JPS63199079A - Weld line delay profiling device - Google Patents

Abstract

PURPOSE:To automatically allow welding torches to aim at a welding place at all times by controlling the position of each welding torch so as to restore a weld zone detected by a profile sensor. CONSTITUTION:Since the profile sensor 81a precedes by the distance l1 from a preceding torch 74a, the position of the preceding torch 74a is controlled so that the position of a flange stored in a controller 90 is restored by the controller 90 from a point of time where the profile sensor 81a travels by the distance l1. Furthermore, since the profile sensor 81a precedes by the distance l2 from a succeeding torch 76a, the position of the succeeding torch 76a is controlled so that the position of the flange stored in the controller 90 is restored by the controller 90 from a point of time where the profile sensor 81a travels by the distance l2.

Description

[Detailed description of the invention] [Industrial application field] The present invention relates to a weld line delay copying device.

[Prior art]

For example, when manufacturing girder materials with camber used for bridge girders, etc., as shown in Fig. 16, the welding torch E is kept at a predetermined position relative to the welding part F at the welding start position. However, when the welding torch E and the copying sensor G are integrally connected, there is a drawback that the welding torch E becomes far away from the welding area after passing the center of the welding area F. In the figure, the symbol δ is the installation interval between the welding torch E and copying sensor G with respect to the traveling direction of the welding part (not shown), and y is the lateral side of the welding torch E and copying sensor G set according to the camber at the welding start position. This is the installation spacing in the direction.

[Purpose of the invention]

The present invention has been made to eliminate such drawbacks, and an object of the present invention is to enable a welding torch to always automatically aim at the welding location even when manufacturing girder materials with camber. It is something.

[Structure of the invention]

The welding line delay copying device of the present invention that can achieve the above object has the following features:
The position of each of the following one or more welding torches can be adjusted independently of the preceding scanning sensor, and the position of each welding torch is controlled so as to restore the welded part detected by the scanning sensor. Particularly, the welding line delay copying device of the present invention is characterized by: - The welding line delay copying device of the present invention includes one or more following welding torches, and each of the welding torches is also individually position-adjusted.

As described above, according to the present invention, even when manufacturing a girder with a camber, the welding torch always automatically aims at the welding location. Furthermore, even if the number of welding torches increases to two or three, the same control system can be used, making it possible to handle various types of welding. Furthermore, the sensitivity (responsiveness) of tracing can be easily adjusted.

〔Example〕

Embodiments of the present invention will be described below with reference to the drawings.

FIG. 1 is a side view of a welding delay copying device according to the present invention, and a girder assembly welding device 1 including the welding delay copying device.
(See FIG. 2), for example, a single digit 100 having a camber C as shown in FIG. 15 can also be automatically welded.

The girder assembly and welding device 1 includes an assembly means 2 for assembling one web material W and two flange materials f, f into an I-shape, and a girder 4 as a traveling body that moves along the assembly means 2.
and a welding means 3 for welding the web material W and the flange material r. Such assembly means 2,
and welding means 3 will be explained in order.

As shown in FIG. and a flange material support means 6 for pressing against the flange member f in a leaning state.

As shown in FIG. 3, the web material support means 5 is composed of a large number of rollers 15 and 15a arranged in parallel on two sides along the longitudinal direction of the assembly means 2. As shown in FIG. As shown in FIG. 2, one roller 15 is rotatably attached to the fixed frame 11, and the other roller 15a is rotatably attached to the movable frame lla. and,
The web material W is supported in a planar manner by these rollers 15.degree. 15a.

Further, as shown in FIG. 2, flange material supporting means 6 are provided on both sides of the web material supporting means 5, respectively. One of the flange material supporting means 6 is a flange stand 16
have. This flange stand 16 is a fixed frame 1
It is raised and lowered by a large number of hydraulic cylinders 17 attached to 1.

Further, as shown in FIG. 2, a large number of stoppers 18 are attached to the flange stand 16 to support the reaction force. Furthermore, stopper receivers 20 are each fixed to the fixed frame 11. In addition, stopper receiver 2
A continuous stopper 21 is provided at 0. As shown in FIGS. 7 to 9, the continuous stopper 21 includes a retaining portion 23 with a horizontal cross section and a release portion 22 with a rectangular cross section adjacent thereto.
When the stopper 18 is located at the stopper receiver 2
0, and the release part 22 is supported by the stopper receiver 2o.
When located at the stopper 18 and stopper receiver 2
The binding of 0 is released.

