JP2010253518A - Welding robot device of large frame structure - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a welding robot device of a large frame structure which can perform the permanent welding of intersection parts of the large frame structure, in which longitudinals and transverses are intersected with each other on a panel, is less in restriction of welding parts capable of performing the permanent welding, is almost needless of manual welding by human hands, can be more downsized as the entire device in comparison with a conventional multi-robot welding apparatus using a large gantry structure, and can eliminate any complicated control system. <P>SOLUTION: The welding robot device of the large frame structure has a robot frame 10 having a horizontal supporting frame base 12 fixed to the large frame structure across an objective welding area 4 and located on an upper part of the objective area while the objective welding area 4 is a space of frames of a rectangular shape surrounded by a pair of longitudinals 2 and one transverse or a plurality of transverses 3, and a welding robot 20 which is mounted on a lower side of the horizontal supporting frame base 12 and capable of executing the welding by performing the numerical control of a welding head in a three-dimensional manner over the entire area within the frame of the rectangular shape (the objective welding area 4). <P>COPYRIGHT: (C)2011,JPO&INPIT

Description

  The present invention relates to a welding robot apparatus for large frame structures such as large ships, LNG offshore facilities, bridges, and sluices.

  In large ships, LNG offshore facilities, bridges, sluices, etc., a large number of large frame structures are manufactured during the manufacturing process (for example, an assembly process in shipbuilding).

  FIG. 1 is a schematic diagram of a framework structure disclosed in Patent Document 1. FIG. In the frame structure B, a plurality of rows of longes 2 are arranged on the surface of the flat panel 1, while transformers 3 are arranged at regular intervals in a direction orthogonal to the longes 2. Are formed by welding the intersecting portions 5 of each framed portion 4 surrounded by three or four sides.

  Such a frame structure B (for example, a hull flat plate block) is first assembled by performing temporary welding after assembling components such as the panel 1, the longe 2, the transformer 3 and the like. Is carried out and main welding is performed on the crossing portions 5 of the respective framed portions 4.

  Conventionally, as means for main welding the intersection 5 of the frame structure B described above, (1) welding with a small welding robot installed on a workpiece (for example, Patent Document 1), or (2) large gantry structure Welding (for example, Patent Document 2) using a multi-robot welding apparatus is proposed and implemented.

FIG. 2 is a perspective view of the small welding robot disclosed in Patent Document 1. As shown in FIG.
In this figure, a positioning device 50 for a framework structure is used to position the welding robot R on each framed portion of the framework structure. As a result, it is possible to carry out from the positioning table transport to the frame structure to the final positioning easily and with high accuracy, so that automatic welding by a welding robot for frame structures such as large hull flat plate blocks can be simplified. It has become.

FIG. 3 is a perspective view of the multi-robot welding apparatus disclosed in Patent Document 2. As shown in FIG.
In this figure, a multi-robot welding device 52 includes a 6-axis articulated welding robot 53 arranged in a suspended position on 3-axis slide mechanisms 54, 55 and 56, respectively, and a total of 9-axis moving mechanisms It can be moved up and down (Z-axis direction), front and rear (Y-axis direction), and left and right (X-axis direction). Further, each multi-joint type welding robot 53 is provided with a welding torch at the tip thereof to weld workpieces.

Japanese Patent No. 3065166, “Positioning device for frame structure” Japanese Patent Laid-Open No. 2002-116817, “Task Allocation Method and Control Device Applying the Method”

  When the small welding robot is arranged in the grid of the work (framework structure) as in Patent Document 1 described above, the robot arm and the work are likely to interfere with each other at the time of welding, and the welding site where the main welding can be performed is restricted. There is a problem that the number of manually welded parts that rely on human hands increases.

  In addition, the multi-robot welding apparatus as disclosed in Patent Document 1 is large in size, and requires a complicated control system to efficiently operate a plurality of robots, resulting in a high-cost system. In addition, it is difficult to place a plurality of robots at free positions due to structural problems.

  The present invention has been developed to solve the above-described problems. That is, the object of the present invention is to allow main welding at the intersection of a large frame structure where a longe and a transformer intersect on the panel, and there are few restrictions on the welding site where the main welding can be performed, and it is a manual operation. It is to provide a welding robot apparatus for a large frame structure that requires almost no welding, can be downsized as a whole compared to a conventional multi-robot welding apparatus with a large gantry structure, and does not require a complicated control system. .

According to the present invention, a horizontally positioned panel, a plurality of rows of longes disposed on the upper surface of the panel with a predetermined first interval, and a predetermined second on the upper surface of the panel that are orthogonal to the longes. A welding apparatus for a large frame structure comprising a plurality of rows of transformers arranged at intervals,
A grid-shaped frame surrounded by a pair of longes and one or a pair of transformers is a welding target region,
A robot gantry having a horizontal support gantry fixed to a large frame structure straddling the welding object region and positioned above the welding object region;
A welding apparatus for a large frame structure, comprising a welding robot attached to the lower surface of the horizontal support frame and capable of welding by numerically controlling a welding head three-dimensionally over the entire area of the grid-shaped frame. Is provided.

According to an embodiment of the present invention, the robot mount has a gate-type frame having a structure in which a leg portion and a target portion can be fixed in a pair of frames adjacent to the welding target region. ,
The horizontal support frame is fixed to the portal frame, and extends horizontally along the long side direction of the grid-shaped frame at the upper part of the welding target region,
The welding robot has a horizontal moving table attached to a lower surface of a horizontal support frame so as to be horizontally movable along the long side direction, and a single-axis slider device that drives the horizontal moving table so as to be numerically controllable;
It comprises a reverse-hanging articulated welding robot that is attached to the horizontal moving table upside down and can be welded by numerically controlling the welding head three-dimensionally over the entire short-side direction of the grid-shaped frame.

The portal frame is positioned in a pair of frames adjacent to each other in the length direction of the transformer in the welding target area and spaced apart in the longitudinal direction of the longi, and is detachably fixed to the large frame structure. Four pillar support devices,
The four pillar support devices are fixedly supported so that the lower end is detachable, and four pillars extend vertically upwards.
Four corners are fixed to the four pillars, and the ceiling frame supports the horizontal support frame on the lower surface.

Further, the single-axis slider device includes a linear motion guide that guides along the long side direction while keeping a lower surface of the horizontal moving table horizontal.
A ball screw for driving the horizontal moving table along the long side direction;
A servo motor that rotationally drives the ball screw so as to be numerically controllable.

According to the configuration of the present invention, the robot frame is fixed to the large frame structure across the welding target region, and the welding robot is attached to the lower surface of the horizontal support frame of the robot frame. There are no members that interfere with the robot's welding head.
Therefore, this welding robot can perform the main welding of the intersection (area to be welded) of the large frame structure, and there are few restrictions on the welding parts where the main welding can be performed, and the manual welding that relies on humans can be made almost unnecessary. .

Further, according to the embodiment of the present invention, the welding robot includes a single-axis slider device and a reverse suspension articulated welding robot. The working area of the suspended articulated welding robot can be used effectively, and the inverted suspended articulated welding robot can be reduced in size and weight even if the welding head is set to cover the entire area in the short side of the grid-shaped frame (area to be welded). it can.
Furthermore, since the horizontal moving table can be moved horizontally along the long side direction in the grid-shaped frame (welding target area) by the single-axis slider device, a small and lightweight reverse suspension articulated welding robot can be used. It is possible to weld the entire region in the long side direction of the (welding target region).

In addition, the reverse-hanging articulated welding robot can be reduced in size and weight, and the leg portion of the gate-type frame straddles the region to be welded and is detachably fixed in a pair of adjacent frames, so that a large gantry structure is used. Compared to a conventional multi-robot welding apparatus, the entire apparatus can be reduced in size.
Furthermore, when the inside of the grid-shaped frame surrounded by a pair of longes and one or a pair of transformers is used as a welding target region, a single reverse-hanging articulated welding robot and one single-axis slider device can be used as a single unit. Since the entire welding point (intersection) in the welding target area can be subjected to main welding, control is easier than a conventional multi-robot welding apparatus having a large gantry structure, and a complicated control system can be eliminated.

Therefore, by making the robot base into a small portal structure, the mechanical structure can be reduced in size, and the robot control can be simplified, resulting in an overwhelming cost reduction. Moreover, since the welding robot and the robot mount are in a one-to-one relationship, welding can be performed at an arbitrary position on the workpiece according to the production amount. The reverse suspension articulated welding robot is a ceiling suspension (reverse suspension) and equipped with a single-axis slider device to avoid interference between the robot arm and the workpiece during welding and to expand the weldable range, consisting of a longe and a transformer Welding can be performed without changing the setup inside the square frame.

It is a schematic diagram of the framework structure disclosed by patent document 1. FIG. It is a perspective view of the small welding robot disclosed by patent document 1. FIG. It is a perspective view of the multi-robot welding device disclosed in Patent Document 2. It is explanatory drawing of the large sized frame structure which this invention makes the welding object. 1 is an overall side view of a welding apparatus according to the present invention. It is an AA arrow line view of FIG.

  DESCRIPTION OF EXEMPLARY EMBODIMENTS Hereinafter, the best mode for carrying out the invention will be described with reference to the drawings. In addition, the same code | symbol is attached | subjected to the common part in each figure, and the overlapping description is abbreviate | omitted.

FIG. 4 is an explanatory view of a large frame structure to be welded by the present invention.
In this figure, (A) is a side view seen from the longitudinal direction of the longe, and (B) is a view taken along the line BB.
As shown in this figure, a large frame structure to be welded by the present invention includes a horizontally positioned panel 1 and a plurality of rows of longes 2 arranged on the upper surface of the panel 1 with a predetermined first interval L1. And a plurality of rows of transformers 3 which are orthogonal to the longes 2 and are arranged on the upper surface of the panel 1 with a predetermined second interval L2.
The size of the panel 1 is, for example, about 10 m × 10 m and 20 m × 20 m. Further, the longe 2 has a height of 600 to 800 mm, for example, and the first interval L1 is 800 to 1000 mm. Furthermore, the transformer 3 has a height of 1800 to 2000 mm, for example, and the second interval L2 is 2000 to 3000 mm.
In the present invention, the large frame structure is not limited to this configuration, and may have other structures.

In FIG. 4, a welding region (welding target region 4) targeted by the present invention is within a grid-shaped frame surrounded by a pair of longes 2 and one or a pair of transformers 3.
Moreover, the specific welding location of the welding object area | region 4 is the cross | intersection part shown by 5 in the figure. In addition, the welding location of this invention is not limited to this example, What is necessary is just to be inside the welding object area | region 4. FIG.

  FIG. 5 is an overall side view of the welding apparatus according to the present invention, and FIG. 6 is a view taken along the line AA of FIG. In addition, FIG. 5 is the side view seen from the length direction of the longage of the large sized frame structure made into object.

  5 and 6, the large frame structure welding apparatus according to the present invention (hereinafter simply referred to as “welding apparatus”) includes a robot base 10 and a welding robot 20.

  The robot gantry 10 includes a horizontal support gantry 12 that is fixed to the large frame structure straddling the welding target region 4 and is positioned above the welding target region 4.

  In this example, the robot pedestal 10 has a portal frame 14 in which legs are detachably fixed in a pair of frames that straddle the welding target region 4 and are adjacent thereto.

  The portal frame 14 includes four column support devices 15, four columns 16, and a ceiling frame 17.

  The four column support devices 15 are located in a pair of frames adjacent to each other in the length direction of the transformer 3 in the welding target region 4 and are spaced from each other in the length direction of the longe 2, and are attached to and detached from the large frame structure. It is fixed as possible. The fixing means of the column support device 15 may be, for example, a magnet, suction cup adsorption, or a separate dedicated fixing jig.

In this example, the four columns 16 are fixedly supported by the four column support devices 15 so that their lower ends are detachable, and extend vertically upward. The pillar 16 and the pillar support device 15 may be integrated.
The ceiling frame 17 has four corners fixed to the four columns 16 and supports the horizontal support frame 12 on the lower surface.

  The horizontal support frame 12 is fixed to the lower surface of the portal frame 14 and extends horizontally along the long side direction of the grid-shaped frame at the upper part of the welding target region 4.

  The welding robot 20 is attached to the lower surface of the horizontal support gantry 12 and can perform welding by numerically controlling the welding head 21 over the entire area within the grid-shaped frame (the welding target area 4).

The welding robot 20 includes a single-axis slider device 30 and a reverse suspension articulated welding robot 22.
The reverse suspension articulated welding robot 22 is an articulated robot having a welding head 21 at the tip of a robot arm 23, and is attached upside down to a horizontal moving table 31 to be described later, and has a short side of a grid-shaped frame (welding target region 4). The welding head 21 is welded by three-dimensional numerical control over the entire direction.
In this case, the working area of the reverse suspension articulated welding robot 22 is an area surrounded by the arcs A and B and the arc C in FIG. 5 and completely covers the entire short-side direction of the grid-shaped frame (welding target area 4). is doing.

  In addition, the reverse suspension articulated welding robot 22 is not limited to this example, as long as the welding head 21 can be numerically controlled three-dimensionally over the entire short-side direction of the grid-shaped frame (welding target region 4), and welding can be performed. Other welding robots may be used.

The uniaxial slider device 30 has a horizontal moving table 31 attached to the lower surface of the horizontal support frame 12 so as to be horizontally movable along the long side direction, and drives the horizontal moving table 31 so as to be numerically controllable.
In this example, the uniaxial slider device 30 includes a linear motion guide 32, a ball screw 34, and a servo motor 36.
The linear motion guide 32 is, for example, a linear guide, and guides the horizontal movement table 31 along the long side direction of the grid-shaped frame (welding target region 4) while keeping the lower surface of the horizontal movement table 31 horizontal.
The ball screw 34 is, for example, a rolled ball screw, and drives the horizontal moving table 31 along the long side direction of the grid-shaped frame (welding target region 4).
The servo motor 36 preferably rotationally drives the ball screw 34 via a speed reducer so that numerical control is possible.
With this configuration, the horizontal moving table 31 can be moved by numerical control along the long side direction of the grid-shaped frame (the welding target region 4).

According to the configuration of the present invention described above, the robot base 10 is fixed to the large frame structure across the welding target region 4 and the welding robot 20 is attached to the lower surface of the horizontal support base 12 of the robot base. There are no members in the target area 4 that interfere with the welding head 21 of the welding robot.
Therefore, the welding robot 20 can perform the main welding of the intersection (the welding target region 4) of the large frame structure, and there are few restrictions on the welding parts where the main welding can be performed. Can be.

In addition, according to the above-described embodiment, the welding robot 20 includes the single-axis slider device 30 and the reverse-hanging articulated welding robot 22, so that the reverse-hanging articulated welding robot 22 is attached to the horizontal moving table 31 upside down. Thus, the working area (the area surrounded by the arcs A and B and the arc C in FIG. 5) of the reverse suspension articulated welding robot 22 can be used effectively, and the welding head 21 can be shortened within the grid-shaped frame (the welding target area 4). Even if it is set so as to cover the entire side direction, the reverse suspension articulated welding robot 22 can be reduced in size and weight.
Further, since the horizontal moving table 31 can be moved horizontally along the long side direction in the grid-shaped frame (welding target area 4) by the single-axis slider device 30, the small and lightweight reverse suspension articulated welding robot 22 can The entire region in the long side direction within the shape frame (welding target region 4) can be welded.

Further, the reverse suspension articulated welding robot 22 can be reduced in size and weight, and the leg portion (column support device 15) of the portal frame 14 can be attached to and detached from a pair of frames adjacent to the region to be welded 4. Since it is fixed, the entire apparatus can be reduced in size as compared with a conventional multi-robot welding apparatus having a large gantry structure.
Furthermore, when the inside of the grid-shaped frame surrounded by a pair of longes 2 and one or a pair of transformers 3 is a welding target region 4, one reverse-hanging articulated welding robot 22 and one single-axis slider device. Since the entire welding point (intersection) of the single welding target region 4 can be main-welded in 30, it is easier to control than a conventional multi-robot welding device with a large gantry structure, and no complicated control system is required. Can be.

