JP2021171784A - Portable type welding robot device - Google Patents

Abstract

To provide a portable type welding device which can achieve downsizing of the device, be installed easily, and inhibit overturning of the device.SOLUTION: A portable type welding robot device 1 includes: a welding robot 2 including a foldable multi-joint arm 2a; a pedestal 3 on which the welding robot 2 is placed; a fixing magnet 4 disposed on a bottom surface of the pedestal 3; leg parts 5 disposed on the bottom surface of the pedestal 3; and a handle 7 rotatably disposed on the pedestal 3. The handle 7 is rotated to an area above the folded multi-joint arm 2a when the portable type welding robot device is transported, and is fixed contacting with a floor surface 8a when the portable type welding robot device is fixed.SELECTED DRAWING: Figure 1

Description

The present invention relates to a portable welding robot device, and more particularly to a portable welding robot device that can be brought into a narrow portion of a large structure such as a ship for welding.

For example, in the double hull (double hull structure) of a ship, there are many welded parts such as a longi, a color plate, and a stiffener. The inside of the double hull is not only a narrow place, but also has a problem that the work space is narrow and it is difficult to access the welded part because a large number of aggregates and reinforcing materials are present. In addition, the double hull is located near the outer panel of the hull and must pass through a narrow space that can be passed by one worker before reaching the double hull. Under these circumstances, a portable welding device that is smaller and lighter has already been proposed.

Patent Document 1 discloses a portable articulated robot used when welding a longi material for shipbuilding and the like, and describes that the robot is clamped to a workpiece to fix the robot. Further, Patent Document 2 discloses an automatic arc welding apparatus having excellent transportability, and describes that the welding machine main body is fixed by a magnet arranged on the bottom surface. Further, in Patent Document 3, a traveling device formed of a portable welding robot, a carriage on which the portable welding robot is mounted, and a rail for traveling the carriage is used, and the carriage is mounted along the rail. It is disclosed that welding is performed while moving.

Jitsukaisho 60-4397 Jitsukaisho 60-190491 Japanese Unexamined Patent Publication No. 2003-95087

In the method of fixing the welding robot to the work near the welding portion as in the invention described in Patent Document 1, there are many restrictions on the place where the welding robot is fixed, and the welding robot is controlled to a posture suitable for welding. There is a problem that it is difficult.

Further, in the case of a welding robot provided with an articulated arm, the position of the center of gravity changes due to the movement of the articulated arm. There is a problem that the installation area must be increased and it is difficult to miniaturize the device.

Further, as in the invention described in Patent Document 3, when the welding robot is mounted on the moving carriage, the rail must be installed at the welding point, and the load to be transported to the welding point increases. There is a problem that installation work is required.

The present invention has been devised in view of such problems, and is a portable welding robot device capable of downsizing the device, easily installing the device, and suppressing tilting of the device. The purpose is to provide.

According to the present invention, a welding robot provided with a foldable articulated arm, a pedestal on which the welding robot is placed, a fixing magnet arranged on the bottom surface of the pedestal, and a fixing magnet arranged on the bottom surface of the pedestal are arranged. A leg portion and a handle rotatably arranged on the pedestal are provided, and the handle is rotated above the articulated arm folded during transportation and is in contact with the floor surface at the time of fixing. A portable welding robotic apparatus is provided that is configured to be fixed.

The handle may be configured to be rotated and fixed to the anterior side where the articulated arm extends.

The handle includes arm portions rotatably arranged on both sides of the pedestal, a grip portion connected to the tip of the arm portion, and a fixing portion for fixing the arm portion so as not to rotate. You may be.

The pedestal may include handles arranged on both sides.

The pedestal may include a laser pointer for positioning.

The fixing magnet may be arranged at one place on the rear side of the pedestal.

The articulated arm may include a sensor capable of measuring the distance to the object to be welded.

The sensor may be located on the upper arm of the articulated arm.

The portable welding robot device may include an acceleration sensor that measures the inclination of the welding robot.

According to the portable welding robot device according to the present invention described above, the handle located above the articulated arm folded during transportation can be rotated and fixed in contact with the floor surface. Therefore, the handle can be used as a stopper for suppressing the tilt of the device, and the pedestal can be miniaturized. Further, since the pedestal is fixed to the floor surface with a fixing magnet and the legs are supported by the legs and the handle, the device can be easily installed without using a rail or a moving carriage.

It is a perspective view which shows the use state of the portable welding robot apparatus which concerns on one Embodiment of this invention. It is a figure which shows the portable welding robot apparatus in the use state, (A) is a top view, (B) is a side view. It is a perspective view which shows the transport state of the portable welding robot apparatus shown in FIG. It is a figure which shows the portable welding robot apparatus in the transport state, (A) is a top view, (B) is a side view.

