JP3522074B2 - Welding equipment - Google Patents

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a welding apparatus for assembling by welding (for example, fillet gas shield arc welding) a vertical plate (for example, a longe or rib) standing on the plane of a lower plate (for example, a panel). In particular, the present invention relates to a welding apparatus that positions and holds a vertical plate on a lower plate in a required posture and automatically welds a corner between the two. For example, it is used to weld longes and ribs to the panels (large steel plates) that will be the ship bottom, decks, and bridge bottom plates.

[0002]

2. Description of the Related Art For example, when welding a long plate or a rib (vertical plate) to a large plate (panel; lower plate), the large plate is positioned on a surface plate equipped with a conveyor roller, and the large plate is placed on the plate. The longes or ribs are placed and aligned with the large plate, and then the longes or ribs are welded to the large plate. The large plate may be as large as 20 m × 30 m. In assembling such a steel structure, the positioning accuracy of the large plate with respect to the surface plate and the positioning of the panel or the rib with respect to the surface plate or the large plate greatly affect the assembling accuracy. In view of this, the welding apparatus disclosed in Japanese Patent Application Laid-Open No. 2-34370 mounts a beam extending in the horizontal x direction, which is orthogonal to the y direction, on a gate-type platform that runs in the horizontal y direction, and a plurality of n beams are attached to this beam. In addition to a pair of horizontal fillet copying welders, each carriage is provided with a copying ball for pressing the side surface of the longe from both sides and a copying roller for pressing the upper end surface of the longe. . The welding device disclosed in Japanese Patent Application Laid-Open No. 6-344185 presses down the upper end of the longe with a pressing shoe and projects the pad from the opposite side to the shoe at the tip of the rotating arm so that the side surface is It has a plurality of carriages that press and hold the longe between them to hold the longe. Further, the applicant of the present invention has made the beam parallel to the x-direction and the y-direction so that not only the distribution on the large plate whose longitudinal axis is the y-direction but also the distribution on the large plate can be performed in the x-direction. A welding device having a mechanism for switching to a posture parallel to the direction has been presented (Japanese Patent Application No. 8-84939).

[0003]

By the way, when a number of longes (or ribs) are welded to the upper plane of the panel, the longes may be welded at an angle from the vertical.
This includes welding the longitudinals perpendicular to the plane of the panel when the panel itself is slanted or curved, and the panel is a flat plate, but slightly more than perpendicular to the plane of the panel. In some cases, the longes are welded at an angle.

In such a case, since the welding device as described above has a holding mechanism for vertically raising the longe with respect to the horizontal panel supporting surface of the surface plate, the welding device positions the longe with respect to the panel. After that, hold the longe (determine the posture) and release the longe to the desired angle by using a jig and an angle gauge that allow the operator to give the longe an angle (angle of inclination from vertical). Adjusted and tack welded with a manual welder or semi-automatic welder. After the tack welding, the welding can be performed with the above-mentioned welding device in a state where the longe holding is released.

If the above procedure is adopted when welding the longes to the panel at an angle, the preparatory work before welding and tack welding are troublesome and the work efficiency is low. In addition, the accuracy and reliability of Longe's posture (angle) with respect to the panel are low.
In particular, it is a problem that the labor of the operator becomes excessive.

The first object of the present invention is to increase the work efficiency of determining the position and orientation of the vertical plate with respect to the lower plate when welding the vertical plate with the lower plate tilted from the vertical direction, and the accuracy and reliability. Is the second purpose, and the third is to reduce the labor of workers.
The purpose of.

[0007]

[Means for Solving the Problems] (1) The welding device of the present invention comprises a lateral holding mechanism (45a, 4a) for holding the vertical member (80) in the thickness direction y.
5b), a vertical pressing mechanism (46) for pushing the vertical member (80) downward z, and a welding torch (47th) for welding the corner formed by the lower plate (70) and the vertical member (80). Equipped tilt table (41); the tilt table (41)
lifting platform for supporting the rotation allowed around the tilting center line extending in the x-direction (32); rotating mechanism for rotating the tilting platform (41) about said tilting center line (33-35); the elevating supporting the platform (32)
Elevation drive mechanism for vertically driving the lifting and z-direction (28, 29); said elevator
Traverse drive mechanism for driving the drive mechanism in the y-direction (23,24p, 24
m); and, before KiNoboru descending drive mechanism (28, 29) and transverse drive mechanism (23,24P, 24m) supports a traveling means for traveling in the x-direction
(12A to 12C, 1); In addition, in order to facilitate understanding, in parentheses, the symbols of the corresponding elements of the embodiments shown in the drawings and described later are added for reference.

