JPS6356362A - Device for allowing carriage to approach automatically - Google Patents

Abstract

PURPOSE:To rationalize flaw detection and to increase its efficiency by calculating the distances and the inclination to a weld line by supersonic sensors on right and left provided to a flaw detection carriage freely driven and inducing automatically the carriage to the prescribed distance in an orthogonal direction to the weld line to allow the carriage approach it with high accuracy. CONSTITUTION:The distances L1 and L2 to the fillet weld line 12 are calculated by the supersonic sensors 7 and 8 on right and left provided to the carriage 1 supported by wheels driven back and forth and right and left by independent driving motors 6 and the distance L3 and the inclination in the direction of a central flaw detection probe 11 are calculated by an arithmetic unit. As a result, the carriage 1 is induced to the prescribed distance A is the orthogonal direction to the weld line 12 by the automatic control. The flaw detection prove 11 is allowed to approach the weld line 12 with the high accuracy and the flaw detection is rationalized and its efficiency is increased automatically.

Description

DETAILED DESCRIPTION OF THE INVENTION [Industrial Application Field 1] The present invention is a device for automatically inspecting fillet welds of spherical tanks, large containers, etc., in which a trolley is placed against a weld line of a fillet weld. This invention relates to an automatic width adjustment device for a cart for automatically changing the width of the cart so that the moving direction of the cart is parallel to each other.

[Prior Art] An automatic flaw detection device for fillet welds is a device for detecting flaws that is mounted on a self-propelled trolley that scans the surface of large structures such as spherical tanks and large containers. This allows for automatic inspection by moving the cart along the weld line.

For example, in the case of inspecting welds between a spherical tank and its supporting legs, the trolley used in automatic flaw detection equipment for welds must be located at a remote location, such as at a high place, and must be able to run parallel to the weld line. or is necessary.

To this end, there has been a conventional approach to attaching a touch sensor to the dolly in order to align the dolly with the fillet weld, and to avoid touching the weld with the touch sensor before following the weld line. .

[Problem to be Solved by the Invention 1] However, in the conventional concept of touching the weld 8[) with a touch sensor and then moving the trolley to follow the welding line, the trolley is so close to the welding line that the touch sensor cannot touch the weld. Therefore, the present invention can be applied to a place where the cart is not close to the welding area, and even if the moving direction of the cart and the direction of the weld line are appropriately deviated. This cover is intended to enable automatic width adjustment so that the cart can move accurately and efficiently parallel to the weld line.

[Means for Solving the Problems] In order to achieve the above object, the present invention provides two ultrasonic waves on one side of a trolley whose front and rear wheels can be turned arbitrarily by driving the right wheel independently. A sensor is installed on the truck, and the distance between the center of the truck and the weld line and the distance between the truck axis and the weld line are determined from each distance from the two ultrasonic sensors to the weld line of the fillet weld. a calculation device that calculates the angle; and a portion that determines the moving direction of the truck and the corresponding kerbing from the calculation results of the calculation device and gives commands to the wheel drive unit;
The configuration is equipped with

[Function] When the cart is placed in a position where the weld line of the fillet weld can be detected by the ultrasonic sensor, the calculation device automatically calculates the distance of the cart from the distance 1 from the two ultrasonic sensors to the weld line. Since the coordinate values and the relationship between the truck axis and the welding line are determined, based on the results, the truck moves forward and backward while cutting to the left and right, and the truck automatically performs a side-to-side U operation, and the truck moves along the welding line. At a constant distance of 1, the direction of movement becomes parallel to the welding line.

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

FIG. 1 shows an example of a truck 1. Legs 3 protruding in the left-right direction are provided at the front and rear of a truck frame 2, and a wheel frame 4 is attached to the legs 3. Take each wheel 5 (old) and attach it to the wheel frame 4 [
The wheels 5 are driven to rotate independently by the pulley, and the front, rear, left, and right wheel frames 4 are equipped with ultrasonic sensors that oscillate ultrasonic waves in a direction perpendicular to the running direction of the truck. 1) 7 and 8 are each attached. An arm 9 is rotatably mounted on the truck frame 2 as a flaw detection device, and an extendable arm 10 is connected to the arm 9, and a probe 11 is attached to the tip of the arm 10.
is the installation.

