JP7261145B2 - welding equipment - Google Patents

welding equipment Download PDF

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JP7261145B2
JP7261145B2 JP2019202928A JP2019202928A JP7261145B2 JP 7261145 B2 JP7261145 B2 JP 7261145B2 JP 2019202928 A JP2019202928 A JP 2019202928A JP 2019202928 A JP2019202928 A JP 2019202928A JP 7261145 B2 JP7261145 B2 JP 7261145B2
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rail
welding
truck
carriage
split
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JP2021074747A (en
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孝 小池
忠 星野
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日鉄溶接工業株式会社
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Description

本発明は、溶接対象材の突合せ線あるいは開先線すなわち溶接線、に沿って走行する溶接台車に搭載した溶接トーチで、溶接線を溶接する装置に関し、特に、溶接線に沿って自走する溶接装置に関する。 The present invention relates to a welding torch mounted on a welding carriage that travels along the butt line or groove line, that is, the weld line, of a material to be welded, and relates to a device for welding a weld line, and in particular, it self-propels along the weld line. It relates to welding equipment.

平板の突合せ線を自走しながら溶接する溶接装置は、溶接線の側方にそれに平行にして平板上に固定したガイドレールで案内されて溶接線に沿って自走する。溶接トーチは溶接装置の台車本体から側方に突き出されて溶接線を狙う。この種の溶接ロボットの一種が特許文献１に開示されている。特許文献２にも開示がある。 A welding device that welds while self-propelled along the butt line of flat plates is guided by a guide rail fixed on the flat plate parallel to the side of the weld line and self-propelled along the weld line. A welding torch projects laterally from the carriage body of the welding device and aims at the weld line. One type of welding robot of this type is disclosed in Japanese Patent Application Laid-Open No. 2002-200013. There is also a disclosure in Patent Document 2.

特開2019-126819号公報JP 2019-126819 A 特開平 4-305370号公報JP-A-4-305370

この種の溶接ロボットで平板の突合せを溶接する場合、図９に示すように、突合せ（溶接線）５０に対して溶接トーチ５を真上に位置決めすることは容易であるが、溶接トーチ５が台車の真横に配置され台車用レールが平板５１，５２上に置かれた状態で溶接するときに溶接トーチ５による溶接熱で突合せ(溶接線)が歪んで溶接位置ずれを生じやすい。また、図１０に示すように、造管のために円弧状に曲げた鋼板５３の突合せ５０を、菅内側から溶接する場合は、溶接対象材が円弧状に曲がっているので、溶接トーチ５を突合せ５０の真上に置くようにガイドレールおよび台車を正確に設置するのが難しい。また、溶接トーチ５による溶接熱で突合せ(溶接線)が歪んで溶接位置ずれを生じやすい。 When welding butts of flat plates with this type of welding robot, it is easy to position the welding torch 5 directly above the butt (weld line) 50 as shown in FIG. When welding is performed in a state in which the rails for the truck are placed on the flat plates 51 and 52, which are arranged right beside the truck, the welding heat from the welding torch 5 distorts the butt (welding line) and easily causes welding position deviation. Also, as shown in FIG. 10, when a butt 50 of steel plates 53 bent in an arc shape for pipe making is welded from the inside of the pipe, the welding torch 5 is used because the material to be welded is curved in an arc shape. It is difficult to accurately set the guide rails and carriages so that they are directly over the butt 50 . In addition, welding heat from the welding torch 5 tends to distort the butt joint (weld line) and cause welding position deviation.

本発明は、溶接熱歪による溶接位置ずれを低減すること、および、造管のための円弧状に曲げた鋼板の突合せ溶接も簡易安価な設備で実現できる溶接装置を提供すること、を目的とする。 SUMMARY OF THE INVENTION It is an object of the present invention to provide a welding apparatus capable of reducing welding position deviation due to welding thermal strain and realizing butt welding of arc-bent steel plates for pipe making with simple and inexpensive equipment. do.

（１）
Ｙ方向に延びる溶接線にそれぞれが平行に延び、Ｙ方向と交差するＸ方向に互いに離れ、かつ、それぞれが前記溶接線の左側Ｘと右側に位置する第１レールおよび第２レール；
前記第１レールおよび第２レールで支持されてＹ方向に走行する台車；
該台車のＹ方向の走行に関して該台車の後方に位置し該台車で支持された、該台車のＹ方向の走行のときに前記溶接線を溶接する溶接トーチ;
および、前記台車で支持され、前記溶接トーチが溶接中の箇所を撮影するカメラを備え；
第１レールおよび第２レールはそれぞれ、Ｙ方向に延びるフレーム，該フレームに固定され前記台車の車輪を支えるレール本体および前記台車のピニオンが噛合うラックを含む、溶接装置。
(1)
a first rail and a second rail, each extending parallel to a weld line extending in the Y direction, separated from each other in an X direction intersecting the Y direction, and positioned on the left side X and the right side of the weld line, respectively;
A carriage supported by the first rail and the second rail and traveling in the Y direction;
a welding torch positioned behind and supported by the truck with respect to the Y-direction travel of the truck for welding the weld seam when the truck travels in the Y-direction;
and a camera supported by the carriage for photographing a location where the welding torch is being welded;
The welding device, wherein the first rail and the second rail each include a frame extending in the Y direction, a rail body fixed to the frame and supporting the wheels of the truck, and a rack meshing with the pinion of the truck.

