JPS6056487A - Automatic welding method of cylindrical work having arc shaped corner part - Google Patents

Abstract

PURPOSE:To weld surely the straight part and corner part of a joint part and to improve welding operation by positioning a welding torch to face the joint part between a work and end plates and welding said part while moving forward, backward, upward and downward and rotating the work. CONSTITUTION:A welding torch 71 is positioned to face the joint part between a cylindrical work 2 and end plates 3, 4, and the work 2 is advanced to weld the straight part. While the work 2 is rotated around the welding center, the work is lowered and retreated and the first half part at the corner 2b of the joint part is welded. The second half part is welded while the work 2 is rotated around the welding center and is moved upward and backward. The straight part and corner part 2b of the joint part are thus surely welded and the welding operation is improved.

Description

[Detailed Description of the Invention] [Field of Industrial Application] The present invention relates to an automatic welding method for a cylindrical workpiece having an arcuate corner portion for welding an end plate to the cylindrical workpiece having an arcuate corner portion. Ru.

(Prior art) Square cylindrical columns with arc-shaped corners are increasingly used in steel-framed buildings, etc., and they are used to connect columns between columns and between columns and beams on each floor. In some cases, a joint body is used in which end plates are welded to both ends of a rectangular short cylindrical joint main part with arc-shaped corners.However, conventionally, end plates are welded to both ends of the joint main part. It is common to weld by hand, which has the disadvantage of poor welding workability.
There is a strong need for the development of an automatic welding method that can be done in seconds.

[Purpose of the invention]

The present invention has been made in view of the above circumstances, and an object of the present invention is to automatically and reliably weld an end plate to a cylindrical workpiece having an arcuate corner, thereby improving welding workability. An object of the present invention is to provide an automatic welding method for a cylindrical workpiece having an arcuate corner portion.

[Summary of the invention]

In the present invention, a welding torch is applied from above to a joint between a cylindrical workpiece and an end plate, a straight part in the joint is welded by advancing the cylindrical workpiece, and a corner part of +5 at the joint is welded by advancing the cylindrical workpiece. The first half of the cylindrical workpiece is welded by moving the cylindrical workpiece M around the welding center while lowering and retreating. It is characterized by a configuration in which welding is performed by raising and retreating while rotating it,
Accordingly, there is a method in which the straight portions and corner portions of the joint are always welded from above at a constant speed.

(Embodiment) An embodiment of the present invention will be explained below with reference to the drawings.

First, we will describe the steel-framed architectural structure according to Figures 1 and 2. Reference numeral 1 denotes a joint part body, which has a rectangular cylindrical shape with a straight line 6112a and an arcuate corner part 2b, which is a cylindrical workpiece, and has square end plates 3 at both ends of the joint main part 2.
, 4 are welded together. In this joint body 1, the upper end of the square cylindrical shaft for the lower floor is welded to the lower end plate 3, and the square cylindrical shaft for the upper floor is welded to the upper end plate 4. The lower end of the company 6 is welded 83, and further,
The end faces 1, - of each side of the end plate 3.4 are welded to one end of each of the brackets 7 to 9 over both sides. A beam (not shown) is fixed to the other ends of the brackets 7 to 9 by bolting or the like.

Now, an automatic welding apparatus for attaching the end plates 3 and 4 to both ends 81 of the joint main part 2 in the joint body 1 with a shuttle will be described with reference to FIGS. 3 to 17.

3 and 4 show a plan view and a right side view of the overall configuration, in which 10 is a base, 11 is a work support mechanism disposed at the left front end of the base 10, 12 is a workpiece control mechanism disposed on the right side of the base 10, and 13 is a base '1
A torch control mechanism section 14 disposed at the rear end on the left side of 0
is a control box erected at the front end of the center side of the base 10.

