JPH07237155A - Box-type workbench device - Google Patents

Abstract

(57) [Summary] [Purpose] To perform welding and painting in a box-shaped block quickly and easily. [Structure] A robot placer 4 is mounted on a lifting drive device 3 provided on a trolley-side swivel base 2 on a dolly 1. The robot placer 4 is attached to the lifting drive device 3 and inside a box-shaped block B. A telescopic arm 5 that can be expanded and contracted in the horizontal direction, a slide base 6 that is slidably arranged at the tip of the telescopic arm 5 along the longitudinal direction of the arm 5, and can freely rotate on the slide base 6. The work table 9 includes an arm-side swivel base 7 that is arranged and a swivel arm 8 that is arranged on the arm-side swivel base 7 so as to be vertically rotatable and has a workbench 9 attached to a tip end thereof. A welding robot 10 is attached to the telescopic arm 5, and a supporting leg 11 and a pair of left and right bracing members 12 are provided on the telescopic arm 5.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a box block workbench device for carrying out operations such as welding and painting in large box blocks such as hull blocks and bridges.

[0002]

2. Description of the Related Art When performing work such as welding or painting in a box-shaped block, a telescopic boom of a mobile crane is extended and inserted into the box-shaped block, and a welding machine or painting machine attached to the workbench at the tip of the boom is used. It is possible to weld or paint the inner surface of the box-shaped block with a device, but according to this, in order to change the position of the workbench, it is necessary to rotate, vertically rotate and / or extend and retract the entire boom. It is difficult to change the position, and the reinforcing ribs on the inner surface of the box-shaped block interfere with the swinging and vertical rotation of the boom.

In order to solve the above-mentioned problems, conventionally, a welding or painting robot is disassembled and carried into a box-shaped block for assembly, and after the welding or painting work is completed, the robot is disassembled again to form the box type. It is carried out outside the block.

[0004]

SUMMARY OF THE INVENTION In the above conventional configuration,
It takes time and labor to disassemble and assemble the robot, carry in and carry out the robot from the box block, and the movement range of the robot is narrow due to obstacles such as reinforcing ribs in the box block. It takes time and labor to move the robot inside the box-shaped block, and because it is manually disassembled,
The disadvantage is that it forces workers to work excessively.

In view of the above-mentioned drawbacks, an object of the present invention is to provide a work table device for a box type block, which enables quick and easy operations such as welding and painting in the box type block. .

[0006]

To achieve the above object, according to the present invention, a lifting / lowering drive device provided on a trolley-side swivel on a trolley is equipped with a robot placer, and the robot placer comprises: A horizontally expandable and retractable telescopic arm that is attached to the lifting drive device and is inserted into the box-shaped block; and a slide base that is slidably arranged at the tip of the telescopic arm along the longitudinal direction of the arm. An arm-side swivel rotatably disposed on the slide base, and a swivel arm rotatably disposed on the arm-side swivel rotatably and having a workbench attached to its tip. Then, the telescopic arm is pivoted downwardly so that its tip end abuts on the bottom surface of the box block, and the left and right sides extend so that its tip end contacts the inner surface of the box block. Treated Is characterized by a pair of left and right bracing member is provided.

[0007]

In the above construction, for example, when welding is performed on the inner surface of the box-shaped block, after mounting the welding machine on the workbench, the bogie is brought close to the end of the box-shaped block, and the bogie-side swivel base is swung by a predetermined angle. At the same time, by driving the elevating drive device to elevate and lower the reduced telescopic arm,
The workbench and the welding machine can be carried to a predetermined position in the box-shaped block simply by causing the telescopic arm to face the opening at the end of the box-shaped block and extending the telescopic arm.

Next, the supporting leg is pivoted downward to bring its tip end into contact with the bottom surface of the box-shaped block, and at the same time, the both strut members are extended to bring its tip end into contact with the inner surface of the box-shaped block. Let As a result, the telescopic arm can be fixed to the box-shaped block, and the welding machine can be prevented from accidentally swinging during the welding operation to perform precise welding.

Then, the slide base is slid, the arm-side swivel base is swung by a predetermined angle, and the swivel arm is swung, whereby the welding machine attached to the workbench is welded to the inner surface of the box block. You can precisely face the place, start welding with that welding machine,
By driving each of the slide base, the arm-side swivel base, and the rotary arm, the welding machine can be moved along the welded portion and welding can be performed precisely. In this case, by expanding and contracting the telescopic arm,
The welding machine can be moved over a wide range while avoiding obstacles such as reinforcing ribs in the box-shaped block, and by sliding the slide base, the welding machine can be moved in small increments for precise positioning.

After the welding work is completed, the workbench and the welding machine can be quickly and easily carried out of the box block in the reverse order of the above.

[0011]

Embodiments of the present invention will be described below with reference to the drawings. 1 and 2 show a state in which welding work is performed in a box-shaped block B such as a hull block or a bridge by a box-shaped block workbench apparatus according to an embodiment of the present invention. A robot placer 4 is mounted on the lifting drive device 3 provided on the upper trolley-side swivel base 2,
The robot placer 4 is attached to the elevating and lowering drive device 3 and is inserted into the box-shaped block B. The telescopic arm 5 is capable of expanding and contracting in a horizontal direction, and the distal end of the telescopic arm 5 has a longitudinal direction of the arm 5. A slide base 6 slidably provided along the arm base 7, an arm-side pivot base 7 pivotally mounted on the slide base 6, and an arm-side pivot base 7 rotatable vertically. , A rotating arm 8 having a workbench 9 attached to its tip, and a 5-6 axis welding robot 10 is attached to the workbench 9,
The telescopic arm 5 is provided with a support leg 11 and a pair of left and right tension members 12.

The lifting drive device 3 has a base 3a fixed to the trolley-side swivel base 2, an elevator base 3b arranged above the base 3a, and both ends of the bases 3a and 3b. It has a pantograph-like link mechanism 3c which is freely connected, the truck 1 is brought close to the end portion Ba of the box-shaped block B, the truck-side swivel base 2 is swung by a predetermined angle, and the link mechanism 3c and the base 3a. The telescopic arm 5 is opened and closed at the box-shaped block end portion Ba by vertically driving the lifting fluid pressure cylinder 3d which is arranged between the and
Can be opposed to.

The telescopic arm 5 is composed of a plurality of stages of arm portions 5a to 5c which are telescopically fitted to each other. Through the base arm 5
a is horizontally movably supported, and the tip arm portion 5c is horizontally movably supported by the intermediate arm portion 5b via a guide roller 16 between the base end arm portion 5a and the intermediate arm portion 5b and Intermediate arm part 5b and tip arm part 5
The telescopic arm 5 can be expanded and contracted in the horizontal direction by driving the multistage telescopic fluid pressure cylinders 17 and 18 which are respectively arranged between the workbench 9 and the welding robot 10 in a box. Mold block B
The workbench 9 and the welding robot 10 can be carried out from the box-shaped block B by being reduced in size while being able to be carried in to a predetermined position.

The base ends of the support legs 11 are pivotally attached to the guide frames 20 fixed to the lower surfaces of the tips of the intermediate arm portion 5b and the tip arm portion 5c, respectively, and the bottom ends of the support legs 11 are connected. The upper end of the supporting rod 19 is the guide frame 20.
Of the support rod 19 is movably engaged with the long hole 21 of the guide frame 20 and is reciprocated along the long hole 21 by the driving device 22 provided in the guide frame 20 via a screw shaft driving mechanism (not shown). By moving it, the support leg 11 is rotated downward,
The tip portion 11a is brought into contact with the bottom surface of the box-shaped block B (see the solid line in FIG. 1), whereby the telescopic arm 5 can be supported, and the support leg 11 can be rotated upward to move the support leg 11 in the middle. By folding along the arm portion 5b and the tip arm portion 5c (see the phantom line in FIG. 1), the telescopic arm 5 is moved to the box-shaped block end portion Ba.
Opening 14 and opening 2 of the reinforcing rib R in the box-shaped block B
It is easy to pass through 3.

The two tension members 12 are composed of fluid pressure cylinders, and extend to the left and right sides so that the tips 12a of the tension members abut against the inner surface of the box-shaped block B (see FIG. 2). Rolling can be prevented, and the welding robot 10 can be prevented from swinging unexpectedly during welding work, and precise welding can be performed.

The slide base 6 is reciprocally moved on the tip arm portion 5c by driving a driving device 25 provided at the base end portion of the tip arm portion 5c to drive the screw shaft 26 to rotate forward and backward. 1 See virtual line). The rotating arm 8 has one end pivotally supported by the mounting flange 7a of the arm-side swivel base 7 and the other end pivotally attached to the work table 9 by a pair of upper and lower parallel links 8a and 8b. By driving the drive device 27 provided, it is rotated in the vertical direction,
The workbench 9 can be raised and lowered while always maintaining a horizontal posture. A balance weight 28 is attached to a side surface of the arm-side swivel base 7 opposite to the rotating arm 8.

According to the above construction, by expanding and contracting the telescopic arm 5, the welding robot 10 can be moved over a wide range while avoiding obstacles such as the reinforcing ribs R in the box-shaped block B, and the slide table 6 can be moved.
By sliding the welding robot 10, the welding robot 10 can be moved a small amount for precise positioning, and the arm-side swivel base 7 can be swung by a predetermined angle and the swiveling arm 8 can be swung to move the welding robot 10. Can be accurately opposed to the portion to be welded on the inner surface of the box-shaped block B.

The robot placer 4 including the telescopic arm 5, the slide base 6, the arm-side swivel base 7, and the rotary arm 8, the support leg 11, the bracing member 12, and the welding robot 10 are CAM (computer aid).
In accordance with the NC data created by dmanufacturing), it is automatically controlled by a control device composed of a microcomputer.

In the above structure, the procedure for welding the inner surface of the box-shaped block B will be described. First, the workbench 9
After mounting the welding robot 10 on the robot, the carriage 1 is moved closer to the end portion Ba of the box-shaped block B, the carriage-side swivel base 2 is swung by a predetermined angle, and the lifting drive device 3 is driven to reduce the telescopic arm. By raising and lowering 5,
The telescopic arm 5 is opposed to the opening 14 of the box-shaped block end portion Ba.

Next, the telescopic arm 5 is extended by the controller based on the predetermined NC data, the workbench 9 and the welding robot 10 are carried in to a predetermined position in the box block B, and the support legs 11 are lowered. Is rotated to bring the tip end portion 11a of the support leg 11 into contact with the bottom surface of the box-shaped block B, and the both strut members 12 are extended so that the tip end portions 12a of the both strut members 12 are moved to the box-shaped block. The telescopic arm 5 is fixed to the box-shaped block by bringing it into contact with the inner surface of B. Subsequently, the slide base 6 is slid, the arm-side swivel base 7 is swung by a predetermined angle, and
The rotating arm 8 is rotated so that the welding robot 10 can accurately face the welding target portion on the inner surface of the box-shaped block B, and the welding by the welding robot 10 is started. By driving the base and the rotating arm respectively, the welding machine is moved along the welded portion, and welding can be performed accurately. After the welding work is completed, the workbench 9 and the welding robot 10 are carried out of the box-shaped block B in the reverse order of the above.

Although the welding robot 10 is attached to the workbench 9 in the above embodiment, the present invention is not limited to this.
For example, a coating device may be attached to the workbench 9.

[0022]

According to the present invention, the workbench can be quickly and easily brought to a predetermined position in the box-shaped block by simply extending the telescopic arm after the telescopic arm is opposed to the open end of the box-shaped block. The work table can be carried in, and after the work is completed, the work table can be carried out to the outside of the box-shaped block quickly and easily by the procedure reverse to the above.

Further, the support leg is pivoted downward to bring its tip end into contact with the bottom surface of the box block, and at the same time, the both strut members are extended to bring its tip end into contact with the inner surface of the box block. As a result, the telescopic arm can be fixed to the box-shaped block, and it is possible to prevent the welding machine, the coating device, etc. attached to the workbench from swinging unexpectedly.

Further, by driving the slide base, the arm side swivel base, and the rotary arm, the work base can be moved in all directions, and welding or painting can be efficiently applied to the inner surface of the box-shaped block.

Furthermore, by expanding and contracting the telescopic arm, the work table can be moved over a wide range while avoiding obstacles such as reinforcing ribs in the box-shaped block, and by sliding the slide table, the work table can be slid. Can be moved in small increments for precise positioning.

[Brief description of drawings]

FIG. 1 is a side view showing a state where welding work is being performed in a box block by a box block workbench apparatus according to an embodiment of the present invention.

FIG. 2 is a plan view of the same.

[Explanation of symbols]

 1 dolly 2 dolly-side swivel base 3 lifting drive device 4 robot placer 5 telescopic arm 6 slide base 7 arm-side swivel base 8 swivel arm 9 workbench 10 welder 11 support leg 12 bracing member B box block

Claims (1)

[Claims] 1. A robot placer is installed in a lifting drive device provided on a bogie side swivel on a trolley, and the robot placer is attached to the lifting drive device and inserted into a box-shaped block. A telescopic arm that can be expanded and contracted in the horizontal direction, a slide base that is slidably provided at the tip of the telescopic arm along the longitudinal direction of the arm, and an arm-side turning that is rotatably arranged on the slide base. A base, and a rotating arm which is arranged on the arm-side rotating base so as to be rotatable in the vertical direction and has a working table attached to the tip thereof. The telescopic arm is pivoted downward and its tip is provided. Supporting legs whose parts are in contact with the bottom surface of the box-shaped block, and a pair of left and right bracing members which extend to the left and right sides and whose tips are in contact with the inner surface of the box-shaped block. Special Work table device for box-shaped blocks to be collected.