JP3111128B2 - Strip positioning device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an apparatus for transporting and placing strips at required positions, and more particularly, to a shipbuilding in which strips (longitudes) are mounted on panels and flanges of box girders in the case of bridge construction. The present invention relates to a positioning device that positions and arranges a strip (rib) in a manufacturing process. More specifically, but not exclusively, the present invention relates to a tacking assembling apparatus for vertically positioning and positioning a steel longitudinal in a plane of a steel panel and temporarily tacking the lower end of the longitudinal to the panel upper surface.

[0002]

2. Description of the Related Art For example, a steel structure in which a plurality of longitudinals are vertically erected on an upper plane of a lower panel and welded to a ship bottom, a deck, a bridge, and the like, and an upper panel is placed on the longitudinals and welded therebetween. Used. In assembling this steel structure, for example, 20
A 20m or 30m long (strip) is vertically set and positioned on an mx 30m panel (large plate), and tack welded by horizontal fillet welding at each point in the longitudinal direction of the long, and the required number of longs After the temporary attachment, the full length of the longe is welded to the panel by performing the main welding.

[0003] The accuracy of assembling such a steel structure is greatly affected by the accuracy of the initial positioning of the longe on the panel. Therefore, the tack welding apparatus disclosed in Japanese Patent Application Laid-Open No. 2-34370 attaches a beam extending in the horizontal x direction perpendicular to the y direction to a portal-type gantry (y direction traveling platform) traveling in the horizontal y direction. A plurality of n carriages are arranged side by side on this beam, and in each carriage, in addition to a pair of horizontal fillet copying welders, a copying ball for pressing the side surfaces of the longitudinal from both sides and an upper end surface of the longitudinal are pressed. The copying roller is provided. The n longes are temporarily placed vertically on a panel at a predetermined pitch, and each of the n carriages is set at each of the longe positions by adjusting the position in the x direction. Pressing the sides of both sides to squeeze and press to straighten the longitudinal, and lower the upper end of the longitudinal with a roller to press the lower end of the longitudinal against the top of the panel, drive the portal frame in the y direction, The longitudinal is tack-welded to the panel by a pair of horizontal fillet copying welders at a predetermined pitch in the y direction. Carriage y
Due to the directional movement, the longe is straightened and straightened in the y direction and closely adhered to the upper surface of the panel, and the above-described tack welding is performed in this state. The longe interval is x
It is determined by the setting of the direction position, and the tacking welding is realized in which the assembling accuracy is high in both the x direction and the y direction, and the longitudinal is correctly vertical.

[0004]

However, the use of the tack welding apparatus disclosed in Japanese Patent Application Laid-Open No. 2-34370 is
It is assumed that the longitudinal is set up vertically on the panel and is located within a range that is not much different from the required position. Conventionally, such an arrangement has been described in which the longs are lifted one by one with a crane and transferred onto a panel, and an operator is required to make a mark on the panel.
This is done by lowering the longe onto the panel while aligning the longe with the hook (e.g., a marking line), and attaching a substantially vertical support. For each longe,
Such an arrangement work on the panel by the operator takes time, and in addition, it is necessary to support the longe with the above-described tacky welding device, start the tacky welding, and then sequentially remove the above-mentioned longe supports. is necessary.

The first object of the present invention is to substantially eliminate the need for an operator to position the longe on the panel, and to eliminate the need for removing the longe support after the start of tack welding. Is a second purpose.

[0006]

According to the present invention, there is provided a device for positioning a strip material, comprising: a y carriage (3) traveling in a horizontal y direction;
X traveling platform (5) supported by (3) and traveling in the horizontal x direction perpendicular to the y direction with respect to y traveling platform (3); supported by x traveling platform (5) and x traveling platform (5) Z elevating platform (7) which rises and lowers in the vertical z direction perpendicular to the x and y directions; a beam (10a) supported by the z elevating platform (7) and extending in the y direction; a beam (10a) in the x direction And a clamp base (23) extending on both sides of the clamp base (2).
Means (25a, 26a, 27 ~ 29/2) which are connected to each of both ends of 3) and hold the strip (13a) between them in the x direction.
5b, 26b, 30), and the clamp (20);
And supports the clamp base (23) to support the beam (10).
a) a clamper z driving means (31, 32) for driving the clamper base (23) up and down with respect to a); and a pad (46) for pressing the upper end surface of the strip (13a); The beam (10) including pad z driving means (44) for driving the pad (46) in the z direction.
a) a pusher coupled to a). The symbols in parentheses are attached to the corresponding elements of the embodiment shown in the drawings and described later.

