JPS59110498A - Welding torch carriage - Google Patents

Abstract

PURPOSE:To provide a welding torch carriage which enables weaving welding at an optional amplitude by supporting a mechanism which adjusts the eccentricity of an eccentric shaft by a crank mechanism and oscillates a torch supporting means on the body of the carriage. CONSTITUTION:A body of the carriage is placed on a material 9 to be welded. A bevel gear 36 is fixed to the shaft of a motor 34 for weaving and a revolving shaft 37 for weaving is supported on a torch supporting base 7. A bevel gear 38 meshed with the gear 36 is fixed to the end of the shaft 37 and an eccentricity adjusting case 39 is fixed to the other end. An eccentric shaft supporting material 40 is fitted to the case 39, and an eccentric shaft 42 is fixed to an eccentric shaft supporting material 40. The eccentricity of the shaft 42 is adjusted by an eccentricity adjusting screw 41. A slider 44 is coupled, via a bearing 43, to the shaft 42, and the slider 44 is fitted, via balls 45, to a sliding shaft 27. A crank mechanism which converts the movement of the shaft 37 to the oscillation of the shaft 37 and a base plate 25 is thus constituted, by which mechanism the means 24 is oscillated and weaving welding is accomplished.

Description

[Detailed Description of the Invention] [Technical Field] The present invention provides a welding torch such as a carbon dioxide gas welding machine equipped with 18 welding torches,
The present invention relates to a welding torch carrier that automatically performs welding by traveling along a welding line, and particularly relates to a welding torch carrier that can automatically perform weaving welding.

[Prior art]

Conventionally, automatic welding devices that can perform weaving welding have had the drawbacks of complex structures and high manufacturing costs.

[Purpose of the invention]

The present invention was made to eliminate the above-mentioned conventional drawbacks, and it is possible to automatically perform weaving welding with an arbitrary weaving width, and the structure is simple, and the manufacturing cost can be reduced. The purpose of this company is to provide welding torch transport vehicles.

[Structure of the invention]

The welding torch carrier according to the present invention includes a vehicle body, a rotary shaft rotatably supported by the vehicle body, a drive device for rotating the rotary shaft, an eccentric shaft, and the rotary shaft and the eccentric sleeve. means for coupling the two so that the eccentric distance therebetween can be adjusted; a torch support that is swingably supported by the vehicle body and supports the welding torch; and a torch support that is rotatably coupled to the eccentric shaft and that supports the welding torch. and a slider fitted so as to be movable in the radial direction of the swing shaft of the torch support, and when the rotation shaft is rotated by the drive device, the torch support By swinging the tool together with the welding torch, weaving welding is performed as the vehicle body advances.

〔Example〕

1 to 9 show an embodiment of the present invention. Here, the traveling system in this embodiment is the same as the traveling system mounted on the welding torch transport vehicle illustrated in Japanese Patent Application No. 57-35217 previously filed by the present applicant.
In order to facilitate understanding, first, the configuration and operation of the traveling system in this embodiment are shown in FIGS.
In the present invention, it is not necessarily necessary to use a traveling system such as the one shown in this embodiment.

An inner front axle 2 and an inner rear axle 3 are rotatably supported at the front and rear portions of one side of the vehicle body 1, respectively. An outer wheel 4 is rotatably supported on the side of the vehicle body 1 and at an intermediate position between the inner front axle 2 and the inner rear axle 3 in the longitudinal direction. Here, the inner front axle 2 and the inner rear axle 3 have the same diameter, while the outer wheel 4 has a larger diameter than the inner front axle 2 and the inner rear axle 3.

A traveling motor 5, which is shown only in FIGS. 1 and 2, is attached to the vehicle body 1, and the three wheels 2, 3.4 are connected to each other by the motor 5, which transmits power (not shown). They are driven at the same rotational speed via a mechanism. Further, a stopper wall 6 is provided on the side of the vehicle body 1 on the outer wheel 4 side in a direction perpendicular to the rotational axis of each wheel 2, 3°4.

Furthermore, support stands 1 to 7 are rotatably supported on the vehicle body 1 around a torch support rotation axis 10 that is perpendicular to the running surface (material to be welded 9). A front copying wheel 11 and a rear copying wheel 12 are provided at the front and rear parts of the inner wheels 2 and 3 side of the torch support base 7, respectively, and are rotatable about rotational axes perpendicular to the running surface. is supported by Note that the rotational axes of the three wheels 2.3.4 are aligned with a common tangent P to the follower wheels 11°12 (from Fig. 7 to Fig. ff19, they coincide with the welding line 13 described later).
The direction is perpendicular to .

Further, as shown in FIG. 7, from the state in which the stopper wall 6 is parallel to the common tangent P, the vehicle body 1 is
On the other hand, when the torch support base 7 is rotated by a certain angle α in the clockwise and counterclockwise directions in the figure, a part of the torch support base 7 comes into contact with the stopper wall 6. As a result, the torch support base 7 is moved from the state shown in FIG. 7 to the clockwise direction J3 and counterclockwise i.
It is rotatable in one direction only within the range of the angle α.

Next, the operation of this travel system will be explained using an example in which horizontal fillet welding is performed. In addition, 9 is a workpiece placed horizontally, 14 is a workpiece to be welded vertically to be fillet welded to IJ 9, and 13 is a weld line between workpieces 9 and 14. It is.

With the vehicle body 1 placed on the material 9 to be welded, and with both the copying wheels 11 and 12 avoiding contact with the material 14 to be welded, the driving motor 5 is turned on.
Therefore, when the three wheels 2, 3.4 are driven in the forward direction (in the direction of the arrow), the outer wheel 4 has a larger diameter than the inner wheel 2.3, so the vehicle body 1 is driven by the rotation of the outer wheel 4. As shown in Figure 8, the robot tries to move forward while drawing a circle around a certain point O, which is located approximately on the extension line Q of the axis.
The state is such that the workpiece 14 is inclined at an angle α. Then,
The torch support base 7 is brought into contact with the stopper wall 6, and the copying wheel 11
．． 12 is pressed against the welded material 14 by the vehicle body 1 applying a force toward the welded material 14 via the torch support 7.

Here, if we consider the moment around point 0 at d3, the car body 1 will have a rotational moment M1 caused by trying to rotate around point O as described above, and a rotational moment M1 from the workpiece 14 to the copying wheels 11, 12 and 12. A moment M2 based on the reaction force acting on the vehicle body 1 via the torch support 7 acts on the vehicle body 1. However, by selecting the angle α to an appropriate value, the moments M1 and M2, also referred to as S, are balanced, and the vehicle body 1 moves forward in the state shown in FIG. 8, and at this time both the follower wheels 11 and 12 continue to contact the workpiece 14.

In exactly the same way, the three wheels 2 are driven by the driving motor 5.
,3. When '4 is driven in the backward direction (in the direction of arrow B), as shown in FIG. It moves backward while touching the welding material 14.

As explained above, in this traveling system, both the tracing wheels 11 and 12 are attached to the workpiece 14 during forward movement and backward movement.
Therefore, if the welding torch 15 is supported by the torch support stand 7 as described later, the torch 15 will be at the same distance from the welding line 13 both when moving forward and when moving backward. (However, in this case, the movement of the torch 15 due to weaving is not considered). therefore,
There is no need to readjust the distance of the torch 15 to the welding I3i+ 13 when moving forward and when moving backward, and welding can be carried out efficiently by alternately performing welding when the vehicle body 1 moves forward and welding when moving backward. can.

Next, details of this embodiment will be roughly explained based on FIGS. 1 to 6.

As shown in FIG. 5, in the center of the vehicle body 1 there is a rotating
A through hole 16 is provided, and the torch support rotating shaft 10 passes through this through hole 16 in a direction perpendicular to the running surface. This torch support base rotation i1'llll 1
A female screw body 17 is screwed into the upper end of the torch support base 1, and the female screw body 17 is placed on the top surface of the vehicle body 1 via a washer 18 fitted to the torch support rotating shaft 10. Further, a magnet mounting bolt 19 is passed through the torch support rotation shaft 10 from the upper side of the vehicle body 1 toward the lower side,
A magnet 20 is screwed onto the tip of the bolt 19 below the vehicle body 1. A spring 21 is interposed between the magnet 20 and the vehicle body 1, and this spring 21 biases the magnet 20 in a direction toward the running surface.

At J3, the gap between the magnet 20 and the material to be welded 9 on the running surface can be adjusted by rotating the III screw body 17. When the female screw body 17 is rotated in a predetermined direction, the support base rotation shaft 10 is raised together with the magnet 20 against the spring 21, while when the female screw body 17 is rotated in the opposite direction, the support base rotates. The shaft 10 is lowered together with the magnet 20 by the force of the spring 21 (and gravity).

The torch support base 7 is rotatably supported on the torch support rotation shaft 10 via a washer 18 . On this torch support stand 7, a torch support support plate 22 is attached to the wheels 2.
．． 3. It is erected in a direction parallel to the rotation axis of '4.
The torch support support plate 22 is provided with an arcuate hole 23, as clearly shown in FIG.

The arcuate hole 23 and the substrate 25 of the torch support 24
A bolt 28 is inserted into the bearing 26 attached to one end in a direction perpendicular to the rotation axis of the three wheels 2.3.4, and a wing nut 2 is inserted into the tip of the bolt 28.
9 are screwed together.

Therefore, the substrate 25 and eventually the torch support 24 are
It is freely swingable around the hole 1-28, and by loosening the wing nut 29, the bolt 28 can be moved to any position in the arcuate hole 23, and by tightening the wing nut 29,
The bolt 28 can be fixed at any position in the arcuate hole 23.

The torch support 24 is connected to the substrate 25 and the clamping part 3.
The clamping part 32 is tightened by rotating the bolt 30, and the torch 15 (shown only in FIG. 1) is tightened by rotating the bolt 30.
It is designed to be held in a detachable manner. Further, the clamping portion 32 is attached to the substrate 25 so that its angle can be adjusted around a rotation axis parallel to the bolt 28 and a rotation axis perpendicular to the bolt 28 . In addition,
33 is an adjustment screw, and by rotating this adjustment screw 33, the above-mentioned port 1 of the clamping portion 32 facing the substrate 25 is adjusted.
It is possible to finely adjust the angle around the rotation axis parallel to 28. A slide shaft 27 is fixed to the substrate 25 in the radial direction of the bolt 28.

A power supply box 35 (shown only in FIG. 1) that supplies current to the weaving motor 31, this motor 34, and the traveling motor 5 is attached to the torch support base 7, and the weaving motor 34 As shown in FIG. 3, a bevel gear 36 is fixed to the rotating shaft. Further, a weaving rotation shaft 37 is supported on the torch support base 7 so as to be rotatable about its axis and in a direction perpendicular to the rotation shafts of the wheels 2, 3.4.

A bevel gear 38 is fixed to a portion of the rotary shaft 37 in the vicinity thereof, and the bevel gear 38 is meshed with the bevel gear 36 . Three eccentricity adjustment cases are fixed to the other end of the rotating shaft 37, and an eccentric shaft support member 40 is fitted into the case 39 so as to be movable in the radial direction of the rotating shaft 37. . Further, in the eccentricity adjusting case 39, an eccentricity adjusting screw 41 is rotatable about its axis and supported in the radial direction of the rotating shaft 37 (note that it is fixed in a direction parallel to the rotating shaft 37). Here, when the eccentricity adjustment screw 41 is rotated, the eccentric shaft support member 40 and eventually the eccentric shaft 42 move in the radial direction of the rotating shaft 37.
The amount of eccentricity of the eccentric shaft 42 with respect to the rotating shaft 37 can be adjusted.

The slider 7 is connected to the eccentric shaft 42 via a bearing 43! I
4 are rotatably connected, and this slider 44 is
The slide shaft 2 is connected to the slide shaft 27 via the ball 45.
7 so as to be movable in the axial direction. Here, the rotary shaft 37, the eccentric shaft 42, the bearing 43, the slider 44, the slide shaft 27, and the base plate 25 are connected to a crank which converts the rotational motion of the rotary shaft 37 into a rocking motion of the slide shaft 27 and the base plate 25. It composes a luxurious structure. Further, a cover 47 covering the slider 44 is provided on the substrate 25.
is provided.

Next, the operation of this embodiment will be explained.

When the weaving motor 34 is driven, the rotation of the motor 34 is transmitted to the rotating shaft 37 via the bevel gears 36 and 38.
As a result, the crank 7 mechanism causes the slide axis, the base plate 25, and the entire torch support 271 and the torch 15 supported by the support 24 to swing about the bolt 28.

Therefore, by driving the traveling motor 5 as described above, the vehicle body 1 is moved while the copying wheel IC 12 is in contact with the workpiece 14 (see FIGS. 4, 8, and 9). By driving the weaving motor 34 to swing the torch support 24 at the same time as the torch is traveling, weaving welding can be automatically performed along the welding line 13.

The width of the weaving at this time can be adjusted by rotating the eccentricity adjustment screw 41 and changing the eccentricity of the eccentric shaft 42 that weighs against the rotating shaft 37.

Further, the angle of the torch 15 with respect to the welding line 13 can be adjusted by changing the fixing position of the bolt 28 with respect to the arcuate hole 23 and the angle of the clamping portion 32 with respect to the substrate 25 of the torch support 24. (In addition, welding 113
The angle of the torch 15 around the axis parallel to the arc can be roughly adjusted by changing the fixing position of the bolt 28 with respect to the arcuate hole 23, and finely adjusted by rotating the adjustment screw 33.) .

Furthermore, when a weaving mechanism is provided like the welding torch transport vehicle according to the present invention, there is a risk that the stability of the vehicle body 1 may be compromised and the vehicle body 1 may easily fall over. Since a magnet 20 is provided facing the welding material, it is possible to prevent the vehicle body 1 from falling due to the force of this magnet 20 attracting the material to be welded.

Further, in this embodiment, the force of the magnet 20 causes the vehicle body to
The machine can also be run over vertically erected materials to be welded. Therefore, it is possible to perform vertical welding, and even when performing horizontal fillet welding as described above, the vehicle body 1 is not placed on the workpiece 9 extending in the horizontal direction, but in the vertical direction as shown in FIG. It is also possible to run above the workpiece to be welded 14 that is erected.

In addition, when horizontal fillet welding is performed by running the car body 1 over the workpiece 14 that is vertically erected as shown in (above), gravity causes the car body 1 to fall over to the workpiece 9 side. In some cases, the running stability of the vehicle body 1 deteriorates because the vehicle body 1 acts in a manner that causes the vehicle to move. However, in this embodiment, in such a case, as shown in FIG. The running of the vehicle body 1 can be stabilized by supporting the following mirror 11a and bringing it into contact with the material to be welded 9 together with the rear tracing wheel 12. ).

In FIG. 6, the reason why the tracing wheel 11a is made larger in diameter than the tracing wheel 11 is to make the angle of the torch 15 with respect to the workpiece 9 larger than 45 degrees (approximately 50 degrees). In this way, by appropriately selecting the diameters of the follower wheels 11 and 11a, the torch 1 can be applied to the workpiece 9.
It is also possible to adjust the angle of 5, so that if the actual angle between the workpieces 9 and 14 is not exactly a right angle, but an acute or obtuse angle, can also be dealt with.

Furthermore, in the embodiment described above, the outer wheel 4 has a larger diameter than the inner wheel 2.3, but the inner wheel 2.3 and the outer wheel 4 have the same diameter, and the outer wheel 4 is faster than the inner wheel 2.3. The same effect as in the above embodiment can be obtained even if the rotation is made to (It doesn't necessarily have to be a C type.)

Furthermore, in the embodiment described above, the mechanism for performing weaving, such as the rotating shaft 37 and the torch support 24, is supported on the vehicle/body 1 via the torch support 7. - It goes without saying that in a welding torch transport vehicle that is not provided with a torch support, the mechanism for performing the weaving may be directly supported by the vehicle body.

〔Effect of the invention〕

As described above, the welding torch transport vehicle according to the present invention is capable of weaving with an arbitrary weaving width by supporting the mechanism for swinging the torch support on the vehicle body using a rank mechanism that allows adjustment of the amount of eccentricity of the eccentric shaft. The welding can be performed automatically, the structure is simple, and the manufacturing cost can be reduced.

[Brief explanation of drawings]

FIG. 1 is a perspective view showing an embodiment of a welding torch carrier according to the present invention, FIG. 2 is a plan view showing the embodiment, and FIG. 3 is a sectional view taken along the line ■-■ in FIG. (Parts on the vehicle body side are omitted from illustration, and the area near the weaving motor is aligned along the axis of the motor.) FIG. 4 is a side view showing the state in which the above embodiment is shown. 7 to 9 are schematic plan views showing the traveling system in the embodiment. DESCRIPTION OF SYMBOLS 1... Vehicle body, 7... Torch support base, 15... Welding torch, 24... Torch support, 27... Slide shaft, 34... Weaving motor, 36... Bevel gear , 37... Rotating shaft, 38... Bevel gear, 39...
Eccentricity adjustment case, 40...Eccentric shaft support material, 41...
- Eccentricity adjustment screw, 42... Eccentric shaft, 44... Slider.

Claims (1)

[Claims] A vehicle body, a rotating shaft rotatably supported by the vehicle body, a drive device for rotating the rotating shaft, an eccentric shaft, and an eccentric distance between the rotating shaft and the eccentric shaft that can be adjusted. a means for coupling, a torch support that is swingably supported by the vehicle body and supports a welding torch, and a torch support that is rotatably coupled to the eccentric shaft and that is rotatably supported by the torch support. A welding torch conveyor truck consisting of a slider and a slider fitted so as to be movable in the radial direction of the shaft.