JP2895381B2 - Automatic welding machine for folding folds - Google Patents
Automatic welding machine for folding foldsInfo
- Publication number
- JP2895381B2 JP2895381B2 JP2335994A JP2335994A JP2895381B2 JP 2895381 B2 JP2895381 B2 JP 2895381B2 JP 2335994 A JP2335994 A JP 2335994A JP 2335994 A JP2335994 A JP 2335994A JP 2895381 B2 JP2895381 B2 JP 2895381B2
- Authority
- JP
- Japan
- Prior art keywords
- axis
- welding
- torch
- fold
- welding line
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Landscapes
- Butt Welding And Welding Of Specific Article (AREA)
Description
【0001】[0001]
【産業上の利用分野】本発明は、大型容器の側壁に取付
けるひだ状の薄板構造材重ね継手の溶接に好適な折り曲
げひだ板重ね自動溶接装置に関する。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an automatic folding pleat plate welding apparatus suitable for welding a pleated thin plate structural material lap joint to be attached to a side wall of a large container.
【0002】[0002]
【従来の技術】LNG地下タンク等の大型容器の側壁に
取付けるライニング材としては、図8斜視図に示すよう
に、等間隔の折り曲げひだ部2aが形成されている下板
ひだ板1aと同様の折り曲げひだ部2bが形成されてい
る上板ひだ板1bのひだ状断面の端部を重ね合わせて、
重ね継手3を溶接してなる薄板構造材があり、この重ね
継手3を溶接するにあたっては、溶接線が小さな曲率で
立体的に屈曲しておりかつ溶接姿勢が刻々と変化するた
め、従来から自動化が困難とされ、全て溶接熟練工によ
る手溶接に頼っており、この種の重ね継手が現地施工に
おいて大量にある場合は、溶接工数の増大や溶接品質の
ばらつきを招くとともに、高齢化に伴う溶接熟練工の減
少による施工困難化の問題がある。2. Description of the Related Art As shown in a perspective view of FIG. 8, a lining material to be attached to a side wall of a large container such as an LNG underground tank is the same as the lower plate fold plate 1a in which bent folds 2a are formed at equal intervals. The ends of the pleated section of the upper fold plate 1b on which the bent fold portions 2b are formed are overlapped,
There is a thin plate structural material obtained by welding the lap joint 3, and when welding the lap joint 3, since the welding line is three-dimensionally bent with a small curvature and the welding position changes every moment, it has been conventionally automated. Is difficult to use, and all of them rely on manual welding by skilled welding workers.If this kind of lap joint is used in large quantities in field construction, it will increase welding man-hours and cause variations in welding quality. There is a problem that the construction becomes difficult due to the decrease in the number.
【0003】[0003]
【発明が解決しようとする課題】本発明は、このような
事情に鑑みて提案されたもので、溶接線が小さな曲率で
屈曲した折り曲げひだ部の重ね継手を軽量小型かつ可搬
性ある装置で適確かつ高能率に自動溶接することがで
き、ひいては同形状の継手が大量にある場合には、溶接
工数の大巾な低減と溶接品質の信頼性向上に寄与するこ
とができる折り曲げひだ板重ね自動溶接装置を提供する
ことを目的とする。SUMMARY OF THE INVENTION The present invention has been proposed in view of such circumstances, and is suitable for use in a lightweight, compact, and portable device for a lap joint having a bent fold in which a welding line is bent at a small curvature. Automatic welding can be performed reliably and efficiently, and if there are a large number of joints of the same shape, a folded fold plate automatic lamination that can contribute to greatly reducing welding man-hours and improving the reliability of welding quality It is an object to provide a welding device.
