Vertical position welding device and method for controlling vertical position welding device

Abstract

The present invention relates to a vertical welding device for welding a groove formed by two pieces to be welded in a vertical orientation, the vertical welding device being provided with: a welding carriage that performs welding while traveling along the groove on the surface side of one side perpendicular to the plate thickness direction of the pieces to be welded; and a welding torch mounted on the welding carriage, the welding carriage having: at least two or more guide rollers arranged side by side in the welding traveling direction and traveling in the direction in which the groove extends; and a detection means for detecting the amount of displacement of the welding travel direction of the welding carriage with respect to the direction in which the groove extends, at least one of the guide rollers being movable guide rollers that can be moved in parallel in a direction orthogonal to the welding travel direction using the drive means. The drive unit performs drive control for pressing the movable guide roller against the groove surface such that the welding carriage moves in a direction in which the offset detected by the detection unit is eliminated.

Description

Technical Field

[0001] The invention relates to a self-propelled vertical welding device and a control method of the vertical welding device. Background Art

[0002] Vertical welding is performed in the manufacturing of various industries such as shipbuilding, building steel frames, and energy equipment. This vertical welding is sought to be automated, and as welding devices to achieve this, track-type vertical welding devices, non-track-type vertical welding devices (hereinafter also referred to as self-propelled vertical devices), etc. are conventionally known.

[0003] Among these welding devices, the track-type vertical welding device has high welding accuracy, but it is necessary to pre-install a track on the side of the welded workpiece, so there is a problem with the working efficiency. On the other hand, the self-propelled vertical welding device does not need to pre-install equipment such as tracks on the side of the welded workpiece, so it is more efficient than the track-type vertical welding device. It should be noted that as self-propelled vertical welding devices, there are a suspension type of a pulling welding device, a magnet wheel type that is bonded to the welded workpiece by magnetic force, and the like.

[0004] As such a self-propelled vertical welding device, for example, Patent Document 1 can be cited. Patent Document 1 discloses the following: a traveling roller of a welding trolley is driven by a motor to rotate, and a fine groove is provided on the roller surface of the traveling roller all around, thereby enabling the welding trolley to be reliably held on the side of the welded workpiece, eliminating the danger of the welding trolley falling, etc., and enabling welding to be performed while correcting the misalignment of the groove.

[0005] Prior art literature

[0006] Patent Literature

[0007] Patent Document 1: Japanese Utility Model Publication No. 53-155522 Summary of the invention

[0008] Problems to be solved by the invention

[0009] However, the self-propelled vertical welding device described in Patent Document 1 has a situation where the posture of the welding carriage changes due to construction conditions and external interference factors, thereby causing the welding position to shift. As a factor of the above-mentioned construction conditions, for example, when welding the groove formed at the butt joint of two welded parts, there is a situation where the plate thickness of the two welded parts is different, and the plate thickness at the plate joint part is different. In addition, as a factor of the above-mentioned external interference, for example, there can be misalignment in the plate thickness direction.

[0010] A self-propelled vertical welding device generally has a pair of left and right travel rollers arranged in a manner that straddles a butt joint, and performs welding operations while autonomously traveling along the extension direction of the groove that is the welding travel direction. However, due to the above-mentioned factors, a difference in travel distance sometimes occurs between the left travel roller and the right travel roller that are arranged to straddle the relative welded parts. Therefore, in the previous self-propelled vertical welding device, the posture of the welding trolley is rotated to the left and right directions relative to the welding travel direction with the guide roller abutting in the groove as a fulcrum, so the left and right positions of the welding torch arranged behind the travel direction of the welding trolley are also offset, and as a result, the welding position deviates from the groove position, which may lead to a decrease in welding quality. Therefore, a self-propelled vertical welding device is sought that can stabilize the posture of the welding trolley even under various construction conditions and external interferences.

[0011] The present invention has been made in view of the above-mentioned situation, and an object of the present invention is to provide a self-propelled vertical welding device and a control method of the self-propelled vertical welding device that can stably maintain the working posture of the welding carriage.

[0012] Means for solving problems

[0013] The above-mentioned object of the present invention is achieved by the following structure [1] involving the vertical welding device.

[0014] [1] A vertical welding device for welding a groove formed by two welded parts in a vertical position, characterized in that:

[0015] The vertical welding device comprises:

[0016] a welding carriage that performs welding while traveling along the groove on the surface side of the workpiece perpendicular to the plate thickness direction; and

[0017] a welding torch mounted on the welding trolley,

[0018] The welding trolley has:

[0019] At least two guide rollers are arranged along the welding direction and move along the extending direction of the groove; and

[0020] a detection unit for detecting an offset of the welding traveling direction of the welding trolley relative to an extending setting direction of the groove,

[0021] At least one of the guide rollers is a movable guide roller that can be moved in parallel in a direction orthogonal to the welding advancing direction using a driving unit.

[0022] The driving unit performs drive control to press the movable guide roller against the groove surface so that the welding carriage moves in a direction to eliminate the deviation amount detected by the detecting unit.

[0023] The above-mentioned object of the present invention is achieved by the following structure [2] involving a control method of a vertical welding device.

[0024] [2] A control method for a vertical welding device, the vertical welding device being used for performing vertical welding on a groove formed by two welded parts, characterized in that:

[0025] The vertical welding device comprises:

[0026] a welding carriage that performs welding while traveling along the groove on the surface side of the workpiece perpendicular to the plate thickness direction; and

[0027] a welding torch mounted on the welding trolley,

[0028] The welding trolley has guide rollers, at least two of which are arranged along the welding direction and move along the extending direction of the groove.

[0029] At least one of the guide rollers is a movable guide roller capable of parallel movement in a direction orthogonal to the welding advancing direction.

[0030] When a deviation of the welding advancing direction of the welding carriage with respect to the extending direction of the groove is detected, the groove surface in the direction in which the deviation is detected is pressed by the movable guide roller.

[0031] Effects of the Invention

[0032] According to the present invention, in a self-propelled vertical welding device and a control method for the vertical welding device that do not require rail installation, the position of the welding carriage is stably maintained to suppress the position deviation of the welding torch tip, thereby ensuring good welding quality. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Figure 1 It is a perspective view showing a vertical welding device.

[0034] Figure 2 It is a front view showing the vertical welding device.

[0035] Figure 3 It is a side view showing the vertical welding device.

[0036] Figure 4 yes Figure 2 A-A section view.

[0037] Figure 5 yes Figure 2 B-B section view.

[0038] Figure 6 yes Figure 3 C-C section view.

[0039] Figure 7 It is a diagram showing the structure of the driving unit air circuit.

