JP3824431B2 - Internal working device - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to an internal working device for a closed box type structure employed when manufacturing a closed box type structure using steel such as shipbuilding, bridges, and steel frames.
[0002]
[Prior art]
Conventionally, for example, when painting the inside (inner surface) of a closed box type structure, tools such as workers, spray guns, hoses, etc. are brought in from the work opening provided in the horizontal partition wall, and work can be performed simultaneously by multiple people. The method of performing was adopted. However, according to this method, the working environment is extremely bad and it is difficult to continue working for a long time. Therefore, a plurality of workers form a group and perform work alternately in units of groups. According to this, there is a lot of loss time.
[0003]
Therefore, as a means for solving the above-described problems, there is provided a system in which painting is performed by an internal work device equipped with a painting robot. And as this kind of internal working apparatus, the structure shown by FIG. 10, FIG. 11, for example is provided.
[0004]
That is, a pair of upper and lower wall bodies 86, 87, a horizontal partition wall body 88 provided between the two wall bodies 86, 87 to form four side walls, and a plurality of vertical passages provided on the upper surface side of the lower wall body 87. A closed box structure 85 is constituted by the aggregate 89. An internal working device 91 that performs, for example, painting work on the inside of the closed box structure 85 is of a cantilever type (cantilever type), and the base end of a beam (cantilever arm) 93 is attached to the traveling carriage 92. It is configured by being connected and provided with a working robot 94 at the tip of the beam 93.
[0005]
When performing internal work using such an internal work device 91, a simple opening 90 is formed in the horizontal partition wall 88 of the closed box structure 85. Then, the working robot 94 is inserted into the inside through the opening 90 via the beam 93, and the working robot 94 controls the position of the working robot 94 according to the traveling position and orientation of the traveling carriage 92, while the intended working robot 94 performs the intended operation. Work was being carried out.
[0006]
[Problems to be solved by the invention]
However, according to the above-described conventional configuration, a large-scale device such as the traveling carriage 92 of the internal working device 91 is required outside the closed box structure 85. Further, the beam (arm) 93 is required to be thick because a heavy object such as the working robot 94 is provided at the tip. For this purpose, a large opening 90 is required. When the opening 90 becomes large, a large-scale reinforcement is required in terms of the strength of the closed box structure 85. The traveling carriage 92 needs to be provided (mounted) with a counterweight 95 that matches the weight of the working robot 94 provided at the tip and the center of gravity movement caused by the operation of the working robot 94 inside. There is.
[0007]
Accordingly, an object of the present invention is to provide an internal working device for a closed box structure that does not require a large-scale device outside the closed box structure.
[0008]
Further, an object of the present invention is to provide an internal working device for a closed box type structure in which the counterweight can be omitted .
[0009]
[Means for Solving the Problems]
To achieve the above object, the internal working mechanism of claim 1, wherein among the present invention is an internal working device for performing work on the interior of the closure box-shaped structure, closed box type structure A self-propelled carriage supported and guided by a plurality of longitudinal aggregates constituting the vehicle and capable of traveling in the longitudinal direction of the longitudinal aggregate, and provided on the self-propelled carriage so as to be rotatable around a vertical axis. A revolving body, a slide body supported and guided by the revolving body and capable of moving in and out in the lateral direction, and a working robot provided on the slide body. a body portion having, consists of a movable moving part in the carriage traveling direction by the movement drive device with respect to the main body, the turning member to the moving part, pivotally mounted about a vertical axis, the self The traveling carriage is stopped after traveling the main body to the desired position by the traveling means. It has been moved adjustably configure the position of the working robot by moving the moving section by moving the driving device is obtained by said.
[0010]
Therefore, according to the first aspect of the present invention, after the traveling movement of the self-propelled carriage , that is, after the main body has traveled to a desired position and stopped , the turning movement to both sides of the revolving body, the lateral sliding of the slide body, By appropriately combining the operations, the work range of the work robot can be arbitrarily changed and adjusted sequentially. Moreover, traveling can be performed using existing longitudinal aggregates. At that time, with the self-propelled trolley stopped, by moving the moving part in the trolley traveling direction with respect to the main body part, it is possible to use the working robot without traveling on the main body part side during the work. The working range on the cart traveling direction side can be wide.
