WO2013137131A1

WO2013137131A1 - Welding apparatus

Info

Publication number: WO2013137131A1
Application number: PCT/JP2013/056428
Authority: WO
Inventors: 清出津野; 智太田; 良輝戸舘; 雅敏皆原; 小池　哲夫
Original assignee: 小池酸素工業株式会社
Priority date: 2012-03-12
Filing date: 2013-03-08
Publication date: 2013-09-19
Also published as: KR20140134671A; CN104169034A; JP2013215800A

Abstract

An object of the present invention is to prevent the continuation of welding by moving a welding torch along a target welding line at a predetermined speed after a truck reaches a traveling limit. The present invention comprises: a torch (B) that welds a corner portion (F) where a plurality of welding target materials (C, D, E) are combined; a linear guide member that guides the torch (B) in a linear manner; a linear driving mechanism that includes the linear guide member which guides the torch (B) in a linear manner, and a linear driving motor which drives the torch (B) in a reciprocating manner; a rotation mechanism that includes a rotation motor which rotates at least the linear guide member; a truck (A) where the linear driving mechanism and the rotation mechanism are mounted; and a control unit that maintains a distance between the torch (B) and the corner portion (F) while controlling the driving of the linear driving motor and the rotation motor so as to maintain a welding speed when it is confirmed that the truck travels over a travel section that is shorter than a predetermined welding section.

Description

Welding equipment

According to the present invention, if the welding torch reaches the movable limit but the welding torch does not reach the end of the section to be welded, the torch holder holding the welding torch is linearly moved and turned to continue welding. The present invention relates to a welding device configured in In particular, the present invention relates to a welding apparatus capable of reliably welding a corner portion constituted by two steel plates in which the end of a section to be welded is erected from a bottom plate.

Welding is performed using a welding torch selected from a plasma welding torch, a carbon dioxide gas welding torch, an argon gas welding torch and the like, which is a welding material made of a steel plate, a stainless steel plate, an aluminum plate or the like. Also, there are many types of welding devices equipped with a welding torch, from large-sized devices to small-sized devices.

In the shipbuilding industry and the steel construction industry, the welded structure is often large, and a small size welding apparatus is often used in which a worker transports and operates to a target welding position. Such a small welding apparatus is generally configured to include a carriage that travels along a target welding line, and a welding torch mounted at a substantially central portion of the carriage.

The welding apparatus as described above performs fillet welding over the entire length of the corner where the steel plate (bottom plate) arranged horizontally and the lower end of the steel plate (standing plate) erected to this bottom plate intersect, It is used in butt welding of steel plates placed facing each other. In such fillet welding and butt welding, it is general to run the carriage on the bottom plate, and at the end of the bottom plate, the travel limit is set in order to prevent falling from the bottom plate of the carriage. There is. In this case, when the carriage reaches the travel limit, there arises a problem that the welding torch has not finished welding to the target welding line.

Therefore, a welding apparatus has been proposed in which the welding torch is configured to be able to move relative to the carriage (see, for example, Patent Document 1). This technology realizes bi-directional movement of the welding torch with one drive source, and can perform reliable fillet welding.

There is also provided a welding apparatus in which a holder for holding the welding torch is configured to be pivotable with respect to the carriage, a roller is provided at the tip of the holder, and the roller is pressed against the rising plate by a spring. In this welding device, when the carriage reaches the travel limit, welding can be continued by stopping the carriage and simultaneously rotating it while holding the pressure contact state of the holder against the rising plate.

In addition, when welding including fillet welding and butt welding is performed on the target weld line, craters are formed at the end of the bead, but workers are processing the individual craters, so There is a problem that it takes time and effort. In order to solve this problem, a welding method described in Patent Document 2 has been proposed.

In this welding method, the welding torch is temporarily stopped after the welding to the target welding line is finished, and the welding torch is rewound by the length of the molten pool, and the crater is processed by overlaying on the molten pool. Thus, the occurrence of welding defects can be prevented.

In addition, in a large-sized member in a hull material or a bridge material, a plurality of ribs may be erected and welded to one steel plate. In particular, when the corners of a heavy box made of three steel plates are formed by crossing ribs arranged in two directions, the corners may be welded continuously in two directions. . When fillet welding is applied to such a corner, it is common to use manual welding.

Unexamined-Japanese-Patent No. 9-327775 Japanese Patent Application Laid-Open No. 10-99965

However, the welding device disclosed in Patent Document 1 has a problem that the structure is complicated. Further, in the technology in which the holder is configured to be pivotable to the carriage, although the structure is simple, there is a problem that the roller is easily exposed to heat and thus a defect is likely to occur. Thus, in a small welding apparatus, it should be solved how to move the welding torch at a set welding speed and move the welding torch to a target welding line after the carriage reaches the movable limit. It has become a challenge.

