JP3461709B2 - Welding robot welding method for tubular workpieces with notches - Google Patents

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to welding of a tubular material to be welded such as a rectangular tubular column having a plurality of notches formed in the end face when the end face is welded along the circumferential direction by a welding robot. On how to do.

[0002]

2. Description of the Related Art A groove welding in the circumferential direction of a rectangular tubular column such as a steel joint by a welding robot rotates a column attached to a positioner once around the axis and moves a torch attached to the welding robot. However, it was usually performed continuously for one lap.

[0003]

In such a welding operation, when the column has a cutout portion that crosses the welding line, if welding is performed up to the cutout portion, the welding is stopped manually, and the cutout end portion is formed. It was necessary to move to and start welding.

It is also possible to use a touch sensor provided on the welding torch to automatically detect the notch and operate the welding robot so as to interrupt the welding at the notch.

However, in this case, since the notch is often formed by gas cutting, the end accuracy of the notch is poor and there are many irregularities, so there is a problem that the weld end accuracy and finish are poor. , And especially when there are multiple notches,
If the uncut portion between the notches is small and independent,
There was a problem that welding distortion was likely to occur and the accuracy deteriorated.

The present invention solves the above-mentioned problems and provides a notched portion by a welding robot capable of performing automatic welding accurately and without distortion even if the end surface of a tubular material to be welded has a notched portion. An object of the present invention is to provide a welding method for a material to be welded.

[0007]

To achieve the above object, the present invention provides a notch on a side plane by a welding robot.
Part is formed and uncut parts are formed at the corners.
When welding the end face and the flange of the square tubular workpiece to be welded , the workpiece is supported so as to be rotatable in the forward and reverse directions about the axis and welded to one of the uncut portions. By moving the welding torch with the torches facing each other and rotating the welded material forward to perform welding, this uncut portion is welded for one pass, and then the adjacent uncut portion is similarly passed for one pass. Minute welding, and this is repeated to weld the uncut portion of the entire circumference for one pass, then the welding torch is opposed to one of the uncut portions and the welding torch is reciprocally moved, and the material to be welded is reversed. It is characterized in that a plurality of passes are welded, then adjacent uncut portions are sequentially welded by a plurality of passes in the same procedure to weld the uncut portions on the entire circumference.

According to the above construction, since each uncut portion is first welded for one pass, there is no possibility that the tubular material to be welded will be bent and deformed by welding distortion as in the conventional case. Further, after the welding for one pass is completed, the welding of multiple passes is continuously concentrated on each of the uncut portions, so that the number of movements between the uncut portions of the welding torch is conventionally reduced. It is possible to significantly reduce the time required for construction, and it is possible to suppress the occurrence of edge welding defects due to welding stoppage.

According to a second aspect of the present invention, in the above method, the material to be welded is a rectangular column, and the actually measured rectangular tube is used.
And the side plane position of Jo column, by a previously inputted polygonal tubular column and notch of the data, characterized in that the start and end points of the welding uncut portion of the square tube-shaped column is determined.

According to the above construction, the welding work can be carried out accurately even if the cutout portion has a poor cut edge such as a gas cut and cannot be accurately detected by the touch sensor with the torch.

[0011]

BEST MODE FOR CARRYING OUT THE INVENTION Embodiments of the present invention will be described below with reference to the drawings. 2 and 3 show each side plane 1a.
By forming the cutouts 2 in each of the cutouts 2, a square tubular column (cylindrical welded material) 1 in which a plurality of uncut portions A to D are formed in the corners 1b between the cutouts 2 and a flange 3, for example. FIG. 4 shows a state in which the welding 4 is integrally connected, and an example of an automatic welding machine for performing the welding 4 is shown in FIG. This has a movable positioner 5 and a welder main body 6, and the welder main body 6 has a carriage 6a movable along the positioner 5, a control panel 6b arranged on the carriage 6a, and an elevator 6c. And a horizontal moving body 6d arranged on the lifting body 6, and a welding torch 6f and a touch sensor 6g (see FIG. 4) attached to the tip of the horizontal moving body 6d via an articulated welding robot 6e. Have

FIG. 1 shows a welding method for a column 1 having a cutout portion 2 according to an embodiment of the present invention. The welding method will be described. The column 1 attached to the rotating portion 5a of the positioner 5 is explained. Touch sensor 6 on the side plane 1a
g is contacted to measure its position, and the stop reference points A to A of the welding torch 6f are determined based on the measured value and the input value from the data of the column 1 and the notch 2 which are input in advance. , Controls the welding robot 6e and the positioner 5.

In this case, even if each of the cutouts 2 is formed by gas cutting and the touch sensor 6g cannot detect with high precision, as described above, the touch sensor 6g is used.
By measuring the side flat surface 1a with, each uncut portion A to
It is possible to accurately specify the positions of the side edges A, O, K, S and the other side edges D, C, S, and T, which are the start and end points of the welding of D.
As a result, the welding torch 6f can be automatically positioned at the one side edges A, O, K, and S and the other side edges D, C, C, and T of the uncut portions A to D.

First, as shown in FIG. 1 (a) → (c),
The welding torch 6f facing the one side edge A of the uncut portion A is sequentially moved from the point A to the point D, and the positioner 5 is moved.
Column 1 is rotated in the forward direction a by
Weld 4 for the pass.

Next, as shown in FIG. 1 (d), the welding torch 6f is moved to the adjacent uncut portion B2, and 1-pass welding is performed in the same manner as above. By repeating this, the welding 4 for one pass is circumferentially (forward rotation direction) with respect to the uncut portions A to D.
The column 1 and the flange 3 are integrally and firmly connected to each other by the welding 4, so that the column 1 is not likely to be deformed due to welding distortion.

Thereafter, as shown in FIGS. 1A to 1C, the welding torch 6f is sequentially moved from the point A to the point D, and the column 1 is rotated by the positioner 5 in the forward rotation a direction. As shown in 1 (d) → (f), the welding torch 6f is sequentially moved from the point A to the point A, and the column 1 is rotated in the reverse direction b by the positioner 5 to perform welding for one pass between the points A and A. 4 is performed, and this is repeated to perform welding 4 for a plurality of passes.

After that, the adjacent uncut portions B or D may be moved to and the other uncut portions B to D may be welded 4 in a plurality of passes in the same procedure. According to the above method, since the welding 4 after two passes is continuously concentrated on each of the uncut portions A to D, the construction time can be greatly shortened and the welding can be stopped. It is possible to suppress the occurrence of edge welding defects.

In the above embodiment, the rectangular tubular column 1 with the cutout portion 2 has been described as an example, but the present invention is not limited to this, and is also applied to a cylindrical column with the cutout portion 2 or the like. can do.

[0019]

According to the present invention, since each uncut portion is first welded for one pass, there is no risk of the tubular workpiece being deformed due to welding distortion. In addition, after the welding for one pass is completed, multiple passes of welding are continuously concentrated on each uncut portion, so the number of movements between each uncut portion of the welding torch is reduced compared to the conventional case. In addition, the construction time can be significantly shortened and the occurrence of edge welding defects at the welded ends can be suppressed.

According to the second aspect of the present invention, in the above method, even if the cutout portion has a poor cut edge such as a gas cut and cannot be accurately detected by the touch sensor with the torch, the welding work can be performed accurately. Can be carried out.

[Brief description of drawings]

1A to 1F are explanatory views showing a welding method of a column with a cutout portion by a welding robot according to an embodiment of the present invention.

FIG. 2 is a side view showing a welded state of the column and the flange.

FIG. 3 is a view on arrow EE in FIG.

FIG. 4 is a front view of the automatic welding machine.

[Explanation of symbols]

1 Square tubular column (cylindrical welded material) 1a Side plane 2 notches 4 welding 5 Positioner 6e welding robot 6f welding torch Parts A to D O column axis a forward rotation b Reverse c Forward d Return Stop reference point

Claims (2)

(57) [Claims] 1. A welding robot is provided with a notch on a side plane.
And the uncut portion is formed at the corner.
When welding the end face and the flange of the square tubular welded material, the welded material is supported rotatably in the forward and reverse directions about the axis, and the welding torch is provided in one of the uncut portions. By moving the welding torch in the opposite direction and rotating the welded material in the forward direction to weld the uncut portion for one pass, and then the adjacent uncut portion for one pass in the same manner. welding, by normal and reverse rotation of the material to be welded together which after the the uncut portion of the entire circumference welded one pass repeatedly reciprocates the welding torch so as to face the welding torch in one of the uncut portions plurality A cylindrical welded material with a notch part by a welding robot, characterized in that the passes are welded, and then the adjacent notches are welded sequentially for a plurality of passes in the same procedure to weld the notches on the entire circumference. Welding method. Wherein the workpieces are square tubular column, and the side plane position of the actually measured rectangular tube column, the data of the square tube-shaped column previously entered notch, rectangular tube The welding method for a tubular work piece with a cutout portion by a welding robot according to claim 1, wherein a starting point and an ending point of welding of the uncut portion of the column are determined.