JPH0639551A - Automatic welding equipment for lap joint - Google Patents
Automatic welding equipment for lap jointInfo
- Publication number
- JPH0639551A JPH0639551A JP21863592A JP21863592A JPH0639551A JP H0639551 A JPH0639551 A JP H0639551A JP 21863592 A JP21863592 A JP 21863592A JP 21863592 A JP21863592 A JP 21863592A JP H0639551 A JPH0639551 A JP H0639551A
- Authority
- JP
- Japan
- Prior art keywords
- axis
- welding
- axis rail
- rail
- lap joint
- 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
Landscapes
- Butt Welding And Welding Of Specific Article (AREA)
Abstract
Description
【０００１】[0001]
【産業上の利用分野】本発明は、薄板構造物の屈曲した
溶接線の重ね継手の溶接に適用される重ね継手自動溶接
装置に関する。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a lap joint automatic welding apparatus applied to welding a lap joint of a bent welding line of a thin plate structure.
【０００２】[0002]
【従来の技術】ＬＮＧ地下タンクのライニング材におい
ては、図１２斜視図に示すように、折曲げひだ３ａを有
する薄板の長手方向中央の両側にＹ形切込部２ａが形成
された上板側長形シート１ａと同様の折曲げひだ３ｂを
有する下板側長形シート１ｂを上記切込部２ａに差し込
んで成る重ね継手が採用されているが、このような重ね
継手を溶接するにあたっては、継手の近傍に折曲げひだ
３ａ，３ｂが壁状にありかつ狭隘部で溶接線が屈曲して
いるため、従来から自動化が困難とされ全て高熟練工に
よる手溶接に頼っており、継手が大量にある場合は、溶
接工数の増大や溶接品質のばらつき及び高齢化に伴う溶
接熟練工の減少等の問題がある。このため自動化が望ま
れ、従来からある自動溶接機のように溶接を監視しなが
ら狙い位置の調整や溶接の起動，停止をするのではな
く、無監視で屈曲した溶接線を連続して溶接する装置が
望まれる。2. Description of the Related Art In a lining material for an LNG underground tank, as shown in a perspective view of FIG. 12, a thin plate having a folding fold 3a is provided with a Y-shaped cut 2a on both sides in the longitudinal center thereof. A lap joint formed by inserting a lower plate side long sheet 1b having a folding fold 3b similar to that of the long sheet 1a into the cut portion 2a is used. When welding such a lap joint, Since the folding folds 3a and 3b are wall-shaped in the vicinity of the joint and the welding line is bent at the narrow part, it has been difficult to automate from the past, and all of them rely on manual welding by highly skilled workers. In some cases, there are problems such as an increase in welding man-hours, variations in welding quality, and a decrease in skilled welding workers due to aging. For this reason, automation is desired, and instead of adjusting the target position and starting and stopping welding while monitoring welding as in conventional automatic welding machines, continuous welding of bent welding lines is performed without monitoring. A device is desired.
【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、折曲げひだを有する薄
板の長手方向中央の両側にＹ形の切込部が形成された長
形シートと同種の長形シートを切込部へ差し込んで成る
重ね継手に対し、高精度の位置決め自動溶接を施すこと
ができる重ね継手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 the above circumstances, and is a long plate having Y-shaped notches formed on both sides in the longitudinal center of a thin plate having a fold. An object of the present invention is to provide an automatic lap joint welding apparatus capable of performing highly accurate positioning automatic welding for a lap joint formed by inserting a long sheet of the same type as a shaped sheet into a cut portion.