[0007]

[Function] If the traveling range of the y traveling platform (3) is roughly divided into two, and a panel is placed on one (assembly area) and a row is placed on the other (trailing material supply area), the y traveling platform (3) ) Is placed in the strip supply area, and the x carriage (5) is driven such that the pad (46) of the pusher (40) is located directly above the strip. Next, means (25a, 26a, 27-29 / 25) of the clamper (20)
The z-elevating platform (7) is lowered so that the strip is positioned between the strips (b, 26b, 30) and the pad (46) is positioned slightly above the strip or to press the strip upper surface with a small pressure. And means (25a, 26
a, 27 to 29 / 25b, 26b, 30), the strip is held under pressure, and the pad (46) is driven down by the pad z driving means (44) to press the upper end surface of the strip. The holding force of the means (25a, 26a, 27-29 / 25b, 26b, 30) is a force sufficient to lift and support the strip, and
The rolling force according to (46) is a force sufficient to prevent the inclination force of the strip due to the moment of the strip (arising from the eccentricity of the center of gravity of the strip and the holding position). Next, raise the z-elevating platform (7), lift the strip, and drive the y-travel platform (3) to the assembly area,
Then, the x carriage (5) is driven to set the strip at a required position above the panel, and the z lift (7) is lowered to stop the lowering before the lower end of the strip comes in contact with the upper surface of the panel. Then, the clamp base (23) is lowered by the clamper z driving means (31, 32) and the pad (46) is lowered by the pad z driving means (44) to press the upper end surface of the strip. Thereby, the lower end surface of the strip (13a) is pressed against the panel. Therefore, for example, the strip (13a) is tack-welded to the panel.

As described above, since the work of transferring, positioning and press-contacting the strip from the strip supply area onto the panel is mechanically performed by the positioning device of the present invention, the strip by the operator on the panel is used. No positioning work is required. Further, a separate support for maintaining the strip on the panel at the position and posture for assembling, for example, tack welding, is not required, and the installation and removal operations thereof are omitted.

If the z-elevating platform (7) is lowered and the strip is lowered until it comes into contact with the panel, the z-elevating platform (7) becomes a beam (10a),
Since it is equipped with a clamper (20), pusher (40), strips, etc., it is heavy and has high kinetic inertia, and high-precision positioning of the z-elevator (7), especially stopping at an accurate position Difficultly, there is a possibility that the strip material collides with the upper surface of the panel and damages or deforms them. However, the positioning device of the present invention includes the clamper z driving means (31, 32), as described above, lowers the z-elevating platform (7) and stops descending before the lower end of the strip comes into contact with the panel upper surface, and The clamper base (23) can be lowered by the clamper z driving means (31, 32), and the strip (13a) can be lowered on the panel. The load applied to the clamper z drive means (31, 32) is controlled by the clamper base (23) and the means (2
5a, 26a, 27 to 29 / 25b, 26b, 30) and the material of the strip, the motion inertia is relatively small, the clamper (20) is lowered at a relatively slow speed, and the panel and the The descent can be stopped accurately when a required pressure contact force is applied between the members, and troubles such as the striking of the strip members against the upper surface of the panel and the damage or deformation thereof do not occur.

Other objects and features of the present invention will become apparent from the following description of embodiments with reference to the drawings.

[0011]

1 to 3 show an embodiment of the present invention. 3 is a plan view showing an upper surface of the positioning device, FIG. 2 is a front view as seen in the direction of the arrow line 2A-2A in FIG. 3, and FIG. 1 is a cross section as seen in the direction of the arrow line 1A-1A in FIG. It is a figure (left side view of the principal part).

Referring to FIGS. 1 to 3, y-direction rails 1ya, 1yb extending in the horizontal y-direction are laid over a strip material supply area (not shown) and an assembly area (not shown). On these rails 1ya and 1yb, there is a y-travel base 3 which is a portal-type gantry provided with a traveling mechanism (not shown), and moves forward and backward in the y-direction.

The y carriage 3 is provided with x-direction rails 4xa and 4xb extending in the horizontal x-direction.
A traveling mechanism (not shown) on the 1xa and 1xb.
The x-carriage 5 is on, and moves forward and backward in the x direction. x
The carriage 5 has a z-direction rail 6z extending in the vertical z-direction.
a, 6zb, and these rails 6za, 6zb include:
A z-lift 7 is mounted so as to be able to move up and down freely. The x traveling platform 5 and the z lifting platform 7 are connected by hydraulic cylinders 8a and 8b, and the z lifting platform 7 is driven up and down by hydraulic control of the hydraulic cylinders 8a and 8b. The lifting drive means may be another means such as a screw jack driven by an electric motor.

Fixed to the lower bottom of the z-elevating platform 7 are rails 9xa to 9xe extending in the x direction, and four beams extending in the y direction are attached to these rails 9xa to 9xe. (I
Beams 10a to 10d are suspended so as to be movable in the x direction. One of the beams 10a to 10d is a reference beam.
And its x position is fixed, but the other three
An x-direction drive mechanism (not shown) is provided, and a reference beam is provided.
The position of each of the other three beams in the x direction can be adjusted with respect to the beam.

The beam 10a is equipped with a pair of horizontal fillet welders 50 and five other pairs of similar horizontal fillet welders at equal pitches in the y direction. Beam 10a is also equipped with pushers 40 as well as 18 other similar pushers distributed in the y-direction. Beam 10a
Is further equipped with a clamper 20 and four other similar clampers at equal pitches in the y-direction. The other beams 10b to 10c are similarly equipped with the same components as those provided in the beam 10a.

The front view of the clamper 20 as viewed in the direction of the arrows 4A-4A in FIG. 1 is indicated by a solid line in FIG.
The welder 50 is shown in phantom lines, and the front of the pusher 40 viewed in the same direction is shown by a solid line in FIG. 5 and the clamper 20 and the welder 50 are shown in phantom lines. The front of the fillet welder 50 is shown by a solid line in FIG. 6 and the clamper 20 and the pusher 40 are shown by imaginary lines. Note that FIG.
Reference numeral 6 denotes a panel 12 (for example, 30 m × 20 m) in which the y carriage 3 is placed in the assembly area and horizontally arranged in the assembly area.
3 shows the position and orientation when the longe 13a positioned on the large plate is temporarily welded.

Referring first to FIG. An opening is formed in a vertical plate of the I-beam 10a, and an upper plate 21 and a lower plate 22 are formed therein.
The upper plate 21 is fixed to the beam 10a by the reinforcing plates 19a and 19b, and the lower plate 22 is fixed to the lower horizontal plate of the beam 10a and supported by the lower horizontal plate. A clamp base 23 penetrates the space between the upper plate 21 and the lower plate 22 in the x direction. At the center of the clamp base 23, there is a space for accommodating the hydraulic cylinder 31.
1 is housed and fixed to the lower plate 22. A support plate 32 is fixed to the tip of the piston rod of the hydraulic cylinder 31. The support plate 32 is connected to the clamper base 23 and supports the base 23 from below. By switching the two-port valve of the hydraulic cylinder 31, the clamp base 23 is raised (z direction) and the base 23 is lowered.

Cylinders of hydraulically driven rotor actuators 25a and 25b are fixed to both ends of the clamp base 23 in the x direction.
a and 25b are provided with rotating arms 26a and 26b.
6b is fixed. A hydraulic cylinder 27 is fixed to one of the rotating arms 26a, and a pad 29 is fixed to the tip of a pin ton rod 28 of the hydraulic cylinder 27. The tip of the other rotating arm 26b has a shoe-3
0 is fixed. In FIG. 4, the arms 26a and 26b extend in a direction substantially perpendicular to the long 13a, and the pads 29 and the shroud 30 push the long 13a from both sides to hold the piston 13a. Retraction and two ports of actuators 25a and 25b
When the valve is switched, the arms 26a and 26b open and rotate to be parallel to the long 13a (parallel to the y direction: FIG. 7). When the arms 26a and 26b are opened and the two-port valve of the hydraulic cylinder 31 is switched to drive the clamper base 23 to the upper limit position, the clamper 20 assumes a standby posture (FIG. 7).