Therefore, by making the robot mount 10 into a small portal structure, the mechanical structure can be reduced in size, and the robot control can be simplified, so that an overwhelming cost reduction can be achieved. Further, since the welding robot 20 and the robot mount 10 are in a one-to-one relationship, welding can be performed at an arbitrary position of the workpiece according to the production amount.
Furthermore, the reverse suspension articulated welding robot 22 is suspended from the ceiling (reverse suspension), and equipped with the single-axis slider device 30 avoids interference between the robot arm 23 and the workpiece during welding, and widens the weldable range. It is possible to perform welding in the grid-shaped frame composed of the longi 2 and the transformer 3 without changing the setup.

  Accordingly, using the above-described welding robot apparatus, the robot mount 10 is installed and fixed on the welding work place on the work (large frame structure) using a crane or the like, and the grid and panel 1 composed of the longe 2 and the transformer 3 are installed. (That is, the weld target region 4) can be welded without changeover.

  In addition, this invention is not limited to embodiment mentioned above, Of course, a various change can be added in the range which does not deviate from the summary of this invention.

1 panel, 2 longi, 3 transformer,
4 Welding target area, 5 intersection (welding point),
10 robot mounts, 12 horizontal support mounts,
14 portal frame, 15 pillar support device,
16 pillars, 17 ceiling frame,
20 welding robots, 21 welding heads,
22 reverse hanging articulated welding robot, 23 robot arm,
30 1-axis slider device, 31 Horizontal moving table,
32 Linear guide, 34 Ball screw, 36 Servo motor

Claims (4)

A horizontally positioned panel; a plurality of rows of longes disposed on the upper surface of the panel with a predetermined first interval; and a plurality of longes orthogonal to the longe and disposed on the upper surface of the panel with a predetermined second interval. A welding apparatus for a large frame structure comprising a plurality of rows of transformers,
A grid-shaped frame surrounded by a pair of longes and one or a pair of transformers is a welding target region,
A robot frame having a horizontal support frame that is fixed to a large frame structure straddling the region to be welded and located above the region to be welded;
A welding apparatus for a large frame structure, comprising a welding robot attached to the lower surface of the horizontal support frame and capable of welding by numerically controlling a welding head three-dimensionally over the entire area of the grid-shaped frame. . The robot mount has a gate-type frame having a structure in which a leg portion and a target portion can be fixed in a pair of frames adjacent to the welding target region.
The horizontal support frame is fixed to the portal frame, and extends horizontally along the long side direction of the grid-shaped frame at the upper part of the welding target region,
The welding robot has a horizontal moving table attached to a lower surface of a horizontal support frame so as to be horizontally movable along the long side direction, and a single-axis slider device that drives the horizontal moving table so as to be numerically controllable;
An inverted suspension articulated welding robot which is attached to the horizontal moving table upside down and can be welded by three-dimensional numerical control of the welding head over the entire short side direction of the grid-shaped frame. Item 2. A welding apparatus for a large frame structure according to Item 1. The portal frame is positioned at a distance in the longitudinal direction of a pair of frames adjacent to each other in the length direction of the transformer in the welding target region and is detachably fixed to the large frame structure. Four pillar support devices,
The four pillar support devices are fixedly supported so that their lower ends are detachable, and four pillars extend vertically upward,
The welding apparatus for a large-sized frame structure according to claim 2, comprising four ceilings fixed to the four columns and a ceiling frame that supports the horizontal support frame on the lower surface. The uniaxial slider device includes a linear motion guide that guides along the long side direction while keeping the lower surface of the horizontal moving table horizontal.
A ball screw for driving the horizontal moving table along the long side direction;
The welding apparatus for a large frame structure according to claim 2, comprising a servo motor that rotationally drives the ball screw so as to be numerically controllable.

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