JP3044509B2 - Running rail for steel welding robot - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a rail provided around a steel column along a side thereof and provided with a bogie device on which a welding robot is mounted so as to be able to travel in the longitudinal direction.

[0002]

2. Description of the Related Art Conventionally, when a steel column is used in various types of buildings, a scaffold is assembled at a welding position of the column and welding is performed by an operator using the scaffold in the welding work in the column construction work. I was

[0003]

However, in the case of the above-described steel frame welding work, there is a problem in that it takes time and effort to construct the scaffolding, and there is a problem that workers are required to work at a high place and danger is involved. In view of the above problems, in recent years, a rail has been arranged in a portion of a steel column to be welded, and a welding robot has been installed on the rail so as to be able to travel along the length of the rail so that welding work can be automated. Has been proposed.

However, in this automatic welding, 1) it takes time and effort to install the rail, 2) it is difficult to secure the mounting accuracy in the height direction of the rail, and 3) a welding robot and a welding robot are mounted. However, it has been pointed out that a cable such as a welding wire attached to a bogie device that moves the rail causes a reduction in construction efficiency. 4) The versatility of the rail with respect to the cross-sectional shape of the column is pointed out.

The present invention has been made in view of the above-mentioned problems, and an object of the present invention is to provide a traveling rail for a steel-frame welding robot which has high versatility with respect to the cross-sectional shape of a column and has improved construction efficiency. Is what you do.

[0006]

According to the first aspect of the present invention, there is provided a bracket fixed to a side surface of a steel column, and a rail unit on which the bogie device is provided so as to be able to travel. attached to the bracket will be integrated with the rail base supporting the load of the rail body, and the rail base and the bracket is detachably via attachment means, yet, the rate
Corner is set at the corner of a pillar
And the straight part connecting the corners.
Steel welding robot characterized by having a continuous configuration
The running rail of the kit is a means for solving the problem. Claim
According to the second aspect of the present invention, there is provided a steel welding robot according to the first aspect.
The traveling rail, wherein the bracket or the rail
Interposition jig for interposing cables such as welding wire on knit
The jig is attached to the support and one side of the support.
A beam provided vertically, and the other side of the column is
Attach to racket or rail unit and stand upright
The traveling rail of the steel frame welding robot
This is a means of solving the problem.

[0007]

According to the running rail of the steel frame welding robot according to the first aspect, since the rail main body is attached via the bracket and the rail base, the positioning accuracy of the rail main body is ensured by adjusting the positions of the bracket and the rail base.
be able to. Furthermore, according to the angle of the corner of the steel column,
And the straight part with several corners of curvature formed
By preparing and adjusting the length of the straight section only,
Rails can be installed for steel columns with a cross-sectional shape.
Wear. According to the traveling rail of the steel frame welding robot according to the second aspect, by suspending and supporting cables such as welding wires to be interposed at the tip of the beam, the cables are separated from the side surface of the steel column. In a state of being lifted high, cables can be prevented from interfering with the bogie device even when the bogie device runs in the circumferential direction of the cross section of the steel column. Further, the bogie device does not drag the cables, and the load of the cables does not affect the traveling of the bogie device.

[0008]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS One embodiment of the present invention will be described below with reference to FIGS. In the figure, reference numeral 1 is a steel column, 2 is a rail,
3 is a bracket, 4 is a rail unit, 5 is a rail main body, 6 is a rail base, 7 is a jig, 8 is a support, 9 is a beam, 10 is a cable, and 11 is a bogie device. As shown in FIGS. 1 and 2, the rail 2 of the rail of this embodiment is
A bracket 3 fixed around a steel column 1 formed in a square shape in cross section, a rail unit 4 disposed around the steel column 1 via the bracket 3, and a rail 2 are provided so as to be able to run freely. It is composed of a trolley device 11 and an interposition jig 7 interposed with various cables 10 of a welding robot mounted on the trolley device 11.