According to this, the lateral pressing mechanism (45a, 45b) mounted on the tilting base (41) clamps the vertical member (80) in the thickness direction y,
Similarly, the vertical presser mechanism (46) equipped with the tilting base (41)
The vertical member (80) is held by these mechanisms by pushing 0) downward z. That is, the vertical member (80) is held on the tilting base (41).
Since the rotary drive mechanism (33 to 35) rotationally drives the tilting base (41) about the tilting center line extending in the x direction, the vertical member (80) rotates about the tilting center line extending in the x direction. . Ie vertical material
(80) is inclined in the thickness direction x. This tilt angle is tilt table
Corresponds to the rotation angle of (41).

Since the traverse drive mechanism (23, 24p, 24m) drives the elevating table (32) supporting the tilting table (41) in the y direction, the y position of the vertical member (80) with respect to the panel is determined by this drive. be able to. In addition, traveling means (12A-12
Since C, 1) travels in the x direction, this travel allows the x position of the longitudinal member (80) relative to the panel to be determined. Furthermore, since the lifting drive mechanism (28, 29) drives the lifting platform (32) up and down in the z direction, the vertical plate (80) can be placed on the lower plate by the downward drive, and each of the above mechanisms is used. Thus, the vertical plate (80) can be positioned and held at a predetermined position on the lower plate at a predetermined inclination angle. Then, the corner between the lower plate (70) and the vertical member (80) can be welded by the welding torch (47th) equipped on the tilting base (41).

As described above, the vertical member (80) for the lower plate (70)
Since the position and inclination of can be determined, and this is done by an automatic mechanism, the work efficiency is high, the vertical member assembling accuracy and reliability are high, and the labor of the operator is greatly reduced.

[0011]

BEST MODE FOR CARRYING OUT THE INVENTION (2) The tilting table (41) is supported by a lifting table (32) via a ring-shaped bearing (42), and the rotary drive mechanism (33-35) is tilted. On the tilting table (41) at a position away from the center line , the ring bearing in the radial direction
The female screw member (35) slidably engaged with the ring-shaped bearing so as to be rotatable about an axis in the x direction.
It includes a male screw rod (34) which extends in the linear direction and is screwed to the female screw member and rotatably supported by an elevating table (32), and an electric motor (33) for rotationally driving the male screw rod. Female thread member (3
The combination of 5) and the male screw rod (34) is a reduction mechanism with a high reduction ratio, and a relatively small electric motor (33) can give a large rotational driving force, and the rotation angle can be made fine. Can be specified. During the stop, the speed reduction mechanism restrains the tilting base (41) from idling (swaying).

(3) Locking mechanisms (44a, 44s, 44c1, 32r1) for retaining the tilting table (41) on the lifting table (32) are further provided. According to this, the restraint of idling (swaying) of the tilting base (41) is stronger. Further, for example, when a mechanical shock is applied to the tilting table (41) or a device mounted thereon, the shock applied to the reduction mechanism that is a combination of the female screw member (35) and the male screw rod (34) is small,
The speed reduction mechanism is protected.

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

[0014]

1 shows an assembly area E2 in which an embodiment of the present invention is provided. The strip material supply area E1 is on the left of the assembly area E2, and the supply / discharge transport table RT is on the right. In the assembly area E2, a transport table 6 also serving as a surface plate
0 is set. The transport table 60 includes a large number of transport rollers (not shown) that rotate around the y-axis and a drive mechanism (not shown) that drives these rollers in forward and reverse directions, and is a panel of all the transport rollers. The surface on which the lower support points (contact points between the roller and the panel) are distributed is the panel lower support surface (panel support surface) of the surface plate (60). The transport table 60 is supported on the floor through a large number of jacks (not shown) distributed in the horizontal x and y, and by adjusting the support level of each jack, the panel support surface becomes horizontal and The level is set to a predetermined value.