First, according to FIGS. 3 and 4, the workpiece support mechanism section 11 is
Let's talk about. ] 5 is an Ic fixing stand which is erected on the base 10, and its upper surface is formed into a substantially V-shape having an inclined surface 15a which is sequentially downwardly inclined from the left and right ends toward the center. The angle is set to 45 degrees. A support plate 16.16 having a plurality of flexible rollers 16a is provided on the slope 15a of the fixed base 15. Reference numeral 17 denotes a moving table, the upper surface of which is formed into a substantially V-shape having an inclined surface 17a similar to the above-mentioned inclined surface 15a, and the inclined surface 17a has a support &18.18 provided with a plurality of flexible rollers 18a. It has been installed. The movable table 17 is movable in the left-right direction (in the direction of the arrow Δ and counter-arrow) along one slide rail 19.
has been done.

Next, according to FIGS. 3 to 6, the workpiece support mechanism '1
Regarding 2, refer to "C. 20 is a support frame, which is attached to the slide rails 21, 21 disposed on the base 10 extending in the front and back direction (in the front and back direction (in the direction of arrow 13 and in the opposite direction of arrow B).
The bracket 22 is movably supported at the lower end thereof. A first drive motor 23 made of a DC revo motor is fixed to the front end on the right side of the base 10, and a screw rod 24 is connected to the rotating shaft of this drive motor 23. +124 is screwed onto the brackets 1 to 22 of the support frame 20;
3. The C support frame 20 is moved forward and backward through the screw rod 24 and bracket 22 by the forward and reverse rotation of the first drive shaft 23. Reference numeral 25 denotes a frame for a jack, and the left and right ends of the rear surface thereof are guided by guide mechanisms 26 and 26 to the left and right ends of the front surface of the support frame 20 in the direction of arrows C/'J) and upward. It is supported so as to be movable in the opposite direction of arrow C). 2
7 is chi1? This is a bracket fixed to the center of the 11th surface 13 of the frame 25 for picking. Reference numeral 28 denotes a second drive motor consisting of a DC 4-novo motor fixed to the upper part v11 of the support frame 20, and a screw rod 2 is attached to this rotating shaft.
9 are connected, and the screw rod 29 is screwed to the bracket 27 of the chi 1j ivy frame 25.
The jack frame 25 is lowered and raised via the screw rod 29 and brackets 1-27 by the forward and reverse rotations of the drive motor 2B. 30 is a rotating shaft, which is supported by a support plate 31 disposed inside the jack frame 25 through a bearing 32;
The rotating shaft of a third drive motor 33 consisting of a DC servo motor is connected to its right end, and its left end extends outward through the nozzle side surface of the jack frame 25. is connected to an electromagnetic chuck 34. Note that 35 is an electromagnetic brake disposed between the rotation 11I1130 and the support plate 31, and 36 is a rotation angle detector that is rotated according to the rotation axis 300 rotations (for example, in the direction indicated by the arrow). Further, 37 and 38 are to the sub-button 1 which is rotatably mounted in the support frame 20, and there are
9 is passed, and one end of the chain 39 is connected to the aforementioned chain V.
It is connected to the bracket 27 of the pick frame 25, and a balance weight 40 is connected to the other end of the chain 39.

