JP4060608B2 - Welding equipment - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a welding apparatus for welding used in the manufacture of鈑桁such hull blocks and bridges of the ship away Chifuna like.
[0002]
[Prior art]
One of the automatic stiffener welding devices used for manufacturing bridge beams is proposed in Japanese Patent Laid-Open No. 5-318119. This device automatically tacks and welds a stiffener that is pre-positioned on the eaves to the eaves. The side beam installed on the elevating carriage that reciprocates on the guide rail In order to be able to swing horizontally so that it can be held in an inclined position with respect to the traveling direction of the vehicle, a traveling carriage is arranged so as to be capable of driving along the side beam, and a stiffener is fixed to the traveling carriage during welding. The clamp tool and the welding torch are supported so as to be movable up and down and rotatable about a vertical axis.
[0003]
[Problems to be solved by the invention]
By the way, due to the demand for further efficiency in the production process, in automatic welding of stiffeners, stiffener transfer work from a temporary place to a base material such as a girder, and stiffener positioning work to a predetermined mounting position on the base material There is an urgent need to automate a series of operations from conveying work to tack welding.
[0004]
However, in order to achieve the automation of these operations, the following problems arise when the conventional configuration described above is employed and the stiffener is gripped and conveyed by the clamp tool of the welding apparatus.
[0005]
(1) When positioning the stiffener with respect to the base material, it is necessary to move the entire portal traveling cart when changing the position in the guide rail direction. In order to perform fine positioning, it is necessary to increase the speed reduction ratio. However, since the portal type traveling carriage has a reduced speed reduction ratio in order to realize quick conveyance, fine positioning cannot be performed. In addition, a large amount of energy is required to move the entire portal-type traveling carriage.
[0006]
(2) Since the clamping tool can be rotated in the same plane with respect to the vertical axis, the stiffener can be positioned at any angle with respect to the guide rail direction in the same plane. When the angle exceeds the swingable angle of the side beam, it is necessary to move the entire portal traveling carriage in addition to the traveling carriage during automatic welding, so quick automatic welding cannot be performed. In addition, much energy is required.
[0007]
(3) Since there is only one clamp tool, the center part of the object to be transported is gripped and transported. However, in the case of a stiffener having a flat plate shape, bending occurs when the center part is gripped. This adversely affects positioning accuracy and welding accuracy.
[0008]
(4) In the case of a bent block, for example, a panel block of a hull, it is necessary to attach a stiffener to the base material with an angle of about 10 ° in the vertical direction. Cannot respond to the request.
[0009]
(5) When the stiffeners are attached to each other in a T-shape, it is necessary to perform not only the welding between the stiffener and the base material but also the vertical welding between the stiffeners. Can not respond.
[0010]
The present invention has been made in view of the problems described above, performs fast and elongated member, such as accurate stiffener (hereinafter, referred to as "weld object".) Of conveyance or al tack welding An object of the present invention is to provide a welding apparatus for a workpiece to be welded.
[0011]
[Means for Solving the Problems]
To achieve the above object, the welding device of the welding subject of the present invention, portal traveling carriage to move a pair of guide rails arranged in parallel, the upper guide rail forming these pairs reciprocally travel And a welding apparatus for welding objects having a pair of handling robots arranged on the recumbent side of the portal-type traveling carriage, wherein the handling robot is capable of reciprocating at least along the recumbent part, The traverse part is composed of a base part that can rotate with respect to the turning shaft , and an elevating part that can be raised and lowered in the vertical direction provided at the end of the base part. A gripping device that can rotate about a vertical axis and that can rotate in the vertical direction about a horizontal axis that is provided at the lower end of a rotating shaft that is coaxial with the vertical axis, and a welding that is movable in the vertical direction and a device, wherein Transverse section of the handling robot which forms a is attached on one side or the other side of each Yoko杆, movement along the transverse rod are configured not to interfere. And by using the welding apparatus comprised in this way, conveyance of a to-be- welded object , positioning, and tack welding can be performed.
[0013]
DETAILED DESCRIPTION OF THE INVENTION
A welding apparatus for welding objects according to the present invention includes a pair of guide rails arranged in parallel, a portal traveling carriage that reciprocally moves on the pair of guide rails, and a lateral side of the portal traveling carriage. a welding device of the welding having a pair of handling robot disposed in rod, the handling robot includes a transverse portion reciprocally movable along at least the lateral rod, turning axis the transverse portion as a base point It is composed of a base part that can be rotated relative to the base part, and an elevating part that can be raised and lowered in the vertical direction provided at the end of the base part, and this elevating part is rotatable about a vertical axis. And a gripping device capable of vertical rotation about a horizontal axis provided at a lower end of a rotary shaft coaxial with the vertical axis, and a welding device movable in the vertical direction, and the pair Eggplant handling robot Line section is attached to one side or the other side of each Yoko杆, in which movement along the transverse rod is constructed so as not to interfere.
[0014]
According to the welding apparatus the welding subject according to the present invention with the above arrangement, after the temporary been welded object has been transported on the base material, in positioning the object to be welded onto a base material, the handling robot moving the transverse portion, by rotating the base portion while rotating the gripping device with respect to the vertical axis, without moving the gantry traveling vehicle, it will be able to rapidly position the object to be welded . Further, since it has a pair of handling robots, conveyance by holding both ends of the object to be welded can be positioned, thereby preventing the deflection of the object to be welded. Furthermore, the gripping device can be conducted with the vertical direction of the rotation about the horizontal axis, it is possible to position the object to be welded in a state having an angle in the vertical direction with respect to the base material.
[0016]
Also , in tack welding, after positioning the workpiece on the base metal with both ends of the workpiece being gripped by the gripping device, the vicinity of one end of the workpiece is welded to the base metal on the fillet. In the state where the vicinity of the one end is gripped by the gripping device, the gripping of the other end is released, the handling robot located at the other end is moved to the vicinity of the one end, and then the other end Fillet welding can be performed at appropriate intervals sequentially toward the end of the metal. Further, during welding, the workpiece can be gripped by both gripping devices. By doing in this way, bending welding and position shift of a to-be-welded object can be prevented, and tack welding can be performed rapidly and correctly.
[0017]
In the welding apparatus for workpieces according to the present invention having the above-described configuration, if the welding apparatus is an articulated robot having at least five drive shafts with welding means attached to the tip, it is natural that vertical welding is performed. It becomes possible to deal with arbitrary vertical and horizontal welding sites generated by tack welding of the workpiece.
[0018]
Moreover, in the welding apparatus of the engaging Ru welded object to the present invention having the above-described structure, comprising an initial gripping state alters things ku welded object to be able to operate over a range of 180 °.
[0019]
【Example】
Hereinafter, the welding apparatus of the to-be-welded object which concerns on this invention is demonstrated based on the Example shown in FIGS.
FIG. 1 is a perspective view illustrating an overall schematic basic configuration of a welding apparatus for workpieces according to the present invention, FIG. 2 is an enlarged view of a main part of FIG. 1, and FIG. 3 is a traversal that moves along the side of a handling robot. FIG. 4 is a diagram for explaining another example of the use state of the welding apparatus for welding objects according to the present invention, and FIG. 5 is a workpiece for welding according to the present invention. FIG. 6 and FIG. 7 are diagrams for schematically explaining the operation of the welding apparatus for workpieces according to the present invention, and FIG. 8 is a diagram of the transverse portion of the handling robot. diagram illustrating a specific example, FIGS. 9 and 10 are views for explaining the operation of the welding apparatus the welding subject of the present invention with specific examples of transverse section of the handling robot schematically.
[0020]
1 to 5, reference numeral 1 denotes a welding apparatus for an object to be welded according to the present invention, and a portal traveling carriage 4 can reciprocate on a pair of guide rails 3 arranged in parallel to both sides of a base material 2. And a pair of handling robots 5 are provided on the reed 4a of the gate-type traveling carriage 4.
[0021]
The handling robot 5 includes, for example, a pinion 5d that is integrally attached to a transverse drive shaft 5c that is normally and reversely rotated via a speed reducer 5b from a servo motor 5a that includes an encoder and a brake, The rack 5e meshed with the pinion 5d (laid on the upper surface of the horizontal bar 4a) is guided by the linear sliders 5f laid on both sides of the horizontal bar 4a to reciprocate along the horizontal bar 4a. for example a square tube-shaped transverse section 5g capable, for example, by the same servo motor 5h, is driven through a reduction gear 5i, the distal end side is pivotable base end as a supporting point with respect to turning axis 5j A vertical direction along a guide member 5n provided at an end of the base portion 5k by a base 5k having a predetermined length and a ball screw mechanism driven by an elevating drive shaft 5m. And a possible lifting portion 5o is raised and lowered.
[0022]
Further, a gripping device 5oa for in this lifting unit 5o for gripping the object to be welded 6, as a welding device, arranged welding robots 5ob articulated with five axes for example, the gripping device 5oa lead direct axis 5oc with mounted so rotate capable around the mounted so as to allow vertical rotation about a horizontal axis 5oe provided at the lower end of the rotation shaft 5od the lead direct axis 5oc and coaxially ing.
[0023]
Further, 5of is a measuring means for the position of the base material and the welded part attached in the vicinity of the gripping device 5oa, for example, a CCD camera is attached. Furthermore, although not shown, for example, a laser displacement meter is attached as means for measuring the position of the workpiece.
[0024]
In addition, although the welding apparatus which concerns on this invention is controlled by the controller which abbreviate | omitted illustration, specifically, the shape of the base material 2 and the to-be-welded object 6, the attachment position on the to-be-welded object 6, etc. It is controlled by NC data generated by the CAM system from CAD data including the above information, measurement data obtained from the measurement means, and the like.
[0025]
By the way, the transverse part 5g enables the parallel movement of the handling robot 5 when the workpiece 6 is received from the temporary placement place or when the workpiece 6 is positioned. That is, at the time of positioning, the workpiece 6 can be translated in the direction perpendicular to the guide rail 3. Moreover, the holding position corresponding to the shape and scale of the workpiece 6 can be obtained by appropriately changing the interval between the two transverse portions 5g. In particular, since the workpiece 6 of any length can be gripped at both ends thereof, even if the workpiece 6 is easily bent, such as a stiffener, Bending can be prevented.
[0026]
Further, by rotating the base portion 5k, the turning operation of the gripping device 5oa, and the interval changing operation of the traversing portion 5g in synchronism with each other, as shown by the arrows in FIG. By combining with the parallel movement along, the workpiece 6 can be translated with respect to the guide rail 3 in any direction without moving the portal traveling carriage 4.
[0027]
That is, as shown in FIG. 6A, the parallel movement in the direction perpendicular to the guide rail 3, the separation of the traversing portion 5g as shown in FIG. 6B, the paired base portion 5k and the gripping device Synchronize both rotations in opposite directions so that 5 oa approaches each other, or as shown in FIG. 6 (c), the base unit 5 k and the gripping device 5 oa that are paired with the transverse unit 5 g It is possible to move the workpiece 6 in an arbitrary direction by synchronizing the rotational movement in the direction.
[0028]
On the other hand, by synchronizing the interval changing operation of the traversing portion 5g with the rotating operation of the base portion 5k and the gripping device 5oa that make a pair, the work piece 6 and the guide rail 3 shown in FIG. The workpiece 6 can be angle-adjusted within a range of ± 90 degrees from the vertical direction to the guide rail 3 and the horizontal direction as shown in FIGS. 7B and 7C.
[0029]
In addition, the elevating unit 5o positions the gripping device 5oa and the welding robot 5ob at appropriate heights when receiving the workpiece 6 from the temporary placement place or when performing the tack welding of the workpiece 6 or the like. belongs to. The gripping device 5oa is a hand device that performs a gripping / opening operation by driving the cylinder device to change the distance between the pair of gripping members 5oaa. The welding robot 5ob has a welding torch 5oba attached to the tip. For example, an articulated robot having five drive axes.
[0030]
If the welding robot 5ob has at least five drive shafts, the position and direction of the welding torch 5oba (wire) can be freely changed with the elevating part 5o fixed (parallel to the welding torch 5oba). (There is no need to consider the axial rotation, so there are 5 axes instead of 6 axes).
[0031]
Next, the operation of the welding object welding device 1 according to the present invention having the above-described configuration will be described.
[0032]
First, after the base material 2 is arranged on the conveyor, a plurality of reference points marked on the base material 2 (for example, two points are marked on the diagonal by the NC cutting device in the previous process). The difference between the actual position / direction of the base material 2 and the position / direction of the base material in the NC data is calculated by recognition with a CCD camera 5of attached in the vicinity of the gripping device 5oa of the welding apparatus 1 according to the above. Then, the controller performs correction for making the NC data correspond to the actual work.
[0033]
Next, the portal-type traveling carriage 4 is moved to a temporary place for the workpiece 6 provided between the guide rails 3, and the position of the standing workpiece 6 is not shown in the figure. By measuring with a displacement meter and appropriately operating the handling robot 5, both ends of the workpiece 6 are gripped by the gripping device 5oa.
[0034]
Next, the elevating part 5o is raised and the portal traveling carriage 4 is moved in a state in which both ends of the workpiece 6 are gripped by the gripping device 5oa, thereby bringing the workpiece 6 to the vicinity of the installation position on the base material 2. Transport. At the time of this conveyance, since it moves mainly with the portal traveling carriage 4 with respect to the guide rail 3 direction, the workpiece 6 can be conveyed at high speed.
[0035]
Thereafter, by performing the above-described operation, the paired handling robots 5 position the workpiece 6 with high accuracy. At this time, recognizing a marking line (for example, a ruled line by an NC cutter similar to the reference point) marked at the place of the workpiece 6 by the CCD camera 5of attached to the gripping device 5oa (sensing) Thus, the workpiece 6 can be positioned with very high accuracy. That is, in the welding apparatus 1 for an object to be welded according to the present invention, detailed positioning can be performed by sensing.
[0036]
After the workpiece 6 is positioned on the base material 2 as described above in a state where both ends of the workpiece 6 are gripped by the gripping device 5oa, a portion formed by the workpiece 6 and the base material 2 according to the NC data Weld.
[0037]
In this welding, as shown in FIG. 5, the workpiece 6 is positioned on the base material 2 in a state where both ends of the workpiece 6 are gripped by the gripping device 5oa, and then in the vicinity of one end of the workpiece 6 In the state in which the fillet welded to the base material 2 and the vicinity of the one end is gripped by the gripping device 5oa, the gripping of the other end is released and the handling robot 5 positioned at the other end is This is done by moving it to the vicinity of the end of the. Thereafter, fillet welding is similarly performed at an appropriate interval sequentially toward the other end.
[0038]
The above operation is repeated until all of the temporary attachments of the six members to be welded attached to the base material 2 arranged on the conveyor are completed.
[0039]
By the way, in the basic configuration example shown in FIGS. 1 to 7 described above, the posture operation range of the workpiece 6 gripped by the gripping device 5oa is the initial range of FIG. 7A as described with reference to FIG. Although it is limited to the range of ± 90 ° shown in FIG. 7B or FIG. 7C from the gripping state, the initial gripping state can be arbitrarily selected. It will be possible to operate 360 ° freely.
[0040]
That is, in the basic configuration example shown in FIGS. 1 to 7, in order to move the workpiece 6 freely by 360 °, the initial gripping state must be changed, and the temporarily gripped state is used as a reference. In some cases, it cannot operate outside the range of ± 90 °.
[0041]
On the other hand, instead of the shape of the traversing portion 5g along the traverse 4a of the handling robot 5 being replaced with a rectangular tube-like traversing portion 5g that is externally fitted to the trawl 4a as shown in FIGS. As shown in FIG. 8, when it is configured to be attached to one side of the recumbent arm 4a, the traversing part 5g of the paired handling robot 5 is respectively attached to one side and the other side of the recumbent arm 4a. 9 (b) (c) or 10 (b) from the initial gripping state shown in FIG. 9 (a) or FIG. 10 (a) by configuring so that the movement along the reed 4a is not interfered. As shown in (c), the workpiece 6 can be operated over a range of 180 °, and the workpiece 6 can be positioned closer to the guide rail 3.
[0043]
【The invention's effect】
As described above, according to the present invention, since a pair of handling robot moves the lateral杆上common portal traveling vehicle can achieve a compact structure and orientation operation range you grip the weld object Can be widened.
[0044]
In addition, since the workpiece can be handled freely over the 360 ° operating range even when the portal traveling carriage is fixed, rough movement is performed with the portal traveling carriage when the workpiece is conveyed and positioned. Thus, it can be performed quickly and accurately by fine adjustment with the two gripping devices.
[0045]
And, in this onset bright, the effect described above, accurate tack welding, whatever the position, so quickly performed.
[Brief description of the drawings]
FIG. 1 is a perspective view for explaining an overall schematic basic configuration of a welding apparatus for welding objects according to the present invention.
FIG. 2 is an enlarged view of a main part of FIG.
FIGS. 3A and 3B are diagrams for explaining a configuration of a base portion side of a traversing portion and a base portion that move along a horizontal axis of the handling robot, wherein FIG. 3A is a cross-sectional view of the traversing portion and FIG. 3B is a side view of FIG. FIG. 5C is a configuration diagram of the base end side of the base portion.
FIG. 4 is a diagram for explaining another example of the usage state of the welding device for the workpieces according to the present invention.
FIG. 5 is a diagram for explaining an operation at the time of tack welding of a welding apparatus for a workpiece according to the present invention.
FIGS. 6A to 6C are diagrams schematically illustrating the operation of the welding apparatus for welding objects according to the present invention.
FIGS. 7A to 7C are diagrams schematically illustrating the operation of the welding apparatus for welding objects according to the present invention.
FIG. 8 is a diagram illustrating a specific example of a traversing unit of a handling robot.
FIGS. 9A to 9C are diagrams schematically illustrating the operation of the welding apparatus for welding objects according to the present invention, which includes a specific example of the traversing portion of the handling robot.
FIGS. 10A to 10C are diagrams schematically illustrating the operation of a welding apparatus for welding objects according to the present invention, which includes another example of a traversing portion of a handling robot.
[Explanation of symbols]
DESCRIPTION OF SYMBOLS 1 Welding object welding apparatus 2 Base material 3 Guide rail 4 Portal-type traveling carriage 4a Horizontal bar 5 Handling robot 5g Traversing part 5c Traversing drive shaft 5k Base part 5o Lifting part 5oa Holding device 5ob Welding robot 6

Claims (2)

A pair of guide rails arranged in parallel, a portal-type traveling carriage that reciprocally moves on the pair of guide rails, and a pair of handling robots that are disposed on the sides of the portal-type traveling carriage. A welding device for welding,
The handling robot has a traversing portion that can reciprocate at least along the recumbent ridge,
A base portion that is rotatable with respect to the turning shaft with the traversing portion as a base point;
It consists of a lifting part that can be raised and lowered in the vertical direction provided at the end of this base part,
This lifting part
A gripping device capable of rotating about a vertical axis and capable of rotating in a vertical direction about a horizontal axis provided at a lower end of a rotating shaft coaxial with the vertical axis;
A welding device movable in the vertical direction,
A welding apparatus for a workpiece to be welded, wherein the traversing portions of the paired handling robots are respectively attached to one side or the other side of the recumbent so that movement along the recumbent is not interfered. The welding apparatus for welding objects according to claim 1 , wherein the welding apparatus is an articulated robot having at least five drive shafts each having a welding means attached to a tip portion.

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