WO2018066136A1 - 溶接装置及び溶接方法 - Google Patents
溶接装置及び溶接方法 Download PDFInfo
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- WO2018066136A1 WO2018066136A1 PCT/JP2016/080004 JP2016080004W WO2018066136A1 WO 2018066136 A1 WO2018066136 A1 WO 2018066136A1 JP 2016080004 W JP2016080004 W JP 2016080004W WO 2018066136 A1 WO2018066136 A1 WO 2018066136A1
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- torch
- welding
- outer peripheral
- welding torch
- peripheral edge
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K9/00—Arc welding or cutting
- B23K9/02—Seam welding; Backing means; Inserts
- B23K9/032—Seam welding; Backing means; Inserts for three-dimensional seams
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K9/00—Arc welding or cutting
- B23K9/12—Automatic feeding or moving of electrodes or work for spot or seam welding or cutting
- B23K9/127—Means for tracking lines during arc welding or cutting
- B23K9/1272—Geometry oriented, e.g. beam optical trading
- B23K9/1274—Using non-contact, optical means, e.g. laser means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K26/00—Working by laser beam, e.g. welding, cutting or boring
- B23K26/08—Devices involving relative movement between laser beam and workpiece
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K9/00—Arc welding or cutting
- B23K9/095—Monitoring or automatic control of welding parameters
- B23K9/0956—Monitoring or automatic control of welding parameters using sensing means, e.g. optical
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K9/00—Arc welding or cutting
- B23K9/12—Automatic feeding or moving of electrodes or work for spot or seam welding or cutting
- B23K9/127—Means for tracking lines during arc welding or cutting
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F28—HEAT EXCHANGE IN GENERAL
- F28F—DETAILS OF HEAT-EXCHANGE AND HEAT-TRANSFER APPARATUS, OF GENERAL APPLICATION
- F28F3/00—Plate-like or laminated elements; Assemblies of plate-like or laminated elements
- F28F3/08—Elements constructed for building-up into stacks, e.g. capable of being taken apart for cleaning
- F28F3/10—Arrangements for sealing the margins
Definitions
- the present disclosure relates to a welding apparatus and a welding method for welding outer peripheral edges of deformed plates having different lengths from the center to the outer peripheral edge in the circumferential direction.
- the heat exchanging part of the shell-and-plate heat exchanger has a large number of identically shaped plates superimposed on each other, and the outer peripheral edges of adjacent plates are welded to each plate. A refrigerant flow path is formed therebetween.
- the heat exchange part of the shell-and-plate heat exchanger disclosed in Patent Document 1 includes a large number of true circular plates that are superposed to form a heat exchange part.
- the welding torch In the welding of the outer peripheral edge of the plate constituting the heat exchange part, it is necessary to eliminate welding defects due to insufficient penetration along the circumferential direction of the outer peripheral edge.
- the penetration depth varies depending on the orientation of the welding torch used for welding with respect to the outer peripheral edge, the interval between the welded portion and the welding torch, or the heating time. Therefore, it is necessary to operate the welding torch according to the set conditions in order to eliminate the lack of penetration in the circumferential direction.
- the welding torch can be arranged in a fixed orientation with respect to the outer periphery of the plate while rotating the plate at a constant speed with the plate center as the rotation axis, so that a uniform penetration depth can be obtained. .
- the outer peripheral edge of a deformed plate whose length from the center to the outer peripheral edge is different in the circumferential direction
- the outer peripheral edge is large even if the deformed plate rotates at a constant speed in the same welding method as that of a true circular plate.
- the passing speed of the welding torch is relatively faster in the arc having a large curvature. Therefore, it is not possible to obtain a uniform penetration depth in the circumferential direction of the outer peripheral edge.
- Some embodiments are aimed at suppressing welding defects due to insufficient penetration when welding the outer peripheral edges of stacked deformed plates.
- a welding apparatus includes: A welding device for welding the outer peripheral edges of two deformed plates that overlap each other, A turntable fixed in a state where the two deformed plates are overlapped; A torch unit having a welding torch disposed at a position facing the outer peripheral edge of the two deformed plates fixed to the turntable; A first torch drive unit for changing the direction and interval of the welding torch with respect to the outer peripheral edge; The direction of the welding torch with respect to the tangent line of the outer peripheral edge of the two deformed plates rotating, and the distance between the welding torch and the outer peripheral edge are constant along the circumferential direction of the outer peripheral edge.
- the term “deformed plate” refers to a plate in which the length from the rotation center to the outer peripheral edge differs in the circumferential direction when the plate is fixed to the turntable.
- the outer peripheral edge is not composed of an arc having the same curvature in the circumferential direction such as a perfect circle, but has a different curvature in the circumferential direction.
- an elliptical plate or the like is applicable, but the shape is not limited to a shape formed only of an arc, such as an elliptical shape.
- the outer peripheral edge of the deformed plate that is fixed to the turntable and rotates is welded by the welding torch.
- the direction of the welding torch and the distance between the welding torch and the outer peripheral edge with respect to the tangent of the outer peripheral edge of the two deformed plates overlapped by the first control unit are made constant along the circumferential direction of the outer peripheral edge.
- the first torch drive unit is controlled. Thereby, the penetration depth of the outer peripheral edge can be made uniform in the circumferential direction, and welding defects due to insufficient penetration can be suppressed.
- the said turntable should just rotate at a fixed speed, the drive part of a turntable can be simplified and cost-reduced.
- the welding torch does not need to be moved with respect to the circumferential direction of the outer peripheral edge, and basically has a fixed arrangement, so that a driving unit for moving the welding torch in the circumferential direction of the outer peripheral edge is not required, thereby reducing the cost. it can.
- the first control unit has a direction displacement rate of the welding torch with respect to the outer peripheral edge (orientation displacement in a unit time, that is, a direction displacement rate) so that a heating time by the welding torch at each portion of the outer peripheral edge becomes constant.
- the welding torch is displaced in the circumferential direction of the outer peripheral edge by controlling the direction displacement speed of the welding torch with respect to the outer peripheral edge so that the heating time by the welding torch at each part of the outer peripheral edge becomes constant.
- the depth can be made uniform, and welding defects can be suppressed due to insufficient penetration.
- the relative direction displacement speed of the welding torch with respect to the outer peripheral edge can be controlled relatively easily by displacing the direction of the welding torch in the same direction as the rotation direction of the turntable or in the opposite direction.
