JP2008302386A - Welding robot - Google Patents

Welding robot Download PDF

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Publication number
JP2008302386A
JP2008302386A JP2007151519A JP2007151519A JP2008302386A JP 2008302386 A JP2008302386 A JP 2008302386A JP 2007151519 A JP2007151519 A JP 2007151519A JP 2007151519 A JP2007151519 A JP 2007151519A JP 2008302386 A JP2008302386 A JP 2008302386A
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panel
rail
carriage
welding robot
roller chain
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JP2007151519A
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JP5186811B2 (en
Inventor
Yoshihisa Yamauchi
淑久 山内
Kenji Iimura
賢司 飯村
Yuichi Miura
雄一 三浦
Hiroto Yamaoka
弘人 山岡
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IHI Corp
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IHI Corp
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Abstract

<P>PROBLEM TO BE SOLVED: To provide a welding robot which can cope with panels having various sizes. <P>SOLUTION: The welding robot includes rails 2 which can be temporarily mounted on the panel 1 and can be connected in series, and a carriage 3 having wheels 14 to roll on the panel 1. An MIG welding torch 5 for fixing a long member elongating in the direction along the rails 2 to the panel 1 is mounted on the carriage 3. A roller chain 8 is attached to the rails 2 over the whole length. A driving sprocket 16 capable of rolling by engaging with the roller chain 8 is provided on the carriage 3. <P>COPYRIGHT: (C)2009,JPO&INPIT

Description

本発明は溶接ロボットに関するものである。   The present invention relates to a welding robot.

船殻ブロックを組み立てる際に、船底外板などのパネルに防撓用に長尺部材を固着する手段として、定置式の自動溶接装置が提案されている（例えば、特許文献１参照）。   When assembling a hull block, a stationary automatic welding apparatus has been proposed as means for fixing a long member to a panel such as a ship bottom outer plate for stiffening (see, for example, Patent Document 1).

この自動溶接装置は、パネルを跨いでパネル長手方向へ走行し得る門型のガントリと、該ガントリに設けられ且つパネル幅方向並びに上下に移動可能なジブクレーンと、該ジブクレーンのトロリから吊り下げられ且つ前記パネルに載せた長尺部材を跨いで走行し得る門型の小型台車とを備え、周知の溶接線自動倣い機能を具備した溶接トーチを小型台車に装着している。
特開２０００−２７１７４５号公報 The automatic welding apparatus includes a portal-type gantry that can travel across the panel in the longitudinal direction of the panel, a jib crane that is provided in the gantry and is movable in the panel width direction and up and down, and is suspended from a trolley of the jib crane and And a portal-type small cart that can travel across a long member placed on the panel, and a welding torch having a well-known automatic welding line copying function is mounted on the small cart.
JP 2000-271745 A

しかしながら、上述した自動溶接装置では、ガントリの左右の脚部の間隔によって対応可能なパネルの幅が決まってしまう。   However, in the above-described automatic welding apparatus, the width of the panel that can be handled is determined by the distance between the left and right leg portions of the gantry.

本発明は、いろいろな大きさのパネルに対応可能な溶接ロボットを提供することを目的としている。   An object of the present invention is to provide a welding robot that can handle various sizes of panels.

上記目的を達成するため、請求項１に記載の発明は、パネル上に仮設可能なレールと、該レールに導かれて自走し得る台車とを備え、レールと同方向に延びる別部材を前記パネルに固着するための溶接トーチを台車に装着している。   In order to achieve the above object, the invention according to claim 1 is provided with a rail that can be temporarily installed on a panel, and a carriage that can be guided by the rail and that can be self-propelled, and includes another member that extends in the same direction as the rail. A welding torch for fixing to the panel is mounted on the carriage.

請求項２に記載の発明は、複数のレールを直列に接続可能に構成している。   The invention according to claim 2 is configured such that a plurality of rails can be connected in series.

請求項３に記載の発明は、ローラチェーンをレールの全長にわたって取り付け、ローラチェーンに噛み合って転動し得るスプロケットを台車に設けている。   According to a third aspect of the present invention, the roller chain is attached over the entire length of the rail, and the carriage is provided with a sprocket that can mesh with the roller chain and roll.

つまり、台車を導くレールを溶接の対象となるパネル上に仮設し、台車を動かしながら溶接トーチによってパネルに別部材を固着する。   That is, a rail for guiding the carriage is temporarily installed on the panel to be welded, and another member is fixed to the panel by the welding torch while moving the carriage.

本発明の溶接ロボットによれば、下記のような優れた効果を奏し得る。   According to the welding robot of the present invention, the following excellent effects can be obtained.

（１）溶接トーチが装着してある台車を導くためのレールを溶接の対象となるパネル上に仮設するので、パネルの大きさに係わりなく別部材を固着する作業を行うことができ、しかも、溶接ロボット自体を作業場所へ容易に運べる。   (1) Since the rail for guiding the carriage on which the welding torch is mounted is temporarily installed on the panel to be welded, the work of fixing another member can be performed regardless of the size of the panel, The welding robot itself can be easily carried to the work place.

（２）複数のレールを直列に接続可能な構成を採れば、効率良く長大構造物の組立作業を行える。   (2) By adopting a configuration in which a plurality of rails can be connected in series, a long and large structure can be assembled efficiently.

（３）ローラチェーンをレールの全長にわたって取り付け、ローラチェーンに噛み合うスプロケットを台車に設ける構成を採れば、台車を確実に進行させることができる。   (3) When the roller chain is attached to the entire length of the rail and the carriage is provided with a sprocket that meshes with the roller chain, the carriage can be reliably advanced.

以下、本発明の実施の形態を図面に基づき説明する。   Hereinafter, embodiments of the present invention will be described with reference to the drawings.

図１〜図４は本発明の溶接ロボットの一例を示すもので、船底外板などのパネル１上に仮設可能なレール２と、該レール２に導かれて自走し得る台車３とを備え、前記パネル１に対してスティフナのような防撓用の長尺部材４、もしくは別のパネル１を固着するためのＭＩＧ溶接トーチ５を台車３に装着している。   1 to 4 show an example of a welding robot according to the present invention, which includes a rail 2 that can be temporarily installed on a panel 1 such as a ship bottom skin plate, and a carriage 3 that can be guided by the rail 2 to be self-propelled. A stiffener-like long member 4 such as a stiffener or an MIG welding torch 5 for fixing another panel 1 is mounted on the carriage 3.

レール２は、矩形断面を呈する中空状のガイドレール６と、該ガイドレール６の一方の側面に全長にわたり多数のＬ字形状のピース７を介して取り付けたローラチェーン８と、ガイドレール６両端に設けたボルト締結方式の連結プレート９と、ガイドレール６下面に設けた複数の架台１０などを主な要素としている。   The rail 2 includes a hollow guide rail 6 having a rectangular cross section, a roller chain 8 attached to one side surface of the guide rail 6 through a large number of L-shaped pieces 7, and both ends of the guide rail 6. The main elements are the provided bolt fastening connection plate 9 and a plurality of mounts 10 provided on the lower surface of the guide rail 6.

架台１０の中央部分には、ガイドレール６を人力操作により長手方向へ移動させるための車輪１１が枢支してあり、架台１０の四隅には、ボルト１２が下向きに突き出すように螺合してある。   Wheels 11 for moving the guide rail 6 in the longitudinal direction by manual operation are pivotally supported at the center portion of the gantry 10, and bolts 12 are screwed into the four corners of the gantry 10 so as to protrude downward. is there.

このボルト１２は車輪１１が転動しないようにするためのもので、パネル１上に載せた支持板１３に先端が接するようにボルト１２を回して突出長さを増やすと、パネル１から車輪１１が離れる。   The bolt 12 is for preventing the wheel 11 from rolling. When the bolt 12 is turned so that the tip is in contact with the support plate 13 placed on the panel 1 to increase the protruding length, the wheel 11 is removed from the panel 1. Leave.

