JP2011218391A - Automatic welding method and apparatus - Google Patents

Abstract

PROBLEM TO BE SOLVED: To reduce a time required for welding processing for welding a plurality of branch pipes onto a parent pipe.SOLUTION: A welding module 13 equipped with a branch pipe welding machine 4 on a multi-articular robot 14, and a sensing module 15 equipped with a sensor apparatus 17 on another multi-articular robot 16, are independently fitted so as to be able to move back and forth on a guide rail 12 extending in the longitudinal direction of the parent pipe 1. When a plurality of branch pipes 2a-2n are fitted on the parent pipe 1, on respective branch pipes 2a-2n arranged in a line from one end side in the longitudinal direction of the parent pipe 1 to the other end side, a sensing operation by the sensor apparatus 17 of the sensing module 15 is successively performed, and information on respective position measuring results are once stored in a controlling apparatus 18. In parallel to the sensing operation on the branch pipes 2b-2n whose welding orders by the sensing module 15 are afterward, the welding operations of respective branch pipe 2a-2n on the parent pipe 1 are performed by the welding module 13 while the position of the branch pipe welding machine 4 is controlled based on the information of the position measuring results obtained from the controlling apparatus 18.

Description

  The present invention relates to an automatic welding method and apparatus used for welding a large number of branch pipes in a circumferential direction and a longitudinal direction of a mother pipe.

  As one type of header (heading) in a boiler or the like, there is a type in which a plurality of branch pipes (stub pipes) are connected to the outer peripheral surface of the mother pipe in the circumferential direction and the longitudinal direction (axial direction).

  When manufacturing this type of header, a plurality of circumferentially arranged mother pipes at one circumferential position, for example, at the upper end position of the outer circumferential face, are arranged at a required interval in the longitudinal direction of the mother pipe. A branch pipe is welded and attached, and then the mother pipe is rotated at a required angle in the circumferential direction and then newly arranged at a position at the upper end side of the outer peripheral surface of the mother pipe at a required interval in the longitudinal direction. A method is often used in which a plurality of branch pipes are attached in the circumferential direction and the longitudinal direction of the outer peripheral surface of the mother pipe by welding and attaching a plurality of branch pipes, and then repeating the above procedure in sequence.

  Further, a welding operation for attaching branch pipes arranged at a required interval in the longitudinal direction of the mother pipe to the upper end side position on the outer peripheral surface of the mother pipe arranged in the lateral direction is automated using a robot equipped with a welding torch. Various automatic welding apparatuses that can be used have been proposed.

  As one of automatic welding apparatuses of this type, for example, as an automatic welding apparatus (automatic welding machine) for use when the mounting pitch of the branch pipes with respect to the mother pipe is small and the distance between the branch pipes is narrow, For example, the mother over the entire circumference in the circumferential direction of the base end portion of one branch pipe by two robots having individual welding torches arranged at positions sandwiching the branch pipe attached to the mother pipe. There is a type in which the welded portion with the pipe is sequentially welded semi-circularly (see, for example, Patent Document 1).

  In addition, when performing the welding operation between the main pipe and the branch pipe at the time of manufacturing the header, a welding torch is applied to the entire circumference in the circumferential direction of the branch pipe even if it is a narrow part that is difficult to access with a normal welding torch. As an automatic welding apparatus of a type that can perform fillet welding while being moved, an apparatus as shown in FIGS. 6 and 7 has been proposed.

  As shown in FIG. 6, this is an articulated robot provided so as to be movable along the longitudinal direction of the mother pipe 1 according to the attachment positions of the plurality of branch pipes 2 arranged and attached in the longitudinal direction of the mother pipe 1. A branch pipe welder (stub pipe welder) 4 is attached to the distal end side of 3.

  Further, as shown in FIG. 7, the branch pipe welder 4 includes a horseshoe-type guide 5 having a notch 5a that can be inserted and surrounded by the branch pipe 2 from the radial direction, and the branch pipe 2 from the radial direction. A notched ring gear 6 having a notch 6a that can be inserted and surrounded, and is supported on the lower side of the horseshoe guide 5 so as to be rotatable beyond the notch 5a of the horseshoe guide 5, and the horseshoe guide A drive mechanism 7 for rotating the ring gear 6 relative to the ring 5, a torch mounting member 8 fixed to the ring gear 6 and provided with a notch 8a in the same direction as the ring gear 6, A torch support block 9 attached to the lower side of the torch attachment member 8 via a slide guide 10 so as to be slidable in the radial direction, and attached to the torch support block 9 downward, and a lower end portion on the center side of the ring gear 6 Take to face It is constituted consisting attached welding torch 11 Prefecture.

  Thereby, in the branch pipe welding machine 4, the branch pipe is operated by the operation of the articulated robot 3 in a state where the phase of the cutout portion 6 a of the ring gear 6 is matched with the phase of the cutout portion 5 a of the horseshoe-type guide 5. The welder 4 is brought closer to the side of the branch pipe 2 that is temporarily fixed to the upper end side position of the outer peripheral surface of the mother pipe 1, and the horseshoe guide 5 and the ring gear 6 of the branch pipe welder 4 are notched. The parts 5a and 6a are externally fitted to the branch pipe 2, whereby the welding torch 11 attached to the ring gear 6 via the torch attachment member 8, the slide guide 10 and the torch support block 9 is The pipe 2 and the mother pipe 1 can be arranged toward one place in the circumferential direction of the welded place.

  Thereafter, when the ring gear 6 is driven by the drive mechanism 7, the welding torch 11 together with the ring gear 6 rotates around the branch pipe 2 over the notch 5 a of the horseshoe-type guide 5. It is supposed to be made.

  Therefore, the welding torch 11 that moves around can be welded over the entire circumference in the circumferential direction of the welded portion between the branch pipe 2 disposed inside the horseshoe-type guide 5 and the mother pipe 1 below the branch pipe 2. (For example, refer to Patent Document 2).

  When the welding operation of the branch pipe to the mother pipe is automated using the robot equipped with the welding torch in the automatic welding apparatus as described above, the welding torch is welded between the branch pipe and the mother pipe by the robot. That is, it is necessary to perform control to move along the welded portion extending in the circumferential direction of the base end portion of the branch pipe accurately.

  By the way, during actual welding work, the mother pipe itself may be bent or distorted due to the influence of heat during the welding of the branch pipes. In addition, a hole for communicating with the branch pipe is provided in the branch pipe attachment portion of the mother pipe, but some errors may occur in the position of the hole itself depending on the processing accuracy.

  Therefore, even if a robot equipped with a welding torch in an automatic welding apparatus is used to control the movement of the welding torch based on design data such as CAD data for the header manufactured by the mother pipe and each branch pipe. In addition, there is a possibility that the welding torch cannot be accurately arranged at the actual weld location between the main pipe and the branch pipe.

  Therefore, for example, in the automatic welding apparatus shown in FIG. 7, the tip of the horseshoe-type guide 5 in the branch pipe welder 4 attached to the articulated robot 3 is attached to a non-contact type or touch sensor (such as an optical sensor). As a configuration provided with a contact-type sensor device (not shown) such as a probe, the sensor device that is moved together with the horseshoe guide 5 of the branch pipe welder 4 by the articulated robot 3 is provided. The position of the branch pipe 2 to be welded, the relative inclination of the branch pipe 2 with respect to the horseshoe-type guide 5 and the like are detected, and the branch pipe 2 and the mother pipe 1 are welded based on the detection result. By measuring the location and adjusting the placement of the horseshoe-type guide 5 and the welding torch 11 based on the measured position information of the welding location, the actual welding location of the mother pipe 1 and the branch pipe 2 is adjusted. The welding torch 11 of the branch pipe welding machine 4 is accurate. Are also available implement Me-decided (e.g., see Patent Document 2).

JP-A-8-150473 JP 10-193112 A

  However, as in the automatic welding apparatus disclosed in Patent Document 2, the position of the branch pipe 2 and the position relative to the horseshoe type guide 5 are adjusted by a positioning sensor device provided at the tip of the horseshoe type guide 5 of the branch pipe welder 4. According to the detection method, the arrangement of the horseshoe-type guide 5 and the welding torch 11 of the branch pipe welder 4 can be adjusted according to the detection result. This is effective for accurately arranging the welding torch 11 of the above-mentioned branch pipe welder 4 at a welding point of the above, but the processing capacity per unit time (throughput) when welding a plurality of branch pipes 2 to the mother pipe 1 ) Has a limit.

  That is, the sensing operation for measuring the welded portion between the main pipe 1 and the branch pipe 2 using the sensor device as described above is performed for each branch pipe 2 in the longitudinal direction of the main pipe 1 and at right angles thereto. In order to detect the horizontal position, and to detect the relative inclination of each branch pipe 2 with respect to the horseshoe-shaped guide 5, the longitudinal direction of the mother pipe 1 and the horizontal position perpendicular thereto are used. It is necessary to perform detection at a plurality of locations in the vertical direction of each branch pipe 2. Therefore, the time required for the sensing work for one branch pipe 2 is almost the same as the time required for the welding work for welding the welded portion between the branch pipe 2 and the mother pipe 1 using the welding torch 11 of the branch pipe welder 4. May be equivalent. Furthermore, the sensing work for the one branch pipe 2 may take twice as long as the welding work for the branch pipe 2.

  However, in the automatic welding apparatus shown in the above-mentioned Patent Document 2, since the branch pipe welding machine 4 having the welding torch 11 and the sensor device are attached to one articulated robot 3, both the branch pipe 2 and After all the welding work using the sensor device by the one articulated robot 3 and the welding work using the welding torch 11 of the branch pipe welder 4 for the welding part measured by the sensing work are completed. It is necessary to perform the welding operation using the articulated robot 3 similar to the above and the welding operation using the welding torch 11 of the branch pipe welder 4 for the branch pipe 2 whose welding order is the next. .

  Therefore, the welding processing time required to weld all the plurality of branch pipes arranged in the longitudinal direction of the mother pipe 1 to the mother pipe 1 is the time required for sensing work for one branch pipe and the welding work. This is a value obtained by multiplying the sum of the time required for the above by the number of branch pipes to be welded. In addition, even if it is intended to shorten the time required for the sensing work for the one branch pipe and the time required for the welding work, there is a limit in itself, and therefore, a plurality of branch pipes 2 are welded to the mother pipe 1. Even if it is desired to shorten the welding processing time, there is a limit in improving the processing capacity per unit time.

  In addition, in the automatic welding apparatus shown by patent document 1, the welding location with the main pipe over the perimeter of the circumferential direction of the base end part of one branch pipe is carried out by two robots provided with individual welding torches. Welding is performed semi-circumferentially, but in order to prevent the possibility of internal defects occurring in the weld bead joints caused by the welding torches of the two robots, the above-described welding torches of the two robots are used. Since it is necessary to alternately perform the welding work for each semicircular area of the welding point so that the arc can be taken over, the time required for the welding work cannot be shortened. Moreover, the idea of shortening the welding processing time required to weld all of the plurality of branch pipes to the mother pipe is not particularly shown.

  In view of the above, the present invention increases the working efficiency of a welding operation for attaching a plurality of branch pipes arranged in the longitudinal direction of the mother pipe to the mother pipe so that the welding processing time can be shortened. An automatic welding method and apparatus are provided.

  In order to solve the above-mentioned problem, the present invention can move in the longitudinal direction of the mother pipe with respect to a plurality of branch pipes arranged from one end side in the longitudinal direction of the mother pipe to the other end side, corresponding to claim 1. A branch pipe welder equipped with a welding torch is provided at the tip of another robot that can move in the longitudinal direction of the mother pipe for the sensing work of the sensing module provided with the sensor device at the tip of the robot. The position measurement result information for each branch pipe is temporarily stored in the control device before the welding operation by the welding module, and then each branch pipe stored in the control device by the welding module. The position measurement result information is acquired, and the welding operation of the branch pipe to the master pipe is performed while controlling the position of the welding torch of the branch pipe welder based on the acquired position measurement result information. Self And welding method.

  According to a second aspect of the present invention, a plurality of sensing modules having a sensor device at the tip of a robot and a welding module having a branch pipe welder having a welding torch at the tip of another robot are provided. The branch pipe is provided on one side of the mother pipe for mounting the branch pipes so as to be independently movable along the longitudinal direction of the mother pipe, and for each branch pipe obtained by sensing work by the sensor device of the sensing module. The automatic welding apparatus is configured to include a control device having a function of temporarily storing the position measurement result information and providing the position measurement result information for each branch pipe once stored to the welding module.

According to the present invention, the following excellent effects are exhibited.
(1) With respect to a plurality of branch pipes arranged from one end side to the other end side in the longitudinal direction of the mother pipe, by the sensor device of the sensing module provided with a sensor device at the tip of the robot movable in the longitudinal direction of the mother pipe Sensing work is performed prior to welding work by a welding module provided with a branch pipe welder having a welding torch at the tip of another robot movable in the longitudinal direction of the mother pipe. The position measurement result information about is temporarily stored in the control device, and thereafter the position measurement result information of each branch pipe stored in the control device is acquired by the welding module, and the acquired position measurement result An automatic welding method for performing welding work on the master pipe of each branch pipe while controlling the position of the welding torch of the branch pipe welder based on the information, and a sensor device at the tip of the robot A sensing module, and a welding module provided with a branch pipe welder having a welding torch at the tip of another robot, on one side of the mother pipe for attaching a plurality of branch pipes, in the longitudinal direction of the mother pipe In addition, the position measurement result information about each branch pipe obtained by the sensing work by the sensor device of the sensing module is temporarily stored, and each branch pipe once stored is provided. Since it is an automatic welding apparatus having a configuration including a control device having a function of giving position measurement result information to the welding module, sensing work for each branch pipe attached to the mother pipe and welding work for the mother pipe are performed. The sensing module and the welding module can be performed independently. For this reason, the sensing module While that may be implemented one after another in succession position measurement branch pipes, the welding module can spend time only the welding work of each branch pipe.
(2) Therefore, while performing the welding operation of the branch pipes in a certain welding order using the welding module, the sensing operation for the branch pipes in the later welding order is performed in parallel using the sensing module. Therefore, it is possible to reduce the welding processing time required until all of the plurality of branch pipes are welded to the mother pipe. Thereby, it becomes possible to improve the processing capability (throughput) per unit time regarding the welding process which welds a some branch pipe to the said mother pipe.

It is a schematic plan view which shows one Embodiment of the automatic welding apparatus of this invention. FIG. 3 shows a welding processing procedure when welding a plurality of branch pipes to a mother pipe using the automatic welding apparatus of FIG. 1, wherein (a) shows the first branch in the welding order by the sensor device of the sensing module. (B) is a schematic plane showing the state in which the welding operation of the first branch pipe and the main pipe in the welding order is performed by the branch pipe welder of the welding module. FIG. It is a schematic plan view which shows the procedure following FIG.2 (b) as a welding processing procedure performed using the automatic welding apparatus of FIG. It is a schematic plan view which shows the state which performs the welding operation of the last branch pipe and a main pipe in a welding order with the branch pipe welder of the module for welding as a welding processing procedure performed using the automatic welding apparatus of FIG. It is a schematic plan view which shows the other form of implementation of this invention. It is a schematic perspective view which shows the conventional automatic welding apparatus for the branch pipe welding. It is a top view which expands and shows the branch pipe welder in the automatic welding apparatus of FIG.

  Hereinafter, embodiments for carrying out the present invention will be described with reference to the drawings.

  1 to 4 show an embodiment of the automatic welding method and apparatus of the present invention, which are as follows.

  That is, FIG. 1 shows an automatic welding apparatus of the present invention, and a guide rail 12 extending parallel to the longitudinal direction of the mother pipe 1 is installed on one side of the mother pipe 1.

  Further, on the tip side of the articulated robot 14, similarly to the branch pipe welding machine 4 in the automatic welding apparatus shown in FIGS. 6 and 7, a horseshoe type guide 5 as a guide and the horseshoe type guide 5 are held. A welding module 13 having a branch pipe welding machine 4 provided with a welding torch 11 (see FIG. 7) that can be operated circumferentially together with the ring gear 6 in the state, and a mother joint on the distal end side of another articulated robot 16. Each of the branch modules 2 a, 2 b, 2 c,..., 2 n arranged in the longitudinal direction of the pipe 1 and a sensing module 15 to which a sensor device 17 for measuring a welding point of the mother pipe 1 is attached is formed. In the state where the welding modules 13 and the sensing modules 15 one by one are arranged in order from one end side (right side in the drawing) of the guide rail 12 in the longitudinal direction, The joint robot 14, the guide rails 12, independently attachable to reciprocate.

  For convenience of illustration, the articulated robot 14 in the welding module 13 has a function of moving in the X-axis direction, which is the longitudinal direction of the guide rail 12 corresponding to the longitudinal direction of the mother pipe 1, and a horizontal direction perpendicular thereto. The configuration other than the function of moving the branch pipe welder 4 in a certain Y-axis direction is described in a simplified manner. In addition, the branch pipe welder 4 omits the description of the configuration other than the horseshoe guide 5. Further, the articulated robot 16 in the sensing module 15 has a simplified configuration other than the function of moving in the X-axis direction and the function of moving the sensor device 17 in the Y-axis direction (described later). The same applies to FIGS. 2A, 2B, and 5).

  Further, the function of temporarily storing the position measurement result information of the branch pipes 2a, 2b, 2c,..., 2n input from the sensing module 15 and welding to the welding module 13 by the welding module 13 It is assumed that the control device 18 having a function of giving a position measurement result stored for the branch pipes 2a, 2b, 2c,.

  More specifically, the guide rail 12 is arranged on both sides in the longitudinal direction of the mother pipe 1 rather than where the plurality of branch pipes 2a, 2b, 2c, ..., 2n to be attached to the mother pipe 1 are arranged. Is set to a length dimension that projects by the required dimension. Thus, as shown in FIG. 2 (a), among the branch pipes 2a, 2b, 2c,..., 2n, they are arranged closest to one end in the longitudinal direction of the mother pipe 1 (rightward in the figure). When the sensing module 15 is arranged at a position corresponding to the branch pipe 2a, one end portion in the longitudinal direction of the guide rail 12 is used as a welding module retracting position, and the welding module 13 can be retracted to the position. . Further, as shown in FIG. 4, among the branch pipes 2a, 2b, 2c,..., 2n, the branch pipe 2n arranged closest to the other end in the longitudinal direction of the mother pipe 1 (left side in the figure). When the welding module 13 is arranged at a position corresponding to the above, the other end in the longitudinal direction of the guide rail 12 is used as a sensing module retracting position, and the sensing module 15 can be retracted to the position.

