JPH0648982U - Traveling carriage for welding - Google Patents

Abstract

(57) [Abstract] [Purpose] When traveling the traveling carriage 1 equipped with the welding torch 8 in either of the reciprocating directions, the traveling carriage 1 is made to follow the standing plates 4a and 4b without leaving. [Arrangement] Arms 42 and 43 are provided so as to project from the front and rear sides of the traveling carriage 1 toward the standing plates 4a and 4b, and the copying roller 6 is rotatably attached to the tip ends of the arms 42 and 43. The traveling carriage 1 is provided with an arm forward / backward switching mechanism, and when this mechanism is operated to cause the traveling carriage to travel in the forward direction, the arm 42 on the front side of travel is retracted from the arm 43 on the rear side, and in the reverse direction of return. When traveling, move the arm 43 before and after traveling to the rear arm.
The carriage 1 is retracted more than 42, and the traveling carriage 1 always inclines the front side of the traveling toward the standing plates 4a and 4b for traveling.

Description

[Detailed description of the device]

[0001]

[Industrial applications]

 The present invention relates to a welding traveling carriage that is equipped with a welding torch, travels along a member to be welded, and moves a nozzle tip of the welding torch along a region to be welded.

[0002]

[Prior art]

 For example, in the case of fillet-welding the standing plate to the lower plate, first, the standing plate is temporarily welded to the lower plate to stand up, and in the past, the welding torch was held by hand and the nozzle tip of the welding torch was held. The part was moved along the welded area and the target fillet welding was performed. However, the welding method in which the welding torch is held by hand is very troublesome for the welding work, and also requires skill for welding, which is inconvenient because only a skilled worker can engage in the welding work. In order to eliminate such inconvenience, in recent years, a welding torch is mounted on a traveling carriage and the traveling carriage travels along a welded member, so that the nozzle tip of the welding torch is guided along the welded area. A traveling carriage for welding that automatically moves and fillet welds has been developed.

FIG. 10 shows a general schematic configuration of a conventional traveling vehicle. In the figure, the traveling trolley 1 has wheels 3 attached to the trolley body 2 in the front, rear, left and right, and has a built-in motor (not shown) inside. A pair of arms 5a and 5b are provided so as to project in the direction, and a copying roller 6 that follows the standing plate 4 is rotatably attached to the front ends of the arms 5a and 5b. Further, a torch holder 7 is attached to the trolley body 2, and a welding torch 8 is attached to the torch holder 7. The nozzle tip portion 8a of the welding torch 8 is opposed to the welded region 10 of the fillet welding at a constant interval, and in this state, the motor is driven to rotate the wheels 3 and the traveling roller 6 is driven by the copying roller 6. By moving 1 along the standing plate 4, the nozzle tip portion 8a moves along the welded region 10 and the fillet welding to the lower plate 11 of the standing plate 4 is performed.

[0004]

[Problems to be solved by the device]

 When the traveling vehicle 1 is made to travel by following the traveling rollers 6, the arm 5b on the front side of traveling is made shorter than the arm 5a on the rear side, and the front side of the traveling vehicle 1 is slightly inclined inward (toward the standing plate). The copying roller 6 is made to run in such a state that the copying roller 6 is not separated from the standing plate 4. However, since the arms 5a and 5b of the conventional traveling carriage 1 are fixed to the carriage body 2 with the arms 5b shorter than 5a, the traveling carriage 1 faces outwardly with respect to the standing plate 4 when the vehicle travels back. Since the vehicle travels in the vertical direction, the vehicle moves away from the standing plate 4 and the profile traveling cannot be performed. For this reason, the traveling carriage 1 can travel only in one direction with the arm 5b side facing forward, which is inconvenient for work.

The present invention has been made in order to solve the above-mentioned conventional problems, and an object thereof is to make the traveling carriage reliably follow the welded member regardless of the traveling direction of the traveling carriage. It is to provide a traveling carriage for welding.

[0006]

[Means for Solving the Problems]

 The present invention is configured as follows to achieve the above object. That is, the present invention is equipped with a welding torch and is capable of traveling back and forth along the welded area of the lower plate and the standing plate. In the traveling carrier for welding, the front and rear parts of the traveling carrier project toward the standing plate. An arm is provided, and a copying roller that imitates the standing plate is provided at the tip of the protruding end of each arm in a rotating manner. It is configured to have an arm advancing / retreating switching mechanism for retracting rather than the copying roller.

[0007]

[Action]

 In the present invention, for example, when fillet welding is performed from the left end to the right end of the welded area, the traveling carriage for welding is first arranged on the left end side of the welded area and the forward / backward switching mechanism of the arm is operated. The arm of the front side copying roller is retracted from the arm of the rear side copying roller so that the front and rear side copying rollers come into contact with the member to be welded.

Then, the wheels are rotationally driven, and the traveling carriage is guided by the copying rollers and travels along the welded member. Along with this, the nozzle tip of the welding torch moves along the welded area, and fillet welding is performed in the carriage traveling section. The traveling vehicle is stopped when the traveling vehicle arrives at the end position, that is, at the right end of the welded area. Next, by operating the arm advancing / retreating switching mechanism and retracting the arm of the copying roller on the rear side so that it is shorter than the arm on the front side, the traveling carriage can be returned in the opposite direction to perform fillet welding. It will be possible.

[0009]

【Example】

 An embodiment of the present invention will be described below with reference to the drawings. 1 to 8 show the construction of an embodiment of a traveling carriage for welding according to the present invention. In these figures, wheels 3 are provided on the bogie body 2 in the front, rear, left and right as in the conventional example, and a motor is built in the bogie body 2. As shown in FIG. 4, a motor gear 14 is fixed to the output shaft 13 of this motor, and the rotational driving force of the motor is applied to the wheel side clutch 15 and the torch driving side clutch 16 of FIG. Has been transmitted. When the wheel side clutch 15 is engaged with the clutch, the rotational driving force from the motor side is transmitted to the gear of the axle 18, and the wheel 3 is rotated. Further, a worm gear 21 that meshes with the gear series is provided on the input side of the torch drive side clutch 16, and the clutch drive of the torch drive side clutch 16 transmits the rotational drive force from the gear series to the worm gear 21 to drive the torch drive. The output shaft 19 of the side clutch 16 is rotated. In this embodiment, the rotation control of the motor and the intermittent control of the clutches 15 and 16 are performed by a control circuit (not shown). The control circuit ensures that the clutch 15 on the wheel side and the clutch 16 on the torch drive side are not simultaneously engaged, that is, when one side of the clutches 15 and 16 is engaged, the other side clutch is disengaged. Are controlled.

The output shaft 19 of the torch drive side clutch 16 is supported on the upper plate 22 of the bogie main body 2 through a bearing, penetrates the upper plate 22 and projects upward, and the protruding tip portion thereof rotates. The position detection plate 23 is fixed. As shown in FIG. 5, a slide pack 24 having a U-shaped cross section is fixed to the rotational position detecting plate 23. A sliding member 26 is slidably accommodated in a U-shaped accommodation recess 25 of the slide pack 24, and an arm 27 and a holding frame 28 are coupled to the sliding member 26 by bolts or the like. . A nozzle holder 30 is fixed to the holding frame 28, and the welding torch 8 is held by the nozzle holder 30. The nozzle tip portion 8a of the welding torch 8 is arranged to face the area to be welded at a constant interval.

On the other hand, a guide groove forming plate 31 is fixed to the upper side of the upper plate 22 of the carriage main body 2, and the center portion of the guide groove forming plate 31 is separated from the welded area as shown in FIG. A curved guide groove 32 is formed which is convex in the direction, that is, on the right side in FIG. A guide cam surface forming plate 29 is superposed and fixed on the upper side of the guide groove forming plate 31, and a guide cam surface 29a is formed on the guide cam surface forming plate 29.

A rolling roller 33 composed of a bearing or the like is rotatably attached to the tip end side of the arm 27, and the rolling roller 33 is inserted into the guide groove 32 of the guide groove forming plate 31. There is. A spring 59 is interposed between the slide pack 24 and the arm 27 in a compressed state, and the rolling roller 33 is pressed against the guide cam surface 29a by the urging force of the spring 59. It is designed to roll along 29a. That is, the slide pack 24, the sliding member 26, the arm 27, the holding frame 28, and the nozzle holder 30 rotate integrally with the output shaft 19 as a fulcrum in conjunction with the rotation of the output shaft 19 of the torch drive side clutch 16. The rolling roller 33 rolls along the guide cam surface 29a, and along with this rolling movement, the welding torch 8 moves back and forth.

That is, in FIG. 2, when the rolling roller 33 is positioned on the C-end side of the guide groove 32, the welding torch 8 is inclined, and its nozzle tip portion 8 a has a constant distance ΔL from the welded region 10. Face through. From this position, when the output shaft 19 is rotated to roll the rolling roller 33 through the center D portion of the guide groove 32 to the other end E portion, the nozzle tip portion 8a rotates about the output shaft 19 by θ. Only rotate and move. With the rotational movement of the welding torch 8, the rolling roller 33 first moves to the right side of FIG. 2 (the direction away from the welded area 10) when rollingly moving from C to D along the guide cam surface 29a. As a result, the sliding member 26 slides in the backward direction with respect to the slide pack 24, and the nozzle tip portion 8a moves in the backward direction.

When the rolling roller 33 is rolled from D to E along the guide cam surface 29a, the nozzle tip portion 8a moves in the advancing direction. That is, if the welding torch 8 is simply rotated around the output shaft 19 as a fulcrum, the nozzle tip portion 8a moves along the locus of L, but the rolling roller 33 rolls along the guide cam surface 29a. As the sliding member 26 slides along with the arm 27 with respect to the slide pack 24, the nozzle tip portion 8a moves along the locus of L '. As described above, in the present embodiment, the shape of the guide cam surface 29a is designed so that the nozzle tip portion 8a moves with the welded region 10 at a constant interval ΔL. In this embodiment, the power transmission system extending from the output shaft 19 of the torch drive side clutch 16 to the slide pack 24, the sliding member 26, and the holding frame 28 in this order constitutes a rotating mechanism of the welding torch, and the arm 27 has a rotating mechanism. The rolling roller 33, the guide groove 32, and the guide cam surface 29a, which are attached to each other, constitute a forward / backward moving mechanism of the welding torch.

In the present embodiment, as shown in FIG. 6, on the circumferential surface of the rotational position detection plate 23, the rolling roller 33 has a position corresponding to the rolling position of the C end of the guide groove 32, and the center D. Position detection recesses 34, 35, 36 are formed at the portion corresponding to the rolling position of the section and at the position corresponding to the rolling position of the E end, respectively, and on the circumferential surface of the rotational position detection plate 23. A spherical body 37 that selectively fits into the position detecting recesses 34, 35, 36 is disposed at the opposing fixed position, and the spherical body 37 is constantly rotated by a compression spring 39 housed in a housing 38. Pressed on the circumferential surface of 23. The housing 38 and the like are provided with detection switches (not shown) for detecting the rotational positions where the position detecting recesses 34, 35 and 36 are fitted in the sphere 37, and this switch signal is applied to the control circuit. It is designed to be used.

By the way, as shown in FIGS. 2 and 1, sliding grooves 41 are formed on both front and rear sides of the base frame 40 of the bogie main body 2, and the arms 42 and 43 slide on the sliding grooves 41. It is fitted freely. A copying roller 6 (not shown in FIGS. 1 and 2) is rotatably attached to the tip ends of the arms 42, 43. The arms 42 and 43 are connected by a connecting member 45 via a connecting member 44, and the connecting member 44 and the connecting member 45 are rotatably connected by a pin 46. A rotary shaft 47 is rotatably inserted through the center of the connecting member 45, and the lower end side of the rotary shaft 47 is fixed to the bottom plate of the carriage main body 2. The connecting member 45 is configured to move forward and backward along the sliding groove 41 by rotating the arms 42 and 43 along the sliding groove 41 by rotating about the rotation supporting shaft 47.

The lower ends of the shafts 48, 49, 50 are rotatably coupled to the connecting member 45, and the upper plate 22 of the shaft 48 is loosely inserted into the upper plate 22 of the carriage main body 2 as shown in FIG. Projecting upward from the upper plate, and connected to the operating plate 51 on the upper side of the upper plate 22. The shaft 49 is rotatably connected to the one end of the link plate 52 at the upper end thereof. The lower end side of the shaft 50 is rotatably coupled to the other end side of the link plate 52, and the upper end side of the shaft 50 loosely inserts the upper plate 22 to project upward, and the projecting tip end side is connected to the operating plate 51. Has been done. The base end side of the lever plate 53 is fixed to the central portion of the link plate 52 by welding or the like, and the tip end side of the lever plate 53 is connected to the operating plate 51 via a bolt 54 that passes through the upper plate 22. There is.

As shown in FIG. 7, a cam shaft 61 is fixed to the upper plate 22 of the trolley body 2 so that the operating plate 51 is loosely inserted and protrudes upward. The cam shaft 61 has a disc-shaped cam. A plate 55 is rotatably fitted. As shown in FIG. 8, the cam plate 55 is formed with a cam groove 56 which is slightly eccentric from the center of the cam shaft 61 by e, and as shown in FIG. A pin 57 fixed to the operating plate 51 is fitted in the cam groove 56 so as to be slidable relative to each other. A casing 58 is covered on the cam plate 55, and the casing 58 is integrally fixed to the cam plate 55. An operating lever 60 is provided on the casing 58. In the present embodiment, the connecting fitting 44, the connecting member 45, the operating plate 51, the link plate 52, the lever plate 53, and the shafts 47, 48, 49, 50 connecting the respective members constitute a link mechanism. The link mechanism, the cam plate 55 having the cam groove 56, and the operation lever 60 constitute an arm forward / backward switching mechanism. In this embodiment, a micro switch (not shown) for detecting the end position of reciprocating traveling is provided at the front and rear positions of the traveling vehicle, and this switch signal is applied to the control circuit.

The present embodiment is configured as described above, and its operation will be described below. As shown in the schematic view of FIG. 9, when the standing plates 4a and 4b that are temporarily welded to the lower plate 11 are fillet-welded between the side plates 9a and 9b, first, from the left end of the standing plate 4a. When welding to the right end, first rotate the operating lever 60 clockwise, and the cam groove 56 of the cam plate 55 slides clockwise with respect to the pin 57, and as shown in FIG. Engages with one end K side of the cam groove 56. At this time, as described above, the center position of the cam groove 56 is displaced from the rotation center position of the cam plate 55 by e, so that the pin 57 is pushed by the cam groove 56 in the direction away from the rotation center of the cam plate 55. The operating plate 51 fixed to the pin 57 is also pushed and moved in the same direction.

The movement of the operating plate 51 is transmitted to the link mechanism, and the connecting member 45 rotates clockwise in FIG. 1 with the rotation support shaft 47 as a fulcrum. Due to the rotation of the connecting member 45, the arm 42 slides in the backward direction and the arm 43 slides in the forward direction. As a result, the protruding length of the arm 42 relative to the carriage main body 2 becomes shorter than the protruding length of the arm 43. When both the copying rollers 6 are brought into contact with the standing plate 4a, the traveling carriage 1 is in a state in which the front side is inclined to the standing plate 4a side in the traveling direction.

In this state, the traveling carriage 1 is located at the left end of the welded area 10, the rolling roller 33 is located at the left end C of the guide cam surface, and the nozzle tip portion 8a of the welding torch 8 is in the welded area. Face the left edge of 10. The position of the nozzle tip portion 8a is detected by a detection sensor provided in the vicinity of the rotational position detection plate 23, and the detection signal is added to the control circuit. The control circuit recognizes that the nozzle tip portion 8a of the welding torch 8 is at the left end position of the blind spot area 12 based on the detection signal from this detection sensor. When the motor switch is turned on in this state, the torch drive side clutch 16 is engaged with the wheel side clutch 15 disengaged in response to a command from the control circuit.

Therefore, the rotational force of the motor is transmitted to the output shaft 19 of the torch drive side clutch 16, the arm 27 rotates, and the nozzle tip portion 8a of the welding torch 8 moves along the blind spot region 12 of the welded region 10. . At this time, the rolling roller 33 rolls from the left end position C of the guide cam surface 29a toward the central portion D in association with the rotation of the arm 27, so that the sliding member 26 moves backward with respect to the slide pack 24. The nozzle tip 8a also retreats in the backward and backward direction along with this, and the nozzle tip 8a moves from the left end position of the blind spot area to a position directly below the blind spot area 12 with a constant distance from the blind spot area 12. 12 fillet welds are achieved. When the rolling roller 33 rolls up to the central portion D of the guide cam surface 29a, the sphere 37 is fitted into the position detecting recess 34, and the position detection signal is applied to the control circuit. Upon receipt of this signal, the control circuit disconnects the torch drive side clutch 16 and connects the wheel side clutch 15. Due to the engagement of the wheel side clutch 15, the rotational force of the motor is transmitted to the wheel 3 and the traveling carriage 1 is guided by the copying roller 6 and travels rightward to perform fillet welding.

When the traveling carriage 1 hits the side plate 9b at the right end, the microswitch attached to the carriage main body 2 is actuated, and the signal of this microswitch is applied to the control circuit. The control circuit receives the signal from the microswitch to disengage the wheel side clutch 15 and engage the torch drive side clutch 16. By connecting the torch drive side clutch 16, the torque of the motor is transmitted to the output shaft 19 of the torch drive side clutch 16, the arm 27 rotates, and the rolling roller 33 interlocks with the rotation of the arm 27 and the guide cam surface. As a result of rolling from the D position to the E position along 29a, the nozzle tip portion 8a of the welding torch 8 moves from the position immediately below the blind spot region 12 to the right end position. Along with this movement, the nozzle tip portion 8a moves in the advancing direction as it moves to the right end of the blind spot area 12, and as a result, the distance between the nozzle tip portion 8a and the blind spot area 12 is kept constant, and a suitable corner of the blind spot area is maintained. Meat welding is achieved. When the nozzle tip 8a rolls to the right end of the blind spot area, that is, the rolling roller 33 rolls up to the right end E of the guide cam surface 29a, the sphere 37 enters the position detection recess 35 and the position detection signal is applied to the control circuit. To be The control circuit receives this signal and turns off the motor 13. This completes the fillet welding of the standing plate 4a.

Next, when the fillet welding of the standing plate 4b is performed from the right end to the left end, the traveling carriage 1 is positioned at the right end of the welded area 10 and the operation lever 60 is rotated counterclockwise. Due to the cam action of the cam groove 56 and the pin 57 due to the rotation of the operation lever 60, the operating plate 51 is drawn toward the rotation center direction of the cam shaft 61, and as a result, the connecting member 45 moves counterclockwise about the rotation support shaft 47 as a fulcrum. Rotate. As a result of this rotation, the arm 42 slides in the advancing direction and the arm 43 in the retracting direction with respect to the base frame 40. As a result, the length from the trolley body 2 to the copying roller 6 on the arm 42 side follows the copying on the arm 43 side. The length becomes longer than the roller 6, and when the copying rollers 6 of both arms 42 and 43 are made to follow the standing plate 4b, the left side of the traveling carriage 1, that is, the front side with respect to the traveling direction is the standing plate 4b side. Lean slightly toward you.

When the device switch is turned on in this state, the torch drive side clutch 16 is engaged with the wheel side clutch 15 disengaged by a command from the control circuit, and the fillet from the right end of the blind spot area 12 to the position directly below it. Welding is performed, and subsequently, the torch drive side clutch 16 is disengaged and the wheel side clutch 15 is engaged, and the traveling carriage 1 performs fillet welding while traveling to the left. Then, when the traveling vehicle 1 comes into contact with the left side plate 9a, the micro switch operates, and the signal of this micro switch is applied to the control circuit. In the control circuit, the wheel side clutch 15 is disengaged and the torch drive side clutch 16 is connected, so that the fillet welding of the blind spot region 12 that occurs at the right end of the welded region 10 is performed when the traveling carriage 1 is stopped.

The present invention is not limited to the above-mentioned embodiment, and various embodiments can be adopted. For example, in the above embodiment, the guide cam surface 29a is formed on the guide cam surface forming plate 29, but the guide cam surface forming plate 29 may be omitted and the guide cam surface 29a may be formed on the peripheral surface of the guide groove 32. If the rattling of the fitting between the guide groove 32 and the rolling roller 33 is reduced, the spring 59 can be omitted. Further, although the welding torch 8 is attached to the trolley main body 2 at approximately the middle portion in the above embodiment, the attachment position of the welding torch 8 can be set arbitrarily. When the mounting position of the welding torch 8 is changed, the rotation range of the welding torch 8 and the torch advance / retreat amount of the torch advancing / retreating mechanism (guide cam surface) are set so that the blind spot area at the attaching position can be welded while the traveling carriage 1 is stopped. 29a shape) will be set.

Further, in the above-described embodiment, the rotating mechanism of the welding torch and the moving mechanism of the welding torch for automatically welding the blind spot region 12 before and after the traveling of the traveling carriage are provided, but these are omitted. You may.

Further, the arm forward / backward switching mechanism in the above-described embodiment has the operation plate 51 and the link plate 52 in the section in which the movement of the operation lever 60 is transmitted as the rotational driving force about the shaft 47 of the connecting member 45 as a fulcrum. , The cam plate 55, the shafts 48, 49, 50, etc. are interposed, but the arm forward / backward switching mechanism of the present invention rotates the connecting member 45 with the shaft 47 as a fulcrum, and the arms 42, 43. A mechanism for converting the operating force of the operating lever into the rotational force of the connecting member 45 and transmitting the converted force is not necessarily limited to the mechanism of the embodiment, and the movement of the operating lever can be directly changed. It can be configured by a simple link mechanism or the like that transmits the rotational force of the connecting member 45. As an example of this simple link mechanism, for example, the lever plate 53 of FIG. 1 is provided with a shaft hole 61, and the shaft fitted in the shaft hole 61 is used as a fulcrum shaft, and the lever plate 53 is rotated around this fulcrum shaft as a fulcrum. The arms 42 and 43 can be moved back and forth by operating (the bolt 54 is omitted in this case), and in this case, the base end side of the lever plate 53 is directly connected without being connected to the link plate 52. It can be rotatably connected to the member 45 via a pin or the like (in that case, the shafts 49 and 50 can be omitted).

[0029]

[Effect of device]

 The present invention is provided with an arm forward / backward switching mechanism for retracting the copying roller on the front side of the traveling than the copying roller on the rear side when the traveling carriage is switched back and forth. It is possible to tilt the traveling front side of the traveling vehicle toward the welded member side while the copying roller is made to follow the welded member, regardless of whether the traveling carriage travels back and forth. Whichever direction the traveling carriage is made to travel, the traveling carriage can be made to follow the welded member in a reliable manner. As a result, fillet welding of the welded area becomes possible regardless of whether the traveling carriage is traveling in either direction, which is extremely convenient for use.

[Brief description of drawings]

FIG. 1 is a structural explanatory view of an arm advancing / retreating mechanism in an embodiment of a traveling carriage for welding according to the present invention.

FIG. 2 is a plan view of a main part of the traveling vehicle according to the embodiment.

FIG. 3 is a vertical configuration diagram of the welding traveling carriage of the embodiment.

FIG. 4 is a cross-sectional view showing a motor rotation transmission mechanism portion in the embodiment.

FIG. 5 is an explanatory diagram of a coupling relationship between the slide pack and the sliding member of the same embodiment.

FIG. 6 is an explanatory diagram of rotation position detection of a rotation position detection plate.

FIG. 7 is an explanatory diagram of an operation unit of an arm forward / backward switching mechanism.

FIG. 8 is an explanatory diagram of a cam mechanism of the advance / retreat switching mechanism of the arm.

FIG. 9 is a schematic view showing the operation of the same embodiment.

[Fig. 10] Fig. 10 is a schematic explanatory diagram of a conventional traveling carriage for welding.

[Explanation of symbols]

 1 Traveling carriage 4, 4a, 4b Standing plate 6 Copying roller 8 Welding torch 9a, 9b Side plate 10 Welded area 11 Lower plate 42, 43 Arm 44 Connecting fitting 45 Connecting member 47 Rotating support shaft

Claims (1)

[Scope of utility model registration request] 1. A traveling carriage for welding, comprising a welding torch and capable of traveling back and forth along a region to be welded between a lower plate and a standing plate, wherein an arm protruding from both front and rear portions of the traveling carriage toward the standing plate. A copying roller that follows the standing plate is rotatably provided on the protruding tip side of each arm, and the copying roller on the front side of the traveling is retracted from the copying roller on the rear side of the traveling when the traveling carriage is switched between reciprocating traveling. A traveling trolley for welding, which is equipped with a mechanism for advancing and retracting the arm of the.