【０００４】[0004]
【課題を解決するための手段】そのために本発明は、折
曲げひだを有する薄板の長手方向中央の両側にＹ形の切
込部が形成された長形シートと同種の長形シートを上記
切込部へ差し込んで成る重ね継手のＹ形継手部を、位置
決めプログラム制御によって溶接する装置であって、上
記長形シートの切込部中央の両側に折曲げひだと平行に
位置決め固定されその上を台車が走行するＸ軸レール
と、上記台車上にＸ軸レールに対し直角走行可能に乗載
されたＹ軸レールと、上記Ｙ軸レールの先端に垂直に昇
降可能に設けられたＺ軸と、上記Ｚ軸に円運動可能に取
付けられ溶接トーチホルダーを垂直に保持した回転オシ
レート軸と、上記台車駆動を２枚のピニオンギヤを有す
るラック・ピニオン式とするとともにモーター回転を伝
達するギヤヘッドをウォームホイールギヤの１８０°対
称位置に２本のウォームギヤを配列したものとした台車
駆動機構と、上記回転オシレート軸に設けた２本の偏心
軸にモーター回転を伝達し連続した円運動を与えて適宜
のオシレート巾が得られるようにした回転オシレート機
構とを具えたことを特徴とする。To this end, the present invention cuts a long sheet of the same type as a long sheet having Y-shaped cuts formed on both sides of the center of the thin plate having a fold in the longitudinal direction. A device for welding a Y-shaped joint portion of a lap joint which is inserted into the insertion portion by positioning program control, and is positioned and fixed parallel to the folding folds on both sides of the center of the notch portion of the elongated sheet, An X-axis rail on which the carriage travels, a Y-axis rail mounted on the carriage so that the carriage can travel at a right angle to the X-axis rail, and a Z-axis vertically provided at the tip of the Y-axis rail. A rotary oscillating shaft having a welding torch holder vertically held on the Z axis so as to be circularly movable, a rack and pinion type having two pinion gears for driving the carriage, and a gear head for transmitting motor rotation. A trolley drive mechanism in which two worm gears are arranged at 180 ° symmetrical positions of the home wheel gear and the two eccentric shafts provided on the rotary oscillating shaft to transmit the motor rotation to give a continuous circular motion, and appropriately. And a rotary oscillating mechanism capable of obtaining an oscillating width of.
【０００５】[0005]
【作用】２軸直交型の位置決め制御方法は、ＮＣ工作機
等に用いられているとおり、駆動部は大容量のモーター
と直結したボールネジで位置決め精度を出しているが大
型重量物となるため、小型軽量で可搬性を要求されてい
る本発明装置には適用できない。そこで本発明は、最も
小型軽量であるラック・ピニオン式を採用し、歯車のバ
ックラッシュを最小限に抑えるため２枚のピニオンギヤ
をずらしてラックにかみ合わせるとともに、ウォームホ
イールギヤの両側に２本のウォームギヤを相反する歯面
に押し付けて配列し、ウォームギヤ同士を平歯車で連結
した一方のウォームギヤに小型モーターの回転を歯車伝
達することによってバックラッシュをゼロにして、高精
度な位置決めを可能にした。また回転オシレート機構を
採用することで、屈曲した溶接線に対して直角にオシレ
ート方向を設定する機構が不要となり装置の簡素化が図
れる。以上の機能を具えたことにより、同じ継手形状の
ものは、予め溶接線位置データを入力したプログラムに
よって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可能となる。In the 2-axis orthogonal type positioning control method, as used in NC machine tools and the like, the drive unit uses a ball screw directly connected to a large-capacity motor to provide positioning accuracy, but it is a large heavy object. It cannot be applied to the device of the present invention, which is required to be small and lightweight and portable. Therefore, the present invention adopts the rack and pinion type, which is the smallest and lightest, and shifts the two pinion gears to engage with the rack to minimize the backlash of the gears. By arranging the worm gears by pressing them against opposite tooth surfaces and transmitting the rotation of a small motor to one worm gear, which connects the worm gears with a spur gear, the backlash is eliminated and highly accurate positioning is possible. Further, by adopting the rotary oscillating mechanism, a mechanism for setting the oscillating direction at a right angle to the bent welding line becomes unnecessary, and the device can be simplified. With the above functions, continuous welding can be performed for the same joint shape while performing highly accurate positioning traveling by a program in which welding line position data is input in advance.
Appropriate automatic welding is possible even without monitoring.
【０００６】[0006]
【実施例】本発明重ね継手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は装置全体の上面図、図２
は装置全体の正面図、図３は装置全体の側面図、図４は
図１のIV−IVに沿った断面図、図５は駆動ギヤヘッドの
外観図、図６は図５のVI−VIに沿った断面図、図７はウ
ォームギヤの組合わせの説明図、図８は回転オシレート
軸の外観図、図９は図８のIX−IXに沿った断面図、図１
０は図９のＸ−Ｘに沿った断面図、図１１はトーチ回転
とパルス電流の関係の説明図である。DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the automatic welding apparatus for lap joints of the present invention will be described with reference to the drawings. FIG.
Is a front view of the entire apparatus, FIG. 3 is a side view of the entire apparatus, FIG. 4 is a sectional view taken along line IV-IV of FIG. 1, FIG. 5 is an external view of a drive gear head, and FIG. 6 is VI-VI of FIG. 1 is a sectional view taken along line IX-IX of FIG. 8, FIG. 7 is an explanatory view of a worm gear combination, FIG. 8 is an external view of a rotary oscillating shaft, and FIG.
0 is a cross-sectional view taken along the line XX of FIG. 9, and FIG. 11 is an explanatory diagram of the relationship between the torch rotation and the pulse current.
【０００７】図１〜図３において、上板側長形シート１
ａと下板側長形シート１ｂとの溶接継手となるＹ形切込
部２ａの中心へ、Ｘ軸レール４を左右均等に置き、この
Ｘ軸レール４の両側にあるスタンド５ａ，５ｂに設けた
支持板６ａ，６ｂとクランパー７ａ，７ｂで折曲げひだ
３ａをはさみ込むことによって平行に固定できる。Ｘ軸
レール４にはＸ軸走行台車８が摺動自在に取付けてあ
り、この走行台車８にはＹ軸固定台車１０が搭載されＹ
軸レール９をＸ軸と直角方向に摺動するように配設し、
このＹ軸レール９の先端に溶接面に対して垂直に上下移
動するＺ軸１１が９０°首振り自在に取付けられてお
り、このＺ軸１１の摺動板に溶接トーチ１２を垂直に保
持した回転オシレート軸１３が取合わせてある。またＹ
軸固定台車１０には操作箱１４及びケーブル中継箱１５
が設置してあり、Ｙ軸レール９後端からのケーブル類は
ケーブルベア３５によってケーブル中継箱１５に導かれ
ケーブル処理をコンパクトにまとめてある。1 to 3, an elongated sheet 1 on the upper plate side
The X-axis rails 4 are evenly placed on the left and right sides at the center of the Y-shaped notch 2a, which is a welded joint between the a and the lower plate-side elongated sheet 1b, and provided on the stands 5a and 5b on both sides of the X-axis rail 4. The support plates 6a and 6b and the clampers 7a and 7b can fix the folds 3a in parallel by sandwiching them. An X-axis traveling carriage 8 is slidably attached to the X-axis rail 4, and a Y-axis fixed carriage 10 is mounted on the traveling carriage 8 and a Y-axis fixed carriage 10 is mounted.
Arrange the shaft rail 9 so as to slide in the direction perpendicular to the X axis,
A Z-axis 11 that moves vertically up and down with respect to the welding surface is attached to the tip of this Y-axis rail 9 so that it can swing 90 °, and a welding torch 12 is held vertically on a sliding plate of this Z-axis 11. A rotary oscillating shaft 13 is fitted. Also Y
The axis fixed carriage 10 has an operation box 14 and a cable relay box 15
The cables from the rear end of the Y-axis rail 9 are guided to the cable relay box 15 by the cable bear 35, and the cable processing is compactly arranged.
【０００８】次に図４において、Ｘ軸レール４に２本の
ガイドレール１６ａ，１６ｂとラックギヤ１７ａが設け
てあり、Ｘ軸走行台車８の摺動軸受１８ａ，１８ｂ，１
８ｃ，１８ｄとで取合うとともに、走行台車８に設置し
たモーター駆動ギヤヘッド１９ａの２枚歯ピニオンギヤ
２０ａがラックギヤ１７ａとバックラッシュをなくすよ
うにかみ合わせてある。またＸ軸走行台車８に搭載した
Ｙ軸固定台車１０に同じモーター駆動ギヤヘッド１９ｂ
が設置してあり、Ｘ軸と同構造のＹ軸レール９がラック
ギヤ１７ｂと２枚歯ピニオンギヤ２０ｂとでかみ合って
走行駆動する。一方各々のモーター駆動ギヤヘッド１９
ａ，１９ｂは、図５〜図７に示す通り、出力軸にあるウ
ォームホイールギヤ２１に２個のウォームギヤ２２ａ，
２２ｂが１８０°対称位置に配列し、各々の相反する方
向の歯面Ｐ1 ，Ｐ2 に押し当ててかみ合わせ、ウォーム
ギヤ２２ａ，２２ｂ間を２枚歯平歯車２３と１枚の平歯
車２６とでかみ合わせて回転の同期伝達機構とし、一方
のウォームギヤ２２ａの軸にもう１つの平歯車２７と駆
動モーター２４に取付けた２枚歯平歯車２５とをかみ合
わせて、バックラッシュのない回転を与える。Next, referring to FIG. 4, two guide rails 16a, 16b and a rack gear 17a are provided on the X-axis rail 4, and sliding bearings 18a, 18b, 1 of the X-axis traveling carriage 8 are provided.
The two-tooth pinion gear 20a of the motor drive gear head 19a installed on the traveling carriage 8 is engaged with the rack gear 17a so as to eliminate backlash. Further, the same motor-driven gear head 19b is used for the Y-axis fixed carriage 10 mounted on the X-axis traveling carriage 8.
Is installed, and the Y-axis rail 9 having the same structure as the X-axis meshes with the rack gear 17b and the two-tooth pinion gear 20b to drive and drive. On the other hand, each motor drive gear head 19
a and 19b are, as shown in FIGS. 5 to 7, two worm gears 22a,
22b are arranged at 180 ° symmetrical positions, and are pressed against the tooth surfaces P 1 and P 2 in opposite directions to engage with each other, and the two-tooth spur gear 23 and one spur gear 26 are provided between the worm gears 22a and 22b. The worm gear 22a has one worm gear 22a and the other spur gear 27 and the two-tooth spur gear 25 mounted on the drive motor 24 are meshed with each other to provide rotation without backlash.
【０００９】次に図８〜図１０において、回転オシレー
ト軸１３はＺ軸１１の摺動台に支持されホルダー２８に
よって溶接トーチ１２を保持し、そのホルダー２８に回
転自在に２本の偏心軸２９ａ，２９ｂがはめ込まれてい
る。一方本体のモーター３０から２本の軸３１ａ，３１
ｂへ平歯車３２ａ，３２ｂ，３２ｃを介して回転伝達
し、その軸端に各々偏心軸２９ａ，２９ｂを差し込んで
連結して、溶接トーチ１２自身は回転せずに一定の半径
で円運動のオシレートをすることができる。また軸３１
ａには６等分に小孔を明けた円板３３を取付け、光電セ
ンサー３４によって１回転を６分割に検出し、溶接のパ
ルス電流切換信号として出力することで、図１１に示す
ような、どの溶接線位置においても継手の上板側，下板
側ともにパルス電流のピーク／ベース電流領域を設ける
ことができ、安定した溶接が得られる。8 to 10, the rotary oscillating shaft 13 is supported by the slide base of the Z-axis 11 and holds the welding torch 12 by a holder 28. The holder 28 rotatably supports two eccentric shafts 29a. , 29b are fitted. On the other hand, from the motor 30 of the main body to the two shafts 31a, 31
Rotation is transmitted to b through spur gears 32a, 32b, and 32c, and eccentric shafts 29a and 29b are inserted and connected to the shaft ends, respectively, and the welding torch 12 itself does not rotate but oscillates in a circular motion with a constant radius. You can Also axis 31
A disk 33 having small holes formed in six equal parts is attached to a, and one rotation is detected by the photoelectric sensor 34 into six divisions and output as a welding pulse current switching signal, as shown in FIG. At any welding line position, the peak / base current region of the pulse current can be provided on the upper plate side and the lower plate side of the joint, and stable welding can be obtained.
【００１０】かくしてこの重ね継手自動溶接装置は、屈
曲した溶接線が狭隘部を通って連続する重ね継手に対し
て、高精度の位置決め走行が可能な２軸直交型のＸ軸レ
ール４，Ｙ軸レール９と、垂直姿勢の溶接トーチ１２を
円運動させて一定のオシレート巾を与える回転オシレー
ト軸１３を採用して、軽量小型で可搬性に富んだ構成に
したことによって、これまで手溶接に頼っていた箇所の
自動化が可能となり、同形状の継手部が大量に有る場合
には、溶接工数の大巾な低減と、溶接品質の信頼性向上
に寄与できる。Thus, this lap joint automatic welding device is a two-axis orthogonal type X-axis rail 4 and Y-axis capable of highly accurate positioning traveling with respect to a lap joint in which a bent welding line continues through a narrow portion. By using a rail 9 and a rotating oscillating shaft 13 that gives a constant oscillating width by circularly moving a welding torch 12 in a vertical posture, a lightweight, compact, and highly portable structure has been used, and thus far, manual welding has been relied upon. It is possible to automate the parts that were previously used, and if there are a large number of joints with the same shape, it is possible to greatly reduce the welding man-hours and improve the reliability of welding quality.
【００１１】[0011]
【発明の効果】要するに本発明によれば、折曲げひだを
有する薄板の長手方向中央の両側にＹ形の切込部が形成
された長形シートと同種の長形シートを上記切込部へ差
し込んで成る重ね継手のＹ形継手部を、位置決めプログ
ラム制御によって溶接する装置であって、上記長形シー
トの切込部中央の両側に折曲げひだと平行に位置決め固
定されその上を台車が走行するＸ軸レールと、上記台車
上にＸ軸レールに対し直角走行可能に乗載されたＹ軸レ
ールと、上記Ｙ軸レールの先端に垂直に昇降可能に設け
られたＺ軸と、上記Ｚ軸に円運動可能に取付けられ溶接
トーチホルダーを垂直に保持した回転オシレート軸と、
上記台車駆動を２枚のピニオンギヤを有するラック・ピ
ニオン式とするとともにモーター回転を伝達するギヤヘ
ッドをウォームホイールギヤの１８０°対称位置に２本
のウォームギヤを配列したものとした台車駆動機構と、
上記回転オシレート軸に設けた２本の偏心軸にモーター
回転を伝達し連続した円運動を与えて適宜のオシレート
巾が得られるようにした回転オシレート機構とを具えた
ことにより、折曲げひだを有する薄板の長手方向中央の
両側にＹ形の切込部が形成された長形シートと同種の長
形シートを切込部へ差し込んで成る重ね継手に対し、高
精度の位置決め自動溶接を施すことができる重ね継手自
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 long sheet of the same kind as a long sheet in which Y-shaped cut portions are formed on both sides in the longitudinal center of a thin plate having a fold is provided in the cut portions. A device for welding the Y-shaped joint portion of the inserted lap joint by positioning program control, which is positioned and fixed parallel to the folding folds on both sides of the center of the cut portion of the above-mentioned elongated sheet, and the truck runs on it. An X-axis rail, a Y-axis rail mounted on the carriage so as to be able to travel at a right angle to the X-axis rail, a Z-axis vertically provided at the tip of the Y-axis rail, and a Z-axis. And a rotating oscillating shaft that holds the welding torch holder vertically and is mounted so that it can move circularly.
A trolley drive mechanism in which the trolley drive is a rack and pinion type having two pinion gears, and a gear head for transmitting the motor rotation has two worm gears arranged at 180 ° symmetrical positions of the worm wheel gears,
The eccentric shaft provided on the rotary oscillating shaft includes a rotary oscillating mechanism that transmits a motor rotation and gives a continuous circular motion to obtain an appropriate oscillating width, thereby having a folding fold. High-precision positioning automatic welding can be performed on a lap joint made by inserting a long sheet of the same type as a long sheet having Y-shaped cut portions formed on both sides of the center of the thin plate in the longitudinal direction into the cut portions. The present invention is extremely useful industrially because it provides an automatic welding apparatus for lap joints.
【図１】本発明重ね継手自動溶接装置の一実施例におけ
る装置全体の上面図である。FIG. 1 is a top view of the entire apparatus in an embodiment of the lap joint automatic welding apparatus of the present invention.
【図２】装置全体の正面図である。FIG. 2 is a front view of the entire apparatus.
【図３】装置全体の側面図である。FIG. 3 is a side view of the entire apparatus.
【図４】図１のIV−IVに沿った断面図である。FIG. 4 is a sectional view taken along the line IV-IV in FIG.
【図５】駆動ギヤヘッドの外観図である。FIG. 5 is an external view of a drive gear head.
【図６】図５のVI−VIに沿った断面図である。6 is a sectional view taken along line VI-VI of FIG.
【図７】ウォームギヤの組合わせの説明図である。FIG. 7 is an explanatory diagram of a combination of worm gears.
【図８】回転オシレート軸の外観図である。FIG. 8 is an external view of a rotary oscillating shaft.
【図９】図８のIX−IXに沿った断面図である。9 is a sectional view taken along line IX-IX in FIG.
【図１０】図９のＸ−Ｘに沿った断面図である。10 is a cross-sectional view taken along line XX of FIG.
【図１１】トーチ回転とパルス電流の関係の説明図であ
る。FIG. 11 is an explanatory diagram of a relationship between torch rotation and pulse current.
【図１２】重ね継手の斜視図である。FIG. 12 is a perspective view of a lap joint.
