JPH06320446A - Guide rail device for welding robot - Google Patents

Abstract

PURPOSE:To facilitate the work of mounting a guide rail onto and demounting it from a steel and to improve the working efficiency of welding work. CONSTITUTION:A guide rail 11 in a U-shaped to which a welding robot 16 is movably supported is disposed along the outer peripheral side of a steel frame 101. First and second magnet devices 12 and 13 are attached in a position situated facing the guide rail 11. The magnet 34 of the second magnet device 13 is rendered accessible to and separable from the magnet 31 of the first magnet device 12. A third magnet device 14 having a magnet 41 movable along the moving direction of the magnet 34 of the second magnet device 13 is positioned between the first and second magnet devices 12 and 13 of the guide rail 11. This constitution causes positioning and securing of the guide rail 11 to the steel frame 101.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a guide rail device of a welding robot for automatically welding a steel frame in construction work of a reinforced structure.

[0002]

2. Description of the Related Art In constructing a reinforced concrete structure, in order to construct a steel frame structure, a large number of steel frames are framed to form a steel frame structure. In this case, the steel materials must be sequentially joined, and this joining method includes a method of joining the steel materials by welding. And, this welding work is conventionally performed by an automatic welding robot. That is, a linear guide rail is arranged along the wall surface to be welded, and the guide rail is fixed at a predetermined position by a fixing bolt or the like. Then, while moving the automatic welding robot along the guide rail, the steel materials are sequentially welded and joined.

[0003]

In the above-mentioned conventional welding work of steel materials, since the linear guide rail is fixed to the wall surface to be welded by the fixing bolt, the work of mounting the guide rail is troublesome. In addition, there is a problem in that it takes a long time to mount and set it. And
Since the guide rails are attached to each wall, for example,
In the work of welding a square-column-shaped steel frame, it is necessary to mount the guide rails on each of the four sides of the steel frame, and if a large number of steel frames are to be fastened by welding, the number of times the guide rails must be installed and removed increases. The work becomes troublesome. Further, if there are many places where the guide rails are mounted, the welding robot must be initialized every time the welding robot is mounted on the guide rails, resulting in poor work efficiency.

The present invention solves such a problem, and provides a guide rail device of a welding robot which facilitates the work of attaching and detaching the guide rail to and from the steel frame to improve the work efficiency of the welding work of the steel frame. The purpose is to

[0005]

A guide rail device of a welding robot of the present invention for achieving the above object is a guide rail device of a welding robot for movably supporting a welding robot for fastening steel frames together. A guide rail, which is arranged in a U-shape along the outer periphery of the steel frame, and on which the welding robot is movably supported, and at least one of the guide rails facing each other can move toward and away from the other. The first and second magnet devices are provided, and are provided between the first magnet device and the second magnet device on the guide rail so as to be movable along the moving direction of the approachable and retractable magnet device. And a third magnet device.

[0006]

[Operation] For example, in order to perform the welding work of the steel frame of the square pole,
First, a U-shaped guide rail on which the welding robot is movably supported is lifted by a crane or the like and disposed along the outer periphery of the fastening portion of the steel frame. Next, the guide rail is fixed to one direction of the steel frame by bringing the third magnet device into contact with the side surface of the square-framed steel frame and adsorbing it. And the first
One of the magnet device and the second magnet device, which is movable, is moved to approach the steel frame, and by contacting and pressing the steel frame, the guide rail is moved to move the first magnet device and the first magnet device. The other magnet device of the two magnet devices is brought close to and in contact with the steel frame. In this state, the guide rail is fixed to the other direction of the steel frame by attracting the side surface of the steel frame of the square pole by the first magnet device and the second magnet device. Therefore, by moving the welding robot along the U-shaped guide rail, all the welding work is performed on the four side surfaces of the steel frame.

[0007]

Embodiments of the present invention will now be described in detail with reference to the drawings.

FIG. 1 is a schematic view showing a guide rail device of a welding robot according to an embodiment of the present invention, FIG. 2 is a plan view of the guide rail device, and FIG. 3 is a first magnet device III-III in FIG.
Section, FIG. 4 is a schematic showing the second magnet device, FIG. 5 is a VV cross section of FIG. 2 showing the third magnet device, FIG. 6 is a plan view showing the mounted state of the self-propelled carriage, and FIG. 7 is VII of FIG. -VII cross section, FIG. 8 shows the outline of the welding work by the welding robot, and FIG. 9 shows the outline of another welding work by the welding robot.

