JP5622776B2 - Welding method - Google Patents

Description

  The present invention relates to a welding method for welding a member to be welded by a welding robot without human intervention.

  In general, many welding apparatuses have been proposed which automatically weld a member to be welded by a welding robot without depending on a person. And the welding apparatus which welds automatically, for example, when welding reinforcement members, such as a U rib or a U trough, as a member to be welded to a flat panel member, the frame which installed a welding robot moves on a rail. The structure which welds by is proposed. As an example of the above-described welding apparatus, a gate-shaped support frame formed in a gate shape is moved along the left and right rails, and a member to be welded mounted on a mounting table disposed inside the gate-shaped support frame is used. And what is welded by the 1st welding robot and the 2nd welding robot installed in the portal support frame is known (for example, refer to patent documents 1 and 2).

  This welding apparatus places a member to be welded on which a reinforcing member such as a U-rib to be welded is temporarily attached to a panel member, and places the welding torch of the first welding robot and the second welding robot on the member to be welded. Welding is carried out while moving the gate-shaped support frame along the rail in a state of being placed facing each other. Then, when the welding of one reinforcing member is finished, the welding apparatus moves and arranges the first welding robot and the second welding robot to the welding location of the adjacent reinforcing member, and forms a portal support frame along the rail. Welding is performed by moving The welding apparatus repeats the above-described operation to perform welding work for one member to be welded by welding the welding portions of all the reinforcing members.

Japanese Patent Laid-Open No. 11-031009 Japanese Patent Application Laid-Open No. 07-284932

However, the above-described conventional welding method of the welding apparatus has the following problems.
In the welding method of the welding apparatus described in Patent Documents 1 and 2, a portion to be welded of a member to be welded is welded by a plurality of welding robots depending on the moving direction of the portal support frame that moves the rail. The welding operation of the plurality of welding robots is limited by the moving direction of the support frame. That is, in the welding method of the conventional welding apparatus, when two welding robots are installed on the gate-shaped support frame, two welding robots are used for a pair of welding points where a reinforcing member is welded to the panel member. However, when performing welding work at the same time, there is no waste in work efficiency. However, in the welding apparatus, the first welding robot and the second welding robot are the same when the number of welded portions of the reinforcing member of the member to be welded is not an integral multiple of the number of welding robots constituting the system. Since the welding operation is performed by moving in the direction, one of the two devices operates without performing the welding operation, and waste occurs.

  That is, in the welding method of the conventional welding apparatus, for example, when five U-ribs are welded to the panel in parallel, the mounting table is tilted and the right-side longitudinal direction of the first U-rib from the left of the tilted panel is set. In some cases, one welding robot performs a welding operation along the other, and at the same time, the other welding robot performs a welding operation along the right longitudinal direction of the fifth U-rib from the left. At this time, in the conventional welding method, the welding operation can be performed up to the second and fourth U-ribs at the same time, but the number of welding robots does not correspond to the welding points. One of the welding robots is in a state where the welding operation cannot be performed. That is, in the conventional welding apparatus, the portal support frame reciprocates on the rail, and the welding robot performs the welding operation along with the movement, so the number of welding points is not an integral multiple of the number of welding robots. In the case of the number, when one welding robot is performing a welding operation, the other welding robot has no object to perform the welding operation. In particular, in the welding apparatus, when the dimension of the member to be welded is large in units of several meters, the useless state of the welding robot having no welding target increases.

  The present invention has been devised in view of the above-described problems, and provides a welding method that can reduce the waste of welding work of a welding robot regardless of the number of welding locations relative to the number of welding robots constituting the system. The issue is to provide.

In order to solve the above problems, the welding method according to the present invention has the following procedure. That is, the welding method of the present invention, during the first running rail and the second running rail installed parallel, the member being welded in series form the basis of the evacuation area which is divided as an area that does not place a workpiece to be welded A plurality of positioner areas divided as areas to be arranged are set, a member to be welded is disposed for each positioner area, and a first traveling housing that travels on the first traveling rail that is controlled to operate independently A welding method in which a welding site in charge of the welded member in which a plurality of welding locations are arranged in parallel is set and welded by a welding robot mounted on the welding rail and a welding robot mounted on the second traveling chassis traveling on the second traveling rail. in the retracted to the welding robot of the first traveling precursor, a welding robot of the second traveling precursor is located at the beginning of the welding operation Move from the rear to a preset responsible welding location of each of the preset members to be welded, move to the evacuation area after completing the work separation and welding work, and the movement moved by the moving process A welding step of welding welding locations of the welding robot of the first traveling chassis and the welding robot of the second traveling chassis along a welding line; the welding robot of the first traveling chassis; and the second traveling It is determined by the control means for controlling the first traveling housing and the second traveling housing in synchronization with a signal from a sensor set at a predetermined location whether or not the respective welding locations with the welding robot of the housing are completed. The determination step is repeated until the welded portions of the plurality of members to be welded are welded, and the moving step is performed in the determination step in the first traveling housing. When it is determined that the welding of the welding site in charge of the welding robot has been completed, the welding robot of the first traveling housing is moved to the preset welding location of the next member to be welded, and welding has not been completed. When the determination is made, the welding robot of the first traveling housing is moved to the welding location in charge where welding has not ended, and the welding of the welding location of the welding robot of the second traveling housing is completed in the determination step. If it is determined that the welding robot of the second traveling chassis is moved to a preset welding position of the next member to be welded, and if it is determined that welding has not been completed, the second traveling chassis The welding robot was moved to the relevant welding location where welding was not completed .

