JP3145000B2 - Welding robot for welding square columns and beams - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a welding method for automatically welding a rectangular column and a beam by a welding robot.

[0002]

2. Description of the Related Art As shown in FIG.
There is a robot arm 6 having a sensor 4 and a torch 5 attached to the tip thereof.

When welding the beams 2 and 3 having a U-shaped cross section to two adjacent column walls 1a and 1b of the square pillar 1 by using such a welding robot R1, first, the welding robot R1 is used. Teaching the welding operation.

When actually performing a welding operation,
The welding line between the quadrangular prism 1 and the beams 2 and 3 is detected by the sensor 4, and the control device 7 compares the detected data with the set data at the time of teaching to modify the teaching welding operation. And torch 5 for welding.

At this time, generally, all the welding lines W1 to W3 are welded to both beams 2 and 3.

Here, the welding line W1 is a boundary line between the first flat plate portions 2a, 3a of the beams 2, 3 and the column walls 1a, 1b, and the welding line W1.
2 is the second flat plate portions 2b, 3b of the beams 2, 3 and the column walls 1a, 1
b, the welding line W3 is the third flat plate portion 2 of the beams 2 and 3.
c, 3c and the boundary between the column walls 1a, 1b.

[0007] Japanese Patent Application Laid-Open No. Hei 3-1 is an example of this kind.
The one described in 42069 is known.

[0008]

Incidentally, in a unit building or the like, a horizontal brace or the like may be erected between two square pillars of the frame structure that are opposite to each other.

In this case, as shown in FIGS. 3 and 4, a horizontal breath mounting plate 8 is mounted on the square pillar 1, and a horizontal breath 9 is bolted between the horizontal breath mounting plates 8.

The horizontal breath mounting plate 8 is configured such that mounting portions 8a and 8b which are spread at right angles are bolted to the column walls 1a and 1b of the square pole 1.

As described above, when the horizontal breath mounting plate 8 is mounted on the square pole 1, the horizontal breath mounting plate 8 hinders the torch 5 from going under the beams 2 and 3 and welding. Line W2 cannot be welded.

For this reason, the welding robot R1 can be obtained only by making the above-described modifications to the teaching welding operation.
When the horizontal breathing attachment plate 8 is attached, the welding has to be performed by hand to weld all the welding lines W1 to W3, which causes a reduction in the efficiency of the welding operation. .

The present invention has been made in view of such circumstances, and has an object to provide a method of welding a quadrangular prism and a beam by a welding robot capable of performing automatic welding even when a horizontal breath mounting plate is mounted. The purpose is.

[0014]

In order to achieve this object, according to the first aspect of the present invention, a first beam and a second beam having a substantially U-shaped cross section are opposed to each other. A flat plate portion, a third flat plate portion sandwiched between the first flat plate portion and the second flat plate portion, and a first pillar wall of a quadrangular prism and a second pillar wall adjacent to the first pillar wall The first beam and the second beam, respectively.
The first and second beams and the first and second column walls are set by a welding robot having a sensor and a torch on a robot arm with the beams set at substantially right angles so that the opening sides of both beams face each other. After the welding line is detected by the sensor, the quadratic prism and the first,
In a welding method of a quadrangular prism and a beam by a welding robot for welding a second beam, a mounting plate is provided on an enclosed portion of the quadrangular prism surrounded by an opening side of the first beam and an opening side of the second beam. The presence or absence of being attached is detected by the sensor, and when it is detected that the attachment plate is attached, the first and third flat portions of the first and second beams, It is characterized in that only the welding lines with the first and second column walls are welded.

[0015]

According to the first aspect of the present invention, the presence / absence of the horizontal breath mounting plate is detected by the sensor, and when it is detected that the horizontal breath mounting plate is mounted, the first and third flat plates are detected. Since the welding line between the section and the first and second column walls is welded, automatic welding can be continuously performed without manual operation even when the horizontal breathing mounting plate is attached, Work efficiency can be improved.

[0016]

Embodiments of the present invention will be described below with reference to the drawings.

The same components as those in the conventional example are denoted by the same reference numerals.

Reference numeral 1 in the figure denotes a square pillar having a frame structure in the unit building. Although only one square pillar 1 is shown in FIG.
A horizontal breath 9 is provided via a horizontal breath mounting plate 8.

As shown in FIGS. 3 and 4, the horizontal breath mounting plate 8 is such that mounting portions 8a and 8b which are spread at right angles are bolted to the column walls 1a and 1b of the square pole 1. The horizontal breath 9 is bolted to the horizontal breath mounting plate 8.

On the other hand, the beams 2 and 3 have a U-shaped cross section, and the opposing first flat plate portions 2a and 3a and the second flat plate portion 2
b, 3b, and third flat plate portions 2c, 3c sandwiched between the first flat plate portions 2a, 3a and the second flat plate portions 2b, 3b.

The welding robot R2 in this embodiment is
The sensor 4 and the torch 5 are attached to the tip of the robot arm 6.

As will be described later, the sensor 4
It detects the welding lines W1 to W3 between the beam and the beams 2 and 3, and further detects the presence or absence of the horizontal breath mounting plate 8.

