Workpiece rotating device and workpiece supporting device for workpiece rotating device

Abstract

A workpiece support device for supporting a workpiece downward, the workpiece support device being used in a workpiece rotation device having a pair of positioners for rotatably holding an end portion of a long workpiece, the workpiece support device being provided with: a pair of lifting mechanisms; a gantry capable of moving along the workpiece; and a workpiece receiving part which supports the lower surface of the workpiece, the lifting mechanism comprising: a lifting operation part which moves up and down; a control unit that controls the raising / lowering operation unit; a movable pulley part which is axially supported at the working part front end of the lifting working part; and a cord-shaped body wound around the movable pulley part, one end side of the cord-shaped body being connected to the movable part on the workpiece receiving part side, and the other end side of the cord-shaped body being fixed to the fixed part.

Description

Technical Field

[0001] The present invention relates to a workpiece rotating device for holding a long workpiece so as to be rotatable about a rotation axis along the longitudinal direction, and a workpiece supporting device for the workpiece rotating device for supporting the workpiece rotated by the workpiece rotating device from below. Background Art

[0002] Typically, in a welding system that uses a welding robot to weld a long workpiece, a workpiece rotating device is used to axially rotate the two ends of the horizontally extending long workpiece in order to arrange the welding position of the workpiece within the movable range of the welding robot.

[0003] As a previous workpiece rotation device, a workpiece rotation device described in patent document 1 is disclosed, which includes a first rotation locator that holds one end side of the workpiece so that it can rotate along the axis, a second rotation locator that holds the other end side of the workpiece so that it can rotate along the axis, and a track that supports the first rotation locator and the second rotation locator so that they can slide.

[0004] Prior art literature

[0005] Patent Literature

[0006] Patent Document 1: Japanese Patent Application Laid-Open No. 2020-189318 Summary of the Invention

[0007] Problems to be solved by the invention

[0008] According to the workpiece rotating device described in Patent Document 1, the welding part of the long workpiece is smoothly arranged within the movable range of the welding robot, thereby improving the efficiency of the welding operation. However, the workpiece rotating device has the following problems: in order to maintain the two end sides of the long workpiece, the workpiece is bent downward due to its own weight, and there is a possibility that the welding position performed by the welding robot will be offset. Similarly, depending on the weight and length of the workpiece, there is also the possibility that the workpiece will fall from the positioner when an external force such as a collision with the robot is applied. As a countermeasure for these problems, it is considered to use a workpiece support device between the first rotary positioner and the second rotary positioner to support the workpiece from below. When using a workpiece support device, a method of positioning and controlling the height according to the cross-sectional dimensions of the workpiece is usually applied. However, this method requires a high-rigidity drive system such as a servo motor and a feed screw, which makes the device structure complicated and therefore expensive. In addition, the device itself becomes larger, so there is a risk of interference with other devices such as the welding robot.

[0009] The present invention is completed in view of the above situation, and its purpose is to provide a workpiece rotating device that holds a long workpiece so that it can rotate around a rotation axis along the length direction, and a workpiece supporting device for the workpiece rotating device, which has a simple and compact structure and supports the workpiece from below.

[0010] Solutions to Problems

[0011] The above-mentioned object of the present invention is achieved by the following structure.

[0012] [1] A workpiece support device for a workpiece rotating device, which is used to rotate the workpiece around a rotation axis by holding the ends of a long workpiece with a pair of positioners that can rotate around a rotation axis along the length of the workpiece, and to support the middle portion of the workpiece in the length direction from below.

[0013] The workpiece support device for the workpiece rotating device is characterized in that:

[0014] The workpiece support device comprises:

[0015] A pair of lifting mechanisms;

[0016] a platform on which the pair of lifting mechanisms are mounted and which is movable along the length direction of the workpiece; and

[0017] a workpiece receiving portion, which is provided in a manner spanning between the pair of lifting mechanisms and supports the lower surface of the workpiece,

[0018] The lifting mechanism comprises:

[0019] Lifting working part, its working part moves up and down;

[0020] a control unit for controlling the working force of the lifting working unit;

[0021] a movable pulley portion, the shaft of which is supported at the front end of the working portion of the lifting working portion; and

[0022] A cable-like body is wound around the movable pulley portion, one end of the cable-like body is connected to the movable portion on the workpiece receiving portion side, and the other end of the cable-like body is fixed to the fixing portion.

[0023] [2] A workpiece support device for a workpiece rotating device according to [1], wherein:

[0024] The lifting working part is provided as a cylinder with a locking function.

[0025] The front end of the working part is set as the front end of the working rod of the cylinder,

[0026] The control unit controls the operation of the cylinder via a pressure regulating valve.

[0027] [3] A workpiece support device for a workpiece rotating device according to [1], wherein:

[0028] The stand is connected to a moving end of a cable bracket laid along a moving direction of the stand.

[0029] [4] A workpiece support device for a workpiece rotating device according to [2], wherein:

[0030] The workpiece support device for the workpiece rotating device is provided with a storage unit that pre-stores information related to the workpiece and the relationship between the workpiece's own weight deflection.

[0031] The control unit controls the pressure of the air cylinder based on the information on the workpiece acquired from the storage unit and the information indicating the relationship between the workpiece's own weight deflection.

