JP6098925B2 - Large frame structure welding equipment - Google Patents

Description

  The present invention relates to a welding apparatus for a large frame structure such as an aluminum LNG tank, a hull structure, a bridge structure and the like.

  In an aluminum LNG tank, a hull structure, a bridge structure, etc., a large number of large frame structures are manufactured during the manufacturing process (for example, an assembly process in shipbuilding).

  Such a large frame structure (for example, a hull flat plate block) is formed by temporarily arranging components such as a panel, a longge, and a transformer and temporarily welding them, and then transporting them on a horizontal surface plate to form a pair. A main part is welded by fillet welding at the intersection in a square-shaped frame surrounded by a long pair of transformers.

As a means of such main welding, there is a problem that time and cost are required in the case of manual welding by a person. In particular, when the target large-sized frame structure (hereinafter referred to as a workpiece) is made of a material that easily causes welding defects such as aluminum, there is a problem that the total man-hours including reworking increase because the welding work is not stable.
For this reason, means using a welding robot has already been proposed to reduce man-hours and stabilize quality (for example, Patent Document 1).

JP 2010-253518 A

The device of Patent Document 1 has the following advantages.
(1) It is not necessary to position a plurality of workpieces with high accuracy with respect to a large portal facility, and a system for performing overall scheduling, control of a plurality of robots, overall integrated control, and the like is not necessary.
(2) Positioning is possible even when the workpiece is non-ferrous metal.
(3) A variety of workpieces with different dimensions can be handled.

  However, in the case of the apparatus of Patent Document 1, it is necessary to install a positioning jig in advance in order to position the robot with respect to the workpiece. Since this jig needs to be installed in each grid-shaped welding target area surrounded by a pair of longes and a pair of transformers, the jig needs to be moved and reinstalled each time the welding target area changes. Since the longages and transformers located between the welding target areas are high (for example, 2 m), it is required to omit or reduce the jig installation work by the worker.

  The present invention has been developed to solve the above-described problems. That is, the object of the present invention is to allow for main welding in a grid-shaped frame surrounded by a pair of longes and a pair of transformers, and does not require a large-size, high-precision gate-type equipment or moving equipment. A large frame that can be easily and accurately positioned with respect to the workpiece, with a large welding range that can be constructed with the installation of a single pedestal, easy to handle workpieces with different dimensions, and no prior jig installation It is to provide a welding apparatus for a structure.

According to the present invention, a horizontally positioned panel, a plurality of longages fixed to the upper surface of the panel and extending in the longitudinal direction with a distance from each other, and a width fixed to the upper surface of the panel and spaced from each other and perpendicular to the longi A welding apparatus for a large frame structure comprising a plurality of transformers extending in a direction,
The inside of the square-shaped frame surrounded by a pair of longes and a pair of transformers is the welding target area.
A portal frame that stands on the outside of the welding target area across the width, a horizontal rail that is supported above the longe by the portal frame and extends horizontally in the longitudinal direction between the transformers, and fixed to the upper end of the portal frame A frame-structured robot mount having a hanging bracket,
A suspension welding robot that has a uniaxial linear motion mechanism that is suspended from the horizontal rail and moves along the horizontal rail;
Mounted on the portal frame, projects from the portal frame to the longe and transformer located outside the welding area, contacts the longe and transformer, positions the portal frame relative to the longe and transformer, and sets the projecting position. An adjustable swing type positioning device is provided. A welding apparatus for a large frame structure is provided.

Further, according to the present invention, the portal frame connects the four vertical legs that stand on the outer side of the welding target region in the width direction and the upper portions of the pair of vertical legs that extend in the width direction. A pair of horizontal horizontal beams and a pair of longitudinal horizontal beams extending in the longitudinal direction and respectively connecting the lower portions of the pair of vertical legs;
The swing type positioning device is fixed at the inner side in the width direction of the vertical leg, and is at least three sets that are peristally driven in the longitudinal direction in the vertical plane from the vicinity of the vertical leg to a position in contact with the transformer located outside the welding target area. A longitudinal swing arm of
At least three sets of widths that are fixed on the inner side in the longitudinal direction of the pair of longitudinal horizontal beams, and are peristally driven in the width direction in the horizontal plane from the vicinity of the longitudinal horizontal beam to the position contacting the longi located outside the welding target region A directional swing arm.

The longitudinal swing arm includes a first arm member whose end is fixed to be rotatable about a horizontal axis in the vicinity of the vertical leg and extends downward or obliquely downward, and the first arm member is driven to swing around the horizontal axis. A first actuator that
The width-direction swing arm includes a second arm member whose end is fixed to a longitudinal horizontal beam so as to be rotatable about a vertical axis and extends horizontally, and a second actuator that swings and drives the second arm member about the vertical axis And have.

In addition, a first roller member that rolls in contact with the inner surface of the transformer is provided at the tip of the first arm member,
It is preferable that a second roller member that rolls in contact with the inner surface of the longe is provided at the tip of the second arm member.

The first actuator includes a first end stopper capable of adjusting a protruding position of the first arm member in accordance with the transformer interval.
It is preferable that the second actuator includes a second end stopper capable of adjusting a protruding position of the second arm member in accordance with the long distance.

  According to the configuration of the present invention described above, the ceiling welding robot is suspended from the horizontal rail of the robot frame, moves along the robot rail, and can perform the main welding on the welding target area below.

  In addition, the robot base equipped with the ceiling welding robot can be lifted and transported by a lifting machine such as a crane permanently installed in the factory by means of a lifting bracket fixed to the upper end of the portal frame. In addition, it is not necessary to install high-precision gate-type equipment and mobile equipment.

  Moreover, a ceiling-welding robot is suspended on a horizontal rail that is supported above the longe and extends horizontally in the longitudinal direction between the transformers, and has a single-axis linear motion mechanism that moves along the horizontal rail. Since the region is welded, the longitudinal direction of the region to be welded can be covered by the interlocking of the single-axis linear motion mechanism and the ceiling-suspended welding robot, and the welding range that can be constructed by one installation of the gantry is large.

  In addition, the linear motion mechanism includes a swing type positioning device that projects from the portal frame to the longe and transformer located outside the region to be welded, contacts the longe and transformer, and positions the portal frame with respect to the longe and transformer. Since a large movable range can be taken with a small storage space as compared with the above case, it is easy to cope with workpieces having various dimensions.

  Further, the fixing of the portal frame to the longe and the transformer is based on a swing type positioning device, so that it can be applied even when the work material is a non-ferrous metal, and there is no need to move and reinstall the jig.

Furthermore, the swing type positioning device can adjust its overhanging position. In the state where the robot mount is suspended, the swing type positioning device on one side is overhanged as a reference side, and then the swing type positioning device on the opposite side. By overhanging, it is possible to easily and accurately position the workpiece.

It is explanatory drawing of the large sized frame structure which this invention makes the welding object. It is the side view which looked at the welding apparatus by this invention from the width direction. It is the front view which looked at the welding apparatus by this invention from the longitudinal direction. It is a top view of the welding apparatus by this invention. 1 is an overall configuration diagram of a longitudinal swing arm according to the present invention. It is a whole block diagram of the width direction swing arm by this invention.

  Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings. In addition, the same code | symbol is attached | subjected to the common part in each figure, and the overlapping description is abbreviate | omitted.

FIG. 1 is an explanatory view of a large frame structure B to be welded by the present invention.
In this figure, a large frame structure B has a plurality of rows of longes 2 arranged on the surface of a flat panel 1, while transformers 3 are arranged at regular intervals in a direction perpendicular to these longes 2. It is comprised by welding the inner side cross | intersection part 5 of the frame part (welding object area | region 4) formed by 2 and the transformer 3, and was surrounded on all four sides.
That is, the large frame structure B to be welded by the present invention includes a horizontally positioned panel 1, a plurality of longes 2 fixed to the upper surface of the panel 1 and extending in the longitudinal direction at intervals, and the upper surface of the panel 1. And a plurality of transformers 3 extending in the width direction perpendicular to the longi 2 and spaced apart from each other.

The size of the panel 1 is, for example, 7 m × 7 m to 20 m × 20 m. Further, the longe 2 has a height of 300 to 800 mm, for example, and the interval in the width direction of the longe 2 is 850 to 1000 mm. Furthermore, the transformer 3 has a height of, for example, 1800 to 3000 mm, and the interval in the length direction of the transformer 3 is 4000 to 5000 mm.
Further, in this example, the longe 2 and the transformer 3 have horizontal members 2a and 3a extending horizontally at their upper ends.
In addition, in this invention, the large sized frame structure B is not limited to this structure, Other structures may be sufficient.

In FIG. 1, a welding target region 4 that is a subject of the present invention is within a grid-shaped frame surrounded by a pair of longes 2 and a pair of transformers 3.
Moreover, the specific welding location of the welding object area | region 4 is an inner side crossing part shown by 5 in the figure. In addition, the welding location of this invention is not limited to this example, What is necessary is just to be inside the welding object area | region 4. FIG.

  2 is a side view of the welding apparatus according to the present invention as viewed from the width direction, FIG. 3 is a front view of the welding apparatus as viewed from the longitudinal direction, and FIG. 4 is a plan view thereof.

  2 to 4, a welding apparatus (hereinafter simply referred to as “welding apparatus”) for a large frame structure B according to the present invention includes a robot mount 10, a ceiling welding robot 20, and a swing type positioning apparatus 30.

  The robot gantry 10 spans the welding target area 4 in the width direction, and stands on the outside thereof. The robot frame 10 is supported above the longitudinal 2 by the portal frame 12 in the longitudinal direction between the transformers in the welding target area 4. It has a horizontal rail 14 extending horizontally and a hanging bracket 16 fixed to the upper end of the portal frame 12.

The overall length of the robot base 10 is set to be shorter than the interval between the pair of transformers 3 and the length in the width direction is set to be longer than the interval between the pair of longes 2 and shorter than three times.
That is, when the interval in the longitudinal direction of the transformer 3 is 4000 to 5000 mm, the maximum length of the robot mount 10 is set to a length that does not interfere with the horizontal member 3 a of the transformer 3 (for example, 3200 mm).
Similarly, when the interval in the width direction of the longe 2 is 850 to 1000 mm, the maximum width of the robot mount 10 is set to a length that does not interfere with the horizontal member 2a of the longe 2 (for example, 2200 mm).

Accordingly, there is a gap of 400 to 900 mm between the maximum length of the robot mount 10 and the pair of transformers 3, respectively, and between the maximum width of the robot mount 10 and the longe 2 which is three times the longage interval. Each have a gap of 175 to 400 mm on the left and right.
Due to the existence of this gap, when the robot mount 10 is lifted by a lifting machine such as a crane installed in the factory and the robot mount 10 is installed in the welding target area 4 of the large frame structure B (workpiece), Even when the dimensions are different within the above range, it is easy to handle the workpiece.

  The portal frame 12 spans the welding target region 4 in the width direction, and a pair of width directions connecting the four vertical legs 13a standing on the outside and the upper portions of the pair of vertical legs 13a extending in the width direction. It has a horizontal beam 13b and a pair of longitudinal horizontal beams 13c that extend in the longitudinal direction and respectively connect the lower portions of the pair of vertical legs 13a.

The four vertical legs 13a are located at the four corners of the rectangular area in plan view which is the inside of the maximum length and the maximum width of the robot mount 10, and the operating range of the ceiling welding robot 20 is secured inside thereof.
The lower ends of the three vertical legs 13a out of the four are positioned on the same plane, and when placed on the upper surface of the panel 1, the horizontal rail 14 is positioned parallel to the upper surface of the panel 1 and No twisting occurs in the longitudinal direction.
The lower end of the remaining one of the four vertical legs 13a has an expansion / contraction function by a spring, an air cylinder, etc., so that the robot mount 10 follows the distortion and distortion of the workpiece.
With this configuration, a rectangular parallelepiped space composed of the inside of a rectangular region in plan view surrounded by the four vertical legs 13a and the lower side of the pair of horizontal beams 13b connecting the upper portions of the vertical legs 13a is A complete space in which the suspension welding robot 20 can operate freely can be obtained.

  The lower ends of the four vertical legs 13a are made of resin so that the work is not damaged even when the target work is aluminum or the like.

  The hanging brackets 16 are respectively fixed to the upper ends of the four vertical legs 13a of the portal frame 12, and the lifting platform 16 is used to lift the robot mount 10 with a lifting machine such as a crane installed in the factory. It conveys and installs in the desired welding object area | region 4 of the large sized frame structure B (workpiece | work).

