JP3230453B2 - Robotic equipment for welding large structures - 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 robot apparatus for automatically welding large structures such as shipbuilding and bridges.

[0002]

2. Description of the Related Art A work such as a shipbuilding or a bridge has a welded section having a grid structure constituted by reinforcing members running vertically and horizontally, and a section surrounded by a wall member having a height such as a wall. It is a large structure divided into (compartments). Conventionally, when welding a workpiece of such a large structure, welding has been performed by suspending a simple automatic welding device from a ceiling by a dedicated crane mechanism, or by manually placing the worker. In recent years, in order to improve efficiency, a system in which a plurality of small articulated welding robots suspended from the ceiling by an NC crane are arranged in a welding section, and positioning and welding are performed by a mechanical positioning mechanism. However, no robotic mechanism has been developed for automatic placement and positioning within inclined lateral wall members (eg, a shipbuilding transformer).

[0003]

In particular, when a transformer or a longitudinal arranged vertically and horizontally has an inclination, the transformer is overhanging when the welding robot is lowered from the ceiling. There was a problem that the welding torch at the tip of the welding robot could not reach the corners of the overhanging transformer and longe because the robot could not be lowered straight and the reach of the welding robot itself was insufficient. . In addition, the turning axis of a general-purpose articulated welding robot has ± 1
Since there is only an operating range of about 50 °, an inoperable area is generated on the back of the welding robot, and when welding the welding line of each ridgeline on the inner surface of the welding section having a grid structure composed of a long and a transformer, 360 ° is required. Since a swivel range was required, the back part could not be welded.

SUMMARY OF THE INVENTION The present invention has been made to solve the above-described problem in welding a workpiece having a large structure, and has a deep portion even when a transformer or a longage is inclined. It is an object of the present invention to provide a welding robot for a large structure, which is capable of performing welding of a fillet, and particularly contributes to automation of grid fillet welding.

[0005]

According to the present invention, there is provided a welding robot apparatus for a large structure according to the present invention, which has a plurality of grid-shaped welding sections defined by a vertical member and a horizontal member, and wherein the horizontal member has a height. A welding robot apparatus including a plurality of articulated welding robots for welding respective welding sections of a large structure including a wall member, wherein the gantry is movable relative to the workpiece in an X direction in a cross member direction of the workpiece. A plurality of girders movable on the gantry in the Y direction in the longitudinal direction, a plurality of carriages movable on the girder in the X direction, and mounted on each of the carriages so as to be movable in the vertical Z direction. A column, a robot slider slidably mounted on the lower end of the column in the Y direction, and a robot slider mounted on the lower surface of the robot slider and capable of sliding in the Y direction and turning by 180 °. It is characterized in that a base contact robot.

The robot slider has a central portion pivotally connected to the lower end of the column so as to be rotatable by 90 ° from a vertical direction to a horizontal direction. That is, a robot slider capable of sliding in the Y direction and rotating by 90 ° is used.

[0007] The work to be subjected to the present invention has a plurality of grid-like welding sections divided by a vertical member (hereinafter, referred to as a long) and a horizontal member (hereinafter, referred to as a transformer).
In addition, the transformer is a large-sized structure including a wall member having a height such as a wall.

In the present invention, the vertical (Z-axis), left and right (X
Axis), front and rear (Y axis) directions, three external axes, a gantry traveling axis (G axis), a robot slider slide axis (L axis), and a robot base slide axis (R axis). The welding robot is supported in a ceiling-suspended position by adding four external axes of a rotating axis (Q axis) or four axes of a rotating axis (P axis) in addition to the four axes. Even a workpiece with an overhang or inclination can be welded to a deep part in an appropriate robot posture without causing interference.

Further, by configuring the robot slider so that it can slide in the Y direction and rotate by 90 °, the robot slider can easily enter the work.

[0010]

FIG. 1 is a schematic diagram of a welding robot apparatus according to the present invention, and FIG. 2 is a configuration diagram of an entire multi-welding robot system. In FIG. 1, reference numeral 1 denotes a self-propelled gantry that runs on rails in the X direction, 2 denotes a girder that is mounted on the gantry 1 and moves in the Y direction, and 3 denotes a girder 2.
, A carriage that moves in the X direction, 4 is mounted on the carriage 3, a column that moves up and down in the Z direction, 5 is a robot slider that is mounted on the lower end of the column 4 and slides in the Y direction, and 6 is a robot slider 5 is a robot base that can be slid and turned 180 °,
The articulated welding robot 7 is attached to the robot base 6. Reference numeral 8 denotes a welding torch attached to the tip of the welding robot 7 for performing well-known high-speed rotating arc welding.

[0011] Further, a work long not shown here is arranged in the X direction and a transformer is arranged in the Y direction, and the work is set on an offset surface plate constituting a welding stage. The offset surface plate has a plurality of projections having different heights, and supports the work at the tips of these projections. Therefore,
By changing the height of the projection, the work can be supported according to the curved shape of the work. Further, the offset surface plate can be configured to be movable in the X direction. In this case, the gantry 1 may be a stationary type. The gantry 1 is installed so as to straddle the offset surface plate and the work supported thereon.

Now, the traveling direction of the gantry 1 is the G axis, the moving direction of the girder 2 is the Y axis, the moving direction of the carriage 3 is the X axis, the moving direction of the column 4 is the Z axis, and the sliding direction of the robot slider 5 is L. The sliding direction of the shaft and robot base 6 is R
Assuming that the turning direction of the axis and the robot base 6 is the P axis, the welding robot 7 has G, Y, X, Z, L,
There will be a total of seven axes, R and P. By independently controlling these seven external axes and joint axes,
Each operation such as approach, approach, and positioning of the welding robot 7, welding posture, interference avoidance operation, and retreat operation can be performed.

In FIG. 2, reference numeral 10 denotes a CAD system in which workpiece shape information and welding design information are stored.
Numeral 0 denotes a CAM system for generating operation data of the welding robot 7, which has an operation pattern database 21 storing various operation patterns of the welding robot 7, and a welding condition database 22 storing various proper welding conditions.
These data are transferred to each robot controller 40 via the data conversion and transfer system 30, and control each welding robot 7 independently.

FIG. 3 is a structural view of an external shaft of the welding robot, FIG. 4 is a plan view showing a method of accessing the work of the welding robot, FIG. 5 is a side view when positioning the welding robot, and FIG. It is explanatory drawing in the case of performing welding of a back member. In these figures, 100 is a work, 101 is a longge, and 102 is a transformer.

First, as shown in FIG. 4, the gantry 1 is run, and the gantry 1 is moved on the work 100 and stopped. At this time, the displacement of the workpiece 100 with respect to the welding robot 7 is corrected by the workpiece position detecting means using a laser sensor or a camera.

Next, by moving the girder 2 in the Y direction, the welding robot 7 is moved onto the unit welding section 103 between the transformer 102 and the adjacent transformer 102 or onto the side surface of the unit welding section 103. At this time, the girder 2 arranges the standby position (the lowermost position or the uppermost position in FIG. 4) as the start position.
The Y-axis position is calculated by calculating a position where all the welding robots on the carriage 3 can approach the corner of the workpiece 100 without interference.

Next, by the movement of the carriage 3 in the X direction, the welding robot 7 is moved above the vicinity of the cell welding section 104 to be first welded in the unit welding section 103. In the operation up to this point, the welding robot 7 takes the standby posture with the least interference, the P axis is in the front direction (0 °) with respect to the transformer 102, the L axis center is the Z axis center position, and the Z axis is pulled up most. It is in the state of having been. FIG. 5 (a)
FIG. 4 is a diagram showing the postures of the welding robot 7 and the robot slider 5 when positioned above the cell welding section 104.

Next, as shown in FIG. 5 (b), the welding rotation axis (S1 axis) of the robot base is turned by 90 ° so that the front of the welding robot 7 is directed to the longitudinal 101. In addition, the posture of the welding robot 7 is changed so as not to interfere with the longge 101. Further, the welding robot 7 is moved to a position immediately above the longge 101 (about 500 mm) while operating the X, Z, and L axes. In this case, moving the Y-axis affects other welding robots on the girder 2, so that the Y-axis is not operated. With the above operation, the initial positioning of the welding robot 7 with respect to the cell welding section 104 is completed.

Next, the posture of the welding robot is finely adjusted again, and then the robot arm enters the cell welding section 104.

Next, immediately above the length 101 (about 30 mm)
The position deviation of the work in the X and Z directions is corrected from the predetermined position by wire touch sensing.

Next, while the L and X axes and the S1 axis of the welding robot 7 are operated cooperatively, the S1 axis is moved 45 degrees with respect to the front direction.
Turn to about ゜. At this time, the position in the Y direction at the center of the welding robot is a position that is substantially directly below the Z axis.

Finally, as shown in FIG. 5 (c), the welding torch 8 is moved to the longitudinal 1 by using the robot slider L axis and R axis and all the axes (S1 to S6 axes) of the welding robot 7.
While moving in parallel with 01, it approaches the corner with the transformer 102. With the above operation, the transformer 102 and the long 1
Thus, the approach of the welding robot 7 to the corner portion of the cell welding section 104 composed of the “01” is completed. Thereafter, welding may be performed by a high-speed rotation arc welding method under welding line tracing control by the arc sensor of the welding torch 8, and a fillet joint of high quality can be obtained. FIG. 6 shows an example of welding the longe 101 while the welding robot S1 axis and the R, L, and X axes are operated in a coordinated manner, and enables continuous welding of a long longe that cannot be covered by the stroke of a general-purpose robot. And

For the transformer 102 on the rear side, the P axis is turned by 180 ° as shown in FIG.
By moving the L and R axes in opposite directions, the approach of the welding robot 7 and then welding can be performed.

FIG. 7 shows the rotation axis (Q) of the robot slider 5.
It is an operation explanatory view in the case of providing an (axis). The center of the robot slider 5 is pivotally connected to the lower end of the pole 4 so that the robot slider 5 can rotate by 90 ° from a vertical direction coinciding with the axis of the pole 4 to a horizontal direction. The robot slider 5 is configured to be slidably and rotatably supported by a rectangular cylindrical sladder support member 9 so that the robot can slide in the direction. The base 6 of the welding robot 7 is slidably mounted on the side surface corresponding to the lower surface when the robot slider 5 rotates 90 °. The opposite side surface (upper surface) is a slide surface of the robot slider 5.

When the robot slider 5 is configured as described above, it is easy for the robot slider 5 to enter the work 100, and the danger of interference with the transformer 102 and the like is reduced. After the robot slider 5 enters between the transformer 102 and the adjacent transformer 102, the robot slider 5
Is rotated by 90 °, and then the welding robot 7 is allowed to approach the corners of the transformer 102 and the longge 101 by operating the L, R, and P axes as described above.

[0026]

As described above, according to the present invention,
Since the welding robot has a configuration having at least seven external axes, it is possible to accurately position the welding robot even if the work member having the grid structure is overhanging or inclined. it can. Therefore, fillet welding of large structures such as shipbuilding and bridges can be performed automatically and with high quality, which greatly contributes to labor saving and high efficiency.

[Brief description of the drawings]

FIG. 1 is a schematic diagram of a welding robot device of the present invention.

FIG. 2 is a schematic diagram of a multi-welding robot system.

FIG. 3 is a configuration diagram of an external shaft of the welding robot.

FIG. 4 is a plan view showing a method of accessing a workpiece by a welding robot.

FIG. 5 is a side view when positioning the welding robot.

FIG. 6 is an explanatory diagram in a case where a front member and a back member are welded.

FIG. 7 is an explanatory diagram of an operation when a rotation axis of a robot slider is provided.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Gantry 2 Girder 3 Carriage 4 Column 5 Robot slider 6 Robot base 7 Welding robot 8 Welding torch 9 Slider support member 100 Work 101 Longe 102 Transformer 103 Unit welding section 104 Cell welding section

──────────────────────────────────────────────────続 き Continuation of the front page (56) References JP-A-60-37005 (JP, A) JP-A-60-102281 (JP, A) JP-A 3-70858 (JP, U) JP-A 4-70858 70273 (JP, U) (58) Fields investigated (Int. Cl. ⁷ , DB name) B23K 9/12 B23K 9/00 B25J 5/02 B25J 9/06

Claims (2)

(57) [Claims] 1. A plurality of welded sections of a large structure having a plurality of grid-shaped welded sections defined by a vertical member and a horizontal member, wherein the horizontal member includes a wall member having a height. A welding robot device having an articulated welding robot, comprising: a gantry movable relative to a workpiece in an X direction in a transverse direction of the workpiece; and a plurality of movable gantry movable in a Y direction in a longitudinal direction on the gantry. A girder, a plurality of carriages movable in the X direction on the girder, a column mounted on each of the carriages so as to be movable in a vertical Z direction, and slidable in a Y direction on a lower end portion of the column. A large-sized structure comprising: a robot slider mounted on the robot; and a base of the welding robot mounted on a lower surface of the robot slider and capable of sliding in the Y direction and turning by 180 °. Robot for welding objects. 2. The large-sized structure according to claim 1, wherein said robot slider further has a center portion pivotally connected to a lower end portion of said column so as to be rotatable by 90 ° from a vertical direction to a horizontal direction. Robot for welding objects.