JP2843899B2 - Reinforcing material welding apparatus and control method thereof - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a reinforcement welding apparatus and a control method thereof. More particularly, the present invention relates to a reinforcing member welding apparatus using two welding robots and a control method thereof.

[0002]

The鈑桁BACKGROUND ART bridge, as shown in FIG. 21,
A horizontal stiffener (parallel to the longitudinal direction of the web plate) and a vertical stiffener (parallel to the transverse direction of the web plate) are attached. Similarly, a box girder web panel used for a bridge has a shape similar to that obtained by removing a flange material from a sheet girder. The end shapes of the stiffeners of the sheet girder and box girder web are shown in FIG. 22 and FIG.
As shown in FIG. 23, there are various types such as scallop processing, snip processing, and 45-degree cut.

[0003] When welding the reinforcing material by a welding robot, it is necessary to detect the end of the reinforcing material in order to instruct the welding robot to start and end welding. Conventionally, this detection is performed using a magnetic sensor attached to a welding torch. However, since the magnetic sensor is affected by the end shape of the reinforcing member and the distance and area to the reinforcing member as described above, the following measures are taken.

(A) In order to keep the distance between the magnetic sensor and the reinforcing member constant, a roller or the like that contacts and rolls on the side surface of the reinforcing member is provided near the magnetic sensor.

(B) The notch shape at the end of the reinforcing material is input as NC data for each reinforcing material.

Therefore, the conventional detection method has a problem that both hardware and software are complicated.

[0007] Alternatively, there has been proposed a means in which a reflection type photoelectric detector is provided before and after the welding torch along the welding progress direction, and the end face of the reinforcing member is detected by these detectors (Japanese Patent Laid-Open No. Sho 62). -220281). However, since this detecting means is located above the main material surface, for example, 10 mm above, in order to avoid interference between the detector itself and the main material surface when detecting the end face position of the reinforcing material, There is a problem that only an end surface position above the attachment portion between the reinforcement and the main material surface can be detected, and a large error occurs between the detection position by the detector and the attachment position.

In order to solve the problems caused by the electromagnetic and reflective photoelectric sensors, wire touch type detecting means have been proposed. That is, there has been proposed a sensor in which the end face position of a reinforcing material of a fillet joint is detected by using a sensing means using a welding wire set at a predetermined protrusion length as a sensor (Japanese Patent Application Laid-Open No. 2-268974). reference).

According to this means, it is considered that the above-mentioned problem of the detecting means can be solved. However, since the sensing means is moved and the detected position data in each step is stored, the starting point and the ending point of the stiffener are stored. Another problem is that a lot of time is required for the part detection, and the welding efficiency of the fillet joint is reduced.

In order to solve the above-mentioned problems of the prior art, the applicant of the present application has found that the end of the member such as a reinforcing member is not affected, and the end of the member is quickly and accurately detected without moving the torch for position detection. In addition, there has been proposed a method and an apparatus for welding a reinforcing material that enables automatic welding without welding defects (Japanese Patent Application Laid-Open No. 5-285647).

That is, the method of welding a reinforcing member according to the earlier proposal of the present applicant is a method of automatically welding a reinforcing member such as a stiffener to a flange of a box girder, a web plate or a web plate (main material) of a sheet girder. A set of a multi-joint welding device attached to a traversable and rotatable supporter and two pairs of transmission type optical sensors for detecting the start and end of the reinforcing member, , Horizontal reinforcement
Using a device equipped with a reinforcing member measuring device consisting of a set of laser displacement meters for measuring vertical mounting errors, in advance, mounting the reinforcing member in the horizontal and vertical directions with the laser displacement meter facing both ends of the reinforcing member After measuring the error and correcting the horizontal error by moving the support, the transmission type optical sensor for detecting the start end is lowered while correcting the vertical error of the reinforcement, and the support is moved in the direction of the start of the reinforcement. Then, the starting end is detected, the movement of the support is stopped by this starting end detection signal, and the multi-joint welding device is independently driven to perform turning welding of the starting end of the reinforcing material and horizontal fillet welding of a predetermined stroke. After finishing the horizontal fillet welding of this predetermined stroke, at the same time as stopping the independent drive of the multi-joint welding apparatus, moving the support at a predetermined welding speed to continue horizontal fillet welding,
When the end detection sensor detects the end of the reinforcing material, the movement of the support is stopped, and at the same time, the multi-joint welding device is independently driven to continuously perform the remaining horizontal fillet welding and the end turn welding. It is characterized by the following.

