JP2623047B2 - Automatic aggregate distribution system - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an automatic aggregate distributing apparatus capable of automatically and accurately arranging and mounting aggregates on a large plate when manufacturing large assembled panels for shipbuilding.

[0002]

2. Description of the Related Art A hull block is generally composed of three types of members, a large plate, an aggregate (longitude), and a horizontal member (transformer or floor). It is customary to produce large assembled panels by attaching them at intervals and then assembling the cross members at predetermined intervals crosswise to the aggregate.

[0003] In this case, when distributing the aggregate on the large plate, first, a long line is scribed on the large plate with a predetermined attachment span, then the aggregate is carried in by a crane, and the aggregate is removed by a temporary attaching tool or the like. In addition to fixing to the long line, it was fixed to the large plate by tack welding. After the tacking, the base end of the aggregate is fillet-welded from both sides simultaneously by an automatic welding machine.

[0004] Therefore, most of the conventional aggregate distribution methods are manually occupied. In addition, it is practically difficult to increase the accuracy of the line marking on the longitudinal line, and the line is often displaced from the longitudinal line during temporary fixing, resulting in an extremely large mounting error of the aggregate. As described above, since the mounting error of the aggregate is cumulatively increased, a wide slot must be provided in the cross member when assembling the cross member, and the cross member must be inserted into the aggregate from above. .

[0005]

On the other hand, according to the large assembly method of the long lead advance welding / transformer insertion method developed by the present inventors, a cross member is attached to an aggregate assembled on a large plate from an end thereof. Since it is to be inserted, the slit width of the cross member is formed narrow. Therefore, high-precision mounting is required also in the method of distributing aggregate. Not only can the conventional aggregate distribution method not satisfy this requirement, but it is a major obstacle in promoting automation of the large assembly method.

The present invention has been developed as an integral part of the large assembly method of the above-mentioned long lead welding / transformer insertion method, and its object is to completely automate the distribution of aggregates on a large plate and achieve high efficiency. It is to realize the mounting with high accuracy.

[0007]

SUMMARY OF THE INVENTION An automatic aggregate distributing apparatus according to the present invention comprises a portal-type NC traveling vehicle for controlling movement of an aggregate in a mounting span direction by numerical control, and a traversing vehicle for traveling in a longitudinal line direction. And an elevating shaft attached to the traversing carriage so as to be able to move up and down, and an aggregate positioning means attached to the lower end of the elevating shaft. The aggregate positioning means has the following configuration. Thus, the object is achieved. That is, a welding device provided with a temporary welding torch or the like is attached to a portal-shaped main body formed so as to straddle the aggregate, a pair of electromagnets is attached to the lower end of the main body, and further, the web of the aggregate is pressed. And a positioning pressing plate for pressing the reference pressing plate on one side with a pressing force smaller than the pressing force of the reference pressing plate is provided inside the main body.

In order to improve the texture of the aggregate with respect to the large plate by applying a force from above the aggregate at the time of positioning, a presser for pressing the upper surface of the aggregate is attached to the main body. A plurality of traversing carts having such aggregate positioning means can be installed.

In consideration of the fact that the large plate is not always placed exactly in parallel with the traveling path of the traveling vehicle, the large plate is pivotally supported on the column so that the cross beam of the traveling vehicle is inclined in a horizontal plane. A camera for detecting a reference point provided on the large plate is provided.

[0010] In order to further facilitate the transport of the aggregate, a stock portion for holding the aggregate in parallel is provided in the traveling path of the traveling vehicle.

[0011]

With the above-described structure, the NC traveling vehicle moves with high accuracy over a predetermined mounting span instructed by the large-assembly numerical controller. Also, the aggregate can be carried onto the large plate by the traveling cart while gripping the aggregate with both the pressing plates of the aggregate positioning means by the traversing cart, and can be lowered onto the large plate by the elevating shaft. .

For positioning after the aggregate is lowered, the aggregate positioning means is first firmly fixed to the large plate with a pair of electromagnets. Next, once the holding by the pressing plate is released and the reference pressing plate is pressed again, the tip position of the reference pressing plate coincides with the position of the mounting span. Next, the positioning pressing plate is pushed with a small force from the opposite side, and the aggregate can be positioned by grasping the aggregate upright. Since the pressing force of the positioning pressing plate is smaller than the pressing force of the reference pressing plate, the tip position of the reference pressing plate does not shift. Further, a reaction force against the pressing force of both pressing plates is given by fixing by the pair of electromagnets.

After the positioning, the aggregate is tack-welded near the position by a welding torch. When the surface of the aggregate is to be skinned, after the positioning, the tack welding is performed while the upper surface of the aggregate is further pressed by the pressing element. By repeatedly performing such positioning of the aggregate and tack welding at predetermined intervals in the longitudinal direction of the aggregate, the aggregate can be accurately fixed to the position of the determined attachment span. The above operation is repeatedly performed for each of the specified installation spans. Therefore, there is no need to draw a long line on the large plate as in the related art.

[0014] Even if the large plate is placed slightly obliquely with respect to the traveling path of the traveling carriage, the horizontal girder can be aligned only with the reference point of the large plate first through the camera. As a result, the virtual longitudinal line can be kept parallel to the large plate.

[0015]

FIG. 1 is a perspective view showing an outline of an automatic material distribution apparatus according to one embodiment of the present invention. As shown schematically in FIG. 1, the present automatic material distribution apparatus includes a gantry-type NC traveling vehicle 1 that travels in a mounting span direction of an aggregate 101, a plurality of traveling vehicles 2 that travel in a longitudinal line direction, and the traveling vehicle 2. 2 mainly comprises an elevating shaft 3 attached to the shaft 2 and an aggregate positioning means 4 attached to a lower end of the elevating shaft 3. The positioning means 4 includes a welding device 5 having a welding torch or the like (not shown). The welding devices 5 are installed on both sides of the aggregate 101. In the figure, reference numeral 6 denotes an electromagnet provided below the positioning means 4, which will be described later in detail. 10
Reference numeral 0 denotes a large plate, and reference numeral 102 denotes a stock portion of the aggregate 101 to be distributed. Hereinafter, the configuration and operation of each unit will be described in detail.

(1) NC traveling vehicle Since the traveling vehicle 1 is symmetrical, only the left side is shown in the figure. 2 is a front view of the traveling vehicle 1, FIG. 3 is a plan view, and FIG. 4 is a side view. The traveling trolley 1 travels on the traveling rail 11 by a distance of a predetermined mounting span in accordance with a command from a large-assembly numerical controller (not shown). A rack 12 is mounted on a side surface of the traveling rail 11, and a pinion 14 of a traveling servomotor 13 is engaged with the rack 12 to control a traveling distance. That is, the large assembly numerical control device gives the servo motor 13 a pulse number corresponding to the distance of the mounting span. Reference numeral 15 denotes a traveling wheel.

On a support 16 of the traveling vehicle 1, a cross beam 17 is pivotally connected at both ends by shafts 18. Therefore, the horizontal girder 17
Can be tilted in a horizontal plane. In order to control the inclination angle and to fix the cross beam 17 at that angle, two cross beam fixing motors 19 are mounted on both sides of the shaft 18, and the end face of the cross beam 17 is pushed by the tip of the screw shaft 20. It has become.
Then, a camera 7 for detecting the position of a reference point (not shown) of, for example, a cross mark provided on the large plate 100 is attached to the swing arm 71, the position of the saddle 21 is changed, and the inclination angle of the cross beam 17 is changed. Adjust the position of the reference point. That is, the inclination angle can be calculated from the displacement amount between the two NC bogie traveling units and the distance of the camera 7. Although the swing arm 71 is horizontally tilted by the cylinder 72 as shown in the figure at the time of positioning, the swing arm 71 is set upright as shown by a broken line in the figure so as not to hinder the traveling after the positioning. In addition, saddle 2 of traveling cart 1
A control device such as a traversing vehicle 2, an aggregate positioning means 4, a hydraulic power unit, a power unit of a welding device 5, and the like are installed on the vehicle 1. In the figure, reference numeral 22 denotes a cylinder for aligning one end of the aggregate 101 with one end of the large plate 100.

