JP2010253519A - Frame positioning device for welding apparatus of large frame assembly - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a frame positioning device for a welding apparatus 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, further is applicable to non-ferrous metals, eliminates the need of an air pressure piping or the like, can shorten the setup time, and is high in an installation positioning accuracy when installing a robot frame on a workpiece. <P>SOLUTION: The frame positioning device 40 fixes a leg lower end 15 of a robot frame 10 attachably/detachably to a large frame structure. The frame positioning device 40 includes a body 41 which is located on an upper side of a panel 1 to support the leg lower end 15, a leg clamp 42 for attachably/detachably fix the leg lower end to the body, a transverse-direction positioning member 44 for positioning the body at the predetermined first distance from a side face of a transverse, a longitudinal-direction positioning member 46 for positioning the body at the predetermined second distance from a side face of a longitudinal, and a body fixing device 48 for fixing the body to a part of the large frame structure. <P>COPYRIGHT: (C)2011,JPO&INPIT

Description

  The present invention relates to a gantry positioning device for accurately positioning a gantry for a welding apparatus on a large frame structure such as a large ship, an LNG offshore facility, a bridge, and a sluice.

  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.

  Patent Documents 1 and 2 have already been proposed as means for accurately positioning the welding robot to the frame structure when the intersection 5 of the frame structure B described above is main-welded.

Japanese Patent No. 3065166, “Positioning device for frame structure” Japanese Patent No. 3781822, “Welding device by robot”

  In the positioning means of Patent Documents 1 and 2, since the mechanism for positioning the welding robot is located in the welding area of the workpiece, the robot arm and the positioning mechanism during the welding are likely to interfere with each other, and the welding site where the main welding is possible However, there is a problem that the number of manually welded parts that rely on human hands increases.

  In addition, when building ships and LNG ships, etc., the installation and fixing of a large structure welding robot frame that automatically welds the frame structure consisting of a longe and a transformer, and the panel, conventionally, a magnet, suction plate, etc. Was established. In addition, when a positioning mechanism is provided, the mechanism is provided on the robot mount.

However, with such an installation method, it is not possible to ensure installation positioning accuracy when installing the robot mount on the workpiece. Moreover, when using a magnet, it cannot apply to non-ferrous metals, such as stainless steel and aluminum. Furthermore, when using an adsorption board, pneumatic piping etc. are needed.
Further, when the positioning mechanism is provided on the robot base, there is a problem that it takes a long time to set up the robot after positioning the robot on the workpiece.

  The present invention has been developed to solve the above-described problems. That is, the object of the present invention is to be able to perform main welding of an intersection of a large frame structure in which a longi and a transformer intersect on a panel, and a base for a welding apparatus with few restrictions on the welding site where the main welding is possible. This is a positioning device that can be applied to non-ferrous metals such as stainless steel and aluminum, does not require pneumatic piping, etc., can reduce setup time, and has high positioning accuracy when installing a robot mount on a workpiece. It is in providing the gantry positioning device.

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 orthogonal to the longes. An area to be welded is a grid-shaped frame surrounded by a pair of longages and one or a pair of transformers of a large frame structure composed of a plurality of rows of transformers arranged at intervals.
A pedestal positioning device for a welding apparatus for a large frame structure, wherein a lower end of a leg of a robot gantry that hangs the welding robot upside down across the welding target area is detachably fixed to the large frame structure. Is provided.

According to an embodiment of the present invention, the robot mount has three or more leg lower ends whose upper ends are rigidly connected to each other via a horizontal member,
The gantry positioning device includes a main body positioned on the upper surface of the panel and supporting the lower end of the leg,
A leg clamp for removably fixing the lower end of the leg to the main body;
A transformer direction positioning member that positions the main body at a predetermined first distance from a side surface of the transformer;
A longi-directional positioning member for positioning the main body at a predetermined second distance from a side surface of the longi;
A main body fixing device for fixing the main body to a part of the large frame structure.

The lower end of each leg portion of the robot mount is composed of a support plate whose bottom surface is horizontal, and a lower end protrusion extending vertically downward from the support plate,
The main body has a protrusion fitting hole into which the lower protrusion protrudes with a gap, and a support surface that supports the lower end of the lower protrusion or the lower surface of the support plate,
The lower end of each leg portion of the robot mount is composed of a support plate whose bottom surface is horizontal, and a lower end protrusion extending vertically downward from the support plate,
The main body has a protrusion fitting hole into which the lower protrusion protrudes with a gap, and a support surface that supports the lower end of the lower protrusion or the lower surface of the support plate,
The leg clamp is a clamp mechanism that is fixed to the upper surface of the main body and removably fixes a support plate fitted in the protrusion fitting hole,
The transformer-direction positioning member has a structure that is positioned and fixed to the main body and extends horizontally along the longe, and a foot jack that is attached to the tip of the horizontal pipe and has a structure that can finely adjust a gap between the transformer. And consist of
The longitudinal positioning member includes a pair of guide rods horizontally extending along the transformer and attached to the main body so as to be horizontally movable, and a longus contact fixed to the distal end of the pair of guide rods and contacting the side surface of the longe A plate, and an adjustment mechanism capable of finely adjusting the gap between the long contact plate and the long side,
The main body fixing device includes a foot jack that is fixed to the main body, extends upward along the longe, and has a height-adjustable structure in which a distal end abuts and stretches against the lower face of the longe.

The lower end protrusion of the robot mount has a rectangular cross section,
The protrusion fitting hole of the main body is a rectangular cross-sectional hole in which the rectangular cross-section is fitted with a gap.

According to the above configuration of the present invention, the pedestal positioning device detachably fixes the lower end of the leg of the robot gantry that hangs the welding robot upside down across the welding target region to the large frame structure. There is no member that interferes with the welding head of the welding robot.
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 leg lower end of the robot gantry is fixed to the main body by the leg clamp of the gantry positioning device, the distance from the transformer side surface of the main body is positioned by the transformer directional positioning member, and the longi direction positioning is performed. Since the distance from the long side of the main body is positioned by the member and the main body is fixed to the longi by the main body fixing device, the gantry positioning device can be positioned at a predetermined position of the large frame structure with high positioning accuracy.
Further, the robot mount has three or more leg lower ends whose upper ends are rigidly connected to each other via a horizontal member, and each leg lower end is positioned at a predetermined position of the large frame structure by the mount positioning device. The robot base can be installed at a predetermined position of the large frame structure with high positioning accuracy.

  In addition, the leg clamp is a toggle clamp, and the main body fixing device is a foot jack that is fixed to the work piece so that it can be applied to a non-ferrous metal work such as stainless steel and aluminum, and air pressure can be applied. Since it is not used, pneumatic piping is not required and the structure is simple.

Furthermore, since the gantry positioning device that fixes the lower end of the leg of the robot gantry to the large frame structure can be installed independently of the robot gantry, it can be set up externally and the robot can be operated efficiently. I can do it.

It is a schematic diagram of the framework structure disclosed by patent document 1. FIG. 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 to which the present invention is applied. It is an AA arrow line view of FIG. It is a block diagram of the leg part lower end of a robot mount. It is a top view of the gantry positioning device by the present invention. It is an AA arrow line view of FIG. It is a BB arrow line view of FIG. It is CC 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. 2 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. 2, 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. 3 is an overall side view of a welding apparatus to which the present invention is applied, and FIG. 4 is a view taken along arrow AA in FIG. In addition, FIG. 3 is the side view seen from the length direction of the longage of the large sized frame structure made into object.

  3 and 4, a large frame structure welding apparatus (hereinafter simply referred to as “welding apparatus”) to which the present invention is applied 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 pillars 16 and a ceiling frame 17.

The four columns 16 are fixedly supported by four gantry positioning devices 40 (described later) so that their lower ends are detachable and extend vertically upward.
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. 3, 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, an LM 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 described above, the robot base 10 is fixed to the large frame structure across the welding target area 4 and the welding robot 20 is attached to the lower surface of the horizontal support base 12 of the robot base. There is no member that interferes 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 of the reverse suspension articulated welding robot 22 (the area surrounded by the arcs A and B and the arc C in FIG. 3) 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.

