JP2008279495A - Automatic welding robot for longitudinal butt joint - Google Patents

Automatic welding robot for longitudinal butt joint Download PDF

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Publication number
JP2008279495A
JP2008279495A JP2007128178A JP2007128178A JP2008279495A JP 2008279495 A JP2008279495 A JP 2008279495A JP 2007128178 A JP2007128178 A JP 2007128178A JP 2007128178 A JP2007128178 A JP 2007128178A JP 2008279495 A JP2008279495 A JP 2008279495A
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Japan
Prior art keywords
manipulator
traveling
rail
butt joint
shaft
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Pending
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JP2007128178A
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Japanese (ja)
Inventor
Kanemitsu Kusano
Manabu Miyajima
Tateo Miyazaki
Hiroaki Nakahara
Yoshio Nakajima
Noriaki Shinohara
裕明 中原
義男 中島
学 宮島
建雄 宮崎
紀昭 篠原
兼光 草野
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Universal Shipbuilding Corp
ユニバーサル造船株式会社
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Application filed by Universal Shipbuilding Corp, ユニバーサル造船株式会社 filed Critical Universal Shipbuilding Corp
Priority to JP2007128178A priority Critical patent/JP2008279495A/en
Publication of JP2008279495A publication Critical patent/JP2008279495A/en
Pending legal-status Critical Current

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Abstract

<P>PROBLEM TO BE SOLVED: To provide a compact and lightweight automatic welding robot for a longitudinal butt joint capable of easily performing the assembly and the disassembly without using any tool, and allowing only one person to achieve a setup work, a welding work and a tidying work for the mounting on a longitudinal. <P>SOLUTION: The automatic welding robot comprises a traveling unit 2 composed of a traveling rail 21 attachable/detachable between bottom longitudinal faces 104, and a traveling driving body 22 moving automatically on the traveling rail, an elevating/lowering unit 3 composed of an elevating/lowering shaft supporting body 23 attachably/detachably erected on the traveling driving body, and a vertically moving elevating/lowering driving body 25 which is screwed to an elevating/lowering screw shaft 24 provided on the elevating/lowering shaft supporting body, a manipulator unit 4 composed of a manipulator supporting body 27 mounted on the elevating/lowering driving body by a manipulator part fixing clamp 26, a longitudinal shaft part 28 mounted on the manipulator supporting body, and a manipulator 29 mounted on the longitudinal shaft part in a longitudinally moving manner and having three rotational shafts of turn, rotation and twist, and a welding torch 6 held by a torch holder 5 freely detachably mounted on the manipulator. <P>COPYRIGHT: (C)2009,JPO&INPIT

Description

  The present invention relates to a longe butt joint automatic welding robot, and more particularly to a longi butt joint automatic welding robot for automatically welding long structures of steel structures such as bridges and ship blocks and butt joints of main grooves to which the longi material is attached. It is.

The conventional automatic welding system is an automatic welding system that performs automatic welding on a welding target portion that requires welding work in a closed space that can be entered and exited through an opening, and is troublesome in the closed space through the opening. A traveling rail which is arranged so as to correspond to the welding target location in the closed space and is detachably attached, and is brought into the closed space through the opening and is equipped to travel on the traveling rail. And a welding robot attached to the moving carriage, and automatically welding the welding target portion while running along the running rail of the moving carriage and moving the welding arm of the welding robot. (See, for example, Patent Document 1).
Japanese Patent Laid-Open No. 11-333592 (first page, FIG. 1)

In a conventional automatic welding system, a plurality of support rods are used to attach a traveling rail on which a traveling carriage, to which a welding robot is attached, travels, to a welding target portion, and the support rods are attached to the supporting members of the traveling rail with a thumbscrew. It is fixed by etc. and protrudes in the vertical direction of the traveling rail, and the tip of each upper and lower support bar is crimped to the lower edge of the upper longe and the upper edge of the lower longe to fix the traveling rail in a stretched state It costs as much as it requires multiple support rods, and it takes time and effort to attach the traveling rail to the welding target location, and it is crimped to the longage of the support rod fixed to the traveling rail. Therefore, there is a problem that it cannot be said that it has sufficient strength.
In addition, the general-purpose welding robot attached to the moving carriage traveling on the traveling rail has 7 axes, and when the traveling axis of the moving carriage is included, the total number is 8 axes, and the welding robot includes unnecessary axes. For this reason, there is a problem that the system is large, heavy and redundant, and is complicated and expensive.

