JPS63180370A - Welding method using welding robot and device for fitting running rail of welding robot - Google Patents
Welding method using welding robot and device for fitting running rail of welding robotInfo
- Publication number
- JPS63180370A JPS63180370A JP1000687A JP1000687A JPS63180370A JP S63180370 A JPS63180370 A JP S63180370A JP 1000687 A JP1000687 A JP 1000687A JP 1000687 A JP1000687 A JP 1000687A JP S63180370 A JPS63180370 A JP S63180370A
- Authority
- JP
- Japan
- Prior art keywords
- welding
- welded
- robot
- welding robot
- running
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000003466 welding Methods 0.000 title claims abstract description 100
- 238000000034 method Methods 0.000 title claims description 12
- 239000000463 material Substances 0.000 claims abstract description 15
- 229910000831 Steel Inorganic materials 0.000 abstract description 14
- 239000010959 steel Substances 0.000 abstract description 14
- 238000010276 construction Methods 0.000 description 5
- 239000011324 bead Substances 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000009941 weaving Methods 0.000 description 1
Landscapes
- Butt Welding And Welding Of Specific Article (AREA)
Abstract
Description
【発明の詳細な説明】
〔産業上の利用分野〕
本発明は、建設現場等において、被溶接材に溶接ロボッ
トを取付けて溶接を行なう方法および該溶接ロボットを
走行用レールとともに被溶接材に取付けるための取付装
置に関する。[Detailed Description of the Invention] [Field of Industrial Application] The present invention relates to a method of attaching a welding robot to a material to be welded and performing welding at a construction site, etc., and a method of attaching the welding robot to the material to be welded together with a traveling rail. Relating to a mounting device for.
従来、建設現場での鉄骨等の溶接においては、溶接作業
員による半自動溶接が有効な手段として定着している。Conventionally, semi-automatic welding by welding workers has been established as an effective means for welding steel frames and the like at construction sites.
この場合、第３図に示すように、たとえば被溶接材（ａ
）（ａ）の溶接ライン（ｂ）の溶接は、施工性の見地、
から溶接トーチ（ｃ）が下向きとなる溶接姿勢で行なっ
ており、また、溶接熱による被溶接材（ａ）（ａ）の変
形や残留応力の発生を防止するため、−例の溶接ライン
（ｂ）を１〜２層溶接した後直ちに被溶接材（ａ）（ａ
）を反転させ、他側の溶接ラインを同様に下向きで溶接
している。In this case, as shown in FIG. 3, for example, the material to be welded (a
) Welding of welding line (b) of (a) is performed from the viewpoint of workability,
Welding is carried out in a position where the welding torch (c) faces downward, and in order to prevent the welding material (a) from deforming and generating residual stress due to welding heat, welding line (b) ) Immediately after welding 1 to 2 layers of welded material (a) (a
) is reversed and the welding line on the other side is welded downward in the same way.
しかし、鉄骨等の被溶接材を反転させつつ常時下向きで
溶接を行なうには、大型の反転装置であるターニングテ
ーブルを必要とし、設備が大掛りにならざるを得ないた
め、建設現場での溶接に用いるのは不都合である。However, in order to constantly weld downward while inverting the material to be welded, such as a steel frame, a turning table, which is a large inverting device, is required, and the equipment must be large-scale. It is inconvenient to use it for
また、溶接熱の入熱による変形等を防止する溶接法とし
ては、鋼材の両側にそれぞれ溶接作業員を配置して、立
向き上進で左右対称に溶接を行なう工法があるが、溶接
作業効率上好ましいものではない。In addition, as a welding method to prevent deformation due to welding heat input, there is a method in which welding workers are placed on both sides of the steel material and weld symmetrically while standing up and moving upwards. This is not desirable.
