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WO2018225612A1 - Dispositif de soudage - Google Patents

Dispositif de soudage Download PDF

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Publication number
WO2018225612A1
WO2018225612A1 PCT/JP2018/020891 JP2018020891W WO2018225612A1 WO 2018225612 A1 WO2018225612 A1 WO 2018225612A1 JP 2018020891 W JP2018020891 W JP 2018020891W WO 2018225612 A1 WO2018225612 A1 WO 2018225612A1
Authority
WO
WIPO (PCT)
Prior art keywords
cable
welding
center
welding apparatus
robot
Prior art date
Application number
PCT/JP2018/020891
Other languages
English (en)
Japanese (ja)
Inventor
定廣　健次
中尾　哲也
修平 本田
尊信 諏訪
俊介 宮田
有卓 焦
元章 村上
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 CN201880037567.2A priority Critical patent/CN110719825B/zh
Priority to KR1020197035834A priority patent/KR102245874B1/ko
Publication of WO2018225612A1 publication Critical patent/WO2018225612A1/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
    • B23K37/00—Auxiliary devices or processes, not specially adapted for a procedure covered by only one of the other main groups of this subclass
    • B23K37/02—Carriages for supporting the welding or cutting element
    • B23K37/0211—Carriages for supporting the welding or cutting element travelling on a guide member, e.g. rail, track
    • 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
    • B23K37/00—Auxiliary devices or processes, not specially adapted for a procedure covered by only one of the other main groups of this subclass
    • 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
    • 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
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B71/00—Designing vessels; Predicting their performance

Definitions

  • the present invention relates to a welding apparatus, and more particularly to a welding apparatus for automatically welding a large frame structure such as a hull structure or a bridge structure.
  • the welding process for hull work is mainly small assembly, large assembly, total assembly and assembly on the stern and dock.
  • welding (large assembly) of the large frame structure W is performed by welding the joint 5 generated between the flat panel 1, the longe 2, and the transformer 3.
  • 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 either case, automation using an industrial robot is desired, but welding in large assemblies requires large and heavy workpieces, a wide variety of welded joints, difficult to weld, and groove accuracy difficult to guarantee. Therefore, it is difficult to perform welding with high accuracy by an automatic welding apparatus using a robot.
  • Patent Document 1 positioning accuracy is improved by operating a welding robot with reference to the center of a wall (longi and transformer) of a frame structure, and a large hull flat plate block or the like.
  • a positioning apparatus for a frame structure that enables automatic welding to the frame structure is disclosed.
  • Patent Document 2 discloses a welding robot apparatus for a large frame structure in which a robot frame is fixed to a large frame structure straddling a welding target area and a welding robot is attached to the lower surface of a horizontal support frame of the robot frame. Yes.
  • a member that interferes with the welding head of the welding robot in the welding target area can be eliminated, the welding target area can be subjected to main welding, and there are few restrictions on the welding site, and manual welding is almost unnecessary. .
  • Patent Document 1 when an industrial robot is arranged on a robot mounting table (robot carry) as in Patent Document 1, it is necessary to consider the storage of various cables such as signal lines and power lines connected to the industrial robot. In other words, depending on the location where the cable is stored, the behavior of the cable when moving up and down, etc., the robot carry may be shaken or tilted, and it may not be possible to handle high-precision positioning and welding of various joints. .
  • the telescopic guide is used to prevent the industrial robot from shaking, but since a telescopic guide storage space is required, the robot carry ascending limit position is limited to a low level and overcoming the tall framework structure. There was a problem that it was not possible. Further, since the telescopic guide is used for the lifting mechanism, the weight for lifting and lowering the industrial robot is increased, and the cost of the lifting mechanism is increased.
  • Patent Document 2 is an industrial robot suspended from a ceiling without using a robot carry. Although the device itself is reduced in size, the operating range is limited compared to the case where robot carry is applied, and it can handle a wide variety of welding such as square winding welding and upward-facing fillet welding. It was difficult. Further, the positioning accuracy is not always sufficient, and there is room for improvement.
  • the present invention has been made in view of the above-described problems, and its object is to provide a cable processing unit that can prevent the robot carry from being shaken or tilted due to the behavior of the cable. It is an object of the present invention to provide a welding apparatus that can perform complicated positioning and also can perform complicated welding.
  • a welding apparatus for a large frame structure for welding at least two members to be welded constituting the large frame structure A crane girder that is horizontally movable above the large framework structure and along horizontal rails installed on both sides or one side in a predetermined direction of the large framework structure; A crane that has a wire that can be wound and delivered, and that is horizontally movable in a direction perpendicular to the moving direction of the crane girder along the longitudinal direction of the crane girder; A lifting device connected to the lower end of the wire of the crane; At least two cable processing units arranged symmetrically with respect to the center of the lifting device; A robot carry connected to the lifting device; A welding robot installed on the robot carry; With Each cable processing unit has a telescopic part that can be stretched and retracted according to winding and feeding of the wire, and a cable housing part that houses a cable in a wound state when the telescopic part contracts, The telescopic part has an upper end connected
  • the welding apparatus according to (1) wherein the cable is fastened at a plurality of locations around the stretchable portion.
  • the expansion / contraction part has at least three string-like members and a plurality of rings respectively fixed to the string-like members at intervals with respect to the longitudinal direction of the string-like members,
  • the welding device according to (1) or (2) wherein the string-like member is connected to the cable housing portion at an equal distance from the center thereof.
  • the cable is fastened to one of the string-like members at each intermediate portion of the plurality of rings.
  • the cable processing unit includes a ring holding member disposed in 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 welding apparatus according to (3) or (4), wherein when the expansion / contraction part contracts, the plurality of rings fit into the ring holding member.
  • 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 cable 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 device (3) to (5)
  • the welding apparatus in any one of.
  • At least three string-like members of each cable processing unit 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 lifting device (3) to (5) The welding apparatus in any one of.
  • the rotational torque with respect to the center of the lifting device acting on each cable housing portion due to the rigidity of the cable is arranged to cancel each other.
  • the welding apparatus according to any one of (1) to (5), wherein (9) 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 welding apparatus according to (8), wherein the phase is approximately 180 ° different from the center of each cable housing portion. (10) In the cable, the winding directions in the cable storage portions are the same as each other, and the position where the cable is separated from the cable storage portion or a portion stored in the cable storage portion is The welding apparatus according to (8), wherein the positions are substantially the same with respect to the center of each cable housing portion.
  • 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 each of the cable housing portions (1) to (10).
  • the welding apparatus in any one of. (12)
  • the large-sized frame structure includes a plurality of rows of longes arranged separately from each other, and a transformer arranged in a direction orthogonal to the longes,
  • the positioning device includes at least a pair of arms that expand and contract with an equal pressure and equal stroke and that abut on the adjacent longes and perform positioning in the left-right direction. .
  • the robot carry can be prevented from shaking and tilting, the welding robot can be accurately positioned with respect to the large frame structure, and welding in a complicated posture becomes possible.
  • FIG. 1 is an overall configuration diagram of a welding apparatus according to an embodiment of the present invention. 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 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 the hoist type crane 20 is attached to a substantially central lower surface of the carriage 17. Yes.
  • 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 longi. 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 and the tip of the cylinder rod 55.
  • 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.
  • the two cable processing units 22 are respectively disposed.
  • the two cable processing units 22 are arranged symmetrically with respect to the center O of the lifting device 25.
  • the center O of the lifting device 25 is the center position of the four chains 27 in a top view, and the center position of the wire 23 of the crane 20 that has been fed out.
  • 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 crane 20 side, that is, 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 lifting device 25.
  • 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 in a symmetrical position with respect to the center O of the lifting device, 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 are stored. In addition, 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 lifting device 25.
  • 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.
  • a crane girder 14 that can move horizontally, a wire 23 that can be wound and fed, and a crane 20 that can move horizontally along the longitudinal direction of the crane girder 14 in a direction orthogonal to the moving direction of the crane girder 14; 23, a lifting device 25 connected to the lower end of the robot 23, two cable processing units 22 arranged symmetrically with respect to the center of the lifting device 25, a robot carry 40 connected to the lifting device 25, and the robot carry 40 And a welding robot 70 installed on the machine.
  • the cable processing unit 22 includes an expansion / contraction part 31 that can be expanded and contracted according to winding and feeding of the wire 23, and a cable storage unit 32 that stores the power cable 38 and the signal cable 39.
  • the part is on the crane 20 side, the lower end is connected to the cable storage part 32, and the power cable 38 and the signal cable 39 are spirally arranged around the telescopic part 31.
  • the two cable processing units 22 are arranged in a well-balanced manner with respect to the center O of the lifting device 25, so that the robot carry 40 can be prevented from shaking and tilting due to the behavior of the cables 38 and 39, and a large frame structure.
  • the welding robot 70 can be accurately positioned with respect to W, and welding in a complicated posture can be performed.
  • the power cable 38 and the signal cable 39 are smoothly stored or deployed in the cable storage portion 32, so that the robot carry 40 is shaken 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 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 rotational torque with respect to the center of the lifting device 25 acting on the cable housing portion 32 due to the rigidity of the power cable 38 and the signal cable 39 is mutually 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 center O of the lifting device 25.
  • 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 large frame structure W includes a plurality of rows of longes 2 and a transformer 3 arranged in a direction orthogonal to the longes 2, and the robot carry 40 moves in the front-rear direction with respect to the longes 2 and the transformer 3. Since the positioning device 46 for positioning in the left-right direction is provided, the robot carry 40 can be accurately positioned at the welding reference position.
  • the positioning device 46 includes a pair of arms 48 that expand and contract with an equal pressure equal stroke and abut on the adjacent longes 2 to perform left and right positioning, so that the robot carry 40 is positioned at the center position of the adjacent longes 2. Accurate positioning is possible.
  • this invention is not limited to embodiment mentioned above, A deformation
  • the cable processing unit of the present invention is not limited to two as in the above-described embodiment, and may be three or more as long as it is arranged symmetrically with respect to the center of the lifting device. .
  • 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 winding and feeding of the wire of a crane.
  • the structure of the lifting device of this invention is not limited to the thing of this embodiment, What is necessary is just to connect the lower end part of a wire and a robot carry.
  • the present invention is not limited thereto. What is necessary is just to be connected to the member attached to the crane side, ie, the trolley

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Plasma & Fusion (AREA)
  • Optics & Photonics (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Ocean & Marine Engineering (AREA)
  • Butt Welding And Welding Of Specific Article (AREA)
  • Manipulator (AREA)

Abstract

L'invention concerne un dispositif de soudage (10) pour souder de grandes structures d'ossature (W), au moins deux unités de traitement de câble (22) étant disposées de façon à être disposées symétriquement par rapport au centre d'un dispositif de suspension (25). Les unités de traitement de câble (22) ont des unités d'expansion et de contraction (31) se contractant et s'étendant librement et des unités de réception de câble (32) destinées à recevoir un câble d'alimentation (38) et un câble de signal (39). Les parties d'extrémité supérieure des unités d'expansion et de contraction (31) sont reliées sur le côté grue (20) et les parties d'extrémité inférieure sont reliées aux unités de réception de câble (32). Les câbles d'alimentation (38) et les câbles de signal (39) sont disposés en hélice autour des unités d'expansion et de contraction (31).
PCT/JP2018/020891 2017-06-06 2018-05-31 Dispositif de soudage WO2018225612A1 (fr)

Priority Applications (2)

Application Number Priority Date Filing Date Title
CN201880037567.2A CN110719825B (zh) 2017-06-06 2018-05-31 焊接装置
KR1020197035834A KR102245874B1 (ko) 2017-06-06 2018-05-31 용접 장치

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2017112079A JP6829152B2 (ja) 2017-06-06 2017-06-06 溶接装置
JP2017-112079 2017-06-06

Publications (1)

Publication Number Publication Date
WO2018225612A1 true WO2018225612A1 (fr) 2018-12-13

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Application Number Title Priority Date Filing Date
PCT/JP2018/020891 WO2018225612A1 (fr) 2017-06-06 2018-05-31 Dispositif de soudage

Country Status (4)

Country Link
JP (1) JP6829152B2 (fr)
KR (1) KR102245874B1 (fr)
CN (1) CN110719825B (fr)
WO (1) WO2018225612A1 (fr)

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS474571Y1 (fr) * 1968-12-21 1972-02-17
JPS5123389B2 (fr) * 1972-12-22 1976-07-16
JPH04266496A (ja) * 1991-02-21 1992-09-22 Ishikawajima Harima Heavy Ind Co Ltd 溶接装置
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

Family Cites Families (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS474561Y1 (fr) * 1969-03-28 1972-02-17
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
KR20040078951A (ko) * 2003-03-05 2004-09-14 대우조선해양 주식회사 이중 선체 블록내에서의 로봇 카트 운반장치
JP5327709B2 (ja) 2009-04-27 2013-10-30 株式会社Ｉｈｉ 大型枠組構造物の溶接ロボット装置
EP2584101B1 (fr) * 2010-06-15 2017-05-10 Hitachi Construction Machinery Tierra Co., Ltd. Machine de construction électrique
US10088167B2 (en) * 2015-06-15 2018-10-02 General Electric Company Combustion flow sleeve lifting tool

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS474571Y1 (fr) * 1968-12-21 1972-02-17
JPS5123389B2 (fr) * 1972-12-22 1976-07-16
JPH04266496A (ja) * 1991-02-21 1992-09-22 Ishikawajima Harima Heavy Ind Co Ltd 溶接装置
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

Also Published As

Publication number Publication date
CN110719825A (zh) 2020-01-21
CN110719825B (zh) 2022-04-05
KR20200003179A (ko) 2020-01-08
JP6829152B2 (ja) 2021-02-10
KR102245874B1 (ko) 2021-04-28
JP2018202461A (ja) 2018-12-27

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