WO2021251065A1 - Gas shield jig and gas shield welding device - Google Patents

Gas shield jig and gas shield welding device Download PDF

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Publication number
WO2021251065A1
WO2021251065A1 PCT/JP2021/018513 JP2021018513W WO2021251065A1 WO 2021251065 A1 WO2021251065 A1 WO 2021251065A1 JP 2021018513 W JP2021018513 W JP 2021018513W WO 2021251065 A1 WO2021251065 A1 WO 2021251065A1
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Prior art keywords
gas
shield
torch
gas shield
welding
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PCT/JP2021/018513
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French (fr)
Japanese (ja)
Inventor
瑛介 黒澤
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株式会社神戸製鋼所
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Publication of WO2021251065A1 publication Critical patent/WO2021251065A1/en

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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
    • B23K9/02—Seam welding; Backing means; Inserts
    • B23K9/032—Seam welding; Backing means; Inserts for three-dimensional seams
    • 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
    • B23K9/04—Welding for other purposes than joining, e.g. built-up 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
    • B23K9/00—Arc welding or cutting
    • B23K9/16—Arc welding or cutting making use of shielding gas

Definitions

  • the present invention relates to a gas shield jig and a gas shield welding device.
  • Gas shielded arc welding is known in which a shield gas (inert gas) is supplied to a welded portion to shield the welded portion from air and prevent oxidation.
  • a nozzle for gas shield welding used for such gas shield arc welding is described in, for example, Patent Document 1.
  • the gas shield welding nozzle of Patent Document 1 is attached to a nozzle body and includes a shield member that surrounds the shield gas and shields air.
  • the shield member includes a shield core material having elasticity that can be deformed and restored in the radial direction, and an insulating heat-resistant sheet having a surface shape and electrical insulation that wraps the outer periphery of the shield core material.
  • the active metal has a strong affinity with the atmosphere, especially at high temperatures, so that it reacts with oxygen and nitrogen in the air to form oxides and nitrides.
  • the formed portions of oxides and nitrides after welding are hardened and weakened. Therefore, when welding the active metal, in order to avoid contact between the atmosphere and the active metal, a jig for after-shielding and back-shielding is generally used to perform local gas shielding near the torch.
  • a 3D printer for modeling a metal material uses a laser, an electron beam, or a heat source such as an arc to melt a metal powder or a metal wire and laminate the molten metal to produce a model.
  • a jig or the like may interfere with the laminated structure, which limits the trajectory planning of the torch movement.
  • the present invention has the following configuration.
  • a gas shield jig provided on a torch for gas shield welding that welds in a shield gas atmosphere and shields the periphery of the welded portion from the atmosphere.
  • the sheet member is a gas shield jig having an opening on the base end side of the torch.
  • a gas shield welding device provided with the gas shield jig of (1) on the torch for gas shield welding for welding in a shield gas atmosphere.
  • welding can be performed while reliably covering the periphery of the torch with a shield gas even during laminated molding in which obstacles are likely to occur in the orbit of the torch, and it is possible to suppress a decrease in the degree of freedom in designing the laminated model.
  • FIG. 1 is a schematic configuration diagram of a gas shield welding apparatus.
  • FIG. 2 is a front view showing a schematic configuration of a gas shield jig.
  • FIG. 3 is a cross-sectional view schematically showing the configuration of the after-shield portion.
  • FIG. 4 is an explanatory diagram schematically showing the flow of the shield gas by the gas shield jig during welding.
  • FIG. 5A is an explanatory diagram schematically showing a state in which the gas shield jig is held in the descending position
  • FIG. 5B is an explanatory diagram schematically showing a state in which the gas shield jig is held in the ascending position.
  • FIG. 6 (A) and 6 (B) are explanatory views showing a state of deformation of the skeleton member of the gas shield jig.
  • FIG. 7 is an explanatory diagram schematically showing how the gas shield jig moves while bending along the trajectory of the torch.
  • FIG. 1 is a schematic configuration diagram of a gas shield welding apparatus.
  • the gas shield welding device 100 includes a welding robot 11, a robot controller 13, a filler material supply unit 15, a shield gas supply unit 17, a welding power supply 19, and a control unit 21.
  • the welding robot 11 is an articulated robot, and the torch 23 is supported on the tip axis.
  • the position and posture of the torch 23 can be arbitrarily set three-dimensionally within the range of the degree of freedom of the robot arm.
  • the torch 23 holds the filler metal M continuously supplied from the filler metal supply unit 15 in a state of protruding from the tip of the torch.
  • the torch 23 has a shield nozzle (not shown), and shield gas is supplied to the welded portion from the shield nozzle.
  • the arc welding method may be either a consumable electrode type such as shielded metal arc welding or carbon dioxide arc welding, or a non-consumable electrode type such as TIG welding or plasma arc welding, and is appropriately selected according to the laminated model to be manufactured. Weld.
  • a contact tip is arranged inside the shield nozzle, and the filler metal M to which the melting current is supplied is held by the contact tip.
  • the torch 23 generates an arc from the tip of the filler metal M in a shield gas atmosphere while holding the filler metal M.
  • the filler metal M is fed to the torch 23 by a feeding mechanism (not shown) attached to a robot arm or the like. Then, when the filler metal M that is continuously fed is melted and solidified while moving the torch 23, a welded bead 29 that is a molten solidified body of the filler metal M is formed on the base plate 25.
  • the heat source for melting the filler metal M is not limited to the above-mentioned arc.
  • a heat source by another method such as a heating method using a combination of an arc and a laser, a heating method using plasma, a heating method using an electron beam or a laser may be adopted.
  • the amount of heating can be controlled more finely, the state of the welded bead can be maintained more appropriately, and the quality of the laminated model can be further improved.
  • any commercially available welding wire can be used.
  • JIS Z high tension steel and low temperature steel
  • the wire specified in 3313) or the like can be used.
  • An active metal such as titanium can also be used as the filler metal M. In that case, in order to avoid oxidation and nitriding due to the reaction with the atmosphere during welding, it is necessary to create a shield gas atmosphere in the welded portion.
  • the shield gas supply section supplies the inert gas to the weld section.
  • argon, helium (or a mixed gas thereof), or a gas to which a small amount of an active gas such as oxygen or carbon dioxide is added is used as a shield gas.
  • MAG welding carbon dioxide gas, a mixed gas of argon and carbon dioxide gas is used as a shield gas
  • TIG welding argon gas is used.
  • nitrogen, argon, helium or the like is used as a shield gas.
  • the torch 23 is attached with a gas shield jig 31 that surrounds the torch 23.
  • the robot controller 13 receives an instruction from the control unit 21 to drive each unit of the welding robot 11 and controls the output of the welding power supply as needed.
  • the control unit 21 is composed of a computer device including a CPU, memory, storage, etc., and executes a drive program prepared in advance or a drive program created under desired conditions to drive each unit such as the welding robot 11. As a result, the torch 23 moves according to the drive program, and the welded beads 29 having a plurality of layers are laminated on the base plate 25 to form the laminated model W having a multi-layer structure.
  • FIG. 2 is a front view showing a schematic configuration of the gas shield jig 31.
  • the gas shield jig 31 is provided so as to cover the support portion 33 fixed to the torch 23, the skeleton member 35 elastically deformably held by the support portion 33 and arranged around the torch 23, and the skeleton member 35.
  • a sheet member 37 that defines the surrounding space of the torch 23 is provided.
  • a gas supply unit 39 that supplies shield gas to the surrounding space of the torch 23 defined by the seat member 37 is further provided.
  • the support portion 33 is provided integrally with the fixing bracket 41 fixed to the torch 23 and the fixing bracket 41, and is arranged on the side opposite to the torch tip side of the support shaft 43 extending in the axial direction of the torch 23. It has a torch 45.
  • the slider 45 supports the skeleton member 35 and is fixed to the support shaft 43 together with the skeleton member 35 so as to be slidable in the axial direction and positionable in the axial direction.
  • the slider 45 functions as a slide mechanism for moving the skeleton member 35 and the seat member 37 along the axis of the torch 23.
  • the slide mechanism may be configured to slide by screwing a female screw provided on the slider 45 and a male screw provided on the support shaft 43, or may be slid by an actuator such as an air cylinder (not shown). There may be.
  • the skeleton member 35 has at least one support piece 35a supported by the slider 45, a first annular portion 35b, a second annular portion 35c, and a plurality of strut portions 35d.
  • the first annular portion 35b is connected to the support piece 35a and is arranged on the torch base end side.
  • the second annular portion 35c is arranged on the tip end side of the torch apart from the first annular portion 35b.
  • the strut portion 35d is provided by connecting the first annular portion 35b and the second annular portion 35c.
  • the first annular portion 35b and the second annular portion 35c are substantially circular, and the second annular portion 35c has a larger diameter than the first annular portion 35b.
  • the skeleton member 35 has a shape in which the hem expands from the torch base end side toward the torch tip side along the axis of the torch 23 (the diameter increases toward the torch tip side).
  • the seat member 37 is provided so as to cover the skeleton member 35 and shuts off the atmosphere so that the periphery of the torch 23 is filled with the shield gas.
  • An opening 37a is provided above the seat member 37 on the torch base end side to open the surrounding space of the torch 23 to the atmosphere. That is, the seat member 37 has a truncated cone shape (peripheral surface shape of the truncated cone) through which the upper surface and the bottom surface are penetrated, and is further extended from the tip edge (second annular portion 35c) where the hem of the skeleton member 35 is widened. Be done.
  • the sheet member 37 is integrated with the skeleton member 35 by adhering or locking at least a part of the portion in contact with the skeleton member 35 to the skeleton member 35.
  • the sheet member 37 is arranged near the torch 23, it is preferably a refractory sheet or a flameproof sheet. Further, if the whole or at least a part of the sheet member 27 is made of a translucent material, the state of the welded portion inside the sheet member 37 can be visually recognized, and the welded state can be easily monitored.
  • Examples of the flameproof sheet or non-combustible sheet include a sheet having flameproof properties specified in JIS A8952 "Building construction sheet", JIS A1323-1995 “Welding and fusing flame retardancy of building construction sheet”. Examples include type A, type B, and type C sheets specified in "Test Method”. Further, as an example of the sheet having translucency, for example, a transparent non-combustible sheet in which a base cloth of a glass fiber cloth is coated with a photocurable resin can be mentioned.
  • the gas shield jig 31 having this configuration further includes an after-shield portion 47 at the end of the support shaft 43 on the torch tip side, and a gas supply pipe 49 for supplying the shield gas to the after-shield portion 47.
  • the after-shield portion 47 is provided so as to extend toward the rear of the welding direction TD indicated by the arrow in FIG. That is, the after-shield portion 47 is arranged so as to cover the region after welding.
  • the torch 23 has a shield nozzle (not shown) that supplies the shield gas to the welded portion, and has a gas supply line that supplies the shield gas from the shield nozzle to the periphery of the torch inside the seat member 37. Separately from this gas supply line, it is preferable to supply the shield gas to the after-shield portion 47 through the gas supply pipe 49 described above.
  • the area after welding is covered by the gas shield jig 31. Therefore, the after-shield portion 47 and the gas supply pipe 49 can be omitted by adjusting the supply of the shield gas from the torch 23 depending on the welding conditions.
  • FIG. 4 is an explanatory diagram schematically showing the flow of the shield gas by the gas shield jig 31 during welding.
  • the tip edge 37b having a wide hem of the sheet member 37 is arranged so as to be in contact with or extend to a position close to the base plate 25 or the floor surface 63, the gap area from the tip edge 37b to the base plate 25 or the floor surface 63 is set. It is smaller than the opening area of the opening 37a. Therefore, the shield gas G is suppressed from leaking from the tip edge 37b of the seat member 37, and continues to stay under the torch surrounding space 61. As a result, the welded portion and the welded end portion are always covered with the shield gas G, and the barrier property with the atmosphere is improved.
  • FIG. 5A is an explanatory diagram schematically showing a state in which the gas shield jig 31 is held in a descending position
  • FIG. 5B is an explanatory diagram schematically showing a state in which the gas shield jig 31 is held in an ascending position.
  • the gap between the tip edge 37b of the sheet member 37 of the gas shield jig 31 and the floor surface 63 (or the base plate) is narrow (gap distance H1)
  • the supplied shield is provided.
  • the gas G stays once in the lower part of the torch peripheral space 61 surrounded by the sheet member 37, and then is discharged from the upper opening 37a.
  • the gas shield jig 31 has a structure that can be flexibly deformed. That is, the skeleton member 35 has an elastic restoring force in which the shape bent by the external force returns to the original shape by its own elasticity when the external force is released.
  • FIG. 6A and 6 (B) are explanatory views showing a state of deformation of the skeleton member 35 of the gas shield jig 31.
  • a spring 64 may be provided in a part of the support piece 35a.
  • the skeleton member 35 can be flexibly deformed even when an external force F is applied as shown in FIG. 6B.
  • the spring 64 is not limited to the support piece 35a, but may be provided on the first annular portion 35b, the second annular portion 35c, and the strut portion 35d. Further, in addition to the spring 64, a damper or other elastically deformable mechanism may be provided.
  • FIG. 7 is an explanatory diagram schematically showing how the gas shield jig 31 moves while bending along the trajectory of the torch.
  • the skeleton member 35 shown in FIG. 6 can be flexibly deformed, so that the sheet member 37 covers the space around the torch even when obstacles 65 and 67 are present along the welding direction TD. You can move while. Therefore, even if obstacles 65 and 67 are present, welding can be continued in a stable shield gas atmosphere.
  • the skeleton member 35 is formed in an annular shape (substantially circular shape), the space around the torch can be reliably secured and the gas shielding property can be maintained regardless of the direction in which the obstacle is present.
  • the interference with the obstacles 65 and 67 can be further reduced.
  • the slide operation of the gas shield jig 31 can be performed by specifying the slide timing, position, and slide amount from the information of the torch trajectory based on the stacking plan created in advance. Further, the state around the torch 23 may be imaged by a camera at the time of welding, and the above-mentioned slide timing, position, and slide amount may be determined in real time so as to avoid obstacles recognized from the obtained image pickup information.
  • the present invention is not limited to the above-described embodiment, and can be modified or applied by those skilled in the art based on the mutual combination of the configurations of the embodiments, the description of the specification, and the well-known technique.
  • the invention is planned and is included in the scope for which protection is sought.
  • a gas shield jig provided on a torch for gas shield welding that welds in a shield gas atmosphere and shields the periphery of the welded portion from the atmosphere.
  • the sheet member is a gas shield jig having an opening on the base end side of the torch.
  • the shield gas can be retained in the inner space of the seat member while having an inexpensive and simple structure, and even if an obstacle exists in the movement path of the torch, the skeleton member is obstructed.
  • elastically deforming according to the object it is possible to weld while surely covering the welded part with the shield gas.
  • the welding quality is improved and the torch movement path is less restricted, so that the degree of freedom in track planning can be increased.
  • the gas shield jig according to (1) or (2) which comprises a gas supply unit for supplying a shield gas to the inner space of the sheet member. According to this gas shield jig, the shield gas can be efficiently supplied to the inner space of the seat member together with the shield gas supplied from the torch.
  • the gas supply unit is arranged on the side of the torch and includes an after-shield portion that covers the welding end portion and a gas supply pipe that supplies shield gas to the after-shield portion (3).
  • Gas shield jig According to this gas shield jig, the weld end portion can be reliably covered with the shield gas, and the welding quality can be improved more reliably.
  • the skeleton member has an elastic restoring force in which a shape bent by an external force returns to the original shape by its own elasticity when the external force is released, whichever is one of (1) to (4).
  • the skeleton member has at least one support piece whose base end side is held by the support portion, a first annular portion connected to the tip end side of the support piece, and the torch rather than the first annular portion. It has a second annular portion arranged on the tip side and having a diameter larger than that of the first annular portion, and a plurality of support columns for connecting the first annular portion and the second annular portion (1) to (5).
  • the gas shield jig according to any one of the above. According to this gas shield jig, a large inner space of the seat member can be secured by forming the skeleton member into a frustum shape.
  • a gas shield welding apparatus provided with the gas shield jig according to any one of (1) to (9) on the torch for gas shield welding to be welded in a shield gas atmosphere.
  • this gas shield welding device when the gas shield jig follows an arbitrary movement of the torch and moves, the gas shield jig is deformable, so that the torch movement is not restricted and the torch is surely moved.
  • the surrounding area can be covered with a shield gas.

Abstract

A gas shield jig that is provided on a torch for gas shield welding for welding in a shield gas atmosphere and that shields the periphery of a weld from the atmosphere includes a support portion fixed to the torch, a skeletal member held by the support portion in an elastically deformable manner and arranged around the torch, and a seat member covering the skeletal member and surrounding the torch. The skeletal member is shaped in such a manner as to flare from a torch base end side toward a torch end side along an axis of the torch. The seat member has an opening at the torch base end side.

Description

ガスシールド治具、及びガスシールド溶接装置Gas shield jig and gas shield welding equipment
　本発明は、ガスシールド治具、及びガスシールド溶接装置に関する。 The present invention relates to a gas shield jig and a gas shield welding device.
　溶接部にシールドガス（不活性ガス）を供給して、溶接部を空気から遮蔽して酸化を防止するガスシールドアーク溶接が知られている。このようなガスシールドアーク溶接に用いるガスシールド溶接用ノズルが、例えば特許文献１に記載されている。
　特許文献１のガスシールド溶接用ノズルは、ノズル本体に取り付けられてシールドガスを囲繞するとともに、空気を遮蔽するシールド部材を具備する。シールド部材は、径方向に変形および復元可能な弾力性を持ったシールド芯材と、シールド芯材の外周を包む面状で電気絶縁性を有する絶縁耐熱シートとを備えている。 Gas shielded arc welding is known in which a shield gas (inert gas) is supplied to a welded portion to shield the welded portion from air and prevent oxidation. A nozzle for gas shield welding used for such gas shield arc welding is described in, for example, Patent Document 1.
The gas shield welding nozzle of Patent Document 1 is attached to a nozzle body and includes a shield member that surrounds the shield gas and shields air. The shield member includes a shield core material having elasticity that can be deformed and restored in the radial direction, and an insulating heat-resistant sheet having a surface shape and electrical insulation that wraps the outer periphery of the shield core material.
　ところで、チタン等の活性金属からなる母材、溶接ワイヤを用いる溶接においては、活性金属が、特に高温時において大気との親和力が強いため、空気中の酸素、窒素と反応して酸化物、窒化物を形成しやすい。溶接後の酸化物、窒化物の形成部分は、硬化及び脆弱化する。そのため、活性金属の溶接時には、大気と活性金属との接触を避けるため、一般的にアフターシールド・バックシールド用の治具を用いて、トーチ付近の局部的なガスシールドを実施している。 By the way, in welding using a base metal made of an active metal such as titanium or a welding wire, the active metal has a strong affinity with the atmosphere, especially at high temperatures, so that it reacts with oxygen and nitrogen in the air to form oxides and nitrides. Easy to form things. The formed portions of oxides and nitrides after welding are hardened and weakened. Therefore, when welding the active metal, in order to avoid contact between the atmosphere and the active metal, a jig for after-shielding and back-shielding is generally used to perform local gas shielding near the torch.
日本国特開２０１８－１４４０６６号公報Japanese Patent Application Laid-Open No. 2018-144066
　近年、生産手段として３Ｄプリンタを用いた造形のニーズが高まっており、金属材料を用いた造形の実用化に向けて研究開発が進められている。金属材料を造形する３Ｄプリンタは、レーザ又は電子ビーム、さらにはアーク等の熱源を用いて、金属粉体又は金属ワイヤを溶融させ、溶融金属を積層させることで造形物を作製する。しかし、上記のような活性金属をガスシールド溶接する場合、積層した構造物に治具等が干渉するおそれがあり、トーチ移動の軌道計画に制約を生じさせる。 In recent years, there has been an increasing need for modeling using a 3D printer as a means of production, and research and development is underway toward the practical application of modeling using metal materials. A 3D printer for modeling a metal material uses a laser, an electron beam, or a heat source such as an arc to melt a metal powder or a metal wire and laminate the molten metal to produce a model. However, when the above-mentioned active metal is gas-shielded welded, there is a possibility that a jig or the like may interfere with the laminated structure, which limits the trajectory planning of the torch movement.
　積層造形物の他の製造方法として、電子ビーム（ＥＢ）溶接、粉末ＬＭＤ（Laser Metal Deposition）、ＴＩＧ／ＭＩＧによる溶接が挙げられる。しかし、電子ビーム積層溶接では、真空チャンバー内での溶接となり、粉末ＬＭＤ，ＴＩＧ／ＭＩＧ方式では、造形物全体を密封した簡易チャンバーで囲い、シールドガス雰囲気下で積層することになる。そのため、いずれの場合も積層造形物の形状、サイズ、軌道計画に制約があり、設計自由度の低下は免れなかった。 Other manufacturing methods for laminated shaped objects include electron beam (EB) welding, powder LMD (Laser Metal Deposition), and TIG / MIG welding. However, in the electron beam laminated welding, the welding is performed in a vacuum chamber, and in the powder LMD, TIG / MIG method, the entire modeled object is surrounded by a sealed simple chamber and laminated in a shield gas atmosphere. Therefore, in each case, there are restrictions on the shape, size, and track planning of the laminated model, and the degree of freedom in design is inevitably reduced.
　そこで本発明は、トーチの軌道に障害物が生じやすい積層造形時であっても、トーチ周囲を確実にシールドガスで覆いながら溶接でき、積層造形物の設計自由度の低下を抑制できるガスシールド治具、及びガスシールド溶接装置を提供することを目的とする。 Therefore, according to the present invention, even during laminated molding in which obstacles are likely to occur in the orbit of the torch, welding can be performed while reliably covering the circumference of the torch with the shield gas, and the gas shield curing that can suppress a decrease in the degree of freedom in designing the laminated molded product. It is an object of the present invention to provide a tool and a gas shield welding device.
　本発明は下記の構成からなる。
（１）　シールドガス雰囲気で溶接するガスシールド溶接用のトーチに設けられ、溶接部の周囲を大気から遮断するガスシールド治具であって、
　前記トーチに固定される支持部と、
　前記支持部に弾性変形自在に保持されて、前記トーチを囲んで配置される骨格部材と、
　前記骨格部材を覆って設けられ、前記トーチの周囲を囲むシート部材と、
を備え、
　前記骨格部材は、前記トーチの軸線に沿ってトーチ基端側からトーチ先端側に向かうに従って裾広がりになる形状を有し、
　前記シート部材は、前記トーチ基端側に開口部を有する
ガスシールド治具。
（２）　シールドガス雰囲気で溶接するガスシールド溶接用の前記トーチに、（１）のガスシールド治具が設けられたガスシールド溶接装置。 The present invention has the following configuration.
(1) A gas shield jig provided on a torch for gas shield welding that welds in a shield gas atmosphere and shields the periphery of the welded portion from the atmosphere.
A support portion fixed to the torch and
A skeletal member that is elastically deformably held by the support portion and is arranged around the torch.
A sheet member provided so as to cover the skeleton member and surrounding the periphery of the torch, and a sheet member.
Equipped with
The skeleton member has a shape in which the hem expands from the torch base end side toward the torch tip side along the axis of the torch.
The sheet member is a gas shield jig having an opening on the base end side of the torch.
(2) A gas shield welding device provided with the gas shield jig of (1) on the torch for gas shield welding for welding in a shield gas atmosphere.
　本発明によれば、トーチの軌道に障害物が生じやすい積層造形時であっても、トーチ周囲を確実にシールドガスで覆いながら溶接でき、積層造形物の設計自由度の低下を抑制できる。 According to the present invention, welding can be performed while reliably covering the periphery of the torch with a shield gas even during laminated molding in which obstacles are likely to occur in the orbit of the torch, and it is possible to suppress a decrease in the degree of freedom in designing the laminated model.
図１は、ガスシールド溶接装置の概略構成図である。FIG. 1 is a schematic configuration diagram of a gas shield welding apparatus. 図２は、ガスシールド治具の概略構成を示す正面図である。FIG. 2 is a front view showing a schematic configuration of a gas shield jig. 図３は、アフターシールド部の構成を模式的に示す断面図である。FIG. 3 is a cross-sectional view schematically showing the configuration of the after-shield portion. 図４は、溶接中のガスシールド治具によるシールドガスの流れを模式的に示す説明図である。FIG. 4 is an explanatory diagram schematically showing the flow of the shield gas by the gas shield jig during welding. 図５の（Ａ）は、ガスシールド治具を下降位置で保持した状態、（Ｂ）は、ガスシールド治具を上昇位置で保持した状態を模式的に示す説明図である。FIG. 5A is an explanatory diagram schematically showing a state in which the gas shield jig is held in the descending position, and FIG. 5B is an explanatory diagram schematically showing a state in which the gas shield jig is held in the ascending position. 図６の（Ａ），（Ｂ）は、ガスシールド治具の骨格部材の変形の様子を示す説明図である。6 (A) and 6 (B) are explanatory views showing a state of deformation of the skeleton member of the gas shield jig. 図７は、トーチの軌道に沿って、ガスシールド治具が撓みながら移動する様子を模式的に示す説明図である。FIG. 7 is an explanatory diagram schematically showing how the gas shield jig moves while bending along the trajectory of the torch.
　以下、本発明に係るガスシールド治具を備えるガスシールド溶接装置の一実施形態について、図面を参照して詳細に説明する。ここでは、アークガスシールド溶接の場合を例に説明するが、本発明はこれに限らず、レーザ溶接等の他の溶接方式を用いた場合にも適用できる。 Hereinafter, an embodiment of a gas shield welding apparatus including the gas shield jig according to the present invention will be described in detail with reference to the drawings. Here, the case of arc gas shield welding will be described as an example, but the present invention is not limited to this, and can be applied to the case of using other welding methods such as laser welding.
＜ガスシールド溶接装置＞
　図１は、ガスシールド溶接装置の概略構成図である。
　ガスシールド溶接装置１００は、溶接ロボット１１と、ロボットコントローラ１３と、溶加材供給部１５と、シールドガス供給部１７と、溶接電源１９と、制御部２１と、を備える。 <Gas shield welding equipment>
FIG. 1 is a schematic configuration diagram of a gas shield welding apparatus.
The gas shield welding device 100 includes a welding robot 11, a robot controller 13, a filler material supply unit 15, a shield gas supply unit 17, a welding power supply 19, and a control unit 21.
　溶接ロボット１１は、多関節ロボットであり、先端軸にトーチ２３が支持される。トーチ２３の位置及び姿勢は、ロボットアームの自由度の範囲で３次元的に任意に設定可能となっている。トーチ２３は、溶加材供給部１５から連続供給される溶加材Ｍをトーチ先端から突出した状態に保持する。 The welding robot 11 is an articulated robot, and the torch 23 is supported on the tip axis. The position and posture of the torch 23 can be arbitrarily set three-dimensionally within the range of the degree of freedom of the robot arm. The torch 23 holds the filler metal M continuously supplied from the filler metal supply unit 15 in a state of protruding from the tip of the torch.
　トーチ２３は、不図示のシールドノズルを有し、シールドノズルからシールドガスが溶接部に供給される。アーク溶接法としては、被覆アーク溶接又は炭酸ガスアーク溶接等の消耗電極式、ＴＩＧ溶接又はプラズマアーク溶接等の非消耗電極式のいずれであってもよく、作製する積層造形物に応じて適宜選定される。 The torch 23 has a shield nozzle (not shown), and shield gas is supplied to the welded portion from the shield nozzle. The arc welding method may be either a consumable electrode type such as shielded metal arc welding or carbon dioxide arc welding, or a non-consumable electrode type such as TIG welding or plasma arc welding, and is appropriately selected according to the laminated model to be manufactured. Weld.
　例えば、消耗電極式の場合、シールドノズルの内部にはコンタクトチップが配置され、溶融電流が給電される溶加材Ｍがコンタクトチップに保持される。トーチ２３は、溶加材Ｍを保持しつつ、シールドガス雰囲気で溶加材Ｍの先端からアークを発生する。溶加材Ｍは、ロボットアーム等に取り付けた不図示の繰り出し機構によりトーチ２３に送給される。そして、トーチ２３を移動しつつ、連続送給される溶加材Ｍを溶融及び凝固させると、ベースプレート２５上に溶加材Ｍの溶融凝固体である溶着ビード２９が形成される。 For example, in the case of the consumable electrode type, a contact tip is arranged inside the shield nozzle, and the filler metal M to which the melting current is supplied is held by the contact tip. The torch 23 generates an arc from the tip of the filler metal M in a shield gas atmosphere while holding the filler metal M. The filler metal M is fed to the torch 23 by a feeding mechanism (not shown) attached to a robot arm or the like. Then, when the filler metal M that is continuously fed is melted and solidified while moving the torch 23, a welded bead 29 that is a molten solidified body of the filler metal M is formed on the base plate 25.
　溶加材Ｍを溶融させる熱源としては、上記したアークに限らない。例えば、アークとレーザとを併用した加熱方式、プラズマを用いる加熱方式、電子ビーム又はレーザを用いる加熱方式等、他の方式による熱源を採用してもよい。電子ビーム又はレーザにより加熱する場合、加熱量をさらに細かく制御でき、溶着ビードの状態をより適正に維持して、積層造形物の更なる品質向上に寄与できる。 The heat source for melting the filler metal M is not limited to the above-mentioned arc. For example, a heat source by another method such as a heating method using a combination of an arc and a laser, a heating method using plasma, a heating method using an electron beam or a laser may be adopted. When heating by an electron beam or a laser, the amount of heating can be controlled more finely, the state of the welded bead can be maintained more appropriately, and the quality of the laminated model can be further improved.
　溶加材Ｍは、あらゆる市販の溶接ワイヤを用いることができる。例えば、軟鋼，高張力鋼及び低温用鋼用のマグ（ＭＡＧ）溶接及びミグ（ＭＩＧ）溶接ソリッドワイヤ（ＪＩＳ　Ｚ　３３１２）、軟鋼，高張力鋼及び低温用鋼用アーク溶接フラックス入りワイヤ（ＪＩＳ　Ｚ　３３１３）等で規定されるワイヤを用いることができる。 As the filler metal M, any commercially available welding wire can be used. For example, mug (MAG) welding and MIG welding solid wire (JIS Z 3312) for mild steel, high tension steel and low temperature steel, arc welding flux-filled wire for mild steel, high tension steel and low temperature steel (JIS Z). The wire specified in 3313) or the like can be used.
　溶加材Ｍとしてチタンのような活性金属を用いることもできる。その場合、溶接時に大気との反応による酸化、窒化を回避するため、溶接部をシールドガス雰囲気にすることが必要となる。 An active metal such as titanium can also be used as the filler metal M. In that case, in order to avoid oxidation and nitriding due to the reaction with the atmosphere during welding, it is necessary to create a shield gas atmosphere in the welded portion.
　シールドガス供給部は、不活性ガスを溶接部に供給する。ＭＩＧ溶接ではアルゴン、ヘリウム（又はこれらの混合ガス）、あるいは、これに酸素、炭酸ガスのような活性ガスを少量添加したガスをシールドガスとして用いる。一方、ＭＡＧ溶接では炭酸ガス、アルゴンと炭酸ガスの混合ガスをシールドガスとし、ＴＩＧ溶接ではアルゴンガスを用いる。さらに、レーザ溶接では、窒素、アルゴン、ヘリウム等をシールドガスとする。 The shield gas supply section supplies the inert gas to the weld section. In MIG welding, argon, helium (or a mixed gas thereof), or a gas to which a small amount of an active gas such as oxygen or carbon dioxide is added is used as a shield gas. On the other hand, in MAG welding, carbon dioxide gas, a mixed gas of argon and carbon dioxide gas is used as a shield gas, and in TIG welding, argon gas is used. Further, in laser welding, nitrogen, argon, helium or the like is used as a shield gas.
　トーチ２３には、詳細は後述するが、トーチ２３の周囲を囲むガスシールド治具３１が取り付けられる。 Although the details will be described later, the torch 23 is attached with a gas shield jig 31 that surrounds the torch 23.
　ロボットコントローラ１３は、制御部２１からの指示を受けて、溶接ロボット１１の各部を駆動し、必要に応じて溶接電源の出力を制御する。 The robot controller 13 receives an instruction from the control unit 21 to drive each unit of the welding robot 11 and controls the output of the welding power supply as needed.
　制御部２１は、ＣＰＵ、メモリ、ストレージ等を備えるコンピュータ装置により構成され、予め用意された駆動プログラム、又は所望の条件で作成した駆動プログラムを実行して、溶接ロボット１１等の各部を駆動する。これにより、駆動プログラムに応じてトーチ２３が移動して、ベースプレート２５上に複数層の溶着ビード２９を積層することで、多層構造の積層造形物Ｗが造形される。 The control unit 21 is composed of a computer device including a CPU, memory, storage, etc., and executes a drive program prepared in advance or a drive program created under desired conditions to drive each unit such as the welding robot 11. As a result, the torch 23 moves according to the drive program, and the welded beads 29 having a plurality of layers are laminated on the base plate 25 to form the laminated model W having a multi-layer structure.
＜ガスシールド治具＞
　図２は、ガスシールド治具３１の概略構成を示す正面図である。
　ガスシールド治具３１は、トーチ２３に固定される支持部３３と、支持部３３に弾性変形自在に保持され、トーチ２３を囲んで配置される骨格部材３５と、骨格部材３５を覆って設けられ、トーチ２３の周囲空間を画成するシート部材３７と、を備える。本構成では、シート部材３７により画成されたトーチ２３の周囲空間にシールドガスを供給するガス供給部３９を更に備える。 <Gas shield jig>
FIG. 2 is a front view showing a schematic configuration of the gas shield jig 31.
The gas shield jig 31 is provided so as to cover the support portion 33 fixed to the torch 23, the skeleton member 35 elastically deformably held by the support portion 33 and arranged around the torch 23, and the skeleton member 35. A sheet member 37 that defines the surrounding space of the torch 23 is provided. In this configuration, a gas supply unit 39 that supplies shield gas to the surrounding space of the torch 23 defined by the seat member 37 is further provided.
　支持部３３は、トーチ２３に固定される固定金具４１と、固定金具４１と一体に設けられ、トーチ２３の軸方向に延びる支持軸４３と、支持軸４３のトーチ先端側と反対側に配置されたスライダ４５とを有する。 The support portion 33 is provided integrally with the fixing bracket 41 fixed to the torch 23 and the fixing bracket 41, and is arranged on the side opposite to the torch tip side of the support shaft 43 extending in the axial direction of the torch 23. It has a torch 45.
　スライダ４５は、骨格部材３５を支持し、骨格部材３５と共に支持軸４３の軸方向へスライド可能に、且つ軸方向に位置決め可能に支持軸４３に固定される。スライダ４５は、骨格部材３５及びシート部材３７をトーチ２３の軸線に沿って移動させるスライド機構として機能する。このスライド機構としては、例えば、スライダ４５に設けた雌ねじと、支持軸４３に設けた雄ねじとの螺合によってスライドさせる構成であってもよく、不図示のエアシリンダ等のアクチュエータによってスライドさせる構成であってもよい。 The slider 45 supports the skeleton member 35 and is fixed to the support shaft 43 together with the skeleton member 35 so as to be slidable in the axial direction and positionable in the axial direction. The slider 45 functions as a slide mechanism for moving the skeleton member 35 and the seat member 37 along the axis of the torch 23. The slide mechanism may be configured to slide by screwing a female screw provided on the slider 45 and a male screw provided on the support shaft 43, or may be slid by an actuator such as an air cylinder (not shown). There may be.
　骨格部材３５は、スライダ４５に支持される少なくとも１つの支持片３５ａと、第１環状部３５ｂと、第２環状部３５ｃと、複数の支柱部３５ｄとを有する。第１環状部３５ｂは、支持片３５ａに接続されてトーチ基端側に配置される。第２環状部３５ｃは、第１環状部３５ｂと離隔してトーチ先端側に配置される。支柱部３５ｄは、第１環状部３５ｂと第２環状部３５ｃとを連結して設けられる。第１環状部３５ｂと第２環状部３５ｃは略円形であり、第２環状部３５ｃは第１環状部３５ｂよりも大径にされる。これにより、骨格部材３５は、トーチ２３の軸線に沿ってトーチ基端側からトーチ先端側に向かうに従って裾広がりになる形状（トーチ先端側ほど拡径する形状）を有する。 The skeleton member 35 has at least one support piece 35a supported by the slider 45, a first annular portion 35b, a second annular portion 35c, and a plurality of strut portions 35d. The first annular portion 35b is connected to the support piece 35a and is arranged on the torch base end side. The second annular portion 35c is arranged on the tip end side of the torch apart from the first annular portion 35b. The strut portion 35d is provided by connecting the first annular portion 35b and the second annular portion 35c. The first annular portion 35b and the second annular portion 35c are substantially circular, and the second annular portion 35c has a larger diameter than the first annular portion 35b. As a result, the skeleton member 35 has a shape in which the hem expands from the torch base end side toward the torch tip side along the axis of the torch 23 (the diameter increases toward the torch tip side).
　シート部材３７は、骨格部材３５を覆って設けられ、トーチ２３の周囲がシールドガスによって満たされるように、大気を遮断する。このシート部材３７のトーチ基端側となる上方には開口部３７ａが設けられ、トーチ２３の周囲空間を大気に解放している。つまり、シート部材３７は、上面及び底面が貫通された円錐台形状（円錐台の周面形状）を有し、骨格部材３５の裾広がりした先端縁（第２環状部３５ｃ）から更に延びて設けられる。シート部材３７は、骨格部材３５に接する部分の少なくとも一部が骨格部材３５と接着されるか、係止されることで骨格部材３５と一体にされる。 The seat member 37 is provided so as to cover the skeleton member 35 and shuts off the atmosphere so that the periphery of the torch 23 is filled with the shield gas. An opening 37a is provided above the seat member 37 on the torch base end side to open the surrounding space of the torch 23 to the atmosphere. That is, the seat member 37 has a truncated cone shape (peripheral surface shape of the truncated cone) through which the upper surface and the bottom surface are penetrated, and is further extended from the tip edge (second annular portion 35c) where the hem of the skeleton member 35 is widened. Be done. The sheet member 37 is integrated with the skeleton member 35 by adhering or locking at least a part of the portion in contact with the skeleton member 35 to the skeleton member 35.
　シート部材３７は、トーチ２３近くに配置されるため、耐火シート又は防炎シートであることが好ましい。また、シート部材２７の全体又は少なくとも一部が透光性を有する材料であれば、シート部材３７の内側となる溶接部の様子を視認でき、溶接状態を簡単に監視できる。 Since the sheet member 37 is arranged near the torch 23, it is preferably a refractory sheet or a flameproof sheet. Further, if the whole or at least a part of the sheet member 27 is made of a translucent material, the state of the welded portion inside the sheet member 37 can be visually recognized, and the welded state can be easily monitored.
　防炎シート又は不燃シートとしては、例えば、ＪＩＳ　Ａ　８９５２　「建築用工事シート」に定められた防炎性を備えるシート、ＪＩＳ　Ａ　１３２３－１９９５　「建築工事用シートの溶接及び溶断火花に対する難燃性試験方法」に定められたＡ種、Ｂ種、Ｃ種のシート等が一例として挙げられる。また、透光性を有するシートとしては、例えば、ガラス繊維クロスの基布に光硬化樹脂をコーティングした透明不燃シート等が一例として挙げられる。 Examples of the flameproof sheet or non-combustible sheet include a sheet having flameproof properties specified in JIS A8952 "Building construction sheet", JIS A1323-1995 "Welding and fusing flame retardancy of building construction sheet". Examples include type A, type B, and type C sheets specified in "Test Method". Further, as an example of the sheet having translucency, for example, a transparent non-combustible sheet in which a base cloth of a glass fiber cloth is coated with a photocurable resin can be mentioned.
　本構成のガスシールド治具３１は、支持軸４３のトーチ先端側の端部にアフターシールド部４７と、アフターシールド部４７にシールドガスを供給するガス供給管４９とを更に備える。アフターシールド部４７は、図２に矢印で示す溶接方向ＴＤの後方に向けて延びて設けられる。つまり、アフターシールド部４７は、溶接後の領域を覆うように配置される。 The gas shield jig 31 having this configuration further includes an after-shield portion 47 at the end of the support shaft 43 on the torch tip side, and a gas supply pipe 49 for supplying the shield gas to the after-shield portion 47. The after-shield portion 47 is provided so as to extend toward the rear of the welding direction TD indicated by the arrow in FIG. That is, the after-shield portion 47 is arranged so as to cover the region after welding.
　図３は、アフターシールド部４７の構成を模式的に示す断面図である。
　アフターシールド部４７は、開口部５１ａを有する箱形の筐体５１と、開口部５１ａを覆う銅又はステンレス材からなる金網５３と、筐体５１の内部に配置される整流体５５と、を有する。筐体５１の底面５１ｂ（図３の上面）にガス供給管４９が接続され、筐体５１内にシールドガスＧが供給される。整流体５５は、ガス供給管４９の接続部５７との間に空間５９を設けて配置され、スチールウール又はメッシュの積層材からなる。筐体５１内に供給されたシールドガスＧは、整流体５５によってガスの流れを層流化された後、金網５３を通じて排出される。上記のアフターシールド部４７は一例であって、筐体５１内を空洞としてもよい。 FIG. 3 is a cross-sectional view schematically showing the configuration of the after-shield portion 47.
The after-shield portion 47 has a box-shaped housing 51 having an opening 51a, a wire mesh 53 made of a copper or stainless steel material covering the opening 51a, and a rectifying body 55 arranged inside the housing 51. .. A gas supply pipe 49 is connected to the bottom surface 51b (upper surface of FIG. 3) of the housing 51, and the shield gas G is supplied into the housing 51. The rectifying body 55 is arranged with a space 59 provided between the connecting portion 57 of the gas supply pipe 49, and is made of a laminated material of steel wool or mesh. The shield gas G supplied into the housing 51 is discharged through the wire mesh 53 after the gas flow is laminarized by the rectifying body 55. The after-shield portion 47 is an example, and the inside of the housing 51 may be hollow.
　前述したように、トーチ２３は、シールドガスを溶接部に供給する不図示のシールドノズルを有し、シールドノズルからシート部材３７の内側のトーチ周囲にシールドガスを供給するガス供給ラインを有する。このガス供給ラインとは別に、上記したガス供給管４９を通じてアフターシールド部４７にシールドガスを供給することが好ましい。 As described above, the torch 23 has a shield nozzle (not shown) that supplies the shield gas to the welded portion, and has a gas supply line that supplies the shield gas from the shield nozzle to the periphery of the torch inside the seat member 37. Separately from this gas supply line, it is preferable to supply the shield gas to the after-shield portion 47 through the gas supply pipe 49 described above.
　本構成においては、ガスシールド治具３１により溶接後の領域が覆われる。そのため、アフターシールド部４７とガス供給管４９は、溶接条件によってはトーチ２３からのシールドガスの供給を調整することで、省略することもできる。 In this configuration, the area after welding is covered by the gas shield jig 31. Therefore, the after-shield portion 47 and the gas supply pipe 49 can be omitted by adjusting the supply of the shield gas from the torch 23 depending on the welding conditions.
＜ガスシールド治具の作用＞
　次に、ガスシールド治具３１の作用について説明する。
　図４は、溶接中のガスシールド治具３１によるシールドガスの流れを模式的に示す説明図である。 <Action of gas shield jig>
Next, the operation of the gas shield jig 31 will be described.
FIG. 4 is an explanatory diagram schematically showing the flow of the shield gas by the gas shield jig 31 during welding.
　トーチ２３からアークを発生させてベースプレート２５上に積層造形物Ｗを造形する場合、トーチ２３からシールドガスが溶接部に供給されるとともに、ガス供給管４９を通してアフターシールド部４７からシールドガスＧが供給される。供給されたシールドガスＧは、シート部材３７で囲まれたトーチ周囲空間６１を対流する。具体的には、アルゴン又は炭酸ガス等のシールドガスＧは、比重が空気より大きいため、トーチ周囲空間６１の下方に溜まる。一方、シート部材３７のトーチ基端側（図４の上方）には開口部３７ａが設けられており、溶接時のヒューム、及び余剰となったシールドガスＧがトーチ周囲空間６１から排出される。 When an arc is generated from the torch 23 to form the laminated model W on the base plate 25, the shield gas is supplied to the welded portion from the torch 23, and the shield gas G is supplied from the after-shield portion 47 through the gas supply pipe 49. Will be done. The supplied shield gas G convects the torch peripheral space 61 surrounded by the seat member 37. Specifically, since the shield gas G such as argon or carbon dioxide has a specific gravity larger than that of air, it accumulates below the torch surrounding space 61. On the other hand, an opening 37a is provided on the torch base end side (upper side of FIG. 4) of the sheet member 37, and the fume at the time of welding and the surplus shield gas G are discharged from the torch surrounding space 61.
　一方、シート部材３７の裾広がりした先端縁３７ｂは、ベースプレート２５又は床面６３と接するか、近い位置まで延びて配置されるため、先端縁３７ｂからベースプレート２５又は床面６３までの隙間面積は、開口部３７ａの開口面積と比較して小さい。そのため、シールドガスＧは、シート部材３７の先端縁３７ｂからの漏出が抑制され、トーチ周囲空間６１の下側で滞留し続ける。これにより、溶接部、及び溶接終了部は、常時シールドガスＧで覆われて、大気との遮断性が向上する。 On the other hand, since the tip edge 37b having a wide hem of the sheet member 37 is arranged so as to be in contact with or extend to a position close to the base plate 25 or the floor surface 63, the gap area from the tip edge 37b to the base plate 25 or the floor surface 63 is set. It is smaller than the opening area of the opening 37a. Therefore, the shield gas G is suppressed from leaking from the tip edge 37b of the seat member 37, and continues to stay under the torch surrounding space 61. As a result, the welded portion and the welded end portion are always covered with the shield gas G, and the barrier property with the atmosphere is improved.
　図５の（Ａ）は、ガスシールド治具３１を下降位置で保持した状態、（Ｂ）は、ガスシールド治具３１を上昇位置で保持した状態を模式的に示す説明図である。
　図５の（Ａ）に示すように、ガスシールド治具３１のシート部材３７の先端縁３７ｂと床面６３（又はベースプレート）との間の隙間が狭い場合（隙間距離Ｈ１）、供給されたシールドガスＧは、シート部材３７で囲まれたトーチ周囲空間６１の下部で一度滞留した後に、上方の開口部３７ａから排出される。 FIG. 5A is an explanatory diagram schematically showing a state in which the gas shield jig 31 is held in a descending position, and FIG. 5B is an explanatory diagram schematically showing a state in which the gas shield jig 31 is held in an ascending position.
As shown in FIG. 5A, when the gap between the tip edge 37b of the sheet member 37 of the gas shield jig 31 and the floor surface 63 (or the base plate) is narrow (gap distance H1), the supplied shield is provided. The gas G stays once in the lower part of the torch peripheral space 61 surrounded by the sheet member 37, and then is discharged from the upper opening 37a.
　一方、図５の（Ｂ）に示すように、ガスシールド治具３１のシート部材３７の先端縁３７ｂと床面６３（又はベースプレート）との間の隙間が広い場合（隙間距離Ｈ２）、供給されたシールドガスＧは、下方の隙間からも排出されて、トーチ周囲空間６１での滞留時間が短くなる。したがって、ガスシールド治具３１をトーチ軸方向にスライドさせて、床面６３（又はベースプレート）との隙間を調整することで、トーチ周囲空間６１におけるシールドガスＧの濃度、圧力、入れ替わり頻度等の溶接環境条件を変更できる。これによれば、溶接対象に応じた溶接条件の適正化が図れ、溶接品質を向上できる。 On the other hand, as shown in FIG. 5B, when the gap between the tip edge 37b of the sheet member 37 of the gas shield jig 31 and the floor surface 63 (or the base plate) is wide (gap distance H2), the supply is supplied. The shield gas G is also discharged from the lower gap, and the residence time in the torch surrounding space 61 is shortened. Therefore, by sliding the gas shield jig 31 in the torch axis direction and adjusting the gap with the floor surface 63 (or the base plate), welding of the shield gas G concentration, pressure, replacement frequency, etc. in the torch surrounding space 61 is performed. Environmental conditions can be changed. According to this, the welding conditions can be optimized according to the welding target, and the welding quality can be improved.
　また、図５の（Ｂ）に示すように、ガスシールド治具３１をトーチ２３の軸線方向に移動することで、トーチ２３の移動経路に障害物が存在する場合でも、障害物との干渉を軽減又は防止できる。よって、溶接パスの軌道設計に制約を生じさせることがなく、積層造形物の形状の自由度を向上できる。また、ガスシールド治具３１を上側に移動させ、トーチ２３がガスシールド治具３１から表出させることで、トーチ２３のメンテナンスがしやすくなる利点もある。その場合、トーチ２３の表面に溜まるスパッタ等の異物を簡単に除去できる。 Further, as shown in FIG. 5B, by moving the gas shield jig 31 in the axial direction of the torch 23, even if an obstacle exists in the movement path of the torch 23, the interference with the obstacle can be prevented. Can be mitigated or prevented. Therefore, there is no restriction on the trajectory design of the welding path, and the degree of freedom in the shape of the laminated model can be improved. Further, by moving the gas shield jig 31 upward and allowing the torch 23 to be exposed from the gas shield jig 31, there is an advantage that the maintenance of the torch 23 becomes easy. In that case, foreign matter such as spatter accumulated on the surface of the torch 23 can be easily removed.
　さらに、ガスシールド治具３１は、柔軟に変形できる構造である。つまり、骨格部材３５は、外力によって撓んだ形状が、その外力が解除されると自身の弾性によって元の形状に復帰する弾性復元力を有する。 Furthermore, the gas shield jig 31 has a structure that can be flexibly deformed. That is, the skeleton member 35 has an elastic restoring force in which the shape bent by the external force returns to the original shape by its own elasticity when the external force is released.
　骨格部材３５は、シート部材３７の形状を維持できる程度の強度があればよく、スチール線、ピアノ線、硬鋼線、ステレス線等の金属製の線材、樹脂製の線材で構成される。更に線材に限らず、帯材、板材等を単独、又は組み合わせて構成してもよい。 The skeleton member 35 only needs to have enough strength to maintain the shape of the sheet member 37, and is composed of a metal wire such as a steel wire, a piano wire, a hard steel wire, and a steles wire, and a resin wire. Further, the wire rod is not limited to the wire rod, and the strip material, the plate material and the like may be configured alone or in combination.
　図６の（Ａ），（Ｂ）は、ガスシールド治具３１の骨格部材３５の変形の様子を示す説明図である。
　図６の（Ａ）に示すように、支持片３５ａの一部にばね６４を設けてもよい。その場合、骨格部材３５は、図６の（Ｂ）に示すように外力Ｆが負荷されても柔軟に変形できる。ばね６４は、支持片３５ａに限らず、第１環状部３５ｂ、第２環状部３５ｃ、支柱部３５ｄに設けてもよい。また、ばね６４の他に、ダンパ又は他の弾性変形自在な機構を設けてもよい。 6 (A) and 6 (B) are explanatory views showing a state of deformation of the skeleton member 35 of the gas shield jig 31.
As shown in FIG. 6A, a spring 64 may be provided in a part of the support piece 35a. In that case, the skeleton member 35 can be flexibly deformed even when an external force F is applied as shown in FIG. 6B. The spring 64 is not limited to the support piece 35a, but may be provided on the first annular portion 35b, the second annular portion 35c, and the strut portion 35d. Further, in addition to the spring 64, a damper or other elastically deformable mechanism may be provided.
　図７は、トーチの軌道に沿って、ガスシールド治具３１が撓みながら移動する様子を模式的に示す説明図である。
　ガスシールド治具３１は、図６に示す骨格部材３５が柔軟に変形自在であることで、溶接方向ＴＤに沿って障害物６５，６７が存在する場合でも、シート部材３７でトーチ周囲空間を覆いながら移動できる。そのため、障害物６５，６７が存在する場合でも、安定してシールドガス雰囲気で溶接を続行できる。また、骨格部材３５が環状（略円形）に形成されているため、障害物がどの方向に存在していても、トーチ周囲空間を確実に確保してガスシールド性を維持できる。 FIG. 7 is an explanatory diagram schematically showing how the gas shield jig 31 moves while bending along the trajectory of the torch.
In the gas shield jig 31, the skeleton member 35 shown in FIG. 6 can be flexibly deformed, so that the sheet member 37 covers the space around the torch even when obstacles 65 and 67 are present along the welding direction TD. You can move while. Therefore, even if obstacles 65 and 67 are present, welding can be continued in a stable shield gas atmosphere. Further, since the skeleton member 35 is formed in an annular shape (substantially circular shape), the space around the torch can be reliably secured and the gas shielding property can be maintained regardless of the direction in which the obstacle is present.
　さらに、ガスシールド治具３１をトーチ２３の軸線方向に沿ってスライドさせることで、障害物６５，６７との干渉をより軽減できる。ガスシールド治具３１のスライド動作は、予め作成された積層計画に基づくトーチ軌道の情報から、スライドさせるタイミング、位置、スライド量を特定して実施できる。また、溶接時にトーチ２３周囲の様子をカメラで撮像し、得られた撮像情報から認識される障害物を避けるように、上記したスライドさせるタイミング、位置、スライド量をリアルタイムで決定してもよい。 Further, by sliding the gas shield jig 31 along the axial direction of the torch 23, the interference with the obstacles 65 and 67 can be further reduced. The slide operation of the gas shield jig 31 can be performed by specifying the slide timing, position, and slide amount from the information of the torch trajectory based on the stacking plan created in advance. Further, the state around the torch 23 may be imaged by a camera at the time of welding, and the above-mentioned slide timing, position, and slide amount may be determined in real time so as to avoid obstacles recognized from the obtained image pickup information.
　本発明は上記の実施形態に限定されるものではなく、実施形態の各構成を相互に組み合わせること、及び明細書の記載、並びに周知の技術に基づいて、当業者が変更、応用することも本発明の予定するところであり、保護を求める範囲に含まれる。 The present invention is not limited to the above-described embodiment, and can be modified or applied by those skilled in the art based on the mutual combination of the configurations of the embodiments, the description of the specification, and the well-known technique. The invention is planned and is included in the scope for which protection is sought.
　以上の通り、本明細書には次の事項が開示されている。
（１）　シールドガス雰囲気で溶接するガスシールド溶接用のトーチに設けられ、溶接部の周囲を大気から遮断するガスシールド治具であって、
　前記トーチに固定される支持部と、
　前記支持部に弾性変形自在に保持されて、前記トーチを囲んで配置される骨格部材と、
　前記骨格部材を覆って設けられ、前記トーチの周囲を囲むシート部材と、
を備え、
　前記骨格部材は、前記トーチの軸線に沿ってトーチ基端側からトーチ先端側に向かうに従って裾広がりになる形状を有し、
　前記シート部材は、前記トーチ基端側に開口部を有する
ガスシールド治具。
　このガスシールド治具によれば、安価でかつ簡易な構造でありながら、シート部材の内側空間にシールドガスを滞留させることでき、トーチの移動経路に障害物が存在しても、骨格部材が障害物に応じて弾性変形することで、溶接部を確実にシールドガスで覆いながら溶接できる。これにより、溶接品質が向上し、トーチ移動経路の制約が少ないため、軌道計画の自由度を高められる。 As described above, the following matters are disclosed in the present specification.
(1) A gas shield jig provided on a torch for gas shield welding that welds in a shield gas atmosphere and shields the periphery of the welded portion from the atmosphere.
A support portion fixed to the torch and
A skeletal member that is elastically deformably held by the support portion and is arranged around the torch.
A sheet member provided so as to cover the skeleton member and surrounding the periphery of the torch, and a sheet member.
Equipped with
The skeleton member has a shape in which the hem expands from the torch base end side toward the torch tip side along the axis of the torch.
The sheet member is a gas shield jig having an opening on the base end side of the torch.
According to this gas shield jig, the shield gas can be retained in the inner space of the seat member while having an inexpensive and simple structure, and even if an obstacle exists in the movement path of the torch, the skeleton member is obstructed. By elastically deforming according to the object, it is possible to weld while surely covering the welded part with the shield gas. As a result, the welding quality is improved and the torch movement path is less restricted, so that the degree of freedom in track planning can be increased.
（２）　前記支持部は、前記骨格部材及び前記シート部材を前記トーチの軸線に沿って移動させるスライド機構を備える（１）に記載のガスシールド治具。
　このガスシールド治具によれば、ガスシールド治具を、周囲の障害物に応じてトーチの軸線に沿ってスライドさせることで、障害物との干渉を簡単に回避して溶接を進められる。また、シート部材の内側空間におけるシールドガスの半密閉環境を、簡単に調整できる。 (2) The gas shield jig according to (1), wherein the support portion includes a slide mechanism for moving the skeleton member and the sheet member along the axis of the torch.
According to this gas shield jig, by sliding the gas shield jig along the axis of the torch according to the surrounding obstacles, interference with the obstacles can be easily avoided and welding can proceed. In addition, the semi-enclosed environment of the shield gas in the inner space of the seat member can be easily adjusted.
（３）　前記シート部材の内側空間にシールドガスを供給するガス供給部を備える（１）又は（２）に記載のガスシールド治具。
　このガスシールド治具によれば、トーチからの供給されるシールドガスと合わせて、効率よくシート部材の内側空間にシールドガスを供給できる。 (3) The gas shield jig according to (1) or (2), which comprises a gas supply unit for supplying a shield gas to the inner space of the sheet member.
According to this gas shield jig, the shield gas can be efficiently supplied to the inner space of the seat member together with the shield gas supplied from the torch.
（４）　前記ガス供給部は、前記トーチの側方に配置され、溶接終了部を覆うアフターシールド部と、前記アフターシールド部にシールドガスを供給するガス供給管と、を備える（３）に記載のガスシールド治具。
　このガスシールド治具によれば、溶接終了部を確実にシールドガスで覆うことができ、溶接品質をより確実に向上できる。 (4) The gas supply unit is arranged on the side of the torch and includes an after-shield portion that covers the welding end portion and a gas supply pipe that supplies shield gas to the after-shield portion (3). Gas shield jig.
According to this gas shield jig, the weld end portion can be reliably covered with the shield gas, and the welding quality can be improved more reliably.
（５）　前記骨格部材は、外力によって撓んだ形状が、前記外力が解除されると自身の弾性によって元の形状に復帰する弾性復元力を有する（１）～（４）のいずれか１つに記載のガスシールド治具。
　このガスシールド治具によれば、骨格部材が変形しても弾性復帰できるため、トーチの移動に伴い、障害物を柔軟に回避してスムーズな溶接が可能となる。 (5) The skeleton member has an elastic restoring force in which a shape bent by an external force returns to the original shape by its own elasticity when the external force is released, whichever is one of (1) to (4). The gas shield jig described in.
According to this gas shield jig, even if the skeleton member is deformed, it can be elastically restored, so that it is possible to flexibly avoid obstacles and perform smooth welding as the torch moves.
（６）　前記骨格部材は、前記支持部に基端側が保持される少なくとも１つの支持片と、前記支持片の先端側に接続される第１環状部と、前記第１環状部よりも前記トーチ先端側に配置され前記第１環状部より大径の第２環状部と、前記第１環状部と前記第２環状部とを連結する複数の支柱部と、を有する（１）～（５）のいずれか１つに記載のガスシールド治具。
　このガスシールド治具によれば、骨格部材を錐台状にすることで、シート部材の内側空間を大きく確保できる。 (6) The skeleton member has at least one support piece whose base end side is held by the support portion, a first annular portion connected to the tip end side of the support piece, and the torch rather than the first annular portion. It has a second annular portion arranged on the tip side and having a diameter larger than that of the first annular portion, and a plurality of support columns for connecting the first annular portion and the second annular portion (1) to (5). The gas shield jig according to any one of the above.
According to this gas shield jig, a large inner space of the seat member can be secured by forming the skeleton member into a frustum shape.
（７）　前記シート部材は、前記骨格部材の裾広がりした先端縁から更に延びる延出部を有する（１）～（６）のいずれか１つに記載のガスシールド治具。
　このガスシールド治具によれば、延出部が骨格部材から先に延びて配置されるため、床面等との間の隙間が小さくなり、シールドガスの漏れが抑えられる。 (7) The gas shield jig according to any one of (1) to (6), wherein the sheet member has an extending portion further extending from the hem-extended tip edge of the skeleton member.
According to this gas shield jig, since the extending portion is arranged so as to extend from the skeleton member first, the gap between the extending portion and the floor surface or the like is reduced, and the leakage of the shield gas is suppressed.
（８）　前記シート部材は、透光性を有する（１）～（７）のいずれか１つに記載のガスシールド治具。
　このガスシールド治具によれば、シート部材の内側となる溶接部の様子を視認でき、溶接状態を簡単に監視できる。 (8) The gas shield jig according to any one of (1) to (7), wherein the sheet member has translucency.
According to this gas shield jig, the state of the welded portion inside the sheet member can be visually confirmed, and the welded state can be easily monitored.
（９）　前記シート部材は、耐火シート又は防炎シートである（１）～（８）のいずれか１つに記載のガスシールド治具。
　このガスシールド治具によれば、トーチからの熱による損傷を抑制できる。 (9) The gas shield jig according to any one of (1) to (8), wherein the sheet member is a refractory sheet or a flameproof sheet.
According to this gas shield jig, damage due to heat from the torch can be suppressed.
（１０）　シールドガス雰囲気で溶接するガスシールド溶接用の前記トーチに、（１）～（９）のいずれか１つに記載のガスシールド治具が設けられたガスシールド溶接装置。
　このガスシールド溶接装置によれば、トーチの任意の移動にガスシールド治具が追従して移動する際、ガスシールド治具が変形自在であることで、トーチ移動を制限させることなく確実に、トーチ周囲をシールドガスで覆うことができる。 (10) A gas shield welding apparatus provided with the gas shield jig according to any one of (1) to (9) on the torch for gas shield welding to be welded in a shield gas atmosphere.
According to this gas shield welding device, when the gas shield jig follows an arbitrary movement of the torch and moves, the gas shield jig is deformable, so that the torch movement is not restricted and the torch is surely moved. The surrounding area can be covered with a shield gas.
　本出願は、２０２０年６月１０日出願の日本特許出願（特願２０２０－１００９１０）に基づくものであり、その内容は本出願の中に参照として援用される。 This application is based on a Japanese patent application filed on June 10, 2020 (Japanese Patent Application No. 200-1009110), the contents of which are incorporated herein by reference.
　１１　溶接ロボット
　１３　ロボットコントローラ
　１５　溶加材供給部
　１７　シールドガス供給部
　１９　溶接電源
　２１　制御部
　２３　トーチ
　２５　ベースプレート
　２９　溶着ビード
　３１　ガスシールド治具
　３３　支持部
　３５　骨格部材
　３５ａ　支持片
　３５ｂ　第１環状部
　３５ｃ　第２環状部
　３５ｄ　支柱部
　３７　シート部材
　３７ａ　開口部
　３７ｂ　先端縁
　３９　ガス供給部
　４１　固定金具
　４３　支持軸
　４５　スライダ
　４７　アフターシールド部
　４９　ガス供給管
　５１　筐体
　５１ａ　開口部
　５１ｂ　底面
　５３　金網
　５５　整流体
　５７　接続部
　５９　空間
　６１　トーチ周囲空間
　６４　ばね
１００　ガスシールド溶接装置
　Ｗ　積層造形物 11 Welding robot 13 Robot controller 15 Lubricating material supply unit 17 Shielded gas supply unit 19 Welding power supply 21 Control unit 23 Torch 25 Base plate 29 Welding bead 31 Gas shield jig 33 Support part 35 Skeletal member 35a Support piece 35b First annular part 35c 2nd annular part 35d Strut part 37 Sheet member 37a Opening 37b Tip edge 39 Gas supply part 41 Fixing bracket 43 Support shaft 45 Slider 47 After shield part 49 Gas supply pipe 51 Housing 51a Opening 51b Bottom 53 Wire mesh 55 Rectifier 57 Connection part 59 Space 61 Torch surrounding space 64 Spring 100 Gas shield welding device W Laminated model

Claims (19)

  1. 　シールドガス雰囲気で溶接するガスシールド溶接用のトーチに設けられ、溶接部の周囲を大気から遮断するガスシールド治具であって、
    　前記トーチに固定される支持部と、
    　前記支持部に弾性変形自在に保持されて、前記トーチを囲んで配置される骨格部材と、
    　前記骨格部材を覆って設けられ、前記トーチの周囲を囲むシート部材と、
    を備え、
    　前記骨格部材は、前記トーチの軸線に沿ってトーチ基端側からトーチ先端側に向かうに従って裾広がりになる形状を有し、
    　前記シート部材は、前記トーチ基端側に開口部を有する
    ガスシールド治具。     A gas shield jig provided on a torch for gas shield welding that welds in a shield gas atmosphere and shields the periphery of the welded part from the atmosphere.
    A support portion fixed to the torch and
    A skeletal member that is elastically deformably held by the support portion and is arranged around the torch.
    A sheet member provided so as to cover the skeleton member and surrounding the periphery of the torch, and a sheet member.
    Equipped with
    The skeleton member has a shape in which the hem expands from the torch base end side toward the torch tip side along the axis of the torch.
    The sheet member is a gas shield jig having an opening on the base end side of the torch.
  2. 　前記支持部は、前記骨格部材及び前記シート部材を前記トーチの軸線に沿って移動させるスライド機構を備える請求項１に記載のガスシールド治具。 The gas shield jig according to claim 1, wherein the support portion includes a slide mechanism for moving the skeleton member and the seat member along the axis of the torch.
  3. 　前記シート部材の内側空間にシールドガスを供給するガス供給部を備える請求項１に記載のガスシールド治具。 The gas shield jig according to claim 1, further comprising a gas supply unit that supplies a shield gas to the inner space of the sheet member.
  4. 　前記シート部材の内側空間にシールドガスを供給するガス供給部を備える請求項２に記載のガスシールド治具。 The gas shield jig according to claim 2, further comprising a gas supply unit that supplies a shield gas to the inner space of the seat member.
  5. 　前記ガス供給部は、前記トーチの側方に配置され、溶接終了部を覆うアフターシールド部と、前記アフターシールド部にシールドガスを供給するガス供給管と、を備える請求項３に記載のガスシールド治具。 The gas shield according to claim 3, wherein the gas supply unit is arranged on the side of the torch and includes an after-shield portion that covers the welding end portion and a gas supply pipe that supplies shield gas to the after-shield portion. jig.
  6. 　前記ガス供給部は、前記トーチの側方に配置され、溶接終了部を覆うアフターシールド部と、前記アフターシールド部にシールドガスを供給するガス供給管と、を備える請求項４に記載のガスシールド治具。 The gas shield according to claim 4, wherein the gas supply unit is arranged on the side of the torch and includes an after-shield portion that covers the welding end portion and a gas supply pipe that supplies shield gas to the after-shield portion. jig.
  7. 　前記骨格部材は、外力によって撓んだ形状が、前記外力が解除されると自身の弾性によって元の形状に復帰する弾性復元力を有する請求項１～６のいずれか１項に記載のガスシールド治具。 The gas shield according to any one of claims 1 to 6, wherein the skeleton member has an elastic restoring force in which a shape bent by an external force returns to the original shape by its own elasticity when the external force is released. jig.
  8. 　前記骨格部材は、前記支持部に基端側が保持される少なくとも１つの支持片と、前記支持片の先端側に接続される第１環状部と、前記第１環状部よりも前記トーチ先端側に配置され前記第１環状部より大径の第２環状部と、前記第１環状部と前記第２環状部とを連結する複数の支柱部と、を有する請求項１～６のいずれか１項に記載のガスシールド治具。 The skeleton member has at least one support piece whose base end side is held by the support portion, a first annular portion connected to the tip end side of the support piece, and the torch tip end side of the first annular portion. One of claims 1 to 6, wherein the second annular portion having a diameter larger than that of the first annular portion and a plurality of strut portions connecting the first annular portion and the second annular portion are arranged. The gas shield jig described in.
  9. 　前記骨格部材は、前記支持部に基端側が保持される少なくとも１つの支持片と、前記支持片の先端側に接続される第１環状部と、前記第１環状部よりも前記トーチ先端側に配置され前記第１環状部より大径の第２環状部と、前記第１環状部と前記第２環状部とを連結する複数の支柱部と、を有する請求項７に記載のガスシールド治具。 The skeleton member has at least one support piece whose base end side is held by the support portion, a first annular portion connected to the tip end side of the support piece, and the torch tip end side of the first annular portion. The gas shield jig according to claim 7, further comprising a second annular portion having a diameter larger than that of the first annular portion, and a plurality of support columns for connecting the first annular portion and the second annular portion. ..
  10. 　前記シート部材は、前記骨格部材の裾広がりした先端縁から更に延びる延出部を有する請求項１～６のいずれか１項に記載のガスシールド治具。 The gas shield jig according to any one of claims 1 to 6, wherein the sheet member has an extending portion further extending from the hem-extended tip edge of the skeleton member.
  11. 　前記シート部材は、透光性を有する請求項１～６のいずれか１項に記載のガスシールド治具。 The gas shield jig according to any one of claims 1 to 6, wherein the sheet member has translucency.
  12. 　前記シート部材は、耐火シート又は防炎シートである請求項１～６のいずれか１項に記載のガスシールド治具。 The gas shield jig according to any one of claims 1 to 6, wherein the sheet member is a refractory sheet or a flameproof sheet.
  13. 　シールドガス雰囲気で溶接するガスシールド溶接用の前記トーチに、請求項１～６のいずれか１項に記載のガスシールド治具が設けられたガスシールド溶接装置。 A gas shield welding device provided with the gas shield jig according to any one of claims 1 to 6 on the torch for gas shield welding to be welded in a shield gas atmosphere.
  14. 　シールドガス雰囲気で溶接するガスシールド溶接用の前記トーチに、請求項７に記載のガスシールド治具が設けられたガスシールド溶接装置。 A gas shield welding device provided with the gas shield jig according to claim 7 on the torch for gas shield welding that welds in a shield gas atmosphere.
  15. 　シールドガス雰囲気で溶接するガスシールド溶接用の前記トーチに、請求項８に記載のガスシールド治具が設けられたガスシールド溶接装置。 A gas shield welding device provided with the gas shield jig according to claim 8 on the torch for gas shield welding that welds in a shield gas atmosphere.
  16. 　シールドガス雰囲気で溶接するガスシールド溶接用の前記トーチに、請求項９に記載のガスシールド治具が設けられたガスシールド溶接装置。 A gas shield welding device provided with the gas shield jig according to claim 9 on the torch for gas shield welding that welds in a shield gas atmosphere.
  17. 　シールドガス雰囲気で溶接するガスシールド溶接用の前記トーチに、請求項１０に記載のガスシールド治具が設けられたガスシールド溶接装置。 A gas shield welding device provided with the gas shield jig according to claim 10 on the torch for gas shield welding that welds in a shield gas atmosphere.
  18. 　シールドガス雰囲気で溶接するガスシールド溶接用の前記トーチに、請求項１１に記載のガスシールド治具が設けられたガスシールド溶接装置。 A gas shield welding device provided with the gas shield jig according to claim 11 on the torch for gas shield welding that welds in a shield gas atmosphere.
  19. 　シールドガス雰囲気で溶接するガスシールド溶接用の前記トーチに、請求項１２に記載のガスシールド治具が設けられたガスシールド溶接装置。
          The gas shield welding apparatus provided with the gas shield jig according to claim 12 on the torch for gas shield welding for welding in a shield gas atmosphere.
PCT/JP2021/018513 2020-06-10 2021-05-14 Gas shield jig and gas shield welding device WO2021251065A1 (en)

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Cited By (1)

* Cited by examiner, † Cited by third party
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CN117020458A (en) * 2023-10-08 2023-11-10 宁德时代新能源科技股份有限公司 Welding protection device, welding system, position adjustment method and welding method

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JPH11291049A (en) * 1998-04-07 1999-10-26 Mitsubishi Heavy Ind Ltd Welding torch
JP2006326661A (en) * 2005-05-30 2006-12-07 Hitachi Ltd Gas purging device for weld part
JP2011016153A (en) * 2009-07-09 2011-01-27 Toshiba Corp Underwater welding equipment
JP2016030285A (en) * 2014-07-30 2016-03-07 川崎重工業株式会社 Laser metal deposition device

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Publication number Priority date Publication date Assignee Title
JPH11291049A (en) * 1998-04-07 1999-10-26 Mitsubishi Heavy Ind Ltd Welding torch
JP2006326661A (en) * 2005-05-30 2006-12-07 Hitachi Ltd Gas purging device for weld part
JP2011016153A (en) * 2009-07-09 2011-01-27 Toshiba Corp Underwater welding equipment
JP2016030285A (en) * 2014-07-30 2016-03-07 川崎重工業株式会社 Laser metal deposition device

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN117020458A (en) * 2023-10-08 2023-11-10 宁德时代新能源科技股份有限公司 Welding protection device, welding system, position adjustment method and welding method
CN117020458B (en) * 2023-10-08 2024-02-06 宁德时代新能源科技股份有限公司 Welding protection device, welding system, position adjustment method and welding method

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