JPH08197249A - Portable telescopic automatic welding device - Google Patents

Abstract

(57) [Summary] [Purpose] To provide a portable telescopic automatic welding device that can be carried in from a narrow construction hole or the like and can be positioned and automatically welded in a wide range from high places to low places. [Structure] A long extensible arm 15 is attached to a movable carriage 11 that can move in any direction after passing through a construction hole 5 via a tilting mechanism 14 having a height that allows a narrow space to pass, and it can be narrowed while tilted forward. The telescopic arm 15 is passed to the center of the construction hole 5, and the telescopic arm 15 is entirely tilted to pass the telescopic arm 15. Attach a welding table 19 that can expand and contract in the welding line direction to this tip,
Further, an automatic welding machine 21 is mounted on the welding table 19.
As a result, after the apparatus 10 is carried in below the welded portion 4,
The telescopic arm 15 is positioned at the height of the welded portion 4 to extend and retract the welding table 19 at the welded portion 4, and the automatic welding machine 21 performs automatic welding while detecting the groove. Therefore,
Only by positioning the welding table 19 on each layer of the welded portion 4 arranged in layers, automatic welding becomes possible and high efficiency and high quality automatic welding becomes possible.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a portable telescopic automatic welding apparatus, in which welding of ship blocks is carried in from a narrow construction hole and an automatic welding machine is positioned at each welding portion from a high place to a low place. It is possible to perform automatic welding after positioning.

[0002]

2. Description of the Related Art In order to build a large hull, hull blocks divided into a plurality of blocks are made, and these hull blocks are welded together to assemble the hull.

In such a block construction method, for example, as shown in FIG.
As shown in Fig. 2, when joining two hull blocks 1 and 1, it is necessary to weld the welded parts 4 of the reinforcement members 3 and 3 that are attached to the hull outer plates 2 and 2 in layers. Becomes

Conventionally, such welding of the welded portions 4 of the reinforcing materials 3 and 3 is carried in through a small construction hole 5 temporarily provided for construction and the construction scaffold 6 is provided along the layered reinforcing materials 3 and 3. A worker temporarily holds a welding torch 8 connected to a welding power source 7 and manually welds a welded portion 4 using a scaffold 6 for construction.

[0005]

However, the manual welding using the construction scaffolding 6 requires temporary construction of the construction scaffolding 6 and causes a so-called 3K work for the operator. (Kitanai, Kitui, Kiken) There is a problem that it becomes work.

There is also a problem that the welding quality is likely to vary depending on the skill of the operator, and the work efficiency is likely to vary.

Therefore, application of a welding robot or the like capable of automatic welding is conceivable. However, while the welded portions 4 are arranged in layers and have a wide range from high places to low places, a construction hole 5 for carrying in the apparatus is provided. However, there is a problem that automatic welding is very difficult because the size is small and the size of the device that can be carried in is limited.

The present invention has been made in view of the above problems of the prior art, and can be carried in from a narrow construction hole or the like, and can be automatically welded by being positioned in a wide range from a high place to a low place. It is intended to provide a telescopic automatic welding device.

[0009]

In order to solve the above-mentioned problems, a portable telescopic automatic welding apparatus of the present invention is provided with a movable carriage capable of traveling in an arbitrary direction through a narrow portion such as a construction hole and the movement thereof. A tilting mechanism that is mounted at a height that allows the narrow part to pass through the carriage and that allows the narrow part to pass by tilting back and forth around a horizontal axis; and an extendable and positionable telescopic arm that has a base end attached to this tilting mechanism. , A welding table that is attached to the tip of this telescopic arm and can expand and contract in the direction of the welding line that intersects with the telescopic arm, and an automatic welding machine that is mounted on this welding table and automatically detects and welds the welded part. It is a feature.

[0010]

[Advantage] According to this portable telescopic automatic welding device, a long extensible arm is attached to a movable carriage that can move in any direction through a construction hole or the like through a tilting mechanism with a height that allows narrow spaces to pass. While tilting forward, let the telescopic arm pass to the center of the narrow construction hole, and tilt it backward to pass the entire telescopic arm, and attach a welding table that can expand and contract in the welding line direction to this tip, and further An automatic welding machine is installed on the welding table. After the cargo is carried in below the welding part, the telescopic arm is positioned at the height of the welding part and the welding table is expanded and contracted at the welding part. The automatic welding is performed while detecting the groove.

As a result, the welding table can be positioned in each layer of the welded portions arranged in layers, and automatic welding can be performed.

[0012]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described in detail below with reference to the drawings. 1 and 2 relate to an embodiment of a portable telescopic automatic welding apparatus of the present invention. FIG. 1 is a partially enlarged whole perspective view, and FIG. 2 is a partially enlarged perspective view.

This portable telescopic automatic welding apparatus 10 carries, for example, the welded portions 4 of the reinforcements 3, 3 of each layer of the hull block 1, 1 described in FIG. Positioning at 4 enables automatic welding.

This portable telescopic automatic welding apparatus 10 is shown in FIG.
As shown in, the wheels 1 are mounted on a frame that rotates about a vertical axis.
A movable carriage 12 having four so-called casters to which 1 is attached and capable of traveling in all directions such as zigzag traveling is provided, and the width thereof is smaller than the width of the construction hole 5.
You can pass through.

A construction hole 5 is provided at the center of the movable carriage 12.
A base 13 having a height of about half the height is attached integrally by welding or the like.

A two-stage telescopic arm 15 is attached to the base 13 via a tilting mechanism 14, and parallel plate-like tilting constituting the tilting mechanism 14 is formed on the upper end of the base 13. While the support portion 14a is formed, a bracket 14b is integrally fixed to the back surface of the base end portion of the first-stage arm 15a by welding or the like, and the bracket 14b is disposed between the tilt support portions 14a to provide horizontal support. The shaft 14c is connected so as to be rotatable.

A two-stage telescopic arm 15 attached to the base 13 via the tilting mechanism 14 has first-stage and second-stage arms 15a and 15b formed in a U-shaped cross section (see FIG. 2). , A ball screw 16 is arranged along the longitudinal direction inside thereof, and both ends thereof are attached so as to be rotatable via bearings 17. Servo motors 18a and 18b are attached to the end portions on the base end side in the expansion / contraction direction, respectively. is there. The base end of the second-stage arm 15b is fixed to the ball nut that is reciprocally moved by the ball screw of the first-stage arm 15a.

Further, a moving plate 15c which is moved along the second-stage arm 15b is attached to the ball nut which is reciprocally moved by the ball screw 16 of the second-stage arm 15b. 15 are configured.

Further, the arms 15a and 15b constituting the telescopic arm 15 are provided with L in parallel with the ball screw 16.
An M guide is attached, the position of the ball nut reciprocating along the ball screw 21 can be detected, and the moving plate 15c can be positioned.

As shown in an enlarged view in FIG. 2, a welding table 19 for mounting an automatic welding device is provided on the movable plate 15 which is the tip of the telescopic arm 15.

The welding table 19 is adapted to be movable in a welding line direction intersecting with the expansion / contraction direction of the expansion / contraction arm 15. In this embodiment, when the expansion / contraction arm 15 is expanded / contracted in the vertical direction, it is moved horizontally. The welding table 19 can be expanded and contracted. The expansion and contraction of the welding table 19 is such that the tip end of a three-step telescopic rail 19a arranged along the outside of the moving plate 15c and the base end of which is attached to the moving table 15c is connected to the welding table 19 while welding. A three-stage telescopic link 19b is also connected between the tip of the base 19 and the upper inside of the moving plate 15c, and the moving plate 15 is attached to the base end of the three-stage telescopic link 19b.
Air cylinder 1 for telescopic movement attached to c with pins
A rod of 9c is connected to form a triangular boosting mechanism, and the welding table 19 can be expanded and contracted by expansion and contraction of the rod of the air cylinder 19c. Further, a positioning cylinder 20 for adjusting the position of the welding table 19 by contacting the front wall, for example, the hull outer plate 2, is attached to the tip of the welding table 19, and the cylinder absorbs the shock. The amount of protrusion can be changed.

An automatic welding machine 21 is mounted on the welding table 19 as shown in FIG.

This automatic welding machine 21 is, for example, X, Y,
U, which is the degree of freedom of three axes orthogonal to the Z axis and rotation about the Y axis
A welding machine main body 21a having four axial degrees of freedom and capable of moving and positioning in the X-axis direction along the welding table 19 is mounted, and the welding machine main body 21a is moved up and down in the Z-axis direction along the vertical direction. An elevating table 21b capable of positioning is provided, and the elevating table 21b can be moved and positioned in the Y-axis direction along a direction orthogonal to the X-axis direction in the same plane, and can be rotated about the Y-axis with respect to the U-axis. Further, a torch support arm 21c capable of positioning is attached, and a welding torch 21d is attached to the torch support arm 21c.

The automatic welding machine 21 is equipped with a control device and has a function of sensing the groove shape of the welded portion 4. For example, a wire protruding several tens of mm from the welding torch 21d is brought into contact with the workpiece. The potential difference at the time of contact is taken into the computer as coordinate system data at that point, and the position is moved one after another to convert the shape of the groove into data.

Then, automatic welding can be performed based on the detected data. In actual automatic welding, the shape of the groove at three locations across the welded portion 4 is detected, and the beginning and end of the groove are detected and automatic welding is performed.

The automatic welding by the portable telescopic automatic welding device 10 thus constructed will be described in the case of welding the layered reinforcing members 3 and 3 of the hull blocks 1 and 1.

The two-stage telescopic arm 15 and the three-stage telescopic welding table 19 are set in a contracted state, and the telescopic arm 1
The movable carriage 12 is moved to the construction hole 5 by inclining the vehicle 5 so that the front is lowered.

Then, after pushing the movable carriage 12 forward to drive it just below the construction hole 5, the operator manually moves the telescopic arm 15 by using the tilting mechanism 14 so that the front is high and the rear is low, and further forward. Press to pass through the construction hole 5 and stop at the predetermined welded portion 4.

By using the tilting mechanism 14 to move the telescopic arm 15 from the front downward state to the rear downward state, the narrow construction hole 5 can be used even with the long telescopic arm 15.
In addition to being able to pass through, the moving carriage 12 can travel in any direction and can easily move to a predetermined position.

After stopping the moving carriage 12, the telescopic arm 1
The two servo motors 18a and 18b are manually adjusted by the tilting mechanism 14 so that the direction of expansion and contraction of 5 becomes the vertical direction.
Is driven to raise the moving plate 15c at the tip end to a height where the first welded portion 4 is located.

Then, the welding table 19 is attached to the air cylinder 19c.
Then, the positioning cylinder 20 at the tip end is applied to the hull outer plate 2 so as to project forward, and the automatic welding machine 21 is positioned on the reinforcing member 3.

When the automatic welding machine 21 is pushed forward, a three-step telescopic rail 19a, a three-step telescopic link 19b, and a welding table 19 form a triangular boosting mechanism. Therefore, the air cylinder 19c can be advanced to a predetermined position with a slight driving force and a slight stroke.

After positioning the automatic welding machine 21 on the welded portion 4 in this manner, the controller of the automatic welding machine 21 detects the groove shape and the start end / end, and performs automatic welding based on these.

After the welding of one welded portion 4 is completed, the welding table 19 is pulled back to a contracted state, and the telescopic arm 15 is retracted.
Is contracted by the servomotors 18a and 18b to expand and contract to the height of the next welding portion 4, and subsequent automatic expansion and contraction of the welding table 17 and sensing of the groove are performed in the same manner as described above. repeat.

According to the portable telescopic automatic welding apparatus 10 as described above, the welded portion 4 is widely spread in the vertical direction like the reinforcing members 3 and 3 which are attached to the hull outer plate 2 of the hull block 1 in layers. Even when the welding position 4 is located and the access to the welding portion 4 is only possible from the narrow construction hole 5, the telescopic arm 15 can be carried in through the moving carriage 12 to perform automatic welding. .

As a result, the worker can perform the subsequent welding automatically while leaving it alone, and can perform high-efficiency and high-quality welding.

[0037]

According to the portable telescopic automatic welding apparatus of the present invention as specifically described above with reference to the embodiment,
A long extensible arm is attached to a movable carriage that can move in any direction after passing through a construction hole, etc. through a tilting mechanism with a height that allows narrow spaces to be passed, and when it is tilted forward it expands and contracts to the center of the narrow construction hole. The arm is passed, and the opposite direction is tilted so that the entire telescopic arm is passed, and a welding table that can expand and contract in the welding line direction is attached to this tip, and an automatic welding machine is mounted on this welding table. After being carried in below the welded part, the telescopic arm is positioned at the height of the welded part to extend and contract the welding table at the welded part, and automatic welding can be performed while detecting the groove with an automatic welding machine.

As a result, automatic welding can be performed only by positioning the welding table on each layer of the welded portions arranged in layers, and high efficiency and high quality automatic welding can be performed.

[Brief description of drawings]

FIG. 1 is an enlarged perspective view of a part of an embodiment of a portable telescopic automatic welding device of the present invention.

FIG. 2 is a partially enlarged perspective view of an embodiment of a portable telescopic automatic welding device of the present invention.

FIG. 3 is a perspective view for explaining a welding operation for reinforcing members of a conventional hull block.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Hull block 2 Hull outer plate 3 Reinforcement member 4 Welding portion 5 Construction hole 10 Portable telescopic automatic welding device 11 Wheels 12 Mobile trolley 13 Base 14 Tilt mechanism 14c Support shaft 15 Telescopic arm 15a First stage arm 15b Two stages Eye arm 15c Moving plate 16 Ball screw 17 Bearing 18a Servo motor 18b Servo motor 19 Welding table 19a Three-step telescopic rail 19b Three-step telescopic link 19c Air cylinder 20 Positioning cylinder 21 Automatic welder 21a Welder body 21b Lifting Stand 21c Torch support arm 21d Welding torch

Claims (1)

[Claims] 1. A movable carriage capable of traveling in an arbitrary direction through a narrow portion such as a construction hole, and a narrow carriage mounted on the movable carriage at a height at which the narrow portion can pass and tilted back and forth around a horizontal axis. A tilting mechanism capable of passing a portion, and a telescopic arm having a base end portion attached to the tilting mechanism and capable of expanding and contracting and positioning.
It is equipped with a welding table that is attached to the tip of this telescopic arm and can expand and contract in the direction of the welding line that intersects with the telescopic arm, and an automatic welding machine that is mounted on this welding table and that automatically detects and welds the welding part. Portable telescopic automatic welding equipment to be used.