  By this procedure, the welding method of the present invention moves the welding robot of the first traveling chassis to a preset assigned welding location of a preset member to be welded and moves the second traveling chassis by the moving step. The welding robot is moved to a preset welding position of a preset member to be welded. And the welding method of this invention welds each welding location of the welding robot of the said 1st traveling housing and the welding robot of the said 2nd traveling housing moved by the moving process along a welding line by a welding process. . In addition, in the welding method of this invention, it is more preferable to perform the sensing process which performs a sensing operation | work before implementation of a welding process. Further, in the welding method, it is determined by the control means whether or not the respective welding locations of the welding robot of the first traveling chassis and the welding robot of the second traveling chassis are completed in the determination step. And in the welding method of this invention, the said movement process, a welding process, and a determination process are repeatedly performed until all the welding locations of the some to-be-welded member arrange | positioned are welded. Furthermore, in the welding method of the present invention, when it is determined in the determination step that the welding of the welding location in charge of the welding robot of the first traveling chassis is completed in the determination process, the welding robot of the first traveling chassis is removed. When it is determined that welding has not been completed, the welding robot of the first traveling housing is moved to the corresponding welding location where welding has not been completed. I am letting. In the welding method of the present invention, when it is determined in the determination step that the welding of the welding spot in charge of the welding robot of the second traveling chassis is completed, the welding robot of the second traveling chassis is moved. When it is determined that welding has not been completed, the welding robot of the second traveling housing is moved to the corresponding welding location where welding has not been completed. I am letting.

  Further, in the welding method according to the present invention, the member to be welded is rotated to incline a placement surface on which the member to be welded is placed in a direction orthogonal to the first traveling rail or the second traveling rail. It is fixed to a mounting table provided with a portion, and is disposed between the first traveling rail and the second traveling rail, and the welding step includes inclining the mounting surface by a predetermined angle by the rotating portion and then moving the first traveling rail. You may make it weld the welding location in charge of each to-be-welded member with the welding robot of a traveling housing, and the welding robot of the said 2nd traveling housing.

  With this procedure, in the welding method of the present invention, the welding surface is inclined by the rotating portion of the mounting table, the member to be welded is tilted, and the welded portion is tilted in the state where the member to be welded is tilted. The welding robot and the welding robot of the second traveling housing can be used for welding. In the welding method of the present invention, for example, when the first mounting table and the second mounting table are installed between the first traveling rail and the second traveling rail, the welded member of the first mounting table One of the welding robot of the first traveling housing and the welding robot of the second traveling housing that has finished the welding operation of the welding location, and the welding robot of the first traveling housing performing the welding operation of the welding location of the welded member of the second mounting table. And the other of the welding robots of the second traveling housing can be operated independently.

  Further, in the welding method according to the present invention, the welding locations in charge of the welding robot of the first traveling housing and the welding robot of the second traveling housing are respectively set to the same welded member. Alternatively, the welding robot of the first traveling chassis and the welding robot of the second traveling chassis may be set to members to be welded that are in charge of the welding locations in charge in the first place.

  According to such a procedure, the welding method of the present invention is independently moved and welded to the welded portion of the welded member in charge of the welding robot of the first traveling chassis and the welding robot of the second traveling chassis, Since determination etc. can be performed, the freedom degree of the setting of a welding operation becomes a high thing.

  In the welding method, the welding location of one member to be welded may be other than the same number as the total number of the welding robots of the first traveling chassis and the welding robot of the second traveling chassis. Even when the number is a number other than an integer multiple, or even when the number is the same as an integer multiple, the welding operation can be performed efficiently.

The welding method according to the present invention has the following excellent effects.
In the welding method according to the present invention, the first traveling chassis in which the welding robot is installed moves along the first traveling rail in the moving process, and the second traveling chassis in which the welding robot is installed moves along the second traveling rail. However, each of them independently performs the welding work in the welding process, and it is determined whether or not to move to the welding position in charge of the next welded member by the determination process, regardless of the number of welding parts of the welded member. Welding work can be performed efficiently.

  The welding method according to the present invention can be welded in a state where the member to be welded is inclined by inclining the mounting surface by the rotating portion of the mounting table, and the welding posture of various members to be welded is changed. Welding work can be performed.

  In the welding method according to the present invention, the welding robot of the first traveling chassis and the welding robot of the second traveling chassis perform welding work independently on a plurality of members to be welded. It can be set and the degree of freedom in setting welding work is high.

It is a perspective view showing typically the whole welding apparatus used as an example with the welding method concerning the present invention. It is a front view which shows typically the traveling cart of the welding apparatus used as an example with the welding method which concerns on this invention. It is a front view showing typically the whole welding device used as an example with the welding method concerning the present invention. It is the front view of the state where the whole welding apparatus used as an example with the welding method concerning the present invention was shown typically, and the mounting base was inclined. It is a top view which omits and partially shows the welding apparatus used as an example by the welding method which concerns on this invention. It is a side view which shows typically the state which changed the position of the up-down direction of the traversing / lifting frame of the welding apparatus used as an example by the welding method which concerns on this invention. FIG. 4 is an enlarged side view schematically showing a positional relationship between a transverse beam and a traversing / elevating frame of a welding apparatus used as an example in the welding method according to the present invention with a part omitted. It is a schematic diagram which shows typically the drive mechanism of the raising / lowering direction (Z direction) and the beam longitudinal direction (Y direction) of a traversing / lifting frame of the welding apparatus used as an example by the welding method which concerns on this invention. It is a block diagram which shows typically the control means of the welding apparatus used as an example with the welding method which concerns on this invention. It is a flowchart figure which shows the procedure of the welding method which concerns on this invention. It is a flowchart figure which shows the procedure which welds a to-be-welded member in the state which synchronized in the welding method which concerns on this invention. (A)-(d) is a schematic diagram which shows typically the state of the welding apparatus shown to the procedure of the welding method which concerns on this invention. (A)-(d) is a schematic diagram which shows typically the state of the welding apparatus shown to the procedure of the welding method which concerns on this invention. (A)-(h) is a schematic diagram which shows the order which welds each other about the welding method which concerns on this invention. (A)-(d) is a schematic diagram which shows the order to weld when the welding location is an integral multiple of the number of welding robots about the welding method which concerns on this invention.

Hereinafter, a welding apparatus and a welding method according to the present invention will be described with reference to the drawings.
First, as shown in FIGS. 1 and 3, the welding apparatus 1 includes a first traveling rail 1 </ b> L, a second traveling rail 2 </ b> L, a first traveling chassis 10, a second traveling chassis 20, and a plurality of mounting tables 50. The first mounting table 50A and the second mounting table 50B are provided. In the welding apparatus 1, the first traveling chassis 10 on which the one-side welding robot A30 is mounted travels on the first traveling rail 1L, and the second traveling chassis 20 on which the other-side welding robot B30 is mounted is the second traveling rail. 2L, and to-be-welded members (workpieces) W (W1, W2) mounted on the first mounting table 50A and the second mounting table 50B installed between the first traveling rail 1L and the second traveling rail 2L. It is configured to weld.

  In the welding apparatus 1, the first traveling housing 10 includes a first lateral traversing / elevating frame 15 and a first second traversing / elevating frame 14 on the first lateral beam 13, and the first lateral welding robot Ao 30 and The second traveling robot 20 is equipped with the second transverse beam 23 on the second transverse beam 23 and the second transverse / elevating frame 25 on the other side and the second transverse / elevating frame 24 on the other side. A configuration in which the first welding robot Bo30 and the other side second welding robot Bi30 are mounted and provided will be described.

  As shown in FIGS. 1 and 2, the first traveling rail 1L and the second traveling rail 2L move the first traveling chassis 10 and the second traveling chassis 20 along the rails, respectively. Here, the first traveling rail 1L and the second traveling rail 2L are installed so as to be symmetrical with the same configuration. The first traveling rail 1L includes two rails 1La and 1Lb arranged in parallel. Similarly, the second traveling rail 2L includes two rails 2La and 2Lb arranged in parallel.

  As shown in FIGS. 1 and 2, the rails 1La, 1Lb, 2La, and 2Lb are general ones and are installed at a predetermined length by a metal member formed in an “D” shape. The rails 1La and 1Lb and the rails 2La and 2Lb are provided so as to be parallel to each other at a predetermined interval. In addition, rail 1La, 1Lb and rail 2La, 2Lb are provided in the installation surface through the base rail of H-type steel material so that it may become predetermined height, respectively. The rails 1Lb and 2Lb are provided along the longitudinal direction with the racks 1Ld (see FIG. 2) and 2Ld facing the side surfaces, respectively.

  As shown in FIGS. 1, 3, and 4, the first traveling chassis 10 and the second traveling chassis 20 are moved along the first traveling rail 1 </ b> L and the second traveling rail 2 </ b> L while the first mounting table 50 </ b> A and the second traveling chassis 20 </ b> A are moved. 2 The workpiece W placed on the placing table 50B is welded. Since the first traveling chassis 10 and the second traveling chassis 20 are arranged and used so as to face each other, the first traveling chassis 10 will be mainly described here.

  As shown in FIGS. 1 and 2, the first traveling chassis 10 includes a traveling carriage 11 for traveling on the first traveling rail 1 </ b> L, a first column body 12 provided on the traveling carriage 11, A first horizontal beam 13 provided on the top of one columnar body, and a one-side welding robot A30 (see FIG. 3) provided at a position facing each other across the first horizontal beam 13 are provided. Here, the first traveling housing 10 includes a one-side first welding robot Ao30 and a one-side second welding robot Ai30 as the one-side welding robot A30. The one-side first welding robot Ao30 includes a one-side robot arm A31 and one-side welding torch 32 (see FIG. 4), and the one-side second welding robot Ai30 includes one-side robot arm A31 and one-side welding. A torch 32 (see FIG. 4) is provided.

As shown in FIG. 2, the traveling carriage 11 includes a traveling carriage body 11 a that supports the first pillar body 12, and traveling wheels 11 b that are provided at positions that run on the rails 1 La and 1 Lb below the traveling carriage body 11 a. 11b, a traveling motor 11c provided at a position protruding from the side surface of the traveling carriage main body 11a, and a pinion 11d provided on the traveling motor 11c and installed to mesh with the rack 1Ld of the first traveling rail 1L. ing.
The traveling carriage 11 is provided with a tipping prevention means 11f formed along a step portion on the side surface of the rail 1La at a position on the front side or the rear side or the front side and the rear side with respect to the traveling direction of the traveling wheels 11b and 11b. A side roller 11g that moves along the side surface of the rail 1Lb is installed here.
The traveling carriage main body 11a supports the first column 12 and has a weight that can be held when the traversing / elevating frame moves on the transverse beam described later.

The traveling wheel 11b is rotatably supported by a shaft provided on a support member installed toward the lower side of the traveling carriage main body 11a, and is disposed at four positions on the rail 1La and the rail 1Lb, at least two positions on the front and rear. Yes.
The travel motor 11c rotates a pinion 11d that meshes with a rack 1Ld provided on the rail 1Lb side via a speed reduction mechanism. This traveling motor 11c is a drive source for moving and traveling the traveling carriage 11 here.
The fall prevention means 11f is provided so as to protrude downward from the traveling carriage main body 11a and is disposed so as to engage with a step portion shown by a cross section of the rail 1La, and prevents the running carriage 11 from overturning. Since the fall prevention means 11f moves along the rail 1La, it functions to prevent the first traveling chassis from falling even if a shake occurs due to an earthquake or the like. In addition, it is preferable that the fall prevention means 11f is provided on at least the rail outside the both rails 1La and 1Lb, or on both rails.

  Since the traveling carriage 11 is configured as described above, by controlling the rotation direction and the number of rotations of the traveling motor 11c, the pinion 11d is rotated along the rack 1Ld via the speed reduction mechanism, and the traveling wheels 11b, 11b can move (run) along the rails 1La and 1Lb.

  As shown in FIGS. 1 to 4, the first pillar body 12 is supported by the traveling carriage 11 and installed vertically to hold the first transverse beam 13. The first pillar body 12 has a first side welding robot Ao30 which will be described later with respect to the height of the first mounting table 50A and the second mounting table 50B of the workpiece W (including the height when the workpiece W is tilted). The height is set so that the one side second welding robot Ai30, the other side first welding robot Bo30, and the other side second welding robot Bi30 can be easily operated. As an example, the 1st pillar 12 is set to the height of 6m-7m here. In addition, it is preferable that the ladder is installed in the 1st pillar body 12 the side surface or parallelly so that an operator can climb up and down. In addition, a step-like work space that an operator stands is formed at the upper end of the first pillar body 12, and the periphery is surrounded by a safety fence (see FIGS. 3 and 4).

