Robot welding equipment

Abstract

Large-scale equipment tends to be specialized for large structures, resulting in low versatility. [Solution] By arranging a robot 1, a robot controller 3, a welding torch 7 attached to the robot 1, a welding wire feeding device 9, and a welding machine 10 on a movable electric trolley 6, automatic welding by the robot 1 can be performed even when the location is moved, as long as power is supplied. The occupied space is limited, and it can be used even for small structures. In parallel with automatic welding by the robot 1, welding work by an operator can be performed only on areas that the robot 1 cannot handle.

Description

[Technical Field]

[0001] The present invention relates to a robotic welding apparatus that enables welding in a wide work area by moving a robot, for automating welding of large structures. [Background Art]

[0002] Conventionally, when automatically welding large structures such as small assembly welding in shipbuilding and steel frame welding for bridges, large equipment that is larger than the target large structure, which surrounds the outer side of the large structure to be welded and is provided with a rails that allows a welding robot to move above the structure, was required (see, for example, Patent Documents 1, 2 and 3). [Prior Art Documents] [Patent Documents]

[0003] [Patent Document 1] Japanese Patent Application Laid-Open No. 2010-253518 [Patent Document 2] Japanese Patent Application Laid-Open No. 2009-28768 [Patent Document 3] Japanese Patent Application Laid-Open No. 63-49371 [Summary of the Invention] [Problems to be Solved by the Invention]

[0004] However, the above-mentioned prior art has problems that need to be solved as described below. (1) Since equipment larger than the large grooved structure to be welded is required, the equipment is too large for welding small structures, resulting in poor production efficiency. Consequently, the equipment can only be dedicated to large grooved structures, leading to low versatility. (2) Since the main object is to perform welding while traveling along the rails targeting only linear welded joints, welding for joining parts with complex shapes mostly relies on manual work by workers. However, in the welding area, a safe environment where workers can perform manual welding cannot be secured, and an environment where the apparatus and workers can collaborate is not provided, resulting in low productivity. [Means for solving the problem]

[0005] In view of the problems described in (1) and (2) above based on the prior art, the present invention is a robotic welding apparatus in which a robot, a robot controller, a welding torch attached to the robot, a welding wire feeding device, and a welding machine are arranged on a movable electric trolley. As such, the occupied space is limited and it can be used even for small structures, thus solving the problem described in (1). Automatic welding by the robot is possible anywhere as long as power can be supplied, and the work area is limited, and in parallel with automatic welding by the robot, welding work by an operator can be performed only in areas that cannot be handled by the robot, thus solving the problem described in (2). [Effects of the Invention]

[0006] In short, the present invention provides a system where a robot, a robot controller, a welding torch attached to the robot, a welding wire feeding device, and a welding machine are mounted on a movable electric trolley. This allows the system to be moved to the welding site and automated welding to be performed by the robot. Furthermore, since the space occupied by a single unit is limited, even small structures can be efficiently automated. Multiple units can be used to perform automated welding work at multiple locations simultaneously. Therefore, it can be used as an automation solution to address the shortage of welding workers in shipbuilding (including onboard welding) and bridge steel frame construction (for large structural welding), allowing welding work to be performed simultaneously in cooperation with workers, regardless of the work location.

[0007] The robot is equipped with a robot base having an electromagnetic magnet, and at least the mounting area of ​​the robot base on the upper surface of the electric trolley is made of a magnetic material, so that the robot can be attached to and detached from the electric trolley. Therefore, even in areas where work cannot be performed while the robot is mounted on the electric trolley, such as the inside of the object to be welded or in narrow spaces, the robot can be detached from the electric trolley and magnetically attached to the object to be welded, thereby expanding the area in which automatic welding is possible.

[0008] Since the aforementioned power transmission trolley is equipped with a lifting device that allows the robot to be raised and lowered vertically, the lifting device can be raised and lowered after the power trolley has been moved to the work area. This expands the range in which welding can be performed vertically, and has significant practical benefits, such as enabling welding of tall and large structures. [Brief explanation of the drawing]

[0009] [Figure 1] This is a perspective view of the robotic welding apparatus (Example 1) according to the present invention. [Figure 2] This is a perspective view of the robotic welding apparatus (Example 2) according to the present invention. [Modes for carrying out the invention]

[0010] The robotic welding apparatus according to the present invention basically consists of a robot 1 with a welding torch 7 attached, a robot controller 3, a welding machine 10, and a welding wire feeding device 9, all mounted on an electric trolley 6. The following provides a detailed explanation. [Examples]

[0011] Figure 1 is a perspective view of Embodiment 1 of the robot welding apparatus according to the present invention. A robot 1 with a welding torch 7 attached and a welding wire feeding device 9 equipped with a welding wire lifting device 8 are located at the front end of an electric trolley 6, and a robot controller 3 and a welding machine 10 are located at the rear end. A power box 4 and an operation box 5 are located on the outside of the vertical frame 6a at the rear end of the electric trolley 6. [Examples]

[0012] Figure 2 is a perspective view of Embodiment 2 of the robot welding apparatus according to the present invention, which has substantially the same configuration as Embodiment 1, but a lifter device 11 is provided on the electric trolley 6, allowing the robot 1 to be raised and lowered vertically.

[0013] Furthermore, it is preferable that the robot 1 includes a robot base 2 having an electromagnetic magnet, and the upper surface of the electric cart 6 is made of a magnetic material, so that the robot 1 can be attached to and detached from the electric cart 6.

[0014] Furthermore, it is preferable that a nozzle cleaner device for removing foreign matter adhering to the welding torch 7 is mounted on the electric cart 6. Description of Reference Numerals

[0015] 1 Robot 2 Robot base 3 Robot controller 6 Electric cart 7 Welding torch 8 Welding wire suspender 9 Welding wire feeder 10 Welding machine 11 Lifter device

Claims

1. A robotic welding apparatus characterized by having a robot, a robot controller, a welding torch to be attached to the robot, a welding wire feeding device, and a welding machine arranged on a movable electric trolley.

2. The robot welding apparatus according to claim 1, characterized in that the robot is equipped with a robot base having an electromagnetic magnet, and at least the mounting portion of the robot base on the upper surface of the electric trolley is made of a magnetic material, thereby enabling the robot to be attached to and detached from the electric trolley.

3. The robot welding apparatus according to claim 1 or 2, characterized in that the transmission trolley is equipped with a lifter device that allows the robot to be raised and lowered vertically.

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