welding equipment

Abstract

To appropriately perform welding in a narrow part even when an obstacle is provided with respect to the narrow part.SOLUTION: A welding device includes: a long boom 2; a welding torch 3; a movable part 4 that is provided in one end 21 of the boom 2 and supports the welding torch 3 in a displaceable manner in a target direction perpendicular to a longitudinal direction of the boom 2; and a welding torch movement mechanism 5 that provides the welding torch 3 with a force in the target direction. As a result, welding in a narrow part can be appropriately performed even when an obstacle is provided with respect to the narrow part.SELECTED DRAWING: Figure 5

Description

[Technical Field]

[0001] The present invention relates to a welding device. [Background technology]

[0002] Casks (metal casks) have traditionally been used. Casks house spent fuel assemblies (hereinafter simply referred to as "fuel assemblies") removed from a nuclear reactor. A cask, for example, includes a main body housing the fuel assemblies, an outer casing surrounding the main body, and multiple heat transfer fins arranged circumferentially between the main body and the outer casing. In cask manufacturing, long-distance dissimilar fillet welding is performed using copper fillet material between the heat transfer fins and the main body and outer casing, both of which are steel. For example, Patent Document 1 discloses welding equipment suitable for such welding. In this welding equipment, a traveling carriage travels along a guide rail parallel to the weld line, causing a boom attached to the traveling carriage to move parallel to the weld line. This allows a welding torch attached to the tip of the boom to be inserted into the narrow space between the main body and the outer casing. Furthermore, by rolling a guide roller attached to the boom against the main body, the welding torch can be aligned along the weld line.

[0003] Patent Document 2 describes a welding device in which a welding torch is connected to an intermediate connecting pipe, and the shape of the welding torch is curved to match the welding angle. Patent Document 3 describes a device in which the tip of a tow rod to which a welding torch is fixed is brought into contact with a part to be welded by a spring force. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Japanese Patent Application Publication No. 8-257746 [Patent Document 2] Jikko No. 51-40275 [Patent Document 3] Japanese Utility Model Application Publication No. 62-146572 Summary of the Invention [Problem to be solved by the invention]

[0005] However, even when using the welding equipment of Patent Document 1, if an obstacle is present on the path of movement of the welding torch, the welding torch cannot be moved along the path, and welding cannot be performed properly. Therefore, there is a need for a method for properly performing welding in a narrow space even when an obstacle is installed in the narrow space.

[0006] The present invention has been made in view of the above-mentioned problems, and has as its object to properly perform welding in a narrow space even when an obstacle is provided in the narrow space. [Means for solving the problem]

[0007] A first aspect of the present invention is a welding device comprising: a long boom; a welding torch; a movable part provided at one end of the boom and supporting the welding torch so as to be displaceable in a target direction perpendicular to the longitudinal direction of the boom; and a welding torch moving mechanism that applies a force to the welding torch in the target direction. The driving source of the welding torch moving mechanism is disposed at a position closer to the one end of the boom than the other end. do.

[0009] Aspects of the present invention 2 teeth , melt A connection device comprising: a welding torch; a movable part provided at one end of the boom and supporting the welding torch so as to be displaceable in a target direction perpendicular to a longitudinal direction of the boom; and a welding torch moving mechanism that applies a force to the welding torch in the target direction; The welding torch moving mechanism applies a force to the welding torch in the direction of the target using a wire indirectly or directly connected to the welding torch.

[0010] Aspects of the present invention 3 Aspect 1 or 2 In the welding device of claim 1, the movable part includes a slide part that can move the welding torch along the target direction.

[0011] Aspects of the present invention 4 Aspect 1 Or 2 (Aspect 1 Or 3 One of may be.)The welding device further includes a plurality of guide rollers that guide movement of the welding torch and the boom in the longitudinal direction, the plurality of guide rollers including a guide roller that is positioned near the welding torch and a movable guide roller that is attached to the one end of the boom and that can be positioned at a close position close to the boom and a remote position that is remote from the boom in the target direction. [Effects of the Invention]

[0012] According to the present invention, welding can be performed appropriately in a narrow portion even when an obstacle is provided in the narrow portion. [Brief explanation of the drawings]

[0013] [Figure 1] FIG. 2 is a cross-sectional view showing a cask. [Figure 2] FIG. 3 is an enlarged cross-sectional view showing the vicinity of a heat transfer fin. [Figure 3] FIG. [Figure 4] FIG. 2 is a perspective view showing the vicinity of a welding torch. [Figure 5] FIG. 2 is a front view showing the vicinity of a welding torch. [Figure 6] FIG. 10 is a diagram showing the torch unit placed in the upper position. [Figure 7] FIG. 10 is a diagram showing a torch unit disposed in a divided space. [Figure 8] FIG. 10 is a diagram showing an obstacle provided on the trunk main body. [Figure 9] FIG. 10 is a diagram showing a torch unit disposed in a divided space. DETAILED DESCRIPTION OF THE INVENTION

[0014] FIG. 1 is a cross-sectional view of a cask 91, showing a cross section perpendicular to the central axis J1. The cask 91 includes a trunk main body 92, an outer casing 93, and a plurality of heat transfer fins 94. The trunk main body 92 is a cylindrical container centered on the central axis J1. The trunk main body 92 is formed of a metal such as carbon steel. Two main body end portions (not shown) are provided at both ends of the trunk main body 92 in the direction of the central axis J1. In the cask 91, a plurality of fuel assemblies can be accommodated inside the trunk main body 92 by removing the main body end portions, which serve as lids. The outer casing 93 is cylindrical and centered on the central axis J1, and surrounds the trunk main body 92. The outer casing 93 is formed of a metal such as carbon steel. A cylindrical space 941 centered on the central axis J1 is formed between the outer peripheral surface of the trunk main body 92 and the inner peripheral surface of the outer casing 93. The cylindrical space 941 has a substantially annular shape in a cross section perpendicular to the central axis J1.

[0015] The heat transfer fins 94 are arranged in the circumferential direction around the central axis J1 in the cylindrical space 941. The heat transfer fins 94 are made of a metal such as copper. Each heat transfer fin 94 is a heat transfer member that connects the outer circumferential surface of the trunk main body 92 and the inner circumferential surface of the outer cylinder 93. The heat transfer fins 94 are connected to the outer circumferential surface of the trunk main body 92 at approximately regular intervals in the circumferential direction. The heat transfer fins 94 are also connected to the inner circumferential surface of the outer cylinder 93 at approximately regular intervals in the circumferential direction. In the example of FIG. 1 , the heat transfer fins 94 are inclined at a certain angle relative to the radial direction around the central axis J1. In the cask 91, the heat transfer fins 94 divide the cylindrical space 941 into multiple partition spaces 942. Each partition space 942 is filled with a neutron shielding material such as resin.

[0016] 2 is an enlarged cross-sectional view showing the vicinity of some of the heat transfer fins 94. As shown in FIG. 2, each heat transfer fin 94 is welded to the trunk main body 92 and the outer casing 93. In detail, a weld 95 is provided at an intersection 96 where each heat transfer fin 94 intersects with the outer peripheral surface of the trunk main body 92 at an acute angle, and a weld 95 is also provided at an intersection 96 where each heat transfer fin 94 intersects with the inner peripheral surface of the outer casing 93 at an acute angle. In manufacturing the cask 91, each heat transfer fin 94 is welded to the trunk main body 92 and the outer casing 93 before filling with neutron shielding material. Hereinafter, a welding device 1 used for welding the heat transfer fins 94 will be described.

[0017] FIG. 3 is a front view of the welding apparatus 1, and also shows the cask 91 immediately before welding the heat transfer fins 94 (i.e., the cask 91 in the process of being manufactured). In FIG. 3, the mutually perpendicular X, Y, and Z directions are indicated by arrows (similarly in FIGS. 4 to 9 described below). In the example of FIG. 3, the X and Y directions are horizontal, and the Z direction is the direction of gravity. Depending on the design of the welding apparatus 1, the X and Y directions may be inclined relative to the horizontal, and the Z direction may be inclined relative to the direction of gravity. When welding the heat transfer fins 94 using the welding apparatus 1, the cask 91 is laid so that the central axis J1 is approximately parallel to the Y direction. The outer peripheral surface of the cask 91 (the outer peripheral surface of the outer cylinder 93) is supported from below (the -Z side) by multiple support rollers 81. The cask 91 is rotatable about the central axis J1 on the multiple support rollers 81.

[0018] Welding apparatus 1 is disposed adjacent to cask 91 in the Y direction. Welding apparatus 1 includes boom 2, welding torch 3, movable part 4, welding torch moving mechanism 5, and boom moving mechanism 6. Boom 2 is a long member extending along the Y direction. The cross-sectional shape of boom 2 perpendicular to the longitudinal direction is, for example, approximately rectangular. The cross-sectional shape may be other than rectangular. Welding torch 3 is disposed near end 21 of boom 2 on the cask 91 side (+Y side). Hereinafter, this end 21 will be referred to as the "torch-side end 21." Movable part 4 is provided at torch-side end 21 of boom 2 and supports welding torch 3 so that it can be displaced in the up-down direction (Z direction) and the X direction relative to torch-side end 21. Welding torch moving mechanism 5 moves welding torch 3 in the up-down direction. Details of welding torch 3, movable part 4, and welding torch moving mechanism 5 will be described later.

[0019] The boom moving mechanism 6 includes a first lifting mechanism 61, a second lifting mechanism 62, and a feed mechanism 63. The first lifting mechanism 61 is disposed at a position away from the cask 91 in the Y direction. The first lifting mechanism 61 has a boom holding unit 611 which is a movable body, and the boom holding unit 611 holds the end 22 of the boom 2 on the opposite side from the cask 91. The first lifting mechanism 61 moves the end 22 of the boom 2 together with the boom holding unit 611 in the X and Z directions by a drive source such as a motor. In the boom holding unit 611, the boom 2 can rotate around a shaft facing in the X direction.

[0020] The feed mechanism 63 has, for example, a support plate 631 which is a movable body, and the first lifting mechanism 61 is fixed onto the support plate 631. The feed mechanism 63 is a uniaxial slider, and is driven by a drive source such as a motor to move the support plate 631 in the Y direction together with the first lifting mechanism 61 and the boom 2. When welding the heat transfer fins 94, the movement of the support plate 631 causes the torch-side end 21 of the boom 2 to be inserted into the cylindrical space 941 (see FIG. 1 ) of the cask 91. A wire feeder 36 and a wire tensioning device 53, which will be described later, are also fixed to the support plate 631 and move together with the support plate 631.

[0021] The second lifting mechanism 62 is disposed between the first lifting mechanism 61 and the cask 91. The second lifting mechanism 62 has a boom support unit 621, which is a movable body, and moves the boom support unit 621 in the X and Z directions using a drive source such as a motor. The boom support unit 621 has a feed roller 622 whose center is a rotation axis facing the X direction, and the feed roller 622 comes into contact with the underside of the boom 2. In the welding apparatus 1, the first lifting mechanism 61 and the second lifting mechanism 62 adjust the heights of the boom holding unit 611 and the boom support unit 621 so that the boom 2 is approximately parallel to the central axis J1 of the cask 91. When the feed mechanism 63 moves the support plate 631 in the Y direction, the underside of the boom 2 is constantly in contact with the feed roller 622, allowing the boom 2 to move smoothly.

[0022] Fig. 4 is a perspective view showing the vicinity of welding torch 3, and Fig. 5 is a front view showing the vicinity of welding torch 3. As described above, movable part 4 is provided at torch-side end 21 of boom 2 and supports welding torch 3 so that it can be displaced in the up-down direction and the X direction relative to torch-side end 21. In detail, movable part 4 has left-right swing part 41, left-right sliding part 42, and up-down sliding part 43.

[0023] The left-right swinging unit 41 is attached to the torch-side end 21 of the boom 2 and supports the left-right sliding unit 42 so that it can rotate (swing) around a rotation axis facing in the vertical direction. The left-right sliding unit 42 has a support attached to the left-right swinging unit 41 and a movable body that can slide relative to the support in a direction along the X direction (hereinafter also referred to as the "left-right direction"). The movable body is attached to the up-down sliding unit 43, which supports the up-down sliding unit 43 so that it can move in the left-right direction. The up-down sliding unit 43 has a support attached to the left-right sliding unit 42 and a movable body that can slide in the up-down direction relative to the support. The torch support base 39 is attached to the movable body, and the up-down sliding unit 43 supports the torch support base 39 so that it can move in the up-down direction. The movable unit 4 does not have a driving source such as a motor, and the torch support base 39 swings left-right, moves left-right, and moves up-down in accordance with forces acting on the torch support base 39, etc. That is, the torch support base 39 can be displaced in the vertical and horizontal directions.

[0024] Welding torch 3 is fixed onto torch support base 39 via torch holder 38. Torch holder 38 may allow the position of welding torch 3 in the X direction to be adjusted using an adjustment screw or the like. Welding torch 3 extends along the Y direction, and nozzle 31 provided on the (+Y) side curves downward. A welding wire 32, which is a filler material, protrudes downward from the tip of nozzle 31. Welding wire 32 is fed into welding torch 3 from wire feeder 36 in FIG. 3. Welding torch 3 and cask 91 are electrically connected to a welding power source (not shown).

[0025] A side protective plate 111 is attached to the torch support base 39. As shown in FIG. 4 , the side protective plate 111 is plate-shaped with a normal substantially parallel to the X direction and is disposed on the (-X) side of the nozzle portion 31 of the welding torch 3. The side protective plate 111 extends in the (+Y) direction from the (+Y) side end of the torch support base 39. A front protective plate 112 is provided at the (+Y) side end of the side protective plate 111, expanding toward the (+X) side and covering the (+Y) side of the nozzle portion 31. A camera support plate 12 is attached to the front protective plate 112. The camera support plate 12 is plate-shaped with a normal substantially parallel to the vertical direction and extends from the front protective plate 112 in the (+Y) direction. A camera 13 is attached to the (+Y) side end of the camera support plate 12. The camera 13 captures an image of the vicinity of the tip of the welding wire 32 protruding from the tip of the nozzle portion 31.

[0026] The welding device 1 further includes a plurality of guide rollers 71, 72, and 73. In the example shown in FIGS. 4 and 5, three guide rollers 71 to 73 are provided, but the number of guide rollers may be two or less, or four or more. The plurality of guide rollers 71, 72, and 73 are aligned in the Y direction. The guide roller 71 on the (+Y) side is attached below the connection between the front protective plate 112 and the camera support plate 12. The position of the guide roller 71 in the vertical direction may be adjustable using an adjustment screw or the like. The central guide roller 72 is attached below the torch support base 39. As shown in FIG. 5, the guide roller 73 on the (-Y) side is attached below the torch-side end 21 of the boom 2 via a roller moving mechanism 74. The roller moving mechanism 74 has a drive source such as an air cylinder, and can selectively position the guide roller 73 at a close position close to the boom 2 (position shown by a two-dot chain line in FIG. 5) and at a distant position vertically away from the boom 2 (position shown by a solid line in FIG. 5). Because the position of the guide roller 73 is movable in this way, hereinafter the guide roller 73 will be referred to as a "movable guide roller 73."

[0027] The welding torch moving mechanism 5 includes a drive wire 51, a pulley 52, and a wire tensioning device 53 (see FIG. 3). In FIGS. 3 and 4, the drive wire 51 is indicated by a dashed line for convenience of illustration. One end of the drive wire 51 is fixed to the upper surface of the torch support base 39. As shown in FIG. 5, the pulley 52 is fixed to the torch-side end 21 of the boom 2 via a pulley support plate 521 and is disposed above the fixed position of the drive wire 51 on the torch support base 39. The drive wire 51 is hung on the pulley 52 and extends above the boom 2 toward the other end 22 of the boom 2. The wire tensioning device 53 is provided on a support plate 631 in FIG. 3, and the other end of the drive wire 51 is connected to the wire tensioning device 53. The wire tensioning device 53 has a drive source such as a motor and winds and feeds the drive wire 51. The wire tensioning device 53 may use an air cylinder or the like as its drive source.

[0028] The wire tensioning device 53 winds up the drive wire 51, thereby pulling the drive wire 51. As a result, as shown in FIG. 6, the torch support base 39 moves upward relative to the boom 2 together with the movable body of the vertical slide unit 43. As described above, the welding torch 3, the camera 13, and the like are fixed to the torch support base 39, and the welding torch 3, the camera 13, and the like move upward relative to the boom 2 together with the torch support base 39. In the following description, the torch support base 39 and the components fixed to the torch support base 39 (welding torch 3, guide rollers 71, 72, camera 13, etc.) are collectively referred to as the "torch unit 30," and the relative position of the torch unit 30 with respect to the boom 2 shown in FIG. 6 is referred to as the "upper position." In the example of FIG. 6, when viewed along the Y direction, the torch support base 39 in the torch unit 30 positioned at the upper position substantially overlaps with the boom 2. Furthermore, the movable guide roller 73 is positioned in a nearby position, and the positions of the multiple guide rollers 71 to 73 in the vertical direction are substantially the same. In the state shown in Figure 6, where the torch unit 30 is positioned in the upper position and the movable guide roller 73 is positioned in the proximal position, the vertical size of the configuration around the torch unit 30 as viewed along the Y direction is smaller than in the state shown in Figure 5.

[0029] As shown in Fig. 5, when the wire tensioning device 53 feeds out and loosens the drive wire 51 with the movable guide roller 73 positioned at the remote position, gravity causes the torch unit 30 to move downward from the upper position to the position shown in Fig. 5. In the following description, the relative position of the torch unit 30 with respect to the boom 2 shown in Fig. 5 is referred to as the "lower position." In the example of Fig. 5, the entire torch support base 39 of the torch unit 30 positioned at the lower position is positioned below the boom 2. Furthermore, the positions of the multiple guide rollers 71 to 73 in the vertical direction are approximately the same.

[0030] FIG. 7 is a diagram showing the torch unit 30 disposed in the partition space 942, viewed from the (+Y) side toward the (-Y) direction (similar to FIG. 9 described later). FIG. 7 also illustrates an obstacle 99, which will be described later. When welding the heat transfer fins 94, the torch unit 30 is disposed in the cylindrical space 941 together with a portion of the boom 2. In this processing example, the heat transfer fins 94 are temporarily fixed in the cylindrical space 941, and the torch unit 30 is disposed in one partition space 942. As described above, the partition space 942 is a narrow portion sandwiched between two adjacent heat transfer fins 94 in the cylindrical space 941. In the partition space 942 shown in FIG. 7, an intersection 96, where the heat transfer fins 94 and the outer peripheral surface of the trunk main body 92 intersect at an acute angle, is disposed at the lowest point in the partition space 942. The intersection 96 extends in the Y direction. 5 and 7, guide rollers 71, 72 and a movable guide roller 73 arranged at a distance contact portions of the heat transfer fins 94 and the trunk main body 92 near the intersection 96. In addition, the tip of the nozzle portion 31 faces the intersection 96.

[0031] In welding device 1, with the welding power source turned on, support plate 631 is continuously moved in the (+Y) direction by feed mechanism 63 (see FIG. 3). As described above, in welding device 1, torch support base 39 is free to move and swing left and right, as well as up and down. Therefore, torch unit 30 moves along intersection 96, which is the lowest point, and welding is performed at intersection 96. As a result, weld 95 is formed over substantially the entire length (e.g., 3 to 4 m) of heat transfer fin 94 in the Y direction.

[0032] When the formation of the welded portion 95 is completed, the torch unit 30 is moved in the (-Y) direction, thereby removing the torch unit 30 from the partition space 942. Thereafter, the cask 91 is rotated slightly about the central axis J1, so that the torch unit 30 faces the other partition space 942 in the Y direction. Then, in the same manner as above, welding of the heat transfer fins 94 that form the other partition space 942 is performed. A welded portion 95 is also formed by a similar operation at an intersection 96 where the heat transfer fin 94 and the inner circumferential surface of the outer cylinder 93 intersect at an acute angle. Note that the welded portion 95 may be formed while the torch unit 30 is moved in the (-Y) direction (i.e., while the boom 2 is withdrawn).

[0033] Here, in the cask 91, an obstacle 99 may exist on the movement path of the torch unit 30. Fig. 8 is a diagram showing an obstacle 99 provided on the outer peripheral surface of the trunk main body 92. The right side of Fig. 8 shows a part of the cask 91 as seen from the (-Y) side toward the (+Y) direction, and the left side of Fig. 8 shows a cross section of the cask 91 at the position of the arrow AA in the diagram on the right side. The left side of Fig. 8 also shows the back of the cross section.

[0034] The obstacle 99 shown in Fig. 8 is a protrusion provided on the outer peripheral surface of the trunk main body 92. On the right side of Fig. 8, the height in the Z direction of the cross section of the obstacle 99 (i.e., the height from the intersection 96 on the cutting line to the top end of the obstacle 99) is, for example, 50 to 80 mm. The obstacle 99 is provided on the (-Y) side of the heat transfer fin 94, and when viewed along the Y direction, the obstacle 99 partially overlaps with some of the partition spaces 942. To form a weld 95 at the intersection 96 in that partition space 942 (hereinafter referred to as the "partition space of interest 942"), the torch unit 30 must pass through the gap between the obstacle 99 and the outer casing 93 and then approach the outer peripheral surface of the trunk main body 92 at a position beyond the obstacle 99.

[0035] Therefore, when welding heat transfer fin 94 using welding apparatus 1, when torch unit 30 passes through the gap between obstacle 99 and outer cylinder 93, welding torch movement mechanism 5 positions torch unit 30 in the upper position, and roller movement mechanism 74 positions movable guide roller 73 in the proximal position, as shown in FIGS. 6 and 9 . As a result, torch unit 30 passes through the gap between obstacle 99 and outer cylinder 93 while the vertical size of the configuration around torch unit 30 is reduced. That is, torch unit 30 moves while avoiding obstacle 99. Furthermore, when torch unit 30 passes over obstacle 99, torch unit 30 is positioned in the lower position, and movable guide roller 73 is positioned in the distal position, as shown in FIGS. 5 and 7 . As a result, the tip of nozzle 31 approaches intersection 96, making it possible to form weld 95 at intersection 96 in target division space 942. In the welding device 1, when the torch unit 30 passes over the obstacle 99 and after it has passed over the obstacle 99, there is no need to move the boom 2 significantly in the vertical and horizontal directions.

[0036] The welding torch moving mechanism 5, roller moving mechanism 74, boom moving mechanism 6, welding power source, etc. are operated by an operator by visually inspecting the interior of the target divided space 942 from outside or by checking images captured by camera 13 (the same applies when welding in divided spaces 942 other than the target divided space 942). Of course, a control unit realized by a computer or the like may be provided, and the welding torch moving mechanism 5, roller moving mechanism 74, boom moving mechanism 6, welding power source, etc. may be automatically operated by the control unit. Furthermore, multiple welding devices 1 may be provided, and heat transfer fins 94 may be welded in multiple divided spaces 942 in parallel.

