JPH10211573A - Automatic welding equipment for metallic box structure - Google Patents

Abstract

PROBLEM TO BE SOLVED: To weld a steel segment of various sizes as one of metallic box structures by means of an automatic welding equipment employing a small welding robot and to obtain improved weld beads. SOLUTION: The automatic welding equipment for a steel segment consists of a positioner 3 for positioning the steel segment 1 and an articulated welding robot 5; welding can be carried out by situating the body 5' of the robot at an arbitrary position within a horizontal plane by its forward/backward slider 67 and a traversal slider 59. The positioner 3 clamps the steel segment 1 and positions it at a prescribed posture. The welding robot body 5' performs welding by sliding in the longitudinal direction of the steel segment 1 so positioned.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an apparatus for automatically welding a temporarily welded metal box-like structure. Specific examples of the metal box-like structure include a steel segment, a liner plate, a bridge box girder mainly used in civil engineering work, and a steel formwork also used in building work. is there. However, the following mainly describes the steel segment for convenience of description, but the present invention is not limited to the steel segment.

[0002]

2. Description of the Related Art A steel segment, which is one of metal box-shaped structures, is a lining material used in a shield method, which is one of tunneling methods. The steel segment may be made into a composite segment by casting concrete with a dowel or the like inside.

[0003] The steel segment consists of a skin plate, a main girder,
The joint plate, longitudinal ribs, etc. are temporarily welded using an assembling jig, and then the actual welding is performed by an automatic welding device. For example, there is an automatic welding apparatus described in JP-A-8-25041.

In this automatic welding apparatus, as shown in FIG. 5, a temporarily welded steel segment 1 is clamped by a positioner 3 to be positioned in a predetermined posture, and the steel segment 1 is integrally mounted above the positioner 3. The main welding is performed by the joint welding robot 5. In the figure, dotted lines 7 and 9 indicate a range where the tip of the welding torch 13 attached to the tip of the arm 11 of the articulated welding robot 5 reaches, that is, a range where welding is possible.

[0005]

However, when the metal box-like structures 1 of various sizes are to be welded by such an automatic welding device, the arm 11 has to be long and large in order to cover the size range. It is necessary to employ the articulated welding robot 5.

However, if the size of the articulated welding robot 5 is increased, the cost is increased, and it is difficult to control the welding operation of small parts. Further, since the articulated welding robot 5 is fixed above the positioner 3, The articulated welding robot 5 had to extend the arm 11 to perform welding at a distant position, and the welding posture was poor, so that it was easy to obtain a good weld bead.

SUMMARY OF THE INVENTION The present invention has been made to solve the above problems, and does not require the use of a large-sized articulated welding robot. It is an object of the present invention to provide an automatic welding device for a metal box-like structure including a steel segment from which a high welding bead can be obtained.

[0008]

The invention for achieving the above object is the following invention. An automatic welding device for a metal box-shaped structure comprising a positioner for positioning the metal box-shaped structure and an articulated welding robot, wherein (a) clamping the temporarily welded metal box-shaped structure. A positioner that is rotated about a horizontal axis and about an orthogonal axis perpendicular to the horizontal axis and positioned in a predetermined posture; and (b) the positioner is horizontally adjacent to the positioner at a predetermined interval and is rotated. A traversing slider that slides horizontally in the horizontal axis direction and can be positioned at an arbitrary sliding position, a front and rear slider that is provided on the traversing slider and slides in a front and rear direction and can be positioned at an arbitrary sliding position, and a multi-joint mounted on the front and rear slider An automatic welding apparatus for a metal box-shaped structure, comprising: a multi-joint welding robot apparatus including a welding robot.

A specific embodiment of the metal box-shaped structure is, for example, a steel segment. Further, the positioner may be movable in the vertical direction.

[0010]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS One embodiment of the present invention will be described with reference to FIGS. First, referring to FIG. 4, the structure of a steel segment to be fully welded by the automatic welding apparatus according to this embodiment will be described.

The steel segment 1 includes a pair of main girders 15.
And a pair of joint plates 17 are welded in a frame shape, a skin plate 19 is welded to the outside, and a plurality of vertical ribs 21 are welded to the inside. Holes 23 for bolt connection are formed in the joint plate 17 and the main girder 15. Further, the joint plate 17
Metal fittings for reinforcing steel segments and hanging metal fittings 27 for lifting the steel segments 1 are welded. These members 15, 17, 19, 21, 25, and 27 are assembled in advance by an assembling jig and temporarily welded.
It is carried into the automatic welding equipment.

The steel segment 1 carried in is clamped by the positioner 3. This steel segment 1
Is curved according to the shape of the tunnel to be used,
The main girder 15 and the skin plate 19 are curved.

In FIG. 1 to FIG.
The upper and lower sliders-33 are attached to the base portion 31 installed on the floor surface 29 so as to be slidable in the vertical direction. The vertical movement of the vertical slider 33 is controlled by an electric motor (bore).
Screw 34). A rotary table 35 is provided on a vertical surface of the vertical slider 33, and is rotatable around a horizontal axis. The rotation of the rotary table 35 is performed by a rotary motor 36. This rotary table 35
The movable frame 37 for clamping the steel segment 1
Is attached.

The movable frame 37 has a base frame 39 fixed to a rotary table 35.
A support frame 41 protrudes at a right angle from one end of the support frame 41. A clamper frame 43 projects at a right angle from the other end,
At the same time, it can be moved in the vertical direction 49 by the clamp hydraulic cylinder 44 along the base frame 39. By this movement, the steel segments 1 having different sizes are formed.
Can also be clamped. In addition, the support frame 41 is a base.
Since the support frame 41 is fixed to the frame 39 by pin or bolt fastening, the support frame 41 can be moved up and down several stages as necessary.

Support frame 41 and clamper frame 43
A rotary table 45 is provided on the inside of each of the front ends, and the steel segment 1 is directly clamped by a clamp claw 47 attached to the rotary table 45. This clamp pawl 47 contacts the main girder 15 of the steel segment 1.

The metal box-like structure 1 thus clamped can be moved in the vertical direction 81 by the operation of the vertical slider 33, and the horizontal shaft 51 is operated by the operation of the rotary table 35 provided on the vertical slider 33. Can rotate around. Further, by the function of the rotary table 45 provided at the tip of the support frame 41 and the clamp frame 43, the rotary table 45 can be rotated around an orthogonal axis 53 orthogonal to the horizontal axis 51. These movements and rotations can be stopped at an arbitrary position, so that the metal box-shaped structure 1 can be positioned in a predetermined posture.

An articulated welding robot device 5 is arranged horizontally at a predetermined distance from the positioner 3. That is, the base portion 55 is installed on the floor surface 29 adjacent to the positioner 3, and the traversing rail 57 is fixed thereon. The traversing rail 57 is arranged in the same direction as the horizontal shaft 51 for rotating the metal box-shaped structure 1.

A traversing slider is mounted on the traversing rail 57.
59 slides. This slide is driven by a pinion gear 63 of a traverse motor 61 fixed to a traverse slider 59.
Is performed by meshing with a rack gear 65 provided on the side of the traversing rail 57, and can be located at an arbitrary sliding position.

The traversing slider 59 is provided with a front and rear slider 67. That is, the traversing slider 59
The front-rear slider strip 7 provided on the lower surface of the front-rear slider 67 corresponds to the front-rear slide receiver 69 provided on the upper surface of the front-rear slider 67.
1 so that the front-rear slider 67 can slide in the front-rear direction toward the metal box-shaped structure 1.

The sliding operation of the front and rear slider 67 is performed by engaging a pinion gear (not shown) of the front and rear motor 70 provided on the transverse slider 59 with a rack gear (not shown) provided on the front and rear slider 67 side.

On the front and rear slider 67, a multi-joint welding robot main body 5 'is mounted. The multi-joint welding robot 5 ′ is a six-axis multi-joint, and can perform a welding operation while the slide is performed by a flexible power supply device 73. Next, the range in which the tip of the welding torch 13 held by the arm 11 of the welding robot main body 5 'in this embodiment moves, that is, the range in which welding is possible is shown in FIG.
This will be described with a dotted chain line. First, the range that can be welded in the front-rear direction in FIG. 3 will be described.

In FIG. 3, the welding robot body 5 'is shown.
Is in a state of being retracted to the rearmost position by the front and rear slider 67. The range where welding can be performed in the retracted state is indicated by a range surrounded by two-dot chain lines 75 and 77. A weldable range in a state where the front and rear slider 67 is slid most forward is indicated by a two-dot chain line 79.

Further, a clamped metal box-shaped structure 1
Can be further lowered from the position shown by the upper and lower sliders 33 of the positioner 3 (by 81 in FIGS. 2 and 3), so that the steel segment 1 is in a sufficiently weldable range. In addition, it can be seen that the range that can be welded by the slide can be greatly increased, and welding can be performed on steel segments 1 of various sizes.

Further, the range in which welding is possible in the horizontal plane will be described with reference to FIG. That is, in this figure, the traversing slider 59 is slid to the far right,
In this state, the range that can be welded is the two-dot chain line 83, 85.
The area is enclosed by. From this state slider 6
In a state where 7 is slid most forward (slidable by 88 in FIG. 3), the weldable range is as shown by a two-dot chain line 87.

Further, in the state of being slid forward most, the traversing slider 59 is slid leftmost (FIG. 1).
In the state in which the slide can be performed by the distance of the middle 91), the weldable range is as shown by a two-dot chain line 89. From these facts, it can be seen that the clamped steel segment 1 can enter a sufficiently weldable range, and the slide can greatly increase the weldable range.

According to the automatic welding apparatus of this embodiment, the following effects can be obtained. (1) First, the multi-joint welding robot body 5 'can slide and move by the operation of the front and rear slider 67 and the traverse slider 59 without using a large-sized multi-joint welding robot. Becomes possible. Therefore, it is possible to automatically weld steel segments 1 of various sizes with one automatic welding device.

(2) Since a small-sized articulated welding robot can be employed, welding of a small portion of the steel segment 1 can be performed relatively easily. In addition, welding of the small-sized steel segment 1 can be easily performed.

(3) Further, since the welding robot main body 5 'is not fixed to one place as in the prior art, but can be slid and moved, the welding robot main body 5' can be moved in any portion of the steel segment 1 of any size. Even if there is, it is possible to move to a position where a good welding posture can be taken, so that a good welding bead can be obtained. That is, a good welding posture is defined by the relative distance and positional relationship between the welding robot and the welding site. In this embodiment, the welding robot body 5 ′ itself can move with respect to the welding site of the steel segment 1. Thus, it is possible to always take a good welding posture.

(4) Although the steel segment 1 is generally curved, it forms a substantially square shape, and the longitudinal direction of the square is set as a horizontal axis 51, and the steel segment 1 is rotated around the horizontal axis 51 by the positioner 3. And this horizontal axis 51
The sliding of the traversing slider 59 along the line allows the welding robot body 5 'to slide efficiently and quickly. That is, the rectangle (the rectangle having lengths of short and long sides 88 and 91 in the drawing) within which the welding robot body 5 'can slide and move in the plane is substantially the same as the substantially rectangular shape of the metal box-shaped structure. Correspondingly, the automatic welding apparatus is most suitable for automatic welding of the steel segment 1.

(5) The rail 57 for sliding the welding robot body 5 'is provided adjacent to the positioner 3 in the horizontal direction.
And the rail 57 and, consequently, the articulated welding robot device 5 can be provided on the same floor surface 29, and the equipment cost and the maintenance cost are reduced as compared with the case where the welding robot body 5 'is arranged above the positioner 3 as in the conventional case. be able to.

(6) When the steel segment 1 is used as a lining material in the shield method, the skin plate 1
The failure of welding in FIG. 9 (FIG. 4) has a great effect on the countermeasures against water leakage in the tunnel. In this embodiment, the welding robot body 5 'of the multi-joint welding robot device 5 can perform welding while sliding and moving by the traverse slider 59 and the front and rear slider 67, so that a long welding line can be welded seamlessly.

[0032] In particular, the slide makes it possible to maintain almost the same good welding posture in all positions of the long welding line, and to form a good welding bead in the entire welding line. Therefore, it is possible to effectively prevent water leakage in the tunnel as compared with a conventional case where a good welding posture cannot be obtained or a case where a joint is formed in a weld bead.

(Other Embodiments) In the above embodiment, the movable frame 37 of the positioner 3 is provided with the upper and lower sliders.
Although the movable member 33 can be moved in the vertical direction by using the positioner 33, a positioner having a structure in which the movable member cannot move in the vertical direction can be adopted in other embodiments. Also,
In the above embodiment, the steel segment 1 is entirely curved, but in other embodiments, the steel segment 1 may be a flat steel segment without necessarily being curved.

[0034]

As described above, according to the automatic welding apparatus for a metal box-shaped structure such as a steel segment according to the present invention, the multi-joint welding robot main body of the multi-joint welding robot apparatus is moved forward and backward with the traversing slider. Since the slider can be slid and moved by the slider, it can cover a range of various sizes of the metal box-shaped structure. This eliminates the need for a large articulated welding robot having a long arm as in the conventional case.

Since a small multi-joint welding robot can be employed, small parts can be easily welded. Furthermore, the articulated welding robot is not fixed in one place,
Since it can be slid and moved, it can be moved to a position where a good welding posture can be taken, welding can be performed, and a good weld bead can be obtained.

In particular, although the metal box-shaped structure is generally curved (see FIG. 4) in many cases, the metal box-shaped structure has a substantially rectangular shape as a whole and is rotated in the longitudinal direction of the square, that is, the metal box-shaped structure. By sliding the articulated welding robot laterally in the horizontal axis direction to be moved, it is possible to move roughly along the longitudinal direction of the metal box-shaped structure, and it is easy to take the favorable welding posture.

[Brief description of the drawings]

FIG. 1 is a plan view showing an automatic welding device for steel segments according to an embodiment of the present invention.

FIG. 2 is a front view of a positioner for clamping a steel segment in the apparatus shown in FIG.

FIG. 3 is a side view of FIG. 1;

FIG. 4 is a perspective view of a steel segment to be welded;

FIG. 5 is a side view showing a conventional welding device.

[Explanation of symbols]

DESCRIPTION OF SYMBOLS 1 Steel segment (metal box-shaped structure) 3 Positioner 5 Articulated welding robot apparatus 5 'Articulated welding robot main body 13 Welding torch 29 Floor surface 31 Base part 33 Vertical slider 35, 45 Rotary table 36 Rotary motor 37 Movable frame Reference Signs List 39 base frame 41 support frame 43 clamper frame 44 clamp hydraulic cylinder 47 clamp claw 57 traverse rail 59 traverse slider 61 traverse motor 67 front and rear slider 70 front and rear motor

──────────────────────────────────────────────────続 き Continued on the front page (51) Int.Cl. ⁶ Identification symbol FI // E21D 11/14 E21D 11/14

Claims (3)

[Claims] An automatic welding apparatus for a metal box-like structure comprising a positioner for positioning the metal box-like structure and an articulated welding robot device, wherein (a) a metal box-like structure temporarily welded. A positioner that clamps the body and rotates around a horizontal axis and around an orthogonal axis perpendicular to the horizontal axis to position the body in a predetermined posture; and (b) horizontally adjacent to the positioner at a predetermined interval, A traversing slider that can be horizontally slid in the horizontal axis direction to be rotated and positioned at any sliding position, a front and rear slider that is provided on the traversing slider and slid in the front and rear direction and can be positioned at any sliding position, and mounted on the front and rear slider. An automatic welding apparatus for a metal box-shaped structure, comprising: a multi-joint welding robot device including a multi-joint welding robot to be placed. 2. The apparatus for automatically welding a metal box-shaped structure according to claim 1, wherein the metal box-shaped structure is a steel segment. 3. The automatic welding apparatus for a metal box-shaped structure according to claim 1, wherein the positioner is movable in a vertical direction.