  The present invention has been made to solve such problems, and is small and lightweight, can be easily assembled and disassembled without tools, and can easily perform setup work such as attachment to a longage, which is a place to deal with welding. It is possible to obtain a longe butt joint automatic welding robot that can perform setup work, welding work, and tidying work by one person.

  A longi butt joint automatic welding robot according to the present invention includes a travel unit configured to be detachable between faces of a longe having a butt joint part, and a travel unit that travels on the travel rail; An elevating shaft support that is detachably installed on the traveling drive body and supports the elevating screw shaft vertically, is guided vertically by the elevating shaft support, and is screwed to the elevating screw shaft to move up and down. An elevating unit composed of an elevating drive body, a manipulator support attached to the elevating drive body by a manipulator fixing clamp, a front and rear shaft part attached to the manipulator support, and a front and rear axis part A manipulator unit that is mounted so as to move in a direction and has a three-axis rotating, rotating, and twisting mechanism, and detachable from the manipulator Is held mounted torch holder and is constituted by a welding torch for automatically welding longitudinals butt joint.

  In the longe butt joint automatic welding robot according to the present invention, a traveling unit configured to be detachable between the faces of the longe having the butt joint part, and a traveling drive body that self-travels on the traveling rail, An elevating shaft support that is detachably installed on the traveling drive body and supports the elevating screw shaft vertically, is guided in the vertical direction by the elevating shaft support, and is screwed into the elevating screw shaft to move up and down An elevating unit composed of a moving elevating drive body, a manipulator support attached to the elevating drive body by a manipulator fixing clamp, a front and rear shaft attached to the manipulator support, and a front and rear shaft A manipulator unit that is attached to move in the front-rear direction and has a three-axis rotating, rotating, and twisting mechanism, and a manipulator Since it is configured with a welding torch that is held by a releasably attached torch holder and automatically welds a longe butt joint, the traveling shaft of the traveling unit, the lifting shaft of the lifting unit, and the front and rear shafts of the manipulator unit It is a compact and lightweight structure with 6 degrees of freedom consisting of three axes of linear movement of the shaft and three axes of rotation of the manipulator, and the traveling unit, lifting unit and manipulator unit are detachably assembled, so assembly and disassembly can be done without tools. It is easy to carry out and can easily perform setup work such as attachment to the longage, which is a place to deal with welding, and it is possible to perform setup work, welding work and cleaning work by one person.

  FIG. 1 is a block diagram showing the entire system of a longe butt joint automatic welding robot according to Embodiment 1 of the present invention, FIG. 2 is a block diagram showing a portion to be welded by the longe butt joint automatic welding robot, and FIG. FIG. 4 is a front view showing the Longe butt joint automatic welding robot mounted on the longe, and FIG. 5 is a Longe butt joint automatic welding robot. 6 is a side view showing a state in which the Longe butt joint is automatically assembled and disassembled, and FIG. 7 is a block diagram showing the assembly and disassembly state of the Longe butt joint automatic welding robot. FIG. FIG. 8 is a bottom view showing a state where the traveling rail of the longe butt joint automatic welding robot is attached to the longe face, and FIG. FIG. 10 is a front view showing a traveling unit of the longe butt joint automatic welding robot, FIG. 10 is a front view showing the traveling unit of the longi butt joint automatic welding robot, FIG. FIG. 12 is a side sectional view showing the traveling unit of the longe butt joint automatic welding robot, and FIG. 13 shows the state of attachment of the lifting drive to the lifting shaft support of the longe butt joint automatic welding robot. FIG. 14 is a side view showing an attachment state of the lifting drive body to the lifting shaft support of the Longe butt joint automatic welding robot, and FIG. 15 is the lifting to the lifting shaft support of the Longe butt joint automatic welding robot. FIG. 16 is a side view showing the mounting state of the manipulator to the front and rear shafts of the Longe butt joint automatic welding robot, and FIG. FIG. 18 is a cross-sectional view showing the state of attachment of the manipulator to the front and rear shafts of the automatic butt joint automatic welding robot, and FIG. 19 is an automatic view of the long butt joint automatic welding robot. FIG. 20 is an explanatory diagram showing the operation directions of the three linear motion axes and the three rotational axes of the automatic welding robot of the longe butt joint.