On both sides of the transport table 60 in the y direction, traveling rails 61, 62 extending in the x direction are installed so as to extend to the strip material supply area E1, and the gantry truck 1 is mounted on the rails.
Runs in the x direction. The gantry truck 1 is a traveling rail.
The horizontal beams 12A to 12C are mounted on the carriages 11a and 11b, which are gate-shaped when viewed from the y direction, on the routes 61 and 62.
Each of the horizontal beams 12A to 12C is provided with a traveling mechanism for traveling in y along a rail extending in the x direction on the upper beams of the traveling vehicles 11a and 11b. , Horizontal beams 12A to 12C for traveling carriage 11
There is a locking mechanism for restraining a and 11b.

Each of the horizontal beams 12A to 12C has transverse rails 13a and 13b extending in the y-direction, and the transverse rails 13a and 13b have n transverse carriages (carriage).
2 to n2 are mounted, and each traverse truck 2 has a traverse rail.
It is movable in the y-direction along the rules 13a and 13b. Elevating rails 25 and 26 are attached to the traverse carriage 2.
The lift truck 3 is mounted on the lift rails 25 and 26, and the lift truck 3 is movable in the z direction along the lift rails 25 and 26. A tilting frame 4 and a tilting mechanism are attached to the lift truck 3. In addition to the welding torch 47th, the tilting frame 4 is equipped with a lateral pressing device for a vertical member (longitudinal or rib), a vertical pressing device, a copying roller, etc., which will be described later. Since each of the horizontal beams 12A to 12C is equipped with n traverse carriages (carriage) 2 to n2, the total number of traverse carriages mounted on the gantry carriage 1 is three.
× n units.

The outline of the configuration of this embodiment is shown in Tables 1 and 2 below.
2 shows a cross section taken along line 2A-2A of the transverse carriage 2 of FIG. 1, and FIG. 3 shows its front surface (arrow line 3A-3A of FIG. 1). The horizontal rails 13a and 13b are attached to one side surface of the horizontal beam 12A, and the horizontal rack 23 is attached to the lower surface thereof.

[0018]

[Table 1]

[0019]

[Table 2]

Referring to FIG. 2, the traverse rails 13a, 13b.
The horizontal guides 21a and 21b mounted on the side surfaces of the vertical portion 22v of the L-shaped horizontal frame 22 are fitted to the horizontal guides 21a and 21b. A traverse motor 24m is disposed in the horizontal portion 22h of the traverse frame 22, and this is the traverse pinion 24.
Rotate p. Traverse pinion 24p is traverse rack 2
When the motor 24m is rotationally driven, the traverse frame 22 moves in the y direction along the traverse rails 13a and 13b. In addition, the vertical portion 22 of the transverse frame 22
Elevating rails 25 and 26 are attached to v, and an elevating motor 28 and a wire feeder 27 of a horizontal fillet welder (gas shield arc welder) are attached to the upper portion of the vertical portion 22v. .

An elevating guide 31 is attached to the elevating rails 25 and 26.
The a and b are fitted together, and the elevating guides 31a and 31b are attached to the elevating frame 32. The lifting frame 32 is
It is screwed to a screw shaft 29 (FIG. 3) that is driven to rotate by the lifting motor 28, and when the lifting motor 28 drives the screw shaft 29 to rotate, the lifting frame is lifted.
The frame 32 moves in the z direction along the elevating rails 25 and 26.

A tilting frame 41 (horizontal portion 41) is attached to the lifting frame 32 via a large-diameter ring-shaped bearing 42.
h, a vertical portion 41v) is rotatably mounted around the x-axis, and a tilting mechanism including a tilting motor 33 is mounted (FIG. 4). The horizontal portion 41h of the tilting frame has a pair of horizontal holding devices 45a (FIG. 2), 4
5b (45b is not shown, but is opposed to 45a in the y direction), the vertical pressing device 46 (FIG. 2), and the torch support leg 47.
m, 47h (Fig. 3) is equipped with, support legs 47m, 47h
The torch 47tm and 47th and the copying rollers 47nm and 47nh for corner copying (FIG. 3) are supported by the torch 47tm and 47th. In addition,
The chi 47tm and 47th are opposed to each other in the y direction, and the copying roller 47n
m and 47nh also face each other in the y direction, and copy rollers 47nm and 47n
h is shifted in the -x direction from the torches 47tm, 47th, and the copying roller 4 is moved in the welding movement direction (-x direction).
7nm and 47nh are located upstream of torches 47tm and 47th.

A vertical member (longe) arranged on the panel 70
The vertical side surface of 80 is clamped by the lateral pressing devices 45a and 45b (the rollers facing each other: not shown), and the upper surface thereof is further pressed by the vertical pressing device 46 (the roller 46r thereof: FIG. 2).
The vertical pressing device 46 is driven in the vertical direction (z direction) by the air cylinder 46c, and the lateral pressing devices 45a and 45b are driven in the horizontal direction (y direction) by an air cylinder (not shown). Rollers are provided on the contact surface with each of the vertical members 80, and the vertical members 80 are sandwiched by these rollers and pressed against the panel 70 in the x direction with respect to the vertical members 80. It is slidable.

Copying rollers 47 nm and 47 with respect to a corner between the vertical side surface of the vertical member 80 and the upper surface of the panel 70.
nh follows and positions the welding torches 47tm and 47th.
Copy rollers 47nm, 47nh and welding torches 47tm, 47
th is a torch support leg 47 fitted and attached to a torch rail 47r arranged on the torch carriage 47f.
m, 47h, torch support legs 47m, 4
7h is a torch left and right cylinder 47cy, which is driven relatively toward or away from the cylinder. That is, it is opened and closed. The torch left and right cylinders 47cy are the torch support legs 47.
When m and 47h are driven to be closed, the copying rollers 47nm and 47nh come into contact with the vertical member 80.

FIG. 4 shows the structure of the tilting mechanism for rotating the tilting frame 41 from the front, and FIG. 5 shows its side section (section taken along the line AA in FIG. 4). A tilting frame 41 is supported on the elevating frame 32 via a bearing 42, and the tilting frame 41 can rotate around the ring center of the ring-shaped bearing 42. The outer race of the bearing 42 is fixed to the elevating frame 32 by a retainer 42f.
The race is fixed to the tilting frame 41v. The rotation range in this embodiment is 3 degrees to the left and right from the vertical position.

A tilting motor 33 is attached to the elevating frame 32 via a motor mounting member 33d, and the male screw rod 34 is rotationally driven. A rotary encoder 37 is connected to the male screw rod 34. A nut (female screw) 35 having a quadrangular cross-sectional shape is screwed to the male screw rod 34, and blocks 36b and 36c having a quadrangular front shape are arranged on both side surfaces of the nut 35, and projections 35t and 35u of the nut 35 are arranged. Is combined with. Blocks 36b, 3
6c is fitted inside the U-shaped sector 41s attached to the upper end side of the tilting frame 41v so as to be slidable in the z direction (radial direction of rotation of the tilting frame 4). In such an arrangement, when the tilting motor 33 is rotationally driven, the male screw rod 34 is rotated to drive the nut 35 (blocks 36b and 36c) leftward or rightward (y direction). This drives sector-41s left or right. The sector 41s is attached to the upper end side of the tilting frame 41v, and the center of rotation of the tilting frame 41v is the ring center of the ring-shaped bearing 42. Therefore, the sector 41s moves left and right in an arc. (Tilt). At this time, the blocks 36b and 36c are rotatable around the protrusions 35t and 35u, and the blocks 36b and 36c are also rotatable.
Since the contact surface between the sector 41s and the sector 41s is slidable, the nut 35 moves in the left-right direction (y direction) without difficulty.
It is transmitted to 1s.

In this manner, the tilting motor 33 can tilt the tilting frame 41 left and right (± 3 degrees),
Horizontal pressing devices 45a and 45b for the vertical member 80 mounted on the tilting frame 41h, vertical pressing device 46, and torch support leg 4
7m, 47h (copy rollers 47nm, 47nh and welding roller)
Chi 47tm, 47th) can be tilted (± 3 degrees). Horizontal pressing devices 45a and 45b and vertical pressing device 46
While holding the vertical member 80, the vertical member 80 also tilts.

Since the center of rotation of the tilting frame 41 is above the surface of the panel 70, the tilting frame 41 is tilted with respect to the tip positions of the welding torches 47tm and 47th when the tilting frame 41 is not tilted. Since the tip position of the welding torch is displaced in the y direction when the frame 41 is tilted, the transverse carriage 2 is transversely driven by the amount of this deviation.

Next, the tilt angle detecting mechanism of the tilting frame 41 will be described. FIG. 6A shows the operation origin (horizontal position) and the left and right limit points (± 3 ° tilt position) of the tilting frame 41.
The mechanism for detecting is shown from the front, and (b) shows the side surface. A photo sensor 38c for detecting an operation origin (horizontal position) is attached to the lifting frame 32 via a bracket 38b and a mount 38b1, and a photo sensor 38 for detecting left and right limit points.
r is attached via a bracket 38b and a mount 38b2. The photo sensor-38c and the photo sensor-38r have the same structure and function. The side surface thereof has an inverted U shape as shown at 38r in FIG. 6 (b), and a light emitting diode is attached to one leg and a light receiving diode attached to the other leg. A beam is fired toward.
When the light receiving diode receives the beam, the photo sensor
Is "on".

Light-shielding plates 43t1 and 43t2 are attached to the tilting frame 41v via a light-shielding plate bracket 43tb. The light shielding plate 43t1 is a photo sensor-38c.
It is arranged so that it is located between the legs of the
3t2 is arranged so as to be located between the legs of the photo sensor-38r. A small hole is provided in the center of the light shielding plate 43t1, and when the tilting frame 41 is at the operation origin (the light shielding plate bracket 43tb is in the horizontal position), the photo sensor-3
The beam emitted from the light emitting diode 8c reaches the light receiving diode through the small hole. If the tilting frame 41 is tilted to the left or right from the operation origin, the beam emitted by the light emitting diode is blocked by the light shielding plate 43t1 and does not reach the light receiving diode. That is, the photo sensor 38c detects that the tilting frame 41 is at the operation origin (the photo sensor is "on").

The light shielding plate 43t2 is provided with two small holes at symmetrical positions deviating from the center, and when the tilting frame 41 is at the left limit point (position tilted to the left by 3 degrees), the photo sensor- The beam emitted from the light emitting diode 38r reaches the light receiving diode through the small hole on the right side of the light shielding plate 43t2, and the tilting frame 41 has a right limit point (3 to the right). When the beam is emitted from the light emitting diode of the photo sensor 38r, the light shielding plate 43
The positional relationship is such that the light-receiving diode is reached through the small hole on the left side of t2 (the position indicated by the chain double-dashed line in FIG. 6A). If the tilting frame 41 is at an angle outside the left limit point (the position tilted 3 degrees to the left) or the right limit point (the position tilted 3 degrees to the right), the beam emitted by the light emitting diode is The light blocking plate 43t2 prevents the light receiving diode from reaching the light receiving diode. That is, the photo sensor 38r is provided with the tilting frame 41.
At the left or right limit point (the position tilted to the left or right by 3 degrees) is detected (the photo sensor is “on”).

Angles other than the origin of operation (horizontal position) of the tilting frame 41 (horizontal position) or the left and right limit points (position tilted left and right by 3 degrees) are detected by the pulse generated by the rotary encoder 37. As mentioned above, the rotary encoder 3
7 is a tilting motor 3 for tilting the tilting frame 41.
Since it is driven by No. 3, the tilt angle of the tilt frame 41 can be calculated by measuring the number of generated pulses. The signals of the photo sensor 38c, the photo sensor 38r, and the rotary encoder 37 are supplied to a control controller (not shown), and the operation origin (horizontal position) control, the left and right limit point control, and within the limit. Used for arbitrary angle selection control, lock mechanism control, etc.

The tilting mechanism of this embodiment includes a tilting frame 4
A lock mechanism for fixing 1 to the lifting frame 32 is provided. Referring to FIGS. 4 and 5, a shaft 44s having L-shaped hooks 44c1 and 44c2 at both ends, a lock hydraulic cylinder 44a, and a rod 44b are attached to the horizontal portion 41h of the tilting frame. Lifting frame 32
Is a pedestal 39r for receiving the hooks 44c1 and 44c2.
1, 39r2 are attached.

When the rod of the lock hydraulic cylinder 44a is projected (-x direction), the shaft 44 is pushed through the rod 44b.
s rotates and L-shaped hooks 44 on both ends of the shaft 44s
The tips of c1 and 44c2 are driven upward (+ z direction).
That is, the lock is released. If the tilting frame 41 is tilted in this state and the rod of the locking hydraulic cylinder 44a is retracted (+ x direction) after tilting, the shaft 44s rotates via the rod 44b, and the shaft 44s
The tips of the L-shaped hooks 44c1 and 44c2 on both ends of the are rotated clockwise (FIG. 5) for driving. The tips of the hooks 44c1 and 44c2 are pedestals 39r fixed to the elevating frame 32.
1, 39r2, the pedestals 39r1 and 39r2 are strongly pressed in the + x direction, and this pressing pressure (the pulling force of the cylinder 44a)
The hooks 44c1 and 44c2 and the pedestals 39r1 and 39r.
The relative movement of 2 becomes impossible. That is, the tilting frame 41 cannot be rotated (locked) with respect to the elevating frame 32.

The above-described tilting mechanism can tilt the tilting frame 41 to the left and right (± 3 degrees) by the tilting motor 33, and the lateral pressing device 4 mounted on the tilting frame 41h.
5a, 45b, vertical pressing device 46 and torch support leg 47
It is possible to tilt (± 3 degrees) m and 47h. The tilt angle of the tilt frame 41 is the operation origin (horizontal position) detected by the photo sensor-38c and the light shield plate 43t1, the left and right limit points (± 3 degrees) detected by the photo sensor-38r and the light shield plate 43t2, and It is controlled based on a rotary encoder 37 driven by a tilting motor 33.
Further, a lock mechanism for preventing displacement of the tilting frame with respect to the elevating frame 32, that is, L-shaped hooks 44c1 and 44c driven by a lock hydraulic cylinder 44a.
And pedestals 39r1 and 39r2 with which the hooks mesh.

Next, a usage mode of the above-mentioned welding apparatus will be described. Referring to FIG. 1, when welding the longes to the panel 70, the panel 70 is first sent from the supply / discharge transport table RT to the transport table 60. Before or after that, the gantry truck 1 is driven to the strip material supply area E1 and the required number (maximum n sheets) of longes are held there. It should be noted that in the strip material supply area E1, the longe is held in the array and posture (vertical) of the longe there. That is, the longe 80 is sandwiched by the lateral pressing device of each traverse trolley 2, and the upper end of the longe 80 is pressed by the longitudinal pressing device 46 to hold the longe 80 on the traverse trolley 2. Then, drive the gantry-cart 1 to the assembly area E2, and hold each of the retained longes on the panel 7
Positioning and posture (tilt) are determined with respect to 0. At this time, the y-direction position of each longe is determined by driving the transverse carriage 2 in the y-direction, and the inclination with respect to the vertical line is determined using the above-mentioned inclination mechanism. Then, the lift truck 3 is driven downward to push the longe 80 against the panel 70. Next, the horizontal beam
Welding torch 47t of each traverse trolley 2
Driving is performed so that h and 47 tm match the welding start point of the longe 80, the welding is stopped at the welding start point, and welding is started from there. During welding, the horizontal beams 12A to 12C are driven in the -x direction at the welding speed.

When the welding is completed, the holding of the longes 80 is released and the lift truck 3 is driven upward (withdrawal drive), and the transport table 60 sends the panel 70 to the feeding / discharging transport table RT. In the above work, since the longe 80, which is held by the horizontal pressing devices 45a and 45b and the vertical pressing device 46 and has a required inclination angle by the inclination mechanism (33 to 35), is automatically placed on the panel 70. The work efficiency is high, the assembly accuracy and reliability of the longe 80 to the panel 70 are high, and the labor of the operator is significantly reduced.

[Brief description of drawings]

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

2 is an enlarged sectional view taken along line 2A-2A in FIG.

FIG. 3 is a side view of the transverse carriage 2 as viewed in the direction of arrows 3A-3A in FIG.

4 is a side view of the lifting carriage 3 on the traverse carriage 2 shown in FIG. 3, as viewed in the direction of arrows 3A-3A in FIG.

5 is a sectional view taken along line AA of the tilting table 4 shown in FIG.

6A is a plan view of the tilting table 4 and the lift truck 3 shown in FIG. 5, and FIG. 6B is a sectional view taken along line BB of FIG. 6A.

[Explanation of symbols]

1: Gantry-Truck 11a, 11b:
Traveling vehicles 12A, 12B, 12C: Horizontal beams 13a, 13b:
Traverse rails 2 to n: Traverse carriages 21a, 21b:
Traverse guide 22: Traverse frame 22h: Traverse frame horizontal portion 22v: Traverse frame vertical portion 23: Traverse rack 24p: Traverse pinion 24m: Traverse motor 25, 26: Lift rail 27: Wire feed Feeding device 28: Elevating motor 29: Elevating shafts 3 to n3: Elevating carriages 31a to 31d:
Lift guide 32: Lift frame 33: Tilt mode
34: Male screw rod 35: Nuts 35t, 35u: Protrusions 36b, 36
c: block 37: rotary encoder 38b: position sensor-mounting brackets 38b1, 38b2: position sensor-mount 38c: center position sensor- 38r: limit position sensor- 39r1, 39r
2: Cradles 4 to 4n: Tilt carriage 41: Tilt frame 41h: Tilt frame horizontal portion 41v: Tilt frame vertical portion 41s: Sector-42: Bearing 42f: Retainer 43tb: Shading plate bracket 43t1: Operation center position light-shielding plate 43t2: Limit position light-shielding plate 44a: Lock hydraulic cylinder 44b: Rod 44s: Shaft 44c1, 44c
2: Hooks 45a, 45b: Horizontal presser device 46: Vertical presser device 46c: Vertical presser cylinder 47f: Torch carriage 47h, 47m: Torch support legs 47nh, 47n
m: Copying roller 47r: Torch rail 47ct1, 47t2: Torch vertical drive cylinder 47cy: Torch horizontal drive cylinder 47th, 47t
m: Welding torch 60: Conveyance table (surface plate) 61, 62: Traveling rail 70: Panel 80 to m80:
Longie E1: Strip material supply area E2: Assembly area RT: Supply / discharge transport table

─────────────────────────────────────────────────── ─── Continuation of front page (56) References JP-A-3-234370 (JP, A) JP-A-7-266041 (JP, A) JP-A-10-128537 (JP, A) (58) Field (Int.Cl. ⁷ , DB name) B23K 9 / 00,9 / 12 B23K 37/04-37/047

Claims (3)

(57) [Claims] 1. A lateral holding mechanism for holding a vertical member in the thickness direction y,
A tilting platform equipped with a vertical pressing mechanism for pushing the vertical member downward z, and a welding torch for welding a corner formed by the lower plate and the vertical member; centering the tilting center line extending in the x direction on the tilting platform. lifting platform for supporting the rotation allowed to; lift drive mechanism supporting the lifting table for lifting drive in the z-direction; rotation drive mechanism for rotating the tilting table about the tilting center line the elevation driving mechanism y traverse drive mechanism for driving in the direction; and, to support the front KiNoboru descending drive mechanism and transverse drive mechanism, the traveling means for traveling in the x direction; welding apparatus comprising a. 2. The tilting base is supported by a lifting base via a ring-shaped bearing, and the rotary drive mechanism is mounted on the tilting base at a position apart from the tilting center line.
Is slidable in the radial direction and centered on the x-axis
Female screw member rotatably engaged with the ring-shaped bearing
2. The welding apparatus according to claim 1, further comprising a male screw rod which extends in a tangential direction of the ring and is screwed to the female screw member and is rotatably supported by a lift, and an electric motor which rotationally drives the male screw rod. 3. The welding apparatus according to claim 1, further comprising a lock mechanism that locks the tilting table on the lifting table.