As shown in FIG. 1, in the guide rail device of the welding robot of this embodiment, a steel frame 1 having a square pole shape is used.
The U-shaped guide rail 11 arranged along the outer periphery of the first magnet unit 01 has a first magnet device 12 fixed at a position facing the guide rail 11 and an approach to the first magnet device 12. Second magnet device 13 and guide rail 1 which can be separated
The first magnet device 12 and the second magnet device 13 in FIG. 1 are mounted with the third magnet device 14 which is movable along the guide rail 11 and is welded via the self-propelled carriage 15. The robot 16 is movably mounted.

The guide rail 11, as shown in FIG.
The two linear rails 21, 22, 23 and the two bent rails 24, 25 curved at a right angle are alternately combined into a U-shape, and the rails are detachably connected to each other. The guide rail 11 has an H-shaped cross section, as shown in FIGS. 3 and 4. Further, hanging holes 26, 27 for hoisting by a crane (not shown) are formed at both ends of the guide rail 11, and stoppers 28, 29 are attached. 3
The lengths of the two straight rails 21, 22, and 23 are set according to the length of each side of the steel frame 101 on which welding work is performed.

As shown in FIGS. 2 and 3, the first magnet device 12 is mounted on the linear rail 21 of the guide rail 11, and the magnet 31 is fixed to the linear rail 21 by the L-shaped bracket 32. It is configured.

As shown in FIGS. 2 and 4, the second magnet device 13 is movably mounted on the linear rail 23 of the guide rail 11. That is, a pair of linear ways 33, which are parallel to each other along a direction orthogonal to the longitudinal direction of the rail 23, are fixed on the linear rail 23, and the lower portion of the L-shaped bracket 35 to which the magnet 34 is attached is fixed. It is movably supported by the pair of linear ways 33. Further, a motor 37 and a linear head 38 incorporating a speed reducer, a drive pinion and the like (not shown) are mounted on a substrate 36 fixed on the linear rail 23. on the other hand,
A rack shaft 39 extending along the moving direction of the magnet 34 is fixed to the back side of the magnet 34, and the rack shaft 39 is inserted into the linear head 38 and meshes with the drive pinion.

Therefore, when the motor 39 is driven, the drive pinion in the linear head 38 is rotationally driven to drive the rack shaft 3.
Move 9. Then, the magnet 34 fixed to the rack shaft 39 can move along the linear way 33 via the bracket 35.

As shown in FIGS. 2 and 5, the third magnet device 14 is movably mounted on the linear rail 22 of the guide rail 11. That is, the linear way 40 is fixed on the linear rail 22 along the longitudinal direction of the rail 22, while the linear guide 43 is fixed to the lower portion of the L-shaped bracket 42 to which the magnet 41 is attached. The linear guide 43 is movably supported by the linear way 40. Further, the bracket 42 is formed with a hanging hole 44 for hoisting by a crane.

The above-mentioned first magnet device 12 and second magnet device 12
Each magnet 31, 34 of the magnet device 13 and the third magnet device 14,
A control switch and a driving power source (not shown) are connected to 41, and each magnet 3 is operated by operating this control switch.
It is possible to excite the magnets 1, 34, 41 to generate an attractive force, or to demagnetize the magnets 31, 34, 41 to eliminate the attractive force.

The self-propelled carriage 15 suspends and supports the welding robot 16, and is movable along the guide rail 11. That is, as shown in FIGS. 6 and 7, a bracket 54 having left and right side walls 52 and 53 is fixed on a disc-shaped support plate 51, and one side wall 52 is provided with a holding roller 55 by a horizontal axis. Is pivotally attached to the other side wall 53
Holding rollers 56 and 57 are pivotally attached to the front and rear by a horizontal shaft. These three holding rollers 55, 56, 57 are rollable on the horizontal plane of the guide rail 11. A slide wall 58 is movably attached to one side of the bracket 54, and the slide wall 58 is attached to the other side by a spring 60 interposed between the slide wall 58 and a support wall 59 fixed to the bracket 54. It is energized. Side rollers 61 and 62 are pivotally attached to the slide wall 58 by a vertical axis, and side rollers 63 and 64 are pivotally attached to the side wall 53, respectively. These four side rollers 61, 62, 63, 64 are rollable along the end surface of the guide rail 11.

A drive motor 65 having a speed reducer is mounted on the support plate 51 of the self-propelled carriage 15, and a drive sprocket 66 is fixedly connected to the output shaft of the drive motor 65. on the other hand,
An auxiliary rail 67 is attached to one side of the guide rail 11 along the longitudinal direction thereof, and a chain 68 is fixed to the auxiliary rail 67, and a drive sprocket 66 meshes with the chain 68.

Therefore, when the drive motor 65 is driven, the drive sprocket 66 is rotationally driven and rolls while meshing with the chain 68 of the auxiliary rail 67, and each holding roller 5 is rotated.
5,56,57 roll on the horizontal plane of the guide rail 11,
In addition, the side rollers 61, 62, 63, 64 roll from both sides of the guide rail 11 while holding the end faces thereof, so that the self-propelled carriage 15 can move along the guide rail 11. There is. The drive motor 65 has a built-in encoder for rotation speed detection (not shown), and can detect the traveling distance, that is, the position of the self-propelled carriage 15 from the detected rotation speed.

The welding robot 16 is, as shown in FIG.
A swivel 72 is mounted on a base 71 fixed to the lower part of the self-propelled carriage 15.
Is attached to the swivel base 72, and three arms 73,
A wrist portion 76 is attached via 74 and 75. A welding tool 77 for performing welding work is attached to the wrist portion 76.

As shown in FIG. 1, in order to carry out the welding work of the square pillar-shaped steel frame 101, first, the guide rails 11 combined in a U shape are lifted by a crane and the guide rails 11 are lifted. It is arranged along the outer periphery of the steel frame 101 and slightly above the welding line 102. Then, next, the guide rail 11 is held in position on the steel frame 101 by using the three magnet devices 12, 13, and 14.

That is, first, in the third magnet device 14,
A crane 31 is used to excite the magnet 31 in contact with the side surface of the steel frame 101, and the magnet 31 (third magnet device 14)
Is adsorbed on the side surface of the steel frame 101. Then, in this state, the guide rail 11 is positioned and fixed to the steel frame 101 in the Y direction in FIG. At this time, the first magnet device 12
And each magnet 31, 34 of the second magnet device 13 and the steel frame 101.
There is a gap between it and the side of.

Next, in the second magnet device 13, the motor 39 is driven to move the magnet 34 along the linear way 33 to the left in FIG. Bring them into close contact. And
When the steel frame 101 is pressed by the magnet 34, the steel frame 101
On the other hand, the guide rail 11 moves to the right in FIG.
In the first magnet device 12, the magnet 31 approaches and contacts the side surface of the steel frame 101. In addition, this guide rail 1
1 is moved, in the third magnet device 14, the magnet 41
Since the guide rail 11 and the guide rail 11 are relatively movable in the X direction in FIG. 2 and the magnet 41 and the steel frame 101 are in the attracted state, the positional relationship between the magnet 41 and the guide rail 11 does not change. Therefore, in this state, the magnets 31 and 34 of the first magnet device 12 and the second magnet device 13 are excited, and the steel frame 1
The guide rail 11 is positioned and fixed to the steel frame 101 in the X direction in FIG.

When the guide rail 11 is mounted on the outer peripheral portion of the steel frame 101 with a predetermined distance in this way, the self-propelled carriage 15 on which the welding robot 16 is mounted is mounted on the guide rail 11 by a crane. And self-propelled carriage 15
Is moved along the U-shaped guide rail 11 to weld the steel frame 101. That is, as shown in FIGS. 6 and 7, when the drive motor 65 is driven to rotate the drive sprocket 66 while engaging the chain 68, the holding rollers 55, 56, 57 move the guide rollers 11 and 11.
Rolling on the horizontal plane of the side rollers 61, 62,
63 and 64 roll along the end surface of the guide rail 11, and the self-propelled carriage 15 moves along the guide rail 11. Therefore, as shown in FIG. 1, the welding robot 16 moves along with the movement of the self-propelled carriage 15 and performs welding along the welding line 102 of the steel frame 101 with the welding tool 77 attached. At this time, the rotation speed of the self-propelled carriage 15 is detected by the rotation speed detection encoder built in the drive motor 65, and the moving position and the stop position of the self-propelled carriage 15 should be grasped from the detected rotation speed. Drive motor 65
Control the drive of.