In FIG. 1, the longe butt joint automatic welding robot 1 according to Embodiment 1 of the present invention is mounted on the face 104 of the bottom longe 102 </ b> A of the ship bottom double hull 101.
The butt joint automatic welding robot 1 includes a traveling unit 2 that is detachably attached to the face 104 of the bottom long 102A, an elevating unit 3 that is detachably mounted on the traveling unit 1, and an elevating unit 3 that can be raised and lowered. And a welding torch 6 held by a torch holder 5 that is detachably attached to the manipulator unit 4.
The long butt joint automatic welding robot 1 according to the first embodiment can be mounted on the inner bottom long 102B or the long double of the ship side double hull 101 shown in FIG.
The bottom long 102 </ b> A and the inner bottom long 102 </ b> B both refer to members arranged in the longitudinal direction of the ship, i.e., longitudinal aggregates. Although referred to as a longitudinal aggregate, the following description will be made using the names of bottom long 102A and inner bottom long 102B.

A control panel 9 is connected to the butt joint automatic welding robot 1 via a robot power cable 7 and a robot signal cable 8. The control panel 9 is connected with an operation box 10 for performing driving operation, data operation, and the like via a box signal line 11, and the traveling unit 2, the lifting unit 3, and the manipulator unit are operated by operating the operation box 10. The welding is performed by moving the welding torch 6 by driving the drive parts 4.
The welding torch 6 is configured to be fed with a torch cable 13 fed from a wire feeding device 12 mounted on another face 104. A secondary power cable 15b of a welding power source 14 connected to the primary power cable 15a is connected to the wire feeder 12 and a CO2 gas hose 16 is connected.

Next, the detailed configuration of the longi butt joint automatic welding robot 1 of the first embodiment will be described with reference to FIGS.
The traveling unit 2 of the longe butt joint automatic welding robot 1 includes a traveling rail 21 that is detachably attached to the face 104 and a traveling drive body 22 that travels on the traveling rail 21.
The lifting unit 3 of the butt joint automatic welding robot 1 is detachably installed on the travel drive body 22 and includes a lifting shaft support 23 that supports the lifting screw shaft 24 with a support arm 23b, and a lifting shaft support 23. And an elevating drive body 25 that moves up and down by being screwed to the elevating screw shaft 24.
The elevating shaft support 23 has a rectangular cross section made of aluminum and has a hollow portion for weight reduction, and a rib for securing strength is formed inside thereof.
Further, the manipulator unit 4 of the butt joint automatic welding robot 1 includes a manipulator support 27 attached by a manipulator fixing clamp 26 provided on the lifting drive body 25, and a front / rear shaft portion 28 attached to the manipulator support 27. The manipulator 29 is attached to the front / rear shaft portion 28 and moves in the front / rear direction.

Next, the structure of the traveling rail 21 of the traveling unit 2 will be described with reference to FIGS.
The traveling rail 21 is a rectangular main body 31 having a predetermined length arranged so as to bridge between the faces 104 of the bottom long 102A, a rack 32 with a V groove attached to one surface of the rail main body 31, and A locking portion 33 having an operation lever 34 configured as one of snap locks attached to one end of one side of the rail body 31 and a configuration of the other of the snap locks attached to the other end of the rail body 31 To be engaged, the face fixing clamps 36 of the toggle mechanism provided at both ends of the back surface of the rail body 31, and the vertical direction provided at the end face of one end of the rail body 31 (the thickness direction of the rail body 31). ) Positioning pin 37 that performs misalignment of the positioning), positioning key 38 that performs misalignment in the front-rear direction (the width direction of the rail body 31), and the rail book And a positioning pin receiving hole 39 and the positioning key receiving portion 40. provided at the other end face of 31.
The rail body 31 has a rectangular cross-sectional shape made of aluminum and has a hollow portion for weight reduction, and a rib for securing strength is formed inside thereof.

Next, the structure of the traveling drive body 22 of the traveling unit 2 will be described with reference to FIGS.
The traveling drive unit 22 includes a rectangular traveling platform 41, a pair of support fixing clips 42 attached to the surface of the traveling platform 41, a drive motor 43 attached to the surface of the traveling platform 41, and the traveling platform 41. A drive pinion 44 provided on the back surface and rotated by a drive motor 43 and meshed with the V-grooved rack 32, a travel roller 45 provided on the back surface of the traveling table 41 and traveling on the surface of the rail body 31, The guide roller 46 is provided on the rear surface of the base 41 and follows the V-grooved rack 32, and the side roller 47 is provided on the rear surface of the traveling base 41 and follows the side surface of the rail body 31.
As shown in FIG. 12, since the guide roller 46 follows the outside of the V-grooved rack 32, the moment force in the width direction of the traveling drive body 22 can be supported on the traveling rail 3. At this time, the traveling roller 45 also contacts the surface of the traveling rail 3 to support the entire load. Further, the guide roller 46 that follows the outside of the V-grooved rack 32 and the side roller 47 that follows the side surface of the traveling rail 3 ensure the straightness of the traveling drive body 22.

Furthermore, the structure of the raising / lowering drive body 25 assembled | attached to the raising / lowering axis | shaft support body 23 of the raising / lowering unit 3 is demonstrated based on FIGS.
The elevating drive body 25 is attached to the elevating drive box 51, the elevating axis guide block 52 which is attached to the side surface of the elevating drive box 51 and is fitted to the elevating axis guide rail 23 a of the drive shaft support 23, and the elevating drive box 51. A lifting shaft motor 53 disposed in the lifting / lowering drive box 51, a lifting / lowering driving nut 54 screwed to the lifting / lowering screw shaft 24, and a drive belt for transmitting the rotation of the lifting / lowering shaft motor 53 to the lifting / lowering driving nut 54. 55 and adopts a nut drive system.
The reason why the lifting / lowering driving body 25 adopts the nut driving method is that, in order to ensure productivity in the construction by the robot, it is necessary to increase the speed of the automatic operation, so that the stroke is longer in the ball screw linear motion mechanism. In this case, ball screw driving is disadvantageous for speeding up compared to nut driving due to increased load inertia and screw vibration. Therefore, the nut drive has no problem with load inertia and vibration even when the stroke becomes longer.

Next, the structure of the manipulator unit 4 attached to the raising / lowering drive body 25 of the raising / lowering unit 3 is demonstrated based on FIGS.
The manipulator support 27 of the manipulator unit 4 is fixedly attached to the elevating drive body 25 by a manipulator fixing clamp 26. A front / rear shaft portion 28 is fixed to the lower portion of the manipulator support 27.
The front / rear shaft portion 28 is attached to the front / rear shaft box 61, the front / rear shaft guide rail 62 that is attached to the lower surface of the front / rear shaft box 61 and is fitted to the manipulator guide block 71 on the upper surface of the manipulator 29, and the front / rear shaft box 61. The front-rear axis drive motor 63, the front-rear axis drive ball screw 64 rotatably provided in the front-rear axis box 61, the rotary pulley 65 attached to one end of the front-rear axis 64, and the front-rear axis motor 63 are rotated. A drive belt 66 that transmits to the rotary pulley 65, and a front and rear shaft drive nut 67 that is screwed to the front and rear shaft drive ball screw 64 and is integrally connected to the manipulator 29 at the lower portion, adopts a ball screw drive system. .
The reason why the front and rear shaft portion 28 adopts the ball screw driving method is that the front and rear shaft shaft portion 28 has a short stroke, avoids a nut driving method whose structure is complicated compared to the ball screw driving method, and is generally used as a ball screw. Driven.

A manipulator 29 that moves in the front-rear direction at the lower portion of the front-rear shaft portion 28 is attached to a manipulator base 70, a manipulator guide block 71 attached to the upper surface of the manipulator base 70, and a lower portion of the manipulator base 70 so as to be pivotable horizontally. The turning shaft portion 72, a rotating shaft portion 73 attached to the turning shaft portion 72 so as to be vertically rotatable, and a torsion shaft portion 74 attached to the rotating shaft portion 73 so as to be horizontally rotatable. ing.
A turning shaft drive motor 75 is provided in the manipulator base 70, a turning shaft speed reducer 76 is provided in the turning shaft portion 72, and a rotating shaft drive motor 77 and a rotation shaft speed reducer 78 are provided in the rotating shaft portion 73. A torsion shaft drive motor 79 is provided, and a torsion shaft speed reducer 80 is provided in the torsion shaft portion 74.

As shown in FIG. 19, a thread groove 91 is formed by tapping on the outer periphery of the tip flange 90 of the twisted shaft portion 74, which is the tip of the manipulator 29, and a positioning pin 92 projects from the end surface of the tip flange 90. Has been.
The torch holder 5 is a rod-like torch body 5a, a ring-like torch bracket 5b that is provided at the tip of the torch body 5a and abuts the end surface of the tip flange 90, a pin hole 5c provided in the torch bracket 5b, and a torch. A cap nut 5d fitted into the main body 5a and screwed into the thread groove 91 of the front end flange 90, and a holder 5e provided at the base end of the torch main body 5a and holding the welding torch 6 are configured.

To attach the torch holder 5 to the tip flange 90 of the manipulator 29, first, the torch bracket 5 b of the torch holder 5 is brought into contact with the end surface of the tip flange 90. At this time, the positioning pin 92 on the end face of the tip flange 90 is inserted into the pin hole 5c of the torch bracket 5b and positioned.
Accordingly, the torch body 5a of the torch holder 5 is positioned with high accuracy by the positioning pin 92 and the pin hole 5c on the front end flange 90 of the manipulator 29.
Next, the cap nut 5d fitted to the torch main body 5a is screwed into the thread groove 91 on the outer periphery of the tip flange 90, so that the torch holder 5 is screwed in a state of being accurately positioned on the tip flange 90.
The welding torch 6 is held by a holder 5e provided at the base end of the torch body 5a of the torch holder 5.

Finally, FIG. 20 shows the operation directions of the drive shafts of the longe butt joint automatic welding robot 1 of the first embodiment.
As shown in FIG. 20, the manipulator 29 has three axes of turning of the turning shaft portion 72, turning of the rotating shaft portion 73, and rotating shaft portion 74, and the traveling axis of the traveling unit 2 and the lifting unit 3 of the robot as a whole. The elevating shaft has three linear motion axes of the front / rear shaft portion 28.
Therefore, the longe butt joint automatic welding robot 1 is configured as a welding robot having a total of six axes including three rotation axes and three linear movement axes.

As described above, the Longe butt joint automatic welding robot 1 combines three orthogonal degrees of freedom suitable for operation along the butt joint of a rectangular long space and three degrees of freedom necessary for realizing a free torch posture. The 6-DOF robot is compact and lightweight, and is composed of three units: a traveling unit 2, an elevating unit 3, and a manipulator unit 4 so that setup work can be done by one person. It is configured to have a weight of 13 kg or less, and is an optimum mechanism for the longi butt joint and the bottom shell butt joint.
Moreover, the drive motor which drives each drive shaft of the longe butt joint automatic welding robot 1 employs a drive motor of 50 W or less that does not conflict with the safety rules (80 W rules) so that the operator can work in the vicinity.

Next, a process until the Longe butt joint automatic welding robot 1 according to Embodiment 1 of the present invention is installed on the face 104 of the bottom longe 102A and the Longe butt joint is welded by the butt joint automatic welding robot 1 will be described.
(1) First, the traveling unit 2 is mounted on the face 104 of the bottom longitudinal 102A.
(2) Next, the elevating unit 3 is assembled in a standing state on the traveling unit 2 attached to the face 104.
(3) Finally, the manipulator unit 4 is supported by the elevating unit 3 to complete the assembly of the longe butt joint automatic welding robot 1 on the face 104 of the bottom longe 102A.
(4) The longe butt joint is welded by the longe butt joint automatic welding robot 1.
(5) When the welding of the butt joint is completed for one longe, the traveling rail 21 of the traveling unit 2 is connected in order to perform welding on the next longe which is the next longe.
(6) The traveling drive body 22 is driven onto the connected traveling rail 21 to move the longe butt joint automatic welding robot 1 and the butt joint is welded to the adjacent longe.
(7) In this way, the operations of (5) to (6) are repeated, and the longi butt joints are welded to the adjacent longi one after another.

(1) A case where the traveling unit 2 is mounted on the face 104 of the bottom long 102A will be described.
Since the travel drive body 22 is assembled to the travel rail 21 to constitute the travel unit 2, the travel rail 21 integrated with the travel drive body 22 is assembled integrally to the face 104 of the bottom long 102A.
First, both ends of the traveling rail 21 are placed between two adjacent faces 104.
Next, the operation levers of the face fixing clamps 36 of the toggle mechanism attached to both ends of the back surface of the traveling rail 21 are rotated to press the clamp member against the back surface of the long face 104, and the face fixing clamp 36 causes the face to move. The traveling rail 21 is assembled integrally with the face 104 so as to sandwich the 104.
In this case, since the face fixing clamp 36 of the toggle mechanism is used, the running rail 21 of the face 104 can be attached and detached without using a tool.

(2) The case where the elevating unit 3 is assembled in the standing state on the traveling unit 2 attached to the face 104 will be described.
First, the elevating shaft support 23 of the elevating unit 3 is erected on the traveling platform 41 of the traveling drive body 22 of the traveling unit 2.
Next, by clamping the three L-shaped fixed angles 23c respectively provided on the lower end and one side of the lifting shaft support 23 with the three support fixing clamps 42 provided on the traveling base 41. The elevating shaft support 23 is erected on the traveling base 41 in a fixed state.
Note that a lifting drive body 25 is assembled to the lifting support 23.

