JPS5961575A - Welding device in conveyor line - Google Patents

Abstract

PURPOSE:To carry out automatically work and to increase the work efficiency by carrying a pallet on which works are placed into a turning frame and welding the surface and back of the work by inverting the frame. CONSTITUTION:A pallet 24 on which two works are placed is transferred to a supporting roll 20 and an auxiliary supporting roll 23, and moved to the right between reinforcing beams 11a, 11b of a left turning frame 6a. Then, it is detached from a roll conveyor 4 and stopped on bumping against a stopper plate 26b. The pallet 24 is pushed up by pushing plates 29, 29' by the action of pallet positionig and fixing devices 27, 27' and pressed against fixing plates 30, 30'. A torch performs surface tack welding of each work by operation of a welding robot. When welding is completed, left and right turning frames 6a, 6b, a horizontal member 19 and the pallet 24 etc. rotate in a body counterclockwise by driving of a motor 14, and complete turning of 180 deg.. The welding robot performs welding of backside tack weld zone again. After completion of this welding, left and right turning frame 6a, 6b, etc. are rotated 180 deg. clockwise, and the pallet 24 is moved to the right and transferred on a conveyor 5 of downstream side.

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a welding device for welding large and heavy workpieces on a conveyor line.

Conventionally, in automatic welding equipment consisting of a welding robot including a torch and a workpiece fixture, a loading machine such as a crane is used to transport the workpiece into and out of the workpiece fixture if the workpiece is heavy or long. The work in this case is positioning.

In other words, it takes a long time to remove the workpiece, which reduces the throughput of the automatic welding equipment, and there is also the risk of the workpiece falling or getting burnt by touching the workpiece that is filled with welding heat. , which was also a safety issue.

In view of the above-mentioned circumstances, the present invention provides a pair of left and right annular rotating frames in the middle of a conveyor line so as to be integrally rotatable around a horizontal axis parallel to the conveying direction of the conveyor line, and both rotating frames A horizontal member is installed between the central parts of the frame member, and a group of support rollers for supporting the pallet is pivotally supported along the entire length of the horizontal member so as to be connectable to the upstream and downstream conveyor lines. A pallet positioning and fixing device and a pallet transport device are installed on the horizontal members, and a welding robot is installed on the side fixed floor between both rotating frames, and each pallet transferred by the conveyor line is moved by the pallet positioning and fixing device. Rotating frame and horizontal members while fixed in position.

A conveyor line that is characterized by the ability to rotate the pallet and workpieces as one unit, and aims to automate workpiece welding setup work to improve work efficiency and eliminate safety issues all at once. The present invention provides a welding device for.

Hereinafter, a detailed description will be given based on the embodiments shown in the drawings. For convenience of explanation,
The left and right in FIGS. 1 and 3 are respectively called "left" or "upstream" and "right" or "1-downstream", and the left and right in FIG. 2 are called "front" and "rear", respectively.

1 is a conveyor line extending in the left-right direction, which is divided in the middle, and a rectangular bit 3 is dug in the floor 2 at the divided point,
Upstream and downstream roller conveyors 4 and 5 are installed on the floor 2 on both the left and right sides of the bit 3.

Reference numerals 6a and 6b denote a pair of annular left and right rotating frames placed apart from each other on the left and right sides of the bit 3, and the upper and lower two parts are integrally connected by connecting rods 7a and 7b, and the bottom of the bit 3 A pair of front and rear flanged support rollers 9a and 9b are respectively pivotally supported on the left and right sides of the base 8 that can be installed on the base 8.

10a and 10b (however, support row 210a is not shown) support the outer circumferential surfaces of the left and right rotating frames 6 and 6' from below so as to be able to rotate about a common horizontal axis H.

Further, the left and right rotation frames 6a and 6b are respectively spaced apart from the horizontal axis H by an appropriate distance, and extend parallel to the reinforcing beam 1 in the front-rear direction.
1a and llb are being constructed.

