JP3390716B2 - Welding straightening method and welding straightening device - Google Patents

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a welding strain removing method and a welding strain removing apparatus, particularly when a stiffener (aggregate) or the like is welded to a panel (main plate) constituting a block in a small assembling process of a hull block. The present invention relates to a device that removes welding distortion that occurs.

[0002]

2. Description of the Related Art Generally, when a steel plate is welded to a material to be welded,
As the welded portion of the steel sheet contracts, the surface of the steel sheet corresponding to this welded portion extends to both sides, and as a result, distortion occurs on the surface of the steel sheet.

Therefore, conventionally, in order to remove this distortion, the work is reversed, and the operator first specifies the back-burning position for removing the distortion with, for example, a choke, and a single gas heating burner is used. Hold it in your hand and heat it while shaking the flame of the burner to the left and right along the back grilling position, at the same time as heating it, pour water on the heated part with a hose to cause shrinkage due to rapid cooling and correct the distortion occurrence part. Was there.

[0004] In such a method, since it is not possible to uniformly correct the distorted portion and a beautiful finish cannot be obtained because of manual labor, it is necessary to cool the heated portion while automatically heating the distorted portion. Has proposed a welding strain relief device for strain relief (for example, JP-A-54-4784).
1, JP-A-54-47842, JP-A-54
-47843 gazette).

[0005]

However, even in such an apparatus, since the work needs to be inverted, the apparatus tends to be large, and a single burner is used as a heating means for strain relief. Therefore, it is necessary to perform so-called weaving in which the lens is shaken left and right, which complicates control.

According to the present invention, the work is not inverted,
Another object of the present invention is to provide a welding distortion removing method and a welding distortion removing apparatus that can remove welding distortion of a work without swinging a heating means such as a burner left and right.

[0007]

The welding strain removing method according to the present invention is to heat the welding strain of a work in which an aggregate is welded to the surface of a main plate so as to be orthogonal thereto by two heating means. A welding strain removing method for removing, wherein the position where the aggregate is welded to the main plate is detected, and after adjusting the interval between the two heating means according to the plate thickness of the aggregate, Heating both sides of the welding position of the aggregate from the back side of the main plate while moving the two heating means along the welding position;
When moving the two heating means, the two heating means
The heating amount can be adjusted by controlling the moving speed of
And, and at the position where the aggregate is welded to the main plate
Detecting, on the side surface of the aggregate, a marker, part of which is the
Attach it so that it projects laterally from the side edge of the aggregate,
It is performed by detecting the protruding portion of the mosquito.
It Here, the heating means is usually constituted by a heating burner, but the present invention is limited to the case where each heating means is constituted by one heating burner and the entire apparatus has two heating burners. Alternatively, the apparatus as a whole may have three or more heating burners, for example, when each heating means is composed of two heating burners. Further, in the case of having three or more heating burners, it is not always necessary to use all the heating burners when heating both sides of the welding position of the aggregate from the back side of the main plate, and it is added from the back side of the main plate. It also includes the case where only some of the heating burners are used depending on the amount of heat.

With this arrangement, the position where the aggregate is welded to the main plate can be detected, and the center position of the aggregate can be known from the plate thickness of the aggregate known in advance. Adjust the distance between the two heating means according to the thickness of the material,
Both sides of the welding position (welded portion) of the aggregate with respect to the main plate can be accurately heated from the back side by the two heating means. Therefore, in this device, unlike the conventional case of weaving a welding torch, both sides of the welding position (welded portion) of the aggregate with respect to the main plate are heated accurately by the heating means from the back side, respectively. Can be input to an appropriate position, and the welding strain can be uniformly returned over the entire construction site without using the quenching action of the cooling water. Therefore, since it is not necessary to use cooling water which is inconvenient to handle, it is possible to roast the spine without turning it over so that the back surface of the main plate is on the upper side. You can comfortably burn the roast regardless of the shape of the direction.

[0009]

The heating means along the welding position of the aggregate
Control the moving speed of the heating means when moving the
By adjusting the heating amount by the heating means.
Therefore, it is not necessary to weaving the welding torch which is the heating means to the left and right as in the conventional case, by accurately determining the position of the back grill by the heating means and adjusting the moving speed of the heating means, You can achieve the desired roasting. For example, if the amount of heat applied by the heating means is made substantially constant, the amount of heat of back baking changes and the condition for removing welding distortion can be finely controlled only by changing the moving speed of the heating means. Further, as described above, the gravity of the main plate acts unless the back surface of the main plate is turned upside down during roasting, but the effect of the gravity is also dealt with by controlling the moving speed of the heating means. it can.

Furthermore, not only the moving speed of the heating means,
It is also possible to change the amount of heat applied by the heating means and change the amount of spine heating by combining the moving speed of the heating means and the amount of heat applied by the heating means. In that case, changing the amount of heat applied by the heating means is, for example,
When the heating means is a single heating burner, it can be realized by adjusting the amount of heat generated by the heating burner itself, and when the heating means is a plurality of heating burners, the number of heating burners used for heating. It can be realized by changing.

Further, for detecting the position where the aggregate is welded to the main plate, a marker is attached to the side surface of the aggregate so that a part of the marker protrudes laterally from the side edge of the aggregate. ,
Since it is performed by detecting the protruding portion of the marker ,
Easily detect the position where the aggregate is welded to the main plate
To be done. The position of the side of the aggregate is taught by the marker
Because there is. Here, when the operator attaches the marker to the aggregate and the direction of the aggregate can be specified, the marker may be provided at one end.

[0013]

The welding position of the aggregate is preferably detected by attaching the markers to the left and right sides of the aggregate.

With this arrangement, the welding position of the aggregate with respect to the main plate is not regular, and is detected accurately even if it is irregularly inclined with respect to the conveying direction, and the welding position of the aggregate is It is possible to match the moving path (orbit) of the heating means.

Further, the two heating means are attached to a rotatably supported rotating disk, and the two heating means are swung by rotating the rotating disk so that the heating means moves with respect to the moving path of the heating means. It is also desirable to adjust the space between both heating means.

According to this structure, by rotating the rotary disk, the two heating means are swung around the rotation center of the rotary disk.
The distance between the heating means and the moving path of the heating means is adjusted. Thereby, the interval between the two heating means is easily adjusted to an interval for accurately heating both sides of the welding position of the aggregate according to the thickness of the aggregate.

A welding strain relief device according to the present invention is a welding strain relief device for removing a welding strain of a work in which an aggregate is welded to a surface of a main plate so as to be orthogonal thereto, by heating. A marker attached to the material so that a part thereof protrudes laterally from the side edge of the aggregate, and the two heating means are provided on the first movable table at a constant interval, and the first movable table is provided. A back baking means for linearly moving the movable table to heat from the back side of the main plate, a supporting means for supporting both left and right ends of the back baking means so as to be movable in the work transfer direction, and the back baking means. Marker detecting means disposed on the upstream side for detecting the protruding portion of the marker and a signal from the marker detecting means, and detecting the welding position of the aggregate based on the protruding portion of the marker, the aggregate Drive control of the supporting means based on the welding position of To, the spine ware unit, in which a control means for moving to a position corresponding to the welding position of the aggregate.

According to this structure, since the position of the side surface of the aggregate is taught by the marker, the marker detecting means detects the protruding portion of the marker provided on the aggregate, so that the main plate has the above-mentioned structure. The position where the aggregate is welded is easily detected. The support means adjusts the end position of the backburning means and moves the backburning means to a position corresponding to the welding position of the aggregate. In this state, when the two heating means move linearly, the two heating means move along the welding position of the aggregate, so that the back-burning of the portion requiring the back-burning is realized and the welding distortion is removed. In this way, by using the marker, the welding position of the aggregate can be accurately detected, so it is possible to do the back baking without turning over so that the back surface of the main plate is on the upper side. The reversing work that has been done becomes unnecessary, and the work time is shortened.

In this case, if the first work end detecting means for detecting the side end of the work is further provided on the first movable table, the work end for starting the back firing can be provided. By moving the first movable table until it is detected, it is possible to quickly approach the start point of the back baking, while if it detects that there is no more work, the end of the back baking is completed and immediately return to the evacuation point. Is possible,
The movement control of the first movable table can be efficiently performed.

Further, it is desirable that the marker is detachably attached to the side surface of the aggregate through a magnet.

In this way, the marker can be easily attached to and removed from the aggregate, and the marker can be reused.

On the first movable table, a turntable supporting the two heating means and rotatable about a vertical axis,
Rotating means for rotating the rotating disk, which is linked to the rotating disk, is provided, and the control means controls the rotating means,
The rotating disk may be rotated according to the plate thickness of the aggregate.

With this arrangement, by rotating the turntable, the two heating means are swung to change the interval between the heating means in the direction orthogonal to the aggregate, so that the thickness of the aggregate can be changed according to the thickness of the aggregate. The interval can be adjusted, and it is possible to spine the optimum position according to the plate thickness of the aggregate.

The two heating means are two heating burner portions, and the rotary discs are provided on both sides of the both heating burner portions, and the back surface of the main plate and the burner tip of the heating burner portion are provided. It is desirable to provide a height adjusting member that maintains a constant vertical interval. Here, since the height adjusting member comes into contact with the back surface of the main plate, it is desirable that the height adjusting member has a low coefficient of friction, and a roller or a sliding member can be used.

With this arrangement, the parts to be roasted by the two heating burner portions are supported by the height adjusting members on both sides, and the vertical gap between the back surface of the main plate and the burner tip of the heating burner portion. Is held constant, and the back firing is performed evenly along the welding position of the aggregate.

Further, a second work end detecting means for detecting a side end of the work is provided, and the second work end detecting means and the marker detecting means are arranged in parallel with the moving direction of the heating means. It is supported by a movable second movable base, and the control means controls the second movable base by the second movable base.
It is desirable to perform the first control for moving the workpiece to the vicinity of the side portion thereof based on the signal from the workpiece edge detecting means.

According to this structure, the second movable base supporting the marker detecting means together with the second work end detecting means is based on the signal from the second work end detecting means. The heating means (first movable table) is moved parallel to the side of the work. Therefore, since the marker detecting means is moved to the vicinity of the side of the work, it is not necessary to increase the length of the protruding portion of the marker, so that the length of the marker itself can be shortened.

The supporting means has a movable base whose end is movable in the carrying direction, and the first and second movable bases are supported on the movable base, and the control means comprises: Second control in which the end of the movable base is moved in a state where the second movable table is moved to the vicinity of the side of the work, and the marker detecting unit detects the protruding portion of the marker; Third control may be performed to control the supporting means based on the detected position of the marker to move the back baking means to a position corresponding to the work.

With this configuration, the marker detecting means causes the marker detecting means to project the marker by moving the end of the movable base while the second movable table is moved to the vicinity of the side of the work. A portion is detected, the supporting means is controlled based on the detected position of the marker, and the back baking means is moved to a position corresponding to the work. Therefore, the marker is detected by moving the marker detecting means having a fixed positional relationship with the first movable table (back burning means), and the state of the back burning means with respect to the welding position of the aggregate is detected. I am adjusting it, so
It is possible to accurately move the back baking means to a position corresponding to the work.

Further, there is provided a conveying means constituted by two conveying conveyors for conveying the work with the main plate being in a horizontal state and the aggregate in a lateral direction with respect to the conveying direction. From the point of automation, it is advantageous for the means to be arranged between the two conveyors.

By doing so, even in the case of a work in which a plurality of aggregates are welded to the surface of the main plate so that they are orthogonal to each other, a marker is used to convey each of the aggregates while transporting the work. It is possible to sequentially detect the welding position and perform back baking for each aggregate, and continuously remove the welding strain generated in the welded portion between the main plate and the aggregate.

Further, there is provided a third work end detecting means provided on the upstream side of the back baking means for detecting a leading end portion in the carrying direction of the work carried by the carrying conveyor, and the control means comprises: A fourth control for receiving the signal from the third work edge detecting means and stopping the carrying means when the tip of the work reaches a predetermined position, and the first control following the fourth control. After performing the control of step 5, the marker detecting means drives the conveying means until the protruding portion of the marker is detected, and the conveying means is stopped after the fifth control. The second and third controls may be performed.

With this configuration, the movement of the work by the transporting means and the movement of the marker detecting means are used in combination to detect the marker position (welding position of the aggregate) accurately. Then, the back grill can be automatically performed.

[0035]

BEST MODE FOR CARRYING OUT THE INVENTION Embodiments of the present invention will be described below with reference to the drawings.

FIG. 1 is an explanatory view showing a schematic structure of a welding distortion removing device according to the present invention, and FIGS. 2 (a) and 2 (b) are a partial front view and a plan view showing a work.

As shown in FIG. 1, the welding distortion removing device 1 is a carry-in conveyor 2A and a carry-out conveyor 2B which are two consecutive conveyors as a carrying means for carrying a work W (see FIG. 2).
(Eg chain conveyor) between them,
A back firing means 3 for removing welding distortion by heating is provided.

