JPS61279367A - Method and device for welding - Google Patents

Abstract

PURPOSE:To keep the distance between a torch and a base material constant, and to execute a fillet weld by using a backward slide of a detecting rod, which is generated when a running truck has abutted on an obstacle on a weld line, as a driving source, and turning an arm to which a torch has been attached. CONSTITUTION:A running truck A runs by itself by a pinion 5 which is driven by a motor 4 on a guide rail 1. A detecting rod 7 which is pushed back when it abuts on an obstacle such as a wall, etc., which is positioned at the end, etc. of a weld line is installed to the running truck A. When the detecting rod 7 abuts on the obstacle, it is pushed back by the running quantity for continuing the running, and through the rotation of the pinion 5, a torch 12 which has been supported by an arm 11 is moved and inclined. In this case, by an operation to a planet gear 18 which is engaged to a supporting fixed gear 19 and a fixed gear 17, a distance between the base material and a chip is kept roughly constant. In this way, even if a wall or other obstacle exists in the end part of the weld line, welding can be executed to the end.

Description

【発明の詳細な説明】 〔産業上の利用分野〕 この発明は、溶接線に対して溶接トーチ角度を、溶接台
車の走行にともない壁等の障害物検出時に徐々に傾斜さ
せながらアーク長を一定に保持する溶接方法並びに装置
に関するものである。[Detailed Description of the Invention] [Industrial Application Field] This invention maintains a constant arc length while gradually tilting the welding torch angle with respect to the welding line when detecting obstacles such as walls as the welding cart travels. The present invention relates to a welding method and apparatus for maintaining the welding temperature.

〔従来の技術〕[Conventional technology]

溶接線に沿って走行台車を走行させながら、上記走行台
車に支持させてあるトーチで溶接する場合、溶接線の端
に壁等の障害物が存在する−と、上記障害物に走行台車
が衝突して溶接作業を続行することができない。When welding with a torch supported by the traveling truck while traveling along the welding line, if there is an obstacle such as a wall at the end of the welding line, the traveling truck will collide with the obstacle. and cannot continue welding work.

従って、障害物の近傍まで走行台車のトーチによって溶
接し、次いで溶接のやｊ）残した隅部を手溶接していた
。′ 〔発明が解決しようとする問題点〕 走行台車による自動溶接と手溶接とで溶接を完了するの
で、手間がかかると共に、著しい能率の低下を招く問題
等があった。Therefore, welding was carried out to the vicinity of the obstacle using a torch from a moving truck, and then the remaining corners were manually welded. [Problems to be Solved by the Invention] Since welding is completed by automatic welding using a traveling truck and manual welding, there are problems that it is time-consuming and causes a significant drop in efficiency.

〔問題点を解決するための手段〕[Means for solving problems]

上記の問題点を解決するために、この発明は溶接線に沿
って走行台車を走行させながら上記走行台車に支持させ
てあるトーチにより溶接し、溶接作業の１読行中に溶接
線上の障害物に走行台車の検出棒が当接して上記検出棒
を押し戻すと、検出棒のスライドを駆動源として走行台
車にアームを起伏回動させるよう取付けた軸承部及びア
ームにトーチを傾動させるよう取付けた軸承部の機械的
相対回転運動の合成によりトーチ先と母材との距離を一
定に保ちながら障害物の方向に上記トーチを動かして隅
まで溶接するように構成したものである。In order to solve the above-mentioned problems, the present invention performs welding using a torch supported by the traveling truck while traveling along the welding line. When the detection rod of the traveling trolley comes into contact with and pushes the detection rod back, a shaft bearing is attached to the traveling trolley so that the arm is raised and rotated using the slide of the detection rod as a driving source, and a shaft bearing is attached to the arm to tilt the torch. The structure is such that the torch is moved in the direction of the obstacle and welded to the corner while keeping the distance between the torch tip and the base metal constant by combining the mechanical relative rotational movements of the parts.