[0037] As described above, welding device 1 includes long boom 2, welding torch 3, movable part 4 provided at one end of boom 2 and supporting welding torch 3 so that it can be displaced in the vertical direction, and welding torch moving mechanism 5 that applies a force in the vertical direction to welding torch 3. As a result, even if obstacle 99 is provided in a narrow portion (divided space 942 in the above example), welding torch 3 can be moved while avoiding obstacle 99, and welding in the narrow portion can be performed appropriately.

[0038] Preferably, the drive source of welding torch moving mechanism 5 (in the above example, the drive source of wire tensioning device 53) is disposed near end 22 of boom 2 that is different from torch-side end 21. This prevents the drive source from being damaged by heat generated during welding, i.e., maintains the durability of the drive source. As a result, welding torch moving mechanism 5 can be driven stably.

[0039] Preferably, welding torch movement mechanism 5 applies a force in the vertical direction to welding torch 3 using drive wire 51 indirectly connected to welding torch 3. This allows welding torch 3 to be moved in the vertical direction with a simple configuration, and can prevent an increase in the manufacturing cost of welding apparatus 1. In welding apparatus 1, drive wire 51 may be connected directly to welding torch 3.

[0040] Preferably, welding apparatus 1 further includes a plurality of guide rollers 71-73 that guide longitudinal movement of welding torch 3 and boom 2. The plurality of guide rollers 71-73 include guide rollers 71, 72 that are disposed near welding torch 3 and a movable guide roller 73 that is attached to torch-side end 21 of boom 2. Movable guide roller 73 can be disposed at a close position close to boom 2 and a spaced position vertically spaced apart from boom 2. In welding apparatus 1, while torch-side end 21 passes through obstacle 99, movable guide roller 73 is disposed at the close position, and after torch-side end 21 has passed obstacle 99, movable guide roller 73 is disposed at the spaced position. As a result, the position of boom 2 in the vertical direction can be kept substantially constant during and after passing obstacle 99, and torch-side end 21 can be appropriately supported by movable guide roller 73, making it possible to easily move boom 2 in the longitudinal direction.

[0041] The above welding device 1 can be modified in various ways.

[0042] Various structures may be used for movable unit 4 as long as they are capable of supporting welding torch 3 so as to be displaceable in the vertical direction. For example, welding torch 3 may be supported so as to be displaceable in the vertical direction by a sliding unit that can move welding torch 3 in a direction perpendicular to the X direction and inclined relative to the vertical direction (Z direction). Alternatively, a swinging unit may be provided that rotatably supports torch support base 39 about an axis facing the X direction, thereby displacing welding torch 3 in the vertical direction. However, with such a swinging unit, the swinging of torch support base 39 may change the inclination angle of nozzle 31 relative to intersection 96 (i.e., the inclination angle of nozzle 31 as viewed along the X direction), potentially resulting in variations in the state of weld 95. Furthermore, camera 13, which is located away from the swinging unit, may move significantly in the vertical direction, potentially interfering with the vertical displacement of welding torch 3. Therefore, in order to appropriately displace welding torch 3 in the vertical direction and to maintain a constant tilt angle of nozzle portion 31, it is preferable that movable portion 4 includes vertical slide portion 43 that can move welding torch 3 along the vertical direction (including directions tilted relative to the vertical direction). As will be described later, the same applies when displacing welding torch 3 in a direction other than the vertical direction.

[0043] Welding torch moving mechanism 5 may apply a force to welding torch 3 in a direction other than the up-down direction. For example, if an obstacle 99 is provided on one side of the movement path of torch unit 30 in the X direction (left-right direction), welding torch moving mechanism 5 is provided to apply a force to welding torch 3 in the left-right direction. Movable part 4 in FIG. 4 is provided with left-right swinging part 41 and left-right sliding part 42, and the application of force by welding torch moving mechanism 5 moves welding torch 3 in the left-right direction relative to boom 2.

[0044] As described above, the target direction in which welding torch 3 is displaced relative to boom 2 to avoid obstacle 99, etc., may be any direction perpendicular to the longitudinal direction of boom 2. That is, movable part 4 in welding device 1 only needs to support welding torch 3 so that it can be displaced in any target direction, and welding torch moving mechanism 5 only needs to apply a force to welding torch 3 in the target direction. Furthermore, if movable guide roller 73 is provided, the separated position only needs to be a position separated from boom 2 in the target direction.

[0045] Welding torch movement mechanism 5 may be realized by various structures. In one example, when the target direction is the left-right direction, two drive wires 51 are fixed to a surface of torch support base 39 facing the (+X) side and a surface facing the (-X) side, respectively, and the left-right position of torch support base 39 is changed by adjusting the winding amounts (pulling amounts) of two drive wires 51. In another example, a biasing unit (e.g., a biasing unit using a spring, air pressure, etc.) is provided on the surface facing the (+X) side of torch support base 39 to bias that surface toward the (+X) side, and the left-right position of torch support base 39 is changed by adjusting the winding amount of drive wire 51 fixed to the surface facing the (-X) side. Furthermore, welding torch movement mechanism 5 may apply a force to welding torch 3 in the target direction using a structure that does not use drive wire 51 (e.g., a structure using a link mechanism, etc.).

[0046] The drive source of welding torch moving mechanism 5 may be provided on boom 2. Even in this case, by arranging the drive source at a position closer to the other end 22 of boom 2 than torch-side end 21, it is possible to prevent the drive source from being damaged by heat during welding. Depending on the temperature during welding, etc., the drive source may be arranged at a position closer to torch-side end 21.

[0047] In the roller movement mechanism 74, the movable guide roller 73 may be able to be positioned at three or more positions (multiple stages) including a close position and a distant position. In this case, the position of the torch unit 30 also changes in multiple stages according to the position of the movable guide roller 73. Depending on the length of the boom 2, etc., the movable guide roller 73 may be omitted.

[0048] The movement of the boom 2 in the Y direction and the winding up of the drive wire 51 may be performed manually.

[0049] The welding apparatus 1 may be used for welding various objects other than the cask 91.

[0050] The configurations in the above-described embodiment and each modification may be combined as appropriate as long as they are not mutually contradictory. [Explanation of symbols]

[0051] 1. Welding equipment 2. Boom 3 welding torches 4 Moving parts 5 Welding torch movement mechanism 21, 22 (boom) end 43 Up and down slide part 51 Drive wire 71,72 Guide roller 73 Movable guide roller

Claims

1. 1. A welding device comprising: With a long boom, A welding torch, a movable portion provided at one end of the boom and supporting the welding torch so as to be displaceable in a symmetrical direction perpendicular to the longitudinal direction of the boom; a welding torch moving mechanism that applies a force to the welding torch in the direction of the target; Equipped with A welding device characterized in that the drive source of the welding torch moving mechanism is disposed at a position closer to the one end of the boom than to the other end.

2. A welding device, With a long boom, A welding torch, a movable portion provided at one end of the boom and supporting the welding torch so as to be displaceable in a symmetrical direction perpendicular to the longitudinal direction of the boom; a welding torch moving mechanism that applies a force to the welding torch in the direction of the target; Equipped with A welding device, characterized in that the welding torch moving mechanism applies force to the welding torch in the direction of the target using a wire indirectly or directly connected to the welding torch.

3. The welding device according to claim 1 or 2, The welding device, wherein the movable part includes a slide part that can move the welding torch along the target direction.

4. The welding device according to claim 1 or 2, a plurality of guide rollers for guiding the movement of the welding torch and the boom in the longitudinal direction; The plurality of guide rollers a guide roller disposed near the welding torch; a movable guide roller attached to the one end of the boom and positionable at a close position close to the boom and at a distant position away from the boom in the target direction; A welding device comprising:

Images