JP5346681B2 - Member assembly apparatus and member assembly method - Google Patents

Description

  The present invention relates to a member assembling apparatus and a member assembling method, and more particularly to delivery and welding of plate materials in shipbuilding and the like.

In shipbuilding and the like, a block is manufactured through a subunit assembly line in which a plate material cut from a steel material is delivered and temporarily welded.
In the subunit assembly line, subunits for forming blocks are manufactured.
As the configuration of the subunit assembly line, for example, a portal carriage that runs along the welding line is provided with a traverse carriage that has a turning arm and moves in a direction perpendicular to the welding line, There exists a structure which hold | grips aggregates, such as a board | plate material, with a holding | grip apparatus, and delivers to a welding position (refer patent document 1).

Japanese Patent No. 2564064

However, in the technique disclosed in Patent Document 1 above, the aggregate on the aggregate pallet arranged outside the rail is gripped by the gripping device and lifted and delivered to a predetermined position. It is difficult to grip a plate material that is laid flat on a pallet.
Plates cut from steel have various shapes, and are usually placed flat on a pallet and carried to the subunit assembly line. In order to smoothly deliver such a plate material to the welding position, a means for smoothly delivering the plate material placed flat on the pallet to the delivery means is required.

  The present invention has been made in order to solve such problems, and an object of the present invention is to provide a member assembling apparatus that can efficiently and fully automate the inversion, delivery, and welding of members and smoothly assemble the members. Is to provide.

In order to achieve the above object, the member assembling apparatus according to claim 1 is a member assembling apparatus for welding and assembling a plurality of members , and is a robot having a plate material adsorbing means capable of adsorbing a plate material to a distal end of a movable arm. a plate inverted means you arranged in an inverted state at a predetermined position of the inverted plate yard depending on the shape of the plate while inverted the flat has been plate by the plate suction means, said inverted by the sheet inversion unit A delivery means that lifts and delivers a plate material disposed in an inverted state at a predetermined position of the plate material storage area to a predetermined welding position; and a welding means that welds the plate material delivered by the delivery means. It is a feature.
According to a second aspect of the present invention, there is provided the member assembling apparatus according to the first aspect, wherein the plate material adsorbing means is an electromagnet .

In member assembly apparatus 請 Motomeko 3, according to claim 1 or 2, wherein the delivery means has a upper portion of the plate material is characterized in that the rotatable shaft at least vertical direction the plate material.

The member assembling method according to claim 4 is a member assembling method in which a plurality of members are welded and assembled , and is placed flat by the plate material adsorbing means of the robot having the plate material adsorbing means capable of adsorbing the plate material to the tip of the movable arm . and the inverted step you arranged in an inverted state at a predetermined position of the inverted plate yard depending on the shape of the plate while inverted the plate material, while inverted at a predetermined position of the inverted plate yard at the inverted step It is characterized by comprising a delivery step of lifting and delivering the disposed plate material to a predetermined welding position, and a welding step of welding the plate material delivered in the delivery step .

According to the member assembling apparatus and the member assembling method of the first , second and fourth aspects of the present invention using the above-described means, in the member assembly in which a plurality of members are welded and assembled, the plate material is inverted by the plate material inversion means, and the member is inverted. The plate material is delivered by delivery means and welded by welding means.
Thus, by inverting the plate placed flat by the plate material inverting means, the delivery means can easily receive the plate material, and the delivery of the plate material can be made smooth.

Thereby, the member inversion, delivery, and welding can be efficiently and fully automated, and the member can be assembled smoothly.
Further, the plate material inversion means is inverted to a predetermined position of the inverted plate material storage area according to the shape of the plate material, and the delivery means lifts the plate material inverted to the inverted plate material storage area and delivers it to the predetermined welding position.

In this way, by inverting to a predetermined position of the inverted plate material storage according to the shape of the plate material, and delivering the plate material from the inverted plate material storage, the work of the plate material inversion means and delivery means can be performed independently, work efficiency Can be improved.
Then, the plate material inversion means is a robot provided with an electromagnet capable of attracting the plate material to the tip of the movable arm.

In this way, by performing the inversion of the plate material with a single robot, the plate material inversion means can be made simple and compact.
According to the member assembling apparatus of the third aspect , the delivery means has an upper part of the plate material and is capable of rotating the plate material at least about the vertical direction.
Thereby, while being able to deliver an inverted plate material reliably, a plate material can be arrange | positioned in the direction suitable for welding.

It is a top view of the member assembly apparatus which concerns on this invention. It is a front view of the member assembly apparatus which concerns on this invention. It is a side view of the member assembly apparatus which concerns on this invention. It is a board | plate material inversion work process figure of the robot for inversion. It is a perspective view at the time of board | plate material arrangement | positioning by the picking hand of an inverted robot. It is a perspective view at the time of board | plate material holding | grip with the clamp hand of a delivery mechanism.

Hereinafter, embodiments of the present invention will be described with reference to the drawings.
1 to 3, there are shown a plan view, a front view, and a side view of a member assembling apparatus according to the present invention.
1 to 3 show a subunit assembling apparatus 1 (member assembling apparatus) provided in a part of a shipbuilding line.

The subunit assembling apparatus 1 in this embodiment mainly includes a plate material inverted portion 2 for inverting a flat plate material, a delivery portion 4 for delivering an inverted plate material, and a welding portion 6 for performing temporary welding on the delivered plate material. It is composed of
Specifically, the plate material inverted portion 2 includes an inversion robot 10 (plate material inverted means).
The inversion robot 10 is a so-called 6-axis articulated robot. Specifically, in the inverted robot 10, a turntable 14 is placed on a base 12, and one end of a first arm 16 is connected to the turntable 14. A second arm 18 (arm portion) is connected to the other end of the first arm 16, and a picking hand 22 is provided at the tip of the second arm 18 via a rotary connecting portion 20. Yes. The picking hand 22 of the inverted robot 10 is composed of an electromagnet and can be handled in the range of the region A indicated by the one-dot chain line in FIGS.

Further, around the inverted robot 10, a pallet place 24 on which a pallet on which a plate material is placed by a forklift (not shown) or the like, an empty pallet place 26 in which an empty pallet is placed, and a plate material in an inverted state are provided. An inverted plate material storage space 28 is formed.
A plurality of support members 28 a for supporting the plate material in an inverted state are provided on the inverted plate material storage place 28. Each of the support members 28a corresponds to the shape of the plate material, and is disposed so as to be positioned in at least two places of the lower portion of the plate material, and is a pair of support plates erected so as to sandwich the plate material at each location. It is configured. A support plate for supporting a plate material having a large area is long upward, and a support plate for supporting a plate material having a small area is short upward.

The delivery unit 4 includes a pair of first rails 30a and 30b laid so as to sandwich the plate material inverted part 2 and the welded part 6 therebetween, and two first gate-type frames 32 that run on the first rails 30a and 30b. , 32. The two first portal frames 32 and 32 have the same configuration, and the first portal frame 32 will be described below.
The first gate-type frame 32 straddles the plate material inverted portion 2 and the welded portion 6, and the leg portions 34a and 34b erected on the first rails 30a and 30b and the leg portions 34a and 34b. It is comprised from the beam part 36 constructed by the upper part.

The beam portion 36 is provided with a delivery mechanism 38 (delivery means) that can slide along the longitudinal direction of the beam portion 36.
The delivery mechanism 38 is provided with a clamp hand 42 at the lower end of the post member 40 that moves up and down. The clamp hand 42 can grip the upper part of the plate material and can rotate about the longitudinal direction of the post member 40 as a rotation axis. That is, the delivery mechanism 38 provided in the first portal frame 32 has a movable range in which one rotation axis is added to three orthogonal axes, and can reliably deliver an inverted plate material. The plate material can be disposed in a direction suitable for welding.

  The welded portion 6 has a pair of second rails 44a and 44b that extend in the same direction as the first rails 30a and 30b on one side from the plate-inverted portion 2 and the second rails 44a and 44b. Two second-type frames 46, 46 traveling on the road. The two second-gate frames 46 and 46 have the same configuration, and the second-gate frame 46 of one aircraft will be described below.

The second gate-type frame 46 includes leg portions 48a and 48b erected on the second rails 44a and 44b, and a beam portion 50 erected on the upper portions of the leg portions 48a and 48b.
A welding robot 52 (welding means) is provided in the central portion in the longitudinal direction of the beam portion 50, with the region B indicated by the one-dot chain line in FIGS.
Further, a carriage conveyor 54 is provided between the pair of second rails 44a and 44b to convey the subunit after being temporarily welded by the welding robot 52 in one direction.

Hereinafter, the subunit assembly process of the member assembly apparatus according to the present invention configured as described above will be described.
Referring to FIGS. 4 to 6, FIG. 4 is a diagram illustrating a plate material inversion work process of the inverted robot 10, FIG. 5 is a perspective view when the plate material is disposed by the picking hand 22 of the inverted robot 10, and FIG. The perspective view at the time of plate | board material holding | gripping by 38 clamp hands 42 is each shown.

  In the subunit assembling step, plate materials of various shapes cut from the steel material are laid flat on the pallet, and the pallet around the inverted robot 10 as shown in FIG. It is arranged in the storage place 24. In FIG. 4A, it is assumed that a large plate material 62 having a relatively large area and a small plate material 64 having a relatively small area are placed on the pallet 60 disposed in the pallet storage place 24.