Reference numeral 12 denotes a central shaft that integrally connects the support rollers 9b and 10b, 13 a driven sprocket fixed to the left extended end of the central shaft 12, and 14 a gear reducer and a brake installed on the left side of the base 8. A reversible motor is used to wrap an endless chain 15 between the driving sprocket 14a fixed to the end of the output shaft and the driven sprocket 13, and by driving the motor 14, the left and right side are moved through the center shaft 12 and the support rollers 9b and xob. Rotate the rotating frames 6a and 6b as if they were rotating together 01
Reference numerals 6a and 16b denote a pair of stopper members erected on the base 8 in front and rear of the support rollers 9a and 9b, respectively, and the upper end of each stopper member is close to the outer circumferential surface of the left rotation frame 6a and has a stopper member on the outer circumferential surface. Stopper plates 16a1 and 16bl are fixedly installed, which are inclined in a direction perpendicular to the tangential direction.

17a and 17b are horizontal axes H on the outer peripheral surface of the left rotation frame 6a.
When the left and right rotating frames 6a and 6b rotate clockwise or counterclockwise in FIG.
The strut pins 17b and 17a abut against the stopper plates 16b+ and 16al, respectively, and the reinforcing beams 11a and 11a.
The stopper pins 17a and 17b are positioned so that the pins 1b are horizontally arranged in an up-down or down-up relationship.

Reference numeral 18 denotes a frame body fixing device for the left and right rotating frames 6a and 6b, in which an air cylinder 18b is installed at the center of the left side of the base 8 via a bracket 18a, and a rod 18b extending horizontally to the right is attached to the tip. A tapered retaining pin 18c is fixed. In addition, a horizontal center axis H is formed on the inner circumferential surface of the left rotation frame 6a.
Two engaged hole members 18d, 18 at symmetrical positions with respect to
Fix d2 and use the aforementioned stopper pin 17tz! : Stopper plate 16b.

or the stopper pin 17a and the stopper plate 1
6a1, the rod 18b1 expands so that the engagement pin 18c is inserted into the engaged hole member 18d2 or 18d.
1 and fixes the left and right rotation frames 6a and 6b.

Reference numeral 19 denotes a hollow horizontal member with a rectangular cross section installed horizontally between the inner sides of the reinforcing beams 11b and 11b, in which a large number of horizontal members rotatable about the front and rear horizontal axes are arranged at equal intervals across the entire length of the front and rear surfaces. A support roller 20 and a number of horizontally rotatable guide rollers 21 are pivotally supported at positions slightly above the support roller 20, and the support roller 20 is connected to the rollers of the roller conveyors 4 and 5 as shown in FIGS. It is placed at the same height level as 4a and 5a. Further, short support plates 22 elongated in the front-rear direction are installed at the front and rear of each of the reinforcing beams 11b, and a set of four auxiliary support rollers 23 are pivotally supported on the support plates 22.

Reference numeral 24 denotes a pallet having a rectangular plate with the center front and rear removed to form an H shape, and furthermore, a groove 24a is formed on the lower center surface over the entire length in the left and right direction, and the pallet can be rotated left and right from the conveyor 4 on the upstream side. When entering between the reinforcing beams 11a and llb of the frames 6a and 6b, the lower surfaces of the center and left and right parts are supported by the support roller 20 and the auxiliary support row 223, respectively, and the front and rear walls of the groove 24a are It is guided by the guide roller 21 and its position in the front and back direction is regulated.

25 is a pallet conveying device built into the horizontal member 19;
A pair of sprockets pivoted at an appropriate distance on the left and right) 2
An endless chain 25c is wound between 5a and 25b, and the endless chain 25
One transfer claw 25d is attached to c. A driven sprocket 25e is fixed coaxially with the tin rocket 25b, and a driving sprocket 25g and the driven sprocket 25e are fixed to the output shaft of the reversible motor 25f with a reducer.
An endless chain 25h is wound between the two. Further, an opening 19a extending in the left-right direction is cut in the upper wall of the horizontal member 19 above the endless chain 25c, and as the endless chain 25c circulates, the transfer claw 25d has its tip projected upward from the opening 19a. It is designed to be able to move horizontally from side to side.

