JPH079129A - Device for welding reinforced structure - Google Patents

Abstract

PURPOSE:To efficiently produce a reinforced structure by automatically welding the crossing parts of reinforcing bars in a good working environment. CONSTITUTION:This device moves on rails 3 arranged on both sides of the reinforced structure 1 to be produced and constitutes a gate type robot truck 80 by implanting plural pieces of legs 6, 6a on wheel girders 5 traveling on the rails 3 to form two pieces of leg bodies 8, 8a and connecting the upper parts of two pieces of the leg bodies 8, 8a arranged part from each other by means of an inter-leg girder 7. Further, a horizontal movable girder is vertically movably supported between two pieces of the leg bodies and a robot base 14 is placed longitudinally movably on this movable girder 10. A welding robot 17 is mounted to this robot base 14 and further, the robot truck 80 is provided with a shed, by which welding work points are covered. The robot truck 80 is moved by the prescribed distance each along the rails 3, by which the welding is executed.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention provides a welding apparatus suitable for producing a reinforcing bar structure which is a concrete reinforcement, particularly a reinforcing bar car.

[0002]

2. Description of the Related Art For example, when constructing a dam, a large underground facility, or a large building, a reinforcing body made of a reinforced structure is used. In order to manufacture this rebar structure, the rebars are arranged vertically and horizontally on a fixed frame, and the intersections are tied together with thin beams to integrate them at the construction site.

[0003]

Although these are lattice-shaped reinforcing bar structures in which reinforcing bars are arranged in a plane, a plurality of layers of reinforcing bars are assembled to form a block called a reinforcing bar basket to improve work efficiency on site. This is being done at construction sites for dams and large underground facilities that use large amounts of reinforced structures.

In order to manufacture such a reinforcing bar basket, it is necessary to bind many intersections of the reinforcing bars to manufacture a grid-shaped reinforcing bar structure with a flat plate, and further to form the reinforcing bar structure in multiple layers. The work is difficult. In other words, the work site where this reinforced steel basket is manufactured is an outdoor exposed area, and it is necessary to perform binding work in an environment where it is troubled by rain and wind.
Further, this binding work is a downward work in which the user bends down, hurt the waist of an unfamiliar person, is not suitable for long working hours, and is extremely difficult work for a young person who has little experience.

Further, the reinforcing bar basket used for dam construction and the like is a large-scale reinforcing bar structure, and when manufacturing this, it is necessary to perform binding work while moving on the reinforcing bar, and it moves on a thin reinforcing bar. Because of this, there are many accidents where people miss their feet. If you step off in this way, the sharp tips of the beams that have already been bound will stick to your thighs or crotch, or you will hit the crotch with rebar, resulting in considerable injury. There is. Under such circumstances, it is extremely difficult to secure a worker who assembles the reinforcing bar.

The present invention eliminates the conventional manual work in which a worker binds such intersections of reinforcing bars with a beam to manufacture a reinforcing bar structure, and provides an apparatus capable of automatically welding the intersections of reinforcing bars. It is intended to be provided.

[0007]

A rebar structure welding apparatus according to the present invention for achieving the above object is a device which moves on rails arranged on both sides of a rebar structure to be manufactured. A plurality of rigid legs are erected on a wheel girder running on the rail to form two legs, and the upper parts of the two legs that are spaced apart are connected by an inter-leg girder. A gate-shaped robot carriage is configured, and a horizontal movable girder is supported between the two legs so as to be movable in the vertical direction.
A robot base is mounted on the movable girder so as to be movable in the longitudinal direction, and a welding robot is attached to this robot base.
Further, the robot trolley is provided with a shed to cover the work area, and the robot trolley is configured to be moved along the rail by a predetermined distance and welded.

[0008]

[Operation] The robot trolley 80 moves on the rail 3, and the robot pedestal 14 is provided on the movable girder 10 which is supported by the robot trolley 80 and moves up and down, and the welding robot 17 is provided on the robot pedestal 14. Therefore, this welding robot 17 can be used in all directions (X, Y).
・ Movable in Z direction, and robot trolley 8
Since the reinforced structure can be assembled below 0, the welding spot can be accurately welded.

Further, since the robot trolley 80 performs welding work in the roof 23 composed of the roof and the wall (part of which is a flexible wall),
Since the welding work is performed indoors, a good work environment can be obtained even if the work environment is a work site such as a dam. Further, since the welding robot 17 can automatically move in various directions according to the sequence of the control device, it is possible to extremely easily weld a large number of welding points.

[0010]

EXAMPLES Examples of the present invention will be described with reference to the drawings. 1 is a front view of a reinforcing bar structure welding apparatus M according to an embodiment of the present invention, FIG. 2 is a side view thereof, and FIG. 3 is a plan view thereof. This rebar structure welding device M has a function equivalent to that of a roof-type welding factory, and positioning rails are arranged on both sides of the rebar cage 1 (rebar grid at the initial stage of assembly) that is the rebar structure to be assembled. The rails 3 provided on the rails 2 and 2a move together with the shed, and the diagonal leg 6 and the vertical leg 6a are mounted on the wheel girder 5 having the wheels 4 rolling on the rail 3 at the bottom. The strong leg bodies 8 and 8a are formed by planting, and the upper ends of the leg bodies 8 and 8a are connected by the inter-leg girder 7 to form a gate-shaped robot carriage 80. An operation stage 9 is arranged on the side of the one leg 8 and has a wider width than the other leg 8a.

Two vertical legs 6a arranged in parallel
A movable girder 10 in the horizontal direction is arranged between the legs, and the inter-leg girder 7 and the movable girder 10 are connected by an electric chain block 11, and the electric chain block 11 is operated to move the movable girder 10 up and down. It is configured to be movable. As shown in FIG. 3, two rails 12 are laid on the upper surface of the vertically movable girder 10, and a rack 13 is laid in parallel between the rails 12. A robot base 14 is movably provided on the rail 12, a pinion 15 provided on the robot base 14 is meshed with the rack 13, and the pinion 15 is driven by an encoder motor 90 (not shown) to move the movable girder 10. The robot base 14 is configured to be sequentially moved along the upper surface by a controlled distance.

Pillars 16 are provided on both sides of the robot base 14 so as to hang parallel to both sides of the movable girder 10, and welding robots 17 are provided at the lower portions thereof. Further, a gate-shaped frame 2 is provided at both ends of the wheel girder 5 (FIG. 2).
The lower end of 0 is fixed, and the roof 2
1 is supported by the frame 20 as a structural material, a wall surface 22 is provided on a surface parallel to the rail 3, and a flexible curtain 23 is provided on the front and rear surfaces orthogonal to each other.

Therefore, a gate-shaped robot carriage 80 composed of the legs 8 and 8a and the inter-leg girder 7 and the like is composed of a frame 20, a roof 21, front and rear flexible curtains 23, and walls 22 on both side surfaces. The welding robot 17 is housed in the roof 50, and the welding robot 17 performs welding work in the roof 50. As shown in FIG. 3, a hydraulic pump unit 24 is provided on the leg 8a side, and a power receiving box 25a, a robot traveling controller 25b, and a robot are provided in the operation stage 9 suspended from the movable girder 10 on the leg 8 side. A controller 25c and a welder 25d are provided.

Hydraulically operated stoppers 27 are provided on both sides of the wheel girder 5, and a traveling hydraulic cylinder 28 is provided at the front end of the wheel girder 5, and a clamping device 29 having a hydraulic clamp 29a is provided on the hydraulic cylinder 28. Has been. FIG. 4 is a cross-sectional view showing the main part of the hydraulic clamp 29a (or stopper 27) of the clamp device 29. The rack 2r is provided at the middle of both vertical sides of the positioning rails 2 and 2a having an H-shaped cross section. It is configured by a mechanism having a claw 30 that meshes. This mechanism supports the claw 30 so that it can be retracted and retracted through an opening 32 provided in a front plate of a cylindrical main body 31,
The claw 30 is fixed to a sliding body 33 that is slidably fitted inside a main body 31, and the sliding body 33 is a spring 34.
It is suppressed so that it always projects.

An end 30a of the pawl 30 is engaged with a sliding body 35 slidably provided on the rear side of the main body 31, and when it is pulled by a hydraulic cylinder 36 connected to the sliding body 35, The tip portion 35a of the sliding body 35 is configured to retract the claw 30 against the elastic force of the spring 34 to release the engagement with the rack 2r. Therefore, the elastic force of the spring 34 normally engages the claw 30 with the rack 2r provided on the positioning rails 2 and 2a to stop the robot carriage 80 at a predetermined position, and when moving, the hydraulic cylinder 36 retracts the claw 30. It is designed to release the mesh.

FIGS. 6 and 7 are sectional views showing the relationship between the wheel girder 5 which is the lower structure of the leg 8 and the positioning rails 2, 2a, and the like. The rails 2, 2a and the rails provided thereon are shown. Inside the wheel girder 5 formed so as to straddle the wheel 3, the wheel 4 that rotates the upper surface of the rail 3 and the wheels 4a and 3b that abut on both side surfaces of the head of the rail 3 are rails 2 and 2
It is provided so as to contact the lower surface of the upper side of a. While moving the robot carriage 80 on the rail 3 in this way, the claws 30 of the stopper 27 provided on the wheel girder 5 which is the lower structure of the robot carriage 80 mesh with the racks 2r provided so as to project on both sides of the rails 2 and 2a.・ It is designed to be opened.

8 to 13 show a clamp device 29, in which wheels 41 and 41a rolling on the rail 3 are provided in front of and behind a main body 40 arranged along the rail 3. Clamps 29a are provided on both sides of the central portion of the. Wheels 43, 43a that come into contact with the rear surfaces of the upper sides of the rails 2, 2a are attached to the brackets 42, 42a provided at the front and rear (see FIG. 7).
Wheels 3b), and wheels 44, 44a (wheels 4a in FIG. 7) that come into contact with both side surfaces of the head of the rail 3 are provided on the back surface of the main body 40 to prevent the main body 40 from rising and slipping sideways. ing.

A bracket 45 (FIG. 11) provided at the center of the main body 40 is provided with a traveling hydraulic cylinder 28 (FIG. 1).
The tip of 0) is connected. This hydraulic clamp device 29
Guides the wheels 44 and 44a by the wheels 41 and 41a while engaging the wheels 44 and 44a with the rail 3 to prevent lateral displacement, and further, the wheels 43 and 43a.
a is engaged with the rails 2 and 2a to prevent the main body 40 from being lifted up, and the claws 30 (see FIG. 4) of the clamp 29a which moves to face the rack 2r are engaged to engage the main body 40.
Is fixed to the rails 2 and 2a.

Since the traveling hydraulic cylinder 28 is expanded and contracted and the stopper 27 provided on the wheel girder 5 of the reinforcing bar structure welding apparatus M shown in FIGS. 1 to 3 is operated, it moves as if the scale insect moves. is there. In this case, the clamp device 2 is attached to the rack 2r provided on the side surfaces of the rails 2 and 2a.
Since the hydraulic clamp 29a of No. 9 and the stopper 27 mesh with each other, the reinforced structure welding apparatus M can be advanced to a predetermined position and stopped.

Next, a method of operating the reinforcing bar structure welding apparatus M will be described. An example of the case of manufacturing a reinforcing bar cage 1 as shown in FIG. 14 will be described. A gantry 50 is arranged at a predetermined position between two rails 2 and 2a, and a reinforcing bar is placed on the gantry 50 at a predetermined position. Supports the fixed frames 1a and 1a 'for placement (when the frame 50 is not used, the fixed frame 1a is placed on the ground).
a, 1a 'can be placed directly) This fixed frame 1
Vertically in the V-shaped notch provided on the upper surface of a, 1a '.
The horizontal reinforcing bars 1b and 1c are arranged. This work is shown in Figs.
There is a case where it is carried out inside the roof 23 of the reinforcing bar structure welding apparatus M shown in (1) and a case where it is carried out outside the reinforcing bar structure welding apparatus M.

The stopper 2 provided on the wheel girder 5
7. The clamp 29a of the hydraulic clamp device 29 and the traveling hydraulic cylinder 28 are operated to operate the reinforcing bar structure welding device M (see FIG.
2) is moved above the gantry 50. This operation is performed by the operator on the operation stage 9. Next, the electric chain block 11 is operated to move the movable girder 10 up and down to a position where the welding robot 17 can perform welding. Then, according to the control sequence of the welding robot 17, the predetermined positions of the intersecting portions of the reinforcing bars are welded in a predetermined order.

The reinforcing bar structure or reinforcing bar grid as shown in FIG. 13 is manufactured in this way. When the reinforcing bar grid or the reinforcing bar car 1 is constructed in multiple stages, the first reinforcing bar is used. Once the car is formed, place a fixed frame on it and put the vertical and horizontal reinforcing bars 1b, 1c on this fixed frame.
Are arranged in a cage, and the welding robot 17 is operated to weld the intersecting portions of the reinforcing bars.

When the welding robot 17 is moved in the width direction of the rebar cage 1, the encoder motor 90 provided on the robot base 14 is driven to rotate the pinion 15 meshed with the rack 13 to a predetermined position. The robot base 14 is moved to. Further, as shown in FIG. 2, the wheel girder 5 is pulled and moved so as to move the reed cage that operates the traveling hydraulic cylinder 28 as shown in FIG. 2 with respect to the longitudinal movement of the reinforcing cage 1 (FIG. 14). .

[0024]

The rebar structure welding apparatus M according to the present invention is
A device for moving on rails 3 arranged on both sides of a reinforced structure 1 to be manufactured, which is a device in which a plurality of legs 6, 6a are erected on a wheel girder 5 traveling on the rails 2
The leg bodies 8 and 8a are formed, and the upper portions of the two leg bodies 8 and 8a that are spaced apart are connected by the inter-leg girder 7 to form a gate-shaped robot carriage 80. The movable girder 10 in the horizontal direction is supported between the legs of the robot so as to be vertically movable, and the robot base 14 is mounted on the movable girder 10 so as to be movable in the longitudinal direction. The welding robot 17 is mounted on the robot base 14. The robot trolley 80 is provided with a roof 23 to cover the welding work area, and the robot trolley 80 is moved along the rail 3 by a predetermined distance to perform welding. There is.

Therefore, the welding robot 17 has the movable girder 1.
Since the robot trolley 80 moves on the rail 3 in the vertical direction by the vertical direction of 0 and in the direction (width direction) across the movable girder 10 and across the reinforcing bar structure 1, the longitudinal direction of the reinforcing bar structure 1 Therefore, not only when the reinforcing bar structure 1 has a flat plate shape but also when it is a three-dimensional reinforcing bar cage, it is possible to efficiently and automatically weld according to its shape.

The welding robot 17 can perform welding while moving in accordance with a sequence predetermined by the control device, and can efficiently weld many welding points.
Since the robot carriage 80 accommodates the welding device in the warehouse 23, it is possible to perform overall work such as indoor welding work even at a work site exposed to wind and rain.

[Brief description of drawings]

FIG. 1 is a front view of a reinforcing bar structure welding apparatus according to an embodiment of the present invention.

FIG. 2 is a side view of the same reinforcing bar structure welding apparatus.

FIG. 3 is a plan view of the reinforcing bar structure welding apparatus.

FIG. 4 is a front view of essential parts of a stopper and a hydraulic clamp.

FIG. 5 is a front view of a wheel girder and a hydraulic stopper.

FIG. 6 is a side view of a hydraulic stopper.

FIG. 7 is a front view showing a main part of the clamp device.

FIG. 8 is a plan view of a main body showing an arrangement of wheels of the clamp device.

9 is a side view of FIG.

FIG. 10 is a side view of the clamp device.

FIG. 11 is a plan view of the clamp device.

FIG. 12 is a cross-sectional view showing the main parts of the clamp device.

FIG. 13 is a side view of the clamp device.

FIG. 14 is a perspective view showing an example of a reinforcing bar structure person.

[Explanation of symbols]

1 Reinforcing bar basket (reinforcing bar structure) 2, 2a Positioning rail 2r Rack 3 Rail 4 Wheel 5 Wheel girder 6 Leg 7 Inter-leg girder 8, 8a Leg 10 Movable girder 11 Electric chain block 12 Rail 14 Robot stand 21 Roof 22 Wall 23 Flexible curtain 25a Power receiving box 25b Robot controller 25c Robot controller 25d Welder 27 Hydraulically operated stopper 28 Hydraulic cylinder for traveling 29 Clamping device 29a Hydraulic clamp 30 Claw 31 Main body 33 Sliding body 36 Hydraulic cylinder 50 Shed 80 Robot cart 90 Encoder motor

 ─────────────────────────────────────────────────── ─── Continued front page (72) Inventor Toshio Watanabe 1-3-2 Shibaura, Minato-ku, Tokyo Shimizu Construction Co., Ltd. (72) Inventor Masahiko Tanno 1-3-2 Shibaura, Minato-ku, Tokyo Shimizu Construction Co., Ltd. (72) Inventor Junji Inui 1-3-2 Shibaura, Minato-ku, Tokyo Shimizu Construction Co., Ltd. (72) Inventor ▲ Takahashi Hirota 5-6-4 Tsukiji, Chuo-ku, Tokyo Inside

Claims (2)

[Claims] 1. A device for moving on rails arranged on both sides of a reinforced structure to be manufactured, which device comprises a plurality of rigid legs erected on a wheel girder traveling on the rail.
One leg is formed, and the upper portions of the two legs that are spaced apart are connected by a girder between the legs to form a gate-shaped robot carriage. Further, a horizontal direction is provided between the two legs. The movable girder is movably supported in the vertical direction, and the robot stand is mounted on the movable girder so that the robot stand can be moved in the longitudinal direction. A welding robot is attached to the robot stand, and a roof is provided on the robot carriage. And a work place is covered, and a robot trolley is moved by a predetermined distance along the rail and welded. 2. A device for moving a robot carriage comprises: a stopper provided on a wheel girder, the claw engaging with a rack attached to the rail; and a claw connected to the wheel girder via a hydraulic cylinder and engaging with the rack. The reinforcing bar structure welding device according to claim 1, further comprising a clamp device having a hydraulic clamp having the.