JPH05318109A - Device for welding steel frame structure - Google Patents

Abstract

PURPOSE:To weld various works, whose places for welding joints are different, by one kind of welding system and to limit equipment investment to the required minimum, in reference to the device for welding and assembling steel frames which are used for the frame structure of a multistoried building, etc., for example. CONSTITUTION:A pair of rotary positioners 4, 4 by which both ends of a work 5 are held is provided movably forwards and backwards in the longitudinal direction of the work 5, simultaneously, a truck 7 moving in the direction parallel to the forward and backward direction of the rotary positioner 4, and a welding robot 8, which is loaded on this truck 7 and by which the welding of the work 5 is performed, are provided. In such device, locking adaptors 22A-22E are provided between the locking member 16, 17, 21A in each rotary positioner 4 by which the work 5 is locked from two directions and the work.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an apparatus for welding and assembling a steel frame column used as a column structure such as a high-rise building.

[0002]

2. Description of the Related Art Generally, there are steel frame column welded structures for building construction as shown in FIGS. 5 (a) to 5 (e), and such structures are welded at a welding factory or the like. After assembling, it is transported to the construction site.

Here, a core 1 shown in FIG. 5 (a) is a structure arranged in a core portion for supporting a girder or a beam, and has a square pipe 1a of a predetermined length and both ends of the square pipe 1a. It is composed of diaphragms 1b and 1b, and is formed by attaching diaphragms 1b and 1b to both ends of the square pipe 1a by circumferential welding, respectively.

FIG. 5 (b) shows a structure in which a beam connecting bracket 2 is attached to the core 1 shown in FIG. 5 (a) by welding, and FIG. 5 (c) is shown in FIG. Fig. 5 (d) shows a structure in which the bracket 2 is attached to the cross-shaped core 1A different from the core 1 shown in a) by welding, and Fig. 5 (d) shows the core 1 with the bracket 2 shown in Fig. 5 (b). A structure in which a pillar 3 is attached by welding is shown. Further, FIG. 5 (e) shows a pillar-through structure in which the bracket 2 is attached to the side surface of the box pillar 3A by welding.

[0005]

By the way, FIG. 5 (a)-
Since various welded joints of steel frame columns (hereinafter referred to as "work") shown in (e) have different weld joints for each work, the work should be performed in a welding posture with no defects, for example, when welding is performed by a welding robot. In the positioner that holds the work, the form in which the work is restrained in an appropriate posture differs depending on the type of work. Therefore, in order to assemble various works as shown in FIGS. 5 (a) to (e) by welding, a welding system matching each work must be used for each kind of work, which requires a huge capital investment. There was a problem such as becoming.

The present invention is intended to solve such a problem, and makes it possible to weld various works having different welding joint points by one kind of welding system, and to limit the capital investment to the necessary minimum. An object is to provide a steel column welding device.

[0007]

In order to achieve the above object, a steel column welding apparatus of the present invention includes a pair of rotary positioners for holding both ends of a steel column welding structure (work), the steel column welding structure. In addition to being capable of advancing and retreating in the longitudinal direction of the object, it is provided with a dolly that moves in a direction parallel to the advancing and retreating direction of the rotary positioner, and a welding robot that is mounted on the dolly and that welds the steel column welded structure. In one feature, a restraint adapter is provided between the restraint member in each of the rotary positioners that restrains the steel frame welded structure from two directions and the steel column welded structure.

[0008]

In the above-described steel frame column welding apparatus of the present invention, since the work is restrained and held by the rotary positioner via the restraint adapter, various works with different weld joints can be mounted without changing the restraint member in the rotary positioner. It can be held, and it is not necessary to prepare a rotary positioner for each type of work.

[0009]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS A steel column welding apparatus as an embodiment of the present invention will be described below with reference to the drawings. FIG. 1 is a perspective view thereof, and FIGS. 2 (a) to 2 (e) are all used in the apparatus of this embodiment. 3 is a perspective view showing an example of a restraint adapter to be used, and FIG. 3 (a) is a front view showing a rotary positioner in the present embodiment.
(b) is a perspective view showing an enlarged main part of the rotary positioner,
FIG. 4 is a perspective view showing the normal use state.

In FIGS. 1 and 4, reference numeral 4 denotes a pair of rotary positioners for holding both ends of a work (steel frame welded structure) 5, 5A, respectively, so that each rotary positioner 4 can travel along a rail 6. Work 5, 5
It is possible to move back and forth in the longitudinal direction of A. In addition, the work 5 shown in FIG. 1 is temporarily assembled from the core 1 shown in FIG. 5A, and a plurality of pieces (in the figure, a jig disclosed in Japanese Patent Application No. 2-126939) are used. The work 5A shown in FIG. 4 is the same as that shown in FIG. 5D.

