CA1301203C - Panelizing machine and method for use - Google Patents
Panelizing machine and method for useInfo
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- CA1301203C CA1301203C CA000572372A CA572372A CA1301203C CA 1301203 C CA1301203 C CA 1301203C CA 000572372 A CA000572372 A CA 000572372A CA 572372 A CA572372 A CA 572372A CA 1301203 C CA1301203 C CA 1301203C
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Abstract
A panelizing machine assembly for clamping elongated struc-tures such as tubes at spaced intervals and then welding the structures. The machine includes an elongated main frame having connecting cross members, and provided with at least two bed plates each having a plurality of notches on their upper side, and at least two carriage structures which are self-supporting and longitudinally movable on the main frame. Each carriage is equipped with at least one contoured clamping plate which is verti-cally movable by pressurized piston means and have notches on their lower sides adapted for clamping the tubes onto the bed plates prior to the welding operations. Each carriage is indepen-dently movable along the main frame on rollers engaging rails attached to the elongated frame, and carriage movement is electri-cally controlled by photoelectric cells and brakes for accurate positioning, and operate in cooperation with a welding robot attached to the upper part of the central movable carriage. The invention also includes a method for operation of the panelizing machine to perform programmed longitudinal welding operations on elongated structures such as tubes to produce a monolithic welded tubular panel.
Description
~01203 PANELIZING MACHINE AND METHOD FOR USE
BACKGROUND OF INVENTION
This invention pertains to panelizing machines, and pertains particularly to a panelizing machine and method for clamping and supporting a plurality of elongated tubes and performing welding operations on the clamped tubes to produce a monowall tube panel.
Various fixtures for supporting elongated structures such as tubes for welding are known. For example, U.S.Patent No.3,789,479 to Zifferer et al discloses a machine for automatically assembling tubes used for shell and tube heat exchangers, including a work table and a tube holding fixture mounted on the table. U.S.
4,461,946 to Kratschmer discloses an apparatus for clamping parts for laser welding. U.S. 4,014,495 to Oda et al discloses an auto-matic welding apparatus having several degrees of freedom provided in association with a workpiece holder mounted on a carriage. Also, U.S. 4,296,539 discloses a heat exchange tube having dual fins pro-vided on opposite sides of the tube.
However, such known devices are generally deficient in not providing adequate support for elongated structures during a weld-ing operation, which can cause problems of misalignment for thewelded structures such as when producing monowall tubular panels.
Also, the prior art has apparently not provided a panelizing ap-paratus having plural traveling carriages, for which longitudinal movements are correlated with that of a universally movable weld-ing torch unit mounted thereon to produce welded monowall tubepanels.
~k 130~203 SUMMARY OF THE INVENTION
The present invention provides a panelizing machine for supporting and welding together a plurality of elongated parallel structures such as tubes, by using a robot welding device and a programmed welding procedure.
The machines comprises an elongated main frame including dual elongated parallel frame members and at least two connecting cross members. Each frame member is provided with a rail extending along an upper side of the frame member. At least two bed plates extend transversely across the main frame, spaced apart from each other.
Each bed plate is supported by one of the cross members and has a plurality of notches provided on the plate upper side adapted for receiving a plurality of elongated structures in the notches. At least two carriages extend transversely across the main frame. They are supported by the rails and are longitudinally movable along the main frame on the rails. At least one vertically movable contoured clamping plate is provided within each carriage and is attached on its upper side to a pressurizable piston means. A plurality of notches are provided on the plate lower side in vertical alignment with the notches provided on the upper side of each bed plate. They are adapted for clamping and retaining a plurality of the elongated structures onto the main frame. A welding i30iZ03 device moullted on ~.he upper portion of one of the carriages is adapted to be positioned for performing a welding operation on the clamped elongated structures.
In operation, the carriages are each positioned longitudinally at desired positions along the main frame so as to provide the upper clamping plate substantially in vertical alignment with the ..
i301~03 lower bed plates, by using infrared proximity sensors and electrically operated brakes on each carriage. However, the carria~es can each be manually positioned over the tubes if desired. After the tubes are clamped in position between the lower contoured bed plates and upper clamping plates, an electric arc welding assembly preferably mounted on the central carriage is operated in cooperation with the other carriage(s) to weld the tubes, such as by making short stitch welds spaced apart along the length of adjacent tube fins. After the welding operation i5 performed at one location of the carriages along the tubes, the carriages can be each moved longitudinally to a new location along the tubes by using photoelectric sensors to activate the carriage tube clamping means, and the welding operation is repeated as desired along the tube length. The tubes being clamped and welded are usually about 40-60 feet long.
This invention also includes a method for using the panelizing machine for producing elongated panels consisting of a plurality of adjacent welded structures such as tubes. The method includes the steps of placing a plurality of elongated structures in parallel alignment onto an elongated clamping frame which has at least two spaced-apart bed plate support members, and clamping the elongated structures onto the bed plate support members at at least two longitudinally separated locations by a horizontally and vertically movable upper clamping member descending downwardly onto the elongated structures at ~.
~30~203 each of the separated locations, the clamping member being mounted in a carriage longitudinally movable on the clamping frame. The adjacent elongated structures are then welded together at longitudinally spaced intervals over at least a portion of their length, by use of a welding device mounted on one of the carriages. After such welding operation, the elongated structures are unclamped and each carriage is moved to a new location on the clamping frame. Then the elongated structures are reclamped and again welded at longitudinally spaced intervals along the length of the structure to produce a welded panel structure.
