JP2024040265A - Welding system and welding method - Google Patents

Abstract

To provide a mounting jig which enables a robot arm to be mounted to columns of different sizes.SOLUTION: Provided is a mounting jig 10 for mounting a robot arm 80 to a column 1. The mounting jig 10 comprises: a pair of first support members 20 for supporting the robot arm 80; and a rail member 40 which is supported by the pair of first support members 20, and guides traveling of a carriage 90 on which the robot arm 80 is to be placed. The pair of first support members 20 are removably fixed to an outer surface 1b of the column 1 so as to extend in a horizontal first direction and so as to sandwich the column 1, whereas the rail member 40 is fixed by straddling the pair of first support members 20 so as to extend in a horizontal second direction.SELECTED DRAWING: Figure 1

Description

The present invention relates to a mounting jig for attaching two robot arms to columns, which is used for welding the butt portions of steel columns.

BACKGROUND ART Conventionally, at construction sites and the like, the butt portions of steel columns arranged one above the other are fixed by welding. As such a welding method, a welding method using a robot arm is known (for example, see Patent Document 1).

Patent Document 1 describes a welding system in which a guide rail that goes around the steel pipe once is fixed to the steel pipe, and a welding robot is moved along the guide rail to weld the butt portions of the steel pipes.

JP 2018-58078 Publication

However, in the above Patent Document 1, it is necessary to prepare guide rails according to the size (diameter) of the steel pipe. Since there are usually steel columns of multiple sizes at construction sites, the welding system in the above Patent Document 1 has the problem that it is necessary to prepare guide rails of multiple sizes for one welding robot.

The present invention has been made in view of these points, and an object of the present invention is to provide a mounting jig that can attach a robot arm to pillars of different sizes.

The mounting jig according to the present invention is a mounting jig for mounting a robot arm to the pillar, which is used for welding the butt portions of steel pillars arranged above and below, and supporting the robot arm. a pair of first support members; a rail member that is supported by the pair of first support members and guides the traveling of a trolley on which the robot arm is placed; the pair of first support members are horizontal; The rail member extends in a first direction and is removably fixed to the outer surface of the pillar so as to sandwich the pillar, and the rail member extends in a second horizontal direction intersecting the first direction. It is fixed across the first support member.

According to the mounting jig of the present invention, the pair of first support members extend in the first direction and are fixed to the pillars so as to sandwich the pillars, and the rail member extends in the second direction. It is fixed to the support member. As a result, the mounting jig can be fixed to the column regardless of the size (diameter) of the column, so there is no need to prepare a mounting jig for each size (diameter) of the column as in Patent Document 1 above. do not have.

The mounting jig preferably further includes a second support member fixed across the pair of first support members so as to extend in the second direction, the second support member supporting the rail member. do. With this configuration, the strength required to support the robot arm can be ensured by the second support member, so the strength required for the rail member can be suppressed. Thereby, it is possible to suppress the rail member from increasing in size and weight.

In the above-mentioned mounting jig, preferably, the second support member is arranged so as to go around the plurality of chord members extending in the second direction once at the same position in the second direction. It is formed into a truss structure having a plurality of reinforcing members arranged perpendicularly to the chord members and connecting the adjacent chord members. In this manner, the torsional strength of the second support member can be improved by providing the reinforcing member perpendicular to the strings so as to go around the plurality of strings once. Therefore, even if the center of gravity of the robot arm changes due to expansion and contraction of the arm portion of the robot arm and a torsional load is applied to the second support member, twisting of the second support member can be suppressed. . Thereby, it is possible to suppress the position of the tip of the welding torch of the robot arm from shifting from a desired position due to the influence of gravity or vibration.

The mounting jig including the second support member preferably further includes a fixing member for fixing the second support member to the first support member, and the fixing member is attached to the first support member. The first fixture includes a plate-shaped first fixture and a second fixture that fixes the second support member to the first fixture, and the first fixture is provided on both sides of the first support member in the width direction. The first fixture has a protruding part, and the protruding part of the first fixture is provided with a mounting position adjustment part that adjusts the mounting position of the second fixture along the width direction of the first support member. There is. With this configuration, the second fixture can be attached to the first fixture in various positions, so it does not matter where diagonal members, reinforcing members, etc. are placed with respect to the first fixture. Even if the second fixture is attached to the first fixture, it is possible to prevent the second fixture from becoming impossible to attach to the first fixture.

In the mounting jig including the second support member, preferably, the second support member is integrally provided with a mounting piece that extends along the second direction and is attached to the first support member, The attachment piece is provided with an attachment position adjustment part that adjusts the attachment position with respect to the first support member along the second direction. With this configuration, the attachment position of the attachment piece to the first support member can be adjusted. That is, even if the distances between the pair of first support members are different (the sizes of the columns are different), the second support member can be easily attached to the first support member.

In the above mounting jig, preferably, the second support member is formed to be divisible between the pair of first support members. With this configuration, the second support member can be divided, making it easier to carry the second support member. Further, when the cart carrying the robot arm moves to the end of the second support member, the force applied to the second support member becomes large, but even in this case, the connection between the robot arm and the second support member (divided position), the second support member is fixed to the first support member, so that the stress acting on the connecting portion (divided position) can be made relatively small. Therefore, it is possible to prevent the second support member from being damaged at the connecting portion (divided position).

In the above mounting jig, preferably, a cable protruding outward in the width direction of the first support member and connected to the robot arm contacts the first support member at both ends of the first support member. A cable avoidance member is provided to avoid this. With this configuration, when the trolley carrying the robot arm moves along the rail, the cable avoiding member can prevent the cable extending from the robot arm to the welding machine from getting caught in the first support member. .

In the above mounting jig, preferably, a pair of the rail members are provided, and the pair of rail members extend in the second direction and straddle the pair of first support members so as to sandwich the column. Fixed. In this way, by providing a pair of rail members to sandwich the column, the robot arm can be placed on both sides of the column. This allows welding to be performed from both sides of the column, thereby reducing welding time.

According to the present invention, it is possible to provide a mounting jig that can attach a robot arm to columns of different sizes.

FIG. 2 is a perspective view showing a state in which a robot arm is attached to a column using a mounting jig according to a first embodiment of the present invention. FIG. 3 is a perspective view showing the structure of the first support member of the mounting jig according to the first embodiment of the present invention. FIG. 3 is a perspective view showing a structure for mounting the first support member of the mounting jig to the pillar according to the first embodiment of the present invention. It is a perspective view for explaining the structure of the 1st attachment fixture and cable avoidance member attached to the 1st support member of the attachment jig concerning a 1st embodiment of the present invention. It is a perspective view showing the structure of the support member structure which constitutes the 2nd support member of the attachment jig concerning a 1st embodiment of the present invention. It is a perspective view for explaining the structure of the 2nd attachment tool of the attachment jig concerning a 1st embodiment of the present invention, and a rail fixing member. FIG. 3 is a cross-sectional view showing a state in which the rail member of the mounting jig according to the first embodiment of the present invention is fixed to a rail fixing member. FIG. 3 is a plan view showing the structure around the cable avoidance member of the mounting jig according to the first embodiment of the present invention. FIG. 2 is a perspective view showing a state in which the mounting jig according to the first embodiment of the present invention is attached to a pillar having a larger size than the pillar shown in FIG. 1; 10 is a perspective view for explaining the structure around the first fixture in FIG. 9. FIG. 10 is a perspective view for explaining the structure around the second fixture and rail fixing member in FIG. 9. FIG. FIG. 3 is a perspective view showing the structure of a mounting jig according to a second embodiment of the present invention. It is a perspective view which shows the structure of the attachment jig of the modification of 2nd Embodiment of this invention. FIG. 7 is a perspective view showing the structure of a mounting jig according to a third embodiment of the present invention.

Hereinafter, a mounting jig according to an embodiment of the present invention will be described with reference to the drawings.

(First embodiment)
FIG. 1 is a perspective view showing a robot arm 80 attached to a column 1 using a mounting jig 10 according to a first embodiment of the present invention.

As shown in FIG. 1, at a construction site or the like, a robot arm 80 is used to weld the abutting portions 1a of columns 1 made of polygonal steel pipes arranged one above the other. The robot arm 80 is removably attached to the column 1 using the attachment jig 10.

The outer surface 1b of the column 1 is formed by four flat parts and four curved parts. A plurality (here, four) of protrusions (also referred to as erection pieces) 2 are welded to predetermined positions on the flat surface of the outer surface 1b of each column 1. This projecting piece 2 is provided to temporarily fix vertically adjacent pillars 1 to each other. A temporary fixing jig 3 is attached to the two protrusions 2 arranged above and below.