  Above the horizontal beam 13b in the width direction of the portal frame 12 and the horizontal rail 14, a robot controller 26 for controlling the ceiling welding robot 20, a welding power source 28 and other auxiliary machines 29 are installed. The setup is improved.

  The ceiling-suspended welding robot 20 is suspended from the horizontal rail 14 and moved along the single-axis linear motion mechanism 22, and the reverse suspension multi-joint welding robot 24 configured to be able to weld the welding target region 4 below the mechanism. It consists of.

The reverse suspension articulated welding robot 24 is an articulated robot having a welding head at the tip of the robot arm, and is attached to the uniaxial linear motion mechanism 22 (horizontal moving table 23 described later) upside down. The welding head is welded with three-dimensional numerical control.
In this case, the working area of the reverse suspension articulated welding robot 24 is within the arc of the broken line shown in FIGS. 3 and 4, and includes the joint between the panel 1 and the transformer 3 at both ends in the length direction of the horizontal rail 14. The entire area to be welded 4 is completely covered.

  In addition, the reverse suspension articulated welding robot 24 is not limited to this example, as long as the welding head can be welded by numerically controlling the welding head three-dimensionally over the entire area of the grid-shaped frame (the welding target area 4). It may be.

The uniaxial linear motion mechanism 22 has a horizontal moving table 23 attached to the lower surface of the horizontal rail 14 so as to be horizontally movable along the longitudinal direction, and drives the horizontal moving table 23 so as to be numerically controllable.
In this example, the uniaxial linear motion mechanism 22 includes a rack and pinion and a servo motor. With this configuration, the robot can be used as an external axis of the robot and can be arranged within the workpiece dimensions.

  The robot controller 26 controls 7 axes (1 axis + rotation axes around the 3 orthogonal axes of the robot and the 3 orthogonal axes) including the numerical control (1 axis) of the horizontal moving table 23 of the 1 axis linear motion mechanism 22. .

  2 to 5, the swing type positioning device 30 is attached to the portal frame 12 and protrudes from the portal frame 12 to the longitudinal 2 and the transformer 3 positioned outside the welding target region 4. The portal frame 12 is positioned with respect to the longe 2 and the transformer 3, and the overhang position can be adjusted.

The swing type positioning device 30 has at least three sets of longitudinal swing arms 32 and at least three sets of width direction swing arms 34.
At least three sets of longitudinal swing arms 32 are respectively fixed on the inner side in the width direction of the vertical leg 13a, and are longitudinal in the vertical plane from the vicinity of the vertical leg 13a to a position in contact with the transformer 3 located outside the welding target region 4. It is driven automatically.
In this example, the longitudinal swing arms 32 are four sets, but may be five or more sets.
At least three sets of the width direction swing arms 34 are respectively fixed to the inside in the longitudinal direction of the pair of longitudinal horizontal beams 13c, and are in contact with the longitudinal 2 located outside the welding target region 4 from the vicinity of the longitudinal horizontal beams 13c. It is peristally driven in the width direction in the horizontal plane.
In this example, the width direction swing arms 34 are four sets, but may be five sets or more.

  Since these swing arms 32 and 34 are intended to be positioned in a horizontal plane, if the positions at three positions are determined geometrically, the positional relationship between the workpiece (transformer 3 and longi 2) can be uniquely determined. From this, the swing arms 32 and 34 should just be 3 sets or more. In this embodiment, four sets of positioning are used in order to average positioning errors caused by workpiece size and shape errors. However, as long as there are three or more sets as described above, any number of positioning may be used. .

FIG. 5 is an overall configuration diagram of the longitudinal swing arm 32 according to the present invention.
In this figure, (A) is a partially enlarged view on the right side of FIG. 2, (B) is a side view thereof, and (C) is a plan view thereof.

The longitudinal swing arm 32 has a first arm member 35 whose end (upper end in the figure) is rotatably fixed around the horizontal axis 35a in the vicinity of the vertical leg 13a and extends downward or diagonally downward, and the horizontal axis 35a. And a first actuator 36 for driving the first arm member 35 in a sliding manner.
A first roller member 37 that rolls in contact with the inner surface of the transformer 3 is provided at the tip of the first arm member 35.
Further, the first actuator 36 includes a first end stopper 38 that can adjust the protruding position of the first arm member 35 in accordance with the workpiece size (transformer interval).

  The length from the horizontal shaft 35a to the outer end of the first roller member 37 is a range in which the first arm member 35 swings from the vertical to the horizontal, and the transformer 3 in which the first roller member 37 is located outside the vertical leg 13a. Set to touch. This length is, for example, 900 to 1200 mm.

FIG. 6 is an overall configuration diagram of the widthwise swing arm 34 according to the present invention.
In this figure, (A) is an enlarged view of the upper right part (plan view) of FIG. 4, (B) is a right side view thereof, and (C) is a side view from the bottom thereof.

The width direction swing arm 34 has a distal end fixed to the longitudinal horizontal beam 13c so as to be rotatable about the vertical axis 39a and extending horizontally, and the second arm member 39 is driven to swing around the vertical axis 39a. And a second actuator 40.
A second roller member 41 that rolls in contact with the inner surface of the longe 2 is provided at the tip of the second arm member 39.
Furthermore, the second actuator 40 includes a second end stopper 42 that can adjust the protruding position of the second arm member 39 in accordance with the workpiece dimension (longage interval).

  The length from the vertical shaft 39a to the outer end of the second roller member 41 is a range in which the second arm member 39 swings from the longitudinal direction to the width direction, and the second roller member 41 is positioned outside the vertical leg 13a. Set to contact Longi 2. This length is not more than half of the total length of the longitudinal horizontal beam 13c, and is, for example, 500 to 700 mm.

5 and 6, the first actuator 36 and the second actuator 40 are preferably air cylinders.
Further, the first end stopper 38 and the second end stopper 42 are based on one side in both the longitudinal direction and the width direction so that the first roller member 37 and the second roller member 41 can be stopped at arbitrary positions according to the workpiece dimensions. It is good to provide in the reference side air cylinder.
In this example, the first end stopper 38 and the second end stopper 42 are stopper members that stop the swinging of the first arm member 35 and the second arm member 39, and can be manually changed in position.
In addition, the 1st end stopper 38 and the 2nd end stopper 42 are not limited to this structure, As long as the stop position of the 1st roller member 37 and the 2nd roller member 41 can be set, another structure may be sufficient. .

  Further, the first roller member 37 and the second roller member 41 are balls or rollers that are rotatable about a horizontal axis so as to be able to move up and down while being in contact with the work (the transformer 3 and the longe 2). These balls or rollers are made of resin, so that the work is not damaged even when the target work is aluminum or the like.

The ceiling-suspended welding robot 20 and the swing type positioning device 30 described above can be remotely operated by a wired or wireless operation by an operator using an operation panel (not shown) located outside the robot mount 10.
In particular, in the ceiling welding robot 20, when the operator selects and executes a robot welding program corresponding to the target workpiece, the robot controller 26 performs numerical control (single axis) of the horizontal moving table 23 of the one axis linear motion mechanism 22. ) Including 7) (1 axis + rotation axis around the 3 orthogonal axes of the robot and the 3 orthogonal axes of the robot) is controlled to weld the target portion.

A method of using the above-described welding apparatus of the present invention will be described below.
(1) An operator lifts the robot mount 10 by using a hanging metal fitting 16 by operating a crane installed in the factory, and suspends the robot mount 10 at a desired welding target location of the large frame structure B (workpiece). .
(2) When the robot mount 10 is suspended from the work bottom surface (upper surface of the panel 1) to a certain distance (for example, about 100 mm), the swing type positioning device 30 is remotely operated to swing the longitudinal swing arm 32 and the width direction swing. The arm 34 is extended.
(3) The longitudinal-direction swing arm 32 and the width-direction swing arm 34 operate first on the reference surface side, and come into contact with the first end stopper 38 and the second end stopper 42, respectively, and stop at preset positions. After a certain time (for example, after 10 seconds), the other first end stopper 38 and the second end stopper 42 protrude until they contact the work (transformer 3 and longe 2), and the robot mount 10 is positioned in the horizontal plane with respect to the work. The
(4) With the positioning in the horizontal plane being completed, the robot mount 10 is grounded to the work panel 1 again by the crane operation. Since the first roller member 37 and the second roller member 41 are respectively installed at the distal end portions (work contact portions) of the first arm member 35 and the second arm member 39, the robot mount 10 has the longitudinal swing arm 32. And can be suspended while being positioned by the widthwise swing arm 34.
(5) Even if the workpiece is distorted when the workpiece is installed, one vertical leg 13a out of the four has an extension / contraction function, so that the workpiece can be stably grounded.
(6) The operator welds the target portion of the welding target region 4 by selecting and executing a robot welding program corresponding to the target workpiece.
(7) When welding is completed, the longitudinal swing arm 32 and the width swing arm 34 are contracted, and the apparatus is transported to the next welding location by crane operation.

The following effects can be obtained by the configuration of the present invention described above.
(1) Since the ceiling welding robot 20 is suspended from the horizontal rail 14 of the robot mount 10 and moves along this, the welding target area 4 is welded therebelow. The main welding can be performed.
(2) The robot mount 10 on which the ceiling welding robot 20 is mounted is lifted and transported by a lifting machine such as a crane permanently installed in the factory by means of a lifting bracket 16 fixed to the upper end of the portal frame 12. Therefore, it is not necessary to install large-scale and high-precision gate-type equipment or moving equipment, and low-cost equipment is possible.
(3) The ceiling welding robot 20 is suspended from the horizontal rail 14 and has a uniaxial linear motion mechanism 22 that moves along the horizontal rail 14. By interlocking the moving mechanism 22 and the ceiling welding robot 20, the entire longitudinal direction of the welding target region 4 can be covered, and a welding range that can be constructed with one installation of the gantry can be increased, and the automation rate is increased.
(4) Swing that protrudes from the portal frame 12 with respect to the longe 2 and the transformer 3 located outside the welding target region 4 and contacts the longe 2 and the transformer 3 to position the portal frame 12 with respect to the longe 2 and the transformer 3 Since the type positioning device 30 is provided, a large movable range can be taken with a small storage space as compared with the case of the linear motion mechanism, so that it is easy to deal with workpieces having various dimensions.
(5) The fixing of the portal frame 12 to the longe 2 and the transformer 3 depends on the swing type positioning device 30, so that it can be applied even when the work material is a non-ferrous metal, and no jig movement and re-installation is required. .
(6) The swing type positioning device 30 can adjust its overhang position, and the stop position of the longitudinal swing arm 32 on one side and the swing arm 34 in the width direction is overhanged as a reference side in a state where the robot mount 10 is suspended. Then, the longitudinal swing arm 32 and the width direction swing arm 34 on the opposite side are overhanged so that the workpiece can be easily and accurately positioned.

  In addition, this invention is not limited to embodiment mentioned above, Of course, a various change can be added in the range which does not deviate from the summary of this invention.

For example, the above-described single-axis linear motion mechanism 22 may use other driving methods such as ball screw driving and timing belt driving as long as it satisfies the desired driving accuracy and can be disposed within the workpiece dimensions.
In the example described above, the vertical legs 13a are four legs, but three legs may be used for stable grounding. In that case, the above-described telescopic mechanism is not required, and a more inexpensive apparatus configuration is possible.
Depending on the corresponding workpiece shape, the drive shaft for moving the suspension welding robot 20 is not a single linear motion axis, but a variety of variations such as a linear motion 2 axis, a linear motion 2 axis + swivel axis, and no movement axis. May be.
If there are no interferences (for example, the horizontal members 2a and 3a described above) when the workpiece is carried into the workpiece, the positioning reference side is not a swing arm structure, and a fixed stopper may be installed in advance.
When the movement range of the apparatus is limited, it is not necessary to install the robot controller 26, the welding power source 28, and the auxiliary machine 29 on the robot mount 10.
The actuator of the swing type positioning device 30 (the first actuator 36 and the second actuator 40) is optimally an air cylinder, but may be another type of direct acting actuator such as an electric cylinder or a hydraulic cylinder.
The contact portion with the workpiece is preferably made of resin, but these are not necessary when the target workpiece is steel or some scratches are allowed.

1 panel, 2 longi, 3 transformer, 2a, 3a horizontal member,
4 Welding target area (frame part), 5 Inner intersection,
10 robot mounts, 12 portal frames,
13a Vertical leg, 13b Width direction horizontal beam,
13c Longitudinal horizontal beam, 14 horizontal rail, 16 hanging bracket,
20 Ceiling welding robot, 22 1 axis linear motion mechanism,
23 Horizontal moving table, 24 Reverse-hanging articulated welding robot,
26 robot controller, 28 welding power source, 29 auxiliary machine,
30 Swing type positioning device,
32 Longitudinal swing arm, 34 Width swing arm,
35 first arm member, 35a horizontal axis, 36 first actuator,
37 first roller member, 38 first end stopper,
39 second arm member, 39a vertical axis, 40 second actuator,
41 Second roller member, 42 Second end stopper

Claims (5)

Multiple extending the panel positioned horizontally, in a width direction perpendicular to the plurality of longitudinals extending longitudinally spaced from each other is fixed to the upper surface of the panel, said at a fixed distance from each other on the upper surface of the panel longitudinals and A welding apparatus for a large frame structure comprising a transformer of
Within the framework of the squares shape surrounded by the transformer of the longitudinals and a pair of pair a welded region,
Framework having a portal frame that build on the outside across the welded region in the width direction, and a horizontal rail extending horizontally in the longitudinal direction between the transformer is supported from above the longitudinals by the gate-shaped frame A robot base with a structure;
Suspended in the horizontal rail, it has a single axis linear motion mechanism that moves along which the weldable ceiling welding robot said welded region at its lower,
Attached to the gantry frame, the overhang from the longitudinals and the gate-shaped frame, to the transformer located outside the welded area in contact with the longitudinals and the transformer said gantry relative to said longitudinals and said transformer e Bei positioning the frame, and an adjustable swing-type positioner its overhanging position, a
The robot mount is provided with a hanging bracket for hanging the robot mount to the welding target area,
The swing type positioning device includes:
A plurality of longitudinal swing arms each capable of projecting from the portal frame to the pair of transformers;
A plurality of first swing arms which are respectively provided on the plurality of longitudinal swing arms and are capable of rolling downward in contact with the pair of transformers when the plurality of longitudinal swing arms extend to the pair of transformers, respectively. A roller member;
A plurality of widthwise swing arms each extending from the portal frame to the pair of longes;
A plurality of second swing arms provided respectively on the plurality of widthwise swing arms and capable of rolling downward in contact with the pair of longages when the plurality of widthwise swing arms extend to the pair of longages, respectively; A large frame structure welding apparatus comprising: a roller member ; The gantry frame, and four vertical legs which build on the outside across the welded region in the width direction, a pair of width respectively connect the upper portion of the vertical leg of the pair extending in the width direction It has a direction horizontal beam, and a longitudinal horizontal beams a pair of connecting each lower portion of the vertical leg of the pair extending in said longitudinal direction,
Wherein the plurality of longitudinal swing arm, said are respectively fixed to the inner side in the width direction of the vertical leg, the swinging from the vertical leg near the longitudinally the vertical plane position to contact with the transformer located outside the welded area Including at least three sets of longitudinal swing arms to be driven ;
Said plurality of widthwise swing arm, the one is respectively fixed longitudinally inboard of the longitudinal horizontal beams of pairs, the longitudinal horizontal beams from the vicinity to a position in contact with the longitudinals located outside the welded area in a horizontal plane in at least three pairs of widthwise swing arm is swing driven in the width direction, that the welding apparatus of a large framework structure as claimed in claim 1, wherein the. Said longitudinal swing arm, the terminal and the first arm member extending rotatably fixed downward or obliquely downward about a horizontal axis to the vertical leg near swing driving said first arm member about said horizontal axis A first actuator that
The width direction swing arm includes a first end to swinging driving the second arm member to the center and the second arm member being rotatably fixed extending horizontally centered, the vertical axis in the vertical axis in the longitudinal direction horizontal beam The large frame structure welding apparatus according to claim 2, further comprising two actuators. Comprising a first roller member that rolls in contact with the transformer inner surface at the tip portion of the first arm member,
4. The welding apparatus for a large frame structure according to claim 3, further comprising: the second roller member that rolls in contact with the inner surface of the longe at a distal end portion of the second arm member. 5. Wherein the first actuator comprises a first end stop adjustable overhanging position of the first arm member in accordance with the transformer intervals,
Said second actuator is a welding apparatus of a large framework structure according to claim 3, further comprising a second end stop adjustable overhanging position of the second arm member in accordance with the longitudinals spacing, it is characterized.

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