【0004】[0004]
【課題を解決するための手段】そのために本発明は、小
さな曲率で折り曲げてひだ部が形成されている板同士の
ひだ状断面の端部を重ね合わせた重ね継手を3次元の位
置決め制御で連続自動溶接する装置であって、折り曲げ
ひだ部頂点とその両側端に対し設けた合わせゲージと吸
盤及び折り曲げひだ部クランプ機構により溶接線に対し
て位置決め固定する支持架台と、上記支持架台に溶接線
と平行に移動,位置決めするように取付けられたX軸レ
ールと、上記X軸レールを走行するX軸ステージに折り
曲げひだ部方向に平行に移動,位置決めするように取付
けられたY軸レールと、上記Y軸レールの先端に折り曲
げひだ部に接近可能に装架されたトーチヘッド部とを具
え、更に上記トーチヘッド部が溶接線の直交方向に移
動,位置決め及びオシレート機能を持つZ軸と、上記Z
軸の移動ステージに溶接線に回動するよう取付けられた
θ軸と、上記θ軸に取付けられるとともに溶接トーチを
把持してその高さを一定に保つAVC軸とからなること
を特徴とする。SUMMARY OF THE INVENTION For this purpose, the present invention provides a continuous lap joint in which ends of a pleated cross section of plates formed by folding at a small curvature and having a fold are overlapped by three-dimensional positioning control. A device for automatic welding, a support gantry for positioning and fixing to a welding line by means of a matching gauge provided on a vertex of a bending fold and both side ends thereof, a suction cup and a bending fold clamp mechanism, and a welding line on the support gantry. An X-axis rail mounted so as to move and position in parallel, a Y-axis rail mounted so as to move and position in parallel to the direction of the bent fold on the X-axis stage running on the X-axis rail, and the Y-axis. A torch head mounted at the end of the shaft rail so as to be accessible to the bent folds, and the torch head is moved, positioned and positioned in a direction orthogonal to the welding line. And Z-axis with rate function, the Z
It is characterized by comprising a θ axis attached to the axis moving stage so as to rotate about a welding line, and an AVC axis attached to the θ axis and holding the welding torch to keep its height constant.
【0005】[0005]
【作用】本発明折り曲げひだ板重ね自動溶接装置におい
ては、支持架台の3点合わせゲージと固定機構によって
折り曲げひだ溶接線に対する装置の位置決め固定を行っ
た後、溶接トーチの姿勢と回転半径をAVC軸とθ軸で
初期設定した状態において、X軸,Y軸,Z軸の3軸で
溶接の開始点,ひだ頂点,終了点の継手部を教示させる
ことにより、3次元方向の位置決めをして直線補間を行
う。また折り曲げひだの内回りコーナー部は、ひだ面か
らX軸方向に初期設定したトーチ回転半径の長さを位置
データとしてプログラム入力し、その位置まで走行する
とθ軸の回転とAVC軸の追従による溶接走行となる。
但しトーチ回転半径が連続的に変化するため、指定した
角度で、AVC軸に設けた移動量検出器の信号データを
演算して適正な走行となるようにθ軸に速度制御を実行
させる。一方折り曲げひだ頂部のコーナーでは、X軸と
Y軸による円弧補間とθ軸の同期回転動作によるトーチ
姿勢制御を実行させ常に曲げ中心に溶接トーチを向けて
走行する。なおZ軸は軸方向の直線補間をするとともに
設定した巾で直線補間軌道上を振幅するオシレート動作
を行う。In the automatic folding fold plate welding apparatus according to the present invention, after the positioning and fixing of the apparatus with respect to the bending fold welding line by the three-point alignment gauge and the fixing mechanism of the support base, the posture and the turning radius of the welding torch are adjusted to the AVC axis. In the state initially set with θ and θ axes, the joints at the welding start point, pleat vertex, and end point are taught on three axes of X, Y, and Z axes to perform three-dimensional positioning and straight line Performs interpolation. In the inner corners of the folded folds, the length of the torch rotation radius initially set in the X-axis direction from the folds is input as a program as position data, and when traveling to that position, welding travel is performed by rotating the θ-axis and following the AVC axis. Becomes
However, since the torch radius of rotation changes continuously, signal data of the movement amount detector provided on the AVC axis is calculated at the specified angle, and the θ axis is speed-controlled so as to achieve proper traveling. On the other hand, at the corner of the top of the folded pleat, the torch attitude control is performed by circular interpolation using the X axis and the Y axis and the synchronous rotation operation of the θ axis, and the welding torch is always directed toward the bending center. The Z axis performs an oscillating operation of performing linear interpolation in the axial direction and oscillating on a linear interpolation trajectory with a set width.
【0006】[0006]
【実施例】本発明折り曲げひだ板重ね自動溶接装置の一
実施例を図面について説明すると、図1は本装置の正面
図、図2は平面図、図3は側面図、図4はトーチヘッド
部の側面図、図5は図2のV矢視図、図6は図5のVI−
VIに沿った断面図、図7は溶接トーチの動作の説明図で
ある。まず図1〜図4において、下板ひだ板1a,上板
ひだ板1bにはそれぞれ同形状の折り曲げひだ部2a,
2bが形成されており、下板ひだ板1aのひだ状断面の
端部に上板ひだ板1bのひだ状断面の端部が重ね合わさ
れてその縁が重ね継手3となり、折り曲げひだ部2a,
2bに跨る支持架台4は、中央合わせゲージ5と両端の
開先合わせゲージ6a,6bをそれぞれの圧縮バネ7
a,7b,引張バネ8a,8bの押付力によってはめ込
み、左右均等かつ重ね継手3の溶接線と平行に位置決め
し、中央合わせゲージ5の後方にあるクランプ機構9と
脚部の吸盤10a,10b,10c,10dによって固
定する。BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a front view of the present invention, FIG. 2 is a plan view, FIG. 3 is a side view, and FIG. 4 is a torch head. 5, FIG. 5 is a view taken in the direction of arrow V in FIG. 2, and FIG.
FIG. 7 is a sectional view taken along the line VI, and FIG. 7 is an explanatory view of the operation of the welding torch. First, in FIGS. 1 to 4, folded pleats 2 a having the same shape are provided on a lower pleat plate 1 a and an upper pleat plate 1 b, respectively.
2b is formed, and the end of the pleated cross section of the upper pleated plate 1b is superimposed on the end of the pleated cross section of the lower pleated plate 1a.
The support frame 4 straddling the center 2b includes a center alignment gauge 5 and groove adjustment gauges 6a and 6b at both ends thereof, each of which has a compression spring 7a.
a, 7b, fitted by the pressing forces of the tension springs 8a, 8b, positioned equally to the left and right and parallel to the welding line of the lap joint 3, the clamp mechanism 9 behind the centering gauge 5 and the suction cups 10a, 10b, Fix by 10c and 10d.
【0007】この支持架台4には溶接線方向にX軸レー
ル11が取付けてあり、X軸モーター13により図示せ
ざるボールネジを駆動してX軸ステージ12を移動させ
る。またX軸ステージ12には下板ひだ板1a,上板ひ
だ板1bに対して垂直方向に向けてY軸ステージ15が
取合い、Y軸モーター16により図示せざるボールネジ
を駆動してY軸レール14を移動させる。更にY軸レー
ル14の先端には折り曲げひだ部2bに極力接近を可能
にするために配列したトーチヘッド部17が取付けてあ
る。しかしてこのトーチヘッド部17は、Y軸レール1
4の先端に取付けられ溶接線の直交方向に移動,位置決
め及びオシレート機構を持つZ軸18と、Z軸18のZ
軸移動ステージ19に溶接線に回動するように取付けら
れたθ軸21と、θ軸21に取付けられるとともに溶接
トーチ24を把持してアーク電圧制御によりその高さを
一定になるように追従させるAVC軸23とから構成さ
れており、Z軸18にはZ軸移動ステージ19の移動,
オシレート用のZ軸モーター20、θ軸21にはそれを
溶接線に対し回動させるθ軸モーター22がそれぞれ付
設されている。An X-axis rail 11 is attached to the support base 4 in a welding line direction, and an X-axis motor 13 drives a ball screw (not shown) to move the X-axis stage 12. A Y-axis stage 15 is attached to the X-axis stage 12 in a direction perpendicular to the lower fold plate 1a and the upper fold plate 1b, and a Y-axis motor 16 drives a ball screw (not shown) to drive the Y-axis rail 14. To move. Further, a torch head portion 17 is attached to the tip of the Y-axis rail 14 so that the torch head portion 17 is arranged so as to be as close as possible to the folded fold 2b. Thus, the torch head 17 is mounted on the Y-axis rail 1.
4, a Z-axis 18 having a mechanism for moving, positioning and oscillating in the direction orthogonal to the welding line,
A θ-axis 21 attached to the axis moving stage 19 so as to rotate around the welding line, and a θ-axis 21 attached to the θ-axis 21 and gripping the welding torch 24 so that the height thereof is made constant by arc voltage control. And an AVC axis 23. The Z axis 18 has a Z axis moving stage 19,
The Z-axis motor 20 for oscillation and the θ-axis 21 are respectively provided with a θ-axis motor 22 for rotating the same with respect to the welding line.
【0008】次に図5,図6において、上板ひだ板1b
にセットした支持架台4の横板25の中央に取付けたス
ライドユニット26が、常時圧縮バネ7a,7bの力に
よってひだ方向に伸ばされており、その先端のプレート
27には、ひだ頂部を位置決めする中央合わせゲージ5
を取付けている。またプレート27の後部にピン29
a,29bで連結したクランプアーム28a,28bが
左右対称位置にあり、その上端にある右ネジナット30
aと左ネジナット30bに同じく右ネジ,左ネジを持つ
締付用ネジ棒31がネジ込まれ、ハンドル32を廻すこ
とによってクランプアーム28a,28bが開閉動作す
る。一方クランプアーム28a,28bの下端には、ク
ランプ用の当たりとして摩擦抵抗の高い材質のゴムを巻
いた当たり棒33a,33bによって滑りを生ずること
なくひだ部をはさみ込み位置決め固定する。Next, in FIG. 5 and FIG. 6, the upper pleat plate 1b
The slide unit 26 attached to the center of the horizontal plate 25 of the support base 4 set at the center is always stretched in the fold direction by the force of the compression springs 7a and 7b, and the top of the fold is positioned on the plate 27 at the tip of the slide unit 26. Center alignment gauge 5
Is installed. In addition, a pin 29
The clamp arms 28a, 28b connected by a, 29b are in symmetrical positions, and the right-hand screw nut 30
A tightening screw rod 31 having a right-hand screw and a left-hand screw is also screwed into a and the left-hand screw nut 30b. By turning the handle 32, the clamp arms 28a and 28b open and close. On the other hand, at the lower ends of the clamp arms 28a and 28b, the pleats are sandwiched by the contact rods 33a and 33b, which are made of rubber having high frictional resistance as clamping contacts, without slipping, and are positioned and fixed.
【0009】このような装置において、支持架台4の中
央合わせゲージ5及び開先合わせゲージ6a,6bとク
ランプ機構9及び吸盤10a,10bによって、折り曲
げひだ部2a,2bの重ね継手3溶接線に対する装置の
位置決めを行った後、図7の溶接トーチ24の動作図に
示す動きをさせるため、溶接トーチ24の姿勢と回転半
径をAVC軸23とθ軸21で初期設定した状態におい
て、X軸11,Y軸14,Z軸18の3軸で溶接の開始
点,ひだ頂点,終了点の継手部を教示させることによ
り、3次元方向の位置決めをして直線補間を行う。また
折り曲げひだ部2a,2bの内回りコーナー部はひだ面
からX軸11方向に初期設定した溶接トーチ24の回転
半径の長さを位置データとしてプログラム入力し、その
位置まで走行するとθ軸21の回転とAVC軸23の追
従による溶接走行となる。但し溶接トーチ24の回転半
径が連続的に変化するため、指定した角度で、AVC軸
23に設けた移動量検出器の信号データを演算して適正
な走行となるようにθ軸21に速度制御を実行させる。
一方折り曲げひだ部2a,2b頂部のコーナーでは、X
軸11とY軸14による円弧補間とθ軸21の同期回転
動作によるトーチ姿勢制御を実行させ常に曲げ中心に溶
接トーチ24を向けて走行する。なおZ軸18は軸方向
の直線補間をするとともに設定した巾で直線補間軌道上
を振巾するオシレート動作を行う。かくして同じ継手形
状のものは予め溶接線の位置データを制御装置に入力す
ることで、高精度に位置決め走行しながら連続溶接がで
き、無監視状態でも適正な自動溶接が行われる。In such a device, the center setting gauge 5 and the groove setting gauges 6a and 6b of the support base 4, the clamping mechanism 9 and the suction cups 10a and 10b are used to set the bending folds 2a and 2b to the welding line of the lap joint 3. After performing the positioning of the welding torch 24 shown in FIG. 7, the X-axis 11, the X-axis 11, and the rotation radius of the welding torch 24 are initially set with the AVC axis 23 and the θ axis 21. By instructing the joints at the welding start point, pleat apex, and end point on the three axes of the Y-axis 14 and the Z-axis 18, positioning in the three-dimensional direction is performed and linear interpolation is performed. For the inner corners of the folded folds 2a and 2b, the length of the rotation radius of the welding torch 24 initially set in the X-axis 11 direction from the fold surface is input as a program as position data. And the welding traveling by following the AVC shaft 23. However, since the turning radius of the welding torch 24 changes continuously, the speed control is performed on the θ-axis 21 at a specified angle to calculate the signal data of the movement amount detector provided on the AVC shaft 23 so that the proper running is performed. Is executed.
On the other hand, at the corners at the tops of the folded folds 2a and 2b, X
The torch attitude control by the circular interpolation by the shaft 11 and the Y-axis 14 and the synchronous rotation operation of the θ-axis 21 is executed, and the welding torch 24 is always directed toward the bending center. The Z axis 18 performs an oscillating operation of performing linear interpolation in the axial direction and swinging the linear interpolation trajectory at a set width. Thus, by inputting the welding line position data to the control device in advance for the same joint shape, continuous welding can be performed while positioning and traveling with high accuracy, and appropriate automatic welding can be performed even without monitoring.
【0010】かくしてこの自動溶接装置によれば、小さ
な曲率でひだ状に折り曲げられた下板ひだ板1a,上板
ひだ板1b同士の重ね継手3に対して、3次元方向の高
精度位置決め走行ができるX軸11,Y軸14及びオシ
レート機能を合わせ持つZ軸18の走行部と、ひだ状に
折り曲げられたR部分の継手を連続溶接させるための回
転速度制御,トーチ追従制御,トーチ姿勢制御を可能に
するθ軸21,AVC軸23とを具えた軽量小型で可搬
性に富んだ装置で自動溶接するので、これまで手溶接で
行っていた箇所の自動化が可能となり、同形状の継手が
大量にある場合には、予め溶接線の位置データを制御装
置に入力することで高精度に位置決め走行しながら無監
視で連続溶接ができ、溶接工数の大巾な低減と溶接品質
の信頼性向上に寄与できる。Thus, according to this automatic welding apparatus, high-precision positioning traveling in the three-dimensional direction can be performed with respect to the lap joint 3 between the lower plate fold plate 1a and the upper plate fold plate 1b which are folded in a fold with a small curvature. Rotation speed control, torch follow-up control, and torch attitude control for continuously welding the running part of the X-axis 11, the Y-axis 14, and the Z-axis 18 having the oscillating function, and the joint of the R portion bent in a fold shape. Automatic welding with a lightweight, compact and highly portable device equipped with a θ axis 21 and AVC axis 23 that enables the automation of the parts that had been done by hand welding can be automated. In this case, continuous welding can be performed without monitoring while positioning and traveling with high precision by inputting the welding line position data to the control device in advance, greatly reducing welding man-hours and improving welding quality reliability. Bye It can be.
【0011】[0011]
【発明の効果】要するに本発明によれば、小さな曲率で
折り曲げてひだ部が形成されている板同士のひだ状断面
の端部を重ね合わせた重ね継手を3次元の位置決め制御
で連続自動溶接する装置であって、折り曲げひだ部頂点
とその両側端に対し設けた合わせゲージと吸盤及び折り
曲げひだ部クランプ機構により溶接線に対して位置決め
固定する支持架台と、上記支持架台に溶接線と平行に移
動,位置決めするように取付けられたX軸レールと、上
記X軸レールを走行するX軸ステージに折り曲げひだ部
方向に平行に移動,位置決めするように取付けられたY
軸レールと、上記Y軸レールの先端に折り曲げひだ部に
接近可能に装架されたトーチヘッド部とを具え、更に上
記トーチヘッド部が溶接線の直交方向に移動,位置決め
及びオシレート機能を持つZ軸と、上記Z軸の移動ステ
ージに溶接線に回動するよう取付けられたθ軸と、上記
θ軸に取付けられるとともに溶接トーチを把持してその
高さを一定に保つAVC軸とからなることにより、溶接
線が小さな曲率で屈曲した折り曲げひだ部の重ね継手を
軽量小型かつ可搬性ある装置で適確かつ高能率に自動溶
接することができ、ひいては同形状の継手が大量にある
場合には、溶接工数の大巾な低減と溶接品質の信頼性向
上に寄与することができる折り曲げひだ板重ね自動溶接
装置を得るから、本発明は産業上極めて有益なものであ
る。In summary, according to the present invention, a lap joint, which is formed by folding at a small curvature and having a pleated portion at the end of a pleated cross section, is continuously and automatically welded by three-dimensional positioning control. A support gantry for positioning and fixing to a welding line by means of a matching gauge provided on a vertex of a bending fold and a side end thereof and a suction cup and a bending mechanism for a bending fold, and moving the support gantry parallel to the welding line. An X-axis rail attached for positioning, and a Y-axis attached to an X-axis stage running on the X-axis rail so as to be moved and positioned in parallel with the direction of the folded fold.
An axis rail, and a torch head mounted on a tip of the Y-axis rail so as to be accessible to a bent fold. The torch head has a function of moving, positioning and oscillating in a direction orthogonal to a welding line. An axis, an θ-axis mounted on the Z-axis moving stage so as to rotate about a welding line, and an AVC axis mounted on the θ-axis and holding a welding torch to keep its height constant. By using a lightweight, compact and portable device, it is possible to automatically and accurately weld a lap joint of a bent fold part where the welding line is bent with a small curvature, and if there are a large number of joints of the same shape, The present invention is extremely useful industrially because an automatic welding apparatus for folding folded folds can be obtained which can contribute to greatly reducing the number of welding steps and improving the reliability of welding quality.
【図1】本発明折り曲げひだ板重ね自動溶接装置の一実
施例の正面図である。FIG. 1 is a front view of an embodiment of an automatic welding apparatus for folding and folding plates according to the present invention.
【図2】同上装置の平面図である。FIG. 2 is a plan view of the same device.
【図3】同上装置の側面図である。FIG. 3 is a side view of the same device.
【図4】同上装置のトーチヘッド部の側面図である。FIG. 4 is a side view of a torch head of the same device.
【図5】図2のV矢視図である。FIG. 5 is a view taken in the direction of the arrow V in FIG. 2;
【図6】図5のVI−VIに沿った断面図である。FIG. 6 is a sectional view taken along line VI-VI of FIG.
【図7】同上装置の溶接トーチの動作の説明図である。FIG. 7 is an explanatory view of the operation of the welding torch of the above device.
【図8】公知の折り曲げひだ板重ね継手の斜視図であ
る。FIG. 8 is a perspective view of a known folded-folded plate lap joint.
1a 下板ひだ板 1b 上板ひだ板 2a,2b 折り曲げひだ部 3 重ね継手 4 支持架台 5 中央合わせゲージ 6a,6b 開先合わせゲージ 7a,7b 圧縮バネ 8a,8b 引張バネ 9 クランプ機構 10a,10b,10c,10d 吸盤 11 X軸レール 12 X軸ステージ 13 X軸モーター 14 Y軸レール 15 Y軸ステージ 16 Y軸モーター 17 トーチヘッド部 18 Z軸 19 Z軸移動ステージ 20 Z軸モーター 21 θ軸 22 θ軸モーター 23 AVC軸 24 溶接トーチ 25 横板 26 スライドユニット 27 プレート 28a,28b クランプアーム 29a,29b ピン 30a 右ネジナット 30b 左ネジナット 31 締付用ネジ棒 32 ハンドル 33a,33b 当たり棒 1a Lower plate fold plate 1b Upper plate fold plate 2a, 2b Bent fold 3 Lap joint 4 Supporting stand 5 Center alignment gauge 6a, 6b Groove alignment gauge 7a, 7b Compression spring 8a, 8b Tension spring 9 Clamp mechanism 10a, 10b 10c, 10d Sucker 11 X axis rail 12 X axis stage 13 X axis motor 14 Y axis rail 15 Y axis stage 16 Y axis motor 17 Torch head 18 Z axis 19 Z axis moving stage 20 Z axis motor 21 θ axis 22 θ axis Motor 23 AVC shaft 24 Welding torch 25 Horizontal plate 26 Slide unit 27 Plate 28a, 28b Clamp arm 29a, 29b Pin 30a Right screw nut 30b Left screw nut 31 Tightening screw rod 32 Handle 33a, 33b
───────────────────────────────────────────────────── フロントページの続き (72)発明者 土田 栄二 横浜市中区錦町12番地 三菱重工業株式 会社 横浜製作所内 (72)発明者 熊倉 益男 横浜市中区錦町12番地 三菱重工業株式 会社 横浜製作所内 (72)発明者 菅原 啓治 横浜市中区錦町12番地 三菱重工業株式 会社 横浜製作所内 (72)発明者 福永 義昭 兵庫県高砂市荒井町新浜二丁目8番19号 高菱エンジニアリング株式会社内 (56)参考文献 特開 平6−246448(JP,A) 特開 平6−39551(JP,A) 実開 昭55−165673(JP,U) (58)調査した分野(Int.Cl.6,DB名) B23K 9/12 331 B23K 9/127 502 B23K 9/00 501 B23K 9/02 B23K 37/02 ──────────────────────────────────────────────────続 き Continued on the front page (72) Inventor Eiji Tsuchida 12 Nishikicho, Naka-ku, Yokohama-shi Mitsubishi Heavy Industries, Ltd.Yokohama Works (72) Inventor Masuo Kumakura 12-nishikicho, Naka-ku, Yokohama-shi Mitsubishi Heavy Industries, Ltd. 72) Inventor Keiji Sugawara 12 Nishiki-cho, Naka-ku, Yokohama-shi Mitsubishi Heavy Industries, Ltd.Yokohama Works (72) Inventor Yoshiaki Fukunaga 2-9-1, Araimachi Shinhama, Takasago-shi, Hyogo Takahashi Engineering Co., Ltd. (56) References JP-A-6-246448 (JP, A) JP-A-6-39551 (JP, A) JP-A-56-165673 (JP, U) (58) Fields investigated (Int. Cl. 6 , DB name) B23K 9/12 331 B23K 9/127 502 B23K 9/00 501 B23K 9/02 B23K 37/02
Claims (1)
れている板同士のひだ状断面の端部を重ね合わせた重ね
継手を3次元の位置決め制御で連続自動溶接する装置で
あって、折り曲げひだ部頂点とその両側端に対し設けた
合わせゲージと吸盤及び折り曲げひだ部クランプ機構に
より溶接線に対して位置決め固定する支持架台と、上記
支持架台に溶接線と平行に移動,位置決めするように取
付けられたX軸レールと、上記X軸レールを走行するX
軸ステージに折り曲げひだ部方向に平行に移動,位置決
めするように取付けられたY軸レールと、上記Y軸レー
ルの先端に折り曲げひだ部に接近可能に装架されたトー
チヘッド部とを具え、更に上記トーチヘッド部が溶接線
の直交方向に移動,位置決め及びオシレート機能を持つ
Z軸と、上記Z軸の移動ステージに溶接線に回動するよ
う取付けられたθ軸と、上記θ軸に取付けられるととも
に溶接トーチを把持してその高さを一定に保つAVC軸
とからなることを特徴とする折り曲げひだ板重ね自動溶
接装置。An apparatus for continuously and automatically welding, by three-dimensional positioning control, a lap joint in which ends of a pleated cross section of plates which are bent at a small curvature to form a fold are overlapped. A support gantry for positioning and fixing to the welding line by means of a matching gauge provided on the apex and both side ends thereof, a suction cup and a bending fold clamping mechanism, and mounted on the support gantry so as to move and position parallel to the welding line. X-axis rail and X traveling on the X-axis rail
A Y-axis rail attached to the axis stage so as to move and position in parallel with the direction of the folding pleats; and a torch head mounted at the end of the Y-axis rail so as to be accessible to the folding pleats. The torch head is mounted on the Z axis having a function of moving, positioning and oscillating in a direction orthogonal to the welding line, a θ axis mounted on the Z axis moving stage so as to rotate on the welding line, and mounted on the θ axis. And an AVC shaft for holding the welding torch at a constant height by holding the welding torch.
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2335994A JP2895381B2 (en) | 1994-01-24 | 1994-01-24 | Automatic welding machine for folding folds |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2335994A JP2895381B2 (en) | 1994-01-24 | 1994-01-24 | Automatic welding machine for folding folds |
Publications (2)
Publication Number | Publication Date |
---|---|
JPH07204851A JPH07204851A (en) | 1995-08-08 |
JP2895381B2 true JP2895381B2 (en) | 1999-05-24 |
Family
ID=12108385
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2335994A Expired - Fee Related JP2895381B2 (en) | 1994-01-24 | 1994-01-24 | Automatic welding machine for folding folds |
Country Status (1)
Country | Link |
---|---|
JP (1) | JP2895381B2 (en) |
Families Citing this family (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN102528354B (en) * | 2012-03-02 | 2014-07-02 | 浙江大学 | Automatic conveying mechanical arm suitable for glass mould welding |
CN102528355B (en) * | 2012-03-02 | 2015-03-11 | 宁波贝达新能源科技有限公司 | Industrial manipulator applicable to automatic arrangement and welding of solar photovoltaic cell |
CN106077905B (en) * | 2016-07-01 | 2018-07-03 | 绍兴汉立工业自动化科技有限公司 | Container cross joint Intelligent welding equipment and technique with weld seam recognition |
CN108917586B (en) * | 2018-09-27 | 2020-03-24 | 山东科技大学 | Machining table for strain brick sensor in model test and operation method of machining table |
CN109283199A (en) * | 2018-09-29 | 2019-01-29 | 东莞材料基因高等理工研究院 | A kind of online auxiliary welding equipment of synchrotron radiation X-ray in situ measurement |
-
1994
- 1994-01-24 JP JP2335994A patent/JP2895381B2/en not_active Expired - Fee Related
Also Published As
Publication number | Publication date |
---|---|
JPH07204851A (en) | 1995-08-08 |
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