JPS60221182A - Assembling and welding device of turbine diaphragm nozzle - Google Patents

Abstract

PURPOSE:To provide a titled device which performs automatic assembling and welding by controlling correlatively mechanisms for an assembling and welding robot which grips the nozzle on a supply conveyor, disposed the same in a prescribed position and executes welding, a rotary table for indexing the inside and outside rings of a lower welding robot for the nozzle and a welding power source. CONSTITUTION:The nozzle 3 on a conveyor 7 is gripped by the assembling and welding robot 6 and is disposed to the prescribed position of inside and outside rings 1, 2 indexed by the rotary table 4 for indexing. The upper weld zone is welded by the robot 6 and the lower weld zone by the lower welding robot 5 under the control of the welding machine. Since all the mechanisms thereof are automatically controlled, the welding operation is made better and sure and the reliability and dimensional accuracy of the weld zone are improved.

Description

Detailed Description of the Invention [Field of Application of the Invention] The present invention incorporates inner meshes of an outer ring and an inner ring that constitute the entire turbine diaphragm according to the number of nozzles that are the materials to be welded, and furthermore The present invention relates to a welding device for performing fillet welding.

[Background of the invention]

Conventionally, the installation position of the nozzle was determined by temporarily assembling the inner ring and outer ring, integrating them, and then marking them using a compass, doscan, etc.
It is as large as 0 mm, and it is very difficult to divide it into arbitrary equal parts accurately, and it takes 12 to 16 hours and requires the skill of the liner. In addition, the assembly work is
The weight of the nozzle alone is heavy, ranging from 40 to 60 kg, which poses major problems in terms of internal physical burden and safety. On the other hand, welding work requires preheating to 250℃ because the nozzle is made of 13CR material, and the distance between the nozzles is narrow, so it is difficult to properly weld the welding area while watching the arc tip during bath welding. There were problems such as poor workability and having to take a welding position such as lying on the preheated product.

[Purpose of the invention]

Assembly and welding equipment that enables labor-saving assembly and bath welding work
is to provide.

[Summary of the invention]

The dispersing device of the present invention has a nozzle supply conveyor that centers the nozzles in a fixed position and continuously supplies the nozzles to the nozzle end position of the robot, a hand that grasps the nozzles from the nozzle supply conveyor, and a welding function company. An assembly welding robot with a handle and a bath welding robot that performs welding from the bottom of the product.
Nozzles are automatically and continuously assembled and welded to the inner and outer rings of a turbine diaphragm using a device consisting of a welding machine and a turning table that divides the nozzle mounting positions on the outer ring into arbitrary equal parts.

[Embodiments of the invention]

An embodiment of the present invention will be described below with reference to FIGS. 1 to 6.

The water device ftri consists of a nozzle supply conveyor 7, a nozzle assembly/bath contact robot 6, a nozzle installation position indexing turning tape/L-4, a welding robot 5, and a welding power source.

FIG. 1 shows the structure of a turbine diaphragm.

The turbine diaphragm is composed of an outer ring 1, an inner ring 2, and a nozzle 3, and the nozzle 3 is installed at a position where the inner and outer rings are equally divided. Figure 2 shows a cross section taken along the I-Wata arrow in Figure 1;
Fillet welding between the outer ring and the leg length of 6 mm is performed by TIG welding or MIG welding. In section a, the welding torch cannot be moved to the functional section of the robot's wrist, so after assembling all nozzles and completing welding in section b, the welding robot will assemble and weld.

FIG. 3 shows a cross section taken along the line mm in FIG. 1, and shows the inner ring and (il
Fillet bathing 'kTIG or MIG with leg length of nm
This is done by welding. The working method is the same as described above.

Note that the mm cross section is smaller than the nm cross section, and the pinch between the nozzles is narrower.

4 and 5 show the configuration of the turbine diaphragm nozzle assembly and welding device, with FIG. 4 showing a plan view and FIG. 5 showing a side view.

In FIG. 4, the outer ring 1 and the inner ring 2 are correctly aligned and identified at the center of the nozzle mounting position indexing turning table 4. The nozzle 3 is assembled on the nozzle supply conveyor 7, and set in such a state that the bath robot 6 can always grip the nozzle under the same conditions. When you enter the number of nozzles n on the nozzle installation position housing index turning table operation panel, the table h
After rotating for 7n, an operation command is given to the assembly/welding robot 6, and the assembly/welding robot grasps the nozzle from the nozzle supply device, transfers it between the inner and outer rings fixed to the table, and assembles it. The welding robot 5 placed inside the bit receives the assembly completion signal and performs welding. The nozzle mounting position indexing turning table is set so that the welding robot 5 can weld the table side, that is, the lower side, of the set turbine diaphragm.
A window is provided on the table surface. This structure eliminates the need for reversing the product, changing setups, and re-teaching the robot due to setup changes. The pit 8 is for installing the welding robot 5 for the purpose mentioned above.

