JPS60170579A - Automatic material distributing and welding device - Google Patents

Abstract

PURPOSE:To improve considerably working efficiency by performing automatically distribution, positioning, fixing and welding of materials to be welded by one unit of device. CONSTITUTION:A device 5 for feeding materials to be welded is mounted on a carriage which is controlled to move rectilinearly by a control device. Said device takes out materials 9 to be welded, by each piece, and feeds the materials to a gripping position. A gripping and fixing device 6, mounted on the carriage, receives the material 9 fed to the gripping position by the device 5 and positions and fixes said material to the welding position on a base metal. A welding device 7 is mounted on the carriage and welds automatically the material 9 positioned and fixed onto the base metal. The control device controls the operation of these devices.

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to an apparatus for automatically distributing materials to be welded at regular intervals and automatically welding the materials.

One type of item that requires welding workpieces arranged at regular intervals in a straight line is metal fittings for securing cars that are welded to the loading deck of a car carrier.
．． There are 910,000 to 20,000 Ichiryo totes arranged in the shape of a 0 m base.

Conventionally, when building blocks, if the loading deck is horizontal, welding of this hardware is done at the stage of the block on the ground.If the loading deck is not horizontal, welding of this hardware is done on the deck respectively. After marking the specified dimensions on the
The hardware was welded and fixed to the deck by hand using a 02 semi-automatic welding machine.

For this reason, there are various drawbacks listed below.

■ It is necessary to mark the pattern of the base, and the material to be welded must be temporarily placed in advance, which requires a considerable amount of man-hours and time.

■ It is necessary to align and fix the workpieces to be welded at each welding position, and although it is a simple work, since the number of parts is large, it requires a great deal of labor and man-hours, and the work efficiency is low.

The purpose of the present invention is to eliminate such conventional drawbacks and provide an automatic material placement and welding device that automates the placement and welding of materials to be welded, thereby freeing people from simple work and improving work efficiency. The configuration of the present invention to achieve such an object includes: a cart equipped with a steering mechanism, capable of stopping at regular intervals, and controlled to move straight by a light-guided straight-travel control device; and a piece of material to be welded mounted on the cart. A welding material feeding device that takes out the welded material one by one and feeds it to the gripping position, and a welding material feeding device mounted on the trolley to receive the welded material fed to the gripping position and welding on the motherboard. A gripping and fixing device that positions and fixes in position, a welding device that automatically welds the material to be welded mounted on the trolley and positioned and fixed on the base material, and a control device that controls the operation of each of these devices. Features.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, a case in which an embodiment of the present invention is applied to an apparatus for welding hardware for securing automobiles to a loading deck of a car carrier will be described in detail with reference to the drawings.

FIGS. 1 and 2 are a front view and a plan view of the automatic material placement and welding apparatus of the present invention.

A trolley 2 that runs on the deck 1 is equipped with a steering mechanism 3 and a light beam receiver 4 that allows the vehicle to travel straight. A welding material feeding device 5 for supplying materials to be welded, a gripping and fixing device 6 for positioning and fixing metal objects on the receiving deck 1, an automatic welding device 7 equipped with two welding torches 62, and controlling each of these mechanisms or devices. A control device 8 is installed.

This trolley 2 eliminates the need for markings, can move straight while stopping at regular intervals, and is equipped with a steering mechanism 3, as shown in FIGS. 3 and 4.

This steering mechanism 3 is attached to one wheel 19 of the three wheels of the bogie 2, and a drive wheel support frame 12 is attached to a hollow cylindrical support portion 11 attached to one end of the bogie frame 10 in the running direction. A support shaft 13 is rotatably mounted, and a manual nodle 14 is attached to the upper end. A worm wheel 15 is fitted into the middle of the support shaft 13 and meshes with a worm 18 driven via a steering motor 16 and a chain 17 attached to the truck frame 10.

On the other hand, a drive wheel 19 is provided at the lower end of the drive wheel support frame 12.
is installed, and the driving gear 20 is fixed integrally. A travel drive motor 21 is attached to the drive wheel support frame 12, and a drive gear 22 is connected to the drive gear 21 via a reduction gear 22.
A driven gear 23 that meshes with 0 is provided. The traveling drive motor 21 has a built-in encoder for detecting the travel distance of the trolley 2, and is also equipped with a clutch so that the trolley 2 can be driven manually.

In order to make this truck 2 move straight in a trackless state, a light receiving panel 2 of the light beam receiver #4 is attached to the side of the truck 2 as shown in FIG.
4 is reversibly installed so that it can receive light regardless of the running direction, and receives the original beam from a source beam projection device such as a laser source installed on the deck 1 side, and a signal indicating the receiving position of this light beam. is output, and based on this, straight-line control is performed via the control device 8.

Next, the welding material feeding device 5 mounted on this truck 2 will be explained.

This welding material feeding device 5 is supplied to the pieces 9 one by one.
A feeding mechanism 25 that feeds the hardware to the gripping position, and a separation mechanism 26 that separates and supplies all the hardware 9 pieces at a time.

As shown in FIG. 5 showing the v-■ cross section of FIG. 2 and FIG. 6 showing the V+-V+ cross section of FIG. A guide bar 30 is attached to the proximal end of an air cylinder 29 equipped with limit switches 27 and 28 for detecting the position, and the guide bar 30 has two ronds at the tip arranged in parallel in the direction perpendicular to the traveling direction of the bogie frame 10.
Workpiece pedestal 32 equipped with guide rollers 31i that roll on top
is connected to. On this workpiece pedestal 32, a U-shaped hardware receiving part 33 with an upper opening at the tip is attached, and phototube detectors 3 facing each other in the front and back of the traveling direction of the trolley 2 are installed.
4 makes it possible to detect the presence or absence of hardware 9. Adjacent to the proximal end side of this hardware receiving portion 33,
5 is formed.

The separation mechanism 26 is constructed as shown in FIG. 7, which shows the cross section taken along the line ■-■ in FIG. 5, and FIG. 8, which shows the cross section taken along the line ■-■ in FIG.
A support stand 36 is attached to the guide bar 30 of the truck frame 10 as a bridge, and the workpiece holder 3 is attached to this support stand 36.
A hardware storage section 37 having a rectangular frame shape is erected so as to face the hardware special section 35 when 2 is set to the forward end.

A locking member 38 that can protrude oppositely in the direction perpendicular to the traveling direction of the trolley 20 is arranged at the lower end of the hardware storage section 37, and is attached to a rod 39 horizontally installed between the support base 36 and the hardware storage section 37. It can be opened and closed along the sides. This locking member 3
The locking member 38 has a vertical groove 4 for opening and closing the locking member 38.
A cam follower 41 is inserted into this groove 40, and this cam follower 41 is implanted in the lower side wall of spur gears 42 that mesh with each other, and this spur gear 42 functions as an eccentric cam. A rod of an opening/closing drive cylinder 43 is connected to the upper side wall of one of the spur gears 42 via a pin, and the base end is attached to the support base 36 via a pin.

Therefore, the spur gear 42 is rotated in opposite directions by the reciprocating movement of the opening/closing drive cylinder 43, and the locking member 3
8 is driven to open and close, and the lower end of the hardware storage section 37 is in an open state or a closed state. Additionally, limit switches 44 and 45 are attached to the opening/closing drive cylinder 43 to detect forward and backward positions.

Next, the entire bracket of the hardware 9 is removed from the welding material feeding device 5, and the gripping and fixing device 6 positions and fixes it at the welding position on the deck 1.
This will be explained with reference to FIG.

This gripping and fixing device 6 is attached to the truck frame 10 so as to be located above the hardware receiving section 33 when the workpiece pedestal 32 of the welding material feeding device 5 is in the gripping position at the forward end. A bracket 47 having guide rails 46 erected opposite each other in the running direction of the cart 2 is attached to the cart frame 10, and two rows 549 are attached to the gripping and fixing mechanism main body 48, and two rows 549 are attached to the guide rails 46. By rolling along the gripping and fixing mechanism main body 48, it is possible to move up and down. A lifting cylinder 50 is attached to the bracket 47 to vertically drive the gripping and fixing mechanism main body 48.
is attached, and the rod at the tip of the gripping and fixing mechanism main body 4
It is connected to 8. This lifting cylinder 50 has an upper limit
Two limit switches 51 and 52 to detect the lower limit position
is built-in. Furthermore, a pair of gripping members 53 which are urged to open outward by a spring are attached to the lower part of the gripping and fixing ms main body 48, and are inserted downward into the hardware 9 on the hardware receiving portion 33 of the workpiece holder 32. Suzori 1
While gripping the workpiece 9 with a pair of grippers, the workpiece 9 is held at a predetermined welding position by moving the workpiece holder 32 backward and then lowering it further. Furthermore, after welding the hardware 9, when the gripping member 53 is lifted up, it can be automatically opened, and the amount of movement of the gripping member 53 is detected by a limit switch 54.

Next, the welding device 7 for fully automatically welding the metal object 9 gripped and fixed at the welding position will be explained with reference to FIGS. 5 and 9.

A torch moving stage 56 that is horizontal in the direction perpendicular to the traveling direction of the trolley 2 is attached to the frame 55 at the tip of the gripping and fixing mechanism main body 48, and a slide base 57 is slidably mounted on the torch moving stage 56. The slide drive motor 58 and the feed mechanism drive the slide base 57 in the direction perpendicular to the travel of the truck 2. This movement of the slide base 57'j! In order to detect i', a limit switch 59 is connected to the torch moving stage 56 so that the position can be changed according to the welding length. Welding torches 62 are mounted opposite to each other at both ends of the slide base 57, that is, at the front and rear ends of the carriage 2 in the running direction, via a left-right position fine adjustment mechanism 60 and a vertical position fine-adjustment mechanism 61, respectively. Further, the slide drive motor 58 has built-in limit switches 63 and 64 for detecting the forward limit position and the backward limit position of the slide base 57.

Furthermore, the trolley 2 is equipped with a control device 8, a light beam receiving device 4. Each limit switch 27, 28, 44,
45,51,52,54゜59.63,64. The input signals from the phototube detector 34 and the encoder of the traveling drive motor 21 are processed and control signals are output to each air cylinder 29, 43, 50°, each motor 16, 21, 58, and the automatic welding device 7 for automatic placement. material and automatic welding.

Welding of the metal fittings 9 by the automatic material arrangement welding apparatus configured as described above is performed as follows.

First, set the light beam projector at the fixed DI position on deck 1, input the distance between the hardware 9 and the welding length to the control device 8 of this device, set it at the work start point (0 point), and store the hardware. The metal fitting 9, which is the material to be welded, is placed over the portion 37 by a predetermined amount. Furthermore, at the start of operation, it is preferable to place one piece of hardware 9 in the hardware receiving part 33 at the tip of the workpiece pedestal 32. After that, when a start instruction is input from the operation panel (not shown),
Compressed air is supplied to the air cylinder 29 of the to-be-welded phase feed device 5 to extend the rod, and the workpiece pedestal 32 is guided by the guide bar 30 and moved forward in the direction perpendicular to the traveling direction of the truck 2.

When the workpiece pedestal 32 reaches the forward end, the limit switch 27 is turned on.9. When the
A command for driving the lifting cylinder 50 is issued. Then, the rod of the lifting cylinder 50 is extended and the gripping and fixing mechanism main body 48 is lowered over the kite rail 46, but when it reaches the gripping position, it is detected by the IJ Mitswitch 54 and the gripping and fixing mechanism main body 48 is lowered. is stopped,
The gripping member 53 is at a predetermined gripping position. Therefore, the gripping member 53 is inserted into the hollow part of the metal object 9 and grips the metal object 9 by the biasing force of the strip 1 nong. At this time, when a signal indicating that the limit switch 54 is turned on is input to the control device 8, the timer is activated, and after the set time has elapsed, a drive signal is output from the control device 8 to the lifting cylinder 50 to retract the rod. As a result, the gripping and fixing mechanism main body 48 is raised, and the hardware 9 is raised while being held by the gripping member 53. Lifting cylinder 5
When 0 reaches the rising limit, the limit switch 51 is turned on.
Then, this signal is input to the control device 8 and the lifting cylinder 50 is stopped.

On the other hand, when the limit switch 27 is turned on to feed the next hardware 9 at the same time as this hardware 9 is gripped, a signal is sent to the opening/closing drive cylinder 43 of the separating mechanism 26 via the control device 8.
output source. As a result, the thrust of the opening/closing drive cylinder 43 is transmitted to the spur gears 42 as two eccentric cams, and the locking member 38 is separated by the rod 39 via the cam follower 41, so that the lower end of the hardware storage section 37 is The state is opened and one piece of hardware 9 falls onto the special hardware section 35. When this opening/closing drive cylinder 43 reaches the drive end, the limit switch 44 is turned on, and this opening/closing drive cylinder 4
3 is stopped, this signal is input to the control device 8, and after the set time required to drop one metal object 9 has elapsed due to the operation of the timer, a drive signal is outputted to the opening/closing drive cylinder 43 again to stop the locking member 38. Close the hardware storage section 37.
Close the lower end to hold the remaining hardware 9 stored. When the limit switch 45 of the opening/closing drive cylinder 43 detects that the locking member 38 is closed, this signal is input to the control device 8 .

In this way, the signal from the limit switch 51 that detects that the gripping member 53 has been raised, the signal from the limit switch 45 that detects that the locking member 38 is closed, and the hardware 9 in the hardware receiving section 33 of the workpiece pedestal 32 are detected. A signal from the phototube detector 34 that detects the absence of the metal object is input to the control device 8, and when it is confirmed that the metal object 9 is completely gripped, the air cylinder 2 that drives the workpiece pedestal 32 again is activated.
A drive signal is output to 9, and the workpiece pedestal 32 starts to move backward.

The hardware 9 that has fallen onto the hardware standby section 35 due to the retreat of the workpiece pedestal 32 is placed in the hardware storage section 37 and relatively moved and stored in the hardware receiving section 33 to be prepared for the next workpiece distribution. When the workpiece pedestal 32 reaches the backward end, the limit switch 28 is turned on, this signal is input to the control device 8, and after processing and calculation, the drive signal = signal is outputted to the lifting cylinder 50 again. Then, the lifting cylinder 50 is driven and the gripping member 53 is lowered to set the hardware 9 at a predetermined welding position on the deck 1, and this state is detected and held by the limit switch 52.

Furthermore, when the signal of this limit switch 52 is input to the control device 8, after processing calculation, a drive signal is output to the slide drive motor 58 of the automatic welding device 7, and the slide base 57 holding the welding torch 62 is moved. advance. When the slide base 57 reaches its forward limit, the limit switch 63 is turned on, the slide drive motor 58 is stopped, and a welding start signal is sent to the automatic welding device 7 to generate an arc. Then, when the set time elapses due to the operation of the timer, a drive signal is output to the slide drive motor 58, and the torch moves onto the torch moving stage 56 to move the slide base 57, and welding is performed with the welding torch 62 attached to this. . And the torch moving stage 56
When the slide base 57 retreats to the limit switch 59 provided at the position, this is turned ON. Then, the drive of the system slide base 57 is stopped by the signal from the limit switch 59, and after the set time required for the timer sifrator processing has elapsed, a command to stop the arc is issued to the automatic welding device 7. After this, a backward signal is output to the slide drive motor 58 again, and the limit switch 64
The slide base 57 is retracted to the retracted end where is turned on, and at the same time, a drive signal is output to the lifting cylinder 50 in response to a signal from the limit switch 64, and the gripping member 53 is raised. At this time, since the hardware 9 is welded and fixed to the deck 1, the gripping member 53 separates from the hardware 9 against the spring force. When the lifting cylinder 50 reaches its lifting limit, the limit switch 51 is turned on to stop the lifting, and the arrangement and welding of the hardware 9 are completed.

After welding is completed, a signal from the limit switch 51 is turned ON at the upper limit of the lift cylinder 50. A drive signal is output to the travel drive motor 21 of the bogie 2 via the multi-control device 8, and the drive force is transmitted to the drive wheels 19. As a result, the truck 2 is moved forward by a certain distance. In this case, the amount of advance of the truck 2 is determined by the traveling drive motor 2.
1 is detected by an encoder built in the controller 1, and compared with a value set in advance in the control device 8, the trolley 2 is stopped at the next welding position separated by a certain distance. Further, the running direction of the bogie 2 is determined by inputting the signal from the light receiving panel 24 of the original beam light receiving device 4 to the control device 8, and after processing and calculating, if the bogie 2 is not running straight, a steering signal is sent to the steering motor 16. Pressure the truck 2 so that it always travels in a straight line.

After the truck 2 is thus stopped at the next welding position, the metal fittings 9 are arranged and automatically welded in the same manner as described above.

In this way, metal fittings 9 are attached to deck 1 while repeating material arrangement, welding, and movement of truck 2.

On the other hand, when the trolley 2 travels from the base end of the deck l toward the tip end and reaches the tip end of the deck 1, a clutch (not shown) is activated to free the drive @19, and the manual handle 1
4, the direction of the truck 2 is changed and the light receiving plate 24 of the original beam receiving device 4 is reversed so that the original beam from the original beam projecting device can be received even if the truck 2 is run in the opposite direction. Thereafter, while the light beam projection device is moved to the next hardware attachment position, this device is set at the work starting point (0 point) on the distal end side, and the same work can be started again from the opposite direction.

In the above embodiment, the device for attaching lashing hardware to the loading deck of a car carrier was described, but the device is not limited to this, and can be widely applied to automatic welding of materials to be welded that are arranged at regular intervals in a straight line. Applicable.

As described above in detail along with one embodiment, according to the present invention, the automatic material placement and welding apparatus is mounted on a base.

Since it is composed of a welding material feeding device, a gripping and fixing device, an automatic welding device, and a control device, marking work and temporary welding work of welding materials are unnecessary, and the number of man-hours can be reduced. In addition, the arrangement, positioning, and welding of the materials to be welded can all be performed automatically with a single device, reducing the amount of labor required by the worker and significantly improving work efficiency. This resulted in an approximately seven-fold improvement in work efficiency. Furthermore, since automatic welding is possible, it is possible to improve and homogenize welding quality, and to shorten the construction period.

[Brief explanation of drawings]

1 to 9 show an embodiment of the automatic material placement welding apparatus of the present invention, FIG. 1 is a front view, FIG. 2 is a plan view, and FIG. 3 is an enlarged view of the steering mechanism. Figure 4 is a sectional view taken along ■-■ in Figure 3, Figure 5 is a cross-sectional view taken along ■-■ in Figure 2, and Figure 6 is a cross-sectional view taken along ■-■ in Figure 5.
Cross-sectional view, Figure 7 is a cross-sectional view of Figure 5, Figure 8 is a cross-sectional view of Figure 7.
FIG. 9 is a sectional view taken along line 1--1 in the figure, and FIG. 9 is a view taken along arrow IX-IX in FIG. In the drawings, l is a deck, 2 is a truck, 3 is a steering mechanism, 4 is a source beam receiver, 5 is a welding material feeding device, 6 is a gripping and fixing device, 7 is an automatic welding device, 8 is a control device, 9 is hardware. Patent Applicant: Mitsubishi Heavy Industries, Ltd. Matsumoto Machinery Co., Ltd. Sub-Agent Patent Attorney: Former Ishibe Shibu (and 1 other person) Figure 1 Figure 2 - V2 Figure 3/4 19''-IV Figure 6 25 Figure 7 Figure 8

Claims (1)

[Claims] A dolly equipped with a steering mechanism, capable of stopping at regular intervals, and controlled in a straight line by an original guiding control device eVc, and a workpiece feeder mounted on the dolly that takes out workpieces one by one and feeds them to a gripping position. a feeding device; a gripping and fixing device that is mounted on the truck and receives the welded material fed to the gripping position by the welded material feeding device, and positions and fixes the welding material at a welding position on the base material; An automatic material arrangement welding device comprising: a welding device that automatically welds the workpiece mounted and positioned and fixed on the base material; and a control device that controls the operation of each of these devices.