By the way, as shown by the chain double-dashed line in FIG.
When the vent rail 25 of the self-propelled carriage 15 is moved, the side rollers 61, 62 and 63, 64 due to the curved shape of the rail.
And the interval is different. In this case, the side rollers 61, 6
2, the slide wall 58 moves outward of the rail against the urging force of the spring 60, so that the difference in roller interval due to the curved shape of the rail can be absorbed.

The welding robot 16 moves along the guide rail 11 on which the self-propelled carriage 15 is movably supported,
Usually, the side surfaces of the steel frames 101 facing each other of the welding robot 16 moving on the guide rail 11 via the self-propelled carriage 15 are welded. Then, when welding the side surface of the steel frame 101 to which the guide rail 11 is not mounted, as shown in FIG. 8, in the welding robot 16, the swivel base 72 is swung and each arm 73, 74, 75 is swung. By doing so, the welding tool 77 attached to the wrist portion 76 is attached to the steel frame 101.
Welding is performed by extending it to the welding position.

By moving the welding robot 16 along the guide rails 11 in this manner, it is possible to perform welding work on all side surfaces of the steel frame 101. After the work is completed, the crane removes the self-propelled carriage 15 on which the welding robot 16 is mounted from the guide rail 11, and the guide rail 11 operates the magnet devices 12, 13, and 14 in the opposite manner to the above. As a result, it is removed from the steel frame 101 and moved to the next welding position. Then, similarly to the above, the guide rail 11 is attached to the steel frame 1 by using the magnet devices 12, 13, and 14.
The self-propelled carriage 15 having the welding robot 16 mounted thereon is mounted on the guide rail 11 and then the welding work is carried out while moving.

In the above embodiment, the guide rail device of the welding robot according to the present embodiment was applied to the work when welding the steel frame 101 having the shape of a square pole. For example, as shown in FIG. Beam 103 on the side of steel frame 101
The present invention can be applied to welding work for fastening, and is not limited to the applicable range.

[0028]

As described above in detail with reference to the embodiments, according to the guide rail device of the welding robot of the present invention,
U-shaped guide rails, which are movably supported by the welding robot, are provided along the outer periphery of the steel frame, and at least one of the guide rails at opposite positions is movable toward and away from the other. Since the third magnet device, which is located between the first magnet device and the second magnet device in the second magnet device and the guide rail and is movable toward and away from the second magnet device, is provided so as to be movable in the moving direction, Since the guide rail is attached by attracting a magnet, the guide rail can be easily attached and the attachment and setting can be performed in a short time. Further, by making the guide rail U-shaped and moving the welding robot along the guide rail, for example, in the welding work of a steel frame having a square pole shape,
The setting of the welding robot becomes easy, and the four side surfaces of the steel frame can be continuously welded, so that the work efficiency of the welding work of the steel frame can be improved.

[Brief description of drawings]

FIG. 1 is a schematic perspective view showing a guide rail device of a welding robot according to an embodiment of the present invention.

FIG. 2 is a plan view of a guide rail device.

FIG. 3 is a sectional view taken along line III-III in FIG. 2 showing a first magnet device.

FIG. 4 is a schematic perspective view showing a second magnet device.

5 is a cross-sectional view taken along line VV of FIG. 2 showing a third magnet device.

FIG. 6 is a plan view showing a mounted state of a self-propelled carriage.

7 is a sectional view taken along line VII-VII of FIG.

FIG. 8 is a schematic diagram showing a welding operation of a prismatic steel frame by a welding robot.

FIG. 9 is a schematic view showing a beam welding operation by a welding robot.

[Explanation of symbols]

 11 Guide rail 12 1st magnet device 13 2nd magnet device 14 3rd magnet device 15 Self-propelled carriage 16 Welding robot 21,22 Straight rail 23,24,25 Bent rail 31,34,41 Magnet 33,40 Linear way 37 Motor 55, 56, 57 Holding roller 61, 62, 63, 64 Side roller 65 Drive motor 66 Sprocket 68 Chain 77 Welding tool

Claims (1)

[Claims] 1. A guide rail device of a welding robot for movably supporting a welding robot for fastening steel frames together, wherein the welding robot is arranged along the outer periphery of the steel frame in a U shape so that the welding robot is movable. A guide rail supported by the first and second magnet devices, at least one of which is provided at a position facing the guide rail so as to approach and separate from the other, and the first magnet device and the first magnet device of the guide rail. A guide rail device for a welding robot, comprising: a third magnet device which is located between two magnet devices and is movable along a moving direction of the magnet device that can approach and separate.