  As shown in FIGS. 1, 3, and 4, the first horizontal beam 13 is provided on the upper portion of the first column 12, and one side first horizontal / elevating frame 15 and one side second horizontal / elevating frame to be described later. 14 for supporting. The first lateral beam 13 is formed on the left side surface and the right side surface of the beam for moving the first lateral traversing / elevating frame 15 and the second lateral traversing / elevating frame 14 on the left side and the right side of the beam, respectively. Racks 13a, 13a, transverse linear guides 13b, 13b formed along the racks 13a, 13a, and transverse linear guides 13b, 13b.

As shown in FIGS. 5 and 6, the one side first traversing / elevating frame 15 and the one side second traversing / elevating frame 14 are provided on the left side and the right side of the first horizontal beam 13 in the longitudinal direction of the beam. It is installed so that it may move along the vertical direction. Further, the one-side first traversing / elevating frame 15 is provided with a one-side first welding robot Ao30 via a one-side horizontal intervening frame 16 on the lower end side. Further, the one-side second traversing / elevating frame 14 is provided with a one-side second welding robot Ai30 on the lower end side.
As shown in FIG. 7, the first lateral / elevating frame 15 on one side engages with the first transverse beam 13 and is provided so as to be movable in the longitudinal direction of the beam, and is supported by the transverse frame 150 to be elevated and lowered. And a lifting frame 156 provided so as to be movable in the direction. The one-side first traversing / elevating frame 15 includes a one-side first welding robot Ao30 mounted on the lower end side of the elevating frame 156, a one-side robot arm A31 of the one-side first welding robot Ao30, and a welding torch 32. is set up.

  Further, the second traversing / elevating frame 14 on one side engages with the first traverse beam 13 and is provided so as to be movable along the longitudinal direction of the beam, and is supported by the traversing frame 140 and moves in the ascending / descending direction. And an elevating frame 146. The one-side second traversing / elevating frame 14 has the one-side second welding robot Ai30 mounted on the lower end side of the elevating frame 146, and the one-side second welding robot Ai30, the one-side robot arm A31, and the welding torch 32 is set up.

In addition, since the one side first traversing / lifting frame 15 and the one side second traversing / lifting frame 14 are the same except for the presence or absence of the one side horizontal intervening frame 16, the one side first traversing frame 15 is the same. -The elevating frame 15 will be mainly described.
As shown in FIG. 7, the traversing frame 150 of the first traversing / elevating frame 15 on one side is engaged with the support frame main body 151, the support frame main body 151 with the first traverse beam 13 and along the first traverse beam 13. A movable mechanism 154 that is movable, a driven mechanism 153 that guides movement by the movable mechanism 154, and elevating guide portions 152 and 155 that guide the elevating frame 156 so as to be movable up and down are provided.

  As shown in FIGS. 7 and 8, the support frame main body 151 is formed in a rectangular plate frame, engages with the first transverse beam 13, and moves the moving mechanism 154, the driven mechanism 153, and the lifting guide portions 155 and 152. The elevating frame 156 is supported. The support frame main body 151 has a follower mechanism 153 and a pinion 154a installed on the first transverse beam 13 side, and elevator guides 155 and 152 installed on the elevator frame 156 side.

  As shown in FIG. 7, the moving mechanism 154 includes a pinion 154a that meshes with the rack 13a of the first transverse beam 13, a transverse drive motor 154b that rotates the pinion 154a, and a pinion that decelerates the rotation of the transverse drive motor 154b. And a speed reduction mechanism 154c that transmits to 154a. Further, as shown in FIG. 8, the moving mechanism 154 is provided on one end side of the support frame main body 151 so that the traverse drive motor 154 b protrudes to a position adjacent to the lifting frame 156.

  As shown in FIGS. 7 and 8, the driven mechanism 153 includes a traverse linear guide bearing 153 a that slides along the traverse linear guides 13 b and 13 b as the pinion 154 a of the moving mechanism 154 rotates. 153b.

  The elevating guides 155 and 152 support the elevating frame 156 and guide it in the vertical direction (elevating direction). The elevating guide section 155 includes elevating linear guide bearings 155a and 155a provided so that the elevating linear guide rail 157 fixed to the outer surface of the elevating frame 156 can slide. Further, the lifting guide portion 152 is provided on a support convex portion formed by projecting from the support frame main body 151 with a ball screw nut 152 a that is screwed into a ball screw 158 provided inside the lifting frame 156 and supports the lifting frame 156.

  The elevating frame 156 is supported by the support frame main body 151 and moves in the elevating direction. The elevating frame 156 includes an elevating drive motor 159 provided at an upper portion thereof, elevating linear guide rails 157 and 157 provided in parallel with the frame outer peripheral longitudinal direction, a ball screw 158 connected to the elevating drive motor 159 and rotated. A side frame 156a is provided, and a one-side first welding robot Ao30 is installed below the frame via a one-side horizontal interposing frame 16. The elevating frame 156 is provided with a long plate-shaped side frame adjacent to a cylindrical frame body in which the position of the ball screw nut 152a is formed in a groove shape in the vertical direction so that the elevating frame 156 can be moved up and down by the rotation of the ball bearing. It is formed in an external shape.

  When the first horizontal beam 13 and the second horizontal beam 23 face each other when the traversing frame 150 reaches the position of the moving end, the one side horizontal intervening frame 16 has a length exceeding the midpoint position of the lifting frame 156. Attached to the bottom. The one-side horizontal intervening frame 16 is configured such that one end thereof is fixed to the lower part of the lifting frame 156 and the other end supports the base end portion of the one-side first welding robot Ao30. By setting the one-side horizontal intervening frame 16, the center of the workpiece W is set even when the first traveling housing 10 and the second traveling housing 20 are set so as to face each other and the center is open. The state which can be welded about a part is securable. The one-side horizontal intervening frame 16 and the other-side horizontal intervening frame 26 can be used even when the traversing frame 150 and the traversing frame 250 are at the moving end positions when the first lateral beam 13 and the second lateral beam 23 face each other. Since it is located on the right beam side surface side and the left beam side surface side of the first transverse beam 13 and the second transverse beam 23 facing each other (see FIG. 5), when moving in the same direction, welding work of the same workpiece W is performed. Even if they do, they do not touch each other.

