JPH0857687A - Horizontal positioning device for structure - Google Patents

Abstract

PURPOSE: To easily and exactly execute horizontal positioning of structures to be executed at the time of automatic welding by constituting upper clampers and lower clampers for clamping the flanges of the structures in such a manner that both clampers are approached and parted equidistantly to and from each other and previously aligning the height levels of respective positioning device to a reference height level. CONSTITUTION: Sheet metal girders 1 are first placed on a chain conveyor 19 and are transported to a surface welding stage where the sheet metal girders 1 are stopped by the effect of sensors in a prescribed reference position. Respective horizontal positioning devices P move on rails 9 and approach the sheet metal girders 1 when the positionings to the front end of the sheet metal girders are executed, i.e., the positionings in the X-axis directions of reference coordinates are executed in such a manner. These positioning devices are stopped by the signals from proximity switches 17. The lower clampers 4 of the respective horizontal positioning devices P are risen by second cylinders 16 until touch sensors 18 come into contact with the rear surface of the flanges of the sheet metal girders 1. Next, the sheet metal girders 1 are lifted up to the upper limit positions of the lower clampers 4 of the respective horizontal positioning device P.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a horizontal positioning device for structures, and more particularly to a structure installed on an automatic welding stage in an automatic production line for steel structures such as bridges, the web surface of which is a reference horizontal coordinate plane. And a device for positioning to match.

[0002]

2. Description of the Related Art For example, as shown in FIG. 7, a bridge having a band girder structure, which is made of H-shaped steel reinforced by various reinforcing materials, has been well known in the past. An automatic production line for girders has been developed in place of the production of work, and is attracting attention.

This automatic girder production line will be described with reference to the drawings. FIG. 8 is a schematic perspective view showing the automatic girder production line. In FIG. 8, A is a temporary assembly stage for temporarily assembling members such as the web 1A, the flange 1B, and the stiffener 1C forming the plate girder 1 to assemble the plate girder 1, and B is a plurality of reinforcing members such as the stiffener 1C. Is a surface welding stage that automatically and permanently welds the surface of the temporary girder, and is composed of multiple welding robots. C is an inversion stage that inverts the front and back of the plate girder 1 whose surface has been welded. D is a backside welding stage for automatically main welding the backside of the plate girder 1 by a welding robot,
E is a welding distortion removing stage for removing the welding distortion of the plate girder 1 for which the main welding has been completed.

In the automatic girder production line constructed as described above, the girder 1 is manufactured as follows.
The plate girder members such as the web 1A, the flange 1B, and the stiffener 1C are temporarily attached at the assembly provisioning stage A and assembled into the plate girder 1. Next, the temporarily attached girder 1 is
It is sent to the surface welding stage B, where the main welding of the surface of the plate 1 is automatically performed by the welding robot. Next, the plate girder 1 on which the surface welding has been performed is sent to the reversing stage, where the front and back of the plate girder 1 are reversed. Next, the plate 1 with the front and back reversed is sent to the backside welding stage D,
Here, the main welding of the rear surface of the plate girder 1 is automatically performed by the welding robot. In this way, the plate girder 1 on which both sides have been welded is sent to the welding distortion removing stage E, where the welding distortion is removed and is conveyed to the next step.

As described above, in the front and back welding stages of the automatic girder production line, the front and back of the girder 1 are automatically welded by the welding robot.
At this time, what is important is the positioning of the plate girder 1 on the conveyor. This positioning means that the plate girder 1 is accurately set to the position coordinate of the plate girder 1 having a relative positional relationship with the operation coordinates of the welding robot. This positioning is performed as follows. That is, the plate girder 1 is stopped at the reference position of the welding stage, the tip of the plate girder 1 is positioned, and then
The plate girder 1 is moved in the height direction and the direction orthogonal to the plate girder transport line so that the web 1A surface of the plate girder 1 coincides with the reference coordinate plane.

Conventionally, such positioning is generally performed by a positioner which fixes both ends of the plate girder 1 as shown in FIG.

[0007]

However, the above-mentioned conventional positioning by the positioner has the following problems. Since it is necessary to set the plate girder 1 on the positioner 2 by the crane, it takes time to set the plate girder 1. Since the plate girder 1 is hung on the positioner 2 by the crane, the welding robot connected to the positioner 2 needs to be mobile, and the welding robot becomes expensive. When the plate girder 1 is a long object, the plate girder 1 bends due to its own weight,
If it is welded as it is, the product remains deformed.

SUMMARY OF THE INVENTION Therefore, an object of the present invention is to provide a structure horizontal positioning apparatus capable of easily and accurately performing horizontal positioning of a structure when automatically welding a large structure such as a girder.

[0009]

SUMMARY OF THE INVENTION The present invention is directed to a structure for positioning a structure on a conveyor having webs and flanges of different widths such that the web surface coincides with a reference horizontal coordinate plane. A horizontal positioning device for a structure, wherein a plurality of devices are installed on both sides of the structure with a space therebetween, and are movable in a direction orthogonal to a conveying direction of the structure,
An upper gripping tool, a lower gripping tool provided below the upper gripping tool so as to face the upper gripping tool, and a first gripping tool for moving the upper gripping tool and the lower gripping tool at equal distances from each other, It is characterized in that it comprises one driving means and a second driving means for raising and lowering only the lower gripping tool.

The first driving means includes a first cylinder, a sliding plate that moves up and down by the first cylinder, a lower rack fixed to the sliding plate, and an upper rack fixed to the upper gripping tool. , A pinion meshed between the lower rack and the upper rack, and the second drive means comprises a second cylinder fixed to the slide plate, and the lower grip is held by the first cylinder. The tool moves up and down together with the sliding plate and the second cylinder, and at the same time, the upper gripping tool moves up and down an equal distance in the opposite direction to the lower gripping tool via the lower rack, the upper rack and the pinion. The second cylinder is characterized in that the lower gripper moves up and down along the sliding plate.

[0011]

The upper gripping tool and the lower gripping tool for gripping the flange of the structure are configured so as to approach, move away from, and move away from each other, and the height level of each positioning device can be adjusted to the reference height level in advance. For example, even if the flange width is different,
If the flange is gripped by the upper gripping tool and the lower gripping tool, the web surface of the structure is positioned in the height direction,
Then, if the entire apparatus is moved in the direction orthogonal to the transport direction of the structure, the web surface of the structure is positioned in the direction orthogonal to the transport direction of the structure.

[0012]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Next, an embodiment in which the horizontal positioning apparatus for a structure according to the present invention is applied to the above-mentioned automatic production line for a girder will be described with reference to the drawings.

FIG. 1 is a schematic sectional view showing a horizontal positioning device P for a structure according to the present invention, and FIG. 2 is a horizontal sectional view of the horizontal positioning device P for a structure according to the present invention, which is used for the automatic production line for a girder. FIG. 3 is a schematic plan view when applied, FIG. 3 is a perspective view of a plate girder having a different flange width, and FIGS.
It is a front view which shows the horizontal positioning method of the girder by the horizontal positioning device P of a structure. Note that FIG. 8 also shows the horizontal positioning device P for structures according to the present invention.

1 and 2, 3 is an upper gripping tool, 4 is a lower gripping tool provided below the upper gripping tool 3 so as to face the upper gripping tool 3, and 5 is an upper gripping tool 3. The first driving means 6 for moving the lower gripping tool 4 and the lower gripping tool 4 toward and away from each other at equal distances is a second driving means for lifting and lowering only the lower gripping tool 4. All of these are housed in a casing 7, which is fixed to a carriage 8 which is used to correct the lateral misalignment of the plate girders 1 in order to correct the lateral displacement of the plate girders 1 at the welding stage B, D. It is movable via a wheel 10 on a rail 9 laid in a direction orthogonal to.

The first drive means 5 includes a first cylinder 11 and
Between the sliding plate 12 that moves up and down by the first cylinder 11, the lower rack 13 fixed to the sliding plate 12, the upper rack 14 fixed to the upper gripper 3, and between the lower rack 13 and the upper rack 14. Consists of a meshed pinion 15,
The second driving means 6 comprises a second cylinder 16 fixed to the sliding plate 8.

When the first cylinder 11 is operated, the lower gripping tool 4 moves up and down together with the sliding plate 12 and the second cylinder 16, and at the same time, the upper gripping tool 3 moves the lower rack 13, the upper rack 14 and the pinion 15 together. Via the lower gripping tool 4, it moves up and down through the same distance. On the other hand, the second cylinder 1
When 6 is operated, the lower gripping tool 4 moves up and down independently along the sliding plate 12.

Numeral 17 is a proximity switch attached to the surfaces of the casing 7 on the side of the grippers 3 and 4, and the horizontal positioning device P of the present invention moves on the rail 9 to reach the plate girder 1 on the chain conveyor 19. Detects approach. 18
Is a touch sensor attached to the lower gripping tool 4 and detects that the lower gripping tool 4 contacts the lower surface of the flange 1C of the plate girder 1.

The horizontal positioning device P for the structure of the present invention
According to the above, the positioning of the plate girder 1 is performed as follows. First, the plate girder 1 is placed on the chain conveyor 19 in a state as shown in FIG. 4 and conveyed to the surface welding stage B, and stopped at a predetermined reference position (A) by the action of a sensor (not shown) (FIG. 2). When the tip of the plate girder 1 is thus positioned, that is, the positioning of the reference coordinate in the X-axis direction, each horizontal positioning device P moves on the rail 9 to approach the plate girder 1, and the proximity switch 17 is moved.
Stopped by the signal from. Next, the lower gripping tool 4 of each horizontal positioning device P is raised by the second cylinder 16 until the touch sensor 18 contacts the lower surface of the flange 1C of the plate girder 1.

Next, the plate girder 1 is lifted up to the upper limit position of the lower gripping tool 4 of each horizontal positioning device P, as shown in FIG. This is for the following reason. The height level of each horizontal positioning device P is obtained by gripping the flange 1B of the plate girder 1 by the upper gripper 3 and the lower gripper 4.
This is because the web 1A of the plate girder 1 is preset so as to match the reference horizontal line (L), and the reference height level of the lower gripping tool 4 in this case is the upper limit position of the lower gripping tool 4.

In this way, when the plate girder 1 is lifted on the chain conveyor 19 by the lower holding tool 4, in order to correct the positional deviation in the direction orthogonal to the conveying direction of the plate girder 1, that is, in the lateral direction of the plate girder 1. , The carriage 8 is moved to a preset position. As a result, positioning of the reference coordinates in the Y-axis direction is performed. Next, as shown in FIG. 6, the flange 1 </ b> B of the plate girder 1 is gripped by the upper gripper 3 and the lower gripper 4 by the first cylinder 11. As a result, the web 1A of the plate girder 1 coincides with the reference horizontal line (L). As a result, positioning of the reference coordinates in the Z-axis direction is performed.

The same operation as described above is also performed on the backside welding stage D.

[0022]

As described above, according to the present invention, there is also an industrially useful effect that horizontal positioning when automatically welding a structure such as a girder can be performed easily and accurately regardless of the flange width. Be defeated.

[Brief description of drawings]

FIG. 1 is a schematic sectional view showing a horizontal positioning device for structures according to the present invention.

FIG. 2 is a schematic plan view of the horizontal positioning device for a structure according to the present invention applied to an automatic production line of a girder.

FIG. 3 is a perspective view of a plate girder with different flange widths.

FIG. 4 is a front view showing a plate girder on a conveyor in the method for horizontally positioning a plate girder by the horizontal positioning apparatus for a structure according to the present invention.

FIG. 5 is a front view showing a state in which the plate girder is lifted on the conveyor in the method for horizontally positioning the plate girder by the horizontal positioning apparatus for structures according to the present invention.

FIG. 6 is a front view showing a state in which horizontal positioning is performed in the horizontal positioning method for the cross beam by the horizontal positioning device for structures according to the present invention.

FIG. 7 is a perspective view showing a plate girder.

FIG. 8 is a schematic perspective view showing an automatic production line for a girder.

FIG. 9 is a schematic perspective view showing a positioner.

[Explanation of symbols]

 A: Assembly temporary mounting stage, B: Surface welding stage, C: Inversion stage, D: Backside welding stage, E: Strain relief stage, 1: Plate girder, 1A: Web, 1B: Flange, 1C: Stiffener, 2: Positioner, 3: Upper gripping tool, 4: Lower gripping tool, 5: First driving means, 6: Second driving means, 7: Casing, 8: Truck, 9: Rail, 10: Wheel, 11: First cylinder, 12: Sliding plate, 13: lower rack, 14: upper rack, 15: pinion, 16: second cylinder, 17: proximity switch, 18: touch sensor, 19: chain conveyor.

 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Inventor Naohiro Tamaki 1-2-1, Marunouchi, Chiyoda-ku, Tokyo Nihon Steel Pipe Co., Ltd.

Claims (2)

[Claims] 1. A structure for positioning a structure on a conveyor having a web and a flange having different widths so that the web surface is aligned with a reference horizontal coordinate plane. A horizontal positioning device for a plurality of structures, which is movable in a direction orthogonal to a conveying direction of the structure, the upper gripping tool and the upper gripping tool below the upper gripping tool. A lower gripping tool, a first driving means for moving the upper gripping tool and the lower gripping tool closer to and away from each other, and a second driving means for lifting and lowering only the lower gripping tool. A horizontal positioning device for a structure, which comprises: 2. The first drive means includes a first cylinder,
The sliding plate that moves up and down by the first cylinder, the lower rack fixed to the sliding plate, the upper rack fixed to the upper gripping tool, and the lower rack and the upper rack are meshed with each other. A pinion, and the second driving means is a second cylinder fixed to the sliding plate,
By the first cylinder, the lower gripper moves up and down together with the sliding plate and the second cylinder, and at the same time,
The upper gripper moves up and down by the same distance in the opposite direction to the lower gripper via the lower rack, the upper rack, and the pinion, and the second cylinder causes the lower gripper to move to the sliding plate. Device according to claim 1, characterized in that it is raised and lowered along it.