JP2023068324A - Welding device and welding method - Google Patents

Abstract

To automatically and appropriately weld a part to be welded.SOLUTION: A welding device 202 includes a welding torch 220, a support for supporting the welding torch 220, a chassis for moving the support in a prescribed direction, a support drive part 240 for rotating the support and translationally moving the support, a rotation drive part 250 rotating the welding torch 220 around a prescribed axis, and a control part 274 for making the welding torch 220 weld the part to be welded while driving at least the rotation drive part 250 to change a posture of the welding torch. The control part 274 makes the welding torch 220 weld at least a first corner part, and moves the welding torch 220 to a position at which the welding torch 220 can weld a second corner part opposite from the first corner part, and makes the welding torch 220 after the movement weld the second corner part by making the support rotate and translationally move by the support drive part 240 and rotating the welding torch 220 by the rotation drive part 250 with the chassis stopped.SELECTED DRAWING: Figure 11

Description

TECHNICAL FIELD The present invention relates to a welding apparatus for welding parts to be welded with a welding torch.

In recent years, the use of welding robots capable of automatic traveling welding has been studied in welding work at construction sites. A welding robot welds a welded portion of a base material with a welding torch while moving a welding device along a guide rail arranged around a base material (for example, a steel plate) (see Patent Document 1 below). .

Japanese Patent No. 3314227

When fillet welding is performed on the base material by automatic traveling welding, the welding torch interferes with the base material, leaving an unwelded portion, which must be manually welded after automatic welding. rice field. However, when welding is performed manually, it is likely to be difficult to sufficiently secure welding quality.

Accordingly, the present invention has been made in view of these points, and an object of the present invention is to enable welding of welded portions to be performed appropriately automatically.

In a first aspect of the present invention, a welding torch for welding a base material to be welded, a support for supporting the welding torch, a chassis for moving the support in a predetermined direction, and the support are provided. A support drive unit that rotates and translates the support, a rotation drive unit that rotates the welding torch around a predetermined axis, and at least the rotation drive unit that drives to change the posture of the welding torch. and a control unit that causes the welding torch to weld the portion to be welded, wherein the control unit is configured to, as the portion to be welded, at least a first corner of a first metal plate and a second metal plate that are perpendicular to each other. , causing the welding torch to perform welding, rotating and translating the support with the support drive unit in a state where the chassis is stopped, and rotating the welding torch with the rotation drive unit; The welding torch is moved to a position where the welding torch can weld a second corner opposite to the first corner, and the welding torch after the movement is caused to weld the second corner. Provide equipment.

Further, the control unit rotates and translates the support and rotates the welding torch around the predetermined axis parallel to the rotation axis of the support, thereby welding the second corner. The welding torch may be moved to a position.

Further, the rotary drive section has a first rotary drive section, a second rotary drive section, and a third rotary drive section for rotating the welding torch around three axes perpendicular to each other, and the third rotary drive section is , the welding torch may be rotated around the predetermined axis parallel to the axis of rotation of the support.

In addition, the support has a vertical support and a horizontal beam that can move horizontally with respect to the support. The support driving unit rotates the support and moves the horizontal beam. may be translated.

The second metal plate is erected with respect to the first metal plate, and the controller moves the horizontal beam in the vertical direction and the horizontal direction to move the welding torch to the first metal plate. The welding torch may be positioned at a position where the second corner can be welded by passing over the two metal plates, rotating the column, and rotating the welding torch.

Further, a storage unit storing base material information related to the shape of the base material is further provided, and the control unit, while the chassis is stopped, based on the base material information stored in the storage unit, The welding torch may be moved to a position where the second corner can be welded by rotating and translating the support and rotating the welding torch.

In addition, the control unit provides, as the parts to be welded, the first corner, a third metal plate orthogonal to the first metal plate and the second metal plate, and the third corner of the first metal plate. , causing the welding torch to weld, rotating and translating the support, and rotating the welding torch to a position where the second corner can be welded or opposite the third corner; The welding torch may be moved to a position where the fourth corner on the side can be welded, and the welding torch after movement may weld the second corner and the fourth corner.

In a second aspect of the present invention, there is provided a welding method for welding a portion to be welded of a base material, wherein, as the portion to be welded, a first corner of a first metal plate and a second metal plate that are orthogonal to each other is provided with: a first welding step of causing the welding torch to perform welding; and rotating and translating the support supporting the welding torch by a support driving unit in a state where a chassis capable of moving the support in a predetermined direction is stopped; a moving step of moving the welding torch to a position where the welding torch can weld a second corner on the side opposite to the first corner by rotating the welding torch with a rotary drive unit; and a second welding step of causing the welding torch of to weld to the second corner.

ADVANTAGE OF THE INVENTION According to this invention, there exists an effect that welding of a to-be-welded part can be performed appropriately automatically.