The temporary fixing jig 3 extends in the vertical direction, and the upper end is fastened to the protrusion 2 using bolts 4 etc., and the lower end is fastened to the protrusion 2 using bolts 4 etc. 2 has been concluded. Although detailed explanation is omitted here, the temporary fixing jig 3 may be configured to be able to adjust the distance between the two protrusions 2 arranged above and below. Thereby, it is possible to adjust the gap between the pillars 1 arranged above and below, and it is also possible to adjust the inclination of the pillar 1 arranged on the upper side. In addition, the temporary fixing jig 3 is such that the joint strength between the columns 1 supports the building under construction when the welding of the butt portions 1a between the columns 1 is completed or even during the welding of the butt portions 1a. It is removed from the protruding piece 2 when it reaches a sufficient size.

Further, a support piece 1c that supports the mounting jig 10 is welded to a predetermined position of the pillar 1 disposed on the lower side. Two supporting pieces 1c are provided on opposing plane parts of the outer surface 1b of the column 1, and a first supporting member 20 of the mounting jig 10, which will be described later, is fixed thereto.

The mounting jig 10 includes a pair of first support members 20 and a pair of second support members 30 that support two robot arms 80, and a pair of rail members 40. The pair of first support members 20 extend in a horizontal first direction (arrow A direction) and are fixed to the outer surface 1b of the column 1 so as to sandwich the column 1 therebetween. The pair of second support members 30 extend in a second direction (direction of arrow B) that intersects (orthogonally) with the first direction, and are fixed across the pair of first support members 20 so as to sandwich the column 1 therebetween. . Each rail member 40 is fixed on the second support member 30 and guides the robot arm 80 in the second direction (arrow B direction). Note that the first direction (direction of arrow A) and the second direction (direction of arrow B) are directions parallel to or perpendicular to the plane portion of the outer surface 1b of the pillar 1.

Next, detailed structures of the first support member 20 and the second support member 30 will be described.

Although the material and cross-sectional shape of the first support member 20 are not particularly limited, an aluminum alloy is used here from the viewpoint of weight reduction. As shown in FIG. 2, the first support member 20 is formed to have an H-shaped cross section, and has a pair of flanges 21 and 22, and a web 23 connecting the pair of flanges 21 and 22. When attached to the pillar 1, it is formed to extend in the direction of arrow A). A plurality of through holes (also referred to as through holes) 21a are provided on both sides of the flange 21 in the longitudinal direction (direction of arrow A) to fasten a first fixture 51, which will be described later. Since the plurality of through holes 21a are provided along the longitudinal direction of the flange 21, it is possible to adjust the fastening position of the first fixture 51 to the flange 21 in the longitudinal direction of the flange 21 (in the direction of arrow A). .

A plurality of through holes 21b are provided near the center of the flange 22 at predetermined intervals in the longitudinal direction of the flange 22 for fastening L-shaped plates 26, which will be described later. Since the through hole 21b is formed long in the longitudinal direction of the flange 22, it is possible to finely adjust the fastening position of the L-shaped plate 26 in the longitudinal direction of the flange 22 (in the direction of arrow A).

As shown in FIG. 3, the first support member 20 is detachably fixed to a pair of support pieces 1c provided on the column 1. Specifically, an L-shaped plate (also referred to as an angle) 26 is fastened to each support piece 1c using bolts 25a and nuts 25b. Moreover, the L-shaped plate 26 is arranged so that the support surface that supports the first support member 20 is horizontal. Bolts 27a are inserted into the through holes 21b of the first support member 20 and the through holes (not shown) of the L-shaped plate 26, and the first support member 20 is fixed to the support piece 1c using the bolts 27a and nuts 27b. ing.

As shown in FIG. 4, at both ends of the first support member 20, a cable 89, which will be described later, is connected to the robot arm 80 and protrudes outward in the width direction (direction of arrow B) of the first support member 20. A cable avoidance member 28 is fixed to avoid contact with the support member 20. The cable avoidance member 28 is formed so that the amount of protrusion in the width direction relative to the first support member 20 decreases toward both ends of the first support member 20. Specifically, the cable avoidance member 28 includes a fixed surface portion 28a fixed to both ends of the first support member 20 using bolts 29a and nuts 29b, and a fixed surface portion 28a fixed to both ends of the first support member 20 in the width direction of the first support member 20 (arrow The first support member 20 includes an extension portion 28b that protrudes in the B direction) and extends toward the inner side of the first support member 20 in the longitudinal direction. The extending portion 28b is formed by bending a tube material, a bar material, or the like. Further, the extending portion 28b extends to a position closer to the second support member 30 than the connection position of the cable 89 (here, the rear end 82a of the swivel base 82 of the robot arm 80, which will be described later; see broken line L in FIG. 8). It is formed like this.

Although the material of the second support member 30 is not particularly limited, an aluminum alloy is used here from the viewpoint of weight reduction. The second support member 30 is formed to extend in a predetermined direction (in the direction of arrow B when attached to the first support member 20). Further, the second support member 30 is configured to be splittable at a predetermined position (here, the center position in the longitudinal direction (direction of arrow B)). Hereinafter, the divided state of the second support member 30 will be referred to as a support member structure 30a.

As shown in FIG. 5, the support member structure 30a includes a plurality of (four in this case) chord members 31 made of pipes or rods extending in the second direction (arrow B direction), and a plurality of chord members 31 at both ends of the chord members 31. It is formed into an elongated frame shape having an end plate 32 to be welded. The end plate 32 maintains a constant spacing between the chord members 31. Furthermore, the end plate 32 is provided with a plurality of through holes 32a into which bolts 30b (see FIG. 6) are inserted when the supporting member structures 30a are connected together to form the second supporting member 30.

The support member structure 30a also includes a plurality of diagonal members 33 made of pipes or bars arranged at an angle with respect to the chord members 31, and a plurality of diagonal members 33 made of pipes or bars arranged perpendicularly to the chord members 31. It is formed into a truss structure including a plurality of reinforcing members 34 made of, etc.

The diagonal members 33 are welded to connect adjacent chord members 31 to each other. Further, the plurality of diagonal members 33 connecting two adjacent string members 31 are arranged such that the inclination directions with respect to the string members 31 are alternately opposite in the longitudinal direction of the string members 31 (direction of arrow B). It is located. Further, the plurality of diagonal members 33 are arranged at predetermined intervals from each other in the longitudinal direction of the chord members 31 (in the direction of arrow B).

The reinforcing material 34 is welded to connect adjacent chord members 31 to each other. Specifically, the reinforcing members 34 are arranged between the diagonal members 33 adjacent to each other in the second direction (the direction of arrow B) and between the diagonal members 33 and the end plate 32. In other words, the reinforcing members 34 are arranged to sandwich the diagonal member 33 in the second direction (arrow B direction). Further, a plurality of (here, four) reinforcing members 34 are arranged at the same position in the second direction (arrow B direction), and around a plurality of (here, four) string members 31 (supporting member structure They are arranged so as to go around the body 30a once.

This support member structure 30a is fixed to the first support member 20 using a fixing member 50, as shown in FIGS. 1 and 6. As shown in FIGS. 4 and 6, the fixing member 50 includes a plate-shaped first fixture 51 that is attached to the first support member 20, and a second fixture 52 that fixes the string member 31 to the first fixture 51. Contains. Each support member structure 30a is fixed to the first support member 20 using two first fixtures 51, four second fixtures 52, and bolts 55a, 56 and nuts 55b, which will be described later.

The first fixture 51 is arranged so as to sandwich the center portion 51a disposed on the first support member 20 in the second direction (direction of arrow B), and is arranged so as to sandwich the center portion 51a in the second direction (direction of arrow B). A pair of protruding parts 51b protruding on both sides in the direction of arrow B). The central portion 51a has a plurality of (here, four) through holes 51c (see FIG. 4) for fastening the first fixture 51 to the first support member 20 using bolts 55a and nuts 55b, and a second through hole 51c (see FIG. 4). A pair of screw holes 51d for fastening the fixture 52 to the first fixture 51 are formed. Since the through hole 51c is formed to be long in the first direction (arrow A direction), it is possible to finely adjust the fastening position of the first fixture 51 to the first support member 20 in the first direction (arrow A direction). It is possible.

A plurality of pairs (four pairs in this case) of screw holes (mounting position adjustment parts) 51e for fastening the second fixture 52 are formed in each protrusion 51b along the second direction (direction of arrow B). ing. Thereby, it is possible to adjust the fastening position of the second fixture 52 with respect to the first fixture 51 in the second direction (arrow B direction). That is, since the second fixture 52 can be attached to the first fixture 51 in various positions, it is difficult to determine where the diagonal member 33, the reinforcing member 34, etc. are arranged with respect to the first fixture 51. Even if this happens, it is possible to prevent the second fixture 52 from becoming impossible to attach to the first fixture 51.