Therefore, the transfer claw 25d is driven by the motor 25f.
When the pallet 24 is horizontally moved on the upper right side, the transfer claw 25d engages with the protruding plate 24b hanging from the upper wall of the groove 24a, thereby transferring the pallet 24 to the right.

Reference numeral 26 denotes a movable stopper for the pallet 24 provided at the right end of the horizontal member 19, and the bending arm 2 is pivoted so as to be vertically swingable at one end thereof on a bracket suspended from the internal earthen wall of the horizontal member 19.
A stopper plate 26b fixedly mounted on the other end of 6a, and a horizontal member 19
It is composed of an air cylinder 26d whose cylindrical portion is supported so as to be swingable from side to side through a platinum 26c protruding from the lower surface of the rod 26d1 extending upward, and the tip of which is pivotally connected to the intermediate bent portion of the bending arm 26a. The upward swinging of the bending arm 26a due to the extension of the rod 26d1 positions the stopper plate 26b above the horizontal member 19, thereby preventing the pallet 24 from moving to the right.

27 and 27' are pallet positioning and fixing devices provided at the front and rear of the left and right rotating frames 6a and 6b, respectively, and
Install air cylinders 28 and 28' at the front and rear of 1b,
A rod 28 extending above the air cylinders 28, 28'
Rectangular pressing plates 29 and 29' are fixed to the upper ends of a and 28'a. Furthermore, fixing plates 30 and 30' are provided on the front and rear inner peripheral surfaces of the left and right rotation frames 6a and 6b to protrude inward in the front and rear direction, and the fixation plates 30 and 30' of the left rotation frame 6a and the right Taper pins 31 and 31' are vertically provided on the lower surface of the fixed plate 30' of the rotating frame 6b. Thus, in a state where the pallet 24 is placed on the support roller 20 and the auxiliary support roller 23,
As the air cylinder rods 28a, 28'a are extended, the pressing plates 29, 29' push the pallet 24 upwards, causing the pallet 24 to float, and just before the upper surface of the pallet 24 comes into contact with the lower surface of the fixed plates 30, 30', the taper pin 31・31' and pallet 24
The P pallet 24 is positioned in the left and right 9 front and rear directions by fitting with the holes 24c drilled on the left front upper surface and the right rear upper surface of the P pallet 24, and finally the pallet 24 is attached to the fixing plates 30 and 30' with a predetermined pressure. It is like pressing and holding.

32' and 32' are two articulated welding robots installed facing the front and rear ground floors 2 in the center between the left and right rotating frames 6a and 6b, and each has a torch 32a and a torch on the final control axis. 32'a
It is installed.

Next, the operation of the entire welding apparatus including the conveyor line configured as above will be explained.

As the initial state of the welding device, the left/right rotating frames 6a and 6b
The stopper pin 17b stops in a state where it abuts against the stopper plate 16b1, and the engagement pin 18 is moved by the operation of the fixing device 18.
and the engaged hole member 18d are fitted to each other. At this time, the reinforcing beams 11a11b are arranged horizontally in the upper and lower positions 9, and the supporting rollers 20 and auxiliary supporting rollers 2
3 is flush with the rollers 4a, 5& of the upstream and downstream roller conveyors 4, 5. In addition, movable stock horns (
Reference numeral 26 indicates the straight plate 2 due to the extension action of the rod 26d1.
6 is pushed upward (Fig. 1, dot-dashed line), and the positioning fixing devices 27 and 27' are closed)' 28 a, 28
By the shortening operation of 7a, the pressing plates 29 and 29' are retracted downward from the upper surface of the auxiliary support row 223 (as shown by the chain dotted line in Figure 6). In addition, the knotlet conveying device 25 is positioned on the tin rocket 25a of the transfer claw 25d (overwhelming the transfer claw 25d), as shown by the solid line in FIGS.
It is contained within. Furthermore, welding robots 32 and 32'
As shown by the two-dot chain line in FIG. 2, the left/right rotation frame 6a
・Torches 32a and 32'a are kept waiting outside the cylindrical space connecting 6b, and the work W to be welded (see Fig. 3) is temporarily attached to both ends of the vertical member Wl and the vertical member WI. It consists of a pair of spread-shaped leg members W2 and Ws attached, each leg member W2 and W, and a reinforcing steel W, 75 temporarily attached between each leg member W2 and the vertical member W1, and these workpieces W are As shown by the dotted chain line in Figure 3, the two pieces 24f' of one piece are facing each other with the vertical members W and W butted against each other, and the front and rear notches of the piece 24 are tacked together. Position and place it so that it is placed in the vertical part W.
1 and the leg members W, W3 are fixed at appropriate positions to the knotlet 24 with a plurality of clamps C.

