JP5480953B1 - Welding equipment - Google Patents

Abstract

PROBLEM TO BE SOLVED: To reduce an occupation area of a welding apparatus such as a column welding apparatus in a building unit production factory.
SOLUTION: In a column welding apparatus 100, a turning beam 42 provided with a clamping means 43 for clamping a pillar 1 carried in and out by a handling robot 30 is provided, and the clamping means 43 that moves along with the turning of the turning beam 42 is provided with the turning beam 42. And a plurality of welding stages S1 and S2 by turning the swiveling device 40. The swiveling device 40 is sequentially positioned on each of the column loading stage S0, the plurality of welding stages S1 and S2, and the column unloading stage S4. Welding robots 51A, 51B, 52A, 52B for attaching the joint pieces 2T, 2K, 3T, 3K to the pillar 1 clamped by the clamping means 43 positioned on each of the plurality of welding stages S1 in the turning device 40. , Placed in each of S2.
[Selection] Figure 1

Description

  The present invention relates to a welding apparatus such as a column welding apparatus that welds a joint piece for connecting a beam to a column in a factory production stage of a building unit.

  Conventionally, at the factory production stage of a building unit, as described in Patent Document 1, when a building unit is configured by joining four columns, four floor beams, and four ceiling beams in a box shape, The floor beam and ceiling beam joint pieces are welded to the lower end and the upper end, respectively, and the end of the floor beam is welded to the floor beam joint piece welded to the lower end of the column. The end part of the ceiling beam is welded to the ceiling beam joint piece welded to the part.

  At this time, a column welding apparatus that welds joint pieces for floor beams and ceiling beams to the lower end portion and the upper end portion of the column is configured as follows. That is, a column carrying-in stage, a wife-side joint piece welding stage, a girder-side joint piece welding stage, and a column carrying-out stage are sequentially determined along the conveying direction of the column by a long conveyor installed on the floor surface. And the following (i)-(iv) is performed by positioning the column conveyed by a conveyor in order at each stage.

  (i) At the column loading stage, work on each of the joint pieces for floor beams (sable floor beams and girder floor beams) and ceiling beams (spot ceiling beams and girder ceiling beams) at the bottom and top ends of the columns, respectively. Temporarily attach by manual welding of the person.

  (ii) At the wife side joint piece welding stage, the column is attached to and detached from the welding position by the clamping means, and each of the joint pieces for the wife floor beam and the wife ceiling beam of (i) is attached by a welding robot.

  (iii) At the girder-side joint piece welding stage, the column is attached to and detached from the welding position by the clamping means, and each of the above-mentioned joint pieces for the girder floor beam and the girder ceiling beam is attached by a welding robot.

  (iv) At the column unloading stage, the column is unloaded to the lower process.

JP-A-8-99241

  A conventional column welding apparatus that welds joint pieces for floor beams and ceiling beams to the lower end portion and the upper end portion of the column has the following problems.

  (1) A building unit that determines the column loading stage, the wife side joint piece welding stage, the girder side joint piece welding stage, and the column unloading stage in order along the direction of column transfer by the long conveyor installed on the floor. The area occupied by the column welding equipment in production plants in Japan will be excessive.

  (2) As a result of the pillars being carried on the conveyor, the pillars and joint pieces may be scratched with the conveyor.

  (3) The pillars carried into the column carry-in stage are transported to each welding stage only by a single conveyor, and each joint piece is subjected to main attachment by each welding robot at each welding stage and carried out from the column carry-out stage. The Therefore, when a failure of the conveyor, a failure of each welding robot at each welding stage, or the like occurs, the entire column welding apparatus immediately stops operation, and productivity is lowered at a stroke.

  (4) The column is constrained by the clamping means only while each joint piece is permanently attached at the welding position of each stage, and is not constrained after the welding operation for the attachment. For this reason, the column and the joint piece that have received welding heat input due to the main attachment may cause welding distortion under unconstrained conditions, and may impair product accuracy.