On the reference side of the carry-in conveyor 2A, the standing position for positioning the work W and the work W are positioned at regular intervals.
A plurality of reference stoppers 4 that selectively take a separated position apart from are regularly provided. A control device 5 is provided adjacent to the reference side of the carry-in conveyor 2A to control various operations of the welding distortion removing device 1. Further, a safety passage 6 extending parallel to the carry-in conveyor 2A and extending to the carry-out conveyor 2B is provided on the side opposite to the carry-in conveyor 2A.

As shown in FIGS. 2 (a) and 2 (b), the work W is formed by welding a horizontal main plate W1 and a vertical stiffener W2, which is an aggregate, to each other. The back baking means 3 is used to remove the welding strain generated in the welded portion of W.

On the side surface of the stiffener W2 on the upstream side in the carrying direction, a marker 8 made of an aluminum alloy is detachably provided via a magnet 7. The marker 8 has an L-shaped cross section, and is attached so that a part thereof protrudes from the side edge of the main plate W1, and the protrusion amount thereof needs to protrude by 150 mm or more for the purpose of detection described later. In addition,
The work W in the present embodiment is, for example, a main plate W1 forming a block in a small assembly process of a hull block.
Since the stiffener W2 is welded to the surface of the panel so as to be orthogonal to each other, the stiffener W2 is inclined with respect to the transport direction, and of course, one stiffener W2 is provided for one main plate W1. is there.

As shown in FIGS. 3 and 4, the back baking means 3 is provided between the carry-in conveyor 2A and the carry-out conveyor 2B, and the guide roller 2a on the carry-in conveyor 2A side to the guide roller on the carry-out conveyor 2B side. When transferred to the 2b, the welding position of the stiffener W2 is heated by the back baking means 3 from the back surface (lower surface) side of the main plate W1 to remove welding distortion. The back baking means 3 is provided with a torch base 12 (first movable base) which is supported so as to be movable in the work transfer direction and in a direction transverse thereto, and the torch base 12 is provided with a constant interval. The two existing heating burners 3A, 3A, and the turntable 11 functioning as a burner interval adjusting means for turning them to adjust the burner interval with respect to the trajectory of the burner are mounted.

Further, as shown in FIG. 1, a work detection sensor 15 for detecting the side end of the work W is installed at the front part of the torch base 12, and the work detection sensor 15 is used during the back firing operation. The torch base 12 can be approached at high speed to the work side end by utilizing the detection of the work side end portion by.

On the upstream side of the back baking means 3 in the conveying direction,
A reference-side sensor base 14A and an anti-reference-side sensor base 14B as a second movable base are provided so as to be movable in the transport direction and a lateral direction with respect thereto, and both the sensor bases 14A, 14B.
As shown in FIGS. 12 and 13 described later, a marker detection sensor 13 (for example, a laser sensor compatible with an ultra long range) for detecting the marker 8 and a side end portion (end portion in the width direction) of the work W are detected. A work edge detection sensor 18 (for example, a photoelectric switch) that is a first work edge detection unit is mounted. In addition, both the sensor stands 14A, 14B
Are normally located at the withdrawal points on both the left and right sides of the work W transport path. The work edge detection sensor 18
To increase the detection accuracy, the sensor bases 14A, 14B
Are provided in two layers in the moving direction.

Further, the two sensor stands 14A, 14B and the back baking means 3 have a fixed positional relationship in the carrying direction, and the marker detection sensor 13 mounted on each of the sensor stands 14A, 14B detects the marker 8. If the position is detected, the heating burner 3A (heating means) can be moved along the welding position of the stiffener W2 by adjusting the posture of the back baking means 3 accordingly.

More specifically, the control device 5 includes:
Main plate W of the work W carried in on the carry-in conveyor 2A
Various data such as the plate thickness of 1, the plate thickness of the stiffener W2, the number of stiffeners W2, and the like are input as the back baking conditions. Then, when the automatic construction is started, the construction conditions are automatically selected, and heating is performed by the heating burner 3A from the back surface (lower surface) side of the main plate W1 to back-burn and the welding distortion is removed. , The marker detection sensor 1
The movement path of the torch base 12 is adjusted based on the information from 3. That is, the back burning means 3 has its end position adjusted in the transport direction, and the heating burner 3
When A is linearly moved, the heating burner 3A is set to move along the welding position of the stiffener W2. At the same time, the interval between the heating burners 3A and 3A is adjusted according to the thickness of the stiffener W2 that is set in advance. The amount of heat applied by the heating burner 3A is constant, and the amount of heat applied from the back side of the main plate W1 is changed by controlling the speed at which the torch base 12 is moved.

The control device 5 also controls the driving of the carry-in and transfer conveyors 2A and 2B. For example, the work W is arranged at a predetermined position in the transfer direction.
In response to signals from the first and second limit switches 16 and 17 (second work end detecting means, see FIG. 1) for detecting passage of the front end of the workpiece W, the front end of the work W is the back baking means. When the predetermined positional relationship with respect to No. 3 is reached, the carry-in conveyor 2A is temporarily stopped for the back baking work, and when the predetermined position of the carry-out conveyor 2B is reached after the completion of the back baking, the carry-out conveyor 2B is stopped. It is also designed to control the operation.

Next, a specific structure of the back baking means 3 will be described.

As shown in FIGS. 4 and 5, the roasting means 3 is provided with a torch base 12 and two torch bases 12 are provided.
A turntable 11 provided with two heating burners 3A, 3A is rotatably supported. Further, the torch base 12 has an upper slider 23 at the lower part thereof, and the upper slider 23 is slidably engaged with an upper traveling rail 25 on a movable base 24 extending in the lateral direction with respect to the work transfer direction. .
As a result, the back baking means 3 (torch table 12) can be moved in a direction substantially perpendicular to the work transfer direction.

The movable base 24 corresponds to the torch base 12
An upper frame member 24A for supporting the upper frame member and support plate members 56A, 56B for supporting the upper frame member 24A at both ends thereof so as to be relatively movable from below (see FIG. 9). Lower sliders 26 are provided near both ends of 56A and 56B. The lower slider 26 is a lower traveling rail 27 that extends in the transport direction.
Slidably engaged with. Further, the other end of a connecting bracket 58 having an internal thread portion at one end is rotatably connected to an intermediate portion of the support plate members 56A and 56B, and the internal thread portion (ball screw nut) of the connecting bracket 58 is The ball screw rod 28 extends in the carrying direction and is rotationally driven by a servo motor 30 and is screwed. Accordingly, as the ball screw rod 28 rotates, the upper frame member 24A is connected to the support plate members 56A and 56B via the connecting shaft members 53A and 53B at each end of the movable base 24, as described later. , Is movable in the work transfer direction, and has a back baking means 3
Supporting means for supporting the left and right ends of the movably in the work transport direction is configured. The movement of each end of the movable base 24 is independent on the left and right as described later.