As a result, the pallet 24 is transferred to the support roller 20 and the auxiliary support roller 23 by the drive of the upstream roller conveyor 4, and the reinforcement beams 11a and 11 of the left rotation frame 6a are
br&l] to the right, and stops when it leaves the roller conveyor 4, and immediately after that, the roller conveyor 4 also stops driving. At this time, the right end of the pallet 24 has not yet reached the plate 26b by 1 inch, and the protruding plate 24b is at the left position shown by the dashed line in FIG. 5 above the opening 19a.

Subsequently, the endless chain 25 is moved by the operation of the pallet conveying device 25.
C moves clockwise (Fig. 5), and transfer claw 25d
engages with the projection plate 24b to push the knoblet 24 to the right, and stops when the right end 75 of the knoblet 24 collides with the ball stopper plate 26b. Next, the pallet conveying device 25
The transfer claw 25d is retracted to the left by the reverse operation of
(Release the let 24 so that it can swing left and right.

In this state, the pallet positioning and fixing devices 27 and 27' operate, and the pressing plate 2
9 and 29') (Push up the let 24 and release the support roller 2.
0 and the auxiliary support roller 23, and further)
Press the pullet 24 against the fixing plates 30, 30'. At this time, the υ socket 24 is positioned by fitting the lock pins 31, 31' and the holes 24c (first, second, third
・Status shown in solid lines in Figure 6) 0 Now welding preparations are complete, and as the welding robots 32 and 32' operate, the torches 32a and 32'a approach each workpiece W as shown in the solid lines in Figure 2.
The welding robot 32, 32' performs welding of the tack joint part III')0. After completing the welding of the joint part with the front side plate, the welding robots 32 and 32' move the torch 32 again to the position indicated by the chain dotted line in the second drawing.
a.32'a is placed on standby.

Next, the operation of the frame fixing device 1B is released. Invasion (1chi,
By the shortening action of the rod 18b1, the engaging pin 18C is separated from the engaged hole member 18d2, and the left/right rotating frame 6a.
Release 6b etc. The motor 14 drives the left
The right-turning frames 6a and 6b, the horizontal member 19, the pallet 24, etc. integrally rotate in the counterclockwise direction (in FIG. 2),
The rotation is stopped when the stopper pin 17a abuts against the stopper plate 16a1. In this state, frame fixing ct, 18
is activated again, and the engaging pin 18c is engaged with the hole member 18d1.
By fitting into the frame, the left/right rotation frames 6a, 6b, etc. are fixed together.

This completes the 180° reversal of the pallet 24 and the work W, and the welding robots 32 and 32' operate again to weld the joint with the back side plate. After this welding work is completed, the welding robots 32, 32' return to the standby state indicated by the dashed line in Figure 2. Then, the procedure is reversed, that is, the frame body fixing device 18 is deactivated, and the motor 14 is reversely rotated to rotate the frame body 6a to the left and right.
6b etc. by 180 degrees in the clockwise direction (FIG. 2) and reactivation of the frame fixing device 18 to return to the state shown by the solid line in FIG. 2.

Furthermore, the leveret 24 is released by releasing the positioning and fixing devices 27 and 27' (shortening the rods 28a and 28'a).
is released and the pallet 24 is placed on the support roller 20 and the auxiliary support rollers 20 and 23.

Finally, K, the transfer claw 25 is activated by the operation of the pallet transfer device 25.
d moves to the right and pushes the protruding plate 24b to the right position shown by the dashed line in Figure 5. As a result, the pallet 24 is moved to the right, and its right end portion is transferred onto the downstream roller competition 5.

At the same time, the downstream conveyor 5 is driven to convey the pallet 24 downstream.

In the above embodiment, the left/right rotating frames 6a and 6b, the horizontal member 19, etc. were fixed at two 180° rotation positions, but it is possible to fix further rotation positions or steplessly. - Rotation control may be performed.

According to the present invention, which will be described in detail above, the pallet on which the workpiece is placed is carried between the left and right rotating frames by the cooperation of the upstream conveyor line and the pallet conveying device, and the pallet is moved by the positioning and fixing device. While the work is fixed, welding is performed on the wrinkled front side by the welding robot, then the workpiece and pallet are reversed using the rotating frame, welding is performed on the back side of the workpiece, and when welding is completed, the fixation on the pallet is released. Again, the pallet is carried out from the rotating frame by the cooperation of the conveying device and the conveyor line on the downstream side, and since all of these operations can be performed automatically, not only can the welding setup time be greatly reduced, but also Since the worker does not have to directly touch the workpiece where welding heat remains, the work can be carried out safely.

[Brief explanation of the drawings] The drawings show one embodiment of the present invention, and Fig. 1 is a side view of Fig. 2 in the direction of arrows ~■, and Fig. 2 is a side view of Fig. 1 in the direction of Fig. 1. Front view, Figure 3 is a plan view from ■ to ■ arrows in Figure 1, Figure 4 is a
FIG. 5 is an enlarged cross-sectional view taken along the line V-V in FIG. 3, and FIG. 6 is an enlarged detailed view of the section ■ in FIG. 2. In the diagram, 1 is the conveyor line, 6a and 6b are on the left and
A right-turning frame body, 19 a horizontal member, 20 a support roller, 24 a pallet, 25 a knotlet carry-out device, 27 and 27' a pallet positioning and fixing device, and W a workpiece. Applicant's agent Takashi Noriyuki

Claims (3)

[Claims] (1) A plurality of pallets on which workpieces are positioned and fixed, a conveyor line that intermittently transports each pallet, and a part of the conveyor line that is rotatable and integrally connected around a horizontal axis parallel to the conveying direction of the conveyor line. a pair of left and right annular rotating frames; a horizontal member installed in the transfer direction between the center portions of both the rotating frames; A group of support rollers for supporting the supported pallets, a pallet positioning and fixing device provided on the rotating frame, and each pallet is transported from the conveyor line on the upstream side in the transfer direction to between the two rotating frames. and a pallet conveying device provided on the conveyor line and/or the horizontal member for conveying the pallets from between the bodies to the conveyor line on the downstream side in the transfer direction. A welding device for a conveyor line, which is characterized by being able to integrally rotate a movable frame, horizontal members, pallets, and workpieces. (2) The pallet positioning and fixing device levitates the pallet above the group of support rollers by the extension action of a fixing plate provided inwardly protruding from each rotating frame body and a rond having a pressing plate fixed to the upper end thereof. and an actuating cylinder that presses the pallet against the fixed plate, and a cylinder on the lower surface of the fixed plate that positions the pallet by fitting into a positioning hole drilled in the upper surface of the pallet during operation to lift and press the pallet. A welding device for a conveyor line according to claim 1, comprising a vertically disposed taper pin. (3) The pallet conveying device includes a pair of sprockets that are pivotally supported on the horizontal member at a distance in the conveying direction, an endless chain that is wound between the two sprockets, and a sprocket that is attached to the endless chain. and a drive source coaxially linked with the one sprocket for circulating the endless chain, and when the endless chain moves in circulation, the transfer claw engages with a projecting plate hanging from the lower surface of the pallet. A welding device for a conveyor line according to claim 1, wherein the pallet is conveyed in the conveying direction.