JPH09327775A - Automatic fillet welding equipment - Google Patents

Abstract

PROBLEM TO BE SOLVED: To surely operate a welding torch by one drive source while keeping the prescribed relationship of the displacement of the welding torch in two directions by operating a torch swing device to swing the welding torch in the traveling direction of a truck. SOLUTION: Rotation of a drive motor is transmitted to an input shaft 9 through a power transmission mechanism 10. A casing 19 of a movable part is oscillated around the axis of the input shaft 9 by the rotation of the input shaft 9. Rotation is made around an idling gear 22, a planetary gear 21, and a sun gear 20 according to the oscillation of the casing 19, the planetary gear 21 is revolved in proportion to the oscillation of the casing 19, and a torch holder 4 to be turned in the same direction as the planetary gear 21 is also oscillated in proportion to the oscillation of the casing 19. A torch swing device is operated at each end of the traveling region of a traveling truck to swing the welding torch along the traveling direction of the truck The tip part of the welding torch can be projected outwardly of the forward and rear end faces in the traveling direction of the traveling truck.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an automatic welding apparatus for welding fillet welds, and more particularly to an automatic welding apparatus for welding fillet welds where there are barriers at both ends of a welding line.

[0002]

2. Description of the Related Art In an automatic welding apparatus for welding fillet welding points, a welding torch is arranged on a traveling carriage to perform welding while traveling. In this case, the welding torch is fixedly supported by the intermediate portion of the traveling carriage in the direction along the welding line in a posture in which the welding torch is diagonally above and toward the welding portion.

However, when there are barriers at both ends of the welding line, for example, when ribs are welded to a web made of a structural material in which opposed flanges are connected by a web, a travelable area of the traveling carriage is possible. And a weldable region are different from each other, and unweldable regions are formed at both ends or one end of the welding line.

In the case of such welding, the tip portion of the welding torch can be moved in the longitudinal direction of the traveling carriage by swinging the welding torch along the welding line, but in this case, Since the height from the welding base material changes, reliable welding cannot be performed even if the welding torch is simply swung.

Therefore, conventionally, the welding torch is swung, and the supporting portion of the welding torch is moved up and down.
It has been proposed to adjust the advance of the tip of the welding torch in the direction along the welding line and the height from the welding base metal.

[0006]

However, in the conventional automatic welding apparatus that swings and swings the welding torch and moves the welding torch support part up and down, the swinging swing of the welding torch and the up and down movement of the torch support part are performed. Since the and were controlled individually, the control system for operating the drive system here becomes complicated, and since each drive source is required, it becomes heavy in weight and cumbersome to handle. There was a problem.

The present invention has been proposed in view of the above points, and an object of the present invention is to provide an automatic welding device for fillet welding which can surely move the welding torch in two directions with one driving source. And

[0008]

In order to achieve the above-mentioned object, the present invention provides a traveling carriage equipped with a welding torch via a torch swing device, and a drive unit in which the torch swing device is fixed to the traveling carriage. , A movable part that oscillates within a certain angle range with respect to this drive part, and a planetary gear mechanism composed of a sun gear, an idle gear, and a planetary gear is installed inside the casing of the movable part. Is fixed to the housing of the drive unit, the idle gear is rotatably supported by the movable casing, the intermediate part of the output shaft with the planetary gear fixed at one end is rotatably supported by the movable casing, and the torch is at the other end of the output shaft. The holder is fixed, and one end of the input shaft mounted on the sun gear shaft in a relatively rotatable state is fixed to the movable casing, and the other end of this input shaft is projected into the drive housing. , A drive motor capable of rotating in the forward and reverse directions is interlocked with the input end of the input shaft, and the torch swing device is operated at both ends of the traveling area of the traveling carriage to swing the welding torch in the traveling direction of the carriage. Is characterized by.