3 and 4 and FIGS. 7 to 12, the tortoise control mechanism section 13 will be described. Reference numeral 41 denotes a support frame I'LH'A attached to the base 10, and a slide rail 112.42 is provided on the upper surface of the support frame so as to extend to the right. .42 supports a table 43 so as to be movable in the left and right direction. Reference numeral 44 denotes brackets 1 to 1 fixed to the upper surface of the table 43. 45 is -9 to the pulse fixed to the right end of front 1, d support fan 1 node lX/11
A screw 146 is connected to the rotating shaft, and the screw 46 is connected to the plackets 1 to 44 of the table 43.
d3, the step motor 4b rotates forward and backward, causing the daple/13 to move to the right (in the direction of arrow E) and counterclockwise (in the direction of arrow E) through the screw rod 46 and brackets 1-44. It's going to be moved.47,4
．． 7 [3L is a support plate S''L installed on the upper surface 61 of the table 43, and the rear end of the arm 49 is rotatable in the direction through the support 11!11148. Supported. This lifting platform, 1・-chiarm 49
is always urged to rotate downward in the direction of arrow Fh by its own weight, etc., and when the torch arm 49 is rotated downward beyond a predetermined level, the lower surface of the torch arm 49 is pressed against the table 43. It is regulated by coming into contact with an upright stopper member 50. Reference numeral 51 denotes a reducer (=J motor) attached to the left end of the table 43 via a support plate 52, and its rotating shaft is connected to the support plate 5 erected on the table 43.
It is connected to a drive shaft 54 supported by 3 and 53. An antagonistic portion of a cam body 55 is fitted and fixed to the intermediate portion of this drive shaft b4, and rollers 57, 57 are supported at the tip portion of the cam body 55 via a shaft b6. These rollers 57, 57 are adapted to contact the lower surface of the rear end of the torch arm 49. Therefore, when the motor 51 rotates, the cam body 55 rotates and D-
The 1-1 arm 49 is rotated in the direction of the arrow F and the direction opposite to the arrow F through the levers 57, 57. 58 is 1~
- The upper surface part is fixed to the downward part of the front end which is pulled to the cheer arm 49, and is a leveling frame, and the lower end part thereof has a shaft 59 fixed to the left and right direction, and this shaft 5
A copying roller 60 is rotatably supported at the intermediate portion of the roller 9 . 61.6'l is the slide bear 1 nong 62 at the left and right side curved portions of the front end connected to the 1-1 arm 49.
,62(
- frames, and their configurations and the parts explained therein (as they are the same, we will hereafter describe the lift frame 6'1 on the right. That is, 63 is the lift frame 6'1. The upper surface of 01 is a fixed l\ smoke, and a screw 64 is connected to the rotating IQII which is directed upward t. A bearing attached to the front end of the cheer arm 49 (P1 support) and fixed to the blue plate 6t5 (screwed into I6 by 110)
Due to the forward and reverse rotation of the screw motor 63, the frame 61b moves downward and upward via the screw rod 64 and the φ center receiver 66. C is getting older. Or, riff 1 frame (
51 lower part (directed in the front-rear direction - C axis 671fi)
It is rotatably supported on 51.1 of the N cores,
An A-mwheel 6B is fitted and fixed to this shaft 67, and one end of the shaft of the A-muro 9 that engages with this A-mwheel 68 is protruded outwardly. No. 170 is fixed to the protruding end. Reference numeral 71 indicates welds 1 to 1 for holding the guide tube 73 in the holder 72;
The back surface of the holder 72 is fixed to the front end of the shaft 67 so as to rotate together therewith. A welding wire 75 is supplied to the guide tube 73 via a flexible tube 76 from a welding wire supply mechanism 74 disposed at the rear end of the support frame 41, and the welding wire 75 is The distal end of the guide tube 73 always protrudes from the lower end of the guide tube 73 by a predetermined length.