[0040] Figure 8 (A) is a model diagram of the reference position and current position captured by the visual sensor. Figure 8 (B) is a model diagram showing a state where the offset is detected to be smaller than a threshold value by the visual sensor. Figure 8 (C) is a model diagram showing a state where the offset is detected to be greater than a threshold value by the visual sensor.

[0041] Fig. 9 (A)~ Fig. 9 (D) is a schematic diagram showing the effect of the drive control.

[0042] Fig.10 is a flowchart showing the process of drive control. DETAILED DESCRIPTION

[0043] Hereinafter, the embodiments of the self-propelled vertical welding device and the control method of the vertical welding device of the present invention will be described with reference to the accompanying drawings. It should be noted that the figures are prepared for the purpose of illustrating the present invention, and the embodiments of the present invention are not limited to the contents of the figures. In addition, the welding method using the vertical welding device is not particularly limited, and for example, welding methods such as electroslag welding and gas-electric welding can be cited. In this embodiment, the case of electroslag welding is used as an example for description.

[0044] In this embodiment, the welding line direction is set as the X axis. The welding line direction of the X axis is synonymous with the direction along the center line of the groove, and is also synonymous with the extension direction of the groove described later. In addition, the direction orthogonal to the welding line on the X-Y plane of the welded surface to be welded is set as the Y axis. The direction of the Y axis is synonymous with the groove width direction. In addition, the direction of the plate thickness direction of the welded workpiece and the direction orthogonal to the plane of the welded workpiece to be welded is set as the Z axis.

[0045] In addition, regarding the surface of the welded workpiece to be welded, the surface on which the welding trolley described later travels is called the "front surface", and the surface on the opposite side is called the "back surface". The front surface is the surface in the +Z direction, and the back surface is the surface in the -Z direction. Regarding the direction of the Z axis, based on the vertical welding device, the +Z direction as the surface direction is called "upward", and the -Z direction as the back surface direction is called "downward".

[0046] In addition, based on the vertical welding device, the direction of welding is called "forward" and the direction of retreat is called "rearward". The front is called the +X direction and the rear is called the -X direction. The welding device of this embodiment performs upward welding on the welded workpiece in a vertical posture, so welding toward the front is synonymous with welding upward.

[0047] The direction of rotation relative to the traveling direction along the -X axis is referred to as "right" or "left." The right direction is the +Y direction, and the left direction is the -Y direction.

[0048] <Vertical welding device>

[0049] Figures 1 to 6 A configuration example of a vertical welding device according to an embodiment is shown. Figures 1 to 3 It is a perspective view, a front view, and a side view showing the vertical welding device. Figure 4 yes Figure 2 A-A section view. Figure 5 yes Figure 2 B-B section view. Figure 6 yes Figure 3 C-C section view.

[0050] The vertical welding device 1 includes: a welding trolley 2 that moves forward in a vertical posture on a pair of steel plates 5, 5 as welded parts; an electric winch 3 that lifts the welding trolley 2 in a manner that allows it to move upward on the surface of the steel plate 5; and a welding torch 4 that is mounted on the welding trolley 2. The pair of steel plates 5, 5 are arranged to be separated from each other in the left-right direction in a manner that forms a groove 10 extending in the up-down direction between each other. It should be noted that, with respect to the direction of welding progress, the left welded part of the pair of steel plates 5, 5 is set as steel plate 5A, and the right welded part is set as steel plate 5B. In addition, when the steel plates 5A and 5B are described as a group, they are represented as steel plate 5.

[0051] like Figure 1 As shown in the figure, the welding trolley 2 comprises: a main frame 6; a travel roller 7 that slides on the surface of the steel plate 5; a guide roller 8 that is arranged in the groove 10 during the welding operation; a surface copper plate support 11 that can support the surface copper plate 9 on the surface side of the groove 10 by pushing; a back copper plate support 13 that can support the back copper plate 12 on the back side of the groove 10 by pushing; a visual sensor 14 as a detection unit that is used to detect the welding operation position; and a control unit (not shown). The welding trolley 2 is configured to perform electroslag welding while performing welding between the grooves 10 in the up and down directions while moving forward along the welding line direction, that is, the X-axis direction. The following is a specific description of each structure.

[0052] <Electric winch>

[0053] The electric winch 3 is arranged on the upper side of the steel plate 5 to be welded and in front of the welding trolley 2, and suspends and supports the welding trolley 2. Moreover, the electric winch 3 is configured to lift the welding trolley 2 so that the welding trolley 2 can move forward along the welding line direction, i.e., the X-axis direction, which is the up-down direction. The travel speed of the welding trolley 2 depends on the winding speed of the electric winch 3. By adjusting the winding speed of the electric winch 3, the travel speed during the welding operation, i.e., the welding speed, can be adjusted. The winding speed of the electric winch 3 is configured to be controllable by the control unit. By setting the structure in which the welding trolley 2 is hoisted by the electric winch 3, compared with the usual case in which the winch and the hoisting object (welding trolley) are separated, it is not necessary to wire the motor power line and the signal line to the separated position, so the entire vertical welding device can be compactly configured.

[0054] It should be noted that, as a self-propelled vertical welding device in which the welding trolley 2 travels upward in a vertical posture on the steel plate 5, it can also be constructed such that the travel rollers 7 of the welding trolley 2 are made into strong magnets bonded to the steel plate 5, and the travel rollers 7 bonded to the steel plate 5 are driven by a driving unit (not shown) provided on the side of the welding trolley 2, thereby enabling the welding trolley 2 to travel upward in a vertical posture.

[0055] <Welding torch>

[0056] The welding torch 4 is supported on the welding trolley 2 side via a welding torch support 16 described in detail later. Thus, the welding torch 4 is configured to be able to adjust the welding position in the groove width direction, i.e., the Y-axis direction, which is the left-right rotation direction of the welding trolley 2, and the plate thickness direction, i.e., the Z-axis direction, of the steel plate 5. In addition, the welding torch support 16 has a posture adjustment mechanism 17 for adjusting the up-and-down swing position of the welding torch 4, and is configured to enable the welding torch 4 to face the slag pool at an angle suitable for welding operations. The specific structure of the welding torch support 16 will be described later.

[0057] The welding torch 4 has a conductive tip that guides the welding wire to be fed toward the groove 10 and supplies welding current supplied from a welding power source (not shown) to the welding wire, thereby being able to weld the groove 10 formed between the pair of steel plates 5A and 5B.

[0058] Specifically, the welding torch 4 feeds the welding wire guided by the conductive tip into the groove 10 surrounded by the pair of steel plates 5A, 5B, the surface copper plate 9 and the back copper plate 12, thereby feeding the welding wire into the molten pool, i.e., the slag pool, formed in the groove 10, and at the same time, the welding current can flow from the welding wire to the molten metal through the slag pool. Thus, the welding current flowing into the slag pool and the resistance of the slag pool generate Joule heat, so that the electroslag welding can be performed while the welding wire and the steel plates are melted and the welding is carried out.

