Mounting structure

Abstract

To provide a mounting structure that does not require work such as cutting and removing a member fixed to an outer surface of a lower steel column from the outer surface.SOLUTION: A mounting structure 10 has a structure in which a first support member 20 that supports a robot arm 80 is removably fixed to an outer surface 1b of a lower steel column 1A via a fixing unit 11. A connector 16 includes a first fastener 17 and a second fastener 18. A head 17a is removably engaged with a receiver 14 so as to restrain the movement of the outer surface 1b of the lower steel column 1A in a normal direction. Also, with a shaft 17b protruding from a notch 15 in the normal direction, a base end 17c of the shaft 17b is in contact with an edge 15a of the notch 15. With the shaft 17b inserted through a fixed angle 12, the second fastener 18 is fastened to the shaft 17b so that the head 17a and the second fastener 18 sandwich the fixed angle 12 and the receiver 14.SELECTED DRAWING: Figure 3

Description

Technical Field

[0001] The present invention relates to an attachment structure for attaching a robot arm used for welding the butt joint portion between columns composed of an upper steel column and a lower steel column to the column.

Background Art

[0002] Conventionally, at construction sites and the like, the butt joint portion between columns composed of an upper steel column and a lower steel column is fixed by welding. As such a welding method, a welding method using a robot arm is known (see, for example, Patent Document 1).

[0003] Patent Document 1 proposes an attachment jig in which a support piece is welded to the outer surface of a steel pipe, a first support member (support member), a second support member, and a rail member of the attachment jig are fixed to the support piece, and two robot arms are movably supported by the rail member. By using this attachment jig, a robot arm can be attached to columns of different sizes.

Prior Art Documents

Patent Documents

[0004] <000002,0>

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0005] However, after the welding of the butt joint portion between the upper steel column and the lower steel column is completed, when the support member of the attachment jig is removed, the support piece protrudes in the normal direction from the outer surface of the receiver after removal. Since this support piece protrudes from the outer surface of the lower steel column to such an extent that it supports the support member, there is a risk of hindering subsequent work and the like, and in some cases, it may have to be cut off and removed from the lower steel column.

[0006] The present invention has been made in view of these points, and its objective is to provide an attachment structure that does not require the work of cutting and removing a member fixed to the outer surface of the lower steel column from its outer surface. [Means for solving the problem]

[0007] The mounting structure according to the present invention is a mounting structure for attaching a robot arm used for welding the butt joint portion between two columns, which consist of an upper steel column and a lower steel column, to the lower steel column, wherein the mounting structure is a structure in which a support member that supports the robot arm is detachably fixed to the outer surface of the lower steel column via a fixing unit, the fixing unit comprises a fixing member for fixing the support member, a receiving member fixed to the outer surface of the lower steel column and having a notch formed therein, and a connecting member that connects the receiving member and the fixing member via the notch, the connecting member having a head that detachably engages with the receiving member and a front The fastener comprises a first fastener having a shaft portion extending from a head portion, and a second fastener fastened to the first fastener by being screwed onto the shaft portion, wherein the head portion is detachably locked to the receiving member so as to restrain movement of the outer surface in the normal direction, and with the shaft portion protruding from the notch in the normal direction, the base end of the shaft portion abuts against the edge of the notch, and with the shaft portion protruding in the normal direction inserted into the fixing member, the second fastener is fastened to the shaft portion so as to sandwich the fixing member and the receiving member between the head portion and the second fastener.

[0008] According to the mounting structure of the present invention, a support member for supporting a robot arm can be fixed to a lower steel column via a fixing unit. Specifically, the fixing unit comprises a fixing member, a connector, and a receiver, and the fixing member can be detachably attached to the receiver on the lower steel column via the connector.

[0009] Here, the connector comprises a first fastener and a second fastener. The head of the first fastener is locked to the receiving device so as to restrain movement of the outer surface in the direction normal to the fastener, and the shaft of the first fastener protrudes in the direction normal to the fastener from a notch in the receiving device. In this state, the base end of the shaft after fastening the first fastener is in contact with the edge of the notch, so the position of the first fastener relative to the receiving device is stable.

[0010] In this configuration, the second fastener is tightened onto the shaft of the first fastener, with the shaft of the first fastener, which protrudes in the normal direction, inserted into the fixing member, so that the fixing member and the receiving member are sandwiched between the head of the first fastener and the second fastener. As a result, the fixing member can be connected to the receiving member via the connector, and the support member can be fixed to the lower steel column via the fixing member.

[0011] In this invention, the fixing member is secured by tightening a second fastener onto a shaft portion that protrudes from a notch along the normal direction of the outer surface of the lower steel column. However, the first fastener that constitutes this shaft portion has its head detachably locked to the receiving member, so it can be easily removed from the receiving member. Therefore, after welding is complete and the components of the mounting structure are disassembled, ultimately only the receiving member fixed to the lower steel column remains. Thus, in this invention, unlike conventional support pieces, it is not necessary to fix the member that protrudes in the normal direction of the outer surface of the lower steel column to the lower steel column to the extent that it can support the support member, and removal work such as cutting it from the lower steel column is not required. As a result, the workability of attaching and detaching the robot arm can be improved.

[0012] In a more preferred embodiment, the mounting structure comprises, as the support members, a pair of first support members positioned on opposing outer surfaces of the lower steel column so as to sandwich the lower steel column and extending in a horizontal first direction; a pair of second support members supported across the pair of first support members so as to sandwich the other opposing outer surface of the lower steel column and extending in a horizontal second direction intersecting the first direction; and a pair of rail members attached along the pair of second support members to guide the movement of a trolley on which the robot arm is mounted.

[0013] In this embodiment, a pair of first support members are fixed so as to sandwich the lower steel column, and a pair of second support members are supported by straddling this pair of first support members. Therefore, the robot arm can be stably supported regardless of the size of the lower steel column. The trolley on which the robot arm is mounted travels along rails attached along the second support members, but because the first support members are stably fixed to the lower steel column by the mounting structure described above, stable movement of the robot arm can be achieved.

[0014] In a more preferred embodiment, the first support member is fixed to the pair of upper and lower receiving members via the connecting member, with the fixing member being sandwiched between the fixing members as an upper and lower pair of fixing members, the base end of the shaft of the upper first fastener abuts against the upper edge of a notch formed in the upper receiving member, and the base end of the shaft of the lower first fastener abuts against the lower edge of a notch formed in the lower receiving member.

[0015] In this embodiment, the first support member is fixed to the lower steel column by being sandwiched from above and below by a pair of upper and lower fixing members, thus preventing the first support member from lifting up. Furthermore, since the base end of the upper first fastener abuts against the upper edge of the upper notch, and the base end of the lower first fastener abuts against the lower edge of the lower notch, the first support member can be stably restrained in the vertical direction regardless of the movement of the trolley on which the robot arm is mounted. As a result, welding of the butt joints between the columns by the robot arm can be performed stably and effectively.

[0016] In a more preferred embodiment, the mounting structure comprises a ring member that encircles the outer circumference of the receiving device, and a screw body that is screwed onto the upper part of the ring member, extending from the outer circumference towards the inner circumference, wherein the screw body is tightened onto the ring member such that its tip presses down on the head of the first fastener from above.

[0017] In this embodiment, the screw body can be tightened from the outer circumference of the ring member, and the tip of the screw body can press down on the head of the first fastener housed in the notch from above. In this way, upward movement of the first fastener housed in the notch can be prevented with a simpler structure, and the fixed state of the first support member can be stabilized. In this way, welding of the butt joints between columns by the robot arm can be performed stably and successfully.

[0018] In a more preferred embodiment, the notch formed in the receiving device extends horizontally, and the base end of the shaft portion of the first fastener faces the lower edge of the notch and abuts against the upper edge of the notch.

[0019] According to this embodiment, as in the embodiment described above, the vertical movement of the first fastener can be restrained by the upper and lower edges of the notch with a simpler structure, without clamping the first support member from above and below with fixed angles or using a ring member. [Effects of the Invention]

[0020] According to the present invention, it is not necessary to cut and remove members fixed to the outer surface of the lower steel column from that outer surface, thereby improving work efficiency. [Brief explanation of the drawing]

[0021] [Figure 1] This is a perspective view showing a robot arm attached to a column using the mounting structure according to the first embodiment of the present invention. [Figure 2] Figure 1 is a perspective view showing an exploded view of the structure of the first support member and the fixing member of the mounting structure. [Figure 3] Figure 1 shows the mounting portion of the first support member of the mounting structure to the column, where (a) is a front view of the main part and (b) is a right side view of (a). [Figure 4] Figure 3 shows details of the mounting section, where (a) is a plan view of the main part, (b) is a front view of the main part, and (c) is a right side view of the main part including the fixing nut. [Figure 5] It is a perspective view of the main part showing the attachment part shown in FIG. 3. [Figure 6] It is a perspective view of the state where the main part configuration of the attachment part shown in FIG. 5 is disassembled. [Figure 7] It is a perspective view for explaining the structure of a fixture and a cable avoiding member attached to a first support member of an attachment structure according to the first embodiment of the present invention. [Figure 8] It is a plan view showing the structure around a cable avoiding member of an attachment structure according to the first embodiment of the present invention. [Figure 9] The attachment part of the first support member of the attachment structure according to the second embodiment of the present invention to a pillar is shown, (a) is a front view of the main part, and (b) is a right side view of (a). [Figure 10] It is a perspective view of the state where the main part configuration of the attachment structure shown in FIG. 9 is disassembled. <00001{03}>The attachment part of the first support member of the attachment structure according to the third embodiment of the present invention to a pillar is shown, (a) is a front view of the main part, (b) is a right side view of (a), and (c) is a cross-sectional view taken along the A-A line of (a). [Figure 12] It is a perspective view of the state where the main part configuration of the fixing structure shown in FIG. 11 is disassembled. [Figure 13] In the attachment part shown in FIG. 3, it is a perspective view of the main part showing a modification example of the detachable unit. [Figure 14] It is a perspective view of the main part in a disassembled state showing a modification example of the detachable unit shown in FIG. 13.

Mode for Carrying Out the Invention

[0022] (First Embodiment) Hereinafter, a first embodiment of an attachment structure according to the present invention will be described in detail based on the drawings. FIG. 1 is a perspective view showing a state where two robot arms are attached to a pillar using the attachment structure according to the present embodiment.

[0023] As shown in Figure 1, a robotic arm 80 is used at construction sites and the like to weld the butt joint 1a between the lower steel column 1A and the upper steel column 1B. The first and second support members 20 and 30 that support the robotic arm 80 are detachably attached to the outer surface of the lower steel column 1A using the mounting structure 10.

[0024] The outer surfaces of the lower steel column 1A and the upper steel column 1B are composed of four outer surfaces: two opposing outer surfaces 1b, 1b and two other opposing outer surfaces 1c, 1c, and are formed by four flat sections and four curved sections. Multiple (in this case, four) projections (also called erection pieces) 2 are welded to predetermined positions on the flat sections of the outer surfaces 1b, 1c of the lower steel column 1A and the upper steel column 1B. These projections 2 are provided to temporarily fix the upper and lower adjacent lower steel column 1A and the upper steel column 1B. Temporary fixing jigs 3 are attached to two projections 2 positioned vertically.