As shown in FIG. 2, the rail 2 is formed by connecting a plurality of rail units 4 each having a divided rail 2 in the circumferential direction of the cross section of the steel column 1. The corner portion 12 is composed of the rail body 5 on which the bogie device 11 travels, and the rail base 6 fixed to the bracket 3 and supporting the load of the rail body 5, and the linear portion 13 is composed of only the rail body 5. Have been. As shown in FIG. 1A, the rail unit 4 has two types, a corner portion 12 arranged at each corner of the steel column 1 and a straight portion 13 connecting between the corner portions 12. The rail 2 is formed by connecting in the length direction.

As shown in FIG. 2, the rail main body 5 is a member having a substantially T-shaped cross section, and includes a bogie support portion 14 having a flat upper surface, and a bogie protruding from a widthwise central portion of the bogie support portion 14. Fixed portion 15 extending over the entire length of support portion 14
And The carriage support portion 14 is a plate-shaped member, and the fixing portion 15 is attached to a position closer to one side from the center in the width direction. The rail base 6 is a member having a U-shaped cross section, and the rail main body 5 is welded to a side surface opposite to the opening. The rail main body 5 is welded to the rail base 6 such that a portion on the short side from the position where the fixing portion 15 of the carriage support portion 14 in the cross-sectional view is fixed is the opening side of the rail base 6. The opening 16 of the rail base 6 is formed over the entire length of the rail base 6 in the length direction. Further, a fixing bolt insertion hole 18 formed by threading a screw therein is provided in one of the flanges 17 forming the opening portion 16 in a thickness direction thereof.
A fixing bolt 19 (attaching means) for fixing the rail base 6 to the bracket 3 is provided in the fixing bolt insertion hole 18.
Are provided in a screwed state. The corner 12 is
The rail body 5 and the rail base 6 are fixed to be parallel to each other. Then, the rail 2 connects the corner portion 12 and the rail body 5 constituting the straight portion 13 with each other.
The carriage support portions 14 are continuously welded to each other. The linear base 13 may be provided with the rail base 6 at an appropriate position in the length direction of the rail main body 5 in the same manner as the corner part 12.

The bracket 3 is an angle member having an L-shaped cross section, and is fixed to each side surface of the steel column 1 so as to be continuously provided in the circumferential direction. Each of the brackets 3 is attached such that one side thereof is in close contact with and welded to the wall surface of the steel column 1, and the other side is horizontally projected from the upper end of the one side. The fixing of the bracket 3 to the steel column 1 can be performed at a factory or the like when the steel column 1 is manufactured, and the positioning accuracy is secured.

The bracket 3 and the rail unit 4
The rail base 6 is fitted into the flange portion of the bracket 3 projecting in the horizontal direction, the lower surface of the flange 17 above the opening 16 is placed on the upper surface of the flange of the bracket 3, and the fixing bolt 19 for opening 1
6 by being screwed inward, and clamping the flange of the bracket 3 between the fixing bolt 19 and the flange 17, whereby the bracket 3 is fixed to each other. In addition, a rigid member is interposed between the opening 16 and the bracket 3, or between the bracket 3 and the flange 17, or the thickness of the bracket 3 or the one side flange 17 is adjusted so that the rail unit with respect to the bracket 3 is formed. 4 can adjust the mounting position in the height direction. When the bracket 3 and the rail unit 4 are attached, the bracket 3 and the rail unit 4
The front end of the flange is in a contact state, and the rail base 6 is pushed to the maximum depth of the opening 16 so that horizontal positioning can be achieved.

As shown in FIG. 5, the corner portion 12 and the straight portion 13 are connected in the longitudinal direction by combining step portions formed at the longitudinal ends. That is, at the longitudinal end of the corner portion 12, the receiving step portion 23 having a cutout upper portion is formed. on the other hand,
At the longitudinal end of the linear portion 13, a fitting step portion 24 having a shape with a lower portion cut out is formed. Then, the fitting section 24 of the straight section 13 is fitted from above into the receiving step section 23 of the mounted corner section 12 so that the corner section 12 and the straight section 13 are mutually lengthened. Connected in the direction. As shown in FIGS. 5 and 6,
The connecting portion between the receiving step 23 and the fitting step 24 is connected to both the receiving step 23 and the fitting step 24 via a connecting plate 25 fixed with bolts or the like. As a result, corner 1
2 and the straight portion 13 are connected by the connecting plate 25 in a state where the step portions are engaged with each other, so that the continuous rigid rail 2 is formed. Moreover, since the straight portion 13 is in a state of being bridged between the corner portions 12 adjacent to each other at both ends, the installation of the rail base 6 and the like is unnecessary.

As shown in FIG. 1, an interposition jig 7 includes a column 8 erected on the flange portion of the bracket 3 protruding in the horizontal direction and a column 8 fixed to the upper end of the column 8. And a beam 9 extending perpendicularly to the beam.
An oblique member 20 is interposed between the center of the support 8 and the tip of the beam 9. At the center of the beam member 9 and at the center of the diagonal member 20, a turning bracket 21 that can turn freely in the horizontal direction is interposed. A suspension member 22 for suspending the cable 10 is attached to the tip of the beam member 9. Suspension member 22
Holds the cable 10 movably in its length direction. When the rail jig 7 is fixed to the bracket 3, the jig 7 is erected along the longitudinal direction of the steel column 1, and the suspension member 22 is located above the rail body 5 so that the cable 10 is suspended from above a bogie device 11 running on the rail body 5.

The operation and effect of this embodiment will be described below. In the rail of this embodiment, each rail unit 4 has a bracket 3 in which the opening 16 is fixed to the steel column 1 in advance at a factory or the like.
And set it on the steel column 1 so that the bracket 3
The positioning accuracy of the rail 2 is ensured, and the construction efficiency of the rail 2 is improved. That is, the positioning of the bogie support portion 14 in the height direction is accurately determined by the fixing position of the bracket 3 and the interposition of the fixing bolt 19 and the bracket 3 or the interposition of the bracket 3 and the flange 17 and the thickness of the bracket 3 and the flange 17. It can be performed efficiently. In addition, the positioning of the bogie support portion 14 in the horizontal direction is performed as shown in FIG.
By setting at the position where the deepest part of the opening 16 is in contact with the end of the bracket 3, it becomes extremely easy. Further, the rail 2 uses fixing bolts 19 as means for attaching the bracket 3 and the rail unit 4, and is easy to attach and detach, which is advantageous for positioning the rail unit 4.
The rail unit 4 is securely fixed to the bracket 3.

On the other hand, since the rail 2 is formed by connecting the corner portion 12 and the straight portion 13, the straight portion 1 is formed.
By exchanging 3, it is possible to set all the steel columns 1 having a rectangular cross section, and the versatility is greatly improved.
Further, in the case of the rail 2 of the present embodiment, since the bracket 3 and the rail unit 4 are of a plug-in type, the rail unit 4 is temporarily held by inserting the rail unit 4 into a target position of the bracket 3. Since the construction of the rail 2 can be performed by one worker, the construction cost is reduced.

Further, since the rail 2 has the jig 7 interposed between the power source of the bogie device 11 and the cables such as the welding wires of the welding robot mounted on the bogie device 11, the bogie device 11 connects the rail 2 to the rail 2. Even when traveling round, there is no effect on the traveling of the bogie device 11. The jig 7 includes a beam 9 and a diagonal member 20 each of which is a rotating bracket 2.
Since it is bendable in the horizontal direction around the center 1, the whole can be folded in two in the horizontal direction, and the processing range of interposition of cables is wide. Further, if the column 8 is formed so as to be freely rotatable horizontally, the processing range can be further expanded. In addition, since the interposition jig 7 is lightweight and easy to handle, if the pre-assembled one is mounted on the rail unit 4, the mounting work is also simple.

[0018]

As described above, according to the running rail of the steel welding robot according to the first aspect, the bracket fixed to the side surface of the steel column and the rail unit on which the bogie device is provided so as to run freely. The rail unit is integrated with the rail body and a rail base mounted on the bracket to support the load of the rail body, and the rail base and the bracket are detachable via mounting means. Since each rail unit is set on a steel column via a bracket fixed to the steel column in advance at a factory or the like, the positioning accuracy of the bracket and the rail body is ensured,
Rail construction efficiency is improved. That is, the positioning of the rail in the height direction can be accurately and efficiently performed by the fixing position of the bracket to the steel column, the mounting means, the shape of the bracket and the rail base, and the like. Also,
The positioning of the rail in the horizontal direction is extremely easy by configuring the rail base so that it can be positioned simply by pushing the rail base into the bracket.

Further, the rail unit is connected to a pillar corner.
An edge between the corner set in the part and the corner
Connection with the straight section of the
Just adjust the length of the wire section and all of the steel columns with a rectangular cross section
Can be set in accordance with
Up.

[0020] For traveling of the steel frame welding robot according to claim 2
According to the rail, the bogie device connects the rail with the interposition jig.
Even when traveling round the bogie device,
Is not affected by any kind of load, and
There is no effect, and the welding accuracy is improved.

[Brief description of the drawings]

FIG. 1A is a plan sectional view showing one embodiment of the present invention. (B) is the side view.

FIG. 2 is a front sectional view showing a rail.

FIG. 3 is a perspective view showing fitting between a bracket and a rail base.

FIG. 4 is a front view showing a fixing position of a bracket to a steel column.

FIG. 5 is a side view showing a connection part between a corner part and a straight part that constitute a rail.

FIG. 6 is a plan view showing a connection part between a corner part and a straight part that constitute a rail.

[Explanation of symbols]

 REFERENCE SIGNS LIST 1 steel column 2 rail 3 bracket 4 rail unit 5 rail body 6 rail base 7 interposition jig 8 support 9 beam 10 cable 11 bogie device 12 corner portion 13 straight portion 19 fixing bolt

Continued on the front page (72) Inventor Yasuyuki Yoshida 4-2-2 Kannonshinmachi, Nishi-ku, Hiroshima-shi, Hiroshima Mitsubishi Heavy Industries, Ltd. Hiroshima Research Laboratory (72) Inventor Etsumi Hiromoto 4-6-kannonshinmachi, Nishi-ku, Hiroshima-shi, Hiroshima No. 22 Mitsubishi Heavy Industries, Ltd.Hiroshima Research Laboratory (72) Shingo Harada Inventor 4-62 Kanon Shinmachi, Nishi-ku, Hiroshima City, Hiroshima Prefecture Mitsubishi Heavy Industries, Ltd.Hiroshima Research Center (72) Inventor Nobuhiro Okuyama 1, Shibaura, Minato-ku, Tokyo No. 2-3 Inside Shimizu Corporation (72) Inventor Kazunori Koshida 1-3-2 Shibaura, Minato-ku, Tokyo Inside Shimizu Corporation (56) Reference Real Open 58-143086 (JP, U) 60-166489 (JP, U) (58) Fields investigated (Int. Cl. ⁷ , DB name) B23K 37/02 B23K 9/12 331

Claims (2)

(57) [Claims] 1. A rail provided around a steel column along a side thereof and provided with a bogie device on which a welding robot is mounted so as to be able to travel in a longitudinal direction, the rail being provided on a side surface of the steel column. A fixed bracket, and a rail unit on which the bogie device is provided so as to be able to travel.The rail unit is formed by integrating a rail body and a rail base attached to the bracket and supporting a load of the rail body. The rail base and the bracket are detachable via mounting means, and the rail unit
Is set at the corner of the pillar,
Configuration in which a straight part is connected between the inner parts
Of a steel-frame welding robot characterized by the following:
For rails. 2. The traveling of the steel frame welding robot according to claim 1.
A rail for use with said bracket or rail unit
Equipped with a jig for interposing cables such as welding wires
The jig is positioned substantially perpendicular to the support and one side of the support.
And the other side of the column is the bracket
And installed in a standing position by attaching to
The running rail of a steel welding robot characterized by the following.