Then, as shown in FIGS. 4B, 4C, and 5, the picking hand 22 of the inversion robot 10 sucks the large plate material 62 placed flat on the pallet 60 and inverts the large plate material 62. While handling the inverted board storage area 28. Then, the inverted robot 10 is disposed so as to be inverted while being supported by the support member 28a corresponding to the shape of the large plate member 62.
As shown in FIGS. 4D and 6, the large plate material 62 disposed in the inverted plate material storage 28 is gripped by the clamp hand 42 of the delivery mechanism 38 and delivered to the welded portion 6. At this time, the clamp hand 42 grasps the upper part of the large plate material 62 and lifts it for delivery. At this time, the inverted robot 10 sucks the small plate material 64 with the picking hand 22, and arranges the small plate material 64 in the inverted plate material storage 28 as shown in FIG. 4 (e). Then, as shown in FIG. 4 (f), the small plate material 64 is also delivered to the welded portion 6 by the clamp hand 42 of the delivery mechanism 38.

Further, as shown in FIGS. 4 (f) and 4 (g), the inverted robot 10 sucks the pallet 60 by the picking hand 22 when there is no plate material on the pallet 60 placed in the pallet storage place 24. And placed in the empty pallet storage 26. The empty pallet 60 is transported by a transport means such as a forklift (not shown).
Each plate material delivered to the welded portion 6 is temporarily welded by the welding robot 52 to produce a subunit, and the subunit is placed on the carriage conveyor 54 and proceeds to the next step.

As described above, the subunit assembling apparatus 1 causes the plate placed flat on the pallet to be inverted by the inverted robot 10 and disposed in the inverted member place 28, and the inverted plate is placed in the delivery mechanism 38. It is gripped by the clamp hand 42 and delivered to the weld 6.
As described above, the plate material placed flat by the inversion robot 10 is inverted and disposed in the inverted plate material storage place 28, so that the clamp hand 42 of the delivery mechanism 38 can easily hold the plate material. That is, the delivery of the plate material can be made smooth.

  Further, the inversion robot 10 serving as the plate material inversion means and the delivery mechanism 38 for delivering the plate material to the welding portion 6 are provided independently, so that the plate material inversion work, delivery work, and welding work can be performed respectively. It can be performed independently and work efficiency can be improved. Moreover, each apparatus can be made into a simple and small structure by providing the apparatus of the plate-material inverted part 2, the delivery part 4, and the welding part 6 each independently.

For these reasons, it is possible to efficiently fully automate the inversion, delivery, and welding of the plate material and to assemble the members smoothly.
Although the description of the embodiment of the member assembling apparatus according to the present invention is finished as above, the embodiment is not limited to the above embodiment.
For example, in the above embodiment, the member assembling apparatus and the member assembling method according to the present invention are applied to the sub-unit assembling apparatus in shipbuilding. However, the member assembling apparatus and the member assembling method are not limited to this, Further, the present invention may be applied to an assembling apparatus and an assembling method for welding flat plate materials.

Further, in the above-described embodiment, one inversion robot 10 is provided, two delivery mechanisms 38 are provided, and two welding robots 52 are provided. However, the present invention is not limited to such a configuration. The delivery mechanism and the welding robot may each be provided with only one machine.
In the above embodiment, the inverted robot 10 is a 6-axis articulated robot, but the plate material inversion means is not limited to such a configuration, and may be a robot having another configuration.

  Moreover, in the said embodiment, although the delivery mechanism 38 has a movable range which added one rotating shaft to three orthogonal axes, it is not restricted to the said structure.

DESCRIPTION OF SYMBOLS 1 Subunit assembly apparatus 2 Plate material inverted part 4 Delivery part 6 Welding part 10 Inverting robot (plate material inverted means)
22 Picking Hand 24 Pallet Place 26 Empty Pallet Place 28 Inverted Plate Place 32 First Gate Frame 38 Delivery Mechanism (Delivery Means)
40 Post member 42 Clamp hand 46 Second gate type frame 52 Welding robot (welding means)
54 Carriage conveyor 60 Pallet 62 Large plate material 64 Small plate material

Claims (4)

In a member assembling apparatus for welding and assembling a plurality of members,
A robot having a plate material adsorbing means capable of adsorbing a plate material at the tip of a movable arm, and inverting a plate placed flat by the plate material adsorbing means to a predetermined position in an inverted plate material storage according to the shape of the plate material a plate inverted means you arranged in a state,
A delivery means for lifting and delivering the plate material arranged in a state of being inverted to a predetermined position of the inverted plate material storage by the plate material inversion means to a predetermined welding position ;
Welding means for welding the plate material delivered by the delivery means;
A member assembling apparatus comprising:   2. The member assembling apparatus according to claim 1, wherein the plate material adsorbing means is an electromagnet. 3. The member assembling apparatus according to claim 1, wherein the delivery means has an upper portion of the plate material and is capable of rotating the plate material about at least the vertical direction. In a member assembling method for welding and assembling a plurality of members,
By the plate material adsorption means of the robot having the plate material adsorption means capable of adsorbing the plate material to the tip of the movable arm, the flat plate material is inverted at a predetermined position in accordance with the shape of the plate material while being inverted. and the inverted step you arranged in a state,
A delivery step of lifting and delivering the plate material disposed in a state of being inverted to a predetermined position of the inverted plate material storage in the inverted step to a predetermined welding position ;
A welding step of welding the plate material delivered in the delivery step ;
A member assembling method comprising:

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