[0025] The temporary fixing jig 3 extends vertically, with its upper end fastened to the upper projection 2 using bolts 4, etc., and its lower end fastened to the lower projection 2 using bolts 4, etc. Although a detailed explanation is omitted here, the temporary fixing jig 3 may be configured to allow adjustment of the distance between the two projections 2 positioned vertically. This makes it possible to adjust the gap between the lower steel column 1A and the upper steel column 1B, as well as the inclination of the upper steel column 1B. The temporary fixing jig 3 is removed from the projection 2 when the welding of the butt joint portion 1a of the lower steel column 1A and the upper steel column 1B is completed, or even during the welding of the butt joint portion 1a when the joint strength between the lower steel column 1A and the upper steel column 1B becomes large enough to support the building under construction.

[0026] Next, the mounting structure 10 will be described with reference to Figures 2 to 6. The mounting structure 10 is a structure in which a first support member 20 that supports the robot arm 80 is detachably fixed to the outer surface 1b of the lower steel column 1A via a fixing unit 11.

[0027] The mounting structure 10 includes a pair of first support members 20 that support the two robot arms 80, a pair of second support members 30 that are supported across the pair of first support members 20, and a pair of rail members 40 that are attached to the upper part of the pair of second support members 30 and guide the movement of the trolley 90 on which the two robot arms 80 are mounted.

[0028] A pair of first support members 20 extend in a horizontal first direction (arrow A direction) and are fixed to opposing outer surfaces 1b of the lower steel column 1A, sandwiching the lower steel column 1A. A pair of second support members 30 extend in a second direction (arrow B direction) that intersects (orthogonal to) the first direction and are supported across the pair of first support members 20, sandwiching the other opposing outer surface 1c of the lower steel column 1A. A pair of rail members 40 are fixed on the pair of second support members 30 and guide the two robot arms 80 in the second direction (arrow B direction). The first direction (arrow A direction) and the second direction (arrow B direction) are parallel or perpendicular to the planar portions of the outer surfaces 1b and 1c of the lower steel column 1A.

[0029] Next, the detailed structure of the first support member 20 will be described with reference to Figure 2. The material and cross-sectional shape of the first support member 20 are not particularly limited, but from the viewpoint of weight reduction, an aluminum alloy is used here, although steel may also be used. As shown in Figure 2, the first support member 20 is formed in an H-shaped cross-section having a pair of flanges 21 and 22 and a web 23 connecting the pair of flanges 21 and 22, and is formed to extend in a predetermined direction (direction of arrow A when attached to the lower steel column 1A). Multiple through holes (also called through-holes) 21a for fastening the first mounting fixture 51, which will be described later, are provided on both sides in the longitudinal direction (direction of arrow A) of the flange 21. Since the multiple through holes 21a are provided along the longitudinal direction of the flange 21, it is possible to adjust the fastening position of the first mounting fixture 51 to the flange 21 in the longitudinal direction (direction of arrow A) of the flange 21.

[0030] Multiple through holes 21b are provided near the longitudinal center of the flange 22 at predetermined intervals along the longitudinal direction of the flange 22 for fastening the fixing angles 12 that constitute the fixing unit 11, which will be described later. The through holes 21b are elongated holes that are long in the longitudinal direction of the flange 22, which allows for fine adjustment of the fastening position of the fixing angles 12 in the longitudinal direction of the flange 22 (direction of arrow A).

[0031] As shown in Figures 2 to 6, the mounting structure 10 of this embodiment includes a pair of first support members 20 that support two robot arms 80, and the first support members 20 are detachably fixed to the outer surface 1b of the lower steel column 1A via a fixing unit 11. The fixing unit 11 includes a fixing angle 12 as a fixing member for fixing the pair of first support members 20, and a detachable unit 13 for detachably attaching the fixing angle 12 to the lower steel column 1A. Therefore, the pair of first support members 20 are detachably fixed to two opposing outer surfaces 1b of the lower steel column 1A by the two fixing units 11. The fixing angle 12 is fixed so that the upper support surface that supports the first support members 20 is horizontal.

[0032] As shown in Figures 3 to 6, the detachable unit 13 is fixed to the outer surface 1b of the lower steel column 1A and includes a receiver 14 that receives the first support member 20 via a fixing angle 12, and a connector 16 that connects the fixing angle 12 to the receiver 14. The receiver 14 is formed by press-forming a metal plate material such as a steel plate, and is formed in a U-shape in cross-section by two opposing rising walls 14a and a connecting wall 14b that connects the two rising walls 14a.

[0033] As shown in Figures 4(b) and 6, the receiving member 14 has a notch 15 formed in the connecting wall 14b. The notch 15 is U-shaped and has an opening at the top. The edge 15a of the notch 15 is formed continuously downward from this opening, and as will be described later, the first fastener 17 abuts against the lower edge 15b.

[0034] The connector 16 is composed of a first fastener 17 and a second fastener 18, which in this embodiment are, for example, a hexagonal bolt and a nut. The first fastener 17 has a head 17a that engages detachably with the receiving member 14, and a shaft portion 17b that extends from the head 17a. The head 17a is hexagonal in plan view and has a large diameter, while the shaft portion 17b is a shaft with a small diameter.

