JP7032091B2 - Welding equipment - Google Patents

Description

The present disclosure relates to welding equipment.

Patent Document 1 discloses a technique for welding a corrugation formed on a membrane. In Patent Document 1, the weld lines intersect perpendicular to the longitudinal direction of the corrugation.

Japanese Patent No. 3537283

The fan-shaped membrane may form corrugations that extend linearly in the substantially circumferential direction. In this case, the edges of the membrane intersect diagonally with respect to the longitudinal direction of the corrugation. When this membrane is viewed from above, the edges of the membrane are not straight in the corrugation section. That is, when welding along the edge of the membrane, the weld line becomes curved in the corrugation section. Therefore, in the corrugation section, the welder must perform an operation for adjusting the movement of the torch of the welding device, which causes a problem that the work becomes complicated.

The present disclosure is intended to provide a welding apparatus capable of simplifying the work.

In order to solve the above problems, the welding apparatus according to one aspect of the present disclosure intersects at least one of the moving amounts in the straight direction and the height direction perpendicularly in the height direction and diagonally in the straight direction. It is provided with a storage unit for storing movement amount information associated with the movement amount in the lateral direction which is an intersecting direction, and a control unit for moving the torch in the lateral direction based on the movement amount information.

Further, the control unit may start the lateral movement of the torch based on the movement amount information based on the occurrence of the trigger.

Further, a displacement detection unit for detecting the displacement of the welding target in the height direction may be further provided, and a trigger may be generated when the displacement detection result of the displacement detection unit exceeds a predetermined threshold value.

Further, a lateral movement motor for moving the torch in the lateral direction is further provided, and the movement amount information includes at least one of the pulses of the traveling motor for moving the torch in the straight direction and the elevating motor for moving the torch in the height direction. , The number of pulses of the lateral movement motor is associated, and the control unit determines the number of pulses of the lateral movement motor from the number of pulses of the traveling motor or the elevating motor and the movement amount information, and the determined pulse number is used laterally. The moving motor may be driven.

According to the present disclosure, the welding work can be simplified.

It is a top view which shows the structure of the membrane to be welded by a welding apparatus. It is a side view which shows the structure of corrugation. It is an enlarged plan view when the vicinity of the position where a corrugation and a corrugation are connected is viewed from above the membrane. It is a block diagram which shows the structure of a welding apparatus. It is a perspective view which shows the structure of a carriage and a torch. It is a perspective view which shows the structure of the carriage and the torch when the carriage is seen from the VI direction of FIG. It is a perspective view which shows the structure of the carriage and the torch when the carriage is seen from the VII direction of FIG. It is a schematic diagram which shows the structure of a carriage and a torch. It is a schematic diagram which shows the structure of a torch. It is a flowchart which shows the flow of the process performed by a control unit.

An embodiment of the present disclosure will be described in detail below with reference to the accompanying drawings. The dimensions, materials, other specific numerical values, etc. shown in the embodiment are merely examples for facilitating understanding, and do not limit the present disclosure unless otherwise specified. In the present specification and the drawings, elements having substantially the same function and configuration are designated by the same reference numerals to omit duplicate explanations, and elements not directly related to the present disclosure are omitted from the illustration. do.

FIG. 1 is a plan view showing a configuration of a membrane 10 welded by a welding device according to an embodiment. The membrane 10 is installed, for example, on the bottom surface in an LNG underground tank. The membrane 10 is made of, for example, a stainless steel plate. The membrane 10 is formed by welding a plurality of fan-shaped membranes 11 and a plurality of substantially rectangular membranes 12. The membrane 10 is formed in a circular shape as a whole. FIG. 1 shows a part of the membrane 10 formed in a circular shape.

A corrugation 13a extending linearly in the substantially circumferential direction is formed on the fan-shaped membrane 11. FIG. 2 is a side view showing the configuration of the corrugation 13a. The corrugation 13a is formed by processing the membrane 11 into a wavy shape. The corrugation 13a is raised from the back surface side to the front surface side of the membrane 11. When the membrane 11 is installed on the bottom surface in the LNG underground tank, the corrugation 13a projects above the membrane 11. In the membrane 11, the flat surface portion 14 and the corrugation 13a are switched at the boundary portions 15a and 15b. The corrugation 13a switches from rising to falling at the top 18. The bending direction of the corrugation 13a is switched at the bending portions 19a and 19b. The membrane 11 bends toward the surface between the boundary portion 15a and the bending portion 19a. The membrane 11 bends to the back surface side between the variable portion 19a and the variable portion 19b. The membrane 11 bends toward the surface between the bending portion 19b and the boundary portion 15b. In the inflection portions 19a and 19b, the slope of the tangent line becomes the steepest.

Returning to FIG. 1, a corrugation 13b extending in the radial direction is formed on the substantially rectangular membrane 12. A corrugation 13c extending from the corrugation 13b in the width direction of the membrane 12 is formed on the membrane 12. The corrugation 13c inclines toward the center of the membrane 10 as it advances from the corrugation 13b toward the edge of the membrane 12. The corrugations 13b and 13c are formed in the same shape as the corrugations 13a.

The membrane 11 and the membrane 12 are alternately arranged in the circumferential direction of the membrane 10. The corrugation 13a of the membrane 11 is connected to the corrugation 13c of the membrane 12. In this way, corrugations 13a, 13b, and 13c are formed in a mesh pattern on the membrane 10. The corrugations 13a, 13b, 13c prevent the membrane 10 from being damaged by heat shrinkage.

At the boundary between the membrane 11 and the membrane 12, the membrane 11 is superposed on the membrane 12. At the position 16 where the corrugation 13a and the corrugation 13c are connected, the corrugation 13a is superposed on the corrugation 13c. Fillet welding is performed on the edge of the membrane 11, and the membrane 11 and the membrane 12 are welded together. That is, the edge of the membrane 11 becomes the welding line 17. Fillet welding may be performed on the edge of the membrane 12 stacked on the membrane 11. In this case, the edge of the membrane 12 becomes the weld line 17.

The weld line 17 intersects the corrugations 13a and 13c at the position 16 where the corrugations 13a and the corrugations 13c are connected. The weld lines 17 intersect diagonally with respect to the longitudinal direction of the corrugations 13a and 13c.

FIG. 3 is an enlarged plan view of the vicinity of the position 16 where the corrugation 13a and the corrugation 13c are connected when viewed from above the membrane 10. The welding line 17 in the section of the flat surface portion 14 is linear. In FIG. 3, the X direction and the Z direction are defined as shown in the figure. The X direction is a straight direction along the welding line 17 in the section of the flat surface portion 14. The Z direction is the longitudinal direction of the corrugations 13a and 13c. It is assumed that the lower side of FIG. 3 is the center side of the membrane 10. The upper side of FIG. 3 is assumed to be the outer peripheral side of the membrane 10. Further, in FIG. 3, it is assumed that the membrane 11 is arranged on the right side of the welding line 17 in between. Further, in FIG. 3, it is assumed that the membrane 12 is arranged on the left side of the welding line 17 in between.

The angle A1 is an angle between the boundary portion 15a on the outer peripheral side of the membrane 11 and the welding line 17 on the flat surface portion 14. The angle A2 is an angle between the boundary portion 15a on the outer peripheral side of the membrane 12 and the welding line 17 on the flat surface portion 14. The weld line 17 intersects the corrugation 13a so that the angle A2 is smaller than the angle A1. Further, the angle A3 is an angle between the boundary portion 15b on the central side of the membrane 11 and the welding line 17 on the flat surface portion 14. The angle A4 is an angle between the central boundary portion 15b of the membrane 12 and the weld line 17 of the flat surface portion 14. The weld line 17 intersects the corrugation 13a so that the angle A4 is larger than the angle A3.

The welding line 17 on the flat surface portion 14 on the central side is displaced in the longitudinal direction (Z direction) of the corrugations 13a and 13c with respect to the extension line of the welding line 17 on the flat surface portion 14 on the outer peripheral side. When the angle A2 is smaller than the angle A1 and the angle A4 is larger than the angle A3, the weld line 17 on the flat surface portion 14 on the center side shifts toward the membrane 11 with respect to the weld line 17 on the flat surface portion 14 on the center side.

The weld line 17 in the section of the corrugation 13a has a curved shape in which a substantially S-shaped curve appears twice. Specifically, the welding line 17 is bent toward the membrane 11 as it advances from the boundary portion 15a to the bending portion 19a. In other words, as the boundary portion 15a progresses to the inflection portion 19a, the inclination angle of the tangential line of the weld line 17 with respect to the longitudinal axis of the corrugations 13a and 13c becomes smaller. In the vicinity of the bending portion 19a, the amount of displacement of the corrugations 13a and 13c in the longitudinal direction becomes large. Further, the welding line 17 is bent toward the membrane 12 as it advances from the bending portion 19a to the top portion 18. In other words, the inclination angle of the tangential line of the weld line 17 with respect to the longitudinal axis of the corrugations 13a and 13c increases from the bending portion 19a to the top portion 18. At the top 18, the tangent of the weld line 17 is substantially parallel to the weld line 17 on the flat surface portion 14. Further, the welding line 17 is bent toward the membrane 11 as it advances from the top portion 18 to the curved portion 19b. In other words, the inclination angle of the tangential line of the weld line 17 with respect to the longitudinal axis of the corrugations 13a and 13c becomes smaller as the process proceeds from the top portion 18 to the inflection portion 19b. In the vicinity of the bending portion 19b, the amount of displacement of the corrugations 13a and 13c in the longitudinal direction becomes large. Further, the welding line 17 is bent toward the membrane 12 as it advances from the curved portion 19b to the boundary portion 15b. In other words, the inclination angle of the tangential line of the weld line 17 with respect to the longitudinal axis of the corrugations 13a and 13c increases as the curve portion 19b progresses to the boundary portion 15b.

The weld line 17 may intersect the corrugation 13a so that the angle A2 is larger than the angle A1 and the angle A4 is smaller than the angle A3. In this case, the weld line 17 on the flat surface portion 14 on the center side is displaced toward the membrane 12 with respect to the weld line 17 on the flat surface portion 14 on the outer peripheral side. Further, in this case, the welding line 17 bends toward the membrane 12 as it advances from the boundary portion 15a to the bending portion 19a. The welding line 17 bends toward the membrane 11 as it advances from the bending portion 19a to the top portion 18. The welding line 17 bends toward the membrane 12 as it advances from the top 18 to the curved portion 19b. The welding line 17 bends toward the membrane 11 as it advances from the bending portion 19b to the boundary portion 15b.

FIG. 4 is a block diagram showing the configuration of the welding apparatus 1 according to the embodiment. The welding device 1 includes a carriage 20, a torch 30, a control panel 40, a welding power source 50, and a remote controller 60.

A torch 30 is connected to the carriage 20. The carriage 20 is connected to the control panel 40 via a control cable. The carriage 20 moves the torch 30 under the control of the control panel 40. The torch 30 includes electrodes that generate an arc. The torch 30 is connected to the control panel 40 via a gas power cable. The remote controller 60 is connected to the control panel 40 via the remote controller cable. The remote controller 60 may be wirelessly connected to the control panel 40.

The welding power source 50 is connected to the control panel 40. The welding power source 50 is connected to the power source 52. The power supply 52 is, for example, a commercial power supply. The welding power source 50 generates electric power to generate an arc based on the electric power supplied from the power source 52. The electric power of the welding power source 50 is supplied to the torch 30 via the control panel 40. The welding power source 50 is connected to the gas cylinder 54. The gas cylinder 54 is filled with gas (for example, argon gas). The gas in the gas cylinder 54 is supplied to the torch 30 via the welding power source 50 and the control panel 40.

FIG. 5 is a perspective view showing the configuration of the carriage 20 and the torch 30. FIG. 6 is a perspective view showing the configuration of the carriage 20 and the torch 30 when the carriage 20 is viewed from the VI direction of FIG. FIG. 7 is a perspective view showing the configuration of the carriage 20 and the torch 30 when the carriage 20 is viewed from the VII direction of FIG. In FIGS. 5 to 7, the X direction, the Y direction, and the Z direction are defined as shown in the figure. The X direction is a straight-ahead direction along the welding line 17 in the section of the flat surface portion 14, and indicates the traveling direction of the carriage 20. The Y direction indicates the height direction of the carriage 20. The Z direction is the longitudinal direction of the corrugations 13a and 13c, and indicates the lateral direction intersecting both the X direction and the Y direction.

The carriage 20 includes a base portion 21 and an arm portion 22. The base portion 21 of the carriage 20 is connected to the rail 23. The rail 23 is composed of a substantially rectangular flat plate. The rail 23 is arranged so that the longitudinal direction is parallel to the welding line 17. The base portion 21 is movable along the rail 23. That is, the direction along the rail 23 is the traveling direction (X direction) of the carriage 20.

The arm portion 22 of the carriage 20 is connected to the base portion 21. The arm portion 22 extends from the base portion 21 in a direction intersecting the rail 23. Specifically, the arm portion 22 extends in the longitudinal direction (Z direction) of the corrugation 13a. The arm portion 22 is movable in the height direction (Y direction) and the lateral direction (Z direction) with respect to the base portion 21. Further, the arm portion 22 can rotate about an axis along the height direction (Y direction) with the connecting portion with the base portion 21 as a fulcrum. The angle of the arm portion 22 with respect to the base portion 21 is changed according to the angle between the corrugation 13a and the welding line 17.

A torch 30 is connected to the arm portion 22. The torch 30 is set near the welding line 17. The electrodes of the torch 30 generate an arc during welding. The distance between the electrode of the torch 30 and the membrane 10 can be automatically adjusted. The torch 30 can be weaved in a direction intersecting the traveling direction.

The arm portion 22 is provided with a wire feeding portion 24. The wire feeding unit 24 feeds the wire, which is a molten material, to the torch 30.

The arm unit 22 is provided with a displacement detection unit 25. The displacement detection unit 25 is provided on the lower surface of the arm unit 22 facing the membrane 10. The displacement detection unit 25 is arranged so that the virtual line L connecting the displacement detection unit 25 and the torch 30 is parallel to the axis along the longitudinal direction of the corrugation 13a.

The displacement detection unit 25 detects the displacement of the membrane 10 to be welded in the height direction. Specifically, the displacement detection unit 25 includes two rollers 26. The two rollers 26 are arranged in the traveling direction. The two rollers 26 come into contact with the membrane 10. The displacement detection unit 25 detects the difference between the height positions of the two rollers 26 as the displacement in the height direction. The displacement detection result is transmitted to the control panel 40.

FIG. 8 is a schematic diagram showing the configuration of the carriage 20 and the torch 30. A traveling motor Mx is provided on the base portion 21 of the carriage 20. The traveling motor Mx moves the base portion 21 along the rail 23. The traveling motor Mx is, for example, a pulse motor. The traveling motor Mx moves the base portion 21 in the traveling direction by the amount of movement corresponding to the number of pulses given from the control panel 40.

An elevating motor My and a lateral movement motor Mz are provided at the connecting portion between the base portion 21 and the arm portion 22. The elevating motor My moves the arm portion 22 in the height direction (Y direction) with respect to the base portion 21. The lateral movement motor Mz moves the arm portion 22 laterally (Z direction) with respect to the base portion 21. The elevating motor My and the lateral movement motor Mz are, for example, pulse motors. The elevating motor My moves the arm portion 22 in the height direction by the amount of movement according to the number of pulses given from the control panel 40. The lateral movement motor Mz moves the arm portion 22 in the lateral direction by the amount of movement according to the number of pulses given from the control panel 40.

The wire feeding unit 24 is provided with a wire feeding motor Mf. The wire feeding motor Mf supplies the wire to the tip of the electrode of the torch 30 via the guide nozzle 27.

A swivel link mechanism 28 is provided at the connecting portion between the arm portion 22 and the torch 30. The swivel link mechanism 28 is capable of rotating the torch 30 around an axis along the Z direction. The arm portion 22 is provided with a torch angle motor Mθ. The torch angle motor Mθ operates the swivel link mechanism 28 to change the angle of the torch 30. The torch angle motor Mθ tilts the torch 30 with respect to the Y direction in the section of the corrugation 13a. The torch angle motor Mθ is, for example, a pulse motor. The torch angle motor Mθ rotates the torch 30 by an angle corresponding to the number of pulses given from the control panel 40.

FIG. 9 is a schematic diagram showing the configuration of the torch 30. The torch 30 is provided with a height adjusting motor Mv and a weaving motor Mo. The height adjustment motor Mv moves the torch 30 in the height direction of the torch 30. The control panel 40 adjusts the distance between the electrode of the torch 30 and the membrane 10 by driving the height adjusting motor Mv and automatic voltage control (AVC). Automatic voltage control is a technique for controlling the voltage of an arc. By driving the height adjusting motor Mv, the distance between the electrode of the torch 30 and the membrane 10 is adjusted even if the torch 30 is tilted in the section of the corrugation 13a.

The weaving motor Mo moves the torch 30 in a direction perpendicularly intersecting the X direction and the Y direction. The control panel 40 adjusts the bead width by driving the weaving motor Mo.

Returning to FIG. 4, the control panel 40 includes a control unit 42 and a storage unit 44. The control unit 42 is composed of a semiconductor integrated circuit including a CPU, ROM, RAM and the like. The CPU performs operations according to the program. Programs and the like are stored in the ROM. RAM is used as a work area. The control unit 42 controls each unit of the welding apparatus 1 by executing a program. Further, the control unit 42 can also control each unit according to the signal given from the remote controller 60.

The storage unit 44 is, for example, a non-volatile storage device. The storage unit 44 stores the movement amount information in the section of the corrugation 13a. The control unit 42 welds the section of the corrugation 13a according to the movement amount information.

The movement amount information shows the movement amount along the locus of the welding line 17 in the section of the corrugation 13a as shown in FIG. The movement amount information is determined from the shape of the corrugation 13a (for example, the protrusion height, the curvature, etc.) and the angle at which the weld line 17 crosses the corrugation 13a. Specifically, the movement amount information is associated with the movement amount in the straight direction (X direction) and the movement amount in the lateral direction (Z direction). The movement amount information is associated with the movement amount in the straight direction and the movement amount in the lateral direction by the length of the locus of the welding line 17 in the section of the corrugation 13a. The amount of movement in the straight direction is represented by, for example, the number of pulses of the traveling motor Mx. The amount of movement in the lateral direction is represented by, for example, the number of pulses of the lateral movement motor Mz.

If the shape of the corrugation 13a (for example, the protrusion height or the curvature) or the angle at which the weld line 17 crosses the corrugation 13a is different, the locus of the weld line 17 in the section of the corrugation 13a is different. Therefore, for the movement amount information, a plurality of patterns having different trajectories of the welding lines 17 are prepared in advance. The movement amount information to be used from the plurality of patterns is set before the start of welding.

Next, the operation of the welding device 1 will be described. FIG. 10 is a flowchart showing the flow of processing performed by the control unit 42. First, the torch 30 is set on the weld line 17 in the section of the flat surface portion 14 of the membrane 10. When an operation indicating the start of welding such as pressing the welding start button is performed, the control unit 42 drives the traveling motor Mx (S100). Specifically, the control unit 42 sequentially supplies pulses to the traveling motor Mx. As a result, the carriage 20 moves in the direction along the welding line 17. Further, when the operation indicating the start of welding is performed, the control unit 42 drives the wire feeding motor Mf to supply the wire to the tip of the electrode of the torch 30. Further, the control unit 42 starts supplying electric power and gas to the torch 30. As a result, an arc is generated between the electrode of the torch 30 and the membrane 10. That is, welding is performed along the welding line 17 in the section of the flat surface portion 14.

Next, the control unit 42 determines whether or not the displacement in the height direction is detected by the displacement detection unit 25 (S110). Specifically, the control unit 42 acquires the displacement detection result of the two rollers 26. When the displacement detection result exceeds a predetermined threshold value, the control unit 42 determines that the displacement has been detected. The predetermined threshold value is set to a value that can distinguish the rising edge of the corrugation 13a from the surface roughness of the flat surface portion 14.

When the displacement is not detected (NO in S110), the control unit 42 stops the lateral movement motor Mz until the displacement is detected. That is, in this case, the control unit 42 continues welding of the section of the flat surface portion 14.

When the displacement is detected (YES in S110), the control unit 42 determines that the boundary portion 15a for switching from the flat surface portion 14 to the corrugation 13a has been reached. That is, the fact that the displacement is detected by the displacement detection unit 25 serves as a trigger indicating the start of welding in the section of the corrugation 13a. When this trigger occurs, the control unit 42 reads the movement amount information from the storage unit 44. After that, the control unit 42 sets the number of pulses of the traveling motor Mx when the displacement is detected as the reference pulse number (S120).

Next, the control unit 42 continues to drive the traveling motor Mx and counts the number of pulses from the reference pulse number in the traveling motor Mx (S130).

Further, the control unit 42 drives the torch angle motor Mθ according to the magnitude of the displacement detected by the displacement detection unit 25. As a result, the torch 30 is inclined at an angle corresponding to the rising surface and the falling surface of the corrugation 13a.

Further, the control unit 42 drives the elevating motor My according to the detection result of the displacement detection unit 25 and the number of pulses of the traveling motor Mx. As a result, the torch 30 moves in the height direction in accordance with the corrugation 13a.

Next, the control unit 42 determines whether or not the section of the corrugation 13a has ended (S140). Specifically, the control unit 42 collates the number of pulses of the traveling motor Mx at the present time with the number of pulses representing the movement amount in the straight direction in the movement amount information. When the number of pulses of the traveling motor Mx at the present time is larger than the number of pulses representing the amount of movement in the straight direction in the movement amount information, the control unit 42 determines that the section of the corrugation 13a has ended.

When the section of the corrugation 13a is not completed (NO in S140), the control unit 42 determines the number of pulses of the lateral movement motor Mz (S150). The number of pulses of the lateral movement motor Mz is determined based on the number of pulses of the traveling motor Mx and the movement amount information. In the immediately preceding step S140, the number of pulses of the traveling motor Mx at the present time is collated with the number of pulses representing the amount of movement in the straight direction in the movement amount information. The control unit 42 determines the number of pulses representing the lateral movement amount corresponding to the collated pulse number to the pulse number of the lateral movement motor Mz at the present time.

Next, the control unit 42 supplies the determined pulse number of pulses to the lateral movement motor Mz. That is, the control unit 42 drives the lateral movement motor Mz with the determined number of pulses (S160). As a result, the torch 30 moves to a lateral position corresponding to the position in the straight direction.

After that, the control unit 42 repeats the processes after step S130. By repeating the processes after step S130, as the torch 30 moves in the straight-ahead direction, the torch 30 moves in the lateral direction corresponding to the straight-ahead direction. As a result, the torch 30 moves in a curved line as shown in FIG.

When the section of the corrugation 13a is completed (YES in S140), the control unit 42 stops the lateral movement motor Mz. As a result, welding of the section of the corrugation 13a is completed. The torch 30 reaches the flat surface portion 14 from the corrugation 13a beyond the boundary portion 15b. The control unit 42 continues welding of the section of the flat surface portion 14 until an operation indicating the end of welding such as pressing the welding end button is performed.

As described above, in the welding apparatus 1 of the present embodiment, the torch 30 moves laterally according to the position in the straight direction in the section of the corrugation 13a. Therefore, according to the welding apparatus 1, even if the welding line 17 diagonally crosses the corrugation 13a, it can be easily welded along the welding line 17, and the welding work can be simplified.

Further, the welding device 1 can change the angle of the arm portion 22 with respect to the base portion 21 so as to match the angle between the corrugation 13a and the welding line 17. Further, the welding device 1 is arranged so that the virtual line L connecting the displacement detection unit 25 and the torch 30 is parallel to the axis along the longitudinal direction of the corrugation 13a. Therefore, the welding device 1 can link the movement of the torch 30 and the displacement detection by the displacement detection unit 25 even if the angle of the welding line 17 with respect to the longitudinal direction of the corrugation 13a is different.

Further, the welding device 1 starts lateral movement of the torch 30 triggered by the displacement detection unit 25 detecting the displacement in the height direction. Therefore, the welding device 1 can automatically continue welding when moving from the flat surface portion 14 to the corrugation 13a.

Further, the welding device 1 ends the lateral movement of the torch 30 when the movement amount in the direction along the welding line 17 exceeds the movement amount set in the movement amount information. Therefore, the welding device 1 can automatically continue welding when moving from the corrugation 13a to the flat surface portion 14.

Although one embodiment has been described above with reference to the accompanying drawings, it goes without saying that the present disclosure is not limited to the above embodiment. It is clear that a person skilled in the art can come up with various modifications or amendments within the scope of the claims, and it is understood that these also naturally belong to the technical scope of the present disclosure. Will be done.

For example, in the above-described embodiment, the lateral movement of the torch 30 may be further adjusted by the remote controller 60.

Further, in the above embodiment, the lateral movement of the torch 30 is started by the displacement detection unit 25 detecting the displacement in the height direction as a trigger. However, the trigger for starting the lateral movement of the torch 30 is not limited to the detection result of the displacement detection unit 25. For example, a signal indicating the start of lateral movement of the torch 30 may be received from the remote controller 60 as a trigger. Further, there may be a case where the section of the flat surface portion 14 is not welded and only the section of the corrugation 13a is welded. In such a case, the operation indicating the start of welding may be used as a trigger for starting the lateral movement of the torch 30.

Further, in the above embodiment, when the movement amount in the straight direction exceeds the movement amount set in the movement amount information, the lateral movement of the torch 30 is completed. However, the end of the lateral movement of the torch 30 is not limited to this aspect. For example, the control unit 42 may end the lateral movement of the torch 30 when it receives a signal from the remote controller 60 indicating the end of the lateral movement of the torch 30. Further, the control unit 42 may end the lateral movement of the torch 30 based on the detection result of the displacement detection unit 25.

Further, in the above embodiment, the movement amount information is associated with the movement amount in the straight direction and the movement amount in the lateral direction. However, in the movement amount information, the movement amount in the lateral direction may be associated with the movement amount in the height direction (Y direction). This is because the torch 30 moves in the height direction in the section of the corrugation 13a. The amount of movement in the height direction is represented by, for example, the number of pulses of the elevating motor My. The control unit 42 counts the number of pulses of the elevating motor My. The control unit 42 collates the number of pulses of the elevating motor My at the present time with the number of pulses representing the movement amount in the height direction in the movement amount information. The control unit 42 determines the number of pulses representing the lateral movement amount corresponding to the collated pulse number to the pulse number of the lateral movement motor Mz at the present time. Then, the control unit 42 drives the lateral movement motor Mz with the determined number of pulses. Further, in the movement amount information, the movement amount in the lateral direction may be associated with both the movement amount in the straight direction and the movement amount in the height direction.

Further, in the above embodiment, the welding device 1 is used for welding the membrane 10 on which the corrugations 13a, 13b, and 13c are formed. However, the welding target of the welding device 1 is not limited to the membrane 10 on which the corrugations 13a, 13b, and 13c are formed. The welding device 1 is applicable to welding of other welding objects.

The present disclosure can be used for welding equipment.

1 Welding device 30 Torch 42 Control unit 44 Storage unit

Claims (4)

A movement amount in which at least one of the movement amounts in the straight direction and the height direction is associated with a movement amount in the lateral direction , which is a direction that intersects vertically in the height direction and diagonally intersects in the straight direction . A storage unit that stores information and
A control unit that moves the torch laterally based on the movement amount information,
Welding equipment equipped with. The welding device according to claim 1, wherein the control unit starts the lateral movement of the torch based on the movement amount information based on the generation of the trigger. Further equipped with a displacement detection unit for detecting the displacement of the welding target in the height direction,
The welding apparatus according to claim 2, wherein the trigger is generated when the displacement detection result of the displacement detection unit exceeds a predetermined threshold value. Further equipped with a lateral movement motor for moving the torch in the lateral direction,
The movement amount information is associated with the number of pulses of the lateral movement motor to at least one of the pulses of the traveling motor that moves the torch in the straight direction and the elevating motor that moves the torch in the height direction. Has been
The control unit determines the number of pulses of the lateral movement motor from the number of pulses of the traveling motor or the elevating motor and the movement amount information, and drives the lateral movement motor with the determined pulse number. The welding apparatus according to any one of 1 to 3.

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