- the first controller is The welding torch of the welding torch is set at each set position of the region for each region where the curvature of the outer peripheral edge is different at least in the circumferential direction of the deformed plate in a two-dimensional coordinate with the rotation center of the two deformed plates as a coordinate center.
- a position and orientation are expressed as coordinates, and the orientation is a torch posture map set at the same angle with respect to the tangent line of the outer periphery in all the regions;
- a torch direction displacement speed map in which the direction displacement speed of the welding torch is set so that the heating time by the welding torch is constant between the set positions of the regions;
- Have The first control unit controls the first torch driving unit based on the torch posture map and the torch direction displacement speed map.
- the position and orientation of the welding torch are expressed in coordinates at each set position in each of the regions having different curvatures of the outer peripheral edge to be welded, so that the penetration depth along the circumferential direction of the outer peripheral edge It becomes easy to control.
- the direction of the welding torch with respect to the outer peripheral edge is set at the same angle along the circumferential direction of the outer peripheral edge, it is possible to eliminate welding defects due to insufficient penetration along the circumferential direction of the outer peripheral edge.
- the torch direction displacement speed map since the direction displacement speed of the welding torch is set so that the heating time by the welding torch is constant, the penetration depth can be made uniform along the circumferential direction of the outer peripheral edge, Welding defects due to insufficient penetration can be suppressed.
- the tip of the welding torch is coordinated at the intersection of the y-axis of the two-dimensional coordinate and the outer periphery, A virtual circle passing through the intersection is set, and the direction of the welding torch is set to have a certain angle with respect to a normal passing through the intersection and the center point of the virtual circle.
- the tip of the welding torch is indicated by the coordinates at the intersection, so that the first control unit always places the tip of the welding torch at the intersection at any circumferential position of the deformed plate. Since it is controlled to be positioned, it is easy to set the position of the welding torch.
- the direction of the welding torch is set to have a constant angle with respect to the normal line, the direction of the welding torch can always be set to a constant angle with respect to the tangent line of the outer peripheral edge.
- the tip of the welding torch is arranged at a position shifted from the intersection point to the outside of the deformed plate by a minute distance.
- a welding torch in the configuration of (4), can be arrange
- a second torch drive unit that allows the welding torch to move in a direction that intersects the front and back surfaces of the two deformed plates;
- a third torch drive unit for varying the interval of the welding torch with respect to the outer peripheral edge;
- a non-contact sensor for detecting an overlapping position of the two deformed plates in a direction intersecting with the front and back surfaces and a distance of the welding torch with respect to the outer peripheral edge; Based on the detection value of the non-contact sensor, the second torch drive unit and the second torch drive unit so that the position of the welding torch coincides with the overlapping position in the direction intersecting the front and back surfaces and the interval becomes a set value.
- a second control unit for controlling the third torch drive unit; Is provided.
- the welding torch can always be positioned at the overlapping position of the outer peripheral edge by the feedback control by the second control unit, so that the heat input amount of the welded portion can be secured and the deformed plate Since the interval of the welding torch with respect to the outer peripheral edge of the welding can always be maintained at the set value, the lack of penetration of the welded portion can be solved.
- you may comprise so that one control part may have the function of the said 1st control part and the said 2nd control part.
- the non-contact sensor is a laser displacement sensor;
- the second control unit detects the interval between the overlap position and the outer peripheral edge and the welding torch by comparing the detection value with the master shape stored in the second control unit.
- the first control unit controls the direction displacement speed of the welding torch so that a heating time of a portion where stress concentration occurs in the outer peripheral edge is exceptionally longer than other portions.
- the configuration of (8) above by controlling the direction displacement speed of the welding torch so that the heating time is exceptionally longer than the other parts in the part where the stress concentration occurs in the outer peripheral edge, exceptionally The penetration depth can be increased. Thereby, the strength of the welded portion where stress concentration occurs can be improved.
- a welding method includes: A welding method for welding the outer peripheral edges of two deformed plates that overlap each other, A first step of fixing the two deformed plates on top of each other in a stacked state and rotating at a constant rotational speed; A second step of welding the outer peripheral edges of the two deformed plates along the circumferential direction using a welding torch disposed opposite to the outer peripheral edges of the two deformed plates; In the second step, a third step of controlling the direction of the welding torch with respect to the tangent line of the outer peripheral edge and the interval between the welding torch and the outer peripheral edge to be constant along the circumferential direction of the outer peripheral edge; including.
- the direction of the welding torch with respect to the tangent line of the outer peripheral edge of the deformed plates to be overlapped and the interval between the welding torch and the outer peripheral edge are in the circumferential direction of the outer peripheral edge. Therefore, it is possible to suppress welding defects due to insufficient penetration along the circumferential direction of the outer peripheral edge. Moreover, since the said turntable should just rotate at a fixed speed, the drive part of a turntable can be simplified and cost-reduced. Further, since the welding torch does not need to be moved in the circumferential direction of the outer peripheral edge and is basically fixedly arranged, a driving unit for moving the welding torch in the circumferential direction of the outer peripheral edge is not required, and the cost can be reduced.
- the position and orientation of the welding torch are set at each set position of the region for each region where the curvature of the outer periphery differs at least in the circumferential direction of the deformed plate, and the orientation is the outer periphery at all the set positions. Is set at the same angle with respect to The direction displacement speed of the welding torch is set so that the heating time by the welding torch is constant between the set positions of the regions.
- the position and orientation of the welding torch is set for each region where the curvature of the outer peripheral edge is different, and the heating time is constant between the set positions of each region. It is possible to suppress welding defects due to insufficient penetration of the weld along the direction.
- the direction displacement speed of the welding torch is controlled so that the heating time of the part where the stress concentration occurs in the outer peripheral edge is exceptionally longer than the other part.
- the heating time can be lengthened at the portion of the outer periphery where stress concentration occurs. Thereby, the penetration depth of the stress concentration portion can be increased, and the strength of the weld portion of the stress concentration portion can be improved.
- a welding defect due to insufficient penetration along the circumferential direction of the outer peripheral edge can be eliminated.
- the structure of the welding apparatus which enables this can be simplified and reduced in cost.
- an expression indicating that things such as “identical”, “equal”, and “homogeneous” are in an equal state not only represents an exactly equal state, but also has a tolerance or a difference that can provide the same function. It also represents the existing state.
- expressions representing shapes such as quadrangular shapes and cylindrical shapes represent not only geometrically strict shapes such as quadrangular shapes and cylindrical shapes, but also irregularities and chamfers as long as the same effects can be obtained. A shape including a part or the like is also expressed.
- the expressions “comprising”, “comprising”, “comprising”, “including”, or “having” one constituent element are not exclusive expressions for excluding the existence of other constituent elements.
- the welding apparatus 10 includes turntables 12 a and 12 b to which two deformed plates P 1 and P 2 to be welded are rotatably fixed.
- Profiled sheets P 1 and P 2 are disposed between the turntable 12a and 12b in a state of being superimposed, it is nipped by these turntable.
- Profiled sheets P 1 and P 2 have the same size and the same shape, when Kasanea' each other, these outer peripheral edges e1 and e2 are substantially coincident.
- Welding torch 14 is disposed in a position facing the outer circumferential edge e1 and e2 of the turntable 12a of two fixed to and 12b profiled plates P 1 and P 2. The welding torch 14 is attached to the torch unit 16.
- the 1st torch drive part 18 which makes variable the direction of the welding torch 14 with respect to the outer periphery e1 and e2, and the space
- the 1st control part 20 which controls the 1st torch drive part 18 is provided so that it may become fixed along the circumferential direction of the outer periphery e1 and e2.
- the outer peripheral edge e1 and e2 of the profiled plates P 1 and P 2 which rotates sandwiched turntable 12a and 12b in the arrow a direction is welded by the welding torch 14.
- the first control unit 20 orientation of the first torch driver 18 controls, two profiled plates P 1 and welding respect to the tangent of the outer circumferential edge e1 and e2 of P 2 torch 14 Kasanea', and welding torch 14 and the outer peripheral edges e1 and e2 are constant along the circumferential direction of the outer peripheral edges e1 and e2.
- the welding defect of the welding part w by the lack of penetration of the welding part w along the circumferential direction of the outer periphery e1 and e2 can be suppressed.
- the turntables 12a and 12b since the turntables 12a and 12b only need to rotate at a constant speed, the drive unit of the turntable can be simplified and reduced in cost.
- the welding torch 14 since the welding torch 14 does not need to be moved with respect to the circumferential direction of the outer peripheral edges e1 and e2, and is basically fixedly arranged, a drive unit for moving the welding torch 14 in the circumferential direction of the outer peripheral edge is required. The cost can be reduced.
- the torch unit 16 to which the welding torch 14 is attached is slidably attached in the longitudinal direction of the rail 22 (the direction of the arrow b in FIG. 1).
- the torch unit 16 includes a first block 16a in which the first torch drive unit 18 is provided, and a second block 16b in which the welding torch 14 is provided.
- the first torch drive unit 18 includes an orientation varying unit 18 a that varies the orientation of the welding torch 14 with respect to the tangent to the outer circumferential edges e 1 and e 2, and the outer circumferential edge e 1 and and an interval variable portion 18b for changing the interval of the welding torch 14 with respect to e2.
- interval variable part 18b makes the space
- the orientation changing portion 18a includes a rail 22 having an arc shape as shown in FIG.
- the rail 22 is provided at a position facing the outer peripheral edges e1 and e2, and extends along the circumferential direction of the outer peripheral edges.
- the front end of the welding torch 14 can be moved linearly in a direction (arrow d direction in FIG. 1) that advances and retreats with respect to the outer peripheral edges e1 and e2 by the interval variable portion 18b.
- the tip of 14 can always be arranged on the outer peripheral edges e1 and e2.
- the welding torch 14 with respect to the outer peripheral edges e1 and e2 is set while aligning the tip of the welding torch 14 with this one point. You can change the direction. In actual welding, the tip of the welding torch 14 is arranged at a position shifted by a minute interval outward with respect to the outer peripheral edges e1 and e2.
- the direction changing portion 18 a drives a rack 24 provided on the surface of the rail 22, a pinion 26 that meshes with the rack 24, and a pinion 26 provided in the torch unit 16. It is comprised with the drive part 28.
- FIG. 2 By driving the pinion 26 with the drive unit 28, the torch unit 16 moves along the longitudinal direction of the rail 22.
- the pinion 26 is rotatably supported by the base 29, and the driving unit 28 and the base 29 are fixed to the support base 30.
- the interval variable portion 18 b is integrated with the ball screw 32 that is rotatably supported by the support base 30, the drive unit 34 provided on the support base 30, and the support base 36. And a slide block 38 screwed with the ball screw 32.
- the support base 36 constitutes a part of the second block 16b.
- the ball screw 32 is rotated by the drive unit 34, and the interval between the tips of the welding torch 14 with respect to the outer peripheral edges e1 and e2 is variable.
- the second block 16b is the direction of arrow f direction (for example, FIG. 2 that intersects the welding torch 14 and two front and rear surfaces of the profiled sheets P 1 and P 2 ), And a third torch drive unit 49 that makes the interval of the welding torch 14 with respect to the outer peripheral edges e1 and e2 variable.
- the non-contact sensor 54 for detecting the distance of the welding torch 14 with respect to the two profiled plates P 1 and the position and the outer edge e1 and e2 superposition direction intersecting the front and back surfaces of the P 2 Prepare.
- the detection value of the non-contact sensor 54 is input to the second control unit 58.
- the second control unit 58 controls the 3rd torch drive part 49 so that the space
- the welding torch 14 can always be positioned at the overlapping position of the outer peripheral edges e1 and e2 by the feedback control by the second control unit 58, so that the heat input amount of the welded portion w can be ensured. Moreover, since the interval of the welding torch 14 with respect to the outer peripheral edges e1 and e2 can always be held at a set value, it is possible to eliminate the insufficient melting of the welded portion w along the circumferential direction of the outer peripheral edge.
- One control unit may have all the functions of the first control unit 20 and the second control unit 58.
- the second torch drive unit 41 includes a drive unit 42 that is fixed to a support base 46 together with a fixed block 44.
- a screw shaft 39 arranged in the direction of arrow f supports the support base 36 from below.
- the screw shaft 39 and the ball screw 40 are screwed in a direction crossing each other, and the ball screw 40 and the screw shaft 39 are rotated by the drive unit 42.
- the screw shaft 39 is rotated, the fixed block 44 and the support table 46 is parallel moved in the direction crossing the mating surface s of the profiled plates P 1 and P 2 (direction of arrow f).
- the third torch drive unit 49 includes a drive unit 50 that is supported by the support base 46 and rotates the ball screw 48.
- the torch main body 53 moves linearly in a direction to advance and retreat with respect to the outer peripheral edges e1 and e2.
- the non-contact sensor 54 is fixed to the second block 16 b via a fixing plate 56. Therefore, since the non-contact sensor 54 moves in the direction of the arrow b or the arrow d together with the welding torch 14, no unique moving means is required.
- each of the drive units 28, 34, 42, and 50 is configured by a servo motor that can rotate forward and backward, and is rotated in the forward and reverse directions by the first control unit 20 and the second control unit 58.
- the non-contact sensor 54 is a laser displacement sensor
- the second control unit 58 compares the detected value of the laser displacement sensor with the master shape stored in the second control unit 58 to obtain a deformed plate.
- the overlapping positions of P 1 and P 2 and the interval between the outer peripheral edges e 1 and e 2 and the welding torch 14 are detected.
- the detection accuracy can be improved.
- the detection accuracy can be further improved by using a laser displacement sensor that oscillates blue laser light having a long wavelength.
- the deformed plates P 1 and P 2 form a heat exchange part of a shell-and-plate heat exchanger, similar to the true circular plate disclosed in Patent Document 1.
- the deformed plates P 1 and P 2 are formed with inner circular holes h 1 and h 2 through which the refrigerant flows, as shown in FIG.
- the two profiled plates P 1 and P 2 is in a state of being superposed to be welded.
- the first control unit 20 includes a torch posture map 60 and a torch direction displacement speed map 62.
- the torch posture map 60 uses two-dimensional coordinates composed of an x-axis and a y-axis.
- the rotation centers of the turntables 12a and 12b that is, the rotation centers of the deformed plates P 1 and P 2 ) O 1 are arranged.
- FIG. 6 at least the outer peripheral edges e1 and e2 are divided into areas R (R 1 , R 2 ,.
- the position and orientation of the welding torch 14 are expressed in coordinates by (v1, v2,).
- the direction of the welding torch 14 is set so as to have the same angle with respect to the tangent Lt of the outer peripheral edge at the setting positions of all the regions.
- the heating time by the welding torch 14 is constant between the set positions v (v1, v2,%) Of each region R (R 1 , R 2 , etc.
- v v1, v2,
- the first control unit 20 controls the first torch driving unit 18 based on the torch posture map 60 and the torch direction displacement speed map 62.
- the position and orientation of the welding torch 14 are set for each region where the curvatures of the outer peripheral edges e1 and e2 are different based on the torch posture map 60, and the orientation of the welding torch 14 with respect to the outer peripheral edge is set to the same angle in all regions. Therefore, it is possible to suppress welding defects due to insufficient penetration along the circumferential direction of the outer peripheral edge.
- the torch direction displacement speed map 62 is welded so that the heating time by the welding torch is constant at each set position v (v1, v2,%) Of the region R (R 1 , R 2 ,). Since the direction displacement speed of the torch 14 is set, the penetration depth can be made uniform along the circumferential direction of the outer peripheral edge, and welding defects due to insufficient penetration can be eliminated. Orientation displacement speed of the welding torch 14 with respect to the rotation direction a of the profiled plates P 1 and P 2, or to displace the orientation of the welding torch 14 in the same direction, or be easily changed depending displacing the opposite direction it can.
- the tip of the welding torch 14 is expressed as a coordinate at the intersection Pi between the y-axis of the two-dimensional coordinates and the outer peripheral edges e ⁇ b> 1 and e ⁇ b> 2, and the virtual passing through the intersection Pi A circle C is set.
- the direction of the welding torch 14 is set so as to have a constant angle with respect to the normal Ln passing through the intersection point Pi and the center point O 2 of the virtual circle C.
- FIG. 5 (A) shows a case where the rotary base 12a, and a center point O 2 of the rotation center O 1 and the virtual circle C of 12b matches
- FIG. 5 (B) the rotation of the turntable 12a, 12b A case where the center O 1 and the center point O 2 of the virtual circle C do not coincide with each other is shown.
- the coordinates of the tip of the welding torch 14 are expressed at the intersection Pi, so that the first controller 20 always places the tip of the welding torch 14 at the intersection Pi at any rotational position of the deformed plate. Be controlled. Therefore, the position setting of the welding torch 14 becomes easy. Further, since the direction of the welding torch 14 is set to have a constant angle with respect to the normal line Ln, the direction of the welding torch 14 can always be set to a constant angle with respect to the tangent line Lt of the outer peripheral edge. Thereby, the penetration depth can be made uniform along the circumferential direction of the outer peripheral edge, and welding defects due to insufficient penetration can be suppressed. During actual welding, the tip of the welding torch 14 is arranged at a position shifted from the intersection Pi to the outside of the outer peripheral edges e1 and e2.
- the direction of the welding torch 14 is set to coincide with the normal Ln.
- the welding torch 14 can be disposed at right angles to the tangent Lt of the outer peripheral edge, so that the heat input amount at the outer peripheral edge can be maximized. Therefore, since the penetration depth of the outer peripheral edge can be maximized, welding defects due to insufficient penetration can be suppressed.
- FIG. 7A shows an example in which the direction of the welding torch 14 matches the normal Ln (Example 1)
- FIG. 8A shows the direction in which the direction of the welding torch 14 does not match the normal Ln.
- An example different from Ln by an angle ⁇ is shown (Example 2).
- Example 1 since the heat input amount at the outer peripheral edge is maximized, the penetration depth m1 of the welded portion w is maximized as shown in FIG. 7B.
- Example 2 since the heat input amount at the outer peripheral edge is reduced as compared with Example 1, the penetration depth m2 of the welded portion w is reduced as compared with Example 1 as shown in FIG.
- the position and direction of the welding torch 14 can be controlled more precisely as the divided region R (R 1 , R 2 ,...) On the outer peripheral edge is subdivided. For example, if the outer peripheral edge is divided every center angle ⁇ less than 1 °, the position and orientation of the welding torch 14 can be controlled more precisely.