,_ .~. _ i~0~203 The elongated structures being welded are preferably 4-16 tubes each 40-60 feet long and having each of the fins attached on opposite sides of each tube, so that the adjoining fins are stitch welded together at spaced intervals by electric arc weld-ing procedures.
Although this panelizing machine has been generally des-cribed in terms of welding together elongated tubes, it can also be similarly used for welding together other elongated structur-al shapes, including angles, channels, rods, and such. This pan-elizing machine and method is advantageously used for producing tubular panel units including 12-16 parallel tubes. The tubes each have longitudinal fins which are welded to the fins of ad-jacent tubes to provide a tubular panel having the desired width and 40-60 feet long, ready for complete seal welding the fins together to make a monolithic boiler furnace panel for a steam boiler.
BRIEF DESCRIPTION OF DRAWINGS
This invention will be further described by reference to the following drawings, in which:
Fig. 1 shows a perspective view of the panelizing machine according to the present invention;
Fig. 2 is a longitudinal sectional elevation view taken at line 2-2' of Fig. 1 and showing two longitudinally movable car-riages with a welding device mounted on one of the carriages;
Fig. 3 is a transverse cross-sectional elevation view show-ing a movable carriage taken at line 3-3' of Fig. 1 and having a welding robot device and associated control equipment for mount-ing on a movable carriage and used for stitch welding together elongated structures in accordance with the invention;
Fig. 4 is a view of the weldino robot and associated control equipment.
i301Z0~
Figs. 5, 5A and 5B show important details of the robot welding device;
Fig. 6 is a side elevation view of the welding device show-ing its range of longitudinal and vertical movements; and Fig. 7 is a front elevation view of the welding device showing its range of lateral movement.
DETAILED DESCRIPTION OF INVENTION
As is generally shown by Fig. 1, a panelizing machine assem-bly 10 for producing panelized tube structures is provided, which machine includes an elongated main support frame 12 consisting of two elongated parallel frame members 12a and 12b connected together by multiple spaced-apart cross members 12c, and which are all suitably supported such as by legs 11. For panelizing machine lengths exceeding about 30 feet, the frame 12 can be made up of two or more frame sections joined together at their adjacent ends by bolted joint 13.
As shown more clearly by Figs. 2 and 3, the main frame 12 is provided with at least two profiled bed plates 14, which are each supported by a cross-member 12c and extend transversely across the frame structure 12, and are longitudinally spaced apart from each other along the frame. The bed plates 14 each have multiple V-shaped notches 15 located on the plates upper side, which are adapted for receiving a plurality of elongated structures 19 such as tubes, on which welding operations are to be performed.
Mounted on the elongated frame 12 above the bed plates 14 are at least two clamping carriages 20, which each extend trans-versely across the frame 12 and are self-supporting thereon.
e carriages 20 are spaced apart from each other and are longi-tudinally movable on the frame 12 by suitable drive means assoc-iated with each carriage. Each carriage 20 includes a bridge member 21 which is connected at each end to dual end plate mem-bers 22, and are each supported on the frame 12 by dual rollerswhich run on dual rails~each rail being attached lengthwise along the upper side of each frame member 12a and 12b. Also, each end plate 22 is provided with a clamp means 23 which extends under the frame members 12a and 12b from each side so as to contact the lower side of the frame members and thereby resist the large clamping forces provided on the tubes 19 by a clamping piston, as is explained more fully below. Preferably three movable carriages 20 are provided mounted at spaced intervals on the frame 12.
Each movable carriage 20 is provided with at least two and preferably four profiled upper clamps 28, which each have mul-tiple notches 29 provided on their lower edges and are each vertically guided by guide plates 28a. Each upper clamp 28 is vertically movable by a hydraulic piston 30 mounted in the cross members 21, for clamping the elongated structures or tubes 19 between the contoured bed plates 14 and the contoured upper clamp plate 28. During use, each carriage 20 is moved so that the pro-filed upper clamps 28 are located in vertical alignment with the lower bed plates 14, and upper clamps 28 are each actuated by a hydraulic piston 30 mounted in the carriage cross member 21. The vertically movable profile clamps 28 are capable of being raised sufficiently to permit installation and removal of the elongated tubesl9which are to be welded.
Each hydraulic piston 30 which actuates each contoured plate 28 is provided with high pressure fluid from a supply unit 31, such as hydraulic fluid at 50~2000 psig pressure. These con-toured or notched plates 28 descend and transversely clamp the i~(J120;~
the elongated tubes 19 in position on the mating contoured bed plates 14 by exerting a force of at least about S000 lbs. and up to about 10,000 lbs. on each set of four tubes, so as to hold the tubes rigid and straight while the welding operations are performed.
Each carriage 20 can be moved independently along the main frame 12 on rollers, which include guided V-shaped rollers 26 which engage in a V-shaped guide rail 24 attached longitudinally along one frame member 12a of the main frame. The other frame member 12b has provided on its upper side a flat rail 25 and mating flat wheels 27. Each carriage end plate 22 is provided with two rollers spaced apart at opposite ends of the plate 22, such as rollers 26a and 26b shown in Fig. 2,to provide stability for the movable carriage 20 on the rails 24 and 25.
Each carriage 20 can be moved longitudinally along the dual rails 24, 2~ by an electric motor drive unit 32 provided at each end of the carriage, as is shown by Fig. 3. Each drive unit 32 includes an electric motor 33 directly connected to electric clutch 34, which in turn chain drives a gear reducer 35 and shaft 36, which is connected to either roller 26 or 27. For the panelizing machine assembly 10, at least two and preferably three movable carriages 20 are provided longitudinally spaced apart along the main frame 12, as determined by the welding requirements for the elongated tubes 19. A welding robot device 40 is mounted on the upper portion of the intermediate carriage 20a, the robot being arranged to provide both vertical and pivotal movement so as to weld all portions of the elongated structures.
The movements of each carriage 20 on the rails are electri-cally controlled, so that the three carriages can be moved either in unison or moved separately by use of infrared proximity sensors 37 which are mounted on each carriage 2Q so as to monitor the dis-tance between adjacent carriages. ~lectrically operated brakes 130~203 e used on rollers 26, 27 to accurately position each carriage unit ~0 alon~ the base plate 12. Operation of the brakes is con-trolled by a control circuit 38 controlled by a switch 38a, there-by allowing each carriage unit 20 to be moved longitudinally to a new position along the rails 24, 25 of frame 12. By use of a selector switch in control panel SO, the carriages 20 can be positioned over the tubes 19 manually, ready to start an automatic welding cycle. After the carriages 20 are in the proper starting position and the switch is placed in the automatic mode position, the tube welding sequence will be initiated.
In the tube welding operations, the upper clamps 28 on the three carriages 20 will descend and clamp the parallel tubes 19 at three preset spaced-apart positions. The welding robot 40 mounted on an upper portion of the intermediate carriage 20a and which has been previously-programmed, will move and automatically weld 4 rows of 1 inch long welds spaced 12 inches apart for ad-joining tubes. Then the carriages 20 will automatically unclamp the tubes and the carriages will each move along the frame 12 to the next position along the tubes 19~ then reclamp the tubes in the new position and repeat the welding cycle until the tubes are completely tack welded such as with 1 inch long welds spaced at 12 inch intervals along the tube entire length and thereby pro-vide a monolithic or monowall unit.
The panelizing machine welding operations are provided with
BACKGROUND OF INVENTION
This invention pertains to panelizing machines, and pertains particularly to a panelizing machine and method for clamping and supporting a plurality of elongated tubes and performing welding operations on the clamped tubes to produce a monowall tube panel.
Various fixtures for supporting elongated structures such as tubes for welding are known. For example, U.S.Patent No.3,789,479 to Zifferer et al discloses a machine for automatically assembling tubes used for shell and tube heat exchangers, including a work table and a tube holding fixture mounted on the table. U.S.
4,461,946 to Kratschmer discloses an apparatus for clamping parts for laser welding. U.S. 4,014,495 to Oda et al discloses an auto-matic welding apparatus having several degrees of freedom provided in association with a workpiece holder mounted on a carriage. Also, U.S. 4,296,539 discloses a heat exchange tube having dual fins pro-vided on opposite sides of the tube.
However, such known devices are generally deficient in not providing adequate support for elongated structures during a weld-ing operation, which can cause problems of misalignment for thewelded structures such as when producing monowall tubular panels.
Also, the prior art has apparently not provided a panelizing ap-paratus having plural traveling carriages, for which longitudinal movements are correlated with that of a universally movable weld-ing torch unit mounted thereon to produce welded monowall tubepanels.
~k 130~203 SUMMARY OF THE INVENTION
The present invention provides a panelizing machine for supporting and welding together a plurality of elongated parallel structures such as tubes, by using a robot welding device and a programmed welding procedure.
The machines comprises an elongated main frame including dual elongated parallel frame members and at least two connecting cross members. Each frame member is provided with a rail extending along an upper side of the frame member. At least two bed plates extend transversely across the main frame, spaced apart from each other.
Each bed plate is supported by one of the cross members and has a plurality of notches provided on the plate upper side adapted for receiving a plurality of elongated structures in the notches. At least two carriages extend transversely across the main frame. They are supported by the rails and are longitudinally movable along the main frame on the rails. At least one vertically movable contoured clamping plate is provided within each carriage and is attached on its upper side to a pressurizable piston means. A plurality of notches are provided on the plate lower side in vertical alignment with the notches provided on the upper side of each bed plate. They are adapted for clamping and retaining a plurality of the elongated structures onto the main frame. A welding i30iZ03 device moullted on ~.he upper portion of one of the carriages is adapted to be positioned for performing a welding operation on the clamped elongated structures.
In operation, the carriages are each positioned longitudinally at desired positions along the main frame so as to provide the upper clamping plate substantially in vertical alignment with the ..
i301~03 lower bed plates, by using infrared proximity sensors and electrically operated brakes on each carriage. However, the carria~es can each be manually positioned over the tubes if desired. After the tubes are clamped in position between the lower contoured bed plates and upper clamping plates, an electric arc welding assembly preferably mounted on the central carriage is operated in cooperation with the other carriage(s) to weld the tubes, such as by making short stitch welds spaced apart along the length of adjacent tube fins. After the welding operation i5 performed at one location of the carriages along the tubes, the carriages can be each moved longitudinally to a new location along the tubes by using photoelectric sensors to activate the carriage tube clamping means, and the welding operation is repeated as desired along the tube length. The tubes being clamped and welded are usually about 40-60 feet long.
This invention also includes a method for using the panelizing machine for producing elongated panels consisting of a plurality of adjacent welded structures such as tubes. The method includes the steps of placing a plurality of elongated structures in parallel alignment onto an elongated clamping frame which has at least two spaced-apart bed plate support members, and clamping the elongated structures onto the bed plate support members at at least two longitudinally separated locations by a horizontally and vertically movable upper clamping member descending downwardly onto the elongated structures at ~.
