JPH0216267U - - Google Patents
Info
- Publication number
- JPH0216267U JPH0216267U JP9098488U JP9098488U JPH0216267U JP H0216267 U JPH0216267 U JP H0216267U JP 9098488 U JP9098488 U JP 9098488U JP 9098488 U JP9098488 U JP 9098488U JP H0216267 U JPH0216267 U JP H0216267U
- Authority
- JP
- Japan
- Prior art keywords
- welding
- axis
- torch
- arc
- cylindrical
- 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.)
- Granted
Links
- 238000003466 welding Methods 0.000 claims description 27
- 230000007246 mechanism Effects 0.000 claims description 7
- 238000001514 detection method Methods 0.000 claims 1
- 238000010586 diagram Methods 0.000 description 1
- 239000003517 fume Substances 0.000 description 1
Landscapes
- Butt Welding And Welding Of Specific Article (AREA)
Description
第１図はこの発明の一実施例の全体構成を示す
概略の側面図、第２図は水平コラム先端のアーム
部分を示す部分側面図、第３図は伸縮状態のアー
ムを示す部分正面図、第４図は溶接ヘツド部分の
拡大側面図、第５図は内面溶接、外面溶接のオフ
セツト位置を示す説明図である。
図中、同一符号は同一又は相当部分を示す。図
において、１は溶接ヘツド、２は溶接制御装置、
３は溶接電源装置、４はマニピユレータ、５はタ
ーニングローラ、６は溶接ワイヤ送給装置、７は
ボンベ、８は円筒容器、９は台車、１０は溶接ロ
ボツト、１１はｘ軸スライドブロツク、１２はｙ
軸スライドブロツク、１３は溶接トーチ、１４は
ＣＣＤカメラ、１５はＯＳ軸スライドブロツク、
１６はヒユーム除去用エアーノズル、１７はトー
チ狙い角度調整ブロツク、２１は画像処理制御装
置、２２は溶接パラメータ制御装置、２３は画像
処理開先倣い制御装置、２４はアークセンサ開先
倣い制御装置、４１はポスト、４２はガイドブロ
ツク、４３は水平コラム、４４はアーム、４５は
回動機構、８１は口を示す。
FIG. 1 is a schematic side view showing the overall configuration of an embodiment of the present invention, FIG. 2 is a partial side view showing the arm portion at the tip of the horizontal column, and FIG. 3 is a partial front view showing the arm in an extended and contracted state. FIG. 4 is an enlarged side view of the welding head portion, and FIG. 5 is an explanatory diagram showing the offset positions of inner and outer welds. In the figures, the same reference numerals indicate the same or corresponding parts. In the figure, 1 is a welding head, 2 is a welding control device,
3 is a welding power supply device, 4 is a manipulator, 5 is a turning roller, 6 is a welding wire feeding device, 7 is a cylinder, 8 is a cylindrical container, 9 is a trolley, 10 is a welding robot, 11 is an x-axis slide block, and 12 is a y
13 is a welding torch, 14 is a CCD camera, 15 is an OS axis slide block,
16 is an air nozzle for removing fume, 17 is a torch aiming angle adjustment block, 21 is an image processing control device, 22 is a welding parameter control device, 23 is an image processing groove tracing control device, 24 is an arc sensor groove tracing control device, 41 is a post, 42 is a guide block, 43 is a horizontal column, 44 is an arm, 45 is a rotating mechanism, and 81 is a mouth.
Claims (1)
沿う継手部を内面または外面からアーク溶接する
溶接装置において、 円筒容器を横倒支持してその軸心回りに回動さ
せる支持手段と、；該支持手段に支持された円筒
容器の一端面側にて前記軸心方向に沿つて進退可
能な水平コラムを高さ位置調節可能に装備し、且
つ前記コラムの先端において該コラムの長さ方向
と直交する水平軸回りに回動可能でしかも該水平
軸と直交する方向に伸縮可能なアームを備えたマ
ニピユレータと、；前記アームの先端に取付けら
れアーム長さ方向にほぼ沿つたｙ軸倣い及びそれ
と直交する方向にｘ軸倣い機構を介して溶接トー
チを保持する溶接ヘツドと、；前記ｘ軸倣い機構
の倣い方向が前記軸心と平行な向きとなる位置と
直角な向きとなる位置との二位置間にて前記溶接
ヘツドを前記アームの軸心回りに旋回させる旋回
機構と、；前記円筒容器の胴部の円周方向の内面
及び外面溶接時に、前記溶接ヘツドを溶接進行方
向前方及び後方に移動保持させるオフセツト調節
手段と、；前記溶接ヘツドに取付けられてトーチ
の溶接進行方向前方位置を撮影して画像データを
出力する撮影画像処理手段と、；溶接中のアーク
の電気的特性に関連した測定量からトーチと前記
継手部の溶接開先との相対位置関係を検出するア
ークセンサ手段と、；前記画像データに基いて前
記マニピユレータと前記支持手段を制御すること
により溶接始終端位置の制御と溶接開先に対する
トーチの粗倣いを制御する制御手段と、；前記ア
ークセンサ手段の検出データに基いて前記ｘ軸お
よびｙ軸倣い機構を制御することにより前記トー
チを溶接開先に対して精密倣いさせる精密倣い制
御手段とを備えたことを特徴とする円筒密閉容器
の自動溶接装置。 ２ 溶接トーチが、回転軸心から偏心した位置で
アークを発生する回転アークトーチである実用新
案登録請求の範囲第１項に記載の円筒密閉容器の
自動溶接装置。 ３ 溶接ヘツドが、前記アーム軸心に対するヘツ
ドの傾きを変化させるトーチ狙い角度調節機構を
有する実用新案登録請求の範囲第１項に記載の円
筒密閉容器の自動溶接装置。 ４ 前記マニピユレータが台車上に搭載されてい
る実用新案登録請求の範囲第１項に記載の円筒密
閉容器の自動溶接装置。[Scope of Claim for Utility Model Registration] 1. In a welding device for arc welding a joint part along the circumferential direction and longitudinal direction of the body of a cylindrical container from the inner or outer surface, the cylindrical container is supported horizontally and welded around its axis. a support means for rotating; a horizontal column movable in the axial direction on one end surface side of the cylindrical container supported by the support means; the height of the column is adjustable; a manipulator having an arm rotatable around a horizontal axis perpendicular to the length direction of the column and extendable and retractable in a direction perpendicular to the horizontal axis; a welding head that holds a welding torch through a y-axis scanning mechanism substantially along the y-axis and an x-axis scanning mechanism in a direction perpendicular thereto; and perpendicular to a position where the scanning direction of the x-axis scanning mechanism is parallel to the axis. a rotating mechanism for rotating the welding head around the axis of the arm between two positions in which the welding head is oriented in the same direction; offset adjusting means for moving and holding the torch forward and backward in the welding direction; photographing image processing means attached to the welding head for photographing the forward position of the torch in the welding direction and outputting image data; arc sensor means for detecting the relative positional relationship between the torch and the welding groove of the joint portion from a measured quantity related to the electrical characteristics of the arc; and controlling the manipulator and the support means based on the image data. control means for controlling the welding start and end positions and rough tracing of the torch with respect to the welding groove; and controlling the x-axis and y-axis tracing mechanisms based on the detection data of the arc sensor means; 1. An automatic welding device for a cylindrical sealed container, characterized in that it is equipped with precision tracing control means for accurately tracing a welding groove. 2. The automatic welding device for a cylindrical closed container according to claim 1, wherein the welding torch is a rotating arc torch that generates an arc at a position eccentric from the rotation axis. 3. The automatic welding device for a cylindrical closed container according to claim 1, wherein the welding head has a torch aiming angle adjustment mechanism that changes the inclination of the head with respect to the arm axis. 4. The automatic welding device for a cylindrical closed container according to claim 1, wherein the manipulator is mounted on a truck.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP9098488U JPH065021Y2 (en) | 1988-07-11 | 1988-07-11 | Automatic welding equipment for cylindrical closed containers |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP9098488U JPH065021Y2 (en) | 1988-07-11 | 1988-07-11 | Automatic welding equipment for cylindrical closed containers |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPH0216267U true JPH0216267U (en) | 1990-02-01 |
| JPH065021Y2 JPH065021Y2 (en) | 1994-02-09 |
Family
ID=31315485
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP9098488U Expired - Lifetime JPH065021Y2 (en) | 1988-07-11 | 1988-07-11 | Automatic welding equipment for cylindrical closed containers |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH065021Y2 (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR101678307B1 (en) * | 2015-07-03 | 2016-11-21 | 주식회사 동주웰딩 | Welding method of automatic welding apparatus for pressure vessel and steel pipe |
| KR101678306B1 (en) * | 2015-07-03 | 2016-12-06 | 주식회사 동주웰딩 | Automatic welding apparatus for pressure vessel and steel pipe |
-
1988
- 1988-07-11 JP JP9098488U patent/JPH065021Y2/en not_active Expired - Lifetime
Also Published As
| Publication number | Publication date |
|---|---|
| JPH065021Y2 (en) | 1994-02-09 |
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