- the welding torch 14 is, for example, gas welding in which a welding material is heated by a gas welding machine with the combustion heat of combustible gas, and an arc is generated between the welding material and the welding torch to generate a welding material. It is possible to use a welding torch used for arc welding (including plasma welding) or any other welding method.
- the first control unit 20 controls the direction displacement speed of the welding torch 14 so that the heating time of the part where the stress concentration occurs in the outer peripheral edges e1 and e2 is exceptionally longer than the other parts. To do. This makes it possible to exceptionally deepen the penetration depth of the portion where the stress concentration occurs. Thereby, the strength of the welded portion at the stress concentration site can be improved.
- the outer peripheral edges e1 and e2 are divided into regions R (R 1 , R 2 ,...) In the circumferential direction at the same central angle ⁇ , and heating by the welding torch 14 at the stress concentration portion.
- the direction displacement speed of the welding torch 14 is set so that the time becomes longer than other parts.
- the first control unit 20 controls the direction displacement speed of the welding torch 14 based on the torch direction displacement speed map.
- the welding method includes a first step S ⁇ b> 10. It includes a second step S12 and a third step S14.
- first step profiled plate provision step
- second step welding step
- the first step fixed to the turntable 12a and 12b by two state of Kasanea' profiled plates P 1 and P 2
- it rotates the turntable 12a and 12b at a constant rotational speed.
- second step welding step
- a second step S12 the orientation of the welding torch 14 with respect to the tangent Lt of the outer circumferential edge e1 and e2, and the distance between the outer edge e1 and e2 and the welding torch 14 is constant along the circumferential direction of the profiled plates P 1 and P 2 and (Third step (control step) S14).
- the interval direction of the profiled plate P 1 and the welding respect to the tangent of the outer circumferential edge of P 2 torch 14, and an outer peripheral edge and the welding torch 14 Kasaneau is along the circumferential direction of the profiled sheets Therefore, since insufficient penetration does not occur in the circumferential direction of the outer peripheral edges e1 and e2, welding defects due to insufficient penetration can be suppressed. Further, since the turntables 12a and 12b only need to rotate at a constant speed, the drive unit of the turntable can be simplified and the cost can be reduced, and the welding torch 14 is basically in the circumferential direction of the outer periphery of the deformed plate. Since it becomes fixed arrangement, the drive part for moving the welding torch 14 is not required, and cost can be reduced.
- profiled plates P 1 and region R (R 1, R 2 the curvature of at least the outer peripheral edge e1 and e2 are different in the circumferential direction of the P 2, ⁇ ⁇ )
- the position and orientation of the welding torch 14 are set at the set position v (v1, v2,%) Of each region, and the orientation is set at all the set positions v (v1, v2,). It is set at the same angle with respect to the tangent Lt (see FIG. 5) of the outer peripheral edge.
- the welding torch 14 is set so that the heating time by the welding torch 14 is constant between the set positions v (v1, v2,%) Of each region R (R 1 , R 2 , etc.