In addition, when the section to be welded is set in two continuous directions including the corner portion where the bottom plate and the two upright plates erected from the bottom plate intersect, using a linearly traveling carriage When welding, it is necessary to terminate the corner, and the continuity of the bead at the corner becomes a problem. For this reason, as described above, manual welding by a worker is generally performed. However, there is a demand for the development of a welding apparatus capable of automatic welding even at such corners.

Moreover, in the welding method currently disclosed by patent document 2, it becomes the subject how it comprises the apparatus which implement | achieves this welding method.

An object of the present invention is to move a welding torch along a target welding line at a preset speed to continue welding after a bogie has reached a drivable limit, and to perform cratering. Providing a welding apparatus capable of

A welding apparatus according to the present invention for solving the above-mentioned problems is a welding apparatus for welding a plurality of materials to be welded, wherein the plurality of materials to be welded are combined such that they approach or intersect. Drive having a welding torch for welding a portion, a linear guide member for linearly guiding the torch holder for holding the welding torch, and a linear drive motor for reciprocatingly driving the torch holder along the linear guide member Mechanism, a pivoting mechanism having a pivoting motor for pivoting at least a linear guide member constituting the linear drive mechanism, a carriage mounted with the linear drive mechanism and the pivoting mechanism, and welding in which the carriage is preset When it is recognized that the vehicle has traveled only for a travel section shorter than the section, the welding torch is maintained in the distance from the workpiece and the welding speed is maintained. A control device for controlling the drive motor and the rotating motor and is formed with a.

In the above-described welding apparatus, the control device maintains the welding torch at a distance from the workpiece and maintains the welding speed after the welding torch reaches a predetermined end position of the welding section. It is preferable to control the drive of the linear drive motor which comprises the said linear drive mechanism, and the rotation motor which comprises the said rotation mechanism so that it may return with respect to the welding direction of the said trolley | bogie.

Further, in any one of the above-described welding devices, the plurality of workpieces to be welded include a bottom plate and an upright plate standing on the bottom plate, the weld portion is a corner between the bottom plate and the lower end of the upright plate, the bottom plate An abutment member disposed on the traveling direction downstream side of the carriage, a switch disposed at an end of the carriage in the traveling direction and generating a signal by abutting on the abutment member; It is preferable to have a control device that controls the drive of the linear drive motor and the rotation motor so as to maintain the welding torch at a distance from the portion to be welded and maintain the welding speed based on the signal.

Further, in any one of the above-described welding apparatuses, the plurality of workpieces to be welded are disposed on the bottom plate, the first standing plate standing on the bottom plate and the bottom plate on the downstream side in the traveling direction of the carriage and (1) A second upright plate in contact with the first upright plate, and the welded portion is a first corner where the bottom plate and the lower end of the first upright plate abut each other, and the bottom plate and the lower end of the second upright plate The corner at the second corner including the second corner to be abutted and the corner at which the first corner and the second corner are connected, and from the first corner to the corner via the corner. A welding torch is mounted on a welding torch based on a switch disposed up to the vicinity of a corner, arranged at an end of the traveling direction of the carriage and in contact with the second upright plate to generate a signal, and a signal from the switch From the first corner and through the corner portion while maintaining the welding speed and keeping the distance from the A control device for controlling the serial to the second corner portion and the linear drive motor so as to continuously drive the rotating motor, it is preferable to have a.

In the welding device according to the present invention, the torch holder holding the welding torch is driven by the linear drive mechanism and the rotation mechanism controlled by the control device. For this reason, even if the carriage stops traveling by synchronously controlling the drive of the linear drive motor forming the linear drive mechanism and the rotation motor forming the rotation mechanism, the welding torch welds The distance from the material can be maintained and the welding speed can be maintained to continue the movement.

Therefore, regardless of whether the target welding is fillet welding or butt welding, only the welding torch is moved after the carriage reaches the movable limit and stopped, and good welding is achieved over the entire length of the target welding line. It can be performed. In particular, even if the target welding is a closed portion such as a fillet weld reaching the corner of the box, only the welding torch can be moved to realize a good fillet weld.

In addition, the linear drive mechanism has a linear guide member that linearly guides the torch holder, and movement of the welding torch is performed in synchronization with the linear drive motor and the rotation motor, thereby simplifying the structure. it can. In addition, since the torch holder is not brought into direct contact with the material to be welded, the occurrence of defects due to heat can be prevented.

In addition, after the welding torch reaches the end position of the welding section set in advance, the welding torch is held at a distance from the material to be welded and at the same time the welding speed is held to reverse the welding direction of the carriage. By controlling the drive of the linear drive motor and the rotation motor as described above, crater processing can be performed by overlaying the molten pool that is the crater.

Further, in the case of welding a plurality of materials to be welded to a bottom plate and an upright plate standing on the bottom plate and corner welding these plates, the abutting member is disposed on the downstream side of the traveling direction of the carriage on the bottom plate. The welding torch is held at a distance from the welding portion and at the same time the welding speed is held based on a signal generated when a switch disposed at an end of the carriage in the traveling direction abuts on the abutting member. Good fillet welding can be performed by controlling the drive of the linear drive motor and the rotation motor as described above.

A plurality of materials to be welded are made up of a bottom plate, a first standing plate standing on the bottom plate, and a second standing plate in contact with the first standing plate, the portion to be welded comprising the bottom plate and the lower end of the first standing plate It includes a first corner in contact, a second corner in which the bottom plate and the lower end of the second upright plate are in contact, and a corner in which the first corner and the second corner are connected, and the corner from the first corner The switch which generates a signal in contact with the second standing plate is arranged at the end of the direction of travel of the carriage when it is up to the vicinity of the corner at the second corner through the part and the signal from the switch Based on the linear drive motor and the rotation motor so as to maintain the welding torch at a distance from the welding portion and maintain the welding speed so as to continue from the first corner through the corner to the second corner By controlling the drive of, it is possible to realize good fillet welding including the corner portion.

It is a perspective view explaining the composition of the welding device concerning this example. It is a block diagram of a control system concerning this example. It is a figure explaining the attitude | position of the welding torch at the time of performing fillet welding. It is a figure explaining the movement state of the torch at the time of making a welding torch move to the end of the target welding line, after a trolley | bogie reaches | attains a drivable limit. It is a figure explaining the state when a welding torch is arranged near the beginning end of the target welding line. It is a figure explaining the motion of the welding torch after a trolley | bogie reaches | attains a drivable limit. It is a figure explaining a motion of a welding torch at the time of performing fillet welding succeeding to welding of a corner part, after a bogie reaches a run possible limit.

Hereinafter, a welding apparatus according to the present invention will be described. The welding apparatus according to the present invention is configured to be advantageously used in fillet welding or butt welding of a plurality of workpieces. In the present invention, the material of the material to be welded is not particularly limited, and a steel plate, a stainless steel plate, an aluminum plate or the like is used. And, regardless of the material, in fillet welding or butt welding, in particular, it is used in fillet welding including corner portions formed by crossing a plurality of erected plates from the bottom plate. It is advantageous.

The welding torch used when welding the material to be welded is selected according to the material of the material to be welded. As such a welding torch, there are a welding torch for performing carbon dioxide gas arc welding, a welding torch for performing plasma welding, and a welding torch such as a welding torch for performing argon gas welding.

In the welding apparatus according to the present invention, the torch holder for holding the welding torch is configured to be rotatable around the rotation center provided on the carriage and to be linearly movable on a radius around the rotation center. It is done. Then, after the carriage reaches the movable limit and stops, the torch holder is rotated about the rotation center and linearly moved in the radial direction, thereby maintaining the distance from the welding torch of the welding torch. It is possible to continue welding at a preset welding speed.

Further, in the welding apparatus according to the present invention, after welding to the end with respect to the target welding line by the welding torch, the stopped state of the carriage is held and the torch holder is returned and the torch is operated in the process of this return It is possible to perform crater processing.

In the welding device according to the present invention, the method of recognizing that the carriage has reached the travelable limit is not limited. For example, information on the length (distance) that the carriage can travel along the target welding line is input in advance to a control device that controls the traveling motor of the carriage, and the input information and information on the rotation command for the traveling motor are When they match, it is possible to recognize that the drivable limit has been reached. It is also possible to detect and integrate the rotation of the traveling motor by a rotary encoder, and to recognize that the carriage has reached the traveling possible limit when the integrated value matches the input information input to the control device in advance.

Furthermore, for example, a contact member such as a magnet is fixed to an end of a steel plate (bottom plate) installed in the horizontal direction, and a switch provided on a carriage traveling on the bottom plate contacts the contact member and occurs. It is possible to recognize the drivable limit by means of a signal. In particular, with respect to the bottom plate, two erected plates having corner portions at the intersections are erected by intersecting each other, and the intersection portion between the lower end portion and the bottom plate of any one of the standing plates is a corner portion When performing so-called box welding in which fillet welding is performed up to the point, it is also possible to recognize the travel limit by a signal generated by bringing the switch into contact with one crossed upstanding plate.

Hereinafter, a welding apparatus according to the present embodiment will be described with reference to the drawings. The welding apparatus according to the present embodiment is configured to have a carriage A on which a carbon dioxide gas welding torch is mounted as a torch B.

As shown in FIGS. 1 and 3 to 5, the carriage A has a casing 1 and a plurality of wheels 2 driven by a drive motor 3. A rotating mechanism and a linear drive mechanism of the torch holder 17 are formed on one side (the left side in each of the drawings in this embodiment) in the upper portion of the casing 1. Since the torch B is held by the torch holder 17, the torch holder 17 and the torch B are substantially integrated. For this reason, the torch holder 17 or the torch B is referred to in the following description. Further, the control panel 10 is disposed on the other side of the upper portion of the casing 1 (on the right side in each of the drawings in the present embodiment).

Switches

4a and 4b are respectively disposed on both end surfaces of the casing 1 in the traveling direction, and when a signal is generated from the switch 4a or the switch 4b, it is assumed that the carriage A has reached the travelable limit in the control device It is configured to be recognizable. It should be noted that there is no limitation as to which switch is used as the

switches

4a and 4b, and a signal is generated and transmitted to the control device when it contacts an obstacle (contact member) when the carriage A is traveling, It is sufficient if it can stop the signal when it leaves the object. In the present embodiment, limit switches are used as the

switches

4a and 4b.

In the case of a welding apparatus, if the carriage is stopped instantaneously when the carriage reaches the travelable limit, there is a possibility that the bead may have a defect. For this reason, although the drive of the drive motor 3 is stopped when a signal is generated from the switch 4a or the switch 4b, the carriage A is configured to be able to travel a slight distance by inertia. Therefore, the

switches

4a and 4b are configured to be able to absorb the distance traveled by the truck A after generating the signals.

Further, on both end surfaces of the casing 1 in the traveling direction,

arms

5b,

6b having rollers

5a, 6a rotatably mounted at tip end portions are disposed. The

arms

5b, 6b arrange the

rollers

5a, 6a on the same side as the torch B, and the dimension of the roller 5a at the rear in the traveling direction from the casing 1 is larger than the dimension of the roller 6a at the front from the casing 1 It is attached like that.

And when making the trolley | bogie A drive | work, by arrange | positioning the

rollers

5a and 6a in the state which contacted the standing board, it inclines so that the running direction of the trolley | bogie A may turn to an standing board. For this reason, the

rollers

5a and 6a press against the upright plate and rotate as the carriage A travels, and the wheels 2 slip along with this, and as a result, the carriage A reliably follows the upright plate It is possible to travel in the direction.

The rotating mechanism of the torch B configured at the upper part of the casing 1 has a rotating shaft fixed vertically to the casing 1 and a rotating motor 15 driven by the rotating motor 15 to rotate clockwise and reversely. It has the plate-shaped rotation member 16 which reciprocates and rotates clockwise, and is comprised. In addition, since the rotation motor 15 and the linear drive motor 22 mentioned later are accommodated in the inside of a case, the position is shown by the circle and the center in each figure.

The number of times the torch B is rotated about the rotation center by the rotation mechanism is not limited, and the dimensions of the carriage A, the position of the rotation center in the carriage A, the dimensions of the torch B, etc. It is preferable to set appropriately according to the condition of In the present embodiment, it is configured to be able to rotate up to about 120 degrees around the rotation center. That is, when the center of the torch B is set to be perpendicular to the traveling direction of the carriage A, the torch B can rotate 60 degrees upstream and downstream of the carriage A in the traveling direction.

The pivoting member 16 has a linear guide member (not shown), and the linear drive mechanism is configured such that linear movement is guided by the linear guide member. The configuration of the linear guide member is not particularly limited, and there are a pair of rails and a moving member movable along the rails, and a pair of dovetails and dovetail grooves, etc. It is possible to adopt.

In this embodiment, a pair of rails arranged in parallel is fixed at a position sandwiching the rotation motor 15 in the rotation member 16, and the base member 20 constituting the linear movement mechanism is linearly adjusted by this rail It is configured to be able to guide.

A rack 21 (see FIGS. 4 and 5) is disposed along a rail fixed to the rotation member 16, and the rack 21 is fixed to the rotation member 16. A linear drive motor 22 is provided at a position corresponding to the rack 21 at the upper part of the base member 20, and a pinion (not shown) attached to the linear drive motor 22 meshes with the rack 21. Therefore, when the linear drive motor 22 is driven, the base member 20 can move linearly.

The base member 20 is configured with a torch adjusting device 18 that adjusts the attitude of the holder 17 that holds the torch B. The torch adjusting device 18 includes a holding member 18a that holds the holder 17 in rotation and fixedly, an in / out adjusting member 18b that adjusts in / out of the holding member 18a, and a height adjusting member that adjusts the height of the holding member 18a. And 18c. The torch adjusting device 18 having the members 18a to 18c may have the same structure as that used in a conventional welding device.

The operation panel 10 disposed in the upper part of the casing 1 includes a push button switch 10a for operating the drive of the carriage A, an operation dial 10b for operating a variable resistor, a select switch 10c for selecting a welding mode, and a power supply A connector 10 d to be connected and a display unit 11 for displaying an operation function, input data or an operation state are provided.

In the figure, reference numeral 8 denotes a handle used when transporting the carriage A.

Next, a control system of the welding apparatus will be described with reference to FIG. In the figure, a control device 25 is provided inside a control board 10 disposed at the top of the casing 1 of the carriage A. The control device 25 is configured of a computer including a storage unit storing an operation program of the carriage A and a control unit. The operation program of the carriage A is based on a preset welding program, an operation program of the carriage A corresponding to the operation of the push button switch 10a and the operation dial 10b, the selection switch 10c, and a signal from the switch 4a or the switch 4b. A program for moving the torch B by driving the rotary motor 15 and the linear drive motor 22 in synchronization with each other, and further, after moving the torch B according to the program, carry out the crater processing by returning the torch B back Program, including. The control unit performs a predetermined calculation or determination based on signals from the push button switch 10a, the operation dial 10b, the select switch 10c and the switch 4a or the switch 4b, and based on the calculation result or the determination result, each

motor

3, 15 , 22 or control the drive of the torch B.

In particular, the program for moving the torch B by driving the rotation motor 15 and the linear drive motor 22 in synchronization with each other is as in the case of butt welding or a corner of one standing plate and bottom plate raised from the bottom plate. The case where the target welding line is straight until the end, and the corner having the corner plate constituted by the two upright plates and the bottom plate which intersect, and the target welding line ends via the corner The case where the welding direction is changed between the time and the time are set, and these programs are configured to be selectable by the operation of the select switch 10c.

The operation dial 10b is configured to be able to operate the variable resistor, and is configured to be able to adjust the traveling speed of the truck A by turning the operation dial 10b. Further, the welding mode can be selected and set by operating the select switch 10c. In addition, the push button switch 10a is configured to generate a signal for starting or stopping traveling or welding of the carriage A.

In particular, the variable resistor operated by the operation dial 10b can be combined with the function as a speed regulator and the function as a switch for generating a signal (current value signal) consisting of current values. It is possible. That is, the variable resistor can exhibit the function as the speed adjustment function or the operation condition changing means in accordance with whether the carriage A is in the traveling state or in the stopped state.

For example, when the carriage A is in a traveling state, the variable resistor (operation dial 10b) exhibits the speed adjustment function, and any one of the range of 0 to 10 of the indicators provided around the indication portion of the operation dial 10b. By specifying, it is possible to adjust the traveling speed to a specified value.

In addition, when the carriage A is in the stop state, the variable resistor can function as operating condition changing means having a preset index set point corresponding to the preset position in the index. It is possible. That is, when the dolly A is stopped, the indicator set point of the variable resistor is matched with the index set point selected from among a plurality of index set points set in advance of the index. It can be configured to be able to generate a signal that

Then, when the control device 25 receives signals corresponding to the respective index set points, it is possible to exhibit functions corresponding to the respective signals. For example, the function of switching the traveling direction so as to travel in the direction opposite to the traveling direction currently set for the carriage A, or the ignition operation mode of the torch B, test mode or gas supply to the torch B, energization, It is possible to exhibit the function of switching an auto mode consisting of a series of operations such as the supply of a wire.

Next, with regard to the operation at the time of performing the fillet welding by the welding apparatus configured as described above, the target welding line is a corner between the bottom plate and the lower end of one standing plate, and the end is a corner. A case will be described with reference to FIG.

As shown in the figure, the plurality of workpieces to be welded are composed of a workpiece (bottom plate) C arranged horizontally and a standing plate D erected with respect to the bottom plate C, and the torch B makes the bottom plate C and It is comprised so that fillet welding may be performed with respect to the corner F comprised with the lower end of the standing board D. As shown in FIG. In particular, a contact plate E functioning as a contact member stands upright from the bottom plate C and is disposed to intersect with the rising plate D, and a crossing portion with the rising plate D is formed as a corner G.

Then, the carriage A is placed on the bottom plate C, and as shown in FIG. 1 and FIG. 3, the torch B is made to approach the corner F with its tip approaching diagonally. Arrange as follows. At this time, the distance and posture from the corner F of the torch B are set to the distance and posture set in accordance with the conditions such as the thickness and material of the bottom plate C and the rising plate D by operating the torch adjusting device 18. Set

With the torch B held at a predetermined distance and posture with respect to the corner F as described above, the operation dial 10b provided on the operation panel 10 is operated to set the traveling direction and traveling speed, and the select switch 10c. To set the welding mode when the target weld line is straight until the end. Thereafter, the push button switch 10a is operated to start fillet welding to the corner F by the torch B, and at the same time, the carriage A is caused to travel in the direction of the arrow a (FIG. 6A).

When the carriage A (the switch 4a) contacts the contact plate E due to the traveling of the carriage A in the direction of the arrow a, a signal is generated from the switch 4a and transmitted to the control device 25. It is recognized from this signal that the truck A has reached the drivable limit. And in this state, the fillet welding of the torch B to the corner F between the bottom plate C and the standing plate D is not completed.

For this reason, after recognizing that the carriage A has reached the drivable limit, as shown in FIG. 6 (b), the torch B is rotated about the rotation center H (rotation motor 15) and turned. A linear movement (advancing) is made in a direction approaching the upstanding plate D along a radius centered on the center H. That is, the torch B is rotated counterclockwise at the angular velocity Vr around the rotation center H at the angle r. At the same time, the torch B is moved forward by a speed f at a distance f along a radius centered on the rotation center H.

The drive of the drive motor 3 is stopped from the moment the signal is generated from the switch 4a, and the carriage A continues traveling by the inertial force while reducing the speed. The rate of reduction of the speed of the carriage and the traveling distance at this time can be measured when the welding apparatus is completed, and there is no significant change even if the period of use increases. Therefore, after the signal is generated from the switch 4a, the counterclockwise rotation of the torch B and the forward movement are controlled in synchronization with each other in consideration of the rate of decrease of the speed of the carriage A. Regardless of the rotation angle, it is possible to keep the distance from the corner F of the tip of the torch B substantially constant and to keep the velocity in the direction of the arrow a substantially constant.

The rotation angle r of the torch B and the linear movement distance f are uniquely determined as the distance from the end of the carriage A to the rotation center H and the distance from the tip of the torch B to the corner F are set. It is set. Further, the angular velocity Vr when the torch B rotates and the linear movement measurement Vf are uniquely set according to the setting of the welding speed corresponding to the thickness and the material of the bottom plate C and the rising plate D. .

Therefore, information on mechanical dimensions including the distance from the end of the carriage A (switch 4a) to the rotation center H (pivotal motor 15) in advance to the control device 25 and the welding speed at the time of welding the corner F By inputting the included welding information, it is possible to calculate the rotation angle r, the angular velocity Vr, the linear movement distance f, and the linear movement velocity Vf as conditions for moving the torch B.

Then, when it is recognized from the signal from the switch 4a that the carriage A has reached the drivable limit, the torch B is controlled by controlling the driving of the rotation motor 15 and the linear drive motor 22 according to the data of the calculation result. It is possible to continue welding to the corner F up to the corner G while moving as described above. Thus, when the fillet welding to the corner F approaches the corner G, the torch B reaches near the end of the carriage A in the traveling direction.

By continuing the fillet welding to the corner F by the torch B as described above, it is possible to reliably weld up to the corner G which is the intersection of the rising plate D and the abutting plate E. However, if welding is finished at this stage, craters will occur at the corner G.

For this reason, after the carriage A reaches the drivable limit, the drive of the rotation motor 15 and the linear drive motor 22 is controlled so as to reverse the torch B under the same conditions as moving the torch B. That is, the rotary motor 15 is driven to rotate the torch B clockwise at a rotational angle r and an angular velocity Vr, and at the same time, the linear drive motor is driven to retract the torch B at a linear movement distance f and a linear movement velocity Vf. Drive 22

Then, by simultaneously reducing the welding current and continuing the welding to the corner portion F by the torch B at the same time as the torch B reverses, it is possible to perform cratering by overlaying the crater.

When the target car A shown in FIG. 3 is placed on the bottom plate C when starting the desired welding, the rear end (the end on the side where the switch 4 b is disposed) of the car A and the torch B There is a risk that welding will not be possible. In this case, while the carriage A is stopped and the torch B is operated, as shown in FIG. 5, the rotary motor 15 is driven to rotate the torch B clockwise and the torch B is advanced. It is possible to eliminate the non-weldable portion by driving the linear drive motor 22 and then performing welding while rotating and retracting the torch B in the counterclockwise direction.

Then, after the torch B is in the posture shown in FIG. 3, it is possible to continue the fillet welding to the corner F by running the carriage A in the direction of the arrow a.

Although the said Example comprised the welding apparatus as the object of fillet welding, it is not necessarily limited to the fillet welding, and it is also possible to comprise a butt welding as an object. In the case of a welding apparatus intended for butt welding, since the torch is disposed perpendicularly to the pair of workpieces which are butt-welded, a torch holder (not shown) for holding the torch B substantially perpendicularly to the workpieces It is possible to respond by exchanging.

By configuring the welding apparatus as described above, it is possible to turn and move the torch forward after the carriage reaches the travel limit, and by continuing the welding by the torch along with this movement. Even in the case of butt welding, it is possible to weld the target welding line over the entire length.

Furthermore, after completion of butt welding, crater processing can be performed by continuing welding with reduced welding current while returning the torch.

Next, the target welding line is the corner between the bottom plate and the lower end of the two upright plates, and the corner formed by these, and the end includes the corner and is located beyond the corner A case will be described with reference to FIG.

In this embodiment, the welding from the corner F (first corner Fa) of the bottom plate C to the lower end of the standing plate D (first standing plate D) to the corner G is the welding shown in FIG. Since it is the same as in FIG. Further, in the figure, the same parts as those in FIG.

In the present embodiment, the plurality of workpieces to be welded intersect the bottom plate C arranged horizontally, the first standing plate D standing up with respect to the bottom plate C, and the first standing plate D standing up from the bottom plate C. A corner portion G is formed at a portion where the first standing plate D and the second standing plate E intersect with each other. Further, the target welding line is constituted by the bottom plate C and the lower end of the second erecting plate E through the corner portion G from the first corner Fa constituted by the bottom plate C and the lower end of the first erecting plate D It is set to reach the second corner Fb. That is, the target welding line is set in two directions (first corner Fa to corner G to second corner Fb) including the corner G.

First, the carriage A is placed on the bottom plate C in correspondence with the first corner Fa, and the torch B is maintained at a predetermined distance and posture with respect to the first corner Fa. Then, the operating dial 10b provided on the operation panel 10 is operated to set the traveling direction and the traveling speed, and the select switch 10c is operated to cross the first erecting plate D, the second erecting plate E and the bottom plate C which intersect. A welding mode is set in the case where the welding direction is changed between the target welding line and the end with the configured corner G. Thereafter, the push button switch 10a is operated to start fillet welding to the corner F by the torch B, and at the same time, the carriage A is caused to travel in the direction of the arrow a (FIG. 7A).

When the carriage A (the switch 4a) comes in contact with the second upright plate E by traveling of the carriage A in the direction of the arrow a, a signal is generated from the switch 4a and transmitted to the control device 25. It is recognized from this signal that the truck A has reached the drivable limit. Thereafter, as shown in FIG. 6B, the torch B is rotated about the rotation center H (rotation motor 15) and the first erecting plate D is arranged along a radius centered on the rotation center H. By moving linearly (advance) in the direction to make it approach,
It is possible to continue the fillet welding to the first corner portion Fa and to weld to the corner portion G which is a crossing portion of the first upright plate D and the second upright plate E.

Then, after performing fillet welding from the first corner portion Fa to the corner portion G, the torch B is further rotated counterclockwise around the rotation center H and the radius around the rotation center The welding is continued from the corner G toward the second corner Fb by linearly moving (retracting) in a direction away from the second upright plate E along the distance.

After the switch 4a provided at the end of the carriage A contacts the second standing plate E, the turning angle of the turning member 16 until the torch B reaches the corner G, the second standing from the corner G Numerical values such as the rotation angle and linear movement distance f of the rotation member 16 corresponding to the fillet welding length with respect to the plate E are the distance from the end of the carriage A to the rotation center H, the allowable number of rotations of the rotation member 16 The conditions such as the movement angle and the distance between the tip of the torch B and the first corner Fa and the second corner Fb are uniquely set as the conditions are set. In addition, the angular velocity Vr when the torch B rotates and the linear movement measurement Vf are uniquely set as the welding speed is set.

Therefore, information on mechanical dimensions including the distance from the end of the truck A (the switch 4a) to the pivoting center H (pivotal motor 15) in advance in the control device 25, the welding length to the second corner Fb, the first By inputting welding information including welding speed at the time of welding the corner Fa and the second corner Fb, the rotation angle r, the angular velocity Vr, the linear movement distance f, the linear movement speed as a condition for moving the torch B It is possible to calculate Vf.

Then, when it is recognized from the signal from the switch 4a that the carriage A has reached the drivable limit, the drive of the rotation motor 15 and the linear drive motor 22 is controlled according to the data of the calculation result, thereby the first corner It is possible to continue fillet welding from Fa to corner G.

When the rotation angle r of the torch B is detected by the rotation of the rotation motor 15 to recognize that the torch B has reached the corner G, the rotation of the linear drive motor 22 is maintained while the rotation of the rotation motor 15 is maintained. It is possible to move the torch B in the direction of being separated from the first upright plate D while maintaining the substantially constant distance from the second upright plate E by reversing the above. Then, in the process in which the rotation motor 15 holds the rotation in the same direction and the linear drive motor 22 reverses, the torch B moves from the corner G to the second corner Fb to perform fillet welding It is possible.

After the fillet welding is transferred from the corner G to the second corner Fb as described above, the welding length to the second corner Fb is not limited to what extent. That is, the fillet welding with respect to the second corner Fb does not accompany the traveling of the carriage A, but merely depends on the rotation of the rotation member 16 by the rotation motor 15.

Therefore, in the present embodiment, the pivoting member 16 (torch B) is configured to be capable of pivoting about 120 degrees about the pivoting center H. For this reason, the distance from the corner G to the end of the welding line set at the second corner Fb is a position where the torch B is rotated about 60 degrees around the rotation center H.

As described above, it is possible to perform fillet welding continuous from the first corner portion Fa to the second corner portion Fb via the corner portion G. Further, by continuously welding the both sides including the fillet G in this manner, it is not necessary to overlap the bead at the corner G or a position very close to, and a good bead maintaining continuity can be formed. It becomes possible.

When fillet welding is finished at the second corner Fb, craters will be generated in the bead at the end portion. Therefore, it is possible to perform cratering by overlaying the crater by reducing the welding current and continuing the welding to the second corner portion Fb by the torch B simultaneously with returning the torch B. .

The welding apparatus according to the present invention is advantageously used when welding to the target welding line has not been completed even if the carriage A reaches the travel limit.

A Cart B B Torch C Bottom plate D Standing plate, first standing plate E Contact plate, second standing plate F Corner portion Fa First corner portion Fb Second corner portion G Corner portion H Rotation center 1 Casing 2 Wheel 3

Drive Motor

4a,

4b Switch

5a,

6a Roller

5b, 6b Arm 8 Handle 10 Operation panel 10a Push button switch

10b Operation dial

10c Select switch 11 Display 15 Rotation motor 16 Rotation member 17 Holder 18 Torch adjustment device

18a Holding member

18b Adjustment member 18c Height adjustment member 20 Base member 21 Rack 22 Linear drive motor 25 Control device

Claims

A welding apparatus for welding a plurality of workpieces, wherein
A welding torch that welds a plurality of workpieces that are combined so that the plurality of workpieces approach or intersect.
A linear drive mechanism having a linear guide member linearly guiding a torch holder holding the welding torch, and a linear drive motor reciprocatingly driving the torch holder along the linear guide member;
A pivoting mechanism having a pivoting motor for pivoting at least the linear guide member;
A carriage on which the linear drive mechanism and the rotation mechanism are mounted;
When it is recognized that the carriage travels only for a traveling section shorter than a preset welding section, the linear drive motor and the welding torch are held at a distance from the workpiece and at a welding speed. A control device that controls driving of the rotation motor;
Welding equipment characterized by having.
After the welding torch reaches the end position of the welding section set in advance, the control device holds the welding torch at a distance from the workpiece and holds the welding speed in the welding direction of the carriage. The welding apparatus according to claim 1, characterized in that the drive of the linear drive motor and the rotation motor is controlled so as to reverse the movement.
The plurality of materials to be welded include a bottom plate and a standing plate standing on the bottom plate, and the welding portion is a corner between the bottom plate and the lower end of the standing plate,
An abutment member disposed on the bottom plate and downstream in the traveling direction of the carriage;
A switch disposed at an end of the carriage in the traveling direction and generating a signal in contact with the contact member;
A control device for controlling the drive of the linear drive motor and the rotation motor so as to maintain the welding torch at a distance from the welding portion and maintain the welding speed based on a signal from the switch;
The welding apparatus according to claim 1 or 2, characterized by:
The plurality of materials to be welded are disposed on the bottom plate, the first standing plate standing on the bottom plate, and the second standing plate disposed on the bottom plate downstream of the traveling direction of the carriage and in contact with the first standing plate. Become
A first corner where the welded portion abuts the bottom plate and a lower end of the first upright plate; a second corner where the bottom plate abuts the lower end of the second upright plate; and the first corner Part and the second corner part including the corner part connected, and from the first corner part to the vicinity of the corner part at the second corner part, passing through the corner part,
A switch disposed at an end of the carriage in the traveling direction and generating a signal in contact with the second upright plate;
Based on the signal from the switch, the welding torch is maintained at a distance from the welding portion and the welding speed is maintained so that the first corner portion continues from the first corner portion to the second corner portion. A control device that controls the drive of the linear drive motor and the rotation motor to
The welding apparatus according to claim 1 or 2, characterized by: