JPS6020119B2 - Circumferential joint welding equipment for cylindrical structures - Google Patents

Description

[Detailed description of the invention] [Industrial application field] The present invention relates to a circumferential joint welding device for cylindrical structures.

[Technical background] This is a welding device for multi-layer welding of circumferential joints of cylindrical structures, and includes a welding device that welds a circumferential joint of a cylindrical structure in multiple layers. At least, in a welding device in which power cables are pulled out and connected from the center of the circular track, and in which a preheating cart and a welding cart at the circumferential joint are self-propelled, each cart is on the same plane depending on its function. An arbitrary circular motion will be developed above.

If the position of each bogie is controlled independently and the operator of the traveling equipment is responsible for controlling the relative position of each bogie, damage to cables caused by over-rotation of each bogie and collisions between the bogies may occur. There may be a time delay in processing abnormal conditions, and there is a risk of damage to the trolley and cables. Furthermore, it is considered almost impossible to incorporate and control all the traveling bogies into one sequence, considering the functions of each bogie, the number of combinations, and the processing for sudden phenomena. . [Purpose of the Invention] The present invention has been made in order to cope with the above-mentioned actual situation, and is designed to provide each bogie with a torsion tolerance range of the power cables connected to each bogie, and then By providing a detection device for controlling the position of the traveling bogie that can perform multi-layer welding while moving, the technical problem can be solved, and position control aimed at preventing over-rotation of each bogie, and
Position control is performed to prevent carts from colliding with each other,
It is an object of the present invention to provide a welding device suitable for welding circular joints of cylindrical structures.

[Example] (Figure 1) The invention will now be described with reference to FIG.

Reference numeral 1 denotes a circular track provided inside a cylindrical structure (not shown), approximately concentrically with the cylindrical structure at a required interval. , a non-destructive inspection trolley 5 is installed so that it can be carried out by itself, and each trolley 3, 4, 5
, are connected to power cables (not shown) drawn out from the center point 2 of the circular track 1.

Each of the carriages 3, 4, 5 is placed in a corresponding positional relationship with an origin 3', 4', 5' arbitrarily set on the circular track 1.

These origin points 3', 4', and 5' are the trolleys 3, 4, and 5 in which the cables and hoses connected to each of the trolleys 3, 4, and 5 are pulled from the center without twisting. 4,5,
It is determined based on the position of the carriages 3, 4, and 5, and the relationship with the respective welding work functions of each carriage 3, 4, and 5. "In actual bogies 3, 4, and 5, the cables drawn out from the center of the circular track to each bogie will be twisted and damaged, so In addition to being restricted in the left and right rotation range, each trolley 3, 4, 5
Considering these functions together, each cart may be forced to rotate in an inefficient manner.

In the present invention, for example, each origin 3', 4', 5' set under the above conditions and each trolley 3, 4 under operation are
, 5 and the center point 2 of the circular track 1 correspond to the plane angles 8A, OB, OC shown in FIG. 3, 4,
As an input to the control circuit 5, an over-rotation prevention function is added to each truck 3, 4, and 5 separately, and the current position of each truck 3, 4, and 5 relative to the origin is displayed to prevent inefficient operation. This is what I did.

By using a synchro transmitter/receiver, a helical potentiometer, or the like as a detection device for the plane angle 8, endless circumferential detection becomes possible.

An example of setting the actual overspeed prevention range is shown below.

- Sail〃kuOAkuMm - OB in the whirlpool, whirlpool m - Issue C<hiC<nC light Therefore, in this example, each trolley 3 starting from the origin,
4 and 6 are the torsion tolerance range of each cable type (
For example, when the cables are rotated to the left by 540 degrees (for example, 540 degrees) and then rotated to the right by 540 degrees to return to the origin 3', 4', and 5', the twist in the cables disappears, and then
It rotates to the right by the allowable twisting range of the cables. Specifically, it rotates a total of 1 female 0o angle to the right (backward movement), then moves 1080o forward to the left in the same way, and then moves back. It is also possible to weld the joint joints in multiple layers by repeating the steps.

In addition, when the welding cart 4 returns, the heating cart 3 needs to heat the cylindrical structure while leading the welding cart 4, so the welding cart 4 is actually moved back and forth for about one time, which is vertical work. The other carts will rotate approximately 1.5 times per round trip according to their respective requirements.
Operated within rotation. In this way, in this embodiment, the forward movement and backward movement ranges of each of the carts 3, 4, and 5 are set as the allowable twisting range of the cables connected to the respective carts, and this range is set as the OA.
, OB, OC, and these angles are controlled and detected, but instead of detecting the angles, the rotational range of each truck can also be expressed by distance.

That is, each truck 3 starting from the origin 3', 4', 5'
, 4, and 5 rotate to the left (forward movement) by the twisting tolerance range (for example, 1.5 rotations) of their respective cables, and then rotate 1.5 rotations to the right and return to the above-mentioned origin. The twisting of the cables disappeared, and the cables continued to move 1.5 turns to the right by the allowable twisting range of the cables, more specifically, after moving backwards by a total of 3 turns to the right, they made 3 turns to the left again in the same way. Repeat this step to weld the joints in multiple layers.

Therefore, over-rotation prevention control of the allowable twist range of the cables is performed by controlling the origin, the center point of the circular track, the angle connecting the carts, and controlling the rotational movement distance of the cart. [Embodiment] (Fig. 2) Fig. 2 shows an outline of the collision prevention function between the respective carts 3, 4, 5, and 6.

A circular track 1 has a center point 2 and has bogies 3, 4, 5,
6 is mounted to guide arbitrary circular movements of each truck 3 to 6. In this case, since each of the carts 3 to 6 is guided by the same circular track 1, there is no change in the relative positions of the carts 3 to 6. Therefore, the distance between the respective carts 3 to 6 is the plane angle OAB, 8BC, 8CD, ODA shown in the diagram.
It can be substituted with. The present invention constantly detects the plane angles 8AB, 8BC, OCD, and ODA with a detection device, and uses the difference between the detected values as an input to the interlocking control circuit of each of the bogies 3 to 6. ~6 It is designed to prevent abnormal collision phenomena between the two.
As a detection device for plane angle 8, a synchronized transmitter/receiver similar to that shown in Fig. 1, a helical potentiometer,
Alternatively, by using a differential synchronizer, a two-mall synchro, a reed-action helical potentiometer, a two-axis helical potentiometer, etc., continuous circumferential detection becomes possible.

An example of setting the actual collision prevention range is shown below. Between trolley 3 and trolley 4 OAB > 0, between trolley 4 and trolley 5 aB
C>a2 Between carts 5 and 6 OCD>83 Between carts 6 and 3 8DA>hi4 In this embodiment, collision prevention means between carts is performed by plane angle detection control. It is also possible to do this by using a means of controlling the permissible twisting range of cables by distance.

[Example] (Fig. 3) Fig. 3 shows that each bogie 3.4.5 has the same circular shape and has its own circular tracks la, lb, lc.
As in the case of Fig. 1, the origin points 3', 4', 5', the respective bogies 3, 4, 5, and the center points of the circular tracks la, lb, lc are shown. In addition to displaying the current position at plane angles 8A, OB, and 8C based on 2, the position of each truck can be controlled in the same manner as in the embodiment shown in FIG.

In addition, each circular orbit la, lb, lc is the same D as shown in the figure.
It doesn't have to be circular. [Example] (Fig. 4) In Fig. 4, similar to Fig. 3, carts 6, 7, 8, and 9 are mounted on respective circular tracks la, lb, lc, and ld. , 8, 9 are circular orbits la, lb, lc, ld
This figure shows multiple bogies mounted on a circular track that interfere with each other and collide with each other at the same position.

Therefore, as in the case of FIG. 2, the intervals between the carts 6 to 9 are expressed by the plane angles OAB, 88C, 8CD, and ODA shown in the figure, and the respective plane angles are detected, and collisions between the carts 6 to 9 are detected. can be prevented. It should be noted that each circular orbit in FIG. 4 does not have to be the same D-circle as shown. [Embodiment] (Figs. 5 and 6) Next, with reference to Figs. 5 and 6, an embodiment using a synchro transmitter/receiver and a differential synchro motor as the detection device of the present invention will be described in detail.

M and M3 shown in Fig. 5 are synchro transmitters, M4 is an M synchro receiver, M5 is a zero adjuster, M6 is a differential synchro, and 4 and LS6 are turned on when the cart rotates clockwise by 1.5 rotations. The mitt switch, LS3, and Melon 5 are the mitt switches that are turned ON by 1.5 rotations to the left, and LS2 is the mitt switch that is turned ON when the preheating cart is two rivers to the right of the welding cart, LS,
is a mitt switch that turns on the preheating cart at the position two positions to the left of the welding cart. This is an example in which a pinion is engaged with a 32000 rack on a circular track, and a welding cart and a heating cart run on the same track, and the welding cart is positioned on the circular track by passively driven synchro transmitter ruts. is displayed, and the child heating cart is similarly displayed by the synchro transmitter M3.

A synchro receiver corresponding to each synchro transmitter is set in the control panel, and the LS
Equipped with 3, LS4, false indicator needle 5, 6, and indicator needle. Cables and hoses for drive, operation, and work are connected to each trolley from the center of the circular track, and the position where the cables and hoses are set without twisting is the zero point (origin) on the circular track. ), and from that position, determine the allowable twisting range of the cables, for example, 1.5 turns counterclockwise, then 3 turns clockwise, and 3 turns each thereafter.
．． Rotates left and right back and forth within the range of 0 rotations.

1.5 rotations or more in the initial movement, then 3 rotations in the backward movement and forward movement
If the trolley rotates beyond the rotation limit, the cables and hoses
The above-mentioned 3.
, Mountain 4, L Mi, LS6 detect the position, and connect the cable,
In addition to protecting the hoses, operations for protecting the cables and hoses can be performed effectively on the control panel using the position display needle.

Regarding the next collision prevention between each bogie, it is necessary to give top priority to the welding bogie based on the work content of each bogie, and it is necessary to create a sequence to that effect.

The distance between each bogie can be detected by synchro transmitters M, , M6 and differential synchro receiver M6, which are equipped on each bogie. MS is an adjustment machine for displaying the status of each cart from its initial set position. While the welding cart is running, regardless of whether the preheating cart is running or stopped, if the preheating cart is on the right side of the welding cart and comes relatively close to within 2. If B2 is set to 〇N and CR is ON and the heater truck is running, it will stop, and within 5 seconds, R2 will be ON and the baby truck will be moved L (within 3 minutes) in the direction away from the welding truck. )
Run for a certain amount of time and then stop to prevent collision of the preheating cart from the right side of the welding cart.

A similar sequence operates when the preheating cart approaches the welding cart from the left side, and a collision is prevented. [Effects] According to the present invention, the following effects can be obtained.

'a' A detection device is connected to each trolley to control the position of the trolley, which is capable of performing multi-layer welding while moving the power cables forward within the torsion tolerance range and backward within the same range. By providing this, it is possible to rationally prevent cables connected to each trolley from being twisted and damaged.

'b' Based on the difference in the detection value of the detection device installed on each trolley,
Collisions between the carts can be prevented.

[Brief explanation of the drawing]

Figures 1 and 2 are explanatory diagrams of an embodiment in which a plurality of bogies are mounted on the same circular track, and Figures 3 and 4 are explanatory diagrams of an embodiment in which a plurality of bogies are mounted on the same D-circular track. Explanatory diagram of the example, 5th
The figure shows the continuous control circuit for the bogie, and FIG. 6 shows the collision prevention sequence for the bogie. 1, la, lb, lc, ld... circular orbit, 2
...Center point, 3, 4, 5, 6, 7, 8, 9...
...Dolly, 3', 4', 5'... Origin. Figure 1 Figure 2 Figure 3 Figure 4 Figure 5 Figure 6

Claims (1)

[Scope of Claims] 1 (a) A welding device for multi-layer welding a circumferential joint portion of a cylindrical structure, the welding device including a welding device that welds a circumferential joint portion of a cylindrical structure in multiple layers, the welding device including a welding device that welds a welding device approximately concentrically with the cylindrical structure at a predetermined distance from the inside of the cylindrical structure. In a welding device, in which at least a preheating truck and a welding truck of a circumferential joint portion are movably provided on a circular track provided, power cables are pulled out and connected from the center of the circular track, and (b) the above-mentioned truck is provided. The present invention is to control the position of the traveling trolley, which allows the power cables connected to the trolley to move forward and backward through the torsion tolerance range, and then to move back through the torsion tolerance range, and to perform multi-layer welding while repeating this process. A circumferential joint welding device for a cylindrical structure, characterized in that it is provided with a detection device for. 2 (a) A welding device for multi-layer welding of the circumferential joint of a cylindrical structure, which is a welding device that welds a circumferential joint part of a cylindrical structure in multiple layers, and is a welding device that welds a welding device on a circular track provided approximately concentrically with the cylindrical structure at a required interval on the inside of the cylindrical structure. , the power cables are pulled out and connected from the center of the circular track. In a welding device in which at least a preheating cart of a circumferential joint portion and a welding cart are provided so as to be self-propelled, (b) the above-mentioned cart is moved back and forth within a torsion tolerance range of power cables connected to the cart, and , after that, the above torsion tolerance range is reversed, and this is repeated to control the position of the traveling bogie so that multi-layer welding can be performed.In addition, the difference in detected values is used to prevent collisions between bogies. 1. A circumferential joint welding device for a cylindrical structure, characterized in that each device is provided with a detection device configured to do so.