JP3182704B2 - Dolly equipment of 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 steel beam welding machine having a bogie device mounted on a rail arranged around a steel column along the side thereof so as to run freely and equipped with a welding robot. The present invention relates to a bogie device for a robot.

[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 bogie device of the steel frame welding robot as described above, it takes a lot of time to construct the scaffolding, requires a heavy physical labor, and requires many workers to work at high places. There was a problem that danger was involved. In view of the above problems, in recent years, a rail has been arranged at a portion of a steel column to be welded, and a welding robot has been installed on this rail so as to be movable along the length of the rail, thereby automating a welding operation. Has been proposed. In this automatic welding, in order to accurately position the welding robot at the welding position, it is conceivable to incorporate a rack into the rail and mount the welding robot on a bogie device incorporating a pinion that engages with the rack. ing. However, in this configuration, it is necessary to form the rail to be installed at the corner of the column with respect to the cross-sectional area of the column by curving with a radius of curvature corresponding to the corner. However, the rack is formed to have a desired curvature. It takes time and effort,
There has been a problem that versatility is poor. Further, in order to cope with the above problem, it is necessary to prepare rails of various shapes according to the shape of the corner, which has caused an increase in construction cost. Furthermore, it is difficult to select a jig for attaching the rail to a pillar according to the shape of the rail, or to set an installation position, and thus there is a problem that construction efficiency is reduced. ,

SUMMARY OF THE INVENTION The present invention has been made in view of the above-mentioned problems, and has as its object to provide a bogie device for a steel-frame welding robot that has high versatility with respect to the cross-sectional shape of a column and that improves welding work efficiency. It is assumed that.

[0005]

In a bogie device for a steel frame welding robot according to the present invention, a welding robot is mounted on a rail arranged around a steel frame column along the side thereof so as to run freely. A bogie device, wherein the rails are formed so that both side surfaces of the bogie surround the pillar with a vertical smooth surface, and are arranged on the bogie device so as to be opposed to both sides in the width direction of the rail, and are respectively rolled on the side surfaces of the rail. A drive roller provided movably, and a drive roller disposed between the drive roller or the rotation shaft of the roller and disposed on both sides in the width direction of the rail.
An urging member that urges each driving roller against the side surface of the rail from outside, a driving device that drives the driving roller, and a guide that is formed along the rail and extends along the rail. The provision of a guide member loosely fitted in the groove is provided as a means for solving the above problem.

[0006]

According to the bogie device of the steel welding robot of the present invention, each driving roller is pressed against the rail by the urging force of the urging member, so that the rail travels while being sandwiched by the bogie device in its width direction. . Then, at the corner portion of the pillar, the vehicle smoothly travels by the action of the urging force, and one vehicle can travel at corners having various radii of curvature.

[0007]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS One embodiment of the present invention will be described below with reference to FIGS. In the drawing, reference numeral 1 denotes a steel column, 2 denotes a rail, 3
Is a bogie device of the present embodiment, 4 is a welding robot, 5 is a driving roller, 6 is an urging mechanism (urging member), and 7 is a driving device. As shown in FIGS. 1 and 2, the bogie device 3 of the present embodiment
Is mounted on a rail 2 disposed around the steel column 1 so as to run around the steel column 1, and has a welding robot 4 mounted thereon. The rail 2 is a long member having a substantially rectangular shape in cross section, and is formed so that both side surfaces 8 in the width direction surround the steel column 1 with smooth surfaces in the vertical direction. At the center of the rail 2, a guide groove 9 for guiding the traveling bogie device 3 extends along the axis of the rail 2. The upper surface 10 and the lower surface 11 of the rail 2 are formed flat except for the guide groove 9. As shown in FIG. 1, a plate-like magnet 12 is attached to an appropriate position of the rail 2 at a welding position of the steel column 1 or at a position where the curvature of the curve of the rail 2 changes. Magnet 12
Is applied to the control of the bogie device 3 or the welding robot 4 by the bogie device 3 or the welding robot 4 detecting the magnetism.

The bogie device 3 includes a drive roller 5 that is rotatable with respect to a side surface 8 of the rail 2 that is opposed to both sides in the width direction of the rail 2, and the drive roller 5 or a rotating shaft 13 of the roller. An urging mechanism 6 is disposed between them to press the drive rollers 5 against the side surface 8 of the rail 2 from the outside, and a drive device 7 for driving the drive rollers 5 to rotate. The drive roller 5 is disposed in the width direction of the bogie device 3 (rail 2).
(In the same direction as the width direction of the rail). Both ends are opposed to each other, and are pressed against both side surfaces 8 in the width direction of the rail 2. Each drive roller 5 has a vertical rotation shaft 13. Rotating shaft 13 of one drive roller 5
Is connected to the driving device 7 and is driven to rotate. In addition, the drive roller 5 further includes a large number of units other than those described above.
May be provided. In the above case, the number of the rotating shafts 13 for transmitting the driving force of the driving device 7 may be one or more.

Two urging mechanisms 6 are arranged in parallel with each other in a state of being bridged between brackets 14 supporting the upper end of each rotating shaft 13. The biasing mechanism 6 includes a cylinder 15 fixed to one bracket 14 so as to protrude in the direction of the other bracket 14 and a cylinder 15 that is telescopically mounted to protrude in the direction of the bracket 14 on the other side. And a spring 17 provided so as to be fitted into the rod 16. A guide member 18 is provided at the center of one cylinder 15 so as to project vertically. The guide member 18 is loosely fitted in the guide groove 9. The spring 17 always exerts a tensile force between the cylinder 15 and the bracket 14 on the other side. The driving device 7 is provided below one of the driving rollers 5, and transmits rotational power to the driving roller 5 via a gear box 19.

In addition to the driving roller 5, the urging mechanism 6, and the driving device 7, the bogie device 3 includes a nipping roller 20 for nipping the rail 2 in a vertical direction, and a longitudinal direction (to the rail 2). (Along the direction along) an auxiliary roller 21 which is located at both front and rear ends and is in contact with the side surface 8. Nipping roller 2
A total of four 0s are provided at each of the front and rear ends of the bogie device 3 in the longitudinal direction. All the holding rollers 20
It has a rotating shaft 22 parallel to the width direction of the bogie device 3, and is in rolling contact with the upper surface 10 or the lower surface 11 of the rail 2. The two nipping rollers 20 arranged at the front part are disposed above and below the bogie device 3 and are attached at positions where the rails 2 are nipped between the two. The two nipping rollers 20 attached to the rear part are also attached in the same manner as the pair of the nipping rollers 20 at the front part. The auxiliary rollers 21 are attached to the longitudinal direction front and rear ends of the bogie device 3 on both sides in the width direction of the bogie device 3, and a total of four auxiliary rollers 21 are provided. Each auxiliary roller 21 is mounted in the middle between the sandwiching rollers 20, 20 which are arranged vertically facing each other.

The welding robot 4 may be configured to be wirelessly controllable by mounting a wireless receiver.

The operation and effect of this embodiment will be described below. The carriage device 3 is set on the rail 2 by contacting the drive roller 5 and the auxiliary roller 21 with the side surface 8 of the rail 2 to clamp the rail 2 in the width direction, and two sets provided on the upper part. The holding roller 20 is provided on the upper surface 10 of the rail 2 and two holding rollers 20 provided below.
Is brought into contact with the lower surface 11 of the rail 2 so that the rail 2 is held between the upper and lower holding rollers 20 in the vertical direction. The drive rollers 5 are provided with the urging mechanism 6.
Since the tensile force distance each other by the action of the is biased in a direction Ru attached near each is pressed against the side surface 8 to sandwich the rail 2 in the width direction. The drive rollers 5, 5 expand and contract the distance appropriately with respect to the width of the rail 2 by the action of the urging mechanism 6, and exhibit versatility with respect to the width of the rail 2. The bogie device 3 which has been set on the rail 2 drives the driving device 7 to transmit the driving force of the driving device 7 via the rotating shaft 13 to rotate the driving roller 5. Travel in the length direction.

The traveling bogie device 3 detects a magnetism of a magnet 12 attached to a portion such as a welding position of the steel column 1 or a curve entrance of the rail 2 by a magnetic sensor and has a control unit mounted inside. By controlling the drive of the driving device 7, the welding robot 4 is stopped according to the detected magnetic signal, the traveling speed is changed, and the welding robot 4 is stopped at a target moving welding execution position. Move at the moving speed. And the bogie device 3
Automatically welds the steel column 1 with the welding robot 4 by automatically adjusting the moving speed while moving. Since the bogie device 3 travels with the rail 2 sandwiched in the width direction and the vertical direction, there is no slippage of the driving roller 5 at the time of driving, and the rail 2 is stable at a desired speed even in a curved portion of the rail 2. You can run. Also,
The moving speed of the bogie device 3 may be changed in accordance with the supply amount of the welding wire or, in the case of arc welding, a change in the operating voltage or the property of the pulse.

Therefore, the bogie device 3 can stably move the welding robot 4 at a desired speed, and it is not necessary to provide a rack or the like on the rail 2. It is easy to produce a desired shape according to the outer circumference and the like, and the cost is low. Therefore, since the bogie device 3 of the present invention uses the rail 2 which is easy to manufacture and inexpensive, the work efficiency of the welding work of the steel column 1 can be improved, the work cost can be reduced, and various types of work can be performed. It can easily cope with the steel column 1 having a cross-sectional shape, has high versatility, and the demand for automatic welding of the steel column 1 is improved.

[0015]

As described above, according to the bogie device of the steel frame welding robot of the present invention, the welding device is provided so that it can run freely on the rail disposed around the steel column along the side thereof. A bogie device equipped with a robot, wherein the rails are formed so that both side surfaces pass around the pillar with a vertical smooth surface, and the bogie device is disposed opposite to both sides in the width direction of the rail, and each side surface of the rail is provided. And a driving roller rotatably provided with respect to the rail, and a driving roller disposed between the driving roller or the rotation shaft of the roller and disposed on both sides in the width direction of the rail.
An urging member for urging the moving rollers in a direction to approach each other, and pressing each driving roller against the side surface of the rail from the outside,
A driving device for driving the driving roller and a guide member loosely fitted in a guide groove extending along the rail along the rail are provided. Of course, it is not necessary to provide a rack or the like on the rail,
Since the rail can be easily manufactured to a desired shape in accordance with the side portion of the steel column and the cost is low, the work efficiency of welding construction of the steel column is improved, and the construction cost can be reduced. At the same time, there is an excellent effect that versatility for welding steel columns having various cross-sectional shapes is improved, and demand for automatic welding of steel columns is improved.

[Brief description of the drawings]

FIG. 1 is a perspective view showing an embodiment of the present invention.

FIG. 2 is a plan view showing a rail.

[Explanation of symbols]

Reference Signs List 1 steel column 2 rail 3 bogie device 4 welding robot 5 drive roller 6 biasing member (biasing mechanism) 7 drive device 8 side surface 9 guide groove 18 guide member

──────────────────────────────────────────────────続 き Continued on the front page (72) Inventor Yasuyuki Yoshida 4-2-2 Kannon Shinmachi, Nishi-ku, Hiroshima City, Hiroshima Prefecture Mitsubishi Heavy Industries, Ltd. Hiroshima Research Laboratory (72) Inventor Etsumi Hiromoto Kannon Shinmachi 4 in Nishi-ku, Hiroshima City, Hiroshima Prefecture No. 6-22 Mitsubishi Heavy Industries, Ltd.Hiroshima Research Laboratory (72) Inventor Nobuhiro Okuyama 1-3-3 Shibaura, Minato-ku, Tokyo Inside Shimizu Corporation (72) Inventor Kazunori Koshida 1-Shibaura, Minato-ku, Tokyo No. 2 No. 3 Inside Shimizu Corporation (56) References JP-A-59-27772 (JP, A) JP-A-59-76676 (JP, A) JP-A-51-69444 (JP, A) Sho 61-92466 (JP, U) Shokai 52-94429 (JP, U) Shohei 63-25261 (JP, U) Shokai 62-109875 (JP, U) Tokubo Sho 51-36216 (JP, U) , B2) Jikken Sho 51-15804 (J (P, Y2) (58) Field surveyed (Int. Cl. ⁷ , DB name) B23K 9/12 B23K 9/00 B23K 9/127 B23K 37/02

Claims (1)

(57) [Claims] 1. A bogie device which is provided on a rail disposed around a steel column along a side thereof so as to run freely and on which a welding robot is mounted. A drive roller formed so as to go around the pillar with a smooth surface, and arranged on the bogie device so as to be opposed to both sides in the width direction of the rail, and to be provided rotatably with respect to the side surface of the rail; Arranged between the roller rotation shafts and on both sides in the width direction of the rail
A biasing member for biasing the drive rollers toward each other and pressing each drive roller against the side surface of the rail from outside, a drive device for driving the drive roller, and extending along the rail along the rail. A bogie device for a steel welding robot, comprising: a guide member loosely fitted in a formed guide groove.