JPS60261673A - Mobile type fillet welding machine - Google Patents

Abstract

PURPOSE:To execute welding automatically and continuously without leaving it unfinished by providing a mechanism which is capable of a linear reciprocating motion along a fillet welding line extending over the range between both switches provided on front and rear end parts of a truck, and making this mechanism hold a welding torch. CONSTITUTION:A link mechanism for converting a driven rotary motion of a driving motor 32 to a linear motion running along a fillet welding line (a) extending over a range between both switches LS1, LS2 is constituted. A wire cable part 42 provided with an arc welding torch 6 on the tip is fixed to a swing arm in this mechanism through clamp fittings, and it is constituted so that the welding torch 6 can execute a linear movement along the fillet welding line (a) by a link motion of the link mechanism. Also, this machine is constituted so that an aimed angle of the welding torch 6 can be set and changed by adjusting a position in the circular arc direction of a slider 22.

Description

[Detailed Description of the Invention] Industrial Application Fields The present invention is mainly related to horizontal fillet welding lines formed by a straight workpiece and a horizontal workpiece, such as fillet welding of an inner wall of a box-shaped workpiece. Both ends of the longitudinal force are applied to both work materials, such as a third wall material, etc.
A mechanism that maintains a constant distance between the trolley and the fillet welding line using an EG welding machine that targets leaks where obstacles exist, and is capable of freely driving and traveling along the tangent line of the internal cutting of the corner. At the same time, each NQe rear end of this truck is equipped with a running vehicle 11.
The present invention relates to a self-propelled fillet welding machine, which is provided with a stop switch and is equipped with a device that automatically connects the curved fillet tangential line with the trolley during one travel G of the trolley.

<Conventional technology> The device I8 was installed in a fixed position.

<Problems to be Solved by the Invention> In the above-mentioned conventional crosspiece of configuration A, regardless of whether the automatic ml contact device described in la is installed at the end of the carriage in the running direction or at the center of the carriage, the fillet bath tangent line A total of 6 unfinished welds (corresponding to the distance between both switches) are created at the end of the switch, and this unfinished weld is done by hand! 1 1 v1 accident had to be carried out.

As a result, the man-hours for welding t8 became two man-hours for automatic welding and technique υ1, and work efficiency did not improve even though a self-propelled welding plate was used.
Moreover, there is a seam in the weld bead, and there is a clear difference in the finish between automatic welding and manual welding.
There is a drawback that it is not possible to weld with uniform quality and appearance over the entire length of the weld line.

In view of the above circumstances, an object of the present invention is to provide a self-propelled fillet welding machine that can automatically perform continuous crisscrossing over the entire length of a fillet weld line without leaving any unfinished material.

Means for Solving the Problems> In order to achieve the above object, the self-propelled fillet welding machine according to the present invention has the constituent sounds detailed at the beginning.
Is there a whirring mechanism in the welding device that allows linear reciprocating motion along the fillet closing tangent across the range between both switches? ◎ Effect> Due to the above-mentioned characteristic structure, the starting point of the fillet weld line (welding starting point)
When the cart comes to a stop position, or when the cart comes to a stop position at the end of the fillet weld line, or at both points, the stop position L
At the same time, the linear reciprocating mechanism 1 is actuated to move the welding torch held by the linear reciprocating mechanism 1 linearly across the range between the front and rear switches along the fillet welding line with respect to the stopped truck. By sequentially performing a linear automatic welding action that causes the welding process to occur, and a self-propelled automatic welding action that causes the welding torch at T to move upwardly along the fillet welding line while keeping the position of the welding torch relative to the dolly fixed at a constant position. , continuous welding can be performed over the entire length of the fillet weld line without leaving any unfinished material.

<Examples> Examples of the present invention will be described below in detail based on the drawings.
Figures IJ1 to 3 are side views of the entire welding machine, which is roughly divided into a driving traveling carriage (1) and an automatic welding device (3) mounted thereon. 1r [recording truck (1
) has left and right running wheels (71,+?'l'e) at the front and rear positions of the underframe (170), of which either pair of front or rear wheels (7) are mounted and fixed on the underframe α. DC motor (
8) Appropriate transmission mechanism (details are omitted because it is well known).