[0059] <Main frame>

[0060] like Figure 1 and Figure 2 As shown in the figures, the main frame 6 includes: a main frame 18, which is a pair of left and right plate-shaped members extending along the traveling direction of the welding trolley 2; and a pair of front and rear connecting rods 19, 20, which are extended in the left and right directions in a manner that connects the opposing surfaces of the left and right main frames 18, 18 to each other, and the main frame 6 is formed into a frame shape that is open in the X-axis direction as the front-back direction and the Z-axis direction as the up-down direction. A U-shaped winch support frame 21 that protrudes forward when viewed from above is formed in a bridged manner on the front end side of the main frame 6, and the electric winch 3 that lifts the welding trolley 2 is installed and fixed via the winch support frame 21.

[0061] <Travel roller>

[0062] The travel rollers 7 are configured such that a pair of left and right front wheels 7A and a pair of left and right rear wheels 7B and 7B are provided on the main body frame 6 side, and the main body frame 6 can stably slide on the surface of the steel plate 5 .

[0063] like Figure 4 As shown in the figures, the front wheel support shaft 22, which is a rod-shaped member extending in the left-right direction, is supported on the central side of the front connecting rod 19 in a manner that allows it to swing up and down. In addition, a pair of left and right front wheels 7A, 7A are supported on the left and right ends of the front wheel support shaft 22. Similarly, the rear wheel support shaft 23, which is a rod-shaped member extending in the left-right direction, is supported on the central side of the rear connecting rod 20 in a manner that allows it to swing up and down. In addition, a pair of left and right rear wheels 7B, 7B are supported on the left and right ends of the rear wheel support shaft 23.

[0064] According to this structure, even if there are slight bumps and inclinations on the surface of the self-propelled steel plate 5, the positional deviation of the main frame 6 and the welding torch 4 can be absorbed by the swinging action of the front wheel support shaft 22 and the rear wheel support shaft 23, so that the welding operation performed by the self-propelled welding trolley 2 is more stable.

[0065] <Surface copper plate support part>

[0066] The surface copper plate support part 11 supports the surface copper plate 9 on the rear side of the welding carriage 2 arranged on the surface of the steel plate 5. The surface copper plate support part 11 has: a surface copper plate cylinder 24, 24 as a pair of left and right actuators, which push the surface copper plate 9 to the surface of the steel plate 5; a surface side link mechanism 25, which operates the surface copper plate 9 through a pair of surface copper plate cylinders 24, 24; and a welding torch support part 16, which supports the welding torch 4.

[0067] The surface copper plate 9 is a plate-shaped member having a pressurized surface that contacts the surface of the steel plate 5, and is generally provided with a water-cooled cooling mechanism (not shown). In addition, the surface copper plate 9 is configured to form a part of the slag pool by contacting the surface of the steel plate 5, and in this state, the welding carriage 2 moves autonomously while performing welding operations, thereby being able to slide on the groove 10 while cooling the slag pool.

[0068] like Figures 1 to 3 As shown in the figure, the cylinder 24 for the surface copper plate is provided with a pair of left and right parts in a manner of sandwiching the main frame 6, and the front end of the head side is fixed to the front outer surface side of the main frame 18 via a plate-shaped member in the front and rear directions, that is, a fixing plate 26, and the rear end of the action rod side is connected to the side of the surface side link mechanism 25. Thus, the cylinder 24 for the surface copper plate is fixed to the main frame 18 side of the main frame 6 in a state where the action direction of the action rod is tilted upward toward the rear.

[0069] like Figure 3 As shown, the front side link mechanism 25 has: a front side driving link member 28, which is an active member extending in the front-to-back direction; a front side driven link member 31, which is a driven member extending in the front-to-back direction; and a front side intermediate link member 32, which is an intermediate member extending in the up-down direction.

[0070] The front side driving link member 28 is a pair of left and right link members corresponding to the cylinder 24 for the surface copper plate, and its front end side is connected to the rear lower side of the main frame 18 via the first connecting member 27, and its rear end side is connected to the side of the front side intermediate link member 32 via the third connecting member 33.

[0071] The front side driven link member 31 is a pair of left and right link members arranged on the left and right outer sides of the main frame portion 6, and its front end side is connected to the rear upper side of the main frame 18 via the second connecting piece 29, and its rear end side is connected to the front side intermediate link member 32 side via the fourth connecting piece 34.

[0072] The front side intermediate link member 32 is extended along the plate thickness direction of the steel plate 5, that is, the up and down direction, and its lower end side is connected to the rear end side of the front side driving link member 28 via the third connecting member 33, and its middle part in the up and down direction is connected to the rear end side of the front side driven link member 31 via the fourth connecting member 34.

[0073] like Figure 1 As shown in the figures, the third connecting member 33 connects the rear ends of the left and right front driving link members 28 and 28 to each other through a rod-shaped member extending in the left and right direction, and the fourth connecting member 34 connects the rear ends of the left and right front driven link members 31 and 31 to each other through a rod-shaped member extending in the left and right direction.

[0074] At this time, the front side driving link member 28 and the front side driven link member 31 are formed to have substantially the same length. In addition, the line connecting the first link 27 and the second link 29 is arranged to be orthogonal to the travel direction of the welding carriage 2. In addition, the length between the third link 33 and the fourth link 34 on the front side intermediate link member 32 is formed to be substantially the same as the length between the first link 27 and the second link 29. That is, the front side link mechanism 25 is a four-link structure formed into a parallelogram-shaped closed loop structure when viewed from the side.

[0075] In addition, if Figure 3 As shown in the figures, the front side driving link member 28 is integrally formed with a front side operating arm portion 28a extending forward and upward from the first link 27, and the front end side of the front side operating arm portion 28a is connected to the actuating rod of the front copper plate cylinder 24. The connecting piece of the front side operating arm portion 28a and the actuating rod is arranged at a position that is located on the front and upper side of the second link 29 when viewed from the side.

[0076] In addition, if Figure 3 As shown in the figures, the front intermediate link member 32 is provided with a surface copper plate 9 at the lower end side below the third link 33 , i.e., protruding on the steel plate 5 side, and is supported so that the pressurized surface of the surface copper plate 9 can abut against the surface of the steel plate 5 .

[0077] According to the surface side link mechanism 25 of this structure, by making the force accompanying the telescopic action of the action rod of the cylinder 24 for the surface copper plate act in the order of action rod → surface side operating arm 28a → surface side driving link member 28 → surface side intermediate link member 32 and surface copper plate 9 → surface side driven link member 31, the surface side intermediate link member 32 and the surface copper plate 9 orthogonal to the steel plate 5 can be moved up and down while maintaining this posture. That is, according to the above-mentioned surface copper plate support part 11, the pressurizing action of pushing the surface copper plate 9 to the surface side of the steel plate 5 and the release of the pressurizing action of the surface copper plate 9 can be operated. It should be noted that as an actuator for operating the surface side link mechanism 25, it can also be formed as a structure using an electric cylinder or a motor instead of the cylinder 24 for the surface copper plate.

[0078] The welding torch support part 16 has: a connecting support part 35 in the left and right directions, which connects the upper end sides of a pair of left and right surface-side intermediate link members 32 to each other; a welding position adjustment mechanism 36, which is fixed to the front surface side of the connecting support part 35 and has an action part that performs telescopic action along the plate thickness direction of the steel plate 5 at the lower end side; a posture adjustment mechanism 17, which supports the welding torch 4 so that the angle can be adjusted by swinging up and down; and a support bracket 37, which connects the action part of the welding position adjustment mechanism 36 to the posture adjustment mechanism 17. It should be noted that the support bracket 37 supports the posture adjustment mechanism 17 so that the position can be adjusted in the extension setting direction of the groove, that is, the X-axis direction.

[0079] The posture adjustment mechanism 17 is a fan-shaped plate-shaped member having an arc-shaped fusion hole 17a extending toward the back side as it moves toward the front, and is configured so that a welding torch grip 38 supporting the welding torch 4 can be held at any position on the fusion hole 17a. The welding torch grip 38 can also be configured so that the vertical swing position can be controlled by a motor or the like.

[0080] <Back copper plate support>

[0081] The back copper plate support part 13 supports the back copper plate 12 on the rear side of the welding carriage 2 arranged on the back side of the steel plate 5. The back copper plate support part 13 has: a back side link support frame 41, which is configured to be loadable and unloadable on the side of the main frame part 6; a traction cylinder 42, 42 as an actuator, which pulls the back side link support frame 41 toward the back side of the steel plate 5; a back copper plate cylinder 43 as an actuator, which pushes the back copper plate 12 toward the back side of the steel plate 5; and a back side link mechanism 44, which is operated by the back copper plate cylinder 43.

[0082] The back copper plate 12 is a plate-shaped member having a pressurized surface that contacts the back of the steel plate 5, and is generally provided with a cooling mechanism composed of a water-cooled type. In addition, the back copper plate 12 is configured to form a part of the slag pool by contacting the back of the steel plate 5, and in this state, the welding carriage 2 moves autonomously while performing welding operations, thereby being able to slide on the groove 10 while cooling the slag pool, etc.

[0083] like Figure 3 and Figure 4 As shown in the figures, the back link support frame 41 is a pair of left and right plate-shaped members extending in the front-to-back direction along the traveling direction of the welding trolley 2 and arranged on the back side of the steel plate 5. A traction frame 45 extending in a direction perpendicular to the extending direction, i.e., in the plate thickness direction of the steel plate 5, is fixedly mounted in a clamping manner in the middle of the back link support frame 41 in the front-to-back direction, thereby forming a T-shape as a whole. In addition, a back travel roller 46 composed of a pair of left and right back front wheels 46A, 46A and a pair of left and right back rear wheels 46B, 46B is axially supported on the front and rear ends of the back link support frame 41.

[0084] The traction frame 45 is a plate-shaped member extending from the surface side to the back side of the steel plate 5 via the gap formed between the pair of steel plates 5A and 5B, i.e., the groove 10. One end side of the traction frame 45 is attached to the main frame 6 side via the traction cylinders 42 and 42 in a state in which a push-pull action can be performed along the extending direction. The other end side of the traction frame 45 is pin-fixed to the middle part of the length direction of the back link support frame 41 in a detachable manner.

[0085] like Figure 5As shown in the figure, a pair of traction cylinders 42 are provided at the rear side between the pair of left and right main frames 18, 18 in the main frame portion 6. The pair of traction cylinders 42 are configured such that a pair of operating rods supported upward in the vertical direction can be connected to the traction frame 45 side via a connecting member 47.

[0086] That is, the traction cylinder 42 is constructed to lift the traction frame 45 toward the welding trolley 2 side arranged on the surface of the steel plate 5 through the extension action of the actuating rod, thereby being able to push the back travel roller 46 arranged on the back side link support frame 41 side toward the back side of the steel plate 5.

[0087] like Figure 4 As shown in the figures, the cylinder 43 for the back copper plate is installed and fixed in the main frame 6 via cylinder support plates 48, 48 arranged on the left and right clamping head sides and a pair of front and rear fixing members 49, 50 extending in the left and right directions in a manner mounted on a pair of cylinder support plates 48, 48, so that the actuating rod is directed directly downward in the up-down direction.

[0088] like Figure 4 As shown in the figures, the action rod side of the back copper plate cylinder 43 is connected to one end of an L-shaped operating piece 51, and the operating piece 511 is pivotally supported between a pair of cylinder support plates 48, 48 with the fixing member 50 as an axis so as to be swingable. In addition, a back side link operating body 52 is provided on the other end side of the operating piece 51, and the back side link operating body 52 is configured to be swung and operated in the front-rear direction by the telescopic action of the back copper plate cylinder 43, thereby being able to operate the back side link mechanism 44.

[0089] like Figure 3 and Figure 4 As shown in the figures, the back-side link mechanism 44 has: a back-side driving link member 61, which is an active member extending in the up-down direction; a back-side driven link member 62, which is a driven member arranged on the rear side of the link mechanism; and a back-side intermediate link member 63, which is an intermediate member extending in the front-rear direction.

[0090] The back driving link member 61 is a link member extending in the up-down direction in front of the main frame 6 and the front wheel 7A. The lower side of the back driving link member 61 is connected to the front end side of the back link support frame 41 via the first link 57, and the lower side is connected to the front end side of the back intermediate link member 63 via the third link 59.

[0091] The back driven link member 62 is a link member disposed on the rear side of the main frame portion 6 and on the back side of the steel plate 5. The front upper side of the back driven link member 62 is connected to the rear end side of the back link support frame 41 via the second link 58, and the front lower side is connected to the rear end side of the back intermediate link member via the fourth link 60.

[0092] The back intermediate link member 63 is a link member extending in the front-rear direction along the back link support frame 41. The front end side of the back intermediate link member 63 is connected to the lower end side of the back driving link member 61, and the rear end side is connected to the front lower part side of the back driven link member 62.

[0093] At this time, the length between the third link 59 and the fourth link 60 on the back-side intermediate link member 63 is formed to be substantially the same as the length between the first link 57 and the second link 58. It should be noted that the length between the first link 57 and the second link 58 can also be said to be the length of the back-side link support frame 41. In this way, the back-side link mechanism 44 is a four-link structure formed into a parallelogram-shaped closed loop in a side view.

[0094] In addition, if Figure 4 As shown in the figures, the back driving link member 61 is constructed by extending upward from the first link 57 to form an integral back operating arm portion 61a, and the upper side of the back operating arm portion 61a abuts against the back link operating body 52 operated by the back copper plate cylinder 43.

[0095] In addition, if Figure 3 and Figure 4 As shown in the figures, the back driven link member 62 is formed in a plate shape extending in the front-rear direction, and a cutout portion 62a is formed on the upper side of the rear portion thereof, and the back copper plate 12 is supported by the cutout portion 62a. Thus, the back copper plate 12 is configured such that the pressurized surface is supported parallel to the back side of the steel plate 5, and the entire pressurized surface abuts against the back side of the steel plate 5.

[0096] According to the back link mechanism 44 of this structure, the back copper plate 12 can be moved up and down relative to the back side of the steel plate 5 by causing the force accompanying the telescopic action of the back copper plate cylinder 43 to act in the order of the action rod → the back link operating body 52 → the back operating arm 61a → the back driving link member 61 → the back intermediate link member 63 → the back driven link member 62 and the back copper plate 12. It should be noted that as an actuator for operating the back link mechanism 44, an electric cylinder or a motor may be used instead of the back copper plate cylinder 43.

[0097] That is, according to the above-mentioned back copper plate support part 13, the surface and back of the steel plate 5 formed with the groove 10 can be strongly clamped by the travel roller 7 on the side of the main frame part 6 and the back travel roller 46 on the side of the back link support frame 41, so that the welding trolley 2 in a vertical posture suspended by the electric winch 3 can be maintained on the surface of the steel plate 5 in a state that can travel independently. In addition, the pressurizing action of pushing the back copper plate 12 to the back side of the steel plate 5 and the release of the pressurizing action of the back copper plate 12 can be operated.

[0098] <Guide roller>

[0099] The guide roller 8 is a contoured roller for guiding the welding trolley 2 in a welding advancing direction along the extending direction of the groove 10, that is, along the welding line, by being located in the groove 10 in front of the welding torch 4. More specifically, the guide roller 8 is located in the groove 10 in a manner of abutting against the groove surfaces 5a and 5b of a pair of steel plates 5A and 5B forming the groove 10. It should be noted that, with respect to the welding advancing direction, the groove surface on the left is set as 5a, and the groove surface on the right is set as 5b. A plurality of guide rollers 8 are provided along the extending direction of the groove 10. It should be noted that, in the example shown in the figure, two guide rollers 8 are provided.

[0100] In this embodiment, the guide roller 8 includes a fulcrum guide roller 8B and a movable guide roller 8A disposed at a position closer to the front side than the fulcrum guide roller 8B. The fulcrum guide roller 8B is disposed at a front-to-rear position between the front wheel 7A and the rear wheel 7B, and is supported to be movable in the up-and-down direction. The movable guide roller 8A is disposed in front of the welding trolley 2, and is supported to be movable in the left-right direction and the up-and-down direction. It should be noted that the position and number of the guide rollers 8 are not limited thereto, but preferably at least one is disposed in front of the welding trolley 2.

[0101] like Figure 4 As shown in the figures, the fulcrum guide roller 8B has a fulcrum roller shaft 66 for axially supporting the fulcrum guide roller 8B, a pair of left and right fulcrum roller support plates 67, 67 installed and fixed on both end sides of the fulcrum roller shaft 66, and a pair of left and right fulcrum gas springs 68 for supporting the fulcrum roller support plates 67 so as to be displaceable in the up and down directions.

[0102] Here, the lower end side of the fulcrum gas spring 68 is fixed to the fulcrum roller support plate 67, and the upper end side thereof is fixed to the side of the connecting rod 69 formed in a manner of being mounted on a pair of left and right main body frames 18. Thus, the fulcrum guide roller 8B can be elastically displaced in the up-down direction and is supported on the main body frame portion 6 side in a structure in which a force is applied toward the groove 10.

[0103] like Figure 4 and Figure 6 As shown in the figures, the movable guide roller 8A comprises: a movable roller supporting portion, which supports the movable guide roller 8A on the side of the main frame portion 6 in a structure capable of displacement in the up and down directions; and a movable roller driving portion, which supports the movable guide roller 8A so as to be drivable in the left and right directions, and the left and right positions of the movable guide roller 8A are configured to be controllable by the control portion.

[0104] The movable roller support portion includes a movable roller shaft 71 that axially supports the movable guide roller 8A, a pair of left and right vertical swing frames 72, 72 that extend obliquely upward and rearward from the movable roller shaft 71 and are provided so as to sandwich the movable roller shaft 71, and a pair of left and right vertical drive cylinders 73, 73 with their operating rods facing forward. At this time, the operating rod of the vertical drive cylinder 73 is connected to the base end side of the vertical swing frame 72 via a vertical linkage rod 74, thereby being configured to be able to apply force to the vertical swing frame 72 downward.

[0105] According to this structure, the movable guide roller 8A is supported on the main frame 6 side so as to be swingable in the vertical direction, and the movable guide roller 8A can be pressed toward the groove 10 side by the force of the vertical drive cylinder 73. In addition, the movable guide roller 8A is configured to be able to slide and move in the horizontal direction on the movable roller shaft 71 between a pair of vertical swing frames 72, 72 on the left and right sides. The following is a detailed description.

[0106] The movable roller driving unit includes a pair of left and right driving cylinders 75, 75 as driving units which are arranged on the left and right outer sides of the movable roller shaft 71 at the front end of the vertical swing frame 72 so that the movable guide roller 8A can slide on the movable roller shaft 71, and the above-mentioned control unit which controls the driving of the left and right driving cylinders 75. Figure 6 As shown in FIG. 1 and FIG. 2 , in this embodiment, the movable roller driving unit is configured to control the driving thrust of the left and right driving cylinders 75 via the left and right driving unit air circuit controlled by the control unit. It should be noted that the actuator for sliding the movable guide roller 8A is not limited to the left and right driving cylinders 75, and an electric cylinder or a motor may also be used.

[0107] based on Figure 7 The drive unit air circuit is described. Figure 7 : is a diagram showing the structure of the drive unit air circuit. As shown in the figure, the drive unit air circuit includes left and right drive cylinders 75, 75, a flow control valve 76 of inlet throttling, a direction control valve (3 positions, exhaust center) 77, and an electric pneumatic regulator 78. It should be noted that the structure of the drive unit air circuit is not limited to the above content, and the flow control valve 76 can also be omitted.

