JP4535830B2 - Welding method with automatic welding equipment - Google Patents

Description

The present invention, without increasing the external moving shaft of the welding robot, Welding method according to the automatic welding apparatus the welding line within the effective operating range of the torch can be satisfactorily welded.

  A column for a building steel frame is mainly composed of a joint portion and a shaft portion, and a short beam member is usually welded and joined to the joint portion. By the way, the steel column is roughly divided into a general joint and a step joint depending on the method of attaching the beam member to the joint.

  11 (a) to 11 (c) are side views of a typical joint portion of a steel column, and FIG. 12 is a plan view of FIG. 11 (a).

  In FIG. 11A, this steel column is a steel column having a general joint in which the diaphragm 42 constituting the joint and the beam flange 45 of the beam member 44 are at the same level. That is, a square flat plate diaphragm 42 is joined to the upper and lower ends of a prismatic column 41 to form a column core 43. As shown in FIG. 12, beam flanges 45 of short beam members 44 are welded and joined to the four sides of the diaphragm 42 using the backing metal 47 of FIG. The beam member 44 is composed of upper and lower beam flanges 45 and a web member 46 disposed therebetween.

  In FIG. 11 (b), this steel column has the diaphragm 52 constituting the joint part and the beam flange 55 of the beam member 54 joined to the same, but another column 57 is provided on the upper part of the diaphragm 52. Another diaphragm 58 is joined via a gap, which is a step joint.

  That is, a square plate-like diaphragm 52 is joined to both the upper and lower ends of the prismatic column 51, and a column 57 having a height lower than the column 51 and another diaphragm 58 are joined to the upper diaphragm 52 in sequence. A column core 53 is formed. The column core 53 is joined with short beam members 54 on four sides thereof.

  The beam member 54 is composed of upper and lower beam flanges 55 and a web member 56 therebetween. The upper beam flange 55 of the beam member 54 is joined to the diaphragm 52 in the middle of the column core 53 using a backing metal 59, and the lower beam flange 55 is bonded to the lower diaphragm 52 of the column core 53. Bonded using gold 59. Accordingly, there is a step between the upper diaphragm 58 of the column core 53 and the upper beam flange 55 of the beam member 54. The joint weld is, for example, a ledge groove. In addition, the top view of FIG.11 (b) is represented similarly to FIG.

  In FIG. 11C, this steel column is a stepped joint having different heights in the diaphragm 62 of the column core 63 and the beam flange 65 of the beam member 64. That is, a square flat diaphragm 62 is joined to each of upper and lower ends of a prismatic column 61 to form a column core 63. The column core 63 is joined with short beam members 64 on the four sides thereof.

  The beam member 64 includes an upper and lower beam flange 65 and a web member 66 therebetween. Since the beam member 64 is lower than the column core 63, the lower beam flange 65 is joined to the lower diaphragm 62 of the column core 63 using a backing metal 67, but the upper beam flange 65 is connected to the column core 63. It is joined to 63 column parts 61 using backing metal 67. Therefore, there is a step between the upper diaphragm 62 of the column core 63 and the upper beam flange member 65 of the beam member 64. The joint weld is, for example, a ledge groove. In addition, the top view of FIG.11 (c) is represented similarly to FIG.

  As a welding apparatus for welding the joint portion of such a steel column, for example, an automatic welding apparatus including an X-axis direction moving device and a Y-direction moving device can be given.

  FIG. 13 is an explanatory view showing such an automatic welding apparatus, in which FIG. 13 (a) is a front view thereof, and FIG. 13 (b) is a positional relationship between the welding arm and the workpiece in FIG. 13 (a). It is a schematic diagram. In FIG. 13A, the automatic welding apparatus is provided on a Y-axis direction robot moving device 71, an X-axis direction robot moving device 72 disposed on the Y-axis direction robot moving device 71, and an upper portion thereof. And a multi-joint type welding robot 73. The welding robot 73 is provided with an arm 73a, and a torch 76 is attached to the tip of the arm 73a.

  A workpiece placing table 75 is disposed in front of the welding robot 73, and a workpiece 74 provided with a joint welding portion having a step as shown in FIG. 11B or 11C on the workpiece placing table 75. Is placed. Since the welding robot 73 includes the Y-axis direction robot moving device 71 and the X-direction robot moving device 72, the welding robot 73 can move so as to take an appropriate welding posture with respect to the welding line of the workpiece. Different types of workpieces can also be handled.