[0035] The shaft portion 17b of the first fastener 17 has a male thread formed from its tip towards its base portion 17c, and the second fastener 18, which has a female thread formed thereon, is fastened to the first fastener 17 by screwing it onto the shaft portion 17b of the first fastener 17. In this embodiment, the male thread is formed up to the base portion 17c (see Figures 4 and 6) of the shaft portion 17b of the first fastener 17, but the shape of the base portion 17c is not particularly limited as long as it can be screwed onto the second fastener 18.

[0036] In this embodiment, the head 17a of the first fastener 17 is detachably locked to the receiving member 14 so as to restrain movement of the outer surface 1b of the lower steel column 1A in the direction normal to the outer surface 1b. Furthermore, the shaft portion 17b of the first fastener 17 protrudes from the notch 15 in the direction normal to the outer surface 1b of the lower steel column 1A. In this state, the base end portion 17c of the shaft portion 17b of the first fastener 17 abuts against the edge portion 15a (specifically, the lower edge portion 15b) of the notch 15.

[0037] More specifically, as shown in Figure 4, the width w1 of the notch 15 is set to be larger than the diameter of the shaft portion 17b and narrower than the width of the head portion 17a and the second fastener 18. In other words, the width w1 of the notch 15 is such that the shaft portion 17b (specifically the base portion 17c) of the first fastener 17 can be inserted into the notch 15, and the first fastener 17 is restrained in the direction normal to the outer surface 1b of the lower steel column 1A.

[0038] Furthermore, as shown in Figure 6, the width w2 (distance between the inner wall surfaces) of the two rising walls 14a, 14a of the receiving device 14 is set to be slightly larger than the width w3 of the head 17a of the first fastener 17. The head (hexagonal head) 17a is set to be housed within the space formed by the two rising walls 14a, 14a and the connecting wall 14b. With the head 17a housed within the space of the receiving device 14, the first fastener 17 becomes immobile and can be attached to and detached from the receiving device 14 from above.

[0039] The receiving members 14 configured in this way are arranged horizontally in pairs on the opposing outer surfaces 1b, 1b of the lower steel column 1A, and are fixed by welding or the like at predetermined intervals corresponding to the width of the four flat sections of the lower steel column 1A. The welded portions are the contact points between the tips of the two rising walls 14a, 14a and the outer surfaces 1b, 1b of the column, and although not shown in the figure, the welded portions are formed with a slight bulge.

[0040] The receiving member 14 is fixed to the outer surface 1b of the lower steel column 1A such that the opening of the notch 15 faces upward, and the first fastener 17 is mounted such that its head 17a enters the space between the two rising walls 14a, 14a of the receiving member 14, and the base end 17c of the shaft portion 17b enters the notch 15. For this reason, the head 17a of the first fastener 17 is detachably locked to the receiving member 14 so as to restrain movement in the direction normal to the outer surface 1b of the lower steel column 1A, and the shaft portion 17b protrudes from the receiving member 14 in the direction normal to the outer surface 1b of the lower steel column 1A. Furthermore, the base end 17c of the shaft portion 17b abuts against the lower edge portion 15b of the notch 15.

[0041] As shown in Figure 2, the fixing angle 12, which is a fixing member constituting the fixing unit 11, has the function of supporting the first support member 20 in a mounted state. Four through holes 12a are formed in the horizontal portion of the fixing angle 12, corresponding to the four through holes 21b of the first support member 20. In addition, two through holes 12b are formed in the vertical portion, into which the shaft portion 17b of the first fastener 17 is inserted.

[0042] The fixing angle 12 is fastened by inserting two through holes 12b into the shaft portions 17b of two first fasteners 17 that protrude from two receiving members 14 fixed to the outer surface 1b of the lower steel column 1A, and screwing in a second fastener (nut) 18. In this way, the head 17a of the first fastener 17 and the second fastener 18, which is the second fastener, can clamp the fixing angle 12 and the receiving members 14, and the fixing angle 12 is detachably fixed to the outer surface 1b of the lower steel column 1A.

[0043] As shown in Figures 1 and 7, cable avoidance members 28 are fixed to both ends of the first support member 20, protruding outward in the width direction (direction of arrow B) of the first support member 20, to prevent the cable 89, which will be described later and is connected to the robot arm 80, from coming into contact with the first support member 20.

[0044] Specifically, the cable avoidance member 28 includes a fixed surface portion 28a that is fixed to both ends of the first support member 20 using bolts 29a and nuts 29b, and an extended portion 28b that protrudes from the fixed surface portion 28a in the width direction (direction of arrow B) of the first support member 20 and extends inward in the longitudinal direction of the first support member 20. The extended portion 28b is formed by bending a pipe or rod.

[0045] Next, we will describe the second support member 30, which is fixed to the upper part of the first support member 20. The material of the second support member 30 is not particularly limited, but from the viewpoint of weight reduction, an aluminum alloy is used here. When attached to the first support member 20, the second support member 30 is formed to extend in the direction of arrow B. Furthermore, the second support member 30 is configured to be separable at the center position in the longitudinal direction (direction of arrow B). Hereinafter, the state in which the second support member 30 has been separated will be referred to as the support member structure 30a.

[0046] As shown in Figure 1, the support member structure 30a is formed in the shape of an elongated frame, having a plurality (in this case, four) of chord members 31 made of pipes or rods extending in the second direction (direction of arrow B), and end plates 32 welded to both ends of the chord members 31. The end plates 32 maintain a constant distance between the four chord members 31. The end plates 32 are also provided with a plurality of through holes into which bolts (not shown) are inserted when connecting the support member structures 30a to form a second support member 30.

[0047] Furthermore, the support member structure 30a is formed as a truss structure that includes a plurality of diagonal members 33, which are made of pipes or rods and are arranged at an angle with respect to the four chord members 31, and a plurality of reinforcing members 34, which are made of pipes or rods and are arranged perpendicular to the four chord members 31.

[0048] As shown in Figure 1, the support member structure 30a is fixed to the first support member 20 using a fixing member 50. As shown in Figure 1, the fixing member 50 includes a plate-shaped first mounting fixture 51 attached to the first support member 20, and a second mounting fixture 52 that fixes two of the four chord members 31 of the support member structure 30a to the first mounting fixture 51. Each support member structure 30a is fixed to the first support member 20 using two first mounting fixtures 51, four second mounting fixtures 52, bolts, and nuts.

[0049] As shown in Figure 1, a pair of rail members 40 are fixed to a pair of second support members 30, which connect two support member structures 30a. The material of the rail members 40 is not particularly limited, but for example, steel can be used. As shown in Figure 1, the rail members 40 include a main body 41 and a pair of rails (also called linear guide rails) 42 fixed to the upper part of the main body 41 using bolts or the like.

[0050] A trolley 90 of a robot arm 80 is slidably engaged with a pair of rails 42. The rail members 40 are fixed to a second support member 30 via rail fixing members 60. The rail fixing members 60 include a third mounting fixture (not shown) attached to a chord member 31 of the second support member 30, and a support plate (not shown) fixed to the third mounting fixture.

[0051] Next, the structure of the robot arm 80 will be briefly described. As shown in Figures 1 and 8, the robot arm 80 is mounted on a trolley 90 that is placed on a rail member 40 and moves along the rail member 40. A cable 89 is connected to the trolley 90 to supply power for the operation of the robot arm 80. The robot arm 80 comprises a turntable 82 that is located on the trolley 90 and can rotate around an axis that extends in the vertical direction, and a base portion 83 that is located on the turntable 82 and extends upward.

[0052] Furthermore, the robot arm 80 includes a first arm 84 positioned on a base 83 and rotatable about an axis extending horizontally, and a second arm 85 connected to the first arm 84 and rotatable about an axis extending horizontally.

[0053] The second arm 85 is equipped with an arm body 86 that rotates along its axial direction, and a third arm 87 is rotatably attached to the tip of the arm body 86. A welding torch 88 is attached to the third arm 87, and the welding torch 88 is connected to a cable 99.

[0054] The robot arm 80 is moved to a predetermined position by the trolley 90, and by driving the turntable 82, the first arm 84, the second arm 85, and the third arm 87, the tip of the welding torch 88 is positioned at the desired location on the butt joint portion 1a of the lower steel column 1A and the upper steel column 1B to perform welding. The robot arm 80 and the trolley 90 may be driven manually or automatically.

[0055] The operation of the mounting structure 10 of this embodiment, configured as described above, will be explained below. When attaching the robot arm 80 to the lower steel column 1A in order to weld the butt joint portion 1a of the lower steel column 1A and the upper steel column 1B, first, the first support member 20 of the mounting structure 10 is fixed to the outer surface 1b of the lower steel column 1A.

[0056] Specifically, the receiving members 14 that constitute the fixing unit 11 are fixed to the outer surface 1b of the lower steel column 1A by welding. In this embodiment, two receiving members 14 are arranged side by side horizontally on each outer surface 1b, but the number is not particularly limited as long as the first support member 20 can be stably fixed. The receiving member 14 has a space formed by two opposing parallel rising walls 14a and a connecting wall 14b that connects them, and a notch 15 is formed in the connecting wall 14b.

[0057] Here, the base end 17c of the shaft portion 17b is inserted into the notch 15 so that the head 17a of the first fastener (connecting bolt) 17 is accommodated in the space of the receiving member 14. As a result, the base end 17c abuts against the lower edge 15b of the notch 15, and the shaft portion 17b protrudes from the notch 15 along the direction normal to the outer surface 1b of the lower steel column 1A. In this way, the first fastener 17 is supported by the receiving member 14 via the notch 15 in a way that prevents rotation.

[0058] Next, the through-hole 12b of the fixing angle 12 is inserted through the shaft portion 17b of the first fastener 17, and the second fastener (nut) 18 is tightened onto the shaft portion 17b. This allows the fixing angle 12 and the receiving member 14 to be clamped between the head portion 17a of the first fastener 17 and the second fastener 18. This allows the fixing angle 12 to be fixed to the lower steel column 1A.

[0059] At this point, the fixing angle 12 is adjusted using the gap between the through hole 12b and the shaft portion 17b so that the fixing angle 12 is horizontal, and the second fastener 18 is tightened against the shaft portion 17b. Next, a bolt is inserted through the through hole 12a formed in the horizontal surface of the fixing angle 12 and the through hole 21b formed in the flange 22 of the first support member 20, and a nut is screwed on to fix the first support member 20 to the lower steel column 1A in a horizontal position with the bolt and nut 25. The other opposing outer surface 1b is also fixed to the first support member 20 in a horizontal position in the same manner.

[0060] As shown in Figures 5 and 7, two first support members 20 are fixed parallel to each other horizontally by a fixing unit 11 along direction A of the lower steel column 1A. Subsequently, as shown in Figures 1 and 8, two second support members 30 are fixed so as to straddle the two first support members 20. Specifically, they are fixed on top of the first support members 20 using two first mounting fixtures 51 and four second mounting fixtures 52, bolts, and nuts that constitute the fixing means. At this time, the second support members 30 can be fixed to the size of the lower steel column 1A using the multiple through holes 21a of the first support members 20 and the multiple through holes 51c of the first mounting fixtures 51. The second support members 30 are fixed on the pair of first support members 20 with the two support member structures 30a connected. Next, the rail fixing member 60 is fixed to the second support member 30 and the pair of rail members 40 are fixed.

[0061] In this way, after fixing the rail members 40 to each second support member 30 along direction B, the trolley 90 of the robot arm 80 is movably mounted on the pair of rail members 40. This allows the robot arm 80 to travel on the trolley 90 along the pair of rail members 40. The robot arm 80 travels along the pair of rail members 40 and can weld the butt joint portion 1a of the lower steel column 1A, joining the upper and lower divided lower steel columns 1A.

[0062] After or during the joining of the butt joint 1a, the temporary fixing jigs 3 attached to the four protrusions 2 are removed. After the joining of the butt joint 1a, the first and second support members 20 and 30 constituting the mounting structure 10 are removed from the lower steel column 1A along with the robot arm 80 installed on the pair of rail members 40.

[0063] First, the robot arm 80 is removed along with the trolley 90 which is mounted on the pair of rail members 40, and the pair of rail members 40 which are fixed to the pair of second support members 30 are removed. Next, the pair of second support members 30 are removed from the pair of first support members 20. The second support members 30 are divided into two support member structures 30a and transported.

[0064] Next, the pair of first support members 20 fixed to the lower steel column 1A with the fixing unit 11 are removed. First, the bolts and nuts 25 of the pair of fixing angles 12 are loosened and the pair of first support members 20 are removed. Then, the pair of second fasteners (nuts) 18 are loosened and the fixing angles 12 are removed from the pair of first fasteners (connecting bolts) 17. After this, the pair of first fasteners 17 are removed from the notches 15 of the support member 14, leaving only the pair of welded support members 14 on the outer surface 1b of the lower steel column 1A.

[0065] In this embodiment, the fixing angle 12 is fixed by tightening a second fastener (nut) 18 onto a shaft portion 17b that protrudes from the notch 15 along the normal direction of the outer surface 1b of the lower steel column 1A. The head 17a of the first fastener (connecting bolt) 17 that constitutes this shaft portion 17b is detachably locked to the receiving member 14. Therefore, it can be easily removed from the receiving member 14. In this way, unlike conventional support pieces, there is no need to fix the member that protrudes in the normal direction of the outer surface of the lower steel column 1A to the lower steel column 1A by welding or the like to the extent that it can support the support member, and there is no need for removal work such as cutting such a member from the lower steel column 1A. As a result, the workability of attaching and detaching the robot arm 80 can be improved.

[0066] (Second Embodiment) A mounting structure according to a second embodiment of the present invention will be described with reference to Figures 9 and 10. The mounting structure 10A of the second embodiment is characterized in that a similar fixing unit 70 is also provided above the first support member 20 in order to stabilize the fixing state of the fixing unit 11 that fixes the first support member 20 in the mounting structure 10 of the first embodiment.

[0067] Specifically, the mounting structure 10A of this embodiment comprises a pair of upper and lower fixing angles (fixing members) 12, 71 and a pair of upper and lower detachable units 13, 72. In the mounting structure 10A of the second embodiment, the configuration other than the pair of upper and lower fixing angles and the pair of upper and lower detachable units is the same as that of the first embodiment, and other substantially equivalent components are denoted by the same reference numerals and detailed descriptions are omitted.

[0068] In the mounting structure 10A of the second embodiment, the first support member 20 is sandwiched from above and below by a pair of upper and lower fixing angles 12 and 71, and is fixed to each of the upper and lower receiving members 14 and 73 via connecting members 16 and 75. The lower fixing unit 11 is the same as in the first embodiment, so a detailed description is omitted.

[0069] In this embodiment, a fixing unit 70 is provided above the first support member 20. The fixing angle 71 and attachment / detachment unit 72 of the fixing unit 70 contact the upper surface of the first support member 20 to prevent it from lifting up. In this embodiment, two sets of fixing units 70 are used, one for the left and one for the right. However, the function can be achieved with just one set, and the following will describe one set in detail.

[0070] The fixing unit 70 includes a fixing angle 71 as a fixing member and a detachable unit 72 for detachably attaching the fixing angle 71 to the lower steel column 1A. The fixing angle 71 abuts against the first support member 20, and the detachable unit 72 detachably attaches the fixing angle 71 to the lower steel column 1A. The detachable unit 72 includes a receiving member 73 fixed to the outer surface 1b of the lower steel column 1A. Similar to the first embodiment, the receiving member 73 has a notch 74 formed therein, and the detachable unit 72 includes a connecting member 75 that connects the receiving member 73 and the fixing angle 71.

[0071] The connector 75 comprises a first fastener (connecting bolt) 75A and a second fastener (nut) 75B. The first fastener 75A has a head 75a that engages with the receiving member 73 and a small-diameter shaft portion 75b extending from the head 75a. The second fastener 75B is screwed onto the shaft portion 75b of the first fastener 75A and fastened to the first fastener 75A, thereby fixing the fixing angle 71 to the outer surface 1b of the lower steel column 1A.

[0072] The fixed angle 71 is provided with an adjustment mechanism 9 that contacts the first support member 20 and adjusts the height of the fixed angle 71. Specifically, the adjustment mechanism 9 comprises a bolt 91 whose shaft portion 91b is screwed into the fixed angle 71 and whose head portion 91a contacts the first support member 20, and a nut 92 that is screwed into the shaft portion 91b.

[0073] In this embodiment, the fixing angle 71 has an L-shaped cross-section formed by a horizontal portion 71a extending horizontally and a vertical portion 71b that is continuous with it and erected vertically. The shaft portion 91b of the bolt 91 is screwed into a threaded hole formed in the horizontal portion 71a, and the bolt 91 can be fixed to the fixing angle 71 by further screwing in a nut 92. In this embodiment, the height of the fixing angle 71 relative to the first support member 20 is adjusted by the bolt 91 and nut 92, but for example, a spacer or the like may be provided between the fixing angle 71 and the first support member 20 to adjust the height.

[0074] In this embodiment, the support member 73 is an inverted version of the support member 14 of the first embodiment, and the support member 73 is formed with a notch 74 that opens downwards. Specifically, similar to the support member 14 of the first embodiment, the support member 73 is formed in a U-shape in cross-section by two parallel rising walls 73a and a connecting wall 73b that connects the two rising walls 73a. In addition, the support member 73 has a downward-facing notch 74 formed in the connecting wall 73b with a lower opening.

[0075] In this embodiment, as shown in Figure 10, the height of the fixing angle 71 is adjusted by the adjustment mechanism 9 until the base end portion 75c of the shaft portion 75b of the upper first fastener 75A abuts against the upper edge portion 74b of the notch 74 formed in the upper receiving 73.

[0076] In this way, in the mounting structure 10A according to the second embodiment, the base end portion 75c of the shaft portion 75b of the upper first fastener 75A abuts against the upper edge portion 74b of the notch 74 formed in the upper receiving member 73. Furthermore, the base end portion 17c of the shaft portion 17b of the lower first fastener 17 abuts against the lower edge portion 15b of the notch 15 formed in the lower receiving member 14.

[0077] As a result, the first support member 20 is fixed to the lower steel column 1A by being sandwiched from above and below by a pair of upper and lower fixing angles 12 and 71, thus preventing the first support member 20 from lifting up. Furthermore, the base end 75c of the upper first fastener 75A abuts against the upper edge 74b of the upper notch 74, and the base end 17c of the lower first fastener 17 abuts against the lower edge 15b of the lower notch 15, so the first support member 20 can be stably restrained in the vertical direction regardless of the movement of the trolley 90 on which the robot arm 80 is mounted. As a result, welding of the butt joint portion 1a by the robot arm 80 can be performed stably and successfully.

[0078] (Third embodiment) Next, a mounting structure according to the third embodiment of the present invention will be described with reference to Figures 11 and 12. The mounting structure 10B of the third embodiment includes a lift-up prevention device 77 as a configuration for stabilizing the fixed state of the fixing unit 11 that fixes the first support member 20 in the mounting structure 10 of the first embodiment.

[0079] The anti-lifting device 77 comprises a ring member 78 shaped to encircle the outer circumference of the receiving device 14 that constitutes the fixing unit 11, and a screw body 79 that is screwed onto the upper part of the ring member 78, extending from the outer circumference towards the inner circumference. In this embodiment, the ring member 78 is made of metal and continuously encircles the outer circumference of the receiving device 14, but a part of it may be cut off as long as the rigidity of the ring member can be ensured. The screw body 79 has the function of preventing upward movement along the notch 15 of the first fastener (connecting bolt) 17 of the connecting device 16. The anti-lifting device 77 is installed by placing the ring member 78 on the outer circumference of the receiving device 14 and sandwiching it between the outer surface 1b of the lower steel column 1A and the fixing angle 12 before fixing the fixing angle 12 with the first fastener (connecting bolt) 17.

[0080] The ring member 78 of the anti-lifting device 77 has a cutout portion 78a (see Figure 12) formed on the column-side surface to avoid the bulging of the weld between the two rising walls 14a of the receiving device 14 and the lower steel column 1A. The ring member 78 is formed by cutting a steel square pipe into rings, and its front shape is a rectangular shape. A screw body 79 is screwed into the upper side of the rectangular shape, and the screw body 79 is movable up and down relative to the ring member 78. When the screw body 79 is screwed in downwards, the tip of the screw body 79 comes into contact with the head 17a of the first fastener 17.

[0081] In the mounting structure 10B of the third embodiment, with the anti-lifting device 77 sandwiched between the lower steel column 1A and the fixing angle 12, the first fastener 17 is inserted through the through hole 12a (see Figure 12) of the fixing angle 12, and the second fastener 18 is screwed in from the tip of the first fastener 17 to fix the fixing angle 12.

[0082] In this state, the ring member 78 is supported so as to be able to move up and down between the fixed angle 12 and the outer surface 1b of the lower steel column 1A. In this embodiment, the screw body 79 is rotated and lowered so that the tip of the screw body 79 presses against the head 17a of the first fastener 17.

[0083] In the mounting structure 10, the first fastener 17 of the fixing unit 11 that fixes the pair of first support members 20 is located within the notch 15 of the upper opening of the receiving member 14. Therefore, if the screw-in state of the second fastener 18 is loose, it may move upward (lift up). However, in the mounting structure 10B of this embodiment, the screw body 79 can be tightened from the outer circumference side of the ring member 78 of the anti-lifting device 77, and the tip of the screw body 79 can press down from above on the head 17a of the first fastener 17 housed in the notch 15. In this way, upward movement of the first fastener 17 housed in the notch 15 can be prevented with a simpler structure, and the fixing state of the first support member 20 is stabilized. In this way, welding of the butt joint portion 1a by the robot arm 80 can be performed stably and successfully.

[0084] In the mounting structure 10 of the first embodiment described above, the receiving member 14 constituting the fixing unit 11 is provided with a notch 15 that opens upward, and in the mounting structure 10A of the second embodiment, the receiving member 73 for fixing the fixing angle 71 is welded by inverting the receiving member 14 of the first embodiment. However, for example, as shown in Figures 13 and 14, the receiving member 14 may be fixed to the lower steel column 1A such that the notch 15 formed in the receiving member 14 extends in the horizontal direction.

[0085] In this embodiment, the upper edge 15d and lower edge 15c of the notch 15 are formed to face each other, and the two receiving members 14 are fixed in such a way that the openings of the notches 15 of the two receiving members 14 face opposite each other horizontally. As a result, the base end 17c of the first fastener 17 housed in the notch 15 faces the upper edge 15d and the lower edge 15e, respectively, and the base end 17c abuts against the upper edge 15d. As a result, the fixing angle 12 can be supported by the receiving member 14 via the first fastener 17. Furthermore, without sandwiching the first support member 20 from above and below with the fixing angles 12 and 71 as in the second embodiment, or using a ring member 78 as in the second embodiment, the vertical movement of the first fastener 17 can be restrained by the upper edge 15d and lower edge 15e of the notch 15 with a simpler structure. Furthermore, by fixing the receiving member 14 having a notch 15, it is possible to prevent the connecting device such as a hexagonal bolt inserted into the notch 15 from falling out, as the notch opens downwards. In Figures 13 and 14, the receiving members 14 are fixed so that the openings of the notches 15 of the two receiving members 14 face opposite each other horizontally, but for example, the receiving members 14 may be fixed so that the openings of the notches 15 of the two receiving members 14 face each other horizontally, and the same effect can be expected by doing so.

[0086] Although embodiments of the present invention have been described in detail above, the present invention is not limited to the embodiments described above, and various design modifications can be made without departing from the spirit of the invention as described in the claims. The present invention allows for adding the configuration of one embodiment to the configuration of another embodiment, substituting the configuration of one embodiment with another embodiment, or deleting a part of the configuration of one embodiment.

[0087] For example, in the receiving and connecting parts that constitute the detachable unit, the first fastener of the connecting part is shown as a hexagonal bolt, but it is not limited to this, and connecting parts with other head shapes can also be used, such as bolts with square heads or bolts with heads that form hexagonal holes.

[0088] Furthermore, in the first embodiment, the fixing unit was provided below the first support member, but as shown in the second embodiment, the fixing unit may be provided only above the first support member, in which case the fixing unit may be provided in the form shown in the third embodiment. [Explanation of symbols]

[0089] 1A: Lower steel column, 1B: Upper steel column, 1a: Butt joint, 1b, 1c: Outer surface, 10, 10A, 10B: Mounting structure, 11: Fixing unit, 12: Fixing angle (fixing member), 13: Detachable unit, 14: Receiving device, 15: Notch, 16: Connector, 17: First fastener (connecting bolt), 17a: Hexagonal head (head), 17b: Shaft, 17c: Base end, 18: Second fastener (nut) ), 20: First support member, 30: Second support member, 40: Rail member, 70: Fixing unit, 71: Fixing angle (fixing member), 72: Detachable unit, 73: Receiving device, 74: Notch, 75: Connector, 75A: First fastener (connecting bolt), 75B: Second fastener (nut), 77: Anti-lifting device, 78: Ring member, 79: Screw body, 80: Robot arm, 90: Trolley

Claims

1. A mounting structure for attaching a robot arm, used for welding the butt joint between two columns consisting of an upper steel column and a lower steel column, to the lower steel column, The aforementioned mounting structure is such that the support member for supporting the robot arm is detachably fixed to the outer surface of the lower steel column via a fixing unit. The aforementioned fixed unit is A fixing member for fixing the aforementioned support member, A receiving device fixed to the outer surface of the lower steel column and having a notch formed therein, A connector that connects the receiving member and the fixing member through the aforementioned notch, It is equipped with, The aforementioned connector is A first fastener comprising a head that detachably engages with the aforementioned receiving, and a shaft portion extending from the head, The second fastener is fastened to the first fastener by screwing it onto the shaft portion, It is equipped with, The head is detachably locked to the receiving device so as to restrain movement in the direction normal to the outer surface, and the shaft portion protrudes from the notch in the direction normal, with the base end of the shaft portion in contact with the edge of the notch. With the shaft portion protruding in the normal direction inserted into the fixing member, the second fastener is fastened to the shaft portion such that the head portion and the second fastener sandwich the fixing member and the receiving member. The aforementioned mounting structure is The support members include a pair of first support members that are arranged on the opposing outer surfaces of the lower steel column so as to sandwich the lower steel column, and that extend in a horizontal first direction, A pair of second support members are supported across the pair of first support members so as to sandwich the other opposing outer surfaces of the lower steel column, and extend in a horizontal second direction intersecting the first direction, It comprises a pair of rail members mounted along the pair of second support members, which guide the movement of the trolley on which the robot arm is mounted, The first support member is fixed to the pair of upper and lower receiving members, which serve as receiving members, via the connecting member, while being sandwiched between the upper and lower fixing members, which serve as fixing members. The base end of the shaft portion of the upper fastener is in contact with the upper edge of the notch formed in the upper receiving, A mounting structure characterized in that the base end of the shaft portion of the first fastener located on the lower side abuts against the lower edge of a notch formed in the receiving member located on the lower side.

2. The aforementioned mounting structure is A ring member that encircles the outer circumference of the aforementioned receiving device, The ring member is provided with a screw body that screws into the upper part of the ring member, extending from the outer circumference towards the inner circumference. The mounting structure according to claim 1, characterized in that the screw body is tightened into the ring member such that the tip of the screw body presses down on the head of the first fastener from above.

3. The notch formed in the aforementioned receiver extends horizontally, The mounting structure according to claim 1, characterized in that the base end of the shaft portion of the first fastener faces the lower edge of the notch and abuts against the upper edge of the notch.

Images