JP6124288B2 - Traveling cart - Google Patents

Description

  The present invention is a traveling vehicle that travels by pressing a plurality of guide rollers against a second plate that is erected from a first plate, and the machining torch is moved to the movement limit by a torch holder moving device. However, the present invention relates to a traveling carriage configured such that the processing torch does not interfere with the traveling copying member.

  A workpiece made of a steel plate, stainless steel plate, aluminum plate, or the like is welded using a welding torch selected from a plasma welding torch, a carbon dioxide gas welding torch, an argon gas welding torch, etc., and a plasma cutting torch or a gas cutting torch is used. Cutting is done. In particular, in shipbuilding and steel construction, structures and steel plates to be processed including welding and cutting are often large, and many small processing devices are used that are transported and operated by workers to the target processing position. It has been.

  Such a small processing apparatus has a carriage that travels along a processing line consisting of a target welding line or cutting line, and a processing torch including a welding torch and a cutting torch mounted at a substantially central portion of the carriage. Generally, it is configured as follows. And the corner part where the steel plate (bottom plate) arrange | positioned horizontally and the lower end of the steel plate (standing plate) which stood up with respect to this bottom plate crosses the whole length, or it was arrange | positioned facing the end surface. It is used when butt welding steel plates or when cutting bottom plates and upright plates.

  When performing the above processing, the carriage is generally run on the bottom plate, and a running limit is set at the end of the bottom plate to prevent the carriage from falling from the bottom plate. For this reason, when the cart reaches the travel limit, the processing for the target processing line by the processing torch does not end, and there is a problem that an unprocessed portion exists at the end.

  For example, when the target processing is fillet welding, a welding apparatus has been proposed in which a welding torch is configured to be swingable with respect to a carriage (see, for example, Patent Document 1). This technique realizes the movement of the welding torch in two directions with a single drive source, and enables reliable fillet welding.

  On the other hand, when the target processing line is a straight line, an upright plate is installed along the processing line, and the protruding dimension of the guide roller provided at the front and rear from the side surface of the carriage is large on the upstream side in the traveling direction and small on the downstream side. A traveling carriage that is set so as to run is used. In this traveling carriage, it is possible to travel along the standing plate while pressing the plurality of guide rollers against the standing plate, and it is possible to reliably guide the mounted processing torch along the standing plate.

Japanese Patent Laid-Open No. 9-327775

  The welding apparatus disclosed in Patent Document 1 has a problem that the structure is complicated. For this reason, the machining torch mounted on the carriage is configured to move along the running direction of the carriage, and after the carriage reaches the running limit, only the machining torch is moved downstream in the running direction with the carriage stopped. It is preferable to do so.

  When the machining torch is moved downstream in the traveling direction with the carriage stopped, there is a risk of interference with the guide roller or the arm supporting the guide roller when the machining torch reaches the movement limit. The problem arises that is limited by the guide rollers.

  An object of the present invention is a traveling carriage that guides a traveling direction by pressing a plurality of guide rollers against a second plate so that a processing torch is moved along a target processing line after reaching a traveling limit. Another object of the present invention is to provide a traveling vehicle capable of preventing interference with a member on which a guide roller is disposed when the processing torch reaches the movement limit.

In order to solve the above-described problem, a traveling vehicle according to the present invention has a plurality of guide rollers press-contacted to a second plate that is erected from a first plate in a substantially vertical direction and is disposed along a target processing line. A traveling carriage that travels on a first plate, a torch holder that holds a processing torch including a welding torch or a cutting torch, and the torch holder is moved so that the processing torch moves along a target processing line A torch holder moving device, a cart body on which the torch holder moving device is mounted, and a guide roller that press-contacts the second plate on the front end side are rotatably arranged, and the rear end side adjusts the mounting position with respect to the cart body A pair of travel copying members that are formed in front and back in the traveling direction and are attached to the cart body, and the travel copying member includes a guide roller on the second plate. When the torch holder moved along the target processing line by the torch holder moving device when touched and placed at the front and back in the traveling direction and attached to the cart body, it interferes with the processing torch when the movement limit is reached. It is configured so as not to do.

In particular, the pair of running copying member is inclined rotation axis of the deployed guide roller tip relative to the second plate, that is configured to be substantially perpendicular to and running direction.

In the traveling carriage, when the rear end side of the pair of traveling copying members is attached to the carriage body, the guide roller disposed at the front end is located on either the upstream side or the downstream side in the running direction from the carriage body. It is preferable that the torch holder that protrudes to one side or both sides and moves along the target processing line by the torch holder moving device is configured not to interfere with the processing torch when the movement limit is reached. .

  In any one of the traveling carts, the torch holder moving device is disposed along a target processing line, and guides the movement of the torch holder in parallel with the target processing line; A parallel drive member that moves the torch holder along the parallel guide member, and moving the torch holder along the parallel guide member by the parallel drive member, thereby moving the machining torch along a target machining line. It is preferable that it is comprised so that it may move.

  In any of the above traveling carts, the torch holder moving device includes a linear moving member that linearly moves the torch holder toward a target processing line, and a rotation that rotates the linear moving member. It is preferable that it is comprised so that a process torch may be moved along the target process line by synchronizing and driving the said linear movement member and the said rotation member.

  In the traveling cart according to the present invention, the plurality of guide rollers can be brought into pressure contact with the second plate to travel along the target processing line. Further, after the carriage main body reaches the travel limit and stops, the processing torch can be further moved along the target processing line by the torch holder moving device. In particular, when the torch holder reaches the movement limit, the travel copying member including the guide roller does not interfere with the machining torch. For this reason, the length which can be processed can be enlarged.

  In addition, when the rear end side of the pair of travel copying members is attached to the carriage main body, the guide roller disposed at the tip protrudes from the carriage main body to one or both of the upstream side and the downstream side in the running direction. As a result, even if the torch holder reaches the movement limit, it does not interfere with the machining torch. For this reason, the moving length of the processing torch can be increased with a simple structure.

  Further, the rotation axis of the guide roller disposed at the tip of the pair of travel copying members is configured to be inclined with respect to the second plate and substantially perpendicular to the travel direction, so that the guide roller first The contact part with respect to the board of 2 can be made low. For this reason, the position very close to the target processing part can be used as a guide surface, and the processing accuracy can be improved.

  In addition, the torch holder moving device guides the movement of the torch holder arranged along the target processing line in parallel with the target processing line, and the parallel drive for moving the torch holder along the parallel guide member Therefore, the processing torch can be moved along the target processing line as the torch holder is linearly moved along the parallel guide member.

  In addition, since the torch holder moving device includes a linear moving member that linearly moves the torch holder toward the target processing line and a rotating member that rotates the linear moving member, As the moving member and the rotating member are driven in synchronization, the processing torch can be moved along the target processing line.

It is a top view explaining the structure of the traveling trolley | bogie which has a parallel guide member. It is a front view explaining the structure of the traveling trolley | bogie which has a parallel guide member. It is a bottom view explaining the structure of the traveling trolley | bogie which has a parallel guide member. It is the perspective view which looked at the traveling trolley | bogie which has a parallel guide member from diagonally upward. It is the perspective view which looked at the traveling trolley | bogie which has a parallel guide member from diagonally downward. It is a top view explaining the structure of a pair of travel copying member. It is a front view explaining the structure of a travel copying member. It is a front view explaining the comparative example of a travel copying member. It is a figure explaining the structure of the traveling trolley | bogie which has a linear moving member and a rotation member. It is a figure explaining the structure of the control system of the traveling trolley | bogie which has a linear moving member and a rotation member.

  Hereinafter, the traveling cart according to the present invention will be described. In the traveling vehicle according to the present invention, each guide roller constituting a pair of travel copying members provided before and after the traveling direction is a second plate (hereinafter referred to as an “standing plate”) disposed along a target processing line. ) To be able to travel along a standing plate on a first plate (hereinafter referred to as “horizontal plate”). And it is comprised so that the target process can be performed with the mounted process torch in the process of drive | working on a horizontal plate.

  Further, the traveling cart according to the present invention is configured such that the torch holder holding the processing torch can be moved along the target processing line by the torch holder moving device. In particular, even when the torch holder moves to the movement limit, the processing torch does not interfere with the travel copying member. For this reason, when the traveling carriage reaches the traveling limit and stops, it is possible to move the torch holder alone and additionally process the unprocessed portion in the target processing line.

  In the present invention, the processing torch mounted on the traveling carriage is a welding torch or cutting torch selected depending on whether the target processing is welding or cutting. The processing speed in the case of welding and the processing speed in the case of cutting, the shape of the welding torch and the connected hoses and the shape of the cutting torch and the holders to be connected are also different.

  Therefore, the shape and speed specifications are different between the welding carriage and the cutting carriage. However, the configuration of the pair of travel copying members arranged before and after the traveling direction and the configuration of the torch holder moving device are the same, and it can correspond to either a traveling carriage for welding or a traveling carriage for cutting. It is configured as possible.

  When the traveling cart according to the present invention reaches the traveling limit and the torch holder moves along the target processing line by the torch holder moving device and reaches the moving limit, the processing torch held by the torch holder It is configured so as not to interfere with the travel copying member disposed anywhere.

  In the present invention, the travel copying member includes a guide roller that rotates while being pressed against the upright plate, and a support arm that rotatably supports the guide roller at the front end side and is attached to the carriage body at the rear end side. (Hereinafter, simply referred to as “guide roller” or “support arm”). For this reason, “the travel copying member does not interfere with the machining torch” means that the machining torch does not interfere with either the guide roller or the support arm.

  In order for the traveling copying member not to interfere with the machining torch, the guide roller and the support arm may be separated from the machining torch when the torch holder reaches the movement limit of the torch holder moving device member.

  When the guide roller and the support arm are configured to be separated from the processing torch, when the rear end side of the support arm is attached to the cart body, the support arm moves in the traveling direction from the cart body in a plane parallel to the horizontal plate. It is preferable to have a shape that can project upstream or downstream, or upstream and downstream. That is, the support arm is formed so that the planar shape is a crank shape. Since the support arm has such a shape, the guide roller disposed on the front end side of the support arm also protrudes from the cart body, and the guide roller and the support arm are not separated from the processing torch and interfere with each other.

  Further, the guide roller mounting portion on the tip end side of the guide roller and the support arm may be configured to be spaced upward from the horizontal plate so as not to interfere with the tip portion of the processing torch. In particular, as the guide roller is raised to a position where it does not interfere with the machining torch, the mounting position of the guide roller on the support arm is also raised, so that interference can be prevented more reliably.

  In order to separate the attachment portion of the guide roller and the support arm from the lateral plate, the front shape of the support arm is preferably a crank shape. By configuring the support arm in this way, the rear end side of the support arm can be attached to the front and rear end surfaces of the carriage body to prevent interference with the processing torch. Alternatively, the mounting position of the support arm with respect to the carriage body may be simply increased. In this case, the support arm may have a straight front shape.

  In this way, by separating the contact position of the guide roller with respect to the upright plate above the target processing portion, it is possible to prevent interference between the guide roller and the tip portion of the processing torch. In this case, the rotating shaft of the guide roller may be substantially parallel to the surface of the upright plate.

  The contact position of the guide roller with respect to the upright plate is preferably as close as possible to the target processing site. For this reason, when the guide roller and the support roller are mounted on the guide roller so as to be separated from the horizontal plate, the rotation axis of the guide roller is inclined with respect to the upright plate and substantially perpendicular to the traveling direction. It is preferable to be configured as follows. In the guide roller configured in this manner, the contact position with the upright plate approaches the target processing line according to the inclination of the rotation shaft.

  As described above, as a configuration for preventing interference between the guide roller and the support arm and the machining torch, the planar shape of the support arm is configured in a crank shape, the mounting portion of the guide roller is separated from the target machining site, and When the guide roller mounting part is separated from the target processing part, the contact position of the guide roller with respect to the upright plate may be inclined with respect to the target processing part. By combining these alone or in combination, it is possible to prevent interference between the travel copying member (guide roller, support arm) and the processing torch.

  That is, the planar shape of the support arm is a crank shape, and a guide roller is arranged on the tip side of the support arm, so that when the support arm is attached to the carriage body, the guide roller is located upstream in the traveling direction of the carriage body or It can be configured to protrude downstream or on both sides to prevent interference with the processing torch. In this case, the rotation axis of the guide roller may be configured to be substantially parallel to the surface of the upright plate, or may be configured to be inclined with respect to the upright plate.