Now, according to FIG. 13, the breakdown of the control circuit housed in the control box 14 will be described. That is, 77 is CPIJ
The input terminals 1a, Ib and )C have external dimension data 3a of the joint main part 2, which is a cylindrical workpiece, and corner part 2b.
Radius dimension data Sr1 and welding speed data SVo are to be input. And this CPIJ 77
is calculated based on these data and the output terminal Oa,
A rotation speed data signal Sn, a vertical speed data signal SV2, and a longitudinal speed data signal SV3 are output from Ob and OC. This rotational speed data signal Sn is applied to the positive (+) input terminal of a C servo amplifier 79 via a -f digital analog (D/A) conversion circuit 78. Further, the rotation angle detector 36 of the third drive motor 33 is a pulse encoder 3 ().
a and an absolute code angle encoder 36b, and the data signal of the pulse encoder 36a is applied to the negative (-) input terminal of the servo amplifier 79 via a frequency-voltage (F/V) conversion circuit 80. The output signal of the servo amplifier 79 is given to the third drive motor 33.
) In U77, the lower speed data signal @SV2 is given to the positive input terminal of the servo amplifier 83 via the digital-to-analog conversion circuit 81 and the switch 82, and the longitudinal speed data signal Sv3 is given to the positive input terminal of the servo amplifier 83 via the digital-to-analog conversion circuit 84 and the switch. 85 to the positive input terminal of the servo anzo 86, ! It is now possible to get Jζ. Also, the data signal from the absolute code type angle encoder 36b is inputted to the ROM 87, 88,
The ROMs 87 and 88 are accessed by these data signals to generate respective function signals, which are applied to the positive input terminals of the servo amplifiers 83 and 86 via analog-to-digital conversion circuits 89 and 90 and switches 82 and 85, respectively. It looks like this. 91 is a pulse encoder that responds to the rotation of the second drive motor 28, and its data signal is sent to the negative (-) input terminal of the servo amplifier 83 via a counter 92 and a digital-to-analog conversion circuit 93, and via a switch 82. Frequency-to-voltage conversion circuit 9
4 and the switch 82 to the negative input terminal of the servo amplifier 83.

95 is a pulse encoder that responds to the 1u rotation of the first drive motor 23, and its data signal is passed through a counter 96 and a digital-to-analog converter circuit 97 and then to the switch 8.
The signal is applied to the negative input terminal of the servo amplifier 86 via the frequency-voltage conversion circuit 98 and the switch 85. and 4) “-Boanbe83
The output signals of 86 and 86 are applied to drive motors 28 and 23, respectively.

Next, the operation of this embodiment will be explained with reference to FIGS. 2 to 14 to 17.

Now, as shown in Fig. 14, a rectangular short cylindrical shape with dimensions "A" (mm) is the external dimension, and the plate thickness (j) is e.
(ml), ml part 2b (7) Radial dimension
1=2, e (mm), welding speed 10 by welding torch 71 is V D (111111/l1lin)
and set it. These data are then converted into external dimension data (ij number 3a, radius dimension data signal 3r1, and welding speed data signal 3v).

The CPU 77 is controlled by a keyboard (not shown).