The second fixture 52 includes a pair of brackets 52a that sandwich the chord member 31 of the support member structure 30a from above and below. The bracket 52a has a U-shaped cross section and has a concave surface for holding the string member 31. The concave surface of the bracket 52a is formed to have substantially the same curvature as the outer circumferential surface of the chord member 31. Each bracket 52a is formed to extend in the first direction (direction of arrow A) while holding the chord member 31, and through holes are provided at both ends of the bracket 52a in the longitudinal direction (direction of arrow A). 52b is formed. The pair of brackets 52a are fastened to a predetermined position of the first fixture 51 using bolts 56 while sandwiching the chord member 31 of the support member structure 30a. In this way, each support member structure 30a is fixed to one first support member 20. The end plates 32 of the support member structures 30a adjacent in the second direction (direction of arrow B) are fastened together using a plurality of (here, 12) bolts 30b. This constitutes the second support member 30. As shown in FIG. 1, the fastening position between adjacent support member structures 30a (that is, the division position of the second support member 30) is arranged between the pair of first support members 20.

Although the material of the rail member 40 is not particularly limited, for example, steel can be used. As shown in FIGS. 6 and 7, the rail member 40 includes a main body 41 and a pair of rails (also referred to as linear guide rails) 42 fixed to the upper part of the main body 41 using bolts or the like. , and is formed in an elongated shape extending in the second direction (direction of arrow B). Note that FIG. 7 is a cross-sectional view along a first direction (direction of arrow A) passing through a through hole 62d of a support plate 62 of a rail fixing member 60, which will be described later.

A pair of grooves 41a are formed on the bottom surface of the main body portion 41, and are arranged at a predetermined interval from each other and extend in the second direction (arrow B direction). A nut 41b is embedded in a predetermined position in the longitudinal direction (arrow B direction) of each groove 41a.

The pair of rails 42 are formed with engagement grooves 42a extending in the second direction (direction of arrow B), into which the carriage 90 of the robot arm 80 is slidably engaged.

This rail member 40 is fixed to the second support member 30 using a rail fixing member 60. The rail fixing member 60 includes a third fixture 61 attached to the chord member 31 of the second support member 30 and a support plate 62 fixed to the third fixture 61.

The third fixture 61 is formed similarly to the second fixture 52. That is, the third fixture 61 includes a pair of brackets 61a that sandwich the chord member 31 of the support member structure 30a from above and below. The bracket 61a has a U-shaped cross section and has a concave surface for holding the string member 31. The concave surface of the bracket 61a is formed to have substantially the same curvature as the outer circumferential surface of the chord member 31. Each bracket 61a is formed to extend in the first direction (direction of arrow A) while holding the string member 31, and through holes are provided at both ends of the bracket 61a in the longitudinal direction (direction of arrow A). 61b is formed.

The support plate 62 is formed to have a T-shaped cross section, including a thick portion 62a and a pair of thin portions 62b disposed on both sides of the thick portion 62a in the width direction (arrow B direction). It is formed to extend in the direction of arrow A. A plurality of (here, two) through holes 62c are formed at predetermined positions in each thin wall portion 62b for fastening the support plate 62 to the bracket 61a using bolts 63a and nuts 63b. Since the through hole 62c is formed to be long in the first direction (arrow A direction), the fastening position of the support plate 62 to the bracket 61a (that is, to the chord member 31) can be finely adjusted in the first direction (arrow A direction). Is possible.

With the pair of brackets 61a vertically sandwiching the chord members 31 of the support member structure 30a, and the support plate 62 being placed on the upper bracket 61a, the support plate 62 and the pair of brackets are connected using bolts 63a and nuts 63b. A bracket 61a is fixed at a predetermined position on the string member 31.

The thick portion 62a of the support plate 62 is formed to have such a thickness that it protrudes above the head of the bolt 63a when the bolt 63a is inserted into the through hole 62c of the thin portion 62b. This can prevent the rail member 40 from coming into contact with the bolt 63a. Furthermore, a pair of through holes 62d are formed at predetermined positions of the thick portion 62a. Then, with the rail member 40 disposed on the support plate 62, the rail member 40 is fixed to the support plate 62 using bolts 64 and nuts 41b.

As described above, the second support member 30 is formed to be divisible between the pair of first support members 20. This allows the second support member 30 to be divided, making it easier to carry the second support member 30. Further, when the cart 90 on which the robot arm 80 is mounted moves to the end of the second support member 30, the force applied to the second support member 30 increases, but even in this case, the robot arm 80 and the second Since the second support member 30 is fixed to the first support member 20 between the connecting portion (divided position) of the supporting member 30, the stress acting on the connecting portion (divided position) can be made relatively small. . Therefore, it is possible to prevent the second support member 30 from being damaged at the connecting portion (divided position).

Next, the structure of the robot arm 80 will be briefly described.

The robot arm 80 is placed on a cart 90 that is placed on the rail member 40 and travels along the rail member 40, as shown in FIGS. 1 and 8. The robot arm 80 includes a swivel base 82 disposed on a cart 90 and capable of rotating around an axis extending in the vertical direction, a main body 83 disposed on the swivel base 82 and extending upward, and a main body 83 disposed on the main body 83. A first shaft portion 84 that is rotatable about an axis extending in the horizontal direction; a second shaft portion 85 that is connected to the first shaft portion 84 and rotatable around the axis; A first arm portion 86 that is connected and rotatable about an axis perpendicular to the second shaft portion 85; The second arm section 87 includes a welding torch 88 provided at the tip of the second arm section 87, and a cable 89 extending externally from the rear end 82a of the swivel table 82.

The robot arm 80 is moved to a predetermined position by a cart 90, and by driving the swivel base 82, the first shaft section 84, the second shaft section 85, the first arm section 86, and the second arm section 87, the welding torch 88 is moved. Welding is performed by arranging the tips of the pillars 1 at desired positions of the abutting portions 1a of the pillars 1. Note that the robot arm 80 and the trolley 90 may be driven manually or automatically.

Examples of the cable 89 include, but are not limited to, a power cable, a control cable for manually controlling the robot arm 80, and the like.

Here, both ends of the first support member 20 are formed to protrude outward in the first direction (arrow A direction) than the second support member 30, so that the cart 90 on which the robot arm 80 is mounted is mounted on the rail. It is possible that the cable 89 gets caught on the first support member 20 while moving along the member 40 . Therefore, in this embodiment, as described above, cable avoidance members 28 are provided at both ends of the first support member 20. As a result, even if the cart 90 carrying the robot arm 80 moves along the rail member 40, the cable 89 comes into contact with the extending portion 28b of the cable avoidance member 28 and moves along the extending portion 28b. Therefore, it is possible to prevent the cable 89 from getting caught on the first support member 20.

When the robot arm 80 welds a position far from the second support member 30 (for example, the center position between a pair of second support members 30), the first arm portion 86 and the like extend in the first direction (arrow A direction). Placed. At this time, the center of gravity of the robot arm 80 moves to a position away from the second support member 30 in the first direction (arrow A direction). Therefore, a torsional load acts on the second support member 30. In this case, it is conceivable that the second support member 30 is twisted and the tip position of the welding torch 88 is shifted from the desired position. Therefore, in this embodiment, in addition to the diagonal members 33 that are inclined with respect to the chord members 31, the second support member 30 includes a diagonal member 33 that extends around the plurality of chord members 31 at the same position in the second direction (arrow B direction). A plurality of reinforcing members 34 are arranged perpendicularly to the chord members 31 so as to surround the string members 31 and connect adjacent chord members 31 to each other. As a result, it is possible to improve the torsional strength of the second support member 30 in addition to the bending strength, so even if the center of gravity of the robot arm 80 changes and a torsional load is applied to the second support member 30. , it is possible to suppress twisting of the second support member 30. Therefore, it is possible to suppress the position of the tip of the welding torch 88 of the robot arm 80 from shifting from a desired position due to the influence of gravity or vibration.

Next, as shown in FIG. 9, a case where the mounting jig 10 is attached to a column 1 having a larger size (diameter) than the column 1 shown in FIG. 1 will be described.

As shown in FIGS. 9 and 10, when the size (diameter) of the pillar 1 is large, the distance between the second support members 30 becomes large, so it is difficult to attach the second support member 30 to the first support member 20. The first fixtures 51 are attached to positions close to both ends of the first support member 20. In this embodiment, a plurality of through holes 21a are provided along the longitudinal direction on both sides of the first support member 20, so even if the size (diameter) of the column 1 is large, It is possible to fix the second support member 30 to the first support member 20 while ensuring a distance between the first support member 1 and the second support member 30.