)? The drive wheels are connected to each other through the drive wheels. At both front and rear ends of the dll marking frame (IA) in the running direction,
As shown in Figures 4 and 5, the motor with brake (91
, (n) and linear heads (tol, flφ) that can be driven linearly to the outside of the truck (1) along a horizontal plane and perpendicular to the traveling direction of the truck (1). The sliding frame D') * surface is provided in such a state that the maximum protrusion Lma
II) The straight work material (wl) and the horizontal work material (W) are temporarily attached at right angles or nearly right angles to each other so as to form a horizontal fillet weld line 1al at the tip of I (115). , a guy V roller (2A), c2, which contacts one side of the vertical work material 6v1) and rotates in sliding contact with it as it travels.
(to) is pivoted, and these are Idorov C2~,
(X)e each sliding frame (It), (11'),
By contacting the vertical workpiece ← in a large protruding posture, the entire bogie fi+ is slightly inclined in the longitudinal direction of travel with respect to the fillet weld line 1al, as shown in FIG. By driving and traveling in the posture, the workpiece is moved vertically to the cart (f1) (by applying a force to move it to the W-side, the cart is moved to the horizontal direction).
A mechanism f21241&6 is provided to keep the distance between the fillet weld line 1al and the fillet weld line 1al constant. In Figure 5 (LSD),
(LSJ and Higame84), (t, S4') is the sliding frame (10e 00 is pulled to the maximum arrow position @VC!
5. When moved, 7-ta (υ), (this is a limit switch that automatically stops the target. Also, 's'J period frame (IA)
Motors (91, (I/1
and linear head circle, (1 [01 with downward motion that blooms slightly forward and backward from 1] limit switch α, Sl for automatic travel stop linked to DC motor (8)), α, 82
) is installed.

Therefore, on the underframe (IA), install both the limit switches α, so + LS2) i- at a position closer to the front of the vehicle than the bisector of i6, as shown in Figure 6 and Section 7. A frame member is fitted and supported along the guide rail O, which is slidable in the lateral direction with respect to the traveling direction. At the same time, the nut body Q4) attached to this slide crusher is screwed onto the threaded shaft (1b) which is rotatably held on the side of the guide rail C through the operation part α5c. The position of the slide frame 0'4'x can be adjusted in the lateral direction (E direction in the drawing) by rotating the screw shaft θ. This slide frame (vertically movable 1iIr frame 0η that is fitted to the upper S of the cylindrical member Q that is erected from
Rotation E1 working part (screw shaft θ8 with 18~) 'tr rotation can be freely pivoted and held, and the female screw part formed near the upper part of the cylindrical member (16) marked IArJ - all the above screw shafts ◇
→ is screwed together, and the vertically movable frame (Iη) can be vertically adjusted in the vertical direction (rolling direction in the drawing) by rotating the screw shaft θ barrel. The inclined slide guide frame tpiH is fixedly connected to the axis of the screw shaft 1211 with an intersection angle of 4011i!' to the axis of the screw shaft. A tooth portion (23A) along an arcuate surface is attached to the arcuate slider 021 which is freely fitted and held.
The rack body (B) having a rack body (B) is fixed thereto, and a pinion gear (23A) that engages and interlocks with the teeth (23A) of this rack body 3) is entirely rotated toward the slide guide frame 1211 side.
The slider (22 +
The fixing operation bolt 00'lk is screwed into the slider 021 in the arc direction (by rotating the pinion gear 0- and releasing and tightening the bolt circle).
The structure is configured such that the position can be adjusted in directions (in the drawing). The tip of this slider is fixedly connected via a group of bolts, and the cylindrical bracket is fully fixed to the upper end of the frame C81.
The rotating shaft G is rotatably supported on this cylindrical bracket υ via a bearing as shown in Figs. 9 and 10.
A forward/reverse rotation motor t321'i is directly connected to one end of il+, and a crank arm t3311r is fixedly connected to the other end of the rotating shaft Cl1l of [filJ, and one end in the longitudinal direction is pivoted to the free end of this crank arm (c). A long groove (to) along the arm longitudinal direction is formed at a position near the other end of the swing arm AC141 of the connection, and a slide F is formed in the long groove (to) of C.
The crank arm (2) is rotatably supported via a radial bearing C181 on a shaft c171 which is fixed and protrudes from the bottom +11# part of the frame (2). Turn on the switch (4α) that controls the rotation of the motor (to) in response to the cam r3α fixed to the cam r3α fixed to the crank arm and the swing arm.
, a link mechanism (6 ).In this link mechanism t5), the clamp fitting 01 is attached to the swing arm 6 of RIItl.
11 with an arc welding torch (6) at the tip. The welding torch (6) is configured so that the welding torch (6) can be linearly moved along the fillet weld line (&l) in the above-mentioned range by the link motion of the link mechanism (6), and the tightening is fixed. , when the slider is positioned in the arc direction, the welding torch (6
) is configured such that the aiming angle (ω'4tv constant) can be changed.