[0009]

According to the present invention, the welding torch is mounted on the traveling carriage through the torch swing device, and the torch swing device is fixed to the traveling carriage and the drive portion is swung within a constant angle range. It is composed of a movable part, and a planetary gear mechanism composed of a sun gear, an idle gear and a planetary gear is installed inside the casing of the movable part, the sun gear is fixed to the housing of the drive part, and the idle gear is used as a movable casing. The output shaft, which is rotatably supported and has a planetary gear fixed at one end, is rotatably supported by the movable casing, and the torch holder is fixed at the other end of the output shaft, allowing relative rotation around the sun gear shaft core. In this state, one end of the input shaft is fixed to the movable casing, the other end of the input shaft is projected into the drive housing, and the input end of the input shaft can rotate forward and backward in the drive motor. Since the are interlockingly connected, by operating the driving motor, the swing casing to swing relative to the drive housing. A planetary gear and an idle gear that form a planetary gear mechanism are rotatably supported on the movable casing. Further, since the sun gear of the planetary gear mechanism is fixed to the drive side housing, the planetary gear revolves around the sun gear while rotating around the sun gear as the movable casing swings. Since the torch holder is fixed to the output shaft that is fixed to the planetary gear, the support part of the welding torch is displaced by the revolution of the planetary gear in the movement direction of the welding carriage, and the attitude of the welding torch is rotated by the rotation of the planetary gear. It becomes possible to project the tip portion of the welding torch outside the front and rear end faces in the traveling direction of the traveling carriage.

[0010]

DESCRIPTION OF THE PREFERRED EMBODIMENTS The drawings show an automatic fillet welding apparatus to which the present invention is applied. FIG. 1 is a front view of a fillet welding carriage, FIG. 2 is a vertical sectional view of a torch swing device, and FIG. 3 is a torch swing device. FIG. This fillet welding trolley has a torch swing device (2) mounted on the upper surface of the traveling trolley (1) at the central portion in the traveling direction of the traveling trolley (1).
A welding torch (3) is interlockingly connected to (2) through a torch holder (4).

The torch swing device (2) comprises a traveling carriage (1).
Of the drive unit (5), which is inclined and fixed to the side wall along the welding line of, and is arranged in parallel with the inclined upper surface of the drive unit (5). ) With a movable part (6) which swings within a fixed angle range.

The drive unit (5) includes a drive motor (8) with a speed reducer, which is rotatable in the housing (7), and a rotation of the drive motor (8) for input shaft of the movable unit (6). And a drive bevel gear (12) fixed to the rotating shaft (11) of the drive motor (8). A driven bevel gear (13) which meshes with the drive bevel gear (12) and is rotatably supported by the housing (7),
Drive sprocket (14) that rotates integrally with the driven bevel gear (13)
A driven chain (17) fixed between the driven sprocket (15) fixed to the input shaft (9) of the movable part (6), the drive sprocket (14) and the driven sprocket (15), Tension sprockets (1) engaging the transmission chain (17)
It is composed of 8) and.

The movable part (6) contains a planetary gear mechanism (23) composed of a sun gear (20), a planetary gear (21) and an idle gear (22) inside a casing (19). The sun gear (20) of the planetary gear mechanism (23) is the housing of the drive unit (5).
The planetary gear (21) is fixed to the outer surface of (7), and is fixed to the inner end of the output shaft (24) which is rotatably supported by the casing (19). The idle gear (22) is rotatably supported by the casing (19) and meshes with the sun gear (20) and the planetary gear (21).

The input shaft (9) fixing the driven sprocket (15) in the power transmission mechanism (10) of the drive unit (5) to one end thereof is the axial center of the sun gear (20). And the other end is fixed to the casing (19) of the movable part (6). The torch holder (4) is attached to the other end of the output shaft (24).
Is fixed.

Torch swing device configured as described above
In (2), the rotation of the drive motor (8) is transmitted to the input shaft (9) of the movable part (6) via the power transmission mechanism (10).
The casing (19) of the movable part (6) is rotated by the rotation of (9) so that the input shaft (9)
It will swing around the axis of. When the casing (19) swings, the idle gear (22) and the planet gear (21) supported by the casing (19) revolve around the sun gear (20) according to the swing amount of the casing (19). In addition, the planetary gear (21) will rotate in proportion to the amount of oscillation of the casing (19), so the torch holder (4) that rotates together with the planetary gear (21) will also have the amount of oscillation of the casing (19). Will swing in proportion to.

In this case, by swinging the movable casing (19) and swinging the welding torch (3), the tip of the welding torch (3) is moved to the front and rear edges in the traveling direction of the welding carriage (1). Move from the top, swing the movable part (6) and torch holder
In order to compensate for the gap between the welding torch tip and the welding base metal that fluctuates due to the swing of (4), the ratio of the pitch diameter of the planetary gear (22) to the pitch diameter of the sun gear (20), and , Input shaft
It is necessary to set the ratio between the axial distance between (9) and the output shaft (24) and the distance from the swing center of the welding torch to the torch tip.

Therefore, in this embodiment, the welding torch is
Set the length (D) from the swing fulcrum (axis of the input shaft) of (3) to the tip of the welding torch to about 0.7 times the total length (L) of the traveling carriage (1) in the traveling direction. In addition, the axial distance (d) between the sun gear (20) and the planetary gear (21) is set to 1/4 times the length (D) from the swing fulcrum of the welding torch (3) to the tip of the welding torch. However, the pitch diameter of the planetary gear (21) is set to 2/3 times the pitch diameter of the sun gear (20).

In this dimensional relationship, as shown in FIG. 4, the rotation angle (β) of the planetary gear (21) is 1. The rotation angle (β) of the movable portion casing (19) is 1. Since it is 5 times, the welding torch (3) is (β-α) with respect to the line parallel to the welding torch axis line at the origin position, that is, 1/2 of the rotation angle (α) of the movable casing (19). The posture will be held twice as advanced. Therefore, the movable casing (19)
When it is rotated by (α), the tip of the welding torch (3) is d × sin α + D × sin (α / with respect to the front-back direction of the traveling carriage (1).
Only 2) will be displaced. Further, in the direction parallel to the welding torch axis line at the origin position, the movable casing (19) is rotated to lower by d (1-cosα), and the welding torch (3)
The rotation of increases the value by D (1-cos (α / 2)).

Incidentally, the rotation angle of the movable casing (19)
The amount of movement of the tip of the welding torch (3) in the carriage traveling direction (X) when (α) is set to 15, 30, 45, 60, and 75 degrees, and the tip of the welding torch (3) The amount of movement in the direction (Y) parallel to the welding torch axis line at the origin position of the part is as shown in the following table.

[0020]

[Table 1]

Here, if there is a movement amount of about 1/2 of the entire length of the carriage in the X direction, even if the end of the traveling carriage (1) is in contact with the barrier, the end of the welding line located at the base of the barrier is Since welding is possible, the rotation angle of the movable casing (19) and the welding torch (L) are obtained in this embodiment by determining the rotation angle of the movable casing (19) such that d × sin α + D × sin (α / 2)> L / 2. Since the length (D) from the swing fulcrum to the tip of the torch in 3) is D = 0.7L, L / 2 = 0.71D = 2.84d, and X
Since the amount of displacement in the direction needs to be 2.84d, it is sufficient from Table 1 that the rotation angle (α) of the movable casing (19) is 60 degrees. Then, even if the movable casing (19) is shaken up to 60 degrees, the movement amount in the torch axis direction (Y) is 0.036.
In consideration of the actual dimensions of the welding torch (3), the actual movement amount is a few mm or less, and the welding performance is hardly affected.

In the figure, reference numeral (25) is a traveling wheel mounted on the traveling carriage (1), (26) is a limit switch arranged on the front and rear end faces of the traveling carriage (1) in the traveling direction, and (27) is a traveling carriage.
(1) A traveling guide tool arranged on the side surface of the welding torch protruding side. The traveling wheels (25) are arranged so that their axles intersect the longitudinal axis of the traveling carriage slightly offset from a right angle in plan view, and the traveling carriage (1) is vertically welded during traveling work. It is arranged to be close to the base metal side. Further, the limit switch (26) controls the drive motor (8) of the reach swing device (2) and the traveling drive of the traveling carriage (1) (not shown). That is, when the welding operation is started from the state where the movable casing (19) is rotated by a predetermined amount, first, welding is performed until the welding torch shaft and the input shaft core and the output shaft core of the movable casing (19) overlap each other. While moving the movable casing (1
When the position detector (not shown) detects that the welding torch shaft and the input shaft core and the output shaft core in the movable casing (19) overlap by rotating (9), the movable casing
The rotation of (19) is stopped, and the carriage (1) is moved along the welding line with the attitude of the welding torch (3) fixed, and the fillet weld is welded.

When the traveling carriage (1) comes into contact with the barrier on the opposite side and the limit switch (26) on the front side in the traveling direction is actuated, the traveling carriage (1) stops traveling and the torch swing device (2) is stopped. The drive motor (8) of starts the operation to rotate the movable casing (19) in the direction of advancing in the welding direction,
The welding torch (3) is rotated while welding. Thereby, the entire length of the welding line regulated by the barrier can be welded.

[0024]

According to the present invention, a welding torch is mounted on a traveling carriage via a torch swing device, and the drive unit is fixed to the traveling carriage and the swinging unit swings in a constant angle range with respect to the driving unit. It is composed of a movable part that moves, and a planetary gear mechanism composed of a sun gear, an idle gear, and a planetary gear is installed inside the casing of this movable part.The sun gear is fixed to the housing of the drive part, and the idle gear is oscillated. The output shaft is rotatably supported by the dynamic casing, and the intermediate part of the output shaft with the planetary gear fixed at one end is rotatably supported by the movable casing, and the torch holder is fixed at the other end of the output shaft. One end of the input shaft mounted in a relatively rotatable state is fixed to the movable casing, the other end of this input shaft is thrust into the drive housing, and the input end of this input shaft can be rotated in the forward and reverse directions. Because it is interlockingly connected the motor, by operating the driving motor, the movable casing to swing relative to the drive housing. In this movable casing, the planetary gears and the idle gears that make up the planetary gear mechanism are rotatably supported, and the sun gear of the planetary gear mechanism is fixed to the drive side housing. With the swing, the planetary gear revolves around the sun gear while rotating on its axis. Since the torch holder is fixed to the output shaft that is fixed to the planetary gear, the support part of the welding torch is displaced by the revolution of the planetary gear in the movement direction of the welding carriage, and the attitude of the welding torch is rotated by the rotation of the planetary gear. It becomes possible to project the tip portion of the welding torch outside the front and rear end faces in the traveling direction of the traveling carriage. As a result, in the present invention, the displacement of the welding torch in the two directions can be reliably operated by one drive source while maintaining a specific relationship.

[Brief description of drawings]

FIG. 1 is a front view of a fillet welding carriage.

FIG. 2 is a vertical sectional view of a torch swing device.

FIG. 3 is an enlarged sectional view of a main part of a torch swing device.

FIG. 4 is a relationship diagram showing a swinging state of a movable casing and a welding torch.

[Explanation of symbols]

DESCRIPTION OF SYMBOLS 1 ... Traveling vehicle, 2 ... Torch swing device, 3 ... Welding torch, 4 ... Torch holder, 5 ... Drive part, 6 ... Movable part, 7
... drive unit housing, 8 ... drive motor, 9 ... input shaft, 19
… Movable casing, 20… Sun gear, 21… Planetary gear, 22…
Idle gear, 23 ... Planetary gear mechanism, 24 ... Output shaft.

Claims (2)

[Claims] 1. An automatic fillet welding apparatus in which a welding torch (3) is placed on a traveling carriage (1) and fillet welding is performed by the welding torch (3), a torch swing device ( 2) is arranged and the torch swing device (2) is fixed to the traveling carriage (1), and a movable part (6) that swings with respect to the drive part (5) within a certain angle range. ) And the casing of the movable part (6)
The sun gear (20), idle gear (22) and planetary gear (2
It is equipped with a planetary gear mechanism (23) composed of (1) and
0) is fixed to the housing (7) of the drive unit (5), the idle gear (22) is rotatably supported by the movable casing (19), and the planetary gear (21) is fixed to one end of the output shaft (24). Rotatably support the middle part of the movable casing (19), and fix the torch holder (4) to the other end of the output shaft (24) so that the sun gear (20) can rotate relative to the shaft core. While fixing one end of the mounted input shaft (9) to the movable casing (19),
The other end of (9) is thrust into the drive housing (7), and a forward / reverse rotatable drive motor (8) is interlockingly connected to the input end of the input shaft (9) to drive the traveling carriage (1). An automatic fillet welding device, characterized in that the torch swing device (2) is operated at both ends of the area to swing the welding torch (3) along the traveling direction of the carriage. 2. The planetary gear (21) has a pitch diameter of 2/3 with respect to the pitch diameter of the sun gear (20), and an output shaft.
The automatic fillet welding device according to claim 1, wherein the distance between the shaft cores of the (24) and the input shaft (9) is set to 1/4 of the distance from the shaft core of the output shaft (24) to the tip of the welding torch.