WO2018066137A1 - 溶接装置 - Google Patents
溶接装置 Download PDFInfo
- Publication number
- WO2018066137A1 WO2018066137A1 PCT/JP2016/080005 JP2016080005W WO2018066137A1 WO 2018066137 A1 WO2018066137 A1 WO 2018066137A1 JP 2016080005 W JP2016080005 W JP 2016080005W WO 2018066137 A1 WO2018066137 A1 WO 2018066137A1
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- WO
- WIPO (PCT)
- Prior art keywords
- nozzle
- outer peripheral
- welding
- welding torch
- peripheral edge
- Prior art date
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Classifications
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- 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
- B23K9/12—Automatic feeding or moving of electrodes or work for spot or seam welding or cutting
- B23K9/127—Means for tracking lines during arc welding or cutting
-
- 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
- B23K5/00—Gas flame welding
- B23K5/003—Gas flame welding the welding zone being shielded against the influence of the surrounding atmosphere
-
- 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
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
- B23K37/02—Carriages for supporting the welding or cutting element
-
- 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
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
- B23K37/04—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups for holding or positioning work
-
- 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
- B23K5/00—Gas flame welding
- B23K5/02—Seam welding
-
- 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
- B23K5/00—Gas flame welding
- B23K5/22—Auxiliary equipment, e.g. backings, guides
-
- 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
- B23K9/02—Seam welding; Backing means; Inserts
-
- 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
- B23K9/095—Monitoring or automatic control of welding parameters
- B23K9/0956—Monitoring or automatic control of welding parameters using sensing means, e.g. optical
-
- 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
- B23K9/12—Automatic feeding or moving of electrodes or work for spot or seam welding or cutting
- B23K9/126—Controlling the spatial relationship between the work and the gas torch
-
- 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
- B23K9/12—Automatic feeding or moving of electrodes or work for spot or seam welding or cutting
- B23K9/127—Means for tracking lines during arc welding or cutting
- B23K9/1272—Geometry oriented, e.g. beam optical trading
- B23K9/1274—Using non-contact, optical means, e.g. laser means
-
- 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
- B23K9/16—Arc welding or cutting making use of shielding gas
- B23K9/164—Arc welding or cutting making use of shielding gas making use of a moving fluid
-
- 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
-
- 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
- B23K9/29—Supporting devices adapted for making use of shielding means
- B23K9/291—Supporting devices adapted for making use of shielding means the shielding means being a gas
-
- 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
- B23K9/32—Accessories
- B23K9/325—Devices for supplying or evacuating shielding gas
-
- 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
- B23K2101/00—Articles made by soldering, welding or cutting
- B23K2101/04—Tubular or hollow articles
- B23K2101/14—Heat exchangers
Definitions
- This disclosure relates to a welding apparatus that welds the outer peripheral edges of deformed plates having different lengths from the center to the outer peripheral edge in the circumferential direction.
- the heat exchange part of the shell-and-plate heat exchanger has a large number of identically shaped plates overlapped, the outer peripheral edges of adjacent plates are welded together, and a refrigerant between each plate. A flow path is formed.
- the heat exchange part of the shell-and-plate heat exchanger disclosed in Patent Document 1 includes a large number of true circular plates that are superposed to form a heat exchange part.
- aftershield gas is injected into the welded part to shield the welded part from the atmosphere and to cool the welded part to prevent oxidation of the welded part, thereby preventing weld defects such as weld burn. Is called.
- Patent Documents 2 and 3 disclose a welding apparatus including an aftershield nozzle that injects aftershield gas.
- the distance between the center of rotation and the outer peripheral edge is always constant.
- the distance between the rotation center and the outer peripheral edge differs in the circumferential direction of the outer peripheral edge. It is not easy to always arrange the nozzle at an optimal position with respect to the welded outer periphery.
- Some embodiments aim to improve the oxidation-preventing effect of the welded portion and prevent welding defects such as welding burn when the outer peripheral edges of the deformed plates are welded to each other.
- a welding apparatus includes: A welding device for welding the outer peripheral edges of two deformed plates that overlap each other, A turntable fixed in a state where the two deformed plates are overlapped; A torch unit having a welding torch disposed at a position facing the outer peripheral edge of the two deformed plates fixed to the turntable; The welding torch is positioned downstream of the welding torch in the rotational direction of the turntable, is provided in the welding torch, is arranged in parallel along the rotational direction, and injects a shielding gas toward the outer peripheral edge, and is upstream of the rotational direction.
- An aftershield portion having a plurality of nozzles including a first nozzle located at a second position and a second nozzle located downstream in the rotational direction;
- a nozzle driving unit that is provided in the welding torch and rotates the second nozzle in a circumferential direction of the outer peripheral edge (the same direction as the rotation direction or the reverse direction);
- the term “deformed plate” refers to a plate in which the length from the rotation center to the outer peripheral edge differs in the circumferential direction when the plate is fixed to the turntable.
- the outer peripheral edge is not composed of an arc having the same curvature in the circumferential direction such as a perfect circle, but has a different curvature in the circumferential direction.
- an elliptical plate or the like is applicable, but the shape is not limited to a shape in which the outer peripheral edge is composed only of an arc, such as an elliptical shape.
- the outer peripheral edges are welded to each other by a welding torch, and the welded portion immediately after welding is covered with shield gas injected from a plurality of nozzles, thereby suppressing oxidation.
- shield gas injected from a plurality of nozzles, thereby suppressing oxidation.
- positioned in the rotation direction downstream of a turntable may be separated from the outer periphery after welding depending on the curvature of an outer periphery. Therefore, the nozzle drive unit is controlled by the control unit, and the second nozzle is rotated in the circumferential direction of the outer peripheral edge so that the shield gas injected from the second nozzle reaches the outer peripheral edge welded by the welding torch. Shorten the distance. Thereby, the oxidation prevention effect by the shield gas injected from the second nozzle can be improved.
- the first nozzle arranged in the vicinity of the welding torch on the upstream side in the rotational direction can obtain an oxidation preventing effect without necessarily controlling the direction.
- the after shield part is provided in the welding torch and moves together with the welding torch, an original drive part is not required and the cost can be reduced.
- the relative positions of the plurality of nozzles with respect to the welding torch can be accurately positioned in advance so that the injection timing of the shield gas with respect to the welded outer peripheral edge is optimized.
- the control unit displays a nozzle posture map in which the orientation of the second nozzle is expressed in coordinates for each region where the curvature of the outer peripheral edge is different at least in two-dimensional coordinates with the rotation center of the two deformed plates as a coordinate center.
- the control unit controls the direction of the second nozzle based on the nozzle posture map.
- the orientation of the second nozzle is represented by the angle of the axis of the nozzle with respect to the tangent line of the outer peripheral edge facing the second nozzle.
- the orientation of the second nozzle is set in the two-dimensional coordinates by representing the orientation of the second nozzle by the angle of the axis of the second nozzle with respect to the tangent to the outer peripheral edge in the nozzle posture map. Easy to do.
- the nozzle drive unit An air cylinder having a piston rod pivotally attached to the second nozzle; According to the configuration of (4) above, the nozzle drive unit is configured by the air cylinder, thereby simplifying and reducing the weight. For this reason, even if the nozzle driving portion is provided on the welding torch, the weight of the torch unit is not increased and the operation of the torch unit is not burdened.
- a link mechanism is provided that moves the second nozzle toward the outer peripheral edge together with the direction variation operation of the second nozzle by the nozzle driving unit.
- the shielding effect of the welded portion by the shielding gas can be enhanced, and the oxidation preventing effect of the welded portion can be further improved.
- the first nozzle is attached to the link mechanism, and is configured to be rotatable in the same direction as the second nozzle by the link mechanism together with the direction changing operation of the second nozzle.
- the effect of preventing oxidation of the welded portion can be further improved by causing the first nozzle to cooperate during the operation of changing the orientation of the second nozzle.
- a shield gas sprayed from the nozzles is provided in a direction intersecting the front and back surfaces of the deformed plate, and includes a pair of heat-resistant covers that cover the shield gas spray space from both sides.
- the nozzle opening of the nozzle has a rectangular cross section
- the heat-resistant cover is attached to an outer surface of a partition wall that forms the rectangular cross section and is disposed in a direction along the outer peripheral edge.
- the heat resistant cover since the heat resistant cover is attached to the flat partition outer surface, the heat resistant cover can be easily attached.
- the heat-resistant cover covers the periphery of the nozzle and the welded outer peripheral edge so as to be sandwiched from both sides in the direction intersecting with the front and back surfaces of the outer peripheral edge, the shielding gas diffusion preventing effect can be improved, and the welded outer peripheral edge The antioxidant effect can be improved.
- injection is performed not only from the first nozzle provided at the position close to the welding torch but also from the second nozzle provided on the downstream side in the rotation direction. Since the anti-oxidation effect by the shield gas is improved, welding defects such as welding burn can be suppressed.
- (A) And (B) is operation
- (A) And (B) is a top view of the link mechanism which concerns on one Embodiment. It is a perspective view of a nozzle mouth concerning one embodiment.
- (A) is explanatory drawing which shows an example of the welding method which concerns on one Embodiment
- (B) is sectional drawing which shows the penetration depth by the welding method shown to (A).
- (A) is explanatory drawing which shows an example of the welding method which concerns on one Embodiment
- (B) is sectional drawing which shows the penetration depth by the welding method shown to (A).
- an expression indicating that things such as “identical”, “equal”, and “homogeneous” are in an equal state not only represents an exactly equal state, but also has a tolerance or a difference that can provide the same function. It also represents the existing state.
- expressions representing shapes such as quadrangular shapes and cylindrical shapes represent not only geometrically strict shapes such as quadrangular shapes and cylindrical shapes, but also irregularities and chamfers as long as the same effects can be obtained. A shape including a part or the like is also expressed.
- the expressions “comprising”, “comprising”, “comprising”, “including”, or “having” one constituent element are not exclusive expressions for excluding the existence of other constituent elements.
- Welding apparatus 10 is for welding as shown in Figures 1 and 2, two sheets of Kasanea' be welded to the outer peripheral edge e1 and e2 between the profiled plates P 1 and P 2 .
- Welding apparatus 10 comprises a turntable 12a and 12b, profiled plates P 1 and P 2 are disposed between the turntable 12a and 12b in a state of Kasanea', it is nipped by these turntable.
- Profiled sheets P 1 and P 2 have the same size and the same shape, when Kasanea' each other, these outer peripheral edges e1 and e2 are substantially coincident.
- Welding torch 14 to the outer position facing the outer peripheral edge e1 and e2 of the turntable 12a of two fixed to and 12b profiled plates P 1 and P 2 are disposed. The welding torch 14 is attached to the torch unit 16.
- an aftershield portion 20 is provided on the downstream side in the rotational direction a of the turntables 12a and 12b from the welding torch 14.
- the after shield part 20 is provided on the welding torch 14 and has a plurality of nozzles 22a and 22b arranged in parallel along the rotation direction a of the turntables 12a and 12b.
- the nozzles 22a and 22b have nozzle ports 24a and 24b for injecting shield gas, and the nozzle ports 24a and 24b are arranged toward the outer peripheral edges e1 and e2.
- the first nozzle 22a is disposed on the upstream side in the rotational direction
- the second nozzle 22b is disposed on the downstream side in the rotational direction.
- the welding apparatus 10 further includes a nozzle drive unit 26 that rotates the nozzle port 24b of the second nozzle 22b in the circumferential direction of the outer peripheral edge (the same direction as or opposite to the rotation direction a).
- the direction of the second nozzle 22b is such that the distance by which the shield gas injected from the nozzle port 24b reaches the welded portion w of the outer peripheral edges e1 and e2 is shortened by the first control unit 28 shown in FIG. Nozzle 22a side).
- FIG. 5 shows a state in which the direction of the second nozzle 22b is controlled as described above.
- the turntables 12a and 12b are rotated at a constant peripheral speed, for example.
- Welding torch 14 the outer peripheral edge between the profiled plates P 1 and P 2 are welded by welds w of the outer edge e1 and e2 are oxidation is suppressed by the after shielding gas ejected from the plurality of nozzles 22a and 22b.
- the first control unit 28 controls the direction of the nozzle port 24b so that the shield gas arrival distance with respect to the welded portion w on the outer peripheral edge is shortened. The effect can be improved. Thereby, welding defects such as welding burn can be prevented.
- the effect of preventing the oxidation of the welded portion w can be improved by controlling the orientation of the second nozzle 22b whose distance from the welding torch 14 is separated from the first nozzle 22a. Moreover, since the aftershield part 20 is provided in the welding torch 14, an original drive part is not required and the cost can be reduced. Further, the relative positions of the plurality of nozzles 22a and 22b with respect to the welding torch 14 can be accurately positioned in advance so that the injection timing of the shield gas with respect to the welded portion w is optimized.
- FIG. 6A shows a case where the outer peripheral edges e1 and e2 having a small curvature are welded
- FIG. 6B shows a case where the outer peripheral edges e1 and e2 having a large curvature are welded
- the second nozzle 22b disposed on the downstream side in the rotation direction from the first nozzle 22a may be separated from the outer peripheral edge when the curvature of the outer peripheral edge of the welded portion w is large.
- the first control unit 28 controls the nozzle driving unit 26 to rotate the second nozzle 22b in the circumferential direction of the outer peripheral edge (usually the first nozzle 22a side), thereby shielding gas injected from the second nozzle.
- the first nozzle 22a disposed in the vicinity of the welding torch on the upstream side in the rotational direction can obtain an oxidation preventing effect without necessarily performing the direction changing operation.
- a first torch drive unit 18 that moves the welding torch 14 forward and backward toward the outer peripheral edges e1 and e2 is provided.
- the deformed plates P 1 and P 2 form a heat exchange part of a shell-and-plate heat exchanger, similar to the true circular plate disclosed in Patent Document 1.
- the deformed plates P 1 and P 2 are formed with inner circular holes h 1 and h 2 through which the refrigerant flows, as shown in FIG.
- the two profiled plates P 1 and P 2 is in a state of being superposed to be welded.
- the first control unit 28 the rotation center of the turntable 12a and 12b (i.e., two rotary center of the profiled plates P 1 and P 2) of the O 1
- a two-dimensional coordinate composed of an x-axis and a y-axis having a coordinate center (0, 0) has a nozzle posture map 30 in which the orientation of the second nozzle 22b is expressed in coordinates for each region where the curvature of the outer peripheral edge is different.
- the first control unit 28 controls the direction of the second nozzle 22 b based on the nozzle attitude map 30.
- position map 30 so that the antioxidant effect may be improved, the antioxidant effect of the welding part w can be improved.
- area rotation center O 1 to each of the same central angle ⁇ R (R 1, R 2 , ⁇ ) is divided into a region R (R 1, R 2, ⁇ ..)
- the direction of the second nozzle 22b is expressed in coordinates for each time.
- the first control unit 28 controls the direction of the second nozzle 22b based on this coordinate notation. By reducing the central angle ⁇ , the direction of the second nozzle 22b can be finely set in the circumferential direction of the outer peripheral edge.
- the orientation of the second nozzle 22b is the second nozzle 22b with respect to the tangent Lt of the outer peripheral edges e1 and e2 relative to the second nozzle 22b. Is represented by an angle ⁇ of the axis i.
- the direction of the second nozzle 22b is set by the first control unit 28 by expressing the direction of the second nozzle 22b by the angle ⁇ of the axis i of the second nozzle 22b with respect to the tangent line Lt on the two-dimensional coordinates. Becomes easier.
- the nozzle driving unit 26 includes an air cylinder 34 having a piston rod 32 rotatably attached to the second nozzle 22 b via a shaft 31.
- the first control unit 28 controls driving of the air cylinder 34. According to the said structure, it can simplify and reduce in weight by comprising the nozzle drive part 26 with the air cylinder 34. FIG. Therefore, even if the nozzle driving unit 26 is provided on the welding torch 14, the weight of the torch unit 16 is not increased, and the operation of the torch unit 16 is not burdened.
- a fixing plate 36 is attached to the welding torch 14, and the first nozzle 22 a and the second nozzle 22 b are attached to the fixing plate 36.
- the second nozzle 22b is rotatably attached to the fixed plate 36 via a shaft 38.
- a link mechanism 40 that moves the second nozzle 22 b toward the outer peripheral edges e ⁇ b> 1 and e ⁇ b> 2 together with the direction changing operation of the second nozzle 22 b by the nozzle driving unit 26 is provided.
- the shielding effect of the welded portion w by the shielding gas can be further improved.
- the oxidation preventing effect of the welded portion w by the shielding gas can be further improved.
- the axis i of the second nozzle 22b is inclined in the direction opposite to the rotational direction a to shorten the shield gas injection distance to the welded portion w.
- 22b indicates the position of the second nozzle 22b in the embodiment in which the second nozzle 22b is rotated toward the first nozzle 22a by the nozzle driving unit 26.
- 22b ′ further includes the link mechanism 40 shown in FIG. 8, and indicates the position of the second nozzle when the second nozzle 22b approaches the welded portion w side by the link mechanism 40 simultaneously with the rotation of the second nozzle 22b.
- the first nozzle 22a is attached to the link mechanism 40, and in the same direction as the second nozzle 22b by the link mechanism 40 as the second nozzle 22b rotates (that is, the welding torch 14 side). It is configured to be rotatable. According to the above configuration, the shielding effect of the welded portion w by the shielding gas can be further improved by rotating the first nozzle 22a toward the welding torch 14 during the rotating operation of the second nozzle 22b. The antioxidant effect of w can be further improved.
- the link mechanism 40 includes links 42a, 42b and 42c.
- One end of the link 42a is connected to the air cylinder 34, and the other end is rotatably connected to one end of the link 42b and a shaft 44a.
- the link 42b is pivotally supported by the shaft 31 at the center in the axial direction, and the other end of the link 42b is pivotally connected to one end of the link 42c by the shaft 44b.
- the other end of the link 42c is rotatably connected to the fixed plate 36 by a shaft 44c.
- the first nozzle 22a is also inclined toward the welding torch 14 (in the direction of the arrow).
- the shielding effect by the shielding gas injected from the 1st nozzle 22a and the 2nd nozzle 22b can be further improved immediately after welding of the welding part w, and the oxidation prevention effect of the welding part w can further be improved.
- a plurality of nozzles 22a and 22b are provided with a pair of heat-resistant covers 46a and 46b.
- a pair of heat-resistant cover 46a and 46b are provided in a direction crossing the shield gas G ejected from the nozzles to the front and rear faces of the profiled sheets P 1 and P 2, to cover the shielding gas injection space from both sides.
- the nozzle openings 24a and 24b of the first nozzle 22a or the second nozzle 22b have a rectangular cross section.
- the heat-resistant covers 46a and 46b are attached to the outer surfaces of the partition walls 25a and 25b that form rectangular sections of the nozzle openings 24a and 24b and are arranged in the direction along the outer peripheral edges e1 and e2. According to the above configuration, the heat resistant covers 46a and 46b are attached to the flat outer surface of the partition wall, so that the heat resistant covers 46a and 46b can be easily attached.
- the heat-resistant covers 46a and 46b cover the welded portion w so as to be sandwiched from both sides in the direction intersecting the front and back surfaces of the outer peripheral edges e1 and e2. Diffusion of the shielding gas G can be effectively suppressed, and the antioxidant effect of the welded portion w can be improved.
- the heat resistant covers 46a and 46b are made of, for example, a heat resistant glass cloth. By using a heat-resistant glass cloth, the weight can be reduced, and the nozzle orientation can be easily controlled.
- a nozzle posture map 30 is shown in which the orientations of the 22a and the second nozzle 22b are expressed in coordinates. Then, the first control unit 28 controls the orientation of the first nozzle 22 a and the second nozzle 22 b based on the nozzle attitude map 30.
- the angle of the first nozzle 22a is automatically determined by the angle of the second nozzle 22b and the configuration of the link mechanism 40. This eliminates the need for the drive unit and control unit for the first nozzle 22a, thereby reducing the cost.
- the drive unit of the turntable can be simplified and reduced in cost. Further, since the welding torch 14 does not need to be moved with respect to the circumferential direction of the outer peripheral edges e1 and e2, and is basically fixedly arranged, a drive unit for moving the welding torch 14 in the circumferential direction of the outer peripheral edge is required. The cost can be reduced.
- the torch unit 16 to which the welding torch 14 is attached is slidably attached in the longitudinal direction of the rail 48 (the direction of arrow b in FIG. 1).
- the torch unit 16 includes a first block 16a in which the first torch drive unit 18 is provided, and a second block 16b in which the welding torch 14 is provided.
- the first torch drive unit 18 includes an orientation varying unit 18 a that varies the orientation of the welding torch 14 with respect to the tangent to the outer circumferential edges e 1 and e 2, and the outer circumferential edge e 1 and and and an interval variable portion 18b for changing the interval of the welding torch 14 with respect to e2.
- interval variable part 18b makes the space
- the orientation changing portion 18a includes a rail 48 having an arc shape as shown in FIG.
- the rail 48 is provided at a position facing the outer peripheral edges e1 and e2, and extends along the circumferential direction of these outer peripheral edges.
- the front end of the welding torch 14 can be moved linearly in a direction (arrow d direction in FIG. 1) that advances and retreats with respect to the outer peripheral edges e1 and e2 by the interval variable portion 18b.
- the tip of 14 can always be arranged on the outer peripheral edges e1 and e2.
- the welding torch 14 with respect to the outer peripheral edges e1 and e2 is set while aligning the tip of the welding torch 14 with this one point. You can change the direction. In actual welding, the tip of the welding torch 14 is arranged at a position shifted by a minute interval outward with respect to the outer peripheral edges e1 and e2.
- the orientation changing unit 18 a includes a rack 50 provided on the surface of the rail 48, a pinion 52 that meshes with the rack 50, and a drive unit 54 that drives the pinion 52. Is done.
- the torch unit 16 moves along the longitudinal direction of the rail 48.
- the pinion 52 is rotatably supported by a table 56, and the drive unit 54 and the table 56 are fixed to a support table 58.
- the interval variable portion 18 b is integrated with the ball screw 60 that is rotatably supported by the support base 58, the drive unit 62 provided on the support base 58, and the support base 58. And a slide block 63 screwed with the ball screw 60.
- the support base 59 to which the slide block 63 is fixed constitutes a part of the second block 16b.
- the ball screw 60 is rotated by the drive unit 62, and the distance between the tips of the welding torch 14 with respect to the outer peripheral edges e1 and e2 is variable.
- the second block 16b is the direction of arrow f direction (for example, FIG. 2 that intersects the welding torch 14 and two front and rear surfaces of the profiled sheets P 1 and P 2 ), And a third torch drive unit 66 that makes the interval of the welding torch 14 with respect to the outer peripheral edges e1 and e2 variable.
- the non-contact sensor 68 for detecting the distance of the welding torch 14 with respect to the two profiled plates P 1 and the position and the outer edge e1 and e2 superposition direction intersecting the front and back surfaces of the P 2 Prepare.
- the detection value of the non-contact sensor 68 is input to the second control unit 29.
- the 2nd control part 29 controls the 3rd torch drive part 66 so that the space
- the orientation variable portion 18a and the interval variable portion 18b can maintain the orientation and interval of the welding torch 14 with respect to the outer peripheral edges e1 and e2 at set values along the circumferential direction of the outer peripheral edge. Further, since the welding torch 14 can always be positioned at the overlapping position of the outer peripheral edges e1 and e2 by feedback control based on detection by the non-contact sensor 68, the heat input amount of the welded portion w can be ensured.
- the interval of the welding torch 14 with respect to the outer peripheral edges e1 and e2 can always be maintained at a set value by the feedback control, the penetration depth of the welded portion w can be made uniform along the circumferential direction of the outer peripheral edge, and welding due to insufficient penetration. Defects can be suppressed.
- the second torch drive unit 64 includes a drive unit 74 that is fixed to the support base 72 together with the fixed block 70.
- a screw shaft 76 arranged in the direction of arrow f supports the support base 59 from below.
- the screw shaft 76 and the ball screw 78 are screwed in a direction crossing each other, and the ball screw 78 and the screw shaft 76 are rotated by the drive unit 74.
- the screw shaft 76 is rotated, the fixed block 70 and the support table 72 is parallel moved in the direction crossing the mating surface s of the profiled plates P 1 and P 2 (direction of arrow f).
- the third torch drive unit 66 includes a drive unit 82 that is supported by the support base 72 and rotates the ball screw 80.
- the torch main body 84 moves linearly in a direction to advance and retreat with respect to the outer peripheral edges e1 and e2.
- the non-contact sensor 68 is fixed to the second block 16 b via a fixing plate 88. Accordingly, the non-contact sensor 68 moves in the directions of the arrows b, d, and f together with the welding torch 14, and therefore does not require a unique moving means.
- each of the drive units 54, 62, 74 and 82 is configured by a servo motor capable of rotating in the forward and reverse directions, and is rotated in the forward and reverse directions by the first control unit 28 or the second control unit 29.
- the non-contact sensor 68 is a laser displacement sensor
- the second control unit 29 compares the detected value of the laser displacement sensor with the master shape stored in the second control unit 29, whereby the deformed plate The overlapping positions of P 1 and P 2 and the interval between the outer peripheral edges e 1 and e 2 and the welding torch 14 are detected.
- the detection accuracy can be improved.
- the detection accuracy can be further improved by using a laser displacement sensor that oscillates blue laser light having a long wavelength.
- the first control unit 28 includes a torch posture map 90 and a torch direction displacement speed map 92.
- the torch posture map 90 uses two-dimensional coordinates including an x-axis and a y-axis.
- the rotation centers of the turntables 12a and 12b that is, the rotation centers of the deformed plates P 1 and P 2 ) O 1 are arranged.
- FIG. 7 at least the outer peripheral edges e1 and e2 are divided into areas R (R 1 , R 2 ,...) Having different curvatures, and the set positions v of the divided areas are set.
- the position and orientation of the welding torch 14 are expressed in coordinates by (v1, v2,). As shown in FIG. 6, the direction of the welding torch 14 is set so as to have the same angle with respect to the tangent line Lt of the outer peripheral edge at the setting positions of all regions.
- the heating time by the welding torch 14 is constant between the set positions v (v1, v2,%) Of each region R (R 1 , R 2 , etc.
- v v1, v2,
- the first control unit 28 controls the first torch driving unit 18 based on the torch posture map 90 and the torch direction displacement speed map 92.
- the position and orientation of the welding torch 14 are set for each region where the curvatures of the outer peripheral edges e1 and e2 are different based on the torch posture map 90, and the direction of the welding torch 14 with respect to the outer peripheral edge is the same angle in all regions. Since it is set, welding defects due to insufficient penetration can be suppressed along the circumferential direction of the outer peripheral edge.
- the torch direction displacement speed map 92 is welded so that the heating time by the welding torch is constant at each set position v (v1, v2,%) Of the region R (R 1 , R 2 ,). Since the direction displacement speed of the torch 14 is set, the penetration depth can be made uniform along the circumferential direction of the outer peripheral edge, and welding defects due to insufficient penetration can be eliminated. Orientation displacement speed of the welding torch 14 with respect to the rotation direction a of the profiled plates P 1 and P 2, or to displace the orientation of the welding torch 14 in the same direction, or be easily changed depending displacing the opposite direction it can.
- the tip of the welding torch 14 is expressed as a coordinate at the intersection Pi between the y-axis of the two-dimensional coordinates and the outer peripheral edges e ⁇ b> 1 and e ⁇ b> 2, and the virtual passing through the intersection Pi A circle C is set.
- the direction of the welding torch 14 is set so as to have a constant angle with respect to the normal Ln passing through the intersection point Pi and the center point O 2 of the virtual circle C.
- FIG. 6 (A) shows a case where the turntable 12a, and the center point O 2 of the rotation center O 1 and the virtual circle C of 12b matches
- FIG. 6 (B) the rotation of the turntable 12a, 12b A case where the center O 1 and the center point O 2 of the virtual circle C do not coincide with each other is shown.
- the front end of the welding torch 14 is represented by coordinates at the intersection point Pi, so that the first control unit 28 always positions the front end of the welding torch 14 at the intersection point Pi at any rotational position of the deformed plate. Be controlled. Therefore, the position setting of the welding torch 14 becomes easy. Further, since the direction of the welding torch 14 is set to have a constant angle with respect to the normal line Ln, the direction of the welding torch 14 can always be a constant angle with respect to the tangent line Lt ′ of the outer peripheral edge. . Thereby, the penetration depth can be made uniform along the circumferential direction of the outer peripheral edge, and welding defects due to insufficient penetration can be suppressed. During actual welding, the tip of the welding torch 14 is arranged at a position shifted from the intersection Pi to the outside of the outer peripheral edges e1 and e2.
- the direction of the welding torch 14 is set to coincide with the normal line Ln.
- the welding torch 14 can be disposed at right angles to the tangent Lt ′ of the outer peripheral edge, so that the heat input amount at the outer peripheral edge can be maximized. Therefore, since the penetration depth of the outer peripheral edge can be maximized, welding defects due to insufficient penetration can be suppressed.
- 10A shows an example in which the direction of the welding torch 14 matches the normal line Ln (Example 1)
- FIG. 11A shows the direction in which the direction of the welding torch 14 does not match the normal line Ln.
- An example different from Ln by an angle ⁇ is shown (Example 2).
- Example 2 since the heat input amount at the outer peripheral edge is maximized, the penetration depth m1 of the welded portion w is maximized as shown in FIG. 10 (B). In Example 2, since the heat input amount at the outer peripheral edge is reduced as compared with Example 1, the penetration depth m2 of the welded portion w is reduced as compared with Example 1 as shown in FIG.
- One control unit may have all the functions of the first control unit 28 and the second control unit 29.
- the position and direction of the welding torch 14 can be controlled more precisely as the divided area R (R 1 , R 2 ,...) Of the outer peripheral edge is subdivided.
- the position and orientation of the welding torch 14 can be controlled more precisely if the outer peripheral edge is divided at a center angle ⁇ of 1 ° to 2 °.
- the welding torch 14 is, for example, gas welding in which a welding material is heated by a gas welding machine with the combustion heat of combustible gas, and an arc is generated between the welding material and the welding torch to generate a welding material. It is possible to use a welding torch used for arc welding (including plasma welding) or any other welding method.
- injection is performed not only from the first nozzle provided at the position close to the welding torch but also from the second nozzle provided on the downstream side in the rotation direction. Since the anti-oxidation effect by the shield gas is improved, welding defects such as welding burn can be suppressed.
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Abstract
Description
特許文献1に開示されたシェルアンドプレート式熱交換器の熱交換部は、多数の真円形プレートが重ね合わされて熱交換部を構成している。
溶接直後に溶接部にアフタシールドガスを噴射し溶接部を大気からシールドして溶接部の冷却を兼ねて溶接部の酸化を防止し、これによって、溶接焼けなどの溶接欠陥を防止することが行われる。特許文献2及び3には、アフタシールドガスを噴射するアフタシールドノズルを備える溶接装置が開示されている。
しかし、回転中心から外周縁までの長さが周方向で異なる異形プレートの外周縁同士を同じ方法で溶接する場合、外周縁の周方向で回転中心と外周縁との距離が異なるので、アフタシールドノズルを溶接された外周縁に対して常に最適な位置に配置することは容易ではない。
重ね合った2枚の異形プレートの外周縁同士を溶接する溶接装置であって、
前記2枚の異形プレートが重ね合った状態で固定される回転台と、
前記回転台に固定された前記2枚の異形プレートの外周縁に対向する位置に配置される溶接トーチを有するトーチユニットと、
前記溶接トーチより前記回転台の回転方向下流側に位置して前記溶接トーチに設けられ、前記回転方向に沿って並設されて前記外周縁に向かってシールドガスを噴射し、前記回転方向上流側に位置する第1ノズル及び前記回転方向下流側に位置する第2ノズルを含む複数のノズルを有するアフタシールド部と、
前記溶接トーチに設けられ前記第2ノズルを前記外周縁の周方向(前記回転方向と同一方向又は逆方向)へ回動させるノズル駆動部と、
前記第2ノズルから噴射される前記シールドガスが前記溶接トーチで溶接された前記外周縁に到達する距離が短くなる方向へ前記ノズルの向きを制御する制御部と、
を備える。
上記(1)の構成において、シールドガスによる酸化防止効果を高めるためには、異形プレートの溶接された外周縁に対してノズルを接近させることが望ましい。
回転方向上流側で溶接トーチの近傍に配置される第1ノズルは、必ずしも向き制御を行わなくても、酸化防止効果を得ることができる。
前記制御部は、前記2枚の異形プレートの回転中心を座標中心とした二次元座標に、少なくとも前記外周縁の曲率が異なる領域ごとに前記第2ノズルの向きが座標表記されたノズル姿勢マップを有し、
前記制御部は、前記ノズル姿勢マップに基づいて前記第2ノズルの向きを制御するものである。
上記(2)の構成によれば、ノズル姿勢マップに基づいて第2ノズルの向きが酸化防止効果を高めることができるように予め設定されるため、溶接後の外周縁の酸化防止効果を向上できる。
前記ノズル姿勢マップにおいて、
前記第2ノズルの向きは、前記第2ノズルに相対する前記外周縁の接線に対する前記ノズルの軸線の角度で表される。
上記(3)の構成によれば、ノズル姿勢マップにおいて、第2ノズルの向きを外周縁の接線に対する第2ノズルの軸線の角度で表すことで、上記二次元座標で第2ノズルの向きを設定するのが容易になる。
前記ノズル駆動部は、
前記第2ノズルに回動可能に取り付けられたピストンロッドを有するエアシリンダを含む。
上記(4)の構成によれば、上記ノズル駆動部を上記エアシリンダで構成することで簡素化かつ軽量化できる。そのため、ノズル駆動部を溶接トーチに設けてもトーチユニットの重量化をまねかず、トーチユニットの作動の負担とならない。
前記ノズル駆動部による前記第2ノズルの向き変動動作と共に前記第2ノズルを前記外周縁に向かって接近させるリンク機構を備える。
上記(5)の構成によれば、第2ノズルはノズル駆動部による向き変動動作と共に外周縁に接近できるので、シールドガスによる溶接部の遮蔽効果を高め、溶接部の酸化防止効果をさらに向上できる。
前記第1ノズルは前記リンク機構に取り付けられ、前記第2ノズルの向き変動動作と共に前記リンク機構によって前記第2ノズルと同一方向へ回動可能に構成されている。
上記(6)の構成によれば、第2ノズルの向き変動動作時に第1ノズルを協動させることで、溶接部の酸化防止効果をさらに向上できる。
前記複数のノズルに設けられ、前記ノズルから噴射されるシールドガスを前記異形プレートの表裏面に交差する方向に設けられ、シールドガス噴射空間を両側から覆う一対の耐熱性カバーを備える。
上記(7)の構成によれば、上記耐熱性カバーを備えることで、ノズルから噴き出したシールドガスがノズル及び溶接された外周縁の周囲から拡散するのを抑制できるため、溶接された外周縁の酸化防止効果を向上できる。
前記ノズルのノズル口は矩形断面を有し、
前記耐熱性カバーは、前記矩形断面を構成し前記外周縁に沿う方向に配置された隔壁の外面に取り付けられる。
上記(8)の構成によれば、耐熱性カバーを平坦な隔壁外面に取り付けるため、耐熱性カバーの取り付けが容易になる。また、耐熱性カバーによってノズル及び溶接された外周縁の周囲を、外周縁の表裏面と交差する方向両側から挟むように覆うので、シールドガスの拡散防止効果を向上でき、溶接された外周縁の酸化防止効果を向上できる。
例えば、「ある方向に」、「ある方向に沿って」、「平行」、「直交」、「中心」、「同心」或いは「同軸」等の相対的或いは絶対的な配置を表す表現は、厳密にそのような配置を表すのみならず、公差、若しくは、同じ機能が得られる程度の角度や距離をもって相対的に変位している状態も表すものとする。
例えば、「同一」、「等しい」及び「均質」等の物事が等しい状態であることを表す表現は、厳密に等しい状態を表すのみならず、公差、若しくは、同じ機能が得られる程度の差が存在している状態も表すものとする。
例えば、四角形状や円筒形状等の形状を表す表現は、幾何学的に厳密な意味での四角形状や円筒形状等の形状を表すのみならず、同じ効果が得られる範囲で、凹凸部や面取り部等を含む形状も表すものとする。
一方、一つの構成要素を「備える」、「具える」、「具備する」、「含む」、又は「有する」という表現は、他の構成要素の存在を除外する排他的な表現ではない。
回転台12a及び12bに固定された2枚の異形プレートP1及びP2の外周縁e1及びe2に対向する外側位置に溶接トーチ14が配置される。溶接トーチ14はトーチユニット16に取り付けられる。
また、アフタシールド部20は溶接トーチ14に設けられるため、独自の駆動部を必要とせず、低コスト化できる。また、溶接トーチ14に対する複数のノズル22a及び22bの相対位置を溶接部wに対するシールドガスの噴射タイミングが最適となるように予め正確に位置決めできる。
第1ノズル22aより回転方向下流側に配置される第2ノズル22bは、図6(B)に示すように、溶接部wの外周縁の曲率が大きい場合、外周縁から離れてしまうおそれがある。そこで、第1制御部28によってノズル駆動部26を制御し、第2ノズル22bを外周縁の周方向(通常第1ノズル22a側)へ回動させることで、第2ノズルから噴射されるシールドガスが溶接トーチ14で溶接された外周縁に到達する距離を短くする。これによって、第2ノズルから噴射されるシールドガスによる酸化防止効果を向上できる。
回転方向上流側で溶接トーチの近傍に配置される第1ノズル22aは、必ずしも向き可変動作を行わなくても、酸化防止効果を得ることができる。
一実施形態では、異形プレートP1及びP2は、特許文献1に開示される真円形プレートと同様に、シェルアンドプレート式熱交換器の熱交換部を形成する。異形プレートP1及びP2は、上記真円形プレートと同様に、図1に示すように、内側に冷媒が流通する内円の孔h1及びh2が形成される。内円の孔h1及びh2の内縁を3本の固定つめ(不図示)で合わせることにより、溶接対象となる2枚の異形プレートP1及びP2が重ね合わされた状態となる。
このように、ノズル姿勢マップ30に基づいて第2ノズル22bの向きが酸化防止効果を高めるように予め設定されるので、溶接部wの酸化防止効果を向上できる。
このように、第2ノズル22bの向きを二次元座標上で接線Ltに対する第2ノズル22bの軸線iの角度αで表すことで、第1制御部28による第2ノズル22bの向きを設定するのが容易になる。
上記構成によれば、ノズル駆動部26をエアシリンダ34で構成することで簡素化かつ軽量化できる。そのため、ノズル駆動部26を溶接トーチ14に設けてもトーチユニット16の重量化をまねかず、トーチユニット16の作動の負担とならない。
一実施形態では、図1に示すように、溶接トーチ14に固定板36が取り付けられ、第1ノズル22a及び第2ノズル22bは固定板36に取り付けられる。第2ノズル22bは軸38を介して固定板36に回動可能に取り付けられる。
上記構成によれば、第2ノズル22bをノズル駆動部26による向き変動動作と共に外周縁e1及びe2に接近させることができるので、シールドガスによる溶接部wの遮蔽効果をさらに向上できる。これによって、シールドガスによる溶接部wの酸化防止効果をさらに向上できる。
22bは、ノズル駆動部26によって第2ノズル22bを第1ノズル22a側へ回動させる実施形態のときの第2ノズル22bの位置を示す。22b’は、図8に示すリンク機構40をさらに備え、第2ノズル22bの回動と同時にリンク機構40によって第2ノズル22bを溶接部w側へ接近したときの第2ノズルの位置を示す。
上記構成によれば、第2ノズル22bの回動動作時に第1ノズル22aを溶接トーチ14側へ回動させることで、シールドガスによる溶接部wの遮蔽効果をさらに向上でき、これによって、溶接部wの酸化防止効果をさらに向上できる。
ピストンロッド32が伸びると、第2ノズル22bは第1ノズル22a側へ傾くと共に、外周縁e1及びe2へ接近する。同時に第1ノズル22aも溶接トーチ14側(矢印方向)へ傾く。
これによって、溶接部wの溶接直後に溶接部wを第1ノズル22a及び第2ノズル22bから噴射されるシールドガスによる遮蔽効果をさらに向上でき、溶接部wの酸化防止効果をさらに向上できる。
上記構成によれば、耐熱性カバー46a及び46bを備えることで、第1ノズル22a及び第2ノズル22bから噴き出したシールドガスが溶接部付近から拡散するのを抑制できるため、溶接部wの酸化防止効果を向上できる。
上記構成によれば、耐熱性カバー46a及び46bを平坦な隔壁外面に取り付けるため、耐熱性カバー46a及び46bの取り付けが容易になる。また、シールドガスGの溶接部wへの噴き付け時に、耐熱性カバー46a及び46bによって溶接部wを外周縁e1及びe2の表裏面と交差する方向両側から挟むように覆うので、溶接部wからのシールドガスGの拡散を効果的に抑制でき、溶接部wの酸化防止効果を向上できる。
耐熱性カバー46a及び46bは、例えば、耐熱ガラス製クロスで構成される。耐熱ガラス製クロスで構成することで軽量化が図られ、ノズルの向き制御が容易になる。
このように、第1制御部28によってノズル姿勢マップ30に基づいて第1ノズル22a及び第2ノズル22bの向きを制御するため、異形プレートP1及びP2の外周縁の形状に即応して外周縁e1及びe2の周方向に沿って第1ノズル22a及び第2ノズル22bから噴射シールドガスの溶接部wへの到達距離を常に短くすることができる。これによって、外周縁e1及びe2の周方向全域で溶接部wの酸化防止効果を向上できる。
これによって、第1ノズル22aの駆動部及び制御部が不要となり、低コスト化できる。
一実施形態では、図2及び図3に示すように、第1トーチ駆動部18は、外周縁e1及びe2の接線に対する溶接トーチ14の向きを可変とする向き可変部18aと、外周縁e1及びe2に対する溶接トーチ14の間隔を可変とする間隔可変部18bとを含む。
一実施形態では、間隔可変部18bは、外周縁e1及びe2に対する溶接トーチ14の先端の間隔を可変とする。
なお、実際の溶接では、溶接トーチ14の先端は、外周縁e1及びe2に対して外側に微小間隔だけずらした位置に配置される。
駆動部62によってボールネジ60が回動し、外周縁e1及びe2に対する溶接トーチ14の先端の間隔を可変とする。
図4に示すように、非接触センサ68の検出値は第2制御部29に入力される。第2制御部29は、異形プレートP1及びP2の表裏面と交差する方向において溶接トーチ14の位置が異形プレートP1及びP2の重ね合わせ位置に一致するように第2トーチ駆動部64を制御する。また、第2制御部29は、溶接トーチ14と外周縁e1及びe2との間隔が設定値となるように第3トーチ駆動部66を制御する。
一実施形態では、図2に示すように、非接触センサ68は固定板88を介して第2ブロック16bに固定される。従って、非接触センサ68は溶接トーチ14と共に矢印b、d及びf方向へ移動するため、独自の移動手段を必要としない。
一実施形態では、各駆動部54、62、74及び82は、正逆回転可能なサーボモータで構成され、第1制御部28又は第2制御部29によって正逆方向へ回転する。
このように、非接触センサとしてレーザ変位センサを用い、溶接光などの外乱によって乱されないレーザ光を用いるので、検出精度を向上できる。
特に、波長が長い青色レーザ光を発振するレーザ変位センサを用いることで、さらに検出精度を向上できる。
トーチ姿勢マップ90は、図6の(A)及び(B)に示すように、x軸及びy軸からなる二次元座標が用いられる。この二次元座標の座標中心(0、0)に回転台12a及び12bの回転中心(即ち、異形プレートP1、P2の回転中心)O1が配置される。
そして、図7に示すように、少なくとも外周縁e1、e2の曲率が異なる領域R(R1、R2、・・・)ごとに外周縁を分割し、分割された領域の各々の設定位置v(v1、v2、・・・)で溶接トーチ14の位置及び向きが座標表記される。溶接トーチ14の向きは、図6に示すように、すべての領域の設定位置で外周縁の接線Ltに対し同一角度となるように設定される。
第1制御部28は、トーチ姿勢マップ90及びトーチ向き変位速度マップ92に基づいて第1トーチ駆動部18を制御する。
トーチ向き変位速度マップ92は、領域R(R1、R2、・・・)の各々の設定位置v(v1、v2、・・・)で溶接トーチによる加熱時間が一定となるように、溶接トーチ14の向き変位速度が設定されるため、外周縁の周方向に沿って溶け込み深さを均一化でき、溶け込み不足による溶接欠陥をなくすことができる。
溶接トーチ14の向き変位速度は、異形プレートP1及びP2の回転方向aに対して、溶接トーチ14の向きを同一方向へ変位させるか、あるいは逆方向へ変位させるかによって容易に変えることができる。
なお、実際の溶接時には、溶接トーチ14の先端は交点Piから微小距離だけ外周縁e1及びe2の外側へずらした位置に配置される。
図10(A)は、溶接トーチ14の向きが法線Lnと一致する例を示し(例1)、図11(A)は、溶接トーチ14の向きが法線Lnと一致せず、法線Lnと角度βだけ異なる例を示す(例2)。例1の場合、外周縁の入熱量は最大となるため、図10(B)に示すように、溶接部wの溶け込み深さm1は最大となる。例2では、例1と比べて外周縁の入熱量は低減するため、図11(B)に示すように、溶接部wの溶け込み深さm2は例1より低減する。
また、外周縁の分割領域R(R1、R2、・・・)を細分化するほど、溶接トーチ14の位置及び向きを精密に制御できる。例えば、中心角度θを1°~2°ごとに外周縁を分割すれば、溶接トーチ14の位置及び向きを更に精密に制御できる。
12a、12b 回転台
14 溶接トーチ
16 トーチユニット
16a 第1ブロック
16b 第2ブロック
18 第1トーチ駆動部
18a 向き可変部
18b 間隔可変部
20 アフタシールド部
22a 第1ノズル
22b、22b’ 第2ノズル
24a、24b ノズル口
26 ノズル駆動部
28 第1制御部
29 第2制御部
30 ノズル姿勢マップ
32 ピストンロッド
34 エアシリンダ
36、88 固定板
40 リンク機構
46a、46b 耐熱性カバー
48 レール
50 ラック
52 ピニオン
54、62、74、82 駆動部
58、59、72 支持台
60、78、80 ボールネジ
63、86 スライドブロック
64 第2駆動部
66 第3トーチ駆動部
68 非接触センサ
76 ネジ軸
84 トーチ本体
90 トーチ姿勢マップ
92 トーチ向き変位速度マップ
C 仮想円
G シールドガス
Lt、Lt’ 接線
Ln 法線
P1、P2 異形プレート
Pi 交点
e1、e2 外周縁
h1、h2 孔
m1、m2 溶け込み深さ
s 合わせ面
w 溶接部
θ 中心角
Claims (8)
- 重ね合った2枚の異形プレートの外周縁同士を溶接する溶接装置であって、
前記2枚の異形プレートが重ね合った状態で固定される回転台と、
前記回転台に固定された前記2枚の異形プレートの外周縁に対向する位置に配置される溶接トーチを有するトーチユニットと、
前記溶接トーチより前記回転台の回転方向下流側に位置して前記溶接トーチに設けられ、前記回転方向に沿って並設されて前記外周縁に向かってシールドガスを噴射し、前記回転方向上流側に位置する第1ノズル及び前記第1ノズルより前記回転方向下流側に位置する第2ノズルを含む複数のノズルを有するアフタシールド部と、
前記溶接トーチに設けられ前記第2ノズルを前記外周縁の周方向へ回動させるノズル駆動部と、
前記第2ノズルから噴射される前記シールドガスが前記溶接トーチで溶接された前記外周縁に到達する距離が短くなる方向へ前記ノズルの向きを制御する制御部と、
を備えることを特徴とする溶接装置。 - 前記制御部は、前記2枚の異形プレートの回転中心を座標中心とした二次元座標に、少なくとも前記外周縁の曲率が異なる領域ごとに前記第2ノズルの向きが座標表記されたノズル姿勢マップを有し、
前記制御部は、前記ノズル姿勢マップに基づいて前記第2ノズルの向きを制御するものであることを特徴とする請求項1に記載の溶接装置。 - 前記ノズル姿勢マップにおいて、
前記第2ノズルの向きは、前記第2ノズルに相対する前記外周縁の接線に対する前記第2ノズルの軸線の角度で表されることを特徴とする請求項2に記載の溶接装置。 - 前記ノズル駆動部は、
前記第2ノズルに回動可能に取り付けられたピストンロッドを有するエアシリンダを含むことを特徴とする請求項1乃至3の何れか1項に記載の溶接装置。 - 前記ノズル駆動部による前記第2ノズルの向き変動動作と共に、前記第2ノズルを前記外周縁に向かって接近させるリンク機構を備えることを特徴とする請求項1乃至4の何れか1項に記載の溶接装置。
- 前記第1ノズルは前記リンク機構に取り付けられ、前記第2ノズルの向き変動動作と共に前記リンク機構によって前記第2ノズルと同一方向へ回動されることを特徴とする請求項5に記載の溶接装置。
- 前記複数のノズルに設けられ、前記ノズルから噴射されるシールドガスを前記異形プレートの表裏面に交差する方向に設けられ、シールドガス噴射空間を両側から覆う一対の耐熱性カバーを備えることを特徴とする請求項1乃至6の何れか1項に記載の溶接装置。
- 前記ノズルのノズル口は矩形断面を有し、
前記耐熱性カバーは、前記矩形断面を構成し前記外周縁に沿う方向に配置された隔壁の外面に取り付けられることを特徴とする請求項7に記載の溶接装置。
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