[0032] [5] The workpiece support device for the workpiece rotating device according to [4], wherein:

[0033] The workpiece support device used by the workpiece rotating device is provided with:

[0034] a displacement sensor for detecting a vertical position of the movable portion; and

[0035] a rotation sensor that detects the rotational position of the positioner,

[0036] The control unit calculates a target height of the workpiece receiving portion based on the rotational position of the workpiece obtained by the rotation sensor, and controls the pressure of the air cylinder based on the displacement sensor so that the workpiece receiving portion reaches the target height.

[0037] [6] A workpiece rotating device comprising a positioner for holding both ends of a long workpiece and rotating the workpiece about a rotation axis along the longitudinal direction, and a single or multiple workpiece support devices for supporting the longitudinal mid-portion of the workpiece from below.

[0038] The workpiece rotating device is characterized in that:

[0039] The workpiece support device comprises:

[0040] A pair of lifting mechanisms;

[0041] a frame supporting the pair of lifting mechanisms so as to be movable along the longitudinal direction of the workpiece; and

[0042] The workpiece receiving portion is provided in a manner of being bridged between the pair of lifting mechanisms.

[0043] The lifting mechanism comprises:

[0044] A lifting working part, which moves the working part up and down;

[0045] a control unit for controlling the working force of the lifting working unit;

[0046] a movable pulley portion, the shaft of which is supported at the front end of the working portion of the lifting working portion; and

[0047] A cord-like body is wound around the movable pulley portion, one end of the cord-like body is connected to the workpiece receiving portion, and the other end of the cord-like body is fixed to a fixing portion.

[0048] [7] The workpiece rotating device according to [6], wherein:

[0049] The workpiece rotating device comprises:

[0050] a control unit that controls the positioner; and

[0051] a laser sensor that detects the distance to the workpiece support device,

[0052] The workpiece support device is provided with a reflecting portion that reflects the laser light irradiated from the laser sensor.

[0053] Effects of the Invention

[0054] According to the present invention, the workpiece receiving portion, which supports the long workpiece from below, is connected to the front end of the working portion of the elevating working portion via the movable pulley. This increases the lifting capacity of the workpiece receiving portion relative to the lifting capacity of the working portion of the elevating working portion. Consequently, the stroke length of the front end of the working portion of the elevating working portion can be shortened, making the workpiece support device as a whole simple and compact, achieving low costs and preventing interference with other devices such as welding robots. BRIEF DESCRIPTION OF THE DRAWINGS

[0055] Figure 1 It is a side view showing the workpiece rotating device of the present invention.

[0056] Figure 2 It is a perspective view of the front surface of the workpiece support device.

[0057] Figure 3 It is a perspective view of the rear surface of the workpiece support device.

[0058] Figure 4 It is a diagram showing a lifting mechanism.

[0059] Figure 5 It is a main part front view showing the detection part of the support device. DETAILED DESCRIPTION

[0060] Hereinafter, the structure of the workpiece rotating device to which the present invention is applied will be described with reference to the accompanying drawings. It should be noted that the drawings are prepared for the purpose of explaining the present invention, and the embodiments of the present invention are not limited to the contents of the drawings.

[0061] (Overall structure)

[0062] First, based on Figure 1 The overall structure of the workpiece rotating device to which the present invention is applied will be described. Figure 1 1 is a side view showing a workpiece rotating device according to the present invention. The workpiece rotating device 1 includes a first rotation positioner 2 , a second rotation positioner 3 , a rail 4 , a workpiece supporting device 20 , and a supporting device detection unit 50 .

[0063] The first and second rotary positioners 2 and 3 rotatably hold the left and right ends of a long workpiece (not shown). A track 4 is laid along the long workpiece supported by the first and second rotary positioners 2 and 3. One or more workpiece support devices 20 are arranged on the track 4, providing downward support for the longitudinal midway portion of the workpiece. A support device detector 50 detects the position of the workpiece support device 20, which is movable along the track 4.

[0064] In the example shown in the figure, two workpiece support devices 20 are arranged on the rail 4. The one closer to the first rotary positioner 2 is set as the first workpiece support device 20A, and the one closer to the second rotary positioner 3 is set as the second workpiece support device 20B.

[0065] In the following embodiments, the direction in which the rails extend is referred to as the front-to-back direction. For convenience, the direction toward the first rotary positioner 2 is referred to as the front direction, and the direction opposite the front-to-back direction is referred to as the rear direction. Furthermore, the transverse directions perpendicular to the extending directions of the pair of rails are referred to as the left-to-right direction.

[0066] The first rotary positioner 2 includes a support portion 8, a holding portion 9, and a bearing portion 10A. Similarly, the second rotary positioner 3 includes a support portion 8, a holding portion 9, and a driving portion 10B.

[0067] The support portion 8 is a vertically extending columnar member that moves along the rail 4. A holding portion 9 rotatably holds the end of the workpiece above the support portion 8. The drive portion 10B of the second rotary positioner 3 rotationally drives the holding portion 9. Furthermore, the bearing portion 10A of the first rotary positioner 2 rotates under the driving force of the drive portion 10B, which is transmitted via the workpiece (not shown) supported by the workpiece rotating device 1.

[0068] The support portion 8 has a support base 8a at its lower end that is slidably inserted into the rail 4. A plurality of ribs 8b, formed of vertically extending plate-like members, are arranged on the circumferential surface of the lower portion of the support portion 8. A retaining portion 9 is rotatably supported on the upper portion of the support portion 8.

[0069] The holding portion 9 is provided with a holding plate 11 , web holding bodies 12 , 13 , and flange holding bodies 14 , 14 .

[0070] The holding plate 11 is a rectangular plate-shaped member provided on the upper portion of the support portion 8 , and a central portion thereof is rotatably supported by the bearing portion 10A and the driving portion 10B.

[0071] The web retainers 12 and 13 include a first, plate-shaped web retainer 12 that supports the web of the H-beam from below, and a pair of second web retainers 13 and 13 that sandwich the web of the H-beam placed on the first web retainer 12 in the thickness direction. The first and second web retainers 12 and 13 are arranged side by side along the short sides of the retaining plate 11 at the center of the longitudinal direction of the retaining plate 11. The spacing between the first and second web retainers 12 and 13 is adjustable. In other words, the web retainers 12 and 13 can sandwich the web of the H-beam, which is a long workpiece.

[0072] The flange holders 14, 14 are a pair of plate-shaped members disposed at both ends of the holding plate 11 in the longitudinal direction. The pair of flange holders 14, 14 are configured to be positionally adjustable along the longitudinal direction of the holding plate 11. Specifically, the flange holders 14, 14 can clamp the upper and lower flanges of the H-beam by adjusting the spacing between them according to the workpiece being held.

[0073] Thus, the holding portion 9 can stably hold the end portions of H-shaped steels of various sizes and types.

[0074] It should be noted that the holding portion 9 can hold any workpiece whose end portion has a cross-sectional shape that can be clamped by the web holding members 12 , 13 or the flange holding members 14 , 14 . The workpiece that can be held by the holding portion 9 is not limited to long H-shaped steel.

[0075] A pair of rails 4 are laid along the long workpiece. The rails 4 include a reinforcing member 4a, a guide groove 4b, and a support device rail portion 4c.

[0076] The reinforcement member 4a is a sleeper-like member provided so as to span between the pair of rails 4, 4. A plurality of the reinforcement members 4a are arranged side by side at predetermined intervals along the extending direction of the rails 4.

[0077] The guide grooves 4b, 4b are formed on the opposing surfaces of the pair of rails 4, 4. The first rotary positioner 2 and the second rotary positioner 3 can be moved along the rails 4 by inserting the left and right sides of the support 8a into the pair of guide grooves 4b, 4b.

[0078] The support rails 4c are upwardly projecting portions extending along the rails 4 on the left and right inner sides of the pair of rails 4. By placing the workpiece support 20 on the support rails 4c, the workpiece support 20 can be supported so as to be movable along the rails 4.

[0079] A cable holder 15 extending along the rail 4 is provided on one side of the rail 4. The cable holder 15 comprises a belt-shaped receiving body 15A for receiving and protecting the cable connected to the workpiece support device 20, and a guide portion 15B extending along the rail 4 and formed into a U-shape open at the top so as to guide the receiving body 15A. Figure 1 The end of the storage body 15A is connected to the side of the platform 21 that moves along the rail 4.

[0080] Thus, even when the stand 21 to which the end portion of the cable extending along the rail 4 is connected moves along the rail 4 , the housing 15A housing the cable is smoothly guided within the guide portion 15B.

[0081] Next, based on Figures 1 to 4 The workpiece support device 20 will be described. Figure 2 as well as Figure 3 It is a front surface stereogram and a rear surface stereogram of the workpiece support device, Figure 4 The workpiece support device 20 includes a platform 21 , a pair of guide bodies 22 , 22 , a workpiece receiving portion 30 , a pair of lifting mechanisms 40 , 40 , and a control unit 100 .

[0082] The platform 21 is a plate-shaped member extending horizontally between the pair of rails 4, 4. The pair of guide bodies 22, 22 are a pair of vertically oriented columnar members extending upward from the left and right ends of the platform 21. The workpiece receiving portion 30 is a plate-shaped member extending horizontally between the pair of guide bodies 22, 22, and is configured to be able to be raised and lowered while maintaining a posture perpendicular to the pair of guide bodies 22, 22. A pair of lifting mechanisms 40, 40 utilizes air cylinders 41 provided on the guide bodies 22, 22, respectively, to raise and lower the workpiece receiving portion 30.

[0083] The gantry 21 is guided so as to be movable along the extending direction of the rail 4 while maintaining an attitude perpendicular to the extending direction of the rail 4 .

[0084] Guide bodies 22 and lifting mechanisms 40 are provided above the left and right ends of the platform 21. A support plate 24, a rail engaging portion 25, and a reflector 26 are provided below the left and right center of the platform 21.

[0085] The support plate 24 is a rectangular plate-like member supported below the center of the gantry 21 in the left-right direction. The support plate 24 extends in the left-right direction, spanning between the pair of support device rails 4c, 4c. The support plate 24 is formed to be wider in the front-to-back direction than the gantry 21 in a plan view.

[0086] The support plate 24 is connected to the frame 21 side by first connecting members 24a, 24a in the front-to-back direction and second connecting members 24b, 24b in the front-to-back direction. A pair of first connecting members 24a, 24a are arranged on both left and right ends and are mounted so as to fit into the lower side of the frame 21. The second connecting members 24b, 24b are mounted so as to bridge each other on the upper end of the U-shaped first connecting member 24a. In other words, the first connecting members 24a, 24b surround the frame 21.