  An object of the present invention is to reduce an occupation area of a welding apparatus such as a column welding apparatus in a building unit production factory.

  Another object of the present invention is to avoid damage to columns, joint pieces, etc. in a welding apparatus.

  Another object of the present invention is to avoid a decrease in productivity due to a mechanical failure or the like of a welding apparatus.

  Another object of the present invention is to avoid welding distortion of a column, a joint piece, and the like due to the attachment of a welding apparatus.

  The invention according to claim 1 is a welding apparatus for welding the second building member to the first building member, and has a handling robot for handling the first building member to which the second building member is temporarily attached, and the handling robot is carried out. A first building member carrying stage having a turning beam provided with clamping means for clamping the first building member to be inserted, and a clamp means for moving around the turning center axis of the turning beam and a plurality of weldings A second building member is provided on the first building member having a turning device sequentially positioned on each of the stage and the first building member unloading stage and clamped by clamp means positioned on each of the plurality of welding stages by turning of the turning device. A welding robot is attached to each of the welding stages in the swivel device. It is obtained by way.

  According to a second aspect of the present invention, in the first aspect of the present invention, the swiveling device is further provided with clamping means at each of a plurality of circumferential positions around the swivel center axis of the swivel beam. .

  According to a third aspect of the present invention, in the first or second aspect of the present invention, a plurality of turning devices are installed for one handling robot.

  The invention according to claim 4 is the invention according to any one of claims 1 to 3, wherein the swivel device is configured to turn the clamp means by swiveling the swivel beam from the first building member carry-in stage to the first building through a plurality of welding stages. The clamp means continues to clamp the first building member until it is sequentially positioned on the member carry-out stage.

  The invention according to claim 5 is the invention according to any one of claims 1 to 4, wherein the clamping means further includes a receiving surface portion that receives each of two orthogonal surfaces of the first building member, and the first building member A pressing and holding means for pressing the first building member against the receiving surface portion is provided by a pin inserted into a hole provided in the end plate.

  According to a sixth aspect of the present invention, in the fifth aspect of the present invention, the clamp means may change a relative angular position of the receiving surface portion with respect to the turning beam to adjust a posture of the clamped first building member. A clamp posture adjusting means is provided.

  The invention according to claim 7 is the invention according to any one of claims 1 to 6, wherein the first building member is a column, and the second building member is a joint piece for connecting a beam to the column. It is what you have.

  The invention according to claim 8 is the invention according to claim 7, further comprising welding a floor beam joint piece to one end side of the column and welding a ceiling beam joint piece to the other end side. Is provided with floor-side clamping means and ceiling-side clamping means on one end side and the other end side in the axial direction of the turning beam, and a floor-side welding robot and a ceiling-side welding robot are arranged on each of the plurality of welding stages. It is what I did.

  The invention according to claim 9 is the invention according to claim 8, wherein the swiveling device is configured to change at least one of the floor-side clamp means and the ceiling-side clamp means in the axial direction of the swivel beam by changing the length of the column. It can be adjusted according to.

(Claims 1, 2, 7)
(a) A first building member carry-in stage, a plurality of welding stages, and a first building member carry-out stage were sequentially determined along a path in which the first building member such as a pillar was clamped by the clamping device of the turning device and turned. The area occupied by the welding equipment can be reduced in plan view of the building unit production plant.

  (b) The first building member such as a pillar is clamped by the clamping means of the swivel device and transferred to each stage. As a result, the first building member such as the pillar and the second building member such as the joint piece are scratched with the conveyor. Does not occur.

(Claim 3)
(c) A plurality of turning devices were installed for one handling robot. The handling robot can throw a first building member such as a pillar into each of the plurality of turning devices, and each of the turning devices can be operated in parallel with each other. A first building member such as a column carried into the first building member carry-in stage of each swivel device is subjected to a main attachment of a second building member such as each joint piece by each welding robot at each welding stage of the swivel device. And then unloaded from the first building member unloading stage of the turning device. Therefore, when a failure or the like occurs in any one of the turning devices or the welding robot corresponding to the turning device, the other turning device can be operated, and a reduction in productivity can be avoided.