- the direction displacement speed is set. Thereby, the lack of penetration of the welded portion w along the circumferential direction of the outer peripheral edges e1 and e2 can be eliminated, and welding defects due to lack of penetration can be suppressed.
- the first control unit 20 changes the direction of the welding torch 14 in the same direction as the rotation direction a of the turntables 12a and 12b (the direction of the arrow g shown in FIG. 5A). Or by changing the direction of the welding torch 14 in the direction opposite to the rotation direction a of the turntable (the direction of the arrow i shown in FIG. 5A), the direction displacement speed of the welding torch 14 can be easily adjusted. Can do.
- the direction displacement speed of the welding torch 14 is controlled so that the heating time of the portion where the stress concentration occurs in the outer peripheral edges e1 and e2 is exceptionally longer than the other portions. . Thereby, the penetration depth of the stress concentration portion can be increased, and the strength of the welded portion w of the stress concentration portion can be improved.
- the structure of the welding apparatus which makes this possible can be simplified and reduced in cost, and it can be beneficial to any welding method for deformed plates.
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Abstract
Description
特許文献1に開示されたシェルアンドプレート式熱交換器の熱交換部は、多数の真円形プレートが重ね合わされて熱交換部を構成している。
真円形のプレートを用いる場合、プレート中心を回転軸としてプレートを一定速度で回転させながら、溶接トーチをプレート外周縁に対し一定の向きで対向配置することで、均一な溶け込み深さとすることができる。
そのため、外周縁の周方向で均一な溶け込み深さとすることはできない。
重ね合った2枚の異形プレートの外周縁同士を溶接する溶接装置であって、
前記2枚の異形プレートが重ね合った状態で固定される回転台と、
前記回転台に固定された前記2枚の異形プレートの外周縁に対向する位置に配置される溶接トーチを有するトーチユニットと、
前記外周縁に対する前記溶接トーチの向き及び間隔を可変とする第1トーチ駆動部と、
回転する前記2枚の異形プレートの前記外周縁の接線に対する前記溶接トーチの向き、及び前記溶接トーチと前記外周縁との間隔が前記外周縁の周方向に沿って一定となるように、前記第1トーチ駆動部を制御する第1制御部と、
を備える。
また、上記回転台は一定速度で回転すればよいので、回転台の駆動部を簡素化かつ低コスト化できる。また、溶接トーチは外周縁の周方向に対して移動させる必要がなく、基本的に固定配置となるので、溶接トーチを外周縁の周方向へ移動させるための駆動部を必要とせず低コスト化できる。
前記第1制御部は、前記外周縁の各部位の前記溶接トーチによる加熱時間が一定となるように、前記外周縁に対する前記溶接トーチの向き変位速度(単位時間における向き変位、即ち向き変位率)を制御するものである。
上記(2)の構成によれば、外周縁の各部位の溶接トーチによる加熱時間が一定となるように、外周縁に対する溶接トーチの向き変位速度を制御することで、外周縁の周方向で溶け込み深さを均一にでき、溶込み不足により溶接欠陥を抑制できる。
なお、溶接トーチの向きを前記回転台の回転方向と同一方向又は反対方向へ変位させることで、外周縁に対する溶接トーチの相対的な向き変位速度を比較的容易に制御できる。
前記第1制御部は、
前記2枚の異形プレートの回転中心を座標中心とした二次元座標に、前記異形プレートの周方向で少なくとも前記外周縁の曲率が異なる領域ごとに、前記領域の各々の設定位置で前記溶接トーチの位置及び向きが座標表記され、前記向きはすべての前記領域で前記外周縁の接線に対し同一角度に設定されたトーチ姿勢マップと、
前記領域の各々の前記設定位置の間で、前記溶接トーチによる加熱時間が一定となるように、前記溶接トーチの向き変位速度が設定されたトーチ向き変位速度マップと、
を有し、
前記第1制御部は、前記トーチ姿勢マップ及び前記トーチ向き変位速度マップに基づいて前記第1トーチ駆動部を制御するものである。
また、トーチ向き変位速度マップにおいて、溶接トーチによる加熱時間が一定となるように、前記溶接トーチの向き変位速度が設定されるため、外周縁の周方向に沿って溶け込み深さを均一化でき、溶け込み不足による溶接欠陥を抑制できる。
前記トーチ姿勢マップにおいて、
前記溶接トーチの先端が前記二次元座標のy軸と前記外周縁との交点に座標表記され、
前記交点を通る仮想円が設定され、前記溶接トーチの向きは前記交点と前記仮想円の中心点とを通る法線に対して一定の角度を有するように設定される。
上記(4)の構成によれば、溶接トーチの先端が上記交点に座標表記されることで、第1制御部により、異形プレートの任意の周方向位置で、溶接トーチの先端が常に上記交点に位置するように制御されるため、溶接トーチの位置設定が容易である。また、溶接トーチの向きが上記法線に対して一定の角度を有するように設定されるので、溶接トーチの向きを外周縁の接線に対して常に一定の角度とすることができる。
なお、実際の溶接時には、溶接トーチの先端は上記交点から微小距離だけ異形プレートの外側へずらした位置に配置される。
前記溶接トーチの向きは、前記法線と一致するように設定される。
上記(5)の構成によれば、溶接トーチを法線と一致させることで、溶接トーチを外周縁の接線に対して直角に配置できる。これによって、外周縁の入熱量を最大にできるため、外周縁の溶け込み深さを最大にでき、溶け込み不足による溶接欠陥を抑制できる。
前記溶接トーチを前記2枚の異形プレートの表裏面と交差する方向へ移動可能にする第2トーチ駆動部と、
前記外周縁に対する前記溶接トーチの間隔を可変とする第3トーチ駆動部と、
前記2枚の異形プレートの前記表裏面と交差する方向の重ね合わせ位置及び前記外周縁に対する前記溶接トーチの間隔を検出する非接触センサと、