The one-side first welding robot Ao30 includes a six-axis movable one-side robot arm A31 and a welding torch 32 provided at the tip of the one-side robot arm A31. In addition, the welding wire, welding atmosphere gas, etc. which are the welding materials supplied to the welding torch 32 are comprised so that it may be supplied via the conduit cable which is not shown in figure.
Further, the one side second traversing / elevating frame 14 is different from the one side first traversing / elevating frame 15 except that the one side second welding robot Ai30 is installed at the lower part of the frame without the one side horizontal intervening frame 16 interposed therebetween. Since it is the same structure, description is abbreviate | omitted.

  As described above, the welding apparatus 1 uses each pair of the first-side first welding robot Ao30 and the first-side second welding robot Ai30, and the other-side first welding robot Bo30 and the other-side second welding robot Bi30. Since the welding work is performed, the degree of freedom when setting the welding procedure in each of the first workpiece W1 and the second workpiece W2 is wide.

  The first mounting table 50A and the second mounting table 50B are tables for supporting the first work W1 and the second work W2 and performing welding work. The first mounting table 50A and the second mounting table 50B are installed apart from each other between the first traveling rail 1L and the second traveling rail 2L. Here, the first mounting table 50A and the second mounting table 50B have the same configuration, and a support frame table 51 supported on the installation surface, a rotating unit 52 provided on the upper part of the support frame table 51, And a support mechanism (not shown) that detachably supports the workpiece W at a predetermined position on the mounting surface 53. 50 A of 1st mounting bases and the 2nd mounting base 50B make the workpiece | work W currently mounted in the mounting surface 53 by the support mechanism the horizontal state and the inclination state, when the rotation part 52 rotates a predetermined angle.

As described above, the one-side first traversing / elevating frame 15 and the one-side second traversing / elevating frame 14 are configured, so that the following operations can be performed.
When the one side first traversing / elevating frame 15 and the one side second traversing / elevating frame 14 move along the beam direction of the first traverse beam 13, the traversing drive motors 154b, 144b of the moving mechanisms 154, 144 The pinions 154a and 144a are rotated by driving, and the support frame main bodies 151 and 141 are moved along the racks 13a and 13a. When the support frame main bodies 151 and 141 move, the traverse linear guide bearings 153a, 153b, 143a, and 143b of the driven mechanisms 153 and 143 are driven along the traverse linear guides 13b, 13b, 13b, and 13b, respectively.

  The one-side first traversing / elevating frame 15 and the one-side second traversing / elevating frame 14 move the support frame main bodies 151 and 141 in the beam longitudinal direction (Y direction), so that the one-side first welding robot Ao30 and The second side welding robot Ai30 can adjust the set position in the width direction (Y direction) of the workpiece W. The one side first traversing / elevating frame 15 is wider by the length of the one side horizontal interposing frame 16 than the welding range due to the movement of the one side second traversing / elevating frame 14. The one-side first welding robot Ao30 can be welded in correspondence with the welded portion of the central portion.

  Further, the first side first traversing / elevating frame 15 and the one side second traversing / elevating frame 14 rotate the ball screws 158 and 148 by driving the elevating drive motors 159 and 149 when the elevating frames 156 and 146 are moved up and down. As a result, the elevating frames 156 and 146 supported by the ball screw nuts 152a and 142a on the support frame main bodies 151 and 141 are moved in the ascending or descending direction (Z direction). When the elevating frames 156 and 146 move, the elevating linear guide bearings 155a, 155a, 145a and 145a provided in the support frame main bodies 151 and 141 are provided in parallel with the elevating frames 156 and 146, respectively. , 147 to guide the movement of the lifting frames 156, 146. The one side first traversing / elevating frame 15 and the one side second traversing / elevating frame 14 move the elevating frames 156, 146 up and down to move the one side first welding robot Ao30 and the one side second welding robot Ai30 to work. The position in the height direction of the welded portion of W is adjusted.

  In this way, the first lateral traversing / elevating frame 15 and the second lateral traversing / elevating frame 14 on one side move in the Y direction as the horizontal direction and the Z direction as the ascending / descending direction (vertical direction), respectively, It is possible to adjust the position of the robot 30 so that the welding torch 32 can be set at the welding location. In addition, here, the welding apparatus 1 is illustrated as a configuration that performs a welding operation along the moving direction (X direction) of the first traveling casing 10 and the second traveling casing 20, but the welding torch 32 is arranged in the Y direction. Of course, it is possible to move and perform welding work, or move in the Z direction to perform welding work.

Next, the control means 100 will be described. Each component of the control unit 100 may be provided separately from the control unit 100.
As shown in FIG. 9, the first traveling chassis 10 and the second traveling chassis 20 are controlled by the first control means 110 and the second control means 120 of the control means 100 so as to operate independently. The control unit 100 includes an input unit 102, a first control unit 110, a second control unit 120, a mounting table control unit 103, a one-side storage unit 104, an other-side storage unit 105, and an output unit 106. And is configured to be controlled by an operating means 101 such as an external control panel.

  The first control means 110 moves the first traveling chassis 10 in the X direction, moves the one side first traversing / lifting frame 15 and the one side second traversing / lifting frame 14 in the Y direction, Z direction, and one side. The movement of the first welding robot Ao30 and the one-side second welding robot Ai30 and the sensing operation and welding operation of the one-side robot arms A31, A31 and the welding torches 32, 32 are controlled. The first control means 110 determines each part while judging whether or not the preset welding location is complete based on the stored data input from the operation means 101 and stored in the one-side storage section 104 in advance. The first control unit 110 includes a first moving unit, a first sensing unit, a first welding unit, and a first determination unit (not shown).

  Further, the second control means 120 is configured to move the second traveling chassis 20 in the X direction, and move the other side first traversing / lifting frame 25 and the other side second traversing / lifting frame 24 in the Y direction and Z direction, It controls the movement of the other first welding robot Bo30 and the other second welding robot Bi30 on the other side welding robot B30 and the sensing operation and welding operation of the other side robot arms B31, B31 and welding torches 32, 32. is there. The second control means 120 determines each part while judging whether or not the preset welding location is completed based on the stored data inputted in advance from the operation means 101 and stored in the other-side storage unit 105. (The second control means 120 includes a second movement means, a second sensing means, a second welding means, and a second determination means (not shown)).

  Note that the first control means 110 and the second control means 120 determine that the welding location in charge of one of the first work W1 and the second work W2 has ended, and then the other of the first work W1 and the second work W2. When it is determined that the welding location in charge of is completed, the first traveling housing 10 and the second traveling housing 20 are placed on standby at the finished positions until the welding of the welding locations in charge of each of them is completed. So that each other is synchronized so that the next operation is performed after the process ends.

  Furthermore, the mounting table control unit 103 controls the rotation units 52 and 52 of the first mounting table 50A and the second mounting table 50B. The mounting table control unit 103 presets the rotating units 52 and 52 based on signals from sensors (not shown) set for each area of the welding apparatus 1 and signals from the first control unit 110 and the second control unit 120. It is comprised so that it may rotate to the made inclination angle. Here, when the first traveling chassis 10 and the second traveling chassis 20 move from the positioner area 1 or the positioner area 2, the mounting table control unit 103 receives a signal from a sensor (not shown) and counts the number of counts in advance. When the set number is exceeded and the first control unit 110 and the second control unit 120 receive a signal indicating that the welding operation is finished, the inclination directions of the first mounting table 50A and the second mounting table are changed. It is controlled to change.

The one-side storage unit 104 and the other-side storage unit 105 are storage units such as a hard disk and an optical memory, and data input from the operation unit 101 (such as welding locations in charge of the first traveling chassis 10 and the second traveling chassis 20). ), Data sent from the welding apparatus 1 during welding work, operation history, operation history, and the like are stored.
The input unit 102 is an interface for inputting a signal from a sensor (not shown) that detects that each component of the first traveling chassis 10 and the second traveling chassis 20 is operated, a sensor (not shown) that indicates that the area has been moved, and the like. is there.
The output unit 106 is an interface that outputs control signals from the first control unit 110, the second control unit 120, and the mounting table control unit 103 to the welding apparatus 1.

  In the welding apparatus 1, when performing a sensing operation, for example, a wire touch sensor and an arc sensor (not shown) are used. Of these sensors, the wire touch sensor is used for pre-sensing prior to welding, and the arc sensor is used for real-time sensing, which is welding control during welding. Here, the welding apparatus 1 is configured such that the sensing operation is performed by a wire touch sensor. In the sensing operation, the groove position at which the groove position can be specified is touch-sensing before the start of welding, and the groove position at the time of teaching can be corrected to the groove position in the actual workpiece.

  Moreover, in the welding apparatus 1, groove welding sensing using an arc sensor is used as an example. An arc sensor is used to measure the change in welding current or voltage that occurs when weaving welding is performed at the groove, determine the error between the current position and the ideal position, and correct the position in real time during welding. It is what is used.

  Next, an example of the welding method of the welding apparatus 1 will be described with reference mainly to FIGS. 10 to 13 (refer to other drawings as appropriate for the configuration). The workpiece W (W1, W2,...) Is, for example, a first workpiece W1, a second workpiece W2, and the groove opening of the U trough Wb having a uniform U groove cross section in the longitudinal direction faces the flat panel material Wa. The number of U troughs Wb at that time is five, and the welding locations of each U trough Wb are two examples in the longitudinal direction where the U troughs Wb abut against the panel material Wa. To do. In addition, FIG. 10 will be described as S1 to S31 and SS1 to SS31 as the same flowchart in order to perform operations in the same procedure for the operations of the first traveling chassis 10 and the second traveling chassis 20. And in FIG. 11, about the procedure of the 2nd driving | running | working housing | casing 20, it demonstrates simply as steps SS1-SS31 equivalent to each step S1-S31 in the 1st traveling housing | casing 10, and demonstrates as a flowchart which shows the operation | movement which takes synchronization. . Furthermore, in the workpiece W1, as shown in FIG. 12D, the side indicated by (I) is the start side, the side indicated by (II) is the end side, and the side indicated by (III) is the right side, and vice versa. The side will be described as the left side, the (III) side of the U trough Wb as one side, and the opposite side as the other side (the workpiece W2 is also referred to FIG. 12B).

  Moreover, in the welding method S, as preparation, the 1st workpiece | work W1 and the 2nd workpiece | work W2 are each installed in the 1st mounting base 50A and the 2nd mounting base 50B (step S1), and then the control means 100 of the welding apparatus 1 is carried out. The welding conditions and the like are input in advance, and the welding range and welding conditions in which the first traveling housing 10 and the second traveling housing 20 are in charge of welding are set and confirmed (step S2). Here, for example, in the first mounting table 50A, the first traveling chassis 10 is responsible for the first to third U troughs Wb, and the second traveling chassis 20 is responsible for the fourth and fifth U troughs Wb. And in the 2nd mounting base 50B, it is set so that the 1st traveling housing 10 will be in charge of the 1st and 2nd U trough Wb, and the 2nd traveling housing 20 will be in charge of the 3rd-5th U trough. An example will be described. Further, in the welding apparatus 1, the first mounting table 50A and the second mounting table 50B are set so as to be tilted to the left at a predetermined angle, for example, +45 degrees (step S3), and then each tilted to -45 degrees. It is assumed that the setting is made (step S17).

  Here, the welding method S is roughly divided into three areas: a positioner area 1 where the first mounting table 50A is installed and a retreat area between the positioner area 2 where the second mounting table 50B is installed. It is configured to move or retreat to a different position. And in the welding apparatus 1, the sensor (not shown) for detecting in which area the 1st traveling housing 10 and the 2nd traveling housing 20 are passing through the boundary of each area is set to each area. Has been. The first traveling housing 10 and the second traveling housing 20 of the welding apparatus 1 are first positioned in the retreat area, and a signal for starting work from the operation means 101 is sent via the control means 100 to the positioner area 1. The work of moving and welding will be started.

Based on the above, the welding method S (steps S4 (SS4) to S30 (SS30)) according to the present invention will be specifically described below. The operation of the second traveling chassis 20 (SS4 to SS30) is basically the same although there is a difference in the operating position of the first traveling chassis 10, and therefore the first traveling chassis 10 side is mainly the same in FIG. This will be described with reference to a flowchart. In addition, the start position of the first traveling chassis 10 and the second traveling chassis 20 and the separation of work are based on the retreat area (the position of the imaginary line in FIG. 12A).
In the welding method S, the first traveling chassis 10 and the second traveling chassis 20 are along the first traveling rail 1L and the second traveling rail 2L at the set position of the first workpiece W1 mounted on the first mounting table 50A. And move to the set position in the X direction and stop (Step S4, movement in the X direction of SS4) (the position of the solid line in FIG. 12A).

  Then, when the first traveling chassis 10 and the second traveling chassis 20 are arranged at the movement position in the X direction, each one side first traversing / elevating frame 15, one side second traversing / elevating frame 14, and The other side first traversing / elevating frame 25 and the other side second traversing / elevating frame 24 are actuated. Therefore, the first traveling chassis 10 and the second traveling chassis 20 are moved up and down to the set positions in the Y direction by driving the moving mechanisms 154, 144, 254, and 244 of the respective transverse frames 150, 140, 250, and 240. 156, 146, 256, 246 are moved (movement in the Y direction in step S4). At the same time, the first traveling chassis 10 and the second traveling chassis 20 move the lifting frames 156, 146, 256, 246 to the set positions in the Z direction by moving the lifting frames 156, 146, 256, 246 up and down. The welding torches 32, 32, 32, 32 of the welding robots Ao30, Ai30, Bo30, Bi30 are arranged on the start end side of the welding location (movement in the Z direction in step S4) (see FIG. 6). Each welding robot Ao30, Ai30, Bo30, Bi30 is located on the left and right beam side surfaces of the first transverse beam and the left and right beam side surfaces of the second transverse beam, but the six-axis robot arms A31, A31, B31, B31. As a result, the welding torches 32, 32, 32, 32 are arranged in a straight line at the welding start position.

  In the welding method S, the Y direction and the Z direction of the welding torches 32 and 32 are determined by the position of the first traveling housing 10 in the X direction and the operation of the one side first traversing / elevating frame 15 and the one side second traversing / elevating frame 14. When the direction position is set as the welding start position, the presence or absence of sensing work is determined here based on the already input sensing conditions (step S5). In the welding method S, since it is set to perform the sensing work, the sensing work of the welding location in charge is started by a signal from the first control means 110 (Yes in step S5 and step S6). The welding apparatus 1 performs a sensing operation using a sensor (not shown) provided on the welding torches 32 and 32 (step S6).

  Similarly, in the welding method S, the Y direction of the welding torches 32 and 32 is determined by the position of the second traveling housing 20 in the X direction and the operation of the other side first traversing / lifting frame 25 and the other side second traversing / lifting frame 24. When the welding direction and the position in the Z direction are set as the welding start position, the presence or absence of sensing work is determined here based on the already input sensing conditions (step SS5). In the welding method S, since it is set to perform the sensing work, the sensing work of the welding location in charge is started by a signal from the second control means 120 (Yes in step SS5 and step SS6). The welding apparatus 1 performs a sensing operation using a sensor (not shown) provided on the welding torches 32 and 32 (step SS6).

In the welding method S, the first traveling chassis 10 and the second traveling chassis 20 are synchronized so that one or the other stands by for the sensing work until both sensing works are completed here. Then, when the sensing operation is completed, the welding apparatus 1 starts the welding operation according to welding conditions such as a plurality of preset passes or one pass (steps S7 and SS7).
Further, here, the first traveling chassis 10 and the second traveling chassis 20 are performing welding work by movement along the X direction (see FIG. 12B). Then, the welding operation includes the first control unit 110 and the second control unit 110 according to the number of passes set in advance on one side of the U trough Wb of the first workpiece W1 inclined by the first mounting table 50A. The control means 120 performs the welding operation by reciprocating welding from the starting end side to the ending side, or welding in the forward direction and moving only in the backward direction (steps S7 and SS7).

  Regarding the welding operation, as shown in FIG. 12B, in the welding apparatus 1, the first traveling housing 10 moves along the X direction from the start end side toward the end end side while moving the first work W <b> 1. One side of the first and second U troughs Wb on the left side are welded, and the second traveling chassis 20 is moved to the right side of the first work W1 while moving from the start end side toward the end side along the X direction. One side of the fourth and fifth U troughs Wb is welded. Further, the welding torches 32 and 32 of the first traveling casing 10 and the welding torches 32 and 32 of the second traveling casing 20 measure current and voltage, respectively, so that the position of the torch, the feeding speed of the welding wire, etc. are the first. The welding operation is performed while being appropriately controlled by the first control unit 110 and the second control unit 120.

  Next, in the welding method S, when the welding work for the first welded portion is completed, it is determined whether or not the assigned range of the first traveling housing 10 and the second traveling housing 20 has ended (steps S8 and SS8). . In the welding method S, since the first traveling chassis 10 is in charge of the first, second and third U troughs Wb in the first mounting table 50A, the assigned welding range in charge of the first traveling chassis 10 is completed. If not, the first control means 110 determines (No in step S8). Further, since the second traveling housing 20 is in charge of the fourth and fifth U troughs Wb, the second control means 120 determines that the assigned welding range is over (Yes in step SS8). . Therefore, in the welding method S, as shown by the phantom line in FIG. 12C, the first traveling housing 10 becomes the welding start position of the third U trough Wb of the first workpiece W1 by the first control means 110. In this way, control is performed so as to move from the end side toward the start side along the X direction (movement in the X direction in step S4). Further, in the welding method S, the second traveling housing 20 is controlled by the second control means 120 so as to move from the positioner area 1 to the welding start position of the third U trough Wb of the second workpiece W2 in the positioner area 2. (Step SS9).