Figure 6 shows the position (assembly origin) where the first nozzle is attached to the inner and outer rings of the turbine diaphragm and the inclination of the nozzle before starting the interlocking operation of the main iron alignment of the device explained in Figures 4 and 5. The operator should instruct the nozzle installation position by pressing the indexing origin set button (assembly origin) on the turning table operation panel. Next, the assembled Φ bath contact robot is operated independently, moved to the nozzle supply conveyor, gripped the nozzle, moved the robot to the first nozzle marking position set by the operator in advance, and adjusted the nozzle inclination, etc. Please write it according to this marking line. From the next step, the device enters automatic operation according to FIG.

The control of the nozzle installation position indexing turning table has the function of centrally controlling this system, and all operations of the assembly @bath contact robot and the bath contact robot are performed through the control panel of the nozzle installation position indexing turning table. . By pressing the table automatic instruction button on the nozzle installation position indexing turning table control panel, a signal is sent in the direction of the arrow in the figure, that is, to the assembly/welding robot and the welding robot as a robot start command. Next, press the work process selection button on the control panel. What is work process selection?
As explained in Figs. 2 and 3, the inner and outer rings of the diaphragm and the nozzle are generally fillet welded with a leg length of 6 m (111 m), but depending on the needs of the robot 11 (?
I have taught the welding conditions for IJ 41ff type.
crti - Used when selecting. Next, by specifying and inputting the number of nozzles installed on the control panel, that is, the number of divisions, and fully depressing the table operation (rotation) button, the table determines the index rotation position by one of the number of nozzles installed. The positioning completion signal is output to the assembly fist welding robot, which becomes the robot's start signal.The robot then moves to the nozzle supply conveyor position according to the trajectory taught before automatic operation, and after stopping, grips the nozzle and moves it to the nozzle pick-up position. After installing the nozzle between the inner and outer rings fixed on the indexing table,
The output of the completion of assembly is sent to the nozzle installation position indexing table control panel, and the control panel A41 outputs it as a start signal for the welding robot.The robot starts operating according to the taught trajectory, and when the bath welding start point is reached, the instruction to turn on the arc is sent to the welding power source. Served on.

Welding cycles preset on the welding power source side,
That is, the shielding gas is flowed and the AVC (Automatic
ic Voltage Control System
em ) moves and in the case of TIG welding, the tungsten electrode descends and contacts the material to be welded, at the same time the arc is ignited.
As soon as the wire starts to be fed tL, the welding robot performs welding according to the taught trajectory. Similarly, the welding robot is taught a signal indicating that the fc welding end point has been reached.
By outputting to the power supply measurement, the total bath current is gradually lowered and the wire supply is stopped to perform V-tar processing. Also, the wire feeding device kk is reversed to prevent the wire tip from welding. By outputting a signal to the welding robot indicating that the shielding gas for afterflow has stopped, the welding robot returns to the operating origin, and the nozzle installation position indexing table is filled with data for indexing the next nozzle installation position. Signal to start rotation? Output. The subsequent operations are repeated for the number of nozzles, and when all the nozzles are assembled and welded, this #c@ automatically stops.

〔Effect of the invention〕

According to the present invention, it is possible to improve the working environment, improve the reliability of the welded part, and improve the dimension n1 degree.

[Brief explanation of the drawing]

Figure 1 is a structural diagram of the turbine diaphragm, Figure 2 is a detailed diagram of the welding part on the outer ring side, Figure 3 is a detailed diagram of the welding part on the inner ring side,
Figure A4 is a plan view of the turbine diaphragm nozzle assembly/bath contact equipment, Figure 5 is a side view of the equipment, Figure 6 is WctIt.
FIG. 3 is an explanatory diagram of the overall control method. 5...Bath contact robot, 6...Assembly/bath contact robot. Agent Patent Attorney Akio Hatahashi 2nd office 3rd country 4th office

Claims (1)

[Claims] 1. When assembling and welding a nozzle of a turbine diaphragm, a conveyor for supplying the nozzle, a robot for assembling and bathing the nozzle, a turning table for indexing the installation position of the nozzle, a welding robot, and a welding power source In the apparatus constructed, the turbine diaphragm nozzle, which is the material to be welded, is assembled at a position where the inner and outer diameters of the ring are arbitrarily divided into equal parts. A turbine diaphragm nozzle assembly and welding device characterized in that the bath welding work is synchronized with the index turning table and the two welding robots placed above and below! .