  In addition, the front shape of the support arm is a crank shape, and the rear end side of the support arm is attached to the carriage body, so that the guide roller arranged on the front end side does not interfere with the processing torch from the target processing site. It is possible to configure the guide roller so that the rotating shaft of the guide roller is inclined with respect to the upright plate.

  In addition, the planar shape and the front shape of the support arm are each a crank shape, and by attaching the rear end side of the support arm to the carriage body, the guide roller disposed on the front end side does not interfere with the processing torch. It is possible to arrange it so as to be spaced apart from the target processing site and to project on the upstream side, downstream side or both sides in the traveling direction of the carriage main body to prevent interference with the processing torch. In this case, the rotation axis of the guide roller can be inclined with respect to the upright plate.

  Furthermore, the planar shape and the front shape of the support arm are linear, so that when the support arm is attached to the carriage body, the guide roller disposed on the tip side through the bracket will not interfere with the machining torch. It is possible to configure the guide roller so as to be spaced apart from the target processing portion and to incline the rotating shaft of the guide roller with respect to the upright plate.

  As described above, in the traveling carriage that travels using the standing plate as a guide by respectively pressing the guide rollers of the traveling copying member arranged before and after the traveling direction against the standing plate, the standing plate is positioned on either the left or right side with respect to the traveling direction. Depending on whether or not, the protruding state of the front and rear traveling copying members from the carriage body is set.

  In the present invention, the torch holder moving device moves the torch holder holding the processing torch along a target processing line. For this reason, the mechanism is not limited as long as it is a mechanism capable of exhibiting the function. For example, there is a mechanism that moves the torch holder along the target processing line by moving the torch holder linearly along the target processing line. There is also a mechanism for moving the processing torch along the target processing line by turning the torch holder and at the same time linearly approaching or separating from the target processing line.

  As a mechanism for moving the torch holder along the target processing line, a parallel guide member for guiding the movement of the torch holder is arranged along the target processing line, and the torch holder is moved along the parallel guide member by the parallel drive member. There is a torch holder moving device. In this torch holder moving device, the processing torch held by the torch holder can be moved along the target processing line.

  Further, there is a torch holder moving device configured by a linear moving member that linearly moves the torch holder toward a target processing line and a rotating member that rotates the linear moving member. In this torch holder moving device, it is possible to move the machining torch along a target machining line by driving the linear moving member and the rotating member in synchronization.

  Hereinafter, the configuration of a traveling carriage provided with a torch moving device having a parallel guide member will be described with reference to FIGS. As shown in FIGS. 1 and 2, the traveling carriage according to the present embodiment is a traveling for welding for fillet welding the corner 3 of the horizontal plate 1 and the upright plate 2 standing upright from the horizontal plate 1. It is configured as a carriage A. For this reason, the welding torch 18 is used as the processing torch.

  The standing plate 2 in this embodiment is a structural member that is welded to the horizontal plate 1 and fillet. However, in the present invention, the upright plate does not necessarily have to be a structural member, and may simply be raised along a target processing line. For example, when the target processing line is set as a welding line when welding the end portions of two horizontal plates, the upright plate is placed along this welding line and temporarily welded to one horizontal plate It may be. The same applies when the target processing line is a cutting line.

  In particular, the traveling cart A according to the present embodiment has a guide roller according to the positional relationship between the cart body 12 and the upright plate 2 when changing the traveling direction (changing forward and backward travel) when performing the desired processing. In accordance with the adjustment of the projecting dimension of the five cart bodies 12, the angle of the parallel guide member 16 b constituting the torch holder moving device 16 with respect to the cart body 12 can be adjusted.

  The traveling carriage A rotatably supports a travel copying member 7 composed of a support arm 6 that rotatably supports a guide roller 5 that presses against the upright plate 2 at the front end, and a guide roller 5 that presses against the upright plate 2 at the front end. It has a carriage body 12 in which a travel copying member 9 comprising a support arm 8 and a pair of travel copying members 7 and 9 are arranged at predetermined positions before and after the traveling direction (arrow a direction shown in FIGS. 1 and 3). .

  The attachment position of the pair of travel copying members 7 and 9 with respect to the carriage main body 12 is not particularly limited, and it is sufficient that the pair of travel copying members 7 and 9 are arranged at intervals before and after the traveling direction. For example, it is possible to provide a bracket (not shown) on the upper surface of the carriage main body 12 and before and after the traveling direction so that the support arms 6 and 8 are attached.

  In the present embodiment, the pair of travel copying members 7 and 9 are directly attached to the front and rear end surfaces of the carriage body 12. That is, one travel copying member 7 is attached to the end surface of the carriage body 12 on the front side in the traveling direction and protrudes downstream in the traveling direction, and the other travel copying member 9 is attached to the end face of the carriage body 12 on the rear side in the traveling direction. Projecting upstream in the direction of travel. The pair of travel copying members 7 and 9 protrude from the carriage main body 12 to the upstream side and the downstream side in the traveling direction, respectively, so that the welding held by the torch holder 15 that has reached the movement limit of the torch holder moving device 16. It is configured so as not to interfere with the torch 18.

  Note that it is not always necessary that both of the pair of travel copying members protrude upstream and downstream in the traveling direction, and at least the travel copying member (travel copying member 7 in this embodiment) disposed on the downstream side is the traveling carriage A. What is necessary is just to protrude in the running direction.

  First, the configuration of the travel copying members 7 and 9 used in the traveling carriage A according to this embodiment will be described with reference to FIGS. As shown in FIG. 6, the travel copying members 7 and 9 are configured differently from each other.

  The supporting arms 6 and 8 constituting the running copying members 7 and 9 are formed in a crank shape in plan view, projecting pieces 6a and 8a are formed on the front end side, and attached to the carriage main body 12 on the rear end side. Mounting pieces 6b and 8b are formed, and refraction pieces 6c and 8c are formed between the protruding pieces 6a and 8a and the mounting pieces 6b and 8b.

  The distance between the projecting pieces 6a and 8a and the mounting pieces 6b and 8b in the same plane is not limited, and the ends of the bracket 16a and the parallel guide member 16b constituting the torch holder moving device 16 in the traveling carriage A are not limited. It is set according to conditions such as the position of the part and the position of the welding torch 18 when the torch holder 15 reaches the movement limit. Further, the protruding pieces 6a, 8a and the mounting pieces 6b, 8b do not necessarily have to be parallel in the same plane. As shown in FIG. 6, when the protruding pieces 6a, 8a are attached to the carriage main body 12, the protruding pieces 6a, 8a. May be formed so as to open in the shape of a letter C on the downstream side and the upstream side in the traveling direction, respectively. Even in this case, the angle of the protruding pieces 6a, 8a with respect to the mounting pieces 6b, 8b is not limited.

  Roller brackets 6 d and 8 d for supporting the guide roller 5 are formed on the distal end sides of the protruding pieces 6 a and 8 a of the support arms 6 and 8. As shown in FIG. 7, the roller brackets 6d and 8d are formed in a square shape obliquely upward from the protruding pieces 6a and 8a. That is, inclined pieces 6d1 and 8d1 are formed obliquely upward at the tip portions of the projecting pieces 6a and 8a, and the tip ends of the inclined pieces 6d1 and 8d1 are bent at substantially right angles to form roller support pieces 6d2 and 8d2. Is formed. Accordingly, the roller support pieces 6d2 and 8d2 are formed to be inclined obliquely downward according to the inclination angle of the inclined pieces 6d1 and 8d1.

  A shaft 5a is provided substantially perpendicular to the roller support pieces 6d2 and 8d2 formed as described above, and the guide roller 5 is rotatably supported on the shaft 5a. Therefore, when the guide roller 5 comes into contact with the upright plate 2, the rotation shaft (shaft 5 a) is inclined with respect to the upright plate 2 and is substantially perpendicular to the traveling direction of the traveling carriage A. In the guide roller 5 having such a posture, the upper outer periphery comes into linear contact with the upright plate 2, and there is a concern that the contact pressure increases. For this reason, it may be preferable to form the guide roller 5 in a tapered shape.

  Long holes 6e and 8e are formed in the attachment pieces 6b and 8b on the rear end side of the support arms 6 and 8, respectively. And by using the long holes 6e and 8e, each support arm 6 and 8 is comprised so that an attachment position can be adjusted with respect to the trolley | bogie main body 12, Furthermore, by adjusting this attachment position, It is comprised so that the protrusion dimension from the trolley | bogie main body 12 of each guide roller 5 can be adjusted.

  As shown in FIG. 1, the protrusion dimension from the cart body 12 is larger in the guide roller 5 of the support arm 6 disposed on the upstream side in the traveling direction than the guide roller 5 of the support arm 8 disposed on the downstream side. . That is, the projecting dimension of the support arm 6 disposed on the upstream side in the traveling direction from the cart body 12 is larger than the projecting dimension of the support arm 8 disposed on the downstream side from the cart body 12.

  Therefore, when the two guide rollers 5 are brought into contact with the upright plate 2, the line connecting the shafts 5 a that are the rotation centers of these guide rollers 5 is substantially parallel to the surface of the upright plate 2, and the carriage main body 12 is connected to the upright plate 2. Will be inclined. The inclination angle of the carriage main body 12 with respect to the line connecting the shafts 5a (the surface of the upright plate 2) is not limited. However, when the tilt angle is increased, slippage of the carriage main body 12 is increased, and wear of the wheels 12b is increased. Moreover, when the said inclination | tilt angle is small, the load of the hose connected to the welding torch 18 will become comparatively large, and there exists a possibility that driving | running | working along the standing board 2 may be inhibited.

  In the present embodiment, the inclination angle of the carriage body 12 with respect to the line connecting the shafts 5a is set to about 4 degrees. By driving the cart body 12 in this state, it is possible to travel in the direction of arrow a while the two guide rollers 5 are brought into pressure contact with the upright plate 2 and guided. However, if the cart body 12 is caused to travel in the opposite direction in this state, the cart body 12 is separated from the standing plate 2 in accordance with the inclination angle of the cart body 12 with respect to the standing plate 2. Therefore, the support arms 6 and 8 protrude from the carriage main body 12 in accordance with conditions such as the traveling direction of the traveling carriage A, the position of the welding torch 18 in the carriage main body 12 with respect to the traveling direction, and the position of the upright plate 2. It is necessary to adjust the dimensions.

  Adjustment of the projecting dimension of the two guide rollers 5 from the carriage main body 12 is performed by adjusting the mounting positions of the support arms 6 and 8 with respect to the carriage main body 12. That is, after adjusting the projecting dimension of each guide roller 5 by adjusting the lateral entry and exit of the carriage body 12 using the long holes 6 e and 8 e of the support arms 6 and 8, the carriage body 12 with the bolts 13 is adjusted. It is possible to adjust the mounting position by fixing to.

  The structure for adjusting the mounting position of the support arms 6 and 8 with respect to the carriage main body 12 is not limited. The structure is such that the support arms 6 and 8 can be fixed and the positions can be adjusted by releasing the fixing. I need it.

  Mounting brackets 6f and 8f for mounting a torch holder moving device 16 to be described later are formed at predetermined positions on the side of the refraction pieces 6c and 8c of the protruding pieces 6a and 8a of the support arms 6 and 8. The mounting brackets 6f and 8f are formed with holes 6g and 8g for fitting the shafts 19 formed on the bracket 16a constituting the torch holder moving device 16, respectively.

  The holes 6g and 8g in the mounting brackets 6f and 8f are formed at positions where the distances from the shaft 5a provided in the support brackets 6d and 8d are equal. For this reason, when each support arm 6 and 8 is attached to the cart body 12 and the guide roller 5 is brought into contact with the upright plate 2, the line connecting the shaft 5a and the line connecting the holes 6g and 8g are substantially parallel.

  As shown in FIGS. 1 to 5, the torch holder moving device 16 that moves the torch holder 15 includes a parallel guide member 16 b that guides the movement of the torch holder 15, and a bracket 16 a to which the parallel guide device 16 b is attached. The ends of the bracket 16a in the longitudinal direction are attached to the support arms 6 and 8 so that the angle can be adjusted. That is, in the torch holder moving device 16, the bracket 16a and the parallel guide member 16b are disposed along the traveling direction with respect to the carriage body 12, and are attached to the mounting brackets 6f and 8f of the support arms 6 and 8. The end side in the longitudinal direction of the bracket 16a is not necessarily an end, and includes a position separated from the end.

  The torch holder 15 is driven by a parallel drive member 17 constituting the torch holder moving device 16, and is configured to be able to reciprocate linearly along the parallel guide member 16b. Therefore, the welding torch 18 held by the torch holder 15 can move independently from the traveling of the carriage main body 12, and after the traveling carriage A reaches the traveling limit and stops, the welding torch 18 is parallelized. It is possible to move along the guide member 16b.

  As described above, when the torch holder 15 moves independently of the traveling of the carriage main body 12, the moving direction is guided by the parallel guide member 16 b constituting the torch holder moving device 16. That is, the welding torch 18 can be moved in a direction corresponding to the inclination angle of the parallel guide member 16b with respect to the carriage main body 12. Therefore, it is preferable to set the inclination angle of the parallel guide member 16b with respect to the carriage main body 12 according to which direction the welding torch 18 is moved after the traveling carriage A reaches the traveling limit.

  In particular, the traveling carriage A of the present embodiment is intended to process an unprocessed portion caused by stopping by the welding torch 18, and therefore the moving direction of the torch holder 15 is arranged along the target processing line. The direction is along the standing plate 2. For this reason, the parallel guide member 16b is disposed in parallel to a line connecting the respective shafts 5a serving as the rotation centers of the two guide rollers 5.

  Rotating shafts 19 are respectively provided at positions corresponding to the holes 6g and 8g formed in the mounting brackets 6f and 8f of the support arms 6 and 8 on the end side in the longitudinal direction of the bracket 16a constituting the torch holder moving device 16. Is provided. The bracket 16a and the parallel guide member 16b are attached to the support arms 6 and 8 so that the angle can be adjusted by fitting the rotating shaft 19 into the holes 6g and 8g.

  In the torch holder moving device 16 configured as described above, when the support arms 6 and 8 are fixed to the carriage body 12, the parallel guide member 16b supported by these support arms 6 and 8 has two guide rollers. 5 is maintained parallel to the line connecting the five axes 5a. Further, when adjusting the mounting position of any of the support arms (for example, the support arm 6) with respect to the cart body 12, the rotation shaft 19 on the side of the support arm 6 is accompanied with the movement of the support arm 6 from the cart body 12. And the inclination angle with respect to the carriage main body 12 changes. And if the support arm 6 is fixed to the trolley | bogie main body 12, the parallel guide member 16b will hold | maintain the said rotation state.

  In addition to the above structure, a combination of a long hole and a shaft, a hole and a shaft, and the like can be used to relatively rotate the attachment site between the torch holder moving device 16 and the support arms 6 and 8. These combinations can be selected as appropriate.

  Although the parallel guide member 16b constituting the torch holder moving device 16 that holds the rotating state as described above maintains a state parallel to the line connecting the shafts 5a of the two guide rollers 5, the main body 12 of the carriage 12 is maintained. The tilt angle with respect to is changing. That is, it is possible to adjust the angle of the parallel guide member 16b with respect to the carriage main body 12 as the mounting position of the support arms 6 and 8 with respect to the carriage main body 12 (projection dimension from the carriage main body 12) is adjusted.

  The carriage body 12 has four wheels 12a, and these wheels 12a are driven in a desired direction by a drive motor (not shown) provided in the casing 12b so that the vehicle travels in the direction of arrow a or in the opposite direction. Is possible.

  In addition, a magnet (not shown) is disposed inside the casing 12b, and is configured to move the magnet closer to the horizontal plate 1 or to be separated from the horizontal plate 1 by operating the lever 12c. In the traveling carriage A configured as described above, a traction force against unillustrated hoses and cables connected to the welding torch 18 is obtained by applying a suction force by bringing the magnet close to the horizontal plate 1 when performing the target welding. Can be generated.

  Further, switches 12d and 12e are disposed on the front and rear end surfaces of the carriage main body 12, respectively, and the travel limit of the traveling carriage A can be detected by these switches 12d and 12e. That is, when a signal is generated from either of the switches 12d and 12e, the traveling carriage A can recognize that the traveling limit has been reached.

  In addition, it does not specifically limit as a member which act | operates switch 12d, 12e of the trolley | bogie main body 12, It is possible to utilize the magnet adsorb | sucked to the horizontal plate 1, the steel material temporarily fixed to the horizontal plate 1, etc. .

  The torch holder moving device 16 according to the present embodiment has a function of linearly guiding the movement of the torch holder 15 holding the welding torch 18. Therefore, the torch holder moving device 16 includes a bracket 16a having a rotation shaft 19 on the lower surface, a parallel guide member 16b attached to the bracket 16a, a carriage 16c that moves along the parallel guide member 16b, and a parallel drive member. 17.

  The parallel drive member 17 includes a rack 17a attached to the bracket 16a in parallel with the parallel guide member 16b, a drive motor 17b attached to the carriage 16c, and a pinion 17c attached to the drive motor 17b and meshing with the rack 17a. , And is configured. Accordingly, when the drive motor 17b is rotated in a desired direction, the carriage 16c moves in the desired direction along the parallel guide member 16b, whereby the torch holder 15 can be moved in the desired direction.

  In this embodiment, the rack 17a and the pinion 17c are used as the parallel drive member 17. However, the present invention is not limited to this configuration, and a combination of a toothed belt and a toothed pulley, or a combination of a wire and a pulley. Etc.

  The torch holder 15 includes a stand 15 a attached to a carriage 16 c constituting the torch holder moving device 16, a position adjusting member 15 b having handles 15 c and 15 d disposed at the protruding end of the stand 15 a, and a holder 15 e for holding the welding torch 18. And is configured.

  The handle 15c is used when the holder 15e is moved up and down, and the handle 15d is used when the holder 15e is moved in the direction of entering and exiting from the side surface of the carriage main body 12. Therefore, after the traveling carriage A is installed along the upright plate 2, the welding torch 18 can be adjusted to the optimum position by operating the handles 15c and 15d to adjust the height and the entrance / exit of the holder 15e. It is.

  A case where fillet welding is performed over the entire length of the corner 3 of the horizontal plate 1 and the upright plate 2 by the traveling carriage A configured as described above will be described.

  When an obstacle (not shown) for recognizing the traveling limit of the traveling carriage A is previously installed at the downstream end of the horizontal plate 1 and welding is started with the welding torch 18 facing the corner 3, welding is started. At the same time, the traveling carriage A is caused to travel in the direction of arrow a. When a signal is generated by welding progressing and the switch 12d colliding with an obstacle, the signal of the switch 12d detects that the traveling carriage A has reached the traveling limit and stops traveling.

  At the same time, using the signal of the switch 12d, the drive motor 17b constituting the parallel drive member 17 of the torch holder moving device 16 starts to rotate, and the carriage 16c performs the desired welding along the parallel guide member 16b. Move at a speed suitable for. At this time, a welding current is continuously applied to the welding torch 18 and a welding wire and necessary gases are supplied. Therefore, it is possible to perform welding on the unwelded portion even though the carriage main body 12 is stopped.

  When the carriage 16c reaches the end of the parallel guide member 16b, the drive motor 17b stops and the welding is finished, or the crater process is performed in reverse. The welding for the corner 3 is finished.

  When the carriage 16c reaches the end of the parallel guide member 16b as described above, that is, when the torch holder 15 reaches the movement limit of the torch holder moving device 16, the welding torch 18 held by the holder 15e, There is no interference between the support arm 6 and the guide roller 5 disposed on the distal end side of the support arm 6. That is, since the protruding piece 6a of the support arm 6 protrudes from the carriage main body 12 to the downstream side in the traveling direction and is formed so as to prevent interference with the welding torch 18, both do not interfere with each other.

  The means for detecting that the carriage 16c has reached the end of the parallel guide member 16b is not limited, and switches similar to the switches 12d and 12e of the carriage main body 12 may be provided. The rotational speed of 17b may be detected and recognized, and further, an overload of the drive motor 17b may be detected and recognized.

  Next, after the welding in the direction of arrow a in FIG. 1 is completed as described above, the case where the traveling carriage A travels in the opposite direction will be briefly described.

  As described above, when the traveling carriage A travels, the projecting dimensions of the support arms 6 and 8 from the carriage main body 12 are such that the upstream side in the traveling direction (support arm 8 in FIG. 1) is the downstream side (support arm in FIG. 1). Greater than 6). For this reason, when a running direction turns into the opposite direction, the attachment position with respect to the trolley | bogie main body 12 of the support arms 6 and 8 will be adjusted.

  The bolts 13 fixing the support arms 6 and 8 to the carriage main body 12 are loosened and moved in the range of the long holes 6e and 8e, respectively, to adjust the projecting dimension of the guide roller 5 from the carriage main body 12. As the support arms 6 and 8 move, the bracket 16a constituting the torch holder moving device 16 rotates the rotation shaft 19 with respect to the holes 6g and 8g, thereby allowing the parallel guide member 16b to move relative to the carriage main body 12. The tilt angle changes.

  By adjusting the projecting dimensions of the support arms 6 and 8 from the cart body 12 and fastening the bolts 13, the projecting dimensions of the upstream support arm 6 in the traveling direction are the projecting dimensions of the downstream support arm 8. Is adjusted larger than. At the same time when the support arms 6 and 8 are fixed to the cart body 12, the bracket 16 a of the torch holder moving device 16 is also supported by the support arms 6 and 8 so as not to rotate.

  When the traveling carriage A reaches the traveling limit and the torch holder 15 reaches the traveling limit of the torch holder moving device 16, the protruding piece 8a of the support arm 8 protrudes from the carriage main body 12 to the downstream side in the traveling direction, and is welded. Since it is formed so as to prevent interference with the torch 18, the welding torch 18 held by the holder 15e does not interfere with the support arm 8 and the guide roller 5.

Next, the configuration of the travel copying member 11 according to the comparative example will be briefly described with reference to FIG. The travel copying member 11 shown in the figure is configured in the same manner as the travel copying member 7 shown in FIG. 6, but together with a travel copying member (not shown) that is the same as the travel copying member 9 shown in FIG. It is a pair.

  The travel copying member 11 has a support arm 10 in which a guide roller 5 is disposed on the distal end side. As with the support arm 6 described above, the support arm 10 is formed in a crank shape in plan view, a protruding piece 10a is formed on the front end side, and a mounting piece 10b attached to the carriage body 12 on the rear end side. And a refractive piece 10c is formed between the protruding piece 10a and the mounting piece 10b.

  A roller bracket 10 d for supporting the guide roller 5 is formed on the distal end side of the protruding piece 10 a of the support arm 10. The roller bracket 10d is formed so as to rise from a tip portion of the protruding piece 10a at a substantially right angle and bend at a right angle. Therefore, the roller bracket 10d is formed substantially horizontally.

  A shaft 5a is provided perpendicular to the roller bracket 10d formed as described above, and the guide roller 5 is rotatably supported on the shaft 5a. Accordingly, the guide roller 5 is in contact with the upright plate 2 substantially perpendicularly, and the shaft 5 a is parallel to the upright plate 2.

  A long hole 10e is formed in each of the attachment pieces 10b on the rear end side of the support arm 10. And the support arm 10 is comprised so that an attachment position can be adjusted with respect to the trolley | bogie main body 12 by utilizing the elongate hole 10e, Furthermore, the trolley | bogie of the guide roller 5 can be adjusted by adjusting this attachment position. It is comprised so that the protrusion dimension from the main body 12 can be adjusted.

  A mounting bracket (not shown) for mounting the bracket 16a constituting the torch holder moving device 16 is formed at a predetermined position on the side of the refracting piece 10c of the protruding piece 10a of the support arm 10, and the mounting bracket is provided on the mounting bracket. A hole (not shown) for fitting the rotation shaft 19 formed in the bracket 16a is formed.

  Even when the travel copying member 11 configured as described above is used, when the pair of travel copying members are attached to the carriage main body 12, the protruding piece 10a of the support arm 10 travels similarly to the support arms 6 and 8 described above. Projects upstream or downstream in the direction or both sides. For this reason, even when the torch holder 15 reaches the movement limit of the torch holder moving device 16, the welding torch 18 does not interfere with the support arm 10 or the guide roller 5.

  Next, the configuration of the traveling carriage B provided with a torch moving device having a linear moving member and a rotating member will be described with reference to FIG. In the drawing, the configuration of the carriage main body 12 constituting the traveling carriage B and the fact that the traveling carriage B is configured as a welding carriage equipped with the welding torch 18 indicate that the carriage main body 12 of the traveling carriage A described above. It is the same. For this reason, the same code | symbol is attached | subjected to the part which has the same function as the traveling trolley A, and the same function, and description is abbreviate | omitted.

  In the traveling carriage B according to the present embodiment, the torch holder 15 that holds the welding torch 18 can be rotated about the rotation center provided in the carriage main body 12 by the torch holder moving device 25, and the rotation center is the center. It is comprised so that linear movement is possible on the radius. Then, after the traveling carriage B reaches the traveling limit and stops, the torch holder 15 is rotated about the rotation center and linearly moved in the radial direction, so that the distance from the welded portion of the welding torch 18 is increased. It is possible to continue welding at a preset welding speed while holding.

  Further, after welding to the end with respect to the target processing line by the welding torch 18, the torch holder 15 is moved backward while maintaining the stopped state of the carriage, and the welding torch 18 is continuously operated in the process of reversing, thereby the crater. It is also possible to perform processing.

  Travel copying members 23 and 24 are attached to both end surfaces of the carriage main body 12 in the traveling direction, respectively. The travel copying members 23, 24 have support arms 21, 22 that are formed in different shapes like the travel copying members 7, 9 described above. The guide rollers 5 are rotatably supported on the distal ends of the support arms 21 and 22, respectively.

  In the present embodiment, the support arms 21 and 22 are formed in an L shape composed of projecting pieces 21a and 22a and mounting pieces 21b and 22b when viewed from the front, and the long holes 21e of the mounting pieces 21b and 22b, It is attached to the cart body 12 via 22e. In addition, roller brackets 21d and 22d are formed on the front end sides of the protruding pieces 12a and 22a of the support arms 21 and 22, and the shaft 5a of the guide roller 5 is attached to the roller brackets 21d and 22d.

  The travel copying members 23 and 24 configured as described above can be adjusted in the height direction of the guide roller 5 using the long holes 21e and 22e when attached to the carriage main body 12. That is, the position of the guide roller 5 can be adjusted to a height that does not interfere with the welding torch 18 when the torch holder 15 moves to the movement limit by the torch holder moving device 25. Therefore, the travel copying members 23 and 24 and the welding torch 18 do not interfere with each other.

  The shape of the support arms 21 and 22 constituting the travel copying members 23 and 24 in front view is not limited to the L shape as described above, and the mounting pieces 21b and 22b are parallel to the protruding pieces 21a and 22a. It is also possible to form a crank shape by connecting the pieces with connecting pieces arranged at substantially right angles.

  Further, in the travel copying members 23 and 24 of the present embodiment, the projecting pieces 21a and 22a and the mounting pieces 21b and 22b of the support arms 21 and 22 are configured linearly, but are not limited to this configuration. As in the above-described embodiment, the shape of each support arm in plan view may be formed in a square shape.

  A torch holder moving device 25 is configured in the upper part of the cart body 12. The torch holder moving device 25 includes a linear moving member 26 that linearly moves the torch holder 18 toward a target processing line, and a rotating member 27 that rotates the linear moving member 26. ing.

  The rotation member 27 has a rotation motor 27a which is fixed to the carriage body 12 with a rotation axis arranged vertically, and a plate shape which is driven by the rotation motor 27a and reciprocally rotates clockwise and counterclockwise. Rotating plate 27b. In addition, since the rotation motor 27a and the drive motor 26a of the linear moving member 26 are accommodated in the inside of the cart body 12, positions are indicated by circles and centers in the respective drawings.

  The linear moving member 26 has a pair of racks (not shown) arranged in parallel to the rotating plate 27 b constituting the rotating member 27, and linear driving arranged at a position corresponding to the rack 21. A pinion (not shown) attached to the motor 26a is engaged. Therefore, when the linear drive motor 26a is driven, the linear moving member 26 can move linearly.

  The torch holder 15 for holding the welding torch 18 is configured on the rotating plate 27b of the torch holder moving device 25 configured as described above. Therefore, as the torch holder moving device 25 is operated, the torch holder 15 rotates and moves linearly, thereby enabling the welding torch 18 to move along the target processing line.

  The operation panel arranged at the upper part of the carriage body 12 includes a push button switch 30a for operating the drive of the traveling carriage B, an operation dial 30b for operating the variable resistor, a select switch 30c for selecting a welding mode, a power supply And a display unit 33 for displaying an operation function, input data, or an operation state.

  Next, the control system of the welding apparatus will be described with reference to FIG. In the figure, the control device 31 is provided inside a control panel arranged at the upper part of the carriage body 12 of the traveling carriage B. The control device 31 is based on a preset welding program, an operation program of the traveling carriage B corresponding to the operation of the pushbutton switch 30a, the operation dial 30b, and the select switch 30c, and a signal from the switch 12d or the switch 12e. A program for moving the welding torch 18 along a target processing line by driving the rotation motor 27a and the linear drive motor 26a in synchronization, and further, the welding torch 18 is moved by the program, and then the welding torch 18 is moved. Predetermined calculation based on signals from an operation program including a program for performing crater processing by reversing the torch 18 and signals from the push button switch 30a, the operation dial 30b, the select switch 30c and the switch 12d or the switch 12e And make a decision, Each motor 27a comprising a motor 32 for driving the carriage main body 12 on the basis of the cross-sectional results to control the drive of 26a, or is constituted by a computer including a control unit, which controls the drive of the welding torch 18.

  The operation dial 30b is configured to be able to operate the variable resistor, and is configured to be able to adjust the traveling speed of the traveling carriage B by rotating the operation dial 30b. Further, the welding mode can be selected and set by operating the select switch 30c. Further, the push button switch 30a is configured to generate a signal for starting or stopping traveling or welding of the traveling carriage B.

  In particular, the variable resistor operated by the operation dial 30b can be exhibited together with the function as a speed regulator and the function as a switch for generating a signal (current value signal) consisting of a current value. Is possible. That is, the variable resistor can exhibit a speed adjustment function or a function as an operating condition changing unit in accordance with whether the traveling carriage B is in a traveling state or in a stopped state.