[0108] Specifically, when the movable guide roller 8A is slidably moved to the right, the driving unit air circuit switches the direction control valve 77, fills the head side of the left side left and right ... side left and right side side left and right side side left and right side side left and right side side side left and right side side side left and right side side side side side side side side side side side side side side side side side side side side side side side side side side side side side side side side side side side side side side side side side side side side side side side side side side side side side side side side side side side side side side side side side side side side side side side side side side side side side side side side side side side side side side side side side side side side side side side side side side side side side side side side side side side side side side side side side side side side side side side side side side side side side side side side side side side side side side side side side side side side side side side side side side side side side side side side side side side side side side side side side side side side side side side side side side side side side side side side side side side side side side side side side side side side

[0109] In addition, if Figure 7 As shown, by switching the driving air circuit to a state where both the rod side and the head side of the left and right driving cylinders 75 discharge air, the movable guide roller 8A can be freely moved in parallel in the left-right direction on the movable roller shaft 71.

[0110] When the control unit detects an offset greater than a predetermined threshold value between the welding advancing direction of the welding carriage 2 and the extending direction of the groove 10 during the welding operation through the visual sensor 14 described in detail later, the sliding position of the movable guide roller 8A is adjusted through the left and right drive cylinders 75 in such a manner that the welding carriage 2 is rotated and driven in the direction in which the detected offset value becomes smaller. On the other hand, when the offset value detected by the detection sensor is less than a predetermined threshold value, the air on the rod side and the head side of the left and right drive cylinders 75 is set to be exhausted, so that the drive control can be performed so that the movable guide roller 8A can be freely moved in parallel in the left and right directions. The specific control method of the drive control will be described later.

[0111] <Vision Sensor>

[0112] based on Figures 1 to 8 A visual sensor will be described in detail. Figure 8 (A) is a model diagram of the reference position and current position captured by the visual sensor. Figure 8 (B) is a model diagram showing a state where the offset is detected to be smaller than a threshold value by the visual sensor. Figure 8 (C) is a model diagram showing a state where the offset is detected to be greater than a threshold value by the visual sensor.

[0113] In this embodiment, a visual sensor 14 that captures an image of a welding part is used as a detection sensor for detecting the offset of the welding traveling direction of the welding carriage 2 relative to the extending setting direction of the groove 10 extending in the X-axis direction, that is, the welding line. Figure 3 and Figure 4 As shown in the figure, the visual sensor 14 is arranged along the groove 10 by the connecting rod 20 arranged on the rear side of the main frame 6. Therefore, the visual sensor 14 is configured to capture an image 80 in which the slag pool as the welding part is always included in the viewing angle while the welding trolley 2 is moving upward on the surface of the steel plate 5 while performing welding operations, thereby being able to detect the offset between the welding advancing direction of the welding trolley 2 and the extending setting direction of the groove 10 extending in the X-axis direction, that is, the welding line.

[0114] Specifically, first, before starting the welding operation, the welding carriage 2 is fixed to the steel plate 5 side in a manner that it is not tilted in the left-right direction, i.e., the yaw angle direction, relative to the welding line, and the installation position of the visual sensor 14 is adjusted in a manner that the slag pool is located in the center of the captured image 80. Figure 8 As shown in (A), the shape X of the slag pool is analyzed from the image 80 captured by the visual sensor 14, and the center of gravity position of the shape X of the slag pool is obtained as the reference position Y. It should be noted that the shape X of the slag pool is substantially the same as the shape of the groove 10. It should be noted that the reference position Y is not limited to the center of gravity position of the slag pool, and can also be set to any position. At this time, the visual sensor 14 is set so that the reference position Y overlaps with the center position C of the image 80.

[0115] Then, if Figure 8 As shown in (B) and (C) of FIG. 1 , after the welding operation starts, when the reference position Y of the slag pool in the image 80 captured by the visual sensor 14 is offset to the left and right from the center position C of the image 80 which is the current position of the welding trolley 2, the offset amount can be detected as the offset amount of the welding traveling direction of the welding trolley 2 relative to the welding line, that is, the yaw angle displacement amount. That is, the offset amount is detected based on the difference between the reference position Y of the slag pool and the center position C of the image which is the current position of the welding trolley 2.

[0116] At this time, a frame T indicating the threshold used in the drive control may be displayed in the image 80 obtained by the visual sensor 14. In this case, Figure 8 As shown in (C), when the reference position Y appears outside the frame T during welding, the offset exceeds the threshold, so the operator can also intuitively grasp the offset. It should be noted that the size of the frame T in the image 80 changes according to the set threshold.

[0117] It should be noted that the detection sensor for detecting the above-mentioned offset amount can be any structure that can detect the displacement amount of the welding traveling direction of the welding trolley 2 relative to the extension setting direction of the groove 10, specifically the yaw angle displacement amount, and is not limited to the above-mentioned visual sensor 14. As the detection sensor, in addition to optical sensors such as laser sensors and magnetic sensors, gyroscope sensors, etc. may also be used, and they may be combined for detection.

[0118] <Control method>

[0119] Next, based on Fig. 9 (A)~(D) and Fig.10 The specific processing content of the drive control performed by the control unit is described. The control unit is, for example, a part of a processor, and is a control device that controls the reading and writing of a computing device and a storage device, and the input and output, etc. The visual sensor 14 is connected to the input side, and the directional control valve 77 and the electric pneumatic regulator 78 are connected to the output side.

[0120] based on Fig. 9 (A) to (D) describe the overview of drive control. Fig. 9 (A) to (D) are schematic diagrams showing the effects of drive control. Fig. 9 As shown in (A), when the welding operation starts while the welding trolley 2 moves upward on the steel plate 5, the control unit uses the visual sensor 14 to start detecting the offset between the welding travel direction of the welding trolley 2 and the extension setting direction of the groove 10. When the offset is less than the threshold value, the movable guide roller 8A is set to a free state and the welding operation is continued.

[0121] exist Fig. 9 (B) shows the following situation: during welding operation, the visual sensor 14 detects that the welding direction of the welding carriage 2 is tilted to the left, that is, toward the steel plate 5A side, relative to the extending direction of the groove 10, and the offset is greater than the threshold. In this case, Fig. 9 As shown by arrows in (C), by controlling the driving of the pair of left and right driving cylinders 75 , 75 , the movable guide roller 8A is slidably moved so as to press the groove surface 5 a in the left direction where the offset amount has occurred.

[0122] Therefore, if Fig. 9As shown in (D), a reaction is generated from the groove surface 5a on the left side pressed by the movable guide roller 8A, so the welding trolley 2 rotates to the right side in the direction opposite to the sliding direction of the movable guide roller 8A with the fulcrum guide roller 8B in the groove 10 as the fulcrum. In other words, the welding trolley 2 rotates in the direction of the welding travel direction along the extension direction of the groove 10. That is, the welding trolley 2 can correct the offset detected by the visual sensor 14 by returning the travel direction of the welding trolley 2 that has deviated from the extension direction of the groove 10 to the travel direction along the extension direction of the groove 10. It should be noted that this "correction offset" can also be changed to "elimination offset".

[0123] According to this structure, the welding trolley 2 in the welding operation generates an offset between the welding travel direction and the welding line due to various construction conditions and external interference factors, such as the different plate thicknesses of the steel plates 5A and 5B forming the groove, or the different plate thicknesses at the plate joints, or the presence of an inclination, or the presence of an offset in the left and right positions of the groove 10. When the visual sensor 14 detects the offset, the left and right drive cylinders 75, 75 can control the drive of the groove surfaces 5a, 5b on one side by using the movable guide roller 8A in such a way that the welding trolley 2 moves in a direction to eliminate the detected offset.

[0124] Next, based on Fig.10 The process flow of drive control is described. Fig.10 1 is a flowchart showing the process of drive control. When the process of drive control starts, the control unit proceeds to step S1. In step S1, the visual sensor 14 detects the deviation between the welding advancing direction of the welding carriage 2 and the extending direction of the groove 10, and then proceeds to step S2.

[0125] In step S2 , it is checked whether the amount of displacement detected by the visual sensor 14 is equal to or larger than a preset threshold value. When it is detected that the amount of displacement detected is equal to or larger than the threshold value, the process proceeds to step S3 .

[0126] In step S3, the control unit calculates the air pressure required to drive the left and right drive cylinders 75 to correct the offset based on the detected offset, and drives the pair of left and right drive cylinders 75, 75 based on the calculated air pressure. As a result, the movable guide roller 8A is slidably moved in the left and right directions, pressing the groove surface (either the groove surface 5a or the groove surface 5b) in the direction where the offset is detected. Then, the control unit returns.

[0127] As a result, the welding trolley 2 is pushed back in the direction opposite to the sliding direction of the movable guide roller 8A with the fulcrum guide roller 8B in the groove 10 as the fulcrum, so that the welding trolley 2 can be rotated in the direction where the offset becomes smaller. By continuing this until the offset detected by the visual sensor 14 is less than the threshold value, the welding travel direction of the welding trolley 2 can be returned to the normal position along the welding line.

[0128] As a method for calculating the air pressure for driving the left and right driving cylinders 75, 75, a database may be prepared in advance regarding the relationship between the detected offset and the air pressure required for correction of the offset, and the air pressure supplied to the pair of left and right driving cylinders 75, 75 may be determined based on the database and the value of the detected offset. Alternatively, the air pressure and the correction degree of the offset may be recorded for automatic learning, or the air pressure may not be calculated but the left and right driving cylinders 75 may be driven at a constant air pressure at all times.

[0129] It should be noted that, in step S2, when it is detected that the offset detected by the visual sensor 14 is smaller than a preset threshold, the process proceeds to step S4.

[0130] In step S4, the movable guide roller 8A is not slid by the left and right driving cylinders 75, and the state is switched to the state where the head side and the rod side of the left and right driving cylinders 75 are both exhausted. In other words, the movable guide roller 8A is switched to the guide roller free state where it can freely move in parallel in the left and right directions on the movable roller shaft 71, and then returns. Thus, even when the movable guide roller 8A contacts a part of the groove where the left and right positions change suddenly when the upper and lower plates are connected, the movable guide roller 8A retreats to the left and right directions, and a sudden yaw change to the welding carriage 2 can be avoided.

[0131] It should be noted that the present invention is not limited to the above-mentioned embodiments. Combining the various structures of the embodiments with each other, and changing and applying them by those skilled in the art based on the description in the specification and known technologies are also intended contents of the present invention and are included in the scope of protection requested.

[0132] As described above, the following matters are disclosed in this specification.

[0133] (1) A vertical welding device for welding a groove formed by two welded parts in a vertical position, characterized in that:

[0134] The vertical welding device comprises:

[0135] a welding carriage that performs welding while traveling along the groove on the surface side of the workpiece perpendicular to the plate thickness direction; and

[0136] a welding torch mounted on the welding trolley,

[0137] The welding trolley has:

[0138] At least two guide rollers are arranged along the welding direction and move along the extending direction of the groove; and

[0139] a detection unit for detecting an offset of the welding traveling direction of the welding trolley relative to an extending setting direction of the groove,

[0140] At least one of the guide rollers is a movable guide roller that can be moved in parallel in a direction orthogonal to the welding advancing direction using a driving unit.

[0141] The driving unit performs drive control to press the movable guide roller against the groove surface so that the welding carriage moves in a direction to eliminate the deviation amount detected by the detecting unit.

[0142] According to this configuration, in a self-propelled vertical welding device that does not require rail installation, the posture of the welding carriage can be stably maintained and the positional deviation of the welding torch tip can be suppressed, thereby ensuring good welding quality.

[0143] (2) The vertical welding device according to (1), characterized in that:

[0144] The detection unit pre-sets a threshold value for the offset, and performs the drive control when it is detected that the offset is greater than the threshold value. When it is detected that the offset is less than the threshold value, the movable guide roller is enabled to move freely in parallel in a direction orthogonal to the welding advancing direction.

[0145] According to this configuration, the movable guide roller is driven and controlled only when the deviation amount is equal to or greater than the threshold value, so that the work efficiency of the welding work in the upright posture is minimized and the accuracy can be improved.

[0146] (3) The vertical welding device according to (1) or (2), characterized in that:

[0147] The detection unit includes at least one sensor selected from the group consisting of a visual sensor, an optical sensor, and a magnetic sensor.

[0148] The offset amount is detected based on a difference between a predetermined reference position acquired by the sensor and a current position of the welding carriage.

[0149] According to this configuration, the amount of deviation between the traveling direction of the welding carriage and the extending direction of the groove can be detected simply and accurately.

[0150] (4) The vertical welding device according to any one of (1) to (3), characterized in that:

[0151] The guide roller disposed most forwardly in the welding advancing direction among the guide rollers is the movable guide roller.

[0152] According to this configuration, by arranging the movable guide roller driven in the left-right direction at the frontmost position, the correction operation of the deviation of the welding carriage in the welding advancing direction becomes smooth.

[0153] (5) The vertical welding device according to any one of (1) to (4), characterized in that:

[0154] The vertical welding device is a suspended vertical welding device.

