JPS6233070A - Automatic panel welding equipment - Google Patents

Abstract

PURPOSE:To automatically weld a large-sized panel with good efficiency by supporting a panel holding jig with a retreating type roller line, by bridging the panel holding jig on a gantry type traveling truck and by welding the front and back faces of the panel at one time by welding robot. CONSTITUTION:The panel 1 placed on a panel holding jig is transferred to an automatic panel welding device from a transfer line 50 and fixed by a stopper 46 together with the holding jig. A gantry traveling truck 10 is then run with the command from a computer. In this case a retreating type roller line 40 retreats temporarily for avoiding the collision with the columns 13, 14 of the truck 10. The truck 10 stops at the welding object position. The welding start is commanded to four units of overhead and flat welding robots 21, 22, etc. via the computer. In case of performing the welding in order and it becoming out of the movable range of the four units of welding robots 21, 22, etc. the welding in possible range is first completed with the axis Y movement of the four units robots on the truck 10. The truck 10 is again moved in the axis X direction upto the following position. The hardware welding of a large- sized panel is performed by repeating these motions.

Description

DETAILED DESCRIPTION OF THE INVENTION <Industrial Application Field> The present invention relates to an automatic panel welding device, and is intended to enable panel welding to be carried out efficiently.

<Prior art> As shown in FIG. 4, the panel 1 of a Dailer superheater or reheater is made by bending and arranging a large number of tubes 2.
It is manufactured by welding the tubes 2 together at the section and section B. Fig. 5 shows the welding state, and the metal fittings 3 are placed between the tubes 2.
Welding is carried out with molten metal 4 with . Conventionally, the metal parts of panel 1 were placed on a pedestal and hand welded on one side of the upper side, then turned over to a crane and welded the metal parts on the back side. Everything is made by hand.

<Problems to be Solved by the Invention> By the way, the panel 1 to be welded is large in size and weighs approximately 10 TON. In addition, there are hundreds of welding points for each panel, which requires a large amount of welding time, and the quality is often unstable due to manual welding.There is a need to improve efficiency through automation and improve quality. be. However, since the target workpiece is large, even if we try to introduce a general-purpose robot, it is necessary to introduce a large-scale material handling device to satisfy the target range. In addition, because a large number of people are required to carry out the process, the efficiency of digestion with a single robot decreases.

SUMMARY OF THE INVENTION In view of the above prior art, an object of the present invention is to provide an automatic panel welding device that can automatically weld the front and back surfaces of a large panel.

<Means for Solving the Problems> The present invention that achieves the above object includes a gate-type traveling vehicle, a downward welding robot provided on the portal-type traveling vehicle, and a welding portion formed by a gotsu for side welding, A panel holding jig on which a panel is placed and which can enter the space inside the gate-shaped traveling vehicle, and a panel holding jig that supports the panel holding jig from its bottom side and retreats so as not to collide with the gate-shaped traveling vehicle. It is characterized by having a retractable low-shield line that can be used.

Function: Support the panel holding jig on which the panel is placed with the retractable roller panel, and with the gate-type traveling trolley straddling the panel holding jig, weld the front and back surfaces of the shibaneru once with the welding rod. Weld to.

<Example> Embodiments of the present invention will be described in detail below based on the drawings.

FIG. 1 is an overall configuration diagram showing an embodiment of the present invention, FIG. 2 is a front view showing a gate-type traveling vehicle, and FIG. 3 is a plan view showing the gate-type traveling vehicle.

As shown in these figures, the gate-type traveling platform TL1o of the automatic panel welding apparatus according to the present embodiment has support sections 13° and 14 provided on the traveling device 11 and 12, and support sections 13 and 14t.
It is composed of upper and lower bridge parts 15 and 16 that are connected together.

This gate-shaped traveling trolley 10 is driven by traveling devices 11 and 12 to move on a rail 17 in the X-axis direction.

The welding section 20 is composed of downward welding holes 21 and 22 and upward welding holes 23 and 24. The downward welding parts 21 and 22 can be moved in the Y-axis direction along the bridge part 15 on the side of the rack and pinion machine vIK. Similarly, the upward welding robots 23, 24 can move in the Y-axis direction along the lower bridge section 16 by means of a rack and pinion mechanism.

The panel holding jig 30 has a cross-shaped structure in which a pair of channel steels 31 and 32 are connected by a plurality of steel members 33. This panel holding jig 30 includes a pair of support columns 13.1 of the gate-shaped truck 10.
4 and the upper and lower bridge portions 15 and 16. Then, the panel 1 is placed on this panel holding jig 30.

A large number of retractable low-shield lines 40 are installed on both sides of the gate-shaped traveling vehicle 10 and along the X-axis direction. This retractable low line 4° is composed of a line support column 41, a support arm 43 whose base end is rotatably supported by the line support column 41 and has a roller 42 at its tip, and a hydraulic cylinder 44. Adjacent retractable roller lines 40 are connected to each other by a connecting rod 45. In this retractable roller twin 4°, when the hydraulic cylinder 44 is extended, the support arm 43 rotates from below to above, and when it becomes horizontal, the roller 42 moves toward the panel. It fits into the grooved steels 31 and 32 of the holding jig 30. In this way, the panel holding jig 30 is supported by the plurality of retractable roller lines 40. On the other hand, in the retractable low-shield line 40 facing the support part 13.14 of the gate-type traveling trolley 10,
The hydraulic cylinder 44 is retracted, and the support arm 43 is rotated downward from the horizontal position and retracted to the outside of the gate-shaped traveling vehicle 10. Therefore, even if the gate-shaped traveling trolley 10 runs, it will not collide with the retractable roller line 40. Of course, even if some of the retractable roller lines 40 are in the retracted state, the Shibanel holding jig 30 is supported by the other plurality of retractable roller lines 40. This panel holding jig 30
is positioned by contacting the panel positioning stopper 46.

Furthermore, a carry-in line 5 is provided in front of the retractable low-speed line 40.
0 is installed, and an unloading line 60 is installed at the rear stage. These carry-in line 50 and carry-out line 6
0 has a conveyance device such as a roller or a belt, and can convey the panel holding jig 30.

In addition, 100 gate-shaped traveling trolleys, 21, 2 welding robots
The Y-axis movements of the rollers 2, 23, and 24 and their welding operations, as well as the retracting and retracting operations of the retractable roller line 40, are controlled by a computer (not shown).

Next, the operation of this embodiment will be explained.

■ The panel 1 placed on the panel holding jig 30 is sent to the Shibanel automatic welding device via the carry-in line 50.

(2) The panel 1 carried in is fixed by the panel holding jig 30 and the panel positioning stopper 46.

■ After confirming that the panel is fixed, the gate-shaped traveling trolley 10 is run according to instructions from the computer. At this time, the retractable roller line 40 temporarily escapes in order to avoid collision with the support columns 13, 14 of the gate-type traveling vehicle 10.

■ After traveling to the welding target position, the gate type traveling trolley 10 stops, and the four welding robots 21, 2
A welding start command is given at 2,23°24.

■ Perform welding in sequence and weld p-bot) 21, 22° 2, 3,
24, first move the gate type traveling trolley 10.
Perform Y-axis movement at the top to complete welding within the possible range.

(2) After confirming on the host computer that the work has been completed within the range of the Y-axis and the welding robots 21, 22, 23°24, the gate-shaped traveling trolley 10 starts traveling on the X-axis again and moves to the next position.

■ By repeating these operations, welding of hardware for large panels is carried out. After all the metal welding of the panel is completed, the panel positioning stopper 46 is turned off, and the panel 1 placed on the panel holding jig 30 is sent out toward the carry-out line 60.

■ After that, the automatic panel welding equipment returns to its origin and the next panel is loaded.

■ By repeating the above operations, weld a large number of metal parts on the same panel.

<Effects of the Invention> As specifically explained above in conjunction with the embodiments, the present invention provides the following effects.

■ Robots can now be used for metal welding of large panels, which was previously difficult to automate.

■ Mechanization can stabilize and improve quality.

■ Significant improvement in welding efficiency and faster speed.

■ Since the front and back sides of the panel can be welded at the same time, there is no need to turn the panel over, eliminating the need for material handling equipment.

[Brief explanation of the drawing]

FIG. 1 is an overall perspective configuration diagram showing an embodiment of the present invention, and FIG.
3 is a plan view showing the gate type traveling vehicle, FIG. 4 is a configuration diagram showing the panel, and FIG. 5 is a sectional view showing the welded state of the panel. In the drawings, l is a panel, 10 is a gate-type traveling trolley, 11.12 is a traveling device, 13.14 is a support part, 15.16 is a bridge part, 17 is a rail, 20 is a welded part, 21.22 is a downward direction Welding robot, 23.24 is T3 pot for side welding, 30 is panel holding jig, 31.32 is channel steel, 33 is steel material, 40 is retractable roller line, 41 is line support section, 42 is roller, 43 is Support arm, 44 is a hydraulic cylinder, 45 is a connecting rod, 46 is a panel positioning stopper, 50 is a carry-in line, and 60 is a carry-out line.

Claims (1)

[Scope of Claims] A gate-type traveling bogie comprising struts respectively provided on a pair of traveling devices and an upper and lower bridge section connecting both struts; A welding section consisting of a downward welding robot that can move along the bridge section of the cage, an upward welding robot that is installed on the lower bridge section and that can move along the bridge section, and a pair of support columns of the gate-shaped traveling trolley. and a cross-shaped panel holding jig on which the panel is placed, which is large enough to fit into the space surrounded by the upper and lower bridge parts, and a plurality of panel holding jigs are installed on both sides of the gate-shaped traveling truck and along the traveling direction. a retractable roller line that protrudes inward from the outside of the gate-type traveling vehicle to support the panel holding jig from the bottom side thereof, and retracts to the outside of the gate-type traveling vehicle when facing the gate-type traveling vehicle; An automatic panel welding device comprising: