Welding equipment and structures

Abstract

This welding device for welding a member of a structure in outer space comprises: a first welding unit positioned on a first surface side of the member; and a second welding unit positioned on a second surface side of the member, wherein the first welding unit and the second welding unit sandwich the member and change position relative to the member.

Description

[Technical Field]

[0001] The present invention relates to welding equipment and structures. [Background technology]

[0002] A common method for welding structural members is to use a movable electron gun to weld the members to be welded.

[0003] For example, Japanese Patent Application Laid-Open No. 2013-240830 discloses the following invention. The welding apparatus of JP 2013-240830 A generates a first laser beam projected onto a joint area between two or more workpieces to generate a first laser beam projection on adjacent surfaces of the workpieces and move the first laser beam projection along the joint area and penetrate the joint area. The welding apparatus also generates an electric arc to generate an arc projection that surrounds the first laser beam projection and moves with the first laser beam projection along the joint area to form a molten weld pool. In addition, the welding apparatus generates a pair of lateral laser beams that are surrounded by the arc projection and are spaced apart laterally from the joint area to interact with a portion of the weld pool that solidifies to define a molten toe of the weld joint. Summary of the Invention [Problem to be solved by the invention]

[0004] Since space is a gravity-free environment, it is important to stabilize the relative position between the welding device and the workpiece.

[0005] However, although JP 2013-240830 A discloses that the welding process is applicable to aerospace applications, it does not disclose any invention for stabilizing the relative position between the welding device and the workpiece in space, which may result in instability of the relative position between the welding device and the workpiece in space.

[0006] An object of the present invention is to stabilize the relative position between a welding device and a member in space. [Means for solving the problem]

[0007] One aspect of the present invention is A welding device for welding structural members in space, a first welding unit located on a first surface side of the member; a second welding unit located on the second surface side of the member, The first welding unit and the second welding unit clamp the member and change their relative positions with respect to the member. It is a welding device. [Brief explanation of the drawings]

[0008] [Figure 1] FIG. 1 is an explanatory diagram of the flow from launch to operation in this embodiment. [Figure 2] 1 is a cross-sectional view of a first example of the welding device of the present embodiment taken along the Y-axis direction. [Figure 3] 2 is a cross-sectional view of a first example of the welding device of the present embodiment taken along the Z axis direction. FIG. [Figure 4] 10 is a cross-sectional view in the Y-axis direction of a second modified example of the first example of the welding device of the present embodiment. FIG. [Figure 5] FIG. 4 is a cross-sectional view of a second example of the welding device of the present embodiment taken along the Y-axis direction. [Figure 6] FIG. 10 is a cross-sectional view of a third example of the welding device of the present embodiment taken along the Y-axis direction. [Figure 7] 10 is an XY plan view of members of a first modified example of a third example of the welding device 30 of the present embodiment. FIG. [Figure 8] 10 is an explanatory diagram of the operation (welding and movement) of a welding device according to a first modified example of the third example of the welding device 30 of the present embodiment. FIG. [Figure 9] 10 is an explanatory diagram of the operation (direction change) of the welding device of the third example of the welding device 30 of the present embodiment, modified example 1. FIG. [Figure 10]10 is an explanatory diagram of the operation (direction change) of the welding device of the third example of the welding device 30 of the present embodiment, modified example 1. FIG. [Figure 11] 10 is an explanatory diagram of the operation (direction change) of the welding device of the third example of the welding device 30 of the present embodiment, modified example 1. FIG. [Figure 12] 10 is an explanatory diagram of the operation (direction change) of the welding device of the third example of the welding device 30 of the present embodiment, modified example 1. FIG. [Figure 13] FIG. 10 is a cross-sectional view of a modified example 2(1) of the third example of the welding device in the Y-axis direction. [Figure 14] FIG. 10 is a cross-sectional view of a modified example 2(2) of the third example of the welding device in the Y-axis direction. [Figure 15] FIG. 10 is a cross-sectional view of a third modification of the third example of the welding device taken along the Y-axis direction. [Figure 16] FIG. 10 is a cross-sectional view of a fourth example of the welding device of the present embodiment taken along the Y-axis direction. [Figure 17] FIG. 10 is a cross-sectional view of a fifth example of the welding device according to the present embodiment taken along the Y-axis direction. [Figure 18] FIG. 10 is a cross-sectional view of a sixth example of the welding device according to the present embodiment taken along the Y-axis direction. [Figure 19] 5 is a cross-sectional view taken along the Y-axis direction for explaining a first example of a welding flow according to the present embodiment. FIG. [Figure 20] 5 is a cross-sectional view taken along the Z axis for explaining a first example of a welding flow according to the present embodiment. FIG. [Figure 21] 6 is a cross-sectional view taken along the Y-axis direction for explaining a second example of a welding flow of the welding device of the present embodiment. FIG. [Figure 22] 10 is a cross-sectional view taken along the Y-axis direction for explaining a fourth example of a welding flow of the welding device of the present embodiment. FIG. [Figure 23] 10 is a cross-sectional view taken along the Y-axis direction for explaining a fourth example of a welding flow of the welding device of the present embodiment. FIG. [Figure 24] FIG. 2 is a plan view of the structure of the present embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0009] Hereinafter, an embodiment of the present invention will be described in detail with reference to the drawings. In the drawings for explaining the embodiment, the same components are generally designated by the same reference numerals, and repeated description thereof will be omitted.

[0010] (1) Flow from launch to operation The flow from launch to operation of this embodiment will be described below. Fig. 1 is an explanatory diagram of the flow from launch to operation of this embodiment.

[0011] As shown in FIG. 1, this embodiment includes a launch process, an installation process, a welding process, and an operation process. In the launch process, a launch device R (for example, a rocket) carrying a launch device is launched from the ground into space. In the installation process, the installation device 10 installs the member 51 in space. In the welding process, the members 51 are joined together by welding using the welding device 30. The welding process is performed after the installation process or in parallel with the installation process. In the operation process, a structure 50 composed of requested components 51 is operated in space.

[0012] The structure 50 includes, for example, at least one of the following: Parabolic antenna

[0013] (2) Welding equipment The welding device 30 of this embodiment will be described.

[0014] (2.1) Welding equipment structure The structure of the welding device 30 of this embodiment will be described.

[0015] (2.1.1) First example of welding equipment A first example of welding device 30 of this embodiment will be described. In the first example of welding device 30 of this embodiment, first welding unit 30a and second welding unit 30b are kept in contact with member 51 by an external force. Fig. 2 is a cross-sectional view of the first example of the welding device of this embodiment taken along the Y-axis direction, and Fig. 3 is a cross-sectional view of the first example of the welding device of this embodiment taken along the Z-axis direction.

[0016] As shown in FIG. 2, welding device 30 includes a pair of welding units (first welding unit 30a to second welding unit 30b).

[0017] The pair of welding units (first welding unit 30a to second welding unit 30b) are configured to sandwich member 51 to be welded from the Z-axis direction (i.e., a direction perpendicular to the arrangement direction of members 51a to 51b to be welded) and move along the X-plane, thereby changing the relative positions of the pair of welding units with respect to members 51a to 51b. The first welding unit 30a is located on one side (U side) of the members 51a to 51b in the Z-axis direction. The second welding unit 30b is located on the other side (L side) of the members 51a to 51b in the Z-axis direction.

[0018] The first welding unit 30a includes a first housing 31a, a first jig 32a, a first rotating body 33a, a first sputter receiver 34a, a first robot arm 35a, an electron gun 36, a power supply (not shown), and a first control unit (not shown).