  In FIG. 13B, the workpiece 74 has a welding line 74 a, 74 b, 74 c and 74 d at the stepped portion perpendicular to or parallel to a line 78 from the base end of the arm 73 a of the welding robot 73 toward the workpiece 74. The welding lines are welded while moving the welding torch 76 of the welding robot 73 in the X-axis direction and the Y-axis direction. A portion 79 surrounded by a broken line is an effective operation range of the welding torch when the Y-axis direction and X-axis direction robot moving devices 71 and 72 are fixed.

  However, in such a conventional automatic welding apparatus, sufficient consideration is not given to the application to the stepped joint welded part, and when attempting to weld a stepped part far away from the welding robot, There was a problem that the upper diaphragm and the welding torch interfered with each other so that the stepped portion could not be welded well.

  14 (a) and 14 (b) are schematic views showing a joint welding method using the welding robot in the state shown in FIG. 13 (b). FIG. 14 (a) shows the work from the base end of the arm 73a to the workpiece. When welding the step joint 74d along the direction line 78 (X-axis direction), FIG. 14B shows the case where the step joint 74c along the Y-axis direction far from the welding robot is welded. FIG.

  In FIG. 14 (a), the welding line 74d is within the effective operation range 79 of the welding torch 76, and the welding torch 76 reaches the welding line 74d of the step joint without interfering with the upper diaphragm 77 of the workpiece 74, which is good. Welding can be performed. On the other hand, in FIG. 14B, the welding line 74 c is within the effective operation range 79 of the welding torch 76, but the welding torch 76 interferes with the edge of the upper diaphragm 77 of the work 74. That is, the application to the step depends on the shape of the torch (the distance from the wrist to the arc point), but since the robot arm 73a is in a positional relationship covering the workpiece 74, the tip portion is attached to the welding line 74c of the step joint. It cannot be achieved, and good joint welding cannot be performed.

  For example, Japanese Utility Model Laid-Open No. 5-70769 is cited as a related art relating to a welding apparatus that performs such joint welding. FIGS. 15A and 15B are explanatory views showing a conventional automatic welding apparatus for a steel joint flange, in which FIG. 15A is a front view and FIG. 15B is a plan view thereof. In FIG. 15A, a base column 101 is installed on the floor surface 102, and a liftable body 104 that can be raised and lowered is attached to the base column 101. The elevating body 104 is provided with a turning beam 111 whose base end is rotatable about the base, and a welding robot 113 capable of operating the welding torch 112 in an arbitrary direction is disposed at the tip of the turning beam 111. Yes. The welding robot 113 is movable along the arc path L shown in FIG. 15B, and the welding robot 113 performs processing on the joints of the workpieces W1 to W3 arranged along the arc path L. Mouth welding is performed (patent document 1, utility model registration request, FIGS. 1 and 2).

Japanese Utility Model Publication No. 5-70769

  However, as in the automatic welding apparatus shown in FIG. 13, the prior art described above interferes with the end of the diaphragm on the upper part of the workpiece and the welding torch 112 when welding a stepped part far from the welding robot 113. In some cases, there was a problem that the stepped joint could not be welded well.

  In the above prior art, the welding robot itself is attached to a turnable arm, and a work is placed along a turning path within a turning range, the work placement reference is unclear, and the work placement operation is complicated. There was also the problem of becoming.

  For such problems, it is conceivable to use an automatic welding apparatus in which a welding robot is attached to the ceiling. FIG. 16 is a front view of an automatic welding apparatus in which a welding robot is attached to the ceiling. In FIG. 16, a vertical support 87 is mounted on the top of a Y-axis direction robot moving device 81 provided on the floor, and an X-axis direction robot moving device 82 is provided horizontally on the upper end of this support 87. Yes. A welding robot 83 is fixed downward on the X-axis direction robot moving device 82, and a welding torch 86 is provided at the tip of the arm 83 a of the welding robot 83. A work placing table 85 is disposed on the lower floor surface of the welding robot 83, and a work 84 having a level difference is placed on the work placing table 85.

  According to such a ceiling traveling welding robot apparatus, since the X-direction robot moving apparatus 82 is provided on the ceiling portion, it is far from the support column 87 without straddling the upper diaphragm 88 of the work 84 to be welded. Stepped joints can be welded.

  However, since the level difference part exists corresponding to each of the four sides of the diaphragm 88, if all of these are to be welded well, a moving device not only in the X axis direction but also in the Y axis direction is provided on the ceiling. Therefore, there is a problem that the entire system becomes larger or complicated, and the operation becomes complicated. In addition, when not only the welding robot 83 but also the entire system is provided with a moving device in the X-axis direction and the Y-axis direction, a large installation space is required.

That is, when welding steel column welds with step joint welds using an articulated welding robot according to the prior art, all step joint welds are welded well with a good robot posture. an attempt, requires new external moving device to compensate for operation of the welding robot, the whole system with the increase of the mobile device becomes large, there is a problem that the operation becomes complicated.

In view of such problems, the present invention can satisfactorily weld all the welded parts within the effective operation range of the torch without increasing the external movement device of the welding robot, and can easily position the workpiece. and to provide a welding method according to the automatic welding apparatus can be reduced workpiece installation space.

A welding method using an automatic welding apparatus according to the present invention includes a welding robot main body, an articulated arm provided on the welding robot main body, and a tip of the arm that is inclined with respect to the central axis of the arm. In a welding method by an automatic welding apparatus that uses a welding robot having a torch, moves the welding robot body only in one direction by a moving device, and operates the arm to weld a welding line of a workpiece.
The direction from the base end of the arm toward the workpiece when the welding robot body moves to a position corresponding to the workpiece to be welded is moved in the direction of movement of the welding robot body. The welding lines of the workpieces are arranged so as to be inclined at the same angle between the workpieces with respect to the direction from the base end portion of the arm toward the workpieces, and the plural The workpieces are arranged in a zigzag pattern along the moving direction of the welding robot, and the workpieces adjacent to each other are arranged such that a part of each workpiece is aligned in the direction from the base end portion of the arm to the workpiece. And
The positioning of the workpiece is performed at a predetermined welding work position of the workpiece with respect to a restraining member having a surface inclined from the welding robot body toward the welding work position of the workpiece and a surface orthogonal to the surface. By moving the workpiece in a direction from the welding robot main body toward the restraining member and contacting the restraining member,
The welding line of the workpiece is welded without causing the torch to interfere with the step of the workpiece by using the bending at the joint portion of the arm and the inclination angle of the torch with respect to the central axis of the arm.

Moreover, in the welding method according to an automatic welding device according to the present invention, the tilt angle is not preferable to be 45 degrees.

According to the welding method according to the automatic welding apparatus according to the present invention, the workpiece, by welding line of the workpiece are arranged so as to be inclined with respect to a direction toward the workpiece from the proximal end of the arm of the welding robot, welding If the part is within the effective operating range of the welding torch, a good welding posture can be secured and good welding can be achieved even in a welded part far from the welding robot.

According to the welding method by the automatic welding apparatus of the present invention, the workpiece is positioned at a predetermined welding operation position of the workpiece and inclined with respect to a direction from the welding robot body toward the workpiece welding operation position. And the restraint member having a surface orthogonal to this surface, the workpiece is moved in the direction from the welding robot body toward the restraint member and brought into contact with the restraint member. Even if the shaft slightly deviates from the center axis of the workpiece welding work position, the workpiece slides and moves to the workpiece welding work position after contacting the restraining member, so the workpiece position is uniquely determined and easily Can be positioned.

Further, according to the welding method by the automatic welding apparatus according to claim 2 of the present application, since the inclination angle is set to 45 degrees, the workpiece is arranged with reference to the coordinate axis in which the X-axis direction and the Y-axis direction on the workpiece table are orthogonal. Therefore, the workpiece can be positioned more easily.

  Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings.

  The inventor found that the reason why the stepped joint at the position farthest from the welding robot in the prior art cannot be satisfactorily welded is that the welding line of the workpiece is in the direction from the base end of the arm of the welding robot toward the workpiece. As a result of diligent research, the workpiece was placed so that the welding line of the workpiece was inclined with respect to the direction from the base end of the welding robot arm toward the workpiece. By arranging it within the effective operating range of the welding torch, it is possible to ensure a good torch posture and ensure a good torch posture even at a stepped part far away without increasing the external movement axis of the welding robot. The inventors have found that it is possible to perform mouth welding, and reached the present invention.

  FIG. 1 is a side view of an automatic welding apparatus applied to the first embodiment of the present invention, and FIG. 2 is a plan view of FIG.

  1 and 2, the welding apparatus is movable in the length direction (Y direction) of the welder beam 11, and the external movement direction is a unidirectional welding apparatus.

  In FIG. 1, a long welding machine beam 11 is disposed on a floor surface 10. A base 12 is mounted on the welder beam 11 so as to be horizontally movable, and a vertical beam 13 extending in the vertical direction is provided on the base 12.

  A horizontal beam 14 extending horizontally in a direction perpendicular to the vertical beam 13 is attached to an upper end portion of the vertical beam 13. A welding robot 16 is provided at the tip of the horizontal beam 14 via a support 15, and a welding torch 17 is attached to the tip of the welding robot 16. A deck 13a having a predetermined plane is fixed to the vertical beam 13 at an intermediate portion in the height direction, and the operator can monitor the welding state of the workpiece from the deck 13a.

  In FIG. 2, a vertical beam 13 is mounted on a long welder beam 11 disposed horizontally on a floor surface 10 through a base 12 so as to be horizontally movable. A horizontal beam 14 extending horizontally is attached to an upper end portion of the vertical beam 13. A welding robot 16 is provided at the tip of the horizontal beam 14 via a support 15, and a welding torch 17 is attached to the tip of the welding robot 16.

  A work table 19 is disposed on the floor 10 in parallel with the welder beam 11. The effective movement range 18 of the welding torch 17 substantially overlaps the upper surface of the work table 19, and the workpieces 20 and 21 having the same shape as the workpieces are arranged in two rows within the effective movement range 18 of the welding torch 17. Has been.

  As shown in FIG. 3, for example, the workpiece 20 is positioned on a stopper 8 as a restraining member fixed at a predetermined workpiece welding position on a workpiece table (not shown). Is moved in a direction from the welding robot body toward the stopper 8 and brought into contact with the stopper 8.

  FIG. 3 is a diagram showing the positional relationship between the welding robot and the workpiece during welding in FIG. In FIG. 3, the workpiece 20 is arranged such that the welding lines 20 a to 20 d are inclined at a predetermined angle with respect to the line 4 from the proximal end portion of the arm 16 a toward the workpiece 20. The stopper 8 has a plane that restrains the movement of the workpiece 20 in the direction from the welding robot body of the workpiece table (not shown) toward the welding work position of the workpiece and in the direction orthogonal thereto, for example, to receive the workpiece 20. It has a square shape on the plan view so as to have a corner.

  As long as the corners in the square shape on the plan view of the stopper 8 can restrain the movement of the work to be arranged, even if the corners are arranged in an orientation that opens to the welding robot body, You may arrange | position in the direction opened to the anti-welding robot main body side.

  By using the square stopper 8 on the plan view, even when the center axis of the workpiece is slightly shifted from the center axis of the workpiece placement position, the workpiece contacts the stopper 8 and slides to weld the workpiece. Since it moves to the work position, the work position is uniquely determined and can be easily positioned.

  In FIG. 2, the workpiece 20 is a joint having a stepped joint welding portion, and the workpiece 20 is located at a position where the direction from the base end portion of the arm to the workpiece intersects the moving direction of the welding robot body. The welding lines 20a to 20d of the workpiece 20 are arranged so as to be inclined at a predetermined angle, for example, about 45 degrees with respect to the direction from the base end portion of the arm toward the workpiece.

  FIG. 4 is an enlarged view showing a welding torch 17 at the tip of the welding robot 16 of FIG. In FIG. 4, the length of the torch portion of the welding torch 17 is 600 mm, for example, and the tip portion of the torch 17 is attached so as to be inclined, for example, 35 degrees with respect to the central axis of the arm 16 a of the welding robot 16. By being inclined and fixed in this manner, it is possible to effectively avoid interference with the diaphragm at the time of welding of the stepped joint and ensure a good welding posture.

  Hereinafter, the first embodiment of the present invention will be described while explaining the operation of the automatic welding apparatus having such a configuration.

  When starting welding, first, the workpieces 20, 21 and the like are arranged so that their welding lines are inclined at, for example, 45 degrees with respect to the direction from the base end portion of the arm of the welding robot 16 toward the workpiece. At this time, the workpiece is positioned by bringing it into contact with the stopper as described above using a stopper (see FIG. 3) fixed in advance to a predetermined welding work position on the workpiece table 19. That is, the workpieces are positioned by abutting so that the corners of the lower diaphragms of the workpieces are fitted into openings in a square shape on the plan view of the stopper disposed at the welding work position (see FIG. 3).

  Next, the welding robot 16 is moved, for example, from the left end of the welding machine beam 11 in FIG. 2 which is the initial state position to a diagonal position in the vertical direction in the figure of the upper diaphragm of the work 20 which is the work to be welded. As a result, the positional relationship between the welding robot 16 and the workpiece 20 is as shown in FIG. The welding robot 16 is moved by a driving device (not shown).

  At this time, the welding lines 20a to 20d, which are step welds of the workpiece 20, exist within the effective operation range 18 of the welding torch 17, and the articulated portion of the arm 16a of the welding robot 16 and the welding arm 16a of the welding torch 17 are. As shown in FIG. 5, by utilizing the inclination angle with respect to the central axis of the plate, it is possible to avoid interference with the diaphragm and ensure a good welding posture with respect to all the stepped joints, thereby performing good welding. .

FIG. 5 is an explanatory view showing a method of welding the welding line 20c by the welding robot 16 of FIG. 2, wherein FIG. 5 (a) is a perspective view, FIG. 5 (b) is a plan view, and FIG. 5 (c). Is a front view. 5 (a) and 5 (b), the welding line 20c is within the effective operating range 18 of the welding torch 17, and the welding torch 17 uses the expansion / contraction function of the arm 16a, the inclination angle of the tip of the torch 17, and the like. The full length of the weld line 20c can be reached. At this time, direct interference with parallel sides 6c to weld line 20c of the diaphragm 6 and the welding torch 17 tip not. That is, by arranging the workpiece so that the welding line is inclined with respect to the direction from the base end portion of the arm toward the workpiece, the robot arm is in a positional relationship that does not cover the workpiece. Therefore , as shown in FIG. 5C , the welding torch 17 can ensure a good welding posture with respect to all the welding lines 20c, and thereby can perform good joint welding.

  For the welding line 20d, the welding torch 17 is moved to a position that is line symmetric with respect to the welding line 20c and the line 4 (see FIG. 3) from the base end of the arm toward the workpiece, and similarly a good welding posture. It is possible to ensure good welding.

As for the welding line 20a, the welding torch 17 is moved in a direction closer to the main body of the welding robot 16 as compared with the case of welding the welding lines 20c and 20d, and a good welding posture is ensured over the entire line by adjusting the torch angle. good welding positions by can be, also for the welding line 20b is to adjust the welding torch angle so as to be a line symmetric to the line 4 toward the workpiece from the proximal end of the case and the arm welding a weld line 20a Therefore, it is possible to perform good joint welding.

  After step joint welding is completed on the workpiece 20, the welding robot 16 is moved along the Y-axis direction to a position corresponding to the workpiece 21, for example, a workpiece adjacent to the workpiece 20, and the workpiece 21 and the welding robot 16 are moved. And the step welded portion of the workpiece 21 are welded in the same manner as the joint welding of the workpiece 20. Thereafter, step joint welding is performed on adjacent workpieces in the same manner.

  According to the present embodiment, the work 20 and the like are arranged such that the welding line is inclined with respect to the direction from the base end of the arm of the welding robot 16 toward the work, so the multi-joint function of the arm 16a of the welding robot 16 Further, by utilizing the inclination angle of the welding torch 17 with respect to the central axis of the arm 16a, it is good for all stepped welds within the effective operating range of the torch without causing interference between the diaphragm and the welding torch. A good welding posture can be secured and welding can be performed satisfactorily. Therefore, it is not necessary to increase the external movement axis of the welding robot only for welding a step joint far from the welding robot 16. In addition, the system can be prevented from becoming complicated and large by increasing the number of external movement axes, the entire apparatus can be made compact, and operability can be improved.

  In addition, according to the present embodiment, the necessity of the work is required as compared with the conventional technique in which the work welding line is arranged so as to be horizontal or perpendicular to the direction from the base end of the arm of the welding robot toward the work. The arrangement area can be reduced.

  FIG. 6 is a diagram showing the required placement area of the workpiece in this embodiment in comparison with the required placement area of the workpiece in the prior art. In FIG. 6, the length (La) of the area necessary for arranging eight works of the same size in this embodiment is 15283 mm, which is almost the same as (Lb) 15250 mm in the case of the prior art, but is necessary. The width (Wa) is 3033 mm, which is about 970 mm shorter than the required width (Wb) of 4000 mm in the prior art, and the required arrangement area can be reduced by about 24%.

  Furthermore, according to the present embodiment, when creating an operation program for a welding robot, positioning in the direction from the base end of the arm of the welding robot, which has been performed in the prior art, to the workpiece, and then in a direction perpendicular thereto A two-step positioning operation of positioning is not required, and can be handled only by positioning in the direction from the base end of the arm of the welding robot toward the workpiece. Therefore, the operation program can be easily and accurately created.

Figure 7 is an explanatory diagram showing a work placement method in an automatic welding apparatus according to a second embodiment of the present invention, it is a view to view a modification of the first embodiment.

7, such as a work 24, 25 is a mouth specification shape is different from the workpiece in the first embodiment, although the upper and lower or left and right are not in universal pairs, for example, the workpiece 24 is stepped Joint welds 24a and The welding lines 24a and 24b are arranged so as to be inclined at about 45 degrees with respect to the direction from the base end of the arm of the welding robot 16 toward the workpiece.

  When the step joint welding is started with respect to the workpiece arranged in this way, first, the welding robot 16 is moved to a position corresponding to the workpiece 24 to be welded, for example. Thereby, the positional relationship between the welding robot 16 and the workpiece 24 is as shown in FIG.

  FIG. 8 is a diagram showing a positional relationship between the welding robot 16 and the workpiece 24 in the present embodiment. In FIG. 8, the level difference welds 24a and 24b of the workpiece 24 are all within the effective operating range 18 of the welding torch 17, and each weld line is inclined with respect to the direction from the base end of the arm toward the workpiece. Has been placed.

  Therefore, in the present embodiment, the welding torch 17 of the welding robot 16 secures an appropriate posture with respect to the weld lines of all the welded portions by utilizing the expansion / contraction function of the arm 16a and the inclination angle of the distal end portion, and the appropriate level difference. Joint welding can be performed.

  FIG. 9 is an explanatory view showing a work placement method in the automatic welding apparatus according to the third embodiment of the present invention, and is a view showing another modified example of the first embodiment.

  In FIG. 9, the shapes of the workpieces 26 and 27 are not all the same, but include workpieces having different shapes. Even when workpieces having different shapes are mixed, the weld lines of the workpieces are all within the effective operation range 18 of the welding torch 17, and the weld lines, for example, the weld lines 26a, 26b, 26c of the workpiece 26, and the workpieces. Since the 27 welding lines 27a, 27b, 27c, and 27d are arranged so as to be inclined with respect to the direction from the base end portion of the arm of the welding robot 16 toward the workpiece, the welding torch 17 has the expansion and contraction function of the arm 16a. By using the inclination angle of the tip, etc., it is possible to ensure an appropriate posture with respect to the weld lines of all the welds and perform appropriate step joint welding.

In the fixed type welding robot that does not move the welding robot body, as shown in FIG. 10, the two workpieces 34 and 35 with respect to the direction line 4 from the base end portion of the arm 33 a of the welding robot 33 toward the workpiece. There may be arranged so that the line symmetry. FIG. 10 is a diagram illustrating an example of a work placement method for a fixed welding robot. 10, the workpiece 34 and 35 are disposed so that a line symmetrical with respect to the direction line 4 toward the workpiece from the proximal end of the arm. By arranging the workpieces in this way, the effective operating range of the torch can be effectively utilized. Such work placement is effective in a factory where the length of the work arrangement direction cannot be sufficiently taken.

  In each embodiment of the present invention, the angle at which the welding line of the workpiece is inclined with respect to the direction from the base end portion of the arm of the welding robot toward the workpiece has been described as 45 degrees. It is not limited and may be other than 45 degrees as long as the intended purpose can be achieved.

In the automatic welding apparatus of the present invention, it is possible to ensure a good welding posture and perform good welding for all the welding lines within the effective operation range of the torch without increasing the external movement axis of the welding robot. This welding method is particularly useful in the field of automatic welding by a welding robot.

It is a figure which shows the welding apparatus applied to 1st Embodiment of this invention. It is a top view which shows the positional relationship of the welding robot and workpiece | work in FIG. It is a figure which shows the positional relationship of the workpiece | work and welding robot in 1st Embodiment of this invention. It is an enlarged view which shows the welding torch of FIG. It is a figure which shows the welding method of the level | step difference joint welding part in 1st Embodiment. It is a figure which shows the required arrangement | positioning area of the workpiece | work in 1st Embodiment compared with a prior art. It is a top view which shows the positional relationship of the welding robot and workpiece | work in 2nd Embodiment. It is a schematic diagram which shows the positional relationship of the welding robot and workpiece | work in 2nd Embodiment. It is a top view which shows the positional relationship of the welding robot and workpiece | work in 3rd Embodiment. It is a schematic diagram which shows the positional relationship of the welding robot and workpiece | work in a fixed type welding robot. It is a side view which shows the steel column which has a joint weld part. It is a top view of Fig.11 (a). It is explanatory drawing which shows a prior art. It is explanatory drawing which shows the problem of a prior art. It is explanatory drawing which shows another prior art. It is explanatory drawing which shows another prior art.

Explanation of symbols

4: Line from base end of arm to work 6: Diaphragm 6c: Side of diaphragm 8: Stopper 10: Floor 11: Welding machine beam 12: Base 13: Vertical beam 13a: Deck 14: Horizontal beam 15: Support Body 16: Welding robot 16a: Arm 17: Welding torch 18: Effective movement range of welding torch 19: Work table 20: Work pieces 20a to 20d: Step joint welding line 21: Work piece 23: Indicates the movement direction in the Y-axis direction. Arrow 24: Workpieces 24a to 24c: Step joint welding line 25: Work 26: Work pieces 26a to 26c: Step joint welding line 27: Work pieces 27a to 27d: Step joint welding line 33: Welding robot 33a: Arm 34: Work piece 34a to 34d: Step joint welding line 35: Work 35a to 35d: Step joint welding line 41: Column 42: Diaphragm 43: Column A: Beam member 45: Beam flange 46: Web material 47: Back metal 51: Column 52: Diaphragm 53: Column core 54: Beam member 55: Beam flange 56: Web material 57: Column 58: Diaphragm 59: Back Gold 61: Column 62: Diaphragm 63: Column core 64: Beam member 65: Beam flange 66: Web material 67: Back metal 71: Y-axis direction robot moving device 72: X-axis direction robot moving device 73: Welding robot 73a: Arm 74: Work piece 74a to 74d: Step joint welding line 75: Work table 76: Welding torch 77: Diaphragm 78: Line from base part to base end part of arm 79: Effective operating range of welding torch 81: Y-axis direction Robot moving device 82: X-axis direction robot moving device 83: Welding robot 83a: Arm 84: Work piece 85: Work place table 86 Welding torch 87: strut 88: Diaphragm 101: base struts 102: floor 104: elevation member 111: pivot beams 112: Welding Torch 113: welding robots

Claims (2)

Using a welding robot having a welding robot body, an articulated arm provided in the welding robot body, and a torch provided at the tip of the arm with an inclination with respect to the central axis of the arm, In a welding method by an automatic welding apparatus in which the welding robot body is moved only in one direction by a moving device and the arm is operated to weld a welding line of a workpiece,
The direction from the base end of the arm toward the workpiece when the welding robot body moves to a position corresponding to the workpiece to be welded is moved in the direction of movement of the welding robot body. The welding lines of the workpieces are arranged so as to be inclined at the same angle between the workpieces with respect to the direction from the base end portion of the arm toward the workpieces, and the plural The workpieces are arranged in a zigzag pattern along the moving direction of the welding robot, and the workpieces adjacent to each other are arranged such that a part of each workpiece is aligned in the direction from the base end portion of the arm to the workpiece. And
The positioning of the workpiece is performed at a predetermined welding work position of the workpiece with respect to a restraining member having a surface inclined from the welding robot body toward the welding work position of the workpiece and a surface orthogonal to the surface. By moving the workpiece in a direction from the welding robot main body toward the restraining member and contacting the restraining member,
Automatic welding of the welding line of the workpiece without bending the step of the workpiece using the bending of the joint portion of the arm and the inclination angle of the torch with respect to the central axis of the arm. A welding method using a welding apparatus. The welding method by the automatic welding apparatus according to claim 1 , wherein an angle at which the welding line of the workpiece is inclined with respect to a direction from the base end portion of the arm toward the workpiece is 45 degrees.

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