The cart 1 used in the present invention is provided with a vertical sensor (not shown) on the cart frame 2, and each motor 6 is controlled so that the direction of the cart can be changed by changing the direction of this vertical sensor. It is like that. or,
On the trolley 1, there is provided an ultrasonic sensor 7.8 that measures the distance between the center of the trolley 1 and the weld line of the fillet weld 12, and then performs the cutting to change the orientation of the vertical sensor. Equipped with equipment. That is, ultrasonic waves 13 are emitted from two ultrasonic sensors 7.8 on the side surfaces of the trolley 1 in the traveling direction,
A distance measuring section ■ detects the weld line by detecting the foul wave reflected from the fillet weld 12, and two ultrasonic sensors 7 on one side.
．． 8, the distance L1 from the front ultrasonic sensor 7 to the fillet weld 12 and the distance L from the rear ultrasonic sensor 4-8 to the fillet weld 12 are determined from the center of the trolley 1 by the distance measuring section (2). Once the coordinate value determination unit (■) on the trolley for determining the distance L3 to the fillet weld 12 and the coordinate values on the trolley (-) are determined, the point (past point) 1 on the past trolley trajectory is determined using the coordinates of the trolley.
4, calculate the part 1v along which the current truck 1 is aligned, the vertical distance A from the center of the truck 1 to the fillet weld 12, and the inclination of the truck 1 with respect to the weld line at this time. an arithmetic device (■) having a portion V that performs
Based on the value from , determine which C-shape should be cut to Torara in order to bring truck 1 closer to the welding line, and at the same time,
In order to move the cart forward and then move it backwards for width alignment, we decide to cut the cart so that it is parallel to the welding line, and in order to change the direction of the cart, we give an instruction to the vertical sensor. ) determination unit VI is installed on the truck 1. 16 is a truck axis line.

In automatic inspection of fillet welds of large structures, when moving the trolley 1 close to the fillet welds 12, visually move the trolley 1 to a position where the distance can be measured using the ultrasonic sensors 7 and 8 on the platform 1. Sera 1-V on the object. From now on, 2 on one side of trolley 1
The ultrasonic sensor 8 detects the weld line of the fillet weld 12, and attaches it to the coordinate value determination unit on the trolley.
Understand the relationship between the center of the truck and the weld line. Once the relationship between the truck and the welding line is determined, the position and orientation of the truck 1 can be determined by the calculation device (■), and this can be used to determine the moving direction of the truck (v).
The direction of movement of the cart and the cutting direction are indicated by pressing l.By covering the direction of the vertical sensor on the cart, the direction of the vertical sensor on the cart is changed, and by repeating the same control, the distance between the cart 1 and the welding line is kept constant, and the welding line is kept constant. The trolley 1 automatically takes the trajectory 15 shown in the figure and performs an odd-width operation at 4g so that the welding line is parallel to the moving direction of the dolly 1.

[Effects of the Invention] As described above, according to the automatic width shifting device for a truck according to the present invention, two ultrasonic sensors υ on one side of the truck detect the weld line J: of the fillet weld from each of these ultrasonic sensors. Measure the distance of
Based on this, calculate the distance between the center of the cart and the weld line, determine the coordinates of the cart, use these cart coordinates to find the relationship between the weld line and the cart, and use the results to cut the cart to the left and right. While moving the dolly back and forth, the width is automatically shifted so that the weld line is at a certain distance from the dolly, and the weld line is parallel to the moving direction of the dolly. Even if you do not place the trolley close to the welding line from the beginning, the trolley itself will automatically fine-tune to the optimal position and move closer to the width, ensuring high precision movement even in remote locations, and making it possible to move efficiently. can.

[Brief explanation of the drawing]

FIG. 1 is a plan view showing an example of a trolley according to the present invention, and FIG.
The figure is a block diagram of the device of the present invention installed on a truck, and FIG. 3 is a schematic plan view showing an embodiment of the present invention. T... Distance measurement unit, ■... Carriage coordinate value determination unit, ■...
- Arithmetic device, IV, V... Arithmetic section, Vl... Truck moving direction determining unit, 1... Truck, 5... Wheels, 7,
8... Ultrasonic sensor, 12... Fillet weld, Ll*
L2+13*A...Distance.

Claims (1)

[Claims] 1) Two ultrasonic sensors are installed on one side of a trolley whose front, rear, left and right wheels are independently driven so that the direction can be changed arbitrarily, and the two ultrasonic sensors are used to detect fillet welds on the trolley. A computing device that calculates the distance between the center of the bogie and the welding line and the angle between the bogie axis and the welding line from each distance to the welding line, and a calculating device that calculates the moving direction of the bogie and the corresponding direction based on the calculation results of the computing device. An automatic width shifting device for a bogie, characterized in that it is equipped with a part that determines the carving and gives a command to the wheel drive unit.