JPH10291071A - Automatic welding equipment - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an automatic welding equipment to weld works which are extensively variant in length and size by bringing the work close to an electrode moving device by a straight moving device, welding one side of the work, loading the work on another straight moving device, bringing the work close to another electrode moving device, and welding the other side of the work. SOLUTION: A work is fed to a stand-by stage 21 by a feed device 38, its vertical direction is judged, the work is directed in the prescribed direction by a reversing device 22, and fed to an adjacent A-type straight moving device 23 by the feed device 38. The work is first positioned to the left in the advancing direction. A member to be joined is fed by a welding material feeding device 7, and covered on the left end of the work. The work is moved to the right end by the rotation of rollers 40, 41, and the member to be joined is covered on the right end of the work by a welding material feed device 8. The work is fed to an A-type straight moving device 24 for welding stage, its right end part is welded by an electrode moving device 2, and the work is shifted to the left end and its left end part is welded by an electrode moving device 3.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an automatic welding apparatus, and more particularly to an automatic welding apparatus for automatically performing a welding operation for works having different sizes and lengths.

[0002]

2. Description of the Related Art In recent years, a large number of assembled houses have been constructed because of their ease of construction and robustness. In a prefabricated house, members such as beams are manufactured in a factory and assembled at a site. The beams and the like are provided with joining members having a uniform shape at both ends in order to enhance interchangeability of the assembly.

FIG. 11 is a perspective view of a typical beam. That is, the beam 100 is made of lightweight C-shaped steel or the like, and the joining members 101 are welded to both ends of both ends thereof.

[0004]

By the way, the beam 100
These members are produced in large quantities, and there is a strong demand among those skilled in the art to automate the welding operation of the joining members 101 by an industrial robot or the like. The equipment configuration for welding the joining members 101 to both ends of the beam 100 using an industrial robot is as follows:
One robot is arranged on each side of the beam 100 at both ends, and welding of each end is performed using each robot. Here, the problem of this equipment is that the length of the beam 100 or the like varies. That is, the cross-sectional shape of the beam 100 and the joining member 101 to be welded to the beam 100 have the same size and shape, but the length of the beam 100 varies considerably depending on the application. Therefore, in order to absorb the variation in the length of the beam 100, the robot needs to use a long arm. As a result, large and expensive robots must be used. In addition to the large size of the industrial robots, the auxiliary equipment of the robots must be of high rigidity, and since the operation of the robot is large, welding cables, inert gas hoses, etc. It becomes difficult to route. In addition, since the operation of the industrial robot is increased, there is a problem that the inertia is large and the positioning accuracy at the time of welding is reduced.

An object of the present invention is to provide an apparatus for automatically welding a work having a large variation in length and size using a relatively small robot, paying attention to the above-mentioned problems of the prior art. is there.

[0006]

According to a first aspect of the present invention, there is provided an apparatus for moving a workpiece in a linear direction, comprising: Two or more electrode moving devices equipped with a manipulator for moving, and a feed device for changing the work on the linear moving device to another linear moving device, the linear moving devices are arranged in parallel, the two or more The electrode moving device is disposed so as to sandwich the arrangement of the linear moving device, the work is welded in proximity to the electrode moving device by the linear moving device, and the work is placed on another linear moving device by the feeding device and then changed. An automatic welding apparatus characterized in that welding is performed in the vicinity of an electrode moving apparatus.

The idea of the prior art is to attempt to absorb the variation depending on the length of the arm of the robot when the length or the like has a variation. It is what we are going to do. The automatic welding apparatus according to the present invention has two or more linear moving devices, and the electrode moving devices are arranged with the linear moving devices arranged therebetween. In the automatic welding device of the present invention,
The work is brought close to the electrode moving device with one linear moving device, and one of the works is welded at the portion. For example, in the case of the beam 100 described above, the joining member 101 is welded to one end of the beam 100. Then, the work is mounted on another linear moving device. The workpiece is brought closer to another electrode moving device by another linear moving device. The electrode moving device
Since the work is arranged with the arrangement of the linear moving devices interposed therebetween, the portion of the work opposite to the previously welded side is brought closer to the electrode moving device. Then, the other part of the work is welded at the corresponding portion as before. For example, in the case of the beam 100 described above, the joining member 101 is welded to the other end of the beam 100.

In the first aspect of the present invention, the linear movement devices do not necessarily have to be arranged adjacent to each other, and some stage may be interposed between them. Further, the feeder is not limited to a device that directly sends a work from one linear moving device to another linear moving device, and the work is transferred from one linear moving device to another linear moving device after several steps. May be sent.

According to a second aspect of the present invention, there is provided a reversing device for reversing the front and back of a work, wherein the work is reversed and mounted on a linear moving device. 2. The automatic welding device according to 1.

Since the automatic welding device of the present invention has the reversing device, it is possible to perform front and back double-side welding.

The invention according to claim 3 further comprises a discrimination sensor for discriminating the front and back of the work, and when the work is not at a predetermined front and back position, the work is reversed by a reversing device. An automatic welding apparatus according to 1 or 2.

The automatic welding apparatus of the present invention has a configuration suitable for welding workpieces having different shapes on the back side and the front side. According to the present invention, the discrimination sensor for discriminating the front and back of the work is provided, and when the work is not at a predetermined front and back position, the front and back of the work are reversed by the reversing device. Therefore, even if the shape of the front and back is different, there is no accident such as hitting the electrode against the work.

According to a fourth aspect of the present invention, in the linear moving device, a plurality of rollers or rollers that rotate on one side are arranged in the rotational direction.
An automatic welding apparatus according to any one of the above.

In the present invention, a linear moving device in which a plurality of rollers or rollers rotating in one direction are arranged in the rotating direction is employed. According to the present invention, the work travels on rollers or rollers and stops at a predetermined position by some positioning member.

According to a fifth aspect of the present invention, the feeder includes a work holding member capable of sliding movement, and raises the work holding member or lowers the linear motion device to scoop up the work with the work holding member. Is separated from the linear motion device, the work is moved to the vicinity of another linear motion device by a sliding motion, the work holding member is lowered or the linear motion device is raised, and the work is placed on the linear motion device. An automatic welding apparatus according to any one of claims 1 to 4.

According to a sixth aspect of the present invention, there is provided the automatic welding apparatus according to any one of the first to fifth aspects, further comprising a welding object supply device for supplying a welding object to the workpiece.

Since the automatic welding apparatus according to the present invention includes the welding object supply device, it is possible to supply a welding object like the above-described joining member 101 to the work.

Further, the invention according to claim 7 includes a linear moving device A for moving the work to one side, a linear moving device B for moving the work to the other, and a welding stage, wherein the linear moving device A, the welding stage, 7. A linear moving device B, a welding stage, a reversing device, a welding stage, a linear moving device A, and a welding stage are arranged in this order, and an electrode moving device is arranged near each welding stage.
An automatic welding apparatus according to any one of the above.

An object of the present invention is to weld both ends of a work from both front and back sides.
A process such as reversal is subdivided, a plurality of work stages are created, and when the work of each stage is completed, the work is simultaneously sent to the next stage to shorten the production time. In the automatic welding apparatus according to the present invention, the work is moved by the linear moving device A, and the work is moved to one of the electrode moving devices. Next, one end side of the work is welded at the welding stage. Subsequently, the work is moved by the linear moving device B, and the work is moved to the other electrode moving device side. In the succeeding welding stage, welding work on the other end of the work is performed. Next, the work is reversed by the reversing device. Then, the back surface at the other end is welded at the welding stage. Further, the work is moved by the linear moving device A, and the work is moved to one of the electrode moving devices. In the next welding stage, the work of welding the back surface on one end side of the work is performed. In the present invention, the linear moving device A for moving the workpiece to one side, the linear moving device B for moving the workpiece to the other side, and the welding stage include the linear moving device A, the welding stage, the linear moving device B, and the welding stage. It is only necessary that the stages are arranged in the order of the stage, the reversing device, the welding stage, the linear moving device A, and the welding stage, and the linear moving device or another stage may be interposed therebetween.

[0020]

Embodiments of the present invention will be described below. FIG. 1 is a layout diagram of the automatic welding device of the present invention. FIG. 2 is a plan view of a linear moving device employed in the automatic welding device of the present invention. FIG. 3 is a sectional view of the linear moving device of FIG. FIG. 4 is a sectional view of a main part of another linear moving device employed in the automatic welding device of the present invention. FIG. 5 is a front view of a feeder employed in the automatic welding device of the present invention. FIGS. 6A and 6B are front views of the reversing device employed in the automatic welding device of the present invention. FIG. 7 is a front view of a discrimination sensor employed in the automatic welding device of the present invention. FIG. 8 is a front view of a welding object supply device employed in the automatic welding device of the present invention. FIG. 9 is a front view of the dispensing device employed in the automatic welding device of the present invention. FIG. 10 is an explanatory diagram showing the operation of the automatic welding device of the present invention.

In FIG. 1, reference numeral 1 denotes an automatic welding apparatus according to an embodiment of the present invention. In FIG. 1, a beam (work) 10
0 shall be sent from the left side of the drawing to the right side,
In the following description, left and right are determined based on the feed direction of the beam 100 for convenience.

The automatic welding apparatus 1 is roughly composed of four electrode moving devices 2, 3, 4, and 5, a work transfer section 6, two weld supply devices 7, 8 and a dispensing device 9. You. The work transfer unit 6 includes two rows of A-type linear moving devices 23 and 31, one row of B-type linear moving devices 25, two rows of A-type linear moving devices 24 and 32 for a welding stage, and two rows of A-type linear moving devices 24 and 32. B-type linear moving devices 26 and 30 for the welding stage, and standby stages 20, 21, 27, 29, 33 and 34 in six rows.
, A feed device 38 and two reversing devices 22 and 28.

To explain sequentially, the electrode moving devices 2, 3,
Reference numerals 4 and 5 denote known industrial robots for welding, which have manipulators having a degree of freedom of about six axes and moving on a predetermined trajectory. Electrode moving device 2,
At 3, 4, and 5, an arc electrode for carbon dioxide welding, a hose for supplying carbon dioxide, and a welding rod feeder are held (not shown). The electrode moving devices 2, 3, 4, 5 are arranged with the arrangement of the A-type linear moving devices 23, 31 and the like of the work transfer section 6 interposed therebetween.
Reference numerals 4 and 5 denote A-type linear moving devices 24 and 32 for the welding stage.
And the B-type linear moving device 26 for the welding stage,
30 are arranged near the left side.

In the work transfer section 6, the standby stage 20,
21, a reversing device 22, an A-type linear moving device 23, a welding stage A-type linear moving device 24, a B-type linear moving device 25,
B-type linear moving device 26 for welding stage, standby stage 2
7, reversing device 28, standby stage 29, B-type linear moving device 30 for welding stage, A-type linear moving device 31, A-type linear moving device 32 for welding stage, standby stages 33, 3.
4 are sequentially arranged in parallel. Note that, among the above, except for the reversing devices 22 and 28, the standby stages 20 and 2
1, A type linear moving device 23, welding type A linear moving device 24, B type linear moving device 25, welding stage B
Linear moving device 26, standby stage 27, standby stage 29, B-type linear moving device 30 for welding stage, A-type linear moving device 31, A-type linear moving device 32 for welding stage,
Each member of the standby stages 33 and 34 is a beam 100
Are mounted, and each functions as one stage.

Here, the linear moving devices 23, 24, 25, 2 in the center portion (middle stream portion) in FIG.
2 (A-type linear moving device 23, B-type linear moving device 25, welding stage A-type linear moving device 24, and welding stage B-type linear moving device 26) and the standby stage 27, as shown in FIG. They are integrated by a support frame 50.
Each of the linear movement devices 23, 24, 25, and 26 has a set of left and right rollers 40, 41 arranged in six rows with their rotation axes parallel. That is, six sets of the rollers 40 and 41 are arranged in the rotation direction. As shown in FIG. 3, the grooves of the lightweight steel, which is the beam 100, are fitted into the rollers 40 and 41. The rollers 40 and 41 are each rotated by a motor (not shown), and the beam 100 is linearly moved in the longitudinal direction.

The direction in which the beam 100 is moved varies, and each of the A-type linear moving devices 23 and 24 is moved rightward (downward in the drawing) with respect to the feed direction of the beam 100, In the linear moving devices 25 and 26,
Is moved leftward (upward in the drawing) with respect to the feed direction of the beam 100. The standby stage 27 is a portion where only the support frame 50 is provided, and there is no roller or the like.

The above-mentioned linear moving devices 23, 24, 25,
The support frame 50 is raised and lowered by a cylinder (not shown), and the 26 and the standby stage 27 move up and down as a whole.

In the work transfer section 6, the standby stage 29 on the downstream side in FIG. 1, the B-type linear moving device 30, the A-type linear moving device 31, the A-type linear moving device 32 for the welding stage, and The standby stages 33 and 34 are also integrated by a support frame (not shown). Similarly, the linear moving devices 30, 31, 32 (the B-type linear moving device 30, the A-type linear moving device 31, and the A-type linear moving device 32 for the welding stage) of the corresponding portions also include a pair of left and right rollers 45. , 46 are arranged with their rotation axes parallel to each other. These rollers 45, 46 are provided with a flange as shown in FIG. 4, and the back side of the beam 100 is held by the flange. The rollers 45 and 46 are arranged in eight rows with their rotation axes parallel. The rollers 45 and 46 are respectively rotated by motors (not shown), and the beam 100 is linearly moved in the longitudinal direction.

The direction in which the beam 100 is moved by the linear moving devices 30, 31, 32 on the downstream side is the same as that described above. To the right (bottom of the drawing)
In the B-type linear moving device 30, the beam 100 is moved leftward (upward in the drawing) with respect to the feed direction of the beam 100.

The standby stages 29 and 33 have substantially the same configuration as the standby stage 27 described above, and have only a support frame and no rollers. The standby stage 34 is provided with rollers.

In the integrated portion from the standby stage 29 to the standby stage 34 on the downstream side, the supporting frame is moved up and down by a cylinder (not shown), so that the whole is vertically moved. Also, this elevating movement is performed by the support frame 50 of the intermediate portion.
Is synchronized with the ascent / descent.

On the left side of the work transfer section 6, standby stages 20, 21 are arranged. Waiting stage 2
Reference numerals 0 and 21 have substantially the same configuration as the standby stage 27 described above. Stand-by stage 2 on the left side of work transfer section 6
Also at 0 and 21, the support frame is moved up and down by a cylinder (not shown), and vertically moves as a whole. Also, this up and down movement
It is synchronized with the support frame 50 at the intermediate portion and the vertical movement on the downstream side.

A discrimination sensor 45 is provided on the second standby stage 21. The discrimination sensor 45 discriminates whether the beam 100 placed on the standby stage 21 is concave upward or concave. The configuration of the determination sensor 45 is as shown in FIG. 7. The inspection rod 47 is projected from under the standby stage, and the front and rear of the beam 100 is determined based on the position where the inspection rod 47 abuts.

As shown in FIG. 5, the feeding device 38 includes a base frame 55
A roller 56 is provided on the roller 56.
7 is placed. A rack 60 is fixed to the lower surface of the slide beam 57, and the rack 60 is fitted with a gear 61. Further, a crank arm 63 is attached to the gear 61, and an end of the crank arm 63 is connected to a rod of a cylinder 65. Therefore, by expanding and contracting the rod of the cylinder 65, the crank arm 63 swings and the gear 61 rotates, and the slide beam 57 slides in the longitudinal direction via the rack 60.

The slide beam 57 constituting the feeder 38
In the present embodiment, four rollers are provided as shown in FIG.
It is arranged between the rows of 0, 41, 45, 46, that is, between the support frames 50 and the like, and extends in a direction perpendicular to the row of the rollers 40, 41, 45, 46. Also, the slide beam 57
Extends over the entire length of the transport device 6.

FIGS. 6A and 6B show the reversing devices 22 and 28.
As shown in the figure, the rotating arm 70 and the electromagnet 71 are used. In the reversing devices 22 and 28, the beam 100 is magnetically attached by the electromagnet 71, and the beam 100 is lifted from one of the stages by the rotation of the rotating arm 70.
Turn over and place on the next stage. The reversing device 22 is provided between the standby stage 21 and the A-type linear moving device 23. The reversing device 28 is provided between the standby stage 27 and the standby stage 29. In addition,
In the present embodiment, the reversing devices 22 and 28 not only reverse the work, but also have a function of transferring the work from one stage to another stage, and thus also function as the feed device of claim 1.

As shown in FIG. 8, the welding object supply devices 7 and 8 are composed of a joining member supply table 80 and a simple robot 81. The joining member supply table 80 is an inclined table or a conveyor provided with idle rollers, and is for mounting the joining member 101 and transporting the joining member 101 to the horizontal table 82. The simple robot 81 has an arm 82 and a hand 83 that grasps the joining member 101. And the arm 82
The hand 83 has a degree of freedom in the rotational direction, and the hand 83 has a degree of freedom in the vertical direction. Welding material supply devices 7 and 8
It is provided at both left and right end positions of the mold linear moving device 23.

As shown in FIG. 9, the dispensing device 9 has a swing table 90 on which idle rollers are arranged. The swing table 90 is
It is supported on a base 93 via a shaft 91. A crank arm 95 is attached to the shaft 91, and an end of the crank arm 95 is connected to a rod of a cylinder 96. Therefore, by extending and contracting the rod of the cylinder 96, the crank arm 96 swings, and the swing table 9
0 fluctuates. The dispensing device 9 is disposed at a position near the downstream end of the work transport unit 6, and the swing table 90 is located at a position intersecting with the standby stage 34.

Next, the operation of the automatic welding apparatus 1 according to this embodiment will be described with reference to the welding process of the beam 100. FIG.
FIG. 2 schematically shows the automatic welding device 1, and the numerals are as follows.
It corresponds to each member in FIG. As the first step,
The beam 100 is placed on the work transfer unit 6. That is, the standby stage 20 (the most upstream side) located at the end of the work transfer unit 6
And a beam 1 using a balancer, hoist crane, etc.
00 is placed. The beam 100 is placed near the left side of the standby stage 20 as shown in FIG.

The beam 100 is successively sent to the next stage by the sliding movement of the feeder 38 and the elevating movement of the standby stage 21 and the like. To be more specific, the standby stage 20 and the like perform the vertical movement synchronously as described above. On the other hand, the feeding device 38 is
And so on, that is, in a direction crossing the beam 100, and slides only horizontally at a certain height. Therefore, when the standby stage 20 or the like descends, the slide beam 57 of the feeder 38 as shown in FIG. 5 is positioned higher than the standby stage 20 or the like, and the beam 100 placed on the standby stage 21 is moved. Scoop up Then, by the sliding operation of the slide beam 57, the beam 100 is carried right above the next standby stage 21. Subsequently, the standby stage 21 and the like are raised, and the beam 100 on the slide beam 57 is scooped from below. In the present embodiment, the slide beam 57
Extends over the entire length from the upstream to the downstream of the work transporting unit 6, and extends from the standby stage 20 to the standby stage 3.
Since the stages up to 4 move up and down synchronously, the beams 100 placed on each stage are all sent one frame at a time.

Returning to the overall operation description, the beam 100 on the standby stage 20 is sent to the next standby stage 21,
Here, it is determined whether the mounting direction of the beam 100 is concave upward or concave. If the beam 100 is concave upward as shown in FIG. 10, the reversing device 22 is operated. In particular,
Electric current is supplied to the electromagnet 71, and the beam 100 is magnetically attached. Then, the rotating arm 70 is rotated to lift the beam 100 from the standby stage 21 and is mounted on the adjacent A-type linear moving device 23.

On the other hand, if the beam 100 is recessed downward in the standby stage 21, the reversing device 22 does not operate, and the frame is fed in the same posture by the action of the feeding device 38 described above.

Therefore, in the following A-type linear moving device 23,
The beam 100 is always placed in a concave state below. Also beam 1
00 is located on the left side from the beginning. First, when the beam 100 is at a position shifted to the left side, the joining member 101 is supplied by the welding object supply device 7 and the beam 1
The joining member 101 is put on the left end of the 00. Subsequently, the rollers 40 and 41 of the A-type linear moving device 23 are rotated, and the beam 10 is moved.
0 moves linearly toward the right side. Then, the beam 100 is stopped by the predetermined positioning device, and the welding member supply device 8 on the right side supplies the joining member 101 at this position.

Further, the beam 100 is sent to an A-type linear moving device 24 for a welding stage. In the welding stage A-type linear moving device 24, the beam 100 is positioned right-justified by the rotation of the rollers 40 and 41. Then, the joining member 101 at the right end is moved by the electrode moving device 2 to the beam 10.
Welded to 0. Here, as described above, the beam 100
It is positioned right-justified, and the welding site is at a position close to the electrode moving device 2. Therefore, an industrial robot used for the electrode moving device 2 may be a small one.

When the welding of the right end is completed, the beam 10
0 is sent to the next B-type linear moving device 25. In the B-type linear movement device 25, the rollers 40 and 41 rotate in the opposite direction to the A-type linear movement device 24, and the beam 100 moves linearly toward the left side. Then, the beam 100 is stopped by a predetermined positioning device and stands by.

Subsequently, the beam 100 is sent to the welding stage B-type linear moving device 26. In the B-type linear moving device 26 for the welding stage, the beam 100 is positioned left-justified by the rotation of the rollers 40 and 41. Then, the joining member 101 at the left end is moved by the electrode moving device 3 to the beam 10.
Welded to 0. Also in this case, the beam 100 is positioned left-justified, and the welding portion is located at a position close to the electrode moving device 3, so that a small-sized industrial robot used for the electrode moving device 3 is sufficient.

In this way, the beam 100 is finished welding on the convex side and is sent to the standby stage 27. And the reversing device 28
In the next standby stage 29, the upper stage is placed in a concave state.

Subsequently, it is sent to the B-type linear moving device 30 for the next welding stage. Also in the B-type linear moving device 30 for the welding stage, the beam 100 is positioned left-justified, and the concave surface of the left end is welded by the electrode moving device 4. Also in this case, the beam 100 is positioned left-justified, and the welding portion is located at a position close to the electrode moving device 4, so that a small-sized industrial robot used for the electrode moving device 4 is sufficient.

When welding on the concave side of the left end of the beam 100 is completed, the beam 100 is sent to the A-type linear moving device 31 by the feeder 38, and the A-type linear moving device 31
Moved right justified.

In the subsequent A-type linear moving device 32 for the welding stage, the beam 100 is positioned right-justified, and the concave side of the right end is welded by the electrode moving device 5. Also in this case, the beam 100 is positioned right-justified, and the welding portion is located close to the electrode moving device 5, so that a small-sized industrial robot used for the electrode moving device 5 is sufficient.

The beam 10 having been welded at all points in this manner
0 is transferred to the standby stage 33 and further sent to the standby stage 34. Then, here, the dispensing device 9 as shown in FIG. 9 is operated to raise the intersecting rocking table 90, and the rocking table 90 scoops up the beam 100 on the standby stage 34. The beam 100 slides on the swing table 90 and is sent to the next step.

In the automatic welding apparatus 1 described above, a relatively large number of standby stages are provided to adjust the time of each step, but the standby stage is not necessarily required depending on the shape of the work. Conversely, depending on the shape of the work, more standby stages may be required. Further, the automatic welding device of the present invention is particularly suitable for welding both ends of the long member such as the beam, but can be used even in the case where welding is performed over the entire surface of the long member. is there. When welding is performed over the entire surface of the long member in this manner, the work is moved to one side by a linear moving device, half of the work is welded, and the work is moved to the other by another linear moving device. Weld half of the. Further, the automatic welding apparatus of the present invention is also effective when welding a large area member such as a square.

In the above-described embodiment, the feed device has been disclosed in which the linear moving device 23 and the like are moved up and down to scoop up the work with the slide beam 57. However, the same applies even if the slide beam itself has a lifting function. Function is exhibited.

[0054]

According to the automatic welding apparatus of the present invention, the work is brought close to the electrode moving device by two or more linear moving devices, and one of the works is welded at the relevant portion. Therefore, the work is always moved to a position close to the electrode moving device even if the work is a long member or a large-area member and the length and the size vary. Therefore, according to the automatic welding device of the present invention, there is an effect that the moving range of the electrode moving device is narrowed. As a result, the automatic welding apparatus of the present invention can perform a welding operation using a small industrial robot, the cost of the equipment is low, and the inertia force is small, so that the welding accuracy is high.

[Brief description of the drawings]

FIG. 1 is a layout diagram of an automatic welding apparatus according to the present invention.

FIG. 2 is a plan view of a linear moving device employed in the automatic welding device of the present invention.

FIG. 3 is a sectional view of the linear moving device of FIG. 2;

FIG. 4 is a sectional view of a main part of another linear moving device employed in the automatic welding device of the present invention.

FIG. 5 is a front view of a feeder employed in the automatic welding device of the present invention.

FIG. 6A is a front view of a reversing device 22 employed in the automatic welding device of the present invention, and FIG. 6B is a front view of a reversing device 28.

FIG. 7 is a front view of a discrimination sensor employed in the automatic welding device of the present invention.

FIG. 8 is a front view of a welding object supply device employed in the automatic welding device of the present invention.

FIG. 9 is a front view of a dispensing device employed in the automatic welding device of the present invention.

FIG. 10 is an explanatory view showing the operation of the automatic welding device of the present invention.

FIG. 11 is a perspective view of a typical beam.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Automatic welding device 2,3,4,5 Electrode moving device 6 Work transfer part 7,8 Welding material supply device 9 Discharge device 23,31 A type linear moving device 25 B type linear moving device 24,32 A type for welding stage Linear moving device 26, 30 B-type linear moving device for welding stage 20, 21, 27 Standby stage 29, 33, 34 Standby stage 38 Feeding device 22, 28 Reversing device

Claims (7)

[Claims] 1. Two or more linear moving devices for moving a work in a linear direction, two or more electrode moving devices having a manipulator for holding a welding electrode and moving a predetermined trajectory,
It has a feeder for changing the work on the linear moving device to another linear moving device, the linear moving devices are arranged in parallel, and the two or more electrode moving devices are arranged with the linear moving device arranged therebetween. Automatic welding characterized in that the work is welded in proximity to the electrode moving device by a linear moving device, and the work is mounted on another linear moving device by a feeder and welded in proximity to another electrode moving device. Welding equipment. 2. The automatic welding apparatus according to claim 1, further comprising a reversing device for reversing the front and back of the work, and reversing the work so as to place the work on a linear moving device. 3. The automatic apparatus according to claim 1, further comprising a discrimination sensor for discriminating the front and back of the work, wherein when the work is not at a predetermined front and back position, the work is reversed by a reversing device. Welding equipment. 4. The automatic welding device according to claim 1, wherein the linear moving device has a plurality of rollers or rollers rotating on one side arranged in a rotation direction. 5. The feeding device includes a work holding member capable of sliding motion, raising the work holding member or lowering the linear movement device, scooping up the work with the work holding member, and detaching the work from the linear movement device. 5. The work according to claim 1, wherein the work is moved to a position near another linear motion device by sliding motion, and the work holding member is lowered or the linear motion device is raised to place the work on the linear motion device. An automatic welding apparatus according to any one of the above. 6. The automatic welding apparatus according to claim 1, further comprising a welding object supply device for supplying a welding object to a workpiece. 7. A linear moving device A for moving a work to one side, a linear moving device B for moving a work to the other, and a welding stage, wherein the linear moving device A, the welding stage, the linear moving device B, the welding stage, 7. The automatic welding apparatus according to claim 2, wherein the reversing device, the welding stage, the linear moving device A, and the welding stage are arranged in this order, and the electrode moving device is arranged near each welding stage. .