JP2905407B2 - Post-processing method and post-processing system device after field welding - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a post-processing method and a post-processing system for performing post-processing necessary for finishing after welding a joint portion of a steel column used for a power transmission tower or a bridge pier. It is about.

[0002]

2. Description of the Related Art In the construction of a power transmission tower, when a main pillar is a steel pipe, a flange joint is welded and joined to an end of the steel pipe in advance, and the flange joints are bolted together on site, or a flange joint is used. A method is employed in which steel pipe ends are welded on site at a construction site without using a joint.

[0003] In the field welding, manual welding or semi-automatic welding is generally used, and preparation and setup before welding are complicated. In addition to simply welding and joining the column members of the steel pipe to each other by welding, the column members are built. Decision of order, work to connect erection pieces by splice plate for temporary joining of column material, setup of welding work, partial welding of joint, work to cut and remove erection piece with splice plate, complete welding, ultrasonic Flaw detection inspection, blasting near the weld, thermal spraying of metal (mainly zinc and aluminum alloys), and sealing coating are performed. Further, in the welding operation, in addition to this, it is necessary to always secure a welding environment (curing such as rain and wind). From the above, on-site welding of a steel tower was not performed unless there was enough.

[0004] However, in the method of bolting flange joints, in recent years when steel towers have become larger, the weight of only flange joints welded to the ends of steel pipes has increased.
Due to problems such as helicopter transportation in mountainous areas and transportation load restrictions in land transportation, the number of joints and the total weight of one steel tower have increased significantly, resulting in increased production and construction costs.

[0005] Under such circumstances, in the case of large-sized steel towers, it has been studied to adopt a method in which a steel column material is welded in place, instead of a method in which a flange joint is joined by bolts. With regard to field welding, welding robots have been developed for use in automatic construction systems for high-rise buildings, etc.Welding joints of main pillars at construction sites is also used for power transmission towers under more severe conditions. A system for automatic welding by a robot has been developed.

In this welding robot system for a steel tower or the like, a welding robot body is attached to a traveling rail fixed to a main pillar of a steel tower via a traveling bogie to automatically travel.
There are a large number of joints, and the structure is such that the traveling rail can be easily attached to and detached from the main pillar in order to easily and efficiently perform on-site welding of steel towers where welding work proceeds upward sequentially Various ideas have been devised such as a structure in which the welding robot body can be easily attached to and detached from the traveling cart.

[0007]

However, in the field automatic welding by the welding robot as described above, the automation of the welding has been sufficiently advanced, but the cutting and removal of the erection piece after the automatic welding and the removal of the welded portion are performed. At present, post-treatments such as ultrasonic inspection, blasting, thermal spraying, and sealing coating still rely on manual labor. There are problems such as time consuming and poor efficiency.

SUMMARY OF THE INVENTION The present invention has been made to solve the above-mentioned problems, and an object of the present invention is to automatically perform post-processing after on-site welding, and to continuously perform processes from welding to thermal spraying and coating. An object of the present invention is to provide a post-processing method and a post-processing system device after on-site welding, which enable work and simplify the setup of each post-processing step.

[0009]

According to the post-treatment method of the present invention, a post-welding method for post-welding is performed by automatically welding the outer periphery of a joint J of a steel column such as a main column A of a steel tower, which has been temporarily joined, by a welding robot 100; A traveling rail 1 attached to the outer periphery of the steel column A in parallel with the joint portion J to guide and support the welding robot 100, and a traveling cart movably attached to the traveling rail 1 and detachably attached to the welding robot body 101. 2 and a vertical rail member (vertical rail portion) along the axial direction of the steel column A.
Material 23 or vertical rail frame 63)
Automatic post-processing machine attached to this vertical rail member
Cutter (moving head of cutting machine body 22 or blast nozzle)
64) is provided so as to be vertically movable in the axial direction of the steel column.
Automatic post-processing device (automatic gas cutting device 20 in FIG. 1 or FIG.
5) automatic blasting device 60) or the axis of steel column A
Vertical rail member (vertical rail member 52 or vertical rail
Automatic post-processing equipment (probe 53 or
The shooting gun 93 and the coating gun 94) are attached, and this vertical rail
Equipment that supports materials vertically movably in the axial direction of steel columns
(Flaw detector main body 51 or thermal spraying / coating main body 91)
Various automatic post-processing devices (the automatic ultrasonic flaw detector 50 shown in FIG. 4 or the automatic
Dynamic spray-coating device 90) is moved in the circumferential direction of the steel column A, the automatic postprocessing device by longitudinal movement in the axial direction of the steel column A, the cleavage of temporary joining (erection) pieces,
Post-processing such as flaw detection inspection of the welded portion, blasting of the welded surface, metal spraying near the welded surface, or sealing coating of the sprayed surface is automatically performed.

The post-welding post-treatment system according to the present invention comprises: a traveling rail 1 attached to the outer periphery of a steel column such as a main column material A of a temporarily joined steel tower in parallel with a joint J; A traveling carriage 2 movably mounted and a steel column A
Vertical rail member (vertical rail member 23 or
The vertical rail frame 63) can be attached to and detached from the traveling carriage 2.
Mounting, automatic post-processing equipment (cutting machine
The body 22 or the movable head 64) of the blast nozzle is
Various automatic post-processing devices provided to be able to move vertically in the axial direction of the column
(Automatic gas cutting device 20 in FIG. 1 or automatic brass cutter in FIG. 5)
Strike processing device 60), or longitudinal along the axial direction of steel column A
Rail member (vertical rail member 52 or vertical rail member 9)
2) Automatic post-processing equipment (probe 53 or thermal spray gun 93)
・ Attaching a painting gun 94) and connecting this vertical rail member to a steel column
The main body of the device (flaw detection device
The body 51 or the spraying / coating apparatus main body 91) is moved to the traveling cart.
Various automatic post-processing devices that are detachably attached to the
Automatic ultrasonic flaw detector 50 or automatic spraying / painting of FIG.
Device 90), and various automatic post-processing devices are
It is run in the circumferential direction of the steel columns by the traveling drive device of the seal member or the instrument body, the vertical movement of the automatic post-processing device in the axial direction of the steel columns by the vertical rail members and the vertical movement drive unit
Were, for the temporary bonding (Election) cut pieces, flaw inspection of welds, blasting welding surface, to automatically perform welding the vicinity of the metal spraying, or post-processing, such as sealing coating treatment of the sprayed surface It is composed .

In the case of the automatic gas cutting apparatus 20 shown in FIGS. 1 and 2, the main body of the apparatus is constituted by a vertical rail member 23, and the upper part of the vertical rail member 23 is detachably attached to the traveling carriage 2, and Pinion 30 and motor 3 on rail member 23
1 is provided. The automatic post-processing device is a cutting machine main body 22 having a cutting torch 21, and is vertically moved by a vertical movement driving device including a rack 34, a pinion 35, and a motor 36. Also, the vertical rail member 23
The lower part is a horizontal magnet roller 24 (see FIG. 1) or a guide rail 40 and a guide roller 41 (see FIG. 3).
Guide support.

In the case of the automatic ultrasonic flaw detector 50 shown in FIG. 4, the main body of the flaw detector is a flaw detector main body 51. The flaw detector main body 51 is detachably attached to the traveling carriage 2, and a pinion is attached to the flaw detector main body 51.・ Provide a driving device consisting of a motor. The automatic post-processing device is composed of two probes 53 and is attached to a lower part of a vertical rail member 52 supported by a rack and pinion type vertical movement driving device so as to be vertically movable.

The automatic blast processing device 6 shown in FIGS.
In the case of 0, the apparatus main body is a blast processing apparatus main body 61, and an X-axis driving device 62 on the upper portion thereof is detachably attached to the traveling carriage 2, and a pinion 71.
A driving device including a motor 72 is provided. The automatic post-processing equipment includes a movable head 64 having a blast nozzle 76.
The vertical movement is performed by a vertical rail frame 63 as a vertical rail member and a Y-axis power cylinder 65 as a vertical movement driving device. The lower part of the vertical rail frame 63 is provided with the horizontal magnet roller 24 or the guide rail 7.
3 and guide support by a horizontal guide roller 75 (see FIG. 6).

In the case of the automatic spraying / coating apparatus 90 shown in FIG. 7, the main body of the apparatus is a spraying / coating apparatus main body 91, and the spraying / coating apparatus main body 91 is detachably attached to the traveling carriage 2, and A driving device for driving including a pinion motor is provided in the coating device main body 91. The automatic post-processing device is a spraying gun 93 or a coating gun 94, and a lower end of a vertical rail member 92 supported vertically movably by a rack and pinion type vertical movement driving device built in the spraying / coating device main body 91. Attach to the part.

[0015]

In the above construction, when the welding robot completes the automatic welding of about one-half of the entire circumference of the joint of the steel column, the temporary joining piece is cut and removed by the automatic gas cutting device, and the welding robot performs the cutting. After the remaining approximately one-half of the automatic welding is completed, the defect inspection of the welded part by the automatic ultrasonic flaw detector, the blast processing of the weld surface and the vicinity of the weld surface by the automatic blast treatment device, and the blast surface by the automatic thermal spraying / coating device Metal spraying and sealing coating on the sprayed surface are sequentially performed.

The various automatic post-processing devices are moved in the circumferential direction of the steel column along the running rail by the driving device provided in each device main body, and are moved by the vertical rail member and the vertical driving device. It can be moved vertically in the axial direction of the steel column to automatically perform post-processing such as cutting of the temporary joining piece and ultrasonic flaw detection of the welded portion. In addition, since the traveling rail and the traveling trolley used in the automatic welding by the automatic welding robot are used, the structure of various automatic post-processing devices can be simplified, and various automatic post-processing devices can be easily and easily constructed. It can be quickly attached and detached, can easily and continuously perform from the automatic welding to the sealing process, and can simplify the setup of each post-processing.

[0017]

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a block diagram showing a first embodiment of the present invention. This is an example applied to a case in which a joint portion of a main pillar material of a power transmission tower is automatically welded on site by a welding robot. FIGS. 1 to 7 show examples of various automatic post-processing apparatuses according to the present invention, and FIGS. 8 to 10 show examples of an automatic welding robot system.

As shown in FIG. 8, the main pillar A of the power transmission tower
Is inclined by about 5 to 10 ° due to root opening, and a groove is formed in the joint J of the main pillar A temporarily joined. In addition,
The joint J is formed at right angles to the axial direction of the main pillar A, but may be formed parallel to the ground. A traveling rail 1 is attached to the outer periphery of the joint J of the main pillar A in parallel with the joint J, and a traveling carriage 2 is attached to the traveling rail 1.
The welding robot 100 is mounted via the
01 by the welding torch 102 attached to the lower part of
Is welded with carbon dioxide arc welding at the bevel.

A controller 105 of a welding power source 104 is connected to the welding robot body 101 via a teaching box 103, and a wire supply device 106 and a carbon dioxide gas cylinder 107 are connected to the welding torch 102.

The traveling rail 1 has a circular cross section,
As shown in FIG. 8 (b), it is formed in a ring shape, and the lower end is temporarily inserted into a welding groove and temporarily supported by a magnet 3a, while being positioned and supported by a support metal 3 which is detachably attached to the main column member A, and travels. The rail 1 is fixed to the main pillar A by a magnet type rail mounting jig 4 mounted at the center in the vertical direction. In the case of a box-shaped column, as shown in FIG.
Four running rails 1 are used and fixed by the same method as described above. A rotating arm 1A and a switching rail 1B pinned to the rotating arm 1A are provided at opposing corners.
While rotating A, the switching rail 1B is tilted so as to be continuously movable to the end of the running rail so that welding can be performed continuously.

As shown in FIG. 9, the traveling carriage 2 has traveling wheels 5 that roll by sandwiching the upper and lower ends of the traveling rail 1 from oblique directions inside the upper and lower sides of a U-shaped main body. It is possible to move around the main pillar A without departing from the running rail 1. The robot main body 101 is detachably attached to such a traveling carriage 2, and a rack 6 provided at a lower end portion of the traveling rail 1 and a pinion 7 that is rotationally driven by a motor 8 disposed in the robot main body 101,
The traveling trolley 2 and the robot main body 101 are capable of self-running. The traveling carriage 2 and the robot main body 101 are attached to each other by the engaging projections 9 provided on the upper part of the traveling carriage 2 and the engaging pins 10 provided on the upper end of the mounting portion of the robot main body 101, and are easily attached. It has a removable structure. An adjusting screw 11 provided at a lower portion of the traveling vehicle 2;
With the locking member 12 attached to the lower end of the attachment portion of the robot body 101, the robot body 10
1 is raised slightly to fix the traveling carriage 2 and the robot body 101, and to allow the pinion 7 to mesh with the rack 6.

The automatic welding is performed in the following procedure (see FIG. 10). Prior to welding, the erection pieces B of the upper and lower main pillars A to be welded and joined are sandwiched and connected by two splice plates, and the main pillars A are temporarily joined. Fix the traveling rail 1 above the joint J,
Two welding robots 100 are mounted on the traveling rail 1. After inputting data and performing groove teaching,
Robotic welding of about 1/2 of the entire circumference. The erection piece B is cut and removed, and the bead joint portion of the α portion is shaped. After inputting data and performing groove teaching, the remaining β part is welded. When welding is completed, the welding robot 100 is removed from the traveling rail 1 and moved to the next joint.

In the on-site automatic welding system using such a welding robot, in the present invention, the traveling rail 1 and the traveling vehicle 2 used in the automatic welding are left as they are after welding, and as shown below, the traveling rail 1 and the traveling vehicle 2 are used. 2. The automatic post-processing device is moved using 2 to perform post-processing.

(1) Cutting of the erection piece The erection piece B is automatically cut with the splice plate C connected using an automatic gas cutting device 20 as shown in FIGS. Automatic gas cutting device 2
Reference numeral 0 mainly includes a cutting machine main body 22 on which a cutting torch 21 and the like are mounted, and a vertical rail member 23 along the axial direction of the main pillar A.

The vertical rail member 23 has an inner surface at an upper end portion detachably attached to an outer surface of the traveling carriage 2, a pair of horizontal magnet rollers 24 attached to a lower end portion in the traveling direction, and a predetermined distance from the surface of the main pillar A. Can be run in the circumferential direction of the main pillar A in a state of being placed. As shown in FIG. 2A, the traveling carriage 2 and the vertical rail member 23 are attached to each other by the welding robot 100.
As in the case of (1), the engagement protrusion 2 provided on the upper surface of the traveling vehicle 2
5, the engagement pin 26 provided on the upper portion of the vertical rail member 23 is locked so that the vertical rail member 23 can be easily attached and detached.

When the vertical rail member 23 is to be manually driven in the circumferential direction, the projecting piece 2 protruding from the vertical rail member 23 is required.
7, a fixing bolt 28 is screwed, and the tip of the fixing bolt 28 is applied to the lower surface of the traveling vehicle 2 to fix the traveling vehicle 2 and the vertical rail member 23.

In the case of automatic traveling, as shown in FIG. 2B, a rack 29 is provided below the traveling rail 1 and the pinion 30 and the motor are mounted on the vertical rail member 23, as in the case of the welding robot 100. 31 and an adjusting screw 32
Then, the vertical rail member 23 is lifted, and the rack 29 and the pinion 31 are engaged with each other while the traveling vehicle 2 and the vertical rail member 23 are fixed.

As shown in FIG. 2 (c), the cutting machine main body 22 is vertically movable by a grooved guide roller 33 which sandwiches the vertical rail member 23 from the left and right, and a rack attached to the vertical rail member 23. 34 and a pinion 35 meshed with the rack and driven to rotate by a motor 36 to move up and down. In addition, a spark scattering prevention cover 37 and a slag receiving box 38 are attached near the cutting torch 21 (see FIG. 1) to prevent the danger of an operator under a high place work.

Further, the guide support at the lower end of the vertical roll member 23 is not limited to the pair of magnet rollers 24, but uses a guide rail 40 and a guide roller 41 for rolling the guide rail 40 as shown in FIG. May be. In this case, the guide rail 40 is divided into two rings in the same manner as the traveling rail 1, and is fixed to the main pillar A by a magnet type rail mounting jig 42. The guide roller 41 may be a vertical roller that rolls in the guide groove of the guide rail 40,
A pair of horizontal rollers that roll while nipping the guide rail 40 from inside and outside may be used.

In the above configuration, after the welding of about 1/2 the length of the entire circumference of the joint J is completed and the main column members A are firmly joined to each other, the automatic column cutting machine 20 is driven. The cutting machine main body 22 is set on the traveling carriage 2 of the rail 1, the cutting machine body 22 is positioned at the position of the erection piece B, and vertically moved vertically to cut the gas at the root of the erection piece B. Further, the vertical rail member 23 is manually or automatically moved in the circumferential direction, and all the erection pieces B are sequentially cut and removed together with the splice plate C. Here, the erection piece B is cut so as to leave 5 to 10 mm from the surface of the main column material A, thereby preventing damage to the base material and defects on the cut surface, thereby facilitating finishing.

The controller of the automatic gas cutting device 20 includes:
Gas cutting can be performed automatically only by inputting the position and length of the erection piece B. The movement in the circumferential direction may be performed manually, but if the position of the erection piece B in the circumferential direction is input, completely automatic cutting can be performed.

The gas used for gas cutting is, for example, methylacetylene (30-35%), butadiene (20-25%).
%), Propylene (25 to 40%), propane (10 to 15%), etc., and a combustion flame in which oxygen is further mixed is applied to the molten surface of the steel to melt the steel. A general method of blowing away the melted steel material by spraying is used.

When all the erection pieces B have been cut and removed, the automatic gas cutting device 20 is removed from the traveling trolley 2, the welding robot 100 is attached to the traveling trolley 2 again, and the remaining joints J are automatically welded.

(2) Ultrasonic Flaw Inspection Upon completion of the entire circumference welding of the joint J, a defect in the weld is inspected using an automatic ultrasonic flaw detector 50 as shown in FIG. The automatic ultrasonic flaw detector 50 includes a flaw detector main body (auto positioner) 51 serving as a scanning mechanism, and a vertical rail penetrating through the flaw detector main body 51 and movably mounted in the axial direction of the main pillar A. It comprises a member 52 and two probes 53 attached to the lower end of the vertical rail member.

The main body 51 of the flaw detector is a welding robot 100.
Similarly to the above, it can be easily attached to and detached from the traveling carriage 2 of the traveling rail 1 by engaging projections, engaging pins, and adjusting screws, and can be moved in the circumferential direction of the main pillar A by a rack and a pinion. . The vertical rail member 52 is supported by a rack and a pinion system so as to be vertically movable in the vertical direction.

The flaw detector main body 51 and the vertical rail member 52
The movement is controlled in the X-axis and Y-axis directions by the automatic traveling control device 54, and the two probes 53 are automatically scanned in a predetermined pattern over the entire circumference. Defects are automatically detected over the entire circumference by the reflection method from both upper and lower sides of the welded portion by the two probes 53. The flaw detection result is automatically recorded on the storage medium of the data recording device 56 of the two-channel ultrasonic flaw detection device 55, and is displayed by a printer or a display.

(3) Blasting treatment near the welding surface The welding surface, the erection piece cut part and the non-plating part near these parts that have not been subjected to the hot-dip galvanizing treatment are sprayed with the metal sprayed in the subsequent step. To facilitate adhesion, an automatic blasting device 60 as shown in FIGS. 5 and 6 is used to blow steel balls with air to roughen the surface and at the same time perform blasting to reveal the iron base. The surface roughness is preferably 60S or more.

The automatic blast processing device 60 includes a blast processing device main body 61 mainly including an X-axis driving device 62 and a vertical rail frame 63, a movable head 64 movable in the vertical rail frame 63 in the Y-axis direction, It comprises a power cylinder 65 for driving the Y-axis such as an electric cylinder for moving the movable head 64, and a guide device 66 below the vertical rail frame 63.

As shown in FIG. 6, the X-axis driving device 62
As with the welding robot 100, it can be easily attached and detached by the engaging projection 67 and the engaging pin 68, and can be fixed to the traveling vehicle 2 by the adjusting screw 69. Can be moved.

The vertical rail frame 63 is provided with the X-axis driving device 6.
2 to a pair of grooved rails 63a parallel to the Y axis, and a connecting member 63b connecting the lower ends of the grooved rails 63a.
Consists of The movable head 64 is movably supported in the Y-axis direction by a guide roller 64a that rolls by engaging with the grooved rail 63a. Power cylinder 6 for Y-axis drive
Reference numeral 5 has a base end attached to the lower surface of the X-axis driving device 62, and a movable head 64 connected to the distal end of the piston rod.

The guide device 66 is provided with a split ring-shaped guide rail 73 attached to the main column member A via a magnet type rail attachment jig 74 and a connecting member 63b, and sandwiches the guide rail 73 from inside and outside. It comprises a rolling horizontal guide roller 75. This guide device 66 also
Similar to the automatic gas cutting device 20 of FIG. 1, a pair of horizontal magnet rollers 24 may be used.

The movable head 64 has a cover 76a at its tip.
A blast nozzle 76 having a steel ball and air is supplied from the vacuum blaster 77 to the blast nozzle 76 through a supply pipe 78, and the steel ball is returned to a return pipe 79.
Is collected by the vacuum blaster 77 and is circulated.

In the above arrangement, the X-axis / Y-axis driving operation panel 80 controls the X-axis driving device 62 and the Y-axis power cylinder 65, and the blast nozzle 76 reciprocates in the Y-axis direction while The blast processing is performed automatically over the entire area around the welded portion.

(4) Metal Spraying and Sealing Coating When the blasting process is completed, the spraying of zinc, aluminum alloy or the like is performed by using an automatic spraying / coating device 90 as shown in FIG. Its thickness is preferably about 150 μm.

Further, in the zinc and aluminum alloy spraying, if the sprayed surface is viewed microscopically, there are very many voids, and the same automatic spraying / coating device 90 is used to spray epoxy or the like on the sprayed surface. The paint is sprayed to perform a sealing treatment for closing the gaps on the sprayed surface, thereby improving the weather resistance (corrosion resistance) of the sprayed surface.

The automatic thermal spraying / coating apparatus 90, like the automatic ultrasonic flaw detector 50, includes a thermal spraying / coating apparatus main body 91 as a scanning mechanism, and a main pillar material penetrating through the thermal spraying / coating apparatus main body 91. A vertical rail member 92 is attached movably in the axial direction of A, and a spray gun 93 and a coating gun 94 are detachably attached to the lower end of the vertical rail member.

Similarly to the welding robot 100, the thermal spraying / coating apparatus main body 91 can be easily attached to and detached from the traveling carriage 2 of the traveling rail 1 by engaging projections, engaging pins, and adjusting screws. The column A can be moved in the circumferential direction. The vertical rail member 92 is supported by a rack and a pinion system so as to be movable in the vertical direction.

Thermal spraying / coating apparatus main body 91 and vertical rail member 9
2 is controlled to move in the X-axis direction and the Y-axis direction by an automatic travel control device 95, respectively.
3 automatically sprays zinc or the like on the blasted surface over the entire circumference, and then automatically applies a sealing coating process on the sprayed surface over the entire circumference by the air / painting unit 98 and the coating gun 94 to which the compressor 97 is connected. .

Although the above description has been made of an example in which the present invention is applied to on-site welding of a main pillar of a power transmission tower, the present invention is not limited to this, and the present invention can be applied to on-site welding of pillars such as steel piers. Needless to say.

[0050]

As described above, the post-processing method and post-processing system apparatus according to the present invention having the above-described configuration have the following effects.

(1) Post-processing work such as on-site welding, subsequent cutting of temporary joining pieces, ultrasonic flaw detection, blasting, thermal spraying / sealing coating, etc., is completely robotized with a relatively simple mechanism. It can be automated, and can save labor, speed up, and improve safety of on-site welding and post-processing work.

(2) The structure of various automatic post-processing devices can be simplified by using the traveling rail and the traveling cart of the automatic welding robot, and the various automatic post-processing devices can be easily and quickly manufactured. Can be attached to and detached from, and continuous work can be performed from welding to sealing coating processing, and setup can be simplified, combined with the robotization and automation described above, shortening the construction period of steel towers and reducing the overall cost Can be achieved.

[Brief description of the drawings]

FIG. 1 is a perspective view showing an automatic gas cutting device according to the present invention.

2 (a) is a side view showing the automatic gas cutting device of FIG. 1, and FIG. 2 (b) is a side view showing a mounting portion in the case of automatic traveling.
(C) is a partial front view of (a).

FIG. 3 is a perspective view showing an example in which a lower guide mechanism of the automatic gas cutting device of FIG. 1 is different.

FIG. 4 is a perspective view showing an automatic ultrasonic flaw detector according to the present invention.

FIG. 5 is a perspective view showing an automatic blast processing device according to the present invention.

FIG. 6 is a side view showing the automatic blast processing device of FIG. 5;

FIG. 7 is a perspective view showing an automatic thermal spraying / coating apparatus according to the present invention.

8 (a) is a perspective view showing an automatic welding robot system, FIG. 8 (b) is a plan view showing an example of a circular section column of a traveling rail of the welding robot, and FIG. 8 (c) is a box section column of a traveling rail of the welding robot. It is a top view which shows the example of.

FIG. 9 is a cross-sectional view showing a structure for attaching the welding robot body to a traveling rail.

10A and 10B are plan views showing a work procedure by a welding robot, wherein FIG. 10A shows a case of a circular column, and FIG. 10B shows a case of a box-type column.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 ... Running rail 2 ... Running trolley 3 ... Supporting hardware 4 ... Magnet type rail mounting jig 5 ... Running wheel 6 ... Rack 7 ... Pinion 8 ... Motor 9 ... Engaging protrusion 10 ... Engaging pin 11 ... Adjustment screw 12 ... Engagement Stop member 20 ... Automatic gas cutting device 21 ... Cutting torch 22 ... Cutting machine body 23 ... Vertical rail member 24 ... Horizontal magnet roller 25 ... Engagement protrusion 26 ... Engagement pin 27 ... Projection piece 28 ... Fixing bolt 29 ... Rack 30 ... Pinion 31 ... Motor 32 ... Adjustment screw 33 ... Guide roller with groove 34 ... Rack 35 ... Pinion 36 ... Motor 37 ... Spark scattering prevention cover 38 ... Scraper receiving box 40 ... Guide rail 41 ... Guide roller 42 ... Magnetic rail mounting jig Reference numeral 50: Automatic ultrasonic flaw detector 51: Main body of flaw detector 52: Vertical rail member 53: Probe 54: Automatic traveling control device 55: Channel ultrasonic testing device 56 Data recording device 60 Automatic blast processing device 61 Blast processing device main body 62 X-axis driving device 63 Vertical rail frame 64 Movable bed 65 Y-axis power cylinder 66 Guide device 67 Engagement projection 68 ... Engagement pin 69 ... Adjustment screw 70 ... Rack 71 ... Pinion 72 ... Motor 73 ... Guide rail 74 ... Magnet rail mounting jig 75 ... Horizontal guide roller 76 ... Blast nozzle 77 ... Vacuum blaster 78 ... Supply pipe 79 ... Return piping 80 ... X-axis / Y-axis drive operation panel 90 ... Automatic spraying / coating device 91 ... Spraying / coating device main body 92 ... Vertical rail member 93 ... Spraying gun 94 ... Coating gun 95 ... Automatic traveling control device 96 ... Arc Thermal spraying equipment 97 Compressor 98 Air coating unit 100 Welding robot Unit 101: Robot body 102: Welding torch 103: Teaching box 104: Welding power supply 105: Controller 106: Wire supply device 107: Carbon dioxide gas cylinder

Continuation of front page (58) Field surveyed (Int.Cl. ⁶ , DB name) E04G 21/14-21/16

Claims (2)

(57) [Claims] 1. A traveling rail which is attached to an outer periphery of a steel column in parallel with the joint and guides and supports the welding robot. A longitudinal rail member along the axial direction of the steel column by using a traveling carriage movably mounted on the vehicle and a welding robot body detachably mounted thereon.
Automatic post-processing machine attached to this vertical rail member
Various types of automatic equipment that can be vertically moved in the axial direction of the steel column
Post-treatment device or vertical rail member along the axial direction of steel column
Automatic post-processing equipment is attached to this vertical rail
The traveling platform supports an apparatus main body that is supported so as to be vertically movable in the axial direction of the
Various automatic post-processing apparatus comprising detachably attached to the vehicle is moved in the circumferential direction of the steel column, the automatic postprocessing device by longitudinal movement in the axial direction of the steel column, cleavage of the temporary joining piece, weld A post-processing method for post-welding, characterized by automatically performing post-processing such as flaw detection inspection, blasting of the welded surface, metal spraying near the welded surface, or sealing coating of the sprayed surface. 2. A traveling rail mounted on the outer periphery of the temporarily joined steel column in parallel with the joint portion, a traveling vehicle movably mounted on the traveling rail, and a longitudinal direction along the axial direction of the steel column.
A rail member is detachably attached to the traveling carriage.
Automatic post-processing equipment is vertically moved on the rail member in the axial direction of the steel column
Various automatic post-processing devices that can be installed, or steel column
Automatic post-processing equipment is attached to the vertical rail member along the axial direction,
This vertical rail member is supported so that it can move vertically in the axial direction of the steel column.
To be detachably attached to the traveling carriage
Various automatic post-processing devices
Is moved in the circumferential direction of the steel column by the vertical rail member or the driving device for driving the device body , and the automatic post-processing device is vertically moved in the axial direction of the steel column by the vertical rail member and the driving device for vertical movement. It is configured to automatically perform post-processing such as cutting of joining pieces, flaw inspection of welds, blasting of welded surfaces, metal spraying near welded surfaces, or sealing coating of sprayed surfaces. Post-processing system equipment characterized.