Further, 7 is a moving direction of the rotary positioner 4.
A carriage that travels along a rail 9 parallel to the (rail 6), and 8 is a welding robot that is mounted on the carriage 7 and is movable in a direction orthogonal to the rail 9. The welding robot 8 has only to have various functions for welding various welded joints such as the workpieces 5 and 5A, and
Since the structure of such a welding robot 8 is well known, detailed description thereof will be omitted. Further, the carriage 7 also simply causes the welding robot 8 to move the workpieces 5 and 5A held by the rotary positioner 4.
As long as it can be positioned at an optimum position with respect to the like, its configuration is well known, and thus detailed description thereof will be omitted.

Next, the structure of the rotary positioner 4 used in this embodiment will be described with reference to FIGS. 3 (a) and 3 (b). In the rotary positioner 4, as shown in FIGS. 3A and 3B, the rotary frame 11 is supported by the frame body 10 via the guide rollers 12, and the gears formed on the outer periphery of the rotary frame 11 are supported. The pinion 13 meshes with the portion 11a, and the rotation frame 11 is rotated with respect to the frame body 10 by rotating the pinion 13 by the drive motor 13a.

A part of the rotary frame 11 is constructed so that it can be removed when the work 5, 5A or the like is attached to or detached from the rotary frame 11. That is, normally, the removable portion 11b forming the rotating frame 11 is separable from the rotating frame 11, and one end side of the removable portion 11b is rotatably supported by the shaft 14 on the main body side of the rotating frame 11. On the other hand, the other end side can be fixed by the pin 15. Therefore, when the work 5, 5A or the like is attached to or detached from the rotary frame 11, the pin 15 is removed to rotate the removable portion 11b around the shaft 14 to open the rotary frame 11, while the removable portion 11b is opened during the welding operation. The removable portion 11b is fixed to the main body side of the rotating frame 11 by the closing pin 15.

Removable part 11 forming the rotating frame 11
The work 5A or a restraint adapter 22 described later is provided at b.
Work push screw that can restrain A to 22E by pressing from above
(Restriction member) 16 is attached. The work push screw 16 can be adjusted in the vertical position by being rotated manually by an operator. Further, the work push screw 16 is provided with restraint adapters 22A to 22 described later.
A hole 16a into which the pin 24c is inserted when the E is used is formed.

A work supporting frame (restraint member) 17 is mounted on the rotating frame 11 so as to be movable in the vertical direction. Both ends of the work supporting frame 17 are supported by screws 18 and 18, and each screw 18 has a bevel gear mechanism 1.
The handle 20 connected via 9 is simultaneously driven to rotate by an operator manually rotating the handle 20, and the work support frame 17 is moved up and down according to the rotation direction and the rotation amount of each screw 18. It is designed to be moved by a predetermined amount and positioned.

Further, the work supporting frame 17 is formed with a hole 17a into which a pin 24f of the restraint adapter 22D, 22E, which will be described later, is inserted, and a pair of left and right work pushing plates (constraint members) 21A, 21B. Is projected on the upper surface side. These work push plates 21A, 21B
Are respectively screwed into screws 25 each having a threaded portion in the opposite direction on the left and right sides, and a handle 26 connected to the screw 25 is rotated manually by an operator, so that the workpiece support frame 17 is rotated with respect to each other. It is designed to slide in the opposite direction at the same time and by the same amount, and is moved and positioned by a predetermined amount in a direction toward or away from each other according to the rotation direction and rotation amount of the screw 25. ..

The distance between the work pressing plates 21A and 21B and the center position of the work supporting frame 17 is always the same. In addition, each work pressing plate 21A,
21B is formed with a hole 21a into which the pins 24d and 24e of the constraint adapters 22C and 22D, which will be described later, are inserted.

In the welding system constructed as described above, the steel column welded structure shown in FIG.
In such a case, as shown in FIG. 4, the portion of the column 3 of the work 5A (the column includes a square square pipe column, a square column welded at a corner, an RC column, etc.) is directly moved by the rotary positioner 4. Can be restrained and held.

At this time, the work supporting frame 17 is lowered to the lowermost position, and the work pressing plates 21A and 21B are sufficiently separated from each other, the removable portion 11b of the rotary frame 11 is opened, and the pillar 3 of the work 5A is rotated. It is placed on the work support frame 17 so as to penetrate through 4. Then, the removable portion 11b of the rotating frame 11 is closed, and the handle 26 is operated to bring the work pressing plates 21A and 21B into contact with both side surfaces of the pillar 3 of the work 5A, and the handle 20 is operated. Is raised to align the center position of the column 3 with the center of rotation of the rotary positioner 4, and the work set screw 16 is further rotated to rotate the work 5
The work 5A is clamped by the rotary positioner 4 from two directions by bringing it into contact with the upper surface of the column 3 of a. In such a state, welding work is performed by the welding robot 8 while turning the work 5A by the rotary positioner 4.