本発明は、上記したような問題に鑑み、建設現場での溶
接作業に溶接ロボットを導入して溶接作業員への依存度
を少なくシ、溶接作業効率の向上、溶接品質の安定およ
び作業環境の改善を目的としてなされたものである。In view of the above-mentioned problems, the present invention introduces a welding robot to welding work at construction sites to reduce dependence on welding workers, improve welding work efficiency, stabilize welding quality, and improve the working environment. This was done for the purpose of improvement.
すなわち上記問題点を解決するため、本発明は被溶接材
の両側の、溶接ラインを有する面に、それぞれ走行用レ
ール取付装置を介して１対の走行用レールを前記各溶接
ラインと近接して取付け、該６走行用レール上を走行す
る溶接ロボットによって前記両側の溶接ラインの自動溶
接を行なうことを特徴とする溶接ロボットを用いた溶接
方法および本体背面に、溶接ロボットの走行用レールを
取着するための結合部を有するとともに、本体前面に、
該本体を被溶接材の溶接ラインを有する面へ固定するた
めの掴み部を有してなることを特徴とする溶接ロボット
走行用レール取付装置を提供するものである。That is, in order to solve the above-mentioned problems, the present invention installs a pair of running rails on both sides of the material to be welded, each having a welding line, through a running rail attachment device, so as to be close to each of the welding lines. A welding method using a welding robot characterized in that the welding lines on both sides are automatically welded by the welding robot running on the six running rails, and the running rail of the welding robot is attached to the back of the main body. It has a connecting part for
The present invention provides a rail mounting device for a welding robot traveling, characterized by having a gripping portion for fixing the main body to a surface of a workpiece having a welding line.
上記本発明溶接方法は、被溶接材をいちいち反転させる
ことなく、該被溶接材の両側に固定された走行用レール
を走行する溶接ロボットによって、両側の溶接ラインを
同時に、あるいは交互に自動溶接可能とし、また、上記
本発明取付装置は、本体背面の結合部において走行用レ
ールと結合するとともに本体前面の掴み部において被溶
接材へ該本体を固定することにより、溶接ロボットを溶
接ラインに沿って走行させるための前記走行用レールを
、被溶接材の両側の、前記溶接ラインを有する面にそれ
ぞれ取着固定し、上記本発明溶接方法による溶接を可能
とするものである。The welding method of the present invention described above enables automatic welding of welding lines on both sides simultaneously or alternately by a welding robot that runs on traveling rails fixed to both sides of the workpiece without reversing the workpiece one by one. Moreover, the above-mentioned mounting device of the present invention connects the welding robot along the welding line by connecting the main body to the traveling rail at the connecting part on the back of the main body and fixing the main body to the workpiece at the grip part on the front of the main body. The traveling rails for running are attached and fixed to the surfaces having the welding lines on both sides of the workpiece to be welded, thereby enabling welding by the above-described welding method of the present invention.
以下、本発明を、Ｈ型鋼をその長さ方向に直列的に溶接
する場合を例示した第１図および第２図の実施例に基い
て説明する。Hereinafter, the present invention will be explained based on the embodiments shown in FIGS. 1 and 2, which illustrate the case where H-shaped steel is welded in series in the length direction thereof.