〔作用〕[Effect]

溶接線に沿って走行台車を走行させながら、上記走行台
車のトーチにより溶接し、そして溶接線の端に位置する
壁等の障害物に検出棒が当接すると、上記走行台車の走
行により上記、検出棒を押し戻してアームを障害物の方
向に倒すと共に、アームに支持しであるトーチの先を障
害物の方向に移動させながらトーチ先と母材との距離を
一定に保って溶接を行なう。Welding is performed using the torch of the traveling truck while traveling along the welding line, and when the detection rod comes into contact with an obstacle such as a wall located at the end of the welding line, the traveling of the traveling truck causes the above-mentioned The detection rod is pushed back to tilt the arm toward the obstacle, and the tip of the torch, which is supported by the arm, is moved toward the obstacle while welding is performed while keeping the distance between the torch tip and the base metal constant.

〔実施例〕〔Example〕

図において、Ａは溶接線に沿って走行させる走行台車で
ある。In the figure, A is a traveling trolley that travels along the welding line.

上記の走行台車Ａは、図示の場合、溶接線の全長に沿う
ガイドレール１を設けて、このガイトレー）ｖｌにプレ
ート２の裏面に設けである摺動子３をスライド自在に嵌
め合すと共に、上記グレート２に据え付けたモータ４に
より駆動されるピニオン５を上記ガイトレー／ｌ／１に
並設したラック６に噛み合せて構成したが、゛その他の
方法で自走させてもよい。In the illustrated case, the above-mentioned traveling trolley A is provided with a guide rail 1 along the entire length of the welding line, and a slider 3 provided on the back surface of the plate 2 is slidably fitted to this guide rail (vl). Although the pinion 5 driven by the motor 4 installed on the grate 2 is engaged with the rack 6 arranged in parallel with the guide tray /1/1, it may be self-propelled by other methods.

７は溶接線の端等に位置する壁等の障害物に当接すると
押し戻されるよう走行台車Ａに設けた検出棒である。Reference numeral 7 denotes a detection rod provided on the traveling truck A so that it is pushed back when it comes into contact with an obstacle such as a wall located at the end of the welding line.

上記の検出棒７は、図示の場合、プレート２の表面軸受
８にスライド自在に貫通させた水平の軸材９と、この軸
材９の端と軸受８の端面とで両端が支承されるようにし
て上記軸材９の外１１１１ｉ　Ｋ嵌装したバネ１０とで
構成され、通常バネ１０により軸材９を所定の位置まで
押し出し、障害物との衝突によυ軸材９が押し戻される
とバネ１０を圧縮するようになっている。In the case shown in the figure, the detection rod 7 is supported at both ends by a horizontal shaft member 9 slidably penetrating the surface bearing 8 of the plate 2, and an end of the shaft member 9 and an end face of the bearing 8. The shaft member 9 is normally pushed out to a predetermined position by the spring 10, and when the shaft member 9 is pushed back due to a collision with an obstacle, the spring 10 is inserted into the shaft member 9. 10 is compressed.

なお、図示の場合、グレート２の両側に検出棒７を突出
させて、走行台車Ａを端７図左方向と右方向とに走行さ
せるようにしたが、片方にのみ検出棒を突出させて、走
行方向に検出棒が位置するよう走行台車を反転させるよ
うにしてもよい。In the illustrated case, the detection rods 7 are made to protrude from both sides of the grate 2, and the traveling cart A is made to run in the left direction and the right direction in the end 7, but the detection rods are made to protrude from only one side. The traveling cart may be reversed so that the detection rod is positioned in the traveling direction.

また、走行台車Ａには、押し戻される検出棒７のスライ
ドを駆動源として上記走行台車Ａに対しアーム１１を起
伏回動させるよう取付けた軸承部及びアーム１１に対し
トーチ１２を傾動させるよう取付けた軸承部の機械的相
対回転運動の合成により上記トーチ１２先と母材との距
離を一定に保ちながら障害物の方向にトーチ１２先を障
害物の方向に動かす駆動装置Ｂが設けられている。Further, on the traveling trolley A, a shaft bearing is attached so that the arm 11 is raised and rotated with respect to the traveling trolley A using the slide of the detection rod 7 pushed back as a driving source, and a torch 12 is attached so as to tilt with respect to the arm 11. A driving device B is provided which moves the torch 12 tip in the direction of the obstacle while keeping the distance between the torch 12 tip and the base material constant by combining the mechanical relative rotational movements of the bearing parts.

上記の駆動装置Ｂは、図示の場合プレート２にアーム１
１の下端をフリー回転するよう軸承した固定軸１３と、
この固定軸１３を中心としてアーム１１と共に回動し、
かつ軸材９の外周軸線方向に設けであるラック１４に噛
み合うよう設けたピニオン１５と、アーム１１の上端に
トーチ１２をフリー回転するよう取付けた軸１６と、固
定軸１３に固着した固定歯車１７と、この固定歯車１７
に噛み合うようアーム１１に軸支した遊星歯車１日と、
この遊星歯車１８に噛み合うよう軸１６に固定した固定
歯車１９とで構成されている。In the case of the above-mentioned drive device B, the arm 1 is attached to the plate 2 in the illustrated case.
a fixed shaft 13 whose lower end is rotatably supported;
It rotates together with the arm 11 around this fixed shaft 13,
A pinion 15 is provided to mesh with a rack 14 provided in the direction of the outer circumferential axis of the shaft member 9, a shaft 16 is attached to the upper end of the arm 11 so that the torch 12 can rotate freely, and a fixed gear 17 is fixed to the fixed shaft 13. And this fixed gear 17
A planetary gear 1, which is pivotally supported on arm 11 so as to mesh with the
It consists of a fixed gear 19 fixed to the shaft 16 so as to mesh with the planetary gear 18.

さらに、検出棒７の軸材９には、ビス２０を介し位置決
め支持腕２１が固定され、軸受８には、障害物検出時に
支持腕２１のスライドによつて作用する中央位置検出リ
ミットスイッチ２２と、支持腕２１の両端に設けである
カム２３により作用させて走行台車Ａの走行を停止させ
る端停止検出リミットスイッチ２４．２５とが設けられ
ている。Further, a positioning support arm 21 is fixed to the shaft member 9 of the detection rod 7 via a screw 20, and a central position detection limit switch 22 is attached to the bearing 8, which is activated by sliding the support arm 21 when an obstacle is detected. , end stop detection limit switches 24 and 25 are provided at both ends of the support arm 21, which are actuated by the cams 23 to stop the traveling of the traveling truck A.

なお、前もってトーチ前進角を取り溶接を行なう場合は
、支持腕２１と軸材９とを固定しているビス２０を緩め
て上記軸材９を溶接進行方向の反対方向にスライドさせ
、然るのちビス２０を締付けることにより、溶接トーチ
の前進角がとれ同時に終端停止リミットスイッチ２４゜
２！：ｉがカム２３のいずれかを軸材９の移動方向に移
動させたことになる。Note that when performing welding by adjusting the torch advance angle in advance, loosen the screw 20 fixing the support arm 21 and the shaft member 9, slide the shaft member 9 in the opposite direction to the direction of welding progress, and then By tightening the screw 20, the forward angle of the welding torch is adjusted and at the same time the end stop limit switch 24°2! :i means that one of the cams 23 is moved in the moving direction of the shaft member 9.

図中２６はガイトレー／Ｌ／１及びラック６の支持板で
ある。In the figure, 26 is a support plate for the guide tray/L/1 and the rack 6.

前記駆動装置Ｂの原理となる基準数値の比率は、固定歯
車１７のピッチ円直径Ｄ１をｌ夕Ｎとすれば、固定歯車
１９のピッチ円直径Ｄ３　　をＮとし、遊星歯車１日の
ピッチ円直径Ｄ２及びピニオン１５のピッチ円直径Ｄ４
は任意とし、溶接線ＴＯとピニオン１５の支点Ｐｏ間の
距＃Ｙは、ピニオン１５の支点ＰＯと固定歯車１９０支
点ＡＯとの軸間距離Ｙの３倍とする。The ratio of the reference numerical values which is the principle of the drive device B is as follows: If the pitch circle diameter D1 of the fixed gear 17 is N, the pitch circle diameter D3 of the fixed gear 19 is N, and the pitch circle diameter of the planetary gear is 1 day. D2 and pitch circle diameter D4 of pinion 15
is arbitrary, and the distance #Y between the welding line TO and the fulcrum Po of the pinion 15 is set to be three times the distance Y between the shafts between the fulcrum PO of the pinion 15 and the fulcrum AO of the fixed gear 190.

次に、この発明の作用原理を第弘図及び第！図に基づい
て説明する。Next, the principle of operation of this invention is explained in Figures 1 and 3. This will be explained based on the diagram.

走行台車Ａの走行により検出棒７は、壁等の障害物に当
接すると同時に上記走行を続行する走行量だけ押し戻さ
れ、障害物検出位置点からの移動量ｂｎに対してピニオ
ン１５は第夕図反時計方向に回転し、上記ピニオン１５
の回転回度θｎは、次式の３乙θｂｎ　／Ｄ　４πとな
りアーム１１の回転により上記アーム１１に支持された
トーチ１２の支点固定歯車１９の傾斜角度βｎは、次式
のＤｉ／Ｄ３＝／ｊＮ／Ｎ　により、回転角度θｎの／
Ｊ−／（１／２）となり、固定歯車１９０順斜方向は固
定歯車１７に噛み合っている遊星歯車１８を介して障害
物の方向に傾斜し、固定歯車１９０支点Ａｎの位置は、
アーム１１の支点Ｐｎから膚方向移動量ａｎは、次式の
γｓｉｎθｎとな９、縦方向移動量ｈｎは、次式のγＣ
ｏｓθｎ　となジ、浴接線と接するトーチ先端゛延長点
Ｔｎの位置は、固定歯車１９の支点Ａｎから横方向移動
量ａｎは、次式のＨｎＴａｎβｎとな９、縦方向距離Ｈ
ｎは、次式のｈｎ＋Ｙとな９、トーチ先端延長点Ｔｎと
固定歯車１９の支点Ａｎを結ぶ距離Ｒｎは次式のＨｎ７
Ｃｏｓβｎとなり、障害物検出開始位置点ＴＯからトー
チ先端延長点Ｔｎ間の移動量Ｌｎは、次式のａｎ＋ｂｎ
十ａｎとなジ、ピニオン１５０支点Ｐｏと固定歯車１９
０支点Ａｏとの軸間距離γを３０ｗｍから１１００ｔの
範囲にし、トーチ傾斜度βｎの最大角度を３０°迄に限
定すれば、トーチ先端延長点Ｔｎと固定歯車１９の支点
Ａｎを結ぶ距離Ｒｎは、障害物検出開始以前と殆んど変
らず、母材とチップ間の距離の差は弘■以内となり、略
一定に保持することができる。As the traveling trolley A travels, the detection rod 7 comes into contact with an obstacle such as a wall, and at the same time is pushed back by the travel amount to continue the above travel, and the pinion 15 is moved back by the travel amount bn from the obstacle detection position point. The pinion 15 rotates counterclockwise in the figure.
The rotation angle θn is given by the following formula: 3 θbn /D 4π, and the inclination angle βn of the fulcrum fixed gear 19 of the torch 12 supported by the arm 11 due to the rotation of the arm 11 is calculated by the following formula: Di/D3=/ jN/N, the rotation angle θn is /
J-/(1/2), the forward oblique direction of the fixed gear 190 is inclined toward the obstacle via the planetary gear 18 meshing with the fixed gear 17, and the position of the fulcrum An of the fixed gear 190 is
The amount of movement an of the arm 11 in the skin direction from the fulcrum Pn is given by γsinθn of the following formula9, and the amount of vertical movement hn is given by γC of the following formula.
osθn, the position of the extension point Tn of the torch tip in contact with the bath tangent is the horizontal movement amount an from the fulcrum An of the fixed gear 19, which is expressed by the following formula HnTanβn9, and the vertical distance H
n is hn+Y in the following formula9, and the distance Rn connecting the torch tip extension point Tn and the fulcrum An of the fixed gear 19 is Hn7 in the following formula
Cosβn, and the amount of movement Ln from the obstacle detection start position TO to the torch tip extension point Tn is calculated by the following formula an+bn
Ten and Naji, pinion 150 fulcrum Po and fixed gear 19
If the distance between the shafts γ from the zero fulcrum Ao is in the range of 30wm to 1100t, and the maximum angle of the torch inclination βn is limited to 30°, the distance Rn connecting the torch tip extension point Tn and the fulcrum An of the fixed gear 19 is , there is almost no change from before the obstacle detection started, and the difference in distance between the base material and the chip is within 100 yen, and can be maintained approximately constant.

前述の原理により検出棒７の移動量ｂｎに対して、トー
チ先端延長点Ｔｎの移動量Ｌｎが大となり、トーチ先端
延長点Ｔｎの移動速度と障害物検出開始前の走行台車Ａ
の溶接速度と合せるために、障害物検出後の走性台車Ａ
の走行速度は、次式のＬｎ／ｂｎにより減速する必要が
あるために、検出ｔ４７と共に移動する支持腕２１のカ
ム２３′が障害物、噴出と同時にリミットスイッチ２２
を作動させて減速指令によυ走行台車Ａの走行速度を減
速させ、溶接速度を一定に保つ。According to the above-mentioned principle, the amount of movement Ln of the torch tip extension point Tn becomes larger than the movement amount bn of the detection rod 7, and the moving speed of the torch tip extension point Tn and the traveling trolley A before the start of obstacle detection are
In order to match the welding speed of
Since the traveling speed of
is activated to reduce the traveling speed of υ traveling trolley A according to the deceleration command, and keep the welding speed constant.

障害物終端部のトーチ傾斜角度βｎの設定されたリミッ
トスイッチ２４又は２Ｓがカム２３により作動し、停止
指令により溶接及び走行台車Ａの走行を停止させる。The limit switch 24 or 2S in which the torch inclination angle βn at the end of the obstacle is set is activated by the cam 23, and the welding and traveling of the traveling cart A are stopped by a stop command.

歯車の比率 ｌ　固定歯車のピッチ円径　　　　Ｄ１＝１３Ｎユ　ト
ーチ傾斜歯車のピッチ円径　Ｄ３＝Ｎ３　遊星歯車のピ
ッチ円径　　　　Ｄ２＝ｉ！Ｎ又は任意の径 弘　回転歯車のピッチ円径　　　　Ｄ４＝３Ｎ又は任意
の径 ま　壁面検出棒のラック長　　　　Ｄ１１＝回転腕歯車
の回転角度範囲 取付は基準の比率 ／　トーチ傾斜歯車と回転腕歯車の軸間距離ｒ＝（Ｄｔ
＋Ｄ３）／、２＋Ｄ２ ２　回転腕歯車中心軸と溶接線速の距離Ｙ＝３γ 計算式 ／　回転腕歯車の回転角度　ｏｎ＝Ｊ々八ｂｎ・へＤ　
４・ｎユ　トーチ傾斜歯車の［ｌＥ周角度αｎ＝ｉ！；
θｎ３　トーチ傾斜歯車の傾斜角度　βｎ＝／Ｊθｎ−
θｎ＝０！θｎ久　壁面検出棒の移動量　ｂｎ＝Ｄ４・
ｎ・θｒｉ／３６０ｊ　トーチ傾斜歯車の支点位置縦方
向量　ａｎ＝γ・ｓｉｎθｎ乙　トーチ傾斜歯車の支点
位置縦方向量　ｈｎ＝７−ＣＯ８Ｒｎ７　トーチ傾斜歯
車支点とトーチ先端交点位置演方向量０ｎ＝Ｈｎ　−Ｔ
　ａ　ｎβｎ よ　トーチ傾斜歯車支点とトーチ先端交点位置縦方向量
辻神ｙ＋ｈｎ ’Ｚ）−チ傾斜歯車支点とトーチ先端交点の距離Ｒｎ＝
ｆｌｎ／ＣＯｓβｎ ／θ回転腕歯車支点とトーチ先端交点の槓方向量ｉ　ｎ
＝ａｎ＋〇ｎ ／ｌ壁面検出開始点からトーチ先端交点のし動量Ｌｎ＝
／ｎ＋ｂｎ 例１ Ｄｌ＝３６Ｄ２＝３０　Ｄ３＝２４１　Ｄ４＝７．２　
ｒ−６０Ｙ＝／９０とすれば０３時の几ｎ量は、θ０＝
２グ０３０°＝２弘ｏ、ｉｌ／Ｌｓ　　乙００＝２弘ツ
、４ｔ♂７となる。Gear ratio l Pitch circle diameter of fixed gear D1=13Nyu Pitch circle diameter of torch inclined gear D3=N3 Pitch circle diameter of planetary gear D2=i! N or any desired diameter Pitch diameter of rotating gear D4 = 3N or any desired diameter Rack length of wall detection rod D11 = Rotation angle range of rotating arm gear Mounting is standard ratio / Axis of torch inclined gear and rotating arm gear Distance r=(Dt
D
4・n u Torch inclined gear [lE circumferential angle αn=i! ;
θn3 Inclination angle of torch inclination gear βn=/Jθn−
θn=0! θn length Movement amount of wall detection rod bn=D4・
n・θri/360j Torch tilt gear fulcrum position vertical amount an=γ・sinθnB Torch tilt gear fulcrum position vertical amount hn=7−CO8Rn7 Torch tilt gear fulcrum and torch tip intersection position calculated direction amount 0n=Hn − T
a nβn yo Vertical distance of the intersection point of the torch inclined gear fulcrum and the torch tip
fln/COsβn /θ Amount in the ramming direction of the intersection of the rotary arm gear fulcrum and the torch tip i n
=an+〇n/l Amount of displacement Ln from the wall surface detection start point to the intersection point of the torch tip=
/n+bn Example 1 Dl=36D2=30 D3=241 D4=7.2
If r-60Y=/90, the amount of heat at 03 is θ0=
2g 030°=2hiro, il/Ls Otsu00=2hirotsu, 4t♂7.

例ユ Ｄｓ＝ｌＡＩ　Ｄｚ＝３！ｒ　Ｄｓ＝３２　Ｄ４＝９Ｏ
ｒ＝７！；Ｙ＝ムＪとすれば０時の几ｎ量は、０°＝３
００３００＝　３θθ、／ざ０　１，００＝３０３．／
θりとなる。Example Ds=lAI Dz=3! r Ds=32 D4=9O
r=7! ;If Y=muJ, then the amount of water at 0 is 0°=3
00300=3θθ,/za0 1,00=303. /
It becomes θ.

例３ ＤＩ＝３１．　Ｄ２＝３！；　Ｄ３＝２１／１Ｄ４＝４
ＡＯｒ＝６ｊＹ＝／９５とすれば０３時のＲｎ量は、θ
０＝２６θ３θ０；２乙θ、／ｊ７　乙θ０＝コロλ、
６９グとなる。Example 3 DI=31. D2=3! ;D3=21/1D4=4
If AOr=6jY=/95, the amount of Rn at 03 is θ
0=26θ3θ0; 2 Otsu θ, /j7 Otsu θ0=Koro λ,
It becomes 69g.

〔効果〕〔effect〕

以上のように、この発明に係る溶接方法並びに装置によ
れば、溶接線の端等に壁その池の障害物があっても、検
出棒により障害物を検出してトーチ角度を徐々に傾斜さ
せながら、母材に対するアーク長を一定に保って最後迄
溶接することができる。As described above, according to the welding method and apparatus of the present invention, even if there is an obstacle such as a wall or pond at the end of the welding line, the detection rod detects the obstacle and gradually tilts the torch angle. However, it is possible to weld to the end while keeping the arc length relative to the base metal constant.

また、検出棒の押し戻しスライドを駆動源としてトーチ
を傾斜させるようにしであるので、別々にトーチを作用
させる駆動源が不要になる。Further, since the torch is tilted using the push-back slide of the detection rod as a drive source, a separate drive source for operating the torch is not required.

【図面の簡単な説明】[Brief explanation of drawings]

図面はこの発明に係る溶接装置の実施例を示すもので、
第７図は正面図、第２図は同上の一部切欠側面図、嬉３
図はトーチを傾斜させた正面図、溶グ図及び第夕図は同
上の作用原理図である。 入・・・走行台車、Ｂ・・・駆動装置、１・・・ガイド
レール、２・・・プレート、３・・・摺動子、４・・・
モータ、５・・・ピニオン、６・・・ラック、７・・・
検出棒、８・・・軸受、９・・・軸材、１０・・・バネ
、１１・・・アーム、１２・・・トーチ、１３・・・固
定軸、１４・・・ラック、１５・・・ピニオン、１６・
・・軸、１７・・・固定歯車、１日・・・遊星歯車、１
９・・・固定歯車、２０・・・ビス、２１・・・支持腕
、２２・・・リミットスイッチ、２３・・・カム、２４
．２５・・・リミットスイッチ第１図 第２図The drawings show an embodiment of the welding device according to the present invention.
Figure 7 is a front view, Figure 2 is a partially cutaway side view of the same as above,
The figure is a front view with the torch tilted, and the melt diagram and the second figure are diagrams of the principle of operation of the same. In...Traveling trolley, B...Drive device, 1...Guide rail, 2...Plate, 3...Slider, 4...
Motor, 5...pinion, 6...rack, 7...
Detection rod, 8...Bearing, 9...Shaft material, 10...Spring, 11...Arm, 12...Torch, 13...Fixed shaft, 14...Rack, 15...・Pinion, 16・
...Axis, 17...Fixed gear, 1 day...Planetary gear, 1
9... Fixed gear, 20... Screw, 21... Support arm, 22... Limit switch, 23... Cam, 24
．． 25...Limit switch Figure 1 Figure 2

Claims (2)

【特許請求の範囲】[Claims] （１）溶接線に沿つて走行台車を走行させながら上記走
行台車に支持させてあるトーチにより溶接し、溶接作業
の続行中に溶接線上の障害物に走行台車の検出棒が当接
して上記検出棒を押し戻すと、検出棒のスライドを駆動
源として走行台車に対しアームを起伏回動させるよう取
付けた軸承部及びアームに対しトーチを傾動させるよう
取付けた軸承部の機械的相対回転運動の合成によりトー
チ先と母材との距離を一定に保ちながら障害物の方向に
上記トーチを動かすことを特徴とする溶接方法。(1) Welding is carried out using a torch supported by the traveling truck while traveling along the welding line, and while the welding work continues, the detection rod of the traveling truck comes into contact with an obstacle on the welding line and the above is detected. When the rod is pushed back, the slide of the detection rod is used as a drive source to combine mechanical relative rotational movements of the shaft bearing attached to raise and rotate the arm relative to the traveling trolley and the shaft bearing attached to tilt the torch with respect to the arm. A welding method characterized by moving the torch in the direction of an obstacle while maintaining a constant distance between the torch tip and the base metal. （２）溶接線に沿つて走行させる走行台車と、溶接線の
適所に位置する障害物に当接すると押し戻されるよう上
記走行台車に設けた検出棒と、走行台車に下端を回動自
在に軸承させたアームと、このアームの上端に揺動自在
に軸承したトーチと、検出棒の押し戻されるスライドを
駆動源としてアームの軸承部とトーチの軸承部の機械的
相対回転運動の合成によりトーチ先と母材との距離を一
定に保ちながら障害物の方向にトーチ先を動かすよう設
けた駆動装置とから成る溶接装置。(2) A traveling trolley that runs along the welding line, a detection rod installed on the traveling trolley so that it will be pushed back when it comes into contact with an obstacle located at a suitable location on the welding line, and a shaft bearing at the lower end of the traveling trolley so that it can rotate freely. The arm is rotated, the torch is swingably supported on the upper end of this arm, and the slide of the detection rod is pushed back as a driving source.The torch tip is moved by combining the mechanical relative rotational motion of the arm bearing and the torch bearing. A welding device consisting of a drive device that moves the torch tip in the direction of an obstacle while maintaining a constant distance from the base material.