After temporarily welding 's & 3.4 to both ends of the joint main part 2, weld the joint main part 2 to one of the two Support plates 16 and 1 are attached to the workpiece support mechanism section 11 with the section 2b facing downward.
8 flexible rollers 16a and 78ak:ii are installed. In this case, the moving table 17 is moved left and right according to the length dimension of the joint main portion 2. When the joint main part 2 is mounted and supported on the workpiece support mechanism part 11 in this way, the end plates 3 and 4 are connected to the fixed base 15 and the movable base 1 as shown by the 3rd N: dotted chain line.
The corner portions 2b, 2b4 are located above and below the axis Xz connecting the left and right corner portions 2b, 2b of the joint main portion 2 at J5! : The intersection point Qa with the connecting axis Yl becomes the welding center of the joint main portion 2. In addition, the chuck frame 25 is attached to the electromagnetic chuck 3.
The center of 4 is axis X. It has returned to its original position, which is the intersection ob between and '4@Yo. And star 1 for CPU77
- signal /a-In, and the CPU 77 adjusts the axis X based on the given external dimension data signal Sa, etc. -Xr and Y
o The distance between The center of A is axis Xu and axis X1
At the same time, the first drive motor 23 is rotated forward to move the support frame 20 so that the center is on the axis Y. It is moved (advanced) in the direction of arrow 13 so that it is located at Garasuke Yl. Therefore, at this time, if C is energized based on the command signal of U 77, the center of the electromagnetic chuck 34 is aligned with the welding center Oa of the joint main part 2, and the Q plate is 3
You will be able to check it. After that, CI) U77 will output 8 ports of rotational speed data signal c1.
The third drive motor 33 is rotated forward, and the JI! Next, the electromagnetic chuck 34, that is, the main part of the joint? 9 in the direction of arrow 1]
The main part of the joint is rotated by 0 degrees, and the pair of opposing straight parts 2i1, 2() of the main part of the joint become horizontal. , C.P.
() 77, the first and second drive motors 2
3 and 28 are rotated in the opposite direction to that described above, and the electromagnetic chuck 34, that is, the joint main portion 2, has its welding center Oa aligned with the axis Xo! l
It is moved to become the parent point Qb with 1llYo. In this case, the cam body 5]5 is rotated in advance by the motor 51 so that the]]-ruff 7 is in the JIA upper position. When the joint main part 2 is moved by the electromagnetic chuck 34 to the maximum rotation position d3, welding 1 - chia 1
This prevents collisions with the When the electromagnetic chuck 34 completes its movement to the ljc position (center Ob) as described above, the motor 51 is rotated to rotate the cam body 55 so that its roller 57 is at the lowest position IN. Therefore, the torch arm 49 rotates in the direction of arrow F due to its own weight, and finally the copying roller 60 of the leveling frame 58 comes into contact with the upper surface of the joint main part 2 (11th
(see Figure and Figure 12). The contact position of the copying roller 60 is set at the boundary between the corner portion 2b and the straight portion 2a. In this state, the pulse motor 63 of the right lift frame 61 is energized and rotated in the forward direction to lower the lift frame 61 and connect the tip of the welding wire 75 of the welding 1--differential 1 to the joint main. The welding torch 71 is rotated to the right by moving the welding torch 71 close to the boundary part of the part 2, and the welding torch 71 is rotated to the right, for example, at an angle of 45 degrees with respect to the vertical line. , the welding top 71 is lowered by 111 steps by the pulse motor 63, and the tip of the welding wire 75 is connected to the joint main part 1.
) and end plate 3 to which joint. In this case, the position of the tip of the welding wire 75 is
1°, Mi (see Figure 17). Therefore, welding 1~-
As shown in FIG. 15(a), t1 also corresponds to the boundary between the corner portion 2b and the straight portion 2a at the joint between the joint main portion 2 and the end plate 3 (hereinafter simply referred to as the joint 1). It will be located at the '1st position P1. When the CI'U 77 is restarted and No. 1 is input, the CPU 77 goes to 11.
The drive motors 23, 28, and 33 are controlled by calculation based on the welding speed data signal SV, and the joint raw portion 2 is moved back and forth and rotated. ", with reference to Fig. 15, the joint main part 2.
Explain the movement of C. That is, when the welding torch 71 is at the first position P1 as shown in FIG.
8 At the beginning of the interview, the joint main part 2 moves in the direction of arrow B (07
J), and the straight portion 2a of the joint is welded. Furthermore,
As shown in Fig. 15 (1)) and (0), the welding 1--the differential 1 is at the second position I]2, which is the boundary between the straight part 2a of the joint and the next corner part 2b. The joint main part 2 is rotated in the direction indicated by the arrow, moved in the direction of arrow C (downward), and moved one step in the opposite direction of arrow B (backward) to weld the front half of the joint part 2b at d31:J. It is done.

