torch attitude shown in FIG. 8 is Δ2. This can be solved by incorporating ΔR1Δθ into the route calculation.

Incidentally, in Fig. 8, there is a semi-slight horizontal component l between the support point S of the torch and its tip, and an axial horizontal component f between the support point S and the torch tip. In this case, the vertical displacement ΔZ of the torch tip, )−the distance ΔR between the torch tip and the circumferential surface of the pipe 2a, and the pivot axis angle Δ# are given by the following equation.

g Cell a 313Δβ11 CO3Δ61e-t・
sinΔβ Δfi x tll BijΔ/(1-ssΔa)Δ
Edit a= - ICJaqi1' imagine the barrier R+ΔR Δz=t・(1−(2)Δβ ) [Modification of the invention] The configuration shown above is one of the real rights of the present invention! For example, as shown in Fig. 9, a configuration for controlling the torch posture is shown in Fig. 9. The torch posture is controlled by the radial component angle ξ of the radial line passing through the corner point, and this is controlled by the structure beyond the tip of the arm 12, that is, the gearbox 13. motor 14
, axis Is, @car box 16, torch holder 17, etc., can be achieved by making slight modifications.

〔Effect of the invention〕

As is clear from the above description, according to the present invention, there is a pivot axis centered on the local direction, axial direction, half-value direction of the welded pipe, and one axis parallel to the axis of the pipe, and furthermore, this pivot axis. A torch drive mechanism is formed by a movable axis in the direction of tilting against the torch, allowing the wearing torch to take a wide variety of postures.

And the above torch drive mechanism is applied! By attaching the torch to the pipe, the approach of the torch to the welding part can be solved, and by using a numerical control type, automatic welding is possible, which dramatically improves work efficiency. Play advantage.

[Brief explanation of drawings]

1 and 2 are perspective views showing a conventional pipe welding device, FIG. 8 is a perspective view showing an embodiment of the pipe Sm machine according to the present invention, and FIG. 4 is a plan view of the same welding machine. Figure 6 shows the side of the same M slope Lll! Figure 6 is a schematic perspective view showing the control shaft configuration of the Mljk type, Figure 7 is an ayp diagram showing the configuration of the control device of the Mljk type, and Figure 8 (a) is the torch figure 4111Ifj4f.
FIG. 8(1) is a plan view showing the offset method of the s structure, FIG. 8(1) is a four side view showing the same offset method, and FIG. 9 is a perspective view similar to No. 61A showing a different example. , l...Torch, 2b% 2b...! 11 Welded pipe, 8... Welded line% 4... Adapter, To rail, 6... Small wheel, 7... Link-shaped frame,
8.14.18.19.20...Motor% 9...
Base, 11... Middle Yaria, +2... Arm. 13・i・gear box, 15・・temple axis% 16・・gear box, 17・・torch holder, 21・・φ sequence controller, 22・・motor drive device, n・・
- Input/output interface. S...Microprocessor-125...Storage device. Applicant's agent Kiyoshi Kusunoki Figure X AlJ 2 Figure 3 Figure #74 Figure 51 Figure 6 Figure 7 Figure 6 (aJ (1-)

Claims (1)

[Claims] 1. A frame that rotates in relation to the plane of the pipe to be welded, and a frame that is supported by the frame. A holding arm that holds the base of the arm that holds the torch so as to be movable in the vertical direction and in the local direction of the pipe to be welded, and a support mechanism that is attached to the tip E1m of the arm and supports the torch in a rotating and tilting manner. A pipe Sm machine characterized by: The arm is rotated through a small ring around the circumference of the pipe, and the holding mechanism is configured to move the arm by means of a screw mechanism rotated by the layer.
1! A pipe connecting machine according to claim 1.