The fillet welding operation (sequence) of the inner wall of the box by the self-propelled corner self-welding machine that failed as described above is as shown in 4J1111 Figure 0)-(E), and Figure 12 is the timing chart. However, this is mostly VL, to be clear, welding start point preparation → start of first half welding by the 11th step of the swing arm (to) → end of jt1 half welding by stopping the swing arm (center) forward → Intermediate welding due to advancement of truck +11 → End of intermediate welding when truck [1) stops moving forward → Start of second half welding due to lrf advance of swing arm (to) → End of second half welding due to h11 advance of swing arm βD → Retraction of swing arm ■・Automatic production w1 is performed in the following order: stop at the center. On the other hand, in the self-fII welding equipment (3), as shown in the timing chart of Fig. 12, shield gas preflow is performed several seconds before the start of the first half welding due to the advancement of the swing arm C141, and then the arc starts. This continues from the end of the second half of welding when the swing arm stops moving forward until after the crater treatment for several seconds, followed by an afterflow of shielding gas. In addition, l! of the bogie running direction! Guide rollers (2A) located at both ends after IT
), (For 21°・1, the rear end of the idle roller C21o, which is retired at the stage of preparing the welding start point, moves to the maximum protruding position during welding in the first half of the swing arm (toward). During the second half of welding due to the forward movement of the swing arm, the front end guide roller ψ~ moves backward from the maximum protrusion position to the minimum protrusion position so as not to interfere with the forward movement of the torch (6), and then swings further. While the arm is retracting, the OL is now at the maximum protrusion position.

The following embodiments will be described.

[Li) A horizontal workpiece (permanent magnet or electromagnet t-+j- which can generate a magnetic attraction force between the horizontal workpiece (W) is placed near the bottom of the underframe (1→) in the above-mentioned trolley (1) and the workpiece of the trolley fl) It has the advantage that the traveling positioning is strong against the fillet weld line (ILI), and the distance maintaining function from the fillet weld line (ILI) can be performed very stably.

L lees The link mechanism (51't-automatic welding equipment @ (
If 3) is provided at the bisecting position between the automatic travel stop switch (LSI) and (LS2) on both the front and rear shoulders as in the above example, the amount of advance when welding the first half of the swing arm It is sufficient that the amount of advance during welding in the second half is equal to
It has the advantage of simplifying the rotation control system of the swing arm-drive motor, but
It may be provided anywhere between (LSI) and (L82).

[1 [1] When the welding torch (6) is in a state where the trolley (1) is not running, switch 1iIII (Lsg, color 8).
As the mechanism (5) for linear reciprocating movement along the fillet weld line 1al l over the range of 2), a link mechanism such as 7t shown in the above embodiment is suitable from the viewpoint of structure and stability of movement. Although this is also optimal, other mechanisms (not shown) may also be used.

<Effects of the Invention> As is clear from the detailed description above, the present invention has the following advantages: (1) As with the inner wall of a box-shaped workpiece, the fillet weld line has a small length in the longitudinal direction (both at one end). Even when dealing with workpieces that have areas that cannot be automatically welded, the linear movement of only the welding torch via the linear reciprocating mechanism r allows automatic welding of areas that cannot be automatically welded in the direction of carriage travel. Welding can be performed automatically and continuously over the entire length of the fillet weld line without leaving any unfinished material.

(2) Therefore, there is no need for manual welding at all, significantly increasing work efficiency, which not only reduces work costs and saves labor, but also (3) makes the weld bead seamless, allowing for seamless welding over the entire length of the weld line. (4) It is now possible to expect a weld with a good finish and a good appearance.

[Brief explanation of the drawing]

Fig. 1 is an overall front view showing one embodiment of the present invention, Fig. 2 is an overall side view, Fig. 8 is an overall plan view, Fig. 4 is an enlarged partially cutaway front view of main parts, and Fig. 5. are the same plan views, Figures 6 to 8.
The figures are a partially cutaway enlarged front view and an open side view showing the torch A adjustment mechanism, a cross-sectional view taken along the line - vIi in Fig. 6, Fig. 9, and Fig. 1.
Figure 0 is an enlarged side view of the link mechanism and Figure 9 is a vertical sectional view taken along line x-x41, Figure 11 (A)-(I) is a schematic diagram showing the operating sequence, and Figure 12 is a timing chart.fl)・・・
....Dolly, (2) ..... Distance holding mechanism, (2
A), (2A)...Guide 'roller, (3
)... Automatic welding device, (5)... Link mechanism, (61... Welding torch, (LSI),
582)...Automatic travel stop switch, (al
...Fillet weld line. Procedural Amendment Work Form) October 11, 1980 1, Indication of the Case 1982 Patent Application No. 118657 Showa Year No. 2, Name of Bacteria Load Self-Propelled Fillet Welding Machine Name (Name) (511 ) Hitachi Zosen Corporation (and 1 others)
Name) 4. Agent Address: 530 Address: Yamasaki Building, 9-23 Usagano-cho, Kita-ku, Osaka-shi, Osaka Prefecture, Kokinuwaso d Sakobu ψ September 25, 1980 (Delivery date) 6. Details subject to amendment 7. Contents of the amendment as shown in the attachment 8. A document that accurately describes the brief explanation of the drawings in the catalog specification of the attached documents 1
Brief description of the drawings Figure 1 is an overall front view showing one embodiment of the present invention.
The figure is an overall side view, Fig. 3 is an overall plan view, Fig. 4 is an enlarged partially cutaway front view of important parts, Fig. 5 is the same plan view, and Figs. 6 to 8 show the torch adjustment mechanism. Partially cutaway enlarged front view,
Same side view and. Figure 6 is a sectional view taken along the line ■-■, Figures 9 and 1O are an enlarged side view of the link mechanism, and Figure 9 is a longitudinal sectional view taken along the line X-X, and Figure 11 is the operation status of each part in the order of fillet welding operations. FIG. 12 is a timing chart, which is a diagram showing this using outline lines. (1) is a trolley, (2) is a spacing maintenance mechanism, (2A) and (2
(person) is a guide roller 5 (3) is an automatic welding device, (5) is a link mechanism, (6) is a welding torch, (LSI) l (L
S2) Hull line automatic stop switch, (a) is the fillet weld line. 405

Claims (1)

[Claims] ■ A cart that can be driven freely along the fillet weld line IJLI (
1) is equipped with a mechanism (2) that maintains a constant distance between the trolley (1) and the fillet weld @l&l, and a switch for automatic travel stop is installed on each of the front and rear pads of the trolley (1). (
Lst), (LSI) 1' is provided, and the truck +
11 is equipped with a device (3) that automatically welds the fillet weld line as the drive travels.
At No. a, the automatic welding device (j) t11 [then, linear reciprocating motion along the fillet welding line (!L1) over the range between the two A mechanism (6) is provided, and a welding torch (6) is attached to this mechanism (6).
A self-propelled fillet welding machine characterized by a holding function. ■ A patent in which the mechanism (6) is composed of a link mechanism that converts drive rotation movement into linear movement of 1gIIve*yI
The self-propelled fillet welding machine according to item 0 in the range e. ■ Mechanism 1B) 'r: Including welding device (31 is l
The self-propelled fillet welding machine according to claim 9, which is provided in a two-part position between the two switches (LsQ, a, s2). , at both front and rear ends of the truck 11) in the running direction! ! if [work material Q/1)
Guide rows 20~. The self-propelled fillet welding machine according to claim 0, wherein the self-propelled fillet welding machine can be configured to make a difference in the amount of protrusion from the truck +11 of the 0th station. ■ The automatic vehicle according to claim 0, wherein the trolley (1) is provided with a mechanism capable of changing and fixing the aiming angle (f/) of the welding torch (6) in the @dynamic welding device (3). Traveling fillet welding machine.