On both sides of the two heating burners 3A, 3A, a support for maintaining a constant vertical gap between the back surface of the main plate W1 (workpiece W) and the burner tip of the heating burner 3A of the back baking means 3 is supported. A roller 29 (height adjusting member) is rotatably provided.

The torch base 12 is provided with a motor support bracket 31 protruding on one side, and the motor support bracket 31 supports a servomotor 32 for moving the torch base 12. That is, the pinion 33, which is rotationally driven by the servo motor 32, is connected to the upper traveling rail 25.
Engages with a rack 34 provided along the pinion 3
The torch base 12 is configured to move as the 3 rotates.

On the other side of the torch base 12, the sensor bases 14A and 14B, on which various sensors are mounted, are mounted on the movable base 24 and the back baking means 3 (torch base 12).
Similarly to the above, it can be moved laterally with respect to the work transfer direction. That is, the sensor bases 14A and 14B
Has a slider 36, and the slider 36 is slidably engaged with an auxiliary rail 37 extending in parallel with the upper traveling rail 25. Similarly to the torch base 12, the sensor bases 14A and 14B are also provided with protruding motor support brackets 35, and the servo motors 38 for moving the sensor bases 14A and 14B are supported by the motor support brackets 35. That is, the pinion 39 rotatably driven by the servomotor 38 meshes with the rack 40 provided along the auxiliary rail 37, and the pinion 39 rotates, so that the sensor bases 14A and 14B move in the moving direction of the heating burner 3A. It is configured to move in parallel with.

In the back burning means 3, as shown in FIG. 5, the two heating burners 3A, 3A (heating means) are attached to the rotary disk 11 by a holding bracket 42. Incidentally, 48 and 49 are cable bears, 50
Is a cable bear bracket.

The rotating means for rotating the rotary disk 11 is, as shown in FIG. 6, a fan-shaped gear 43 provided on the rotary disk 11 and a servo motor 44 attached to the torch base 12. The turntable 11 is configured to rotate by meshing of the rotated pinion 45, and the rotation of the heating burner 3A caused by the rotation heats the moving path of the heating burner 3A according to the plate thickness of the stiffener W2. The interval between the burners 3A can be adjusted. In addition, as shown in FIG.
Further, it has a pilot burner 3C for igniting the heating burner 3A and a frame sensor 3D for detecting the frame state of the heating burner 3A, which are supported by the turntable 11 by support brackets 46 and 47.

In the upper frame member 24A of the movable base 24, as shown in FIGS. 8 and 9, both ends of the frame member 51 positioned in the front and rear in the carrying direction are connected by the connecting members 52 on the upper side. It will be done. A connecting shaft member 53 extending in the vertical direction is provided on the both connecting members 52.
The upper ends of A and 53B are locked by a locking member 54. The lower ends of the connecting shaft members 53A and 53B are
Each penetrates through the cylindrical spacer member 55 and is connected to the support plate members 56A and 56B. The lower end of the spacer member 55 and the support plate members 56A, 5
An oiles washer 57 is provided between the 6B and 6B. The one support plate member 56A has an elongated hole 5 extending in a lateral direction with respect to the transport direction (so-called back baking direction).
6a is formed, and the connecting shaft member 53 is formed in the elongated hole 56a.
The lower end of A is connected so as to be movable in the direction of the back grill.
On the other hand, the lower end of the connecting shaft member 53B is rotatably connected to the other supporting plate member 56B. The upper frame member 24A that supports the torch base 12 is connected to the support plate members 56A and 56B via the connecting shaft members 53A and 53B, and is movably mounted on the support plate members 56A and 56B. It is in a state (so-called floating state). Therefore, even if the position of the connecting member 52 is relatively displaced in the transport direction, the displacement is caused by the connecting shaft member 53.
A and 53B are absorbed by being displaced along the elongated holes 56a only in the direction of the back baking. It should be noted that the reason why it can be absorbed in this way is that accuracy is not required in the direction of the back baking and accuracy of the moving path of the heating burner 3A is secured unless there is a deviation in the plate thickness direction of the stiffener W2 (aggregate). Is.

As shown in FIGS. 10 to 13, the sensor bases 14A and 14B have sensor brackets 6 respectively.
A marker detection sensor 13 for detecting the position of the marker 8 and a work end detection sensor 18 for detecting a side end of the work W in the width direction (for example, a photoelectric switch).
And the notch detection sensor 66 is sequentially provided from the outside. Therefore, in the sensor bases 14A and 14B, each sensor 1
3, 18, 66 are arranged at symmetrical positions. As described above, the servo motor 38 can move in a direction substantially perpendicular to the carrying direction.

When the work-side end sensor 18 detects the work-side end, the carry-in conveyor 2A is stopped first, as shown in FIG. 14 (a). then,
The sensor bases 14A and 14B are made to approach the work W side by driving the servo motor 38, and the work W is measured by the work end detection sensor 18, and the work W is measured.
When the widthwise end of the sensor is detected, the sensor bases 14A and 14B are detected.
Is stopped and the carry-in conveyor 2A is driven forward again.
Then, when the marker detection sensor 13 confirms the passage of the marker 8, the carry-in conveyor 2A is stopped as shown in FIG. At this time, the carry-in conveyor 2A
Cannot be stopped immediately, the marker 8 is moved to the downstream side in the transport direction from the sensor bases 14A and 14B, and then stopped.

Then, in order to detect the welding position of the stiffener W2, the ball screw rod 28 rotates, and FIG.
As shown in, both the left and right ends of the back baking means 3 (movable base 24) also move downstream in the transport direction. After the marker 8 is detected, the rotation of the ball screw rod 28 is stopped, the movement is stopped, and the sensor bases 14A and 14B are retracted to the retracted position. At this time, if the welding position of the stiffener W2 is inclined with respect to the transport direction, the left and right end portions of the back baking means 3 are also displaced in the transport direction, but this shift is, as described above, the long hole of the support plate member 56A. It is absorbed by 56a, and the movement path of the heating burner 3A does not shift in the left-right direction.

Since the sensor bases 14A and 14B and the heating burner 3A have a fixed positional relationship, based on the detected welding position of the stiffener W2, as shown in FIG. 14 (d), the central position of the stiffener W2. Back roasting means 3
Offset the center position of the heating burners 3A, 3A of
The back grill will start. Here, for example, if the inclination is about 5 ° with respect to the transport direction, it can be detected.

Next, the operation of the welding strain relief device 1 will be described. A series of operations of the welding distortion removing device 1 are executed by being controlled by the control device 5.

The main operation of the welding distortion removing device 1 is shown in FIG.
As shown in FIG. 5, prior to the operation, when the work W is loaded onto the carry-in conveyor 2A by a crane (not shown) as a preparatory work, the reference stopper 4 is caused to stand up and the reference stopper 4 is moved. A work W is arranged along with and positioned. Then, the markers 8 are detachably attached to the left and right side portions of the stiffener W2 so that a part thereof protrudes, and the operator preliminarily controls the plate thickness of the main plate W1 of the work W, the plate thickness of the stiffener W2 and the number thereof. Enter in 5.
Here, the reason why the plate thicknesses of the main plate W1 and the stiffener W2 are input is that the welding strain (deformation amount) changes depending on the plate thickness (that is, the thicker the deformation, the smaller the deformation), and accordingly the moving speed of the heating burner 3A. This is to control the amount of heat applied and adjust the amount of heat applied. For workpieces other than rectangles,
For the purpose of positioning, it is necessary to arrange the side on which the work end is linear toward the reference stopper 4 side. Further, depending on the shape of the work, the marker 8 may be provided only on one of the left and right sides of the stiffener W2.

The main operation of the welding distortion removing device 1 is shown in FIG.
As shown in FIG. 5, first, a work detection operation is performed to detect that the front end of the work W conveyed by the carry-in conveyor 2A has reached a predetermined position for back firing (step S1).
Then, a stiffener detection operation is performed in order to specify the back-burning position where the heating burner 3A moves (the position where the stiffener W2 is welded to the main plate W1) (step S2),
When the back grilling position is determined, the posture of the back grilling means 3 and the interval between the heating burners 3A are adjusted accordingly, and then the heating burner 3A is moved along the welding position of the stiffener W2 to move the back surface (lower surface of the main plate W1). ) Side, a back firing operation for back firing both sides of the welding position of the stiffener W2 is performed (step S3), and the stiffener detection operation and the back firing operation are repeated for all the stiffeners W2, and the construction for all the stiffeners W2 is completed. It is determined whether or not (step S
4) When the construction for all stiffeners W2 is completed,
The work is carried out by the carry-out conveyor 2B (step S5), and the construction is completed.

As described above, the welding distortion removing device 1 has four main operations (workpiece detection operation, stiffener detection operation, back firing construction operation, and work unloading operation).

Subsequently, for each operation, as shown in FIG.
It demonstrates along FIG. 17-FIG. 19 while referring to (h). -Workpiece detection operation-As shown in FIG. 17, when the preparation is completed, first, before the operation of the carry-in conveyor 2A, the reference stopper 4 is operated to set it in the collapsed position (see FIG. 16A), and contact with the main plate W1. Is set to the OFF state (step S11).

Then, when an automatic start switch (not shown) on the operation panel of the controller 5 is turned on, the carry-in conveyor 2A starts forward movement (step S12), and the carry-in conveyor 2A is placed near the tip (end) of the carry-in conveyor 2A. By detecting the tip of the work W in the longitudinal direction by the first limit switch 16 (see FIG. 1) provided, the tip of the work W in the longitudinal direction reaches a predetermined position with respect to the back baking means 3. It is determined whether or not (step S13). Then, the carry-in conveyor 2A continues the forward movement until the longitudinal end of the work W reaches a predetermined position.

When the front end of the work W reaches a predetermined position (see FIG. 16 (b)), the first limit switch 16 detects it, and after a certain time elapses, the carry-in conveyor 2
The drive of A is stopped (step S14, fourth control),
The work detection operation is completed, and the operation proceeds to the stiffener detection operation shown in FIG. -Stiffener detecting operation-When the tip of the work W is detected in this way, the welding position of the stiffener W2 and the backburning means 3 (heating burner 3
In order to acquire the relative position with respect to the moving path A of FIG.
As shown in, the reference side and the non-reference side sensor bases 14A, 1
4B, the work W with the carry-in conveyor 2A stopped
Is started (step S21). That is, the servo motor 38 is driven to drive both sensor bases 1
4A and 14B are always followed, and the approach to the work W is continued until the side end of the work W is detected by the work end detection sensor 18 mounted on them (step S22, first). Control). When the side edge of the workpiece W is detected by the workpiece edge detecting sensor 18, the marker detecting sensor 13 mounted on the sensor bases 14A and 14B together with the side edge of the workpiece W is also located near the side edge of the workpiece W. Therefore, the marker detection sensor 1
3 is moved to a position where the marker 8 can be detected, that is, a position below the path through which the marker 8 passes.

When the work side edge is detected in this way, the carry-in conveyor 2A is further advanced (step S
23). Thereby, the presence / absence of the marker 8 attached to the stiffener W2 is detected by the marker detection sensor 13 only by moving the carry-in conveyor 2A forward without moving the marker detection sensor 13 (step S2).
When the marker 8 is detected, the carry-in conveyor 2A is stopped (step S25). That is,
As the first step of detecting the positions of the left and right markers 8, the marker W is moved by driving the carry-in conveyor 2A to detect the markers 8 by the marker detection sensor 13. At this time, since the carry-in conveyor 2A does not stop immediately, the marker 8 comes to be located on the downstream side of the sensor bases 14A and 14B in the transport direction (see FIG. 16C).

Then, in order to detect the welding position of the stiffener W2 more accurately by using the marker 8 while the work W is stopped, the left and right servomotors 30 which are saddle moving motors are driven to drive the sensor base. By moving only 14A and 14B to the downstream side in the transport direction (saddle feed) (step S26), the position of the marker 8 is detected again (step S27). At this time, both sensor bases 14A,
14B is independently controlled by the control device 5 to detect the position of the stiffener W2. Therefore, even if the stiffener W2 is inclined with respect to the transport direction and the left and right markers 8 are displaced in the transport direction, the positions of the stiffener W2 are accurately determined. To be detected.

In this way, the saddle feed is continued until the marker 8 is detected (step S26, second control), and when the position of the marker 8 (stiffener position) is detected, the saddle feed is stopped. (Step S28), the stiffener detection operation based on the detection of the marker 8 is completed, and FIG.
Move to the back firing construction operation shown in. -Back burning construction operation-.