(3) A case where the elevating unit 3 supports the manipulator unit 4 will be described.
A manipulator unit 4 is configured by assembling the manipulator support 27, the front / rear shaft portion 28, and the manipulator 29.
The manipulator support 27 of the manipulator unit 4 is fixed to the elevating drive body 25 of the elevating unit 3 by the manipulator fixing clamp 26, so that the manipulator unit 4 is supported by the elevating unit 3, and the long butt joint is attached to the face 104 of the bottom long 102A. The assembly of the automatic welding robot 1 is completed.
In this case, since the manipulator part fixing clamp 26 is used, the attachment / detachment of the manipulator support 27 to / from the elevating drive body 25 can be performed without using a tool.

(4) The longe butt joint is welded by the longe butt joint automatic welding robot 1.
The longe butt joint automatic welding robot 1 is a six-axis welding robot with a total of three rotation axes and three linear movement axes. The operation box 10 is operated to cooperate with these axes in response to a drive signal from the control panel 9. By controlling the operation in this manner, butt joint welding is performed by the welding torch 6 for each of the web joint 105, the face joint 106, and the outer plate joint 108 in the bottom longitudinal 102A shown in FIG.

(5) Connection of the traveling rail 21 of the traveling unit 2 in order to perform welding on the adjacent longe will be described.
The running rails 21 are connected to each other by inserting a positioning pin 37 attached to one end face of one rail body 31 into a positioning pin receiving hole 39 attached to the other end face of the other rail body 31. When the positioning key 38 attached to one end face of one rail body 31 is engaged with the positioning key receiving portion 40 attached to the other end face of the other rail body 31, the one rail body 31 is engaged. The other end of the other rail body 31 is connected to one end of the rail.

The one locking portion 33 of the snap lock attached to one side surface of the one rail body 31 thus connected is attached to the other side surface of the other rail body 31 by operating the operation lever 34. By engaging the other locked portion 35 of the snap lock, the two connected rail bodies 31, that is, the traveling rail 21, are integrated.
At this time, the positioning pin 37 of one traveling rail 21 is inserted into the positioning pin receiving hole 39 of the other traveling rail 21 so that the vertical alignment (in the thickness direction of the rail body 31) is performed. When the positioning key 38 of the traveling rail 21 is engaged with the positioning key receiving portion 40 of the other traveling rail 21, the misalignment in the front-rear direction (the width direction of the rail body 31) is performed, so that the traveling rails 21 are connected to each other. Connected with high accuracy.
The traveling rails 21 can be connected to each other reliably by using a snap lock, and the traveling rails 21 can be connected to each other and the connection can be released without using a tool.
(6) The traveling drive body 22 is driven onto the connected traveling rail 21 to move the longe butt joint automatic welding robot 1, and the welding of the longi butt joint is performed in the same manner as described in the above (4) for the adjacent longe. Do.

  As described above, according to the long butt joint automatic welding robot 1 of the first embodiment of the present invention, the traveling rail 21 that is detachable between the faces 104 of the bottom long 102A having the butt joint portion, and the traveling rail 21 are automatically mounted. A traveling unit 2 composed of a traveling drive body 22 that travels; a lifting shaft support body 23 that is detachably installed on the traveling drive body 22 of the traveling unit 2 and supports the lifting screw shaft 24 vertically; An elevating unit 3 composed of an elevating drive body 25 guided up and down by a shaft support body 23 and screwed up and down to move up and down and fixed to the elevating drive body 25 of the elevating unit 3. A manipulator support 27 attached by a clamp 26, a front / rear shaft portion 28 attached to the manipulator support 27, and a front / rear shaft portion 28 so as to move in the front / rear direction. A long-term butt joint held by a manipulator unit 4 comprising a manipulator 29 having a pivoting, rotating, and twisting triaxial mechanism attached thereto, and a torch holder 5 detachably attached to the manipulator 29 of the manipulator unit 4 Since the welding torch 6 is automatically welded, the traveling shaft of the traveling unit 2, the lifting shaft of the lifting / lowering unit 3, and the three linear motion axes of the front / rear shaft of the front / rear shaft portion 28 of the manipulator unit 4 and the manipulator 29. This is a compact, lightweight structure with 6 degrees of freedom consisting of three rotating shafts, and the traveling unit 2, the lifting unit 3 and the manipulator unit 4 are detachably assembled so that they can be easily assembled and disassembled without tools and welded. Setup work such as attachment to the longage, which is the location to deal with, can be done easily. , It can be carried out until the clean up work one person.

In the first embodiment, the length of the traveling rail 21 is a length that is placed between the faces 104 of the bottom long 102A, but it goes without saying that the length of the traveling rail 21 may be longer than that. Absent.
In the first embodiment, the Longe butt joint automatic welding robot 1 is installed on the face 104 of the bottom longe 102A of the bottom double hull 100 and the welding torch 6 faces downward. It can also be installed on the face of the inner bottom long 102B or the long side of the ship side double hull 101 to automatically weld the long butt joint.
Furthermore, in the first embodiment, the positioning pin 37, the positioning pin receiving hole 39, the positioning key 38, and the positioning key receiving portion 40 are used for positioning for connecting the rail bodies 31 of the traveling rail 21. Of course, different shapes, arrangements, and numbers may be used as long as the same positioning function can be achieved.
Furthermore, the arrangement of the traveling roller 45, the guide roller 46, and the side roller 47 of the traveling drive body 22 can be freely laid out if these rollers perform their respective functions.

BRIEF DESCRIPTION OF THE DRAWINGS The block diagram which shows the whole system of the longi butt joint automatic welding robot which concerns on Embodiment 1 of this invention. The block diagram which shows the welding object site | part by the same longi butt joint automatic welding robot. The perspective view which shows the longi butt joint of the welding object site | part by the same longi butt joint automatic welding robot. The front view which shows the state with which the same longi butt joint automatic welding robot was mounted | worn by the longi. The side view which shows the state with which the same longi butt joint automatic welding robot was mounted | worn to the longe. The block diagram which shows the state of the assembly and disassembly of the same longi butt joint automatic welding robot. The front view which shows the state by which the traveling rail of the same longi butt joint automatic welding robot was mounted | worn to the longi face. The bottom view which shows the state by which the running rail of the same long butt joint automatic welding robot was mounted | worn to the longi face. The block diagram which shows the state of connection and isolation | separation of the traveling rails of the same longi butt joint automatic welding robot. The front view which shows the traveling unit of the same longi butt joint automatic welding robot. The top view which shows the traveling unit of the same longi butt joint automatic welding robot. Side surface sectional drawing which shows the traveling unit of the same longi butt joint automatic welding robot. The block diagram which shows the attachment state of the raising / lowering drive body to the raising / lowering shaft support body of the same longi butt joint automatic welding robot. The side view which shows the attachment state of the raising / lowering drive body to the raising / lowering shaft support body of the same long butt joint automatic welding robot. The top view which shows the attachment state of the raising / lowering drive body to the raising / lowering shaft support body of the same long butt joint automatic welding robot. The side view which shows the attachment state of the manipulator to the front-and-rear shaft part of the same longi butt joint automatic welding robot. The block diagram which shows the inside of the front-and-rear shaft part of the same longi butt joint automatic welding robot. Sectional drawing which shows the attachment state of the manipulator to the front-and-rear shaft part of the same longi butt joint automatic welding robot. The block diagram which shows the state of mounting | wearing and isolation | separation of the manipulator and torch holder of the same longi butt joint automatic welding robot. Explanatory drawing which shows the operation | movement direction of the linear 3 axis | shaft and rotation 3 axis | shaft of the same longi butt joint automatic welding robot.

Explanation of symbols

  1 Longe butt joint automatic welding robot, 2 traveling unit, 3 lifting unit, 4 manipulator unit, 5 torch holder, 6 welding torch, 21 traveling rail, 22 traveling drive body, 23 lifting shaft support, 24 lifting screw shaft, 25 lifting Drive body, 27 Manipulator support, 28 Front / rear shaft, 29 Manipulator.

Claims (4)

