WO2005115672A1 - Welding apparatus and welding method - Google Patents

Welding apparatus and welding method Download PDF

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Publication number
WO2005115672A1
WO2005115672A1 PCT/JP2005/008050 JP2005008050W WO2005115672A1 WO 2005115672 A1 WO2005115672 A1 WO 2005115672A1 JP 2005008050 W JP2005008050 W JP 2005008050W WO 2005115672 A1 WO2005115672 A1 WO 2005115672A1
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WO
WIPO (PCT)
Prior art keywords
welding
axis
movable member
voltage
axis direction
Prior art date
Application number
PCT/JP2005/008050
Other languages
French (fr)
Japanese (ja)
Inventor
Mutsuya Higaki
Yasuyuki Suzuki
Hikaru Tateishi
Original Assignee
Koyo Dockyard Co, . Ltd.
Kilony Industry Co, . Ltd.
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Koyo Dockyard Co, . Ltd., Kilony Industry Co, . Ltd. filed Critical Koyo Dockyard Co, . Ltd.
Publication of WO2005115672A1 publication Critical patent/WO2005115672A1/en

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K9/00—Arc welding or cutting
    • B23K9/24—Features related to electrodes
    • B23K9/28—Supporting devices for electrodes
    • B23K9/287—Supporting devices for electrode holders

Definitions

  • the present invention relates to a novel welding device and a new welding method. More specifically, the present invention relates to a technology for accurately performing automatic welding of a work having a sharply bent portion using a small device.
  • a workpiece having a sharply bent portion is, for example, a thin metal plate constituting a membrane in a membrane tank system of an LNG transport ship.
  • the membrane has a large number of folds that extend vertically and horizontally across the entire surface of the box made of a thin metal plate so that the expansion and contraction of the volume due to the thermal cycle of LNG is absorbed by the folds.
  • the above-mentioned membrane is formed by continuously welding a large number of thin metal sheets having a curved portion serving as the fold, and in welding the thin metal sheets, a tip of a welding torch is formed. It is necessary to move along a sharp bend.
  • FIG. 7 shows a state of a welding groove before and after a curved portion which is a fold in welding of the above-mentioned thin metal plate.
  • a welding groove “a” is shown by a solid line, and the groove "a” is followed.
  • the position of the moving welding torch b is indicated by the dashed arrow.
  • the welding torch b needs to change its posture frequently. That is, from (1) to (2), the flat part moves in almost the same posture, but the posture must be changed suddenly to (2), (3), and (4). Then, from (4) to (7), a relatively gentle curved surface is moved, but the posture must be changed rapidly again to (7), (8), and (9).
  • an arc-shaped rail e curved upward and convex is supported on a base member d movable in the X-axis direction so as to be movable in the Y-axis direction, and is movable along the arc-shaped rail e.
  • the torch mounting base f is supported on the torch mounting base f, and the welding torch g is mounted on the torch mounting base f.
  • the arc-shaped rail e moves in the Y-axis direction along with the movement of the base member d in the X-axis direction, so that the tip of the welding torch g moves the groove a.
  • the arc-shaped rail e is large and reciprocates in the Y-axis direction.
  • the torch g changes its angle with respect to the Y-axis direction and the X-axis direction, so that the tip of the welding torch g moves along the curved portion of the groove a.
  • the welding torch follows a sharp bend by a combination of three directions of movement in the X-axis direction, the Y-axis direction, and the arc direction in the XY plane that are orthogonal to each other. Can be done.
  • an object of the present invention is to quickly respond to a change in the posture of a welding torch and quickly follow a sudden change in height and direction on the work surface.
  • the welding apparatus of the present invention includes a first movable member supported by a base member movable in the X-axis direction so as to be movable in the Y-axis direction orthogonal to the X-axis direction.
  • the welding method of the present invention allows the base member to travel in the X-axis direction and the first movable member to be orthogonal to the base member in the X-axis direction.
  • the second movable member supported by the first movable member and supporting the welding torch around the Z axis orthogonal to the plane formed by the X axis and the Y axis.
  • the welding torch is rotated so that the welding torch follows the workpiece and performs welding on the workpiece.
  • the welding device of the present invention comprises: a first movable member supported on a base member movable in the X-axis direction so as to be movable in the Y-axis direction orthogonal to the X-axis direction; A second movable member rotatably supported around a Z axis orthogonal to a plane formed by the X axis and the Y axis, and a welding torch supported by the second movable member.
  • the welding method of the present invention moves the base member in the X-axis direction and moves the first movable member in the Y-axis direction perpendicular to the X-axis direction with respect to the base member.
  • the welding torch follows the workpiece. It is characterized in that the workpiece is welded while traveling.
  • the rotation about the Z axis causes the welding torch to be in the XY plane.
  • the position of the welding torch in the X-Y plane can be changed quickly because the position is changed. Therefore, it is possible to perform welding with high accuracy while traveling at a relatively high speed on a work having a rapidly changing uneven portion.
  • the motor that rotates the second movable member and the final gear that rotates integrally with the second movable member are linked by a plurality of gears
  • the movable block that rotatably supports the final gear can be adjusted in the direction perpendicular to the rotation axis of the final gear with respect to the block that supports the gear where the final gear is engaged directly or via an idle gear.
  • the backlash between gears can be limited to the minimum necessary by finely moving the movable block.
  • the welding torch is supported by the second movable member so as to be movable in a direction orthogonal to the Z axis, so that the welding torch is slightly moved in the direction. By doing so, the distance between the welding torch and the work can be kept constant.
  • the base member is moved in the X-axis direction, the first movable member is moved in the Y-axis direction, and the second movable member is further moved. Is rotated around the Z-axis to control the welding torch to follow the workpiece, and the constant voltage is applied by alternately repeating the high and low welding voltage application periods and the low and welding voltage application periods.
  • the welding torch and the peak are fixed so that the welding voltage is constant in each of the periods. Since the control unit that adjusts the interval between them is provided, welding is possible regardless of the attitude of the welding torch to the workpiece.
  • control section moves the second movable member in a direction orthogonal to the Z axis at the time of rising and falling of the pulse. Since the means is stopped for a moment and the target voltage is switched for the constant voltage control during the stop period, the drive stop period for switching the target voltage can be shortened, and the welding time can be shortened.
  • the welding device 1 includes a base unit 10 as a base member that moves in the X-axis direction, and a first unit movably supported in the Y-axis direction that is orthogonal to the X-axis direction with respect to the base unit 10. Movable member 20, a second movable member 30 and a second movable portion supported by the first movable member 20 so as to be rotatable around a Z-axis orthogonal to a plane of the X-axis and Y-axis forces.
  • a welding torch (40) supported on a material (30) is provided.
  • the base unit 10 is supported by a rail body 50 so as to be movable in the X-axis direction. From the base unit 10, legs 11, 11 are projected so as to sandwich the rail body 50 from both sides. Rollers 12, 12, ... are rotatably supported on the legs 11, 11, and the rollers 11, 12, ... 12, 12, ⁇ Supported by A rack 51 is provided on the upper surface of the rail body 50, and a running gear 13 provided on the lower surface of the base unit 10 is combined with the rack 51, and the running gear 13 is provided inside the base unit 10. Not shown, it is now being rotated by the motor! Then, the rotation of the traveling gear 13 causes the base unit 10 to move along the rail body 50.
  • the first movable member 20 is composed of two parts, that is, a main part 21 and a connecting part 22.
  • the connecting portion 22 is supported below the main portion 21 so as to be adjustable in position in the X-axis direction with respect to the main portion 21.
  • the main portion 21 of the first movable member 20 is supported by the base unit 10 so as to be movable in the Y-axis direction orthogonal to the X-axis direction. Then, for example, it is configured to be moved in the Y-axis direction by a moving mechanism in which a ball screw and a nut are combined.
  • a connecting shaft 23 extending in the Z-axis direction orthogonal to the X-axis and the Y-axis is rotatably supported by the connecting portion 22.
  • the connecting portion 22 is fixed to the connecting shaft 23.
  • An end gear 24, which is provided in a fixed manner, and an idle gear 25 combined therewith are rotatably supported.
  • a drive gear 26 that engages with the idle gear 25 is rotatably supported by the main part 21, and a wheel gear 27 provided coaxially with the drive gear 26 is supported by the main part 21.
  • Worm gear 29 fixed to the rotating shaft 28a of the motor 28 . Accordingly, when the motor 28 is driven, its rotation is transmitted to the worm gear 29, the wheel gear 27, the drive gear 26, the idle gear 25, and the final gear 24, and the connection shaft fixed to the final gear 24. 23 is rotated.
  • the lower end of the second movable member 30 is fixedly supported at the distal end of the connection shaft 23.
  • a slide block 31 is supported on the second movable member 30 so as to be movable in a direction perpendicular to the Z-axis direction, and a welding torch 40 is supported on the slide block 31.
  • a motor 32 is supported on the second movable member 30, and a ball screw 33 rotated by the motor 32 is screwed to the slide block 31. Therefore, when the motor 32 is rotated, the ball screw 33 is rotated, and the slide block 31 with which the ball screw 33 is screwed moves in the axial direction of the ball screw 33, that is, in the direction orthogonal to the Z axis. Is done.
  • the connecting portion 22 of the first movable member 20 is supported so as to be adjustable in the X-axis direction with respect to the main portion 21, so that the idle gear 25 and the final gear If the backlash between the gears 24 and 24 is set to a necessary and minimum value, the position of the connecting portion 22 can be finely adjusted with respect to the main portion 21 so that the distance between the idle gear 25 and the drive gear 26 can be adjusted.
  • the knock lash can be reduced to a necessary and minimum value, thereby eliminating an error caused by an extra backlash between the associated gears.
  • a worm and wheel mechanism is incorporated in the path from the motor 28 to the final gear 24, which functions to lock the position of the final gear 24, so that the welding torch 40 and the second movable member 30 are provided. Therefore, even if an external force is applied, there is no fear that the final gear 24 rotates, that is, the angle of the movable member 30 around the Z axis changes.
  • the idle gear 25 may be supported by the main force portion 21 described above in which the idle gear 25 is supported by the connecting portion 22.
  • the rotation of the traveling gear 13 causes the base unit 10 to move in the X-axis direction, and the first movable member 20 to move in the Y-axis direction.
  • the second movable member 30 is rotated around the Z axis by the drive of the motor 28, and the welding torch 4 It is possible to control the angle of 0 to the groove 60 to be always constant.
  • a sensor (not shown) is attached to the second movable member 30, and the position of the welding torch 40 is adjusted while referring to the output of the sensor. Either by welding or by numerical control in which the movement position of the welding torch 40 is set as coordinates in advance.
  • the motor 32 is appropriately driven to reduce the distance between the tip 41 of the welding torch 40 and the groove 60. It is controlled to be almost constant.
  • interval control for controlling the interval between the tip 41 of the welding torch 40 and the groove 60 to be substantially constant is as follows, for example.
  • the period in which a strong welding voltage is applied (see Tl in Fig. 4 (a), # 3) and the period in which a weak welding voltage is applied (see # 2, # 4 in Fig. 4 (a)) are alternately repeated. It is preferable to perform pulse welding by constant voltage control.
  • Tl strong welding voltage
  • Tl 3
  • ⁇ Ceases to melt, and the surface tension of the molten pool formed during periods # 1, # 3, ... increases. This prevents the molten pool from sagging, for example, even when the ceiling surface is welded from below.
  • the switching of the voltage level is normally performed at a cycle of 1 to LOHz.
  • the constant voltage control since the distance between the welding torch 40 and the work is proportional to the voltage, the voltage applied between the welding torch 40 and the work is detected, and the voltage is set to the target voltage. If the pressure is lower than the pressure, the welding torch 40 is moved closer to the work, and if the pressure is higher than the target voltage, the welding torch 40 is controlled so that the work force is further away. The situation is shown in Fig. 4 (b). Then, the strong voltage feedback control is performed on the high voltage Tl, ⁇ 3, ⁇ ⁇ ⁇ ⁇ . That is, FIG. 4 (b) shows the motor drive current for controlling the interval of the welding torch 40. When the voltage is strong, voltage feedback control is performed on Tl, ⁇ 3,..., And when the voltage is weak, ⁇ 2 , ⁇ 4, ⁇ ⁇ • voltage feedback control is performed, it can be understood that.
  • the welding torch 40 travels at the same speed, so if there is a sharply changing curve as in the above-mentioned membrane panel, the welding torch 40 collides with the workpiece at the suddenly changing curve.
  • the traveling speed of the welding torch 40 must be relatively slow so that it does not move away from the welding torch 40.
  • the present invention proposes a new noise control method shown in FIGS. 5 and 6.
  • step S1 After the weak voltage has passed, an instruction to set the target voltage to the high voltage is issued in step S1, and the drive current of the motor 32 is turned off, and the process proceeds to step S2.
  • step 2 it is determined whether or not the target voltage switching period ⁇ has elapsed. If the period ⁇ has not elapsed (NO), step S2 is repeated, and if the period ⁇ has elapsed. (Y ES) Proceed to step S3.
  • step S3 the drive current of the motor 32 is turned on, and voltage feedback control is performed to set the target voltage to a strong voltage, and the process proceeds to step S4.
  • step S4 it is determined whether or not the welding period due to the high voltage has elapsed. If the period has not elapsed, if not, (NO) step S4 is repeated. YES) Go to step S5. In step S5, an instruction to set the target voltage to a weak voltage is issued, and the drive current of the motor 32 is turned off. Then, the process proceeds to step S6.
  • step S6 it is determined whether or not the power has passed the target voltage switching period ⁇ . If the period ⁇ has not elapsed (NO), step S6 is repeated, and the period ⁇ has elapsed. (YES) Proceed to step S7.
  • step S7 the drive current of the motor 32 is turned on, and the voltage feedback control for setting the target voltage to a weak voltage is performed, and the process proceeds to step S8.
  • step 8 it is determined whether or not the force has passed the welding period due to the weak voltage. If the period has elapsed! /, If not, (NO) step S8 is repeated, and the period has elapsed! /, If so (YES), return to step S1.
  • the present invention is suitable for welding a workpiece having a rapidly changing curved shape, such as a thin metal plate for a membrane when manufacturing a membrane tank for an LNG carrier.
  • FIG. 1 shows an embodiment of the welding apparatus and welding method of the present invention together with FIG. 2 to FIG. 6, and FIG. 1 is a front view of the welding apparatus.
  • FIG. 2 is a front view of a first movable member.
  • FIG. 3 is a schematic front view showing that a welding torch moves following a groove.
  • FIG. 4 is a graph showing a relationship between a welding voltage in a voltage feedback control and a motor current for finely controlling a welding torch.
  • FIG. 5 is a graph showing a relationship between a welding current and a control pulse for finely controlling a welding torch in another voltage feedback control.
  • FIG. 6 is a flowchart showing another voltage feedback control method.
  • FIG. 7 is a schematic diagram showing a relationship between a groove having a rapidly changing shape and a posture of a welding torch.
  • FIG. 8 is a front view schematically showing a conventional welding device.

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  • Physics & Mathematics (AREA)
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Abstract

A welding apparatus capable of rapidly following up the abrupt change of the surface of a work in the vertical and horizontal directions by increasing the responsiveness thereof to the change of the attitude of a welding torch and a welding method. The welding apparatus comprise a first movable member (20) supported on a base member (10) movable in the X-axis direction movably in the Y-axis direction orthogonal to the X-axis direction, a second movable member (30) supported on the first movable member rotatably around a Z-axis orthogonal to a plane formed by the X-axis and the Y-axis, and the welding torch (40) supported on the second movable member.

Description

明 細 書  Specification
溶接装置及び溶接方法  Welding device and welding method
技術分野  Technical field
[0001] 本発明は新規な溶接装置及び溶接方法に関する。詳しくは、急激な曲がり部分を 有するワークの自動溶接を小型の装置によって精度良く行う技術に関する。  The present invention relates to a novel welding device and a new welding method. More specifically, the present invention relates to a technology for accurately performing automatic welding of a work having a sharply bent portion using a small device.
背景技術  Background art
[0002] 急激な曲がり部分を有するワークに、例えば、 LNG輸送船のメンブレンタンク方式 におけるメンブレンを構成する金属薄板がある。メンブレンは金属薄板によって形成 した箱の全面に亘つて縦横に延びる多数の襞を形成して LNGの熱サイクルによる体 積の膨張 ·収縮を上記多数の襞によって吸収するようにしたものである。  [0002] A workpiece having a sharply bent portion is, for example, a thin metal plate constituting a membrane in a membrane tank system of an LNG transport ship. The membrane has a large number of folds that extend vertically and horizontally across the entire surface of the box made of a thin metal plate so that the expansion and contraction of the volume due to the thermal cycle of LNG is absorbed by the folds.
[0003] 上記したようなメンブレンは、上記襞となる湾曲部を有する金属薄板を溶接によって 多数連続させて行って形成されるものであり、この金属薄板の溶接において、溶接ト ーチの先端を急角度の曲がりに沿って移動させることが必要である。  [0003] The above-mentioned membrane is formed by continuously welding a large number of thin metal sheets having a curved portion serving as the fold, and in welding the thin metal sheets, a tip of a welding torch is formed. It is necessary to move along a sharp bend.
[0004] 図 7は上記金属薄板の溶接において襞となる部分である湾曲部の前後の溶接開先 の様子を示すものであり、溶接開先 aを実線で示し、該開先 aに倣って移動する溶接 トーチ bの姿勢を破線矢印で示す。  [0004] Fig. 7 shows a state of a welding groove before and after a curved portion which is a fold in welding of the above-mentioned thin metal plate. A welding groove "a" is shown by a solid line, and the groove "a" is followed. The position of the moving welding torch b is indicated by the dashed arrow.
[0005] このような開先 aの溶接に当たって、溶接トーチ bはその姿勢を頻繁に変える必要が ある。すなわち、（1)から (2)までは平坦な部分をほぼ同じ姿勢で移動するが、（2)、 (3)、（4)と急激に姿勢を変えなければならない。そして、（4)から（7)までは比較的 緩やかな曲面を移動するが、再び、（7)、（8)、（9)と急激に姿勢を変えなければなら ない。  [0005] In welding such a groove a, the welding torch b needs to change its posture frequently. That is, from (1) to (2), the flat part moves in almost the same posture, but the posture must be changed suddenly to (2), (3), and (4). Then, from (4) to (7), a relatively gentle curved surface is moved, but the posture must be changed rapidly again to (7), (8), and (9).
[0006] このように、溶接トーチの姿勢を急激に変えながらの溶接は、人間の手溶接では、 熟練度により可能な動作であるが、自動化するには制約が多い。  [0006] As described above, welding while rapidly changing the posture of the welding torch is an operation that can be performed by human skill in manual welding, but there are many restrictions on automation.
[0007] 例えば、アーム型ロボットを使用すれば、溶接が可能であるが、ロボット自体が大き く、上記したメンブレン用の金属薄板の溶接には向かない。すなわち、メンブレンは 風船様の大きな容器であるが、その機能上、出入口は極めて小さい。そのようなメン プレンの内側で溶接を行って、溶接が全て終了した時点で、アーム型ロボットを、分 解すること無しに、小さな出入口力も外へ出すことは不可能である。また、メンブレン 用の金属薄板は 1. 2mm程度と極めて薄いので、溶接施工中にその熱によって変形 するので、そのような変形に対して追従することはロボットの苦手とするところである。 [0007] For example, if an arm type robot is used, welding is possible, but the robot itself is large and is not suitable for welding the above-mentioned thin metal plate for a membrane. In other words, the membrane is a balloon-like large container, but the entrance is very small due to its function. Welding is performed inside such a membrane, and when all welding is completed, the arm-type robot is separated. Without understanding, it is impossible to get a small doorway out. In addition, since the metal sheet for the membrane is extremely thin, about 1.2 mm, it deforms due to the heat during welding, and it is difficult for robots to follow such deformation.
[0008] そこで、図 8に示すような溶接装置 cが提案されている。 [0008] Therefore, a welding device c as shown in FIG. 8 has been proposed.
[0009] 該溶接装置 cは、 X軸方向に移動自在なベース部材 dに Y軸方向に移動自在に上 方に凸に湾曲した弧状レール eが支持され、該弧状レール eに沿って移動可能にトー チ取付ベース fが支持され、そして、トーチ取付ベース fに溶接トーチ gが取り付けられ て成るものである。  In the welding device c, an arc-shaped rail e curved upward and convex is supported on a base member d movable in the X-axis direction so as to be movable in the Y-axis direction, and is movable along the arc-shaped rail e. The torch mounting base f is supported on the torch mounting base f, and the welding torch g is mounted on the torch mounting base f.
[0010] 上記溶接装置 cにあっては、ベース部材 dの X軸方向への移動に伴って、弧状レー ル eが Y軸方向に移動することによって溶接トーチ gの先端が上記開先 aを倣って移 動し、開先 aの湾曲部においては、弧状レール eが大きく Y軸方向に往復動すると共 にトーチ取付ベース fが弧状レール eを一端 el力も他端 e2まで移動することによって 溶接トーチ gが Y軸方向及び X軸方向に対する角度を変えて行き、これによつて、溶 接トーチ gの先端が開先 aの湾曲部に沿って移動するようになっている。  [0010] In the welding device c, the arc-shaped rail e moves in the Y-axis direction along with the movement of the base member d in the X-axis direction, so that the tip of the welding torch g moves the groove a. In the curved part of the groove a, the arc-shaped rail e is large and reciprocates in the Y-axis direction. The torch g changes its angle with respect to the Y-axis direction and the X-axis direction, so that the tip of the welding torch g moves along the curved portion of the groove a.
発明の開示  Disclosure of the invention
発明が解決しょうとする課題  Problems to be solved by the invention
[0011] 上記溶接装置 cにあっては、互いに直交する X軸方向と Y軸方向及び XY平面内で の弧状方向の 3方向の動きの組み合わせによって、溶接トーチを急角度の曲がりに 追従させることが出来る。  [0011] In the welding device c, the welding torch follows a sharp bend by a combination of three directions of movement in the X-axis direction, the Y-axis direction, and the arc direction in the XY plane that are orthogonal to each other. Can be done.
[0012] し力しながら、溶接トーチ gを僅かの角度傾けるだけでも、トーチ取付ベース fを弧状 レール eに沿って相当量走行させなければならず、敏捷な応答が出来ない。定電圧 制御を行う場合、溶接トーチの対ワーク相対速度を一定に保つ必要がある力 上記 したように、溶接トーチの姿勢変更に時間がかかると、全体の速度を姿勢変更時の速 度に合わせなければならず、溶接時間の短縮の妨げになる。例えば、プラズマ溶接 の場合、 Tig溶接に比較して約 2倍の溶接速度を有すると言われるが、他の要因で 溶接速度のスピードアップが阻害されるのでは、意味がな 、。  [0012] Even if the welding torch g is tilted by a slight angle while applying force, the torch mounting base f must travel a considerable amount along the arc-shaped rail e, and agile response cannot be achieved. When performing constant voltage control, the force required to keep the relative speed of the welding torch to the workpiece constant As described above, if it takes time to change the position of the welding torch, adjust the overall speed to the speed at the time of changing the position. Must be performed, which hinders a reduction in welding time. For example, in the case of plasma welding, it is said that the welding speed is about twice as fast as that of Tig welding, but it is meaningless if other factors hinder the increase in welding speed.
[0013] また、弧状レール eはかなりの大型のものとなり、全体形状の大型化を避けることが 出来ない。 [0014] そこで、本発明は、溶接トーチの姿勢変更の応答性を迅速にし、ワーク表面にある 急激な高さ及び方向の変化にも迅速に追従することを課題とする。 [0013] Further, the arc-shaped rail e becomes considerably large, and it is inevitable that the whole shape becomes large. [0014] Therefore, an object of the present invention is to quickly respond to a change in the posture of a welding torch and quickly follow a sudden change in height and direction on the work surface.
課題を解決するための手段  Means for solving the problem
[0015] 本発明溶接装置は、上記した課題を解決するために、 X軸方向へ移動自在なベー ス部材に上記 X軸方向に直交する Y軸方向へ移動可能に支持された第 1の可動部 材と、上記第 1の可動部材に上記 X軸と Y軸とが成す平面に直交する Z軸周りに回転 自在に支持された第 2の可動部材と、上記第 2の可動部材に支持された溶接トーチ を備えたものである。 [0015] In order to solve the above-described problem, the welding apparatus of the present invention includes a first movable member supported by a base member movable in the X-axis direction so as to be movable in the Y-axis direction orthogonal to the X-axis direction. A member, a second movable member rotatably supported by the first movable member about a Z axis orthogonal to a plane formed by the X axis and the Y axis, and a second movable member supported by the second movable member. It has a welding torch.
[0016] また、本発明溶接方法は、上記した課題を解決するために、ベース部材を X軸方向 に走行させると共に、第 1の可動部材を上記ベース部材に対して上記 X軸方向に直 交する Y軸方向に移動させ、さらに、上記第 1の可動部材に支持されると共に溶接ト ーチを支持した第 2の可動部材を上記 X軸と Y軸とが成す平面に直交する Z軸周りに 回転させて溶接トーチがワークに倣って走行するようにしてワークに対する溶接を行 うようにしたものである。  [0016] In order to solve the above-mentioned problems, the welding method of the present invention allows the base member to travel in the X-axis direction and the first movable member to be orthogonal to the base member in the X-axis direction. The second movable member supported by the first movable member and supporting the welding torch around the Z axis orthogonal to the plane formed by the X axis and the Y axis. The welding torch is rotated so that the welding torch follows the workpiece and performs welding on the workpiece.
[0017] 従って、本発明にあっては、 Z軸周りの回転によって溶接トーチの X—Y平面内に おける姿勢変更を行うので、溶接トーチの X— Y平面内での姿勢変更を迅速に行うこ とが出来る。  Therefore, in the present invention, since the attitude of the welding torch in the XY plane is changed by rotation about the Z axis, the attitude of the welding torch in the XY plane is quickly changed. You can do this.
発明の効果  The invention's effect
[0018] 本発明溶接装置は、 X軸方向へ移動自在なベース部材に上記 X軸方向に直交す る Y軸方向へ移動可能に支持された第 1の可動部材と、上記第 1の可動部材に上記 X軸と Y軸とが成す平面に直交する Z軸周りに回転自在に支持された第 2の可動部 材と、上記第 2の可動部材に支持された溶接トーチを備えたことを特徴とする。  [0018] The welding device of the present invention comprises: a first movable member supported on a base member movable in the X-axis direction so as to be movable in the Y-axis direction orthogonal to the X-axis direction; A second movable member rotatably supported around a Z axis orthogonal to a plane formed by the X axis and the Y axis, and a welding torch supported by the second movable member. And
[0019] また、本発明溶接方法は、ベース部材を X軸方向に走行させると共に、第 1の可動 部材を上記ベース部材に対して上記 X軸方向に直交する Y軸方向に移動させ、さら に、上記第 1の可動部材に支持されると共に溶接トーチを支持した第 2の可動部材を 上記 X軸と Y軸とが成す平面に直交する Z軸周りに回転させて溶接トーチがワークに 倣って走行するようにしてワークに対する溶接を行うことを特徴とする。  [0019] Further, the welding method of the present invention moves the base member in the X-axis direction and moves the first movable member in the Y-axis direction perpendicular to the X-axis direction with respect to the base member. By rotating the second movable member supported by the first movable member and supporting the welding torch around a Z-axis orthogonal to a plane formed by the X-axis and the Y-axis, the welding torch follows the workpiece. It is characterized in that the workpiece is welded while traveling.
[0020] 従って、本発明にあっては、 Z軸周りの回転によって溶接トーチの X—Y平面内に おける姿勢変更を行うので、溶接トーチの X— Y平面内での姿勢変更を迅速に行うこ とが出来る。そのため、急激に変化する凹凸部を有するワークに対して比較的高速 で走行しながらしかも精度良く溶接を行うことが出来る。 [0020] Therefore, in the present invention, the rotation about the Z axis causes the welding torch to be in the XY plane. The position of the welding torch in the X-Y plane can be changed quickly because the position is changed. Therefore, it is possible to perform welding with high accuracy while traveling at a relatively high speed on a work having a rapidly changing uneven portion.
[0021] 請求項 2に記載した発明にあっては、第 2の可動部材を回転させるモータと第 2の 可動部材と一体的に回転する終段ギヤとの間が複数のギヤで連携され、上記終段ギ ャを回転自在に支持した可動ブロックが終段ギヤが直接に又はアイドルギヤを介し て嚙合するギヤが支持されたブロックに対して終段ギヤの回転軸に直交する方向に 調整可能に支持されたので、可動ブロックを微動させることによって、ギヤ間のバック ラッシュを必要最小限のものに限定することが出来る。  In the invention described in claim 2, the motor that rotates the second movable member and the final gear that rotates integrally with the second movable member are linked by a plurality of gears, The movable block that rotatably supports the final gear can be adjusted in the direction perpendicular to the rotation axis of the final gear with respect to the block that supports the gear where the final gear is engaged directly or via an idle gear. The backlash between gears can be limited to the minimum necessary by finely moving the movable block.
[0022] 請求項 3に記載した発明にあっては、上記溶接トーチが上記第 2の可動部材に上 記 Z軸と直交する方向に移動自在に支持されたので、溶接トーチを上記方向に微動 させることによって溶接トーチとワークとの間の間隔を一定に保つことができる。  [0022] In the invention described in claim 3, the welding torch is supported by the second movable member so as to be movable in a direction orthogonal to the Z axis, so that the welding torch is slightly moved in the direction. By doing so, the distance between the welding torch and the work can be kept constant.
[0023] 請求項 4に記載した発明にあっては、上記ベース部材を X軸方向に移動させると共 に、上記第 1の可動部材を Y軸方向に移動させ、さらに上記第 2の可動部材を Z軸周 りに回転させて溶接トーチがワークに倣って走行するように制御しつつ、強 、溶接電 圧を印加する期間と弱 、溶接電圧を印加する期間とを交互に繰り返して定電圧制御 によるパルス溶接を行 、、上記第 2の可動部材を上記 Z軸と直交する方向に微動さ せることによって、上記各期間において溶接電圧が一定となるように、溶接トーチとヮ ークとの間の間隔を調整する制御部を備えたので、溶接トーチのワークに対する姿 勢の如何に関わらず、溶接が可能である。  [0023] In the invention according to claim 4, the base member is moved in the X-axis direction, the first movable member is moved in the Y-axis direction, and the second movable member is further moved. Is rotated around the Z-axis to control the welding torch to follow the workpiece, and the constant voltage is applied by alternately repeating the high and low welding voltage application periods and the low and welding voltage application periods. By performing pulse welding under control, and finely moving the second movable member in a direction orthogonal to the Z axis, the welding torch and the peak are fixed so that the welding voltage is constant in each of the periods. Since the control unit that adjusts the interval between them is provided, welding is possible regardless of the attitude of the welding torch to the workpiece.
[0024] 請求項 5及び請求項 7に記載した発明にあっては、上記制御部が、上記パルスの 立ち上がり時及び立ち下がり時に上記第 2の可動部材を Z軸に直交する方向に移動 させる駆動手段を一瞬停止させ、該停止期間に上記定電圧制御のための目標電圧 の切り換えを行うので、目標電圧の切り換えのための駆動停止期間が短くて済み、溶 接時間の短縮が可能になる。  [0024] In the invention described in claim 5 and claim 7, the control section moves the second movable member in a direction orthogonal to the Z axis at the time of rising and falling of the pulse. Since the means is stopped for a moment and the target voltage is switched for the constant voltage control during the stop period, the drive stop period for switching the target voltage can be shortened, and the welding time can be shortened.
発明を実施するための最良の形態  BEST MODE FOR CARRYING OUT THE INVENTION
[0025] 以下に、本発明溶接装置及び溶接方法を実施するための最良の形態を添付図面 を参照して説明する。 [0026] 溶接装置 1は、 X軸方向へ移動するベース部材としてのベースユニット 10、上記べ ースユニット 10に対して上記 X軸方向に対して直交する Y軸方向に移動可能支持さ れた第 1の可動部材 20、上記 X軸と Y軸力 なる平面に対して直交する Z軸周りに回 動可能に上記第 1の可動部材 20に支持された第 2の可動部材 30及び第 2の可動部 材 30に支持された溶接トーチ 40を備える。 Hereinafter, the best mode for carrying out the welding apparatus and the welding method of the present invention will be described with reference to the accompanying drawings. [0026] The welding device 1 includes a base unit 10 as a base member that moves in the X-axis direction, and a first unit movably supported in the Y-axis direction that is orthogonal to the X-axis direction with respect to the base unit 10. Movable member 20, a second movable member 30 and a second movable portion supported by the first movable member 20 so as to be rotatable around a Z-axis orthogonal to a plane of the X-axis and Y-axis forces. A welding torch (40) supported on a material (30) is provided.
[0027] 上記ベースユニット 10は X軸方向に移動可能にレール体 50に支持されている。ベ ースユニット 10からはレール体 50を両脇から挟むように脚 11、 11が突出されており、 該脚 11、 11にローラ 12、 12、 · · ·が回転自在に支持されており、該ローラ 12、 12、 · • ·が上記レール体 50の両側部を転動自在な状態で挟み込み、これによつて、ベー スユニット 10はレール体 50に該レール体 50の延びる方向に沿って移動自在に支持 される。上記レール体 50の上面にはラック 51が設けられており、該ラック 51にベース ユニット 10の下面に設けられた走行ギヤ 13が嚙合され、該走行ギヤ 13はベースュ ニット 10内部に設けられた図示しな 、モータによって回転されるようになって!/、る。そ して、上記走行ギヤ 13が回転することによって、ベースユニット 10はレール体 50に 沿って移動することになる。  The base unit 10 is supported by a rail body 50 so as to be movable in the X-axis direction. From the base unit 10, legs 11, 11 are projected so as to sandwich the rail body 50 from both sides. Rollers 12, 12, ... are rotatably supported on the legs 11, 11, and the rollers 11, 12, ... 12, 12, ····························································································································································· Supported by A rack 51 is provided on the upper surface of the rail body 50, and a running gear 13 provided on the lower surface of the base unit 10 is combined with the rack 51, and the running gear 13 is provided inside the base unit 10. Not shown, it is now being rotated by the motor! Then, the rotation of the traveling gear 13 causes the base unit 10 to move along the rail body 50.
[0028] 上記第 1の可動部材 20は 2つの部分、すなわち、主部分 21と連結部分 22とから成 る。そして、連結部分 22は主部分 21の下側に主部分 21に対して X軸方向に位置調 整自在に支持されている。  [0028] The first movable member 20 is composed of two parts, that is, a main part 21 and a connecting part 22. The connecting portion 22 is supported below the main portion 21 so as to be adjustable in position in the X-axis direction with respect to the main portion 21.
[0029] 第 1の可動部材 20の主部分 21は上記ベースユニット 10に上記 X軸方向に直交す る Y軸方向に移動自在に支持されている。そして、例えば、ボールネジとナットを組み 合わせた移動機構によって、上記 Y軸方向に移動されるように構成されて ヽる。  [0029] The main portion 21 of the first movable member 20 is supported by the base unit 10 so as to be movable in the Y-axis direction orthogonal to the X-axis direction. Then, for example, it is configured to be moved in the Y-axis direction by a moving mechanism in which a ball screw and a nut are combined.
[0030] 上記連結部分 22には上記 X軸及び Y軸に対して直交する Z軸方向に延びる連結 軸 23が回転自在に支持されており、また、連結部分 22には該連結軸 23に固定的に 設けられた終段ギヤ 24とその上側で嚙合されたアイドルギヤ 25が回転自在に支持さ れている。  [0030] A connecting shaft 23 extending in the Z-axis direction orthogonal to the X-axis and the Y-axis is rotatably supported by the connecting portion 22. The connecting portion 22 is fixed to the connecting shaft 23. An end gear 24, which is provided in a fixed manner, and an idle gear 25 combined therewith are rotatably supported.
[0031] 上記主部分 21には上記アイドルギヤ 25と嚙合する駆動ギヤ 26が回転自在に支持 されており、そして、該駆動ギヤ 26と同軸に設けられたホイールギヤ 27が主部分 21 に支持されたモータ 28の回転軸 28aに固定されたウォームギヤ 29と嚙合されている 。従って、上記モータ 28が駆動されることによって、その回転がウォームギヤ 29、ホイ ールギヤ 27、駆動ギヤ 26、アイドルギヤ 25、終段ギヤ 24と伝達されて、終段ギヤ 24 と固定的である連結軸 23が回転される。 A drive gear 26 that engages with the idle gear 25 is rotatably supported by the main part 21, and a wheel gear 27 provided coaxially with the drive gear 26 is supported by the main part 21. Worm gear 29 fixed to the rotating shaft 28a of the motor 28 . Accordingly, when the motor 28 is driven, its rotation is transmitted to the worm gear 29, the wheel gear 27, the drive gear 26, the idle gear 25, and the final gear 24, and the connection shaft fixed to the final gear 24. 23 is rotated.
[0032] 上記連結軸 23の先端部には第 2の可動部材 30の下端部が固定的に支持されて V、る。上記第 2の可動部材 30には上記 Z軸方向に直交する方向に移動自在にスライ ドブロック 31が支持されており、該スライドブロック 31に溶接トーチ 40が支持されて ヽ る。 The lower end of the second movable member 30 is fixedly supported at the distal end of the connection shaft 23. A slide block 31 is supported on the second movable member 30 so as to be movable in a direction perpendicular to the Z-axis direction, and a welding torch 40 is supported on the slide block 31.
[0033] また、第 2の可動部材 30にはモータ 32が支持されており、該モータ 32によって回 転されるボールネジ 33が上記スライドブロック 31に螺合されている。従って、上記モ ータ 32が回転されることによってボールネジ 33が回転され、該ボールネジ 33が螺合 しているスライドブロック 31がボールネジ 33の軸方向、すなわち、上記 Z軸に直交す る方向に移動される。  A motor 32 is supported on the second movable member 30, and a ball screw 33 rotated by the motor 32 is screwed to the slide block 31. Therefore, when the motor 32 is rotated, the ball screw 33 is rotated, and the slide block 31 with which the ball screw 33 is screwed moves in the axial direction of the ball screw 33, that is, in the direction orthogonal to the Z axis. Is done.
[0034] 上記溶接装置 1にあっては、第 1の可動部材 20の連結部分 22が主部分 21に対し て X軸方向に位置調整自在に支持されているので、アイドルギヤ 25と終段ギヤ 24と の間のバックラッシュを必要且つ最小限の値に設定しておけば、連結部分 22の位置 を主部分 21に対して微調整することによって、アイドルギヤ 25と駆動ギヤ 26との間の ノ ックラッシュを必要且つ最小限の値にすることが出来、これによつて、各連携ギヤ 間の余分なバックラッシュによる誤差を無くすことが出来る。また、モータ 28から終段 ギヤ 24に至る経路にウォームアンドホイール機構が組み込まれて 、て、それが終段 ギヤ 24の位置をロックする機能を果たすので、溶接トーチ 40や第 2の可動部材 30に 外力が加わっても、それによつて、終段ギヤ 24が回転してしまう惧、すなわち、可動 部材 30の Z軸周りの角度が変化してしまう惧がない。なお、上記説明ではアイドルギ ャ 25が連結部分 22に支持されるように説明した力 主部分 21にアイドルギヤ 25を支 持するようにしても構わな 、。  [0034] In the welding device 1, the connecting portion 22 of the first movable member 20 is supported so as to be adjustable in the X-axis direction with respect to the main portion 21, so that the idle gear 25 and the final gear If the backlash between the gears 24 and 24 is set to a necessary and minimum value, the position of the connecting portion 22 can be finely adjusted with respect to the main portion 21 so that the distance between the idle gear 25 and the drive gear 26 can be adjusted. The knock lash can be reduced to a necessary and minimum value, thereby eliminating an error caused by an extra backlash between the associated gears. In addition, a worm and wheel mechanism is incorporated in the path from the motor 28 to the final gear 24, which functions to lock the position of the final gear 24, so that the welding torch 40 and the second movable member 30 are provided. Therefore, even if an external force is applied, there is no fear that the final gear 24 rotates, that is, the angle of the movable member 30 around the Z axis changes. In the above description, the idle gear 25 may be supported by the main force portion 21 described above in which the idle gear 25 is supported by the connecting portion 22.
[0035] 上記溶接装置 1にあっては、走行ギヤ 13の回転によってベースユニット 10が X軸方 向に移動し、且つ、第 1の可動部材 20が Y軸方向に移動することによって、ワークの 開先 60を倣うことが出来る。そして、開先の烏帽子型に突出した部分 61を倣うときは 、モータ 28の駆動によって第 2の可動部材 30を Z軸周りに回動させて、溶接トーチ 4 0の開先 60に対する角度が常に一定になるように制御することが出来る。なお、溶接 トーチ 40が開先 60を倣うように移動させる手法としては、第 2の可動部材 30に図示し ないセンサを取り付け、該センサの出力を参照しながら溶接トーチ 40の位置を調整 する倣い溶接によっても、或いはまた、予め、溶接トーチ 40の移動位置を座標として 設定しておく数値制御によっても、何れでも良い。 In the welding device 1 described above, the rotation of the traveling gear 13 causes the base unit 10 to move in the X-axis direction, and the first movable member 20 to move in the Y-axis direction. We can imitate groove 60. Then, when following the portion 61 protruding from the bevel hat type, the second movable member 30 is rotated around the Z axis by the drive of the motor 28, and the welding torch 4 It is possible to control the angle of 0 to the groove 60 to be always constant. As a method for moving the welding torch 40 so as to follow the groove 60, a sensor (not shown) is attached to the second movable member 30, and the position of the welding torch 40 is adjusted while referring to the output of the sensor. Either by welding or by numerical control in which the movement position of the welding torch 40 is set as coordinates in advance.
[0036] そして、上記したように、溶接トーチ 40が開先 60を倣って移動する過程にぉ 、て、 モータ 32を適宜に駆動して溶接トーチ 40の先端 41と開先 60との間隔がほぼ一定と なるように制御する。 [0036] Then, as described above, during the process in which the welding torch 40 moves following the groove 60, the motor 32 is appropriately driven to reduce the distance between the tip 41 of the welding torch 40 and the groove 60. It is controlled to be almost constant.
[0037] なお、上記した溶接トーチ 40の先端 41と開先 60との間隔がほぼ一定となるように 制御する間隔制御は、例えば、以下のようにするのが望ましい。  It is desirable that the above-described interval control for controlling the interval between the tip 41 of the welding torch 40 and the groove 60 to be substantially constant is as follows, for example.
[0038] すなわち、強い溶接電圧を印加する期間（図 4 (a)の Tl、 Τ3参照）と弱い溶接電圧 を印加する期間（図 4 (a)の Τ2、 Τ4参照）とを交互に繰り返して定電圧制御によるパ ルス溶接を行うのが好ましい。強い溶接電圧を印加する期間 Tl、 Τ3、 · · ·にあって は、強いアークによってワークが溶融し、弱い電圧を印加する期間 Τ2、 Τ4、 · · ·にあ つては、弱いアークによって、ワークの溶融が止まり期間 Τ1、 Τ3、 · · ·に出来た溶融 池の表面張力が増大する。これによつて、例えば、天井面を下から溶接する場合で あっても、溶融池の垂れ下がりが防止される。そして、この場合の電圧の強弱の切り 換えは通常 1〜： LOHzの周期で行われる。  [0038] In other words, the period in which a strong welding voltage is applied (see Tl in Fig. 4 (a), # 3) and the period in which a weak welding voltage is applied (see # 2, # 4 in Fig. 4 (a)) are alternately repeated. It is preferable to perform pulse welding by constant voltage control. During the period of application of strong welding voltage Tl, 3, · Ceases to melt, and the surface tension of the molten pool formed during periods # 1, # 3, ... increases. This prevents the molten pool from sagging, for example, even when the ceiling surface is welded from below. In this case, the switching of the voltage level is normally performed at a cycle of 1 to LOHz.
[0039] そして、定電圧制御を行う場合、溶接トーチ 40とワークとの間隔が電圧に比例する ので、溶接トーチ 40とワークとの間に力かっている電圧を検出して、該電圧が目標電 圧より低ければ、溶接トーチ 40をワークに近付けるようにし、目標電圧より高ければ、 溶接トーチ 40をワーク力も遠ざけるように制御する。その状況を図 4 (b)に示す。そし て、力かる電圧フィードバック制御は電圧強の Tl、 Τ3、 · · ·に行われる。すなわち、 図 4 (b)が溶接トーチ 40の間隔制御のためのモータ駆動電流を示すものであり、電 圧強の時 Tl、 Τ3、 · · ·に電圧フィードバック制御が行われ、電圧弱の時 Τ2、 Τ4、 · · •には電圧フィードバック制御が行われて 、な 、ことが分かる。  When the constant voltage control is performed, since the distance between the welding torch 40 and the work is proportional to the voltage, the voltage applied between the welding torch 40 and the work is detected, and the voltage is set to the target voltage. If the pressure is lower than the pressure, the welding torch 40 is moved closer to the work, and if the pressure is higher than the target voltage, the welding torch 40 is controlled so that the work force is further away. The situation is shown in Fig. 4 (b). Then, the strong voltage feedback control is performed on the high voltage Tl, · 3, · · · ·. That is, FIG. 4 (b) shows the motor drive current for controlling the interval of the welding torch 40. When the voltage is strong, voltage feedback control is performed on Tl, Τ3,..., And when the voltage is weak, Τ2 , Τ4, · · • voltage feedback control is performed, it can be understood that.
[0040] 図 4に示した制御によっても、溶接時の基本姿勢が下向き、上向き、側面向きと複 雑に変化する溶接に当たっては、極めて有効である。し力しながら、図 4に示したよう に、電圧弱の時に電圧フィードバック制御を切り状態にするのは溶接のスピードアツ プの点で不利である。すなわち、電圧強の時 Τ1、 Τ3、 · · 'も電圧弱の時 Τ2、 Τ4、 · ·[0040] Even the control shown in Fig. 4 is extremely effective in welding in which the basic posture at the time of welding changes in a complicated manner such as downward, upward, and sideways. While pressing as shown in Figure 4. Turning off the voltage feedback control when the voltage is low is disadvantageous in terms of speeding up welding. That is, when the voltage is high, · 1, Τ3, '' and when the voltage is low 弱 2, Τ4,
'の時も溶接トーチ 40は同じスピードで走行するので、上記したメンブレンパネルのよ うに、急激な変化をする曲線部分があると、急激に変化する曲線部分で溶接トーチ 4 0がワークに衝突したり逆に大きく離間したりしないように、溶接トーチ 40の走行スピ ードを相対的に遅くしなければならな 、。 In this case, the welding torch 40 travels at the same speed, so if there is a sharply changing curve as in the above-mentioned membrane panel, the welding torch 40 collides with the workpiece at the suddenly changing curve. The traveling speed of the welding torch 40 must be relatively slow so that it does not move away from the welding torch 40.
[0041] そこで、本発明では、図 5及び図 6に示した新たなノ ルス制御方式を提案する。  Therefore, the present invention proposes a new noise control method shown in FIGS. 5 and 6.
[0042] すなわち、電圧強の時 Τ1、 Τ3、 · · 'だけでなぐ電圧弱の時 Τ2、 Τ4、 · · ·にも電圧 フィードバック制御を行うようにする。この時、電圧フィードバック制御のための目標電 圧の切り換えを確実に行うことが必要であるので、溶接パルス（図 5 (a)参照）の立ち 下がり及び立ち上がり時に瞬間的にモータ 32の駆動電流を切り、このモータ 32の駆 動電流を切断している期間に電圧フィードバック制御の目標値の切り換えを行う。具 体的には、例えば、図 5 (a)に示す溶接電圧の強電圧期間 Τ1、 Τ3、 · · ·の弱電圧期 間への立ち下がり及び弱電圧期間 Τ2、 Τ4、 · · 'から強電圧期間への立ち上がりを検 出して、図 5 (b)に示すように、極く短い時間 ΔΤの検出パルスを発生させ、上記検出 パルスの期間 ΛΤの間モータ 32の駆動電流を停止させ（図 5 (c)参照）、このモータ 3 2の駆動電流を停止している期間 ΔΤにモータ 32を制御するための目標電圧の切替 を行う。これをフローチャートで示すと図 6で示すようになる。  [0042] That is, voltage feedback control is also performed for 強 2, Τ4,. At this time, since it is necessary to reliably switch the target voltage for the voltage feedback control, the drive current of the motor 32 is instantaneously increased when the welding pulse (see FIG. 5 (a)) falls and rises. The target value of the voltage feedback control is switched while the drive current of the motor 32 is cut off. Specifically, for example, as shown in Fig. 5 (a), the falling of the welding voltage to the high voltage period Τ1, Τ3, ... and the weak voltage period Τ2, 、 4, As shown in Fig. 5 (b), a rise in the voltage period is detected, a detection pulse for a very short time ΔΤ is generated, and the drive current of the motor 32 is stopped during the detection pulse period （(see Fig. 5 (b)). 5 (c)), the target voltage for controlling the motor 32 is switched during the period ΔΤ during which the drive current of the motor 32 is stopped. This is shown in a flowchart in FIG.
[0043] 弱電圧が経過してステップ S1で目標電圧を強電圧とする指示が出されると共にモ ータ 32の駆動電流が OFFされて、ステップ S2に進む。  [0043] After the weak voltage has passed, an instruction to set the target voltage to the high voltage is issued in step S1, and the drive current of the motor 32 is turned off, and the process proceeds to step S2.
[0044] ステップ 2で目標電圧の切替期間 ΔΤが経過したカゝ否かの判断が為され、期間 ΔΤ が経過していなければ (NO)、ステップ S2を繰り返し、期間 ΔΤが経過していれば (Y ES)ステップ S3に進む。  In step 2, it is determined whether or not the target voltage switching period ΔΤ has elapsed. If the period ΔΤ has not elapsed (NO), step S2 is repeated, and if the period ΔΤ has elapsed. (Y ES) Proceed to step S3.
[0045] ステップ S3では、モータ 32の駆動電流を ONにして、目標電圧を強電圧とする電 圧フィードバック制御が為され、ステップ S4に進む。  [0045] In step S3, the drive current of the motor 32 is turned on, and voltage feedback control is performed to set the target voltage to a strong voltage, and the process proceeds to step S4.
[0046] ステップ S4では、強電圧による溶接期間が経過したカゝ否かの判断が為され、期間 が経過して 、なければ (NO)ステップ S4を繰り返し、期間が経過して 、れば (YES) ステップ S 5に進む。 [0047] ステップ S5では、 目標電圧を弱電圧とする指示が出されると共にモータ 32の駆動 電流が OFFされて、ステップ S6に進む。 In step S4, it is determined whether or not the welding period due to the high voltage has elapsed. If the period has not elapsed, if not, (NO) step S4 is repeated. YES) Go to step S5. In step S5, an instruction to set the target voltage to a weak voltage is issued, and the drive current of the motor 32 is turned off. Then, the process proceeds to step S6.
[0048] ステップ S6では、 目標電圧の切替期間 ΔΤが経過した力否かの判断が為され、期 間 ΔΤが経過していなければ (NO)、ステップ S6を繰り返し、期間 ΔΤが経過してい れば (YES)ステップ S7に進む。 In step S6, it is determined whether or not the power has passed the target voltage switching period ΔΤ. If the period ΔΤ has not elapsed (NO), step S6 is repeated, and the period ΔΤ has elapsed. (YES) Proceed to step S7.
[0049] ステップ S7では、モータ 32の駆動電流を ONにして、 目標電圧を弱電圧とする電 圧フィードバック制御が為され、ステップ S8に進む。 [0049] In step S7, the drive current of the motor 32 is turned on, and the voltage feedback control for setting the target voltage to a weak voltage is performed, and the process proceeds to step S8.
[0050] ステップ 8では、弱電圧による溶接期間が経過した力否かの判断が為され、期間が 経過して!/、なければ (NO)ステップ S8を繰り返し、期間が経過して!/、れば (YES)ス テツプ S1に戻る。 In step 8, it is determined whether or not the force has passed the welding period due to the weak voltage. If the period has elapsed! /, If not, (NO) step S8 is repeated, and the period has elapsed! /, If so (YES), return to step S1.
[0051] 以上のステップ S1からステップ S8までで 1サイクルが終了し、上記サイクルを繰り返 して溶接が進行していく。  [0051] One cycle is completed from the above steps S1 to S8, and the welding is advanced by repeating the above cycle.
[0052] 上記した制御を行うことによって、弱電圧期間においてもほんの僅かの期間 ΔΤを 除いて電圧フィードバック制御が行われるので、溶接スピードをアップさせても、開先 の複雑な変化に溶接トーチ 40を充分に追従させることができる。  [0052] By performing the above-described control, even in the weak voltage period, the voltage feedback control is performed except for a very short period of time Δ 、. Can be sufficiently followed.
[0053] なお、上記説明では、本発明をメンブレン用金属薄板の溶接に適用する例を説明 したが、本発明の適用範囲力メンブレン用金属薄板の溶接にのみ限定されることを 意味するものではなぐその他のワークの溶接、特に、急激に変化する曲線形状を有 するワークの溶接に好適である。  In the above description, an example in which the present invention is applied to welding of a metal sheet for a membrane has been described, but the scope of the present invention is not limited to welding of a metal sheet for a membrane. It is suitable for welding of other workpieces to be bent, particularly for welding of workpieces having a rapidly changing curved shape.
[0054] その他、上記した実施の形態にぉ 、て示した各部の形状及び構造は、 、ずれも本 発明を実施するに際して行う具体化のほんの一例を示したものにすぎず、これらによ つて本発明の技術的範囲が限定的に解釈されることがあってはならないものである。 産業上の利用可能性  [0054] In addition, the shapes and structures of the respective parts shown in the above-described embodiment are only examples of the specific examples performed when the present invention is carried out. It should not be construed that the technical scope of the present invention is limited. Industrial applicability
[0055] 例えば、 LNG船、のメンブレンタンクを製造する際のメンブレン用金属薄板のように、 急激に変化する曲線形状を有するワークの溶接に好適である。 [0055] For example, the present invention is suitable for welding a workpiece having a rapidly changing curved shape, such as a thin metal plate for a membrane when manufacturing a membrane tank for an LNG carrier.
図面の簡単な説明  Brief Description of Drawings
[0056] [図 1]図 2乃至図 6と共に本発明溶接装置及び溶接方法の実施の形態を示すもので あり、本図は溶接装置の正面図である。 [図 2]第 1の可動部材の正面図である。 FIG. 1 shows an embodiment of the welding apparatus and welding method of the present invention together with FIG. 2 to FIG. 6, and FIG. 1 is a front view of the welding apparatus. FIG. 2 is a front view of a first movable member.
[図 3]溶接トーチが開先を倣って移動する様を示す概略正面図である。  FIG. 3 is a schematic front view showing that a welding torch moves following a groove.
[図 4]電圧フィードバック制御における溶接電圧と溶接トーチを微動制御するための モータ電流との関係を示すグラフ図である。  FIG. 4 is a graph showing a relationship between a welding voltage in a voltage feedback control and a motor current for finely controlling a welding torch.
[図 5]別の電圧フィードバック制御における溶接電圧と溶接トーチを微動制御するた めのモータ電流と制御パルスとの関係を示すグラフ図である。  FIG. 5 is a graph showing a relationship between a welding current and a control pulse for finely controlling a welding torch in another voltage feedback control.
[図 6]別の電圧フィードバック制御の方法を示すフローチャートである。  FIG. 6 is a flowchart showing another voltage feedback control method.
[図 7]急激に変化する形状を有する開先と溶接トーチの姿勢の関係を示す概略図で ある。  FIG. 7 is a schematic diagram showing a relationship between a groove having a rapidly changing shape and a posture of a welding torch.
[図 8]従来の溶接装置の概略を示す正面図である。  FIG. 8 is a front view schematically showing a conventional welding device.
符号の説明 Explanation of symbols
1···溶接装置、 10···ベースユニット（ベース部材）、 20···第 1の可動部材、 21·· •主部分 (終段ギヤが嚙合するギヤが支持されたブロック）、 24· · ·終段ギヤ、 25· · · アイドルギヤ、 26…駆動ギヤ（終段ギヤが（アイドルギヤを介して）嚙合するギヤ）、 2 8·· 'モータ (第 2の可動部材を回転させるモータ） , 30·· '第 2の可動部材、 40· · ·溶 接トーチ  1 Welding device, 10 Base unit (base member), 20 First movable member, 21 Main part (block supporting gears that engage with final gear), 24 · · · Last gear, 25 · · · Idle gear, 26 ... Driving gear (gear where the last gear is engaged (via the idle gear)), 28 · · 'Motor (rotates the second movable member Motor), 30 'second movable member, 40 welding torch

Claims

請求の範囲 The scope of the claims
[1] X軸方向へ移動自在なベース部材に上記 X軸方向に直交する Y軸方向へ移動可能 に支持された第 1の可動部材と、  [1] a first movable member supported on a base member movable in the X-axis direction so as to be movable in the Y-axis direction orthogonal to the X-axis direction;
上記第 1の可動部材に上記 X軸と Υ軸とが成す平面に直交する ζ軸周りに回転自 在に支持された第 2の可動部材と、  A second movable member that is supported on the first movable member by rotation about a す る axis orthogonal to a plane formed by the X axis and the Υ axis, and
上記第 2の可動部材に支持された溶接トーチを備えた  A welding torch supported by the second movable member.
ことを特徴とする溶接装置。  A welding apparatus characterized by the above-mentioned.
[2] 第 2の可動部材を回転させるモータと第 2の可動部材と一体的に回転する終段ギヤと の間が複数のギヤで連携され、 [2] A plurality of gears cooperate between a motor that rotates the second movable member and a final gear that rotates integrally with the second movable member,
上記終段ギヤを回転自在に支持した可動ブロックが終段ギヤが直接に又はアイド ルギヤを介して嚙合するギヤが支持されたブロックに対して終段ギヤの回転軸に直 交する方向に調整可能に支持された  The movable block that rotatably supports the final gear can be adjusted in a direction that is orthogonal to the rotation axis of the final gear with respect to the block that supports the gear where the final gear is engaged directly or via an idle gear. Supported by
ことを特徴とする請求項 1に記載された溶接装置。  The welding device according to claim 1, wherein
[3] 上記溶接トーチが上記第 2の可動部材に上記 Ζ軸と直交する方向に移動自在に支 持された [3] The welding torch is movably supported by the second movable member in a direction perpendicular to the Ζ axis.
ことを特徴とする請求項 1又は請求項 2に記載の溶接装置。  The welding apparatus according to claim 1 or 2, wherein
[4] 上記ベース部材を X軸方向に移動させると共に、上記第 1の可動部材を Υ軸方向に 移動させ、さらに上記第 2の可動部材を Ζ軸周りに回転させて溶接トーチがワークに 倣って走行するように制御しつつ、 [4] The base member is moved in the X-axis direction, the first movable member is moved in the Υ-axis direction, and the second movable member is rotated about the Ζ-axis, so that the welding torch follows the workpiece. While controlling to run
強い溶接電圧を印加する期間と弱い溶接電圧を印加する期間とを交互に繰り返し て定電圧制御によるパルス溶接を行 、、  Pulse welding by constant voltage control is performed by alternately repeating the period in which a strong welding voltage is applied and the period in which a weak welding voltage is applied.
上記第 2の可動部材を上記 Ζ軸と直交する方向に微動させることによって、上記各 期間において溶接電圧が一定となるように、溶接トーチとワークとの間の間隔を調整 する制御部を備えた  A control unit is provided for adjusting the distance between the welding torch and the work so that the second movable member is finely moved in a direction orthogonal to the Ζ axis so that the welding voltage is constant in each of the periods.
ことを特徴とする請求項 3に記載の溶接装置。  4. The welding device according to claim 3, wherein:
[5] 上記制御部が、上記パルスの立ち上がり時及び立ち下がり時に上記可動部材を Ζ軸 に直交する方向に移動させる駆動手段を一瞬停止させ、該停止期間に上記定電圧 制御のための目標電圧の切り換えを行う ことを特徴とする請求項 4に記載の溶接装置。 [5] The control unit temporarily stops driving means for moving the movable member in a direction perpendicular to the axis at the time of rising and falling of the pulse, and sets a target voltage for the constant voltage control during the stop period. Switch 5. The welding device according to claim 4, wherein:
[6] ベース部材を X軸方向に走行させると共に、第 1の可動部材を上記ベース部材に対 して上記 X軸方向に直交する Y軸方向に移動させ、 [6] While moving the base member in the X-axis direction, moving the first movable member in the Y-axis direction perpendicular to the X-axis direction with respect to the base member,
さらに、上記第 1の可動部材に支持されると共に溶接トーチを支持した第 2の可動 部材を上記 X軸と Y軸とが成す平面に直交する Z軸周りに回転させて溶接トーチがヮ ークに倣って走行するようにしてワークに対する溶接を行う  Further, the second movable member supported by the first movable member and supporting the welding torch is rotated about a Z-axis orthogonal to a plane formed by the X-axis and the Y-axis, thereby forming a welding torch. To the workpiece by traveling in accordance with
ことを特徴とする溶接方法。  A welding method characterized in that:
[7] 強い溶接電圧を印加する期間と弱い溶接電圧を印加する期間とを交互に繰り返して 定電圧制御によるパルス溶接を行 、、 [7] Pulse welding is performed by constant voltage control by alternately repeating the period in which a strong welding voltage is applied and the period in which a weak welding voltage is applied.
上記第 2の可動部材を上記 Z軸と直交する方向に微動させることによって、上記各 期間において溶接電圧が一定となるように、溶接トーチとワークとの間の間隔を調整 し、  By finely moving the second movable member in a direction orthogonal to the Z axis, the distance between the welding torch and the workpiece is adjusted so that the welding voltage is constant in each of the periods,
上記パルスの立ち上がり時及び立ち下がり時に上記第 2の可動部材を Z軸に直交 する方向に移動させる駆動手段を一瞬停止させ、該停止期間に上記定電圧制御の ための目標電圧の切り換えを行う  When the pulse rises and falls, the driving means for moving the second movable member in a direction orthogonal to the Z-axis is temporarily stopped, and the target voltage for the constant voltage control is switched during the stop period.
ことを特徴とする請求項 6に記載の溶接方法。  7. The welding method according to claim 6, wherein:
PCT/JP2005/008050 2004-05-31 2005-04-27 Welding apparatus and welding method WO2005115672A1 (en)

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