  As long as the sensor device 17 in the sensing module 15 can detect the branch pipes 2a, 2b, 2c,..., 2n individually, it can be a non-contact type such as an optical sensor or a magnetic sensor, or touch Any type of contact type sensor device 17 such as a sensor (probe) may be used. The illustrated shape of the sensor device 17 is an example, and the shape of the sensor device 17 may be changed as appropriate according to the detection format and the like.

  Further, the sensing module 15 can control the position of the sensor device 17 in the X-axis direction and the Y-axis direction and the Z-axis direction which is the vertical direction through the control of the position of the tip of the articulated robot 16. As shown in the figure, the angle posture of the sensor device 17 around the XYZ axial directions can be controlled through the control of the angle of the tip of the articulated robot 16 as necessary. , 2n detection signals from the branch pipes 2a, 2b, 2c,..., 2n by the sensor device 17 can be input to the robot controller. Thereby, for example, the articulated joint is based on design data such as CAD data for the header to be manufactured by the mother pipe 1 and the branch pipes 2a, 2b, 2c,. The robot 16 is controlled so that the sensor device 17 is sequentially brought close to each branch pipe 2a, 2b, 2c,..., 2n in a required order, and the branch pipes 2a, 2b, 2c,. .., 2n are detected by the sensor device 17, and the position and angular posture of the sensor device 17 at the tip of the articulated robot 16 at the time when the detection signal is input to the robot controller. Based on the position of the branch pipes 2a, 2b, 2c,..., 2n detected by the sensor device 17 in the XY-axis direction and the inclination with respect to the Z-axis direction, the branch pipe is further measured. a, 2b, 2c, ···, are also available measure the position of the welding points between the base tube 1 at the lower end of the 2n.

  Furthermore, the sensing module 15 includes the position of the branch pipes 2a, 2b, 2c,..., 2n detected by the sensor device 17 in the XY axis direction, the inclination with respect to the Z axis direction, the branch pipe 2a, 2b, 2c,..., 2n and the position measurement result information about the welded portion of the mother pipe 1 are provided with a function of transmitting to the control device 18.

  The control device 18 sends information on the position measurement results for certain branch pipes 2a, 2b, 2c,..., 2n from the sensing module 15, and the branch pipes 2a, 2b, 2c,. When the information of the position measurement result about the welded portion with the mother pipe 1 is input, the position measurement result information is associated with the individual branch pipes 2a, 2b, 2c,. .., 2n can be temporarily stored in a state associated with the welding order of the branch pipes 2a, 2b, 2c,.

  Further, the control device 18 includes the branch pipes 2a, 2b, 2b, 2b, 2b, 2b, 2b, 2b, 2b, 2b, 2b, 2b, 2n, of the stored position measurement results of the branch pipes 2a, 2b, 2c, The information of the position measurement results stored for 2c,..., 2n is read out and provided to the welding module 13.

  The welding module 13 can control the position of each of the XYZ axes of the branch pipe welder 4 provided at the distal end of the articulated robot 14 and the angular posture centered on each axis. The configuration includes a robot controller (not shown). Further, the position measurement result information about the branch pipes 2a, 2b, 2c,..., 2n to be welded given by the control device 18, that is, the branch pipes 2a, 2b, 2c,. When the position measurement result information about the welded portion between itself and the branch pipes 2a, 2b, 2c,..., 2n and the mother pipe 1 is acquired, the above-described illustration is made based on the acquired position measurement result information. The branch pipe welder is controlled by controlling the position in the XYZ axial directions of the branch pipe welder 4 provided at the tip of the articulated robot 14 and the angle / posture about each axis by a robot controller that does not operate. 4 with the horseshoe-shaped guide 5 being prevented from tilting with respect to the branch pipes 2a, 2b, 2c,..., 2n to be welded, the branch pipes 2a, 2b, 2c,. , 2n side (Y-axis direction On the other hand, a function of accurately fitting the branch pipe welder 4 so that the branch pipes 2a, 2b, 2c,..., 2n to be welded are located at the center of the horseshoe-type guide 5 by being more externally fitted. , 2n are arranged in the center of the horseshoe-type guide 5 of the branch pipe welder 4, and the welding torch 11 (FIG. 7) is provided. ), 2n to be welded by the welding torch 11 (see FIG. 7), and the branch pipes 2a, 2b to be welded. , 2c,..., 2n and the mother pipe 1 are provided with a function of performing a welding operation over the entire circumference in the circumferential direction.

  When the welding process for attaching a plurality of branch pipes 2a, 2b, 2c,..., 2n to the mother pipe 1 using the automatic welding apparatus of the present invention having the above-described configuration is performed in advance, 1, branch pipes 2 a, 2 b, 2 c,..., 2 n extending in the vertical direction are provided in a required portion of the outer peripheral surface, for example, at the upper end side position of the outer peripheral surface in the longitudinal direction (X-axis direction) A plurality of branch pipes 2 a, 2 b, 2 c,..., 2 n are temporarily attached to corresponding portions of the mother pipe 1 by arranging a plurality of them at a required interval.

  In addition, for each of the branch pipes 2a, 2b, 2c, ..., 2n, as shown in FIG. 2 (a), the branch pipe 2a on the one end side in the longitudinal direction of the mother pipe 1 (the right side in the figure) is the first. The welding order of the branch pipes 2a, 2b, 2c,..., 2n is determined so that the branch pipe 2n on the other end side in the longitudinal direction (left side in the figure) is the last.

  When the welding process is started in this state, first, as shown in FIG. 2 (a), the sensing module 15 is first in the welding order with the welding module 13 retracted to one end in the longitudinal direction of the guide rail 12. After moving to the required location on the guide rail 12 on the side of the branch pipe 2a, the articulated robot 16 is operated to bring the sensor device 17 close to the first branch pipe 2a in the welding sequence. Measure the position of the first branch pipe 2a in the XY-axis direction and the inclination with respect to the Z-axis direction, and based on the results, determine the position of the weld point with the mother pipe 1 at the lower end of the branch pipe 2a. measure.

  As described above, the sensing module 15 measures the position of the first branch pipe 2a in the XY axis direction, the inclination with respect to the Z axis direction, and the position of the welded portion between the branch pipe 2a and the main pipe 1 as described above. Is performed, the position measurement result information is sent from the sensing module 15 to the control device 18, so that the control device 18 receives the position measurement result information input from the sensing module 15 as follows. The welding order is stored in a state associated with the first branch pipe 2a.

  Next, as shown in FIG. 2 (b), the sensing module 15 moves along the guide rail 12 to a required location on the side of the second branch pipe 2 b along the guide rail 12, and then the welding order is 1. As in the case of the second branch pipe 2a, the position in the XY axis direction and the inclination with respect to the Z axis direction are measured for the second branch pipe 2b in which the welding order by the sensor device 17 is the second, and based on the result, An operation of measuring the position of the welded portion with the mother pipe 1 at the lower end of the branch pipe 2b and sending information of the position measurement result to the control device 18 (hereinafter referred to as a sensing operation) is performed. Therefore, in the said control apparatus 18, the information of the position measurement result input from the said sensing module 15 is memorize | stored in the state linked | related with the 2nd branch pipe 2b in the said welding order.

  As described above, when the sensing module 15 moves to the side of the second branch pipe 2b having the welding order from the side of the first branch pipe 2a having the welding order, the welding module 13 is welded along the guide rail 12. It moves to a position where the order is to the side of the first branch pipe 2a. Further, in this state, the welding module 13 acquires information on the position measurement result for the first branch pipe 2a whose welding order is stored in the control device 18, and information on the acquired position measurement result. Based on the above, the position of the branch pipe welder 4 provided at the tip of the multi-joint robot 14 in the XYZ axial directions and the angle orientation around each axis are controlled, and the branch pipe welder 4 The horseshoe-type guide 5 is externally fitted to the first branch pipe 2a with the above welding sequence from the side in a state of preventing inclination, and the first branch pipe 2a with the above-mentioned welding order is centered on the horseshoe-type guide 5. After that, the welding torch 11 (FIG. 7) is arranged on the basis of information on the position measurement result of the welded portion of the first branch pipe 2a and the main pipe 1 where the welding order acquired from the control device 18 is obtained. See) around the first branch pipe 2a where the welding sequence is the first While the circumference operation, the welds between the branches tube 2a and the base tube 1 is welded over the entire circumference in the circumferential direction. Thereby, the welding part of the 1st branch pipe 2a and the main pipe 1 in the said welding order comes to be welded correctly and reliably over the perimeter of the circumferential direction.

  Thereafter, when the sensing operation for the second branch pipe 2b having the second welding sequence is completed, the sensing module 15 has the third branch pipe 2c having the third welding order along the guide rail 12 as shown in FIG. After moving to the lateral position, the sensing operation for the third branch pipe 2c in the welding order is performed, and thereafter, similarly, the sensing module 15 is independent of the progress of the welding operation by the welding module 13, The sensing operation for each branch pipe 2c,..., 2n is performed along the welding order until the welding order reaches the last branch pipe 2n. After the sensing operation for the branch pipe 2n having the last welding order as described above is completed, the sensing module 15 is retracted to the other longitudinal end of the guide rail 12 as shown in FIG.

  It should be noted that one branch pipe 2a, 2b, 2c,... By the welding module 13 is longer than the time required for the sensing work performed on the individual branch pipes 2a, 2b, 2c,. , 2n, when the time required for welding work with the mother pipe 1 is longer, the sensing module 15 is connected to the branch pipes 2a, 2b, 2c,. .., 2n may be performed in advance for the branch pipes 2a, 2b, 2c,.

  As described above, when the sensing operation from the third branch pipe 2c by the sensing module 15 to the last branch pipe 2n by the welding order is sequentially performed, the control device 18 causes the sensing module 15 to perform each time. The information of the position measurement result about each branch pipe 2c, ..., 2n that is input is stored in association with each welding order.

  On the other hand, when the welding operation with the mother pipe 1 for the branch pipe 2a having the first welding order is completed, the welding module 13 has the second branch pipe having the second welding order in the guide rail 12. When the sensing module 15 is disposed at the side position 2b, the system waits on the spot, and when the side position of the second branch pipe 2b in the welding order in the guide rail 12 is vacant, It moves to the side position of the branch pipe 2b.

  The welding module 13 in which the welding sequence has moved to the side position of the second branch pipe 2b is the position measurement result stored in the control device 18 for the second branch pipe 2b to be welded. The branch pipe provided at the distal end portion of the articulated robot 14 is acquired in the same manner as the welding operation performed on the branch pipe 2a having the first welding sequence based on the acquired position measurement result information. The horseshoe-type guide 5 of the welding machine 4 is externally fitted to the second branch pipe 2b in the welding order, and the second branch pipe 2b in the welding order is accurately arranged at the center of the horseshoe-type guide 5. The welding torch 11 (see FIG. 7) is caused to perform a circumferential operation based on the position measurement result information about the welding location of the second branch pipe 2b and the main pipe 1 in which the welding order acquired from the control device 18 is obtained. However, welding of the branch pipe 2b and the mother pipe 1 Tokoro and welded over the entire circumference in the circumferential direction. Thereby, the welding location of the 2nd branch pipe 2b and mother pipe 1 in the said welding order comes to be welded correctly and reliably over the perimeter of the circumferential direction.

  Thereafter, the welding module 13 is measured in advance by the sensing module 15 from the third branch pipe 2c in the welding order to the last branch pipe 2n in the welding order, and stored in the control device 18. While acquiring sequentially the information of the position measurement results for the branch pipes 2c, ..., 2n, based on the information of the acquired position measurement results, welding with the horseshoe-type guide 5 of the branch pipe welder 4 similar to that described above A welding operation involving the control of the position of the torch 11 (see FIG. 7) is sequentially performed on each of the branch pipes 2c,. As a result, even in the branch pipe 2c having the third welding order and the last branch pipe 2n having the last welding order, the welded portion with the mother pipe 1 is welded accurately and reliably over the entire circumference. become.

  As described above, according to the automatic welding method and apparatus of the present invention, the sensing work for each branch pipe 2a, 2b, 2c,. Since the sensing module 15 provided with the device 17 and the welding module 13 provided with the branch pipe welder 4 are independently performed, the sensing module 15 includes each branch pipe 2a, 2b, 2c,. , 2n can be continuously measured one after another, while the welding module 13 can devote time only to the welding operation.

  Therefore, while the welding module 13 is used to perform the welding operation of the branch pipe (not shown) whose welding order is the last one from the last branch pipe 2a, the sensing module is the sensing module. , 2n can be carried out in parallel (simultaneously) for the branch pipes 2b, 2c,..., 2n whose welding order is later. The welding processing time required to weld all of the plurality of branch pipes 2a, 2b, 2c,..., 2n arranged in the longitudinal direction of 1 can be greatly reduced as compared with the prior art. . Therefore, it is possible to improve the processing capacity (throughput) per unit time related to the welding process of welding the plurality of branch pipes 2a, 2b, 2c,.

  Next, FIG. 5 shows another embodiment of the present invention. In the same configuration as shown in FIG. 1, one welding module 13 and two sensing modules 15 are provided on the guide rail 12. The guide rail 12 is attached so as to be able to reciprocate independently in a state of being arranged in order from one end side (right side in the drawing) in the longitudinal direction.

  The guide rail 12 includes a branch pipe 2n disposed closest to the other end in the longitudinal direction of the mother pipe 1 (leftward in the drawing) among the branch pipes 2a, 2b, 2c,. When the welding module 13 is disposed at a corresponding position, the length is set such that the two sensing modules 15 can be retracted at the other longitudinal end of the guide rail 12. To do.

  Other configurations are the same as those shown in FIG. 1, and the same components are denoted by the same reference numerals.

  According to the present embodiment, the welding operation is performed on the main pipe 1 using the welding module 13 for the branch pipe (not shown) whose welding order is from the first branch pipe 2a to the last two before the welding order. While the two sensing modules 15 are used, the sensing work for the two branch pipes 2b, 2c,..., 2n whose welding order is later can be performed in parallel.

  Therefore, the present embodiment can provide the same effects as those of the above embodiment. Further, for the sensing work performed on each branch pipe 2a, 2b, 2c,..., 2n using one sensing module 15, each branch pipe 2a, 2b, 2c,. When the time required for the welding operation to be performed on 2n is doubled, the waiting time of the welding module 13 can be shortened. 2a, 2b, 2c,..., 2n, the time required for the welding operation performed on each branch pipe 2a, 2b, 2c,. A more suitable apparatus configuration can be obtained when necessary.

  The present invention is not limited only to the above-described embodiment. A plurality of welding modules 13 and one or a plurality of sensing modules 15 are provided on the guide rail 12 in the longitudinal direction of the guide rail 12. It is good also as a structure attached so that it can reciprocate independently in the state arrange | positioned in order from the one end side.

  Furthermore, in this case, the ratio of the number of the welding modules 13 to the sensing modules 15 is the time required for the sensing work performed for each branch pipe 2a, 2b, 2c,..., 2n using one sensing module 15. And the waiting time of the sensing module 15 when being close to the ratio of the time required for welding work performed on the individual branch pipes 2a, 2b, 2c,..., 2n using the welding module 13; The effect of shortening the waiting time of the welding module 13 can be expected.

  Touch sensing using the wire of the welding torch 11 (see FIG. 7) after the horseshoe-type guide 5 of the branch pipe welder 4 is externally fitted to the branch pipes 2a, 2b, 2c,. Thus, with respect to the welded portion between the branch pipes 2a, 2b, 2c,..., 2n to be welded and the mother pipe 1 near the lower part, detailed positional information is obtained in advance over the entire circumference in the circumferential direction. Based on the position information, the articulated robot 14 of the welding module 13 is made to perform welding after performing teaching for correcting the shift amount, or to perform welding while correcting the shift amount. May be.

  Further, the branch pipe welder provided in the welding module 13 can weld the welded portions of the branch pipes 2a, 2b, 2c,..., 2n and the mother pipe 1 over the entire circumference. If there is, a branch pipe welder of a type including a horseshoe-type guide 5 as a guide and a welding torch 11 (see FIG. 7) that can be moved circumferentially together with the ring gear 6 while being held by the horseshoe-type guide 5. Any type of branch pipe welder other than 4 may be employed.

  Although the movement of the articulated robots 14 and 16 along the longitudinal direction of the mother pipe 1 in the welding module 13 and the sensing module 15 is shown as being along the guide rail 12, the articulated robots 14 and 16 are connected to the mother module 1 described above. The guide rail 12 may be omitted if it is of a type comprising a travel axis along the longitudinal direction of the tube 1.

  Of course, various modifications can be made without departing from the scope of the present invention.

DESCRIPTION OF SYMBOLS 1 Mother pipe 2, 2a, 2b, 2c, 2n Branch pipe 4 Branch pipe welder 11 Welding torch 13 Welding module 14 Articulated robot (robot)
15 Sensing module 16 Articulated robot (robot)
17 Sensor device 18 Control device

Claims (2)

  For a plurality of branch pipes arranged from one end side to the other end side in the longitudinal direction of the mother pipe, the sensing operation of the sensing module provided with the sensor device at the tip of the robot movable in the longitudinal direction of the mother pipe is performed. The position of each branch pipe is determined in advance of welding work by a welding module provided with a branch pipe welder provided with a welding torch at the tip of another robot movable in the longitudinal direction of the mother pipe. Information on the measurement result is temporarily stored in the control device, and thereafter, the position measurement result information of each branch pipe stored in the control device is acquired by the welding module, and based on the acquired information on the position measurement result An automatic welding method characterized in that a welding operation is performed on the main pipe of each branch pipe while controlling the position of the welding torch of the branch pipe welder.   A sensing module having a sensor device at the tip of a robot and a welding module having a branch pipe welder having a welding torch at the tip of another robot are connected to a main pipe for attaching a plurality of branch pipes. On one side, it is provided so as to be independently movable along the longitudinal direction of the mother tube, and further, information on the position measurement result for each branch pipe obtained by sensing work by the sensor device of the sensing module is temporarily stored. An automatic welding apparatus comprising a control device having a function of giving the position measurement result information about each branch pipe once stored to the welding module.

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