On the other hand, a welding device for a reinforcing material or the like according to the earlier proposal of the present applicant lays rails on both sides of a base plate on which a main material is mounted and supported at a fixed position, and an operation panel and a control unit are mounted on the rails. In a welding apparatus that movably mounts a gate structure of a platen straddle structure on which a platen, a welding machine, etc. are mounted, a pair of left and right multiple members is mounted on a support that can traverse and rotate along a horizontal side of the gate structure. Attaching the joint welding device and detecting the starting end of the reinforcing material, which faces both sides of the reinforcing material along the axis perpendicular to the center line connecting the mounting parts of the multi-joint welding device, and each set rises and falls individually A reinforcing member measuring device comprising a set of transmission type optical sensors, a set of laser displacement gauges for measuring horizontal and vertical errors of the reinforcing member, and a pair of transmission type optical sensors for detecting the end portion of the reinforcing member is suspended from the support. It is characterized by having done.

However, in the welding apparatus and the control method of the reinforcing member according to the earlier proposal of the present applicant, the control system is complicated, and the position of the reinforcing member is manually inputted in accordance with the position teaching of the main member. It turned out that there was a problem of poor operability.

Further, in the welding apparatus according to the earlier proposal of the present applicant, a plurality of main member receiving members are provided on the surface plate so that even a plate girder having a flange at an end can be installed horizontally on the surface plate. The reinforcements are welded by placing them in parallel and placing the main material on them. By using the main material receiving member as described above, the main material receiving member can be installed at a fixed distance from the main material surface plate regardless of the type of the main material. Therefore, in the measurement by the laser displacement meter, after the laser displacement meter is lowered at a high speed to about 100 m above the main material, the distance from the height position to the upper surface of the main material is measured.

When the main member is installed by such a method, no problem occurs when the main member is a box girder panel. However, when the main material is a sheet girder, flanges are provided at both ends, and in many cases, the flange widths are different at both ends. Position adjustment is required, and there is a problem that installation of the main material takes time.

[0016]

SUMMARY OF THE INVENTION The present invention has been made in view of the above-mentioned problems of a welding device for a reinforcing member and a control method thereof according to the earlier proposal of the present applicant, and the control system is simplified. A main object of the present invention is to provide a welding device for a reinforcing material and a control method thereof, and a control method of a welding device that can simplify installation of the main material even when a flange is attached to an end of the main material. It is intended to be.

[0017]

A welding device for a reinforcing member or the like according to the present invention includes a gate-shaped traveling means which straddles a main material placed on a surface plate and can travel in the longitudinal direction thereof; Traversing means rotatably attached to the horizontal member of the portal-type traveling means, pivoting means pivotally attached to the traversing means, and the portal-type traveling means, traversing means, and pivoting A first welding robot having a robot controller and a welding machine, and a control means for controlling the means, a first welding robot attached to the rotating means, and a robot controller and a welding machine; A pair of second welding robots facing each other and facing each other along an axis perpendicular to a center line connecting the mounting portions of the first welding robot and the second welding robot. Includes a set of transmission type optical sensors for detecting the beginning of the reinforcing material that rises and falls individually, a set of laser displacement meters for measuring the horizontal and vertical errors of the reinforcing material, and a set of transmission type optical sensors for detecting the end of the reinforcing material. , A reinforcing member measuring device attached to the rotating means, and a data format converting means provided as necessary, which converts input data to the controlling means into a format readable by the controlling means. It is characterized by becoming.

On the other hand, according to the control method of the present invention, there is provided a gate-shaped traveling means which straddles a main material placed on a surface plate and can travel in the longitudinal direction thereof, Traversing means rotatably attached to the member, turning means rotatably attached to the traversing means, control means for controlling the portal-type traveling means, traversing means and turning means, A first welding robot having a robot controller and a welding machine attached to the rotating means, and a first welding robot having a robot controller and a welding machine attached to the rotating means so as to face the first welding robot. (2) Reinforcing members facing both sides of the reinforcing member along an axis perpendicular to a center line connecting the mounting portions of the first welding robot and the second welding robot, and each set of members is individually raised and lowered The pivoting means has a set of transmission type optical sensors for end detection, a set of laser displacement meters for measuring horizontal and vertical errors of the reinforcement, and a set of transmission type optical sensors for detection of the end of the reinforcement. Reinforcing material welding apparatus comprising: an attached reinforcing material measuring device; and a data format conversion device provided as necessary, which converts input data to the control device into a format readable by the control device. The control method, the procedure of inputting the position data of the reinforcing material from the design means that designed the main material to the control means via the data format conversion means provided as necessary,
A step of teaching the position of the main material to the control means, a step of selecting a reinforcing material to be welded based on the position data of the reinforcing material and the teaching position of the main material, and a rotating means at the position of the selected reinforcing material. , The first welding robot and the second welding robot are positioned above the reinforcement to be welded, the reinforcement measuring device detects the starting end of the reinforcement, and the first welding A procedure in which the robot and the second welding robot perform the fillet welding near the starting end of the reinforcing material and a turn welding of the starting end, and the first welding robot and the second welding robot simultaneously perform both-side fillet welding of the reinforcing material. A procedure for detecting the end of the reinforcing material by the reinforcing material measuring device, and a fillet welding near the end of the reinforcing material and a turn welding of the end by the first welding robot and the second welding robot. Characterized in that and a procedure of performing.

In the control method according to the present invention, the set of laser displacement meters is lowered at a high speed to a predetermined position above the main material, and after lowered to the predetermined position, is lowered at a predetermined pitch at a low speed. For each descent by the predetermined pitch,
It is preferable that a check is made as to whether or not the surface of the main material has entered the laser displacement meter measurement range, and the laser displacement meter is lowered to the measurement position.

[0020]

According to the present invention, position data of a reinforcing material from a design means such as a CAD which has created a design drawing of a main material such as a sheet girder and a box girder web panel is provided in a data format of a converter or the like provided as necessary. It is input to the control means by the change means. The control means selects a reinforcing material to be welded from the taught position of the main material and the input position of the reinforcing material, and appropriately operates the traveling means, the traversing means, and the turning means, thereby reinforcing the welding robot. It is located above the material. Thereafter, the control means operates the reinforcing member measuring device, detects the starting end of the reinforcing member, determines the welding start position, and instructs the position to each robot controller of the first welding robot and the second robot. I do. The controller of the first welding robot causes the first welding robot to perform turn welding at the start end and one-side fillet welding near the start end in accordance with the instruction. The robot controller of the second welding robot is
Following the start of welding by the welding robot, turn welding at the start end and one-side welding near the start end are performed. When the fillet welding in the vicinity of the start end is completed, the control means controls the robot controllers of the first welding robot and the second welding robot to cause both welding robots to cooperate to perform the fillet welding on both sides of the reinforcing member. . At this time, if necessary, the control means also operates the traveling means, the traversing means or the turning means. When reaching the vicinity of the terminal end, the control means operates the reinforcing member measuring device to detect the terminal end of the reinforcing member. Thereafter, the control unit instructs each robot controller of the first welding robot and the second welding robot to stop welding. Each robot controller stops welding of the first welding robot and the second robot according to the instruction. Next, the control means instructs both robot controllers of the welding end position. Each robot controller moves each of the first welding robot and the second welding robot to the welding end position according to the instruction. Thereafter, the control means causes the robot controller of the first welding robot to perform turn welding of the end portion, and then performs one-side fillet welding toward the start end portion to the welding end position. The robot controller of the second welding robot follows the welding of the first welding robot to perform turn welding of the terminal end and one-side fillet welding toward the start end to the welding end position.

[0021]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, the present invention will be described based on embodiments with reference to the accompanying drawings, but the present invention is not limited to only such embodiments.

The apparatus for welding a reinforcing member according to the present invention will be described with reference to FIGS. 1 and 2. A main member 1 such as a box girder panel or a sheet girder having a horizontal posture to which horizontal and vertical stiffeners 2 and 3 are temporarily attached is attached. Rails 5 are parallel (X-axis direction) on both sides of a base 4 (not shown) that is mounted and supported in a fixed position.
, And a gate structure 6 of a platen straddle structure constituting a traveling means is mounted on the rail 5 so as to be able to travel. A traversing member 7 that constitutes a traversing means is disposed on a horizontal side of the gate structure 6 along the horizontal side (Y-axis direction). Is provided with a support member 8 which can be horizontally rotated by a central axis (not shown) constituting. Also, on one side of the gate structure 6, a main control device 9 constituting control means for controlling its traveling, traversing the traversing member 7 and controlling the rotation of the support 8 is mounted.

At the center of the lower surface of the support 8, a reinforcing member measuring device 11 shown in FIG. 3 is provided. The reinforcing member measuring device 11 is disposed along the longitudinal direction of the reinforcing member 2 (or 3), and is used for detecting a pair of left and right reinforcing member start ends facing the reinforcing member 2 (or 3). Transmission type optical sensor 1
It comprises two sets, a set of laser displacement gauges 13 for measuring the horizontal and vertical displacements of the reinforcing material, and a set of transmission type optical sensors 14 for detecting the starting end of the reinforcing material. A pair of transmission optical sensors 12 for detecting a pair of left and right reinforcing member start ends,
Laser displacement meter 13 for measuring horizontal and vertical displacement of reinforcement
And the set of transmission type optical sensors 14 for detecting the starting end of the reinforcing material are also controlled by the main controller 9, and their measurement data are also input to the main controller 9 and processed. Here, in the case of a horizontal stiffener, the horizontal displacement of the reinforcing member refers to the displacement in the X-axis direction, and the vertical displacement refers to the displacement in the Y-axis direction. In the case of a vertical stiffener, the horizontal displacement of the reinforcing member refers to the displacement in the Y-axis direction, and the vertical displacement refers to the displacement in the X-axis direction.

The transmission type optical sensor 12 for detecting the start end, the laser displacement meter 13, and the transmission type optical sensor 14 for detecting the start end are individually raised and lowered by lifting means (not shown) such as a slider. (See FIGS. 4 to 6).

A light-emitting element (not shown) is provided at one of the lower ends of the pair of transmission type optical sensors 12 and 14 for detecting the start and end of the reinforcing member 2 (or 3), and the other is provided at the other end. A light receiving element (not shown) is provided at the lower end, and the end is detected at a position of about 3 to 5 mm above the surface of the main material 1. The dual transmission optical sensors 12, 1
4 is controlled by correcting the vertical error measured by the laser displacement meter 13. As shown in FIG. 13A, the position of the reinforcing member 2 (or 3) is measured by the laser displacement meter 13 by using a laser irradiating the surface of the main member and a reflecting mirror (not shown). This is performed by a laser which is irradiated at right angles to both side surfaces of the reinforcing members 2 and 3.

As shown in FIGS. 9 and 10, articulated welding robots 15 and 15 (first welding robot 15A and second welding robot 15B) are provided on the left and right sides of a reinforcing member measuring device 11 suspended from the support body 8. ) Is installed. The positional relationship between the reinforcing member measuring device 11 and the articulated welding robots 15 and 15 includes a transmission type optical sensor 12 for detecting a start end, a laser displacement meter 13, and a transmission type optical sensor 1 for detecting an end portion.
The articulated welding device 15 is symmetrically disposed on a central axis perpendicular to the common central axis of the four (see FIGS. 7 and 8). In addition, between the welding torch tips of the left and right articulated welding robots 15 and 15, as described later,
By adjusting the welding start time to set a slight deviation in the direction of the welding line, it is possible to perform turning welding particularly at the end of the reinforcing material. Further, thereby, it is possible to suppress the occurrence of blowholes in the welded portion. On the side of the gate structure 6 on which the main control device 9 is mounted, the robot controllers 16, 16 of the articulated welding robots 15, 15 and the welding machines 17, 17 are mounted.

The main controller 9 is designed to receive the position data of the reinforcing material by design means such as a CAD which has designed or designed the main material 1. On this occasion,
Converter 10 for data format conversion, if necessary
Is provided.

Next, a case where a reinforcing material is welded to a box girder web panel by the welding method of the present invention will be described with reference to flowcharts shown in FIGS. 11 to 13 and FIGS. 14 and 15 to 20 .

Step 1: The position data of the reinforcing material is input from the CAD to the main controller 9 via the converter 10.

Step 2: The main controller 9 is instructed on the position of the main material (web panel) 1.

Step 3: The main controller 9 selects a reinforcing member 2 (or 3) to be welded first according to a program stored in the ROM.

Step 4: The main control device 9 moves the gate structure 6, the traversing member 7 and the support member 8, and
1 is positioned above the selected reinforcement 2 (or 3).

Step 5: Main controller 9 lowers laser displacement meter 13. Here, the laser displacement meter 13 is lowered at a high speed to a predetermined position, for example, about 200 mm above the expected web panel 1, and is lowered at a predetermined pitch, for example, about 10 mm pitch from the position at a low speed. Then, it is checked whether or not the upper surface of the web panel 1 has entered the measurement range of the laser displacement meter 13, and the operation is continued until the upper surface of the web panel 1 enters the measurement range of the laser displacement meter 13.
By doing so, the laser displacement gauge 13 can be positioned at a desired height from the web panel 1 even if the web panel 1 is inclined.

Step 6: The descent is stopped when the upper surface of the web panel 1 enters the measurement range of the laser displacement meter 13, and the distance to the upper surface of the web panel 1 is measured.

Step 7: Using the laser displacement meter 13,
The horizontal and vertical displacement of the reinforcement 2 (or 3) is measured.

Step 8: The main controller 9 performs a calculation process based on the obtained horizontal and vertical displacements, and calculates a drop position of the transmission type optical sensor 12 for detecting the reinforcing material start end.

Step 9: The main controller 9 corrects the horizontal position of the support 8 in accordance with the calculated descent position.

Step 10: The main controller 9 controls the support 8
While the vertical position is corrected, the transmission type optical sensor 12 for detecting the start end is lowered.

Step 11: The main controller 9 controls the support 8
Is moved in the direction of the starting end of the reinforcing member 2 to detect the starting end.

Step 12: The main controller 9 moves up and down the transmission type optical sensor 12 for detecting the start end.

Step 13: The main controller 9 controls the robot controller 16 of the first welding robot 15A and the second
The welding start position is instructed to the robot controller 16 of the welding robot 15B.

Step 14: The robot controller 16 of the first welding robot 15A sends the first welding robot 15A
The welding torch is positioned at the designated position to perform turn welding of the reinforcing material start end, and then one-side fillet welding of the straight portion is started.

Step 15: Immediately after the first welding robot 15B starts one-side fillet welding of the straight portion, the robot controller 16 of the second welding robot 15B positions the welding torch of the second welding robot 15B at the designated position. Then, turning welding of the reinforcing material start end is performed from the side facing the first welding robot 15A, and then one-side fillet welding of the linear portion is started.

Step 16: About 100 from the reinforcing material starting end
The first and second welding robots 15A and 15B perform fillet welding on both sides up to about m. Here, the support 8 is in a stopped state, and each welding torch performs a predetermined weaving operation.

Step 17: Approximately 100 from the reinforcing material starting end
When the position reaches about m, the main controller 9 horizontally moves the support 8 at a predetermined welding speed and continues the fillet welding on both sides. At this time, each welding torch continues a predetermined weaving operation.

Step 18: When the support 8 reaches the vicinity of the end of the reinforcing member 2 while moving at a predetermined welding speed,
The main controller 9 includes a transmission-type optical sensor 14 for detecting a terminal portion.
Descend.

Step 19: When the transmission type optical sensor 14 for detecting the end portion detects the end portion and inputs it to the main control device 9, the main control device 9 stops the movement of the support 8. At the same time, the transmission-type optical sensor 14 for detecting the terminal portion is raised and retracted.

Step 20: The main controller 9 controls the robot controller 16 of the first welding robot 15A and the second
Instruct the robot controller 16 of the welding robot 15B to stop welding. Thereby, the first welding robot 15
A and the second welding robot 15B stop welding.

Step 21: The main controller 9 controls the robot controller 16 of the first welding robot 15A and the second
The robot controller 16 of the welding robot 15B is instructed on the welding end position.

Step 22: The robot controller 16 of the first welding robot 15A sends the first welding robot 15A
The welding torch is positioned at the designated position, and the end of the reinforcing member is rotated and welded, and one-side fillet welding of the straight portion is started toward the welding start point.

Step 23: Immediately after the first welding robot 15A starts the one-side fillet welding of the straight portion directed toward the welding start point, the robot controller 16 of the second welding robot 15B sends the welding torch of the second welding robot 15B. Is positioned at the designated position, and the first welding robot 15 is positioned.
Turning welding of the reinforcing material end portion is performed from the side facing A, and one-side fillet welding of the straight portion is started toward the welding start point.

Step 24: When each welding torch reaches the position where welding is stopped in step 20, the main controller 9
Is the robot controller 16 of the first welding robot 15A.
And, it instructs the robot controller 16 of the second welding robot 15B to stop welding. Thereby, the first welding robot 15A and the second welding robot 15B stop welding.

Hereinafter, steps 3 to 24 are repeated until the horizontal fillet welding of all the reinforcing members is completed.

[0054]

As described above, according to the present invention, the manual input can be minimized and the control system is simplified, so that the present invention is provided on the bridge girder and the box girder web plate. An excellent effect is obtained in that fillet welding of a reinforcing material such as a horizontal stiffener or a vertical stiffener can be efficiently performed. Further, according to the preferred aspect of the present invention, even when the web panel is inclined, the laser displacement gauge can be set at a predetermined height from the web panel, so that the installation of the main material on the surface plate can be simplified.

[Brief description of the drawings]

FIG. 1 is a block diagram of a welding apparatus according to one embodiment of the present invention.

FIG. 2 is a schematic perspective view of the welding device.

FIG. 3 is a perspective view schematically showing a reinforcing member measuring device.

FIG. 4 is an explanatory diagram showing a state of measurement by a laser displacement meter of the measurement device.

FIG. 5 is an explanatory diagram of a start end detection by the transmission type optical sensor for detecting the start end of the reinforcing member.

FIG. 6 is an explanatory diagram of the end detection by the transmission type optical sensor for detecting the end of the reinforcement.

FIG. 7 is a plan view showing a positional relationship among a laser displacement meter, a transmission type optical sensor, and a reinforcing member.

FIG. 8 is a side view of FIG. 7;

FIG. 9 is a front view showing a positional relationship between the articulated welding robot and a reinforcing member.

FIG. 10 is a side view of FIG. 9;

FIG. 11 is a flowchart showing the first half of the procedure of the control method of the present invention.

FIG. 12 is a flowchart showing the intermediate unit.

FIG. 13 is a flowchart showing the latter half part.

FIG. 14 is an explanatory diagram showing a welding procedure.

[15] Tsu Der explanatory view showing the same procedure more specifically
Horizontal displacement and vertical displacement of the reinforcement by laser displacement meter
FIG.

FIG. 16 is an explanatory diagram showing the same procedure more specifically.
With the transmission-type optical sensor for detecting the start end lowered
It shows.

FIG. 17 is an explanatory diagram showing the same procedure more specifically.
Shows the state in which turning welding of the reinforcing material start end is being performed.
It is.

FIG. 18 is an explanatory diagram showing the same procedure more specifically.
Indicates that one-side fillet welding of the straight part is being performed.
It is.

FIG. 19 is an explanatory diagram showing the same procedure more specifically.
With the transmissive optical sensor for detecting the terminal end lowered
It shows.

FIG. 20 is an explanatory diagram showing the same procedure more specifically.
This shows the state where turning welding of the end of the reinforcing material is being performed.
It is.

FIG. 21 is a perspective view of a sheet girder.

FIG. 22 is a front view showing an end shape of the horizontal stiffener.

FIG. 23 is a front view showing an end shape of a vertical stiffener.

FIG. 24 is an explanatory view of a conventional method of installing a main material on a surface plate.

FIG. 25 is an explanatory view showing a state in which a sheet girder is installed on the integrated main material receiving member, in which the inclination of the web plate is exaggerated.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Main material (box girder web panel) 2 Reinforcement (horizontal stiffener) 3 Reinforcement (vertical stiffener) 4 Foundation 5 Rail 6 Portal (running means) 7 Traversing member (traversing means) 8 Support (rotating means) 9 Main control device (control means) 10 Converter 11 Reinforcement measuring device 12 Transmission optical sensor for detecting the start of reinforcement 13 Laser displacement meter 14 Transmission optical sensor for detecting the end of reinforcement 15 Articulated welding robot 15A 1st Welding robot 15B Second welding robot 16 Robot controller 17 Welding machine

Continuation of front page (72) Inventor Kiyoshi Udagawa 118 Notsuka, Noda-shi, Chiba Pref. Noda Plant, Kawasaki Heavy Industries, Ltd. (56) References JP-A-5-285647 (JP, A) (58) Fields investigated (Int .Cl. ⁶ , DB name) B23K 9/12

Claims (1)

(57) [Claims] 1. A gate-shaped traveling means which straddles a main material placed on a surface plate and can travel in the longitudinal direction thereof, and is mounted on a lateral member of the portal-shaped traveling means so as to be able to traverse. Traversing means, rotating means rotatably attached to the traversing means, control means for controlling the portal-type traveling means, traversing means and rotating means, a robot controller and a welding machine. A first welding robot mounted on the rotating means, a second welding robot having a robot controller and a welding machine, mounted on the rotating means so as to face the first welding robot, A transmissive light for detecting the starting end of the reinforcing member, which faces both sides of the reinforcing member along an axis perpendicular to the center line connecting the mounting portions of the first welding robot and the second welding robot, and in which each set rises and falls individually. A reinforcing member measuring device attached to the rotating means, comprising a set of sensors, a set of laser displacement meters for measuring horizontal and vertical errors of the reinforcing member, and a set of transmission optical sensors for detecting the end of the reinforcing member. And a data format conversion means for converting input data to the control means into a format readable by the control means, the method comprising the steps of: A step of inputting the position data of the reinforcing material from the design means to the control means via a data format conversion means provided as needed; a step of teaching the position of the main material to the control means; A step of selecting a reinforcing material to be welded based on the position data and the teaching position of the main material; and moving the rotating means to the position of the selected reinforcing material to weld the first welding robot and the second welding robot. A step of positioning the reinforcing member above the elephant; a step of detecting the starting point of the reinforcing member by the reinforcing member measuring device; and a fillet near the starting point of the reinforcing member by the first welding robot and the second welding robot. A procedure of performing welding and a turn welding of a starting end, a procedure of simultaneously performing fillet welding on both sides of a reinforcing member by a first welding robot and a second welding robot, and detecting an end portion of a reinforcing member by a reinforcing member measuring device. A step of performing fillet welding near the terminal end of the reinforcing member and turning welding of the terminal end by the first welding robot and the second welding robot , wherein the set of laser displacement meters is positioned above the main material at a predetermined position. At a high speed.After descending to the predetermined position, it descends at a low speed at a predetermined pitch.
The laser displacement meter.
It is not checked whether the surface of the main material has entered the area.
And lowering it to a measurement position .