In addition, the reverse suspension articulated welding robot 22 can be reduced in size and weight, and the leg portion (the gantry positioning device 40) of the portal frame 14 can be detachably mounted in a pair of frames adjacent to the welding target region 4 across the welding target region 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.

3 and 4, the four gantry positioning devices 40 of the present invention are spaced apart in the longitudinal direction of the longitudinal 2 within a pair of frames adjacent to the longitudinal direction of the transformer 3 in the welding target region 4. Are detachably fixed to the large frame structure.
That is, each gantry positioning device 40 according to the present invention detachably fixes the lower leg portion 15 of the robot gantry 10 suspending the welding robot 20 across the welding target region 4 to the large frame structure. ing.

FIG. 5 is a configuration diagram of the lower end of the leg portion of the robot mount. In this figure, (A) is a plan view, (B) is a BB arrow view, and (C) is a CC arrow view.
The robot base 10 has three or more leg bottoms 15 whose upper ends are rigidly connected to each other via horizontal members (the horizontal support base 12 and the ceiling frame 17).
As shown in FIG. 5, each leg lower end 15 includes a support plate 15a having a horizontal lower surface and a lower end protrusion 15b extending vertically downward from the support plate 15a. The lower end protrusion 15b has a rectangular cross section in this example, but the present invention is not limited to this.
In this example, the support plate 15a is provided with a plurality (two in the figure) of female screw holes penetrating in the vertical direction, and the alignment bolts 15c are screwed into the female screw holes. Thus, a gap with the upper surface of the main body 41 to be described later can be adjusted.

  6 is a plan view of the gantry positioning device according to the present invention, FIG. 7 is a view taken along arrow AA in FIG. 6, FIG. 8 is a view taken along arrow BB in FIG. 6, and FIG. It is a CC arrow line view.

  As shown in FIGS. 6 to 9, the gantry positioning device 40 of the present invention includes a main body 41, a leg clamp 42, a transformer direction positioning member 44, a longi direction positioning member 46, and a main body fixing device 48.

In this example, the main body 41 includes a projection fitting hole 41a into which the lower projection 15b is fitted with a gap, and a support surface 41b that supports the lower surface of the support plate 15a (or the lower end of the lower projection 15b). It is located on the upper surface of the panel 1 and supports the lower leg portion 15.
In this example, the protrusion fitting hole 41a of the main body 41 is a rectangular sectional hole in which the rectangular cross section of the lower end protrusion 15b is fitted with a gap, but the present invention is not limited to this.
A plastic material 47 (for example, MC nylon plate) is attached to the contact surface of the main body 41 with the panel 1 so as not to damage the work.

  The leg clamp 42 is a clamp mechanism such as a manual toggle clamp, and is fixed to the upper surface of the main body 41, and the upper surface of the support plate 15a fitted in the protrusion fitting hole 41a is detachably fixed to the main body 41. To do.

In this example, the transformer direction positioning member 44 includes a horizontal pipe 44a and a foot jack 44b.
The horizontal pipe 44 a has a structure that is positioned and fixed to the main body 41 with, for example, a pin 44 c and extends horizontally along the longe 2. The foot jack 44b is attached to the tip of the horizontal pipe 44a and has a structure in which a gap with the transformer 3 can be finely adjusted with a screw.
With the transformer-direction positioning member 44 having this configuration, the center position of the protrusion fitting hole 41a of the main body 41 can be positioned at a predetermined first distance S1 from the side surface of the transformer 3.

In this example, the longi-direction positioning member 46 includes a pair of guide rods 46a, a longi contact plate 46b, and an adjustment mechanism 46c.
The pair of guide rods 46a is attached to the main body 41 so as to extend horizontally along the transformer 3 and to be horizontally movable.
The long contact plate 46b is fixed to the distal ends of the pair of guide rods 46a and contacts the side surface of the longi 2. A plastic material 47 (for example, MC nylon plate) is attached to the contact surface of the longi contact plate 46b with the longe 2 so as not to scratch the work.
The adjustment mechanism 46c is, for example, a push bolt, and can finely adjust the gap between the long contact plate 46b and the long side surface with a screw.
With this configuration, the central position of the protrusion fitting hole 41a of the main body 41 can be positioned at a predetermined second distance S2 from the side surface of the longi 2.

  The main body fixing device 48 is a foot jack, for example, having a structure that is fixed to the main body 41, extends upward along the longe 2, and has a height-adjustable structure in which the front end abuts against the lower surface of the face 2 a of the longe 2. The main body 41 is fixed to a part of the large frame structure (in this case, Longi 2).

As described above, according to the present invention, the long-direction positioning member 46 and the transformer-direction positioning member 44 that can be positioned by being pressed against the longi 2 and the transformer 3 with respect to the grid structure composed of the longe 2 and the transformer 3. Prepare.
The pressing stroke in each direction can be made variable with a screw or the like so that it can be used for various workpieces.
In addition, there is a main body fixing device 48 that can be stretched and fixed between the back surface of the top plate of the longe 2 (the lower surface of the face 2 a) and the panel 1 so that no shift occurs even when a work such as non-ferrous metal is installed.
Furthermore, a leg clamp 42 for fixing the lower end 15 of the leg of the robot mount 10 to the main body 41 is provided between the mount positioning device 40 according to the present invention and the robot mount 10 in order to prevent positional deviation after installation.

The above-described gantry positioning device 40 of the present invention operates as follows.
First, the gantry positioning device 40 is installed in advance at a predetermined position of the workpiece so as to press the long direction positioning member 46 in the long direction and the transformer direction positioning member 44 in the transformer direction, respectively.
After this installation, in order to prevent misalignment, the back of the longi top plate (the lower surface of the face 2a) and the panel are stretched and fixed with a foot jack (main body fixing device 48).
Thereafter, the robot gantry 10 is installed in the gantry positioning device 40. If necessary, level adjustment is performed with alignment bolts 15c installed on the pedestal legs, and then the gantry positioning device 40 and the robot gantry 10 are fixed with toggle clamps (leg clamps 42), so that the robot gantry is fixed. 10 is positioned and fixed to the workpiece with high accuracy.

According to the above configuration of the present invention, the leg positioning device 40 detachably fixes the lower leg portion 15 of the robot gantry 10 that suspends the welding robot 20 across the welding target region 4 to the large frame structure. Therefore, there is no member that interferes with the welding head of the welding robot in the welding target area.
Therefore, the welding robot 20 can perform 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, so that manual welding that relies on manpower is almost unnecessary. it can.

Further, according to the embodiment of the present invention, the leg lower end 15 of the robot gantry is fixed to the main body 41 by the leg clamp 42 of the gantry positioning device 40, and the distance from the transformer side surface of the main body 41 is increased by the transformer direction positioning member 44. Positioning, positioning the distance from the long side of the main body 41 with the longi direction positioning member 46, and fixing the main body 41 to the longi with the main body fixing device 48, the positioning of the gantry positioning device 40 at a predetermined position of the large frame structure is high. Positioning can be performed with accuracy.
The robot mount 10 has three or more leg lower ends 15 whose upper ends are rigidly connected to each other via a horizontal member. Each leg lower end 15 is attached to a large frame structure by the mount positioning device 40 of the present invention. Since the positioning is performed at the predetermined position, the robot mount can be installed at the predetermined position of the large frame structure with high positioning accuracy.

In this case, the positioning position of the robot mount 10 is slightly (approximately several mm) due to manufacturing errors of the large frame structure itself, the gap between the protrusion fitting hole 41a of the main body 41 and the rectangular cross section of the lower end protrusion 15b, and the like. ) Variation error may occur.
However, a position correction device (for example, a touch sensor that detects the welding position of the workpiece, a copying device that imitates the welding location, a learning function that learns the welding location, etc.) provided in the welding robot 20 or the reverse suspension articulated welding robot 22. Thus, it is possible to correct the variation error and perform welding accurately.

  Further, since the leg clamp 42 is a toggle clamp and the main body fixing device 48 is a foot jack that is fixed to the workpiece, it can be applied to non-ferrous metal workpieces such as stainless steel and aluminum, and air pressure can be reduced. Since it is not used, pneumatic piping is not required and the structure is simple.

  Furthermore, since the pedestal positioning device 40 for fixing the lower end 15 of the leg of the robot pedestal 10 to the large frame structure can be installed independently of the robot pedestal, it can be set up outside and the robot can be operated efficiently. It can be made.

When there are many types of workpieces, a motor and a feed screw may be used so that the long stroke and the transformer pressing stroke can be automatically performed in a short time.
Further, when the work is limited to iron, instead of being stretched and fixed to the back of the long top plate, it may be fixed by suction with a magnet.
In order not to scratch the workpiece, the contact surface between the installation positioning jig and the workpiece is plastic, but if you do not care about this, use a roller or the like for the contact surface in a shorter time. Installation and positioning can be done with less labor.
The installation positioning jig and the robot mount may be fixed by magnet adsorption or bolt fixing without using a toggle clamp.

  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 leg bottom,
15a support plate, 15b lower end protrusion,
15c alignment bolt,
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,
40 pedestal positioning device, 41 main body,
41a protrusion fitting hole, 41b support surface,
42 leg clamp (clamp mechanism), 44 transformer direction positioning member,
44a horizontal pipe, 44b foot jack, 44c pin,
46 Longi direction positioning member, 46a Guide rod,
46b Longi contact plate, 46c Adjustment mechanism (push bolt),
47 Plastic material, 48 Body fixing device (foot jack)

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. In addition, a grid-shaped frame surrounded by a pair of longages and one or a pair of transformers of a large frame structure composed of a plurality of rows of transformers is a welding target region,
A pedestal positioning device for a welding apparatus for a large frame structure, wherein a lower end of a leg of a robot gantry that hangs the welding robot upside down across the welding target area is detachably fixed to the large frame structure. . The robot mount has three or more leg lower ends whose upper ends are rigidly connected to each other via a horizontal member,
The gantry positioning device includes a main body positioned on the upper surface of the panel and supporting the lower end of the leg,
A leg clamp for removably fixing the lower end of the leg to the main body;
A transformer direction positioning member that positions the main body at a predetermined first distance from a side surface of the transformer;
A longi-directional positioning member for positioning the main body at a predetermined second distance from a side surface of the longi;
The gantry positioning device according to claim 1, further comprising: a main body fixing device that fixes the main body to a part of the large frame structure. The lower end of each leg portion of the robot mount is composed of a support plate whose bottom surface is horizontal, and a lower end protrusion extending vertically downward from the support plate,
The main body has a protrusion fitting hole into which the lower protrusion protrudes with a gap, and a support surface that supports the lower end of the lower protrusion or the lower surface of the support plate,
The leg clamp is a clamp mechanism that is fixed to the upper surface of the main body and removably fixes a support plate fitted in the protrusion fitting hole,
The transformer direction positioning member has a structure that is positioned and fixed to the main body and extends horizontally along the longe, and a foot jack that is attached to the tip of the horizontal pipe and has a structure that allows fine adjustment of the gap between the transformer. And consist of
The longi direction positioning member includes a pair of guide rods horizontally extending along the transformer and attached to the main body so as to be horizontally movable, and a longi contact fixed to a tip of the pair of guide rods and abutting on a side surface of the longi A plate, and an adjustment mechanism capable of finely adjusting the gap between the longi abutment plate and the long side surface,
The main body fixing device includes a foot jack that is fixed to the main body, extends upward along a longe, and has a height-adjustable structure in which a distal end abuts and stretches against a lower face of the longe. The gantry positioning device according to 2. The lower end protrusion of the robot mount has a rectangular cross section,
The pedestal positioning device according to claim 2, wherein the protrusion fitting hole of the main body is a rectangular cross-sectional hole in which the rectangular cross-section is fitted with a gap.

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