Stud dowel welding equipment and stud dowel welding systems, processing equipment

Abstract

To weld a stud dowel at an accurate position while reducing the physical burden on a worker welding the stud dowel. [Solution] The welding surface S is the side surface of the workpiece (1) that intersects with the upward surface or the downward surface of the workpiece (1), and the stud dowel welding device (W) is equipped with a welding gun (10) that holds a stud dowel (4) and welds the tip of the held stud dowel (4) to the welding surface (S), and a support part (20) that supports the welding gun (10) and has a movable mechanism that enables the welding gun (10) to move in a direction perpendicular to the welding surface (S) (Y-Y' direction), and in a first direction (X-X' direction) and a second direction (Z-Z' direction) that are perpendicular to the perpendicular direction, where the first direction and second direction are perpendicular to each other.

Description

[Technical Field]

[0001] The present invention relates to a stud dowel welding device, a stud dowel welding system, and a processing device. [Background technology]

[0002] Conventionally, composite decks have been used as one of the decks that make up bridges and elevated roads. These decks are made by pouring a concrete layer (concrete slab) onto steel plates that serve as steel formwork. A large number of stud dowels are provided at the locations where concrete is poured on the steel plates to join the steel plates and the concrete layer and improve their unity (see, for example, Patent Document 1).

[0003] Also known is a technique in which a large number of stud dowels are welded to the vertical side and bottom surfaces of a steel box body and then concrete is poured into the box (see, for example, Patent Document 2). [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Japanese Patent Application Laid-Open No. 2004-019386 [Patent Document 2] Japanese Patent Application Laid-Open No. 2005-030007 Summary of the Invention [Problem to be solved by the invention]

[0005] Stud dowel welding is often performed in factories or on-site by welding workers who move around with a stud welding gun and manually insert each stud dowel into the gun. However, stud welding guns are heavy and require a long welding cable to be connected to the welding machine. This not only makes them inconvenient to carry, but also requires workers to perform welding work in an awkward position, placing a significant physical strain on the worker. Drilling tools, such as hammer drills and impact drills, are similarly heavy and inconvenient to carry, and they also produce significant vibrations when processing the work surface. Therefore, continuous processing work in an awkward position can place a significant physical strain on the worker. In particular, when the surface to be welded or processed is the side of the workpiece, the working range expands in the vertical direction, which can significantly increase the physical strain on the worker. Furthermore, this heavy physical strain makes accurate work difficult.

[0006] The present invention has been made in consideration of the above circumstances, and its object is to weld stud dowels in accurate positions while reducing the physical burden on the worker welding the dowels, and also to perform processing in accurate positions while reducing the physical burden on the worker processing the surface to be processed. [Means for solving the problem]

[0007] The invention described in claim 1 is a stud dowel welding device, a side surface intersecting an upward surface of the workpiece to be welded or a downward surface of the workpiece to be welded is set as a welding target surface, a welding gun for holding a stud dowel and welding a tip of the held stud dowel to the welding target surface; a support unit that supports the welding gun and has a movable mechanism that enables the welding gun to move in a direction perpendicular to the surface to be welded (Y-Y' direction), and in a first direction (X-X' direction) and a second direction (Z-Z' direction) that are perpendicular to the perpendicular direction, The first direction and the second direction are perpendicular to each other.the law of nature, The movable mechanism includes: a vertical slider to which the welding gun is attached; a vertical guide rail extending in the vertical direction and slidably coupled to the vertical slider; a first direction guide rail extending in the first direction and slidably combined with the vertical guide rail; a second-direction extensible member configured to be extensible in the second direction and combined with the first-direction guide rail. It is characterized by the following.

[0009] Claim 2 The invention described in claim 1 The stud dowel welding device according to the present invention is the first direction guide rail is provided on the second direction expandable member, and the welding gun is provided on the first direction guide rail; The movable mechanism includes: The present invention is characterized in that it includes an angle change portion that is provided between the first direction guide rail and the second direction expandable member and that changes the angle of the first direction guide rail relative to the upper surface of the second direction expandable member.

[0010] Claim 3 The invention described in is a stud dowel welding system, the second direction is a height direction, Claim 1 or 2 a stud dowel welding device according to the present invention; a workbench on which the stud dowel welding device is installed and on which an operator sits; a lifting mechanism combined with the workbench for raising and lowering the workbench to change its height; a running body provided with the lifting mechanism; a control device provided on the workbench and controlling the operation of the lifting mechanism and the traveling body, The workbench is a floor portion coupled to the lifting mechanism; a fence provided along the outer periphery of the floor portion, The support portion of the stud dowel welding device is The second direction expandable member is provided on an upper surface thereof, and a support leg portion is provided to support the welding gun and the movable mechanism, The welding gun and the movable mechanism supported by the support legs are characterized in that they are positioned above the fence of the workbench.

[0011] Claim 4 The invention described in claim 3 The stud dowel welding system according to claim 1, The support portion is a floor moving part provided on the floor part of the workbench and extending in the first direction, the floor moving part being slidably combined with the support leg part; The length of the floor moving part in the first direction is set to be longer than the length of the first direction guide rail.

[0012] Claim 5 The invention described in is a stud dowel welding system, the second direction is a height direction, Claim 1 or 2 a stud dowel welding device according to the present invention; a movement mechanism on which the stud dowel welding device is installed and which supports the stud dowel welding device so as to be movable in the first direction and the second direction; a guide frame on which the movement mechanism is provided; a guide rail that supports the guide frame so that the guide frame is movable in the first direction; a suspension bracket provided above the welding surface, with the guide rail attached to a tip end of the suspension bracket in a protruding direction to support the guide rail, The guide frame is characterized in that it is disposed with a gap between it and the surface to be welded.

[0013] Claim 6 The invention described in is a stud dowel welding system, the second direction is a height direction, Claim1 or 2 a stud dowel welding device according to the present invention; a lifting mechanism on which the stud dowel welding device is installed and which lifts and lowers the stud dowel welding device in the height direction; A stud dowel welding system comprising: a traveling body on which the lifting mechanism is provided; The lifting mechanism includes: a rail-shaped member formed to be elongated in the height direction; a protruding member that is slidably provided along the rail-shaped member and protrudes forward of the traveling body beyond the rail-shaped member, The stud dowel welding device is installed on the upper surface of the protruding member.

[0014] Claim 7 The invention described in is a processing device, a side surface intersecting an upward surface of the object to be processed or a downward surface of the object to be processed is set as a surface to be processed, a drill tool that holds a replaceable tip tool and presses a tip portion of the held tip tool against a surface to be machined; a support unit that supports the drill tool and has a movable mechanism that allows the drill tool to move in a direction perpendicular to the surface to be machined and in first and second directions perpendicular to the perpendicular direction, The first direction and the second direction are perpendicular to each other. the law of nature, The movable mechanism includes: a vertical slider to which the drill tool is attached; a vertical guide rail extending in the vertical direction and slidably coupled to the vertical slider; a first direction guide rail extending in the first direction and slidably combined with the vertical guide rail; a second-direction extensible member configured to be extensible in the second direction and combined with the first-direction guide rail. It is characterized by the following. The invention described in claim 8 is the processing device described in claim 7, the first direction guide rail is provided on the second direction telescopic member, and the drill tool is provided on the first direction guide rail; The movable mechanism includes: The present invention is characterized in that it includes an angle change portion that is provided between the first direction guide rail and the second direction expandable member and that changes the angle of the first direction guide rail relative to the upper surface of the second direction expandable member. [Effects of the Invention]

[0015] According to the present invention, it is possible to reduce the physical burden on workers who weld stud dowels, and also to reduce the physical burden on workers who process the surfaces of the workpieces. [Brief explanation of the drawings]

[0016] [Figure 1] FIG. 2 is a perspective view showing an example of a welding target surface of a stud dowel. [Figure 2] 10A to 10C are diagrams illustrating the welding procedure for the stud dowel. [Figure 3] FIG. 1 is a perspective view showing the configuration of a self-propelled vehicle for working at height. [Figure 4] FIG. 1 is a perspective view showing a stud dowel welding device. [Figure 5] FIG. 2 is a side view showing a stud dowel welding device. [Figure 6] FIG. 2 is a plan view showing a stud dowel welding device. [Figure 7] FIG. 2 is a side view showing the stud dowel welding device in a lifted-up state. [Figure 8] FIG. 10 is a side view showing a modified example of the stud dowel welding device. [Figure 9] FIG. 10 is a plan view showing a modified example of the stud dowel welding device. [Figure 10] FIG. [Figure 11] FIG. 10 is a side view showing a modified example of the stud dowel welding system. [Figure 12] FIG. 1 is a front view showing an example of a hanging stud dowel welding system. [Figure 13] FIG. 13 is a side view of FIG. 12. DETAILED DESCRIPTION OF THE INVENTION

[0017] Hereinafter, embodiments of the present invention will be described with reference to the drawings. However, the embodiments described below are subject to various limitations that are technically preferable for implementing the present invention, but the technical scope of the present invention is not limited to the following embodiments and illustrated examples. Note that the directions in the following embodiments and illustrated examples are set solely for the convenience of explanation.

[0018] First Embodiment In Figure 1, reference numeral 1 indicates a part of a structure in which a steel structure and concrete are integrated. This structure 1 comprises a steel wall 2 (hereinafter referred to as the steel wall 2) and a concrete surface layer 3 that is poured onto the surface of the steel wall 2. The steel wall 2 and the concrete surface layer 3 are integrally joined by a large number of stud dowels 4 that are provided on the surface of the steel wall 2. In other words, the concrete surface layer 3 is formed in a state in which the large number of stud dowels 4 are embedded when the concrete is poured, and is thereby joined to the steel wall 2. That is, the welding target surface S to which the stud dowel 4 is welded by the stud dowel welding device W is the surface (excluding the upward facing surface, and referring to the lateral and downward facing surfaces) of the steel wall 2 that contacts the concrete surface portion 3 in, for example, a bridge, highway, etc. that employs the structure 1 (the structure is not particularly limited). The welding target surface S is made of a material to which the stud dowel 4 can be welded. In particular, the welding target surface S in this embodiment refers to the outer vertical side surface of the steel wall 2.

[0019] Furthermore, when forming a concrete surface layer 3 around a steel wall 2, a formwork is constructed around the steel wall 2 with numerous stud dowels 4 welded to its surface, and concrete is poured into the formwork. As the concrete hardens, the concrete surface layer 3 is formed around the steel wall 2, with numerous stud dowels 4 embedded in the concrete surface layer 3, and the steel wall 2 and the concrete surface layer 3 are integrated together.

[0020] In this embodiment, the steel body to which the multiple stud dowels 4 are welded is a steel wall 2, but the present invention is not limited to this and may be, for example, a steel column, a steel cylindrical body, or a steel box. That is, the steel body used as the welding object only needs to have at least one of a horizontal surface and a downward surface to which the multiple stud dowels 4 can be welded. Here, the horizontal surface of the steel body refers to a surface that intersects with an upward surface of the steel body that is not included in the welding object surface S in the present invention when the steel body is viewed in vertical cross section. Furthermore, the angle of this horizontal surface does not necessarily have to be a vertical plane (or perpendicular to the upward surface of the steel body) and may be inclined (including an overhang).

[0021] The welding position of the stud dowel 4 on the welding surface S may be coated with paint or dirt, or may have rust, so surface preparation is required. That is, the rust, dirt, etc. are removed by grinding using a power tool such as a disc sander or a hand tool, to expose the base material of the steel body 2. Exposing the base material improves the welding strength of the stud dowel 4, but on the other hand, it may cause the marking line 33 to disappear. Therefore, in this embodiment, a positioning means (a laser marker 31, described below) is used to position the welding position of the stud dowel 4.

[0022] The stud dowel 4, also known as a headed stud, has a cylindrical main body shank and a head formed integrally with one of the longitudinal ends of the main body shank, the end located on the opposite side from the welding surface S. The diameter of the head is set to be longer than the diameter of the main body shank. As shown in FIG. 2, the end of the main body shaft in the longitudinal direction that is located on the welding surface S side (the end opposite the head) is the tip, and a weld allowance 4a is provided on the tip surface. In this embodiment, the stud dowel 4 is welded with its tip facing sideways and its head positioned closer to the worker (in the Y direction) than the tip. That is, in this embodiment, the stud dowel 4 is welded so that it protrudes horizontally. In this embodiment, a headed stud is used as the stud dowel 4, but the present invention is not limited to this, and a stud bolt or a deformed reinforcing bar (deformed stud dowel) may also be used.

[0023] A ferrule 5 is attached integrally to the tip of the stud dowel 4. The inner diameter of the ferrule 5 is set to be approximately equal to the outer diameter of the main body shaft of the stud dowel 4. Therefore, the main body shaft of the stud dowel 4 fits into the ferrule 5, and as a result, the ferrule 5 is attached integrally to the tip of the stud dowel 4. The ferrule 5 is a ceramic convex cylindrical member that surrounds the tip (melt allowance 4a) of the stud dowel 4 and the welding point on the welding target surface S, and has an upper stage 5a that is formed with a smaller diameter than the lower stage. During welding, an arc is generated inside the cylindrical lower stage of the ferrule 5. The ferrule 5 is removed after the stud dowel 4 is welded.

[0024] The stud dowel welding device W for welding the above-described stud dowel 4 to the welding target surface S is installed, for example, on a self-propelled aerial work vehicle 70. A stud dowel welding system is formed by installing the stud dowel welding device W on the self-propelled aerial work vehicle 70. Explained in more detail, the stud dowel welding system is equipped with the stud dowel welding device W and a means for moving the stud dowel welding device W (self-propelled aerial work vehicle 70), and this means can easily change the work location by traveling, and even at the work location the stud dowel welding device W itself can be repositioned by at least raising and lowering it, and further, all operations can be performed by the operator of the stud dowel welding device W.

[0025] As shown in Figure 3, the self-propelled aerial work platform 70 of this embodiment comprises a running body 71 that can run on a pair of left and right crawler running devices 71a, a rotating body 72 that is mounted on the running body 71 so that it can rotate horizontally, a boom 73 that is mounted on the rotating body 72 so that it can rise and fall and bend freely, and a work platform 74 for an operator to ride on that is mounted on the tip of the boom 73.

[0026] The left and right crawler running devices 71a of the running body 71 are each configured with a plurality of rollers such as drive wheels and driven wheels, tracks wrapped around these rollers, and a running drive device that rotates the drive wheels. In this embodiment, the running body 71 has a crawler running device 71a, but this is not limited to this, and a running body having a wheel running device with multiple wheels may also be used.

[0027] The rotating body 72 is provided on the running body 71 with a rotation mechanism interposed between the rotating body 72 and the running body 71, and is capable of horizontal rotation on the running body 71. The rotation mechanism has a rotation motor that rotates the rotation shaft, and the rotating body 72 rotates in accordance with the rotation of the rotation shaft. In addition, the revolving body 72 has a counterweight (not shown) that serves as a weight for balancing the weight of the boom 73 and the work platform 74.

[0028] The boom 73 has a base boom 73a and a tip boom 73b, and functions as a lifting mechanism. The base end boom 73a is attached to the rotating body 72 so as to be able to rise and fall freely. The distal boom 73b is attached to the proximal boom 73a so as to be able to bend freely. That is, the boom 73 can be folded relative to the revolving unit 72. A boom drive unit that drives the boom 73 is provided on the revolving unit 72, and a base boom 73a is provided on the upper end of the boom drive unit so as to be able to rise and fall freely. Although an articulating boom is used for the boom 73 in this embodiment, the present invention is not limited to this, and an extendable boom in which a base boom and a tip boom are combined in a telescopic manner may also be used. Furthermore, instead of using a boom, a vertical lifting mechanism (scissors type, mast type, X-link type) that can vertically raise and lower the work platform 74 may also be used as the lifting mechanism. The boom 73 in this embodiment may also be included in the vertical lifting type in a broad sense, but any lifting mechanism (aerial work platform) may be used as long as it does not deviate from the spirit of the present invention.

[0029] The work platform 74 is attached to the tip of the tip boom 73b via a swing motor 74a. The swing motor 74a allows the work platform 74 to swing horizontally and always maintains the horizontal position. The workbench 74 also has a floor 74b and a fence 74c provided along the outer periphery of the floor 74b, and a worker stands on the floor 74b and performs welding work on the stud dowels 4 within the fence 74c. The work platform 74 is provided with a control device 75 (also referred to as a controller or an operating device) that is operated by a worker on the work platform 74. The control device 75 is provided with a left travel operation lever for operating the left crawler traveling device 71a to travel, a right travel operation lever for operating the right crawler traveling device 71a to travel, a swing operation lever for operating the swing body 72 to swing, a boom hoisting operation lever for operating the boom 73 to raise and lower, a boom operation lever for operating the boom 73 to bend and extend, a work platform swing operation lever for operating the swing of the work platform 74, and the like.

[0030] In this embodiment, the stud dowel welding device W is mounted on the work platform 74 of the self-propelled aerial work platform 70, but it may also be mounted on the work platform of a truck-type aerial work platform. As described above, any type of aerial work platform may be used, and modifications may be made as appropriate within the scope of the present invention.

[0031] Next, as shown in FIGS. 4 to 7, the stud dowel welding device W includes a welding gun 10, a support base 20 that supports the welding gun 10, and a positioning means that positions the welding position of the stud dowel 4. In the following description of the configuration of the stud dowel welding device W, it is assumed that the stud dowel welding device W and the workbench 74 are positioned directly facing the side of the steel wall 2 having the surface S to be welded.

[0032] The stud dowel welding device W is set up on a work bench 74 that is always kept horizontal, so the stud dowel welding device W also performs welding work on the stud dowel 4 on the work bench 74 based on the horizontally installed state. The stud dowel welding device W is attached to the floor 74b of the workbench 74 so as to be slidable in the lateral (X-X') direction.

[0033] The welding gun 10 will now be described. The welding gun 10 is used to hold a stud dowel 4 and weld the tip of the held stud dowel 4 to the welding surface S, and has a main body 11 attached to the support base 20 side, an operating lever 12, a first chuck 13, and a second chuck 14. Such a welding gun 10 is positioned higher than the fence 74c of the workbench 74 to weld the stud dowel 4 to the welding surface S located outside the workbench 74, making it easier to weld the stud dowel 4.