前記非接触センサの検出値に基づいて、前記表裏面と交差する方向において前記溶接トーチの位置が前記重ね合わせ位置に一致し、かつ前記間隔が設定値となるように前記第2トーチ駆動部及び前記第3トーチ駆動部を制御する第2制御部と、
を備える。
なお、1つの制御部が上記第1制御部及び上記第2制御部の機能を合わせもつように構成してもよい。
前記非接触センサはレーザ変位センサであり、
前記第2制御部は、前記検出値と前記第2制御部に記憶されたマスタ形状とを比較することで、前記重ね合わせ位置及び前記外周縁と前記溶接トーチ間の間隔を検出するものである。
上記(7)の構成によれば、非接触センサとしてレーザ変位センサを用い、溶接光などの外乱によって乱されないレーザ光を用いるので、検出精度を向上できる。
前記第1制御部は、前記外周縁のうち応力集中が発生する部位の加熱時間が他の部位より例外的に長くなるように前記溶接トーチの向き変位速度を制御する。
上記(8)の構成によれば、外周縁のうち応力集中が発生する部位で加熱時間が他の部位より例外的に長くなるように溶接トーチの向き変位速度を制御することで、例外的に溶け込み深さを深くすることができる。これによって、応力集中が発生する部位の溶接部の強度を向上できる。
重ね合った2枚の異形プレートの外周縁同士を溶接する溶接方法であって、
前記2枚の異形プレートを重ね合った状態で回転台に固定して一定回転速度で回転させる第1工程と、
前記2枚の異形プレートの外周縁に対向して配置された溶接トーチを用い、前記2枚の異形プレートの外周縁を周方向に沿って溶接する第2工程と、
前記第2工程において、前記外周縁の接線に対する前記溶接トーチの向き及び前記溶接トーチと前記外周縁との間隔が前記外周縁の周方向に沿って一定となるように制御する第3工程と、
を含む。
また、上記回転台は一定速度で回転すればよいので、回転台の駆動部を簡素化かつ低コスト化できる。また、溶接トーチは外周縁の周方向へ移動させる必要がなく、基本的に固定配置となるので、溶接トーチを外周縁の周方向へ移動させるための駆動部を必要とせず低コスト化できる。
前記第3工程において、
前記異形プレートの周方向で少なくとも前記外周縁の曲率が異なる領域ごとに、前記領域の各々の設定位置で前記溶接トーチの位置及び向きが設定され、前記向きはすべての前記設定位置で前記外周縁の接線に対し同一角度に設定され、
前記領域の各々の前記設定位置の間で、前記溶接トーチによる加熱時間が一定となるように、前記溶接トーチの向き変位速度が設定される。
上記(10)の方法によれば、外周縁の曲率が異なる領域ごとに溶接トーチの位置及び向きが設定され、かつ各領域の設定位置の間で加熱時間が一定となるので、外周縁の周方向に沿って溶接部の溶け込み不足による溶接欠陥を抑制できる。
前記第3工程において、
前記外周縁のうち応力集中が発生する部位の加熱時間が他の部位より例外的に長くなるように前記溶接トーチの向き変位速度を制御する。
上記(11)の方法によれば、外周縁のうち応力集中が発生する部位で加熱時間を長くすることができる。これによって、応力集中部の溶け込み深さを深くすることができ、応力集中部の溶接部の強度を向上できる。
例えば、「ある方向に」、「ある方向に沿って」、「平行」、「直交」、「中心」、「同心」或いは「同軸」等の相対的或いは絶対的な配置を表す表現は、厳密にそのような配置を表すのみならず、公差、若しくは、同じ機能が得られる程度の角度や距離をもって相対的に変位している状態も表すものとする。
例えば、「同一」、「等しい」及び「均質」等の物事が等しい状態であることを表す表現は、厳密に等しい状態を表すのみならず、公差、若しくは、同じ機能が得られる程度の差が存在している状態も表すものとする。
例えば、四角形状や円筒形状等の形状を表す表現は、幾何学的に厳密な意味での四角形状や円筒形状等の形状を表すのみならず、同じ効果が得られる範囲で、凹凸部や面取り部等を含む形状も表すものとする。
一方、一つの構成要素を「備える」、「具える」、「具備する」、「含む」、又は「有する」という表現は、他の構成要素の存在を除外する排他的な表現ではない。
回転台12a及び12bに固定された2枚の異形プレートP1及びP2の外周縁e1及びe2に対向する位置に溶接トーチ14が配置される。溶接トーチ14はトーチユニット16に取り付けられる。
さらに、図3に示すように、回転する2枚の異形プレートP1及びP2の外周縁e1及びe2の接線に対する溶接トーチ14の向き、及び溶接トーチ14と外周縁e1及びe2との間隔が外周縁e1及びe2の周方向に沿って一定となるように、第1トーチ駆動部18を制御する第1制御部20を備える。
また、回転台12a及び12bは一定速度で回転すればよいので、該回転台の駆動部を簡素化かつ低コスト化できる。また、溶接トーチ14は外周縁e1及びe2の周方向に対して移動させる必要がなく、基本的に固定配置となるので、溶接トーチ14を外周縁の周方向へ移動させるための駆動部を必要とせず低コスト化できる。
一実施形態では、図2及び図3に示すように、第1トーチ駆動部18は、外周縁e1及びe2の接線に対する溶接トーチ14の向きを可変とする向き可変部18aと、外周縁e1及びe2に対する溶接トーチ14の間隔を可変とする間隔可変部18bとを含む。
一実施形態では、間隔可変部18bは、外周縁e1及びe2に対する溶接トーチ14の先端の間隔を可変とする。
なお、実際の溶接では、溶接トーチ14の先端は、外周縁e1及びe2に対して外側に微小間隔だけずらした位置に配置される。
駆動部34によってボールネジ32が回動し、外周縁e1及びe2に対する溶接トーチ14の先端の間隔を可変とする。
なお、1つの制御部が第1制御部20及び第2制御部58の機能をすべて併せ持つようにしてもよい。
一実施形態では、図2に示すように、非接触センサ54は固定板56を介して第2ブロック16bに固定される。従って、非接触センサ54は溶接トーチ14と共に矢印b方向又は矢印d方向へ移動するため、独自の移動手段を必要としない。
一実施形態では、各駆動部28、34、42及び50は、正逆回転可能なサーボモータで構成され、第1制御部20及び第2制御部58によって正逆方向へ回転する。
このように、非接触センサとしてレーザ変位センサを用い、溶接光などの外乱によって乱されないレーザ光を用いるので、検出精度を向上できる。
特に、波長が長い青色レーザ光を発振するレーザ変位センサを用いることで、さらに検出精度を向上できる。
トーチ姿勢マップ60は、図5の(A)及び(B)に示すように、x軸及びy軸からなる二次元座標が用いられる。この二次元座標の座標中心(0、0)に回転台12a及び12bの回転中心(即ち、異形プレートP1、P2の回転中心)O1が配置される。
そして、図6に示すように、少なくとも外周縁e1、e2の曲率が異なる領域R(R1、R2、・・・)ごとに外周縁を分割し、分割された領域の各々の設定位置v(v1、v2、・・・)で溶接トーチ14の位置及び向きが座標表記される。溶接トーチ14の向きは、図5に示すように、すべての領域の設定位置で外周縁の接線Ltに対し同一角度となるように設定される。
第1制御部20は、トーチ姿勢マップ60及びトーチ向き変位速度マップ62に基づいて第1トーチ駆動部18を制御する。
トーチ向き変位速度マップ62は、領域R(R1、R2、・・・)の各々の設定位置v(v1、v2、・・・)で溶接トーチによる加熱時間が一定となるように、溶接トーチ14の向き変位速度が設定されるため、外周縁の周方向に沿って溶け込み深さを均一化でき、溶け込み不足による溶接欠陥をなくすことができる。
溶接トーチ14の向き変位速度は、異形プレートP1及びP2の回転方向aに対して、溶接トーチ14の向きを同一方向へ変位させるか、あるいは逆方向へ変位させるかによって容易に変えることができる。
なお、実際の溶接時には、溶接トーチ14の先端は交点Piから微小距離だけ外周縁e1及びe2の外側へずらした位置に配置される。
図7(A)は、溶接トーチ14の向きが法線Lnと一致する例を示し(例1)、図8(A)は、溶接トーチ14の向きが法線Lnと一致せず、法線Lnと角度αだけ異なる例を示す(例2)。例1の場合、外周縁の入熱量は最大となるため、図7(B)に示すように、溶接部wの溶け込み深さm1は最大となる。例2では、例1と比べて外周縁の入熱量は低減するため、図8(B)に示すように、溶接部wの溶け込み深さm2は例1より低減する。
これによって、応力集中が発生する部位の溶け込み深さを例外的に深くすることができる。これによって、応力集中部位の溶接部の強度を向上できる。
例えば、トーチ向き変位速度マップ62において、外周縁e1、e2を同一中心角度θで周方向に領域R(R1、R2、・・・)に分割し、応力集中部位の溶接トーチ14による加熱時間が他の部位より長くなるように、溶接トーチ14の向き変位速度を設定する。
第1制御部20は、このトーチ向き変位速度マップに基づいて溶接トーチ14の向き変位速度を制御する。
第1工程(異形プレート設置工程)S10では、2枚の異形プレートP1及びP2を重ね合った状態で回転台12a及び12bに固定し、回転台12a及び12bを一定回転速度で回転させる。
第2工程(溶接工程)S12では、2枚の異形プレートP1及びP2の外周縁e1及びe2に対向して配置された溶接トーチ14を用い、一定速度で回転する2枚の異形プレートの外周縁e1及びe2を周方向に沿って溶接する。
第2工程S12において、外周縁e1及びe2の接線Ltに対する溶接トーチ14の向き、及び外周縁e1及びe2と溶接トーチ14との間隔が異形プレートP1及びP2の周方向に沿って一定となるように制御する(第3工程(制御工程)S14)。
また、回転台12a及び12bは一定速度で回転すればよいので、該回転台の駆動部を簡素化かつ低コスト化できると共に、溶接トーチ14は異形プレート外周縁の周方向に対して基本的に固定配置となるので、溶接トーチ14を移動させるための駆動部を必要とせず低コスト化できる。
これによって、外周縁e1及びe2の周方向に沿って溶接部wの溶け込み不足をなくすことができ、溶け込み不足による溶接欠陥を抑制できる。
これによって、応力集中部の溶け込み深さを深くすることができ、応力集中部の溶接部wの強度を向上できる。
12a、12b 回転台
14 溶接トーチ
16 トーチユニット
16a 第1ブロック
16b 第2ブロック
18 第1トーチ駆動部
18a 向き可変部
18b 間隔可変部
20 第1制御部
22 レール
24 ラック
26 ピニオン
28、34、42、50 駆動部
29 台
30、36 支持台
32、40、48 ボールネジ
36、46 支持台
38、52 スライドブロック
39 ネジ軸
41 第2トーチ駆動部
42 非接触センサ
44 固定ブロック
49 第3トーチ駆動部
53 トーチ本体
54 非接触センサ
56 固定板
58 第2制御部
60 トーチ姿勢マップ
62 トーチ向き変位速度マップ
C 仮想円
Lt 接線
Ln 法線
O1 回転中心
O2 中心点
P1、P2 異形プレート
Pi 交点
R(R1、R2、・・・) 領域
e1、e2 外周縁
h1、h2 孔
m1、m2 溶け込み深さ
v(v1、v2、・・・) 設定位置
w 溶接部
θ 中心角
Claims (11)
- 重ね合った2枚の異形プレートの外周縁同士を溶接する溶接装置であって、
前記2枚の異形プレートが重ね合った状態で固定される回転台と、
前記回転台に固定された前記2枚の異形プレートの外周縁に対向する位置に配置される溶接トーチを有するトーチユニットと、
前記外周縁に対する前記溶接トーチの向き及び間隔を可変とする第1トーチ駆動部と、
回転する前記2枚の異形プレートの前記外周縁の接線に対する前記溶接トーチの向き、及び前記溶接トーチと前記外周縁との間隔が前記外周縁の周方向に沿って一定となるように、前記第1トーチ駆動部を制御する第1制御部と、
を備えることを特徴とする溶接装置。 - 前記第1制御部は、前記外周縁の各部位の前記溶接トーチによる加熱時間が一定となるように、前記外周縁に対する前記溶接トーチの向き変位速度を制御するものであることを特徴とする請求項1に記載の溶接装置。
- 前記第1制御部は、
前記2枚の異形プレートの回転中心を座標中心とした二次元座標に、前記異形プレートの周方向で少なくとも前記外周縁の曲率が異なる領域ごとに、前記領域の各々の設定位置で前記溶接トーチの位置及び向きが座標表記され、前記向きはすべての前記領域で前記外周縁の接線に対し同一角度に設定されたトーチ姿勢マップと、
前記領域の各々の前記設定位置の間で、前記溶接トーチによる加熱時間が一定となるように、前記溶接トーチの向き変位速度が設定されたトーチ向き変位速度マップと、
を有し、
前記第1制御部は、前記トーチ姿勢マップ及び前記トーチ向き変位速度マップに基づいて前記第1トーチ駆動部を制御するものであることを特徴とする請求項2に記載の溶接装置。 - 前記トーチ姿勢マップにおいて、
前記溶接トーチの先端が前記二次元座標のy軸と前記外周縁との交点に座標表記され、
前記交点を通る仮想円が設定され、前記溶接トーチの向きは前記交点と前記仮想円の中心点とを通る法線に対して一定の角度を有するように設定されることを特徴とする請求項3に記載の溶接装置。 - 前記溶接トーチの向きは、前記法線と一致するように設定されることを特徴とする請求項4に記載の溶接装置。
- 前記溶接トーチを前記2枚の異形プレートの表裏面と交差する方向へ移動可能にする第2トーチ駆動部と、
前記外周縁に対する前記溶接トーチの間隔を可変とする第3トーチ駆動部と、
前記2枚の異形プレートの前記表裏面と交差する方向の重ね合わせ位置及び前記外周縁に対する前記溶接トーチの間隔を検出する非接触センサと、
前記非接触センサの検出値に基づいて、前記表裏面と交差する方向において前記溶接トーチの位置が前記重ね合わせ位置に一致し、かつ前記間隔が設定値となるように前記第2トーチ駆動部及び前記第3トーチ駆動部を制御する第2制御部と、
を備えることを特徴とする請求項1乃至5の何れか1項に記載の溶接装置。 - 前記非接触センサはレーザ変位センサであり、
前記第2制御部は、前記検出値と前記第2制御部に記憶されたマスタ形状とを比較することで、前記重ね合わせ位置及び前記間隔を検出するものであることを特徴とする請求項6に記載の溶接装置。 - 前記第1制御部は、前記外周縁のうち応力集中が発生する部位の加熱時間が他の部位より例外的に長くなるように前記溶接トーチの前記向き変位速度を制御することを特徴とする請求項1乃至7の何れか1項に記載の溶接装置。
- 重ね合った2枚の異形プレートの外周縁同士を溶接する溶接方法であって、
前記2枚の異形プレートを重ね合った状態で回転台に固定して一定回転速度で回転させる第1工程と、
前記2枚の異形プレートの外周縁に対向して配置された溶接トーチを用い、前記2枚の異形プレートの外周縁を周方向に沿って溶接する第2工程と、
前記第2工程において、前記外周縁の接線に対する前記溶接トーチの向き及び前記外周縁との間隔が前記外周縁の周方向に沿って一定となるように制御する第3工程と、
を含むことを特徴とする溶接方法。 - 前記第3工程において、
前記異形プレートの周方向で少なくとも前記外周縁の曲率が異なる領域ごとに、前記領域の各々の設定位置で前記溶接トーチの位置及び向きが設定され、前記向きはすべての前記設定位置で前記外周縁の接線に対し同一角度に設定され、
前記領域の各々の前記設定位置の間で、前記溶接トーチによる加熱時間が一定となるように、前記溶接トーチの向き変位速度が設定されることを特徴とする請求項9に記載の溶接方法。 - 前記第3工程において、
前記外周縁のうち応力集中が発生する部位の加熱時間が他の部位より例外的に長くなるように前記溶接トーチの前記向き変位速度を制御することを特徴とする請求項9又は10に記載の溶接方法。
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