~30~203 each of the separated locations, the clamping member being mounted in a carriage longitudinally movable on the clamping frame. The adjacent elongated structures are then welded together at longitudinally spaced intervals over at least a portion of their length, by use of a welding device mounted on one of the carriages. After such welding operation, the elongated structures are unclamped and each carriage is moved to a new location on the clamping frame. Then the elongated structures are reclamped and again welded at longitudinally spaced intervals along the length of the structure to produce a welded panel structure.
,_ .~. _ i~0~203 The elongated structures being welded are preferably 4-16 tubes each 40-60 feet long and having each of the fins attached on opposite sides of each tube, so that the adjoining fins are stitch welded together at spaced intervals by electric arc weld-ing procedures.
Although this panelizing machine has been generally des-cribed in terms of welding together elongated tubes, it can also be similarly used for welding together other elongated structur-al shapes, including angles, channels, rods, and such. This pan-elizing machine and method is advantageously used for producing tubular panel units including 12-16 parallel tubes. The tubes each have longitudinal fins which are welded to the fins of ad-jacent tubes to provide a tubular panel having the desired width and 40-60 feet long, ready for complete seal welding the fins together to make a monolithic boiler furnace panel for a steam boiler.
BRIEF DESCRIPTION OF DRAWINGS
This invention will be further described by reference to the following drawings, in which:
Fig. 1 shows a perspective view of the panelizing machine according to the present invention;
Fig. 2 is a longitudinal sectional elevation view taken at line 2-2' of Fig. 1 and showing two longitudinally movable car-riages with a welding device mounted on one of the carriages;
Fig. 3 is a transverse cross-sectional elevation view show-ing a movable carriage taken at line 3-3' of Fig. 1 and having a welding robot device and associated control equipment for mount-ing on a movable carriage and used for stitch welding together elongated structures in accordance with the invention;
Fig. 4 is a view of the weldino robot and associated control equipment.
i301Z0~
Figs. 5, 5A and 5B show important details of the robot welding device;
Fig. 6 is a side elevation view of the welding device show-ing its range of longitudinal and vertical movements; and Fig. 7 is a front elevation view of the welding device showing its range of lateral movement.
DETAILED DESCRIPTION OF INVENTION
As is generally shown by Fig. 1, a panelizing machine assem-bly 10 for producing panelized tube structures is provided, which machine includes an elongated main support frame 12 consisting of two elongated parallel frame members 12a and 12b connected together by multiple spaced-apart cross members 12c, and which are all suitably supported such as by legs 11. For panelizing machine lengths exceeding about 30 feet, the frame 12 can be made up of two or more frame sections joined together at their adjacent ends by bolted joint 13.
As shown more clearly by Figs. 2 and 3, the main frame 12 is provided with at least two profiled bed plates 14, which are each supported by a cross-member 12c and extend transversely across the frame structure 12, and are longitudinally spaced apart from each other along the frame. The bed plates 14 each have multiple V-shaped notches 15 located on the plates upper side, which are adapted for receiving a plurality of elongated structures 19 such as tubes, on which welding operations are to be performed.
Mounted on the elongated frame 12 above the bed plates 14 are at least two clamping carriages 20, which each extend trans-versely across the frame 12 and are self-supporting thereon.
e carriages 20 are spaced apart from each other and are longi-tudinally movable on the frame 12 by suitable drive means assoc-iated with each carriage. Each carriage 20 includes a bridge member 21 which is connected at each end to dual end plate mem-bers 22, and are each supported on the frame 12 by dual rollerswhich run on dual rails~each rail being attached lengthwise along the upper side of each frame member 12a and 12b. Also, each end plate 22 is provided with a clamp means 23 which extends under the frame members 12a and 12b from each side so as to contact the lower side of the frame members and thereby resist the large clamping forces provided on the tubes 19 by a clamping piston, as is explained more fully below. Preferably three movable carriages 20 are provided mounted at spaced intervals on the frame 12.
Each movable carriage 20 is provided with at least two and preferably four profiled upper clamps 28, which each have mul-tiple notches 29 provided on their lower edges and are each vertically guided by guide plates 28a. Each upper clamp 28 is vertically movable by a hydraulic piston 30 mounted in the cross members 21, for clamping the elongated structures or tubes 19 between the contoured bed plates 14 and the contoured upper clamp plate 28. During use, each carriage 20 is moved so that the pro-filed upper clamps 28 are located in vertical alignment with the lower bed plates 14, and upper clamps 28 are each actuated by a hydraulic piston 30 mounted in the carriage cross member 21. The vertically movable profile clamps 28 are capable of being raised sufficiently to permit installation and removal of the elongated tubesl9which are to be welded.
Each hydraulic piston 30 which actuates each contoured plate 28 is provided with high pressure fluid from a supply unit 31, such as hydraulic fluid at 50~2000 psig pressure. These con-toured or notched plates 28 descend and transversely clamp the i~(J120;~
the elongated tubes 19 in position on the mating contoured bed plates 14 by exerting a force of at least about S000 lbs. and up to about 10,000 lbs. on each set of four tubes, so as to hold the tubes rigid and straight while the welding operations are performed.
Each carriage 20 can be moved independently along the main frame 12 on rollers, which include guided V-shaped rollers 26 which engage in a V-shaped guide rail 24 attached longitudinally along one frame member 12a of the main frame. The other frame member 12b has provided on its upper side a flat rail 25 and mating flat wheels 27. Each carriage end plate 22 is provided with two rollers spaced apart at opposite ends of the plate 22, such as rollers 26a and 26b shown in Fig. 2,to provide stability for the movable carriage 20 on the rails 24 and 25.