By the way, there are cases where the rotary positioner 4 cannot directly restrain and hold the work depending on the type of the work.
For example, as shown in FIG. 1, a work 5 in which cores 1 are connected
2 is a welding target, the constraint adapters 22A to 22E as shown in FIGS. 2 (a) to 2 (e) are used as the work push screw 16, the work support frame 17, and the work push plates 21A, 21B in the rotary positioner 4. It is arranged between the work 5 and the work 5.

The structure of each of the restraint adapters 22A to 22E will be described below. As shown in FIGS. 2 (a) to 2 (e), each of the restraint adapters 22A to 22E basically comes into contact with the end surface of the work 5. A face plate 23 capable of restraining and holding this,
The fixed block 2 attached to the back side of the face plate 23
4A to 24E. In addition, as a means for restraining / holding the end surface of the work 5 with respect to the face plate 23,
For example, the jig disclosed in Japanese Patent Application No. 2-126939 is used. Further, as the face plate 23, a circular one is shown in FIGS. 2A to 2E and a square one is shown in FIG. 1, but the shape of the face plate 23 restricts the end face of the work 5.・
There is no particular limitation as long as it can be held.

In the fixed block 24A of the restraint adapter 22A shown in FIG. 2 (a), the cutout portions 24a and 24b which can be fitted to the work pressing plates 21A and 21B, respectively, while being mounted on the work supporting frame 17, are provided. Is formed,
A pin 24c to be inserted into a hole 16a formed in the work push screw 16 is provided in a projecting manner, and the restraint adapter 22A aligns the center position of the face plate 23 with the turning center of the rotary positioner 4, and cuts out the notches 24a, 24b. Work push plates 21A, 2
1B is fitted and the pin 24c is inserted into the hole 16c, and is retained and held by the rotary positioner 4.

The fixed block 24B of the restraint adapter 22B shown in FIG. 2 (b) is formed with a notch 24a which can be fitted to the work supporting frame 17 while being mounted on the work supporting frame 17. A pin 24c to be inserted into a hole 16a formed in the work push screw 16 is provided in a protruding manner. The restraint adapter 22B aligns the center position of the face plate 23 with the turning center of the rotary positioner 4, and cuts out the cutout portion 24a.
While the work supporting frame 17 is fitted to the center of the fixing block 24B and the work pressing plates 21A and 21B are pressed against the fixing block 24B, the pin 24c is inserted into the hole 16c
It is designed to be restrained and held by the rotary positioner 4.

Pins 24c to 24e, which are respectively inserted into the holes 16a of the work pushing screws 16 and the holes 21a of the work pushing plates 21A and 21B, are provided on the fixed block 24C of the restraint adapter 22C shown in FIG. 2 (c). In the restraint adapter 22C, the center position of the face plate 23 is aligned with the turning center of the rotary positioner 4, and the pins 24c to 24e are inserted into the holes 16c and 2c.
The rotary positioner 4 is constrained and held in the state of being inserted into 1a.

In the fixed block 24D of the restraint adapter 22D shown in FIG. 2D, a pin 24c is inserted into the hole 16a of the work pushing screw 16, the hole 21a of the work pushing plate 21A, and the hole 17a of the work supporting frame 17, respectively. , 24d, 2
4f is projectingly provided, and the restraint adapter 22D has a face plate 2
Align the center position of 3 with the center of rotation of the rotary positioner 4,
Each pin 24c, 24d, 24f is formed with a hole 16c, 21a, 1
The rotary positioner 4 is constrained and held in the state of being inserted into 7a.

The fixing block 24E of the restraint adapter 22E shown in FIG. 2 (e) is provided with pins 24c and 24f which are respectively inserted into the hole 16a of the work push screw 16 and the hole 17a of the work support frame 17 and are projected. An engaging portion 24g is formed which is engaged with the side edge portion of the work supporting frame 17 and is positioned in the width direction of the work supporting frame 17 when placed on the work supporting frame 17,
The restraint adapter 22E aligns the center position of the face plate 23 with the center of rotation of the rotary positioner 4, inserts the pins 24c and 24f into the holes 16c and 17a, and engages the locking portion 24g with the side edge portion of the work support frame 17. In the stopped state, the rotary positioner 4 is restrained and held.