台車３は、四隅に車輪１４を有するフレーム１５と、該フレーム１５に付帯してローラチェーン８に噛み合う１つの駆動スプロケット１６及び２つの従動スプロケット１７と、前記フレーム１５に付帯してガイドレール６のローラチェーン８がない他方の側面を転動し得る２つのローラフォロア１８と、フレーム１５に内装されて駆動スプロケット１６を回転させるモータ（図示せず）などを主な要素としている。   The carriage 3 includes a frame 15 having wheels 14 at four corners, one drive sprocket 16 and two driven sprockets 17 attached to the frame 15 and meshing with the roller chain 8, and attached to the frame 15. The main elements are two roller followers 18 that can roll on the other side without the roller chain 8 and a motor (not shown) that is built in the frame 15 and rotates the drive sprocket 16.

従動スプロケット１７は駆動スプロケット１６の前後に位置し、ローラフォロア１８はレール２を挟んで従動スプロケット１７に対峙しており、これら従動スプロケット１７とローラフォロア１８がローラチェーン８に対する駆動スプロケット１６の噛み合いを確保する。   The driven sprocket 17 is positioned before and after the drive sprocket 16, and the roller follower 18 is opposed to the driven sprocket 17 with the rail 2 interposed therebetween. The driven sprocket 17 and the roller follower 18 engage the drive sprocket 16 with the roller chain 8. Secure.

台車３の前端部分にはレール２の両側に位置するように、左右方向と上下方向への変位を担うＹ−Ｚサーボ機構１９が実装してあり、このＹ−Ｚサーボ機構１９に、ＭＩＧ溶接トーチ５、ハイブリッド溶接用のレーザ加工ヘッド２０及び溶接線自動倣いセンサ２１を取り付け、台車３上部に、ワイヤリール２２及びワイヤ送出機構２３を搭載している。   A YZ servo mechanism 19 responsible for the horizontal and vertical displacements is mounted on the front end portion of the carriage 3 so as to be positioned on both sides of the rail 2, and this YZ servo mechanism 19 is subjected to MIG welding. A torch 5, a laser processing head 20 for hybrid welding, and a welding line automatic scanning sensor 21 are attached, and a wire reel 22 and a wire delivery mechanism 23 are mounted on the top of the carriage 3.

更に、台車３には、駆動スプロケット１６を回転させるモータ、ＭＩＧ溶接トーチ５、Ｙ−Ｚサーボ機構１９、レーザ加工ヘッド２０、溶接線自動倣いセンサ２１、ワイヤ送出機構２３に対応する電源線、信号線、圧縮空気ホース、アルゴンガスホース、上水ホース、純水ホースなどが接続してある。   Further, the carriage 3 includes a motor that rotates the drive sprocket 16, a MIG welding torch 5, a YZ servo mechanism 19, a laser processing head 20, a welding line automatic scanning sensor 21, a power line corresponding to the wire sending mechanism 23, a signal Wire, compressed air hose, argon gas hose, water hose, pure water hose, etc. are connected.

パネル１に長尺部材４を固着する際には、パネル１上にレール２を長尺部材４の開先に対して平行に仮設するとともにパネル１手前側に発進台（図示せず）を段差がないように設置し、発進台の上にもレール２をパネル１上のレール２に連なるように仮設する。   When the long member 4 is fixed to the panel 1, the rail 2 is temporarily installed on the panel 1 in parallel with the groove of the long member 4, and a starting stand (not shown) is stepped on the front side of the panel 1. The rail 2 is temporarily installed on the starting stand so as to be continuous with the rail 2 on the panel 1.

更に、台車３を発進台に載せて駆動スプロケット１６と従動スプロケット１７をローラチェーン８に噛み合わせ、Ｙ−Ｚサーボ機構１９によってＭＩＧ溶接トーチ５やレーザ加工ヘッド２０の初期位置を、長尺部材４の開先の長手方向基端に合わせる。   Further, the carriage 3 is placed on the starting stand, the drive sprocket 16 and the driven sprocket 17 are engaged with the roller chain 8, and the initial positions of the MIG welding torch 5 and the laser processing head 20 are moved by the YZ servo mechanism 19 to the long member 4. Align with the longitudinal base end of the groove.

駆動スプロケット１６を回転させるモータ、ＭＩＧ溶接トーチ５、Ｙ−Ｚサーボ機構１９、レーザ加工ヘッド２０、溶接線自動倣いセンサ２１、及びワイヤ送出機構２３を起動させると、ローラチェーン８に噛み合う駆動スプロケット１６の回転に応じて、台車３の車輪１４がレール２に沿って発進台やパネル１上を転がり、長尺部材４がパネル１に隅肉溶接される。   When the motor that rotates the drive sprocket 16, the MIG welding torch 5, the YZ servo mechanism 19, the laser processing head 20, the welding line automatic scanning sensor 21, and the wire delivery mechanism 23 are activated, the drive sprocket 16 that meshes with the roller chain 8. In response to the rotation, the wheel 14 of the carriage 3 rolls on the starting stand and the panel 1 along the rail 2, and the long member 4 is fillet welded to the panel 1.

つまり、パネル１の大きさに係わりなく長尺部材４を固着する作業を行うことができ、しかも、溶接ロボット自体を作業場所へ容易に運べる。   That is, the work of fixing the long member 4 can be performed regardless of the size of the panel 1, and the welding robot itself can be easily carried to the work place.

図３に示すように、ＭＩＧ溶接トーチ５が２組あれば、台車３の進路の左右にある長尺部材４を同時にパネル１に固着できる。   As shown in FIG. 3, if there are two sets of MIG welding torches 5, the long members 4 on the left and right of the path of the carriage 3 can be fixed to the panel 1 at the same time.

パネル１に別のパネル１を固着する場合は、Ｙ−Ｚサーボ機構１９によってＭＩＧ溶接トーチ５やレーザ加工ヘッド２０の初期位置を、双方のパネル１の開先の長手方向基端に合わせるようにすればよい。   When fixing another panel 1 to the panel 1, the YZ servo mechanism 19 adjusts the initial positions of the MIG welding torch 5 and the laser processing head 20 to the longitudinal base ends of the grooves of both the panels 1. do it.

なお、本発明の溶接ロボットは、上述した実施の形態のみに限定されるものではなく、本発明の要旨を逸脱しない範囲において変更を加え得ることは勿論である。   In addition, the welding robot of this invention is not limited only to embodiment mentioned above, Of course, it can add a change in the range which does not deviate from the summary of this invention.

本発明の溶接ロボットは各種構造物の組み立てに適用することができる。   The welding robot of the present invention can be applied to the assembly of various structures.

本発明の溶接ロボットの一例を示す側面図である。It is a side view which shows an example of the welding robot of this invention. 図１のＩＩ−ＩＩ矢視図である。It is an II-II arrow line view of FIG. 図１のＩＩＩ−ＩＩＩ矢視図である。It is the III-III arrow line view of FIG. 図１に関連するレールの斜視図である。It is a perspective view of the rail relevant to FIG.

符号の説明Explanation of symbols

１ パネル
２ レール
３ 台車
４ 長尺部材（別部材）
５ ＭＩＧ溶接トーチ（溶接トーチ）
８ ローラチェーン
１６ 駆動スプロケット 1 Panel 2 Rail 3 Dolly 4 Long member (separate member)
5 MIG welding torch (welding torch)
8 Roller chain 16 Drive sprocket

Claims (3)

パネル上に仮設可能なレールと、該レールに導かれて自走し得る台車とを備え、レールと同方向に延びる別部材を前記パネルに固着するための溶接トーチを台車に装着したことを特徴とする溶接ロボット。   A rail comprising a rail that can be temporarily installed on a panel and a cart that can be guided by the rail and that can be self-propelled, and a welding torch for fixing another member extending in the same direction as the rail to the panel is attached to the cart. A welding robot. 複数のレールを直列に接続可能に構成した請求項１に記載の溶接ロボット。   The welding robot according to claim 1, wherein a plurality of rails can be connected in series. ローラチェーンをレールの全長にわたって取り付け、ローラチェーンに噛み合って転動し得るスプロケットを台車に設けた請求項１あるいは請求項２のいずれかに記載の溶接ロボット。
The welding robot according to claim 1 or 2, wherein a sprocket that is attached to the roller chain over the entire length of the rail and that can roll while meshing with the roller chain is provided on the carriage.
JP2007151519A 2007-06-07 2007-06-07 Welding robot Expired - Fee Related JP5186811B2 (en)

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Application Number Priority Date Filing Date Title
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JP5186811B2 JP5186811B2 (en) 2013-04-24

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Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR101388885B1 (en) * 2012-06-14 2014-04-23 에스티엑스조선해양 주식회사 Rail carriage for driving on the curved surface
JP5752828B1 (en) * 2014-03-31 2015-07-22 川田工業株式会社 Welding equipment for large structures
JP2018519168A (en) * 2015-05-11 2018-07-19 ウーハン リシノート テクノロジーズ カンパニー リミテッド U-rib welding apparatus, U-rib welding system, and U-rib welding method
CN112623058A (en) * 2020-12-28 2021-04-09 广东工业大学 Foot attaching and fixing mechanism of wall-climbing robot
CN112873246A (en) * 2021-04-28 2021-06-01 中国建筑第五工程局有限公司 Straddle type single-rail track beam welding robot workstation
US20220055138A1 (en) * 2020-08-20 2022-02-24 Massachusetts Institute Of Technology Robotic welding systems
CN114161040A (en) * 2021-12-27 2022-03-11 武汉锂鑫自动化科技有限公司 Welding equipment for U-rib internal elevation

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JPS62192262A (en) * 1986-02-18 1987-08-22 Mitsubishi Heavy Ind Ltd Automatic vertical fillet welding equipment
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JPH0524186U (en) * 1991-09-10 1993-03-30 株式会社新来島どつく Dolly traveling rail for automatic welding machine
JPH106981A (en) * 1996-06-21 1998-01-13 Nkk Corp Truck
JPH1024370A (en) * 1996-07-09 1998-01-27 Nkk Corp Automatic butt welding equipment

Patent Citations (6)

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Publication number Priority date Publication date Assignee Title
JPS59215298A (en) * 1983-05-20 1984-12-05 Koike Sanso Kogyo Co Ltd Construction of traveling carriage and rail for automatic thermal cutting, automatic welding and automatic linear heating of curved line
JPS62192262A (en) * 1986-02-18 1987-08-22 Mitsubishi Heavy Ind Ltd Automatic vertical fillet welding equipment
JPH03119220A (en) * 1989-10-03 1991-05-21 Kumagai Gumi Co Ltd Reinforcing cage welding method for underground continuous wall and submerged welding device used for above method
JPH0524186U (en) * 1991-09-10 1993-03-30 株式会社新来島どつく Dolly traveling rail for automatic welding machine
JPH106981A (en) * 1996-06-21 1998-01-13 Nkk Corp Truck
JPH1024370A (en) * 1996-07-09 1998-01-27 Nkk Corp Automatic butt welding equipment

Cited By (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR101388885B1 (en) * 2012-06-14 2014-04-23 에스티엑스조선해양 주식회사 Rail carriage for driving on the curved surface
JP5752828B1 (en) * 2014-03-31 2015-07-22 川田工業株式会社 Welding equipment for large structures
JP2015193018A (en) * 2014-03-31 2015-11-05 川田工業株式会社 Welding apparatus for large structure
JP2018519168A (en) * 2015-05-11 2018-07-19 ウーハン リシノート テクノロジーズ カンパニー リミテッド U-rib welding apparatus, U-rib welding system, and U-rib welding method
JP6999544B2 (en) 2015-05-11 2022-01-18 ウーハン リシノート テクノロジーズ カンパニー リミテッド U-rib welding equipment, U-rib welding system and U-rib welding method
US20220055138A1 (en) * 2020-08-20 2022-02-24 Massachusetts Institute Of Technology Robotic welding systems
CN112623058A (en) * 2020-12-28 2021-04-09 广东工业大学 Foot attaching and fixing mechanism of wall-climbing robot
CN112623058B (en) * 2020-12-28 2021-10-01 广东工业大学 Foot attaching and fixing mechanism of wall-climbing robot
CN112873246A (en) * 2021-04-28 2021-06-01 中国建筑第五工程局有限公司 Straddle type single-rail track beam welding robot workstation
CN112873246B (en) * 2021-04-28 2021-08-06 中国建筑第五工程局有限公司 Straddle type single-rail track beam welding robot workstation
CN114161040A (en) * 2021-12-27 2022-03-11 武汉锂鑫自动化科技有限公司 Welding equipment for U-rib internal elevation
CN114161040B (en) * 2021-12-27 2024-05-03 武汉锂鑫自动化科技有限公司 Be used for inside face upward welding equipment of U rib

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