[0087] It should be noted that a pair of upper and lower limiting pins 29, 29 are provided on the rear end side of the second connecting member 24b to support the workpiece receiving portion 30 at the lower limit position. Figure 2 as well as Figure 3 .

[0088] The rail engaging portions 25, 25, 25, 25 are respectively provided at the four corners of the lower surface side of the support plate 24, which are the ends in the front-back direction and the left-right direction. A groove portion in the front-back direction is formed in each rail engaging portion 25, 25, 25, 25, which allows the support device to be guided and engaged with the rail portion 4c. Figure 2 as well as Figure 3 .

[0089] Thus, the interval between the rail engagement portions 25 and 25 arranged in the front-rear direction is configured to be wider than the front-rear width of the platform 21 , and thus the workpiece support device 20 can be stably supported on the rail 4 .

[0090] The reflector 26 is fixed to a mounting hole 24c formed on the upper surface side of the left-right center side of the support plate 24. The reflector 26 includes a reflecting mirror (not shown) for reflecting the laser beam.

[0091] Thus, by irradiating the reflector 26 with laser light from a predetermined position, the position on the rail 4 of the workpiece support device 20 where the reflector 26 is provided can be detected.

[0092] Furthermore, the reflector 26 can be disposed in an empty space formed between the pair of rails 4 and 4 and below the platform 21 when viewed in the front-rear direction.

[0093] In addition, two groups of mounting holes 24c are arranged in the left-right direction. Thus, the first reflector 26A mounted on the first workpiece support device 20A and the second reflector 26B mounted on the second workpiece support device 20B can be offset in the left-right direction. Figure 1 as well as Figure 3 .

[0094] The guide body 22 includes a lifting guide portion 27 and a receiving guide portion 28 .

[0095] The lifting guides 27 and 27 are provided on the opposing surfaces of the pair of guide bodies 22 and 22 , respectively. The receiving guides 28 and 28 are provided on the rear surfaces of the pair of guide bodies 22 , respectively.

[0096] The lifting guide portion 27 includes a linear rail 27 a extending in the up-down direction along the guide body 22 at the upper half of the guide body 22 , and a rail receiving portion 27 b receiving the linear rail 27 a .

[0097] The rail housing portion 27b includes a rail cover 27b1 extending along the linear rail 27a and disposed between the linear rail 27a and the cylinder 41, and a pair of side covers 27b2, 27b2 covering the side surfaces of the linear rail 27a in the front-rear direction. A pair of insertion grooves 27b3 along the linear rail 27a are formed between the rail cover 27b1 and the side covers 27b2. Figure 3 .

[0098] The receiving guide portion 28 includes a linear rail 28 a extending in the vertical direction along the guide body 22 from the lower end side to the upper end side of the guide body 22 , and a rail receiving portion 28 b receiving the linear rail 28 a .

[0099] The rail receiving portion 28b includes a rail cover 28b1 extending along the linear rail 28a and disposed between the linear rail 28a and the end of the workpiece receiving portion 30, and a pair of side covers 28b2, 28b2 covering the left and right sides of the linear rail 28a. A pair of insertion grooves 28b3 along the linear rail 28a are formed between the rail cover 28b1 and the side covers 28b2. Figure 3 .

[0100] The shape and material of the workpiece receiving portion 30 are not limited, but in the present embodiment, it is an H-shaped steel extending in the left-right direction (hereinafter also referred to as H-shaped steel) and includes a placement portion 31 and a guided portion 32 .

[0101] The placement portion 31 is the upper surface of an upper flange of an H-shaped steel extending in the left-right direction, and is provided with a buffer made of an elastic member or the like that directly supports the workpiece from below.

[0102] The guided portions 32, 32 are a pair of plate-shaped members fixed to the front surfaces of the left and right ends of the workpiece receiving portion 30. A linear guide (not shown) is mounted and fixed to the front surfaces of the guided portions 32, sliding along the linear rail 28a of the receiving guide portion 28. The linear guide is connected to the guided portion 32 via a pair of insertion grooves 28b3, 28b3 formed between the rail cover 28b1 and the side cover 28b2.

[0103] That is, the linear guides provided on the guided portions 32, 32 are raised and lowered along the linear rails 28a, 28a provided on the receiving guide portion 28. Thus, the workpiece receiving portion 30 extending in the left-right direction can be smoothly raised and lowered while maintaining a posture substantially perpendicular to the vertical direction in which the pair of guide bodies 22, 22 extend.

[0104] The lifting mechanism 40 includes a cylinder 41, a movable pulley 42, and a cable-shaped body 43. Figures 2 to 4 .

[0105] The air cylinder 41 includes a cylinder portion 41 a and a piston rod 41 b .

[0106] The cylinder portion 41a is formed into a vertically cylindrical shape, and its lower end is firmly screwed to the upper surface of the stand 21. The piston rod 41b is a vertically operating portion that protrudes upward from the upper end of the cylinder portion 41a.

[0107] The air cylinder 41 is a double-acting single-rod cylinder with a locking function. A five-port solenoid valve is used as a pressure regulating control valve.

[0108] Furthermore, a connection path for supplying and exhausting air for controlling the extension and contraction of the piston rod 41 b is connected to the cylinder portion 41 a of the air cylinder 41 via the cable holder 15 .

[0109] The movable pulley portion 42 includes a shaft support portion 42a, a sprocket 42b, and a cover 42c. The movable pulley portion 42 is provided with a linear guide (not shown) that slides along the linear rail 27a between the movable pulley portion 42 and the lifting guide portion 27.

[0110] The shaft support portion 42a is fixed to the front end of the piston rod 41b and is a rod-shaped member in the left-right direction that is moved up and down integrally with the piston rod 41b.

[0111] The sprocket 42b is rotatably supported by the shaft support portion 42a, and is wound around a cord-like body 43 formed of a drive chain.

[0112] The cover 42c is formed in a box shape with its lower side open so as to accommodate the sprocket 42b.

[0113] The linear guide is connected to the movable pulley portion 42 via a pair of insertion grooves 27b3 and 28b3 formed between the rail cover 27b1 and the side cover 27b2. Specifically, the linear guide is fixed to the shaft support portion 42a or the cover body 42c.

[0114] That is, the linear guides provided on the movable pulleys 42 and 42 are moved up and down along the linear rails 27a and 27a provided on the lifting guides 27 and 27. Thus, the piston rod 41b of the air cylinder 41 can be smoothly moved up and down along the pair of guide bodies 22 and 22.

[0115] The cable-like body 43 is a drive chain that can be wound around the sprocket 42 b .

[0116] The end of one side of the cable-like body 43 is connected to the movable part 44 provided on the left and right ends of the workpiece receiving part 30 at the rear lower side of the sprocket 42b. The movable part 44 is a member provided in a manner that is fitted into the web of the front surface of the workpiece receiving part 30 made of H-shaped steel, and is firmly fixed to the end side of the workpiece receiving part 30. This structure can be referred to Figure 2 as well as Figure 4 .

[0117] The other end of the cable-like body 43 is connected to the fixing portion 45 fixed to the left and right ends of the frame 21 at the front lower side of the sprocket 42b. The fixing portion 45 is an L-shaped member that contacts the lower surface and side surface of the frame 21 and is firmly fixed to the frame 21. Figure 4 .

[0118] As described above, when the sprocket 42b rises as the piston rod 41b extends, the lifting mechanism 40 raises the workpiece receiving portion 30, which is connected to the movable portion 44 via the cable 43 wound around the sprocket 42b. Specifically, the lifting mechanism 40 utilizes the movable pulley, so that the amount of elevation of the workpiece receiving portion 30 is approximately twice the amount of extension of the piston rod 41b.

[0119] It should be noted that the movable pulley portion 42 and the cable-like body 43 can be configured to function in the same manner and are not limited to the above-described configuration. For example, a pulley (not shown) can be used in place of the sprocket 42b, or a drive belt (not shown) can be used in place of the drive chain 43. Furthermore, the lifting mechanism 40 can also replace the cylinder 41, movable pulley portion 42, and cable-like body 43, for example, by employing a multiple-speed, multiple-stroke mechanism comprised of a pair of drive motors (not shown), an output gear, and a pair of rack and pinion gears.

[0120] Next, based on Figure 5The support device detection unit 50 will be described. Figure 5 : This is a front view showing the main part of the support device detection unit. The support device detection unit 50 is arranged between a pair of rails 4, 4 and is set on one end side of the extension direction of the rail 4, or on the support platform 8a side of the first rotary positioner 2 or the second rotary positioner 3. In the example shown in the figure, the support device detection unit 50 is set on the support platform 8a side of the second rotary positioner 3. This structure can be referred to Figure 1 as well as Figure 5 .

[0121] The support device detection unit 50 includes a laser sensor 51 , a support bracket 52 that suspends and supports the laser sensor 51 so as to be movable left and right, an actuator 53 that controls the left and right position of the laser sensor 51 supported by the support bracket 52 , and a solenoid valve 54 that controls the actuator 53 .

[0122] The laser sensor 51 includes a light projector 51A that irradiates laser light toward the reflector 26 provided on the workpiece support device 20 side, and a light receiver 51B that receives the laser light reflected from the reflector 26 .

[0123] The support bracket 52 includes a pair of left and right vertical support columns 52a, 52a, and a beam 52b connecting the upper ends of the support columns 52a, 52a. An actuator 53 is provided on the beam 52b, which suspends and supports the laser sensor 51 so that it can slide along the beam 52b. In the illustrated example, a rodless cylinder is used as the actuator 53.

[0124] The rodless cylinder 53 can control the left and right position of the laser sensor 51 on the beam 52b via the solenoid valve 54. The structure of the actuator 53 is not limited to the rodless cylinder 53 as long as it can control the left and right position of the laser sensor 51.

[0125] The control unit 100 is housed in a storage box located on the front side of the upper surface in the left-right center of the gantry 21. The upper end of the control unit 100 is located below the placement portion 31 of the workpiece receiving unit 30, which has been lowered to its lower limit. A CPU, GPU, GPGPU, or the like is used as the control unit 100.

[0126] Thus, the control unit 100 can be arranged with good space efficiency in the empty space formed on the upper surface of the platform 21 in front of the workpiece receiving unit 30 .

[0127] The control unit 100 controls the pressure regulating control valve (not shown) in the cylinder 41a to control the extension and contraction of the piston rod 41b and the switching to the fixed state.

[0128] (Effect)

[0129] According to the above-described configuration, the workpiece support device 20 can control the vertical position of the workpiece receiving portion 30 by controlling the extension and contraction of the air cylinder 41 using the control unit 100. Furthermore, when the workpiece support device 20 supports the workpiece downward, the support force of the workpiece receiving portion 30 in a manner that pushes back the lower surface of the workpiece can also be adjusted.

[0130] Thus, the workpiece support device 20 can smoothly and efficiently support the longitudinal midway portion of the long workpiece supported by the workpiece rotating device 1 so as to be rotatable. In addition, by supporting the workpiece from below with an appropriate supporting force, the long workpiece can be prevented from being bent under the action of its own weight.

[0131] The control unit 100 also includes a storage unit (not shown) that pre-databases and stores information related to the workpiece, such as its cross-sectional shape, cross-sectional dimensions, weight, length, and material, as well as information indicating the relationship between this information and the workpiece's own-weight deflection. The storage unit may include a RAM (volatile storage area), a ROM (non-volatile storage area), an HDD, or the like. It should be noted that the storage unit may be built into the control unit 100 or installed on a server connected via a network.

[0132] Thus, the workpiece support device 20 can support the workpiece downward in a manner that minimizes self-weight deflection by controlling the position on the rail 4 that supports the workpiece downward and the pressure of the cylinder 41 that raises and lowers the workpiece receiving portion 30 based on the database.

[0133] Alternatively, a configuration may be employed in which a displacement detection sensor (not shown) is provided on the workpiece receiving portion 30 or the movable portion 44 of the workpiece support device 20 to detect the height position of the workpiece receiving portion 30. In this manner, the control unit 100 can calculate the target height of the workpiece receiving portion based on information related to the workpiece and the rotational position of the workpiece, and control the pressure of the air cylinder 41 so that the workpiece receiving portion 30 reaches the target height. This allows for more precise control of the vertical position of the workpiece receiving portion 30.

[0134] Furthermore, by using a locking air cylinder 41 in the lifting mechanism 40, the lifting position of the workpiece receiving portion 30, which supports the workpiece from below, can be securely maintained. In other words, the workpiece support device 20 can stably support the workpiece even if it falls from the first rotary positioner 2 and the second rotary positioner 3. Furthermore, the structure of the workpiece support device 20, which supports the workpiece from below, is simplified, and manufacturing costs can be kept low.

[0135] Furthermore, the lifting mechanism 40 can increase the lifting amount of the workpiece receiving portion 30 relative to the extension amount of the cylinder 41 by configuring a double stroke mechanism using the movable pulley portion 42 and the rope-shaped body 43 .

[0136] This allows the overall vertical width of the workpiece support 20 to be compact. This also allows the height of the rotation axes of the first and second rotary positioners 2 and 3 to be kept low, improving workability. Furthermore, the upper end of the workpiece support 20 does not protrude significantly above the rotation axes of the first and second rotary positioners 2 and 3, making it less likely that the workpiece support 20 will obstruct the movement of the welding robot.

[0137] The support device detection unit 50 can detect the accurate position of the first workpiece support device 20A on the track 4 by irradiating the laser light forward from the laser sensor 51 moved to the right side of the beam portion 52b by the rodless cylinder 53 and receiving the laser light reflected by the first reflector 26A installed on the first workpiece support device 20A. Similarly, the support device detection unit 50 can detect the accurate position of the second workpiece support device 20B on the track 4 by irradiating the laser light forward from the laser sensor 51 moved to the left side of the beam portion 52b by the rodless cylinder 53 and receiving the laser light reflected by the second reflector 26B installed on the second workpiece support device 20B. This structure can be referred to Figure 1 as well as Figure 5 .

[0138] Thereby, the entire support device detection portion 50 can be configured simply and compactly.

[0139] Furthermore, the support device detection unit 50 can accurately detect the position of the first workpiece support device 20A and the position of the second workpiece support device 20B on the rail 4 that supports the long workpiece downward.

[0140] It should be noted that the present invention is not limited to the above-mentioned embodiments. Combining the various structures of the embodiments with each other, and making changes and applications based on the description in the specification and well-known technologies by those skilled in the art are also intended by the present invention and included in the scope of protection requested.

[0141] As described above, the following matters are disclosed in this specification.

[0142] (1) A workpiece support device for a workpiece rotating device, which is used to rotate the workpiece around a rotation axis by holding the ends of a long workpiece as a pair of positioners that can rotate around a rotation axis along the length of the workpiece, and to support the middle portion of the workpiece in the length direction from below,

[0143] The workpiece support device for the workpiece rotating device is characterized in that:

[0144] The workpiece support device comprises:

[0145] A pair of lifting mechanisms;

[0146] a platform on which the pair of lifting mechanisms are mounted and which is movable along the length direction of the workpiece; and

[0147] a workpiece receiving portion, which is provided in a manner spanning between the pair of lifting mechanisms and supports the lower surface of the workpiece,

[0148] The lifting mechanism comprises:

[0149] Lifting working part, its working part moves up and down;

[0150] a control unit for controlling the working force of the lifting working unit;

[0151] a movable pulley portion, the shaft of which is supported at the front end of the working portion of the lifting working portion; and

[0152] A cable-like body is wound around the movable pulley portion, one end of the cable-like body is connected to the movable portion on the workpiece receiving portion side, and the other end of the cable-like body is fixed to the fixing portion.

[0153] According to this structure, the workpiece receiving portion, which supports the long workpiece from below, is connected to the front end of the working portion of the elevating working portion via the movable pulley. Therefore, the lifting amount of the workpiece receiving portion is greater than the lifting amount of the working portion of the elevating working portion. This shortens the stroke length of the front end of the working portion of the elevating working portion, thereby making the workpiece support device more compact overall.

[0154] (2) The workpiece support device for the workpiece rotating device according to (1), wherein:

[0155] The lifting working part is provided as a cylinder with a locking function.

[0156] The front end of the working part is set as the front end of the working rod of the cylinder,

[0157] The control unit controls the operation of the cylinder via a pressure regulating valve.

[0158] According to this structure, by configuring the lifting part as a cylinder, the workpiece receiving part supporting the workpiece from below can be brought into contact with the workpiece with an appropriate force. In addition, by configuring the cylinder as a locking function for locking the lifting operation, even if the workpiece receiving part has a simple structure, it can stably support a heavy workpiece.

[0159] (3) The workpiece support device for the workpiece rotating device according to (1) or (2), wherein:

[0160] The stand is connected to a moving end of a cable bracket laid along a moving direction of the stand.

[0161] According to this configuration, the workpiece support portion to which the cable holder is connected can be smoothly moved along the moving direction of the platform.

[0162] (4) The workpiece support device for the workpiece rotating device according to (2) or (3), wherein:

[0163] The workpiece support device for the workpiece rotating device is provided with a storage unit that pre-stores information related to the workpiece and the relationship between the workpiece's own weight deflection.

[0164] The control unit controls the pressure of the air cylinder based on the information on the workpiece acquired from the storage unit and the information indicating the relationship between the workpiece's own weight deflection.

[0165] According to this configuration, the workpiece support portion can support the long workpiece downwardly while taking into account the deflection of the workpiece under its own weight, thereby enabling the long workpiece to be held with greater precision.

[0166] (5) The workpiece support device for the workpiece rotating device according to any one of (2) to (4), wherein:

[0167] The workpiece support device used by the workpiece rotating device is provided with:

[0168] a displacement sensor for detecting a vertical position of the movable portion; and

[0169] a rotation sensor that detects the rotational position of the positioner,

[0170] The control unit calculates a target height of the workpiece receiving portion based on the rotational position of the workpiece obtained by the rotation sensor, and controls the pressure of the air cylinder based on the displacement sensor so that the workpiece receiving portion reaches the target height.

[0171] According to this configuration, the vertical position of the workpiece receiving portion can be accurately detected, and thus the workpiece receiving portion can support the long workpiece from below with higher precision.

[0172] (6) A workpiece rotating device comprising a positioner for holding both ends of a long workpiece and rotating the workpiece about a rotation axis along the longitudinal direction, and a single or multiple workpiece support devices for supporting the longitudinal midway portion of the workpiece from below.

[0173] The workpiece rotating device is characterized in that:

[0174] The workpiece support device comprises:

[0175] A pair of lifting mechanisms;

[0176] a frame supporting the pair of lifting mechanisms so as to be movable along the longitudinal direction of the workpiece; and

[0177] The workpiece receiving portion is provided in a manner of being bridged between the pair of lifting mechanisms.

[0178] The lifting mechanism comprises:

[0179] Lifting working part, its working part moves up and down;

[0180] a control unit for controlling the working force of the lifting working unit;

[0181] a movable pulley portion, the shaft of which is supported at the front end of the working portion of the lifting working portion; and

[0182] A cord-like body is wound around the movable pulley portion, one end of the cord-like body is connected to the workpiece receiving portion, and the other end of the cord-like body is fixed to a fixing portion.

[0183] According to this structure, the workpiece receiving portion that supports the long workpiece from below is connected to the front end of the working portion of the lifting working portion via the stroke multiplication mechanism formed by the movable pulley. Therefore, the lifting amount of the workpiece receiving portion is increased relative to the lifting amount of the working portion of the lifting working portion. Therefore, the stroke length of the front end of the working portion of the lifting working portion can be shortened, thereby making the workpiece support device as a whole compact.

[0184] (7) The workpiece rotating device according to (6), wherein:

[0185] The workpiece rotating device comprises:

[0186] a control unit that controls the positioner; and

[0187] a laser sensor that detects the distance to the workpiece support device,

[0188] The workpiece support device is provided with a reflecting portion that reflects the laser light irradiated from the laser sensor.

[0189] According to this configuration, the position at which the long workpiece is supported downward by the workpiece support device can be detected, and thus the workpiece can be supported downward with high accuracy.

[0190] While various embodiments have been described above with reference to the accompanying drawings, the present invention is not limited to these examples. A person skilled in the art will readily be able to devise various variations or modifications within the scope of the patented technical proposal, and these variations or modifications are understood to fall within the technical scope of the present invention. Furthermore, the various components of the above-described embodiments may be arbitrarily combined without departing from the spirit of the invention.

[0191] It should be noted that the present application is based on Japanese patent application (Japanese Patent Application No. 2023-053375) filed on March 29, 2023, the contents of which are incorporated herein by reference.

[0192] Description of Reference Numerals

[0193] 1 Workpiece rotation device

[0194] 2 First rotary positioner (positioner)

[0195] 3 Second rotary positioner (positioner)

[0196] 4 tracks

[0197] 4a Reinforcement members

[0198] 4b Boot slot

[0199] 4c Support device rail part

[0200] 8 Support

[0201] 8a Support platform

[0202] 8b Rib

[0203] 9. Maintaining part

[0204] 10A bearing

[0205] 10B drive unit

[0206] 11. Retention plate

[0207] 12. First web retainer (web retainer)

[0208] 13 Second web retainer (web retainer)

[0209] 14 Flange retainer

[0210] 15 Cable bracket

[0211] 15A Containment

[0212] 15B Guide

[0213] 20 Workpiece support device

[0214] 20A First workpiece support device

[0215] 20B Second workpiece support device

[0216] 21 racks

[0217] 22 Guide

[0218] 24 Support plate

[0219] 24a First connecting member

[0220] 24b Second connecting member

[0221] 24c mounting holes

[0222] 25 Rail engagement portion

[0223] 26 Reflector (reflecting part)

[0224] 26A First reflector

[0225] 26B Second reflector

[0226] 27 Lifting guide

[0227] 27a Linear Track

[0228] 27b Track Accommodation

[0229] 28 bearing guide part

[0230] 28a Linear Track

[0231] 28b Track Storage Section

[0232] 29 Restriction Pin

[0233] 30 Workpiece receiving part

[0234] 31 Loading section

[0235] 32 guided part

[0236] 33 guide piece

[0237] 40 lifting mechanism

[0238] 41 Cylinder (lifting working part)

[0239] 41a Cylinder

[0240] 41b Piston rod (working part, working rod)

[0241] 42 movable pulley

[0242] 42a Shaft support portion

[0243] 42b sprocket

[0244] 42c hood

[0245] 43 Cable-like body, drive chain

[0246] 44 movable parts

[0247] 45 fixed part

[0248] 50 Support device detection unit

[0249] 51 Laser Sensor

[0250] 51A emitter

[0251] 51B Receiver

[0252] 52 Support bracket

[0253] 52a Support column

[0254] 52b Beam

[0255] 53 Rodless cylinders and actuators

[0256] 54 Solenoid valve

[0257] 100 Control Department.

Claims

1. A workpiece support device for a workpiece rotating device, wherein the workpiece rotating device is configured to rotate the workpiece around a rotation axis by holding the ends of the workpiece with a pair of positioners that can rotate around a rotation axis along the length of the workpiece, and to support the longitudinal midway portion of the workpiece from below. The workpiece support device for the workpiece rotating device is characterized in that: The workpiece support device comprises: A pair of lifting mechanisms; a platform on which the pair of lifting mechanisms are mounted and which is movable along the length direction of the workpiece; as well as a workpiece receiving portion, which is provided in a manner spanning between the pair of lifting mechanisms and supports the lower surface of the workpiece, The lifting mechanism comprises: Lifting working part, its working part moves up and down; a control unit for controlling the working force of the lifting working unit; a movable pulley portion, the shaft of which is supported at the front end of the working portion of the lifting working portion; and A cable-like body is wound around the movable pulley portion, one end of the cable-like body is connected to the movable portion on the workpiece receiving portion side, and the other end of the cable-like body is fixed to the fixing portion.

2. The workpiece support device for a workpiece rotating device according to claim 1, wherein: The lifting working part is provided as a cylinder with a locking function. The front end of the working part is set as the front end of the working rod of the cylinder, The control unit controls the operation of the cylinder via a pressure regulating valve.

3. The workpiece support device for a workpiece rotating device according to claim 1, wherein: The stand is connected to a moving end of a cable bracket laid along a moving direction of the stand.

4. The workpiece support device for a workpiece rotating device according to claim 2, wherein: The workpiece support device for the workpiece rotating device is provided with a storage unit that pre-stores information related to the workpiece and the relationship between the workpiece's own weight deflection. The control unit controls the pressure of the air cylinder based on the information on the workpiece acquired from the storage unit and the information indicating the relationship between the workpiece's own weight deflection.

5. The workpiece support device for a workpiece rotating device according to claim 4, wherein: The workpiece support device used by the workpiece rotating device is provided with: a displacement sensor for detecting a lifting position of the movable part; as well as a rotation sensor that detects the rotational position of the positioner, The control unit calculates a target height of the workpiece receiving portion based on the rotational position of the workpiece obtained by the rotation sensor, and controls the pressure of the air cylinder based on the displacement sensor so that the workpiece receiving portion reaches the target height.

6. A workpiece rotating device comprising a positioner for holding both ends of a long workpiece and rotating the workpiece about a rotation axis along the longitudinal direction, and a single or multiple workpiece support devices for supporting the longitudinal midway portion of the workpiece downwardly. The workpiece rotating device is characterized in that: The workpiece support device comprises: A pair of lifting mechanisms; a frame supporting the pair of lifting mechanisms so as to be movable along the length direction of the workpiece; as well as The workpiece receiving portion is provided in a manner of being bridged between the pair of lifting mechanisms. The lifting mechanism comprises: Lifting working part, its working part moves up and down; a control unit for controlling the working force of the lifting working unit; a movable pulley portion, the shaft of which is supported at the front end of the working portion of the lifting working portion; and A cord-like body is wound around the movable pulley portion, one end of the cord-like body is connected to the workpiece receiving portion, and the other end of the cord-like body is fixed to a fixing portion.

7. The workpiece rotating device according to claim 6, wherein: The workpiece rotating device comprises: a control unit that controls the positioner; and a laser sensor that detects the distance to the workpiece support device, The workpiece support device is provided with a reflecting portion that reflects the laser light irradiated from the laser sensor.

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