[0019] The first jig 32a is disposed inside the first sputter receiver 34a in the XY plane (FIG. 3A). A first rotating body 33a is disposed at the tip of the first jig 32a. The first rotating body 33a is configured to rotate in at least one of the X and Y directions while abutting against the U-side surfaces of the members 51a to 51b. This applies a holding force in the Z-axis direction to the members 51a to 51b. The first rotating body 33a has a movable range in the Z-axis direction. The first rotating body 33a is, for example, one of the following. ·wheel - Combination of bearing rings and tracks (i.e. crawlers) This allows the first welding unit 30a to move smoothly along the U-side surface regardless of the curvature or relative angle of the surfaces of the members 51a to 51b.

[0020] First sputter receiver 34a is disposed in the XY plane so as to surround joint CP between members 51a and 51b, first jig 32a, and electron gun 36 (FIG. 3A). Thus, first sputter receiver 34a is configured to receive sputters generated when members 51a and 51b are welded together.

[0021] First robot arm 35a operates in response to a drive signal generated by a first control unit. First robot arm 35a is configured to move first welding unit 30a along the XY plane so that first rotating body 33a contacts the U-side surfaces of members 51a-51b (FIG. 3).

[0022] The electron gun 36 is configured to heat the members 51a to be welded by irradiating them with an electron beam. The electron gun 36 is configured to be movable on the XY plane. By moving the electron gun 36, it is positioned at a position to be welded (hereinafter referred to as the "welding position").

[0023] The first position sensor is configured to detect the position of the area to be welded (that is, between the member 51a and the member 51b) and is, for example, an image sensor.

[0024] The power source is configured to provide power to the welding device 30. The power source may include, for example, at least one of the following: Battery (for example, at least one of a solar cell, a lead-acid battery, a lithium-ion battery, an all-solid-state battery, and a fuel cell) Capacitor

[0025] The first control unit is configured to generate a drive signal for driving the first robot arm 35a in accordance with the position detected by the first position sensor, and a control signal for emitting an electron beam from the electron gun 36.

[0026] Second welding unit 30b includes second housing 31b, second jig 32b, second rotating body 33b, second spatter receiver 34b, second robot arm 35b, second position sensor, and second control unit (not shown).

[0027] The second jig 32b is disposed inside the second sputter receiver 34b in the XY plane (FIG. 3B). A second rotating body 33b is disposed at the tip of the second jig 32b. The second rotating body 33b is configured to rotate in at least one of the X and Y directions while abutting on the L-side surfaces of the members 51a to 51b. This applies a holding force to the members 51a to 51b in the Z-axis direction, which is opposite to the force applied by the first jig 32a. The second rotating body 33b has a movable range in the Z-axis direction. The second rotating body 33b is, for example, one of the following. ·wheel - Combination of bearing rings and tracks (i.e. crawlers) This allows the second welding unit 30b to move smoothly along the U-side surface regardless of the curvature or relative angle of the surfaces of the members 51a to 51b.

[0028] The second sputter receiver 34b faces the L-side surfaces of the members 51a to 51b. Second sputter receiver 34b is disposed in the XY plane so as to surround second jig 32b and joint portion CP between members 51a and 51b (FIG. 3B), so that second sputter receiver 34b is configured to receive sputters generated when members 51a and 51b are welded together.

[0029] The second robot arm 35b operates in response to a drive signal generated by the second control unit. The second robot arm 35b is configured to move the second welding unit 30b along the XY plane so that the second rotating body 33b abuts on the L-side surfaces of the members 51a to 51b (FIG. 3). This allows the second welding unit 30b to remain in contact with the members 51a to 51b.

[0030] The second position sensor is configured to detect the position of the area to be welded (that is, between the member 51a and the member 51b) The second position sensor is, for example, an image sensor.

[0031] The second control unit is configured to generate a drive signal for driving the second robot arm 35b in synchronization with the generation of the drive signal by the first control unit, so that the second welding unit 30b moves in synchronization with the first welding unit 30a.

[0032] (2.1.1.1) Variation 1 of the first example of the welding device A first modification of the first example of welding device 30 of the present embodiment will now be described. In this modification of the first example of welding device 30 of the present embodiment, first welding unit 30a and second welding unit 30b do not move in synchronization with each other, but second welding unit 30b moves in response to the movement of first welding unit 30a (i.e., one welding unit follows the other welding unit).

[0033] As an example, the second position sensor and the second control unit may be omitted. In this case, the first control unit generates a first drive signal for driving the first robot arm 35a and a second drive signal for driving the second robot arm 35b. The second drive signal causes the second welding unit 30b to move following the first welding unit 30a.

[0034] As another example, the first position sensor and the first control unit may be omitted. In this case, the second control unit generates a first drive signal for driving the first robot arm 35a and a second drive signal for driving the second robot arm 35b. The first drive signal causes the first welding unit 30a to move following the second welding unit 30b. This changes the relative positions of the pair of welding units with respect to the members 51a to 51b.

[0035] According to the first modification of the first example of welding device 30, the first position sensor and the first control unit, or the second position sensor and the second control unit, are omitted, thereby simplifying the control system, thereby reducing manufacturing costs and the failure rate.

[0036] (2.1.1.2) Modification 2 of the first example of the welding device A second modification of the first example of the welding device 30 of this embodiment will be described. In the second modification of the first example of the welding device 30 of this embodiment, the positional relationship between the jig and the spatter is reversed. FIG. 4 is a cross-sectional view of the second modification of the first example of the welding device of the present embodiment taken along the Y axis.

[0037] As shown in FIG. 4A, the first jig 32a is disposed outside the first sputter receiver 34a in the XY plane. As shown in FIG. 4B, second jig 32b is disposed outside second sputter receiver 34b in the XY plane.

[0038] According to the second modification of the first example of welding apparatus 30 of the present embodiment, first spatter receiver 34a and second spatter receiver 34b are closer to joint CP than in Figures 2 and 3. This makes it possible to further prevent spatter from scattering.

[0039] (2.1.2) Second example of welding equipment A second example of welding device 30 of the present embodiment will be described. The second example of welding device 30 of the present embodiment is an example in which a pair of welding units (first welding unit 30a and second welding unit 30b) are kept in contact with member 51 by magnetic force. FIG. 5 is a cross-sectional view of a second example of the welding device of this embodiment taken along the Y axis.

[0040] As shown in FIG. 5, welding device 30 includes a pair of welding units (first welding unit 30a to second welding unit 30b).

[0041] The pair of welding units (first welding unit 30a to second welding unit 30b) are configured to sandwich member 51 to be welded from the Z-axis direction (i.e., a direction perpendicular to the arrangement direction of members 51a to 51b to be welded) and move along the X-plane, thereby changing the relative positions of the pair of welding units with respect to members 51a to 51b. The first welding unit 30a is located on one side (U side) of the members 51a to 51b in the Z-axis direction. The second welding unit 30b is located on the other side (L side) of the members 51a to 51b in the Z-axis direction.

[0042] The first welding unit 30a includes a first housing 31a, a first jig 32a, a first rotating body 33a, a first sputter receiver 34a, an electron gun 36, a first magnet 37a, a power supply (not shown), a first control unit (not shown), a first position sensor (not shown), and a first motor (not shown). The first housing 31a, the first jig 32a, the first sputter receiver 34a, the electron gun 36, the power supply, and the first position sensor are the same as those in the first example of the welding device (FIG. 2).

[0043] The first rotating body 33a is connected to a first motor and is configured to rotate in at least one of the X and Y directions.

[0044] First magnet 37a is disposed inside first rotor 33a. When members 51a to 51b are made of magnetic materials, first magnet 37a and members 51a to 51b are attracted to each other by magnetic force. This keeps first welding unit 30a in contact with members 51a to 51b.

[0045] The first motor operates in response to a drive signal generated by the first control unit and is configured to rotate the first rotor 33a.

[0046] The first control unit is configured to generate a drive signal for driving the first motor in accordance with the position detected by the first position sensor, and a control signal for emitting an electron beam from the electron gun 36.

[0047] The second welding unit 30b includes a second housing 31b, a second jig 32b, a second rotating body 33b, a second spatter receiver 34b, a second magnet 37b, a second position sensor, a second control unit (not shown), and a second motor (not shown). Second housing 31b, second jig 32b, second spatter receiver 34b, second robot arm 35b, second position sensor, and second control unit are the same as those in the first example of the welding device (FIG. 2).

[0048] The second rotating body 33b is connected to a second motor and is configured to rotate in at least one of the X and Y directions.

[0049] Second magnet 37b is disposed inside second rotor 33b. If members 51a to 51b are made of magnetic materials, second magnet 37b and members 51a to 51b attract each other by magnetic force. This keeps second welding unit 30b in contact with members 51a to 51b.

[0050] The second motor operates in response to a drive signal generated by the second control unit and is configured to rotate the second rotor 33b.

[0051] The second control unit is configured to generate a drive signal for driving the second motor in accordance with the position detected by the second position sensor, and a control signal for emitting an electron beam from the electron gun 36.

[0052] To the second example of the welding device 30, the second modification of the first example of the welding device 30 can be applied.

[0053] (2.1.2.1) Modification of the second example of the welding device A description will be given of a modified example of the second example of welding device 30 of the present embodiment. In the modified example of the second example of welding device 30 of the present embodiment, first welding unit 30a and second welding unit 30b do not move in synchronization with each other, but second welding unit 30b moves in response to the movement of first welding unit 30a (i.e., one welding unit follows the other welding unit).

[0054] As an example, the second position sensor and the second control unit may be omitted. In this case, the first control unit generates a first drive signal for driving the first motor and a second drive signal for driving the second motor, and the second drive signal causes the second welding unit 30b to move following the first welding unit 30a.

[0055] As another example, the first position sensor and the first control unit may be omitted. In this case, the second control unit generates a first drive signal for driving the first motor and a second drive signal for driving the second motor, and the first drive signal causes the first welding unit 30a to move following the second welding unit 30b.

[0056] According to the second modification of the welding device 30, the first position sensor and the first control unit, or the second position sensor and the second control unit, are omitted, thereby simplifying the control system, thereby reducing manufacturing costs and the failure rate.

[0057] The first magnet 37a and the second magnet 37b may be electromagnets.

[0058] (2.1.3) Third example of welding equipment A third example of welding device 30 of this embodiment will be described. The third example of welding device 30 of this embodiment is an example in which a pair of welding units (first welding unit 30a and second welding unit 30b) are kept in contact with member 51 by an engagement force with member 51. FIG. 6 is a cross-sectional view of a third example of the welding device of this embodiment taken along the Y axis.

[0059] As shown in FIG. 6A, welding device 30 includes a pair of welding units (first welding unit 30a to second welding unit 30b).

[0060] The pair of welding units (first welding unit 30a to second welding unit 30b) are configured to sandwich member 51 to be welded from the Z-axis direction (i.e., a direction perpendicular to the arrangement direction of members 51a to 51b to be welded) and move along the X-plane, thereby changing the relative positions of the pair of welding units with respect to members 51a to 51b. The first welding unit 30a is located on one side (U side) of the members 51a to 51b in the Z-axis direction. The second welding unit 30b is located on the other side (L side) of the members 51a to 51b in the Z-axis direction.

[0061] The first welding unit 30a includes a first housing 31a, a first jig 32a, a first rotating body 33a, a first sputter receiver 34a, a first robot arm 35a, an electron gun 36, a first caster 39a, a power supply (not shown), a first control unit (not shown), a first position sensor (not shown), and a first motor (not shown). The first housing 31a, the first jig 32a, the first sputter receiver 34a, the electron gun 36, the power supply, the first control unit, the first position sensor, and the first motor are the same as those in the second example of the welding device 30 (FIG. 5).

[0062] First rotor 33a engages with rails 51aa-51ba (FIG. 6B) formed on the U-side surfaces of members 51a-51b. First rotor 33a is a drive wheel. Rails 51aa-51ba have a concave shape. This allows first welding unit 30a to be in continuous contact with member 51.

[0063] The second welding unit 30b includes a second housing 31b, a second jig 32b, a second rotating body 33b, a second spatter receiver 34b, a power supply (not shown), a second control unit (not shown), a second position sensor (not shown), and a second motor. Second housing 31b, second jig 32b, second spatter receiver 34b, power supply, second control unit, second position sensor, and second motor are the same as those in the second example of welding device 30 (FIG. 5).

[0064] Second rotor 33b engages with rails 51ab-51bb (FIG. 6B) formed on the L-side surfaces of members 51a-51b. Second rotor 33b is a drive wheel. Rails 51ab-51bb have a concave shape. This allows second welding unit 30b to be in continuous contact with member 51.

[0065] (2.1.3.1) Modification 1 of the third example of the welding device A first modification of the third example of the welding device 30 of this embodiment will be described. This is an example in which the rails 51ab to 51bb have a convex shape (that is, ribs) instead of a concave shape.

[0066] (2.1.3.1.1) Member of Modification 1 of the Third Example of the Welding Apparatus A description will be given of members of a first modified example of the third example of welding device 30 of the present embodiment. Fig. 7 is an XY plan view of members of a first modified example of the third example of welding device 30 of the present embodiment.

[0067] As shown in FIG. 7, a rail 51aa and a tip-over prevention rail 51ac are formed on the surface of the member 51a. A rail 51ba and a tip-over prevention rail 51bc are formed on the surface of the member 51b. A rail 51ca and a tip-over prevention rail 51cc are formed on the surface of the member 51c.

[0068] When the plurality of members 51a to 51c are brought close to one another, the rails 51aa to 51ca and the tip-over prevention rails 51ac to 51cc are connected together before the plurality of members 51a to 51c are joined by welding. This allows the welding device 30 to travel along the rails 51aa to 51ca and the tip-over prevention rails 51ac to 51cc (that is, the surface of the member 51a).

[0069] (2.1.3.1.2) Operation of the third example of the welding device, modified example 1 (welding and movement) A description will be given of the operation (welding and movement) of the third example of modified example 1 of welding device 30 of the present embodiment. Fig. 8 is an explanatory diagram of the operation (welding and movement) of the welding device of modified example 1 of the third example of welding device 30 of the present embodiment.

[0070] As shown in Fig. 8A, the first welding unit 30a includes a first caster 39a in addition to the same configuration as in Fig. 6. The first caster 39a is a non-drive wheel. The first casters 39a engage with anti-tip rails 51ac to 51cc formed on the U-side surfaces of the members 51a to 51c.

[0071] The second welding unit 30b has the same configuration as that of FIG. 6, and further includes a second caster 39b. The second caster 39b engages with an anti-tip rail (not shown) formed on the L-side surface of the members 51a to 51c. The second caster 39b is a non-drive wheel.

[0072] As shown in FIG. 8A, welding device 30 is in a proximity state when welding members 51a and 51b. Specifically, first welding unit 30a and second welding unit 30b sandwich members 51a and 51b to be welded, thereby coming into close proximity to each other.

[0073] As shown in FIG. 8B, the welding device 30 is in a spaced apart state when moving or turning. Specifically, the first welding unit 30a and the second welding unit 30b move away from each other in the Z direction (that is, move along the Z axis and move away from the members 51a and 51b), thereby entering the separated state.

[0074] (2.1.3.1.3) Operation of the third example of the welding device, modified example 1 (direction change) The operation (direction change) of the third example of the welding device 30 of this embodiment will be described. FIG. 9 is an explanatory diagram of the operation (direction change) of the welding device of the third example of the welding device 30 of this embodiment. FIG. 10 is an explanatory diagram of the operation (direction change) of the welding device of the third example of the welding device 30 of this embodiment. FIG. 11 is an explanatory diagram of the operation (direction change) of the welding device of the third example of the welding device 30 of this embodiment. FIG. 12 is an explanatory diagram of the operation (direction change) of the welding device of the third example of the welding device 30 of this embodiment.

[0075] As shown in FIG. 9, the welding device 30 moves on the XY plane along a rail 51aa formed on the member 51a and a rail 51ba formed on the member 51b (i.e., the members 51a and 51b) while switching between a close state and a separated state, and welds the members 51a and 51b together.

[0076] As shown in FIG. 10, when welding device 30 reaches the branching point of rails 51aa to 51ca (that is, the branching point of members 51a to 51c), it becomes in a separated state and then rotates counterclockwise along the XY plane. When the welding device 30 is in the proximity state, the second rotating body 33b engages with the rail 51ca (FIG. 11). This causes the direction of travel of the welding device 30 to change.

[0077] As shown in FIG. 12, the welding device 30 moves on the XY plane along the rail 51aa and the anti-tip rail 51ac formed on the member 51a, and the rail 51ca and the anti-tip rail 51cc formed on the member 51c (i.e., the members 51a and 51c) while switching between a close state and a distant state, and welds the members 51a and 51c together.

[0078] In the first modification of the third example of the welding device, as shown in FIG. 6B, rails 51aa to 51ba and tip-over prevention rails 51ac to 51cc are formed on both surfaces (U-side surface and L-side surface) of members 51a to 51b. However, the first modified example of the third example of the welding device can also be applied to an example in which the rails 51aa to 51ba and the tip-over prevention rails 51ac to 51cc are formed on one side (the U-side surface or the L-side surface) of the members 51a to 51b.

[0079] (2.1.3.2) Variation 2 of the third example of the welding device A second modification of the third example of welding device 30 of the present embodiment will be described. In the second modification of the third example of welding device 30 of the present embodiment, first welding unit 30a and second welding unit 30b are provided with a mechanism (hereinafter referred to as an "alignment mechanism") that brings members 51a and 51b closer to each other.

[0080] (2.1.3.2.1) Structure of Modified Example 2 of the Third Example of the Welding Apparatus The structure of the second modified example of the third example of the welding device will be described.

[0081] (2.1.3.2.1.1) Structure of the third example of the welding device, modified example 2(1) The structure of the third example of the welding device according to the second modification (1) will be described below. Fig. 13 is a cross-sectional view of the third example of the welding device according to the second modification (1) in the Y-axis direction. FIG. 13A shows the structure of a welding unit according to a second modification of the third example of the welding device. FIG. 13B is an enlarged view of region W in FIG. 13A.

[0082] As shown in FIG. 13A, welding device 30 includes a pair of welding units (first welding unit 30a to second welding unit 30b).

[0083] The pair of welding units (first welding unit 30a to second welding unit 30b) are configured to sandwich member 51 to be welded from the Z-axis direction (i.e., a direction perpendicular to the arrangement direction of members 51a to 51b to be welded) and move along the X-plane, thereby changing the relative positions of the pair of welding units with respect to members 51a to 51b. The first welding unit 30a is located on one side (U side) of the members 51a to 51b in the Z-axis direction. The second welding unit 30b is located on the other side (L side) of the members 51a to 51b in the Z-axis direction.

[0084] The first welding unit 30a includes a first housing 31a, a first jig 32a, a first rotating body 33a, a first sputter receiver 34a, a first robot arm 35a, an electron gun 36, a power supply (not shown), a first control unit (not shown), a first position sensor (not shown), and a first motor (not shown). The first housing 31a, the first sputter receiver 34a, the electron gun 36, the power supply, the first control unit, the first position sensor, and the first motor are the same as those in the second example of the welding device 30 (FIG. 5). The first rotor 33a is the same as that in the third example of the welding device 30 (FIG. 6).

[0085] The first jig 32a has a tapered portion 32aa (FIG. 13B). The first jig 32a is configured to apply a force to the plurality of members 51 in a direction in which they approach each other (the X direction in FIG. 13B).

[0086] Second welding unit 30b includes second housing 31b, second spatter receiver 34b, support 38, a power supply (not shown), a second control unit (not shown), a second position sensor (not shown), and a second motor. Second housing 31b, second spatter receiver 34b, power supply, second control unit, second position sensor, and second motor are the same as those in the second example of welding device 30 (FIG. 5).

[0087] The support portion 38 is configured to support the L-side surfaces of the members 51a and 51b.

[0088] (2.1.3.2.1.2) Structure of the third example of the welding device, modified example 2(2) The structure of the third example of the welding device according to the second modified example (2) will be described below. Fig. 14 is a cross-sectional view of the third example of the welding device according to the second modified example (2) in the Y-axis direction.

[0089] As shown in FIG. 14A, welding device 30 includes a pair of welding units (first welding unit 30a to second welding unit 30b). The second welding unit 30b is the same as that shown in FIG.

[0090] The pair of welding units (first welding unit 30a to second welding unit 30b) are configured to sandwich member 51 to be welded from the Z-axis direction (i.e., a direction perpendicular to the arrangement direction of members 51a to 51b to be welded) and move along the X-plane, thereby changing the relative positions of the pair of welding units with respect to members 51a to 51b. The first welding unit 30a is located on one side (U side) of the members 51a to 51b in the Z-axis direction. The second welding unit 30b is located on the other side (L side) of the members 51a to 51b in the Z-axis direction.

[0091] The first welding unit 30a includes a first housing 31a, a first jig 32a, a first rotating body 33a, a first sputter receiver 34a, a first robot arm 35a, an electron gun 36, a power supply (not shown), a first control unit (not shown), a first position sensor (not shown), and a first motor (not shown). The first housing 31a, the first sputter receiver 34a, the electron gun 36, the power supply, the first control unit, the first position sensor, and the first motor are the same as those in the second example of the welding device 30 (FIG. 5). The first rotor 33a is the same as that in the third example of the welding device 30 (FIG. 6).

[0092] The first jig 32a has an end 32ab (FIG. 14B) extending in the Z-axis direction. The first jig 32a is configured to apply a force to the plurality of members 51 via the end 32ab in a direction in which the members 51 approach each other (the X-direction in FIG. 14B).

[0093] (2.1.3.2.2) Operation of Modified Example 2 of the Third Example of the Welding Apparatus The operation of the second modified example of the third example of the welding device 30 of this embodiment will be described.

[0094] As shown in FIG. 13B, in the third example of the welding device 30, in the modified example 2(1), the first welding unit 30a applies a force in a direction (X direction) that moves the members 51a and 51b closer to each other along the X axis by moving the tapered portion 32aa against the tapered portion 51ad formed on the U-side surfaces of the members 51a and 51b.

[0095] As shown in FIG. 14B , in the modified example 2(2) of the third example of welding apparatus 30, first welding unit 30a applies force in a direction (X direction) that moves members 51a and 51b closer to each other along the X axis by moving first welding unit 30a while contacting end 32ab with X-direction surfaces (surfaces extending in the Z-axis direction) formed on the U-side surfaces of members 51a and 51b.

[0096] The second welding unit 30b applies a force to the members 51a and 51b in the U-side direction along the Z-axis by moving while the support parts 38 are in contact with the L-side surfaces of the members 51a and 51b.

[0097] As a result, the members 51a and 51b are displaced in a direction in which their relative positions along the X axis approach each other, while their relative positions along the Z axis are fixed relative to the first welding unit 30a and the second welding unit 30b. This allows welding to be performed while the members 51a and 51b are in contact with each other.

[0098] Specifically, the first welding unit 30a and the second welding unit 30b are provided with an alignment mechanism. The first welding unit 30a includes a first alignment mechanism that engages with rails formed on first surfaces of the members 51a and 51b. The second welding unit 30b includes a second alignment mechanism that engages with rails formed on the second surfaces of the members 51a and 51b. The alignment mechanism and the rails are configured to apply a force in a direction that brings the members to be welded (for example, members 51a and 51b) closer to each other every time first welding unit 30a and second welding unit 30b move.

[0099] When first welding unit 30a and second welding unit 30b move, the positions of the components to be welded are aligned. Specifically, as first welding unit 30a and second welding unit 30b move, components 51a and 51b move closer to each other so as to fill the gap between them. As a result, the positions of the components to be welded are aligned. When first welding unit 30a and second welding unit 30b stop at the welding position, first welding unit 30a and second welding unit 30b weld member 51a and member 51, the gap between which has been filled.

[0100] This allows the members 51a and 51b to be welded together without any gaps.

[0101] The second modification of the third example of the welding device 30 can also be applied to a case where the rail has a convex shape (for example, the first modification of the third example of the welding device 30).

[0102] (2.1.3.3) Variation 3 of the third example of the welding device A third modification of the third example of the welding device 30 of this embodiment will be described. The third modification is an example in which at least one of the first welding unit 30a and the second welding unit 30b grips the member 51. Fig. 15 is a cross-sectional view of the third modification of the welding device in the Y-axis direction. Fig. 15 shows an enlarged view of an area Q in Fig. 8A.

[0103] (2.1.3.3.1) Variation 3(1) of the third example of the welding device A third modification example 3(1) of the welding device 30 of this embodiment will be described.

[0104] As shown in FIG. 15A, a rail 51aa of a member 51a of a modified example 3(1) of the third example of welding apparatus 30 has a protrusion 51aaa. First welding unit 30a of third example (1) of third example of welding apparatus 30 has grip portion 40a. That is, grip portion 40a is disposed in first welding unit 30a including electron gun . The grip portion 40a is at least one of the following: ·Rotating rollers in X and Z directions Grip arm ·electromagnet

[0105] While the electron beam is being applied to the member 51a to be welded, the grip portion 40a comes into contact with the protrusion 51aaa, thereby fixing the relative positions of the first welding unit 30a and the member 51a.

[0106] When grip portion 40a is a roller or an electromagnet, grip portion 40a continues to contact protrusion 51aaa while first welding unit 30a is moving, thereby fixing the relative positions (relative positions on the X-axis and Z-axis) between first welding unit 30a and member 51a even while first welding unit 30a is moving, and allowing first welding unit 30a to move smoothly.

[0107] When the grip portion 40a is an arm, the grip portion 40a releases contact with the protrusion 51aaa while the first welding unit 30a is moving, thereby allowing the first welding unit 30a to move smoothly even while the first welding unit 30a is moving.

[0108] According to the third modification example 3(1) of the welding device 30, the relative positions of the first welding unit 30a and the member 51 can be fixed more reliably.

[0109] (2.1.3.3.2) Variation 3(2) of the third example of the welding device A third modification example 3(2) of the welding device 30 of this embodiment will be described.

[0110] As shown in FIG. 15B, a rail 51ab of a member 51a of a modified example 3(2) of the third example of the welding device 30 has a protrusion 51aba. Second welding unit 30b of third example (2) of third example of welding apparatus 30 has grip portion 40b. That is, grip portion 40b is disposed in second welding unit 30b that does not include electron gun 36. The grip portion 40b is at least one of the following: ·Rotating rollers in X and Z directions Grip arm ·electromagnet

[0111] The grip portion 40b fixes the relative positions of the second welding unit 30b and the member 51a by contacting the protrusion 51aba while the electron beam is being irradiated onto the member 51a to be welded.

[0112] When grip portion 40b is a roller or an electromagnet, grip portion 40b continues to contact protrusion 51aba while second welding unit 30b is moving, thereby fixing the relative positions (relative positions on the X-axis and the Z-axis) between second welding unit 30b and member 51a even while second welding unit 30b is moving, and allowing second welding unit 30b to move smoothly.

[0113] When the grip portion 40b is an arm, the grip portion 40b releases contact with the protrusion 51aba while the second welding unit 30b is moving, thereby allowing the second welding unit 30b to move smoothly even while the second welding unit 30b is moving.

[0114] According to variant 3(2) of the third example of the welding device 30, in addition to the same effects as variant 3(1) of the third example of the welding device 30, the posture of the first welding unit 30a can be stabilized during irradiation of the electron beam by the electron gun 36, and the gap of the rails 51ab can be reduced.

[0115] The second modification of the first example of the welding device 30 and the second modification of the second example are also applicable to the third example of the welding device 30.

[0116] (2.1.4) Fourth example of welding equipment A fourth example of the welding device 30 of the present embodiment will be described. The fourth example of the welding device 30 of the present embodiment is an example in which a pair of welding units (first welding unit 30a and second welding unit 30b) are kept in contact with member 51 by van der Waals force. FIG. 16 is a cross-sectional view of a fourth example of the welding device according to this embodiment taken along the Y axis.

[0117] As shown in FIG. 16, welding device 30 includes a pair of welding units (first welding unit 30a to second welding unit 30b).

[0118] The pair of welding units (first welding unit 30a to second welding unit 30b) are configured to sandwich member 51 to be welded from the Z-axis direction (i.e., a direction perpendicular to the arrangement direction of members 51a to 51b to be welded) and move along the X-plane, thereby changing the relative positions of the pair of welding units with respect to members 51a to 51b. The first welding unit 30a is located on one side (U side) of the members 51a to 51b in the Z-axis direction. The second welding unit 30b is located on the other side (L side) of the members 51a to 51b in the Z-axis direction.

[0119] The first welding unit 30a includes a first housing 31a, a first jig 32a, a first rotating body 33a, a first sputter receiver 34a, a first robot arm 35a, an electron gun 36, a power supply (not shown), a first control unit (not shown), a first position sensor (not shown), and a first motor (not shown). The first housing 31a, the first jig 32a, the first sputter receiver 34a, the electron gun 36, the power supply, the first control unit, the first position sensor, and the first motor are the same as those in the second example of the welding device 30 (FIG. 5).

[0120] The first rotating body 33a is configured to rotate in at least one of the X and Y directions. The surface of the first rotating body 33a has an adhesive microstructure. The microstructure is formed, for example, from carbon nanotubes. When the surface of the first rotating body 33a abuts against the U-side surface of the member 51, van der Waals force is generated. This van der Waals force bonds the first rotating body 33a and the member 51 together. As a result, the first welding unit 30a continues to contact the member 51.

[0121] The second welding unit 30b includes a second housing 31b, a second jig 32b, a second rotating body 33b, a second spatter receiver 34b, a power supply (not shown), a second control unit (not shown), a second position sensor (not shown), and a second motor. Second housing 31b, second jig 32b1, second spatter receiver 34b, power supply, second control unit, second position sensor, and second motor are the same as those in the second example of welding device 30 (FIG. 5).

[0122] The second rotating body 33b is configured to rotate in at least one of the X direction and the Y direction. The surface of the second rotating body 33b has a microstructure similar to that of the surface of the first rotating body 33a. As a result, the second welding unit 30b continues to contact the member 51.

[0123] The second modification of the first example of the welding device 30 and the second modification of the second example are also applicable to the fourth example of the welding device 30.

[0124] (2.1.5) Fifth example of welding equipment A fifth example of welding device 30 of the present embodiment will be described. The fifth example of welding device 30 of the present embodiment is an example in which welding device 30 and member 51 are not brought into contact with each other, and the distance between welding device 30 and member 51 is kept constant. FIG. 17 is a cross-sectional view of a fifth example of the welding device according to this embodiment taken along the Y axis.

[0125] As shown in FIG. 17, welding device 30 includes a pair of welding units (first welding unit 30a to second welding unit 30b).

[0126] The pair of welding units (first welding unit 30a to second welding unit 30b) are configured to sandwich, without contact, component 51 to be welded from the Z-axis direction (i.e., the direction perpendicular to the arrangement direction of components 51a to 51b to be welded) and move along the X-plane, thereby changing the relative positions of the pair of welding units with respect to components 51a to 51b. The first welding unit 30a is located on one side (U side) of the members 51a to 51b in the Z-axis direction. The second welding unit 30b is located on the other side (L side) of the members 51a to 51b in the Z-axis direction.

[0127] The components of the first welding unit 30a include a first housing 31a, a first sputter receiver 34a, an electron gun 36, a power supply (not shown), a first control unit (not shown), a first position sensor (not shown), a first distance sensor, and a first robot arm 35a. The first housing 31a, the electron gun 36, the power supply, and the first position sensor are the same as those in the second example of the welding device 30 (FIG. 5).

[0128] The first robot arm 35a is configured to move the first welding unit 30a according to a drive signal generated by the first control unit.

[0129] The first distance sensor is configured to detect the distance between the first welding unit 30a and the members 51a to 51b. The first distance sensor is, for example, at least one of the following. Optical sensors (e.g., image sensors or infrared sensors)

[0130] The first control unit is configured to generate, in accordance with the position detected by the first position sensor, a drive signal for driving the first robot arm 35a so that the distance detected by the first distance sensor is kept constant, and a control signal for emitting an electron beam from the electron gun 36. This allows first welding unit 30a to move to joint CP while keeping the distance between first welding unit 30a and member 51 constant in the Z-axis direction, and allows joint CP to be welded by electron gun 36.

[0131] The second welding unit 30b includes a second housing 31b, a second spatter receiver 34b, a power supply (not shown), a second control unit (not shown), a second position sensor (not shown), a second distance sensor (not shown), and a second robot arm 35b. The second housing 31b, the power supply, and the second position sensor are the same as those in the second example of the welding device 30 (FIG. 5).

[0132] The second robot arm 35b is configured to move the second welding unit 30b according to a drive signal generated by a second control unit.

[0133] The second distance sensor is configured to detect the distance between the second welding unit 30b and the members 51a to 51b. The second distance sensor is, for example, at least one of the following. Optical sensors (e.g., image sensors or infrared sensors)

[0134] The second control unit is configured to generate, in accordance with the position detected by the second position sensor, a drive signal for driving the second robot arm 35b and a control signal for emitting an electron beam from the electron gun 36 so that the distance detected by the second distance sensor is kept constant. This allows the second welding unit 30b to be moved to the joint CP while keeping the distance between the second welding unit 30b and the member 51 constant in the Z-axis direction.

[0135] The second modification of the first example of the welding device 30 and the second modification of the second example are also applicable to the fifth example of the welding device 30.

[0136] (2.1.5.1) Variation of the fifth example of the welding device A description will be given of a modified example of the fifth example of welding device 30 of the present embodiment. In the modified example of the fifth example of welding device 30 of the present embodiment, first welding unit 30a and second welding unit 30b move autonomously without contacting members 51a and 51b.

[0137] The first welding unit 30a includes a first moving mechanism (not shown) instead of the first robot arm 35a.

[0138] The first movement mechanism operates in response to a drive signal generated by the first control unit. The first movement mechanism moves first welding unit 30a a predetermined distance from members 51a-51b while maintaining a constant distance between first welding unit 30a and members 51a-51b. The first movement mechanism is, for example, a propulsion device capable of moving in space.

[0139] The second welding unit 30b includes a second movement mechanism (not shown) instead of the second robot arm 35b.

[0140] The second movement mechanism operates in response to a drive signal generated by the second control unit. The second movement mechanism moves second welding unit 30b a predetermined distance from members 51a-51b while maintaining a constant distance in the Z-axis direction between second welding unit 30b and members 51a-51b. The second movement mechanism is, for example, a propulsion device capable of moving in space.

[0141] (2.1.6) Sixth example of welding equipment A sixth example of the welding device 30 of this embodiment will be described. The sixth example of the welding device 30 of this embodiment is an example in which the first welding unit 30a and the second welding unit 30b are kept parallel to each other using magnetic force. FIG. 18 is a cross-sectional view of a sixth example of the welding device according to this embodiment taken along the Y axis.

[0142] As shown in FIG. 18, the first welding unit 30a includes a first housing 31a, a first jig 32a, a first rotating body 33a, a first sputter receiver 34a, a first robot arm 35a, an electron gun 36, a first magnet 37a, a power supply (not shown), a first control unit (not shown), a first position sensor (not shown), and a first motor (not shown). The first housing 31a, the first jig 32a, the first sputter receiver 34a, the electron gun 36, the power supply, the first control unit, the first position sensor, and the first motor are the same as those in the second example of the welding device 30 (FIG. 5). The first rotor 33a is the same as that in the third example of the welding device 30 (FIG. 6).

[0143] The first magnets 37a are disposed at each end of the first housing 31a.

[0144] The second welding unit 30b includes a second housing 31b, a second jig 32b, a second rotating body 33b, a second spatter receiver 34b, a second magnet 37b, a power supply (not shown), a second control unit (not shown), a second position sensor (not shown), and a second motor. Second housing 31b, second jig 32b, second spatter receiver 34b, power supply, second control unit, second position sensor, and second motor are the same as those in the second example of welding device 30 (FIG. 5). The second rotor 33b is the same as that in the third example of the welding device 30 (FIG. 6).

[0145] The second magnets 37b are disposed at each end of the second housing 31b, and the polarity of the second magnets 37b is the same as or opposite to the polarity of the first magnets 37a.

[0146] When the polarity of the second magnet 37b is the same as the polarity of the first magnet 37a, the first magnet 37a arranged at each end of the first housing 31a and the second magnet 37b arranged at each end of the second housing 31b attract each other. When the polarity of the second magnet 37b is opposite to the polarity of the first magnet 37a, the first magnet 37a arranged at each end of the first housing 31a and the second magnet 37b arranged at each end of the second housing 31b repel each other. As a result, the postures of the first welding unit 30a and the second welding unit 30b can be stabilized.

[0147] The sixth example of the welding device 30 is applicable to any of the first to fifth examples of the welding device 30.

[0148] The first magnet 37a and the second magnet 37b may be electromagnets.

[0149] (2.2) Welding flow of welding equipment The welding flow of the welding device 30 of this embodiment will be described.

[0150] (2.2.1) First example of welding flow for welding equipment A first example of a welding flow of welding device 30 of this embodiment will be described. In the first example of the welding flow, the relative position between welding device 30 and member 51 is changed by moving welding device 30 as a whole. Fig. 19 is a cross-sectional view taken along the Y-axis for explaining a first example of a welding flow according to this embodiment, and Fig. 20 is a cross-sectional view taken along the Z-axis for explaining a first example of a welding flow according to this embodiment.

[0151] The first control unit adjusts the relative position and angle of the electron gun 36 with respect to the members 51a and 51b to be welded, and generates a control signal.

[0152] The electron gun 36 heats the members 51a and 51b to be welded by irradiating them with an electron beam in response to a control signal generated by the first control unit (FIG. 19A), thereby welding the members 51a and 51b at a joint CP. When the joint CP between the members 51a and 51b is welded, the first control unit generates a drive signal. In response to the drive signal, the electron gun 36 moves in the Z-axis direction so as to move away from the members 51a and 51b (FIG. 19B). In response to the drive signal, first welding unit 30a and second welding unit 30b move in the XY plane to the next joint CP (for example, joint CP between members 51b and 51c) (FIG. 20). When first welding unit 30a and second welding unit 30b reach positions where first sputter receiver 34a and second sputter receiver 34b surround joint CP between members 51b and 51c (not shown), electron gun 36 irradiates electron beams onto members 51b and 51c to be welded, thereby heating them. This welds joint CP between members 51b and 51c.

[0153] (2.2.2) Second example of welding flow for welding equipment A second example of the welding flow of welding apparatus 30 of this embodiment will be described. In the second example of the welding flow, a part of welding apparatus 30 (a jig, a spatter receiver, and an electron gun 36) moves, thereby changing the relative position between the part of welding apparatus 30 and member 51. FIG. 21 is a cross-sectional view taken along the Y-axis direction for explaining a second example of the welding flow of the welding device of this embodiment.

[0154] As shown in FIG. 21, in the second example of the welding flow, the first jig 32a, the first sputter receiver 34a, and the electron gun 36 move along the XY plane in response to drive signals generated by the first control unit. The second jig 32b and the second sputter receiver 34b move along the XY plane in synchronization with or following the first jig 32a, the first sputter receiver 34a, and the electron gun 36 in response to a drive signal generated by the second control unit. This allows the relative position of a part of the welding device 30 and the member 51 to be changed.

[0155] (2.2.3) Third example of welding flow for welding equipment A third example of the welding flow of welding device 30 of this embodiment will be described. In the third example of the welding flow, a part of welding device 30 (spatter receiver and electron gun 36) moves, thereby changing the relative position between the part of welding device 30 and member 51. FIG. 22 is a cross-sectional view taken along the Y-axis direction for explaining a fourth example of the welding flow of the welding device of this embodiment.

[0156] As shown in FIG. 22, in the third example of the welding flow, the first sputter receiver 34a and the electron gun 36 move along the XY plane in response to a drive signal generated by the control unit. The second jig 32b does not need to be moved. The second sputter receiver 34b moves along the XY plane in synchronization with or following the first sputter receiver 34a and the electron gun 36 in response to a drive signal generated by the second control unit. This allows the relative position of a part of the welding device 30 and the member 51 to be changed.

[0157] (2.2.4) Fourth example of welding flow for welding equipment A fourth example of the welding flow of welding device 30 of this embodiment will be described. In the fourth example of the welding flow, a part of welding device 30 (electron gun 36) moves, thereby changing the relative position between the part of welding device 30 and member 51. FIG. 23 is a cross-sectional view taken along the Y-axis direction for explaining a fourth example of the welding flow of the welding device of this embodiment.

[0158] As shown in FIG. 23, in the fourth example of the welding flow, the electron gun 36 moves along the XY plane in response to a drive signal generated by the control unit. The second jig 32b and the second sputter receiver 34b do not need to be moved. This allows the relative position of a part of the welding device 30 and the member 51 to be changed.

[0159] (3) Structure The structure of this embodiment will be described below with reference to Fig. 24, which is a plan view of the structure of this embodiment.

[0160] The structure 50 in FIG. 24A is a parabolic antenna for use in space. In this case, each member 51 constitutes a reflector (FIG. 24B).

[0161] The welding device 30 remains on the last welded member 51z.

[0162] The power supply of welding device 30 is configured to provide power to structure 50. Welding device 30 is used not only for assembly purposes (e.g., welding purposes), but also for operational purposes after structure 50 is completed.

[0163] (4) Summary of this embodiment According to this embodiment, the welding device 30 includes a first welding unit 30a positioned on the first surface side of the member 51 and a second welding unit 30b positioned on the second surface side of the member 51, and the first welding unit 30a and the second welding unit 30b clamp the member 51 and change their relative positions with respect to the member 51. This makes it possible to stabilize the relative position between the welding device 30 and the structural member 51.

[0164] According to this embodiment, the first welding unit 30a may include a first sputter receiver 34a and an electron gun, and the second welding unit may include a second sputter receiver 34b. This makes it possible to stabilize the relative position between the welding device 30 and the structural member 51.

[0165] According to this embodiment, the first welding unit 30a may include a first jig 32a and an electron gun, and the second welding unit may include a second jig 32b. This makes it possible to stabilize the relative position between the welding device 30 and the structural member 51.

[0166] According to this embodiment, the first welding unit 30a and the second welding unit 30b may change their relative positions while remaining in contact with the member 51. This allows the first welding unit 30a and the second welding unit 30b to be moved to the welding position via the shortest route.

[0167] According to this embodiment, the first welding unit 30a has a first rotating body 33a, and the second welding unit 30b has a second rotating body 33b, and the first welding unit 30a and the second welding unit 30b may change their relative positions while the first rotating body 33a and the second rotating body 33b are abutted against the member 51. This allows the first welding unit 30a and the second welding unit 30b to move smoothly without damaging the member 51.

[0168] According to this embodiment, the first welding unit 30a may include a first robot arm 35a, and the second welding unit 30b may include a second robot arm 35b, and the first robot arm 35a may move the first welding unit 30a, and the second robot arm 35b may move the second welding unit 30b. This allows first welding unit 30a and second welding unit 30b to be moved without providing a movement mechanism for first welding unit 30a and second welding unit 30b, thereby making it possible to reduce the weight and size of welding device 30 and simplify its control.

[0169] According to this embodiment, the first welding unit 30a and the second welding unit 30b may attract the member 51 to each other by magnetic force. This eliminates the need to apply external force, and allows first welding unit 30a and second welding unit 30b to continue to be independently in contact with member 51 regardless of the welding position without being physically connected to the mechanism for applying external force, which results in lighter, smaller welding device 30 and simpler control.

[0170] According to this embodiment, the first rotating body 33a may engage with a rail formed on a first surface of the member 51, and the second rotating body 33b may engage with a rail formed on a second surface of the member 51. This physically connects first welding unit 30a and second welding unit 30b to member 51. As a result, first welding unit 30a and second welding unit 30b can be reliably prevented from detaching from member 51. Furthermore, the first welding unit 30a and the second welding unit 30b move along rails, which ensures reliable movement even when movement control is simplified.

[0171] According to this embodiment, the first welding unit 30a and the second welding unit 30b may be bonded to the member 51 by van der Waals forces. This eliminates the need for a mechanism for applying external force to the first welding unit 30a and the second welding unit 30b, and allows the first welding unit 30a and the second welding unit 30b to continue to contact the member 51 without processing the member 51, even if the member 51 is a non-magnetic material.

[0172] According to this embodiment, the first welding unit 30a and the second welding unit 30b may move a predetermined distance away from the member 51. As a result, even if member 51 has a shape that prevents it from coming into contact with first welding unit 30a and second welding unit 30b, member 51 can be welded using first welding unit 30a and second welding unit 30b.

[0173] According to this embodiment, one welding unit (30a or 30b) may move following the other welding unit (30b or 30a). This allows first welding unit 30a and second welding unit 30b to be reliably moved in conjunction with each other without providing a movement mechanism for the other welding unit.

[0174] According to this embodiment, the first welding unit 30a and the second welding unit 30b may move synchronously. This allows the first welding unit 30a and the second welding unit 30b to be moved in conjunction with each other more reliably.

[0175] A structure 50 operating in space includes a plurality of members 51 and a welding device 30 for welding the members 51, and the welding device 30 may include a power source for supplying power for assembling the structure 50 and for operating the structure. This allows the material to be used efficiently for assembling the structure 50 and for operating the structure.

[0176] (5) Other variations Other modifications will be described.

[0177] In this embodiment, the welding device 30 is used for the structure 50 as an antenna (i.e., a structure having a curved outer surface), but the scope of this embodiment is not limited to this. This embodiment can also be applied to the following examples. Structures with flat outer surfaces (e.g., radio phased arrays) ·SSPS(Space Solar Power System) Station module exterior

[0178] In the present embodiment, an example has been described in which the welding device 30 includes jigs (first jig 32a and second jig 32b) and sputter receivers (first sputter receiver 34a and second sputter receiver 34b), but the present embodiment is not limited to this. The present embodiment can also be applied to the following examples. When the jig (at least one of the first jig 32a and the second jig 32b) is omitted When the sputter receiver (at least one of the first sputter receiver 34a and the second sputter receiver 34b) is omitted When the jig and spatter receiver are omitted

[0179] In the third modification of the welding device 30 of this embodiment, an example has been shown in which a force is applied by the alignment mechanism to bring the members 51 closer to each other, but this embodiment is not limited to this. This embodiment can also be applied to the following examples. Specifically, the rotation of the first rotating body 33a and the second rotating body 33b generates a frictional force between the first rotating body 33a and the second rotating body 33b and the member 51. When the first rotating body 33a and the second rotating body 33b are configured to rotate only in one direction, either the X direction or the Y direction, this frictional force causes the members 51 to approach each other in one direction. In this way, even without an alignment mechanism, the members 51 can be welded together while bringing them closer to each other (that is, while filling the gaps between the members 51).

[0180] This embodiment is also applicable to an example in which the welding device 30 has an X-ray inspection function. For example, the first welding unit 30a includes an X-ray irradiation unit. The second welding unit 30b includes an X-ray receiving unit. The first welding unit 30a emits X-rays from the X-ray emitting section while moving (that is, while welding). While the second welding unit 30b is moving (that is, while welding), the X-ray receiving section receives the X-rays irradiated from the X-irradiation section, and transmits the light reception result to an X-ray inspection section (not shown). The X-ray inspection unit analyzes the light reception results sent from the X-ray receiving unit, and outputs the results of the X-ray inspection (for example, whether or not there are scratches on the member 51).

[0181] In this embodiment, an example has been shown in which the multiple members 51 are welded without overlapping each other, but this embodiment is not limited to this. This embodiment is also applicable to an example in which a plurality of members 51 are welded together while overlapping each other.

[0182] Although the embodiments of the present invention have been described in detail above, the scope of the present invention is not limited to the above-described embodiments. Furthermore, the above-described embodiments can be improved or modified in various ways without departing from the spirit of the present invention. Furthermore, the above-described embodiments and modifications can be combined. [Explanation of symbols]

[0183] 10: Installation equipment 30: Welding equipment 30a: First welding unit 30b: Second welding unit 31a: First cabinet 31b: Second enclosure 32a: First jig 32b: Second jig 33a: First rotating body 33b: Second rotating body 34a: First spatter receiver 34b: Second spatter receiver 35a: First robot arm 35b: Second robot arm 36: Electron gun 37a: 1st magnet 37b: 2nd magnet 38: Support part 39a: 1st Caster 39b: 2nd Caster 50 :Structure 51: Materials R: Launch device

Claims

1. A welding device for welding structural members in space, a first welding unit located on a first surface side of the member; a second welding unit located on a second surface side of the member, the first welding unit includes a first rotating body; the second welding unit includes a second rotating body; The first welding unit and the second welding unit clamp the member and change their relative positions with respect to the member while bringing the first rotating body and the second rotating body into contact with the member.

2. the first welding unit includes a first sputter receiver and an electron gun; the second welding unit includes a second spatter receiver; 10. The welding device of claim 1.

3. the first welding unit includes a first jig and an electron gun; the second welding unit includes a second jig; 10. The welding device of claim 1.

4. the first welding unit includes a first robot arm; the second welding unit includes a second robot arm; the first robot arm moves the first welding unit; the second robot arm moves the second welding unit; The welding device according to any one of claims 1 to 3.

5. The first welding unit and the second welding unit attract the members to each other by magnetic force. The welding device according to any one of claims 1 to 3.

6. the first rotating body engages with a rail formed on a first surface of the member; The second rotating body engages with a rail formed on a second surface of the member. The welding device according to any one of claims 1 to 3.

7. the first rotating body and the second rotating body are drive wheels that engage with the rail; 7. The welding apparatus of claim 6.

8. It is equipped with casters, which are non-driving wheels, The casters engage with anti-tip rails formed on the member.

8. The welding device of claim 7.

9. The welding device according to claim 8 , wherein the first welding unit and the second welding unit change their traveling directions by rotating.

10. The welding device according to claim 6 , wherein the first welding unit and the second welding unit have an alignment mechanism that aligns the members with each other while moving.

11. The welding device according to claim 6 , wherein the first welding unit includes a gripping portion that grips a protrusion formed on the rail.

12. The welding device according to claim 6 , wherein the second welding unit includes a gripping portion that grips a protrusion formed on the rail.

13. 4. The welding device according to claim 1, wherein the first welding unit and the second welding unit bond to the members by van der Waals forces.

14. 4. The welding device according to claim 1, wherein the first welding unit and the second welding unit move at a predetermined distance from the member.

15. One welding unit moves following the other welding unit. The welding device according to any one of claims 1 to 3.

16. the first welding unit and the second welding unit move synchronously. The welding device according to any one of claims 1 to 3.

17. 4. The welding device according to claim 1, wherein the first welding unit and the second welding unit are provided with magnets for stabilizing the positions of the first welding unit and the second welding unit.

18. A structure that operates in space, A plurality of members; A welding apparatus comprising the welding device according to any one of claims 1 to 17, The welding device includes a power source that provides power for assembly and operational uses of the structure.

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