(Claim 4)
(d) The clamping means is a first building such as a pillar until the clamping means sequentially positions the clamping means from the first building member carry-in stage through the plurality of welding stages to the first building member carry-out stage by turning the turning beam. Continue clamping the part. As a result of the first building member such as the column and the second building member such as the joint piece receiving the welding heat from the main welding at each welding stage being fed to the first building member unloading stage while being restrained, welding distortion is reduced. Can be suppressed.

(Claim 5)
(e) The clamp means includes a receiving surface portion that receives each of two orthogonal surfaces of the first building member such as a pillar, and a pin inserted into a hole provided in an end plate of the first building member such as a pillar. A pressing holding means for pressing the first building member such as the above against the receiving surface portion is provided. The clamping of the first building member such as a column by the clamping means can be ensured.

(Claim 6)
(f) The clamp means includes a clamp posture adjusting means that changes a relative angular position of the receiving surface portion with respect to the turning beam and can adjust a posture of the first building member such as a clamped column. The posture of the first building member such as a column clamped by the clamping means of the swivel device can be set to a welding posture required for the corresponding welding robot at each welding stage. The welding quality of the second building member such as the joint piece can be improved.

(Claim 8)
(g) The turning device is provided with floor side clamping means and ceiling side clamping means on one end side and the other end side in the axial direction of the turning beam, respectively, and a floor side welding robot and a ceiling side welding robot are provided on each of the plurality of welding stages. Arranged. At each welding stage, the floor beam joint piece can be welded to one end side of the column, and the ceiling beam joint piece can be welded to the other end side.

(Claim 9)
(h) The turning device can adjust the installation position of at least one of the floor-side clamping means and the ceiling-side clamping means in the axial direction of the turning beam according to the change in the length of the column. Corresponding to the change in the length of the column, the floor beam joint piece and the ceiling beam joint piece can be reliably welded to appropriate positions on one end side and the other end side of the column.

FIG. 1 is an overall plan view showing a column welding apparatus. FIG. 2 is a front view showing the handling robot. FIG. 3 is a front view showing the chuck means of the handling robot. FIG. 4 is a front view showing the turning device. FIG. 5 is a side view showing the turning device. FIG. 6 shows the clamping means of the swivel device, where (A) is a front view and (B) is a side view. FIG. 7 shows the pressing and holding means of the clamping means, where (A) is a front view and (B) is a side view. FIG. 8 is a front view showing the welding robot. FIG. 9 is a plan view showing the welding robot. FIG. 10 is a schematic view showing a column to which a joint piece is welded.

  A column welding apparatus 100 shown in FIG. 1 is installed in a building unit production factory, and as shown in FIG. 10, two floors orthogonal to each other at the lower end of a steel pipe column 1 (first building member) Welding each of the beam joint piece 2T (second building member) and the girder beam joint piece 2K (second building member), the joints for the ceiling beam on each of the two orthogonal surfaces of the upper end of the column 1 Each of the piece 3T (second building member) and the joint piece 3K (second building member) for the girder ceiling beam is welded.

  At the factory production stage of the building unit, the end of the girder beam and the end of the girder floor beam are joined to the joint piece 2T and the girder floor beam joint piece 2T welded to the lower ends of the four columns 1. And welding the end of the gable ceiling beam and the end of the girder ceiling beam to the joint piece 3T and girder ceiling beam joint piece 3T welded to the upper ends of the four columns 1 A box-type building unit is constructed.

  The column welding device 100 includes a handling robot 30 located in the center between the column throwing device 10 and the column dispensing device 20, and two swiveling devices 40 located in parallel on both sides of the handling robot 30; Each of the turning devices 40 has four welding robots 51A, 51B, 52A, 52B attached thereto.

  The column loading device 10 is supplied with the column 1 by the roller conveyor 11 and temporarily attaches the joint pieces 2T and 2K for the floor beam of the wife and the girder to the lower end portion of the column 1 by manual welding of the operator. The joint pieces 3T and 3K for the ceiling beam of the wife and the girder are temporarily attached to the upper end of 1, and the post-temporary post 1 is put into the delivery position to the handling robot 30 by the slide conveyor 12.

  The column payout device 20 includes the column 1 to which the wife-girder floor beam joint pieces 2T, 2K and the wife-girder ceiling beam joint pieces 3T, 3K are attached as described later in each swivel device 40. After receiving from the handling robot 30, it pays out to the lower process.

  As shown in FIG. 2, the handling robot 30 is an articulated robot, and the joint pieces 2T, 2K, 3T, and 3K described above are temporarily attached or permanently attached by the chuck means 32 provided at the tip of the hand 31. The center of the column 1 in the longitudinal direction is chucked and handled. The handling robot 30 receives the column 1 inserted from the column input device 10 and temporarily attached with the joint pieces 2T, 2K, 3T, and 3K, and receives this by the clamp means 43 described later at the column input stage of the turning device 40. hand over. In addition, the handling robot 30 receives the column 1 with the joint pieces 2T, 2K, 3T, and 3K attached by the welding robots 51A, 51B, 52A, and 52B at the column unloading stage of the swivel device 40, and pays out the column. Delivered to device 20.

  As shown in FIG. 3, the chuck means 32 of the handling robot 30 includes a fixed chuck 32A and a movable chuck 32B, and the movable chuck 32B is driven to face the fixed chuck 32A by a chuck cylinder 32C. The fixed chuck 32A includes receiving surface portions 32F and 32F that receive the two orthogonal surfaces of the column 1, and the movable chuck 32B includes a V-shaped claw portion 32G that engages an intersecting corner portion of the other two orthogonal surfaces of the column 1. Prepare. The chuck means 32 chucks the column 1 by pressing the central portion in the longitudinal direction between the receiving surface portions 32F and 32F of the fixed chuck 32A and the V-shaped claw portion 32G of the movable chuck 32B.

  The column welding apparatus 100 includes two swiveling devices 40 and 40 installed in parallel on both sides of one handling robot 30. The handling robot 30 alternately delivers, for example, each column 1 continuously input from the column input device 10 to each of the two swiveling devices 40 and 40.

  As shown in FIGS. 4 and 5, the swivel device 40 pivotally supports both ends of a swivel beam 42 provided with clamp means 43 for clamping the pillar 1 that the handling robot 30 carries in and out on the left and right bases 41 and 41. Prepare. The turning beam 42 is driven by left and right servo motors 42M and 42M built in the left and right mounts 41 and 41 to turn around the central axis of its own cross section. In this embodiment, the swivel beam 42 has a quadrangular prism shape, and a base frame 44 of the clamping means 43 is provided at each of four positions in the circumferential direction around the swivel center axis that is the center of the pillar (the central axis of the cross section). ing.

  The swivel device 40 is provided with a floor-side clamp means 43A and a ceiling-side clamp means 43B as clamp means 43 on one end side and the other end side in the axial direction of the swivel beam 42, respectively. The swivel device 40 can adjust the installation position of at least one of the floor-side clamp means 43 </ b> A and the ceiling-side clamp means 43 </ b> B in the axial direction of the swivel beam 42 according to the change in the length of the column 1. In this embodiment, the column 1 is set on the swivel device 40 on the floor basis, and the floor beam joint pieces 2T, 2K and the ceiling beam joint pieces 3T, 3K are temporarily attached to the column 1 on the basis of the end surface of the column 1. It shall be. Accordingly, the base frame 44A of the floor side clamp means 43A is fixed at a fixed position on one end side in the axial direction of the swivel beam 42, and the floor beam joint pieces 2T, 2K are welded by the floor side clamp means 43A. Clamp the lower end. Further, the base frame 44B of the ceiling side clamping means 43B is slidable by a slide cylinder 42C along a slide 42S provided on the turning beam 42, the installation position in the axial direction of the turning beam 42 is adjusted, and the ceiling side clamping means The upper end portion of the column 1 to which the ceiling beam joint pieces 3T and 3K are welded is clamped by 43B.