Hereinafter, embodiments of the present invention will be described with reference to FIGS. 1 to 4 (B). Here, FIG. 1 is a perspective view showing a usage state of the portable welding robot device according to the embodiment of the present invention. 2A and 2B are views showing a portable welding robot device in a used state, where FIG. 2A is a top view and FIG. 2B is a side view. FIG. 3 is a perspective view showing a transport state of the portable welding robot device shown in FIG. 4A and 4B are views showing a portable welding robot device in a transport state, where FIG. 4A is a top view and FIG. 4B is a side view.

The portable welding robot device 1 according to the embodiment of the present invention includes, for example, as shown in FIG. 1, a welding robot 2 provided with a foldable articulated arm 2a and a pedestal 3 on which the welding robot 2 is placed. And, the fixing magnet 4 arranged on the bottom surface of the pedestal 3, the leg portion 5 arranged on the bottom surface of the pedestal 3, the control device 6 of the welding robot 2 arranged on the pedestal 3, and the pedestal 3 can be rotated. It is provided with a handle 7 arranged in.

The welding robot 2 includes, for example, a rotary table 2t fixed to the pedestal 3, an articulated arm 2a arranged on the rotary table 2t, and a welding torch 2w arranged at the tip of the articulated arm 2a. .. The rotary table 2t includes a rotary shaft 2u that can rotate around an axis (Z axis) perpendicular to the plane of the pedestal 3.

The articulated arm 2a is, for example, rotatably connected to the base 21 fixed to the rotating shaft 2u of the turntable 2t, the upper arm 22 rotatably connected to the tip of the base 21, and the tip of the upper arm 22. It includes a lower arm 23, a wrist portion 24 rotatably connected to the tip of the lower arm 23, and a tool portion 25 rotatably connected to the tip of the wrist portion 24. The drive motor of the rotating shaft 2u is housed in, for example, the base 21.

The base 21 is, for example, a connecting portion 21a fixed to the rotating shaft 2u, a bed portion 21b on which a folded articulated arm 2a can be placed, and a link extending diagonally upward from the side portion of the bed portion 21b. A unit 21c and the like are provided.

The upper arm 22 is, for example, a link having a substantially rectangular parallelepiped shape. The rear end of the upper arm 22 is rotatably connected to the tip of the link portion 21c. The upper arm 22 is configured so that the tip can rotate in the front-rear direction around the rear end in the state shown in FIG. The drive motor of the upper arm 22 is housed in, for example, the bed portion 21b. Further, the upper arm 22 is connected to the inside of the link portion 21c so as to be arranged on the substantially center line of the pedestal 3.

Further, on the front surface of the upper arm 22, a first sensor 26 capable of measuring the shape of the object to be welded is arranged. The first sensor 26 is, for example, a 3D sensor capable of acquiring a distance image to an object to be welded. However, the first sensor 26 is not limited to the 3D sensor. By arranging the first sensor 26 at this position, the influence of welding sputtering and fume can be reduced. The first sensor 26 is used when measuring the position and shape of a structure (including a welding object) existing in front of the portable welding robot device 1 and identifying a welding location.

The lower arm 23 is, for example, a link having a substantially rectangular parallelepiped shape. The rear end of the lower arm 23 is rotatably connected to the tip of the upper arm 22. The lower arm 23 is configured so that the tip can rotate in the front-rear direction around the rear end in the state shown in FIG. The drive motor of the lower arm 23 is housed in the lower arm 23, for example. Further, the lower arm 23 is connected to the upper arm 22 so as to be arranged on the opposite side of the link portion 21c, for example, as shown in FIG. 2 (A).

The wrist portion 24 is, for example, a link having a substantially rectangular parallelepiped shape. The rear end of the wrist portion 24 is rotatably connected to the tip of the lower arm 23. The wrist portion 24 is configured so that the tip can rotate in the front-rear direction around the rear end in the state shown in FIG. The drive motor of the wrist portion 24 is housed in the lower arm 23, for example. Further, the wrist portion 24 is connected to the lower arm 23 so as to be arranged on the same side as the upper arm 22, for example, as shown in FIG. 2 (A).

The tool portion 25 is a component that grips the welding torch 2w. The tool portion 25 is connected so as to be rotatable about the extension shaft of the wrist portion 24 on the same plane as the rotation shaft 2u. The drive motor of the tool unit 25 is housed in the wrist unit 24, for example. Further, the tool portion 25 may be provided with a second sensor 27 for measuring the welded joint. The second sensor 27 is, for example, a laser sensor.