[0011]
The internal working device according to claim 2 of the present invention, in the configuration of claim 1, wherein the above-mentioned self-propelled truck, in which is characterized by having a traveling means by the magnet crawler.
[0012]
Therefore, according to the second aspect of the present invention, it is possible to oppose the uneven load on the working robot side by the attractive force of the magnetic crawler.
The internal working apparatus according to claim 3 of the present invention, in the configuration of claim 1 or 2, wherein the above, the working robot, those characterized in that movable in the slide direction relative to the slide body It is.
[0013]
Therefore, according to the invention of claim 3, the working range can be made wider by moving the working robot relative to the slide body .
[0017]
DETAILED DESCRIPTION OF THE INVENTION
Below, embodiment of this invention is described based on FIGS. 1-9 as a state employ | adopted for the painting operation | work of ship grain.
[0018]
8 and 9, the closure box-structure 1, a pair of upper and lower walls, i.e. the upper wall 2, a lower wall 3, is provided between these upper wall 2 and lower wall 3 a horizontal partition wall member 4 to form four side walls, a plurality of lower stringer aggregate 5 provided on the upper surface side of the lower wall 3, the upper stringer of the plurality of provided on the lower surface side of the upper wall 2 It is comprised by the aggregate 6 etc. Here, the lower longitudinal aggregate 5 is composed of a flange portion 5A that is positioned horizontally in the upper portion and a web portion 5B in the vertical direction, with the lower end of the web portion 5B on the lower wall body 3 and in the length direction. Both ends are fixed to the horizontal partition wall 4 by welding. The lower longitudinal threading aggregate 5 and the upper longitudinal threading aggregate 6 are arranged to face each other in the vertical direction. In the following, the length direction of the lower longitudinal aggregate 5 is referred to as the front-rear direction.
[0019]
In FIG. 1 to FIG. 7, for example, an internal working device 10 that performs a painting operation includes a self-propelled carriage 11 supported and guided by two (a plurality) lower longitudinal aggregates 5, and the self-propelled carriage 11. A revolving body 41 provided so as to be rotatable around a vertical axis 40, a slide body 60 supported and guided by the revolving body 41 and capable of moving in and out in the lateral direction, and a work body provided on the slide body 60. The robot 70 is configured.
[0020]
The self-propelled carriage 11 includes a main body part 12 and a moving part 30 that is movable in the front-rear direction (cart traveling direction) with respect to the main body part 12, and the revolving body 41 is provided in the moving part 30. ing.
[0021]
That is, the main body 12 is formed in a flat frame shape that is long in the front-rear direction, and idler wheels (wheels) 13 placed on the flange portion 5A at a plurality of front-rear positions (four front-rear positions) on both sides thereof. Is provided. Further, guide rollers 14 facing the outer surface of the flange portion 5A are arranged at both ends in the front-rear direction of the main body portion 12, and these guide rollers 14 are disposed on the bracket 15 from the main body portion 12 via the vertical axis. It is attached so that it can freely rotate.
[0022]
A fall prevention device 16 is provided below the main body 12 at the location where the guide roller 14 is disposed. The overturn prevention device 16 includes a cylinder device 17 fixed to the lower portion of the main body 12, a stopper body 18 that is connected to the piston rod and can be moved in and out in the left-right direction, and the withdrawal and withdrawal of the stopper body 18. In order to guide the movement, a cylindrical guide body 19 provided at the lower part of the main body 12 is constituted. At this time, the distal end portion of the stopper body 18 is configured to face the lower surface of the flange portion 5A by the protruding movement.
[0023]
On both sides of the intermediate portion of the main body portion 12 in the front-rear direction, traveling means 20 using a magnet crawler is provided. That is, each traveling means 20 includes a frame 22 attached to the side portion of the main body portion 12 via a pair of front and rear connecting portions 21, a plurality of ring bodies 23 disposed on the frame 22, and a space between these ring bodies 23. It is configured by a magnet crawler 24 wound around, a traveling drive device 25 supported on the traveling frame 22 side and interlocked with a specific ring body 23, and the like. And the magnet crawler 24 which consists of a permanent magnet etc. is comprised so that it may adsorb | suck and contact | abut on the upper surface of the said flange part 5A.
[0024]
A pair of left and right support rails 26 are provided on the inner side surface of the main body 12 and a rack 27 in the front and rear direction is laid at the bottom.
The moving unit 30 includes a flat frame-shaped moving body 31, a rectangular plate-shaped turning support body 37 integrated on the upper portion of the moving body 31, and the like. The moving body 31, so also are supported and guided by the support rail 26, a support roller 32 which is placed on the two support rails 26, and prevents the roller 33 lifted, which is opposed from below to the support rail 26, support rail 26 are provided at a plurality of locations so as to be freely rotatable.
[0025]
The moving body 31 is provided with a pinion 35 meshed with the rack 27, a moving drive device 36 that is linked to the pinion 35 and can be driven forward and backward. A central portion of the swivel support 37 is formed as a through hole, and locking members 39 that can be moved inward by the operation of the cylinder device 38 are provided at both ends of the swivel support 37 in the left-right direction. It is provided in one place or two places (plural places).
[0026]
The swivel body 41 has a rectangular plate shape, and an annular bracket 42 provided on the lower surface thereof is positioned in the through hole of the swivel support body 37. And the turning bearing device 43 and provided et Reruko between the pivot support 37 and annular bracket 42, pivot member 41 is pivotally constructed around Tatejikukokoro 40. Further, a vertical axis 45 is suspended from the lower surface of the revolving body 41 via a fixing member 44, and the vertical axis 45 is positioned on the vertical axis 40. The lower end of the vertical axis 45 is rotatably supported by a bearing device 46 provided on the moving body 31 side.
[0027]
A passive gear 47 is provided on the vertical axis 45 to rotate the revolving body 41 around the vertical axis 40, and on the moving unit 30 side, the passive gear 47 is connected to the passive gear 47 via a gear transmission mechanism 48. A swivel drive device 49 that is interlocked and can be driven forward and backward is provided. A to-be-contacted body 50 is provided below the revolving body 41, and the locking member 39 is configured to be freely abutted against the to-be-contacted body 50. A pair of frame bodies 51 are disposed laterally on the revolving body 41, and support rails 52 are provided on the inner side surfaces of the frame bodies 51.
[0028]
A slide body 60 supported and guided toward the revolving body 41 and capable of moving in and out in the lateral direction is supported and guided by the support rails 52, and a support roller 61 placed on both the support rails 52, A lift prevention roller 62 that faces the support rail 61 from below and a lateral shake prevention roller 63 that faces the frame body 51 from the inside are provided at a plurality of locations so as to be freely rotatable.
[0029]
In order to move the slide body 60 in and out in the lateral direction, a lateral rack 64 is disposed on one side surface of the slide body 60, and a pinion engaged with the rack 64 is provided on the revolving body 41 side. 65, and a retractable drive device 67 that is linked to the pinion 65 via a transmission mechanism 66 and can be driven forward and backward.
[0030]
The working robot 70 provided on the slide body 60 is configured to be movable in the slide direction with respect to the slide body 60. That is, a pair of support rails 68 are provided on the inner surface of the slide body 60, and a rack 69 is provided at the lower part. The work robot 70 is mounted on a work frame 71 having a flat frame shape, and the work stand 71 is supported and guided to the support rail 68 side. Therefore, the work platform 71 includes a support roller 72 placed on both support rails 68, a lifting prevention roller 73 that faces the support rail 72 from below, and a lateral runout that faces the slide body 60 from the inside. The prevention rollers 74 are provided at a plurality of locations so as to be freely rotatable.
[0031]
In order to move the work platform 71 in the sliding direction, on the work platform 71 side, a pinion 75 meshed with the rack 69 is coupled to the pinion 75 via a gear transmission mechanism 76 and forward and reverse. A freely slidable slide drive 77 is provided. The working robot 70 is configured to perform a painting operation while automatically controlling a 6-axis manipulator, for example.
[0032]
An opening 7 for carrying the internal working device 10 into the closed box structure 1 is formed at a predetermined location of the horizontal partition wall 4. At that time, the opening 7 is formed at a position where the lower edge is slightly below the flange portion 5 </ b> A in the pair of lower longitudinal aggregates 5. Further, the opening 7 is shaped so that the internal working device 10 in which the frame 51 is turned along the main body 12 and the posture of the working robot 70 is controlled in the most compact manner can be carried in with a minimum clearance. ing.
[0033]
At that time, as shown in FIG. 8, the opening position of the opening 7 is best in the vicinity of the center between the transverse bulkhead bodies 4, and considering the strength of the ship structure, the fifth from the transverse bulkhead body 4 It was found that the opening 7 should be opened in the vicinity of the sixth lower longitudinal aggregate 5.
[0034]
When a plurality of closed chambers formed by the closed box structure 1 are continuously formed in the length direction of the lower longitudinal aggregate 5, a predetermined portion of the transverse partition wall body 4 in the length direction. In contrast, an opening 7 is formed. Thereby, it is possible to carry in and travel between the plurality of chambers while passing the internal working device 10 through the opening 7 by using the pair of lower longitudinal aggregates 5.
[0035]
The operation in the above embodiment will be described below.
The opening 7 is passed through a to carry the internal working device 10, the internal working mechanism 10, FIG. 1, FIG. 2, as shown in FIG. 3 virtual line b, so that the frame body 51 along the main body portion 12 The working robot 70 is turned and the posture is controlled most compactly. In this state, the traveling means 20 is driven to cause the self-propelled carriage 11 to travel (enter).
[0036]
That is, both the traveling drive devices 25 are synchronously driven, and the magnet crawler 24 is rotated while being attracted to the upper surface (top surface) of the flange portion 5A, so that the self-propelled carriage 11, that is, the internal work device 10 is slipped. It is possible to travel between the two lower longitudinal aggregates 5 without installing a traveling rail in a state of being excellent in straightness.
[0037]
At that time, the self-propelled carriage 11 travels by rolling the idler wheel 13 group on the flange portion 5 </ b> A so that most of the load on the internal working device 10 side is supported by the lower longitudinal longitudinal aggregates 5. In this state, the guide roller 14 group is guided to the outer surface of the flange portion 5A to prevent lateral vibration. In a position where there is no problem with the horizontal partition wall 4, as shown by the phantom line in FIG. 2, the stopper body 18 of the overturn prevention device 16 protrudes below the flange portion 5 </ b> A, so However, when it falls for some reason, either the left or right stopper body 18 can be brought into contact with the lower surface of the flange portion 5A to prevent the fall.
[0038]
Such traveling of the self-propelled carriage 11 is stopped at a desired position, and the internal working device 10 itself travels at that time, so that it can be easily stopped and positioned by simple sensor control.
[0039]
After the self-propelled carriage 11 is stopped, the turning body 41 is first turned. This drives the turning drive 49 forward or backward, and rotates the vertical axis 45 via the gear transmission mechanism 48 and the passive gear 47. Thus, the swivel body 41 is swung to the right or left around the vertical axis 40 while being supported by the swivel support body 37 via the swivel bearing device 43, for example, as shown by the phantom line B in FIG. It can turn to the right (imaginary line C in FIG. 3) . That is, in a plan view, the frame body 51 can be made to be right-angled with respect to the main body portion 12 and swing out to the right. Next, by operating each cylinder device 38, the group of locking members 39 is moved inward and brought into contact with the contacted body 50, whereby the turning posture of the turning body 41 is positioned.
[0040]
In this state, the painting work is automatically performed by the work robot 70. At this time, the work range (work location) by the work robot 70 is sequentially changed and adjusted.
[0041]
That is, the moving drive unit 36 can move the moving unit 30 in the front-rear direction with respect to the main body unit 12 by rotating the pinion 35 meshed with the rack 27 in the forward and reverse directions. Can be moved and adjusted in the front-rear direction (the longitudinal direction of the lower longitudinal aggregate 5). At that time, the moving unit 30 moves back and forth in a state where the support roller 32 group rolls on the both support rails 26 to support the load, and the lifting prevention roller 33 group faces the support rail 26 from below. This can be carried out smoothly and stably in a state in which lifting due to the reaction force of the load is prevented, and in a state in which the lateral vibration preventing roller 34 group is opposed to the support rail 26 from the inside to prevent lateral vibration.
[0042]
Further, the slide body 60 can be slid laterally with respect to the frame body 51 by rotating the pinion 65 meshed with the rack 64 in the forward and reverse directions by the retracting / retracting drive device 67, and thus the working robot 70. Can be moved and adjusted in the horizontal direction (length direction of the frame body 51). At that time, the slide body 60 is moved laterally with the support roller 61 group rolling on the both support rails 52 to support the load and with the anti-lifting roller 62 group facing the support rail 52 from below. This can be carried out smoothly and stably in a state in which lifting due to the reaction force of the load is prevented and in a state in which the lateral shake prevention roller 63 group is opposed to the frame body 51 from the inside to prevent lateral shake.
[0043]
Further, by rotating the pinion 75 meshed with the rack 69 in the forward and reverse directions by the slide drive device 77, the work platform 71 can be slid in the lateral direction with respect to the slide body 60, and thus the work robot 70. Can be moved and adjusted in the lateral direction (the length direction of the slide body 60). At that time, the work platform 71 is moved laterally while the support rollers 72 are rolled on the two support rails 68 to support the load, and the lifting prevention rollers 73 are opposed to the support rails 68 from below. Thus, it is possible to carry out smoothly and stably in a state in which lifting due to the load reaction force is prevented, and in a state in which the lateral vibration preventing roller 74 group is opposed to the slide body 60 from the inner side to prevent lateral vibration.
[0044]
Thereby, for example, the state shown in FIGS. 6 and 7 can be obtained.
As described above, the moving unit 30 can be moved back and forth, the slide of the slide body 60 and the slide of the work base 71 can be moved in a horizontal direction. The working range by the working robot 70 can be changed and adjusted sequentially and arbitrarily so that a wide part can be efficiently painted. And in the state which returned each operation | movement part to the home position, ie, the state which returned to the attitude | position at the time of the carrying-in driving | running | working mentioned above, the turning body 41 is turned around the vertical axis 40, for example to the left side contrary to the above. . Thereby, the painting work in the left region of the internal working device 10 can be performed in the same manner as described above.
[0045]
Thereafter, the internal working device 10 is present while the internal working device 10 is traveling backward (unloading traveling) or traveling forward (loading traveling) to the next chamber in a state where each operation unit is returned to the home position. Paint the area (center area). At that time, operations other than turning, that is, movement of each part in the front-rear direction and the like are appropriately incorporated. Such work is continuously performed even after the self-propelled carriage 11 of the internal working device 10 has left the corresponding room.
[0046]
By the above, the painting operation by the working robot 70 on the entire inner surface of the closed box structure 1, that is, the both walls 2 and 3, the horizontal partition walls 4, and the upper and lower longitudinal aggregates 5 and 6 groups, It can be performed automatically without paint leakage. In addition, during the painting operation, the uneven load can be dealt with by the attracting force of the magnet crawler 24, thereby eliminating the need for a counterweight and making the internal working device 10 smaller and lighter.
[0047]
In the above-described embodiment, the two-stage telescopic type in which the slide body 60 moves back and forth in the lateral direction with respect to the revolving body 41 and the work base 71 moves in the lateral direction with respect to the slide body 60. However, this may be a multi-stage telescopic format of two or more stages. Further, it may be a one-stage telescopic type in which the work base 71 does not move.
[0048]
In the above-described embodiment, in order to move the slide body 60 to both sides in the lateral direction, an interlocking mechanism including a rack 64, a pinion 65, a transmission mechanism 66, a retracting drive device 67, and the like is employed. For example, a chain may be provided between a sprocket driven by a servo motor and a sprocket on the pinion side.
[0049]
In the above-described embodiment, the shipboard in shipbuilding is shown as the closed box structure 1, but this may be adopted when manufacturing closed box structures using steel such as bridges and steel frames. Alternatively, it may be adopted when manufacturing a closed box structure incorporating a plurality of longitudinal aggregates.
[0050]
In the above-described embodiment, the painting work is performed by the working robot 70, which can perform various works such as inspection, processing, and welding depending on the type of the working robot 70.
[0051]
【The invention's effect】
According to the first aspect of the present invention described above, after the self-propelled carriage travels, that is, after the main body travels to the desired position and stops , the swivel to both sides of the revolving body and the lateral direction of the slide body By appropriately combining and operating the slide, the work range of the work robot can be changed and adjusted sequentially and arbitrarily, so that a wide part of the closed box structure, that is, the upper wall, the lower wall, Various operations by the working robot for the partition body, the longitudinal aggregate group, and the like can be automatically and efficiently performed without requiring a large-scale device outside the closed box structure. Moreover, traveling is performed by using existing longitudinal aggregates, so that it is not necessary to install a traveling rail specially. At that time, with the self-propelled cart stopped, by moving the moving unit in the cart traveling direction with respect to the main unit, it is possible to use the working robot without traveling on the main unit while working. The work range on the cart traveling direction side can be widened and stable work can be performed.
[0052]
According to the second aspect of the present invention described above, it is possible to oppose an offset load on the working robot side by the attracting force of the magnetic crawler, thereby eliminating the need for a counterweight and enabling the internal working device to be reduced in size and weight. . Furthermore, by performing synchronous control of the left and right magnet crawlers, the traveling of the self-propelled carriage is excellent in straightness with no slip, and the top surface of the longitudinal aggregate can be easily used as a rail.
[0053]
According to the third aspect of the present invention described above, the working range can be expanded by moving the working robot relative to the slide body .
[Brief description of the drawings]
[1] shows an example of an embodiment of the present invention is a rear view partially broken away of the running means portion in the internal working mechanism.
2 is a rear view partially broken away of the overturning prevention device portion in the internal working mechanism.
3 is a plan view of a state in which the removal of the turning body in the internal working mechanism.
4 is a plan view of the self-propelled carriage portion in the internal working mechanism.
5 is a vertical sectional side view of a state in which the removal of the turning body in the internal working mechanism.
6 is a plan view when working at the same internal working mechanism.
FIG. 7 is a rear view partially cutaway at the time of work in the internal working device.
8 is a schematic rear view of the internal working mechanism.
9 is a schematic side view of the internal working mechanism.
FIG. 10 is a schematic perspective view of a working apparatus for a closed box structure, showing a conventional example.
FIG. 11 is a schematic side view in the same work unit.
[Explanation of symbols]
DESCRIPTION OF SYMBOLS 1 Blocking box type structure 2 Upper wall body 3 Lower wall body 4 Horizontal partition wall body 5 Lower longitudinal aggregate 5A Flange part 6 Upper longitudinal aggregate 7 Opening part 10 Internal working apparatus 11 Self-propelled cart 12 Main body part 16 Falling down Preventing device 20 Traveling means 24 Magnet crawler 25 Traveling drive device 30 Moving portion 31 Moving body 36 Moving drive device 37 Turning support body 40 Vertical axis 41 Turning body 43 Turning bearing device 49 Swing drive device 60 Slide body 67 Exit / retreat drive device 70 Working Robot 71 Working Platform 77 Slide Drive Device

Claims (3)

An internal working device that works on the inside of a closed box structure ,
A self-propelled carriage supported and guided by a plurality of longitudinal aggregates constituting the closed box structure and capable of traveling in the longitudinal direction of the longitudinal aggregate, and the self-propelled carriage around the vertical axis The self-propelled carriage is composed of a revolving body provided so as to turn freely, a slide body supported and guided by the revolving body and capable of moving in and out in the lateral direction, and a working robot provided on the slide body. Is composed of a main body having traveling means and a moving part movable in the cart traveling direction with respect to the main body part by means of a movement drive device . In this moving part, a revolving body can turn around a vertical axis. The self-propelled carriage is configured so that the position of the working robot can be adjusted by moving the moving unit with a movement driving device after the main body is moved to a desired position and stopped by the traveling means. is the portion working device you wherein a is. Self-propelled truck, internal working apparatus according to claim 1, characterized in that it has a traveling means by the magnet crawler. Working robot, internal working mechanism of claim 1, wherein a is movable in the sliding direction with respect to the slide member.

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