JPS60203370A - Automatic welding device of pipe body - Google Patents

Abstract

PURPOSE:To obtain a titled device which is made small in size and light in weight, carried easily and executes welding of a saddle type with a high accuracy by providing a turning member on the upper face of an oscillating ring body fitted and installed to a branch pipe to be welded to a base pipe, and providing a position detector and a welding torch on its drooping piece. CONSTITUTION:A pair of saddles 1 are placed on a base pipe I a being in the vicinity of a joint surface I c of said base pipe I a and a branch pipe I b, and a pair of horizontal shafts 2a of an oscillating ring body 2 fitted and inserted to said branch pipe I b are installed axially so as to be freely oscillatable to said saddle. On the upper face of this oscillating ring body 2, a turning member 6 having a roller 7 is provided so as to be freely turnable by driving of a motor 8, and a horizontal frame 10 provided with a movable supporting body 13 which can be moved by a motor 12 and a feed screw 14 is installed to a drooping piece 6a of the swirling member 6. To said supporting body 13, a welding torch 14 and a position detector 15 are installed, and they are controlled by a control device IIconstituted of a welding power source 17, a switching circuit 16, an operator 18 and a controller 19, etc., and welding is executed automatically by tracing said joint surface I c.

Description

DETAILED DESCRIPTION OF THE INVENTION [Technical Field of the Invention] The present invention relates to an automatic pipe welding device for orthogonally welding a main pipe and a branch pipe as materials to be welded.

[Technical background of the invention]

In general, pipes of this type for transporting fluids such as liquids, gases, powders, etc. are connected in branched pipes or orthogonally, depending on the purpose of the transport route. In addition, these pipe bodies were manually welded with a welding curve called a "kura-type" that forms the joint surface between the main pipe and the branch pipe.

On the other hand, as shown in FIG. 1, a conventional automatic welding device has a channel-shaped machine frame a and a pair of guide rails b.
are arranged horizontally in parallel, a sliding body C is slidably provided astride both guide rails ℃, and a main pillar d is erected on this sliding body 0,
An arm rod θ is slidably and horizontally fitted to the main pillar d so as to be orthogonal to both guide rails b, and this arm rod e
A pivot shaft g rotated by a drive motor f is vertically disposed on the free end e of the welding shaft g, and an operating rod 1 equipped with a welding torch h is provided below the pivot shaft g.

Therefore, the above-mentioned automatic welding device has the main pipe upper a and the branch pipe It.
), the welding torch h is energized to weld the welding surface IC along a saddle-shaped welding curve while rotating the operating rod 1 around the branch pipe. , the horizontal direction (X direction) of the guide rail b and the arm e
front/back direction (Y direction) and upward/downward direction (with respect to main column d)
Welding is performed while controlling the welding process in two directions.

On the other hand, the automatic welding apparatus shown in FIG. 2 is provided with a drive control part k consisting of a combination of a drive motor and an encoder at the tip j of a large manipulator j, and welding in conjunction with this drive control part k. It is equipped with a torch h for connecting the main pipe Ia and the branch pipe to the joint surface IC.
The welding torch h is moved in the x, y, and z directions while rotating the welding torch h following a welding curve in the shape of a saddle.

[Problems with background technology]

However, the above-mentioned automatic pipe welding equipment is not easy to use as the entire equipment becomes large and is subject to restrictions due to the installation location, and it is difficult to transport it to the piping site and perform automatic welding work. Moreover, the structure is complicated, and the setup and installation of the device and the main pipe a as the object to be welded is troublesome.

[Purpose of the invention]

The present invention has been made in view of the above-mentioned circumstances, and includes a pair of saddle horses placed on the main pipe in the vicinity of a saddle-shaped welding curve for welding a main pipe and a branch pipe as objects to be welded. A swinging ring body is swingably mounted on both saddles, and a position detector (position sensor) and a welding torch are attached to this swinging ring body, thereby reducing the size and weight of the entire device. With,
To provide an automatic welding device for pipe bodies, which is easy to transport and allows easy and highly accurate automatic welding at a piping site.

[Summary of the invention]

The present invention provides a swinging ring in which a pair of saddle horses is placed on the main pipe near the joining surface of the main pipe and the branch pipe as objects to be welded, and the branch pipe is fitted on both saddle horses. A pair of horizontal shafts of the body are swingably mounted, and a holding roller integrated with the swinging member is provided on the upper surface of the swinging ring body so as to be able to roll, and a hanging piece of the swinging member is provided with a holding roller that can roll. A horizontal frame is provided in the radial direction of the branch pipe, a movable support is provided on the horizontal frame so as to be movable in the radial direction, a position detector and a welding torch are provided on the movable support, The position detector and the welding torch are controlled by a control device to automatically weld while tracing the joint surface.

[Embodiments of the invention]

In the following, the present invention will be explained with reference to an illustrated embodiment of the present invention. A pair of saddle horses are mounted on the main pipe Ia of the saddle horses, and a pair of horizontal shafts 2a integral with a swinging ring body λ are swingably mounted on bearings la of both saddle horses. At the same time, the swing ring body 2 is fitted into the branch pipe. A gear 3 is mounted on one of the horizontal shafts 2a (1 υ), and a pinion meshing with the gear 3 is connected to a swinging motor 5 equipped with a tachogenerator installed on one of the saddles. It is attached to the output shaft ja.

Furthermore, a gear db is provided on the outer periphery of the swinging ring body.This swinging ring body! The upper surface 2c is formed into a chevron shape. Furthermore, on this upper surface C, a pair of holding rollers 7 formed in an inverted Y shape integral with the rotating member 6 are provided.
is provided so as to be able to roll while maintaining balance, and a swing motor g equipped with a tacho generator is installed on this swing section @6. Further, a small gear is mounted on the output shaft ♂a of this turning motor t, and this small gear meshes with the gear b), and when this small gear rotates, this small gear rotates. The gearwheel is configured to be able to revolve around the circumference of the gearwheel 2b while rotating on its own axis.

On the other hand, a hanging piece 6a is inserted into a part of the swinging member B through a gap between the inner sides of the swinging ring λ and the swinging ring λ.
A horizontal frame 10 is attached to the lower end of the hanging piece 6a horizontally in the radial direction of the branch pipe Ib. Further, a feed screw // is provided horizontally on this horizontal frame IO, and a feed motor ``/2'' equipped with a tacho generator is attached to this feed screw/l.
are connected and attached. Furthermore, the above feed screw //
A movable support 13 is screwed to the movable support 13 so as to be able to reciprocate in the radial direction, and a welding torch is mounted at the bottom of the movable support 13, as shown in Fig. J (A). /
Da and contact/! ; A position detector (position sensor) 15 having a ff is attached so as to be in contact with the welding surface IC.

Note that the position detector /S having the welding torch /q and the contactor /ja may be configured as [2] by changing the design to be detachable, as shown in FIG.

On the other hand, a switch circuit /6 of a controller Ml! built into the operation panel and a welding power source /7 are connected to the position detector /S and the welding torch /4, and the switch circuit 16 and The welding power source 17 is connected to a controller 19 equipped with a computer/gtl.

Hereinafter, the effects of the present invention will be explained. Therefore, the present invention, which includes a pair of saddles l, is installed in advance on the main pipe Ia in the vicinity of the joint surface IC between the main pipe work a and the branch pipe I't) as objects to be welded.

Next, the contact of the position detector is/! iaV, (while contacting the welding surface Ic, the welding torch/l
at a predetermined position and the required inclination angle.

By operating the control device U of the operation panel, the swing motor j1, the swing motor g, and the feed motor 9 can be controlled.
By simultaneously driving the three motors for
As shown in FIGS. 7 to 7, the position detector/S is adapted to weld the welding surface IC with the welding torch/4', following the welding surface IC forming a hollow shape. .

That is, the swing motor j reciprocates the gear 3 meshing with the pinion ≠, so that the swing ring body made integral with the gear 3 swings around its horizontal axis core a at a constant cycle. move. At the same time, the upper turning motor l is driven, so that the small gear of the turning motor r revolves around the gear 213 (7) that meshes with it while rotating. The rotating member 6, on which the rotating motor r is installed, is configured to rotate while swinging around the branch pipe Ib while maintaining its balance by the holding row 27.
The welding torch III and the position detector /S provided at the lower part of the hanging piece 6a of the rotating member B also swing around the branch pipe Ib and rotate like wheat husks. Furthermore, since the feed motor 2 is driven, the feed Q of the feed motor 2 moves the movable support 13 screwed thereon in the radial direction of the branch pipe Ib. ing.

When the swing motor j, swing motor r, and feed motor/2 are simultaneously controlled and driven by the above-mentioned control device, as shown in the graph of FIG. The output shaft fa, both horizontal axes Ja, and the movable support 13 are configured to move.

Next, the operation of the welding torch/II is controlled by the controller/9, the computing unit/j, etc. incorporated in the control circuit n in the operation panel. X axis) fa, both horizontal axes (R axis) Ja
and a movable support (Y axis) 13.

That is, in FIG. j and FIG.
Each of the above X, Y,
It is branched into operation teaching data for each R axis, and is stored in a random access memory (hereinafter referred to as RAM) 79.
It is stored in c. At this time, the welding signal (welding medium) supply conditions are also written and saved in the RAM/9c at the same time. Further, the operation teaching data of the X, Y, and R axes and the supply conditions of the welding signal are sent to the synchronization processing circuit /9 (l,
This synchronization processing circuit /q(i) synchronizes the welding signal supply conditions on the object to be welded with the position of the movable support /3 to which the welding torch /4' is attached, and drives the entire movable support /3. The teaching data of each X, Y% and E axis is sent to the controller/9a via the command pulse controller/9a.
The welding signal is sent to f, and at
1 and 7o) respectively.

Each of the X, Y, and R axes driven by each motor M by this drive motor s (r, 10) detects the amount of movement thereof by an encoder M2, and uses this detection data as described above. converter/? Feed to f, and input each of the above X, Y,
Controls the position of the f'l axis.

On the other hand, from the synchronous control circuit /9(l), a command value for the supply condition of a welding signal synchronized with the welding teaching data is given to the welding power source 17 via the interface /?h'i, and the welding power source 17 is energized. A constant nf welding signal is supplied to the welding torch/4'.
The command values for the driving of (za, /θ) and the welding signal supply conditions are the above-mentioned synchronous process W exit /? d is synchronously controlled.

On the other hand, as shown in Fig. r, the position detector/! When a forward rotation command is output from r and the switch circuit 17, the servo amplifier/9gi is operated to rotate the drive motor j(r,1
0) is driven in the forward rotation, and when a reverse command is output, the servo amplifier /9g is operated to drive the motor M of the drive motor j (♂, /θ) in the reverse rotation. .

Furthermore, motor M with.

The rotation amount is detected by the encoder M2, and its detection signal is given to the data correction circuit /91 via the /A controller /qf. Position detector 15 and switch circuit/
6, the welding teaching data stored in the FA M /f c is corrected based on the amount of rotation of the motor M by the drive motor s (1° IO).

In addition, as shown in FIG. ;b,/! fC
A contactor /j is provided on this support portion 15'b, /jo.
A forward rotation switch 1srs and a reverse rotation switch /Sθ are attached to the bottomed cylindrical body 15f which pivotally supports the contactor /ja and is located in the rotation passage at the inner end of the contactor /ja.

Therefore, the contact /ja of the position detector 15 is set, for example, to be located at the welding surface IC of the object to be welded. Therefore, the outputs of the forward rotation switch 15d and the reverse rotation switch /je of the position detector /S are connected to the stop rotation side relay /7a and the reverse rotation side relay iq which constitute the respective switch circuits /B.
given to 'o. And this forward rotation side relay/'7a
, the servo amplifier/9g operates according to the output from the reverse side relay 77b, and as a result, the drive motor j (za,
The motor M1 (10) is designed to be driven in the forward direction and in the reverse direction.

Next, the processing of the present invention and the arithmetic unit 1g will be explained by adding mathematical expressions.

5 and 6 show the operation of the present invention in a plate form, and the position of the welding torch in FIG. 5 is the welding starting point. In this case, the radius of the main pipe a is set to R3, and the radius of the branch pipe Ib is set to R2. In addition, the traveling axis lx axis ga, 'JA, which rotates around the branch pipe,
Both horizontal axes 2a for swinging the movable ring body λ are the R-axis, and a movable support member /3f: Y-axis is perpendicular to the X-axis a and is screwed to the feed shaft l/; The combined position of the motion becomes the welding torch/da. On the other hand, the joint surface Io between the main pipework a and the branch pipe as the objects to be welded is a welding curve in three-dimensional space. To make it easier to follow the welding curve by considering this as a simple curve,
This problem is solved by the swinging motion of the swinging ring body λ. That is, the shape formed by the welding curve Ic on the surface of the main pipe work 8 is determined by using the characteristic that if the main pipe work a is developed and widened, it will fit within the secondary plane. The above-mentioned swing ring body 2 is used to solve the problem, since it is regarded as a figure in the zigzag plane.

Therefore, while the X@♂a rotates around the branch pipe, the position data of the R-axis and Y-axis can be calculated using the following formula.

That is, the salmon large swing angle ARad of the R axis is: Next, from the state shown in FIG. The swing angle R is calculated using the following formula: % R--A Sin α Also, when the -C1 upper rudder R-axis following the above X-axis swings,
Upper arrangement] The length of the Y axis is reduced by f:'fl so that the dynamic support body /3 can follow the welded curved line C. Moreover, the state shown in FIG. S is the position where the length of the Y-axis is most adjusted, and the state shown in FIG. 6 is the position where the Y41111 is extended.

Note that the Y-axis extension B is calculated as follows: 1. When H is the distance between the horizontal axis 2a of the oscillating ring body λ and the main tube Ia, 2 (R, +H) (Fl, -Fn mouth biga - (R2+B)
”, the X-axis position α causes the Y-axis position Y to become as follows.

In this way, calculation formulas for each operation of the X, y, and B axes of the present invention can be obtained from the radius R1 of the main pipe Ia as the object to be welded and the radius R8 from the branch pipe. I can do it. Moreover, by using these arithmetic expressions and operating the data at each position using the above-mentioned arithmetic unit 7g,
Each movement song shown in FIG. 7 can be played.

Next, another embodiment of the present invention shown in FIG. 1θ and FIG. The operation information at each position can be obtained by selecting the welding teaching mode in the operation box 20, manually moving the X-axis to a desired position, oscillating the B-axis correspondingly, and finally moving the Y-axis to the desired position. Accordingly, the movable support 13 is adjusted so as to approach the welding curve IC.

In this way, after completing the welding teaching operation an arbitrary number of times, he switches to the correction mode by operating the switch circuit 16 in the above-described specific example.

As a result, proper position data can be obtained by the operation box 20, so there is no need to perform strict position teaching in advance in the welding teaching operation.Furthermore, the present invention provides the switch circuit 16 and the position detector 15. Welding curve IC
By tracing υ, it is also possible to create appropriate welding data at preset sampling intervals.

Incidentally, in the present invention, when a deep intervention is required, when the welding torch / II'i is desired to be tilted in the welding progress direction or when it is desired to be tilted in the opposite direction to the welding, a plurality of movable supports / 3 are provided. It is free to provide a torch support shaft.

〔Effect of the invention〕

As described above, according to the present invention, a pair of saddle horses l are placed and provided on the main pipe work near the joint surface Ic between the main pipe work a and the branch pipe strand as objects to be welded, A pair of horizontal shafts 2 of a swinging ring body λ with the above-mentioned branch pipe t) fitted on both saddles l
a is swingably mounted on the shaft, and the upper surface λC of this swinging ring body λ
A holding roller 7 integral with the rotating member 6 is provided so as to be able to roll, and the branch pipe 1 is attached to the hanging piece 6a of the rotating member 6.
't) A horizontal frame 10f is attached to the horizontal frame 10 in the radial direction, a movable support /3f is provided on the horizontal frame 10 so as to be movable in the radial direction, and a position detector 15 and a welding torch /3 are attached to the movable support /3. The position detector /S and welding torch I4T are controlled by the control device /9, and automatic welding is performed while racing the above-mentioned welding chamber. Not only can welding be performed easily and with high precision, but the handling operation is also simple, so the welding work can be performed without requiring any skill, and the welding can be performed according to the diameter of the main pipe a. It is also possible to freely select the diameter of the branch pipe and weld it.

[Brief explanation of drawings]

1 and 2 are perspective views of a conventional automatic tube welding device, FIG. 3 is a front view of an automatic tube welding device according to the present invention, and FIGS. q (A) and (B) are , side views of the welding torch and position detector used in the present invention, FIG. S and FIG. 6 are diagrams for explaining the present invention in detail, and FIG. Graph showing the movement of each drive shaft, Figure R is a diagram of a control circuit incorporated in the present invention, Figure 7 is a diagram showing part of the position detector and control circuit according to the present invention, Figure 7 is a diagram showing a part of the position detector and control circuit according to the present invention.
FIG. 0 and FIG. 1 are diagrams showing other embodiments of the present invention. l... Kurama, 2... Rocking ring body, j... Rocking motor, O... Swivel member, 7... Holding mouth chive, r.
...Turning motor, 10...Horizontal frame, /l...
・Feed screw, 12... Feeding motor, /3... Movable support, llI... Welding torch, /S... Position detector, /6... Switch circuit, /7.・・Welding power source,
7g...Arithmetic unit, /9...Controller, Ia...Main pipe, Ib...Branch pipe, Ic...Welding curve, ■...Control device. Applicant's agent Kiyoshi Inomata (19) 418-Atsu0- Wholesaler

Claims (1)

[Claims] A pair of saddle horses are placed on the main pipe near the joining surface of the main pipe and the branch pipe as objects to be welded, and a pair of rocking ring bodies are fitted with the branch pipes on both saddle horses. A horizontal shaft is swingably mounted, and a holding roller integrated with the swinging member is provided on the upper surface of the swinging ring body so as to be able to roll, and a hanging piece of the swinging member is provided with a holding roller that is rotatable in the radial direction of the branch pipe. Attach a horizontal frame to
A movable support is provided on the horizontal frame so as to be movable in the radial direction, a position detector and a welding torch are attached to the movable support, and the position detector and the welding torch are controlled by a control device. An automatic pipe welding device characterized in that automatic welding is performed while tracing the joint surface.