In the state shown in FIG. 1, the above-mentioned articulated arm 2a is expressed in XYZ three-axis Cartesian coordinates, around the Z axis of the base 21, around the X axis of the upper arm 22, around the X axis of the lower arm 23, and the wrist. It has a total of 5 degrees of freedom around the X-axis of the portion 24 and around the Y-axis of the tool portion 25.

The above-mentioned configuration of the articulated arm 2a is merely an example, and is not limited to the illustrated configuration. That is, the articulated arm 2a may have another configuration as long as it can be folded on the base 21 and can take a posture required for welding.

The pedestal 3 has a shape on which the welding robot 2 and the control device 6 can be placed, and is, for example, a plate material. The width of the pedestal 3 (width in the X-axis direction) is configured to be large enough to pass through, for example, a passage through which a worker passes (for example, an opening having a width of 400 mm and a height of about 600 mm). A rotary table 2t is arranged on the front side of the upper surface of the pedestal 3, and a control device 6 is arranged on the rear side.

Further, handles 31 for lifting the portable welding robot device 1 mounted on the floor surface 8 are arranged on both sides of the pedestal 3. Specifically, the handles 31 are arranged on both sides of the control device 6 on the upper surface of the pedestal 3. By providing the handle 31, the portable welding robot can be easily adjusted without operating the handle 7 when adjusting the orientation or the position of the portable welding robot device 1 lowered on the floor surface 8. The device 1 can be lifted.

Further, a laser pointer 32 for positioning the portable welding robot device 1 may be arranged in front of the pedestal 3. As shown in FIG. 1, the laser pointer 32 is arranged at two positions on the left and right in front of the pedestal 3 in a state of being slightly tilted inward with respect to each other. By irradiating the structure existing in front with the infrared laser using the laser pointer 32, the portable welding robot device 1 can be roughly positioned by the positions of the two points projected on the structure. ..

The fixing magnet 4 is a permanent magnet or an electromagnet. Further, the fixing magnet 4 is arranged at one place in the central portion on the rear side of the pedestal 3, for example. By arranging the fixing magnet 4 at this position, the orientation of the pedestal 3 can be easily changed around the fixing magnet 4. When the fixing magnet 4 is composed of an electromagnet, a switch may be provided so that the power is turned on when the handle 7 is tilted toward the floor surface 8.

Further, by setting the attractive force of the fixing magnet 4 to about 50 to 150 kg, the pedestal 3 can be slid on the floor surface 8 even when the articulated arm 2a comes into contact with another structure or the like. Damage to the articulated arm 2a and the contacted structure can be suppressed. Further, by arranging the fixing magnet 4 on the rear side of the pedestal 3, it is possible to suppress a decrease in magnetic force due to radiant heat during welding.

The legs 5 are arranged at two front positions on the bottom surface of the pedestal 3, for example. Since the fixing magnet 4 is arranged at one position on the rear side of the bottom surface of the pedestal 3, at least the legs 5 for supporting the pedestal 3 at three points are required. In addition, three or more legs 5 may be arranged.

The control device 6 is a device that controls the operation of the welding robot 2. A switch 61, a connector 62, and the like are arranged at the rear end of the control device 6. The switch 61 is a switch that turns on the power to the portable welding robot device 1. The connector 62 is a terminal for connecting a power cable, a control cable, an operation box, and the like.

Further, an acceleration sensor (not shown) for measuring the inclination of the welding robot 2 may be arranged inside the rotary table 2t. By arranging such an acceleration sensor, when the welding robot 2 is tilted, the welding conditions can be calculated in consideration of the tilt angle. The acceleration sensor may be arranged on the pedestal 3 or may be arranged in the control device 6.

In addition, the acceleration sensor can detect changes in posture such as misalignment and tilting of the portable welding robot device 1, and if necessary, stop welding work, torque off each axis of the articulated arm 2a, and the like. You can take action.

The handle 7 makes, for example, a pair of arms 71 rotatably arranged on both sides of the pedestal 3, a grip 72 connected to the tips of the pair of arms 71, and the arms 71 non-rotatable. A fixing portion 73 for fixing is provided. The handle 7 is formed in a substantially square U shape by the arm portion 71 and the grip portion 72.

As shown in FIG. 3, the arm portion 71 is configured so that the grip portion 72 can move above the articulated arm 2a in a state where the articulated arm 2a is folded. The grip portion 72 is formed to have a thickness that is easy for an operator to hold. The arm portions 71 do not necessarily have to be paired, and may be one arm portion 71.

The fixing portion 73 is, for example, a screw member arranged in the rotating portion of the arm portion 71. The arm 71 can be rotated by loosening the screw member, and the arm 71 can be fixed non-rotatably by tightening the screw member. The fixing portion 73 is not limited to the screw member, and may be a member that cannot be rotated by inserting a pin into the rotating portion of the arm portion 71.

Further, although not shown, the fixing portion 73 may be a fixing means such as a magnet or a suction cup arranged at the tip of the arm portion 71 or the grip portion 72. With such a configuration, the handle 7 can be more reliably fixed to the floor surface 8. The fixing portion 73 may use a screw member or the like arranged on the arm portion 71 and a magnet or the like arranged on the grip portion 72 in combination.

As shown in FIGS. 3 to 4 (B), the handle 7 is rotated above the articulated arm 2a folded during transportation, and is fixed at the time of fixing as shown in FIGS. 1 to 2 (B). The articulated arm 2a is configured to be rotated in the front side (Y-axis direction in the figure) to be extended and fixed in contact with the floor surface 8.

By bringing the handle 7 into contact with the floor surface 8 in this way, it can function as a stopper, and even if the position of the center of gravity of the welding robot 2 fluctuates during welding, the tilting of the device can be suppressed. can. Although not shown, the handle 7 may be rotated to the rear side of the pedestal 3 and fixed in contact with the floor surface 8 depending on the arrangement relationship between the articulated arm 2a and the pedestal 3.

The articulated arm 2a shown in FIG. 1 is folded as shown in FIG. 3 by the following operation during transportation. The upper arm 22 is rotated rearward and placed on the bed portion 21b. The lower arm 23 is rotated forward and is arranged in a state substantially adjacent to the upper arm 22. The wrist portion 24 is rotated rearward and placed on the upper arm 22.

As shown in FIG. 3, the folded articulated arm 2a is compactly deformed so as not to protrude from the pedestal 3. The welding torch 2w may be removed from the tool portion 25 during transportation.

Next, the handle 7 is rotated to move the grip portion 72 above the folded articulated arm 2a and stand up as shown in FIG. At this time, for example, the handle 7 may be fixed by the fixing portion 73, or a mechanism that is automatically fixed when the handle 7 is erected may be added. The worker can easily convey the portable welding robot device 1 by grasping the handle 7 in the state shown in FIG.

In the portable welding robot device 1 according to the present embodiment, since the handle 7 is used as a stopper for suppressing the tilt of the device, the pedestal 3 can be miniaturized and is compact as shown in FIG. Can be folded into. Therefore, the portable welding robot device 1 can be manually brought in even in a narrow portion such as in a double hull of a ship.

In the portable welding robot device 1 according to the present embodiment, the pedestal 3 is fixed to the floor surface 8 by the fixing magnet 4, and the pedestal 3 is supported by the legs 5 and the handle 7, so that the rail and the moving trolley are supported. The device can be easily installed without using.

It goes without saying that the present invention is not limited to the above-described embodiment, and various modifications can be made without departing from the spirit of the present invention.

1 Portable welding robot device 2 Welding robot 2a Articulated arm 2t Rotating table 2u Rotating shaft 2w Welding torch 3 Pedestal 4 Fixing magnet 5 Leg 6 Control device 7 Handle 8 Floor surface 21 Base 21a Connection part 21b Bed part 21c Link part 22 Upper arm 23 Lower arm 24 Wrist 25 Tool part 26 First sensor 27 Second sensor 31 Handle 32 Laser pointer 61 Switch 62 Connector 71 Arm 72 Grip part 73 Fixed part

Claims (9)

Welding robot with foldable articulated arm and
The pedestal on which the welding robot is placed and
The fixing magnets placed on the bottom of the pedestal and
With the legs arranged on the bottom of the pedestal,
With a handle rotatably arranged on the pedestal,
The handle is configured to rotate above the articulated arm that is folded during transport and to be fixed in contact with the floor surface during fixation.
A portable welding robot device characterized by this. The portable welding robot device according to claim 1, wherein the handle is configured to be rotated and fixed to the front side where the articulated arm extends. The handle includes arm portions rotatably arranged on both sides of the pedestal, a grip portion connected to the tip of the arm portion, and a fixing portion for fixing the arm portion so as not to rotate. The portable welding robot device according to claim 1. The portable welding robot device according to claim 1, wherein the pedestal includes handles arranged on both sides. The portable welding robot device according to claim 1, wherein the pedestal includes a laser pointer for positioning. The portable welding robot device according to claim 1, wherein the fixing magnet is arranged at one location on the rear side of the pedestal. The portable welding robot device according to claim 1, wherein the articulated arm includes a sensor capable of measuring the shape of an object to be welded. The portable welding robot device according to claim 7, wherein the sensor is arranged on the upper arm of the articulated arm. The portable welding robot device according to claim 1, further comprising an acceleration sensor for measuring the inclination of the welding robot.

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