WO2010090084A1

WO2010090084A1 - Apparatus and method for welding rope ring retainer

Info

Publication number: WO2010090084A1
Application number: PCT/JP2010/050813
Authority: WO
Inventors: 学池田
Original assignee: 三菱重工業株式会社
Priority date: 2009-02-04
Filing date: 2010-01-22
Publication date: 2010-08-12
Also published as: JPWO2010090084A1; KR20110036621A; JP5022499B2; CN102131609A; KR101265417B1

Abstract

An apparatus for welding a rope ring retainer includes a frame (1), an arm (2) having 4 axes of motion、a torch holder (18) mounted on the arm　and an L-shaped arm (11) for turning the position of the rope ring (35).　The L-shaped arm enables welding of the rope ring retainer (33) to a floor of a car carrier irrespective of the position of the rope ring.

Description

Fastening metal welding apparatus and fastening metal welding method

The present invention relates to a lashing metal welding apparatus for welding a plurality of types of lashing metal pieces mounted on a vehicle-mounted deck of a vehicle carrier in a vehicle carrier (car carrier, car ferry, etc.) in order to lash the vehicle. And a method of welding metal fittings.

Conventionally, in a vehicle carrier, in order to fasten a mounted vehicle, a plurality of types (embedded type, projecting type, locking ring type etc.) of fastening hardware are welded to a vehicle mounting deck It is attached by. In the case of a built-in type fastening hardware, at the time of ship construction, at the time of manufacture of a vehicle-mounted deck block, a vehicle-mounted deck block is reversed and each embedded type is fixed in many holes made in the vehicle-mounted deck block. The tie metal is temporarily welded by spot welding or the like. In the case of a projecting type lashing metal, at the time of ship construction, the vehicle-mounted deck block is temporarily attached to a predetermined place by spot welding or the like in a normal state. Then, after the vehicle-mounted deck block is mounted on the hull, the vehicle-mounted deck and a plurality of multiple types of fastening hardware are welded over the entire periphery of the fastening portion of the fastening hardware.

At this time, since the number of securing hardware to be attached is several tens of thousands per vehicle carrier and there are multiple types of securing hardware, welding of these multiple types of multiple securing hardware is performed manually. It was being done. In this case, the number and types of securing hardware are large, and many man-hours are required. Moreover, although the amount of individual welding work in the lashing metal is small, it is dotted in a large area, and it is necessary to work while sequentially moving the work place, and frequent step replacement has occurred. Furthermore, the welding operation is a continuous operation in a downward position, and the burden on the operator's waist and wrist is large. Thus, there have been various problems with manual welding.

In the case where there is only one type of lashing material, a carriage provided with a cassette mounting surface on which a plurality of cassettes storing a plurality of lashing materials are conventionally provided is provided to an appropriate position of the cassette mounting surface It has been proposed to provide a hardware transfer device that holds the lashing material in the stored cassette and places it at a predetermined hardware installation location, and provides an automatic welder that welds the hardware on the hardware installation location to that location. (For example, patent document 1). However, in the thing of patent document 1, there exists a problem that it can not respond, when the kind of securing metal goods is plural. In addition, it is presumed that it takes time to accurately align the automatic welder with the vehicle mounting deck. In particular, in the case where the embedded type binding metal is mixed, it is necessary to separately perform manual welding in a downward position with respect to the embedded type binding metal.

Further, as shown in FIG. 11, in a welding robot that performs welding of a cylindrical material and a cylindrical member or welding of a cylindrical material and a flat plate, the welding torch 101 and the welding torch 101 are rotatably provided at the tip of the manipulator 100. There has been proposed a welding robot provided with a linear guide mechanism 102 for moving the slider linearly and freely movably (for example, Patent Document 2). Using a welding robot as described in Patent Document 2, a computer or the like remembers the welding procedure for each type of fastening metal (embedded type, projecting type, locking ring turning type, etc.) It is conceivable to weld multiple individual types of lashing hardware to the vehicle mounting deck, but it is presumed that the entire device including the moving device on which the welding robot is mounted will be large-scaled, and that it is accurate with respect to the vehicle mounting deck It is presumed that it takes time to perform alignment on the

In addition, when the metal lock is a lock ring type lock metal, after recognizing the position of the rotary lock ring, it is necessary to perform welding operation according to the position, and the control circuit (program) is complicated. There is a problem of becoming

Japanese Patent Application Laid-Open No. 60-223667 JP, 2006-088207, A

The present invention has been made to solve the above-mentioned problems, and in a vehicle carrier (car carrier, car ferry, etc.), in the case where the binding metal is a locking ring type fastening metal, the turning locking An object of the present invention is to provide a bonded metal welding apparatus and a bonded metal welding method capable of securely performing a welding mounting operation regardless of whether the ring is positioned left or right. Moreover, another invention is a simple device, a lashing metal welding device capable of welding a plurality of types of lashing metal pieces mounted on a vehicle mounting deck of a vehicle carrier to lash a vehicle. And, it aims to provide a method of fastening metal welding.

The present invention has been made to solve the above-mentioned conventional problems, and each invention described in the claims adopts the constitutions described below as a lashing material welding apparatus and a lashing material welding method, respectively. It is a thing.

According to another aspect of the present invention, there is provided a fastening metal welding apparatus comprising: a torch holder attached to a frame via a 4-axis drive arm; and a hook pivoting arm having an L-shaped cross section attached to a side surface of the torch holder. It is characterized by

In the fastening metal welding apparatus according to the present invention, a surveillance camera attached downward to the upper center of the frame, a display for displaying an image captured by the surveillance camera, the four-axis drive arm, And a controller for controlling a welding machine for supplying a welding current to the welding torch held by the torch holder, the controller having a memory in which a plurality of operation procedures for a fastening metal are stored in advance. One of the operation procedures for the securing metal is for hook turning when it is determined that the securing metal photographed by the surveillance camera is a projecting turning type securing metal having a turning locking ring. After the operation of pivoting the pivoting locking ring to one side by an arm is performed, welding between the projecting pivot type fastening metal and the vehicle mounting deck is performed.

In the fastener welding apparatus according to the present invention, the fastener welding apparatus according to the present invention is characterized in that the illumination for photographing of the surveillance camera mounted on the upper part of the frame is provided.

In the fastening metal thing welding device of the present invention, it has a sensor for height position measurement which measures the height position of the vehicle mounting deck, and the control device performs the above-mentioned based on the measurement result of the sensor for height position measurement. The four-axis drive arm is driven.

According to another aspect of the present invention, there is provided a staking metal welding apparatus according to the present invention, further comprising: a light shielding plate attached to the frame to cover an inner portion;

In the lashing metal welding apparatus of the present invention, the ventilation device is characterized in that a suction portion and an exhaust portion are provided at opposite positions in the light shielding plate.

The ventilating apparatus according to the present invention is characterized in that the ventilator operates after the end of welding.

The fastener welding apparatus according to the present invention is characterized by comprising a carrying wheel attached to the front of the frame and a carrying handle attached to the rear of the frame.

In the fastener welding apparatus of the present invention, at least three fixing electromagnets attached to the lower surface of the frame, and a retractable driving wheel device and a retractable moving wheel device attached to the lower portion of the frame , And characterized in that.

In the fastening metal welding apparatus according to the present invention, the welding torch is held by the torch holder.

Further, according to the fixed metal welding device of the present invention, a torch holder attached to a frame via a four-axis drive arm, a hook pivoting arm attached to the torch holder, and a tip of the hook pivoting arm A welding torch gripped toward a rotational axis of the hook pivoting arm, a hook pivoting arm having an L-shaped cross section attached to a side surface of the hook pivoting arm, and a conveyance mounted to the front of the frame Wheel, a carrying handle attached to the rear of the frame, at least three fixing electromagnets attached to the lower surface of the frame, a retractable driving wheel device attached to the lower part of the frame, and retraction Moving wheel assembly, a surveillance camera mounted downward at the center of the top of the frame, and the surveillance A display for displaying an image photographed by a camera, a control device for controlling a welding machine for supplying a welding current to the 4-axis drive arm, the retractable driving wheel device, the fixing electromagnet, and the welding torch; And the control device has a memory in which a plurality of operation procedures for securing metal objects are stored in advance, and one of the operation procedures for securing metal objects is a securing metal object captured by the monitoring camera Is determined to be a projecting type swing type fastening metal having a turn locking ring, an operation of turning the turn locking ring to one side by the hook turning arm is performed, and then the protruding type swing type The lower end of the transport wheel is located above the lower end of the fixing electromagnet, and the lower end of the hook pivoting arm having the L-shaped cross section. Is at the same height as the tip of the welding torch And wherein the are.

In the fastener welding apparatus of the present invention, the control device identifies the type of the fastener taken by the monitoring camera and measures the position, and a plurality of pre-stored operation procedures for the fastener. Select the operation procedure for the securing metal object corresponding to the identified securing metal object, and align each position in the selected operating procedure for the binding metal object with the position measured by the surveillance camera Control the welding machine which supplies the welding current to the 4-axis drive arm, the retractable driving wheel device, the fixing electromagnet, and the welding torch based on the coordinate conversion and the coordinate converted operation procedure for the fixed metal It is characterized by being.

Further, according to the fixed metal welding method of the present invention, there is provided a torch holder attached to a frame via a four-axis drive arm, a hook swinging arm having an L-shaped cross section attached to a side surface of the torch holder, and the frame A monitoring camera mounted downward at the center of the upper part, a display for displaying an image captured by the monitoring camera, a welding torch gripped by the torch holder, the 4-axis drive arm and the welding torch A control device for controlling a welding machine for supplying welding current to the control device, and the control device causes the securing metal object photographed by the monitoring camera to be a projecting pivoting type lashing metal component having a pivoting locking ring. If it is determined that the hook pivoting arm is pivoted to one side by the hook pivoting arm, welding work of the projecting pivot type fastening metal and the vehicle mounting deck is performed. Characterized in that it is a Umono.

According to the lashing metal welding apparatus of the present invention, even if the swinging locking ring of the protruding swaying lashing metal is positioned to the left or right, the splaying type can be obtained by pivoting to one side by the hook swinging arm. It is possible to securely weld the turning type fastening hardware to the vehicle mounting deck. Further, according to the lashing metal welding apparatus of the present invention, since the operation of turning the turning locking ring to either the left or right side is always performed first, for hook turning according to the position of the turning locking ring It is not necessary to perform special measures for driving the arm (recognition of the position of the swing locking ring by the monitoring camera, and driving of the hook swing arm according to the position of the swing locking ring).

Further, according to another fastening hardware welding device of the present invention, even if there are a plurality of types of fastening hardware attached to the vehicle mounting deck of a vehicle carrier to fasten the vehicle with a simple device, the fastening is fixed. Weld attachment can be reliably performed according to the type of binding material.

FIG. 1 is an entire configuration diagram of a metal-sliding-metal welding apparatus according to a first embodiment of the present invention. FIG. 2 is an enlarged view showing a mounted state of a retractable driving (moving) wheel device, a fixing electromagnet, and a transporting wheel in the fastener according to the first embodiment. FIG. 3-1 is an enlarged side view showing a mounting state of a torch holder, a hook swing arm, and a welding torch in the bonded metal object welding device of the first embodiment. FIG. 3-2 is an enlarged rear view showing a mounting state of the torch holder, the arm for hook pivoting, and the welding torch in the bonded metal workpiece welding apparatus according to the first embodiment. FIG. 4 is a control flow diagram of a control device in the metal fastener welding apparatus of the first embodiment. FIG. 5-1 is a perspective view of a projecting type fastening metal. FIG. 5-2 is a perspective view of a projecting swing type fastening tool. FIG. 5-3 is a perspective view of the embedded securing metal 36. FIG. 6 is a perspective view seen from the rear left side of the metal fastener welding apparatus according to Embodiment 2 of the present invention. FIG. 7 is a perspective view from the rear right side in the metal fastener welding apparatus of the second embodiment. FIG. 8 is a whole block diagram which permeate | transmitted the inside of the metal-clamping-metal welding apparatus of Embodiment 2. FIG. FIG. 9-1 is an enlarged side view showing a mounting state of a torch holder, a hook turning arm, a welding torch, and a height sensor in the bonded metal workpiece welding apparatus according to the second embodiment. FIG. 9-2 is an enlarged rear view showing a mounting state of a torch holder, a hook turning arm, a welding torch, and a height sensor in the bonded metal workpiece welding apparatus according to the second embodiment. FIG. 10 is a control flow diagram of a control device in the metal fastener welding apparatus of the second embodiment. FIG. 11 is a perspective view of a conventional welding robot.

BEST MODE FOR CARRYING OUT THE INVENTION Preferred embodiments of a bonded metal welding apparatus and a bonded metal welding method according to the present invention will be described in detail with reference to the accompanying drawings. The present invention is not limited by the embodiment.

First Embodiment
FIG. 1 is a whole block diagram of a metal fastener welding apparatus according to Embodiment 1 of the present invention, and FIG. 2 is a retractable driving (moving) wheel apparatus for fixing metal anchor welding device according to Embodiment 1. Fig. 3-1 is an enlarged side view showing a mounting state of a torch holder, a hook pivoting arm, and a welding torch in the fixed metal welding device according to the first embodiment. 3-2 is an enlarged rear view showing a mounting state of a torch holder, a hook pivoting arm, and a welding torch in the fixed metal welding apparatus of the first embodiment, and FIG. 4 is a fixed metal welding apparatus of the first embodiment. Fig. 5-1 is a perspective view of the projecting type fastening metal, Fig. 5-2 is a perspective view of the projecting type pivotal type fastening metal, Fig. 5-3 is embedded FIG. 10 is a perspective view of a mold-type fastening metal 36;

Hereinafter, the configuration of the metal-bonded-metal welding apparatus according to Embodiment 1 of the present invention will be described based on FIGS. 1 to 4. In addition, as shown in FIG. 5, the type and size of the vehicle mounted on the vehicle mounting deck are various, so that any kind of vehicle can be handled, a large number of plural types of lashing

hardware

30, 33, 36 are arranged, for example, vertically and horizontally at intervals of 600 to 1000 mm. In a vehicle carrier ship, there are multiple stages of vehicle mounting decks, and the number of securing

metal pieces

30, 33, 36 is as many as several tens of thousands per one. It should be noted that in areas where there is a vehicle mounting deck, there are a mixture of multiple types of binding

hardware

30, 33, 36, and in other areas of the vehicle loading deck, one type of specific binding hardware 30 (or 33, 36) Only the

In the first embodiment, as shown in FIG. 1, the metal-clamped-metal welding apparatus 29 performs work while moving forward to the upper left in FIG. 1. The frame 1 is configured by assembling a square pipe or round pipe made of aluminum into a frame shape. A pair of carrying handles 1b are attached to the left and right of the rear portion of the frame 1 for the operator to move the fastening metal welding device 29. And, as described later, the frame 1 is a moving device comprising the carrying wheel 16, the retractable moving wheel device 20 and the retractable driving wheel device 24, a fixing device comprising the fixing electromagnet 12, a four-axis driving arm 2. A monitoring camera 13 for measuring the positions of the securing

metal pieces

30, 33, 36, a display 14, and a control panel (control device) 15 for automatically controlling the securing metal thing welding device 29 are provided.

<Movement Device and Fixing Device>
First, the transport wheel 16 will be described. As shown in FIGS. 1 and 2, on the front left and right outer sides of the frame 1, a pair of transport wheels 16 transport wheel support 17 and a horizontal rotation shaft S1 so as to protrude from the front end of the frame 1. It is pivotally attached via. The transport wheel 16 is used when the operator holds the carrying handle 1b and lifts and moves the rear portion of the metal bond welding device 29. Therefore, as shown in FIG. 2, in the state where the metal attachment welding device 29 is placed horizontally on the vehicle mounting deck, the lower end position LH of the transport wheel 16 is from the lower end L0 of the fixing electromagnet 12 described later. It's getting higher.

When the operator holds the carrying handle 1b and lifts the rear portion of the securing metal welding device 29 and inclines the securing metal welding device 29, the lower end of the transportation wheel 16 contacts the vehicle mounting deck to fix it. The lower end of the electromagnet 12 and the driving wheel 27 described later are separated from the vehicle mounting deck (see a position LT shown in FIG. 2). With such a configuration, the worker can easily carry the metal fastener welding device 29.

Three fixing electromagnets 12 are attached to the lower surface of the frame 1 in order to fix the fixed metal welding device 29 on the vehicle mounting deck. By energizing the fixing electromagnet 12 to generate a magnetic force, the metal attachment welding device 29 is firmly fixed on the vehicle mounting deck. Therefore, the frame 1 is not displaced in the welding operation or the like, and the welding operation can be performed with high accuracy.

In addition, a total of three fixing electromagnets 12 are attached to the lower front side and the rear side of the lower surface of the frame 1. Since the vehicle mounting deck is not necessarily a perfect plane, the three-point support by the three fixing electromagnets 12 improves the stability of the lashing metal welding device 29.

Next, the retractable drive wheel device 24 will be described. As shown in FIG. 1 and FIG. 2, a pair of pivot tables 26 is rotatably mounted in the vertical direction via a horizontal rotation axis S <b> 2 on the left and right inside of the front lower portion of the frame 1. A driving wheel 27 is attached to each pivot stand 26 via a rotation axis S3 and the like. Further, on the upper surface of each swivel base 26, a self-propelled motor 28 for driving the drive wheels 27 is attached. The self-running motor 28 is a motor with a reduction gear, and the output shaft of the self-running motor 28 and the rotation axis S3 of each driving wheel 27 are connected by a chain, a reduction gear, or the like (not shown). .

The other end portion (opposite to the rotation axis S2) of each swivel base 26 and the frame 1 are connected by a drawing cylinder 25 via rotation axes S4 and S5. When the drawing-in cylinder 25 is extended, the driving wheel 27 is lowered to a position LL below the lower end L0 of the fixing electromagnet 12, as shown by a solid line in FIG. And it becomes possible to make the securing metal thing welding apparatus 29 self-propelled by the retractable drive wheel apparatus 24. As shown in FIG. Conversely, when the drawing-in cylinder 25 is contracted, the driving wheel 27 is drawn upward from the lower end L0 of the fixing electromagnet 12 and stored as shown by a dotted line in FIG.

Next, the retractable moving wheel device 20 will be described. The retractable moving wheel device 20 has substantially the same configuration as the retractable driving wheel device 24 except that the self-propelled motor 28 is not provided. That is, as shown in FIG. 1, inside the left and right of the lower rear portion of the frame 1, a pair of swiveling stands 22 swivels up and down via a horizontal rotation shaft as in the retractable drive wheel assembly 24. Is mounted possible. A moving wheel 23 is attached to each of the swivel bases 22 via a rotation shaft or the like. The other end portion of each of the swing platforms 22 and the frame 1 are connected by a pull-in cylinder 21 via rotation shafts, respectively.

<4-axis drive arm>
Next, the four-axis drive arm 2 will be described. As shown in FIG. 1, a four-axis drive arm 2 is attached to the inside of the front upper side of the frame 1. The four-axis drive arm 2 includes an X-axis rail 3, an X-axis movement bearing 4, a Y-axis rail 5, a Y-axis movement bearing 6, a Z-axis rail 7, a Z-axis movement bearing and pivot bearing 8, and a pivot shaft 9. ing. In this case, the X axis is a direction along the longitudinal direction (X direction shown in FIG. 1) of the restraining metal welding device 29, and the Y axis is latitudinal in the horizontal direction of the restraining metal welding device 29 (FIG. 1). The direction along the Y direction of the), the Z axis is the direction along the vertical direction (the Z direction shown in FIG. 1) of the metal attachment welding apparatus 29, and the X axis, the Y axis and the Z axis are It is orthogonal.

The X-axis rail 3 is mounted horizontally inside the front upper side of the frame 1 at the left and right rear. The X-axis movement bearing 4 grips the X-axis rail 3 and moves on the X-axis rail 3 in the left-right direction (X direction shown in FIG. 1) by a built-in electric motor.

A Y-axis rail 5 extending horizontally to the rear is attached to the X-axis movement bearing 4. The Y-axis movement bearing 6 grips the Y-axis rail 5 and moves on the Y-axis rail 5 in the front-rear direction (Y direction shown in FIG. 1) by a built-in electric motor. A Z-axis rail 7 extending vertically downward is attached to the Y-axis movement bearing 6.

The Z-axis movement bearing / pivot bearing 8 grips the Z-axis rail 7 and raises and lowers the side surface of the Z-axis rail 7 in the vertical direction (the Z direction shown in FIG. 1) by the built-in electric motor. . The Z-axis movement bearing and pivot bearing 8 is provided with a pivot shaft 9 extending downward and rotating about the vertical axis (φ direction shown in FIG. 1) and a motor for rotating the pivot shaft 9 ing.

<Torch holder and hook turning arm>
Next, the torch holder 18 and the hook pivoting arm 11 will be described. As shown in the enlarged views of FIGS. 3-1 and 3-2, a torch holder 18 is attached to the lower end of the pivot shaft 9. The torch holder 18 has a base 18a fixed to the pivot shaft 9 by a not-shown fastening member (bolt, etc.) and a welding torch 10 detachably attached by a not-shown fastening member (bolt, etc.) (gripping) It is comprised by the holding part 18c and the arm part 18b which connects the base 18a and the torch holding part 18c.

The welding torch 10 is supplied with seal air for welding, a welding current, a torch wire and the like from a welding machine main body (not shown) through a flexible torch power cable.

Further, an L-shaped hook pivoting arm 11 having a hook portion 11a at its lower end is attached to the arm 18b (or the base 18a or the torch grip 18c) of the torch holder 18. The lower end of the hook portion 11 a is set to have substantially the same height as the tip (lower end) of the welding torch 10. In addition, the L-shaped hook turning arm 11 is located on the side or rear of the welding torch 10 away from the tip of the welding torch 10 so as not to be damaged by the arc or the like during welding. Is attached to

In order to prevent the welding torch 10 from coming into contact with the projecting type turning type fastening metal 33 when turning the turning locking ring 35 shown in FIG. 5-2 by the L-shaped hook turning arm 11. The hook portion 11a is turned outward. In this case, the hook portion 11a is formed in an L-shape that makes approximately 90 degrees at the tip of the hook turning arm 11. However, the present invention is not limited to this shape, and the hook portion 11a may be substantially parallel to the vehicle mounting deck It may be formed into

The height of the tip of the welding torch 10 coincides with that of the L-shaped hook pivoting arm 11 (mounting error: within ± 5 mm) when manufacturing and assembling the metal welding device 29. The welding torch 10 is attached to the torch holding portion 18c of the torch holder 18 by a fastening member such as a bolt and nut not shown so that the tip coincides with the rotation center of the pivot shaft 9 (mounting error: within ± 5 mm).

Therefore, the hook pivoting arm (11) is moved with respect to the projecting pivot type fastening hardware 33, and the hook portion 11a is locked to the fastening hardware (36), whereby the hook pivoting arm (11 ) Allows pivoting of the projecting pivot type fastening metal (33).

<Monitoring control device, control method>
Next, the control panel (control device) 15 will be described. As shown in FIG. 1, at the upper center of the frame 1, a surveillance camera 13 is attached via a camera attachment frame 1a so as to project a working range A shown in FIG. A display 14 for displaying an image captured by the surveillance camera 13 is attached to the upper front of the frame 1. An operation panel 15 (control device) is attached to a rear upper portion of the frame 1. On the surface of the control panel 15, various operation switches (operation buttons), a display lamp and the like for operating the fixed metal welding device 29 are provided.

Further, in the control panel 15, various motors for driving the 4-axis drive arm 2, a welder main body of the welding torch 10 (not shown), an electromagnet 12 for fixing, pulling

cylinders

21 and 25, and a motor 28 for self-running A control device for performing control shown in FIG. 4 is provided. Note that the control device sucks and discharges operation air to a contactor or thyristor (or power transistor) that turns on and off current of various motors, and a cylinder. Control valve, a computer (processor) for supervisory control, and the like.

Here, based on the flowchart of FIG. 4, the monitoring control (control method) of the lashing-metal thing welding apparatus 29 by the control panel 15 (control apparatus) is demonstrated.

In the monitoring control (control method) of the metal fastener welding device 29 in the first embodiment, as shown in FIGS. 1 to 4, in step S0, it is shown in FIG. In accordance with the shapes of various types of

fastening hardware

30, 33, 36, individual welding operation contents are stored.

For example, the center of the locking portion 32 is welded so as to weld only around the fixing portions 31 on both sides of the locking portion 32 with respect to the protruding type fastening metal object (fixed type hook) 30 shown in FIG. 5-1. Projected type lashing metal such as welding start, coordinate of end position, movement path, direction of welding torch 10 at each position, drive of 4-axis drive arm 2, welding work on / off command to welder main body as reference origin The operating procedure is stored in the memory.

Further, in the case of the projecting type swing type fastening metal 33 shown in FIG. 5B, depending on the position of the turning locking ring 35, it may be a hindrance to the welding operation. Therefore, with respect to the projecting type turning type fastening metal 33, the welding start, the coordinates of the end position, the movement path, the direction of the welding torch 10 at each position, with the center of the fixing portion 34 as the reference origin as follows. An operation procedure of the projecting type swing type lashing metal such as driving of the 4-axis drive arm 2 and welding work on / off command to the welding machine main body is stored in the memory.

First, the hook pivoting arm 11 pivots the pivoting locking ring 35 to either the left or right side (for example, the right side). The operation of turning to one side is always performed regardless of whether the turning locking ring 35 is on the left or right. For example, even if the swing locking ring 35 is on the right from the beginning, the four-axis drive arm 2 is driven to swing the swing locking ring 35 to one side by the hook swing arm 11 (idle operation) Do.

As described above, by performing an operation of first turning the turning and locking ring 35 to one side, even if the turning and locking ring 35 of the projecting type swing type fastening metal 33 is positioned to the left or right, the other side The turning locking ring 35 is not located at the other side, and the projecting type turning type fastening metal piece 33 can be reliably welded to the vehicle mounting deck on the other side.

In addition, since the operation to turn the turning locking ring 35 to one side is always performed first, a special device for driving the hook turning arm 11 according to the position of the turning locking ring 35 (monitoring camera It is not necessary to recognize the position of the pivoting locking ring 35 by 13 and to drive the hook pivoting arm 11 according to the position of the pivoting locking ring 35).

Then, with the turning locking ring 35 turned to one side, the welding torch 10 welds the other end of the fixing portion 34 to the vehicle mounting deck with the welding torch 10 on the other side (for example, the left side) of the fixing portion 34 I do. Subsequently, the hook pivoting arm 11 pivots the pivoting locking ring 35 to the other side (for example, the left side). Then, in a state in which the turning locking ring 35 turns to the other side, the welding torch 10 welds one end of the fixing portion 34 to the vehicle mounting deck with the welding torch 10 on one side of the fixing portion 34.

As described above, by performing the operation of always pivoting the pivoting locking ring 35 to one side, it is not necessary to identify the direction of the hook pivoting arm 11.

In addition, with respect to the embedded type fastening metal 36 shown in FIG. 5-3, the embedded type solid bonding metal 36 and the vehicle-mounted deck are joined with the solid type in order to join the circular joint portion. Welding start with center of tie 36 as reference origin, coordinates of end position, moving path (moving path in this case is circle), direction of tip of welding torch 10 in each position, and welding operation command to welding machine main body And the like, embedded fixed metal operation procedures are stored in the memory.

In step S1, at the start of the welding operation, first, the operator grips the carrying handle 1b of the lashing-piece welding apparatus 29, lifts the rear portion thereof, and looks at the display 14, while securing the lashing

articles

30, 33. , 36, transport and set up the metal welding apparatus 29. At the time of transportation, only the transport wheel 16 of the fixed metal welding device 29 is in contact with the vehicle mounting deck, and the fixing electromagnet 12 and the driving wheel 27 are separated from the vehicle mounting deck (see FIG. State).

After installing the lashing metal welding device 29, inputting the number of lashing

metal

30, 33, 36 and the distance between the lashing

metal

30, 33, 36 to be welded, in step S2, the operation switch of the operation panel 15 By operating the (operation button), the automatic welding operation by the lashing metal welding device 29 is started. Then, the judgment, calculation and operation of steps S10 to S22 shown in FIG. 4 are automatically performed by the monitoring control computer.

First, in step S10, the drawing in cylinder 21 and drawing in cylinder 25 are contracted, and the

swivel base

22, 26 is turned upward, and the moving wheel 23 and the driving wheel 27 are drawn. Next, the fixing electromagnet 12 is excited, and the metal attachment welding device 29 is firmly fixed on the vehicle mounting deck.

Next, in step S11, the processing of the image captured by the monitoring camera 13 is performed, and the identification of the type of the metal lock 30 (or the metal lock 33, 36) and the measurement of the position are performed.

Next, in step S12a, it is determined whether or not the fastening hardware is the protruding pivot type fastening hardware 33. If it is determined in step S12a that the lock is a projecting swing type fastening hardware 33 (Yes), the operation procedure of the projecting swing type fastening metal stored in advance in the storage unit of the monitor control computer. Is read out.

That is, in step S13a, the coordinates (measurement origin) of the center position of the fixing portion 34 of the metal fastener 33 in the working range A are calculated. Then, each coordinate with the reference origin as the origin in the operation procedure of the projecting swing type fastening metal is converted into coordinates with the measurement origin as the origin.

Next, in step S14, the hook pivoting arm 11 is unconditionally driven without determining whether the pivoting locking ring 35 is on the left or right, and the pivoting locking ring 35 is moved to one side (for example, , Right) is performed. Then, in step S15a, on the other side (e.g., the left side) of the fixed portion 34, the welding torch 10 welds the other end of the fixed portion 34 to the vehicle mounting deck.

Next, in step S14, the hook pivoting arm 11 is driven again, and the pivoting locking ring 35 is pivoted to the other side (for example, the left side). Then, at step S15a, the welding torch 10 welds the one end of the fixing portion 34 to the vehicle mounting deck on the one side (for example, the right side) of the fixing portion 34 again. Thereafter, the welding operation is finished in step S17.

In addition, although this process is repeated when the fastening metal is the projecting type swing type fastening metal 33, step S14 and step S15a are repeated twice, but in the flow chart of FIG. It is omitted. In this case, movement processing of the hook turning arm 11 to one side with respect to the binding metal 33, welding processing of the other side, movement processing of the hook turning arm 11 relative to the binding metal 33 to the other side, welding processing of one side Will do.

On the other hand, if it is determined in step S12a that the lashing metal is not the projecting type pivoting lashing metal 33 (No), then in step S12b, the lashing metal is the projecting type lashing metal 30 or not. Is determined. If it is determined that the binding metal is the projecting type fastening metal 30 (Yes), the projecting type fastening metal operating procedure stored in advance in the memory of the computer for monitoring control is read out.

That is, in step S13b, coordinates (measurement origin) of the center position of the locking portion 32 in the working range A are calculated. Next, each coordinate whose origin is the reference origin in the operation procedure of the projecting type for the securing metal object is converted into coordinates whose origin is the measurement origin. Next, in step S15b, a work of welding the periphery of the fixing portion 31 on both sides of the locking portion 32 and the vehicle mounting deck is performed. Thereafter, the welding operation is finished in step S17.

On the other hand, if it is determined in step S12b that the securing metal is not the projecting securing metal 30 (No), then in step S12c, whether the securing metal is the embedded securing metal 36 or not. Is determined. If it is determined in step S12c that the embedded securing metal 36 is not (No), it is determined that the securing metal is not one of the operation procedures stored in advance, and the operation is performed in step S16. Is suspended. Then, an alarm is issued by an alarm lamp or the like (not shown).

If it is determined in step S12c that the metal lock is the embedded metal lock 36 (Yes), the operation procedure for the embedded metal lock previously stored in the storage unit of the monitoring control computer is performed. It is read out.

That is, in step S13c, the coordinates (measurement origin) of the center position of the embedded securing metal 36 in the working range A are calculated. Next, each coordinate whose origin is the reference origin in the embedded type fixed metal work procedure is converted into coordinates whose origin is the measurement origin. Next, in step S15c, an operation of welding the periphery of the embedded securing metal 36 and the vehicle mounting deck is performed. Thereafter, the welding operation is finished in step S17.

In the first embodiment, determination processing is performed in the order of the lashing metal 33, the lashing metal 30, and the lashing metal 36, but the order of steps S12a to S12c in this process is not limited to this. , In any order. Further, in the first embodiment, three welding work contents are stored for the three types of

fastening hardware

30, 33, 36, but the number of operating procedures for the fastening hardware to be stored in advance is three. Not limited to this, it can be increased or decreased depending on the number of types of securing hardware attached to the vehicle carrier. In this case, the processing of steps S12a to S12n (n types of fastening metal objects) is performed.

In step S17, when the welding operation is completed, the X-axis movement bearing 4 is moved to the side of the frame 1 (right or left). Thus, the X-axis movement bearing 4 (and Y-axis rail 5, Y-axis movement bearing 6, Z-axis rail 7, Z-axis movement bearing and pivoting bearing 8, pivoting axis 9, welding torch 10, hook pivoting arm 11 By moving the torch holder 18) to the side, it is possible to take pictures of the following securing

hardware

30, 33, 36 by the monitoring camera 13.

Next, in step S18, it is determined whether or not the number of lashing components subjected to the welding operation matches the number of lashing components to be welded input before the start of the welding operation. Here, if it is determined (Yes) that the quantities of the securing metal pieces match, the welding operation is finished in step S22, and an alarm is issued by an alarm lamp or the like (not shown).

If it is determined in step S18 that the numbers of the securing metal pieces do not match (No), the excitation of the fixing electromagnet 12 is canceled in step S19 in order to start welding to the next securing metal object. . Further, the drawing in cylinder 21 and drawing in cylinder 25 are extended, and the swiveling

platforms

22, 26 are swung downward, and the moving wheel 23 and the driving wheel 27 are drawn out from the position LL shown in FIG.

Next, in step S20, the driving wheel 27 is driven by the self-propelled motor 28, and the metal-bonded-metal welding device 29 moves (advances) by a predetermined distance input in advance. In step S21, the processing of the image captured by the monitoring camera 13 is performed, and the presence or absence of the securing

hardware

30, 33, 36 is determined. Here, if it is not recognized (No), the operation is ended in step S22, and an alarm is issued by an alarm lamp or the like (not shown). On the other hand, if the

metal fasteners

30, 33, 36 are recognized (Yes), the process returns to step S11, and the operations of steps S10 to S21 are repeated for the next metal fastener.

When all the work is completed, the Y-axis movement bearing 6 is moved to the front of the frame 1. By thus moving the Y-axis moving bearing 6 (and the Z-axis rail 7, the Z-axis moving bearing and turning bearing 8, the turning shaft 9, the welding torch 10, the hook turning arm 11, the torch holder 18) forward. Since the center of gravity of the entire lashing metal welding apparatus 29 is closer to the front, it is easy to hold the carrying handle 1b and convey the lashing metal welding apparatus 29.

Second Embodiment
6 is a perspective view seen from the rear left side in the clasped metal thing welding device according to Embodiment 2 of the present invention, and FIG. 7 is a perspective view seen from the right rear on the clasped metal thing welding device of Embodiment 2; FIG. 8 is a whole block diagram which permeated the inside of the fixed metal thing welding device of Embodiment 2, FIG. 9-1 is the torch holder in the fixed metal thing welding device of Embodiment 2, the arm for hook pivot, the welding torch 9B is an enlarged side view showing the mounting state of the height sensor. FIG. 9-2 is an enlarged view showing the mounting state of the torch holder, the hook pivoting arm, the welding torch, and the height sensor in the metal anchor welding device of the second embodiment. FIG. 10 is a control flow diagram of a control device in the metal-sliding-metal welding apparatus of the second embodiment. The members having the same functions as those described in the first embodiment described above are denoted by the same reference numerals, and redundant description will be omitted.

Hereinafter, the configuration of the metal-bonded-metal welding apparatus according to Embodiment 2 of the present invention will be described based on FIG. 6 to FIG. In the second embodiment, as shown in FIG. 8, the fixed metal welding device 41 moves the frame 1 by the transport wheel 16, the retractable moving wheel device 20 and the retractable driving wheel device 24. Automatic control of the device, the fixing device comprising the fixing electromagnet 12, the 4-axis drive arm 2, the monitoring camera 13 for measuring the position of the securing

metal

30, 33, 36, the display 14, and the securing metal welding device 29 An operation panel (control device) 15 is disposed.

In this case, the transport wheel 16, the retractable transfer wheel device 20, the retractable drive wheel device 24, the fixing electromagnet 12, the four-axis drive arm 2, the monitoring camera 13, the display 14, the control panel (control device) 15 Since the second embodiment is the same as the first embodiment described above, the description is omitted.

As shown in FIG. 6 to FIG. 8, in the fixed metal welding device 41 of the second embodiment, the photographing illumination 42 of the monitoring camera 13 and the height sensor for measuring the height position of the vehicle mounting deck are provided on the frame 1 A (height position measurement sensor) 43 is provided. Further, the frame 1 is provided with a

light shielding plate

51, 52, 53, 54, 55 for covering the inside and a ventilation device 61 for ventilating the inside.

<Lighting for photography>
First, the photographing illumination 42 will be described. As shown in FIG. 8, a photographing illumination 42 is attached to the top of the frame 1 at positions before and after the surveillance camera 13. The photographing illumination 42 is a fluorescent lamp, an incandescent lamp, a light emitting diode or the like. The illumination for photographing 42 illuminates the lower side, thereby brightening the inside, particularly, the periphery of the lashing

hardware

30, 33, 36 and improving the photographing accuracy of the monitoring camera 13.

<Height sensor>
Next, the height sensor 43 will be described. As shown in the enlarged views of FIGS. 9-1 and 9-2, the height sensor 43 is attached to the arm 18b (or the base 18a or the torch holding portion 18c) of the torch holder 18 by the mounting bracket 44. There is. The height sensor 43 is, for example, a laser sensor, and has a light emitting portion and a light receiving portion, and the laser light emitted from the light emitting portion collides with the vehicle mounting deck, and the light receiving portion receives the reflected light reflected. Then, the distance from the height sensor 43 to the vehicle mounting deck, that is, the height of the welding torch 10 with respect to the vehicle mounting deck is measured based on the time required for that. In this case, the height of the welding torch 10 can be easily grasped by measuring the height relationship between the welding torch 10 and the height sensor 43 in advance. The height sensor 43 may measure the distances to three different positions on the vehicle mounting deck, and may measure the height immediately below the welding torch 10 based on the measurement results. Moreover, not only the height sensor 43 and the laser sensor, for example, an ultrasonic sensor may be used.

In this case, an appropriate height of the welding torch 10 with respect to the vehicle mounting deck, that is, an appropriate distance from the height sensor 43 to the vehicle mounting deck is input to the operation panel (control device) 15. Sometimes, the welding torch 10 can be automatically stopped at an appropriate height even if there is a slope or unevenness on the vehicle mounting deck.

<Light shield and ventilation device>
Next, the

light shielding plate

51, 52, 53, 54, 55 and the ventilation device 61 will be described. As shown in FIGS. 6 and 7, five light shielding plates 51 to 55 are attached to the outside of the frame 1 (see FIG. 8) to cover the inside, and the sunlight, the light inside the ship, etc. I try not to enter. Thereby, the surveillance camera 13 can image | photograph the securing

metal goods

30,33,36 favorably.

Further, a ventilation device 61 for ventilating the inside is disposed in the side

light shielding plates

54 and 55. The ventilating device 61 includes an exhaust portion 62 and a suction portion 63 provided on the

light shielding plates

54 and 55 facing each other in the left and right direction, and is vertically displaced. That is, in the lower part of the light shield plate 54 on the left side, five exhaust ports 54a are formed side by side in the front-rear direction, and the exhaust part 62 is attached to the inside of each exhaust port 54a. The exhaust portion 62 has a fan (not shown), and can exhaust the air inside the lashing metal welding device 41 surrounded by the light shielding plates 51 to 55. On the other hand, five suction ports 55a are formed on the right side of the light shielding plate 55 along the front-rear direction at the upper part thereof, and suction sections 63 are attached to the inside of the respective suction ports 55a. The suction portion 63 has a fan (not shown), and can supply air to the inside of the lashing metal welding device 41 surrounded by the light shielding plates 51 to 55.

Therefore, while the ventilation device 61 is in operation, clean air enters from the upper portion of one side of the lashing metal welding device 41, and dirty air is discharged from the lower portion of the other side. In most areas of the air exchange, that is, the cleaning effect is exhibited. Here, although the exhaust part 62 is provided in the lower part of the light shielding plate 54 on the left side and the suction part 63 is provided on the upper part of the light shielding plate 55 on the right side, it may be reversed. Further, the exhaust part 62 and the suction part 63 may be provided on the other light shielding plates 51 to 55, or plural ones may be provided. Since the welding gas (inert gas) is used during the welding operation of the binding

metal

30, 33, 36 by the binding metal welding device 41, the ventilator 61 operates after completion of welding. ing.

Here, based on the flowchart of FIG. 10, the monitoring control (control method) of the lashing metal welding device 29 by the operation panel 15 (control device) will be described.

In the monitoring control (control method) of the metal fastener welding device 29 according to the second embodiment, as shown in FIGS. 6 to 10, in step S0, it is shown in FIG. In accordance with the shapes of various types of

fastening hardware

30, 33, 36, individual welding operation contents are stored.

articles

30, 33. , 36, transport and set up the metal welding apparatus 29. Next, in step S2, by operating the operation switch (operation button) of the operation panel 15, an automatic welding operation by the lashing metal welding device 29 is started.

In step S10, the retractable cylinder 21 and the retractable cylinder 25 are contracted, and the swivel bases 22 and 26 are pivoted upward, and the moving wheel 23 and the driving wheel 27 are retracted. Next, the fixing electromagnet 12 is excited, and the metal attachment welding device 29 is firmly fixed on the vehicle mounting deck.

Next, in step S11, the processing of the image captured by the monitoring camera 13 is performed, and the identification of the type of the metal lock 30 (or the metal lock 33, 36) and the measurement of the position are performed. Then, in step S31, the height of the welding torch 10 with respect to the vehicle mounting deck is measured by the height sensor 43, and the welding torch 10 is stopped at an appropriate height. In this case, the control panel 15 drives and controls the four-axis drive arm 2 to lower the torch holder 18 and stop the welding torch 10 at an appropriate height.

Next, in step S12a, it is determined whether or not the securing metal is the protruding type swing-type fixing metal 33, and if it is determined that the securing type metal is the protruding type rotating-type locking metal 33, in step S13a The coordinates (measurement origin) of the center position of the fixing portion 34 of the securing metal object 33 in the working range A are calculated, and each coordinate with the reference origin as the origin in the operation procedure of the projecting type swing type fastening metal object Converted to the coordinates as the origin.

Next, in step S14, the hook turning arm 11 is driven to turn the turning locking ring 35, and in step S15a, the welding torch 10 welds the fixing portion 34 and the vehicle mounting deck. It will be. Thereafter, the welding operation is finished in step S17.

On the other hand, if it is determined in step S12a that the lashing metal is not the projecting type pivoting lashing metal 33, it is determined in step S12b whether the lashing metal is the projecting type lashing metal 30 or not. If it is determined that the binding metal is the protruding type fixing metal 30, in step S13b, the coordinates (measurement origin) of the center position of the locking portion 32 in the working range A is calculated, and the protruding type mounting metal is Each coordinate whose origin is the reference origin in the operation procedure is converted into coordinates whose origin is the measurement origin. Next, in step S15b, a work of welding the periphery of the fixing portion 31 on both sides of the locking portion 32 and the vehicle mounting deck is performed. Thereafter, the welding operation is finished in step S17.

On the other hand, if it is determined in step S12b that the securing metal is not the projecting type securing metal 30, then it is determined in step S12c whether the securing metal is the embedded securing metal 36 or not, and embedded If it is determined that the fastening metal 36 is not the mold, it is determined that the fastening metal is not one of the previously stored operation procedures, and the operation is interrupted in step S16. Then, an alarm is issued by an alarm lamp or the like (not shown).

If it is determined in step S12c that the securing metal is the embedded securing metal 36, then in step S13c, the coordinates (measurement origin) of the center position of the embedded securing metal 36 in the working range A is The calculated coordinates are converted into coordinates with the measurement origin as the origin, with the reference origin as the origin in the embedded type fastening metal operation procedure as the origin. Next, in step S15c, an operation of welding the periphery of the embedded securing metal 36 and the vehicle mounting deck is performed. Thereafter, the welding operation is finished in step S17.

When the welding operation is finished in step S17, the operation of the ventilator 61 is started in step S32. Then, while the air contaminated by welding is discharged to the outside in the metal-bound-metal-welding device 41, clean air is supplied to the inside. At this time, the X-axis movement bearing 4 is moved to the side of the frame 1 (right or left).

In this manner, the ventilation device 61 operates to clear the internal air, and the X-axis movement bearing 4 (and the Y-axis rail 5, Y-axis movement bearing 6, Z-axis rail 7, Z-axis movement bearing and turning By bringing the bearing 8, the pivot 9, the welding torch 10, the hook pivoting arm 11, and the torch holder 18) to the side, it is possible to take pictures of the following securing

metal pieces

30, 33, 36 by the monitoring camera 13.

Next, in step S18, it is judged whether or not it is judged whether or not the number of the lashing material which has been subjected to the welding operation matches the number of the lashing material to be welded which has been input before the start of the welding operation In step S22, the welding operation is ended, and an alarm is issued by an alarm lamp or the like (not shown).

If it is determined in step S18 that the quantity of the securing metal parts does not match, in step S19, the excitation of the fixing electromagnet 12 is canceled and the drawing-in is carried out in order to move on to the welding work for the next securing metal goods. The fork cylinder 21 and the fork-in cylinder 25 are extended, and the

turntables

22 and 26 are pivoted downward, and the moving wheel 23 and the driving wheel 27 are pulled out.

Next, in step S20, the metal fastening device 41 moves (advances) by a predetermined distance input in advance, and stops the operation of the ventilator 61 in step S33. Then, the exchange of the air contaminated by welding and the clean air is completed in the metal-welding device 41. After that, in step S21, it is determined whether or not the

metal fasteners

30, 33, 36 are present, and if the

metal fasteners

30, 33, 36 are not recognized, the operation is finished in step S22. On the other hand, if the

metal fasteners

30, 33, 36 are recognized, the process returns to step S10, and the operation of steps S10 to S21 is repeated for the next metal fastener.

<Other Embodiments, Modifications>
As mentioned above, although embodiment of this invention was described, this invention is not limited to said embodiment, It can not be overemphasized that a various change may be added within the scope of the present invention. For example, the shape of the outer diameter of the frame 1 is not limited to the hexahedral shape (quadrangular prism) shown in FIGS. 1 and 8, but may be a triangular prism, a cylinder, or a semi-cylindrical shape. . Further, the four-axis drive arm 2 is not limited to the one shown in FIGS. 1 and 8 and may be, for example, one as shown in FIG.

In addition, when the operator carries out all the movement, the retractable moving wheel device 20 and the retractable driving wheel device 24 can be omitted. Also, the number of fixing electromagnets 12 may be four or more.

Also, in place of the retractable drive wheel assembly 24 having the motor 28 for the lower part of the front lower part of the frame 1, a retractable transfer wheel assembly 20 is provided to form a total of four retractable transfer wheel assemblies 20. A winch for winding a wire is provided in the front lower part of the frame 1 in place of the running motor 28, the end of the wire is connected to the leading end of a large number of bindings to be welded, and the wire is wound The fixed metal welding device 29 may be moved accordingly.

1 Frame 1a Camera Mounting Frame 1b Carrying Handle 2 4 Axis Drive Arm 3 X Axis Rail 4 X Axis Moving Bearing 5 Y Axis Rail 6 Y Axis Moving Bearing 7 Z Axis Rail 8 Z Axis Moving Bearing / Swivel Bearing 9 Pivot 10 Welding Torch 11 hook pivoting arm 11a hook 12 fixed electromagnet 13 monitor camera 14 indicator 15 operation panel 16 transport wheel 17 transport wheel support 18 torch holder 18a torch holder base 18b torch holder arm 18c torch holder Torch gripping portion 20 Retractable moving wheel device 21 Retracting cylinder 22 Pivot 23 Moving wheel 24 Retractable driving wheel device 25 Retracting cylinder 26 Pivot 27 Driving wheel 28 Self-propelled motor 29 Fastening metal welding device 30 bumps 31 type of fixed lock hardware 31 fixed part 32 locking part 33 protruding type fixed lock metal 34 fixed part 35 fixed lock ring 36 embedded fixed metal lock 41 fixed metal welder 42 shooting light 43 high Height sensor (sensor for height position measurement)
51, 52, 53, 54, 55 Shading plate 61 Ventilation system 62 Exhaust part 63 Suction part A Working range S1 to S5 Rotation axis L0 Position of vehicle mounting deck at welding work LL Wheel for driving at self-running (wheel for movement Position of the vehicle mounting deck LH) lower end position of the transportation wheel LT position of the vehicle mounting deck at the time of transportation

Claims

A torch holder attached to the frame via a 4-axis drive arm,
An L-shaped hook pivot arm attached to a side surface of the torch holder;
Fastening metal welding device characterized by having.
A surveillance camera mounted downward in the upper center of the frame;
A display for displaying an image captured by the surveillance camera;
And a controller for controlling a welding machine that supplies a welding current to the welding torch held by the four-axis drive arm and the torch holder.
The controller is
It has a memory in which a plurality of fastening hardware operation procedures are stored in advance,
One of the operation procedures for the securing metal is a hook turning arm when it is determined that the securing metal photographed by the monitoring camera is a projecting turning type securing metal having a turning locking ring. After the operation of turning the turning locking ring to one side, the welding work of the protruding turning type fastening metal and the vehicle mounting deck is performed.
An apparatus according to any one of the preceding claims, characterized in that:
3. The lashing metal welding apparatus according to claim 2, further comprising: a photographing illumination of the surveillance camera attached to an upper portion of the frame.
A height position measurement sensor for measuring the height position of the vehicle mounting deck;
The control device drives the four-axis drive arm based on the measurement result of the height position measurement sensor.
The fastener welding device according to claim 2 or 3, characterized in that:
A light shielding plate attached to the frame to cover the inside;
A ventilation system for ventilating the inside,
The fastener welding apparatus according to any one of claims 1 to 4, further comprising:
The said ventilation apparatus is provided with an attraction | suction part and an exhaust_gas | exhaustion part in the position which opposes in the said light-shielding plate, The fastening metal thing welding apparatus of Claim 5 characterized by the above-mentioned.
The fastener according to claim 5 or 6, wherein the ventilator operates after the end of welding.
A transport wheel mounted in front of the frame;
A carrying handle attached to the rear of the frame;
The fastener welding apparatus according to any one of claims 1 to 7, further comprising:
At least three fixing electromagnets mounted on the lower surface of the frame;
A retractable drive wheel assembly and a retractable transfer wheel assembly mounted at the bottom of the frame;
The fastener welding apparatus according to any one of claims 1 to 8, further comprising:
The welding apparatus according to any one of claims 1 to 9, further comprising a welding torch held by the torch holder.
A torch holder attached to the frame via a 4-axis drive arm,
A hook pivoting arm attached to the torch holder;
A welding torch held toward the rotational axis of the hook pivoting arm at the tip of the hook pivoting arm;
A hook pivoting arm having an L-shaped cross section attached to a side surface of the hook pivoting arm;
A transport wheel mounted in front of the frame;
A carrying handle attached to the rear of the frame;
At least three fixing electromagnets mounted on the lower surface of the frame;
A retractable drive wheel assembly and a retractable transfer wheel assembly mounted at the bottom of the frame;
A surveillance camera mounted downward in the upper center of the frame;
A display for displaying an image captured by the surveillance camera;
The 4-axis drive arm, the retractable drive wheel device, the fixing electromagnet, and a control device that controls a welding machine that supplies a welding current to a welding torch,
The controller is
It has a memory in which a plurality of fastening hardware operation procedures are stored in advance,
One of the operation procedures for the securing metal is a hook turning arm when it is determined that the securing metal photographed by the monitoring camera is a projecting turning type securing metal having a turning locking ring. After performing the operation of turning the turning locking ring to one side at a time, the welding work of the projecting type turning type fastening metal and the vehicle mounting deck is performed,
The lower end of the transport wheel is located above the lower end of the fixing electromagnet,
The lower end of the hook pivoting arm having the L-shaped cross section is located at the same height as the tip of the welding torch.
Fastening metal welding device characterized in that.
The controller is
Identifying the type of securing hardware taken by the surveillance camera and measuring the position,
From the plurality of pre-stored operation procedures for securing hardware, select an operating procedure for securing hardware that corresponds to the identified securing hardware,
Coordinate-transforming each position in the selected operation procedure for a securing metal object according to the position measured by the surveillance camera,
The 4-axis drive arm, the retractable drive wheel device, the fixing electromagnet, and a welding machine for supplying a welding current to the welding torch are controlled based on the coordinate-transformed operation procedure for a fixed metal. ,
The metal fastener welding apparatus according to claim 11, characterized in that:
A torch holder attached to the frame via a 4-axis drive arm,
An L-shaped hook pivot arm attached to a side surface of the torch holder;
A surveillance camera mounted downward in the upper center of the frame;
A display for displaying an image captured by the surveillance camera;
A welding torch held by the torch holder;
A controller for controlling a welding machine that supplies a welding current to the 4-axis drive arm and the welding torch;
When it is determined by the control device that the binding metal shot by the monitoring camera is a projecting type swing type fastening metal having a pivoting locking ring, the pivoting locking ring is formed by the hook pivoting arm Perform the operation of welding the projecting type turning type fastening metal to the vehicle mounting deck after the operation of turning
Fastening metal welding method characterized in that.