(2) Traversing trolley and aggregate positioning means, etc. FIG. 5 is a side view showing an example of the configuration of the traversing trolley, aggregate positioning means, etc. FIG. 6 is a cross-sectional view taken along line AA of FIG. 5, FIG. Figure 5
FIG. 5 is a vertical sectional view taken along line BB of FIG. The traversing trolley 2 is moved by traversing wheels 24 along the traversing rail 25 on the cross beam 17. The drive for the trolley 2 is not shown. Further, since the movement of the traversing carriage 2 is movement in the direction of the long line, strict control is not required.

Elevating Axis The traversing carriage 2 vertically supports the elevating axis 3. The elevating shaft 3 is formed in a square shape with a square pipe or the like to prevent rotation. The cross beam 17 is provided with a through slot 31 for guiding the rectangular elevating shaft 3. In the figure,
Reference numeral 32 denotes a slide shoe of the elevating shaft 3. The elevating shaft 3 is configured to be lifted and lowered via a mounting bracket 35 of the elevating shaft 3 screwed to the ball screw 34 by rotating a ball screw 34 by an elevating motor 33 installed on the traversing carriage 2.

Aggregate Positioning Means Next, the aggregate positioning means 4 comprises a portal-shaped main body 41 attached to the lower end of the elevating shaft 3, a pair of electromagnets 6 attached to the lower end of the main body 41, A reference pressing plate 42 and a positioning pressing plate 43 provided inside the main body 41 so as to clamp the web 104 of the aggregate 101;
And a pressing member 44 pressing the upper surface of the pressing member.

The main body 41 is formed in a portal shape so as to straddle the aggregate 101. A welding device 5 having a welding torch or the like (not shown) is attached to a side surface of the main body 41 in the longitudinal line direction. The welding torch may be a single electrode or multiple electrodes. The pair of electromagnets 6 are attached to the lower end of the main body 41, and the aggregate positioning means 4 is firmly fixed to the large plate 100 at the time of positioning. Vacuum suction means or the like may be used in place of the electromagnet.
The body 41 may be inclined by the force of
This is not a very preferable method as compared with the fixing method according to (1).

A reference hydraulic cylinder 45 for pressing the reference pressing plate 42 is provided in the main body 41, and the reference pressing force is large. The positioning hydraulic cylinder 46 for pressing the positioning pressing plate 43 on the opposite side is installed in an opposed manner, and its pressing force is set to be smaller than the pressing force on the reference side. Further, it is preferable that a plurality of pressing rollers 47 are provided on each of the pressing plates 42 and 43, and the web 104 is pressed by these pressing rollers 47. The reason is to reduce the chance of foreign matter being caught. Also, both pressing plates 42,
By holding the aggregate 101 with 43, the aggregate 1
01 can be carried. If the aggregate 101 is long, a plurality of aggregate positioning means 4 may be provided.

Next, the pressing element 44 is similarly pushed by the hydraulic cylinder 48, and presses the upper surface of the flange 105 of the aggregate 101. After the positioning of the aggregate 101, the pressing member 44 presses the upper surface of the aggregate 101, and the aggregate 10
1 is for skinning the base end with the large plate 100.
A pressing member such as a spring may be provided, but since this spring pressure is applied during positioning, the pressing plate 4
The load on 2, 43 increases. Although one skin hydraulic cylinder 48 is shown, a plurality of skin hydraulic cylinders may be used.

Next, the operation of the embodiment constructed as described above will be described. The traveling vehicle 1 is moved to the aggregate stock portion 102 provided in the traveling path of the traveling vehicle 1, and one of the aggregates 102 is gripped by the reference pressing plate 42 and the positioning pressing plate 43 of the positioning means 4, and The part 102 is pulled out from the longitudinal standing member 107. Longi standing member 1
Reference numeral 07 denotes a structure in which a large number of aggregates 102 can be set up in parallel, and the aggregates 101 are set up by a crane before starting work. Before distributing the grasped aggregate 101 to the large plate 100, the positioning of the large plate 100 with respect to the reference point is performed through the camera 7, and the inclination angle of the horizontal beam 17 is set to the horizontal beam fixing motor 19 and the screw shaft 20. Adjust with.

When distributing the aggregate 101, first, the large plate 1
From the reference point of 00, the traveling carriage 1 is caused to travel the distance of the commanded attachment span. The traveling distance can be controlled with high accuracy by sending a command pulse signal from a large-assembly numerical controller (not shown) to the traveling servomotor 13. Next, the elevating shaft 3 is lowered at that position, and the electromagnet 6
And the aggregate positioning means 4 is fixed to the large plate 100. Thereafter, before the positioning of the aggregate 101, the gripping by the reference pressing plate 42 and the positioning pressing plate 43 is once released. Subsequently, the end face of the aggregate 101 is pushed from both sides by the aggregate end positioning cylinders 22 to be aligned with one end face of the large plate 100. Thereafter, the positioning of the aggregate 101 is performed as follows. This positioning operation will be described with reference to FIGS.

First, as shown in FIG. 8A, the reference pressing plate 42 is pushed by the reference hydraulic cylinder 45 with a large load. The tip position of the pressing roller 47, which is the stroke end of the reference pressing plate 42, is set to be the same as the position of the mounting span. Next, as shown in FIG. 8B, the positioning pressing plate 43 is pushed by the positioning hydraulic cylinder 46 with a small load from the opposite side, and the web 104 of the aggregate 101 is pressed. As a result, the web 104 of the aggregate 101 is sandwiched from both sides via the pressing roller 47 and held upright, and the pressing force of the positioning pressing plate 43 is smaller than that of the reference pressing plate 42, so that the reference position ( The positioning position does not shift. The reaction force of these pressing forces is received by a pair of electromagnets 6 on both sides of the aggregate. Therefore, the reference edge 106 at the base end of the aggregate 101
Will coincide with the position of the determined mounting span L (n). In FIG. 5, 101 (n-1) indicates the aggregate immediately before being attached, and 101 (n) and 101 (n +
1) is the aggregate to be installed, 101
(n) indicates the object being positioned, and 101 (n + 1) indicates the object to be positioned.

After this positioning, the pressing element 44 further presses the surface of the flange 105 of the aggregate 101, so that the base end is skinned to the large plate 100 (see FIG. 8C).

After the above positioning is completed, the base end of the aggregate 101 is temporarily welded from both sides in the vicinity of the position by the welding torch of the welding device 5 while holding the aggregate 101 in a pressed state and a skinned state. (See arrow w in FIG. 8C). Further, the positioning operation, the holding operation of the clamping / skinning state,
In addition, by repeatedly performing the tack welding operation at predetermined intervals in the longitudinal direction of the aggregate 101 by moving the transverse carriage 2, the aggregate 101 can be fixed with high accuracy along the position of a predetermined attachment span. . Therefore, if all the above operations are repeatedly performed for each of the determined mounting spans, the large plate 10
Arbitrary number of aggregates 101 are placed on 0 automatically and with high accuracy,
And can be attached.

[0029]

Since the present invention is configured as described above, the following effects can be obtained. (1) Since the traveling distance of the traveling trolley is controlled by the numerical controller, it is not necessary to scribe the long line of the aggregate at all, and it is possible to secure the mounting span of the aggregate with high accuracy. (2) Aggregate positioning means attached to the traversing trolley via an elevating shaft enables accurate positioning of the aggregate while maintaining the positional accuracy of the determined mounting span, and a longitudinal direction by a welding device. At predetermined intervals. (3) When positioning the aggregate, the aggregate positioning means is firmly fixed to the large plate by a pair of electromagnets, and the force relationship between the reference pressing plate and the positioning pressing plate has a magnitude, which may cause a positional shift. There is no. (4) Since the upper surface of the aggregate is pressed by the pressing element, the surface of the aggregate can be satisfactorily textured.
Therefore, there is no portion where the base end of the aggregate is raised from the large plate. (5) The reference point of the large plate is detected through the camera, and the cross beam of the traveling carriage is pivotally supported so that it can be tilted in the horizontal plane with the column, so that the large plate is placed non-parallel to the traveling path. In this case, the positional accuracy of the mounting span can be ensured. (6) As a result, the arrangement and attachment of the aggregate to the large plate can be performed fully automatically and with high accuracy. Therefore, even if the slit width of the cross member is narrow, it becomes possible to insert the cross member from the end into the aggregate assembled on the large plate.

[Brief description of the drawings]

FIG. 1 is a perspective view showing an outline of an automatic material distribution device according to an embodiment of the present invention.

FIG. 2 is a front view of a left side portion of the traveling vehicle in the embodiment.

FIG. 3 is a plan view of the traveling vehicle.

FIG. 4 is a side view of the traveling vehicle.

FIG. 5 is a side view of a trolley, aggregate positioning means, and the like in the embodiment.

FIG. 6 is a cross-sectional view taken along line AA of FIG.

FIG. 7 is a vertical sectional view taken along the line BB of FIG. 5;

FIG. 8 is an explanatory diagram of an aggregate positioning operation in the embodiment.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 NC traveling trolley 2 Traversing trolley 3 Elevating shaft 4 Aggregate positioning means 5 Welding device 6 Electromagnet 7 Camera 11 Traveling rail 12 Rack 13 Traveling servo motor 14 Pinion 15 Running wheel 16 Column 17 Cross beam 18 Axis 19 Cross beam fixing motor 24 Traversing wheel 25 traversing rail 31 through slot hole 33 elevating motor 34 ball screw 35 mounting bracket 41 body 42 reference pressing plate 43 positioning pressing plate 44 presser 45 reference hydraulic cylinder 46 positioning hydraulic cylinder 47 pressing roller 48 skin pressure hydraulic cylinder 100 large plate DESCRIPTION OF SYMBOLS 101 Aggregate 102 Aggregate stock part 104 Web 105 Flange 107 Longitudinal standing member

 ──────────────────────────────────────────────────続 き Continued on the front page (72) Inventor Hiroshi Murayama 1-1-2 Marunouchi, Chiyoda-ku, Tokyo Nippon Kokan Co., Ltd. (72) Inventor Kazushige Mori 1-1-2 Marunouchi, Chiyoda-ku, Tokyo Nippon Kokan Inside (72) Inventor Hiromi Ishii 1-1-2 Marunouchi, Chiyoda-ku, Tokyo Nippon Kokan Co., Ltd. (72) Inventor Toshihiko Honda 1-2-1, Marunouchi, Chiyoda-ku, Tokyo Nippon Kokan Co., Ltd. (56) References JP-A-61-206574 (JP, A) JP-A-49-85800 (JP, U) JP-A-59-175494 (JP, U) JP-A-50-45895 (JP, U) Kaisho 59-150690 (JP, U)

Claims (5)

(57) [Claims] 1. A gate-shaped NC traveling vehicle, a traversing vehicle installed on the traveling vehicle, an elevating shaft mounted on the traversing vehicle so as to be able to ascend and descend, and an aggregate positioning mounted on a lower end of the elevating shaft. Means, wherein the aggregate positioning means includes a welding device and is formed so as to straddle the aggregate, a gate-shaped main body, a pair of electromagnets attached to a lower end of the main body, and an aggregate web. Characterized in that it comprises: one reference pressing plate mounted in the main body so as to sandwich the main body; and another positioning pressing plate pressed by a pressing force smaller than the pressing force of the reference pressing plate. Distribution equipment. 2. The automatic aggregate distributing apparatus according to claim 1, wherein said aggregate positioning means further comprises a pressing element for pressing an upper surface of the aggregate. 3. The automatic aggregate distributing apparatus according to claim 1, wherein a plurality of said transverse trucks having said aggregate positioning means are provided. 4. The vehicle according to claim 1, wherein the cross beam of the traveling vehicle is supported by a column so as to be inclined in a horizontal plane, and a camera for detecting a reference point of a large plate is installed on the traveling vehicle.
The aggregate automatic distributing device according to the above. 5. The automatic aggregate distributing apparatus according to claim 1, wherein a stock portion of the aggregate to be distributed is provided in a traveling path of the traveling vehicle.