WO2018225610A1 - Dispositif de traitement de câbles - Google Patents

Dispositif de traitement de câbles Download PDF

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Publication number
WO2018225610A1
WO2018225610A1 PCT/JP2018/020888 JP2018020888W WO2018225610A1 WO 2018225610 A1 WO2018225610 A1 WO 2018225610A1 JP 2018020888 W JP2018020888 W JP 2018020888W WO 2018225610 A1 WO2018225610 A1 WO 2018225610A1
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WO
WIPO (PCT)
Prior art keywords
cable
center
string
processing apparatus
cable processing
Prior art date
Application number
PCT/JP2018/020888
Other languages
English (en)
Japanese (ja)
Inventor
中尾　哲也
定廣　健次
修平 本田
尊信 諏訪
Original Assignee
株式会社神戸製鋼所
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 株式会社神戸製鋼所 filed Critical 株式会社神戸製鋼所
Priority to KR1020197035835A priority Critical patent/KR102310403B1/ko
Priority to CN201880037568.7A priority patent/CN110720164B/zh
Publication of WO2018225610A1 publication Critical patent/WO2018225610A1/fr

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K9/00—Arc welding or cutting
    • B23K9/12—Automatic feeding or moving of electrodes or work for spot or seam welding or cutting
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K9/00—Arc welding or cutting
    • B23K9/12—Automatic feeding or moving of electrodes or work for spot or seam welding or cutting
    • B23K9/133—Means for feeding electrodes, e.g. drums, rolls, motors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K9/00—Arc welding or cutting
    • B23K9/32—Accessories
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H54/00—Winding, coiling, or depositing filamentary material
    • B65H54/76—Depositing materials in cans or receptacles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H54/00—Winding, coiling, or depositing filamentary material
    • B65H54/76—Depositing materials in cans or receptacles
    • B65H54/78—Apparatus in which the depositing device or the receptacle is reciprocated
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02G—INSTALLATION OF ELECTRIC CABLES OR LINES, OR OF COMBINED OPTICAL AND ELECTRIC CABLES OR LINES
    • H02G11/00—Arrangements of electric cables or lines between relatively-movable parts
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H2701/00—Handled material; Storage means
    • B65H2701/30—Handled filamentary material
    • B65H2701/34—Handled filamentary material electric cords or electric power cables

Definitions

  • the present invention relates to a cable processing apparatus, and more particularly to a cable processing apparatus capable of improving the handling of various cables connected to a mechanical apparatus such as a welding apparatus.
  • the joint 5 generated between the flat panel 1, the longe 2, and the transformer 3 is welded.
  • a plurality of rows of longes 2 are arranged on the surface of the panel 1, and transformers 3 are arranged at regular intervals in a direction orthogonal to the longes 2, and three sides formed by the panel 1, the longes 2, and the transformers 3.
  • the intersecting portions (joints) 5 of the framed regions 4 surrounded by the four sides are respectively welded.
  • the longe 2 and transformer 3 are pre-assembled into a grid and then welded to the panel 1 or the longe 2 is first welded to the panel 1 and then the longe 2 is attached and welded. There is. In any case, automation using an industrial robot is desired. In this case, it is necessary to move the welding apparatus into the region 4 of the large frame structure and to place it opposite to the longi 2 or the transformer 3 in the region 4. There is.
  • Such movement of the welding apparatus is generally performed by allowing the crane to move in the front-rear and left-right directions, and lifting and lowering the welding apparatus with a wire disposed on the crane.
  • Patent Document 1 when an industrial robot is arranged at the lower end of a telescopic guide connected so that a rectangular angle structure unit can be expanded and contracted, when the industrial robot suspended by a wire is moved up and down, it moves left and right and back and forth.
  • An automatic welding apparatus is disclosed in which the vibration is restrained to prevent the industrial robot from shaking.
  • the present invention has been made in view of the above-described problems, and the purpose thereof is to prevent a mechanical device from shaking and tilting due to the behavior of a cable, even if the lifting mechanism has a simple configuration, and to achieve a large structure.
  • An object of the present invention is to provide a cable processing apparatus capable of positioning with high accuracy.
  • a cable processing device including at least two cable processing units that store and regulate a cable connected to a mechanical device that moves up and down with respect to an upper support member by an elevating mechanism, The cable processing unit is disposed symmetrically with respect to the center of the lifting mechanism in a top view, and the cable processing unit is wound when the expansion / contraction unit contracts when the mechanical device contracts.
  • a cable storage section for storing in a state The expansion / contraction part has an upper end connected to the upper support member side and a lower end connected to the cable storage part, The cable processing apparatus, wherein the cable is disposed in a spiral shape around the stretchable portion.
  • the cable processing device (2) The cable processing device according to (1), wherein the cable is fastened at a plurality of locations around the stretchable portion. (3) The diameter of the cable is 65 mm or less, the winding diameter of the cable is 850 mm or less, and the length of the cable is set to be 1.25 to 2 times the lifting stroke of the lifting mechanism.
  • the cable processing apparatus according to (1) or (2), which is characterized.
  • the expansion / contraction part is composed of at least three string members and a plurality of rings fixed to the string members, The string-like member is connected to the cable housing portion at an equal distance from the center thereof, The cable processing device according to (1) or (2), wherein the plurality of rings are fixed to the string-like member with an interval in a longitudinal direction of the string-like member.
  • the cable processing device includes a cone-shaped ring holding member disposed at the center of each cable storage unit, The maximum diameter of the ring holding member is smaller than the inner diameter of the ring, The cable processing apparatus according to (4) or (5), wherein when the expansion and contraction portion contracts, the plurality of rings fit into the ring holding member.
  • the diameter of the cable is 65 mm or less, the winding diameter of the cable is 850 mm or less, and the length of the cable is set to 1.25 to 2 times the lifting stroke of the lifting mechanism,
  • the string-like members are three,
  • the inner diameter of the ring is 300 mm to 800 mm,
  • the attachment pitch of the ring to the string-like member is 500 mm to 850 mm,
  • the attachment pitch of the cable to the string-like member is 500 mm to 850 mm, and the length of the cable between the attachment pitches of the cable
  • the cable processing device according to any one of (4) to (6), wherein the length is 650 mm to 1250 mm.
  • At least three of the cable-like members of the cable processing units are arranged at equiangular intervals with respect to the center of the cable storage unit, Each of the cables has a winding direction in each of the cable storage portions opposite to each other. Each position where the cables and the string-like member are fastened at the same height in a state where the stretchable part is extended is line-symmetric with respect to the center of the lifting mechanism (4) to (7)
  • the cable processing apparatus in any one of.
  • At least three of the cable-shaped members of the cable processing units are arranged at equiangular intervals with respect to the center of the cable storage unit, Each of the cables has the same winding direction in each of the cable storage portions, Each position where the cables and the string-like member are fastened at the same height in a state where the stretchable portion is extended is point-symmetric with respect to the center of the elevating mechanism (4) to (7)
  • the cable processing apparatus in any one of.
  • the cable processing apparatus according to any one of (1) to (7), wherein (11) In the cable, the winding direction in each cable storage portion is opposite to each other, and the position where the cable is separated from each cable storage portion or a portion stored in each cable storage portion is The cable processing device according to (10), wherein the phase is approximately 180 ° different from the center of each cable housing portion. (12) In the cable, the winding direction in each cable storage portion is the same direction, and the position where the cable is separated from each cable storage portion or a portion stored in each cable storage portion is The cable processing device according to (10), wherein the cable processing devices have substantially the same phase position with respect to the center of each of the cable storage portions.
  • the cable is divided into a power cable having a plurality of power lines and a signal cable having a plurality of signal lines, and is housed in the cable housing portions (1) to (12).
  • the cable processing apparatus in any one of.
  • the lifting mechanism is a crane having a wire whose lower end is connected to a lifting device for lifting the mechanical device,
  • the cable processing device according to any one of (1) to (13), wherein each of the cable storage portions is fixed to the lifting device.
  • the mechanical device can be prevented from shaking or tilting due to the behavior of the cable, and can be positioned with high accuracy relative to a large structure. .
  • FIG. 1 is an overall configuration diagram of a welding apparatus to which a cable processing apparatus according to the present invention is applied. It is a side view of the cable processing part, robot carry, and welding robot suspended by the crane. It is a perspective view of a cable storage part, a robot carry, and a welding robot. It is a reverse view of a robot carry provided with a positioning device. It is a side view of the cable processing part in which the expansion / contraction part is extended and the cable storage part is in the lowered position.
  • FIG. 6 is a side view of a cable processing unit in which a telescopic part contracts and a cable storage part is in an ascending position, a ring is fitted into a ring holding member, and a cable is stored in the cable storage part.
  • a welding robot is taken as an example of a mechanical device, and a case where a joint of a large frame structure W is welded will be described.
  • the large frame structure W welded with this welding apparatus it is the same as that of what was demonstrated in FIG. 10, and description is abbreviate
  • the direction in which a plurality of rows of the longages 2 of the large frame structure W are arranged is referred to as the left-right direction, and the direction along the longitudinal direction of the longes 2 is referred to as the front-rear direction.
  • Direction, Y direction refers to the front-rear direction, and Z direction refers to the up-down direction.
  • a pair of leg frames 12 are provided on both sides in a predetermined direction (left-right direction) of the large frame structure W.
  • Horizontal rails 13 are arranged respectively. Therefore, the pair of horizontal rails 13 are installed above the large frame structure W and on both sides in the left-right direction of the large frame structure W.
  • the pair of horizontal rails 13 includes wheels 15a driven by a motor (not shown), and crane saddles 15 attached to both ends of the crane girder 14 are disposed so as to be able to run.
  • the crane girder 14 is horizontally movable along the longitudinal direction of the horizontal rail 13 (direction orthogonal to the paper surface).
  • the horizontal rail 13 may be arranged on one side of the large frame structure W, and the crane girder 14 may be supported on one side.
  • a carriage 17 of a hoist type crane 20 having wheels 17 a in FIG. 1 is driven by a motor 18 and can move along the crane girder 14 in the horizontal direction (left and right direction in FIG. 1).
  • cable processing unit support frames 16 a and 16 b are provided at the lower portion of the carriage 17, and a hoist 20 b of a hoist type crane 20, which is a lifting mechanism, is provided at a substantially lower surface of the carriage 17. Is attached.
  • the hoist crane 20 is connected to the lower end portion of the wire 23 by winding and unwinding the wire 23 wound around the drum by rotating a drum (not shown) in the hoist 20b by the lifting motor 20a.
  • the lifting device 25 is moved up and down.
  • the lifting device 25 includes an upper suspension 26 to which the lower end of the wire 23 is coupled, and a lower suspension 28 coupled to the upper suspension 26 by four chains 27.
  • a robot carry 40 is connected to the lower part of the lower suspension tool 28 via a rotation mechanism 30, and a welding robot 70 is installed on the robot carry 40.
  • the robot carry 40 includes a robot placement portion 41 on which the welding robot 70 is placed, and a stay 60 that connects the robot placement portion 41 and the lower suspension tool 28.
  • four ball casters 42 including balls 43 that can be rotated 360 ° are arranged on the lower surface of the robot placement portion 41.
  • the robot placement unit 41 can be moved in any direction on the flat panel 1 of the large frame structure W by a ball caster 42.
  • the robot placement unit 41 includes a positioning device 46 having a left-right positioning mechanism 44 and a front-rear positioning mechanism 45 that perform positioning in the left-right direction and the front-rear direction with respect to the adjacent longe 2 and transformer 3.
  • the left and right positioning mechanism 44 includes a pair of link members 47 that can be rotated about a pair of swing support points 41 a provided on the side of the robot placement unit 41 and a pin at one end of the pair of link members 47.
  • An arm 48 that is rotatably connected and has a pair of rollers 49 at both ends thereof, and a drive link 50 that is rotatably connected to the other end of the link member 47 via a pin.
  • each drive link 50 is connected via a connection link 53 to a drive rod 52 that is horizontally movable in the front-rear direction in the figure by a cylinder 51. That is, the left and right positioning mechanism 44 constitutes a four-bar linkage mechanism that is driven by the cylinder 51.
  • the cylinder 51 is always in a state in which the drive rod 52 is extended, and the link member 47 and the arm 48 are accommodated in a state of being folded inside the left and right side surfaces of the robot placement portion 41.
  • the drive rod 52 moves in the direction in which the drive rod 52 is drawn into the cylinder 51
  • the drive link 50 to which the connection link 53 is connected also moves in the same direction. Is rotated, and the arm 48 is deployed from the robot placement portion 41 to both sides.
  • the left and right positioning mechanism 44 including the pair of arms 48 on both the left and right sides of the robot placement unit 41 expands and contracts the pair of arms 48 with a constant pressure, etc. stroke, and moves the pair of rollers 49 of the arms 48 to the left and right 2 abuts.
  • the robot placement part 41 supported by the ball casters 42 moves without resistance on the flat panel 1, and the robot placement part 41 is positioned at the center position of the left and right longes 2.
  • the front / rear positioning mechanism 45 is disposed on the upper surface side (the back side of the paper in FIG. 4) of the robot placement portion 41, and is fixed to a cylinder (not shown) having a cylinder rod 55 that expands and contracts in the front-rear direction,
  • the pressing portion 56 is provided.
  • the robot mounting portion 41 is positioned at a predetermined position separated from the transformer 3 by a predetermined distance.
  • the robot placement unit 41 moves the electromagnet 57 down by operating a cylinder (not shown) after the left / right positioning mechanism 44 performs left / right positioning and the front / rear positioning mechanism 45 performs positioning in the front / rear direction.
  • the robot mounting portion 41 is fixed to the panel 1 by being attracted to the panel 1 by the magnetic force of the electromagnet 57.
  • a ground wire is connected to the member of the electromagnet 57 attracted to the panel 1, it is possible to reliably ground, which is preferable.
  • the positioning device 46 is not limited to the mechanical (contact) positioning device described above, and may be a non-contact positioning device such as a laser sensor or a visual sensor.
  • a cable duct 61 that guides the power cable 38 and the signal cable 39 from the cable storage portion 32 to each operating portion of the welding robot 70 is fixed to the stay 60. Further, a control box 63 in which a control device for controlling the robot carry 40 and the welding robot 70 is housed is disposed on the side surface of the stay 60.
  • the welding robot 70 is an articulated robot disposed on the robot placement unit 41 so as to be movable in the front-rear direction.
  • the welding robot 70 includes a welding torch 71 at the end of the arm, and welds the welded portion of the panel 1, the longe 2, and the transformer 3. To do.
  • the welding robot 70 is a known articulated robot and will not be described in detail.
  • a cable processing device 80 including two cable processing units 22 is provided between the cable processing unit support frames 16 a and 16 a and the lifting device 25 that supports the welding robot 70 via the robot carry 40. .
  • the two cable processing units 22 are respectively disposed between the cable processing unit support frames 16 a and 16 a and a storage unit support base 29 attached to the lower suspension tool 28.
  • the two cable processing units 22 are arranged symmetrically with respect to the center O of the wire 23 of the crane 20 in a top view.
  • Each cable processing unit 22 includes an expansion / contraction unit 31 and a cable storage unit 32 as shown in FIGS. 3 and 5.
  • the cable storage portion 32 is a cage member formed by assembling a pipe material to a substantially circular bottom plate, and is fixed on the storage portion support base 29.
  • the cable storage portion 32 can store cables 38 and 39, which will be described later, in a state of being wound in a substantially circular shape (see FIG. 6).
  • the power cable 38 and the signal cable 39 include a plurality of power lines and signal lines for driving and controlling the robot carry 40 and the welding robot 70 in two groups for each power line and signal line. Divided and bundled by a rope 58 or the like and separated and stored in each cable processing unit 22. Thereby, it is possible to prevent the electric noise generated from the power line from affecting the signal line.
  • the power cable 38 and the signal cable 39 are connected to the control box 63 of the robot carry 40 and the welding robot 70 via the cable storage portions 32 of the respective cable processing portions 22.
  • a plurality of power lines such as a welding power cable, a welding ground cable, a gas supply hose, an air hose, and a motor cable are bundled with a diameter of about 65 mm or less.
  • the signal cable 39 includes, for example, a signal cable, a wire feeder control cable, a safety signal cable, a welding voltage detection cable, and the like, and a plurality of signal lines are bundled to have a diameter of about 65 mm or less.
  • the stretchable part 31 includes at least three chains 33 that are string-like members, and a plurality of rings 34 fixed to the three chains 33 at substantially equal intervals.
  • three chains 33 are used, and eleven rings 34 are fixed to the three chains 33.
  • the upper ends of the three chains 33 are connected to the upper support plate 21 attached to the cable processing unit support frame 16a. Further, the lower ends of the three chains 33 are connected to the cable housing portion 32 at an equal distance from the center thereof and at equal intervals in the circumferential direction of the ring 34.
  • the cable storage portion 32 moves up and down in accordance with the winding and feeding of the wire 23 by the hoist type crane 20, and the expansion and contraction portion 31 expands and contracts accordingly.
  • the three chains 33 are arranged at equiangular intervals with respect to the center C ⁇ b> 1 or C ⁇ b> 2 of the cable storage portion 32. That is, the three chains 33 are arranged symmetrically with respect to the line X ⁇ b> 1 passing through the center O of the wire 23.
  • a conical ring holding member 35 is fixed at the center of each cable storage portion 32.
  • the maximum diameter of the root portion of the ring holding member 35 is set smaller than the inner diameter of the ring 34.
  • a power cable 38 and a signal cable 39 are spirally arranged on the outer peripheral side of the three chains 33, and chain fasteners are provided at a plurality of positions of the three chains 33.
  • 37 is fastened.
  • the power cable 38 and the signal cable 39 are fastened to one of the three chains 33 via a chain stopper 37 and a rope 58 at each intermediate portion of the plurality of rings 34. That is, when the mounting pitch P1 of the ring 34 is set, the power cable 38 and the signal cable 39 are attached to the chain 33 at the position P1 / 2, and the mounting pitch P2 of the power cable 38 and the signal cable 39 is set to the ring 34. Is equal to the mounting pitch P1.
  • black circle J1 indicates the position where each cable 38, 39 is fastened to any one of the three chains 33
  • black circle J2 indicates that each cable 38, 39 remains.
  • the position where the other chain 33 is fastened is shown
  • the black circle J3 shows the position where each cable 38, 39 is fastened with the remaining one chain 33. That is, the cables 38 and 39 wound spirally are fastened to the chain 33 positioned in the winding direction every time one ring 34 is crossed.
  • the hoist type crane 20 winds the wire 23
  • the three chains 33 are loosened, and the ring holding member 35 raises the cable storage unit 32 while fitting the plurality of rings 34.
  • the ring holding member 35 can prevent the three chains 33 from being entangled by fitting and restraining the plurality of rings 34.
  • the length of each cable 38, 39 is preferably set to 1.25 to 2 times the lifting stroke.
  • the winding diameter D1 of the power cable 38 and the signal cable 39 is preferably set to 850 mm or less.
  • the ring diameter D2 of the ring 34 is preferably set to 300 mm to 800 mm. If the ring diameter D2 is less than 300 mm, the ring 34 may not enter the ring holding member 35. On the other hand, the upper limit of the ring diameter D2 is set to 800 mm or less in accordance with the winding diameter D1 of the power cable 38 and the signal cable 39.
  • the mounting pitch per round is set to about 1.5 m to about 2.5 m. Therefore, the mounting pitch P1 of the ring 34 to the three chains 33 is preferably set to 500 mm to 850 mm, and the mounting pitch P2 of the power cable 38 and the signal cable 39 to the three chains 33 is preferably set to 500 mm to 850 mm. . Further, the length of the power cable 38 and the signal cable 39 between the mounting pitches of the power cable 38 and the signal cable 39 is preferably set to 650 mm to 1250 mm.
  • the upper support plate 21 is provided with a cone receiving portion 36 that opens to the lower surface at a position facing the ring holding member 35.
  • the ring holding member 35 is painted red, blue, and yellow in order from the front end side (upper end side), and when the ring holding member 35 rises together with the cable storage portion 32, the cone receiving portion 36 becomes red and blue. Mate in order. Therefore, even when the hoist crane 20 is operated from a distance, when the red portion of the ring holding member 35 is shielded by the cone receiving portion 36 and cannot be seen, it is easily confirmed that the wire 23 is close to the winding end. It is possible to prevent erroneous operation.
  • the dot pattern region represents a red portion
  • the shaded pattern region represents a blue portion
  • the remaining portion represents a yellow portion. .
  • the cone receiving portion 36 is fitted to the ring holding member 35, even if the storage portion support base 29, that is, the cable storage portion 32 is deviated from the normal phase, the cable storage portion 32 and the upper support plate 21 are separated from each other. The relative position is corrected, and the directions of the cable processing unit 22 and the welding robot 70 are restricted.
  • the power cable 38 and the signal cable 39 have a relatively large rigidity because a plurality of power lines and signal lines are bundled. For this reason, when the power cable 38 and the signal cable 39 are spirally deployed (when the cable housing portion 32 is lowered), or when the power cable 38 and the signal cable 39 are wound in a circular shape from the spiral shape (when the cable housing portion 32 is raised), the power cable 38.
  • the force due to the rigidity of the signal cable 39 acts on each cable storage portion 32.
  • the force that the curved cables 38 and 39 try to extend in a straight line is substantially tangential at the rising position of the power cable 38 and the signal cable 39. It acts on the cable housing portion 32 directly or via the power cable 38 and the signal cable 39 housed in the housing portion 32. This force acts as a rotational torque for rotating the cable storage portion 32 (including the robot carry 40), and tries to rotate the cable storage portion 32 about the wire 23.
  • the rising position of the power cable 38 and the signal cable 39 means that the cables 38 and 39 are stored in the cable storage portions 32 or the cable storage portions 32 when the cable storage portion 32 is lowered or raised. It is a position away from the part.
  • the cable storage portion 32 is disposed at a symmetrical position with respect to the center O of the wire 23, the winding direction of the power cable 38 and the signal cable 39 and the power cable 38 wound and stored in the cable storage portion 32.
  • the rotational torque can be canceled by setting the rising position of the signal cable 39 appropriately.
  • the winding directions of the power cable 38 and the signal cable 39 in each cable storage portion 32 are opposite to each other, and the rising positions S1, S1 of the power cable 38 and the signal cable 39 are reversed.
  • S2 is set to a phase that is approximately 180 ° different from the centers C1 and C2 of the cable storage portions 32.
  • the power cable 38 and the signal cable 39 are wound in the respective cable storage portions 32 in opposite directions, and the cables 38,
  • the positions J1 to J3 where the chain 39 and the chain 33 are fastened are symmetrical with respect to the line X1 passing through the center O of the wire 23.
  • the rising positions S1 and S2 of the power cable 38 and the signal cable 39 are set on the line connecting the centers C1 and C2 of the cable storage portions 32. .
  • the rising of the power cable 38 and the signal cable 39 is a component of the tangential force at the position (a line connecting the centers C1 and C2 of the cable housing portion 32).
  • the rotational torques T1 and T2 are similarly canceled.
  • the forces F1 and F2 due to the rigidity of the power cable 38 and the signal cable 39 described above are the winding diameter D1 of the power cable 38 and the signal cable 39 when stored in the cable storage portion 32, the ring diameter D2 of the ring 34, and the ring 34
  • the mounting pitch P1 to the three chains 33, the mounting pitch P2 of the power cable 38 and the signal cable 39 to the three chains 33, the power cable 38 and the signal cable 39 between the mounting pitches of the power cable 38 and the signal cable 39 Since it is influenced by the length, the diameters of the power cable 38 and the signal cable 39, etc., it is preferable to set each within a predetermined range.
  • a large frame structure W in which a longe 2 and a transformer 3 are temporarily assembled on a panel 1 is disposed on a surface plate 6.
  • the wire 23 of the hoist type crane 20 is wound up, the expansion / contraction part 31 (three chains 33) contracts, and the cable storage part 32 is raised, and the crane girder 14 is moved along the horizontal rail 13 to the paper surface.
  • the carriage 17 is horizontally moved along the crane girder 14 in the left-right direction.
  • the robot carry 40 and the welding robot 70 are positioned above the area 4 of the mesh surrounded by the longe 2 and the transformer 3 that are scheduled to be welded.
  • the hoist type crane 20 is operated to feed the wire 23, and the cable storage unit 32 and the robot carry 40 (welding robot 70) fixed to the lifting device 25 are lowered.
  • the three chains 33 housed in the cable housing portion 32 with the plurality of rings 34 fitted to the ring holding member 35 are moved along with the lowering of the cable housing portion 32. And stretch.
  • the power cable 38 and the signal cable 39 that are rounded and housed in the cable housing portion 32 are spirally developed on the outer peripheral side of the three chains 33.
  • Robot carry 40 (welding robot 70) descends into region 4 in which Longe 2 and transformer 3 are temporarily assembled. After that, as shown in FIG. 4, the cylinder 51 of the right and left positioning mechanism 44 that is always in the extended state is operated to deploy the pair of arms 48 from the robot mounting portion 41 to the side with a constant pressure, etc. The pair of rollers 49 are brought into contact with the left and right longes 2 to position the robot placement unit 41 at the center position of the left and right longes 2.
  • the cylinder of the front / rear positioning mechanism 45 is operated and the transformer 3 is pressed by the pressing portion 56 to position the robot placement portion 41 at a position spaced apart from the transformer 3 by a predetermined distance. Further, the electromagnet 57 is lowered by a cylinder (not shown) and is attracted to the panel 1 by the magnetic force of the electromagnet 57 to fix the robot placement portion 41 to the panel 1.
  • the welding joint in the region 4 in which the longe 2 and the transformer 3 are temporarily assembled is welded by the welding robot 70.
  • the two cable processing units 22 arranged symmetrically with respect to the center O of the wire 23 of the crane 20 are moved according to the elevation of the welding robot 70.
  • the expansion / contraction part 31 has an upper end part on the upper support member side and a lower end part connected to the cable storage part 32, and the power cable 38 and the signal cable 39 are spirally arranged around the expansion / contraction part 31.
  • the welding robot 70 can be prevented from shaking and tilting due to the behavior of the cables 38 and 39, and the large frame structure W Can be positioned with high accuracy. Further, when the cable storage portion 32 is moved up and down by the crane 20, the power cable 38 and the signal cable 39 are smoothly stored or deployed in the cable storage portion 32, so that the welding robot 70 shakes due to the behavior of the cables 38 and 39. And tilting can be further prevented.
  • the power cable 38 and the signal cable 39 are fastened at a plurality of locations around the expansion / contraction part 31, even if the expansion / contraction part 31 expands / contracts, it is possible to prevent the power cable 38 and the signal cable 39 from being tangled. it can.
  • the power cable 38 and the signal cable 39 have a diameter of 65 mm or less, the winding diameter D1 of the power cable 38 and the signal cable 39 is 850 mm or less, and the lengths of the power cable 38 and the signal cable 39 correspond to the lifting stroke of the crane 20. On the other hand, since it is set to 1.25 to 2 times, the power cable 38 and the signal cable 39 having a short cable length can be surely wound into the cable storage portion 32 and spirally deployed.
  • the telescopic part 31 has three chains 33 and a plurality of rings 34 fixed to the three chains 33 at intervals, and the three chains 33 are connected to the cable storage part 32. Since it is connected at an equal distance from the center, the cable storage portion 32 is held horizontally. In addition, since the three chains 33 are restrained by the plurality of rings 34, it is possible to suppress the three chains 33 from being tangled by the expansion / contraction of the expansion / contraction part 31. In particular, since the three chains 33 are constrained by the plurality of rings 34, it is possible to suppress the movement of the chain 33 due to the force of the rigidity of the cables 38 and 39, so that the chain 33 can be prevented from being tangled.
  • the power cable 38 and the signal cable 39 are fastened to one of the chains 33 at each intermediate portion of the plurality of rings 34, the power cable 38 and the signal cable 39 are surely spiraled when the expansion / contraction part 31 extends.
  • the expansion / contraction part 31 contracts, it can be aligned in a substantially circular shape and stored in the cable storage part 32.
  • the cable processing unit 22 includes a plurality of rings 34 when the conical ring holding member 35 having a maximum diameter smaller than the inner diameter of the ring 34 is disposed at the center of the cable storage unit 32 and the expansion / contraction unit 31 contracts. Fits into the ring holding member 35, the three chains 33 can be arranged and stored in the cable storage portion 32. As a result, the three chains 33, the power cable 38 and the signal cable 39 are aligned and stored in the cable storage portion 32.
  • the power cable 38 and the signal cable 39 have a diameter of 65 mm or less and a winding diameter D1 of 850 mm or less.
  • the length of the power cable 38 and the signal cable 39 is 1.25 to 2 times the lifting stroke of the crane 20.
  • the inner diameter D2 of the ring 34 is 300 mm to 800 mm
  • the mounting pitch P1 of the ring 34 to the three chains 33 is 500 mm to 850 mm
  • the mounting pitch P2 of the power cable 38 and the signal cable 39 to the chain 33 is 500 mm to 850 mm
  • the cables 38
  • the lengths of the power cable 38 and the signal cable 39 between the mounting pitches P2 of 39 are 650 mm to 1250 mm. Can be reliably developed.
  • the rotational torque with respect to the center O of the wire 23 acting on the cable housing portion 32 due to the rigidity of the power cable 38 and the signal cable 39 is mutually reduced. Since they are arranged so as to cancel each other, the rotation of the robot carry 40 and the welding robot 70 that occur as the cable storage portion 32 is raised and lowered is suppressed, and the welding robot 70 can be positioned with high accuracy.
  • the power cable 38 and the signal cable 39 are wound in the respective cable storage portions 32 so that the winding directions are opposite to each other, and the rising positions S ⁇ b> 1 and S ⁇ b> 2 are the centers of the respective cable storage portions 32.
  • the phases are set to be different from each other by about 180 ° with respect to C1 and C2
  • the rotational torques T1 and T2 acting on the cable housing portion 32 are offset by the rigidity of the power cable 38 and the signal cable 39, so that the welding robot 70 rotates. Is suppressed, and the welding robot 70 can be accurately positioned.
  • the three chains 33 of each cable processing unit 22 are arranged at equiangular intervals with respect to the center C ⁇ b> 1 or C ⁇ b> 2 of the cable storage unit 32.
  • the winding directions in the cable storage portions 32 are opposite to each other, and the positions J1 to J3 at which the cables 38 and 39 and the chain are fastened at the same height in a state where the stretchable portion 31 is extended are
  • the two rotational torques T1 and T2 are configured to cancel each other by being symmetrical with respect to the line X1 passing through the center O of the wire 23.
  • the power cable 38 and the signal cable 39 are wound in the same direction in the cable storage portions 32, and the rising positions S ⁇ b> 1 and S ⁇ b> 2 are the centers of the cable storage portions 32.
  • the phase positions are set to be substantially the same with respect to C1 and C2
  • the rotational torques T1 and T2 acting on the cable housing portion 32 are offset by the rigidity of the power cable 38 and the signal cable 39, and the welding robot 70 rotates. Is suppressed, and the welding robot 70 can be accurately positioned.
  • the three chains 33 of each cable processing unit 22 are arranged at equiangular intervals with respect to the center C ⁇ b> 1 or C ⁇ b> 2 of the cable storage unit 32.
  • the winding directions in the cable storage portions 32 are the same as each other, and the positions J1 to J3 at which the cables 38 and 39 and the chain 33 are fastened at the same height in a state where the stretchable portion 31 is extended.
  • the electric noise generated from the power cable 38 is signal cable. 39 is not affected.
  • the lifting mechanism is a crane 20 having a wire 23 whose lower end is connected to a lifting device 25 for lifting the welding robot 70, and each cable storage portion 32 is fixed to the lifting device 25, so that it is lightweight.
  • the welding robot 70 can be raised and lowered by the lifting mechanism.
  • this invention is not limited to embodiment mentioned above, A deformation
  • the mechanical device of the present invention is not limited to the welding device as in the above embodiment, and can be applied to any mechanical device that can be lifted and lowered by a lifting mechanism.
  • the cable processing unit of the present invention is not limited to two as in the above embodiment, but is three or more as long as it is configured symmetrically with respect to the center of the crane wire. Also good.
  • the structure of the expansion-contraction part of this invention is not limited to what is comprised by the chain and ring like the said embodiment, What is necessary is just to be elastic according to raising / lowering of a mechanical apparatus.
  • the structure of the raising / lowering mechanism of this invention is not limited to a crane like the said embodiment, For example, a winch etc. may be sufficient.
  • the motor of the lifting mechanism may be disposed on the upper support member side with respect to the wire as in the present embodiment, or may be disposed on the mechanical device side with respect to the wire.
  • the upper end part of the expansion-contraction part is connected to the upper support plate 21 attached to the cable processing part support frames 16a and 16b provided on the carriage 17 of the crane 20 in the above embodiment, the present invention is not limited thereto.
  • the upper support member of the present invention is a member positioned above the lifting mechanism, such as the crane girder 14, or a member positioned above the lifting mechanism, such as the hoist 20c on which the upper end of the wire is supported. What is necessary is just the cart 17 of the crane 20.

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Plasma & Fusion (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
  • Arc Welding In General (AREA)
  • Electric Cable Arrangement Between Relatively Moving Parts (AREA)
  • Coiling Of Filamentary Materials In General (AREA)

Abstract

Au moins deux parties (22) de traitement de câbles, destinées à stocker et à réguler un câble d'alimentation (38) et un câble de signal (39) qui sont connectés à un dispositif de machine (70) qui est élevé et abaissé au moyen d'une grue (20), comprennent : une partie extensible (31) qui est disposée symétriquement par rapport au centre (O) d'un fil (23), et qui est extensible en fonction de l'élévation et de l'abaissement du dispositif de machine (70); et une partie (32) de stockage de câbles dans laquelle le câble d'alimentation (38) et le câble de signal (39) sont stockés dans un état enroulé. La partie extensible (31) comprend une partie d'extrémité supérieure connectée à un élément de support supérieur, et une partie d'extrémité inférieure connectée à la partie (32) de stockage de câbles. Le câble d'alimentation (38) et le câble de signal (39) sont agencés en spirale autour de la partie extensible (31).
PCT/JP2018/020888 2017-06-06 2018-05-31 Dispositif de traitement de câbles WO2018225610A1 (fr)

Priority Applications (2)

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KR1020197035835A KR102310403B1 (ko) 2017-06-06 2018-05-31 케이블 처리 장치
CN201880037568.7A CN110720164B (zh) 2017-06-06 2018-05-31 线缆处理装置

Applications Claiming Priority (2)

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JP2017112080A JP6817150B2 (ja) 2017-06-06 2017-06-06 ケーブル処理装置
JP2017-112080 2017-06-06

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WO2018225610A1 true WO2018225610A1 (fr) 2018-12-13

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KR (1) KR102310403B1 (fr)
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KR102175561B1 (ko) * 2019-03-06 2020-11-06 한국조선해양 주식회사 용접 로봇 시스템
CN113321057A (zh) * 2021-06-30 2021-08-31 华侨大学 一种用于混凝土性能测试元件连接线的走线方法及装置
WO2023048556A1 (fr) * 2021-09-24 2023-03-30 Ruiz Poo Javier Appareil pour enrouler des câbles

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JPS474571Y1 (fr) * 1968-12-21 1972-02-17
JPS6186374A (ja) * 1984-10-01 1986-05-01 Power Reactor & Nuclear Fuel Dev Corp 昇降型ケ−ブル引出し装置
JPH0418558A (ja) * 1989-10-11 1992-01-22 Fuji Photo Film Co Ltd 感光材料
JP2017108545A (ja) * 2015-12-10 2017-06-15 三菱重工業株式会社 ケーブル設置構造及びケーブル設置方法

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JP3065166B2 (ja) 1992-02-20 2000-07-12 石川島播磨重工業株式会社 枠組構造物への位置決め装置
JPH0577182U (ja) * 1992-03-31 1993-10-19 三菱重工業株式会社 互換型吊ビーム装置
JPH06305685A (ja) * 1993-04-21 1994-11-01 Mitsubishi Heavy Ind Ltd 吊具のケーブル巻込装置
JPH08168155A (ja) * 1994-12-15 1996-06-25 Nkk Corp 昇降体への給電装置
CN104555613A (zh) * 2014-12-25 2015-04-29 重庆威斯特电梯有限公司 便于电线折叠的电梯
CN205791418U (zh) * 2016-05-27 2016-12-07 江苏精一电气科技有限公司 移动式展览配电柜

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Publication number Priority date Publication date Assignee Title
JPS474571Y1 (fr) * 1968-12-21 1972-02-17
JPS6186374A (ja) * 1984-10-01 1986-05-01 Power Reactor & Nuclear Fuel Dev Corp 昇降型ケ−ブル引出し装置
JPH0418558A (ja) * 1989-10-11 1992-01-22 Fuji Photo Film Co Ltd 感光材料
JP2017108545A (ja) * 2015-12-10 2017-06-15 三菱重工業株式会社 ケーブル設置構造及びケーブル設置方法

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JP6817150B2 (ja) 2021-01-20
CN110720164A (zh) 2020-01-21
JP2018207697A (ja) 2018-12-27
CN110720164B (zh) 2021-02-02
KR102310403B1 (ko) 2021-10-07
KR20200003880A (ko) 2020-01-10

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