  As shown in FIG. 6, the clamp means 43 (43 </ b> A, 43 </ b> B) supports the receiving base 46 on the support base 45 provided on the base frame 44 (44 </ b> A, 44 </ b> B) and receives each of the two orthogonal surfaces of the pillar 1. Surface portions 46F and 46F are provided. Further, as shown in FIG. 7, the clamp means 43 (43 </ b> A, 43 </ b> B) is provided by a pin 47 </ b> P inserted into a hole 1 </ b> H provided in the center of the end plate 1 </ b> E of the pillar 1 seated on the receiving surface portions 46 </ b> F, 46 </ b> F of the receiving base 46. A pressing holding means 47 for pressing the column 1 against the receiving surface portions 46F and 46F is provided. The pressing and holding means 47 displaces the pin 47P into the hole 1H of the end plate 1E of the column 1 and the pin 47P inserted into the hole 1H in the direction perpendicular to the axis of the pin 47P to displace the column 1P. Is provided with a pressing cylinder 47D that pressurizes the receiving surfaces 46F and 46F.

  As will be described later, the turning device 40 turns the clamping means 43 (43A, 43B) by turning the turning beam 42, and the column unloading stage S0 through the first and second welding stages S1, S2 and the heat radiation stage S3. The clamp means 43 (43A, 43B) continues to clamp the lower end portion and the upper end portion of the column 1 on the swivel beam 42 by the above-described pressing and holding means 47 until the position is sequentially positioned at S4.

  As shown in FIG. 6, the clamp means 43 (43 </ b> A, 43 </ b> B) pivotally supports the pedestal 46 on the support pedestal 45, and a swing cylinder that constitutes a clamp posture adjusting means 48 between the base frame 44 and the pedestal 46. 48C is interposed. The clamp posture adjusting means 48 changes the relative angular position of the receiving surface portions 46F and 46F of the receiving base 46 with respect to the turning beam 42 by the operation of the swing cylinder 48C, and the column 1 clamped on the turning beam 42 by the clamping means 43. Can be adjusted (welding postures for each welding robot 51A, 51B, 52A, 52B).

  As shown in FIG. 2, the swivel device 40 includes clamping means 43 (43 </ b> A and 43 </ b> B) that move with the turning of the turning beam 42 and the column 1 clamped by the clamping means 43 around the turning center axis of the turning beam 42. The column carrying stage S0 and the plurality of (first and second in this embodiment) welding stages S1, S2, the heat radiation stage S3, and the column carrying stage S4 are sequentially positioned. In this embodiment, the column carry-in stage S0 and the column carry-out stage S4 are set at the same position, and the servo motors 42M and 42M of the turning device 40 turn the turning beam 42 intermittently at intervals of 90 degrees. Each of the clamp means 43 (43A, 43B) on the outer periphery is sequentially positioned on each of the stages S0 to S4. The first welding stage S1 is a stage in which the joint piece 2T for the floor beam and the joint piece 3T for the ceiling beam are attached to the lower end and the upper end of the column 1 as shown in FIG. It is. As shown in FIG. 10B, the second welding stage S2 is a stage in which a girder beam joint piece 2K and a girder ceiling beam joint piece 3K are permanently attached to the lower end and the upper end of the column 1, respectively. .

  As shown in FIGS. 8 and 9, the column welding apparatus 100 includes a first floor-side welding robot 51 </ b> A and a first welding robot 51 </ b> A on each of the first and second welding stages S <b> 1 and S <b> 2 in the two swiveling apparatuses 40 and 40. A first ceiling side welding robot 51B, a second floor side welding robot 52A, and a second ceiling side welding robot 52B are arranged.

  The first floor-side welding robot 51A and the first ceiling-side welding robot 51B are pillars clamped by the floor-side clamping means 43A and the ceiling-side clamping means 43B that are positioned on the first welding stage S1 by the turning of the turning device 40. First, a joint piece 2T for a floor floor beam and a joint piece 3T for a top ceiling beam that are temporarily attached are attached in advance (FIG. 10A).

  The second floor side welding robot 52A and the second ceiling side welding robot 52B are pillars clamped by the floor side clamping means 43A and the ceiling side clamping means 43B positioned on the second welding stage S2 by the turning of the turning device 40. 1, the joint piece 2K for girder floor beams and the joint piece 3K for girder ceiling beams, which are temporarily attached, are attached in advance (FIG. 10B).

Therefore, the welding work process of the column 1 by the column welding apparatus 100 is as follows.
(1) In the column throwing device 10, the floor and beam joint pieces 2T, 2K of the wife and the girder are temporarily attached to the lower end portion of the column 1 by manual welding of the operator, and the wife is attached to the upper end portion of the column 1 Temporarily attach girder ceiling joint pieces 3T and 3K.

  (2) The column 1 on which the joint pieces 2T, 2K, 3T, and 3K are temporarily attached in the column loading device 10 by the handling robot 30 is loaded into each of the two swiveling devices 40 and 40 arranged in parallel. Carry in to stage S0. The column 1 is a column loading stage S0 of the swivel device 40, and the lower end and the upper end thereof are clamped by the floor side clamping means 43A and the ceiling side clamping means 43B on the turning beam 42.

  (3) Due to the intermittent rotation of the swivel device 40, the column 1 clamped by the above-mentioned (2) on the floor side clamp means 43A and the ceiling side clamp means 43B on the swivel beam 42 is moved from the column loading stage S0 of the swivel device 40. The first and second welding stages S1, S2 and the heat radiation stage S3 are sequentially transferred to the column carry-out stage S4. Four clamp means 43 (43A, 43B) provided at each of the four circumferential positions on the outer surface of the swivel beam 42 clamp the columns 1 simultaneously in parallel, and these columns 1 are the first and the second. Simultaneously parallel processing is performed in the second welding stages S1, S2 and the heat radiation stage S3.

  (4) In the first welding stage S1 of the swivel device 40, it is temporarily attached to the column 1 clamped by the floor-side clamping means 43A and the ceiling-side clamping means 43B positioned on the first welding stage S1. The joint piece 2T for the wife floor beam and the joint piece 3T for the ceiling beam are attached.

  (5) In the second welding stage S2 of the swivel device 40, it is temporarily attached to the column 1 clamped by the floor side clamping means 43A and the ceiling side clamping means 43B positioned in the second welding stage S2. The girder floor beam joint piece 2K and the girder ceiling beam joint piece 3K are permanently installed.

  (6) In the heat radiation stage S3 of the swivel device 40, the column 1 and the welded portions of the joint pieces 2T, 3T, 2K, and 3K attached in (4) and (5) are radiated.

  (7) The column 1 processed in the first and second welding stages S1, S2 and the heat radiation stage S3 of the swivel device 40 as described in the above (4) to (6) is the column unloading stage S4 ( In this embodiment, it is delivered to the handling robot 30 at the same position as the column loading stage S0). The pillar 1 received by the handling robot 30 is transferred to the pillar dispensing apparatus 20, and the pillar dispensing apparatus 20 dispenses the pillar 1 to the lower process.

According to the column welding apparatus 100 of the present embodiment, the following operational effects can be obtained.
(a) A column loading stage S0, first and second welding stages S1, S2, and a column unloading stage S4 along a path in which the column 1 is clamped by the clamping means 43 (43A, 43B) of the swivel device 40 and swiveled. In order. The area occupied by the column welding equipment can be reduced in plan view of the building unit production plant.

  (b) The column 1 is clamped by the clamping means 43 (43A, 43B) of the turning device 40 and transferred to the respective stages S0 to S4. As a result, the column 1 and the joint pieces 2T, 3T, 2K, 3K are rubbed with the conveyor. Does not cause scratches.

  (c) Two swiveling devices 40 and 40 are installed for one handling robot 30. The handling robot 30 can throw the pillar 1 into each of the two swiveling devices 40, 40, and each swiveling device 40 can be operated in parallel with each other. The column 1 loaded into the column loading stage S0 of each swivel device 40 is connected to each joint piece 2T, 3T, 2K, 3K by the welding robots 51A, 51B, 52A, 52B at each welding stage S1, S2 of the swivel device 40. And is unloaded from the column unloading stage S4 of the turning device 40. Therefore, when a failure or the like occurs in any one of the turning devices 40 or the welding robot corresponding thereto, the other turning device 40 can be operated, and a reduction in productivity can be avoided.

  (d) When the turning device 40 turns the turning beam 42, the clamping means 43 (43A, 43B) is moved from the column loading stage S0 to the column unloading stage S4 via the first and second welding stages S1, S2 and the heat radiation stage S3. The clamp means 43 (43A, 43B) continues to clamp the column 1 until it is positioned in order. As a result of the column 1 and the joint pieces 2T, 3T, 2K, and 3K that have received welding heat from the main welding in each welding stage S1 and S2 being sequentially fed to the column carry-out stage S4, welding distortion can be suppressed.

  (e) The clamp means 43 (43A, 43B) includes receiving surface portions 46F and 46F for receiving the two orthogonal surfaces of the column 1 and pins 47P inserted into holes 1H provided in the end plate 1E of the column 1. A pressing holding means 47 for pressing the column 1 against the receiving surface portions 46F and 46F is provided. The clamping of the pillar 1 by the clamping means 43 (43A, 43B) can be ensured.

  (f) The clamp means 43 (43A, 43B) changes the relative angular position of the receiving surface portions 46F, 46F with respect to the turning beam 42, and the clamp attitude adjusting means 48 capable of adjusting the attitude of the clamped column 1 is provided. Prepare. The posture of the column 1 clamped by the clamping means 43 (43A, 43B) of the swivel device 40 can be set to the welding posture required for the corresponding welding robot at each welding stage S1, S2, The welding quality of the joint pieces 2T, 3T, 2K, and 3K can be improved.

  (g) The swivel device 40 is provided with floor-side clamp means 43A and ceiling-side clamp means 43B on one end side and the other end side in the axial direction of the swivel beam 42, and the first and second welding stages S1, S2. The first floor side welding robot 51A and the first ceiling side welding robot 51B, and the second floor side welding robot 52A and the second ceiling side welding robot 52B are respectively arranged. In each welding stage S1, S2, the floor beam joint piece 2T, 2K can be welded to one end side of the column 1, and the ceiling beam joint piece 3T, 3K can be welded to the other end side.

  (h) The swivel device 40 can adjust the installation position of at least one of the floor-side clamp means 43A and the ceiling-side clamp means 43B in the axial direction of the swivel beam 42 in accordance with the change in the length of the column 1. Responding easily to changes in the length of the column 1, the floor beam joint pieces 2T, 2K and the ceiling beam joint pieces 3T, 3K are reliably welded to appropriate positions on one end side and the other end side of the column 1, respectively. it can.

  The embodiment of the present invention has been described in detail with reference to the drawings. However, the specific configuration of the present invention is not limited to this embodiment, and even if there is a design change or the like without departing from the gist of the present invention. It is included in the present invention. That is, in the present invention, the first building member is not limited to the column, and the second building member is not limited to the joint piece for connecting the beam to the column. For example, the first building member is a pillar or a beam, and the second building member is a metal fitting for an accessory such as a fence, a balcony, or a staircase, or a metal fitting for an equipment such as an air conditioner or a hot water supply device. be able to.

  The present invention provides a welding apparatus for welding a second building member to a first building member, including a handling robot that handles the first building member on which the second building member is temporarily attached, and the first handling robot carries in and out. A first building member carry-in stage, a plurality of welding stages, and a first welding member provided with a turning beam provided with a clamping means for clamping the building member, the clamping means moving with the turning of the turning beam around the turning center axis of the turning beam The second building member is permanently attached to the first building member clamped by the clamping means positioned on each of the plurality of welding stages by the turning of the turning device while having the turning device sequentially positioned on each of the building member carry-out stages. A welding robot was placed on each of the plurality of welding stages in the swivel device. Thereby, the occupation area of welding apparatuses, such as a column welding apparatus, in the production factory of a building unit can be reduced.

1 pillar (first building material)
1E End plate 1H Hole 2T Joint floor beam joint piece (second building member)
Joint piece for 2K girder floor beams (second building member)
Joint piece for 3T wife ceiling beam (second building member)
Joint piece for 3K girder ceiling beams (second building member)
30 Handling robot 32 Chuck means 40 Rotating device 42 Rotating beam 43 Clamping means 43A Floor side clamping means 43B Ceiling side clamping means 46 Receptacle 46F Receiving surface 47 Pushing holding means 47C Inserting cylinder 47D Pushing cylinder 47P Pin 48 Clamp attitude adjusting means 48C Oscillating cylinder 51A First floor side welding robot 51B First ceiling side welding robot 52A Second floor side welding robot 52B Second ceiling side welding robot 100 Column welding apparatus S0 Column loading stage S1 First welding stage S2 Second welding Stage S4 Pillar unloading stage

Claims (9)

In the welding apparatus for welding the second building member to the first building member,
A handling robot for handling the first building member to which the second building member is temporarily attached;
A first building member carry-in stage comprising a turning beam provided with clamping means for clamping a first building member carried in and out by a handling robot, and having a clamping means that moves with turning of the turning beam around a turning center axis of the turning beam And a plurality of welding stages and a swiveling device that is positioned in turn on each of the first building member unloading stage,
A welding robot for attaching the second building member to the first building member clamped by the clamping means positioned on each of the plurality of welding stages by turning of the turning device is disposed on each of the plurality of welding stages in the turning device. A welding apparatus characterized by comprising:   The welding apparatus according to claim 1, wherein the swivel device is provided with clamping means at each of a plurality of circumferential positions on the outer periphery around the swivel center axis of the swirl beam.   The welding apparatus according to claim 1 or 2, wherein a plurality of swiveling devices are installed for one handling robot.   The clamp means continues to clamp the first building member until the swiveling device sequentially positions the clamp means from the first building member carry-in stage to the first building member carry-out stage through a plurality of welding stages by turning the turning beam. Item 4. The welding apparatus according to any one of Items 1 to 3.   The clamp means includes a receiving surface portion that receives each of two orthogonal surfaces of the first building member, and pushes the first building member against the receiving surface portion by a pin inserted into a hole provided in an end plate of the first building member. The welding apparatus according to any one of claims 1 to 4, further comprising pressing holding means to be attached.   The welding apparatus according to claim 5, wherein the clamp means includes a clamp attitude adjusting means capable of changing a relative angular position of the receiving surface portion with respect to the turning beam and adjusting an attitude of the clamped first building member.   The welding apparatus according to claim 1, wherein the first building member is a column and the second building member is a joint piece for connecting a beam to the column. Welding a floor beam joint piece to one end side of the column, and welding a ceiling beam joint piece to the other end side,
The swivel device is provided with a floor side clamp means and a ceiling side clamp means on one end side and the other end side in the axial direction of the swivel beam, and
The welding apparatus according to claim 7, wherein a floor-side welding robot and a ceiling-side welding robot are arranged on each of the plurality of welding stages.   The welding apparatus according to claim 8, wherein the turning device can adjust the installation position of at least one of the floor-side clamping means and the ceiling-side clamping means in the axial direction of the turning beam according to a change in the length of the column.

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