  1. A travel unit composed of a travel rail that is detachable between the faces of the longe having a butt joint portion, and a travel drive body that travels on the travel rail;
    An elevating shaft support that is detachably installed on the traveling drive body and supports the elevating screw shaft vertically, is guided in the vertical direction by the elevating shaft support, and is screwed into the elevating screw shaft to move up and down A lifting unit composed of a moving lifting drive;
    A manipulator support attached to the elevating drive body by a manipulator part fixing clamp, a front / rear shaft part attached to the manipulator support, and attached to the front / rear shaft part so as to move in the front / rear direction, turning, rotating, twisting A manipulator unit including a manipulator having a three-axis rotation mechanism;
    A longe butt joint automatic welding robot, comprising: a welding torch that is held by a torch holder that is detachably attached to the manipulator and that automatically welds the longi butt joint.
  2. The traveling rail is
    A rail body of a predetermined length arranged so as to bridge between the longes;
    A V-grooved rack attached to one side of the surface of the rail body;
    A locking portion having an operation lever attached to one end of one side of the rail body;
    A locked portion attached to the other end of the rail body;
    Face fixing clamps provided at both ends of the back surface of the rail body,
    At least two positioning members provided on one end face of the rail body;
    2. The longe butt joint automatic welding robot according to claim 1, further comprising: two positioning receiving members that are provided on an end surface of the other end portion of the rail body and are respectively fitted to the two positioning members.
  3. The travel driver is
    A platform,
    At least three support fixing clips attached to the surface of the platform;
    A drive motor attached to the surface of the platform;
    A drive pinion provided on the back surface of the carriage, meshed with a V-grooved rack of the rail body, and rotated by the drive motor;
    A traveling roller provided on the back surface of the traveling table and traveling on the surface of the rail body;
    A guide roller provided on the back surface of the traveling platform and imitating the V-grooved rack;
    2. The Longe butt joint automatic welding robot according to claim 1, further comprising: a side roller provided on a rear surface of the traveling table and imitating a side surface of the rail body.
  4. The torch holder includes a torch bracket that contacts the tip of the manipulator, and a cap nut that engages with a screw groove provided on the outer periphery of the tip of the manipulator when the torch bracket is in contact with the tip of the manipulator. ,
    The long-butt butt joint automatic welding robot according to claim 1, wherein a distal end of the manipulator has a positioning member, and the torch bracket has a positioning receiving member fitted to the positioning member.
JP2007128178A 2007-05-14 2007-05-14 Automatic welding robot for longitudinal butt joint Pending JP2008279495A (en)

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Application Number Priority Date Filing Date Title
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Application Number Priority Date Filing Date Title
JP2007128178A JP2008279495A (en) 2007-05-14 2007-05-14 Automatic welding robot for longitudinal butt joint

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JP2008279495A true JP2008279495A (en) 2008-11-20

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Cited By (9)

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Publication number Priority date Publication date Assignee Title
KR101129629B1 (en) * 2009-11-19 2012-03-28 삼성중공업 주식회사 Rail system
CN102601559A (en) * 2012-03-26 2012-07-25 无锡华联科技集团有限公司 Welding arm shifting device of U-rib welding machine
JP2012179636A (en) * 2011-03-01 2012-09-20 Universal Shipbuilding Corp Connection mechanism of traveling rail for automatic machine
CN103240558A (en) * 2013-05-16 2013-08-14 山东鲁帆集团有限公司 Manufacturing die and manufacturing method of supporting columns
CN104723574A (en) * 2015-03-30 2015-06-24 台州市黄岩双盛塑模有限公司 Automatic numerical control winding machine for glass fiber composite material elbows
JP2016010810A (en) * 2014-06-30 2016-01-21 株式会社Ihi Automatic welding apparatus
CN106271165A (en) * 2016-09-25 2017-01-04 羊丁 A kind of linear type steel-pipe welding machine people
CN106271166A (en) * 2016-09-25 2017-01-04 羊丁 A kind of running type linear type steel-pipe welding machine people
CN110977275A (en) * 2020-01-02 2020-04-10 宁海艾雅机械设备有限公司 Welding manipulator

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JPH05329643A (en) * 1992-05-28 1993-12-14 Kobe Steel Ltd Square welding method
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Cited By (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR101129629B1 (en) * 2009-11-19 2012-03-28 삼성중공업 주식회사 Rail system
JP2012179636A (en) * 2011-03-01 2012-09-20 Universal Shipbuilding Corp Connection mechanism of traveling rail for automatic machine
CN102601559A (en) * 2012-03-26 2012-07-25 无锡华联科技集团有限公司 Welding arm shifting device of U-rib welding machine
CN103240558A (en) * 2013-05-16 2013-08-14 山东鲁帆集团有限公司 Manufacturing die and manufacturing method of supporting columns
JP2016010810A (en) * 2014-06-30 2016-01-21 株式会社Ihi Automatic welding apparatus
CN104723574A (en) * 2015-03-30 2015-06-24 台州市黄岩双盛塑模有限公司 Automatic numerical control winding machine for glass fiber composite material elbows
CN106271165A (en) * 2016-09-25 2017-01-04 羊丁 A kind of linear type steel-pipe welding machine people
CN106271166A (en) * 2016-09-25 2017-01-04 羊丁 A kind of running type linear type steel-pipe welding machine people
CN106271165B (en) * 2016-09-25 2018-08-24 南宁市华隆五金家具有限公司 A kind of linear type steel-pipe welding machine people
CN106271166B (en) * 2016-09-25 2018-08-31 青岛祥明电力设备有限公司 A kind of running type linear type steel-pipe welding machine people
CN110977275A (en) * 2020-01-02 2020-04-10 宁海艾雅机械设备有限公司 Welding manipulator

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