Each carriage 20 can be moved longitudinally along the dual rails 24, 2~ by an electric motor drive unit 32 provided at each end of the carriage, as is shown by Fig. 3. Each drive unit 32 includes an electric motor 33 directly connected to electric clutch 34, which in turn chain drives a gear reducer 35 and shaft 36, which is connected to either roller 26 or 27. For the panelizing machine assembly 10, at least two and preferably three movable carriages 20 are provided longitudinally spaced apart along the main frame 12, as determined by the welding requirements for the elongated tubes 19. A welding robot device 40 is mounted on the upper portion of the intermediate carriage 20a, the robot being arranged to provide both vertical and pivotal movement so as to weld all portions of the elongated structures.
The movements of each carriage 20 on the rails are electri-cally controlled, so that the three carriages can be moved either in unison or moved separately by use of infrared proximity sensors 37 which are mounted on each carriage 2Q so as to monitor the dis-tance between adjacent carriages. ~lectrically operated brakes 130~203 e used on rollers 26, 27 to accurately position each carriage unit ~0 alon~ the base plate 12. Operation of the brakes is con-trolled by a control circuit 38 controlled by a switch 38a, there-by allowing each carriage unit 20 to be moved longitudinally to a new position along the rails 24, 25 of frame 12. By use of a selector switch in control panel SO, the carriages 20 can be positioned over the tubes 19 manually, ready to start an automatic welding cycle. After the carriages 20 are in the proper starting position and the switch is placed in the automatic mode position, the tube welding sequence will be initiated.
In the tube welding operations, the upper clamps 28 on the three carriages 20 will descend and clamp the parallel tubes 19 at three preset spaced-apart positions. The welding robot 40 mounted on an upper portion of the intermediate carriage 20a and which has been previously-programmed, will move and automatically weld 4 rows of 1 inch long welds spaced 12 inches apart for ad-joining tubes. Then the carriages 20 will automatically unclamp the tubes and the carriages will each move along the frame 12 to the next position along the tubes 19~ then reclamp the tubes in the new position and repeat the welding cycle until the tubes are completely tack welded such as with 1 inch long welds spaced at 12 inch intervals along the tube entire length and thereby pro-vide a monolithic or monowall unit.
The panelizing machine welding operations are provided with
2~ means for manual override when desired. Thus, if a door opening needed in a tubular panel requires some tube bends which fall within the automatic cycle, then the particular clamps 28 can be activated by selector switch, e.g., 1, 2, 3 or all 4 tube clamps 28 can be used or inactivated as required.
The welding robot 40 and its associated control equipment is shown schematically by Fig. 4. Welding robot 40 includes an arm assembly 42 supported by a gimbal assembly 44, which is centrally mounted onto the upper portion of the central movable carriage 20a, as is seen in Fig. 2. Robot extension arm 43 is pivotable at axis 44a in a longitudinal direction relative to the elongated structures or tubes 19, and arm 43 is pivotable in a lateral direction at axis 44b.
Movement.s of the welding robot 40 during welding operations on tubes 19 are controlled by a control panel and power supply unit 50, which is mounted on one end of the central carriage 20a. The welding robot 40 is coupled to a welding system and is fitted with a welding torch unit 46. The welding wire is fed to torch unit 46 by wire feeder means 47. Whenever an inert gas metal arc welding device and methods are used, a tank 48 containing a pressurized inert shielding gas SUC]l as argon or helium is also mounted at one end of the intermediate carriage 20a.
Operation of the welding torch assembly 46 including the parameters of electric voltage, amperage, metal wire feed rate and inert gas flow to the torch unit is controlled by console control unit 50, which is also interconnected with the welder control panel 52 and the torch unit 46. For automatic operation of the welding torch assembly 46, the operating parameters are first pre-programmed by a teach control unit 54. Manual control of the robot welder 40 can be effected by a control unit 56 which is also connected to the gimbal assembly 44.
The torch arm assembly 42 and gimbal assembly 44 of welding robot 40 are additionally shown in Fig. 5. Torch g _ ~' i301203 arm 43 is moved vert.ically relative to gimbal assembly 44 by gear 43a driven by motor 43b mounted on the gimbal assembly, and engaging rac~ 43c mounted on the arm 43, as shown in enlarged detail by Fig. 5B. Electric power is supplied through flexible cable 41 to the arm 43 upper end and thence through an inner conductor (not shown) to the welding torch unit 46.
..
~30120~
The torch assembly 42 is able ~o be rotated about the central axis of arm 43, and is also hinged at joint 45. The robot assem-bly 40 is adapted for moving the arm assembly 42 and torch unit 46 vertically, as well as to pivot it in both longitudinal and trans-verse directions relative to the elongated tubes 19 being weldedso as to traverse all surfaces of the tubes, as is generally shown by Figs. 6 and 7.
Fig. 6 shows arm 43 in both an extended and a withdrawn position relative to gimbal assembly 44, and arm 43 can also be rotated about pivot 44a to move through a longitudinal angle of about 90 relative to the length of the elongated tubes 19. Also, welding torch unit 46 can be pivoted at joint 45 as required to perform the welding operations. Fig. 7 skows the torch arm 43 in an extended position and pivoated at 44b through a lateral angle of about 90 relative to the elongated tubes 19 to perform a welding operation on all the tubes.
This invention will be further described by use of the fol-lowing specific example, which should not be construed as limiting in scope of the invention.