１a 上板側長形シート １b 下板側長形シート ２a ，２b Ｙ形切込部 ３a ，３b 折曲げひだ ４ Ｘ軸レール ５a ，５b スタンド ６a ，６b 支持板 ７a ，７b クランパー ８ Ｘ軸走行台車 ９ Ｙ軸レール 10 Ｙ軸固定台車 11 Ｚ軸 12 溶接トーチ 13 回転オシレート軸 14 操作箱 15 ケーブル中継箱 16a , 16b ガイドレール 17a , 17b ラックギヤ 18a , 18b , 18c , 18d 摺動軸受 19a , 19b モーター駆動ギヤヘッド 20a , 20b ２枚歯ピニオンギヤ 21 ウォームホイールギヤ 22a , 22b ウォームギヤ 23 ２枚歯平歯車 24 駆動モーター 25 ２枚歯平歯車 26 平歯車 27 平歯車 28 ホルダー 29a , 29b 偏心軸 30 モーター 31a , 31b 軸 32a , 32b , 32c 平歯車 33 円板 34 光電センサー 35 ケーブルベア 1a Upper plate side long sheet 1b Lower plate side long sheet 2a, 2b Y-shaped notch 3a, 3b Bend fold 4 X-axis rails 5a, 5b stand 6a, 6b Support plate 7a, 7b Clamper 8 X-axis traveling cart 9 Y-axis rail 10 Y-axis fixed carriage 11 Z-axis 12 Welding torch 13 Rotating oscillating shaft 14 Operation box 15 Cable relay box 16a, 16b Guide rail 17a, 17b Rack gear 18a, 18b, 18c, 18d Sliding bearing 19a, 19b Motor drive Gear head 20a, 20b Two-tooth pinion gear 21 Worm wheel gear 22a, 22b Worm gear 23 Two-tooth spur gear 24 Drive motor 25 Two-tooth spur gear 26 Spur gear 27 Spur gear 28 Holder 29a, 29b Eccentric shaft 30 Motor 31a, 31b Shaft 32a, 32b, 32c Spur gear 33 Disc 34 Photoelectric sensor 35 Cable carrier
───────────────────────────────────────────────────── フロントページの続き (72)発明者 福永 義昭 兵庫県高砂市荒井町新浜二丁目１番１号 三菱重工業株式会社高砂研究所内 (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 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Yoshiaki Fukunaga Inventor Yoshiaki Fukunaga 2-1-1 Niihama, Arai-cho, Takasago-shi, Hyogo Mitsubishi Heavy Industries, Ltd. Takasago Research Institute (72) Eiji Tsuchida 12 Nishiki-cho, Naka-ku, Yokohama Mitsubishi Heavy Industries Ltd. Company Yokohama Works (72) Inventor Masuo Kumakura 12 Nishiki-cho, Naka-ku, Yokohama City Mitsubishi Heavy Industries Ltd.Yokohama Works (72) Keiji Sugawara 12 Nishiki-cho, Naka-ku, Yokohama City Yokohama Works, Mitsubishi Heavy Industries Ltd.
Claims (1)
の両側にＹ形の切込部が形成された長形シートと同種の
長形シートを上記切込部へ差し込んで成る重ね継手のＹ
形継手部を、位置決めプログラム制御によって溶接する
装置であって、上記長形シートの切込部中央の両側に折
曲げひだと平行に位置決め固定されその上を台車が走行
するＸ軸レールと、上記台車上にＸ軸レールに対し直角
走行可能に乗載されたＹ軸レールと、上記Ｙ軸レールの
先端に垂直に昇降可能に設けられたＺ軸と、上記Ｚ軸に
円運動可能に取付けられ溶接トーチホルダーを垂直に保
持した回転オシレート軸と、上記台車駆動を２枚のピニ
オンギヤを有するラック・ピニオン式とするとともにモ
ーター回転を伝達するギヤヘッドをウォームホイールギ
ヤの１８０°対称位置に２本のウォームギヤを配列した
ものとした台車駆動機構と、上記回転オシレート軸に設
けた２本の偏心軸にモーター回転を伝達し連続した円運
動を与えて適宜のオシレート巾が得られるようにした回
転オシレート機構とを具えたことを特徴とする重ね継手
自動溶接装置。1. A Y of a lap joint formed by inserting a long sheet of the same kind as a long sheet in which Y-shaped cut portions are formed on both sides of the center of a thin plate having a fold in the longitudinal direction into the cut portions.
