JPH0636986B2 - Scalup dowel welding equipment - Google Patents

Description

Description: TECHNICAL FIELD The present invention relates to a welding device for a scalar cup bar which is attached to a boiler furnace wall finch uve panel or the like.

[Conventional technology]

An explanation of the scalar bar attached to the boiler furnace wall finch uve panel is shown in the perspective view of FIG. 8. 1 is a tube, 2 is a fin, and these are integrated by welding in the longitudinal direction. Three
Is a scalloped bar that is attached to the finch uve panel so as to intersect the axis of the tube 1. One side edge along the longitudinal direction is processed according to the surface shape of the finch uve panel, so that the attachment welding line is straight and half. The arc has a continuous and complicated shape. Normally, the welding is performed by performing horizontal fillet welding 4 with the fuchin uve panel placed horizontally and the scrapped bar 3 standing up, so the welding line repeats rising and falling. As a result, sophisticated welding technology is required to perform this automatically.

Referring to the side view of FIG. 4 and the front view of FIG. 5, the conventional fuchtube welding apparatus will be described. 1, 2, 3, 4 are the same members as in FIG. 8, and 5 is parallel to the scalar bar 3 on the fuchnube panel. A laid rail, 6 is a rack integrated with the rail 5, 7 is a V groove on both sides of the rail 5, 8 is a bogie, 9 is a wheel frame attached to the four corners of the bogie 8, 10 is each wheel frame 9 A guide wheel rotatably mounted on the rail 5 travels along the V-groove 7 of the rail 5. Reference numeral 11 denotes a traveling motor, which drives a dolly 8 by engaging a pinion 12 mounted on a shaft with a rack 6. Reference numeral 13 denotes an upper plate 14 which is supported by four columns vertically provided on the carriage 8. 15
Is fixed between the upper plate 14 and the carriage 8 by a slide bar. A ball screw 16 is also rotatably fixed between the upper plate 14 and the carriage 8, and is attached to a lifting motor 20 fixed to the carriage 8 via a pulley 17, a belt 18 and a pulley 19 at the tip of the ball screw 16. It is driven by all means. Reference numeral 21 is an elevating table, which is a slide bar 15 and a ball screw 16
And is moved up and down according to the rotation of the ball screw 16. Reference numeral 22 is an arc rail fixed in a state of standing on the lift table 21, and 23 is an arc rack integrated with the arc rail. 24 is a torch mount, which is one wheel inside and two outside 25
Is attached to the arc rail 22 so that it can travel freely. 26 is a motor for adjusting the torch angle 2 of the torch mounting base
The torch mount 24 is driven by the pinion 27, which is fixed to the shaft No. 4, and engages with the arcuate rack 23 at the tip of the shaft. Reference numeral 28 is a torch fixing jig, and 29 is a welding torch. The radius of the circular arc rail 22 is selected so that the welding point 30 is always a fixed point even if the torch mount 24 moves.

Next, the control system of such a device will be described. First, the system diagram of FIG. 6 shows the control device, 11, 20, 26 are shown in FIGS. 4 and 5, 11 is a traveling motor, Reference numeral 20 is a lifting motor, and 26 is a torch angle adjusting motor. 38 is an input device having a tube diameter d, fin thickness t, and fin width w, 39 is a welding line locus calculator based on input data from the input device 38, 40 is an input device for welding speed v, 41
Is a drive speed calculator, 42 is a torch angle adjustment speed calculator,
Reference numeral 43 is a torch limit angle input device, and 44, 45, 46 are drivers for the motors 11, 20, 26, respectively.

Next, the procedure of the torch control by such a control device will be explained with reference to the schematic diagram of FIG. 7, and the lower part shows the driving state of each motor at each time point in a graph. Since the tube diameter d is input, the welding line trajectory calculator 39 calculates the coordinates of the surface of the tube 1. However, x: traveling axis y: can be calculated by elevator shaft, the driving speed calculator 41 based on the welding speed v had it occurred in the input to the input unit ^{40, △ x 2 + △ y} 2 = v 2 ... (2) However, if the driving motor driver 44 and the lifting motor driver 45 are driven by Δx: travel axis displacement amount Δy: lifting shaft displacement amount, the welding point 30 is welded along the surface of the tube 1. It can be moved at speed v.

At this time, the simultaneous torch angle adjustment speed calculator 42 C: Torch angle adjustment motor drive speed R: Torch angle adjustment motor 26 is driven by the radius of the arc rail 22,
, The front and rear angle of the torch 29 is the tube 1
Can be kept at right angles to the surface at all times.

However, if the torch 29 is inclined too much, the torch 29 collides with the adjacent tube 1 and welding becomes impossible. Therefore,
The position l on the circular arc rail 22 which does not collide even at the position of is set by the input device 43, and when it reaches l, the torch angle adjusting motor 26 is stopped.

The intersection of the surface of tube 1 and the surface of fin 2 is Since it is given by
Stop 1,20.

Next, the torch angle adjusting motor 26 is rotated in the reverse direction so that the torch 29 is upright. Then, after traveling the fin width w by →→, the torch angle adjusting motor 26 is further reversed to tilt the torch 29 to the −l position. The traveling motor 11 and the lifting motor 20 again move the welding point 30 along the tube 1 display.

When the vertical axis reaches the coordinate of, the torch angle adjusting motor 26 is driven again to keep the torch longitudinal angle at right angles to the surface of the tube 1 as shown by. This process is repeated below.

However, in such an apparatus, since the dimensions of the finch uve panel are not necessarily accurate, errors accumulate as the operation is repeated, and the weld beat shape is particularly bad at the corners and. It is a defect.

[Problems to be solved by the invention]

The present invention has been proposed in view of such circumstances,
An object of the present invention is to provide a scalar bar welding apparatus capable of performing excellent scalar bar welding even on a finch uve panel having poor dimensional accuracy.

[Means for solving problems]

For this purpose, the present invention is directed to a carriage that travels on a rail laid parallel to a vertical scoop bar on a horizontal finch uve panel, an elevator on the truck, and an arc attached to the elevator. Simultaneous or sequential control of the welding torch mount, which runs on the rail, and the movement of the carriage, lift, and torch mount, based on external settings of the tube diameter, fin thickness, fin width, welding speed, and torch limit angle. In a scalar bar welding apparatus for automatically performing horizontal fillet welding in which straight lines and arcs are alternately continuous, the surface of the fin or the tube at a point moved from the welding point in parallel with the axis of the tube. It is characterized in that a contactor is provided for detecting the contact with the side surface of the welding torch and switching the movement sequence of the welding torch.

[Work]

With the above-described configuration, it is possible to obtain a scalar-bar welder capable of performing excellent scalar-bar welding even on a finch uve panel having poor dimensional accuracy.

〔Example〕

An embodiment of the sculpted bar welding apparatus of the present invention will be described with reference to the drawings. FIG. 1 is a side view thereof, FIG. 2 is a front view thereof, and FIG. 3 is a system diagram of a control device.

1 to 3, reference numerals 1 to 30 and 38 to 46 denote the same members as those in FIGS. 4 to 6, respectively.

First, in FIGS. 1 and 2, 31 is a sensor holding base integrally provided at the tip of the lift base 21 in parallel with the torch 29, 32 is a universal joint attached to the lower end of the lift base 21, 33
Is a movable plate having a contactor 34 at its lower end, the lower end side being supported by the universal joint 32, and the upper end via the spring 35, the lifting table 2
It is connected to the tip of 1. 36 is a sensor holder 31
An upper / lower detection limit switch provided above the movable plate 33 in relation to the vertical movement of the movable plate 33, and a reference numeral 37 denotes a left / right detection limit switch attached to the sensor holding base 31 in relation to the horizontal movement of the movable plate 33.

The contactor 34 is located at a position where the welding point 30 is moved in parallel to the tube axis, and the relative positions of the two to the tube 1 and the fin 2 are always the same even when the traveling and lifting operations are performed.

The control configuration of such an apparatus will be described with reference to FIG. 3. Reference numeral 36 is the above-mentioned vertical detection limit switch, 37 is the same horizontal detection limit switch, and 47 is a sequence controller.

These operations will be described with reference to FIG. 7 as well. Based on the input tube diameter d, the welding line locus calculator 39 calculates the coordinates of the surface of the tube 1 by the above equation (1), and (2) The driving speeds of the x and y axes are controlled by the relation between the equation and l, and the equation (3) and l
It is conventional to calculate the torch angle in relation to.
This is sequence I.

Next, when the welding point 30 reaches the vicinity of, the contactor 34 comes into contact with the surface of the fin 2 and is pushed up, so that the vertical detection limit switch 36 is inserted. The sequence controller 47 receives the signal from the upper / lower detection limit switch 36 and commands the sequence II.

Sequence II defines the operation of →→→, and raises the torch 29 vertically and then drives the carriage 8. However, the position in this case is not determined by the fin width w, and the traveling is continued until the signal of the left / right detection limit switch 37 described below comes.

That is, when the welding point 30 comes close, the contactor 34 comes into contact with the side surface of the tube 1, and when it moves in the horizontal direction, the left and right detection limit switch 37 enters, and the sequence controller 47 commands the next step, sequence III.

The sequence III is for adjusting the torch locus and the torch angle which are line-symmetrical to the sequence I, and can be calculated from the equations (1), (2) and (3). According to this sequence, the torch 29 moves to →. At a point, the sequence controller 47 issues a command of sequence I by the signal of the limit switch fixed on the circular arc rail 22 not shown.

Then, by repeating this operation, it is possible to perform good scalar bar welding even on a finch uve panel having inaccurate dimensions.

〔The invention's effect〕

In short, according to the present invention, a trolley that travels on a rail laid parallel to a vertical scooped bar placed on a horizontal finch uve panel, an elevator on the trolley, and the elevator is attached to the elevator. The welding torch mount that moves on the arc rail and the movement of the carriage, lift, and torch mount are moved simultaneously or sequentially based on external settings of the tube diameter, fin thickness, fin width, welding speed, and torch limit angle. In a scalar bar welding apparatus which is composed of a control device for controlling and automatically performs horizontal fillet welding in which straight lines and arcs are alternately continuous, the surface of the fin or the above point at the point moved from the welding point in parallel to the axis of the tube. By providing a contact that switches the movement sequence of the welding torch by detecting the contact with the side of the tube, it can be used for the finch tube panel with poor dimensional accuracy. Since obtaining Sukaratsupudoba welding apparatus that enables good Sukaratsupudoba welding also, the present invention is extremely useful industrially.

[Brief description of drawings]

FIG. 1 is a side view of an embodiment of the sculpted bar welding device of the present invention, FIG. 2 is a front view of the same, and FIG. 3 is a system diagram of the control device of the same. Fig. 4 is a side view of a conventional sculpted bar welding device, Fig. 5 is a front view of the same, Fig. 6 is a system diagram of the control device of the same, Fig. 7 is a schematic diagram of sequence explanation of the device in Fig. 6, and FIG. 8 is a perspective view of a known scrapped bar. 1 ... tube, 2 ... fin, 3 ... scalloped bar, 4 ... horizontal fillet welding, 5 ... rail, 6 ... rack, 7 ... V groove, 8 ... truck, 9 ... wheel frame, 10 ……
Guide wheels, 11 ... running motor, 12 ... pinion, 13 ... support, 14 ... upper plate, 15 ... slide bar, 16 ... ball screw, 17 ... pulley, 18 ... belt, 19 ... Pulley, 20 ... Lifting motor, 21
...... Lifting platform, 22 ...... arc rail, 23 ...... arc rack, 24 …… torch mount, 25 …… wheels, 26 …… torch angle adjustment motor, 27 …… pinion, 28 ……
Torch fixing jig, 29 ... Welding torch, 30 ... Welding point, 31 ... Sensor holder, 32 ... Universal joint, 33
...... Movable plate, 34 ...... Contactor, 35 ...... Spring, 36 ......
Vertical detection limit switch, 37 ... Left and right detection limit switch, 38 ... Input device, 39 ... Welding line locus calculator, 40 ... Input device, 41 ... Driving speed calculator, 42 ...
... torch angle adjustment speed calculator, 43 ... input device, 44,
45, 46 ... Motor driver, 47 ... Sequence controller.

Claims (1)

[Claims] 1. A trolley which runs on a rail laid in parallel with a vertical scoop bar placed on a horizontal finch uve panel, a lift on the trolley, and an arc attached to the lift. The welding torch mount that travels on the rail and the movement of the carriage, elevator, and torch mount are adjusted to
Scalat bar welding that automatically performs horizontal fillet welding that alternates straight lines and arcs, and consists of a control device that controls simultaneously or sequentially based on external setting inputs of fin thickness, fin width, welding speed, and torch limit angle. In the apparatus, a contact is provided for detecting a contact with the surface of the fin or the side surface of the tube at a point moved from the welding point in parallel with the axis of the tube and switching a moving sequence of the welding torch. Scalup bar welding equipment.