BRIEF DESCRIPTION OF THE DRAWINGS It is a schematic diagram for demonstrating schematic structure of the welding system S which concerns on 1st Embodiment. 2 is a schematic diagram for explaining the configuration of the welding device 2; FIG. 2 is a block diagram for explaining the configuration of the welding device 2; FIG. FIG. 3 is a schematic diagram for explaining detailed configurations of a welding torch 20 and a gripper 30; Fig. 5 is a plan view of the welding torch 20 and the gripper 30 shown in Fig. 4; FIG. 5 is a schematic diagram for explaining a change in posture of the welding torch 20 during welding of the welded portion 110; It is a partial schematic diagram for demonstrating an example of on-site joining welding of a steel pipe column. FIG. 4 is a schematic diagram for explaining welding of a curvature portion; 4 is a flowchart for explaining the flow of welding of the welded portion 110 by the welding device 2. FIG. It is a mimetic diagram for explaining a schematic structure of welding system S concerning a 2nd embodiment. 2 is a block diagram for explaining the configuration of a welding device 202; FIG. FIG. 4 is a schematic diagram for explaining the mode of the welding torch 220 when welding the corners 112 and 114; FIG. 4 is a schematic diagram for explaining the mode of the welding torch 220 when welding the corners 112 and 114; It is a schematic diagram for demonstrating the welding apparatus 202 which concerns on a modification. FIG. 11 is a schematic diagram for explaining a mode of movement of a welding torch 220 in a modified example;

<First embodiment>
(Schematic configuration of welding system)
A schematic configuration of a welding system according to a first 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. FIG. The welding system S has a welding device 2 and a guide rail 4, as shown in FIG. The welding system S performs welding to the welded portion 110 of the base material 100 by the welding device 2 while running the welding device 2 along the guide rail 4 .

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

The guide rail 4 is a guide member that allows the welding device 2 to travel. The guide rail 4 is arranged at a position where welding by the welding torch 20 can be performed smoothly. Here, the guide rail 4 is arranged above the base material 100 . The shape of the guide rail 4 may be any shape other than the shape shown in FIG.

(Detailed configuration of welding equipment)
A detailed configuration of the welding device 2 will be described with reference to FIGS. 2 and 3. FIG.
FIG. 2 is a schematic diagram for explaining the configuration of the welding device 2. As shown in FIG. FIG. 3 is a block diagram for explaining the configuration of the welding device 2. As shown in FIG.

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, a second It has a rotation drive section 52 , a third rotation drive section 54 , an input reception section 60 and a control device 70 .

The support part 10 supports the welding torch 20 so that it can travel. Specifically, the support part 10 supports a grip part 30 that grips the welding torch 20 so as to be movable in three directions (X-axis direction, Y-axis direction, Z-axis direction). The support section 10 has a chassis 12, a strut 14, and a horizontal beam 16, as shown in FIG.

The chassis 12 is a portion that serves as a base for the struts 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 undercarriage 12 has wheels for moving on the guide rails 4 .

The struts 14 are provided along the vertical direction on the chassis 12 . The struts 14 move with the undercarriage 12 .

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

The welding torch 20 welds the welded portion 110 ( FIG. 1 ) along the welded line of the base material 100 . A welding torch 20 is supported on the horizontal beam 16 by the support portion 10 . For example, the welding torch 20 performs welding by depositing molten metal obtained by melting a wire with arc heat to the welded portion 110 . The welding torch 20 has a supply path for supplying a wire, and continuously melts the supplied wire with arc heat.

FIG. 4 is a schematic diagram for explaining the detailed configuration of the welding torch 20 and the gripper 30. As shown in FIG. 5 is a plan view of the welding torch 20 and the gripper 30 shown in FIG. 4. FIG. The welding torch 20 has a tip 22 for welding, as shown in FIG. 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 of the wire supplied to the tip portion 22 and the magnitude of the current and voltage.

The grip part 30 grips the welding torch 20 . The grip part 30 rotatably grips the welding torch 20 . The gripping portion 30 grips the welding torch 20 so as to change the aiming angle and the advancing angle of the welding torch 20 with respect to the welded portion 110 . Further, the grip portion 30 is movably supported by the support portion 10 . Specifically, the grip part 30 is supported by the horizontal beam 16 of the support part 10 so as to be rotatable around the rotation axis C shown in FIG.

The grip portion 30 has a first support portion 32, a second support portion 35, and a connecting shaft 38, as shown in FIG.
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 rotates around the rotation axis A by receiving the power of the rotary motor 50a. The shaft support 34 rotatably supports the shaft member 33 . The welding torch 20 rotates around the rotation axis A by rotating the shaft member 33 .

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 rotates around the rotation axis B by receiving the power of the rotary motor 52a. 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 axis B. As shown in FIG.

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 rotation axis C (FIG. 2). As the connecting shaft 38 rotates, the welding torch 20 also rotates around the rotation axis C. As shown in FIG.

The translation drive unit 40 translates the support unit 10 and the horizontal beam 16 in three mutually orthogonal directions (that is, the X-axis direction, the Y-axis direction, and the Z-axis direction shown in FIG. 1). The translation drive unit 40 translates the support unit 10 and the horizontal beam 16 , so that the welding torch 20 gripped by the grip unit 30 can be positioned near the welded portion 110 of the base material 100 . A control device for the translation drive unit 40 is provided inside or outside the chassis 12 where there is little risk of damage. The translation drive unit 40 has an X-axis motor 42, a Y-axis motor 43, and a Z-axis motor 44, as shown in FIG.