[0034] The main body 11 is a portion attached to the support base 20, and is attached to front and rear sliders 21 that constitute the movable mechanism of the support base 20. More specifically, in this embodiment, a pair of vertical sliders 21 are used, and the main body 11 is attached to a base plate 21a provided on the pair of vertical sliders 21.

[0035] The main body 11 also includes a rod 11a (also called a leg) that is arranged along the main body shaft of the held stud dowel 4 and is held by the main body 11 so that it can move back and forth vertically. The movement of such rod 11a can be fixed at any position by a stopper. Furthermore, rod 11a is held by main body 11 so as to be rotatable around the axis of the main body shaft of the held stud dowel 4. In other words, main body 11 is equipped with a holding section that holds rod 11a so as to be able to move back and forth in the vertical direction, while also holding it so as to be rotatable around the axis of stud dowel 4. Furthermore, this holding section is configured so that its rotation position can be stopped at 90 degrees forward, backward, left and right. In this embodiment, two rods 11a are used. A second chuck 14 is attached to the tip end of the rod 11a (the end on the welding target surface S side).

[0036] The operating lever 12 is formed long in the vertical direction and is gripped by an operator to operate the welding gun 10 in the front-to-back (Y-Y') direction, and is fixed to the top surface of the main body 11. The upper end of the operating lever 12 is positioned at a height that allows the operator to easily grip it with their hand so that they do not have to squat or bend forward. A welding switch 12a that starts the flow of electricity for welding is provided at the upper end of the operating lever 12. When the welding switch 12a is pressed, the flow of electricity starts and welding is performed, and when the welding switch 12a is released and returned to its original position, the flow of electricity stops and the welding is interrupted. A welding cable 11b for supplying electricity is connected to the main body 11.

[0037] The first chuck 13 is a dowel chuck that holds the head of the stud dowel 4, and is attached to a chuck adapter (not shown) provided at the tip of the main body 11 (the end on the welding target surface S side). The first chuck 13 is a cylindrical body with a plurality of slits formed in the cylindrical wall, and is capable of elastically holding the head of the stud dowel 4 .

[0038] The second chuck 14 is a ferrule chuck (also called a foot) that holds the ferrule 5 that is integrally attached to the tip of the stud dowel 4. As described above, the second chuck 14 is attached to the tip of the rod 11a. That is, the second chuck 14 is held by the rod 11a that extends from the main body 11.

[0039] Furthermore, because the rod 11a is held by the main body 11 so that it can move back and forth horizontally, the position of the second chuck 14 can be adjusted according to the length of the stud dowel 4 being used. In other words, even if a stud dowel 4 of a different length is used, the position of the second chuck 14 can be adjusted appropriately, and the ferrule 5 can be held by this second chuck 14.

[0040] The welding gun 10 configured as described above is supported in a movable state by a movable mechanism of the support base 20.

[0041] Next, the support base 20 will be described. Support base 20 functions as a support for welding gun 10, and includes a movable mechanism for supporting welding gun 10, support legs 26, and a floor moving part 27. Most of support base 20 is made of steel, with some parts made of resin.

[0042] The movable mechanism is a mechanism for enabling the welding gun 10 to move in a direction perpendicular to the surface S to be welded, and in a first direction (X-X' direction) and a second direction (Z-Z' direction) perpendicular to the perpendicular direction, and is equipped with a vertical slider 21, a vertical guide rail 22, a plurality of first direction guide rails 23, a second direction expandable member 24, and a base portion 25.

[0043] The vertical sliders 21 are sliders that slide along the length of the vertical guide rails 22, and as described above, a pair of vertical sliders 21 are provided at the front and rear in this embodiment. Base plates 21a are fixed onto the pair of front and rear vertical sliders 21, and the main body 11 of the welding gun 10 is attached onto the base plates 21a. The base plate 21a is a rectangular plate that is longer in the front-rear direction (Y-Y' direction) than in the lateral direction (X-X' direction). The pair of vertical sliders 21 are connected by a base plate 21a, which allows the vertical sliders 21 to move in unison when sliding along the vertical guide rails 22.

[0044] The vertical guide rail 22 is formed long in the direction perpendicular to the welding surface S (Y-Y' direction), and is combined with the vertical slider 21 so that the vertical slider 21 can slide. Since a pair of vertical sliders 21 are provided at the front and rear, a pair of vertical guide rails 22 are also provided at the front and rear. The vertical slider 21 is combined with such a vertical guide rail 22 without a stopper portion that restricts sliding along the vertical guide rail 22. However, this is not limitative, and the vertical slider 21 may be combined with the vertical guide rail 22 with a stopper portion.

[0045] The multiple first direction guide rails 23 are formed long in a horizontal direction (X-X' direction) perpendicular to the vertical direction (Y-Y' direction) relative to the welding surface S, and are combined with the vertical guide rails 22 so that they can slide. The first direction guide rails 23 of this embodiment are provided as a pair spaced apart in the front-rear direction (YY' direction).

[0046] The vertical guide rail 22 has a plurality of (front and rear pair) horizontal sliders 22a slidably combined with each of the pair of front and rear first direction guide rails 23. Therefore, the vertical guide rail 22 is slidably combined with the plurality of first direction guide rails 23. Furthermore, at least one of the multiple lateral sliders 22a has a stopper portion (not shown) that restricts sliding along the multiple first direction guide rails 23. Therefore, by using the stopper portion, the movement of the welding gun 10 in the lateral direction can be temporarily stopped.

[0047] A base plate 22b is fixed onto the horizontal sliders 22a, and the vertical guide rail 22 is attached onto the base plate 22b. The base plate 22b is a rectangular plate that is longer in the front-to-rear direction (Y-Y' direction) than in the horizontal direction (X-X' direction). Therefore, the vertical guide rail 22, which is elongated in the direction perpendicular to the welding surface S (Y-Y' direction), can be stably attached and fixed. The pair of front and rear horizontal sliders 22a are connected by the base plate 22b, which allows the horizontal sliders 22a to move in conjunction with each other when they slide along the first direction guide rail 23.

[0048] The second direction extensible member 24 includes a lower frame 24a, an upper plate 24b, an arm portion 24c, a hydraulic cylinder (not shown), and a handle 24d. The lower frame 24a is integrally formed with the upper end of the support leg 26 described later, and has the function of fixing the portion located above the second direction expansion member 24 to the support leg 26. The upper plate 24b constitutes the upper surface of the second direction extensible member 24, and a plurality of first direction guide rails 23 are provided on the upper plate 24b via a pedestal portion 25. To explain in more detail, the pedestal portion 25 is fixed on the upper plate 24b, and the plurality of first direction guide rails 23 are fixed on the pedestal portion 25. As shown in FIG. 6, the upper plate 24b is formed to have a large area, which can contribute to stably supporting the portion provided above the upper plate 24b. The arm portion 24c is configured such that two arms are connected at their intersection via a rotation axis and are assembled in an X-shape in side view. That is, the arm portion 24c constitutes an X-link mechanism, with its lower end connected to the lower frame 24a and its upper end connected to the upper plate 24b. The arm portion 24c is deformed by an extendable hydraulic cylinder. That is, when the hydraulic cylinder extends, the arm portion 24c deforms in a direction that pushes the upper plate 24b upward, and when the hydraulic cylinder contracts, the arm portion 24c deforms in a direction that lowers the upper plate 24b. The number of X-link mechanisms (two intersecting arms) may be one or more. The arm portions 24c are provided in pairs on the left and right (X side and X' side), and can push up the upper plate 24b in a well-balanced manner. The hydraulic cylinder can be adjusted by an operator by operating the handle 24d.

[0049] The base portion 25 is fixed to the upper surface of the upper plate 24b of the second direction extensible member 24, and a plurality of first direction guide rails 23 are fixed to the upper surface of this base portion 25. The base portion 25 is formed to be longer in the front-to-rear direction (Y-Y' direction) than in the lateral direction (X-X' direction), and may be a frame material or a box type.

[0050] Next, the support leg 26 will be described. The support leg portion 26 includes a top plate 26a, four legs 26b, a bottom plate 26c, and a reinforcing beam 26d. The top plate 26a is integrally connected to the lower frame 24a of the second direction extensible member 24. Therefore, anything located above the second direction extensible member 24 is supported by the support legs 26. The four legs 26b have their upper ends connected to the four corners of the top plate 26a, stably supporting the top plate 26a, and are also connected to the four corners of the bottom plate 26c. The bottom plate 26c connects the lower ends of the four legs 26b, making the entire support legs 26 one unit, and adopting a hybrid structure of a box frame and a frame structure that is more robust than a table-like structure, making it possible to stably support anything located above the support legs 26. The reinforcing beam 26d connects the middle portions of the four leg portions 26b together, thereby preventing the four leg portions 26b from wobbling.

[0051] Next, the floor moving part 27 will be described. The floor moving part 27 is installed on the floor part 74b of the workbench 74, and is used to slide and move the support leg part 26 in the lateral direction (XX' direction). The floor moving portion 27 includes a support rail 27a, a floor guide rail 27b, a floor slider 27c, and a stopper portion 27d. The support rails 27a are provided as a pair spaced apart in the front-to-rear direction (Y-Y' direction) and are elongated in the lateral direction (X-X' direction). The support rails 27a have an upper surface to which a floor guide rail 27b is attached. The floor guide rails 27b are attached to the upper surfaces of the pair of support rails 27a and are formed to be long in the horizontal direction (X-X' direction). A floor slider 27c is slidably combined with the floor guide rails 27b. The floor sliders 27c are disposed directly below the legs 26b of the support legs 26, are fixed to the bottom plate 26c, and are slidably combined with the floor guide rails 27b. That is, the floor sliders 27c are provided at the four corners of the lower end of the support legs 26, and in this state, are slidably placed on and engaged with the floor guide rails 27b. Therefore, anything located above the four floor sliders 27c can be stably supported. Stopper portion 27d can restrict the sliding of at least one of four floor sliders 27c along floor guide rail 27b. Stopper portion 27d can be operated by an operator with his or her foot.

[0052] Next, the positioning means will be described. The positioning means is for positioning the welding position of the stud dowel 4, and in this embodiment, a laser marker 31 is used.

[0053] In order to make the positioning means function effectively, as described above, marking lines 33 are drawn in a grid pattern on the welding target surface S, which is the side surface of the steel wall 2. The marking lines 33 are written in a straight line along the direction in which the multiple stud dowels 4 are arranged side by side, and include marking lines 33 that extend in a first direction along the width direction (X-X' direction) of the steel wall 2 in a plan view, and marking lines 33 that extend in a second direction (Z-Z' direction: height direction) perpendicular to the first direction. The intersection of the marking line 33 in the first direction and the marking line 33 in the second direction is set as the welding position of the stud dowel 4.

[0054] The laser marker 31 is a cross laser marker (cross laser pointer), and the device body that emits a cross-shaped laser beam is mounted on the underside of the tip of the vertical guide rail 22. The intersection of the cross-shaped laser beam is the position where it comes into contact with the tip of the stud dowel 4 set in the welding gun 10. Therefore, by positioning the stud dowel welding device W on the side of the steel wall 2 so that the cross-shaped laser beam matches the grid-like marking lines 33 drawn on the welding surface S, the positioning of the welding position for the stud dowel 4 is complete. Once positioning is complete, the welding gun 10 is brought closer to the steel wall 2, and the stud dowel 4 is welded.

[0055] The stud dowel welding device W is configured as described above, and the stud dowel welding device W is installed on the self-propelled aerial work platform 70 to configure a stud dowel welding system.

[0056] Next, a method for welding the stud dowel 4 to the welding target surface S using the stud dowel welding system and the stud dowel welding device W will be described.

[0057] After boarding the work platform 74, the worker operates the self-propelled aerial work platform 70 using the control device 75, and drives it so that it approaches the structure 1, which is the object to be welded. Then, once it has come close to a certain extent, the self-propelled aerial work platform 70 stops moving.

[0058] Next, the work platform 74 of the self-propelled aerial work platform 70 is raised and lowered by the boom 73, and the stud dowel welding device W is moved closer to the welding target surface S. If necessary, the swivel body 72 is rotated to position the stud dowel welding device W and the work platform 74 so that they are directly facing the side surface of the steel wall 2 (the welding target surface S).

[0059] Next, the stud dowel 4 is set on the welding gun 10 of the stud dowel welding device W, and the stud dowel 4 is welded by the stud dowel welding device W. At this time, first, the position of the stud dowel welding device W is adjusted in the lateral direction (X-X' direction) by sliding the support leg 26 along the floor guide rail 27b.

[0060] Next, the worker operates the handle 24d to extend or contract the second direction extensible member 24, thereby finely adjusting the position of the welding gun 10 in the height direction (ZZ' direction).

[0061] Next, the worker holds operation lever 12 of welding gun 10 and slides welding gun 10 along a pair of first direction guide rails 23 to finely adjust the lateral (X-X') position of welding gun 10. Then, once the lateral position of welding gun 10 has been determined, a stopper portion (not shown) stops the sliding movement of lateral slider 22a along first direction guide rails 23.

[0062] The reference for fine-tuning the position of welding gun 10 in the vertical direction (Z-Z' direction) and horizontal direction (X-X' direction) is positioning using laser marker 31, so at this point, the intersections of the cross-shaped laser light from laser marker 31 are aligned with the grid-like marking lines 33 inscribed on the welding target surface S. In other words, the worker positions welding gun 10 while fine-tuning it using positioning using laser marker 31.

[0063] Next, the stud dowel 4 is welded to the welding target surface S by the welding gun 10. FIG. 2 shows the welding procedure for the stud dowel 4. It is assumed that the welding of the stud dowel 4 is performed by one worker.

[0064] To begin the welding process, first, the stud dowel 4 with the ferrule 5 integrally attached thereto is set in the welding gun 10 as shown in FIG. 2(a). After the positioning of the stud dowel 4 by the positioning means (laser marker 31) is completed, the sliding of the vertical guide rail 22 relative to the plurality of first direction guide rails 23 is temporarily fixed by the stopper portion. Next, the welding gun 10 is slid vertically along the vertical guide rail 22, and the stud dowel 4 is set in a fixed position (welding position) as shown in Fig. 2(b). Then, the welding margin 4a is pressed against the welding surface S as shown in Fig. 2(c). Next, the welding switch 12a is pressed to start the welding operation as shown in FIG. 2(d). When the welding is completed, the welding gun 10 is removed from the stud dowel 4, and the ferrule 5 is chipped off and removed as shown in FIG. 2(e). Furthermore, once welding of one stud dowel 4 is completed in this manner, the stopper portion is operated to release the vertical guide rail 22, and the vertical guide rail 22 is moved along the multiple first direction guide rails 23 to begin welding work on the adjacent stud dowel 4.

[0065] According to this embodiment, the system includes a welding gun 10 that holds a stud dowel 4 and welds the tip of the held stud dowel 4 to a welding surface S, and a support unit 20 that supports the welding gun 10 and has a movable mechanism that enables the welding gun 10 to move in a direction perpendicular to the welding surface S (the Y-Y' direction), and in a first direction (the X-X' direction) and a second direction (the Z-Z' direction) that are perpendicular to the perpendicular direction. Because the first and second directions are perpendicular to each other, the movable mechanism allows the welding gun 10 to move in the first direction and the second direction to accurately position the stud dowel 4, and then the welding gun 10 can be moved in the direction perpendicular to the welding surface S to weld the stud dowel 4. This minimizes the need to manually move the heavy welding gun 10 when welding the stud dowel 4, thereby preventing welding work from being performed in an awkward position and reducing the physical strain on the worker welding the stud dowel 4 while allowing the stud dowel 4 to be welded in an accurate position.

[0066] The movable mechanism also includes a vertical slider 21 to which the welding gun 10 is attached, a vertical guide rail 22 that extends vertically and is slidably combined with the vertical slider 21, a first-direction guide rail 23 that extends in a first direction and is slidably combined with the vertical guide rail 22, and a second-direction telescopic member 24 that is configured to be telescopic in a second direction and is combined with the first-direction guide rail 23.Therefore, the position of the welding gun 10 can be adjusted in the first direction by sliding the vertical guide rail 22 along the first-direction guide rail 23, and the position of the welding gun 10 can be adjusted in the second direction by extending and contracting the second-direction telescopic member 24.This makes it possible to accurately weld the stud dowel 4 held by the welding gun 10 to the surface S to be welded.

[0067] The stud dowel welding system also comprises a workbench 74 on which the stud dowel welding device W is installed and on which an operator sits, a lifting mechanism 73 combined with the workbench 74 and used to raise and lower the workbench 74 to change its height, a running body 71 on which the lifting mechanism 73 is mounted, and a control device 75 mounted on the workbench 74 and used to control the operation of the lifting mechanism 73 and the running body 71. The workbench 74 comprises a floor 74b combined with the lifting mechanism 73 and a fence 74c mounted along the outer periphery of the floor 74b. The support part 20 of the stud dowel welding device W has a second-direction expandable member 24 on its upper surface and is equipped with support legs 26 that support the welding gun 10 and the movable mechanism. The welding gun 10 and the movable mechanism supported by the support legs 26 are positioned above the fence 74c of the workbench 74, so that the position of the stud dowel welding device W can be adjusted without being obstructed by the fence 74c of the workbench 74, while ensuring the safety of the operator.

[0068] Furthermore, support unit 20 includes floor-use moving unit 27, which is provided on floor 74b of workbench 74, extends in the first direction, and is slidably combined with support leg 26. The length of floor-use moving unit 27 in the first direction is set longer than the length of first-direction guide rail 23, so that floor-use moving unit 27 can slide support leg 26, and the movable mechanism and welding gun 10 supported by support leg 26, over a large distance in the first direction. In other words, because the length for adjusting the position of welding gun 10 can be made longer than first-direction guide rail 23, even if the position of workbench 74 in the first direction relative to welding target surface S is slightly misaligned, this error can be easily absorbed. This facilitates welding of stud dowel 4 using stud dowel welding device W.

[0069] [Modification] It should be noted that the embodiments to which the present invention can be applied are not limited to the above-described embodiments, and can be modified as appropriate without departing from the spirit of the present invention. Modifications will be described below. The following modifications may be combined as much as possible. In each of the following modifications, elements common to the above-described embodiments will be assigned the same reference numerals, and descriptions thereof will be omitted or simplified.

[0070] [Variation 1] As shown in Figure 8, the movable mechanism of this modified example is provided between the first direction guide rail 23 and the second direction expandable member 24, and is equipped with an angle change section 28 that changes the angle of the first direction guide rail 23 relative to the upper surface of the second direction expandable member 24.

[0071] The angle change section 28 has a fixed piece 28a fixed to the upper surface of the second direction expansion / contraction member 24, a first piece 28b rotatably connected to the front end of the fixed piece 28a, and a second piece 28c rotatably connected to the rear end of the first piece 28b, and a plurality of first direction guide rails 23 are attached to the upper surface of the second piece 28c.

[0072] The fixed piece 28a, the first piece 28b, and the second piece 28c may each be in the form of an arm formed like a rod, or may be in the form of a plate having side walls on both sides (the surfaces visible in FIG. 8). In particular, the second piece 28c is preferably in the form of a plate, since the plurality of first direction guide rails 23 are fixed to the upper surface thereof.

[0073] Furthermore, angle changer 28 of this modified example has angle maintaining means for maintaining the changed angle. If angle changer 28 is configured to push up and down first piece 28b and second piece 28c by, for example, a hydraulic cylinder (not shown), the changed angle can be maintained by appropriately controlling the hydraulic pressure of the hydraulic cylinder. The configuration for changing and maintaining the angles of the fixed piece 28a, the first piece 28b, and the second piece 28c is not limited to the above, and can be modified as appropriate within the scope of the present invention.

[0074] When the movable mechanism is equipped with angle change unit 28 in this way, it can also accommodate cases where surface S to be welded is inclined, overhanging, or the underside of structure 1, as shown in Fig. 8. However, when surface S to be welded is overhanging or the underside of structure 1, it is necessary to push up welding gun 10, so it is desirable to reduce the burden on the worker by, for example, making vertical slider 21 electrically operated or attaching a biasing member to the tip of vertical guide rail 22 that biases welding gun 10 in a direction that brings it closer to surface S to be welded.

[0075] According to this modification, a first-direction guide rail 23 is provided on the second-direction expandable member 24, and a welding gun 10 is provided on the first-direction guide rail 23, and the movable mechanism is provided between the first-direction guide rail 23 and the second-direction expandable member 24 and includes an angle changer 28 that changes the angle of the first-direction guide rail 23 with respect to the upper surface of the second-direction expandable member 24, so that the angle of the first-direction guide rail 23 and the welding gun 10 supported by the first-direction guide rail 23 can be changed by the angle changer 28. This makes it possible to weld the stud dowel 4 not only to the vertical welding surface S of the work-piece 1, but also to an inclined side surface that intersects with the upward facing surface of the work-piece 1 or a downward facing surface of the work-piece 1 as the welding surface S.

[0076] [Variation 2] As shown in FIG. 9, the movable mechanism of this modified example is configured to be movable in the second direction (ZZ' direction) and includes a second-direction moving member 24A combined with a first-direction guide rail 23.

[0077] The second direction moving member 24A is positioned outside the fence 74c on the workbench 74, and the multiple first direction guide rails 23 supported by the second direction moving member 24 and items located above the multiple first direction guide rails 23 (welding gun 10, vertical guide rail 22, etc.) can also be positioned outside the fence 74c.

[0078] Such a second-direction moving member 24A includes at least a first bracket 24Aa, a guide pole 24Ab, a vertical slider 24Ac, a second bracket 24Ad, and a support plate 24Ae.

[0079] The first bracket 24Aa is provided to protrude forward from the upper end portions of the two front (Y-side) leg portions 26b of the four leg portions 26b of the support leg portion 26. The first bracket 24Aa has two arms fixed to the two leg portions 26b, respectively, and a plate-shaped bracket main body fixed to the tips of the two arms.

[0080] The guide poles 24Ab are attached to both side ends of the bracket body of the first bracket 24Aa and are formed long in the vertical direction (Z-Z' direction). The length of these guide poles 24Ab is set to, for example, approximately 500 mm to 1500 mm, and the lower ends are positioned below the fence 74c of the workbench 74. In addition, the upper ends of the guide poles 24Ab are positioned above the fence 74c of the workbench 74.

[0081] The vertical slider 24Ac is slidably combined with each of the guide poles 24Ab, and includes a plurality of rollers that closely sandwich the guide pole 24Ab from the front and rear, and a housing that rotatably holds the plurality of rollers. The housing is not in contact with the first bracket 24Aa. The rollers are arranged in a row in the vertical direction as well, with one roller at the front and one at the back of the guide pole 24Ab, for a total of at least two rollers, but in this modified example, they are also arranged in a row in the vertical direction, with a total of four rollers used on one side (eight rollers in total on both sides).

[0082] The second bracket 24Ad has a fixed portion that is fixed across the front end surfaces of the housings of both vertical sliders 24Ac and a plurality of protruding arms that protrude from both ends of the fixed portion toward the center front and have their front ends integrated together, thereby forming the second bracket 24Ad in a substantially triangular shape in a plan view.

[0083] The support plate 24Ae is attached to the upper surface of the second bracket 24Ad at a position corresponding to where the multiple first direction guide rails 23 are arranged, and is formed in a plate shape so that each first direction guide rail 23 can be supported on the second bracket 24Ad.

[0084] The second-direction moving member 24A of this modification may further include a drive unit that rotates the rollers of the vertical slider 24Ac and a control device (controller) that controls the drive unit. This allows the second bracket 24Ad supported by the vertical slider 24Ac and the welding gun 10 and other components positioned above the second bracket 24Ad to slide along the guide pole 24Ab based on control operations from the control device. Furthermore, instead of the drive unit and the control device, the second-direction moving member 24A of this modification may include a biasing member for moving the vertical slider 24Ac upward or for biasing the vertical slider 24Ac to maintain its position in the up-down direction (Z-Z' direction). This allows the welding gun 10 to be easily slid up and down even by manual operation by an operator.

[0085] When welding a stud dowel 4 using a stud dowel welding device W equipped with the second-direction moving member 24A configured as described above, the worker can adjust the position of the welding gun 10 in the up-down direction (Z-Z' direction) by sliding the vertical slider 24Ac up and down. Note that, as with the above embodiment, position adjustment in the lateral direction (X-X' direction) is performed by sliding the lateral slider 22a along the first-direction guide rail 23. The floor moving unit 27 also functions in the same way as in the above embodiment.

[0086] According to this modified example, the lower end of the guide pole 24Ab of the second direction moving member 24A is positioned below the fence 74c of the work table 74, and the upper end of the guide pole 24Ab is positioned above the fence 74c of the work table 74, so that the welding gun 10 can have a long sliding distance in the vertical direction (ZZ' direction).

[0087] [Variation 3] In the above embodiment, the welding surface S is the outer vertical side surface of the steel wall 2, but in this modified example, the welding surface S is assumed to be a side surface that intersects with the upward surface of the structure (object to be welded) or a downward surface of the object to be welded, and is a surface excluding the upward surface of the structure and excluding the outer vertical side surface.

[0088] Here, the upward surface refers to a surface of a structure facing upward, specifically the top surface of a structure or the floor surface of a structure (for example, a rectangular tunnel-type or U-shaped trench-type structure), which does not necessarily have to be horizontal. The welding target surface S in this modified example is a side surface of the structure that intersects with such an upward surface (excluding the outer vertical side surface in the above embodiment), or a downward surface of the structure. That is, the welding surface S may be, for example, the inner vertical side surface of a rectangular tube tunnel or U-shaped trench structure, or the outer or inner non-vertical inclined side surface of a structure, or the outer or inner overhanging side surface of a structure, or the downward-facing surface of a structure. Each side surface of the structure faces laterally, and may therefore be referred to as a lateral surface. Furthermore, the downward surface refers to the surface of the structure facing downward. When welding the stud dowel 4 to the downward surface of the structure, it is assumed that there is a certain amount of space between the ground on which the self-propelled aerial work platform 70 travels and the downward surface of the structure. Also, an overhanging side surface may be included in the downward surface depending on its angle.

[0089] According to this modified example, the stud dowel welding device W and the stud dowel welding system can reliably weld the stud dowel 4 to the welding target surface S, which is a surface excluding the upward facing surface of the structure and a surface excluding the outer vertical side surface.

[0090] Second Embodiment Next, a second embodiment of the present invention will be described with reference to the drawings. For ease of explanation, the same reference numerals will be used to designate parts common to the first embodiment, and explanations will be omitted or simplified. The following description will focus on components that are different from the first embodiment. This embodiment may be combined with the above-described modified examples as much as possible.

[0091] In Fig. 10, the symbol S2 indicates the surface to be processed. In this embodiment, the surface S2 to be processed is, for example, the side surface of the concrete surface layer 3. However, it is not limited to this, and it may be the side surface of the above-mentioned steel wall 2 or the side surface of something else. The material of the object to be processed is not limited to concrete, nor is it limited to other materials such as metal, wood, resin, asphalt, etc., and is not particularly limited as long as processing is required and processing is possible.

[0092] In this embodiment, the processing of the processing target surface S2 is performed by a processing device P for processing the processing target surface S2. Such a processing device P includes a drill tool 100, a support table 20 that supports the drill tool 100, and a positioning means that positions the processing position of the drill tool 100.

[0093] The drill tool 100 is a power tool such as a hammer drill or an impact drill. The drill tool 100 holds a replaceable tip tool 110d and presses the tip of the held tip tool 110d against a surface S2 to be machined to perform machining. The drill tool 100 has a main body 110 and an operating lever 120.

[0094] The main body 110 is a part that is attached to the support base 20 side, and specifically, is attached to the vertical slider 21 that constitutes the movable mechanism of the support base 20. The main body 110 also includes a rod 11a (also called a leg) that is arranged along the held tool bit 110d and is held by the main body 110 so as to be movable back and forth in the vertical direction (Y-Y' direction). The rod 110a can be fixed at any position by a stopper. Furthermore, the rod 110a is held by the main body 110 so as to be rotatable around the axis of the held tool bit 110d. That is, the main body 110 is provided with a holding portion that holds the hoisting rod 110a so as to be able to move back and forth in the vertical direction, while also holding it so as to be rotatable around the axis of the tool bit 110d. Furthermore, this holding portion is configured so that its rotation position can be stopped at 90 degrees forward, backward, left, and right. In this embodiment, a plurality of suspending rods 110a are used. A visual marker 32, which is a positioning means, is attached to the lower end of the suspending rod 110a (the end on the welding target surface S side).

[0095] The main body 110 further includes a chuck adapter 110c that holds the tool bit 110d. The chuck adapter 110c is configured to allow the base end of the tool bit 110d to be detachably attached thereto, and is driven by a drive unit stored in the main body 110.

[0096] The tip tool 110d is preferably a drill for drilling holes, but is not limited to this. For example, a chisel for chipping or a bull point suitable for crushing may be used. A switch knob 110e is provided on the side of the main body 110 to switch the operation of the tool bit 110d between "rotation only," "impact only," and "rotation + impact." Therefore, the most suitable tool bit 110d is selected depending on how the workpiece surface S2 is to be machined, and the switch knob 110e is operated appropriately according to the selected tool bit 110d. This allows the workpiece surface S2 to be machined efficiently.

[0097] The operating lever 120 is held by an operator to operate the drill tool 100 in the vertical direction, and is arranged to protrude upward from the top surface of the main body 110, and is formed long in the Z direction, a second direction (Z-Z' direction) perpendicular to the vertical direction. The operating lever 120 has a switch 120a at its upper end for starting the supply of electricity to the drill tool 100. That is, when the switch 120a is pressed, the supply of electricity starts and the drill tool 100 operates, and when the switch 120a is released and returned to its original position, the supply of electricity stops and the drill tool 100 stops. It is assumed that a cable for supplying electricity is connected to the main body 110.

[0098] The drill tool 100 configured as above is supported in a movable state by a movable mechanism of the support base 20, and a processing device P is configured in this manner. The configuration, operation, and function of the support base 20 are the same as those of the support base 20 in the above embodiment, and therefore a description thereof will be omitted.

[0099] Furthermore, the processing device P configured as described above is installed on a self-propelled aerial work vehicle, and the work location can be easily changed by moving the self-propelled aerial work vehicle. The configuration, operation, and functions of the self-propelled aerial work platform on which the processing device P (support platform 20) is installed are also similar to those of the self-propelled aerial work platform 70 in the above embodiment, and therefore will not be described here.

[0100] Next, the positioning means will be described. The positioning means determines the position of the tip tool 110d of the drill tool 100, and in this embodiment, a visual marker 32 is used. The visual marker 32 is used as a backup in case the laser marker 31 cannot be used, but the present invention is not limited to this. In other words, the operator can appropriately select which positioning means to use.

[0101] The visual marker 32 is attached to the tip of the rod 110a and comprises a main body plate portion having a planar shape like a square with one corner cut off and three corners set at 90 degrees, and a clamping portion 32b that clamps the tip of the rod 110a. The visual marker 32 can be attached to the rod 11a by clamping the tip of the rod 11a with the clamping portion 32b.

[0102] A hole is formed in the main body plate portion, penetrating the center of the main body plate portion in the thickness direction, and the tip end (tip tool 110d) of the drill tool 100 is passed through the hole. The center of the hole and the central axis of the tip tool 110d set in the drill tool 100 are aligned in a positional relationship. The main body plate has three slits extending from the three corners toward the center of the main body plate (the center of the hole). These three slits also penetrate the main body plate in the thickness direction, allowing the processing surface S2 to be seen by the operator. These three slits extend in three directions at 90-degree intervals in a front view, and their extensions intersect at right angles at the center of the central hole in the main body plate. Therefore, by positioning the processing device P on the side of the concrete surface 3 so that the three slits align with the grid-like marking lines 33 drawn on the processing target surface S2, positioning of the processing position using the tip tool 110d is completed. Once positioning is complete, the drill tool 100 is moved perpendicular to the processing target surface S2 to process the concrete surface 3.

[0103] Next, we will explain a method for processing the concrete surface layer 3 using the processing device P and a processing system equipped with the processing device P. It is assumed that the processing work of the processing target surface S2 using the processing device P configured as above is performed by one worker.

[0104] After boarding the work platform 74, the worker operates the self-propelled aerial work platform 70 using the control device 75, and drives it so as to approach the structure 1, which is the object to be processed. Then, once it has come close to a certain extent, the self-propelled aerial work platform 70 stops moving.

[0105] Next, the work platform 74 of the self-propelled aerial work vehicle 70 is raised and lowered by the boom 73 to move the processing device P closer to the processing target surface S2. If necessary, the swivel body 72 is rotated to position the processing device P and the work platform 74 so that they directly face the side surface of the concrete surface portion 3 (processing target surface S2).

[0106] Next, the tip tool 110d is set on the drill tool 100 of the processing device P, and the processing device P performs processing work. At this time, first, the support leg 26 is slid along the floor guide rail 27b to adjust the position of the processing device P in the lateral direction (XX' direction).

[0107] Next, the operator operates the handle 24d to extend or contract the second direction extensible member 24, thereby finely adjusting the position of the drill tool 100 in the height direction (ZZ' direction).

[0108] Next, the operator holds the operating lever 120 of the drill tool 100 and slides the drill tool 100 along the pair of first direction guide rails 23 to finely adjust the lateral position (X-X' direction) of the drill tool 100. Then, once the lateral position of the drill tool 100 has been determined, the operator stops the sliding movement of the lateral slider 22a along the first direction guide rails 23 with a stopper portion (not shown).

[0109] The basis for fine-tuning the position of the drill tool 100 in the vertical direction (Z-Z' direction) and horizontal direction (X-X' direction) is positioning using the visual marker 32, so at this point, the slits in the visual marker 32 are aligned with the grid-like marking lines 33 written on the surface S2 to be machined.

[0110] After the positioning of the tool bit 110d by the positioning means (visual marker 32) is completed, the sliding of the vertical guide rail 22 relative to the plurality of first direction guide rails 23 is temporarily fixed by the stopper portion. Then, the drill tool 100 is slid in the vertical direction (YY' direction) until the tip of the tip tool 110d comes into contact with the surface S2 to be machined. Next, the switch 120a is pressed, the tip of the tip tool 110d is pressed against the surface S2 to be machined, and machining (here, drilling) is started, and when machining is completed, the tip tool 110d is pulled out. Furthermore, once the drilling work at one location has been completed in this manner, the stopper portion is operated to release the vertical guide rail 22 from its fixed position, and the vertical guide rail 22 is moved along the multiple first direction guide rails 23 to start drilling work at the next location. The above procedure is repeated.

[0111] According to this embodiment, the drill tool 100 includes a drill bit 110d that holds a replaceable tool bit 110d and presses the tip of the tool bit 110d against a workpiece surface S2 to perform machining, and a support unit 20 that supports the drill tool 100 and has a movable mechanism that allows the drill tool 100 to move in a direction perpendicular to the workpiece surface S2 and in a first direction (X-X' direction) and a second direction (Z-Z' direction) that are orthogonal to the perpendicular direction. Because the first and second directions are orthogonal to each other, the movable mechanism moves the drill tool 100 in the first direction and the second direction to accurately position the tool bit 110d, and then moves the drill tool 100 in the direction perpendicular to the workpiece surface S2 to perform machining. This minimizes the need to manually move the heavy drill tool 100 during machining, thereby preventing the operator from performing the machining in an awkward position and reducing the physical strain on the operator while allowing machining to be performed accurately.

[0112] The movable mechanism includes a vertical slider 21 to which the drill tool 100 is attached, a vertical guide rail 22 extending in the vertical direction and slidably coupled to the vertical slider 21, a first-direction guide rail 23 extending in a first direction and slidably coupled to the vertical guide rail 22, and a second-direction telescopic member 24 configured to be telescopic in a second direction and coupled to the first-direction guide rail 23. The position of the drill tool 100 can be adjusted in the first direction by sliding the vertical guide rail 22 along the first-direction guide rail 23, and the position of the drill tool 100 can be adjusted in the second direction by extending or contracting the second-direction telescopic member 24. This allows the tool tip 110d held by the drill tool 100 to be accurately moved toward the surface S2 to be machined.

[0113] In addition, the processing system including the processing device P comprises a workbench 74 on which the processing device P is installed and on which an operator sits, a lifting mechanism 73 combined with the workbench 74 and used to raise and lower the workbench 74 to change its height, a running body 71 on which the lifting mechanism 73 is mounted, and a control device 75 mounted on the workbench 74 and used to control the operation of the lifting mechanism 73 and the running body 71. The workbench 74 comprises a floor 74b combined with the lifting mechanism 73 and a fence 74c mounted along the outer periphery of the floor 74b. The support part 20 of the processing device P comprises a support leg 26 on whose upper surface a second-direction expandable member 24 is mounted and which supports the drill tool 100 and the movable mechanism. The drill tool 100 and the movable mechanism supported by the support leg 26 are positioned above the fence 74c of the workbench 74, so that the position of the processing device P can be adjusted without being obstructed by the fence 74c of the workbench 74 while ensuring the safety of the operator.

[0114] The support unit 20 includes a floor-use moving unit 27 that is provided on the floor 74b of the workbench 74, extends in the first direction, and is slidably coupled to the support leg 26. The length of the floor-use moving unit 27 in the first direction is set longer than the length of the first-direction guide rail 23, so that the floor-use moving unit 27 can slide the support leg 26, the movable mechanism supported by the support leg 26, and the drill tool 100 in the first direction by a large distance. In other words, because the length for adjusting the position of the drill tool 100 can be made longer than the length of the first-direction guide rail 23, even if the position of the workbench 74 relative to the surface S2 to be machined in the first direction is slightly misaligned, the error can be easily absorbed. This facilitates machining work using the tip tool 110d in the machining device P.

[0115] [Modification] It should be noted that the embodiments to which the present invention can be applied are not limited to the above-described embodiments, and can be modified as appropriate without departing from the spirit of the present invention. Modifications will be described below. The following modifications may be combined as much as possible. In each of the following modifications, elements common to the above-described embodiments will be assigned the same reference numerals, and descriptions thereof will be omitted or simplified.

[0116] [Variation 1] The stud dowel welding device W of this modified example includes a welding gun 10 and a support base 20 (support portion 20), and is configured in the same manner as the above embodiment, so a description thereof will be omitted. In this modified example, as shown in Fig. 11, the stud dowel welding device W is installed and fixed to the upper surface of a pair of forks 44 of a forklift 40, and is capable of being moved in the vertical direction.

[0117] The forklift 40 is equipped with drive wheels 41 and is configured to be able to move, and in this modified example, it is equipped with an engine (which may be a battery or a fuel cell) as a power source, and the direction of travel can be changed by operating the steering wheel. A loading / unloading unit is provided at the front end of the vehicle body. The loading / unloading unit includes a vertically long mast 42, a lift bracket 43 supported so as to be slidable in the up and down direction along the mast 42, and a pair of forks 44 attached to the lift bracket 43. In other words, since the forklift 40 is freely movable relative to the welding surface S, the stud dowel welding device W mounted on the forklift 40 is also freely movable relative to the welding surface S and can be freely adjusted in position in the vertical direction.

[0118] The mast 42 may have an outer mast and an inner mast that are vertically extendable. That is, the inner mast of the mast 42 is slidable up and down relative to the outer mast, and the lift bracket 43 is slidable up and down relative to the inner mast. This allows the position of the stud dowel welding device W mounted on the fork 44 to be adjusted over a wide range in the height direction.

[0119] The forklift 40 is driven and the mast 42 and forks 44 are operated by an operator seated in the driver's seat of the forklift 40. In addition to a steering wheel, the driver's seat is provided with accelerator, brake and other pedals, and various operating levers for operating the mast 42 and forks 44.

[0120] In the stud dowel welding device W, the lower frame 24a of the second direction expansion member 24 is mounted on the forks 44. Explaining in more detail, in this modified example, an installation plate 44a is mounted across the pair of forks 44, and the stud dowel welding device W is installed and fixed to the upper surface of the installation plate 44a. Normally (when the welding target surface S is vertical), the upper surfaces of the forks 44 and the upper surface of the installation plate 44a are horizontal. Depending on the angle of the welding target surface S, the mast 42 may be tilted by a tilt cylinder, thereby tilting the stud dowel welding device W according to the angle of the welding target surface S.

[0121] The stud dowel welding device W on the fork 44 is operated by a worker on an aerial work platform 76 which is a vehicle separate from the forklift 40. In this modified example, the aerial work vehicle 76 is a scissor lift type aerial work vehicle, and is equipped with a running body 77, a lifting mechanism 78, a work platform 79, and a control device (not shown).

[0122] The work platform 79 is a platform on which a worker appears, and is surrounded by a fence 79a. A control device is provided on the work platform 79, and can be operated by a worker standing on the work platform 79. The lifting device 78 is the so-called scissors lift described above, and is similar to the second-direction extensible member 24 in the above embodiment, with a configuration in which multiple X-link mechanisms are connected vertically. That is, when a hydraulic cylinder (not shown) extends, the arm deforms in a direction that pushes the work platform 79 upward, and when the hydraulic cylinder contracts, the arm deforms in a direction that lowers the work platform 79. The extension and retraction of the hydraulic cylinder can be controlled by a control device on the work platform 79.

[0123] In addition, such an aerial work vehicle 76 is equipped with a running body 77, which allows the worker to remain on board and move along the width direction of the surface S to be welded as the surface S to be welded is moved in the width direction of the surface S to be welded. The running body 77 is a running body having a wheel running device with multiple wheels, but is not limited to this and may be a running body having a crawler running device. Naturally, the running body 77 is also capable of easily changing course, etc.

[0124] In this modified example, the forklift 40 and the aerial work platform 76 are controlled by separate control devices, but this is not limiting and they may be integrated and controlled by a higher-level control system. In other words, the forklift 40 and the aerial work platform 76 are capable of automatic operation, and for example, a single controller can control the forklift 40 and the aerial work platform 76 together. The controller is installed on the work platform 79, and the worker can operate the forklift 40 and the aerial work platform 76 while standing on the work platform 79.

[0125] Aerial work platform 76 is positioned between forklift 40 and surface S to be welded, and an operator, while standing on work platform 79, places his or her hand on operating lever 12 of stud dowel welding device W and slides welding gun 10 in a direction perpendicular to surface S to be welded. The operator also slides welding gun 10 along first direction guide rail 23, or operates handle 24d of second direction telescopic member 24 to move welding gun 10 in the up and down direction. This allows fine adjustment of the position of welding gun 10 in the vertical direction (Z-Z' direction) and horizontal direction (X-X' direction).

[0126] According to this modification, the stud dowel welding device W can be mounted and moved on a forklift 40, which is a separate mobile unit from the aerial work platform 76 on which the worker rides, and the forklift 40 can adjust the position of the stud dowel welding device W in the vertical direction. This makes it possible to perform welding of the stud dowels 4 without having to prepare a large aerial work platform that can accommodate both the stud dowel welding device W and the worker. This not only reduces the physical strain on the worker welding the stud dowels 4, but also reduces the cost of welding the stud dowels 4.

[0127] [Variation 2] FIG. 12 is a front view illustrating the stud dowel welding system of this modified example, and FIG. 13 is a side view thereof. The welding surface S in this modified example is one side of a steel column 6 (or a steel pile). A concrete surface layer is provided on the side surface, including the one side surface of the steel column 6, thereby constructing a structure. In order to integrate the steel column 6 and the concrete surface layer, a stud dowel 4 is joined to the side surface of the steel column 6. The stud dowel welding system of this modified example is designed to efficiently weld the stud dowel 4 to one side surface of such a steel column 6. In this modified example, multiple steel columns 6 (three in Figure 12) stand between the upper and lower floor slabs, and one side of each of the multiple steel columns 6 serves as the welding target surface S of the stud dowel 4.

[0128] A hanging guide frame device 50 is provided on one side of each of the plurality of steel columns 6. The guide frame device 50 includes a plurality of hanging brackets 51, which are fixed at the same height position on the upper ends of the plurality of steel columns 6, and guide rails 52 of the guide frame device 50 are provided so as to span across the tips of the hanging brackets 51 in the protruding direction.

[0129] The guide frame device 50 includes the above-mentioned hanging bracket 51, the above-mentioned guide rail 52, the slider 53, the main body frame 54, the lifting frame 55, the support bracket 56, the support guide rail 57, and the support slider 58. The guide frame device 50 is disposed at a distance from the welding surface S, and the space formed by the distance is a space for arranging the stud dowel welding device W and also serves as a workspace for workers. A scissor lift-type aerial work vehicle (e.g., aerial work vehicle 76) or a stepladder can be placed in this workspace.

[0130] In this modification, the hanging bracket 51 is formed in a right-angled triangle shape, and a gadget rail 52 is attached to the underside of the tip of the protruding portion. The hanging bracket 51 is provided for each steel column 6, but may be provided for every other column.

[0131] The guide rail 52 is provided to span the tip ends of the hanging brackets 51 in the protruding direction, and is formed with a C-shaped cross section, such as a lip channel steel. In addition, a groove is formed on the underside of the guide rail 52, through which the retaining clip 53a of the slider 53 passes.

[0132] The slider 53 has a plurality of wheels and slides along the length of the guide rail 52, which has a C-shaped cross section. The slider 53 also has a retaining clip 53a that protrudes downward, and the main frame 54 is connected to the lower end of the retaining clip 53.

[0133] The main body frame 54 is formed in a rectangular frame shape and is placed in front of the welding target surface S. Note that, although the main body frame 54 in this modified example is set to have a width dimension spanning two steel columns 6, the present invention is not limited to this, and the main body frame 54 may be placed in front of the welding target surface S of only one steel column 6, or may be set to have a width dimension spanning three or more steel columns 6. Knee braces 54a are provided at the four corners of the main frame 54. The means for reinforcing the main frame 54 is not limited to the knee braces 54a, and may be braces such as diagonal braces. A retaining clip 53a of the slider 53 is connected to the upper frame material of the main frame 54. This allows the main frame 54 to slide freely along the grooves of the guide rails 52. A vibration prevention portion 54b is provided on the lower end frame material of the main body frame 54. The vibration prevention portion 54b protrudes from the lower end frame material toward the steel column 6 and suppresses wobbling of the main body frame 54. The number of vibration prevention portions 54b per steel column 6 may be one or more.

[0134] The lifting frame 55 is connected to both side end frame members of the main frame 54 so as to be slidable in the vertical direction. The lifting and lowering operation of the lifting frame 55 can be controlled by an operator using a controller (not shown). In addition, in the lifting frame 55, both connecting slide portions 55a that are connected to both side end frame members of the main frame 54 and slide are disposed at the same height position.

[0135] The support brackets 56 are attached and fixed to both connecting slide portions 55a of the lifting frame 55, and protrude toward the welding target surface S. A support guide rail 57 is provided between both support brackets 56. A plurality of support guide rails 57 are provided in the YY' direction. A plurality of support sliders 58 are slidably combined with each support guide rail 57.

[0136] The stud dowel welding device W is connected to and provided on the multiple support sliders 58. This allows the stud dowel welding device W to slide in the X-X' and Z-Z' directions within the main body frame 54 when viewed from the front, and the main body frame 54 itself to slide in the X-X' direction along the guide rails 52. Furthermore, the stud dowel welding device W allows the position of the welding gun 10 to be adjusted in the first direction (X-X' direction) and the second direction (Z-Z' direction) by the first direction guide rails 23 and the second direction expandable member 24, and also allows the position to be adjusted in the direction perpendicular to the welding target surface S (Y-Y' direction) by the vertical guide rails 22.

[0137] In this modification, the welding target surface S is one side surface of the steel pillar 6, but it is not limited to this and may be the wall surface of a steel wall or another welding target surface S. In other words, the guide frame device 50 of this modification can be used even if there is no gap between the surfaces, as in the case of the steel pillar 6.

[0138] In addition, in this modified example, only the lifting frame 55 can be remotely operated by an operator using a controller, but not only the lifting frame 55, but also the slider 53 and the support slider 58 may be remotely operated by an operator using a controller.

[0139] According to this modification, the hanging guide frame apparatus 50 can be positioned in front of the surface S to be welded, and the guide frame apparatus 50 can be moved along the width direction of the surface S to be welded. In addition, the stud dowel welding device W can be moved over a large distance in the first and second directions within the range of the main frame 54 of the guide frame apparatus 50. Furthermore, because the stud dowel welding device W can move the welding gun 10 in the first and second directions, as well as in a direction perpendicular to the surface S to be welded, the stud dowel welding device W can fine-tune the welding position of the stud dowel 4 within the main frame 54 of the guide frame apparatus 50. This allows the stud dowel 4 to be welded in an accurate position while reducing the physical strain on the worker welding the stud dowel 4. [Explanation of symbols]

[0140] S Welding surface 1 structure 2 steel wall 3. Surface concrete 4 stud dowels 10 welding gun 11 Main body 12 Operating lever 20 Support stand 21 Vertical Slider 21a base plate 22 Vertical guide rail 22a Horizontal slider 22b base plate 23 First direction guide rail 24 Second direction expansion member 24a Lower Frame 24b Upper plate 24c Arm 24d handle 25 Base 26 Support legs 26a Top plate 26b Legs 26c bottom plate 26d reinforcement through 27 Floor moving part 27a Support rail 27b Floor guide rail 27c floor slider 27d Stopper part 70 Self-propelled aerial work platform 71 Running body 71a Crawler running device 72 Rotating body 73 Boom 73a Base boom 73b Tip boom 74 Workbench 74a Oscillating motor 74b Floor 74c fence 75 Control Device

Claims

1. a side surface intersecting an upward surface of the workpiece to be welded or a downward surface of the workpiece to be welded is set as a welding target surface, a welding gun for holding a stud dowel and welding a tip of the held stud dowel to the welding target surface; a support unit that supports the welding gun and has a movable mechanism that allows the welding gun to move in a direction perpendicular to the surface to be welded and in first and second directions perpendicular to the perpendicular direction, the first direction and the second direction are perpendicular to each other, The movable mechanism includes: a vertical slider to which the welding gun is attached; a vertical guide rail extending in the vertical direction and slidably coupled to the vertical slider; a first direction guide rail extending in the first direction and slidably combined with the vertical guide rail; A stud dowel welding device characterized by comprising: a second direction expansion member configured to be freely expandable in the second direction and combined with the first direction guide rail.

2. the first direction guide rail is provided on the second direction expandable member, and the welding gun is provided on the first direction guide rail; The movable mechanism includes:

2. The stud dowel welding device according to claim 1, further comprising an angle change unit provided between the first direction guide rail and the second direction expandable member, for changing the angle of the first direction guide rail relative to the upper surface of the second direction expandable member.

3. the second direction is a height direction, The stud dowel welding device according to claim 1 or 2; a workbench on which the stud dowel welding device is installed and on which an operator sits; a lifting mechanism combined with the workbench for raising and lowering the workbench to change its height; a running body provided with the lifting mechanism; A control device provided on the workbench and controlling the operation of the lifting mechanism and the traveling body, The workbench is a floor portion coupled to the lifting mechanism; a fence provided along the outer periphery of the floor portion, The support portion of the stud dowel welding device is The second direction expandable member is provided on an upper surface thereof, and a support leg portion is provided to support the welding gun and the movable mechanism, A stud dowel welding system characterized in that the welding gun and the movable mechanism supported by the support legs are positioned above the fence of the workbench.

4. The support portion is a floor moving part provided on the floor part of the workbench and extending in the first direction, the floor moving part being slidably combined with the support leg part; The stud dowel welding system according to claim 3, wherein the length of the floor moving part in the first direction is set longer than the length of the first direction guide rail in the first direction.

5. the second direction is a height direction, The stud dowel welding device according to claim 1 or 2; a movement mechanism on which the stud dowel welding device is installed and which supports the stud dowel welding device so as to be movable in the first direction and the second direction; a guide frame on which the movement mechanism is provided; a guide rail that supports the guide frame so that the guide frame is movable in the first direction; a suspension bracket provided above the welding surface, with the guide rail attached to a tip end of the suspension bracket in a protruding direction to support the guide rail, A stud dowel welding system, characterized in that the guide frame is arranged at a distance from the welding surface.

6. the second direction is a height direction, The stud dowel welding device according to claim 1 or 2; a lifting mechanism on which the stud dowel welding device is installed and which lifts and lowers the stud dowel welding device in the height direction; A stud dowel welding system including: a traveling body on which the lifting mechanism is provided; The lifting mechanism includes: a rail-shaped member formed to be elongated in the height direction; a protruding member that is slidably provided along the rail-shaped member and protrudes forward of the traveling body beyond the rail-shaped member, A stud dowel welding system, characterized in that the stud dowel welding device is installed on the upper surface of the protruding member.

7. a side surface intersecting an upward surface of the object to be processed or a downward surface of the object to be processed is set as a surface to be processed, a drill tool that holds a replaceable tip tool and presses a tip portion of the held tip tool against a surface to be machined; a support unit that supports the drill tool and has a movable mechanism that allows the drill tool to move in a direction perpendicular to the surface to be machined and in a first direction and a second direction perpendicular to the perpendicular direction, the first direction and the second direction are perpendicular to each other, The movable mechanism includes: a vertical slider to which the drill tool is attached; a vertical guide rail extending in the vertical direction and slidably coupled to the vertical slider; a first direction guide rail extending in the first direction and slidably combined with the vertical guide rail; a second-direction extensible member configured to be extensible in the second direction and combined with the first-direction guide rail,

8. The first direction guide rail is provided on the second direction expandable member, and the drill tool is provided on the first direction guide rail, The movable mechanism includes: The processing device described in claim 7, characterized in that it is provided with an angle change unit that is provided between the first direction guide rail and the second direction expandable member and that changes the angle of the first direction guide rail relative to the upper surface of the second direction expandable member.

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