図において、符号（１）は被溶接材たるＨ型鋼で、第１
図に一点鎖線で示す支持台（１５）上に載置固定されて
いる。 （ｌｏ）（ｔｏ）は、Ｈ型鋼（１）の両側の、
溶接ライン（２ａ） （２ｂ）を有する面に、それぞれ
走行用レール取付装置（３）を介して各溶接ライン（２
ａ）（２ｂ） （第２図ではビードが形成された溶接完
７後の状態を示す）と近接しかつ平行して、互いに対称
位置に取着された１対の走行用レールである。前記走行
用レール取付装置（３）は、「日」字形の本体（０と、
ボルト・ナツト（７）によって該本体（４）の前面（４
ａ）に位置調整可能な状態で装着され、ボルト（８）の
締付けによってＨ型鋼（１）の縁部に掴着する掴み部た
る１対のクランプ（５）（５）と、本体（４）の背面（
４ｂ）に一体固着され、ボルト（９）によって走行用レ
ール（ｌＯ）を結合固定する１対の結合部（８）（８）
とからなる、 （＋１）（１１）は前記各走行用レール
（１０）を送りスクリュ等によってその長さ方向に往復
走行する溶接ロボットで、直角座標系で位置決めされ、
溶接トーチ（１２）は水平回転、俯仰回転および上下方
向、前後方向の各自由度をもち、これら位置決め制御、
姿勢制御および溶接動作や溶接電流等の制御は、ティー
チング−プレイバックによる教示方式が用いられ、図示
しないマイクロコンピュータをもって行なわれる。In the figure, code (1) is the H-shaped steel that is the material to be welded, and the first
It is mounted and fixed on a support stand (15) shown by a dashed line in the figure. (lo) (to) are on both sides of H-shaped steel (1),
Each weld line (2
a) (2b) (Figure 2 shows the state after completion of welding with a bead formed) A pair of running rails that are attached in symmetrical positions adjacent to and parallel to. The traveling rail attachment device (3) has a “Japanese”-shaped main body (0 and
The front surface (4) of the main body (4) is secured by the bolt/nut (7).
a) A pair of clamps (5) (5), which are gripping parts that are attached to the body (4) in an adjustable manner and grip the edge of the H-shaped steel (1) by tightening the bolt (8); The back of (
4b), and a pair of coupling parts (8) (8) that couple and fix the traveling rail (lO) with bolts (9).
(+1) (11) is a welding robot that reciprocates in the length direction of each traveling rail (10) by a feed screw or the like, and is positioned in a rectangular coordinate system,
The welding torch (12) has degrees of freedom in horizontal rotation, vertical rotation, vertical direction, and front-back direction, and these positioning controls,
Posture control, welding operation, welding current, etc. are controlled using a teaching method using teaching-playback, and are performed by a microcomputer (not shown).
溶接姿勢は立向き上進で、さらに詳しくは溶接ロボット
（１１）が走行用レール（１０）を上方へ向かって走行
するときに、溶接トーチ（１２）へ消耗電極ワイヤ（１
３）をコンジットケーブル（Ｉ４）を通じて自動送給し
、溶接電流を印加し、かつシールドガスを用いてアーク
溶接を行なうもので、この溶接作業に先立ち、溶接ロボ
ット制御装置に作業内容を教示する。すなわち、溶接ラ
イン（２ａ）（２ｂ）に対するトーチシフト、該溶接ラ
イン（２ａ）（２ｂ）の開先条件によるウィービング動
作、その他の溶接条件や位置座標、溶接姿勢などを指定
して、Ｈ型鋼（１）の溶接ライン（２ａ）または（２ｂ
）をマニュアル操作で溶接ラインの基準を教示し、溶接
ロポッｈ （１１）に内蔵されたシャフトエンコーダ等
の各種センサで検出したその溶接情報を図示しないティ
ーチングボックスを用いて前記マイクロコンピュータの
メモリに記憶させる。そして、このようにして記憶され
た教示内容を順次読出すことによって、溶接ロボット（
１１０１１）は何度でも同じ動作で自動溶接を繰返すこ
とが可能となり、Ｈ型鋼（１）の両側にそれぞれ走行用
レール取付装Ｍ（３）を介して上下方向に取Ｒ固定され
た走行用レール（１０）（１（１）上を走行しながら、
前記両側の溶接ライン（２ａ）（２ｂ）を同時に、ある
いは交互に溶接を行なうものである。The welding posture is standing and moving upwards.More specifically, when the welding robot (11) moves upward on the traveling rail (10), the consumable electrode wire (1) is attached to the welding torch (12).
3) is automatically fed through a conduit cable (I4), a welding current is applied, and arc welding is performed using shielding gas.Prior to this welding work, the welding robot control device is taught the work content. That is, by specifying the torch shift for the welding lines (2a) (2b), the weaving operation according to the groove conditions of the welding lines (2a) (2b), other welding conditions, position coordinates, welding posture, etc., the H-shaped steel ( 1) welding line (2a) or (2b
) by manual operation to teach the standards of the welding line, and the welding information detected by various sensors such as a shaft encoder built into the welding robot (11) is stored in the memory of the microcomputer using a teaching box (not shown). let By sequentially reading out the teaching contents stored in this way, the welding robot (
11011) is capable of repeating automatic welding with the same operation any number of times, and is equipped with running rails that are fixed in the vertical direction on both sides of the H-shaped steel (1) via running rail mounting devices M (3). (10) (While driving on (1),
The welding lines (2a) and (2b) on both sides are welded simultaneously or alternately.
上記実施例によれば、２台の溶接ロボット（１１）（＋
１）によってＨ型鋼（１）の再溶接ライン（２ａ）（２
ｂ）が同時に、あるいは交互に溶接されることから、従
来の下向き姿勢での溶接のように、溶接熱による変形を
防止するためにＨ型鋼（１）をターニングテーブル等の
大型の反転装置を用いていちいち反転させながら溶接作
業を行なう必要はなく、走行用レール取付装置（３）も
大きなものではないため、ことに作業スペースが限られ
た建設現場等へ導入すればきわめて有用である。According to the above embodiment, two welding robots (11) (+
1) rewelding line (2a) (2) of H-beam steel (1)
b) are welded at the same time or alternately, the H-shaped steel (1) is welded using a large reversing device such as a turning table to prevent deformation due to welding heat, unlike conventional welding in a downward position. Since there is no need to perform welding work while reversing each time, and the running rail attachment device (3) is not large, it is extremely useful especially when introduced to construction sites where work space is limited.
以上の説明で明らかなように１本発明によれば、２台の
溶接ロボットを用い、被溶接材の両側に走行用レール取
付装置によって取着固定した走行用レールのそれぞれで
この溶接ロボットを走行させながら、前記両側の溶接ラ
インを同時に、あるいは交互に自動溶接するものである
ため、被溶接材を反転させる大型の反転装置は不要であ
り、したがって作業スペースの限られた建設現場等での
溶接作業能率を著しく向上させることができるばかりで
なく、溶接作業員への依存度を少なくし、溶接品質を向
上かつ安定化させることができるといった優れた効果を
奏する。As is clear from the above description, according to the present invention, two welding robots are used, and the welding robot runs on each of the running rails that are attached and fixed to both sides of the workpiece by the running rail attachment devices. Since the welding lines on both sides are automatically welded simultaneously or alternately, there is no need for a large reversing device for reversing the material to be welded, making it possible to weld at construction sites where work space is limited. Not only can work efficiency be significantly improved, but also the dependence on welding workers can be reduced, and welding quality can be improved and stabilized.