Next, as shown in FIG. 15 ((l) and (f), welding 1 to
When the differential 1 reaches the third position P3, which is the boundary between the front half and the rear half of the joint section 2+1, the joint main section 2 is rotated in the direction of the arrow and moves in the opposite direction of the arrow C. (-1 rise) and move in the direction of H opposite arrow B lj (backwards)
Then, the rear half of J5i) is welded to the corner 2b of the joint. Then, J31. When the welding of the latter half of the joint is completed, the welding center Oa of the joint main part 2 is q'! 1lXo,Y
J: Return to the original position that coincides with the intersection point ob of o. When the above operations are combined, the result is as shown in FIG. 16. Hereinafter, the above operation is repeated for each straight section 2 of the joint.
8 and each cope part 21) are :N I&. Thus, the CPU 77 causes the joint main section 2 to operate as described above.
s In order to align, external dimensions a (mm), half 1 yen method r
, (mm) and welded part 1 good v o (mm/mim >
From rotational speed 11. The backward speed V2 and the vertical speed v3 are calculated, and these are output as the rotational speed data signal S[1, the backward speed data signal SV2, and the vertical speed data signal Sv3, and are controlled by the drive motors 33, 28 by the control circuit shown in FIG.
and 23. As a result, the joint main part 2
is from the first position P1 to the second position P2.
The drive motor 23 moves forward at a welding speed Vo between the second position 1]2 and the third position 1]3 and C.
It is rotated by the second drive motor 33 at a rotational speed 11 in the direction of the arrow, and then rotated by the second drive motor 28 at a descending speed v2.
The first drive motor 23 moves the motor backward at a backward speed v3, and the third drive motor 33 rotates it in the direction of the arrow from the third position P3 to the fourth position P4. the second drive motor 2 while being rotated at a speed n
The welding torch 71 moves the corner part 2b directly to the part 2a etc.
Welding is performed in a straight line at a welding speed of vo.

Note that, as shown in FIG. 17, the tip of the welding wire 75 of the welding torch 71 is the axis X. , Vo, and after welding the joint over the entire circumference as described above, the welding torch 71 is moved by rotating the pulse motor 45 in the opposite direction and moving the table 43 in the opposite direction of arrow E (to the left). The tip of the welding wire 75? ■Axes x. , After welding the joint all around the entire circumference in the same manner as before, the pulse motor 63 is rotated in the opposite direction to move the rift 1 to the frame 61 upward. By rotating the pulse motor 45 in the forward direction and moving the daple 43 in the direction indicated by the arrow (to the right), the tips of the welding wire rods 75 of welding i to lucia are positioned on the axis X o + y2, and the joint is formed. Finally, rotate the pulse motor 45 in the opposite direction to move the table 43 in the opposite direction of the arrow (avoid moving in two directions) to position the tip of the welding wire 75 of the C welding torch 71 on the axis CP! 1-layer welding is performed, avoiding welding of the parts.

Furthermore, when the welding of the joint between the joint main part 2 and the end plate 3 is completed, the joint between the joint main part 2 and the end plate 4 is then welded in substantially the same manner as described above. However, in this case, welding 1 to differential 1 on the left side will be used.

If this embodiment is implemented as described above, the following effects can be obtained. 1, that is, the joint part 2b of the joint part 2, which is a cylindrical workpiece, and which end plate 3 (n7L<is 4) is connected to the joint part 2b of the joint EJ-1 in the direction of the arrow at a rotational speed of 1α11. As it rotates, it descends at a speed of 2 and then spikes? Welding from above 1--Cheer 1 made contact with Cm while welding from above, so that the straight, line part 2a and corner part 2b of the welded part were Constant welding speed v
It is important to be able to reliably weld automatically at J1, and to greatly improve welding work. Furthermore, 1 to -
b) A leveling frame 58 with a l-frame 49 rotatably mounted on the daple 7'13 and a profiling roller 60 at its front end. =Ucノ, the copying roller 60 is 1-
Since it is designed to avoid contact with the upper surface of the joint main part 2 due to the weight of the -Cheer 649 customer-, the copying roller 60, that is, the welding torch 71, will not touch the top surface of the joint main part 2 even if there are manufacturing variations or thermal distortions in the joint main part 2. This allows for more reliable welding.

By the way, as shown in FIG.
, 4, between the raw joint parts 2 (preparation to form a groove 2C on the edge of the part) is carried out. In this case, automatic welding in this embodiment By replacing the gas torch in place of the welding 1 hedge 71 with the equipment and moving the joint main part 2 in the same way as welding, it is possible to perform groove processing. However, in this case, since the end plates 3 and 4 are not temporarily welded to the joint main part 2, the chuck A/vine device is used instead of the electromagnetic chuck 34 to twist the outer periphery of the end of the joint main part 2. Make sure to use anything up to Artsuku@.