The other flange material support means 6 is a flange stand 16a.
have. This flange stand 16a is raised and lowered by a large number of hydraulic cylinders 17a attached to the moving frame lla.

In addition, as shown in FIG. 2, the flange stand 16a includes
A large number of stoppers 18a are attached to support the reaction force. Furthermore, stopper receivers 20a are fixed to each of the movable frames 11a. - Furthermore, a continuous stopper 21 is arranged on the stopper receiver 20a.

As shown in FIGS. 7 to 9, the continuous stopper 21 includes a retaining portion 23 with a horizontal cross section and a release portion 22 with a rectangular cross section adjacent thereto, and the retaining portion 23 is attached to the stopper receiver 20a. When the stopper 18a is positioned, the stopper 18a is supported by the stopper receiver 20a, and when the release part 22 is positioned on the stopper receiver 20a, the stopper 18a is supported by the stopper receiver 20a.
Then, the engagement of the stopper receiver 20a is released.

Furthermore, as shown in FIG. 3, the flange stand 16.16a
Flange width devices 25 are respectively attached at regular intervals. Each flange width device 25 has a pair of rollers 26.26, and these pair of rollers 26.
．． 26, the flange material f is flange stand 16, 16
They are aligned to the center of a. That is, as shown in FIG. 10, a pair of blocks 28.28 are slidably attached between the pair of left and right grooved rails 2'7. As shown in FIG. 2, a shaft 29 is fixed, and a roller 26 is rotatably attached to this shaft 29. This shaft 29 has a sufficient length so that the flange material f can be adjusted to the roller 2 according to changes in camber.
6, and is configured to be movable in the axial direction thereof. A stopper plate 30 is fixed to the tip of the shaft 29 to prevent the roller 26 from falling off. In addition, as shown in FIG. 10, a pair of grooved rails 27°2
A pinion gear 32 is disposed at the center of a base 31 to which the pinion 7 is fixed. This pinion gear 32 is arranged between a pair of round racks 33, 33, one round rack 33 is fixed to one block 28, and the other round rack 33 is fixed to the other block 28. Fixed.

Further, each block 28 is provided with a hole 34 into which a round rack 33 attached to the opposing block 28 can enter. Further, the pinion gear 32 is driven by a hydraulic motor 35 attached to the base 31.

In addition, as shown in Fig. 3, the flange stand 16.16a
are each equipped with a large number of air cylinders 37 for flange pressing, and when the flange material f is pressed by the flange pusher 38 (see Fig. 1) provided at the head of the air cylinder, the flange material f is Metal touch is applied to the web material W over its entire length.

Further, as shown in FIG. 2, a leveling rail 39 is provided between the roller 15 and the flange stand 16.

Between the leveling rail 39 and the fixed frame 11, modeled levelers 40 and 41 are provided, respectively, one of which is fixed to the leveling rail 39 and the other fixed to the fixed frame 11. has been done. The web material W can be positioned at the center of the flange material f by moving the leveling rail 39 in its longitudinal direction (direction penetrating the page).

Similarly, a leveling rail 39 is arranged between the roller 15a and the flange stand 16a. Between the leveling rail 39 and the moving frame 1laO, there are
There are modeled levelers 40 and 41,
One of them is fixed to the leveling rail 39, and the other one is fixed to the moving frame lla. The web material W can be positioned at the center of the flange material f by moving the leveling rail 39a in its longitudinal direction (a direction penetrating the paper surface).

Therefore, in Fig. 2, the flange stand 16.16a
When the hydraulic motor 35 is rotated, the rollers 26 and 26 approach each other, and the flange materials f are placed on the left and right sides as shown by the two-dot broken lines. , supported at the center of the flange stands 16, 16a.

Then, when the hydraulic cylinder 17.178* is activated,
The flange stand 16.16a will rise as shown by the solid line, but at this time, the flange stand 16.16a will be slightly pushed up.
After tilting it inward and positioning the retaining part 23 of each continuous stopper 21 in the stopper receiver 20.20a, when it is slightly returned to its original position, the lower end of the stopper 18, 188 engages with the stopper receiver 20.20a, Flange stand 16.16a
can support the reaction force of

Next, the web material W is placed on the roller 15.15a, and then the leveling rail 39.39 is moved in its longitudinal direction.
．． 39 is raised and lowered, and both ends of the web W are aligned with the center of the flange material f.

Next, when the movable frame lla is moved to the fixed frame 11 side, the web material W is pressed against the flange material f on the fixed frame 11 side by the flange material r on the movable frame lla side.

Next, when the air cylinders 37 and 37 for flange pressing are activated, the flange materials r on both sides are strongly pressed against the web material W, and even if the web material W is a cambered web material, it will not be the same as the flange material f. The web material W is in close contact over the entire length.

As shown in FIG. 2, the moving frame lla is disposed on a rail 47 laid on the floor 7 so as to be able to move freely.

In addition, the leg portion 4 of the moving frame lla provided with the moving vehicle 42
A large nut 43 is attached to 6, and a threaded shaft 44 screwed into this nut 43 is provided parallel to the rail 41. Each screw shaft 44 is rotated by a frame moving motor 45, and as this motor 45 rotates forward and backward, the movable frame 11a is moved from the fixed frame l.
approach or move away from i.

As shown in Fig. 2, the welding means 3 is attached to a girder 4 as a running body, and the welding means 3 is attached to a girder 4 as a traveling body, and the welding means 3 is attached to a girder 4 as a traveling body, and the welding means 3 is attached to a girder 4 as a traveling body. Move in the longitudinal direction at a predetermined welding speed.

Girder 4 has a gate shape, and has a pair of left and right rails 51.51
It's on top. The girder 4 is provided with saddles 52, 52 on its left and right sides, and each saddle 52 is provided with a driven wheel 53 and a driving wheel 54, as shown in FIG. As shown in Figure 6, both have tsuba 55.55 on both sides.
The drive wheel 54 has one #I55 shaped like a gear 56, and is rotated by a drive gear 57 that meshes with this. The drive gear 57 is rotated by a servo motor 58 shown in FIG. This servo motor 58 is equipped with an encoder (not shown), and the distance traveled by the girder 4, in other words, the scanning sensor 81, 81a, is sent to a controller 90 such as a computer every moment by a pulse signal from this encoder. is input. Further, as shown in FIG. 5, each saddle 52 holds each rail 51 between a pair of rollers 59 and 59 provided at the front and rear thereof.

As shown in FIG. 2, the girder 4 has a moving frame lla
A girder stage 61 is provided above the girder stage 61, which can move in the lateral direction of the girder 4, that is, in the lateral direction of the assembly means 2. As shown in FIG. 3, this girder stage 61 is slidably attached to a pair of guide rails 62, 62 laid in the lateral direction of the girder 4. A rack 63 is laid parallel to one of the rails 62, and a pinion 64 that meshes with the rack 63 is driven by a motor 65 installed on the girder stage 61.

As shown in FIG. 4, a roller 68a that is raised and lowered by an air cylinder 67a is attached to a first arm 66a fixed to the girder stage 61, and this roller 68a moves the web material W onto the flange leveling rail 39. Being forced. Further, as shown in FIG. 1, a second arm 69 fixed to the girder stage 61
is equipped with an elevating arm 71 that is raised and lowered by an elevating slider 7o. This elevating arm 71 includes two independently driven transverse sliders 72a,
73a is equipped. A torch 74a for a carbon dioxide semi-automatic arc welding machine used for temporary welding and actual welding is attached to the first transverse slider 72a, and a torch 74a for a carbon dioxide gas semi-automatic arc welding machine is attached to the second transverse slider 73a. A duct 75as for dropping a torch 76a1 for submerged arc welding and a duct 77a for dropping flux are attached. Further, a tracing sensor 81a is attached to the third arm 78a fixed to the lifting arm 71 to detect the position of the flange material f.

This copying sensor 81a is constructed as shown in FIG. 14, and a copying element 82 is attached to a rod 85 of a cylinder 84 via an L-shaped bracket 83. Moreover, the rod 86 of the copying sensor 81a is attached to the bracket 83.
is fixed and synchronized with the rod 85 of the cylinder 84. The copying sensor 81a also includes an encoder 87, and the position of the copying element 82, that is, the flange material f, is inputted to the controller 90 every moment by pulse signals from the encoder 87.

By the way, as shown in FIG. 1, the copying sensor 81a is ahead of the preceding torch 74a by a distance of 1, so from the point when the copying sensor 81a has run by 1! The position of the leading torch 74a is controlled to restore the position of f. Also, since the copying sensor 81a is ahead of the trailing torch 76a by 12, the copying sensor 81a! , the position of the trailing torch 76a is controlled by the controller 90 so as to restore the position of the flange f stored by the controller 90.

The heights of the copying sensor 81a, the torch 74a for semi-automatic carbon dioxide arc welding, the torch 76a for flux dropping duct 75a1, the torch 76a for submerged arc welding, and the flux recovery duct 77a are adjusted by the lifting slider 7o.

On the other hand, on the girder stage 61, as shown in FIG. 5, there is a Frankshofper 91a, two wire supply devices 92a and 93a, a flux recovery device 94a, and two welding power sources 95a.

96a is provided. The welding power source used is a welding power source for a carbon dioxide gas semi-automatic arc welding machine, and the wire (core wire) is also a core wire for a carbon dioxide gas semi-automatic arc welding machine.

Further, as shown in FIG. 2, a web pressing roller 68 is installed facing the flange leveling rail 39 on the side of the fixed frame 1. In addition, the fixed frame 11
The girder stage 61 is located in the upper part of the girder 4.
Similarly (see Figure 1), there is a copying sensor 81, a carbon dioxide gas semi-automatic arc welding torch 74 used for temporary welding, a carbon dioxide gas semi-automatic arc welding torch 74 used during actual welding, a duct 75 for dropping Franks used during actual welding, and submerged arc welding. A torch 76 for use, a duct 77 for collecting flux, etc. are attached.

Then, the preceding torch 7 is controlled by the controller 90.
4, and the trailing torch 76 is similarly controlled to restore the position of the tracing sensor 74. Further, on the pedestal 97 installed on the girder 4, a fifth
As shown in the figure, a flux spotper 91, two wire supply devices 92 and 93, a flux recovery device 94, and two welding power sources 95 and 96 are provided. The welding power source used is a welding power source for a carbon dioxide gas semi-automatic arc welding machine, and the wire (core wire) is also a core wire for a carbon dioxide gas semi-automatic arc welding machine.

Welding of the web material W and the flange material f assembled into a single character shape by the assembly means 2 is performed in two steps: temporary welding and main welding.

As shown in FIG.
After the web material and flange material are assembled into a single shape by the assembly means 2, the girder 4 is advanced in the direction of arrow A, and at the starting end of the assembled materials, carbon dioxide gas is semi-automatically released. When the arc welding torch 74.74a is set at the corner of the web material W and the flange material f, each torch 74.74a will later restore the position of the flange material f memorized by the copying sensor 81.81a. While moving forward, the corner portions of the web material W and the flange material r are temporarily attached on both the left and right sides at the same time.

Next, the girder 4 is returned to the starting end of the material, and then the preceding carbon dioxide gas semi-automatic arc welding torch 74.7
4a and a trailing submerged arc welding torch 76.
76a is set at the corner between the web material W and the flange material f, and the girder 4 is moved forward in the direction of arrow A. The position of the flange material f stored by the copying sensor 81. The left and right corners of material W and flange material f are permanently welded at the same time.

Thereafter, when the flange pressing cylinder 37 is pulled back and the roller 26 of the flange width adjustment device 25 is moved backward, a single digit 100 as shown in FIG. 15 is obtained.

〔Effect of the invention〕

As described above, according to the present invention, even when manufacturing a girder with a camber, the welding torch always automatically aims at the welding location. Furthermore, even if the number of welding torches increases to two or three, the same control system can be used, so it can be used to weld each type of cypress. Furthermore, the sensitivity (responsiveness) of tracing can be easily adjusted.

[Brief explanation of the drawing]

FIG. 1 is a side view of a weld line delay copying device according to the present invention, FIG. 2 is a front view of a girder assembly welding device including the weld line delay copying device according to the present invention, and FIG. 3 is a plan view thereof. Figure 4 shows
Its side view, Fig. 5 is a plan view of the girder, Fig. 6 is a plan view of the saddle, Fig. 7 is a plan view of the continuous stopper, Fig. 8 is a sectional view taken along the line ■-■ of Fig. 7, and Fig. 9 is a sectional view taken along the line ■-■ in Figure 7, Figure 1O is a front view of the flange width adjustment device, Figure 11 is a side view including a partial cross section of the flange width adjustment device, and Figure 12 is a side view of the flange width adjustment device.
The figures are XI-XI sectional view of Fig. 10, Fig. 13 is a side view of the flange leveling rail, Fig. 14 is an enlarged explanatory view of the torch area, Fig. 15 is a front view of the single digit, and Fig. 16 is the conventional FIG. 2 is an explanatory diagram of a weld line copying device of FIG. 74.74a,? 6.76a...Welding torch, 81.
81a... Copying sensor.

Claims (1)

[Claims] The position of each of the following one or more welding torches can be adjusted independently of the preceding scanning sensor, and the position of each welding torch is controlled so as to restore the welded part detected by the scanning sensor. A welding line delay copying device featuring: