JPH1076365A - Railless carriage - Google Patents

Abstract

(57) [Summary] [Problems] Conventional traveling trolleys include not only tracked traveling trolleys,
Even with railless carriages, some guides or running criteria had to be laid before welding. A typical configuration of a trackless traveling vehicle according to the present invention for solving the above-mentioned problems includes a welding torch, a drive device capable of controlling a traveling direction, and swinging the welding torch in a welding direction and a direction perpendicular to the welding direction. And a weaving device for moving the rail, wherein the touch sensor is disposed within a groove of the welding line and emits a signal by contacting the inner surface on the left or right side of the groove. And a weaving control device that moves the weaving center by a signal sent from the touch sensor.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a traveling vehicle having a welding torch mounted thereon, and more particularly to a railless traveling vehicle that does not require rails or guides.

[0002]

2. Description of the Related Art Traveling vehicles equipped with conventional welding torches are broadly classified into railed traveling vehicles and non-railed traveling vehicles. Railed traveling vehicles have rails and the like laid in advance along welding lines.
This is to imitate this. Although railless traveling vehicles do not require rails, they generally travel while pressing an arm against a guide, which is a wall laid along a welding line, and are mainly applied to fillet welding. Therefore, it is necessary to lay rails or guides in advance for all of them, and the preparation before the welding work requires time and effort.

Accordingly, the present applicant has invented a rail-free traveling vehicle having two driving devices, each of which is configured to independently transmit a driving force to left and right wheels,
We have applied for a patent. In the above configuration, it is possible to change the direction of the traveling vehicle by changing the speed of the left and right wheels, and it is possible to provide a railless traveling vehicle that does not require the installation of a guide.

[0004]

However, in the above-described railless traveling carriage, the traveling direction can be controlled, but a traveling reference instead of a guide is still required. In the above-mentioned application, a remote control is performed by wire or wirelessly, and a laser is emitted from the front in the traveling direction, and this is detected by a sensor to correct a deviation in the traveling direction, or pulled on a material to be traveled. It discloses the invention of imitating a line with an eye tracer.

[0005] However, the laser oscillator requires a technique for mounting, and is not suitable for a curved traveling material such as a ship grain because of its straightness. When the line drawn on the running material is copied by the eye tracer, the line must be drawn in advance along the welding line.

[0006]

SUMMARY OF THE INVENTION In order to solve the above-mentioned problems, a typical configuration of a rail-free traveling vehicle according to the present invention is a rail-free traveling vehicle having a welding torch and a driving device capable of controlling the traveling direction. A rail-less traveling vehicle that performs welding while traveling at a position where the touch sensor is disposed within the groove of the welding line and emits a signal by contacting the left or right inner surface of the groove, and transmitted from the touch sensor. A driving direction control device for controlling the direction of the driving device in accordance with the signal to be transmitted.

Further, the railless carriage has a weaving device for swinging the welding torch in a direction perpendicular to a welding direction, and a weaving control device for moving a weaving center by a signal transmitted from the touch sensor. It is characterized by having.

Further, the railless carriage has two driving devices and wheels which are independently transmitted by the two driving devices and are arranged on both side surfaces of the bogie main body. Features.

[0009]

BEST MODE FOR CARRYING OUT THE INVENTION
This will be described with reference to the drawings. FIG. 1 is a front view illustrating the configuration of the traveling vehicle according to the present embodiment, FIG. 2 is a side view of the traveling vehicle, and FIG.
4 is a side sectional view of the weaving device, FIG. 4 is a front view showing a weaving state of the torch, FIG. 5 is a sectional view illustrating the internal configuration of the traveling vehicle, and FIG. 6 illustrates a state when the magnet is brought close to the bottom surface. FIG. 7 is a diagram illustrating a state in which the magnet is separated from the bottom surface, FIG. 8 is a diagram illustrating the arrangement of the tip of the touch sensor, FIG. 9 is a flowchart illustrating a copying operation of the traveling vehicle, and FIG. It is a flowchart explaining the movement operation | movement of the weaving center of a cart.

As shown in FIGS. 1 and 2, a traveling vehicle A according to the present invention includes a vehicle body 1, a torch 3 provided on the left side of the vehicle body 1, and a touch sensor 2. Power is supplied from a power source (not shown) to perform welding. The traveling trolley A is mounted on the welding member B by mounting a magnet inside the trolley main body 1, and can build up in the groove of the welding line while traveling on an inclined surface or a wall surface.

The traveling vehicle A has a handle 10 at an upper side and a foot 11 at a lower side, with a so-called traveling surface with exposed wheels as a side surface. A limit switch 13 is mounted above the bogie main body 1 in the traveling direction. When the limit switch 13 comes into contact with a barrier, a signal is sent to the control unit, and the welding operation is stopped.

The bogie body 1 comprises an upper case 1a and a bottom plate 1
b and is remotely operated by an operation box (not shown). This operation box is provided with a control unit having an operation panel on the front surface, and controls a torch, a driving device described later, and a weaving device, and the like, that is, functions as a traveling direction control device and a weaving control device. From the operation panel, various operations such as start and end of the welding operation, advance, stop, and retreat of the traveling vehicle, setting of the vibration width of the weaving, swing pattern, and frequency can be performed.

A touch sensor 2 is provided on the upper left of the carriage body 1.
Is provided. The touch sensor 2 can detect a contact in the left and right direction with respect to the traveling direction of the traveling vehicle A and can send a signal to the control unit. The touch sensor tip 20 is disposed toward the welding member B. Touch sensor 2
Can be rotated by the sensor retreat motor 21 so as to be separated from and brought into contact with the welding member.

When the touch sensor 2 is turned toward the welding member B by the sensor retreat motor 21, the touch sensor tip 20 can reach the inside of the surface of the welding member B. That is, the touch sensor tip 20 is separated from the welding member B when not working, and is inserted and arranged in the groove C of the welding line when performing welding.

A torch 3 is arranged on the left side of the bogie main body 1 and behind the touch sensor 2. The torch 3 is supplied with electric power or gas such as carbon dioxide gas by a cable or a tube (not shown), and is held by a torch holder 30. The torch holder 30 is attached to the bogie main body 1 via the weaving device 5. The position of the weaving device can be adjusted by a torch up / down adjustment handle 31 and a torch left / right adjustment handle 32.

The weaving device 5 swings the torch holder 30 by a predetermined angle under the control of the controller,
Therefore, the torch 3 is a device that swings the tip of the torch 3 in a direction perpendicular to the traveling direction of the traveling vehicle A.

As shown in FIG. 3, the driving force of a motor 50 mounted on the weaving device 5 is transmitted to a speed reducer 51,
The small gear 52a is rotated with a low rotation speed and a large torque. The shaft of the large gear 52b meshed with the small gear 52a
The torch holder 30 is attached to the tip of 53. Each joint is connected by a pin 54, so that even if an overload occurs in any part, the pin 54 is broken so that it is not transmitted to other parts.

Therefore, when the motor 50 is rotated, the torch 3 is rotated about the shaft 53. By switching the rotation direction of the motor 50 at a predetermined rotation speed, the torch 3 is rotated as shown in FIG. The swinging operation is performed at a predetermined angle, that is, the weaving operation can be performed. Where the motor
By rotating 50 in one direction,
As shown in FIG. 4B, the weaving center 3a can be moved in the corresponding direction.

As shown in FIG. 5, two motors 4 and two speed reducers 41 are mounted symmetrically inside the bogie main body 1 to form two sets of drive systems. These two drive systems can independently transmit driving force to the left and right front and rear wheels, and are independently controlled by the control unit.

Since the left and right sides are configured symmetrically, only one will be described and the other will be omitted. The motor 4 is connected to a rear wheel axle 42b via a speed reducer 41. Pulleys 43b and 43a are attached to the rear wheel axle 42b and the front wheel axle 42a, respectively. By connecting these pulleys with a timing belt 44,
The front wheel axle 42a interlocks with the rear wheel axle 42b. Further, wheels 45 covered with rubber are fixed to the respective axles 42b, 42a.

Accordingly, the driving force generated by the motor 4 is reduced in rotational speed and increased in torque by the speed reducer 41, and is transmitted to the rear wheel axle 42b. To the axle 42a. Then, the four wheels 45 fixed to each axle rotate and the main body 1 runs. At this time, since the surface of the wheel 45 is covered with the rubber, the contact friction with the welding member B is large, so that it is possible to exert a large traction force.

The motor 4 is a DC servo motor, and can change the rotation speed by changing the supplied power supply voltage. That is, by rotating the left and right motors 4 at different speeds, steering in the traveling direction of the bogie main body 1 becomes possible. That is, when turning to the left, the right motor 4 is rotated at a high speed and the left motor 4 is rotated at a constant speed, or the left motor 4 is rotated at a low speed and the right motor 4 is rotated at a constant speed. . Similarly, when turning right, rotate the left motor 4 at a high speed and rotate the right motor 4 at a constant speed,
Alternatively, the right motor 4 may be rotated at a low speed, and the left motor 4 may be rotated at a low speed.

The bottom plate 1 is located inside the main body 1 and approximately in the center.
A magnet 14 that can move in a direction away from and close to b is disposed. As the magnet 14, a permanent magnet made of ferrite magnetic steel is used. The bottom plate 1b is made of a non-magnetic material such as aluminum or stainless steel.

A lever 12 constituting a moving means of the magnet 14 is arranged outside the main body 1. A shaft 15 is fixed to the end of the lever 12, and a hinge 16 is fixed to a position of the shaft 15 above the magnet 14. The hinge 16 is a magnet 14
The bracket 17 and the magnet 14 are configured so that the bracket 17 and the magnet 14 can be separated from and brought into contact with the bottom plate 1b as the hinge 16 rotates.

Therefore, by rotating the lever 12 about the shaft 15, the magnet 14 can be moved toward and away from the bottom plate 1b in accordance with the position of the lever 12. That is, the lever 12 is
When the magnet 14 approaches the bottom plate 1b, the air gap between the magnet 14 and the welding member B has a minimum value in this state. When the lever 12 is at the position shown by the solid line in FIG. 7, the magnet 14 is separated from the bottom plate 1b, and the air gap becomes the maximum value.

As described above, when the welding operation is performed with the torch 3 mounted on the main body 1 in the state shown in FIG. 6, a sufficient traction force is exerted to pull the hoses and the power cable connected to the torch 3. When the traveling cart A is relocated after the work is completed, the main body 1 is welded with a small force by rotating the lever 12 to separate the magnet 14 from the bottom plate 1b as shown in FIG. It becomes possible to separate from the member B.

When welding is performed using the traveling carriage A formed as described above, the traveling surface of the traveling carriage A is first brought into contact with the welding member B, and the touch sensor 2 and the torch 3 are grooved as welding lines. Adjust to C. At this position, the lever 12 is rotated to bring the magnet 14 in the bogie main body 1 close to the bottom plate 1b, thereby generating an attractive force between the traveling bogie A and the welding member B.

Thereafter, as shown in FIGS. 9 and 10,
After the main power is turned on to the traveling trolley A (60), initial setting is performed (61). As initial settings, welding conditions and the like are input from an operation panel provided in the control unit, and the sensor retreat motor 21 is driven to rotate the touch sensor 2 in the direction of the welding member B, as shown in FIG. Then, the touch sensor tip 20 is arranged in the groove C which is a welding line.
At this time, the width in which the touch sensor tip 20 can move leftward or rightward from the center of the groove C is referred to as an interval D.

Next, a start switch of an operation panel (not shown) for starting welding is turned on (62). Then, the bogie starts running and moves forward, and at the same time, welding is started while weaving the torch 3 by a control unit (not shown) (63).

During running, the running position with respect to the groove C is shifted. For example, when the touch sensor tip 20 shifts to the left, the touch sensor tip 20 reaches the position 20a shown in FIG. 8 and contacts the left bank C1, and the touch sensor 2 detects this and turns on.
The (left) signal is sent to the control unit (64).

In response to this signal, the control unit decreases the voltage on the right side of the motor 4 to reduce the rotation speed of the wheels 45 on the right side of the truck, and steers the traveling truck A to the right (65a).
. At the same time, as shown in FIG.
a is shifted right by the interval D (66a).

The same applies to the case where the traveling position with respect to the groove C is shifted to the right. As shown in FIG. 8, the tip 20 of the touch sensor reaches the position 20b and contacts the right bank C2. An ON (right) signal is sent to the control unit (64). Then, the control unit steers the bogie to the left (65b) and moves the weaving center 3a to the left by the interval D.
(66b).

The controller 1a determines whether welding for the set distance has been completed or whether the limit switch 13 has contacted the barrier. If not, the welding operation is continued. Then, the bogie is stopped, welding and sensing are terminated (68), and the operation of the traveling bogie A is completed (69).

Further, when a signal is sent from the touch sensor 2, the contact is made continuously in the right or left direction in the same direction at a predetermined number of times or more (70 a). The weaving center 3a has been moved or the weaving center 3a has moved so that the weaving width has exceeded the movable range of the weaving device (70b).
If such an event is detected, the bogie and welding are stopped assuming that an error has been detected (71a, 71b). Thereby, welding can be started after initial setting is performed again without performing serious defect welding.

[0035] With the above-described configuration, the welding operation can be performed by following an existing welding line when welding is performed, and there is no need to newly set a traveling reference.
When weaving is performed at the same time, since the weaving center is corrected simultaneously with the correction of the traveling direction, it is possible to always build up the center of the groove.

In the above embodiment, the displacement of the touch sensor tip 20 with respect to the groove C is detected by the left and right banks C1 and C2. , 20b may be detected, and only one side of the groove C may be tracked.

For example, when imitating only the bank C2, when the touch sensor tip 20 reaches the right position 20b shown in FIG. 8 and comes into contact with the bank C2, the bogie is steered to the left, and the touch sensor tip 20 separates from the bank C2. Steer the time bogie to the right. By repeating this, it is possible to detect only one bank and travel in a zigzag manner.

In the above embodiment, the moving distance for moving the weaving center is exemplified as the distance D. However, the moving distance is determined by the width of the groove, the diameter of the touch sensor, the distance between the touch sensor and the torch, and the like. May be set. Further, in the above-described embodiment, the weaving device is shown as a structure in which the torch 3 is swung, but a structure in which weaving is performed by sliding a torch held at a fixed angle.

Although the traveling vehicle A is configured to travel on a wall surface with a magnet inside, the present invention is not limited to this, and travels on a substantially horizontal plane without a magnet. The present invention can also be applied to a truck configured as described above.

[0040]

With the above construction, the trackless traveling vehicle according to the present invention can follow the welding line without the necessity of setting up such as laying a rail or installing a laser.

Further, the control of the traveling direction of the traveling vehicle and the correction of the weaving position can be performed by using a signal emitted from one touch sensor, and the control method and structure can be simplified.

[Brief description of the drawings]

FIG. 1 is a front view illustrating a configuration of a traveling vehicle according to an embodiment.

FIG. 2 is a side view of the traveling vehicle.

FIG. 3 is a side sectional view of the weaving device.

FIG. 4 is a front view showing a weaving state of the torch.

FIG. 5 is a cross-sectional view illustrating an internal configuration of the traveling vehicle.

FIG. 6 is a diagram illustrating a state when a magnet is brought close to a bottom surface.

FIG. 7 is a diagram illustrating a state when a magnet is separated from a bottom surface.

FIG. 8 is a diagram illustrating an arrangement of a tip of a touch sensor.

FIG. 9 is a flowchart illustrating a copying operation of the traveling vehicle.

FIG. 10 is a flowchart illustrating a movement operation of the weaving center of the traveling vehicle.

[Explanation of symbols]

 A: traveling trolley B: welding member C: groove C1: left bank C2: right bank D: interval 1: trolley body 1a: control unit 1b: bottom plate 2: touch sensor 3: torch 3a: weaving center 4: motor 5 ... Weaving device 10… Handle 11… Feet 12… Lever 13… Limit switch 14… Magnet 15… Axis 16… Hinge 17… Bracket 20… Touch sensor tip 20a… Touch sensor tip left position 20b… Touch sensor tip right position 21… Sensor retreat Motor 30… Torch holder 31… Torch up / down adjustment handle 32… Torch left / right adjustment handle 41… Reduction gear 42 a… Axle 42 b… Axle 43 a… Pulley 43 b… Pulley 44… Timing belt 45… Wheels 50… Motor 51… Reduction gear 52 a… Small gear 52b ... large gear 53 ... shaft 54 ... pin

──────────────────────────────────────────────────続 き Continued on the front page (51) Int.Cl. ⁶ Identification number Office reference number FI Technical display location B62D 3/00 B62B 3/00 D

Claims (3)

[Claims] 1. A railless traveling carriage having a welding torch and a driving device capable of controlling the traveling direction and performing welding while traveling on a railless rail, wherein the bogie is arranged within a groove of a welding line and the opening is provided. A trackless travel comprising: a touch sensor that emits a signal by contacting the inner surface of the left side or the right side; and a traveling direction control device that controls the direction of the driving device based on a signal transmitted from the touch sensor. Trolley. 2. The weaving control device for moving a weaving center by a signal sent from the touch sensor, wherein the weaving carriage has a weaving device for swinging the welding torch in a direction perpendicular to a welding direction. The railless traveling vehicle according to claim 1, further comprising a device. 3. The railless carriage has two drive units and wheels that are independently transmitted by the two drive units and are disposed on both side surfaces of the body of the carriage. The railless carriage according to claim 1 or 2, characterized in that: