JP2838628B2 - Automatic welding equipment for steel connections - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an automatic welding apparatus for a steel connection, and more particularly to an apparatus for automatically welding a steel connection which is a joint between a pillar and a beam of a building in a factory.

[0002]

2. Description of the Related Art In general, a steel-frame connection in which an H-shaped steel serving as a connection portion with a beam is welded to the side surface of a column formed of a square pipe to be connected to the column is used as a connection portion between a column and a beam of a building. I have to. Such steel joints are often welded in advance at the factory, in which case the column is temporarily welded with H-section steel, and after the main welding of the weld on the upper surface of the joint, The connection is lifted upside down with a crane and the main part is welded on the other side.

[0003] Such a crane lifting method involves danger of reversing the connection and it is difficult to perform the operation in a narrow place.
No. 7 proposes a positioner. In this positioner, fixing jigs are respectively attached to both ends of an H-shaped steel along a single axis in a steel connection having a cross structure, the jigs are chucked and held rotatably, and are rotated by a motor. In addition, the actual opening 62-1098
No. 7 proposes a steel frame connection which is cantilevered and can be swung up and down and rotated.

[0004]

However, the former positioner supported at both ends has a drawback that it cannot cope with various types of steel frame connections. In other words, when the steel connection is not L-shaped but cross-shaped, it cannot be held by the positioner having the two-sided support structure, and therefore, it is necessary to attach a dummy beam, resulting in extremely poor workability. Further, there is a case where the beam portion of the steel connection part is not straight, and it is necessary to perform an operation of aligning the rotation axis with the axis of the connection part, and thus a disadvantage that a large amount of work time is required. is there. In addition,
Since the distance between the joints is regulated by the length of the longitudinal beam, the working range of the robot cannot be used effectively depending on the shape of the work, and some places where welding is impossible are generated.

In the case of a conventional cantilever positioner,
Although only the inversion work of the supporting steel connection can be performed automatically, the welding work is assumed to be performed manually,
There is a disadvantage that the accuracy of supporting the connection is very poor, and in particular, a moment in the longitudinal direction of the workpiece is received, so that the accuracy is not sufficient.

The present invention focuses on the above-mentioned conventional problems and can be adapted to a wide variety of connection shapes, and does not require ancillary work such as shaft alignment work, and is extremely accurate. It is an object of the present invention to provide an automatic welding apparatus for a steel frame joint, which is capable of efficiently performing an automatic welding operation.

[0007]

In order to achieve the above object, an automatic welding apparatus for a steel joint according to the present invention comprises:
It has a center of rotation and is rotatable around this center of rotation.
The rotating member and the steel connection provided on the rotating member.
Gripping arm gripped by holding
Welding equipment for welding welds in steel connections and welding equipment
The welding position and attitude of the
The welding equipment and rotating parts are determined based on this determination.
Control means for controlling the welding of the steel joint by operating the material
In an automatic welding apparatus for a steel joint having a rotating part,
When the steel joint is reversed with a material, the welding position of the steel joint is
The vertical change of the position is controlled by the gripper arm from the center of rotation.
This eccentricity is calculated from the amount of eccentricity up to the grip position of the steel joint.
Control to determine welding position and posture of welding equipment based on the amount
It is characterized by having means.

Second, it has a rotation center,
A rotating member that is rotatable around and a rotating member
Gripping arm that cantileverly grips the steel connection
While rotating the member, by command from the control means
Having a welding device for welding a welded portion of a steel connection
The gripping arm is rotating in an automatic welding device for bone connections
It is movable and fixed with respect to the heart, and iron
Position where the center of the cross section of the bone connection is the rotation center of the rotating member
The feature is that the steel connection can be gripped and fixed freely with
doing.

[0009]

According to the above construction, since the steel joint is held and held by cantilever, the joint can not be held by the both-ends support mechanism. This enables automatic welding without the need for adjustment work such as mounting a dummy beam. In addition, since the steel frame connection is made to be cantilevered, automation can be performed without the need to align the axis of the positioner with the axis of the steel frame connection. The articulated welding robot is mounted on a moving means such as a traveling trolley, and enables welding in a wide range. Furthermore, the hydraulically driven gripping arm in the positioner is mounted on a rotating disc,
Since it is movable in the radial direction, the gripping state of the steel connection can be decentered quantitatively from the center of the disk, and thus the displacement of the welding position in the height direction when the steel connection is inverted is reduced. It can be reduced, and the welding workability can be improved. In addition, the welding robot can determine the welding position, posture and torch posture corresponding to the positioner's posture based on data input offline and data obtained with a wire touch sensor, greatly simplifying teaching work. It is something to be done. Details
More specifically,

[0010] According to the first configuration, the control means is a steel connection part.
Is inverted, the welding trajectory before inversion is twice the amount of eccentricity.
If it is corrected, the reverse side can be accurately welded. In particular
As follows. No deviation when gripped by gripping arm
The steel connection is made a standard steel connection. So different sizes
Compared to the standard steel connection for each other steel connection,
The difference (ie, the amount of deviation) of the
It can be understood at the design stage of the connection). Therefore, grip the steel connection
When gripped by the arm, the deviation amount may be used. When
If the rollers were held as they were by temporary welding or the gripping arm,
Deviation in deviation due to distortion of steel joints caused by
Cheating. On the other hand, in the first configuration, the control means has an accurate deviation.
Since the amount is obtained, welding after inversion can be performed more accurately.

[0011] According to the second configuration, the gripping arm is the center of rotation.
Is movable and fixed with respect to. For this reason
The gripping arm moves a heavy steel connection.
Can be gripped anyway (so regardless of the gripping position)
When gripped, it moves and moves the steel joint to the center of its cross section.
Is the center of rotation of the rotating member. Then, the movement is stopped.
That is, the amount of eccentricity becomes zero. In other words, the eccentricity after inversion is also zero.
Therefore, it is necessary to correct the welding trajectory as in the first invention.
Disappears.

[0012]

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a perspective view of an automatic welding apparatus for a steel joint according to the present invention.

FIG. 1 is a side view showing the construction of an automatic welding apparatus for a steel joint according to an embodiment. The automatic welding apparatus is intended for welding a steel frame joint 10 shown in FIG. 2, which is provided at both ends of a square pipe 12 joined to a column by a diaphragm 1.
The column 16 is formed by welding an H-shaped steel 18 serving as a connection portion with a beam to each of the four side surfaces of the column 16 integrally joined with the beam 4 in a cross shape. Such steel frame connection 1
The welding lines at 0 are joints Y1 to Y4 between the upper diaphragm 14U and the H-shaped steel flange 18FU, and joints Y5 to Y5 between the lower diaphragm 14L and the H-shaped steel flange 18FL.
Y8, the front H-section steel web 18WF, the left H-section steel web 18WL, and the connection section Y9-Y12 between the side face of the square pipe 12 and the front H-section steel web 18WF on the opposite side. , The right H-shaped steel web 18WR and the rear H-shaped steel web 18WB, and the joining portions Y13 to Y16 with the side surfaces of the square pipe 12.
Such a steel connection part 10 is carried into the automatic welding apparatus of the embodiment in a state where key points are temporarily welded and temporarily assembled.

As shown in FIG. 1, the automatic welding apparatus includes an articulated welding robot 20, which is mounted on a traveling carriage 22 and can be moved to an arbitrary position. In the welding robot 20, the basic movement data, the welding attitude, and the attitude data of the torch 24 are determined off-line, and an operation program is generated, whereby the welding operation is performed.

A fixed base 26 is provided on a side portion of the welding robot 20 as described above, and an upright frame 28 is integrally provided on the base 26.
Further, a rotating disk 32 constituting a positioner 30 for holding the steel connection portion 10 as a member to be welded is attached to the upright frame 28, and this can be rotated by a rotary drive source provided inside the upright frame 28. And can be fixed at any angle.

Further, a plurality of arms 34 for gripping the ends of the steel connection portion 10 are attached to the rotating disk 32 so as to extend vertically from the rotating surface. FIG. 3 shows a basic configuration of the gripping arm 34. In this embodiment, 3
It is composed of book gripping arms 341 to 343. The first gripping arm 341 is an H-shaped steel 1 of the connection part 10.
In order to function as a fixed guide arm for positioning one corner portion formed by the flange 18FU of 8 and the web 18WF, it is fixedly projected at a fixed position of the rotating disk 32. The second gripping arm 342 is disposed horizontally opposed to the first gripping arm 341, and the flange 18 FU of the H-section steel 18 of the connection portion 10 and the web 18
It is configured as a movable gripping arm that presses another corner portion formed by the WF and can clamp the web 18WF. Further, the third gripping arm 343 is arranged so as to be able to press the flange 18FU of the H-shaped steel 18 at right angles to the direction of clamping by the first and second gripping arms 341 and 342. , Are pressed against the upper surfaces of the second gripping arms 341 and 342. Therefore, the steel frame connection 10 is the H-section steel 1
8 is pressed and fixed at a position based on the two side surfaces of the first gripping arm 341. First grip arm 34
The second and third movable gripping arms 342 and 343 for pressing the H-shaped steel 18 against the first hydraulic cylinder 3 are constituted by a hydraulic cylinder mechanism, and as shown in FIG.
6 are arranged in parallel in a direction parallel to the rotation axis of the rotating disk 32,
The steel connection 10 can be stably held in a cantilever manner. The pressing center line of the first holding arm 341 and the second holding arm 342 is set to be along the diameter line of the rotating disk 32, and the pressing center line of the third holding arm 343 is in the radial direction orthogonal to the diameter line. Is set so as to follow.

The holding position of the steel connection 10 in the positioner 30 is determined by the rotation center C of the rotating disk 32.
Therefore, the holding position of the gripping arm 34 is displaced in the radial direction of the disk 32. Accordingly, the H-shaped steel 18 can be cantilevered by the small number of gripping arms 34, and the vertical deviation amount can be set to a minimum at the time of the inversion operation of the connection part 10. As shown in FIG. 3 and FIG.
A deviation d is generated between the center and the center C1 of the steel connection part 10, and even if it is inverted by 180 degrees, the fluctuation amount can be suppressed to 2d. In this case, in the support form of FIG. 3, the standard H-section steel 18 for the connection is used as a reference so that there is no right and left deviation, and in the form in which the standard H-section steel 18 is held, the center of the web thickness is aligned with the vertical plane of the disk rotation center. In particular, the first gripping arm 34
The position of 1 is defined.

Further, a control panel 38 for controlling the operation of the welding robot 20 and the positioner 30 is provided. The control panel 38 designates the H-shaped steel 18 (beam) of the steel connection 10 to be gripped, and inputs a welding position corresponding to the position of the positioner 30. This was set with the end of the H-shaped steel 18 to be gripped as the origin (x, y,
z) What is necessary is just to input based on coordinates etc. By this input, the control panel 38 causes the welding robot 20 and the torch 24
Of the robot 20, the positioner 30, and the traveling vehicle 22 are generated.

The beam portion of the connection part 10 is gripped by the positioner 30, and the gripping position is deviated from the rotation center of the rotary disk 32 as described above. For this purpose, a welding position correcting means 40 is provided. Since the movable gripping arms 342 and 343 hold the fixed gripping arm 341 by strokes, the amount of deviation from the center of rotation of the disk can be calculated based on the stroke amount and the known data of the joint size. Therefore, the control panel 38 is provided with a displacement detector 46 for inputting a detection signal from the stroke sensor 42 and data from the connection dimension memory 44, and corrects a torch height that varies depending on the rotational position of the rotary disk 32. The data is output to the arithmetic unit 48. This correction operation unit 48
Is output to the control panel 38, and the control panel 38 performs a program correction process of the welding robot 20 when the holding form of the steel connection portion 10 is changed by the positioner 30.

The control panel 38 moves the robot 20 according to the above-mentioned program, searches the welding start point and the end point for accurate positions using a wire touch sensor or the like.
The welding position of 0 and the position of the torch 24 are corrected. The assembling error of the joint 10 and the bending of the joint 10 caused by cantilever are corrected by this. And robot 2
0 starts welding based on the corrected data.

Depending on the shape of the steel connection part 10, the connection part 10
By rotating and fixing at an arbitrary angle from a horizontal position, all the welded portions can be covered. As shown in FIG. 2, the welding setup is performed by first welding the welding lines Y1 to Y4 along the peripheral edge of the upper diaphragm 14U, then retracting the robot 20, and rotating the joint 10 by 180 degrees. After moving the robot 20 to a predetermined position, the lower diaphragm 1
The welding lines Y5 to Y8 along the periphery of 4L are welded. At this time, the height position of the torch 24 is changed by reversing the connection part 10, but the correction signal from the correction means 40
, The posture and height are automatically corrected and set to an appropriate position.

After evacuating the robot 20 again, the joint 10 is rotated and fixed so that the welding line is horizontal,
The robot 20 is moved to a predetermined position, and the welding lines Y9 to Y12 at the joint between the side surface of the column 16 and the web 18 are welded. The welding lines Y13 to Y16 in the other half are also fixed by rotating the joint 10 in the same manner. In such a work procedure, when the positioner 30 rotates, the connection 10
However, since the deviation amount is input to the control panel 38 by the correction means 40 and a correction command is issued to the robot 20, the control data to the robot 20 is transmitted every time the rotation operation of the port 10 is performed. There is no need to make it.

When each welding line in the joint 10 is parallel or orthogonal to the axis of the joint, the welding line 90 is used as described above.
Although rotated every degree, when the column 16 of the connection part 10 is a drawing column, the web welding line is inclined with respect to the web height direction. When such an inclined welding line exists, the rotating disk 32 is rotated and held so that the web welding line is horizontal when the connection portion 10 is fixed in the posture. That is, the rotation stop angle of the rotating disk 32 can be fixed at an arbitrary angle according to the shape of the column.

FIG. 6 shows a processing flowchart up to the start of welding. First, the shape of the connection part 10 is selected (step 100). This is the case when the beam portion is provided on the entire surface of the column 16 (cross shape), when it is provided on three surfaces (T-shape), or when it is provided on two surfaces (L
This is in order to correspond to (character shape). Next, a name tag is attached to the beam portion and the welded portion (step 101), and an element to be worked is determined. Also, since each beam of the connection part 10 may be offset from the column center in the left-right direction or may be stepped in the up-down direction, these offset amounts and step amounts are input (step 102). ).
And determine the beam to be gripped according to the preset conditions,
The coordinate points of the welding start position and the end position are calculated for each welding line and the posture of the connection part 10 (step 10).
3). At this time, the gripping position by the positioner 30 is eccentric, and the amount of eccentricity changes according to the size of the connection part 10. Therefore, the calculation is made in consideration of this. Then, the position and posture of the robot 20 at each coordinate point and the posture of the torch 24 are defined as relation data with welding conditions input in advance, that is, the position of the torch 24 for satisfactorily welding between certain coordinate points, The data is collated with data such as the posture and selected (step 104). Subsequently, the work procedure is determined based on preset conditions (step 105), and based on this, general control data including peripheral devices is generated and stored in a storage device such as a floppy disk (step 106).

In parallel with such preparation work, the port 10
The temporary assembly and the temporary welding are performed (step 200).
The temporarily welded steel connection 10 is set on the positioner 30 (step 201).
Based on the detection signal from Step 2, the actual amount of deviation from the rotation center of the rotating disk 32 is detected, and the amount of correction of the torch position is calculated (Step 202). This can be achieved by obtaining the correction amount in the height direction by the stroke sensor and obtaining the correction amount in the longitudinal direction caused by the gripping depth by a limit switch or the like provided on the gripping arm. If there is a deviation due to the comparison between the calculated value and the torch position data obtained by the preparatory work, the welding start position coordinate point is corrected and the control data is corrected (step 107). And the robot 20
Is started (step 108). After confirming the origins of the robot 20 and the positioner 30, the traveling carriage 22 is moved by a predetermined amount (step 109), and then the actual welding position is detected by wire touch sensing or the like (step 110). At this time, the connecting unit 10 is
Is accurately corrected, the error of the actual welding position is extremely small. The input data is corrected by such sensing (step 111), the posture of the robot 20 and the torch 24 during welding and the operation procedure are determined, welding is started (step 112), and the welding position is detected by the arc sensor. The welding operation is performed while performing (step 113). After the welding at one positioner position is completed (step 114), it is confirmed whether or not all the welding performed in the current positioner posture has been completed (step 11).
5) If not finished, return to step 109 and repeat the welding work. If all the weldings in the same posture are completed, the positioner 30 is rotated (step 116), and it is not confirmed whether all the welding operations are completed (step 117). If not, the process returns to step 109 to perform welding in the next posture. If all welding has been completed, the operation is terminated.

According to such an embodiment, the steel frame connection 1
0 is cantilevered, and the positioner 30
Since the welding is performed from the opposite side of the robot, there is no obstacle, and the robot 20 can approach the connection part 10 as a work, so that a wider range of welding can be performed by fixing the robot 20 in one place. Can be.

In particular, the positioner 30 deviates and holds the steel connection part 10 from the center of rotation, and adjusts the deviation amount of the robot 20.
The welding is immediately reflected in the welding position control data, so that accurate welding can be performed without performing alignment between the center of the steel connection portion 10 and the center of rotation of the disk at the time of setting, resulting in a complicated shape. Welding of the steel connection part 10 can be automated. In addition, a connection part which cannot be supported at both ends, such as an L-shape, can be held without attaching a dummy beam. Further, since the gripping position by the positioner 30 is decentered quantitatively, even when the connection portion 10 is rotated, the height fluctuation of the welding position can be reduced, and the teaching operation can be simplified. .

Next, FIG. 7 shows a modification of the positioner. This is the gripping arm 3 attached to the rotating disc 32
4 are four in number, each of which is movable along the radial direction of the disk 32. That is, the rotating disk 32 is provided with four slits 50 which are orthogonal to each other along the radial direction, and the gripping arms 34A, 34B, 34C, 34D which can be moved by using the slits 50 as guides are mounted on the back side of the disk. It is driven by a hydraulic cylinder mechanism (not shown). As a result, as shown in FIG. 7 (2), the flanges at both ends of the H-section steel 18 and the both surfaces of the web in the connection portion 10 are sandwiched and cantilevered. With this configuration, the axis of the steel connection portion 10 and the center of rotation of the rotary disk 32 can be held in alignment with each other, and the correction process by holding the deviation can be eliminated.

In this configuration, a pair of adjacent gripping arms 34A and 34B can be fixed.
In this case, since the connection portion 10 is held eccentrically, the position correction by the correcting means 40 may be performed to perform the welding work as in the case of the first embodiment.

[0030]

As described above, according to the present invention,
Since the articulated welding robot and a positioner capable of holding one long axis of the steel connection portion in a cantilever manner, and the robot and the movement of the positioner, control means for comprehensively controlling the stop, so that it is configured from
It can be adapted to a wide variety of joint shapes and can hold steel frame joints with extremely high accuracy without the need for ancillary work such as axis alignment work. An excellent effect that it can be performed is obtained.

[0031] The control means, with respect to a positioner for gripping the steel connection, fixes the disk holding body to the steel frame gripping position, and detects a change in the vertical position of the welding position when the steel frame structure is reversed. By determining the height and the eccentricity of the gripping position from the disc body rotation center, and determining the welding position and posture of the robot based on this.
The teaching process for the welding robot can be simplified.

[0032] Further, the positioner for gripping the steel frame connection portion can be configured so that the steel frame gripping position can be moved in the radial direction with respect to the disk body, and the displacement of the welding position in the reversal direction in the height direction is eliminated. This makes it possible to automatically align the center of rotation with the steel frame connection, and automation of welding can be easily realized.

[Brief description of the drawings]

FIG. 1 is a side view of an automatic welding apparatus for a steel frame connection portion according to an embodiment.

FIG. 2 is a perspective view showing a structure of a steel connection part.

FIG. 3 is a schematic front view of a gripper arm of the positioner.

FIG. 4 is a perspective view of a positioner.

FIG. 5 is an explanatory view of rotation of a joint by a positioner.

FIG. 6 is a flowchart of a welding operation.

FIG. 7 is a perspective view showing a modification of the positioner and a front view in a gripped state.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 10 Steel-frame connection part 12 Square pipe 14 Diaphragm 16 Column 18 H-shaped steel 20 Articulated welding robot 22 Traveling trolley 24 Torch 26 Fixed base 28 Standing frame 30 Positioner 32 Rotating disk 34 Gripping arm 36 Hydraulic cylinder mechanism 38 Control panel 40 Correction means 42 Stroke sensor 44 Connection size memory 46 Deflection amount detector 48 Correction calculation unit

Continuation of the front page (72) Inventor Hideaki Tachibana 1200 Manda, Hiratsuka-shi, Kanagawa Prefecture, Komatsu, Ltd.Laboratory (72) Inventor Tatsu Oka 1200, Manda, Hiratsuka-shi, Kanagawa Komatsu, Ltd.Laboratory (56) References 3-60866 (JP, A) JP-A-60-145287 (JP, A) JP-B-62-13108 (JP, B2) JP-B-52-23548 (JP, Y2) (58) Fields investigated (Int. Cl. ⁶ , DB name) B23K 9/00 501 B23K 9/12 331 B23K 9/127 509 B23K 37/047 501

Claims (2)

(57) [Claims] A rotating center having a center of rotation;
A rotatable rotating member and a steel frame provided on the rotating member
A gripping arm that cantileverly grips the connection, and a gripping arm
Welding device for welding the welded part of the gripped steel frame joint
, Welding position and posture of welding equipment and rotation timing of rotating member
And angle, and based on this determination, welding
Welding of steel joints is controlled by operating the device and rotating members
Automatic welding equipment for steel connections with
When the steel connection is reversed with a rotating member,
The vertical change of the welding position of the mouth is grasped from the center of rotation.
From the amount of eccentricity up to the gripping position of the steel joint by the arm
Therefore, based on this amount of eccentricity, the welding position and posture of the welding equipment
Steel connection part having control means for determining
Automatic welding equipment. And a rotation center having a rotation center.
A rotatable rotating member and a steel frame provided on the rotating member
A gripping arm that cantileveres the connection and a rotating member
As well as the steel connection
Steel joint having a welding device for welding a welded part of a part
In the automatic welding equipment of
To be movable and fixed.
At the position where the center of the cross section of the
Steel frame characterized by being able to grip and fix the mouth
Automatic welding equipment for joints.