Referring to FIG. An opening is made in the vertical plate of the beam 10a, into which an upper plate 41 and a lower plate 42 are inserted. The upper plate 41 is fixed to the beam 10a and the lower plate 42 is fixed to the lower horizontal plate of the beam 10a. And is supported by the lower horizontal plate. A hole 43 is formed at the center of the lower horizontal plate of the beam 10a.
2, a piston rod 45 of a hydraulic cylinder 44, which is fixed to the lower plate 42 and stands vertically, penetrates the center of these holes 43 and the like. A pad 46 is fixed to the lower end of the piston rod 45, and in FIG. 5, the pad 46 presses down the longitudinal 13a. Hydraulic cylinder 44
When the two-port valve is switched, the pad 46 rises and separates from the upper end surface of the long 13 and stops at the upper limit position enough to contact the lower horizontal plate of the beam 10a (FIG. 7). In addition, by performing the high pressure / low pressure switching of the descending side pressure of the hydraulic cylinder 44, the operation at the time of conveyance (low pressure) and the operation at the time of pressing (high pressure) are switched.

Referring to FIG. On both sides of the vertical plate of the beam 10a, a relatively long welding machine base 51a in the y direction is provided.
And 51b are fixed, and the y travel mechanism 5
2a and 52b are provided, and z-elevating guides 54a and 54b are connected to them so as to be movable in the y-direction. The y drive mechanisms 53ya, 53y are provided on the z lifting guides 54a, 54b.
b are provided, and the z lifting guides 54a, 54
b moves in the y direction and is driven backward. By this y-direction driving, the torch 60 of the long 13a with respect to the panel 12 is moved.
The horizontal fillet welding by a and 60b can be performed over a certain length in the y direction without driving the beam 10a in the y direction.

The z lifting guides 54a and 54b are connected to the z lifting legs 5
5a and 55b are movably guided in the z direction, and a z driving mechanism 56z is provided inside the z lifting guides 54a and 54b.
There are lifting mechanisms connected to the a, 56zb and z lifting legs 55a, 55b, and the z lifting legs 55a, 55b are driven in the z direction by z driving mechanisms 56za, 56zb. Rotating carriages 58a, 5 are provided at the lower ends of the z lifting legs 55a, 55b.
8b is mounted rotatably about an axis extending in the z direction, and these are rotatably driven within a range of approximately 90 degrees by the rotation driving mechanisms 57Ra and 57Rb. Torch supports 59a, 59b are mounted on the rotating carriages 58a, 58b, and are used for welding torches 60a, 60b.
Is supported. Although not shown in detail, the torch supports 59a and 59b include a torch position adjusting mechanism and an torch angle adjusting mechanism in x, y, and z directions. FIG. 6 shows a state where the torches 60a and 60b are directed to the welding position. When the rotary carriages 58a, 58b are driven to rotate approximately 90 degrees by the rotary drive mechanisms 57Ra, 57Rb, the torch 60 is rotated.
a and 60b are retracted to the positions indicated by the virtual lines in FIG.
The z-elevating leg 55a,
When 55b is driven upward, the torches 60a and 60b move to the standby position (FIG. 7).

Next, the y traveling platform 3 in the assembling area is driven to the strip supplying area to hold the strips (four) there, and then the y traveling platform 3 is returned to the assembling area and the strip is placed on the panel 12. The process of one cycle from the lowering to the lowering to the completion of the tack welding and the termination thereof will be described.

First, the above-described clamper 20, pusher 40 and a pair of welding machines 50 mounted on the four I-beams 10a to 10d, and all of the same type of these, are set in the standby posture shown in FIG. (Same as the standby position) and z
The lift 7 is placed at the standby position (upper limit position). Then, the y traveling platform 3 is driven to the strip material supply area, and the x traveling platform 5 is driven to above the longges (four). Next, the z-lift 7 is lowered until the pad 46 (FIG. 7) is at a position slightly above the upper end surface of the longitudinal. Then, the pad 46 is lowered until it comes into contact with the upper end surface of the long, and the lower rotating arms 26a, 26b are lowered.
Is rotated approximately 90 degrees (FIG. 8). Next, the pad 29 is protruded and a further rolling force is applied to the pad 46 (FIG. 9).
At this time, the hydraulic pressure applied to the hydraulic cylinder 27 is
And the pad 29 hold the longe 13a under pressure. The pressure is sufficient to prevent the longe from sliding down or tilting while the longe is being lifted, and the hydraulic pressure applied to the hydraulic cylinder 44 prevents the longe from tilting. Enough pressure to do so.

Next, the z-elevating platform 7 is driven up to a height that does not hinder the conveyance of the long which is held by the pressure. That is, the longitudinal is lifted (FIG. 10). Then, the y carriage 3 is driven to the assembly area. Then, the x-carriage 5 is driven in the x-direction until the longe being lifted reaches a required position on the panel 12. At this time, if necessary, the z-elevating platform 7 is lowered to lower the panele 12 Close to the top of When the longitudinal position is set at the required position in the x direction, the z-elevating platform 7 is lowered to reduce the distance between the longitudinal and the upper surface of the panel 12 to the clamp base 2.
When the number of strokes is less than 3, the z lift 7 is stopped, the clamp base 23 is lowered, and the pad 46 is driven downward (FIG. 11). Thereby, the longi (13a)
Is pressed against the panel 12. Next, the z lifting leg 55a,
55b, and rotating carriages 58a, 58b
Is rotated to make the torches 60a and 60b face the welding position (FIGS. 4 to 6; the torches are shown by solid lines in FIG. 6).
In this state, the horizontal fillet welder 50 temporarily welds the corner between the panel 12 and the long (13a) over a required length in the y direction. When this is completed, the rotating carriages 58a, 58
8b, the torches 60a, 60b are returned to the standby position, and the z lifting legs 55a, 55b are raised. Then, the hydraulic pressure of the hydraulic cylinders 27 and 44 is switched to change the pad 29
And 46 to the retracted position and the pivoting arm 26
a, 26b are rotationally driven to the retracted position. Then, the clamp base 23 is driven to the retracted position. Thus, the state returns to the state shown in FIG. Then, the z lift 7 is raised to a position where the object shown in FIG.

In the embodiment described above, four I-beams
The beams 10a to 10d are mounted on the z-elevating platform 7, and each beam is provided with a plurality of the above-described clampers 20, pushers 40 and horizontal fillet welders 50, and simultaneously holds and holds four longitudinals. Since the lifting, positioning on the panel 12, and simultaneous tack welding at multiple points for each longe, the assembly efficiency of the steel structure consisting of the panel and the longe is high.

[0026]

As described above, the work of transferring and positioning the strip from the strip supply area onto the panel, and assembling and tack welding is performed mechanically by the positioning device of the present invention. This eliminates the need for the operator to position the strip. Further, a separate support for maintaining the strip on the panel at a position and a posture for assembling, for example, tack welding, is not required, and the installation and removal operations thereof are omitted.

If the z-elevator (7) is lowered and the strip is lowered until it comes into contact with the panel, the z-elevator (7) will be
a), clamper (20), pusher (40), strip, etc.
(7) It is difficult to perform high-precision positioning, particularly stopping at an accurate position, and there is a risk that the strip collides with the upper surface of the panel and these are damaged or deformed. However, the positioning device of the present invention includes the clamper z driving means (31, 32), as described above, lowers the z-elevating platform (7) and stops descending before the lower end of the strip comes into contact with the panel upper surface, and Clamper z driving means (31,3
In 2), the clamp base (23) is lowered, and the strip (13a) can be lowered on the panel. Clamper z driving means (31, 32)
Is applied to the clamp base (23), the means for holding and holding the strip (25a, 26a, 27-29 / 25b, 26b, 30) and the strip. The clamper (20) descends at a relatively slow speed, which is small and can stop accurately when the required pressing force is applied between the panel and the strip. This does not cause trouble such as damage or deformation.

[Brief description of the drawings]

FIG. 1 is a sectional view of one embodiment of the present invention,
It is sectional drawing (left side view of the principal part) seen in the arrow direction of A-1A arrow line.

FIG. 2 is a front view of the positioning device shown in FIG. 1 and is a front view as seen in the direction of the arrows 2A-2A in FIG.

FIG. 3 is a plan view of the positioning device shown in FIG.

FIG. 4 is an enlarged front view of the clamper 20 shown in FIG. 1 in a solid line, as viewed in the direction of the arrow line 4A-4A shown in FIG. 1, and a pusher 40 and a pair of fillet welding devices 50 are shown by imaginary lines. (Two-dot chain line).

FIG. 5 is an enlarged front view of the pusher 40 shown in FIG. 1 in a solid line, and a clamper 20 and a pair of fillet welding devices 50 shown in FIG. (Two-dot chain line).

FIG. 6 is an enlarged front view of the pair of fillet welding devices 5 shown in FIG.
0 is indicated by a solid line, and the clamper 20 and the pusher 40 are indicated by a virtual line (two-dot chain line).

FIG. 7 is an enlarged front view of the clamper 20, the pusher 40, and the pair of fillet welding devices 50 viewed from the same direction as in FIG. 4, all of which are in a standby posture.

FIG. 8 is an enlarged front view of the clamper 20, the pusher 40, and the pair of fillet welding devices 50 viewed from the same direction as in FIG. 4; Indicates the status.