[0155] The vertical welding device is provided with an electric winch for hoisting the welding trolley.

[0156] According to this configuration, the size and weight of the entire device can be made compact, and the preparation process before the start of work is also relatively simple, so that the maintainability and work efficiency are improved.

[0157] (6) The vertical welding device according to any one of (1) to (5), characterized in that:

[0158] The vertical welding device is a vertical welding device for electroslag welding or gas-electric welding.

[0159] The welding trolley has:

[0160] A surface copper plate, which is disposed on one side of the welded member, i.e., the surface side, and slides along the groove;

[0161] A back copper plate, which is disposed on the other side of the welded part, i.e., the back side, and slides along the groove;

[0162] A link mechanism that causes the surface copper plate and the back copper plate to move in a direction of clamping the welded workpiece; and

[0163] An actuator controls the linkage mechanism.

[0164] According to this structure, the front copper plate and the back copper plate that clamp the workpiece to be welded can be accurately operated with a relatively simple structure.

[0165] (7) The vertical welding device according to (2), characterized in that:

[0166] The driving unit is an air cylinder that moves the movable guide roller in parallel, and is configured to calculate an output of the air cylinder based on the displacement amount detected by the detecting unit.

[0167] According to this configuration, it is possible to easily calculate the output of the cylinder required for correcting the offset amount.

[0168] (8) A control method for a vertical welding device for welding a groove formed by two welded parts in a vertical posture, characterized in that:

[0169] The vertical welding device comprises:

[0170] a welding carriage that performs welding while traveling along the groove on the surface side of the workpiece perpendicular to the plate thickness direction; and

[0171] a welding torch mounted on the welding trolley,

[0172] The welding trolley has guide rollers, at least two of which are arranged along the welding direction and move along the extending direction of the groove.

[0173] At least one of the guide rollers is a movable guide roller capable of parallel movement in a direction orthogonal to the welding advancing direction.

[0174] When a deviation of the welding advancing direction of the welding carriage with respect to the extending direction of the groove is detected, the groove surface in the direction in which the deviation is detected is pressed by the movable guide roller.

[0175] According to this configuration, in the control method of the self-propelled vertical welding device that does not require rail installation, the posture of the welding carriage can be stably maintained and the positional deviation of the welding torch tip can be suppressed, thereby ensuring good welding quality.

[0176] Above, various embodiments have been described, but the present invention is certainly not limited to this example. Those skilled in the art can think of various variations or modifications within the scope of the technical solution, and it should be understood that these variations or modifications also belong to the technical scope of the present invention. In addition, within the scope of not departing from the gist of the invention, the various constituent elements in the above-mentioned embodiments can also be arbitrarily combined.

[0177] It should be noted that the present application is based on the Japanese patent application (Japanese Patent Application No. 2022-158260) filed on September 30, 2022, the contents of which are incorporated herein by reference.

[0178] Description of reference numerals:

[0179] 2 Welding trolley

[0180] 3 Electric winch

[0181] 4 Welding torch

[0182] 8A Movable guide roller (guide roller)

[0183] 8B Pivot guide roller (guide roller)

[0184] 9 Surface copper plate

[0185] 12 Back copper plate

[0186] 14 Vision sensor (detection unit)

[0187] 15 Control Unit

[0188] 24 Cylinder (actuator) for surface copper plate

[0189] 25 Side connecting rod mechanism (connecting rod mechanism)

[0190] 43 Cylinder for back copper plate (actuator, cylinder)

[0191] 44 Back side link mechanism (link mechanism)

[0192] 75 Left and right drive cylinders (drive unit, cylinder).

Claims

1. A vertical welding device, which is used for welding a groove formed by two welded parts based on a vertical posture, characterized in that: The vertical welding device comprises: a welding carriage that performs welding while traveling along the groove on the surface side of the workpiece perpendicular to the plate thickness direction; and a welding torch mounted on the welding trolley, The welding trolley has: At least two guide rollers are arranged along the welding direction and move along the extending direction of the groove; as well as a detection unit for detecting an offset of the welding traveling direction of the welding trolley relative to an extending setting direction of the groove, At least one of the guide rollers is a movable guide roller that can be moved in parallel in a direction orthogonal to the welding advancing direction using a driving unit. The driving unit performs drive control to press the movable guide roller against the groove surface so that the welding carriage moves in a direction to eliminate the deviation amount detected by the detecting unit.

2. The vertical welding device according to claim 1, characterized in that: The detection unit pre-sets a threshold value for the offset, and performs the drive control when it is detected that the offset is greater than the threshold value. When it is detected that the offset is less than the threshold value, the movable guide roller is enabled to move freely in parallel in a direction orthogonal to the welding advancing direction.

3. The vertical welding device according to claim 1 or 2, characterized in that: The detection unit includes at least one sensor selected from the group consisting of a visual sensor, an optical sensor, and a magnetic sensor. The offset amount is detected based on a difference between a predetermined reference position acquired by the sensor and a current position of the welding carriage.

4. The vertical welding device according to claim 1 or 2, characterized in that: The guide roller disposed most forwardly in the welding advancing direction among the guide rollers is the movable guide roller.

5. The vertical welding device according to claim 1 or 2, characterized in that: The vertical welding device is a suspended vertical welding device. The vertical welding device is provided with an electric winch for hoisting the welding trolley.

6. The vertical welding device according to claim 1 or 2, characterized in that: The vertical welding device is a vertical welding device for electroslag welding or gas-electric welding. The welding trolley has: A surface copper plate, which is disposed on one side of the welded member, i.e., the surface side, and slides along the groove; A back copper plate, which is disposed on the other side of the welded part, i.e., the back side, and slides along the groove; A connecting rod mechanism, which enables the surface copper plate and the back copper plate to move in a direction of clamping the welded workpiece; as well as An actuator controls the linkage mechanism.

7. The vertical welding device according to claim 2, characterized in that: The driving unit is an air cylinder that moves the movable guide roller in parallel, and is configured to calculate an output of the air cylinder based on the displacement amount detected by the detecting unit.

8. A control method for a vertical welding device, the vertical welding device being used for welding a groove formed by two welded parts in a vertical posture, characterized in that: The vertical welding device comprises: a welding carriage that performs welding while traveling along the groove on the surface side of the workpiece perpendicular to the plate thickness direction; and a welding torch mounted on the welding trolley, The welding trolley has guide rollers, at least two of which are arranged along the welding direction and move along the extending direction of the groove. At least one of the guide rollers is a movable guide roller capable of parallel movement in a direction orthogonal to the welding advancing direction. When a deviation of the welding advancing direction of the welding carriage with respect to the extending direction of the groove is detected, the groove surface in the direction in which the deviation is detected is pressed by the movable guide roller.

Images