JP3105667B2 - Welding equipment for steel structures - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a welding apparatus for a steel structure.

[0002]

2. Description of the Related Art Generally, when a joint between a column and a beam of a steel structure or a joint between a beam and a beam is manually welded, a welding operation time is prolonged, and it is difficult to obtain a constant welding result.
In addition, because there are few welding technicians with reliable technology,
Conventionally, as shown in FIG. 14, for example, a work b such as a column or a beam is supported by a positioner a having a rotary table d with chucking, and welding of a joint c is automatically performed using a welding robot. Was.

[0003]

However, when the work b is welded using such a positioner a and a welding robot, the following problems have occurred.

[0004] Each welding operation (that is, each time a welding location is changed)
In addition, the work b must be rotated by the positioner a, which is troublesome.

When the work b is clamped to the positioner a, there is a case where the tip of the welding robot or the welding torch at the tip interferes with the work b and cannot be welded at a joint portion where the work b is complicated. .

[0006] Before and after welding and in the above case, it is necessary to replace the work b with the positioner a.
Cumbersome and dangerous.

[0007] As the size of the work b increases, the positioner a must also be large and sturdy, resulting in an increase in cost.

Accordingly, an object of the present invention is to provide a welding apparatus for steel structures which solves the above conventional problems (1) to (4).

[0009]

SUMMARY OF THE INVENTION In order to achieve the above object, the present invention provides at least a pair of abutting members which are simultaneously approached / separated in the width direction of a flange of a work, and are movable in a thickness direction of the flange. Back and forth movement comprising a clamp unit having a suitable clamp member attached to the corresponding contact member and mounted on the upper surface of the flange, and a slider and a slide guide which are integrally supported with the clamp unit and driven by a drive unit. And a pair of right and left welding robots each having at least five degrees of freedom attached to a slider of the front-rear movement mechanism .
By moving the contact member inward at the same time,
When one contact member contacts one side of the flange,
Then, the other contact member contacts the other side of the flange.
The clamp unit slides on the upper surface of the flange to
Center the clamp unit on the center of the flange
It is configured to match .

[0010]

The welding apparatus of the present invention can be fixed to a flange of a work (beam) by a clamp unit, and each work (column and beam or beam and beam) joint can be welded by a pair of right and left welding robots. it can. For fixing to the flange, it is only necessary to move the clamp member in the thickness direction of the flange, and furthermore, only by clamping the flange with the contact member, the positioning of the welding device of the present invention in the left-right direction with respect to the center line of the work. Is performed.

[0011] Therefore, the work rotation, work changing work and positioner for each change of the welding point, which are conventionally required, are not required, so that the setup work is easy and safe, and it is widely used for various works regardless of size and structure. Can be economical and practical.

Further, since the right and left welding robots each have at least five degrees of freedom, even at a joint portion where a work is intricate, the tip of the welding robot and the welding torch at the tip are connected to the work. Welding without interference.

[0013]

DESCRIPTION OF THE PREFERRED EMBODIMENTS The present invention will be described below in detail with reference to the drawings showing embodiments.

FIG. 1 shows an embodiment of a welding apparatus for a steel structure according to the present invention. The welding apparatus 1 is used, for example, in a factory or on site, and includes a work W of a column 2 or a beam 3. It is clamped to a work W (beam 3) such as a mold steel having a flange 4 and a web 5.

The joints J and the like of the column 2 and the beam 3 are consumable electrode welding or non-consumable electrode arc by welding torches 7, 7 attached to a pair of right and left welding robots 6, 6 of the welding apparatus 1. Welded by welding.

Thus, as shown in FIGS. 2, 3 and 4, the welding apparatus 1 comprises a clamp unit 8 mounted on the upper surface 4a of the flange 4 of the work W (beam 3); The front and rear moving mechanism 9 is integrally supported, and the right and left welding robots 6 and 6 each having at least five degrees of freedom are attached to the front and rear moving mechanism 9.

Reference numeral 14 denotes an operation panel which is attached to the front-rear movement mechanism 9. In addition, devices such as a control panel of the welding robots 6 and 6 and a power supply for welding are separated from the welding device 1 and separately provided, and both are connected (connected) with cables.

In the illustrated example, the welding robot 6 comprises an articulated robot body 10 having four degrees of freedom (four rotation axes) and a lifting mechanism 11 having one degree of freedom (one linear axis).

As shown in FIG. 2, the robot body 10
Arms 13a, 13b, 13c, and 13d, which are rotated by a rotary drive, around three rotation shafts 12a, 12b, 12c, and 12d,
The welding torch 7 is attached to the arm 13a.

The lifting mechanism 11 has a structure which is generally used. For example, as shown in FIGS. 2 and 5,
The long slide guide 15 and the base of the robot body 10
An elevating slider 17 to which is fixed 24 is provided, and a rotary driving device 21 such as a motor, which can rotate forward and reverse, is provided.

The slide guide 15 is provided with, for example, a pair of guide bars 16, 16, and a screw shaft 19 is rotatably supported around an axis. The screw shaft 19 has a nut member 18 fixed to the slider 17.
Are screwed together, and the slider 17 is slidably mounted on the guide bars 16, 16 through through holes 22a of the support protrusions 22 provided on the back side thereof.

When the screw shaft 19 is rotated by the rotation driving device 21 via the belt 20 or the like, the nut member
The screw 18 advances and retreats, and the slider 17 is guided by the guide bars 16 and 16 and moves in the arrow A direction.

Each of the elevating mechanisms 11 (table guides 15) is attached to the front-rear moving mechanism 9, and is vertically arranged on the left and right outer sides of the front-rear moving mechanism 9, so that the robot body 10 can move up and down.

The fore-and-aft moving mechanism 9 also has an appropriate structure which is generally used similarly to the elevating mechanism 11. For example, as shown in FIGS. 6 and 7, a slide guide 25 and a slide guide 25 are provided. Slider 27 slidably mounted
And a driving device 30 such as a motor for driving the slider 27, which can be rotated forward and backward.

The slide guide 25 has a pair of guide bars.
At the same time, screw shafts 29 are rotatably supported on the pivotal projections 26, 26 of the slide guide 25 around the axis.

An operation panel 14 is provided on the front side of the slider 27.
The lifting mechanisms 11, 11 (see FIGS. 3 and 4) are fixed. Further, the slider 27 has support projections 31 projecting from the back side thereof, and through holes 31a of the support projections 31 slidably fit into the guide bars 32, 32.

The screw shaft 29 has a slider 27
A nut member 28 fixedly mounted on the screw shaft 29 is screwed so as to be able to advance and retreat.
Is rotated, the slider 27 is guided by the guide bars 32, 32, and the welding robots 6, 6 (see FIGS. 3 and 4).
And move back and forth (in the direction of arrow B) integrally.

This back and forth moving mechanism 9 (slide guide 25)
Is fixed to the clamp unit 8 as shown in FIG.

The clamp unit 8 is shown in FIGS.
As shown in FIG. 10, a pair of guide members 33, 33 are disposed at predetermined intervals in the longitudinal direction (front-back direction) of the flange 4 of the work W (beam 3) and extend in the width direction (left-right direction) of the flange 4. And a rotating shaft 34 connecting the guide members 33, 33, and at least one pair, in the illustrated example, two pairs of contact members 35.
, And a clamp member 36 attached to the contact member 35 ...
And

On the front and rear surfaces of the guide member 33, a plurality of antifriction members 37 which can contact the upper surface 4a of the flange 4 are provided in a protruding manner.
In the illustrated example, the friction reducing member 37 is a roller that can roll on the upper surface 4 a of the flange 4.

A pair of right and left screw rods 38a and 38b, which are opposite screws, are rotatably connected to the guide member 33 via bearings 39 and the like so as to be rotatable around the axis. Also, the rotating shaft 34
Are rotatably connected to the guide members 33, 33 via bearings 40 and the like so as to be rotatable around the axis.

The rotation of the rotary shaft 34 causes the screw rods 38a,
The screw rods 38a, 38b are connected to the rotating shaft 34 via bevel gears 45, 46,... So that the 38b rotates interlockingly.

A proximal end 35a of a contact member 35 slidable along a dovetail-shaped guide surface 41 of the guide member 33 is screwed to the screw rods 38a and 38b so as to be able to advance and retreat. Middle part 35
The b and the tip 35c protrude below the guide member 33. The left and right contact members 35 are evenly arranged with respect to the center line in the front-rear direction of the welding device 1.

A hydraulic or pneumatic cylinder 47 is attached to the distal end 35 c of the contact member 35, and further, a clamp member 36 is provided.
Are attached to the rod end of the cylinder 47 and are movable in the thickness direction of the flange 4 (the direction of arrow D).

The hydraulic pump unit and the like of the cylinder 47 are attached to the slider 27 and the like (see FIGS. 6 and 7) of the forward and backward moving mechanism 9 or are separately provided separately from the welding device 1.

The rotating shaft 34 includes pulleys 43a, 43b, 43
c and a rotatable connection by a manual handle 42 via a belt 44 and the like. Therefore, if the manual handle 42 is rotated, the rotating shaft 34 and the screw rods 38a, 38a, 38b, 38
b rotates, and the right and left contact members 35, 35 simultaneously approach and separate in the width direction of the flange 4 of the work W (the direction of arrow C).

Reference numeral 48 denotes a guide plate having a left-right width adjusting slot 49, which is slidable in the left-right direction and fixed to the guide member 33 by bolts or the like. This guide plate 48…
By using the clamp unit 8, the work W
Tentative positioning in the left-right direction in the case of fixing to

Next, a method of using the welding apparatus configured as described above will be described.

First, as shown in FIG. 3 and FIG.
The welding device 1 is suspended from above from the upper surface 4a of the flange 4 of the (beam 3), and is placed at a predetermined interval from the column 2.

Next, as shown in FIG. 8, by operating the manual handle 42 of the clamp unit 8, the right and left contact members 35, 35 are moved.
Move inward at the same time.

Then, when the center lines (in the front-rear direction) of the work W (beam 3) and the welding device 1 do not coincide with each other,
The intermediate portion 35b of one of the right and left contact members 35 first contacts one side surface of the flange 4, and the friction reducing members 37 contacting the upper surface 4a of the flange 4 roll, so that the entire welding device 1 The two center lines move in the same direction.

Then, the intermediate portion 35b of the other contact member 35 contacts the other side surface of the flange 4, and the left and right contact members 35, 35
When the left and right sides of the flange 4 are sandwiched by
The work W (beam 3) coincides with both center lines of the welding device 1 (that is, positioning in the left-right direction is performed).

As described above, since the welding device 1 can be smoothly moved by the friction reducing member 37 with small frictional resistance, the work of positioning the welding device 1 in the left-right direction with respect to the work W (beam 3) becomes easy.

Next, the cylinders 47 are driven to raise the clamp members 36, and the clamp members 36 and the guide members are moved up.
The upper and lower surfaces 4a, 4b of the flange 4 of the work W (beam 3) are tightened with the 33, 33 (friction members 37 ...), and the welding device 1 is fixed to the flange 4.

When the clamping of the welding device 1 is completed, welding of the joint J (see FIG. 1) of the work W is started according to a program created by teaching or the like.

When welding is completed, the clamp members 36 are retracted downward (retracted), and the right and left contact members 35, 35 are retreated.
To the outside (separated), lift the welding device 1,
Weld to the next welding position.

An example of the welding sequence at this time is shown in FIG.
Shown in

[0048]

[Table 1]

Table 1 shows that the welding apparatus 1 is used for the work W shown in FIG.
A case of fixing to _1, in the case of fixing the workpiece W _2, shows the welded portions and the order by the left and right welding robot 6,6, for example, in the case of fixing the welding apparatus 1 to the work W _1, right welding The robot 6 has joints J ₁ and J
Welded to the order of ₂ ... J _5.

Further, the right welding robot 6 is connected to the joint J _1.
When it is welded through J _5, simultaneously, the welding robot 6 the left sequentially welded joint portion J ₁₁ through J _15.

As described above, the welding of the joints J ₃ and J ₁₂ and the joints J ₂₅ and J _{33 at} the portions corresponding to the webs 5 of the beam 3 is not performed simultaneously symmetrically but by shifting the order, thereby melting the joints. Dropout can be prevented.

According to the welding order shown in Table 1, the waiting time of the right and left welding robots 6 and 6 is reduced. Note that the welding order in Table 1 is an example, and the welding location and order can be arbitrarily selected. For example, depending on the work, multi-layer welding may be appropriately performed.

Each time welding work is performed by the welding robot 6, the welding conditions (position, welding torch posture, etc.) are taught.
Alternatively, the teaching data may be input in advance.

Of course, usually, welding conditions and work plans can be arbitrarily programmed and used as appropriate.

For example, in the case of multi-layer welding, the first layer is performed by the welding robot 6 on the left side, and the second layer is performed by the welding robot 6 on the right side. Further, in welding by the welding robot 6 on the left side, multi-layer welding is performed by appropriately changing the welding location.

FIGS. 12 and 13 show another embodiment.
A pair of right and left welding robots 6 and 6 composed only of a robot body 50 having five degrees of freedom and rotatable around two rotation shafts 12a, 12b, 12c, 12d and 12e are mounted on a slider 27 of the forward and backward moving mechanism 9. Shows the case where

Also in this case, similarly to the first embodiment,
Positioning of the welding device 1 in the left-right direction with respect to the workpiece W (the beam 3), clamping to the flange 4, and welding of the joint J can be performed.

The present invention is not limited to the above-described embodiment, and the design can be freely changed without departing from the gist of the present invention. For example, the friction reducing member 37 may be omitted if desired.
Alternatively, it is also preferable to rotate the rotating shaft 34 using a driving device such as a rotary electric motor or an air motor instead of the manual handle 42.

The welding device 1 is moved by the back and forth moving mechanism 9.
For example, if a so-called touch sensor that detects a contact state by applying a voltage to a welding wire and a work, that is, a so-called touch sensor can be used, automatic positioning can be performed.

Of course, the welding device according to the present invention can be applied to a case where a steel structure is welded in advance and a case where a welding is performed at a construction site. In particular, when used for welding at a construction site, each steel frame material can be separately transported to the construction site and the transported steel frame materials can be individually stored, thereby facilitating the transportation and management of the steel frame materials. It is to be noted that the so-called tack welding of the steel frame material appropriately to obtain a desired structure prior to welding is the same as in the related art.

[0061]

Since the present invention is configured as described above, the following significant effects can be obtained.

The welding of the joint J between the column 2 and the beam 3 and the joint 4 between the flange 4 of the beam 3 and the beam 3 and the joint 5 of the web 5 can be automatically performed. It is suitable for welding a work W.

When four beams 3 are joined to the column 2 in a cross shape, if the welding device 1 is set once at the welding operation position, the beam 3 (work W) and the joint J of the column 2 are set. Welding, a beam 3 orthogonal to the beam 3 on which the welding device 1 is set,
3 can be welded, and all the columns 2 and the beams 3 can be welded by the left and right welding robots 6 and 6 by two setup changes.

Accordingly, the actual welding time is shortened, and the number of times of mounting work of the welding device 1 may be two, so that the efficiency of welding work is improved.

When the welding apparatus 1 is set (fixed) on the work W (beam 3), the welding apparatus 1 may be placed at a position substantially corresponding to the beam 3, so that the work of loading the welding apparatus 1 is easy, and The welding device 1 placed on the top 3 can be easily positioned in the horizontal direction and the vertical direction by the clamp unit 8.

The welding robots 6, 6 can be easily adjusted and positioned in the front-rear direction by the front-rear movement mechanism 9. With these, the welding device 1 is connected to the work W
(Beam 3) can be set in a short time.

[Brief description of the drawings]

FIG. 1 is a perspective view showing one embodiment of the present invention.

FIG. 2 is a right side view.

FIG. 3 is a plan view.

FIG. 4 is a front view.

FIG. 5 is a side view of the lifting mechanism.

FIG. 6 is a plan view of a forward and backward moving mechanism.

FIG. 7 is a cross-sectional side view of the front-rear movement mechanism.

FIG. 8 is a front view of the clamp unit.

FIG. 9 is a side view of the clamp unit.

FIG. 10 is a partial cross-sectional plan view of the clamp unit.

FIG. 11 is an explanatory diagram of a welding order.

FIG. 12 is a side view of another embodiment.

FIG. 13 is a perspective view of a main part of FIG. 12.

FIG. 14 is an explanatory diagram of a conventional welding method.

[Explanation of symbols]

 4 Flange 4a Upper surface 6 Welding robot 8 Clamp unit 9 Forward / backward movement mechanism 25 Slide guide 27 Slider 30 Driver 35 Contact member 36 Clamp member W Work

────────────────────────────────────────────────── ─── Continued on the front page (72) Inventor Koji Mashiro 2-1-11, Tagawa, Yodogawa-ku, Osaka-shi Inside Daihen Corporation (72) Inventor Takahiro Shigetomi 2-1-1, Tagawa, Yodogawa-ku, Osaka-shi Daihen Corporation (72) Inventor Ryuji Kudo 2-3-3 Kandajicho, Chiyoda-ku, Tokyo Tokyo Main Office, Obayashi Corporation (72) Inventor Teruo Okawa 2-3-3 Kandajicho, Chiyoda-ku, Tokyo Tokyo Main Office, Obayashi Corporation (72) Inventor Tetsuro Mori 2-3-3 Kandaji-cho, Chiyoda-ku, Tokyo Obayashi Corporation Tokyo Head Office (56) References JP-A-5-329463 (JP, A) JP-A-5-92268 (JP, A JP-A-61-116287 (JP, A) JP-A-56-45276 (JP, A) JP-A-61-63369 (JP, U) JP-A-4-70286 (JP, U) JP-A-5 -28564 (JP, U) Japanese Utility Model Showa 61-17296 (JP, U) JP-B 51-11576 (JP, B2) (58) Fields investigated (Int. Cl. ⁷ , DB name) B23K 9/00 B23K 9/12 B23K 37/02

Claims (1)

(57) [Claims] 1. A clamp member provided with at least a pair of left and right contact members 35, 35 which are simultaneously approached and separated in the width direction of the flange 4 of the work W, and are movable in the thickness direction of the flange 4.
A clamp unit 8 comprising a mounting member 36 attached to the contact member 35 and mounted on the upper surface 4a of the flange 4; a slider 27 supported integrally with the clamp unit 8 and driven by a driving device 30; a longitudinal movement mechanism 9 consisting of 25., attached to the slider 27 of the front after the movement mechanism 9, a pair of left and right welding robot 6,6 each having a least five degrees of freedom, provided with a further, right and left of this
By moving the contact members 35, 35 inward at the same time,
One of the contact members 35 contacts one side surface of the flange 4.
And the other contact member 35 is attached to the other side of the flange 4.
The clamp unit 8 stays on the flange 4 until it contacts
Slide the surface 4a to the center of the flange 4
A welding apparatus for a steel structure, wherein the centers of the units 8 are matched .