Further, as shown in FIGS. 9 and 11, when the size (diameter) of the pillar 1 is large, the distance between the first support members 20 becomes large, so the second fixture 52 is attached to the second support member 30. The mounting position moves in the second direction (arrow B direction). At this time, since the second support member 30 is provided with a plurality of diagonal members 33 and reinforcing members 34, the attachment position of the second fixture 52 to the second support member 30 is limited, and the second fixture 52 is It is conceivable that it will not be possible to attach to the first fixture 51. In this embodiment, as described above, the first fixture 51 is provided with a plurality of screw holes 51d and 51e along the second direction (arrow B direction), so that the second Even if the attachment position of the attachment 52 is restricted, it is possible to prevent the second attachment 52 from becoming impossible to attach to the first attachment 51.

In this embodiment, as described above, the pair of first support members 20 extend in the first direction (arrow A direction) and are fixed to the column 1 so as to sandwich the column 1 therebetween, and the pair of rail members 40 It extends in two directions (the direction of arrow B) and is fixed to a pair of first support members 20 so as to sandwich the pillar 1 therebetween. As a result, the mounting jig 10 can be fixed to the column 1 regardless of the size (diameter) of the column 1, so a mounting jig is prepared for each size (diameter) of the column 1 as in Patent Document 1 mentioned above. There is no need to keep it.

Further, as described above, a pair of second support members 30 are further provided that extend in the second direction (direction of arrow B) and are fixed across the pair of first support members 20 so as to sandwich the pillar 1 therebetween. Thereby, the strength required to support the robot arm 80 can be ensured by the second support member 30, so that the strength required for the rail member 40 can be suppressed. Thereby, it is possible to suppress the rail member 40 from increasing in size and weight.

(Second embodiment)
Next, the structure of the mounting jig 10 according to the second embodiment of the present invention will be described.

In this embodiment, as shown in FIG. 12, the chord member 31 of the support member structure 30a (second support member 30) has an attachment piece extending along the longitudinal direction (arrow B direction) of the second support member 30. 35 is integrally provided by welding. The mounting piece 35 is provided with a plurality of through holes (mounting position adjusting portions) 35a that open in the width direction of the second support member 30 (direction of arrow A) along the second direction (direction of arrow B). The mounting piece 35 is fixed at a predetermined position on the first support member 20 using an L-shaped plate (also referred to as an angle) 36.

In this embodiment, the mounting piece 35 has multiple through holes 35a provided along the second direction (arrow B direction), so that the mounting position of the mounting piece 35 relative to the L-shaped plate 36 (i.e., the mounting position relative to the first support member 20) can be adjusted in the second direction (arrow B direction). In other words, even if the spacing between a pair of first support members 20 is different (if the sizes of the columns 1 are different), the second support member 30 can be easily attached to the first support member 20.

Moreover, by providing the mounting piece 35 integrally with the support member structure 30a (second support member 30), the number of parts of the mounting jig 10 can be reduced, and the mounting workability can be improved.

Here, an example is shown in which the mounting piece 35 is attached to the first support member 20 using the L-shaped plate 36, but for example, the mounting jig 10 according to a modification of the second embodiment shown in FIG. It's okay. Specifically, the mounting piece 37 is integrated with the chord member 31 of the support member structure 30a (second support member 30) by welding, with the plurality of through holes (mounting position adjustment portions) 37a opening in the vertical direction. It is set in. Thereby, the number of parts of the mounting jig 10 can be further reduced, and the mounting workability can be further improved.

(Third embodiment)
Next, the structure of the mounting jig 10 according to the third embodiment of the present invention will be described.

In this embodiment, as shown in FIG. 14, the cable avoidance member 128 is arranged to extend parallel to the second support member 30 at a predetermined distance. Specifically, the cable avoidance member 128 is formed to protrude outward in the width direction of the first support member 20, and is formed to have approximately the same length as the rail member 40. Further, the cable avoidance member 128 is fixed using a bolt 29a and a nut 29b (see FIG. 4) so as to straddle the ends of the pair of first support members 20.

Here, the cable avoidance member 128 is formed from a long member (also called an angle) with an L-shaped cross section. Note that the cable avoidance member 128 may be formed from, for example, a pipe material or a rod material, rather than a member with an L-shaped cross section.

Further, the cable avoidance member 128 is provided with a plurality of through holes 128a that open in the vertical direction along the second direction (arrow B direction). Since the through hole 128a is formed to be long in the second direction (arrow B direction), it is possible to adjust the attachment position of the cable avoidance member 128 with respect to the first support member 20 in the second direction (arrow B direction). be.

In this embodiment, by providing the cable avoidance member 128, even if the trolley 90 carrying the robot arm 80 moves along the rail member 40, the cable 89 moves along the cable avoidance member 128. As in the first embodiment, it is possible to prevent the cable 89 from getting caught on the first support member 20.

Note that the embodiments disclosed this time should be considered to be illustrative in all respects and not restrictive. The scope of the present invention is indicated by the claims rather than the description of the embodiments described above, and includes all changes within the meaning and range equivalent to the claims.

For example, in the above embodiment, an example is shown in which a polygonal steel pipe is used as a steel column, but the present invention is not limited to this, and a circular steel pipe may be used, or other steel columns such as an H-shaped steel column may be used. It's okay.

Further, in the embodiment described above, an example is shown in which the second support member is arranged on the first support member and the rail member is arranged on the second support member, but the present invention is not limited to this. The rail member may be arranged on the first support member without providing the second support member.

In the above embodiment, a pair of rail members are provided to sandwich the column, and a robot arm is placed on each of the pair of rail members, but the present invention is not limited to this. For example, when welding is performed using one robot arm, only one of the pair of rail members shown in FIG. 1 may be provided. In this case, after welding half of the butt portion, the rail member may be reattached to the opposite side of the column, and the remaining half of the butt portion may be welded by the same robot arm. At this time, as in the above embodiment, the rail member (or the rail member via the second support member) may be configured to be fixed to both sides of the first support member in the longitudinal direction. Also, for example, when welding an H-shaped steel column having two opposing flanges and a web connecting the flanges, if a rail member is placed along one of the flanges, the entire butt portion 1a can be welded by one robot arm without having to reattach the rail member to the opposite side of the column.

Further, in the above embodiment, the support member structure (second support member) includes the chord member 31, the diagonal member 33 arranged at an angle with respect to the chord member 31, and the diagonal member 33 arranged perpendicularly to the chord member 31. Although the example is shown in which the reinforcing member 34 is formed into a truss structure including the reinforcing material 34, the present invention is not limited to this. For example, if the support member structure (second support member) does not include the diagonal members 33 but includes the chord members 31 and the reinforcing members 34 arranged perpendicularly to the chord members 31, may be formed.

Further, in the above embodiment, an example is shown in which the outer shape of the support member structure (second support member) is a quadrangular prism shape, but the present invention is not limited to this. For example, the outer shape of the support/member structure (second support member) may be a triangular prism shape, or a shape obtained by cutting out a part of a cylinder (for example, a semicircular cross section). In this case, the outer shape of the support member structure (second support member) is preferably formed to expand downward.

Further, in the above embodiment, an example has been described in which the first support member is formed to have an H-shaped cross section, and the second support member is formed to have a truss structure, but the present invention is not limited to this. For example, the first support member may have a truss structure, and the second support member may have an H-shaped cross section. Further, both the first support member and the second support member may be formed in an H-shaped cross section or a truss structure.

1: Column, 1a: Butt part, 1b: External surface, 10: Mounting jig, 20: First support member, 28: Cable avoidance member, 30: Second support member, 31: Chord material, 34: Reinforcement material, 35 , 37: Mounting piece, 35a, 37a: Through hole (mounting position adjustment part), 40: Rail member, 50: Fixing member, 51: First fixture, 51b: Projection part, 51e: Screw hole (mounting position adjustment part) ), 52: Second fixture, 80: Robot arm, 89: Cable, 90: Trolley

Claims (4)

A welding system used for welding the butt portions of steel columns arranged one above the other,
two robot arms that perform the welding;
two trolleys on which the two robot arms are respectively placed;
two linear rail members each guiding the running of the two bogies;
The welding system is characterized in that the two linear rail members are arranged on the column so as to face each other with the column in between and extend in the horizontal direction. The welding system according to claim 1, wherein each of the two linear rail members is attached to the column via a support member. A welding method for welding the butt portions of steel columns arranged one above the other,
two linear rail members are arranged on the pillar so as to face each other with the pillar in between and extend in the horizontal direction;
A cart with a robot arm mounted on each of the two linear rail members is run on the linear rail member,
A welding method characterized in that the butt portion is welded using two of the robot arms. The welding method according to claim 3, wherein the two linear rail members are arranged by attaching each of the two linear rail members to the pillar via a support member. .

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