An apparatus for welding a shaped joint portion by positioning program control, comprising: an X-axis rail for positioning and fixing parallel to folding folds on both sides of the center of the cut portion of the elongated sheet, on which a carriage travels; The Y-axis rail is mounted on the trolley so that it can travel at a right angle to the X-axis rail, the Z-axis is provided at the tip of the Y-axis rail so as to be vertically movable, and the Z-axis is mounted so as to be circularly movable. A rotating and oscillating shaft holding a welding torch holder vertically and a rack and pinion type with the above-mentioned trolley drive having two pinion gears, and a gear head for transmitting motor rotation is provided with two worm gears at 180 ° symmetrical positions of a worm wheel gear. The trolley drive mechanism in which the motors are arranged and the two eccentric shafts provided on the rotary oscillating shaft transmit the motor rotation to give a continuous circular motion to provide an appropriate Lap joint automatic welding apparatus, characterized in that it comprises a rotary oscillating mechanism Shireto width is to be obtained.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP21863592A JP2909315B2 (en) | 1992-07-24 | 1992-07-24 | Lap joint automatic welding equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP21863592A JP2909315B2 (en) | 1992-07-24 | 1992-07-24 | Lap joint automatic welding equipment |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPH0639551A true JPH0639551A (en) | 1994-02-15 |
| JP2909315B2 JP2909315B2 (en) | 1999-06-23 |
Family
ID=16723043
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP21863592A Expired - Fee Related JP2909315B2 (en) | 1992-07-24 | 1992-07-24 | Lap joint automatic welding equipment |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP2909315B2 (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6572003B2 (en) * | 2000-07-28 | 2003-06-03 | Mitsubishi Denki Kabushiki Kaisha | Seam welding apparatus and seam welding method |
| KR100796632B1 (en) * | 2006-08-11 | 2008-01-22 | 한국가스공사 | Auto welding machine for setting sealing wall on cargo tank of lng ship |
| KR100965298B1 (en) * | 2007-11-22 | 2010-06-22 | 삼성중공업 주식회사 | Carrier of membrane auto welding-robot |
| CN102785007A (en) * | 2012-08-27 | 2012-11-21 | 无锡市南方电器制造有限公司 | Mechanical tool for welding outer wall of spiral aluminum tube |
| CN103170707A (en) * | 2013-02-04 | 2013-06-26 | 成都佳士科技有限公司 | Robot welding workstation for cylinder body |
| CN105522261A (en) * | 2016-02-01 | 2016-04-27 | 王新奎 | Automatic welding device of character welding machine |
| CN113427105A (en) * | 2021-07-08 | 2021-09-24 | 中铁工程装备集团有限公司 | Shield body welding system of shield machine |
-
1992
- 1992-07-24 JP JP21863592A patent/JP2909315B2/en not_active Expired - Fee Related
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6572003B2 (en) * | 2000-07-28 | 2003-06-03 | Mitsubishi Denki Kabushiki Kaisha | Seam welding apparatus and seam welding method |
| KR100796632B1 (en) * | 2006-08-11 | 2008-01-22 | 한국가스공사 | Auto welding machine for setting sealing wall on cargo tank of lng ship |
| KR100965298B1 (en) * | 2007-11-22 | 2010-06-22 | 삼성중공업 주식회사 | Carrier of membrane auto welding-robot |
| CN102785007A (en) * | 2012-08-27 | 2012-11-21 | 无锡市南方电器制造有限公司 | Mechanical tool for welding outer wall of spiral aluminum tube |
| CN103170707A (en) * | 2013-02-04 | 2013-06-26 | 成都佳士科技有限公司 | Robot welding workstation for cylinder body |
| CN105522261A (en) * | 2016-02-01 | 2016-04-27 | 王新奎 | Automatic welding device of character welding machine |
| CN113427105A (en) * | 2021-07-08 | 2021-09-24 | 中铁工程装备集团有限公司 | Shield body welding system of shield machine |
Also Published As
| Publication number | Publication date |
|---|---|
| JP2909315B2 (en) | 1999-06-23 |
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|---|---|---|---|
| A01 | Written decision to grant a patent or to grant a registration (utility model) |
Free format text: JAPANESE INTERMEDIATE CODE: A01 Effective date: 19990303 |
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| LAPS | Cancellation because of no payment of annual fees |