EXAMPLE
A panelizing machine for welding adjacent tubes is provided which has an elongated main frame 6.5 ft. wide by 70 ft. long, and three movable transverse clamping carriages supported by rol-lers on dual rails on the frame. The frame and carriages are each sized to receive 16 tubes, each tube being 3 inch diameter by 60 feet long and having a longitudinal fin 0.25 inch thick by 0.50 inch wide extending along two opposite sides of each tube, thereby making a tubular structure 4 inch wide for each tube and a total width 64 in. across the 16 tubes. The tubes are loaded into ~ 30~2~3 shaped notches provided in frame bed plates each spaced 2 ft.
apart along the frame, and the tubes are clamped against the bed plates by four vertically movable contoured upper clamps provided in each carriage, and are pressure clamped rigidly into place.
Then the panelizing machine welding device is activated, and the adjoining fins of the tubes are electric arc tack welded to-gether by making multiple welds about 1 in. long spaced at 12 in.
intervals along a four foot length of the tubes by a welding robot mounted on the central carriage. The tubes are then unclamped and the carriages moved forward by a distance of 4 ft. and the operation repeated for the entire 60 ft. length of the tubes.
The resulting stitch welded tube panel is then removed from the panelizing machine, and after further seam welding can form a partial wall for a steam generating boiler.
Although this invention has been described broadly and in terms of a preferred embodiment, it will be apparent that desirable modifications and variations can be made to the panelizing machine and its operation all within the scope of the invention, which is defined by the following claims.
The welding robot 40 and its associated control equipment is shown schematically by Fig. 4. Welding robot 40 includes an arm assembly 42 supported by a gimbal assembly 44, which is centrally mounted onto the upper portion of the central movable carriage 20a, as is seen in Fig. 2. Robot extension arm 43 is pivotable at axis 44a in a longitudinal direction relative to the elongated structures or tubes 19, and arm 43 is pivotable in a lateral direction at axis 44b.
Movement.s of the welding robot 40 during welding operations on tubes 19 are controlled by a control panel and power supply unit 50, which is mounted on one end of the central carriage 20a. The welding robot 40 is coupled to a welding system and is fitted with a welding torch unit 46. The welding wire is fed to torch unit 46 by wire feeder means 47. Whenever an inert gas metal arc welding device and methods are used, a tank 48 containing a pressurized inert shielding gas SUC]l as argon or helium is also mounted at one end of the intermediate carriage 20a.
Operation of the welding torch assembly 46 including the parameters of electric voltage, amperage, metal wire feed rate and inert gas flow to the torch unit is controlled by console control unit 50, which is also interconnected with the welder control panel 52 and the torch unit 46. For automatic operation of the welding torch assembly 46, the operating parameters are first pre-programmed by a teach control unit 54. Manual control of the robot welder 40 can be effected by a control unit 56 which is also connected to the gimbal assembly 44.
The torch arm assembly 42 and gimbal assembly 44 of welding robot 40 are additionally shown in Fig. 5. Torch g _ ~' i301203 arm 43 is moved vert.ically relative to gimbal assembly 44 by gear 43a driven by motor 43b mounted on the gimbal assembly, and engaging rac~ 43c mounted on the arm 43, as shown in enlarged detail by Fig. 5B. Electric power is supplied through flexible cable 41 to the arm 43 upper end and thence through an inner conductor (not shown) to the welding torch unit 46.
..
~30120~
The torch assembly 42 is able ~o be rotated about the central axis of arm 43, and is also hinged at joint 45. The robot assem-bly 40 is adapted for moving the arm assembly 42 and torch unit 46 vertically, as well as to pivot it in both longitudinal and trans-verse directions relative to the elongated tubes 19 being weldedso as to traverse all surfaces of the tubes, as is generally shown by Figs. 6 and 7.
Fig. 6 shows arm 43 in both an extended and a withdrawn position relative to gimbal assembly 44, and arm 43 can also be rotated about pivot 44a to move through a longitudinal angle of about 90 relative to the length of the elongated tubes 19. Also, welding torch unit 46 can be pivoted at joint 45 as required to perform the welding operations. Fig. 7 skows the torch arm 43 in an extended position and pivoated at 44b through a lateral angle of about 90 relative to the elongated tubes 19 to perform a welding operation on all the tubes.
This invention will be further described by use of the fol-lowing specific example, which should not be construed as limiting in scope of the invention.
EXAMPLE
A panelizing machine for welding adjacent tubes is provided which has an elongated main frame 6.5 ft. wide by 70 ft. long, and three movable transverse clamping carriages supported by rol-lers on dual rails on the frame. The frame and carriages are each sized to receive 16 tubes, each tube being 3 inch diameter by 60 feet long and having a longitudinal fin 0.25 inch thick by 0.50 inch wide extending along two opposite sides of each tube, thereby making a tubular structure 4 inch wide for each tube and a total width 64 in. across the 16 tubes. The tubes are loaded into ~ 30~2~3 shaped notches provided in frame bed plates each spaced 2 ft.
apart along the frame, and the tubes are clamped against the bed plates by four vertically movable contoured upper clamps provided in each carriage, and are pressure clamped rigidly into place.
Then the panelizing machine welding device is activated, and the adjoining fins of the tubes are electric arc tack welded to-gether by making multiple welds about 1 in. long spaced at 12 in.
intervals along a four foot length of the tubes by a welding robot mounted on the central carriage. The tubes are then unclamped and the carriages moved forward by a distance of 4 ft. and the operation repeated for the entire 60 ft. length of the tubes.
The resulting stitch welded tube panel is then removed from the panelizing machine, and after further seam welding can form a partial wall for a steam generating boiler.
Although this invention has been described broadly and in terms of a preferred embodiment, it will be apparent that desirable modifications and variations can be made to the panelizing machine and its operation all within the scope of the invention, which is defined by the following claims.
Claims (17)
1. A panelizing machine for clamping and welding a plurality of elongated structures, the machine comprising:
(a) an elongated main frame including dual elongated para-llel frame members and at least two connecting cross members, each frame member being provided with a rail extending along an upper side of the frame member;
(b) at least two bed plates extending transversely across said main frame and spaced apart from each other, each said bed plate being supported by one of said cross members and each having a plurality of notches provided on the plate upper side, and adapted for receiving a plurality of elongated structures in the notches;
(c) at least two carriages extending transversely across said main frame, said carriage being supported by said rails and being longitudinally movable along the main frame on the rails;
(d) at least one vertically movable contoured clamping plate provided within each said carriage, each said clamping plate being attached on its upper side to a pressurizable piston means, and having a plurality of notches provided on the plate lower side in vertical alignment with the notches provided on the upper side of each said bed plate, and adapted for clamping and re-taining a plurality of the elongated structures onto the main frame; and (e) a welding device mounted on the upper portion of one said carriage, said welding device being adapted to be positioned for performing a welding operation on the clamped elongated structures.
(a) an elongated main frame including dual elongated para-llel frame members and at least two connecting cross members, each frame member being provided with a rail extending along an upper side of the frame member;
(b) at least two bed plates extending transversely across said main frame and spaced apart from each other, each said bed plate being supported by one of said cross members and each having a plurality of notches provided on the plate upper side, and adapted for receiving a plurality of elongated structures in the notches;
(c) at least two carriages extending transversely across said main frame, said carriage being supported by said rails and being longitudinally movable along the main frame on the rails;
(d) at least one vertically movable contoured clamping plate provided within each said carriage, each said clamping plate being attached on its upper side to a pressurizable piston means, and having a plurality of notches provided on the plate lower side in vertical alignment with the notches provided on the upper side of each said bed plate, and adapted for clamping and re-taining a plurality of the elongated structures onto the main frame; and (e) a welding device mounted on the upper portion of one said carriage, said welding device being adapted to be positioned for performing a welding operation on the clamped elongated structures.
2. A panelizing machine according to claim 1, wherein each carriage includes an end plate located at each end, each end plate having an extension portion which contacts a lower side of the main frame when clamping the structural elements.
3. A panelizing machine according to claim 1, wherein each said carriage is supported and longitudinally movable along said rails by dual rollers provided at each end of the carriage for running on each rail provided on each said frame member.
4. A panelizing machine according to claim 1, wherein each said contoured clamping plate is vertically movable by a pressurizable piston means attached to the upper edge of the clamping plate.
5. A panelizing machine according to claim 1, wherein three carriages are provided on said main frame, the central carriage having the welding robot unit attached to an upper portion of the carriage and adapted for making welds on the elongated structures, with the two other carriages being used for accurately clamping the elongated structures to the bed plates during the welding on the elongated structures.
6. A panelizing machine according to claim 3, wherein the rollers at one end of said carriage are V-shaped and run along a V-shaped rail provided on one said main member, the rollers on the carriage other end being flat rollers running on a flat rail attached to the other frame member.
i. The panelizing machine according to claim 2, wherein each carriage has an electric motor and drive gear unit attached to each end plate for moving the carriage along the rails.
8. A panelizing machine according to claim 7, wherein each said carriage is provided with braking means for accurately positioning the carriage along the main frame.
9. A panelizing machine according to claim 2, wherein each said carriage is spaced apart from each other by proximity sensors provided on the carriage.
10. A panelizing machine for clamping and welding a plurality of elongated structures, the machine comprising:
(a) an elongated main frame including dual elongated parallel frame members and at least two connecting cross members, each frame member being provided with a rail extending along the upper side of the frame member;
(b) at least three bed plates extending transversely across said main frame and spaced apart from each other, each said bed plate being supported by one of said cross members and each bed plate having a plurality of notches provided on the plate upper side, and adapted for re-ceiving a plurality of elongated tubular structures in the notches;
(c) three carriages extending transversely across and sup-ported by said main frame, each said carriage having dual end plates which have extension portions adapted to extend below the frame members and being longitudin-ally movable along the main frame by rollers running on said rails; and (d) at least two vertically movable contoured clamping plates provided within each said carriage, each said clamping plate being attached on its upper side to a pressurizable hydraulic piston means, and having a plur-ality of notches provided on the plate lower side in vertical alignment with the notches provided on the upper side of each said bed plate, and adapted for clamping and retaining a plurality of elongated tubular structures onto the main frame; and (e) a robot welding device mounted on the upper portion of the central of said carriages, said welding device being adapted to be positioned for making a plurality of spaced apart welds on the clamped tubular structures.
(a) an elongated main frame including dual elongated parallel frame members and at least two connecting cross members, each frame member being provided with a rail extending along the upper side of the frame member;
(b) at least three bed plates extending transversely across said main frame and spaced apart from each other, each said bed plate being supported by one of said cross members and each bed plate having a plurality of notches provided on the plate upper side, and adapted for re-ceiving a plurality of elongated tubular structures in the notches;
(c) three carriages extending transversely across and sup-ported by said main frame, each said carriage having dual end plates which have extension portions adapted to extend below the frame members and being longitudin-ally movable along the main frame by rollers running on said rails; and (d) at least two vertically movable contoured clamping plates provided within each said carriage, each said clamping plate being attached on its upper side to a pressurizable hydraulic piston means, and having a plur-ality of notches provided on the plate lower side in vertical alignment with the notches provided on the upper side of each said bed plate, and adapted for clamping and retaining a plurality of elongated tubular structures onto the main frame; and (e) a robot welding device mounted on the upper portion of the central of said carriages, said welding device being adapted to be positioned for making a plurality of spaced apart welds on the clamped tubular structures.
11. A method for producing elongated welded panels, including the steps of:
(a) placing a plurality of elongated structures in parallel alignment onto an elongated clamping frame having at least two spaced-apart bed plate support members;
(b) clamping the elongated structures to the bed plate support members at at least two longitudinally spaced locations by a horizontally and vertically movable upper clamping plate descending onto the elongated structures at each said location, the clamping plates being mounted in a carriage longitudinally movable on the clamping frame;
(c) welding the adjacent elongated structures together at longitudinally spaced intervals over at least a portion of their length by utilizing a welding device mounted on one of the carriages; and (d) unclamping the elongated structures and moving the welding carriage to a new location on the clamping frame, then reclamping the elongated structures and again welding them together at longitudinal spaced intervals along their length, so as to produce an elongated welded panel structure.
(a) placing a plurality of elongated structures in parallel alignment onto an elongated clamping frame having at least two spaced-apart bed plate support members;
(b) clamping the elongated structures to the bed plate support members at at least two longitudinally spaced locations by a horizontally and vertically movable upper clamping plate descending onto the elongated structures at each said location, the clamping plates being mounted in a carriage longitudinally movable on the clamping frame;
(c) welding the adjacent elongated structures together at longitudinally spaced intervals over at least a portion of their length by utilizing a welding device mounted on one of the carriages; and (d) unclamping the elongated structures and moving the welding carriage to a new location on the clamping frame, then reclamping the elongated structures and again welding them together at longitudinal spaced intervals along their length, so as to produce an elongated welded panel structure.
12. The method of Claim 11, wherein the elongated structures are clamped onto the clamping frames at three locations by three said carriages including an intermediate carriage and a trailing carriage, and the structures are welded by the robot welding device mounted on the intermediate carriage.
13. The method of Claim 12, wherein the clamping carriages are longitudinally spaced apart from each other by 2-10 feet, and the intermediate carriage is moved forward after the trailing carriage is moved forward.
14. The method of Claim 11, wherein the elongated parallel structures are clamped at intervals of 3-5 feet using a force of 2000-10,000 lbs. applied on a set of four adjacent said structures.
15. The method of Claim 11, wherein the elongated parallel structures are tubes which each have oppositely oriented fins, and the adjacent fins are stitch welded together at spaced intervals.
16. The method of Claim 11, wherein the intermittent welding is performed using inert gas metal arc welding procedures.
17. A method for producing elongated welded panels, including the steps of:
(a) placing a plurality of elongated structures in parallel alignment onto an elongated clamping frame having at least, three spaced-apart bed plate support members;
(b) clamping the elongated structures to the bed plate support members at three longitudinally spaced-apart locations by a horizontally and vertically movable upper clamping plate descending onto the elongated structures at each said location, the clamping plates being mounted in a carriage longitudinally movable on the clamping frame;
(c) welding the adjacent elongated structures together at longitudinally spaced intervals over at least a portion of their length by utilizing a welding device mounted on the intermediate of said carriages; and (d) unclamping the elongated structures and moving the welding carriage forward by 2-10 feet to another location on the clamping frame, then reclamping the elongated structures and again welding them together at spaced intervals along their length, so as to produce an elongate welded panel structure.
(a) placing a plurality of elongated structures in parallel alignment onto an elongated clamping frame having at least, three spaced-apart bed plate support members;
(b) clamping the elongated structures to the bed plate support members at three longitudinally spaced-apart locations by a horizontally and vertically movable upper clamping plate descending onto the elongated structures at each said location, the clamping plates being mounted in a carriage longitudinally movable on the clamping frame;
(c) welding the adjacent elongated structures together at longitudinally spaced intervals over at least a portion of their length by utilizing a welding device mounted on the intermediate of said carriages; and (d) unclamping the elongated structures and moving the welding carriage forward by 2-10 feet to another location on the clamping frame, then reclamping the elongated structures and again welding them together at spaced intervals along their length, so as to produce an elongate welded panel structure.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CA000572372A CA1301203C (en) | 1988-07-19 | 1988-07-19 | Panelizing machine and method for use |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CA000572372A CA1301203C (en) | 1988-07-19 | 1988-07-19 | Panelizing machine and method for use |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CA1301203C true CA1301203C (en) | 1992-05-19 |
Family
ID=4138398
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CA000572372A Expired - Fee Related CA1301203C (en) | 1988-07-19 | 1988-07-19 | Panelizing machine and method for use |
Country Status (1)
| Country | Link |
|---|---|
| CA (1) | CA1301203C (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108279148A (en) * | 2018-02-08 | 2018-07-13 | 莱州市华兴测试仪器有限公司 | A kind of automatic depanning pointing machine |
-
1988
- 1988-07-19 CA CA000572372A patent/CA1301203C/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108279148A (en) * | 2018-02-08 | 2018-07-13 | 莱州市华兴测试仪器有限公司 | A kind of automatic depanning pointing machine |
| CN108279148B (en) * | 2018-02-08 | 2024-05-24 | 莱州市华兴测试仪器有限公司 | Automatic demolding and embedding machine |
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