FIG. 9 is an enlarged front view of the clamper 20, the pusher 40, and the pair of fillet welding devices 50 viewed in the same direction as in FIG. Show.

FIG. 10 is an enlarged front view of the clamper 20, the pusher 40, and the pair of fillet welding devices 50 viewed from the same direction as in FIG. 4; It shows the state that it was turned on.

FIG. 11 is an enlarged front view of the clamper 20, the pusher 40, and the pair of fillet welding devices 50 viewed from the same direction as in FIG. 4; 12 shows a state immediately before being lowered onto the upper surface of the twelfth embodiment.

[Explanation of symbols]

1ya, 1yb: y-direction rails 2a to 2c,
...: Reference stopper 3: y carriage 4xa, 4x
b: x direction rail 5: x traveling platform 6za, 6z
b: z-direction rail 7: z lift 8a, 8b:
z lifting hydraulic cylinder 9xa-9xe: rail in x direction 10a-10
d: y direction beam 11a, 11b: cable bear 12: panel 13a: long 19a, 19
b: reinforcing plate 20: clamper 21: upper plate 22: lower plate 23: base 24: hydraulic cylinder 25a, 25b:
Rotary actuators 26a, 26b: rotating arm 27: hydraulic cylinder 28: piston rod 29: pad 30: shoe 31: hydraulic cylinder 32: support plate 40: pusher 41: upper plate 42: lower plate 43: Drilled hole 44: Hydraulic cylinder 45: Piston rod 46: Pad 50: Temporary welding machine 51a, 51
b: welding machine base 52a, 52b: y traveling mechanism 53ya, 5
3yb: y drive mechanism 54a, 54b: z elevation guide 55a, 55
b: z lifting leg 56za, 56zb: z drive mechanism 57Ra, 5
7Rb: rotary drive mechanism 58a, 58b: rotary carriage 59a, 59
b: Torch support 60a, 60b: Welding torch

Continuation of front page (56) References JP-A-5-319364 (JP, A) JP-A-3-234370 (JP, A) JP-A-59-218278 (JP, A) JP-A-49-29248 (JP, A) , A) (58) Field surveyed (Int. Cl. ⁷ , DB name) B23K 37/04 B23K 9/02 B23K 9/12 B23K 9/127

Claims (5)

(57) [Claims] 1. A y traveling platform that travels in a horizontal y direction; an x traveling platform that is supported by the y traveling platform and travels in a horizontal x direction perpendicular to the y direction with respect to the y traveling platform; an x traveling that is supported by the x traveling platform A z-elevating platform that moves up and down in the vertical z-direction perpendicular to the x and y directions with respect to the platform; a beam supported by the z-elevating platform and extending in the y-direction;
a clamper including: a clamp base extending on both sides of the beam in the x-direction; and a means coupled to each of both ends of the clamp base and holding a strip therebetween in the x-direction. A clamper z driving means coupled to the beam for supporting the clamp base and driving the clamp base up and down with respect to the beam; and a pad for pressing the upper end surface of the strip, and the pad Pad z driven in z direction
A pusher coupled to the beam, including drive means;
A positioning device for a strip material comprising: 2. A plurality of pairs of the clamper and the clamper z driving means are arranged in the y-direction and arranged on the beam, and a plurality of pushers are arranged in the y-direction on the beam. 2. The strip positioning device according to claim 1, which is disposed. 3. A welding torch, a support for supporting the welding torch, a torch z driving means for driving the support in the z direction, and a welding torch for driving the support. The welding device including a support driving means for setting the tip of the beam from a position far from the strip to a position close to the strip is disposed on both sides of the beam in the x direction and supported by the beam. 2. A device for positioning a strip according to item 2. 4. The apparatus according to claim 3, wherein a plurality of sets of the welding devices are arranged in the y direction on both sides of the beam. 5. The means for clamping and holding the clamper in the x direction is coupled to one of both ends of a clamp base extending on both sides of the beam in the x direction so as to be rotatable about an axis extending in the z direction. Hydraulic cylinder, a pad fixed to the end of the piston rod and abutting against the strip, means for rotating the hydraulic cylinder, and an axis extending in the z direction at the other end of the clamp base. Rotating arm rotatably connected
An arm, a shoe fixed to the tip of the arm and abutting against the strip, and means for rotating the rotating arm.
A device for positioning a strip according to claim 2, claim 3 or claim 4.