It should be noted that the present invention is not limited to the embodiments shown in the above-mentioned drawings, and is not limited to welding of a rectangular cylindrical joint main portion 2 having a straight portion 2a and an arcuate corner portion 2b.
It goes without saying that the method can be applied to welding general cylindrical workpieces having an arc-shaped part, etc., but can be modified as appropriate and carried out without departing from the gist.

〔Effect of the invention〕

From the above d1 light to clear (2), the automatic welding method of a cylindrical workpiece having an arcuate corner portion according to the present invention is i5
The straight portion and corner portion of the joint 611 between the )-shaped soak and the end plate can be welded from above at a constant speed, and the plate can be automatically welded to the cylindrical workpiece. There is a tool that has the excellent effect of actually welding and improving the welding work.

[Brief explanation of drawings]

The drawings show one embodiment of the present invention, and FIG.
°4 A perspective view of the structure, Figure 2 is a perspective view of one joint, Figures 3 and 4 are a top view and right side view of the entire automatic welding device, and Figure 5 is a one-knok system (II frame structure). 6 is a front view of the chuck frame, and FIG. 7 is a front view of the chuck frame.
Figures 8 and 9 (Welding 1 to 1) Figure 10 is a right side view of the control mechanism, right side view, rear view of the control mechanism, Figures 11 and 12 are welding parts, respectively. 1 to 1, a right side view and a front view of the parts 1 to 1, FIG. 13 is a block diagram of the control circuit, FIG. 14 is a dimensional relationship diagram of the main part of the joint, and FIG. 15 (
a > to <f) are IIR88 of the main part of the joint for explaining the operation.
A side view, FIG. 16 is a motion composite diagram of the main part of the joint, and FIG. 17 is a small scale diagram of the joint between the first part of the joint and the end plate. In the drawing, 1 is the joint body, 2 is the joint main part (cylindrical workpiece),
2a is a straight line ff1ll, 2b is an arcuate corner portion, 3 and 4 are end plates, 104 is a base, and ill is a work support mechanism 13
11.12 is a work control mechanism section, 13 is a welding 1 to 1 control mechanism section, 15 is a fixed table, 1'5a is an inclined surface, 16 is a support plate, 16a is a flexible roller, 17 is a movable table, and 17a is a (1 slope, 18 is a support plate, 18a is a flexible roller, 20
23 is a support frame, 23 is a first drive motor, 25 is a chuck frame, 28 is a second drive motor, and 33 is a third drive motor.
34 is an electromagnetic chuck, 36 is a rotating angle detector, 36a is a pulse-L encoder, 35b is an absolute angle encoder, 41 is a support frame, 4
3 (Yo table, 45 is a pulse motor, 49 is a torch arm, 51 is a motor, Snake (5 (J Kahe body, 58 is a leveling frame, 60C1i, imitation date -), 61 is a lift frame, 63 is a pulse motor, 71 is a welding torch,
72 is a holder, '73 is a guide tube, 75 is a welding wire, 77
is CPU,! , 11 and! J5 indicates a pulse encoder. Applicant: Chubu tli bundle T Gyo Co., Ltd. 1st unit 3rd unit

Claims (1)

[Claims] 1. In a device for welding an end plate to a cylindrical workpiece having an arcuate corner part, a welding torch is applied from above to the joint part between the cylindrical workpiece and the end plate, and the straight part at the joint part is connected to the cylindrical part. Welding is performed by advancing the workpiece, and the first half of the corner in the joint is welded by lowering and retreating while rotating the cylindrical workpiece around the welding center. 7. An automatic welding method for a cylindrical workpiece having an arcuate corner portion, characterized in that the latter part is welded by rotating the cylindrical workpiece around the welding center while moving it forward and backward.