  For example, when the traveling carriage B is in a traveling state, the variable resistor (operation dial 30b) exhibits a speed adjustment function, and any one of the indicators 0 to 10 in the range of the indicator provided around the operation dial 30b is provided. It is possible to adjust the traveling speed to a designated value.

  In addition, when the traveling carriage B is in a stopped state, the variable resistor functions as an operating condition changing means having a preset index set point corresponding to a preset position in the index. Is possible. That is, when the traveling carriage B is stopped, the indicator set point of the variable resistor is adjusted to the index set point selected from a plurality of preset index set points of the index. A corresponding signal can be generated.

  When the control device 31 receives a signal corresponding to each index set point, the control device 31 performs a function corresponding to each signal, for example, to travel in a direction opposite to the travel direction currently set for the travel carriage B. The function of switching the traveling direction to the above or the function of switching the test mode, which is the ignition operation mode of the welding torch 18, or the auto mode consisting of a series of operations such as gas supply, energization, and wire supply to the welding torch 18. It is possible to make it.

  It goes without saying that the control system for the traveling carriage B as described above can also be applied to the traveling carriage A described above.

  In the traveling carriage B configured as described above, the rotation motor 27a and the linear drive motor 26a are driven in synchronization after recognizing that the traveling carriage B has reached the travelable limit by a signal from the switch 12d. By moving the torch holder 15, it is possible to move the welding torch 18 along the corner 3 that is a target processing line.

  That is, the drive of the motor 32 is stopped from the moment when the signal is generated from the switch 12d, and the carriage main body 12 continues traveling by the inertial force while reducing the speed. At this time, the rate of decrease in the speed of the carriage main body 12 and the travel distance can be measured when the travel carriage B is completed, and do not change greatly even if the usage period increases. Therefore, after the signal is generated from the switch 12d or the switch 12e, the welding torch 18 is controlled by synchronizing the rotation of the torch holder 15 and the forward movement in consideration of the rate of decrease in the speed of the traveling carriage B. It is possible to keep the distance from the corner 3 at the tip of the tip substantially constant and keep the moving speed substantially constant.

  By continuing fillet welding to the corner 3 by the welding torch 18 as described above, it is possible to perform welding to the corner 3 that is the intersection of the upright plate 2 and the lateral plate 1. Even when the welding torch 18 moves to the end of the target processing line, the welding torch 18 does not interfere with the travel copying members 23 and 24.

  When welding is completed as described above, a crater may occur in the weld bead. For this reason, after the welding torch 18 reaches the movement limit, the drive of the rotation motor 27a and the linear drive motor 26a is controlled so as to reversely return under the same conditions as when the welding torch 18 is moved. At the same time as the welding torch 18 reverses, the welding current is reduced and the welding to the corner 3 is continued, so that the crater can be built up and processed.

  The traveling cart configured as described above is used when machining such that the machining torch exists at a position separated from the end surface of the cart body and the unprocessed portion exists when the cart body reaches the running limit. It is advantageous.

A, B Traveling cart 1 Horizontal plate 2 Standing plate 3 Corner 5 Guide roller 5a Shaft 6, 8, 10, 21, 22
Support arm 6a, 8a, 10a, 21a, 22a
Protruding piece 6b, 8b, 10b, 21b, 22b
Mounting piece 6c, 8c, 10c Refraction piece 6d, 8d, 10d, 21d, 22d
Roller bracket 6d1, 8d1 Inclined piece 6d2, 8d2 Roller support piece 6e, 8e, 10e, 21e, 22e
Long hole 6f, 8f Mounting bracket 6g, 8g Hole 7, 9, 11, 23, 24
Travel copying member 12 Cart body 12a Wheel 12b Casing 12c Lever 12d, 12e Switch 13 Bolt 15 Torch holder 15a Stand 15b Position adjustment member 15c, 15d Handle 15e Holder 16, 25 Torch holder moving device 16a Bracket 16b Parallel guide member 16c Carriage 17 Drive member 17a Rack 17b Drive motor 17c Pinion 18 Welding torch 19 Rotating shaft 26 Linear moving member 26a Linear drive motor 27 Rotating member 27a Rotating motor 27b Rotating plate 30a Push button switch 30b Operation dial 30c Select switch 30d Connector 31 Control Device 32 Motor 33 Display unit

Claims (4)

A traveling carriage that stands on the first plate in a substantially vertical direction and travels on the first plate with a plurality of guide rollers pressed against a second plate arranged along a target processing line,
A torch holder for holding a processing torch including a welding torch or a cutting torch;
A torch holder moving device that moves the torch holder so that the processing torch moves along a target processing line;
A cart body equipped with the torch holder moving device;
Guide rollers for pressing the second plate is adjustably form the mounting position rear end with respect to the carriage main body while being arranged rotatably on the front end side, mounted on the carriage body is arranged in the longitudinal direction of travel And a pair of running copying members
The pair of travel copying members are configured such that a rotation shaft of a guide roller disposed at a tip is inclined with respect to the second plate and is substantially perpendicular to the traveling direction . The torch holder which is moved along the target processing line by the torch holder moving device when being brought into contact with the second plate above the processing line and arranged on the front and rear of the traveling direction and attached to the cart body A traveling carriage characterized by being configured not to interfere with a machining torch when the movement limit is reached.   When the rear end side of the pair of travel copying members is attached to the carriage main body, the guide roller disposed at the front end protrudes from the carriage main body to one or both of the upstream side and the downstream side in the running direction. 2. The structure according to claim 1, wherein the torch holder moved along a target machining line by the torch holder moving device is configured not to interfere with a machining torch when the movement limit is reached. A traveling cart.   The torch holder moving device is arranged along a target processing line, and guides the movement of the torch holder in parallel with the target processing line, and moves the torch holder along the parallel guide member. And a parallel drive member, and the parallel drive member moves the torch holder along the parallel guide member to move the machining torch along a target machining line. The traveling vehicle according to claim 1 or 2.   The torch holder moving device includes a linear moving member that linearly moves the torch holder toward a target processing line, and a rotating member that rotates the linear moving member, and the linear moving member The traveling carriage according to claim 1 or 2, wherein the processing torch is moved along a target processing line by being driven in synchronization with the rotating member.

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