（２）溶接装置はさらに、第１レールおよび第２レールの一方に一端がＹ，Ｘ平面に平行に回動可に枢着され、他端には第１レールおよび第２レールの他方の拘止手段に係合して第１レールおよび第２レールとの間の左右方向Ｘの相対的なずれを防止する係合手段がある連結部材を備え、
前記台車には、該連結部材に作用して前記係合手段の前記拘止手段との係合を解除して前記連結部材による前記台車のＹ方向走行を可能にする解除手段、がある、上記（１）に記載の溶接装置。 (2) The welding device further has one end pivotally attached to one of the first rail and the second rail so as to be rotatable parallel to the Y and X planes, and the other end to which the other of the first rail and the second rail is attached. a connecting member having engaging means for engaging the stopping means to prevent relative displacement in the lateral direction X between the first rail and the second rail;
The carriage has releasing means acting on the connecting member to release the engagement of the engaging means with the restraining means to allow the carriage to travel in the Y direction by means of the connecting member. The welding device according to (1).

（３）前記連結部材は連結アームであり、前記拘止手段はピンであり、前記係合手段はＹ方向とは逆向きに開いて前記ピンを受け入れるフックである、上記（２）に記載の溶接装置。 (3) The above (2), wherein the connecting member is a connecting arm, the restraining means is a pin, and the engaging means is a hook that opens in a direction opposite to the Y direction and receives the pin. Welding equipment.

（４）前記カメラは、前記台車の天板を上から下に貫通するフードに連なる収納筒内にあり、該フードの下端部から前記溶接トーチの先端に至る光路を経て前記溶接トーチによる溶接個所を撮影する、上記（１），（２）又は（３）に記載の溶接装置。 (4) The camera is located in a storage cylinder connected to a hood that penetrates the top plate of the truck from top to bottom, and passes through an optical path from the lower end of the hood to the tip of the welding torch to the point of welding by the welding torch. The welding device according to the above (1), (2) or (3), which photographs the

（５）第１レールおよび第２レールはそれぞれ、複数の分割レールをＹ方向に繋いで延長しまた一本又は複数本の分割レールを取り外して短くできるように、分割レールで構成され、各分割レールは、ラックがフレームに対してＹ方向にずれたものであり、第１レールおよび第２レールのそれぞれを、複数の分割レールで構成するときは、繋ぎあう分割レールの一方の先端に突出するラックを他方のフレームの後端に固定する、上記（１）に記載の溶接装置。
 (5) Each of the first rail and the second rail is composed of a split rail so that a plurality of split rails can be connected and extended in the Y direction, and one or more split rails can be removed and shortened. The rail has a rack offset in the Y direction with respect to the frame, and when each of the first rail and the second rail is composed of a plurality of split rails, the rail protrudes from one end of the split rails that connect each other. The welding device according to (1) above, wherein the rack is fixed to the rear end of the other frame.

上記（１）によれば、第１レールと第２レールとの間に溶接線があって、その上方を台車が走行するので、図１０に示すように造管のために円弧状に曲げた鋼板５３の突合せ５０を菅内側から溶接する場合でも、溶接トーチ５を突合せ５０の真上に置くようにレールおよび台車を正確に設置することができるし、溶接中にレールおよび台車の姿勢が安定し、溶接トーチによる溶接位置ずれを生じにくい。溶接トーチが、台車のＹ方向の走行に関して台車の後方に位置し、Ｙ方向の溶接走行のときに溶接線を溶接するので、台車は溶接熱による歪みがない領域を走行し、走行台車および溶接トーチ並びにカメラのブレが小さく、溶接位置精度が高くなる。 According to the above (1), there is a welding line between the first rail and the second rail, and since the truck runs above it, the rail is bent into an arc for pipe making as shown in FIG. Even when welding the butt 50 of the steel plate 53 from the inside of the pipe, the rail and the truck can be accurately installed so that the welding torch 5 is placed directly above the butt 50, and the rail and the truck are stable during welding. In addition, it is difficult for the welding torch to cause displacement of the welding position. Since the welding torch is positioned behind the carriage with respect to travel in the Y direction of the carriage and welds the weld line during welding travel in the Y direction, the carriage travels in a region free from distortion due to welding heat, and the travel carriage and welding Torch and camera blurring is small, and welding position accuracy is high.

上記（２）によれば、溶接線の両側に位置する第１レールおよび第２レールが連結部材で連結されるので、レール間隙の拡大,縮小が防止され、台車のＹ方向走行が安定する。 According to the above (2), since the first rail and the second rail located on both sides of the weld line are connected by the connecting member, expansion and contraction of the rail gap are prevented, and the truck travels in the Y direction stably.

上記（３）によれば、簡易な構造で第１レールと第２レールとの連結並びに連結解除を実現できる。 According to the above (3), the connection and disconnection between the first rail and the second rail can be realized with a simple structure.

上記（４）によれば、カメラが台車および収納筒で保護されるので、損壊を生じにくい。カメラのブレも少なく、カメラの撮影画像に基づく溶接位置の確認が容易である。 According to (4) above, since the camera is protected by the carriage and the housing tube, it is less likely to be damaged. There is little camera shake, and it is easy to confirm the welding position based on the images captured by the camera.

上記（１）によれば、ラックに対するピニオンの噛合いによりＹ走行の車輪回転スリッ
プが防止され溶接中のＹ方向台車速度が安定する。
According to the above (1) , meshing of the pinion with the rack prevents wheel rotation slippage during Y travel, and stabilizes the speed of the carriage in the Y direction during welding.

上記（５）によれば、台車のＹ方向溶接走行の所要距離に合わせて予め第１レールおよび第２レールのＹ方向の長さを、分割レールの継ぎ足しあるいは取り外しで調整すること
ができ、長い溶接対象材や短い溶接対象材に簡易に対応できる。狭い建屋でも比較的に大きい溶接対象材を簡易に溶接することができる。本発明の他の目的および特徴は、図面を参照した以下の実施例の説明により明らかになろう。 According to the above (5) , the Y-direction lengths of the first rail and the second rail can be adjusted in advance by adding or removing the split rails according to the required Y-direction welding travel distance of the bogie. It can easily handle welding target materials and short welding target materials. A comparatively large object to be welded can be easily welded even in a narrow building. Other objects and features of the present invention will become clear from the following description of embodiments with reference to the drawings.

本発明の一実施例である溶接装置の概要を示す側面図である。BRIEF DESCRIPTION OF THE DRAWINGS It is a side view which shows the outline|summary of the welding apparatus which is one Example of this invention. 図1に示す溶接ロボットの台車1周りを、上方から見下ろした平面図である。FIG. 2 is a plan view looking down from above around a carriage 1 of the welding robot shown in FIG. 1; 図1に示す台車1を、溶接走行方向Ｙの前方から２倍に拡大して見た正面図であり、レール２０Ｌ，２０Ｒの横断面を示す。FIG. 2 is a front view of the truck 1 shown in FIG. 1 magnified twice from the front in the welding travel direction Y, showing cross sections of rails 20L and 20R. 図２に示す1対のレール２０Ｌ，２０Ｒを縮小して示す平面図である。FIG. 3 is a plan view showing a reduced size of a pair of rails 20L and 20R shown in FIG. 2; 台車１のＹ方向走行によって台車の下底にあるストライカ２９，３０および３１が、図２に示す連結アーム２５を、レール２０Ｌ，２０Ｒを連結する状態（実線）から、台車１のＹ方向走行が可能な連結解除位置（２点鎖線）に、順次に押し退ける過程を示す平面図である。As the truck 1 travels in the Y direction, the strikers 29, 30 and 31 on the bottom of the truck connect the connecting arm 25 shown in FIG. FIG. 11 is a plan view showing the process of sequential displacement into possible decoupling positions (dashed-dotted lines); 図1に示す台車1上の溶接トーチ支持構造を２倍に拡大して見た側面図である。FIG. 2 is a side view of the welding torch support structure on the carriage 1 shown in FIG. 1 magnified twice. 図６に示す溶接トーチ支持構造を上から見下ろした平面図である。FIG. 7 is a top plan view of the welding torch support structure shown in FIG. 6; 図1に示す溶接ロボットの電気系統の一部を示すブロック図である。FIG. 2 is a block diagram showing part of the electrical system of the welding robot shown in FIG. 1; 板継ぎ溶接での、溶接対象材に対する溶接トーチの配置を示す正面図である。FIG. 4 is a front view showing the arrangement of a welding torch with respect to a material to be welded in plate-joint welding; 造管溶接での、溶接対象材の内面溶接に対する溶接トーチの配置を示す正面図である。FIG. 4 is a front view showing the arrangement of a welding torch with respect to inner surface welding of a material to be welded in pipe-making welding.

図１および図２を参照すると、図示を省略した溶接対象材の、Ｙ方向に延びる突合せ線２４(溶接線)の上方に１対のレール２０Ｌ，２０Ｒが、それらのＸ方向中間点を突合せ線２４上に合わせて配置されており、レール２０Ｌ，２０Ｒに台車１が載っている。溶接時は、台車１はＹ方向に自走し、溶接トーチ５にはワイヤ送給器１１がワイヤリール１２から溶接ワイヤを引き出して送給する。溶接トーチ５は、台車１の左右方向Ｘの中間点（突合せ線２４:図２）を狙う姿勢で支持アーム４の一端に固定されて、台車１のＹ方向の溶接走行に関して台車１の後方に位置する。支持アーム４は上下調整機構３で支持され、上下調整機構３は左右調整機構２で支持され、左右調整機構２は台車１に固定されている。 1 and 2, a pair of rails 20L and 20R are positioned above a butt line 24 (welding line) extending in the Y direction of the material to be welded (not shown), and their midpoints in the X direction are positioned at the butt line. 24, and the truck 1 is placed on rails 20L and 20R. During welding, the carriage 1 is self-propelled in the Y direction, and the welding torch 5 is fed with the welding wire drawn out from the wire reel 12 by the wire feeder 11 . The welding torch 5 is fixed to one end of the support arm 4 in a posture aimed at the midpoint (matching line 24: FIG. 2) of the truck 1 in the left-right direction X, and positioned behind the truck 1 with respect to the welding travel of the truck 1 in the Y direction. To position. The support arm 4 is supported by a vertical adjustment mechanism 3 , the vertical adjustment mechanism 3 is supported by a horizontal adjustment mechanism 2 , and the horizontal adjustment mechanism 2 is fixed to the carriage 1 .

図６を参照すると、左右調整機構２および上下調整機構３ともに、電気モータ２Ｍ（図１，図６）および３Ｍ（図２）で駆動される自動機構であり、作業者は、図１および図８に示すリモートコントローラ４０にある左行ボタン４４ｓｂ(図８上の左行スイッチ４４ｓ)を操作しあるいは右行ボタン４５ｓｂ(右行スイッチ４５ｓ)を操作して溶接トーチ５(支持アーム４）の、突合せ線２４に対するＸ方向の位置(左右位置)を調整でき、また、上行ボタン４２ｓｂ(上行スイッチ４２ｓ) あるいは下行ボタン４３ｓｂ(下行スイッチ４３ｓ)を操作して溶接トーチ５(支持アーム４）のZ方向の位置(上下位置)を調整できる。 6, both the horizontal adjustment mechanism 2 and the vertical adjustment mechanism 3 are automatic mechanisms driven by electric motors 2M (FIGS. 1 and 6) and 3M (FIG. 2). 8 on the remote controller 40 (left row switch 44s in FIG. 8) or by operating the right row button 45sb (right row switch 45s), the welding torch 5 (support arm 4) is The position in the X direction (horizontal position) with respect to the butt line 24 can be adjusted, and the Z direction of the welding torch 5 (support arm 4) can be adjusted by operating the ascending button 42sb (ascending switch 42s) or descending button 43sb (descending switch 43s). position (vertical position) can be adjusted.

作業者が起動ボタン４１ｓｓを押すと走行スイッチ４１ｓが閉じ、図示しない溶接電源が溶接トーチ５にプラズマアーク溶接のための給電を開始し、台車１上のドライバボックス３９にあるモータドライバＭＤ１が電気モータ１３Ｍを正転駆動し、これにより車輪駆動機構を介して前輪１３ｆＬ，１３ｆＲおよび後輪１３ｒＬ，１３ｒＲが正転駆動され、台車１がＹ方向（図１，図２上で右から左）に前進する。これが台車１の溶接走行である。作業者が停止ボタン４１ｓｔを押すと停止スイッチ４７ｓが開き溶接電源が溶接トーチへの給電を停止し、モータドライバＭＤ１が電気モータ１３Ｍへの給電を停止し、これにより溶接トーチによるプラズマアーク溶接は停止し台車１のＹ方向の走行が止まる。 When the operator presses the start button 41ss, the running switch 41s is closed, the welding power source (not shown) starts supplying power to the welding torch 5 for plasma arc welding, and the motor driver MD1 in the driver box 39 on the carriage 1 starts the electric motor. 13M is driven in the forward direction, which drives the front wheels 13fL and 13fR and the rear wheels 13rL and 13rR in the forward direction through the wheel drive mechanism, and the truck 1 advances in the Y direction (from right to left in FIGS. 1 and 2). do. This is the welding run of the truck 1 . When the operator presses the stop button 41st, the stop switch 47s opens, the welding power source stops supplying power to the welding torch, the motor driver MD1 stops supplying power to the electric motor 13M, and plasma arc welding by the welding torch stops. Then, the truck 1 stops traveling in the Y direction.

レール２０Ｌとレール２０Ｒとの間に突合せ線２４（溶接線)があって、その上方を台車１が走行するので、造管のために円弧状に曲げた鋼板の突合せ線２４を菅内側から溶接する場合でも、溶接トーチ５を突合せ線２４の真上に置くようにレール２０Ｌ，２０Ｒおよび台車1を正確に設置することができるし、溶接中にレール２０Ｌ，２０Ｒおよび台車1の姿勢が安定し、溶接トーチ5による溶接位置ずれを生じにくい。溶接トーチ5が、台車1のＹ方向の走行に関して台車1の後方に位置し、Ｙ方向の溶接走行のときに突合せ線２４（溶接線）を溶接するので、台車１は溶接熱による歪みがない領域を走行し、台車１および溶接トーチ５並びにカメラ７のブレが小さく、溶接精度が高くなる。 There is a joint line 24 (welding line) between the rail 20L and the rail 20R, and since the truck 1 runs above it, the joint line 24 of the arc-shaped steel plate for pipe making is welded from the inside of the pipe. Even in such a case, the rails 20L, 20R and the truck 1 can be accurately installed so that the welding torch 5 is directly above the joint line 24, and the rails 20L, 20R and the truck 1 are stable during welding. , welding position displacement by the welding torch 5 is unlikely to occur. The welding torch 5 is positioned behind the truck 1 with respect to traveling in the Y direction of the truck 1, and welds the butt line 24 (welding line) during welding travel in the Y direction, so the truck 1 is not distorted due to welding heat. It travels in the area, and the wobbling of the carriage 1, the welding torch 5 and the camera 7 is small, and the welding accuracy is high.

図６に示すように、先端で溶接トーチ５を保持する支持アーム４の後端には収納筒６が固定されている。収納筒６内に、溶接トーチ１が突合せ線２４に噴射するプラズマアークを撮影するアークカメラ７が固定されている。収納筒６の下端にはフード８が固定されており、フード８は、台車１の左右方向Ｘの中間点（突合せ線２４）を上下方向Ｚに貫通し台車１に対して上下に摺動できる。フード８の下端部にはプリズム１０およびプラズマアーク撮影用のフィルタ９があり、溶接トーチ５直下のプラズマアークの光が、フィルタ９を通りプリズム１０で反射され、フード８の内空間を通って、収納筒６内にあるアークカメラ７に入射する。アークカメラ７の撮影画像は、リモートコントローラ４０（図１）に送られ、リモートコントローラ４０のディスプレイ４６に表示される。カメラ７が台車１および収納筒６で保護されるので、損壊を生じにくい。カメラ７のブレも少なく、カメラ７の撮影画像に基づく溶接位置の確認が容易である。 As shown in FIG. 6, a storage cylinder 6 is fixed to the rear end of the support arm 4 which holds the welding torch 5 at its tip. An arc camera 7 is fixed in the housing cylinder 6 for photographing the plasma arc that the welding torch 1 injects onto the joint line 24 . A hood 8 is fixed to the lower end of the storage cylinder 6, and the hood 8 passes through the middle point (matching line 24) of the truck 1 in the horizontal direction X in the vertical direction Z and can slide up and down with respect to the truck 1. . A prism 10 and a filter 9 for photographing the plasma arc are provided at the lower end of the hood 8. The plasma arc light directly below the welding torch 5 passes through the filter 9, is reflected by the prism 10, passes through the inner space of the hood 8, The light enters the arc camera 7 inside the housing cylinder 6 . An image captured by the arc camera 7 is sent to the remote controller 40 (FIG. 1) and displayed on the display 46 of the remote controller 40 . Since the camera 7 is protected by the carriage 1 and the housing tube 6, it is less likely to be damaged. The camera 7 is less shaken, and it is easy to confirm the welding position based on the photographed image of the camera 7. - 特許庁

図３に、レール２０Ｒ，２０Ｌ（図２）の横断面を示す。レール２０Ｒは、横断面がＬ形の、Ｙ方向に延びるＬ形フレーム２１Ｒの底辺上にレール本体２２Ｒを固定し、底辺に対して起立した辺（Ｌ形フレーム２１Ｒの側壁）にラック２３Ｒを固定し、Ｌ形フレーム２１Ｒの底辺にピン２７を立ててこのピン２７で連結アーム２５の後端をピン２７を中心に回動可能に連結したものである。ラック２３Ｒには、図１，図２に示すようにレール上に台車１を載せたときに台車１の前輪の車軸に固着したピニオン（歯車）１４Ｒが噛合う。 FIG. 3 shows a cross section of the rails 20R, 20L (FIG. 2). The rail 20R has a rail body 22R fixed on the bottom side of an L-shaped frame 21R that has an L-shaped cross section and extends in the Y direction, and a rack 23R is fixed to a side (side wall of the L-shaped frame 21R) that stands up against the bottom side. A pin 27 is erected on the bottom side of the L-shaped frame 21R, and the rear end of the connecting arm 25 is connected with the pin 27 so as to be rotatable around the pin 27. As shown in FIG. The rack 23R is meshed with a pinion (gear) 14R fixed to the axle of the front wheel of the truck 1 when the truck 1 is placed on the rail as shown in FIGS.

レール２０Ｌの構成はレール２０Ｒと概略同様であるが、Ｌ形フレーム２１Ｌの底辺に、連結アーム２５の先端の係合手段であるフック２８が係合する拘止手段であるピン２６が立っている点が、レール２０Ｒとは異なる。図２，図４および図５に示すように、レール２０Ｒにある連結アーム２５の先端のフック２８がレール２０Ｌのピン２６に係合していると、レール２０Ｒ，２０Ｌ間のレール間隙の拡大，縮小が防止され、台車１のＹ方向走行が安定する。連結アーム２５が台車１のＹ方向溶接走行を妨げないように、台車１の下底には連結アーム２５を撥ね退ける、解除手段であるストライカ２９，３０，３１を装備している。 The structure of the rail 20L is substantially the same as that of the rail 20R, but a pin 26 serving as restraining means for engagement with a hook 28 serving as engaging means at the tip of the connecting arm 25 stands on the bottom of the L-shaped frame 21L. A point is different from the rail 20R. As shown in FIGS. 2, 4 and 5, when the hook 28 at the tip of the connecting arm 25 on the rail 20R is engaged with the pin 26 on the rail 20L, the rail gap between the rails 20R and 20L is enlarged. Shrinkage is prevented, and the Y-direction running of the truck 1 is stabilized. Strikers 29, 30 and 31, which are releasing means for repelling the connecting arm 25, are provided on the lower bottom of the carriage 1 so that the connecting arm 25 does not interfere with the Y-direction welding travel of the carriage 1. - 特許庁

台車１のＹ走行溶接が進行すると、図５に示すように、第１ストライカ２９が連結アーム２５に当ってこれをＹ方向に撥ね退ける。次には第２ストライカ３０が連結アーム２５に当ってこれを更にＹ方向に撥ね退ける。そして次には第３ストライカ３１が連結アーム２５に当ってこれをＹ方向に撥ね退け、連結アーム２５はレール２０ＲのＬ形フレーム２１Ｒの側壁に沿う姿勢に退避する。これにより、台車１で支持されて突合せ線２４（図２）を溶接中の溶接トーチ１ならびにそれが噴射するプラズマアークが連結アーム２５に当ることはない。 As the Y traveling welding of the carriage 1 progresses, as shown in FIG. 5, the first striker 29 hits the connecting arm 25 and repels it in the Y direction. Next, the second striker 30 hits the connecting arm 25 and repels it further in the Y direction. Then, the third striker 31 hits the connecting arm 25 and repels it in the Y direction, and the connecting arm 25 retreats to a posture along the side wall of the L-shaped frame 21R of the rail 20R. As a result, the welding torch 1 supported by the carriage 1 and welding the butt line 24 (FIG. 2) and the plasma arc it emits do not hit the connecting arm 25 .

溶接対象材の全長 (突合せ線２４の全長)に合わせてレール２０Ｌおよびレール２０ＲのＹ方向長を調整あるいは変更できるように、すなわち複数の分割レールをＹ方向に繋いで延長しまた一本又は複数本の分割レールを取り外して短くできるように、各レールは分割レールで構成されている。図４に、複数の分割レールを繋いだレール２０Ｌおよびレール２０Ｒを示す。各分割レールは、ラック２３Ｌ，２３Ｒがフレーム２１Ｌ，２１Ｒに対してＹ方向にずれたものであり、各レール２０Ｌ，２０Ｒを、複数の分割レールで構成するときは、繋ぎあう分割レールの一方の先端に突出するラックを他方のフレームの後端に沿わせて該ラックの通し穴に止めねじを通して該ねじを該フレームにねじ込んでラックをフレームに締め付けて固定する。このようにレール２０Ｌおよびレール２０Ｒを分割レールで構成することにより、台車1のＹ方向溶接走行の所要距離に合わせて予めレール２０Ｌおよびレール２０ＲのＹ方向の長さを、分割レールの継ぎ足しあるいは取り外しで調整することができ、長い溶接対象材や短い溶接対象材に簡易に対応できる。狭い建屋でも比較的に大きい溶接対象材を簡易に溶接することができる。 The Y-direction length of the rails 20L and 20R can be adjusted or changed according to the total length of the welding target material (the total length of the butt line 24), that is, a plurality of split rails are connected and extended in the Y-direction, and one or more rails are provided. Each rail consists of a split rail so that the book split rail can be removed and shortened. FIG. 4 shows a rail 20L and a rail 20R connecting a plurality of split rails. Each split rail has racks 23L and 23R shifted in the Y direction with respect to frames 21L and 21R. A set screw is passed through the through hole of the rack along the rear end of the other frame, and the screw is screwed into the frame to fasten and fix the rack to the frame. By constructing the rails 20L and 20R with split rails in this manner, the lengths of the rails 20L and 20R in the Y direction can be adjusted in advance according to the required distance of the truck 1 for welding in the Y direction by adding or removing the split rails. It can be adjusted by , and it can easily correspond to long and short welding target materials. A comparatively large object to be welded can be easily welded even in a narrow building.

なお、上記溶接トーチ５はプラズマアーク溶接トーチであるが、溶接トーチおよび溶接電源をＴＩＧ溶接又は他のアーク溶接を行うものに変更できる。更に、造菅の溶接において、図１０の内面からの溶接だけでなく、外面からの溶接へも適用できる。又、図６のアークカメラ７の収納筒６が無い構造でもよい。更に光路用フード８も筒状でなくても良く、プリズム１０をアークカメラ７と一体で保持する構造としても良い。ラック２３Ｌ，２３Ｒおよびピニオン１４Ｌ，１４Ｒは、２対の組合せでなく、一対の組合せでもよい。更に、ラックおよびピニオンを使用しないで済む場合もある。アークカメラ７は、アークを観察するのではなく、トーチ前方の溶接線を観察し左右ズレ調整をしても良い。 Although the welding torch 5 is a plasma arc welding torch, the welding torch and welding power source can be changed to those for TIG welding or other arc welding. Furthermore, in the welding of pipe making, it can be applied not only to the welding from the inner surface of FIG. 10 but also to the welding from the outer surface. Moreover, the structure without the storage cylinder 6 of the arc camera 7 of FIG. 6 may be used. Furthermore, the optical path hood 8 may not be cylindrical, and may have a structure in which the prism 10 and the arc camera 7 are integrally held. The racks 23L, 23R and the pinions 14L, 14R may be a paired combination instead of a two-paired combination. Additionally, the use of racks and pinions may be dispensed with. Instead of observing the arc, the arc camera 7 may observe the welding line in front of the torch and adjust the left-right deviation.

１：台車
２：左右調整機構
２Ｍ：電気モータ
３：上下調整機構
３Ｍ：電気モータ
４：支持アーム
５：溶接トーチ
６：収納筒
７：アークカメラ
８：フード
９：フィルタ
１０：プリズム
１１：ワイヤ送給器
１１Ｍ：電気モータ
１２：ワイヤリール
１３ｆＬ，ｆＲ：前輪
１３ｒＬ，ｒＲ：後輪
１３Ｍ：電気モータ
１４Ｌ，１４Ｒ：ピニオン
２０Ｌ，２０Ｒ：レール２１Ｌ，２１Ｒ：フレーム２２Ｌ，２２Ｒ：レール本体
２３Ｌ，２３Ｒ：ラック
２４：突合せ線(溶接線)
２５：連結アーム
２６，２７：ピン
２８：フック
２９，３０，３１：ストライカ
３９：ドライバボックス
４０：リモートコントローラ
４１ｓ：走行スイッチ
４１ｓｓ：起動ボタン
４１ｓｔ：停止ボタン
４２ｓ：上行スイッチ
４２ｓｂ：上行ボタン
４３ｓ：下行スイッチ
４３ｓｂ：下行ボタン
４４ｓ：左行スイッチ
４４ｓｂ：左行ボタン
４５ｓ：右行スイッチ
４５ｓｂ：右行ボタン
４６：ディスプレイ
４７ｓ：停止スイッチ
５０：突合せ（溶接線）
５１，５２：平板
５３：造管のために円弧状に曲げた鋼板 1: Cart 2: Horizontal adjustment mechanism 2M: Electric motor 3: Vertical adjustment mechanism 3M: Electric motor 4: Support arm 5: Welding torch 6: Storage cylinder 7: Arc camera 8: Hood 9: Filter 10: Prism 11: Wire feed Feeder 11M: Electric motor 12: Wire reels 13fL, fR: Front wheels 13rL, rR: Rear wheels 13M: Electric motors 14L, 14R: Pinions 20L, 20R: Rails 21L, 21R: Frames 22L, 22R: Rail bodies 23L, 23R: Rack 24: Butt line (welding line)
25: Connection arms 26, 27: Pin 28: Hooks 29, 30, 31: Striker 39: Driver box 40: Remote controller 41s: Travel switch 41ss: Start button 41st: Stop button 42s: Up switch 42sb: Up button 43s: Down Switch 43sb: descending button 44s: left switch
44sb: left row button 45s: right row switch 45sb: right row button 46: display 47s: stop switch 50: butt (welding line)
51, 52: Flat plate 53: Steel plate bent into an arc shape for pipe making

Claims (5)

Ｙ方向に延びる溶接線にそれぞれが平行に延び、Ｙ方向と交差するＸ方向に互いに離れ、かつ、それぞれが前記溶接線の左側Ｘと右側に位置する第１レールおよび第２レール；
前記第１レールおよび第２レールで支持されてＹ方向に走行する台車；
該台車のＹ方向の走行に関して該台車の後方に位置し該台車で支持された、該台車のＹ方向の走行のときに前記溶接線を溶接する溶接トーチ;
および、前記台車で支持され、前記溶接トーチが溶接中の箇所を撮影するカメラを備え；
第１レールおよび第２レールはそれぞれ、Ｙ方向に延びるフレーム，該フレームに固定され前記台車の車輪を支えるレール本体および前記台車のピニオンが噛合うラックを含む、溶接装置。 a first rail and a second rail, each extending parallel to a weld line extending in the Y direction, separated from each other in an X direction intersecting the Y direction, and positioned on the left side X and the right side of the weld line, respectively;
A carriage supported by the first rail and the second rail and traveling in the Y direction;
a welding torch positioned behind and supported by the truck with respect to the Y-direction travel of the truck for welding the weld seam when the truck travels in the Y-direction;
and a camera supported by the carriage for photographing a location where the welding torch is being welded;
The welding device, wherein the first rail and the second rail each include a frame extending in the Y direction, a rail body fixed to the frame and supporting the wheels of the truck, and a rack meshing with the pinion of the truck. 溶接装置はさらに、第１レールおよび第２レールの一方に一端がＹ，Ｘ平面に平行に回
動可に枢着され、他端には第１レールおよび第２レールの他方の拘止手段に係合して第１ レールおよび第２レールとの間の左右方向Ｘの相対的なずれを防止する係合手段がある連結部材を備え、
前記台車には、該連結部材に作用して前記係合手段の前記拘止手段との係合を解除して前記連結部材による前記台車のＹ方向走行を可能にする解除手段
、がある、請求項１に記載の溶接装置。 The welding device is further pivoted at one end to one of the first rail and the second rail parallel to the Y, X plane and at the other end to the restraining means of the other of the first rail and the second rail. a connecting member having engaging means for engaging to prevent relative displacement in the lateral direction X between the first rail and the second rail;
The carriage has releasing means acting on the connecting member to release the engagement of the engaging means with the restraining means to allow the carriage to travel in the Y direction by means of the connecting member. The welding device according to Item 1. 前記連結部材は連結アームであり、前記拘止手段はピンであり、前記係合手段はＹ方向とは逆向きに開いて前記ピンを受け入れるフックである、請求項２に記載の溶接装置。 3. The welding device according to claim 2, wherein the connecting member is a connecting arm, the restraining means is a pin, and the engaging means is a hook that opens in a direction opposite to the Y direction to receive the pin. 前記カメラは、前記台車の天板を上から下に貫通する収納筒内にあり、該収納筒の下端に連続するフードの下端部から前記溶接トーチの先端に至る光路を経て前記溶接トーチによる溶接個所を撮影する、請求項１，２又は３に記載の溶接装置。 The camera is located in a storage cylinder that penetrates the top plate of the truck from top to bottom, and is welded by the welding torch through an optical path from the lower end of the hood that continues to the lower end of the storage cylinder to the tip of the welding torch. 4. The welding device according to claim 1, 2 or 3, which photographs a location. 第１レールおよび第２レールはそれぞれ、複数の分割レールをＹ方向に繋いで延長しまた一本又は複数本の分割レールを取り外して短くできるように、分割レールで構成され、各分割レールは、ラックがフレームに対してＹ方向にずれたものであり、第１レールおよび第２レールのそれぞれを、複数の分割レールで構成するときは、繋ぎあう分割レールの一方の先端に突出するラックを他方のフレームに固定する、請求項１に記載の溶接装置。
Each of the first rail and the second rail is composed of a split rail so that a plurality of split rails can be connected and extended in the Y direction and one or more split rails can be removed and shortened, and each split rail is: When the rack is shifted in the Y direction with respect to the frame and each of the first rail and the second rail is composed of a plurality of split rails, the rack protruding from one end of the joined split rail is the other. 2. The welding device according to claim 1, which is fixed to the frame of the
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JP2002086268A (en) 2000-09-11 2002-03-26 Hitachi Ltd Equipment and method for welding
KR101630205B1 (en) 2015-04-27 2016-06-14 주식회사 포스코 Welding apparatus

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