Thus, the fixed blocks 24A to 24E
Unbalanced load when the work 5 is attached to the face plate 23 by restraining and holding the restraint adapters 22A to 22E on the rotary positioner 4 by using the notch portions 24a and 24b, the pins 24c to 24f, and the locking portion 24g. Can be reliably supported. The restraint adapters 22A to 22E are attached to the rotary positioner 4 in the same manner as the work 5A described above.

In the present embodiment, as shown in FIG. 1, the work 5 can be restrained and held by the rotary positioner 4 via the restraint adapters 22A to 22E as described above.
Restraint member in the rotary positioner 4 (work push screw 1
6, work support frame 17, work push plate 21A, 21
Without changing B), various workpieces with different welded joints can be held as shown in Fig. 5 (a) to (e), and a rotary positioner according to the workpiece can be used for each type of workpiece as in the past. There is no need to prepare. Therefore, one kind of welding system enables welding of various works having different welding joint points, and there is an advantage that the equipment investment can be limited to the necessary minimum.

In the above embodiment, each restraint adapter 2 is used.
2A to 22E, the case where the work 5 is held via the face plate 23 has been described, but in the case of the column pillar,
Instead of the face plate 23, it may be configured to be held by using a hole for bolting to another beam of the beam H-shaped steel.

As for the rotation control of the rotary positioner 4 of the present embodiment described above, in the case of the column pillar, the welded joint serves as the joint between the core and the bracket provided on the surface of the core 4 and the welded joint is used. In the above system, the control may be such that the diaphragm can be rotationally positioned at the front and back horizontal positions.

However, when other cross columns and columns are connected, since the welded joint between the square pipe and the diaphragm and the diaphragm and the intermediate square pipe is circumferentially welded, the following control method is used. That is, when holding both ends of the work, one rotation positioner 4 becomes the main, and the rotation of the main rotation positioner 4 is grasped by an encoder or the like to count the rotation position and reach the count position of the command rotation position. Closed loop control up to.

At this time, the control of the subordinate rotation positioner 4 is performed as follows. That is, the servo circuit of the rotary motor receives the speed command from the main rotary positioner 4,
While rotating the subordinate rotation positioner 4 and counting the rotational position also with an encoder or the like, when the speed command from the main rotation positioner 4 disappears, the main position count value and the subordinate position count value are The deviation counter compares the values, and the difference counter outputs the difference as a speed command, and the rotation motor is rotated forward and backward through the servo circuit of the rotation positioner 4 on the slave side to match the position count values of the master and slave.

[0033]

As described in detail above, according to the steel column welding apparatus of the present invention, since the work can be restrained and held by the rotary positioner via the restraint adapter, the restraint member in the rotary positioner is changed. It is possible to hold various works having different welded joints without using them, and to weld various works having different welded joints by one type of welding system, which has the effect of limiting the capital investment to the necessary minimum.

[Brief description of drawings]

FIG. 1 is a perspective view showing a steel column welding device as one embodiment of the present invention.

2A to 2E are perspective views showing examples of restraint adapters used in the apparatus of this embodiment.

3A and 3B show a rotary positioner in the present embodiment, in which FIG. 3A is a front view thereof, and FIG. 3B is an enlarged perspective view of a main part thereof.

FIG. 4 is a perspective view showing a normal use state of the apparatus of this embodiment.

5 (a) to 5 (e) are perspective views showing examples of steel-framed column welded structures.

[Explanation of symbols]

 1,1A Core 1a Square pipe 1b Diaphragm 2 Bracket 3 Pillar 3A Box pillar 4 Rotating positioner 5,5A Work (Steel pillar welding structure) 6 Rail 7 Bogie 8 Welding robot 9 Rail 10 Frame 11 Rotating frame 11a Gear 11b Removal Possible parts 12 Guide roller 13 Pinion 13a Drive motor 14 Shaft 15 Pin 16 Work push screw (restraining member) 16a hole 17 Work support frame (restraining member) 17a hole 18 Screw 19 Bevel gear mechanism 20 Handle 21A, 21B Work pressing plate (restraint) Member) 22A to 22E Restraint adapter 23 Face plate 24A to 24E Fixed block 24a, 24b Cutout portion 24c to 24f Pin 24g Locking portion 25 Screw 26 Handle

Claims (1)

[Claims] 1. A pair of rotary positioners for holding both ends of a steel column welded structure are provided so as to be able to move forward and backward in the longitudinal direction of the steel column welded structure, and move in a direction parallel to the forward and backward direction of the rotary positioner. And a welding robot mounted on the trolley for welding the steel-column-welded structure, wherein each of the rotations restrains the steel-column-welded structure from two directions. A steel column welding apparatus, wherein a restraining adapter is provided between the restraining member of the positioner and the steel frame welding structure.