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

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

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

The third rotation drive section 54 rotates the grip section 30 together with the welding torch 20 around a rotation axis C orthogonal to the rotation axis A and the rotation axis B. As shown in FIG. The third rotation drive section 54 has a rotation motor 54a (see FIG. 2) that rotates the grip section 30 (specifically, the connecting shaft 38) around the rotation axis C. As shown in FIG. The welding torch 20 also rotates around the rotation axis C by rotating the grip part 30 with the rotary motor 54a. In this 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 reception unit 60 receives input information from the operator. For example, the input receiving unit 60 receives positional information of the start point and the end point of welding of the welded part 110 input by the operator. The input reception unit 60 also receives an instruction to start welding. The input reception unit 60 outputs the received input information to the control device 70 .

Control device 70 controls the overall operation of welding device 2 . The control device 70 has a storage section 72 and a control section 74, as shown in FIG.
The storage unit 72 includes, for example, ROM (Read Only Memory) and RAM (Random Access Memory). The storage unit 72 stores programs to be executed by the control unit 74 and various data related to welding.

Storage unit 72 stores a travel locus along which welding torch 20 travels when welded portion 110 is welded. For example, the storage unit 72 stores the route along which the welding torch 20 is caused to travel along the welding line by the control unit 74 before the welding of the welding target portion 110 as a travel locus. The stored travel locus may be one actually measured immediately before welding, or may be one actually measured under similar welding conditions in the past.

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

In this embodiment, in order to change the orientation (advance angle) of the welding torch 20 during welding so that the welding torch 20 that is welding the welded portion 110 does not interfere with the side plate of the base material 100, the first rotation driving is performed. The part 50 or the third rotation drive part 54 is driven. The control unit 74 drives the first rotation driving unit 50 or the third rotation driving unit 54 to change the advancing angle of the welding torch 20, and moves the welding torch 20 along the welding line to weld the welding part 110. let it happen 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 material 100 . Note that the control unit 74 drives the three-axis motors of the translation 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 driving unit 50 or the third rotation driving unit 54 to change the advancing angle of the welding torch 20, and drives the three-axis motors of the translation driving unit 40 to perform welding. you can go

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

FIG. 6 is a schematic diagram for explaining a change in posture of welding torch 20 during welding of welded portion 110 . Here, the welding torch 20 welds between the corner 111a on the one end side of the welded portion 110 and the corner 111b on the other end side.
First, the controller 74 causes the welding torch 20 in the posture shown in FIG. 6A to weld the corner 111a. 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 111b on the other end side.
By the way, if the welding torch 20, which has welded the corner 111a, travels toward the corner 111b, it may come into contact with the base material 100 during travel. Therefore, the control unit 74 changes the attitude of the welding torch 20 to the posture shown in FIG. 6(b) during traveling. As a result, welding of welded portion 110 can be continued without welding torch 20 coming into contact with base material 100 .

When the welding torch 20 travels along the travel locus stored in the storage unit 72, the control unit 74 controls the three-axis motor of the translation drive unit 40, the first rotation drive unit 50, and the second rotation drive unit 52. It is driven to change the attitude of the welding torch 20 . The control unit 74 specifies the start position and the 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 rotary drive unit 50 and the second rotary drive unit 52 are activated. drive the For example, in the case of the welded portion 110 shown in FIG. 6, the starting position can be specified from the shape of the welding torch 20 and the position of the corner 114 . Thereby, the posture of the welding torch 20 can be changed at appropriate timing.

The control unit 74 may drive the first rotation driving unit 50 and the second rotation driving unit 52 when the welding torch 20 is translated by the translation driving unit 40 . For example, when the translation drive unit 40 translates the welding torch 20 between the corners 111a and 111b shown in FIG. The posture of the welding torch 20 is changed.

In the above description, the control unit 74 changes the posture of the welding torch 20 when the welding torch 20 welds the vicinity of the corner 111a, which is the starting point, and the corner 111b, which is the ending point, of the welded portion 100. has been described, but is not limited to this. For example, the controller 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, 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 with the welding torch 20 . For convenience of explanation, FIG. 7 shows a part of the cross section of the first square steel pipe 120 and the second square steel pipe 130 .

The second square steel pipe 130 is separated from the first square steel pipe 120 in the vertical direction. Specifically, a gap 150 exists 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, the lower end portion 132 is formed with a taper 132a so that the tip portion of the welding torch 20 does not come into contact with the groove portion during welding.

For on-site automatic welding of square steel pipe columns, it is difficult to assemble the cross-sectional shape of the groove with the desired accuracy due to manufacturing errors in the curvature of the corners and on-site adjustment of the erection (perpendicularity of the column). The cross-sectional shape of the part is not suitable for automatic welding construction, and the development of on-site automatic welding of square steel pipe columns is delayed. Since the opening of gap 150 (FIG. 7) is also used for erection adjustment during field assembly, the opening of gap 150 is tapered under the influence of erection accuracy. Since the cross section of the welded part differs depending on the position of the welded line, complete automatic welding on site was difficult. 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, the on-site automatic welding of steel pipe columns 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 . Also, the backing metal 140 is fixed to the inner surface of the first square steel pipe 120 by welding. The backing metal 140 secures the gap 150 between the first square steel tube 120 and the second square steel tube 130 and supports the weight of the upper column made up of the second square steel tube 130 . The backing metal 140 is formed with an upward taper 142a. 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 . The second square steel pipe 130 is positioned with respect to the first square steel pipe 120 in the vertical direction by contacting the lower portion of the lowering stopper 134 with the end of the backing metal 140 . By adjusting the positions of the lowering stop 134 and the backing metal 140, a desired size of the gap 150 can be formed.

The welding torch 20 welds the planar portion of the first square steel pipe 120 shown in FIG. 7 to the groove portion surrounded by the backing metal 140 and the grooved second square steel pipe 130. That is, the welding torch 20 welds the molten metal to the first square steel pipe 120, the second square steel pipe 130, and the backing metal 140, thereby establishing the welding of this portion.

By the way, the first square steel pipe 120 and the second square steel pipe 130 described above have curved portions at the corners. When welding the first square steel pipe 120 and the second square steel pipe 130, the welding device 2 welds the curved portions. 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 with reference to FIG.

FIG. 8 is a schematic diagram for explaining welding of the curvature portion. Here, a portion between the curved portion (bent portion) of the outer peripheral line 127 and the inner peripheral line 126 is the welded portion. A straight portion and a curved portion of the inner circumferential line 126 are the welded lines to be welded by the welding torch 20 . It is assumed that the curved portion of the inner circumferential 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 perimeter line 126 to the center point is indicated by an arc of a given radius from the center point 128 as shown in FIG. is the distance actually measured from the center point on the line obtained by dividing the curved portion of the outer peripheral line 127 by a desired number of angles.

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

The controller 74 adjusts the welding conditions of the welding torch 20 when welding the curved portion of the inner circumferential line 126 . Specifically, the control unit 74 uses the division angle and the actually measured distance from the center point 128 to calculate the chord length or the circumference length of each section and set it as the welding length within the division angle. Thereby, the welding conditions by the welding torch 20 for each section are adjusted. Therefore, even if distortion occurs in the manufacturing process in the arc of the steel pipe whose curvature is planned as an arc from the center point 128, the chord length or circumference of the section calculated from the measured distance is the welding length (running distance). By doing so, welding is performed while absorbing the influence of manufacturing errors. At this time, the welding torch 20 is always directed toward the center point 128, but the error in the aiming angle with respect to the welding line is so small that it does not affect the molten metal. Therefore, the curvature portion does not have to be a perfect arc.

In FIG. 8, as a provisional condition, the peripheral line 127 is divided into eight regions R1 to R8. For example, the regions R1 to R8 are arranged at regular intervals. The control unit 74 adjusts the amount of wire supplied and the magnitude of current and voltage when welding each region as welding conditions for the welding length calculated for the regions R1 to R8. As a result, when welding the inner peripheral line 126, a homogeneous weld bead can be ensured 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 of welding the welded portion 110 of the base material 100 by the welding device 2 will be described with reference to FIG. 9 .
FIG. 9 is a flowchart for explaining an example of the welding flow of the welded portion 110 . The welding device 2 performs a series of processes shown in FIG. 9 when, for example, fillet welding or butt welding of the welded portion 110 is performed.

First, before welding of welded portion 110 is started, input reception unit 60 receives position information of the start point and end point of welding (step S102). Note that the input receiving unit 60 may receive parallelism information of the gap 150 of the bevel from the operator.

Next, the control unit 74 causes the welding torch 20 to travel so as to follow the received welding line connecting the start point and the end point, and actually measures the travel locus (step S104). For example, the control unit 74 actually measures the traveling locus when the translation drive unit 40 causes the welding torch 20 to travel.

Next, the control unit 74 causes the storage unit 72 to store the actually measured running locus of the welding torch 20 (step S106). For example, the control unit 74 causes the storage unit 72 to store information indicating the travel locus in preparation for subsequent automatic welding.

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

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

In the above description, one-pass automatic welding of the welded portion 110 has been described. Enables automatic welding of all passes (all layers) of the weld.

The storage unit 72 stores welding conditions for the start of the weld line, welding condition changes before the intermediate portion, welding conditions for the intermediate portion, welding condition changes before the terminal portion, welding conditions for the terminal end, and welding for terminal processing. Information in which the conditions and the numerical values of the parallelism of the groove portion are arranged according to the welding travel position in the weld line may be stored. If necessary, the welding torch 20 may be made to temporarily run to check the information distributed to the welded line, and the result may be stored in the storage unit 72 .

(Effect in the first embodiment)
The welding device 2 of the first embodiment includes a first rotation driving section 50 that rotates the welding torch 20 around a rotation axis A, and a second rotation drive section 50 that rotates the welding torch 20 around a rotation axis B orthogonal to the rotation axis A. and a rotary drive unit 52 . Then, the welding device 2 causes the welding torch 20 to weld the welded portion 110 while driving the first rotation driving portion 50 and the second rotation driving portion 52 to change the posture of the welding torch 20 .
This makes it possible to weld the welded portion 110 by appropriately changing the posture of the welding torch 20 during welding. By appropriately changing the posture of the welding torch 20 , welding can be performed without the welding torch 20 interfering with the base material 100 . As a result, the portion to be welded 110 can be automatically welded without a manually welded portion, thereby improving workability and welding quality.

In addition, by installing the welding device 2 on the side wall of the H-shaped steel base material, there is no unwelded portion due to manual welding, and using a plurality of welding devices 2 dramatically increases the welding amount per unit time. do. If the work method involves installing the welding device 2 on a frame and moving (moving) the workpiece to be welded, if partial improvements are made to install the welding device 2 at the desired position, it is necessary to create a special automatic welding machine. disappears.
Furthermore, according to the welding apparatus 2 of the first embodiment, the curved portion of the square steel pipe does not have to be a perfect arc, and it is possible to weld the square steel pipe having manufacturing errors in the curved portion.

<Second embodiment>
(Configuration of welding equipment)
A configuration of a welding device according to the second embodiment will be described with reference to FIGS. 10 and 11. FIG.

FIG. 10 is a schematic diagram for explaining a schematic configuration of a welding system S according to the second embodiment. FIG. 11 is a block diagram for explaining the configuration of welding device 202. As shown in FIG.

In the second embodiment, the welding device 202 welds corners of the first metal plate 102 and the second metal plate 104 of the base material 100 . The second metal plate 104 is erected against the orthogonal first metal plate 102, and the welding device 202 is installed at the corners 112 and 114 of the first metal plate 102 and the second metal plate 104 (FIG. 12). ) is the corner on the front side when viewed from the welding device 202, and the corner 114 is the corner on the back side. Although the details will be described later, the welding device 202 welds the corner 112 and subsequently welds the corner 114 . In the second embodiment, corner 112 corresponds to the first corner and corner 114 corresponds to the second corner.
In addition, the welding device 202 of the second embodiment includes a pair of third metal plates 106 orthogonal to the first metal plate 102 and the second metal plate 104 and the corner 113 ( The corner 113 corresponds to the third corner) is welded. That is, the welding device 202 welds the corners 112 and 113 of three continuous sides. In this case, the welding device 202 welds the corner opposite to the corner 113 (this corner corresponds to the fourth corner) when welding the corner 114 . If the third metal plate 106 is not provided on both sides of the first metal plate 102, only the corners 112 and 114 of the first metal plate 102 and the second metal plate 104 are welded.

As shown in FIGS. 10 and 11, the welding device 202 includes a support section 210, a welding torch 220, a grip section 230, a support drive section 240, a rotation drive section 250, an input reception section 260, and a control unit. It has a device 270 .

Support portion 210 movably supports welding torch 220 . Specifically, the support part 210 supports the welding torch 220 so as to be movable in three directions (the X-axis direction, the Y-axis direction, and the Z-axis direction). The support section 210 has a chassis 212 and a support body 214, as shown in FIG.

The chassis 212 moves in the horizontal direction (Y-axis direction) on the guide rail 4 in the same manner as the chassis 12 of the first embodiment, and moves the support 214 that supports the welding torch 220 in a predetermined direction. The chassis 212 is provided with a rotating portion 213 that rotates the support 214 . The rotating part 213 is, for example, a rotatable disk and supports the lower part of the support 214 .

Support 214 has struts 215 and horizontal beams 216 . The strut 215 is provided on the chassis 212 along the vertical direction. The horizontal beam 216 is provided movably in the horizontal direction (X-axis direction) and the vertical direction (Z-axis direction) with respect to the column 215 . Further, the support 214 is rotatable around the rotation axis D shown in FIG.

The welding torch 220 welds the welded portion 110 of the base material 100 in the same manner as the welding torch 20 of the first embodiment. For example, the welding torch 220 performs welding by depositing molten metal obtained by melting a wire with arc heat to the welded portion 110 .

Gripping portion 230 rotatably grips welding torch 220 so that the aiming angle and advancing angle of welding torch 220 with respect to welded portion 110 can be changed. Further, the grasping portion 230 is rotatably supported around the rotation axis C with respect to the horizontal beam 216 . The configuration of the grip portion 230 is the same as the configuration of the grip portion 30 shown in FIG. 4, so detailed description thereof will be omitted.

The support driving section 240 is a driving section that moves the support 214 . The support driver 240 rotates the support 214 and translates the support 214 . Specifically, the support driver 240 rotates the support 215 of the support 214 and translates the horizontal beam 216 . More specifically, the support driving section 240 rotates the support column 215 around the rotation axis D and translates the horizontal beam 216 in the X-axis direction and the Z-axis direction.

The support driving section 240 has an X-axis motor 242, a Y-axis motor 243, a Z-axis motor 244, and a rotary motor 245, as shown in FIG. The X-axis motor 242 is a motor that moves the horizontal beam 216 of the support 214 in the X-axis direction, and is provided at one axial end of the horizontal beam 216 . The Y-axis motor 243 is a motor that moves the chassis 212 that supports the support 214 in the Y-axis direction, and is provided inside the chassis 212 . The Z-axis motor 244 is a motor that moves the horizontal beam 216 in the Z-axis direction, and is provided at the upper end of the column 215 . The rotary motor 245 is a motor that rotates the rotating portion 213 and rotates the support 214 around the rotation axis D. As shown in FIG. A rotary motor 245 is provided within the chassis 212 . Note that the rotation motor 245 may be provided outside the chassis 212 .

Rotation drive unit 250 rotates welding torch 220 around a predetermined axis. Specifically, the rotation drive unit 250 rotates the welding torch 220 around three mutually orthogonal axes (rotational axis A, rotational axis B, and rotational axis C).

The rotation drive section 250 has a first rotation drive section 251, a second rotation drive section 252, and a third rotation drive section 253, as shown in FIG. The first rotation drive unit 251 rotates the welding torch 220 around the rotation axis A (see FIG. 4), the second rotation drive unit 252 rotates the welding torch 220 around the rotation axis B (see FIG. 4), The third rotation drive section 253 rotates the welding torch 220 around the rotation axis C (Fig. 10). That is, the first rotation driving section 251, the second rotation driving section 252 and the third rotation driving section 253 are similar to the first rotation driving section 50, the second rotation driving section 52 and the third rotation driving section 54 of the first embodiment. has the same function as

In the second embodiment, the rotation axis D is parallel to the rotation axis C, as shown in FIG. Therefore, the third rotation driving section 253 rotates the welding torch 220 around the rotation axis C, which is a predetermined axis parallel to the rotation axis D of the support 214 .

The input reception unit 260 receives input information from the operator. The input reception unit 260 has the same functions as the input reception unit 60 of the first embodiment, so detailed description thereof will be omitted.

Controller 270 controls the overall operation of welding device 202 . The control device 270 performs control similar to that of the control device 70 of the first embodiment. The control device 270 has a storage section 272 and a control section 274, as shown in FIG.

The storage unit 272 stores programs to be executed by the control unit 274 and various data related to welding. The storage unit 272 stores base material information regarding the shape of the base material 100 . The base material information is input by the operator via the input reception unit 260, for example.

Control unit 274 controls the operation of welding device 202 by executing a program stored in storage unit 272 . For example, the control unit 274 operates the support driving unit 240 and the rotation driving unit 250 so that the welding torch 220 welds the welded portion 110 of the base material 100 . The control unit 274 also controls the amount of wire supplied to the welding torch 220 and the magnitude of current/voltage.

Control unit 274 causes welding torch 220 to weld portion 110 to be welded while driving at least rotation driving unit 250 to change the attitude of welding torch 220 . The control unit 274 may drive the support driving unit 240 in addition to the rotation driving unit 250 to change the posture of the welding torch 220 while welding the welded part 110 to the welding torch 220 . In the second embodiment, the controller 274 welds the corners 112 and 114 of the first metal plate 102 and the second metal plate 104 as the welded portion 110 . By welding both the corners 112 and 114, the first metal plate 102 and the second metal plate 104 can be strongly welded.

The welding flow of the corners 112 and 114 will be described with reference to FIGS. 12 and 13. FIG.
12 and 13 are schematic diagrams for explaining the mode of the welding torch 220 when welding the corners 112 and 114. FIG.

The controller 274 causes the welding torch 220 to weld the corner 112 as shown in FIG. 12(a). For example, welding torch 220 welds corner 112 while undercarriage 212 moves in the Y-axis direction (FIG. 10). The controller 274 welds the corner 113 as well as the corner 112 (vertical welding). For example, the welding torch 220 welds the corners 112, 113 in succession.

When the welding of the corners 112 and 113 is completed, the controller 274 moves the welding torch 220 to a position where the welding torch 220 can weld the corner 114 on the side opposite to the corner 112 while the chassis 212 is stopped. to move. At this time, the control unit 274 rotates and translates the support 214 by the support driving unit 240 and rotates the welding torch 220 by the rotation driving unit 250, so that the corner 114 is positioned so that the welding torch can be welded. 220 is moved. Specifically, the translation and the like of the support 214 are performed as follows.

First, the control unit 274 drives the Z-axis motor 244 to move the horizontal beam 216 upward in the Z-axis direction as shown in FIG. 12(b). For example, controller 274 moves horizontal beam 216 upward so that the tip of welding torch 220 is higher than the upper end of second metal plate 104 . Next, the controller 274 drives the X-axis motor 242 to move the horizontal beam 216 forward in the X-axis direction as shown in FIG. 12(c). For example, the controller 274 moves the horizontal beam 216 forward so that the welding torch 220 passes over the second metal plate 104 . Thus, the controller 274 moves the horizontal beam 216 vertically (Z-axis direction) and horizontally (X-axis direction) to move the welding torch 220 over the second metal plate 104 to the opposite side.

Next, the control unit 274 causes the rotation drive unit 250 to rotate the welding torch 220 to position the welding torch 220 at a position where the corner 114 can be welded, as shown in FIG. 13(a). For example, the control unit 274 rotates the welding torch 220 around the rotation axis C by the third rotation driving unit 253 to position the welding torch 220 at a position where the corner 114 can be welded. Welding torch 220 after movement is at a position opposite to the position before the start of movement as viewed from second metal plate 104 . By performing control as described above, welding torch 220 can be moved to a desired position without interfering with second metal plate 104 .

In the above description, the welding torch 220 is rotated by driving the third rotation drive unit 253. However, the present invention is not limited to this. Driving part 251 or second rotation driving part 252 may be driven to rotate welding torch 220 . As a result, the welding torch 220 can weld the corner 114 in the posture shown in FIG. 13(b). In the posture shown in FIG. 13B, the amount of movement of the horizontal beam 216 in the X-axis direction can be reduced.

In the above description, the control unit 274 moves the horizontal beam 216 in translation. However, the control unit 274 drives the rotation motor 245 to move the horizontal beam 216 together with the post 215 around the rotation axis D. can be rotated to For example, after moving the horizontal beam 216 upward, the control unit 274 moves the horizontal beam 216 forward while rotating the support 215 around the rotation D axis. Thereby, the degree of freedom of movement of welding torch 220 rotatable about rotation axes A, B, and C is increased. For example, even if the welding completion position of the corner 112 and the welding start position of the corner 114 are different in the Y-axis direction, by rotating the support 215, the welding torch 220 can be moved without moving the chassis 212. It can be moved to any desired position.

When welding torch 220 is positioned at a position where corner 114 can be welded, controller 274 causes welding torch 220 after movement to weld corner 114 . Thus, the welding of the corner 114 can be performed without the operator having to reinstall the welding device 202 on the opposite side of the second metal plate 104 after the welding of the corner 112 is completed. The control unit 274 also welds the corner opposite to the corner 113 together with welding the corner 114 (vertical welding).
In the above description, welding torch 220 is moved to a position where corner 114 can be welded, but the present invention is not limited to this. For example, the controller 274 may move the welding torch 220 to a position where the corner opposite to the corner 113 can be welded.

The control unit 274 automatically welds the corners 112 and 114 according to the programming stored in the storage unit 272 . The storage unit 272 also stores base material information about the shape of the base material 100. If the base material information includes information about the shape of the second metal plate 104, the control unit 274 stores the base material information. The material information is used to automatically move welding torch 220 to a position where corner 114 can be welded. That is, the control unit 274 rotates and translates the support 214 and rotates the welding torch 220 based on the base material information stored in the storage unit 272 in a state where the chassis 212 is stopped. The welding torch 220 is moved to a position where the portion 114 can be welded. As a result, the welding torch 220 can be positioned at a position where the corner 114 can be welded with high precision, and as a result, the corner 114 can also be welded properly.

(Modification)
A modification will be described with reference to FIGS. 14 and 15. FIG.
FIG. 14 is a schematic diagram for explaining a welding device 202 according to a modification.

The configuration of the welding device 202 according to the modification is similar to the configuration of the welding device 202 shown in FIG. , do not move on the first metal plate 102 . Here, as shown in FIG. 14, the chassis 212 of the welding device 202 is fixed to the first metal plate 102 while being sandwiched between the metal plates 106 on both sides of the second metal plate 104 . The welding device 202 placed on the first metal plate 102 in this manner automatically welds the corners 112 and 114 of the first metal plate 102 and the second metal plate 104 .

Below, the welding flow of the corners 112 and 114 will be described with reference to FIG.
FIG. 15 is a schematic diagram for explaining the mode of movement of welding torch 220 in a modified example. 15 is a view of the welding device 202 and the base material 100 viewed from above. For convenience of explanation, the components of the welding device 202 are simplified and the gap between the pair of metal plates 106 of the base material 100 is reduced. making it smaller.

First, the controller 274 causes the welding torch 220 to weld the corner 112 . For example, the control unit 274 drives the support driving unit 240 and the rotation driving unit 250 so that the welding torch 220 moves along the corner 112 and welds the corner 112 . The controller 274 also welds the corners 113 of the second metal plate 104 and the third metal plate 106 (vertical welding). Here, it is assumed that the welding of the corners 112 and 113 is completed with the welding torch 220 positioned at the position shown in FIG. 15(a).

Next, the controller 274 rotates and translates the horizontal beam 216 as shown in FIG. 15(b). Specifically, first, the controller 274 moves the horizontal beam 216 upward. Next, the controller 274 rotates the struts 215 supporting the horizontal beams 216 and moves the horizontal beams 216 forward to such an extent that the welding torch 220 does not interfere with the left and right metal plates 106 and the metal plates 104 .

Next, the controller 274 rotates the horizontal beam 216 around the rotation axis D and rotates the welding torch 220 around the rotation axis C, as shown in FIG. 15(c). Then, the controller 274 moves the horizontal beam 216 downward to position the welding torch 220 at a position where the corner 114 can be welded. Thus, the welding torch 220 that has welded the corner 112 can be positioned at a position where the corner 114 can be welded without moving the welding device 202 placed on the first metal plate 102 . This allows, for example, vertical up welding and horizontal fillet welding even in tight spaces.

Next, the controller 274 causes the welding torch 220 after movement to weld the corner 114 . For example, the control unit 274 drives the support driving unit 240 and the rotation driving unit 250 so that the welding torch 220 moves along the corner 114 and welds the corner 114 . This completes the automatic welding of corners 112 and 114 .

(Effects of Second Embodiment)
A welding device 202 according to the second embodiment welds two corners 112 and 114 of the first metal plate 102 and the second metal plate 104 of the base material 100 . At this time, the welding device 202 rotates and translates the support 214 and rotates the welding torch 220 so that the welding torch 220 can weld the corner 114 opposite to the corner 112 . Move the torch 220 .
By rotating support 214 and welding torch 220 as described above, welding torch 220 can be moved to a desired position without interfering with second metal plate 104 . It is possible to continuously and automatically weld the two corners 112, 114 at the .

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 are possible within the scope of the gist thereof. be. For example, all or part of the device can be functionally or physically distributed and integrated in arbitrary units. In addition, new embodiments resulting from arbitrary combinations of multiple embodiments are also included in the embodiments of the present invention. The effect of the new embodiment caused by the combination has the effect of the original embodiment.

100 base material 102 first metal plate 104 second metal plate 106 third metal plate 112 corner 113 corner 114 corner 202 welding device 212 chassis 214 support 215 post 216 horizontal beam 220 welding torch 240 support drive unit 250 rotation Drive unit 272 Storage unit 274 Control unit

Claims (8)

a welding torch for welding the base material to be welded;
a support for supporting the welding torch;
a chassis for moving the support in a predetermined direction;
a support driver that rotates the support and translates the support;
a rotary drive unit that rotates the welding torch around a predetermined axis;
a control unit that causes the welding torch to weld the portion to be welded while changing the attitude of the welding torch by driving at least the rotation drive unit;
with
The control unit
Welding the welding torch to at least the first corners of the first metal plate and the second metal plate that are perpendicular to each other as the welded portion,
With the chassis stopped, the support is rotated and translated by the support drive, and the welding torch is rotated by the rotation drive so that the welding torch is separated from the first corner. moving the welding torch to a position where the second corner on the opposite side can be welded;
causing the welding torch after movement to weld the second corner;
Welding equipment. The control unit rotates and translates the support and rotates the welding torch around the predetermined axis parallel to the rotation axis of the support, thereby bringing the second corner to a weldable position. moving the welding torch;
The welding device according to claim 1. The rotary drive section has a first rotary drive section, a second rotary drive section, and a third rotary drive section for rotating the welding torch around three axes orthogonal to each other,
The third rotary drive unit rotates the welding torch around the predetermined axis parallel to the rotation axis of the support.
The welding device according to claim 2. The support has a vertical support and a horizontal beam horizontally movable with respect to the support,
The support drive unit rotates the strut and translates the horizontal beam,
The welding device according to any one of claims 1 to 3. The second metal plate is erected with respect to the first metal plate,
The control unit
moving the horizontal beam in the vertical direction and the horizontal direction to pass the welding torch over the second metal plate;
Positioning the welding torch at a position where the second corner can be welded by rotating the support and rotating the welding torch;
The welding device according to claim 4. Further comprising a storage unit that stores base material information regarding the shape of the base material,
The control unit rotates and translates the support and rotates the welding torch based on the base material information stored in the storage unit in a state where the chassis is stopped, thereby rotating the welding torch. moving the welding torch to a position where two corners can be welded;
The welding device according to any one of claims 1 to 5. The control unit
As the parts to be welded, the welding torch is applied to a third metal plate orthogonal to the first metal plate and the second metal plate and the third corner of the first metal plate together with the first corner. let it happen,
By rotating and translating the support and rotating the welding torch, a position where the second corner can be welded or a fourth corner opposite to the third corner can be welded. moving the welding torch to a position;
causing the welding torch after movement to weld the second corner and the fourth corner;
Welding equipment according to any one of claims 1 to 6. A welding method for welding a base material to be welded,
a first welding step of welding a welding torch to a first corner of the first metal plate and the second metal plate that are perpendicular to each other as the welded portion;
A support that supports the welding torch and that is movable in a predetermined direction is stopped, and the support is rotated and translated by the support driving section, and the welding torch is rotated by the rotation driving section. a moving step of moving the welding torch to a position where the welding torch can weld a second corner opposite to the first corner;
a second welding step of causing the welding torch after movement to weld the second corner;
A welding method.

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