JP6110810B2

JP6110810B2 - Welding equipment

Info

Publication number: JP6110810B2
Application number: JP2014088617A
Authority: JP
Inventors: 田村　修二; 修二田村; 正希蛭田; 亮笹生
Original assignee: 株式会社ラインワークス
Priority date: 2014-04-22
Filing date: 2014-04-22
Publication date: 2017-04-05
Anticipated expiration: 2034-04-22
Also published as: JP2015205330A

Description

本発明は、自動車部品、建設・土木機械部品、その他各種の産業用機械部品等の溶接に用いる溶接装置に関し、特に、大型の溶接物（以下「ワーク」という）の溶接に適する溶接装置に関する。 The present invention relates to a welding apparatus used for welding automobile parts, construction / civil engineering machine parts, and other various industrial machine parts, and more particularly to a welding apparatus suitable for welding large-sized weldments (hereinafter referred to as “workpieces”).

ワークの溶接装置として、本件出願人が先に開発した自動溶接装置（特許文献１）などが知られている。 As a workpiece welding device, an automatic welding device (Patent Document 1) previously developed by the present applicant is known.

特開平８−１０９４８号公報JP-A-8-10948

本件出願人が先に開発した溶接装置は、汎用の溶接ロボット（以下「ロボット」という）を搭載可能なものであり、ワークに接近することでロボットによる溶接範囲を大幅に拡大できる機構を備えている。ロボットの可動範囲（溶接範囲）を広くしたことから、大型ワークの溶接に広く利用されている。ワークの大型化が進む近年は、縦、横、高さが数ｍもの大型ワークもある。大型ワークのうち、特に、箱物の大型ワークの場合は、周壁内の深さが数ｍもあるため、従来の溶接ロボットやそれを搭載した溶接装置では、ロボットアームの先のトーチがワークの内側底面まで届かないこともあった。また、背丈の高いワークの場合は、従来の溶接装置でもワークの外側上面まで届かないこともある。このため、これまで以上に、大型ワークを溶接できる溶接装置を開発してほしいとの要請がある。この要請に応えるためには、従来の溶接装置を単純に大型化することも考えられるが、そのまま大型化すると溶接時の作業スペースや保管スペースが広くなり、工場の拡張が必要になってしまう。このため、新規溶接装置の開発に当たっては、単に大型化するだけでなく、可能な限り、作業スペースや保管スペースが狭くて済むものが望まれている。 The welding apparatus previously developed by the applicant of the present application can be equipped with a general-purpose welding robot (hereinafter referred to as “robot”), and has a mechanism that can greatly expand the welding range of the robot by approaching the workpiece. Yes. Since the robot's movable range (welding range) is widened, it is widely used for welding large workpieces. In recent years, the size of workpieces has increased, and there are also large workpieces that are several meters in length, width, and height. Among large workpieces, especially in the case of large box-shaped workpieces, the depth in the peripheral wall is several meters, so in conventional welding robots and welding equipment equipped with them, the torch at the tip of the robot arm is the workpiece. Sometimes it did not reach the inside bottom. In the case of a workpiece having a high height, even a conventional welding apparatus may not reach the outer upper surface of the workpiece. For this reason, there is a demand for developing a welding apparatus capable of welding a large workpiece more than ever. In order to meet this demand, it is conceivable to simply increase the size of the conventional welding apparatus. However, if the size of the conventional welding apparatus is increased as it is, the work space and storage space during welding become wider, and the factory needs to be expanded. For this reason, in developing a new welding apparatus, it is desired not only to increase the size but also to reduce the work space and storage space as much as possible.

本発明の解決課題は、従来困難であった大型ワークの溶接を可能にし、かつ、大型ワークの溶接を可能とするために既存の溶接装置をそのまま大型化した場合よりは、小型化できる溶接装置を提供することにある。 The problem to be solved by the present invention is to enable welding of large workpieces, which has been difficult in the past, and a welding device that can be reduced in size compared with the case where the existing welding device is enlarged as it is to enable welding of large workpieces. Is to provide.

本発明の溶接装置は、ロボットを取り付け可能な溶接装置において、ベースと支柱と横方向伸縮体を備え、支柱はベースの長手方向に沿って往復走行可能な走行体の上に立設されて走行体の移動に伴って移動可能であり、横方向伸縮体は横方向に伸縮可能な二以上の横伸縮材を備え、二以上の横伸縮材は支柱の先方に伸長することができ、伸長前の元の位置に収縮可能なものである。 The welding apparatus of the present invention is a welding apparatus to which a robot can be attached, and includes a base, a support column, and a laterally extending body, and the support column is installed on a traveling body that can reciprocate along the longitudinal direction of the base. It can move as the body moves, and the horizontal elastic body has two or more horizontal elastic materials that can be expanded and contracted in the horizontal direction. It can shrink to its original position.

本発明の溶接装置は、ロボットを取り付け可能な溶接装置において、ベースと支柱と縦方向伸縮体を備え、支柱はベースの長手方向に沿って往復走行可能な走行体の上に立設されて走行体の移動に伴って移動可能であり、縦方向伸縮体は縦方向に伸縮可能な二以上の縦伸縮材を備え、二以上の縦伸縮材は下方に段階的に伸長することができ、伸長前の元の位置に段階的に収縮することができ、縦方向伸縮体の先端側にロボットを取り付け可能な取り付け部を備えたものである。 The welding apparatus of the present invention is a welding apparatus to which a robot can be attached, and includes a base, a support column, and a longitudinally extending body, and the support column is installed on a traveling body that can reciprocate along the longitudinal direction of the base. It can move as the body moves, and the vertical stretchable body is equipped with two or more vertical stretchable materials that can be stretched in the vertical direction. The robot can be contracted stepwise to the previous original position, and is provided with an attachment portion to which a robot can be attached on the distal end side of the longitudinally stretchable body.

本発明の溶接装置は、ロボットを取り付け可能な溶接装置において、ベースと支柱と横方向伸縮体と縦方向伸縮体を備え、支柱はベースの長手方向に沿って往復走行可能な走行体の上に立設されて走行体の移動に伴って移動可能であり、横方向伸縮体は支柱の上端側に取り付けられて横方向に伸縮可能であり、横方向に伸縮可能な二以上の横伸縮材を備え、二以上の横伸縮材は支柱の先方に伸長することができ、伸長前の元の位置に収縮することができ、縦方向伸縮体は横方向伸縮体の先端側に取り付けられて縦方向に伸縮可能であり、縦方向に伸縮可能な二以上の縦伸縮材を備え、二以上の縦伸縮材は下方に段階的に伸長することができ、伸長前の元の位置に段階的に収縮することができ、縦方向伸縮体の下端側にロボットを取り付け可能な取り付け部を備えたものである。 The welding device according to the present invention is a welding device to which a robot can be attached, and includes a base, a support column, a laterally stretchable body, and a longitudinally stretchable body. The horizontal stretchable body is attached to the upper end side of the support column and can be stretched in the horizontal direction, and can be stretched in the horizontal direction. Equipped with two or more horizontal elastic members can be extended to the front of the column and can be contracted to the original position before extension, and the vertical elastic body is attached to the distal end side of the horizontal elastic body and is longitudinal It has two or more vertical elastic materials that can be expanded and contracted in the vertical direction, and the two or more vertical elastic materials can be expanded stepwise downward and gradually contracted to the original position before expansion. Can be attached to the lower end of the vertical elastic body Those having a mounting portion.

前記いずれかの溶接装置において、横伸縮材として、支柱に固定された横固定フレームと、横固定フレームに横伸縮可能に設けられた横中間フレームと、横中間フレームに横伸縮可能に設けられた横スライダーを備え、伸長時は、横中間フレームが横固定フレームの先方に突出し、横スライダーが横中間フレームの先方に突出し、横中間フレームと横スライダーは所望の突出位置で停止可能とすることもできる。 In any one of the above-described welding apparatuses, as the horizontal expansion and contraction material, the horizontal fixed frame fixed to the support column, the horizontal intermediate frame provided in the horizontal fixed frame so as to be capable of horizontal expansion and contraction, and the horizontal intermediate frame provided in the horizontal expansion and contraction manner It has a horizontal slider, and when extended, the horizontal intermediate frame protrudes to the front of the horizontal fixed frame, the horizontal slider protrudes to the front of the horizontal intermediate frame, and the horizontal intermediate frame and the horizontal slider can be stopped at the desired protruding position. it can.

前記溶接装置において、収納時に、横中間フレームが伸長前の元の箇所に戻って横固定フレームと重なり、横スライダーが伸長前の元の箇所に戻って横中間フレームと重なるようにすることもできる。 In the welding apparatus, at the time of storage, the horizontal intermediate frame can be returned to the original position before expansion and overlap with the horizontal fixed frame, and the horizontal slider can be returned to the original position before expansion and overlap with the horizontal intermediate frame. .

前記溶接装置において、横中間フレームは横駆動モータの動力によって横方向にスライドし、横スライダーは連動機構を介して伝達される前記横駆動モータの動力によって横方向にスライドするようにすることもできる。 In the welding apparatus, the lateral intermediate frame may be slid in the lateral direction by the power of the lateral drive motor, and the lateral slider may be slid in the lateral direction by the power of the lateral drive motor transmitted through an interlocking mechanism. .

前記溶接装置において、縦伸縮材として、横スライダーに固定された縦固定フレームと、縦固定フレームに縦伸縮可能に設けられた縦中間フレームと、縦中間フレームに縦伸縮可能に設けられた縦スライダーを備え、伸長時は、縦中間フレームが縦固定フレームの先方に突出し、縦スライダーが縦中間フレームの先方に突出し、縦中間フレームと縦スライダーは、所望の突出位置で停止可能であり、収縮時は、縦中間フレームが伸長前の元の箇所に戻って縦固定フレームと重なり、縦スライダーが伸長前の元の箇所に戻って縦中間フレームと重なるようにすることもできる。 In the welding apparatus, as a vertical expansion / contraction material, a vertical fixed frame fixed to a horizontal slider, a vertical intermediate frame provided in the vertical fixed frame so as to be vertically extendable, and a vertical slider provided in the vertical intermediate frame so as to be capable of vertical expansion / contraction When extending, the vertical intermediate frame protrudes to the front of the vertical fixed frame, the vertical slider protrudes to the front of the vertical intermediate frame, and the vertical intermediate frame and the vertical slider can be stopped at the desired protruding position, and when contracted The vertical intermediate frame can return to the original position before expansion and overlap with the vertical fixed frame, and the vertical slider can return to the original position before expansion and overlap with the vertical intermediate frame.

前記溶接装置において、縦中間フレームが昇降フリーな状態で縦スライダーに支持され、前記支持状態で縦スライダーが降下すると、支持されている縦中間フレームも同時に降下し、降下途中で縦中間フレームは縦固定フレームに係止してそれ以上は降下せずに降下を停止し、縦スライダーだけが降下を続けて最下端まで降下し、縦スライダーが上昇すると、縦スライダーが停止している縦中間フレームを押し上げて、縦中間フレームが縦スライダーと共に上昇するようにすることもできる。 In the welding apparatus, the vertical intermediate frame is supported by the vertical slider in a vertically movable state, and when the vertical slider is lowered in the supported state, the supported vertical intermediate frame is also lowered at the same time. The vertical frame is stopped when the vertical slider is stopped when the vertical slider is stopped. It can also be pushed up so that the vertical intermediate frame rises with the vertical slider.

前記溶接装置において、縦スライダーが支持部を備え、縦中間フレームが降下ストッパーを備え、縦固定フレームが降下停止部を備え、縦中間フレームが支持部で支持されている状態で縦スライダーが降下すると縦中間フレームも降下し、降下中に前記降下ストッパーが降下停止部に係止して降下が停止して縦スライダーだけが降下を継続し、縦スライダーが上昇すると、縦スライダーの支持部で縦中間フレームを押し上げて、縦中間フレームが縦スライダーと共に上昇するようにすることもできる。 In the welding apparatus, when the vertical slider is provided with a support portion, the vertical intermediate frame is provided with a descent stopper, the vertical fixed frame is provided with a descent stop portion, and the vertical intermediate frame is supported by the support portion. The vertical intermediate frame also descends, and during the descent, the descent stopper is locked to the descent stop, the descent stops and only the vertical slider continues to descent. The frame can be pushed up so that the vertical intermediate frame rises with the vertical slider.

前記溶接装置において、横方向伸縮体と縦方向伸縮体を同じ構造又は異なる構造とし、横方向伸縮体と縦方向伸縮体を、前記いずれかの横方向伸縮体又は縦方向伸縮体とすることもできる。 In the welding apparatus, the laterally stretchable body and the longitudinally stretchable body may have the same structure or different structures, and the laterally stretchable body and the longitudinally stretchable body may be any one of the laterally stretchable body or the longitudinally stretchable body. it can.

前記溶接装置は、ロボット取付け部にロボットが取り付けられたものとすることもできる。 The welding apparatus may be one in which a robot is attached to a robot attachment portion.

本発明の溶接装置は、次の効果を有する。
（１）伸縮可能な横方向伸縮体又は／及び縦方向伸縮体を備えているため、ワークの大きさに応じて横方向伸縮体や縦方向伸縮体を伸縮させることができる。
（２）横方向伸縮体が支柱の先方には突出するが、戻り移動時には伸長前の元の位置に戻るため、伸長前の元の位置を支柱の後方に突出しないように或いは突出長を短く設定しておけば、工場内の壁際に接近させて設置固定することができ、作業時も保管時も広い場所をとらない。
（３）横方向伸縮体の収縮時には横スライダーと横中間フレームが横固定フレームに重なるので横方向に広い場所を取らない。縦方向伸縮体の収縮時に縦スライダーと縦中間フレームが縦固定フレームに重なるので縦方向にも高いスペースを必要としない。
（４）支柱がベースの上を往復移動し、支柱がベースの上で回転し、横方向伸縮体が横に伸縮し、縦方向伸縮体が縦に伸縮するので、溶接ロボットの可動範囲が広がり、大型ワークの外面のみならず、深い内面の溶接も容易にできる。
（５）横駆動モータの動力によって横中間フレームがスライドし、連動機構を介して伝達される前記横駆動モータの動力によって横スライダーがスライドするようにすれば、横方向伸縮体の駆動体（モータ）が一つで済むため、コストの低減、装置の小型・軽量化に資する。
（６）縦中間フレームは、縦スライダーの支持を目的とする機構であるため、縦スライダーの動きに伴って昇降するようにした場合、縦中間フレームを駆動させるための駆動機構が不要となるため、構造が簡潔になる。 The welding apparatus of the present invention has the following effects.
(1) Since the laterally stretchable body and / or the longitudinally stretchable body that can be stretched are provided, the laterally stretchable body and the longitudinally stretchable body can be stretched according to the size of the workpiece.
(2) Although the laterally extending body protrudes toward the end of the column, it returns to the original position before extension when returning, so the original position before extension does not protrude to the rear of the column or the protruding length is shortened. If it is set, it can be installed and fixed close to the wall in the factory, and does not take up a large space during work and storage.
(3) Since the horizontal slider and the horizontal intermediate frame overlap the horizontal fixed frame when the horizontal elastic body contracts, it does not take up a wide space in the horizontal direction. Since the vertical slider and the vertical intermediate frame overlap the vertical fixed frame when the vertical elastic body contracts, a high space in the vertical direction is not required.
(4) The support column reciprocates on the base, the support column rotates on the base, the horizontal expansion / contraction body expands / contracts horizontally, and the vertical expansion / contraction body expands / contracts vertically. It is easy to weld not only the outer surface of large workpieces but also deep inner surfaces.
(5) If the horizontal intermediate frame is slid by the power of the horizontal drive motor and the horizontal slider is slid by the power of the horizontal drive motor transmitted through the interlocking mechanism, the drive body (motor ) Contributes to cost reduction and downsizing and weight reduction of the device.
(6) Since the vertical intermediate frame is a mechanism intended to support the vertical slider, when the vertical intermediate frame is moved up and down with the movement of the vertical slider, a driving mechanism for driving the vertical intermediate frame becomes unnecessary. , The structure becomes simple.

本発明の溶接装置の一例を示す斜視図。The perspective view which shows an example of the welding apparatus of this invention. 本発明の溶接装置における横方向伸縮体の一例を示す説明図。Explanatory drawing which shows an example of the horizontal direction expansion-contraction body in the welding apparatus of this invention. 本発明の溶接装置における横方向伸縮体の動作説明図であって、（ａ）は横中間フレームと横スライダーが前方にスライドする前の状態を示すもの、（ｂ）は横中間フレームと横スライダーが途中までスライドした状態を示すもの、（ｃ）は横中間フレームと横スライダーが最大限前方にスライドした状態を示すもの。It is operation | movement explanatory drawing of the horizontal direction expansion-contraction body in the welding apparatus of this invention, Comprising: (a) shows the state before a horizontal intermediate frame and a horizontal slider slide ahead, (b) is a horizontal intermediate frame and a horizontal slider. (C) shows a state where the horizontal intermediate frame and the horizontal slider have slid forward as much as possible. 本発明の溶接装置における縦方向伸縮体の一例を示す説明図。Explanatory drawing which shows an example of the vertical direction expansion-contraction body in the welding apparatus of this invention. 本発明の溶接装置における縦方向伸縮体の動作説明図であって、（ａ）は縦スライダーと縦中間フレームが前方にスライドする前の状態を示すもの、（ｂ）は縦中間フレームの降下ストッパーが縦固定フレームの降下停止部に当接するまで縦スライダーがスライドした状態を示すもの、（ｃ）は縦スライダーが最大限下方にスライドした状態を示すもの。It is operation | movement explanatory drawing of the vertical direction expansion-contraction body in the welding apparatus of this invention, Comprising: (a) shows the state before a vertical slider and a vertical intermediate frame slide forward, (b) is the descent | fall stopper of a vertical intermediate frame Shows the state in which the vertical slider has slid until it comes into contact with the descent stop portion of the vertical fixed frame, and (c) shows the state in which the vertical slider has slid downward as much as possible.

（実施形態）
本発明の溶接装置は、ロボットを取り付け済みのものであってもよく、ロボットを取り付ける前の状態であってよいが、一例として図示した溶接装置はロボットを取り付け済みのものである。本発明の溶接装置は、横方向伸縮体と縦方向伸縮体のいずれか一方を備えたものであってもよいが、一例として図示した溶接装置は双方を備えたものである。本発明の溶接装置は、横方向伸縮体と縦方向伸縮体が同じ構造のものであってもよいが、一例として図示した溶接装置は両者が異なる場合の例である。 (Embodiment)
The welding apparatus of the present invention may be a robot already attached or may be in a state before the robot is attached, but the welding apparatus illustrated as an example is a robot already attached. The welding apparatus of the present invention may be provided with either one of a laterally stretchable body and a longitudinally stretchable body, but the welding apparatus illustrated as an example includes both. The welding device of the present invention may have the same structure for the laterally stretchable body and the longitudinally stretchable body, but the welding device illustrated as an example is an example in which both are different.

本発明の溶接装置の一例を、図面を参照して説明する。本発明の溶接装置は各種サイズのワーク、特に大型ワークの溶接に適するものであり、リモコン操作により、コンピュータ制御のもとで動作することができるものである。 An example of the welding apparatus of the present invention will be described with reference to the drawings. The welding apparatus of the present invention is suitable for welding various size workpieces, particularly large workpieces, and can be operated under computer control by remote control operation.

［溶接装置の概要］
一例として図１に示す溶接装置１は、ベース２と支柱３と横方向伸縮体４と縦方向伸縮体５とロボット６を備えている。支柱３はベース２の長手方向に沿って往復走行可能な走行体７の上に立設され、走行体７の往復移動に伴って左右方向（図１のＡ矢印方向）に移動可能である。横方向伸縮体４は支柱３の上部に取り付けられて、前後方向（横方向：図１のＢ矢印方向）に伸縮可能である。縦方向伸縮体５は横方向伸縮体４の先端に取り付けられて、上下方向（縦方向：図１のＣ矢印方向）に伸縮可能である。ロボット６は縦方向伸縮体５の下端に取り付けられている。ロボット６には汎用品でも今後開発される新たなものでも使用することができる。 [Overview of welding equipment]
As an example, the welding apparatus 1 shown in FIG. 1 includes a base 2, a support 3, a laterally stretchable body 4, a longitudinally stretchable body 5, and a robot 6. The column 3 is erected on a traveling body 7 that can reciprocate along the longitudinal direction of the base 2, and can move in the left-right direction (in the direction of arrow A in FIG. 1) as the traveling body 7 reciprocates. The horizontal direction elastic body 4 is attached to the upper part of the support | pillar 3, and can be expanded-contracted in the front-back direction (horizontal direction: B arrow direction of FIG. 1). The vertical stretchable body 5 is attached to the distal end of the horizontal stretchable body 4 and can be stretched in the vertical direction (vertical direction: arrow C direction in FIG. 1). The robot 6 is attached to the lower end of the longitudinally extending body 5. The robot 6 can be a general-purpose product or a new one developed in the future.

［ベース］
前記ベース２は溶接装置１の台座部分であり、間隔をあけて平行に配置された二本のガイドレール８を備えている。二本のガイドレール８は複数の間隔保持具９で保持され、両者の間隔を保持できるようにしてある。二本のガイドレール８上にはそれらの長手方向に沿って往復走行可能な走行体７が搭載され、その走行体７上に立設された支柱３をガイドレール８に沿って往復移動させられるようにしてある。図示は省略しているが、両ガイドレール８の間には走行体７を往復移動させるためのラックアンドピニオン機構が設けられている。 [base]
The base 2 is a pedestal portion of the welding apparatus 1 and includes two guide rails 8 arranged in parallel with a gap therebetween. The two guide rails 8 are held by a plurality of gap holders 9 so that the gap between them can be held. A traveling body 7 capable of reciprocating along the longitudinal direction is mounted on the two guide rails 8, and the column 3 standing on the traveling body 7 can be reciprocated along the guide rail 8. It is like that. Although not shown, a rack and pinion mechanism for reciprocating the traveling body 7 is provided between the guide rails 8.

［支柱］
前記支柱３は、横方向伸縮体４や縦方向伸縮体５、ロボット６などを支持するためのものであり、走行体７に回転可能に設けた回転盤１０の上に立設されている。支柱３の上端には載せ台１２が固定されている。回転盤１０には鋼製の円盤などを、支柱３には角形鋼材などを、載せ台１２には平鋼などを用いることができる。支柱３は横方向伸縮体４や縦方向伸縮体５、ロボット６などを支持するだけの強度を確保するため、外周には補強リブ１３を固定してある。回転盤１０、支柱３、載せ台１２、補強リブ１３のそれぞれは溶接によって固定してある。支柱３及び載せ台１２は、回転盤１０を回転させることによって図１のＲ矢印方向（正逆両方向）に回転するようにしてある。 [Support]
The support column 3 is for supporting the laterally stretchable body 4, the longitudinally stretchable body 5, the robot 6, and the like, and is erected on a turntable 10 that is rotatably provided on the traveling body 7. A platform 12 is fixed to the upper end of the column 3. A steel disk or the like can be used for the rotating disk 10, a square steel material or the like can be used for the support 3, and a flat steel or the like can be used for the mounting base 12. In order to ensure the strength of the column 3 to support the laterally stretchable body 4, the longitudinally stretchable body 5, the robot 6, and the like, reinforcing ribs 13 are fixed to the outer periphery. Each of the turntable 10, the column 3, the platform 12, and the reinforcing rib 13 is fixed by welding. The support 3 and the platform 12 are rotated in the direction of the arrow R (both forward and reverse) in FIG. 1 by rotating the turntable 10.

［横方向伸縮体］
図２に示すように、前記横方向伸縮体４は、載せ台１２（図１）に載置して固定された固定フレーム（以下「横固定フレーム」という）１５と、横固定フレーム１５の上側に配置される中間フレーム（以下「横中間フレーム」という）１６と、横中間フレーム１６の上方に配置される横スライダー１７を備えている。横固定フレーム１５と横中間フレーム１６、横中間フレーム１６と横スライダー１７は脱落することなく伸縮できるようにしてある。図示は省略しているが、横方向伸縮体４の後端側には錘を設けてあり、横中間フレーム１６及び横スライダー１７のスライド時に溶接装置１が前方に傾倒しないようにしてある。 [Horizontal elastic body]
As shown in FIG. 2, the laterally stretchable body 4 includes a fixed frame (hereinafter referred to as “horizontal fixed frame”) 15 that is placed and fixed on a platform 12 (FIG. 1), and an upper side of the horizontal fixed frame 15. Are provided with an intermediate frame (hereinafter referred to as “horizontal intermediate frame”) 16 and a horizontal slider 17 disposed above the horizontal intermediate frame 16. The horizontal fixing frame 15 and the horizontal intermediate frame 16 and the horizontal intermediate frame 16 and the horizontal slider 17 can be expanded and contracted without dropping. Although not shown, a weight is provided on the rear end side of the laterally extending body 4 so that the welding apparatus 1 does not tilt forward when the lateral intermediate frame 16 and the lateral slider 17 slide.

前記横固定フレーム１５は側面視長方形の箱型であり、その内側に横中間フレーム１６を収容可能な広さの収容部１８を備えている。横中間フレーム１６は平面視長方形状の天板１９とその天板１９から下向きに突設された側板２０を備え、その側板２０に横方向伸縮体駆動用の駆動モータ（以下「横駆動モータ」という）Ｍ１などが取り付けられている。横スライダー１７は側面視長方形の箱型であり、前方側の端部に縦方向伸縮体５の固定フレーム（以下「縦固定フレーム」という）２１が設けられている。横固定フレーム１５と横スライダー１７にはラック（以下、横固定フレームに設けられたラックを「固定側ラック」と、横スライダーに設けられたラック「スライダー側ラック」という）２２、２３が設けられ、横中間フレーム１６に設けられた駆動部と協働するようにしてある。 The lateral fixed frame 15 is a box shape having a rectangular shape when viewed from the side, and has an accommodating portion 18 having a size capable of accommodating the lateral intermediate frame 16 inside thereof. The horizontal intermediate frame 16 includes a top plate 19 having a rectangular shape in plan view and a side plate 20 projecting downward from the top plate 19. The side plate 20 has a drive motor (hereinafter referred to as “lateral drive motor”) for driving a laterally extending body. M1 etc. are attached. The horizontal slider 17 has a rectangular box shape when viewed from the side, and is provided with a fixed frame (hereinafter referred to as “vertical fixed frame”) 21 of the vertical stretchable body 5 at an end portion on the front side. The horizontal fixed frame 15 and the horizontal slider 17 are provided with racks 22 and 23 (hereinafter, a rack provided on the horizontal fixed frame is referred to as a “fixed side rack” and a rack provided on the horizontal slider “slider side rack”). In addition, it cooperates with a driving portion provided in the horizontal intermediate frame 16.

前記駆動部は、図２に示すように、後端寄りの位置に、横駆動モータＭ１、回転ユニット２４、回転ユニット２４のクロス軸（図示しない）の一端に取り付けられた固定側ピニオン２５、クロス軸の他端に取り付けられたタイミングプーリ（主プーリ）２６を備え、先端寄りの位置に、シャフト２７、そのシャフト２７の上端に取り付けられたスライダー側ピニオン２８、シャフト２７の下端に取り付けられたタイミングプーリ（従プーリ）２９を備えている。前記主プーリ２６と従プーリ２９の外周にはタイミングベルト３０が巻回され、主プーリ２６の動力がタイミングベルト３０を介して従プーリ２９に伝達されるようにしてある。 As shown in FIG. 2, the drive unit has a lateral drive motor M <b> 1, a rotation unit 24, a fixed-side pinion 25 attached to one end of a cross shaft (not shown) of the rotation unit 24, a cross A timing pulley (main pulley) 26 attached to the other end of the shaft is provided, and a shaft 27, a slider-side pinion 28 attached to the upper end of the shaft 27, and a timing attached to the lower end of the shaft 27 are located near the tip. A pulley (secondary pulley) 29 is provided. A timing belt 30 is wound around the outer periphery of the main pulley 26 and the sub pulley 29 so that the power of the main pulley 26 is transmitted to the sub pulley 29 via the timing belt 30.

前記横方向伸縮体４の動作を図３（ａ）〜（ｃ）を参照して説明する。横駆動モータＭ１を回転させると、回転ユニット２４で動力の向きが変換されてクロス軸が回転する。クロス軸の回転により固定側ピニオン２５が回転すると、その固定側ピニオン２５に固定側ラック２２が係合し、横中間フレーム１６が前方向にスライドする。 The operation of the laterally extending body 4 will be described with reference to FIGS. When the lateral drive motor M1 is rotated, the direction of power is changed by the rotation unit 24 and the cross shaft rotates. When the fixed-side pinion 25 is rotated by the rotation of the cross shaft, the fixed-side rack 22 is engaged with the fixed-side pinion 25, and the horizontal intermediate frame 16 is slid forward.

他方、クロス軸の回転により主プーリ２６が回転すると、その動力がタイミングベルト３０を介して従プーリ２９に伝達され、シャフト２７が回転する。シャフト２７の回転によりスライダー側ピニオン２８が回転すると、そのスライダー側ピニオン２８にスライダー側ラック２３が係合し、横スライダー１７が前方向にスライドする。 On the other hand, when the main pulley 26 rotates due to the rotation of the cross shaft, the power is transmitted to the sub pulley 29 via the timing belt 30 and the shaft 27 rotates. When the slider-side pinion 28 is rotated by the rotation of the shaft 27, the slider-side rack 23 is engaged with the slider-side pinion 28, and the horizontal slider 17 slides forward.

横中間フレーム１６と横スライダー１７のスライド速度は、両タイミングプーリ２６、２９のギヤ比を変えることによって調整することができるが、ここでは、横固定フレーム１５を基準としたときに、横スライダー１７が横中間フレーム１６の二倍の速さでスライドするようにしてあり、横スライダー１７と横中間フレーム１６とが同じタイミングで最大限突出するようにしてある。横方向伸縮体４は、横駆動モータＭ１を逆回転させることによって収縮する。 The sliding speed of the horizontal intermediate frame 16 and the horizontal slider 17 can be adjusted by changing the gear ratio of both timing pulleys 26 and 29. Here, when the horizontal fixed frame 15 is used as a reference, the horizontal slider 17 Slides at twice the speed of the horizontal intermediate frame 16, and the horizontal slider 17 and the horizontal intermediate frame 16 protrude at the maximum at the same timing. The horizontal expansion / contraction body 4 contracts by rotating the horizontal drive motor M1 in the reverse direction.

［縦方向伸縮体］
図４に示すように、前記縦方向伸縮体５は、横方向伸縮体４の前端に固定された縦固定フレーム２１と、縦固定フレーム２１の外側に配置される縦中間フレーム３１と、縦中間フレーム３１の外側に配置される縦スライダー３２を備えている。縦固定フレーム２１は縦長の平鋼である。縦中間フレーム３１は昇降フリーの遊星状態であり、縦スライダー３２の動きに伴って上下にスライドするようにしてある。 [Vertical stretch body]
As shown in FIG. 4, the vertical stretchable body 5 includes a vertical fixed frame 21 fixed to the front end of the horizontal stretchable body 4, a vertical intermediate frame 31 disposed outside the vertical fixed frame 21, and a vertical intermediate A vertical slider 32 is provided outside the frame 31. The vertical fixing frame 21 is a vertically long flat steel. The vertical intermediate frame 31 is a planetary state that is free to move up and down, and slides up and down as the vertical slider 32 moves.

縦固定フレーム２１には縦方向伸縮体５の駆動源である縦駆動モータＭ２を取り付けるための取付け板３５が前方向きに突設されている。縦駆動モータＭ２の回転軸（図示しない）には縦スライダー３２に設けられた縦ラック３６に係合する縦ピニオン３７が取り付けられている。 A mounting plate 35 for mounting a vertical drive motor M2 that is a drive source of the vertical stretchable body 5 is provided on the vertical fixed frame 21 so as to protrude forward. A vertical pinion 37 that engages with a vertical rack 36 provided on the vertical slider 32 is attached to a rotation shaft (not shown) of the vertical drive motor M2.

縦中間フレーム３１は縦長の箱型であり、その背面側に二本のレール４０（図４）が間隔をあけて設けられ、その二本のレール４０の間に縦固定フレーム２１が収まるようにしてある。縦中間フレーム３１は縦スライダー３２を収容可能な広さの収容部（図示しない）を備え、縦スライダー３２はその収容部内を上下にスライドできるようにしてある。前記縦スライダー３２は縦長の箱型であり、下部に縦中間フレーム３１の底面３１ａを受ける支持部３９が設けられている。縦スライダー３２のフレーム部分には縦ラック３６が縦向きに設けられている。 The vertical intermediate frame 31 has a vertically long box shape, and two rails 40 (FIG. 4) are provided on the back side of the vertical intermediate frame 31 so as to be spaced from each other so that the vertical fixed frame 21 can be accommodated between the two rails 40. It is. The vertical intermediate frame 31 includes an accommodating portion (not shown) having a size capable of accommodating the vertical slider 32, and the vertical slider 32 can slide up and down in the accommodating portion. The vertical slider 32 has a vertically long box shape, and a support portion 39 for receiving the bottom surface 31a of the vertical intermediate frame 31 is provided at the lower portion. A vertical rack 36 is provided vertically on the frame portion of the vertical slider 32.

前記縦中間フレーム３１は縦スライダー３２の昇降に伴って昇降できるようにしてある。このため、図５（ａ）〜（ｃ）に示すように、縦スライダー３２に支持部３９を設け、縦中間フレーム３１に降下ストッパー３３を設け、縦固定フレーム２１に降下停止部３４を設けて、縦中間フレーム３１の底面３１ａを前記支持部３９で支持した状態で、縦スライダー３２が降下すると縦中間フレーム３１も降下し、降下中に前記降下ストッパー３３が前記降下停止部３４に係止して降下が停止し、縦スライダー３２だけが降下を継続し、降下後に縦スライダー３２が上昇する（戻る）と、縦スライダー３２の前記支持部３９で縦中間フレーム３１の底面３１ａを支持し、縦スライダー３２の上昇に伴って縦中間フレーム３１が縦スライダー３２と共に上昇するようにしてある。 The vertical intermediate frame 31 can be moved up and down as the vertical slider 32 is moved up and down. For this reason, as shown in FIGS. 5A to 5C, a support portion 39 is provided on the vertical slider 32, a lowering stopper 33 is provided on the vertical intermediate frame 31, and a lowering stop portion 34 is provided on the vertical fixed frame 21. When the vertical slider 32 is lowered while the bottom surface 31a of the vertical intermediate frame 31 is supported by the support portion 39, the vertical intermediate frame 31 is also lowered, and the lowering stopper 33 is locked to the lowering stop portion 34 during the lowering. When the descent stops, only the vertical slider 32 continues to descent, and when the vertical slider 32 rises (returns) after the descent, the support portion 39 of the vertical slider 32 supports the bottom surface 31a of the vertical intermediate frame 31 and The vertical intermediate frame 31 is raised together with the vertical slider 32 as the slider 32 is raised.

前記横方向伸縮体の動作を図５（ａ）〜（ｃ）を参照して説明する。縦駆動モータＭ２を動作させるとその回転軸の先端に取り付けられた縦ピニオン３７が回転し、縦スライダー３２の縦ラック３６に係合して縦スライダー３２が降下し始める。縦スライダー３２の降下に伴って、縦スライダー３２の支持部３９で支持されている縦中間フレーム３１が降下する。 The operation of the lateral stretchable body will be described with reference to FIGS. When the vertical drive motor M2 is operated, the vertical pinion 37 attached to the tip of the rotary shaft rotates, and engages with the vertical rack 36 of the vertical slider 32 so that the vertical slider 32 starts to descend. As the vertical slider 32 is lowered, the vertical intermediate frame 31 supported by the support portion 39 of the vertical slider 32 is lowered.

縦スライダー３２の降下により降下ストッパー３３が縦固定フレーム２１の降下停止部３４に当接すると、縦中間フレーム３１はそこで降下を停止し、縦スライダー３２のみが縦ラック３６の長さ分だけ降下を続ける。 When the descent stopper 33 comes into contact with the descent stop portion 34 of the vertical fixed frame 21 due to the descent of the vertical slider 32, the vertical intermediate frame 31 stops descent there, and only the vertical slider 32 descents by the length of the vertical rack 36. to continue.

縦方向伸縮体５は、縦駆動モータＭ２を逆回転させることによって収縮させることができる。具体的には、縦駆動モータＭ２を逆回転させると縦ピニオン３７が逆回転し、縦ピニオン３７に係合して縦スライダー３２が上昇し始める。縦スライダー３２の支持部３９が縦中間フレーム３１の底面３１ａに当接すると、縦スライダー３２の上昇に伴って縦中間フレーム３１も上昇し、縦スライダー３２が上昇しきって停止すると縦中間フレーム３１も停止する。 The longitudinal stretchable body 5 can be contracted by reversely rotating the longitudinal drive motor M2. Specifically, when the vertical drive motor M2 is rotated in the reverse direction, the vertical pinion 37 rotates in the reverse direction, and engages with the vertical pinion 37 and the vertical slider 32 starts to rise. When the support portion 39 of the vertical slider 32 comes into contact with the bottom surface 31a of the vertical intermediate frame 31, the vertical intermediate frame 31 also rises as the vertical slider 32 rises, and when the vertical slider 32 is fully raised and stopped, the vertical intermediate frame 31 also rises. Stop.

前述のとおり、本発明の溶接装置１は図示した横方向伸縮体４を図示した縦方向伸縮体５に代えて使用することもできる。図示した実施形態は横方向伸縮体４と縦方向伸縮体５の双方を備えた場合であるため、横方向伸縮体４を縦向きにして縦方向伸縮体５として使用し、縦方向伸縮体５を横向きにして横方向伸縮体４として使用し、その横方向伸縮体４の先端側に取り付け部を設けて、そこにロボット６を取り付けることができる。 As described above, the welding apparatus 1 of the present invention can also be used in place of the illustrated horizontal stretch body 4 in place of the illustrated vertical stretch body 5. The illustrated embodiment is a case in which both the laterally stretchable body 4 and the longitudinally stretchable body 5 are provided. Therefore, the laterally stretchable body 4 is used as the longitudinally stretchable body 5 in the longitudinal direction, and the longitudinally stretchable body 5 is used. Can be used as a laterally stretchable body 4, and a mounting portion can be provided on the distal end side of the laterally stretchable body 4, and the robot 6 can be attached thereto.

前述のとおり、本発明の溶接装置１は横方向伸縮体４だけを備える場合も、縦方向伸縮体５だけを備える場合もある。前者の場合は、図示した横方向伸縮体４に代えて縦方向伸縮体５を横向きに使用することもでき、後者の場合は、図示した縦方向伸縮体５に代えて横方向伸縮体４を縦向きに使用することもできる。 As described above, the welding apparatus 1 of the present invention may include only the lateral expansion body 4 or only the vertical expansion body 5. In the former case, the longitudinally stretchable body 5 can be used sideways instead of the illustrated laterally stretchable body 4, and in the latter case, the laterally stretchable body 4 is replaced by the illustrated longitudinally stretchable body 5. It can also be used vertically.

本発明の溶接装置１は、本件出願人が開発した各種ワークポジショナー（特許第３０２６７９０号等）を装備したものとし、そのワークポジショナーにセットしたワークを溶接することもできる。 The welding apparatus 1 of the present invention is equipped with various work positioners (Japanese Patent No. 3026790, etc.) developed by the applicant of the present application, and can also weld a work set on the work positioner.

１溶接装置
２ベース
３支柱
４横方向伸縮体
５縦方向伸縮体
６ロボット
７走行体
８ガイドレール
９間隔保持具
１０回転盤
１２載せ部
１３補強リブ
１５横固定フレーム（横伸縮材）
１６横中間フレーム（横伸縮材）
１７横スライダー（横伸縮材）
１８収容部
１９天板
２０側板
２１縦固定フレーム（縦伸縮材）
２２固定側ラック
２３スライダー側ラック
２４回転ユニット
２５固定側ピニオン
２６タイミングプーリ（主プーリ）
２７シャフト
２８スライダー側ピニオン
２９タイミングプーリ（従プーリ）
３０タイミングベルト
３１縦中間フレーム（縦伸縮材）
３１ａ底面
３２縦スライダー（縦伸縮材）
３３降下ストッパー
３４降下停止部
３５取付け板
３６縦ラック
３７縦ピニオン
３９支持部
４０レール
Ｍ１横駆動モータ
Ｍ２縦駆動モータ DESCRIPTION OF SYMBOLS 1 Welding apparatus 2 Base 3 Support | pillar 4 Lateral expansion-contraction body 5 Longitudinal expansion-contraction body 6 Robot 7 Running body 8 Guide rail 9 Space | interval holder 10 Turntable 12 Mounting part 13 Reinforcement rib 15 Lateral fixed frame (lateral expansion / contraction material)
16 Horizontal intermediate frame (horizontal elastic material)
17 Horizontal slider (horizontal elastic material)
18 receiving portion 19 top plate 20 side plate 21 vertical fixing frame (vertical stretchable material)
22 Fixed Side Rack 23 Slider Side Rack 24 Rotating Unit 25 Fixed Side Pinion 26 Timing Pulley (Main Pulley)
27 Shaft 28 Slider side pinion 29 Timing pulley (sub pulley)
30 Timing belt 31 Vertical intermediate frame (Vertical elastic material)
31a Bottom 32 Vertical slider (Vertical elastic material)
33 Descent stopper 34 Descent stop 35 Mounting plate 36 Vertical rack 37 Vertical pinion 39 Support 40 Rail M1 Horizontal drive motor M2 Vertical drive motor

Claims

In a welding device to which a welding robot can be attached,
Equipped with a base, support, lateral expansion and contraction,
The column is erected on a traveling body capable of reciprocating along the longitudinal direction of the base and is movable along with the movement of the traveling body,
The lateral stretchable body is attached to the upper end side of the support and can be stretched in the lateral direction, and includes two or more lateral stretchable materials that can be stretched in the lateral direction.
The two or more lateral elastic materials can be extended to the tip of the column, and can be contracted to the original position before extension,
The longitudinal stretchable body is attached to the distal end side of the lateral stretchable body and is stretchable in the longitudinal direction, and includes two or more longitudinal stretchable materials that can be stretched in the longitudinal direction,
The two or more longitudinal elastic members can be extended stepwise downward, and can be gradually reduced to the original position before extension,
Provided with an attachment portion to which the welding robot can be attached to the lower end side of the longitudinally stretchable body,
A welding apparatus characterized by that.

The welding device according to claim 1,
The horizontal elastic material includes a horizontal fixed frame fixed to the support column, a horizontal intermediate frame provided in the horizontal fixed frame so as to be capable of horizontal expansion and contraction, and a horizontal slider provided in the horizontal intermediate frame so as to be capable of horizontal expansion and contraction.
At the time of extension, the horizontal intermediate frame protrudes to the front of the horizontal fixed frame, the horizontal slider protrudes to the front of the horizontal intermediate frame, and the horizontal intermediate frame and the horizontal slider can be stopped at a desired protruding position.
At the time of contraction, the horizontal intermediate frame returns to the original position before expansion and overlaps the horizontal fixed frame, and the horizontal slider returns to the original position before expansion and overlaps the horizontal intermediate frame.
A welding apparatus characterized by that.

The welding apparatus according to claim 2, wherein
The horizontal intermediate frame slides in the horizontal direction by the power of the horizontal drive motor,
The horizontal slider slides in the horizontal direction by the power of the horizontal drive motor transmitted through the interlocking mechanism.
A welding apparatus characterized by that.

The welding device according to claim 1,
The vertical stretchable material comprises a vertical fixed frame fixed to the horizontal slider, a vertical intermediate frame provided in the vertical fixed frame so as to be vertically extendable, and a vertical slider provided in the vertical intermediate frame so as to be vertically extendable,
At the time of extension, the vertical intermediate frame protrudes to the front of the vertical fixed frame, the vertical slider protrudes to the front of the vertical intermediate frame, and the vertical intermediate frame and the vertical slider can be stopped at a desired protruding position.
At the time of contraction, the vertical intermediate frame returns to the original position before expansion and overlaps with the vertical fixed frame, and the vertical slider returns to the original position before expansion and overlaps with the vertical intermediate frame.
A welding apparatus characterized by that.

The welding apparatus according to claim 4, wherein
The vertical intermediate frame is supported by the vertical slider in a state where it can be lifted and lowered, and when the vertical slider is lowered, the supported vertical intermediate frame is also lowered at the same time, and the vertical intermediate frame is locked to the vertical fixed frame during the lowering. Stops the descent without descending, only the vertical slider continues to descend and descends to the lowest end, and when the vertical slider rises, the vertical slider pushes up the vertical intermediate frame that is stopped, and the vertical intermediate frame becomes the vertical slider Rise with,
A welding apparatus characterized by that.

In the welding apparatus according to claim 4 or 5,
The vertical slider has a support,
The vertical intermediate frame has a descent stopper,
The vertical fixed frame has a descent stop,
When the vertical slider is lowered while the vertical intermediate frame is supported by the support portion, the vertical intermediate frame is also lowered, and during the lowering, the lowering stopper is locked to the lowering stop portion to stop the lowering, and the vertical slider Only continue to descend,
When the vertical slider is raised, the vertical intermediate frame is lifted together with the vertical slider by pushing up the vertical intermediate frame at the support portion of the vertical slider.
A welding apparatus characterized by that.

The welding device according to claim 1,
The laterally stretchable body and the longitudinally stretchable body have the same structure or different structures,
The horizontal elastic material of the horizontal elastic body is the horizontal elastic material according to claim 2 or claim 3,
The vertical elastic material of the vertical elastic body is the vertical elastic material according to any one of claims 4 to 6.
A welding apparatus characterized by that.

The welding device according to claim 1,
Both or one of the laterally stretchable body and the longitudinally stretchable body has a drive motor, a fixed frame, an intermediate frame, and a slider,
The fixed frame includes a fixed rack, and the slider includes a slider rack.
The fixed side rack is engaged with the fixed side pinion, the slider side rack is engaged with the slider side pinion, and a timing belt is wound around the fixed side pinion and the slider side pinion,
When the drive motor rotates, the fixed-side pinion rotates, the timing belt rotates as the fixed-side pinion rotates, the slider-side pinion rotates, and the fixed-side pinion moves to the front of the fixed-side rack by the rotation. , the intermediate frame moves in the same direction along with the movement, the slider side rack is moved to the other party by the rotation of the slider side pinion, said lateral elastics or the slider is moved in the same direction along with the movement The vertical expansion / contraction body is extended, the stationary pinion and the slider-side pinion rotate reversely by the reverse rotation of the drive motor, the fixed-side pinion moves back by the reverse rotation of the fixed-side pinion, and the reverse rotation of the slider-side pinion The slider reverses, and the horizontal or vertical elastic body contracts.
A welding apparatus characterized by that.

In the welding apparatus of any one of Claims 1-8,
A robot is attached to the robot attachment part.
A welding apparatus characterized by that.