第１図は本発明に係る溶接ロボットを用いた溶接方法の
一実施例を示す作業説明図、第２図は本発明に係る走行
用レール取付装置の一実施例を示す取付状態の斜視図、
第３図は従来の溶接方法の一例を示す斜視図である。
（１）被溶接材たるＨ型鋼 （２ａ）（２ｂ）溶接ラ
イン（３）走行用レール取付装置 （４）本体（４ａ
）前面 （４ｂ）背面
（５）掴み部たるクランプ （８）結合部（１０）走
行用レール （１１）溶接ロボット０″”ｌ″ｉ”
７０１ Ｉ ＊＆ゞ６竺、”−ユ、：′ｌ・１．・′ｉ
代理人 弁理士 野 木 陽 ｉμ：＋：、’
Ｌ’ｌ’第１図
第２図
鳳
２ａ、２ｂ −−ｉ容接ラインFIG. 1 is a work explanatory diagram showing an embodiment of a welding method using a welding robot according to the present invention, FIG. 2 is a perspective view of an installed state showing an embodiment of a traveling rail mounting device according to the present invention,
FIG. 3 is a perspective view showing an example of a conventional welding method. (1) H-shaped steel as the material to be welded (2a) (2b) Welding line (3) Traveling rail mounting device (4) Main body (4a
) Front (4b) Back (5) Clamp as gripping part (8) Joint part (10) Traveling rail (11) Welding robot 0""l"i"
701 I *＆ゞ6纺、”-Yu、：′l・１．・′i Agent Patent attorney Yo Nogi iμ：＋：、'
L'l' Fig. 1 Fig. 2 Otori 2a, 2b --i Reception line
Claims (2)
れぞれ走行用レール取付装置を介して１対の走行用レー
ルを前記各溶接ラインと近接して取付け、該各走行用レ
ール上を走行する溶接ロボットによって前記両側の溶接
ラインの自動溶接を行なうことを特徴とする溶接ロボッ
トを用いた溶接方法。(1) Attach a pair of running rails on both sides of the material to be welded, in close proximity to each of the welding lines, via a running rail attachment device, respectively, on each side of the surface having the welding lines, and A welding method using a welding robot, characterized in that the welding lines on both sides are automatically welded by a traveling welding robot.
するための結合部を有するとともに、本体前面に、該本
体を被溶接材の溶接ラインを有する面へ固定するための
掴み部を有してなることを特徴とする溶接ロボット走行
用レール取付装置。(2) The back of the main body has a connecting part for attaching the traveling rail of the welding robot, and the front of the main body has a grip part for fixing the main body to the surface of the material to be welded having the welding line. A rail mounting device for running a welding robot, which is characterized by:
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP1000687A JPS63180370A (en) | 1987-01-21 | 1987-01-21 | Welding method using welding robot and device for fitting running rail of welding robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP1000687A JPS63180370A (en) | 1987-01-21 | 1987-01-21 | Welding method using welding robot and device for fitting running rail of welding robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPS63180370A true JPS63180370A (en) | 1988-07-25 |
Family
ID=11738318
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP1000687A Pending JPS63180370A (en) | 1987-01-21 | 1987-01-21 | Welding method using welding robot and device for fitting running rail of welding robot |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS63180370A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102357753A (en) * | 2011-09-22 | 2012-02-22 | 无锡华联科技集团有限公司 | Guide mechanism of horizontal H-beam steel assembly welding compression roller |
| CN104924001A (en) * | 2015-06-29 | 2015-09-23 | 金世金属制品（吴江）有限公司 | Section steel automatic welding apparatus |
| CN117583815A (en) * | 2024-01-19 | 2024-02-23 | 中铁一局集团建筑安装工程有限公司 | I-steel manufacturing and welding equipment and method based on steel structure technology |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS56153A (en) * | 1979-06-08 | 1981-01-06 | Bpb Industries Ltd | Building member and production of same |
| JPS5745110U (en) * | 1980-08-28 | 1982-03-12 |
-
1987
- 1987-01-21 JP JP1000687A patent/JPS63180370A/en active Pending
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS56153A (en) * | 1979-06-08 | 1981-01-06 | Bpb Industries Ltd | Building member and production of same |
| JPS5745110U (en) * | 1980-08-28 | 1982-03-12 |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102357753A (en) * | 2011-09-22 | 2012-02-22 | 无锡华联科技集团有限公司 | Guide mechanism of horizontal H-beam steel assembly welding compression roller |
| CN104924001A (en) * | 2015-06-29 | 2015-09-23 | 金世金属制品（吴江）有限公司 | Section steel automatic welding apparatus |
| CN117583815A (en) * | 2024-01-19 | 2024-02-23 | 中铁一局集团建筑安装工程有限公司 | I-steel manufacturing and welding equipment and method based on steel structure technology |
| CN117583815B (en) * | 2024-01-19 | 2024-04-19 | 中铁一局集团建筑安装工程有限公司 | I-steel manufacturing and welding equipment and method based on steel structure technology |
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