The welding robot R2 includes a control device 7 for controlling the movement (movement trajectory) of the sensor 4 and controlling the movement of the welding robot R2 based on the detection data from the sensor 4.

In the welding robot R2, a welding operation for welding the welding lines W1 to W3 between the square pillar 1 and the beams 2, 3 is preliminarily arranged in a state where the welding robot R2 is arranged at a predetermined position. ing.

Hereinafter, the first and second beams 2 and 2 are respectively attached to the first column wall 1a of the quadrangular column 1 and the second column wall 1b adjacent to the first column wall 1a by the welding robot R2. 3
The following is a description of a working operation for welding the two beams vertically so that the opening sides of both beams 2 and 3 face each other.

First, as shown in FIG. 1, the beams 2 and 3 are perpendicular to the first and second column walls 1a and 1b of the rectangular column 1 and the opening sides of both beams 2 and 3 are opposed to each other. , And are arranged and fixed by a fixing jig (not shown).

In this arrangement, the sensor 4 detects welding lines W1 to W3 between the square pole 1 and the beams 2, 3, and transmits the detected data to the control device 7.

Further, the sensor 4 determines whether or not the horizontal breath mounting plate 8 is attached to the surrounding portion of the square pillar 1 surrounded by the opening side of the first beam 2 and the opening side of the second beam 3. Detects and transmits the detection result to the control device 7.
In the case of this embodiment, as described above, the horizontal breath mounting plate 8
Is attached, a signal to that effect is transmitted.

The control device 7 compares the detection data of the welding lines W1 to W3 from the sensor 4 with the set data at the time of teaching in a state where the welding line is arranged at a predetermined position, and corrects the stored welding operation. Thus, the welding operation of the welding robot R2 is controlled.

Further, since the horizontal breath mounting plate 8 is mounted, the operation of the welding robot R2 is controlled so as not to weld the welding line W2. This is, as mentioned above,
When the horizontal breath mounting plate 8 is mounted, the torch 5
Is unable to go under the beams 2 and 3 and cannot be automatically welded by the welding robot R2.

As a result, the actually arranged welding line W
1. The tip of the torch 5 moves along W3,
And the beams 2 and 3 are welded.

Note that only the welding line W2 is manually welded after the automatic welding by the welding robot R2.

As described above, the presence or absence of the horizontal breath mounting plate 8 is detected by the sensor 4, and when it is detected that the horizontal breath mounting plate 8 is mounted, the welding line W is detected.
1. Since only W3 is welded, automatic welding can be continuously performed without manual operation even when the horizontal breathing mounting plate 8 is attached, and the welding operation efficiency can be improved.

[0034]

As described above, according to the first aspect of the present invention, the presence / absence of the horizontal breath mounting plate is detected by the sensor, and it is detected that the horizontal breath mounting plate is mounted. The first and third flat portions are welded to the first and second column walls, so that even when the horizontal breathing mounting plate is mounted, the welding is continuously performed without manual operation. Automatic welding can be performed, and the efficiency of welding work can be improved.

[Brief description of the drawings]

FIG. 1 is a perspective view showing a state in which a welding line and a horizontal breath attachment plate are sensed in a welding method according to an embodiment of the present invention.

FIG. 2 is a perspective view showing a state where a welding line is being welded in the welding method of the same embodiment.

FIG. 3 is a plan view showing a state in which a horizontal breath mounting plate is mounted on a square pole.

FIG. 4 is a side view showing a state in which the horizontal breathing mounting plate is mounted on a square pole.

FIG. 5 is a perspective view showing a state where a welding line is being welded in a conventional welding method.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Square pillar 1a 1st pillar wall 1b 2nd pillar wall 2 1st beam 2a 1st flat part 2b 2nd flat part 2c 3rd flat part 3 2nd beam 3a 1st flat part 3b 2nd flat part 3c 3rd flat Part 4 Sensor 5 Torch 6 Robot arm 7 Control device 8 Horizontal breath mounting plate 9 Horizontal breath W1-W3 Welding line R2 Welding robot

Claims (1)

(57) [Claims] 1. A first beam and a second beam each having a substantially U-shaped cross section.
The first and second flat plate portions are opposed to each other, and the third flat plate portion is sandwiched between the first and second flat plate portions. The first arm and the second arm are set to be substantially perpendicular to the second pillar wall adjacent to the wall so that the opening sides of the two arms oppose each other, and the robot arm has a sensor and a torch. After the welding robot detects a welding line between the first and second beams and the first and second column walls by the sensor, the quadratic prism and the first and second columns are formed by the torch based on the detection data. In a welding method of a quadrangular prism and a beam by a welding robot that welds a beam, a mounting plate is attached to an enclosed portion of the quadrangular prism surrounded by an opening side of the first beam and an opening side of the second beam. Is detected by the sensor, and the mounting plate is attached. When it is detected that the first and second beams are welded, only the welding lines between the first and third flat portions of the first and second beams and the first and second column walls are welded. A method of welding square pillars and beams by a welding robot.