As shown in FIG. 19, first, both sensor bases 14A and 14B are evacuated in preparation for the back firing operation (step S31). Since there is a constant deviation (offset amount) between the movement paths of the sensor bases 14A and 14B and the movement path of the torch base 12 (heating burner 3A), it is obtained by the stiffener detection operation in consideration of this. Positioning from the welding position of the stiffener W2 to the target position is performed (step S32, third control), and the positions of both ends of the back grilling means 3 are moved in the transport direction by the drive of the servo motor 30 to perform position adjustment ( 16D), the burner interval (so-called torch interval) between the two heating burners 3A, 3A is also adjusted based on the preset roasting conditions (step S33). As a result, the back firing means 3 is brought into a state corresponding to the welding position of the stiffener W2.

Then, the approach of the torch base 12 is started (step S34), the detection of the work side end portion is started by using the work detection sensor 15 installed in front of the torch base 12 (step S35). Servo motor 3
By driving 2, the torch base 12 approaches the work side end at high speed. When the work side end is detected, the pilot burner 3C (see FIG. 7) is ignited and the heating burner 3A which is the main burner is ignited (step S3).
6). Here, in order to reliably ignite the heating burner 3A, first, the LNG gas is injected, and the high pressure oxygen is injected with a slight delay.

After the heating burner 3A is ignited, the servo motor 32 is driven to feed the torch base to the other work side end portion at a constant speed at a preset construction speed (see FIG. 16).
(See (e)) is started (step S37). The torch base feed is continued until the work W is exhausted, the work W is no longer detected by the work detection sensor 15 (step S38), and the heating burner 3A is extinguished at the end of the stiffener W2 (step S39), and the torch base is set. 12 is quickly returned to the evacuation point (step S40, FIG. 16 (f)).
Such a movement is repeated for all the stiffeners W2 (see FIG. 16 (g)), the back firing construction operation is completed, and the work is carried out. -Work carry-out operation-The work carry-out operation is an operation of carrying the work W to the tip of the carry-out conveyor 2B when the back baking work operation is performed on all the stiffeners W2 to be worked. When the second limit switch 17 (see FIG. 1) installed at the tip of the carry-out conveyor 2B is turned ON, the carry-out of the work is stopped and the work transfer is completed (see FIG. 16).
(See (h)).

Next, a test carried out for confirming the amount of back temper when the above-mentioned welding distortion removing device 1 is used will be described. (Test method) Strain amount before and after heating (so-called lean horse amount)
Are measured at 5 points each, and the amount of return is evaluated by comparing the amount of strain (1) Applicable plate thickness: 10 mm (2) Pre-welding: Gravity welding (3) Measuring method: Work piece with stiffener W2 on the main plate W1 The measurement is performed with W placed on the conveyor (see FIG. 20A).

Lengths L1, L2, L3 shown in FIG.
The support member 101 is bridged between the stiffeners W2 on both sides, and measurement is performed using the dial gauge 102.

The strain amount δ is calculated by the following equation. δ = (L1 + L2) / 2−L3 (4) Measuring Place As shown in FIG. 20 (b), five stiffeners W2 are measured at intervals in the width direction of the main plate. Display the measurement point with ~. Where L4 is the stiffener spacing and L5
Is the measurement interval, and L6 is the width of the main plate W1. (Back firing conditions) The shape of the work and the back firing conditions are shown in Table 1 below.
As shown in.

[0076]

[Table 1] (Test results) As shown in FIGS. 21 (a) and 21 (b).
That is, in both work 1 and work 2,
It is returned almost uniformly in the width direction. That is, in any case, as shown in FIG. 21 (a), the strain amount before back firing was about 3 mm at any position in the width direction. As shown, it can be seen that at any position in the width direction, it is returned by about 2 to 3 mm, and the amount of strain after back baking becomes almost zero.

Further, the work 1 and the work 2 are shown in FIG.
As shown in (b), the return amount due to the back firing is different because the moving speed of the heating burner is different (Work 1: Burner moving speed 800 mm / min, Work 2: Burner moving speed). 700 mm / min), the heating amount by the heating burner is constant, so that increasing the burner moving speed increases the heating amount, and decreasing the heating speed reduces the heating amount. Therefore, it can be seen that by controlling the burner moving speed, the amount of heat applied from the back surface side of the main plate can be changed to control the amount of return due to back firing.

Next, description will be made on a test conducted for examining the amount of back tempering due to the displacement of the burner. (Test Method) As shown in FIGS. 22 (a) and 22 (b), when the stiffener W2 of the work W is located at the center of the two heating burners 3A, the positional deviation amount is set to 0, and the positional deviation amount L11 is set.
Was changed to measure the strain amount on the right side portion (the portion of +80 mm from the center of the stiffener W2 to the right side). The main plate W
The burner moving speed was 850 mm / min in the case of the work 1 having the plate thickness of 8 mm and the burner moving speed was 800 mm / min in the case of the work 2 having the plate thickness of the main plate W1 of 10 mm. (Test Results) As shown in FIG. 23 (main plate thickness: 10 mm, burner moving speed: 800 mm / min). Here, the angle on the left vertical axis is the inclination angle due to the strain of the portion where the stiffener is welded, and the amount of strain after the back firing on the right vertical axis is the strain after the back firing at the portion 80 mm away from the center of the stiffener. Is the amount.

From FIG. 23, it can be seen that the larger the amount of displacement of the heating position by the heating burner 3A with respect to the center position of the stiffener, the smaller the backing effect due to back firing and the greater the amount of strain after back firing. I understand. Therefore,
The position where the stiffener is welded to the main plate is detected, the distance between the two heating burners is adjusted according to the plate thickness of the stiffener, and the position where the heating burner is heated (the roasting position) is set. With proper control, the returning effect due to the back firing can be increased and the amount of strain after the back firing can be reduced.

[0080]

The present invention is implemented as described above and has the following effects.

In the welding strain removing method according to the present invention, the position where the aggregate is welded to the main plate is detected, and the interval between the two heating means is adjusted according to the plate thickness of the aggregate. While moving both heating means along the welding position, both sides of the welding position of the aggregate are heated from the back side of the main plate, which is different from the conventional case of weaving the welding torch. By accurately heating both sides of the welding position (welding part) of the aggregate to the main plate from the back side with the heating means, it becomes possible to input the required heat quantity to an appropriate position, and use the quenching action of the cooling water. Needless to say, the welding strain can be uniformly returned over the entire construction site. Therefore, since it is not necessary to use cooling water which is inconvenient to handle, it is possible to do the back baking without turning over the main plate so that the back surface of the main plate is on the upper side. Can be realized.

[0082] When moving the heating means along the welding position of the aggregate, the since the way to control the moving speed of the heating means, by adjusting the amount of heat applied from the back side of the main plate easily You can

The position where the aggregate is welded to the main plate is detected by mounting a marker on the side surface of the aggregate so that a part of the marker protrudes laterally from the side edge of the aggregate. ,
As performed by detecting the projecting portion of the marker
Therefore , the position where the aggregate is welded to the main plate can be easily detected by detecting the protruding portion of the marker provided on the aggregate.

If the welding position of the aggregate is detected by attaching the markers to the left and right side portions of the aggregate, the welding position of the aggregate with respect to the main plate is not regular. Even if it is tilted with respect to the specific direction, it can be detected accurately, and the movement path (track) of the heating means can be aligned with the welding position of the aggregate.

Furthermore, since the two heating means are rotated around the center of rotation of the rotary disk by rotating the rotary disk and the distance between the heating means and the moving path of the heating means is adjusted, the heating means The interval can be easily adjusted to an interval in which both sides of the welding position of the aggregate are accurately heated according to the thickness of the aggregate.

In the welding strain relief apparatus according to the present invention, the position of the side surface of the aggregate is taught by the marker, and the marker detecting means detects the protruding portion of the marker. Therefore, the aggregate is welded to the main plate. It is possible to easily detect the position. The support means adjusts the end position of the back grilling means so that the first movable table moves along the trajectory corresponding to the welding position of the aggregate, so that the portion requiring back firing is adjusted. We can realize back firing and remove welding distortion. In this way, by using the marker,
Since the welding position of the aggregate is accurately detected, it is possible to burn the back even if the main plate is not inverted so that the back surface is on the upper side, and the inversion work that was required in the past is no longer required. Is shortened and work efficiency is improved.

In this case, if the first work edge detecting means for detecting the side edge of the work is further provided on the first movable table, the back baking of the first movable table is started. In addition to being able to quickly move to the point, it is possible to detect it and return to the retreat point promptly after the completion of the back baking, so that the movement of the first movable table can be efficiently controlled.

If the marker is detachably attached to the side surface of the aggregate through a magnet, the marker can be easily attached to the aggregate and the marker can be reused. It is also possible to do.

By rotating the turntable supporting the two heating means so that both heating means can be swung to change the interval between the heating means in the direction orthogonal to the aggregate, the plate thickness of the aggregate can be changed. It is possible to adjust the interval according to the above, and it is possible to spine the optimum position according to the plate thickness of the aggregate.

Further, the heating means is a heating burner section, and a vertical gap between the back surface of the main plate and the burner tip of the heating burner section is kept constant on both sides of the heating burner section of the rotary disc. If a height adjustment member is provided, both sides of the part to be roasted in the heating burner section are supported by the height adjustment member, and the vertical gap between the back surface of the main plate and the burner tip of the heating burner section is constant. It is possible to maintain the temperature on the back and burn it evenly along the welding position of the aggregate.

Further, if the second work end detecting means and the marker detecting means are supported on the second movable table which can be moved in parallel with the moving direction of the heating means, the second movable table can be moved. By moving the workpiece to the vicinity of the side portion of the workpiece based on the signal from the second workpiece end portion detecting means, it becomes possible to reasonably move the marker detecting means to the vicinity of the side portion of the workpiece. It is not necessary to increase the length of the protruding portion of the. Therefore, the length of the marker itself can be shortened.

If the supporting means has a movable base whose end portion is movable in the carrying direction, and the first and second movable bases are supported on the movable base, the second base is provided.
By moving the end of the movable base in a state in which the movable table is moved to near the side of the work, the marker detecting unit detects the protruding portion of the marker, and the position of the detected marker is detected. Based on the above, it becomes possible to move the back firing means to a position corresponding to the work and adjust the state of the back firing means with respect to the welding position of the aggregate.
Therefore, it is possible to accurately move the back baking means to a position corresponding to the work.

Further, there is provided a conveying means for conveying the work so that the main plate is in a horizontal state and the aggregate is in a sideways direction with respect to the conveying direction. If the means is arranged between the two conveyors, it is advantageous in terms of automation, and even if it is a work in which a plurality of aggregates are welded to the surface of the main plate so as to be orthogonal to them. , While transporting the work, it is possible to sequentially detect the welding position of each of the aggregates by using the marker, and perform back baking for each aggregate,
It is possible to continuously remove the welding strain generated in the welded portion between the main plate and the aggregate.

Further, if the work is moved by the transporting means while the marker detecting means is stationary and the marker detecting means is moved while the work is stationary, it is efficient. The back firing can be automatically performed by detecting the position of the marker (welding position of the aggregate). Therefore, if the work is set and the back baking conditions are input, the subsequent work can be performed without monitoring, and labor saving can be achieved.

[Brief description of drawings]

FIG. 1 is a diagram showing a schematic configuration of a welding distortion removing device according to the present invention.

2A and 2B are a partial front view and a plan view showing a work to which a marker is attached, respectively.

FIG. 3 is a diagram showing a relationship between a back baking means according to the present invention and a carry-in conveyor and a carry-out conveyor.

FIG. 4 is a front view of a back grilling means according to the present invention.

FIG. 5 is a sectional view of the same.

FIG. 6 is a diagram showing a supporting state of a supporting roller according to the present invention.

FIG. 7 is a diagram showing a relationship between a heating burner, a pilot burner, and a frame sensor according to the present invention.

FIG. 8 is a partially omitted plan view of a movable base according to the present invention.

FIG. 9 is a cross-sectional view with the same portion omitted.

FIG. 10 is an explanatory diagram of sensors according to the present invention.

FIG. 11 is a partial front view of the vicinity of the sensor base according to the present invention.

FIG. 12 is a side view of the same portion.

FIG. 13 is a plan view of the same portion.

14A to 14D are explanatory views of the operation of the sensor base according to the present invention.

FIG. 15 is a view showing an automatic construction flow of the welding distortion removing device according to the present invention.

16 (a) to 16 (h) are diagrams showing the operation of the welding distortion removing device according to the present invention.

FIG. 17 is a diagram showing a flow of work detection operation of the welding distortion removing device according to the present invention.

FIG. 18 is a diagram showing a flow of stiffener detection operation of the welding distortion removing device according to the present invention.

FIG. 19 is a diagram showing a flow of a back firing operation of the welding distortion removing device according to the present invention.

20 (a) and 20 (b) are explanatory views of a test for the amount of back tempering.

21 (a) and (b) are diagrams showing test results.

22 (a) and 22 (b) are explanatory views of a test on a strain amount after back baking due to displacement of a burner.

FIG. 23 is a diagram showing test results.

[Explanation of symbols]

W Work W1 Main plate W2 Stiffener 1 Welding distortion removing device 2A Carry-in conveyor 2B Carry-out conveyor 3 Back baking means 3A Heating burner 5 Control device (control means) 7 Magnet 8 Marker 11 Rotating plate 12 Torch stand (1st movable stand) 13 Marker Detection sensor 14A Reference side sensor base (second movable base) 14B Anti-reference side sensor base (second movable base) 15 Work detection sensor (first work end detecting means) 16 First limit switch (third) Workpiece end detection means) 18 workpiece end detection sensor (second workpiece end detection means) 24 movable base 28 ball screw rod 30 servo motor 32 servo motor 38 servo motor 43 gear 44 servo motor 45 pinion

─────────────────────────────────────────────────── ─── Continuation of front page (72) Inventor Shoji Takeshi Higashikawasaki-cho, Chuo-ku, Kobe-shi, Hyogo 3-1-1 Kawasaki Heavy Industries, Ltd. Kobe factory (72) Hiroyuki Wada Higashikawasaki, Chuo-ku, Kobe-shi, Hyogo Machi 3-1-1 Kawasaki Heavy Industries, Ltd. Kobe factory (72) Inventor Kazuo Yoshida 2-2-1 No. 2 2-cho, Nagata-ku, Kobe, Hyogo Sanshin Industry Co., Ltd. (56) References 6-71486 (JP, A) Japanese Patent Laid-Open No. 5-177254 (JP, A) Kunihiko Sato, Yukio Ueda, Nio Fujimoto, Modern Welding Technology Co., Ltd. (Vol. 3), Japan, Industrial Publishing Co., Ltd., 1980 January 23, P. 206-209 (58) Fields investigated (Int.Cl. ⁷ , DB name) B21D 1/00 B23K 31/00

Claims (12)

(57) [Claims] 1. A welding distortion removing method for removing welding distortion of a work, in which an aggregate is welded on a surface of a main plate so as to be orthogonal to the main plate, by heating with two heating means. After detecting the position where the aggregate is welded and adjusting the interval between the two heating means according to the plate thickness of the aggregate, the two heating means are moved along the welding position of the aggregate. while moving, the sides of the welding position of the aggregate, heating from the back side of the main plate, the two heating means along the weld position of the aggregate
When moving, the moving speed of the two heating means is controlled.
By adjusting the heating amount, and detecting the position where the aggregate is welded to the main plate.
Is a marker on the side surface of the aggregate, a part of which is the aggregate.
Attach so that it projects laterally from the side edge of the
A welding strain relief method characterized by being performed by detecting a protruding portion . 2. The welding position of the aggregate is detected by the aggregate.
By attaching the markers to the left and right sides of the
Item 1. The welding distortion removing method according to Item 1 . 3. The two heating means are rotatably supported.
Installed on a rotating disc that is
The two heating means are swung by the
Contract to adjust the distance between the two heating means with respect to the moving path of
The welding strain relief method according to claim 1 or 2 . 4. Aggregate on the surface of the main plate is orthogonal to the main plate
Heating the welding distortion of the workpiece that is welded like
A welding distortion removing device that is removed by means of which a part of the aggregate protrudes laterally from the side edge of the aggregate.
The marker that is attached as shown above and the two heating means are installed on the first movable table at regular intervals.
And the first movable table is linearly moved,
The back baking means that heats from the back side and the left and right ends of the back baking means can be moved in the work transfer direction.
Support means for operably supporting the marker, and a protruding portion of the marker arranged upstream of the back baking means.
Minute marker detecting means and a signal from the marker detecting means,
The welding position of the aggregate is detected based on the protruding portion,
Drive control of the supporting means based on the welding position of the material,
A position corresponding to the welding position of the aggregate by setting the back firing means.
Welding stress relief device, characterized in that it comprises a control means for moving the. 5. A work is further provided on the first movable table.
A first work edge detecting means for detecting the side edge of the slab is provided.
The welding strain relief device according to claim 4, which is worn. 6. The marker has a magnet on a side surface of the aggregate.
The welding strain relief device according to claim 4 or 5, which is detachably attached through the device. 7. The two movable members are mounted on the first movable table.
A turntable that supports heat means and can rotate around a vertical axis,
Rotating means for rotating the rotary disk linked to the rotary disk;
The control means is provided to control the rotating means to control the aggregate.
7. The method according to claim 4, wherein the turntable is rotated according to the plate thickness.
Welding stress relief device of Zurekani described. 8. The two heating means are two heating bars.
And the rotary disk is installed on both sides of both heating burner sections.
The burner tip of the heating burner and the back surface of the main plate
A height adjustment member that maintains a constant vertical distance from the edge
The welding strain relief device according to any one of claims 4 to 7 . 9. Further, a side end portion of the work is detected.
A second work end detecting means, the second work end detecting means and the marker detecting means;
Move in parallel with the moving direction of both heating means of the back baking means.
The control is supported by a second movable base that is movable.
The means is configured to move the second movable table to detect the second work end portion.
Based on the signal from the output means, up to near the side of the work
The welding strain relief device according to any one of claims 4 to 8 which performs the 1st control which moves . 10. An end portion of the supporting means is moved in a conveying direction.
A movable base that is movable, on which the front
The first and second movable bases are supported, and the control means sets the second movable base to a side portion of the work.
Move the end of the movable base while moving it to the vicinity
Then, the protruding portion of the marker is attached to the marker detecting means.
Second control for detection and position of the detected marker
The supporting means is controlled based on
Performs the third control to move to the position corresponding to the work
The welding strain relief device according to claim 9 . 11. The work, the main plate is made of water.
Place it in a flat state and move the aggregate sideways with respect to the transport direction.
Consists of two conveyors that convey
And a back baking means disposed between the two conveyors.
The welding distortion device according to any one of claims 4 to 10 . 12. The apparatus further provided on the upstream side of the back grilling means.
How to transfer the work that is carried on the transfer conveyor
Equipped with a third work edge detection means for detecting the front end
Well, the control means is provided by the third work edge detecting means.
When a signal is received and the tip of the work reaches a predetermined position
And a fourth control for stopping the conveying means when
After performing the first control after the control of the
Until the detection means detects the protruding portion of the marker,
Following the fifth control for driving the conveying means and the fifth control
And the second and third transfer means are stopped.
The welding distortion device according to claim 11, which performs control .