JP2022025454A - Welding device and welding method - Google Patents

Abstract

To perform automatic welding of a welded part properly.SOLUTION: A welding device 2 includes: a welding torch 20 which is supported by a support part and performs welding of a welded part 110 along a welded line of a base material; a first rotation driving part 50 which rotates the welding torch 20 around a first axis; a second rotation driving part 52 which rotates the welding torch 20 around a second axis orthogonal to the first axis; and a control unit 74 which causes the welding torch 20 to perform welding along the welded line while driving the first rotation driving part 50 and the second rotation driving part 52 to change an attitude of the welding torch 20.SELECTED DRAWING: Figure 3

Description

The present invention relates to a welding device that welds a portion to be welded along a line to be welded with a welding torch.

In recent years, the use of welding robots has been studied in welding work at construction sites. The welding robot performs welding by pointing the welding torch toward the welded line of the base metal while moving the welding device along a guide rail arranged around the base metal (for example, a steel pipe) (Patent Document 1 below). See).

Japanese Patent No. 3314227

By the way, when fillet welding or butt welding is automatically performed on the base metal, a part of the welding device interferes with the base metal, the entire line cannot be welded, and unwelded parts are left at both ends of the base metal. After the end of the process, the unwelded part had to be repaired and welded by hand. Since unwelded parts are repaired by hand welding, it tends to be difficult to ensure sufficient welding quality.

Therefore, the present invention has been made in view of these points, and an object thereof is to appropriately perform automatic welding of a portion to be welded.

In the first aspect of the present invention, a welding torch that is supported by the support portion and welds the welded portion along the welded line of the base metal, and a first rotation that rotates the weld torch around the first axis. The welding torch is driven by driving a drive unit, a second rotation drive unit that rotates the welding torch around a second axis orthogonal to the first axis, and a first rotation drive unit and a second rotation drive unit. Provided is a welding apparatus including a control unit for causing the welding torch to perform welding along the welded line while changing the posture of the weld torch.

Further, the control unit drives the first rotation drive unit and the second rotation drive unit to change the posture of the weld torch when the weld torch is driven along the welded line. May be good.

Further, a storage unit that stores a traveling locus for traveling the welding torch when welding the welded portion is further provided, and the control unit is the welding along the traveling locus stored in the storage unit. When the torch is driven, the first rotation drive unit and the second rotation drive unit may be driven to change the posture of the welding torch.

Further, the storage unit may store the route that the welding torch traveled along the welded line before welding the welded portion as the traveling locus.

Further, the welding device is supported by the support portion, further includes a grip portion for gripping the welding torch, and the first rotation drive portion and the second rotation drive portion are provided on the grip portion. You may be there.

Further, the welding apparatus may further include a third rotation driving unit that rotates the grip portion together with the welding torch around the first axis and the third axis orthogonal to the second axis.

Further, the support portion has a translation drive unit capable of translating the grip portion to be supported in a plurality of directions orthogonal to each other, and the control unit translates the grip portion when the translation drive unit moves the grip portion. , The first rotation drive unit and the second rotation drive unit may be driven.

Further, the welded portion is a curvature portion having a predetermined curvature, and the control portion welds to the welding torch while changing the posture of the welding torch so as to face the center point of the curvature portion. It may be done.

Further, the control unit may divide the curvature portion into a plurality of regions along the circumferential direction and adjust the welding conditions of the welding torch for each region.

In the second aspect of the present invention, a step of storing a route in which a welding torch is traveled along a welded line in a storage unit as a traveling locus before welding the welded portion of the base metal, and the storage unit. When the welding torch is traveled along the traveling locus stored in the weld torch, the welding line is connected to the welding torch while driving the rotation driving unit that rotates the welding torch to change the posture of the welding torch. Provided is a welding method comprising a step of causing the welded portion to be welded along the line.

According to the present invention, there is an effect that the automatic welding of the portion to be welded can be appropriately performed.

It is a schematic diagram for demonstrating the schematic structure of the welding system S. It is a schematic diagram for demonstrating the structure of the welding apparatus 2. It is a block diagram for demonstrating the structure of the welding apparatus 2. It is a schematic diagram for demonstrating the detailed structure of the welding torch 20 and the grip part 30. 4 is a plan view of the welding torch 20 and the grip portion 30 shown in FIG. 4. It is a schematic diagram for demonstrating the change of the posture of the welding torch 20 during welding of a portion 110 to be welded. It is a partial schematic diagram for demonstrating an example of on-site joining welding of a steel pipe column. It is a schematic diagram for demonstrating the welding of the curvature part. It is a flowchart for demonstrating the flow of welding of the welded part 110 by a welding apparatus 2.

<Outline configuration of welding system>
The schematic configuration of the welding system according to the embodiment of the present invention will be described with reference to FIG.

FIG. 1 is a schematic diagram for explaining a schematic configuration of a welding system S. As shown in FIG. 1, the welding system S has a welding device 2 and a guide rail 4. The welding system S runs the welding device 2 along the guide rail 4 while welding the welded portion 110 of the base metal 100 by the welding device 2.

The welding device 2 automatically welds the welded portion 110 of the base metal 100 to the welded portion 110. Specifically, the welding device 2 welds the welded portion 110 with the welding torch 20 while traveling. For example, the welding device 2 automatically welds the welded portion 110 (fillet welded portion) of the H-shaped steel which is the base material 100 and the steel plate. Further, the welding device 2 may automatically perform butt welding. In this way, the welding device 2 automatically performs a series of welding operations. As a result, there are no unwelded parts, work efficiency is improved, and the quality of welding is stabilized. The detailed configuration of the welding device 2 will be described later.

The guide rail 4 is a guide member for traveling the welding device 2. The guide rail 4 is arranged at a position where welding by the welding torch 20 can be smoothly performed. Here, the guide rail 4 is arranged above the base material 100. The shape of the guide rail 4 may be a shape other than the shape shown in FIG. 1, and may have enough strength to hold the weight of the welding device 2.

<Detailed configuration of welding equipment>
The detailed configuration of the welding apparatus 2 will be described with reference to FIGS. 2 and 3.
FIG. 2 is a schematic diagram for explaining the configuration of the welding device 2. FIG. 3 is a block diagram for explaining the configuration of the welding device 2.

As shown in FIGS. 2 and 3, the welding device 2 includes a support portion 10, a support column 14, a welding torch 20, a grip portion 30, a translation drive portion 40, a first rotation drive portion 50, and a second rotation drive portion 50. It has a rotation drive unit 52, a third rotation drive unit 54, an input reception unit 60, and a control device 70.

The support portion 10 supports the welding torch 20 so as to be runnable. Specifically, the support portion 10 movably supports the grip portion 30 that grips the welding torch 20 in three directions (X-axis direction, Y-axis direction, and Z-axis direction). As shown in FIG. 2, the support portion 10 has a chassis 12, a support column 14, and a horizontal beam 16.

The chassis 12 is a portion that serves as a base for the support columns 14 of the support portion 10. The chassis 12 moves in the left-right direction (Y-axis direction) on the guide rail 4 shown in FIG. For example, the chassis 12 has wheels for moving on the guide rail 4.

The columns 14 are provided on the chassis 12 along the vertical direction. The column 14 moves together with the chassis 12.

The horizontal beam 16 is a beam member provided horizontally with respect to the support column 14. The horizontal beam 16 can move up and down in the direction perpendicular to the column 14 (Z-axis direction). Further, the horizontal beam 16 can move in the horizontal direction (X-axis direction) with respect to the support column 14.

The welding torch 20 welds the welded portion 110 (FIG. 1) along the welded line of the base metal 100. The weld torch 20 is supported by the horizontal beam 16 by the support portion 10. For example, the welding torch 20 performs welding by welding a molten metal in which a wire is melted by arc heat to a welded portion 110. The welding torch 20 has a supply path for supplying the wire, and the supplied wire is continuously melted by arc heat.

FIG. 4 is a schematic diagram for explaining the detailed configuration of the welding torch 20 and the grip portion 30. FIG. 5 is a plan view of the welding torch 20 and the grip portion 30 shown in FIG. As shown in FIG. 4, the welding torch 20 has a tip portion 22 for welding. The wire supplied to the tip portion 22 is melted by the arc heat at the tip portion 22. The amount of arc heat is adjusted by the feeding speed, current, and voltage of the wire supplied to the tip portion 22.

The grip portion 30 grips the welding torch 20. The grip portion 30 rotatably grips the welding torch 20. The grip portion 30 grips the weld torch 20 so that the aim angle and the traveling angle of the weld torch 20 with respect to the welded portion 110 can be changed. Further, the grip portion 30 is movably supported by the support portion 10. Specifically, the grip portion 30 is rotatably supported around the rotation axis C shown in FIG. 2 with respect to the horizontal beam 16 of the support portion 10.

As shown in FIG. 4, the grip portion 30 has a first support portion 32, a second support portion 35, and a connecting shaft 38.
The first support portion 32 rotatably supports the welding torch 20. The first support portion 32 has a shaft member 33 and a shaft support 34. The shaft member 33 is connected to the welding torch 20. Further, the shaft member 33 receives the power of the rotary motor 50a and rotates around the rotary shaft A. The shaft support 34 rotatably supports the shaft member 33. As the shaft member 33 rotates, the welding torch 20 rotates around the rotation shaft A.

The second support portion 35 is connected to the first support portion 32 and supports the first support portion 32. The second support portion 35 has a shaft member 36 and a shaft support 37. The shaft member 36 is connected to the first support portion 32. Further, the shaft member 36 receives the power of the rotary motor 52a and rotates around the rotary shaft B. The shaft support 37 rotatably supports the shaft member 36. As the shaft member 36 rotates, the welding torch 20 supported by the first support portion 32 rotates around the rotation shaft B.

The connecting shaft 38 connects the second support portion 35 and the horizontal beam 16 (FIG. 2). The connecting shaft 38 receives power from the rotary motor 54a (FIG. 2) and rotates around the rotary shaft C (FIG. 2). As the connecting shaft 38 rotates, the welding torch 20 also rotates around the rotation shaft C.

The translation drive unit 40 translates the support unit 10 and the horizontal beam 16 in three directions orthogonal to each other (that is, the X-axis direction, the Y-axis direction, and the Z-axis direction shown in FIG. 1). The translational drive portion 40 translates the support portion 10 and the horizontal beam 16, so that the weld torch 20 gripped by the grip portion 30 can be positioned in the vicinity of the welded portion 110 of the base metal 100. The control device of the translational drive unit 40 is provided inside or outside the chassis 12 where there is little risk of damage. As shown in FIG. 3, the translational drive unit 40 includes an X-axis motor 42, a Y-axis motor 43, and a Z-axis motor 44.

The X-axis motor 42 is a motor that moves the chassis 12 (FIG. 2) of the support portion 10 along the X-axis direction. Specifically, the X-axis motor 42 moves the chassis 12 along the guide rail 4. The X-axis motor 42 is provided in, for example, the chassis 12.
The Y-axis motor 43 is a motor that moves the horizontal beam 16 of the support portion 10 along the Y-axis direction. Specifically, the Y-axis motor 43 moves the horizontal beam 16 with respect to the support column 14 along the Y-axis direction. The Y-axis motor 43 is provided, for example, on the end side of the horizontal beam 16.
The Z-axis motor 44 is a motor that moves the horizontal beam 16 of the support portion 10 along the Z-axis direction. Specifically, the Z-axis motor 44 moves the horizontal beam 16 up and down with respect to the support column 14. The Z-axis motor 44 is provided in, for example, the chassis 12.

The first rotation drive unit 50 rotates the welding torch 20 around the rotation axis A. The first rotation drive unit 50 is provided on the grip portion 30 (specifically, the first support portion 32). As shown in FIG. 4, the first rotation drive unit 50 has a rotation motor 50a that rotates the shaft member 33 around the rotation axis A. When the rotary motor 50a rotates the shaft member 33, the welding torch 20 rotates around the rotary shaft A. Thereby, the advancing angle of the welding torch 20 with respect to the welded portion 110 can be changed.

The second rotation drive unit 52 rotates the welding torch 20 around the rotation axis B orthogonal to the rotation axis A. The second rotation drive unit 52 is provided on the grip portion 30 (specifically, the second support portion 35). As shown in FIG. 4, the second rotation drive unit 52 has a rotation motor 52a that rotates the shaft member 36 around the rotation shaft B. When the rotary motor 52a rotates the shaft member 36, the welding torch 20 rotates around the rotary shaft B. Thereby, the aim angle of the welding torch 20 with respect to the welded portion 110 can be changed.

The third rotation drive unit 54 rotates the grip portion 30 together with the welding torch 20 around the rotation axis A and the rotation axis C orthogonal to the rotation axis B. The third rotation drive unit 54 has a rotation motor 54a (see FIG. 2) that rotates the grip portion 30 (specifically, the connecting shaft 38) around the rotation shaft C. When the rotary motor 54a rotates the grip portion 30, the welding torch 20 also rotates around the rotation axis C. In the present embodiment, the rotation axis A corresponds to the first axis, the rotation axis B corresponds to the second axis, and the rotation axis C corresponds to the third axis.

The input receiving unit 60 receives the input information of the worker. For example, the input receiving unit 60 receives the position information of the start point and the end point of welding of the welded portion 110 input by the operator. Further, the input receiving unit 60 receives an instruction to start welding. The input receiving unit 60 outputs the received input information to the control device 70.

The control device 70 controls the overall operation of the welding device 2. As shown in FIG. 3, the control device 70 has a storage unit 72 and a control unit 74.
The storage unit 72 includes, for example, a ROM (Read Only Memory) and a RAM (Random Access Memory). The storage unit 72 stores a program for the control unit 74 to execute and various data related to welding.

The storage unit 72 stores a traveling locus on which the welding torch 20 is traveled when the welded portion 110 is welded. For example, the storage unit 72 stores as a travel locus a route in which the control unit 74 travels the welding torch 20 along the welded line before welding the welded unit 110. The stored travel locus may be the one actually measured immediately before welding, or may be the one actually measured under the same welding conditions in the past.

The control unit 74 is, for example, a CPU (Central Processing Unit). The control unit 74 controls the operation of the welding device 2 by executing the program stored in the storage unit 72.
For example, in the control unit 74, the welding torch 20 welds the welded portion 110 of the base metal 100, so that the translation drive unit 40, the first rotation drive unit 50, the second rotation drive unit 52, and the third rotation drive unit 54 Is operated to run the welding torch 20 along the welded line. Further, the control unit 74 controls the supply amount of the wire supplied to the welding torch 20 and the magnitude of the current / voltage.

In the present embodiment, the first rotation drive is performed in order to change the direction (advance angle) of the welding torch 20 during welding so that the welding torch 20 during welding of the welded portion 110 does not interfere with the side plate of the base metal 100. The unit 50 or the third rotation drive unit 54 is driven. The control unit 74 drives the first rotation drive unit 50 or the third rotation drive unit 54 to change the advancing angle of the welding torch 20, and welds the welding torch 20 along the welded line to the welded portion 110. Let me do it. That is, the control unit 74 changes the advancing angle of the welding torch 20 before the welding torch 20 that is welding the welded portion 110 collides with the base metal 100. The control unit 74 drives a three-axis motor of the translational drive unit 40, and performs welding while correcting the position of the tip of the welding torch 20 by driving the first rotation drive unit 50 or the third rotation drive unit 54. .. For example, the control unit 74 drives the first rotation drive unit 50 or the third rotation drive unit 54, and while changing the advancing angle of the welding torch 20, translates the three-axis motor of the translation drive unit 40 to perform welding. You may go.

When the welding torch 20 is driven along the line to be welded, the control unit 74 drives the first rotation driving unit 50 and the second rotation driving unit 52 to move the position of the welding torch 20 to a desired position. As a result, even if the posture of the welding torch 20 changes without interrupting the welding, the welding can be continued without causing the deviation of the target position.

FIG. 6 is a schematic diagram for explaining a change in the posture of the welding torch 20 during welding of the welded portion 110. Here, it is assumed that the welding torch 20 welds between the corner 112 on one end side and the corner 114 on the other end side of the portion 110 to be welded.
First, the control unit 74 welds the corner portion 112 to the welding torch 20 in the posture shown in FIG. 6A. After that, the control unit 74 continues the welding of the welded portion 110 with the welding torch 20 while traveling toward the corner portion 114 on the other end side.
By the way, if the welding torch 20 with the corner 112 welded is in the posture of the welding torch 20 and travels toward the corner 114, it may come into contact with the base metal 100 during the traveling. Therefore, the control unit 74 changes the welding torch 20 to the posture shown in FIG. 6B during the running. As a result, the welding of the welded portion 110 can be continued without the welding torch 20 coming into contact with the base metal 100.

When the welding torch 20 is driven along the traveling locus stored in the storage unit 72, the control unit 74 sets the three-axis motor of the translational drive unit 40, the first rotation drive unit 50, and the second rotation drive unit 52. It is driven to change the posture of the welding torch 20. The control unit 74 specifies a start position and an end position for changing the posture of the welding torch 20 from the current position, and when the welding torch 20 reaches the specified start position, the first rotation drive unit 50 and the second rotation drive unit 52. To drive. For example, in the case of the welded portion 110 shown in FIG. 6, the start position can be specified from the shape of the weld torch 20 and the position of the corner portion 114. As a result, the posture of the welding torch 20 can be changed at an appropriate timing.

The control unit 74 may drive the first rotation drive unit 50 and the second rotation drive unit 52 when the welding torch 20 is translated and moved by the translation drive unit 40. For example, when the translational drive unit 40 translates the welding torch 20 between the corner portion 112 and the corner portion 114 shown in FIG. 6, the first rotation drive unit 50 and the second rotation drive unit 52 are driven. The posture of the welding torch 20 is changed.

In the above description, the control unit 74 has described that the welding torch 20 changes the posture of the welding torch 20 when the welding torch 20 welds in the vicinity of the corners 112 and 114, but the present invention is not limited to this. For example, the control unit 74 may change the posture of the welding torch 20 when the welding torch 20 performs butt welding.

FIG. 7 is a schematic diagram for explaining an example of butt welding. Here, as shown in FIG. 7, it is assumed that the first square steel pipe 120 and the second square steel pipe 130 located above the first square steel pipe 120 are welded. Specifically, the upper end portion 122 of the first square steel pipe 120, the lower end portion 132 of the second square steel pipe 130, and the backing metal 140 are welded by the welding torch 20. Note that FIG. 7 shows a part of the cross section of the first square steel pipe 120 and the second square steel pipe 130 for convenience of explanation.

The second square steel pipe 130 is separated from the first square steel pipe 120 in the vertical direction. Specifically, there is a gap 150 between the lower end portion 132 of the second square steel pipe 130 and the upper end portion 122 of the first square steel pipe 120. Further, a taper 132a is formed on the lower end portion 132 so that the tip portion of the welding torch 20 does not hit the groove portion during welding.

In the on-site automatic welding of square steel pipe columns, the cross-sectional shape of the groove cannot be adapted to the automatic welding work due to the manufacturing error of the curvature of the corners and the on-site adjustment of the built-in (vertical column), and the on-site automatic welding of the square steel pipe columns. Development of automatic welding has been delayed. Since the opening of the gap 150 (FIG. 7) is also used for build-in adjustment at the time of on-site assembly, the opening of the gap 150 becomes tapered due to the influence of the build-in accuracy. Complete on-site automatic welding was difficult because the cross section of the part to be welded differs depending on the position of the line to be welded. However, although the welding cross section differs for each column, if the gap 150 is actually measured and the information is reflected in the on-site welding, on-site automatic welding of the steel pipe column becomes possible.

The backing metal 140 is formed in an annular shape and is in contact with the inner surface of the first square steel pipe 120. Further, the backing metal 140 is fixed to the inner surface of the first square steel pipe 120 by welding. The backing metal 140 secures a gap 150 between the first square steel pipe 120 and the second square steel pipe 130, and also supports the weight of the upper column made of the second square steel pipe 130. A taper 142a is formed on the convex portion 142 upward. By providing the taper 142a, the first square steel pipe 120 and the second square steel pipe 130 can be smoothly connected.

A lowering stopper 134 is provided on the inner surface of the second square steel pipe 130. When the lower portion of the lowering stopper 134 contacts the end of the backing metal 140, the second square steel pipe 130 is positioned with respect to the first square steel pipe 120 in the vertical direction. By adjusting the positions of the lowering stopper 134 and the backing metal 140, a gap 150 having a desired size can be formed.

The welding torch 20 is welded in the direction of the arrow shown in FIG. That is, in the welding torch 20, welding of this portion is established by integrating the molten metal with the first square steel pipe 120, the second square steel pipe 130, and the backing metal 140 by welding.

By the way, the first square steel pipe 120 and the second square steel pipe 130 described above have a curved portion formed at a corner. When welding the first square steel pipe 120 and the second square steel pipe 130, the welding device 2 welds the curved portion. With reference to FIG. 8, the control of the welding torch 20 when welding the curved portion of the inner peripheral line 126 of the first square steel pipe 120 will be described.

FIG. 8 is a schematic diagram for explaining the welding of the curved portion. Here, the portion between the outer peripheral line 127 and the curved portion (bent portion) of the inner peripheral line 126 is a welded portion. The straight portion and the curved portion of the inner peripheral line 126 are the welded lines to be welded by the welding torch 20. It is assumed that the curvature portion of the inner peripheral line 126 is at a predetermined distance from the center point of the curvature determined by the plate thickness or the like. Specifically, the distance from the inner circumference line 126 to the center point is shown by an arc having a predetermined radius from the center point 128 as shown in FIG. 8, but due to the assumed curvature, the distance from the inner circumference line 126 to the center point is shown. Let the distance to be the distance actually measured from the center point on the line obtained by dividing the curvature portion of the outer peripheral line 127 by a desired number.

The control unit 74 causes the welding torch 20 to travel along the inner peripheral line 126. For example, when the welding torch 20 reaches the inner peripheral line 126 of the curvature portion from the straight line portion, the control unit 74 rotates the welding torch 20 along the inner peripheral line 126. That is, the welding torch 20 welds the molten metal to the inner peripheral line 126 with the tip facing the center point 128.

The control unit 74 adjusts the welding conditions of the welding torch 20 when welding the curved portion of the inner peripheral line 126. Specifically, the control unit 74 calculates the chord length or the circumference of each section by using the division angle and the measured distance from the center point 128, and sets the welding length within the division angle. Thereby, the welding condition by the welding torch 20 for each section is adjusted. Therefore, even if the arc of the steel pipe, whose curvature is planned as an arc from the center point 128, is distorted during the manufacturing process, the chord length or circumference of the section calculated from the measured distance is defined as the welding length (mileage). By doing so, the influence of manufacturing error is absorbed and welding is performed. At this time, the welding torch 20 always faces the center point 128, but it does not affect the molten metal because the aiming angle error with respect to the welding line is minute. Therefore, the curvature portion does not have to be a perfect arc.

In FIG. 8, as a tentative condition, the outer peripheral line 127 is divided into eight regions R1 to R8. For example, the regions R1 to R8 are arranged at equal intervals. The control unit 74 adjusts the supply amount of the wire and the magnitude of the current / voltage when welding each region as the welding conditions for the welding length calculated in the regions R1 to R8. As a result, when welding the inner peripheral line 126, a uniform weld bead can be secured for each of the regions R1 to R8. As a result, uniform welding can be performed on the inner peripheral line 126.

<Welding flow>
The flow in which the welding device 2 welds the welded portion 110 of the base metal 100 will be described with reference to FIG.
FIG. 9 is a flowchart for explaining an example of the welding flow of the welded portion 110. The welding device 2 executes a series of processes shown in FIG. 9, for example, when performing fillet welding or butt welding of the portion to be welded 110.

First, before starting the welding of the welded portion 110, the input receiving portion 60 receives the position information of the start point and the end point of the welding (step S102). The input receiving unit 60 may receive the parallelism information of the gap 150 in the groove portion from the operator.

Next, the control unit 74 runs the welding torch 20 so as to follow the welded line connecting the received start point and end point, and actually measures the running locus (step S104). For example, the control unit 74 actually measures the traveling locus when the translational driving unit 40 travels the welding torch 20.

Next, the control unit 74 stores the actually measured traveling locus of the welding torch 20 in the storage unit 72 (step S106). For example, the control unit 74 stores information indicating a traveling locus in the storage unit 72 to prepare for subsequent automatic welding.

Next, the control unit 74 determines the welding conditions by the welding torch 20 based on the position of the welded portion 110, the traveling locus, and the like (step S108). For example, the control unit 74 determines the magnitude of the current and voltage supplied to the tip portion 22 of the welding torch 20 and the supply amount of the wire.

Next, the control unit 74 starts welding of the welded portion 110 while running the welding torch 20 based on the determined welding conditions (step S110). For example, the control unit 74 causes the welding torch 20 to travel along the travel locus stored in the storage unit 72.

In the above, the one-pass automatic welding of the welded portion 110 has been described, but by applying the combination of the stored welding information and the further information to the next-pass automatic welding, multi-pass automatic welding becomes possible, and the welded portion 110 is welded. Enables automatic welding of all paths (all layers) of the weld.

In the storage unit 72, the operator can change the welding conditions at the beginning of the welding line, the welding conditions before the intermediate portion, the welding conditions at the intermediate portion, the welding conditions before the end portion, the welding conditions at the end, and the welding of the termination process. Information in which the conditions and the numerical values of the parallelism of the groove are arranged according to the welding running position in the weld line may be stored. If necessary, the welding torch 20 may be temporarily run to check the information distributed in the welded line, and the result may be stored in the storage unit 72.

<Effect in this embodiment>
In the welding device 2 of the above-described embodiment, the first rotation drive unit 50 for rotating the welding torch 20 around the rotation axis A and the second rotation for rotating the welding torch 20 around the rotation axis B orthogonal to the rotation axis A. It has a drive unit 52. Then, the welding device 2 drives the first rotation drive unit 50 and the second rotation drive unit 52 to change the posture of the welding torch 20, and causes the welding torch 20 to weld the welded portion 110.
This makes it possible to appropriately change the posture of the welding torch 20 during welding to weld the welded portion 110. By appropriately changing the posture of the welding torch 20, the welding torch 20 can be welded without interfering with the base metal 100. As a result, the welded portion 110 can be automatically welded without a manual welded portion, workability is improved, and welding quality is improved.

Further, by installing the welding device 2 on the side wall of the H-shaped steel-shaped base metal, the unwelded portion due to manual welding is eliminated, and when a plurality of welding devices 2 are used, the welding amount per unit time increases dramatically. do. If the work method is to install the welding device 2 on a pedestal and move (move) the object to be welded, it is necessary to create a special automatic welding machine by making partial improvements to install the welding device 2 in the desired position. Will disappear.
Further, according to the welding apparatus 2 of the present embodiment, the curved portion of the square steel pipe does not have to be a perfect arc, and it is possible to weld a square steel pipe having a manufacturing error in the curved portion.

Although the present invention has been described above using the embodiments, the technical scope of the present invention is not limited to the scope described in the above embodiments, and various modifications and changes can be made within the scope of the gist. be. For example, all or part of the device can be functionally or physically distributed / integrated in any unit. Also included in the embodiments of the present invention are new embodiments resulting from any combination of the plurality of embodiments. The effect of the new embodiment produced by the combination has the effect of the original embodiment together.

2 Welding equipment 10 Support part 20 Welding torch 30 Grip part 40 Translation drive part 50 1st rotation drive part 52 2nd rotation drive part 54 3rd rotation drive part 72 Storage part 74 Control part 100 Base material 110 Welded part 120 1st Square steel pipe 126 Inner peripheral line 127 Outer peripheral line 128 Center point 130 Second square steel pipe A, B, C Rotating shaft

Claims (10)

A welding torch that is supported by the support and welds the welded part along the welded line of the base metal.
A first rotation drive unit that rotates the welding torch around the first axis,
A second rotation drive unit that rotates the welding torch around a second axis orthogonal to the first axis,
A control unit that causes the welding torch to perform welding along the welded line while driving the first rotation driving unit and the second rotation driving unit to change the posture of the welding torch.
A welding device. The control unit drives the first rotation drive unit and the second rotation drive unit to change the posture of the weld torch when the weld torch is driven along the welded line.
The welding apparatus according to claim 1. Further, a storage unit for storing a traveling locus for traveling the welding torch when welding the welded portion is provided.
When the welding torch is driven along the traveling locus stored in the storage unit, the control unit drives the first rotation driving unit and the second rotation driving unit to change the posture of the welding torch. Change,
The welding apparatus according to claim 1 or 2. The storage unit stores the route that the welding torch traveled along the welded line before welding the welded portion as the traveling locus.
The welding apparatus according to claim 3. A grip portion that is supported by the support portion and grips the welding torch is further provided.
The first rotation drive unit and the second rotation drive unit are provided on the grip portion.
The welding apparatus according to any one of claims 1 to 4. A third rotation drive unit for rotating the grip portion together with the welding torch is further provided around the first axis and the third axis orthogonal to the second axis.
The welding apparatus according to claim 5. The support portion has a translation drive unit capable of translating the grip portion that supports the grip portion in a plurality of directions orthogonal to each other.
The control unit drives the first rotation drive unit and the second rotation drive unit when the grip portion is translated and moved by the translation drive unit.
The welding apparatus according to claim 5 or 6. The welded portion is a curved portion having a predetermined curvature, and is a curved portion.
The control unit causes the welding torch to perform welding while changing the posture of the welding torch so as to face the center point of the curvature portion.
The welding apparatus according to any one of claims 1 to 7. The control unit divides the curvature portion into a plurality of regions along the circumferential direction, and adjusts the welding conditions of the welding torch for each region.
The welding apparatus according to claim 8. Before welding the welded part of the base metal, the step of storing the route in which the welding torch was run along the welded line in the storage part as a running locus,
When the welding torch is traveled along the traveling locus stored in the storage unit, the welding torch is loaded with the welding torch while driving the rotation driving unit that rotates the welding torch to change the posture of the welding torch. The step of welding the welded portion along the line to be welded, and
Has a welding method.

Images