  The first traveling chassis 10 and the second traveling chassis 20 once complete the welding operation of the first pass out of a plurality of passes from the welding start position of the U trough Wb to the welding end position, and then move to the welding start position again. When moving without performing such welding work, the welding torches 32, 32, 32, 32 are retracted. That is, the first traveling chassis 10 and the second traveling chassis 20 operate the elevating frames 146, 156, 246, 256 or the welding robot 30 to the retracted positions set in advance in the Z direction and the Y direction, and the welding torches 32, 32, 32 and 32 are moved in a retracted state so as not to contact the first work W1 or the second work W2.

  When the first traveling chassis 10 or the second traveling chassis 20 moves in the area, a signal from a sensor (not shown) is sent to the control means 100, and the first work W1 and the second work W2 are tilted by the mounting table controller 103. It is counted by the mounting table control unit 103 as data for determining whether or not to perform the operation. Further, the determination as to whether one side of all the U troughs Wb of the first workpiece W1 is welded is a signal indicating that the welding location in charge from the first control means 110 and the second control means 120 has been completed. Is doing by receiving. Here, the mounting table control unit 103 receives a signal from the sensor as to whether or not both the first traveling chassis 10 and the second traveling chassis 20 have moved from the positioner area 1 to the positioner area 2 while tilted to the left. This is done as a condition for judgment.

  As shown in FIGS. 12 and 10, in the welding method S, as the next operation in which the result of step S8 is No, the first traveling chassis 10 is placed at the welding start position of the third U trough Wb of the first workpiece W1. One of the welding torches 32 set in advance by moving the welding torch 32 in the Y direction and the Z direction by moving along the direction from the terminal end side toward the starting end side (movement in the X direction in step S4). Only the positions of the two are aligned (movement in the Y and Z directions in step S4) (virtual line in FIG. 12C). Further, in the welding method S, the second traveling casing 20 moves to the second workpiece W2 side and moves along the X direction to the welding start position of the third U trough Wb of the second workpiece W2 (Step S1). Further, the welding torch 32 is moved in the Y direction and the Z direction to align only one position of the welding torch 32 (movement of the step SS10 in the Y and Z directions).

  And in the welding method S, the 1st driving | running | working housing | casing 10 moves toward the terminal end side from the start end side along a X direction, and the sensing operation | work of the 3rd U trough Wb of 1st workpiece | work W1 (Yes of step S5, After performing step S6), the welding operation is performed (step S7), and the second traveling chassis 20 performs the sensing operation of the third U trough Wb of the second workpiece W2 (Yes in step SS11, step SS12). Work is performed (step SS13) (see FIG. 12C). In this step, the welding apparatus 1 uses one welding torch 32 of the first traveling housing 10 and one welding torch 32 of the second traveling housing 20, and does not use the other welding torch 32, 32. The welding work is performed in the state. In addition, here, since the sensing operation is also performed in the second and subsequent welding operations (Yes in step S5, Yes in step SS11), the welding operation is performed after the sensing operation (steps S6 and SS12). Performed (step S7, SS13).

  In the welding method S, when one side of the third U trough Wb is welded by the movement of the first traveling chassis 10 in the X direction, the welding range in charge of the first traveling chassis 10 on the first workpiece W1 is completed ( Yes in step S8). When the welding position in charge of the first workpiece W1 is finished, in the welding apparatus 1, a signal indicating that the welding is completed is sent from the first control means 110 to the mounting table control unit 103, and the first traveling housing 10 is The vehicle travels to the positioner area 2 of the second mounting table 50B by a control signal from the control means 110 (step S9) (see FIG. 12D). And the 1st traveling housing 10 arrange | positions the welding torches 32 and 32 in the welding start position used as one side of the 1st and 2nd U trough Wb in the 2nd workpiece | work W2. In addition, when the 1st driving | running | working housing 10 moves an area, a signal will be sent to the control means 100 from the sensor installed in each area, and the mounting base control part 103 will count.

  In the welding method S, when the second traveling housing 20 is welded while moving one side of the third U trough Wb of the second workpiece W2 from the start end side toward the end side, is the responsible welding location completed? Is determined (No in step SS14). And since the welding location in charge of the second traveling housing 20 has not ended, the second control means 120 moves from the end side to the start side along the X direction so as to go to the next welding location in charge. Moved. And the 2nd traveling housing 20 arrange | positions the welding torches 32 and 32 in the welding location of the 4th and 5th U trough Wb of a 2nd workpiece | work (YZ movement of step SS10).

  In the welding method S, in the second workpiece W2, the first traveling chassis 10 performs the sensing operation (step S12) by arranging the welding torches 32 and 32 at positions on one side of the first and second U troughs Wb. After that, the welding operation (step S13) is performed, and the second traveling chassis 20 has the welding torches 32 and 32 arranged at one side of the fourth and fifth U troughs Wb and the sensing operation (step SS12). After carrying out the welding work (step SS13) is carried out (see FIG. 12 (d)). In the welding method S, when the welding operation is completed, it is determined whether or not the responsible range for welding is completed (Yes in step S14, Yes in SS14). In the welding method S, when the welding operation of the first traveling casing 10 and the second traveling casing 20 is finished, a signal indicating that the welding location in charge from each of the first control means 110 and the second control means 120 is finished is placed. It is sent to the table control unit 103.

As shown in FIGS. 10 and 11, the welding method S includes the first control unit 110 and the step S14 of the first traveling housing 10 and the step SS14 of the second traveling housing 20 until both finish the welding operation. The second control means 120 is synchronized (step S15, step SS15), and is set to wait at No in step S15 and No in SS15 until both operations are completed.
In the welding method S, the determination as to whether or not all the welding locations on one side of the first work W1 and the second work W2 have been completed is made from the first control means 110 and the second control means 120 from the first work W1 and the second work W1. This is performed when the mounting table control unit 103 receives a signal indicating that the assigned welding location on one side of the two workpieces W2 has been completed. It should be noted that here, the control means 100 detects that the signal from the sensor when the first traveling chassis 10 and the second traveling chassis 20 have moved from the positioner area 1 to another area (the counted number exceeds the set number of times). Judgment).
Then, the first traveling chassis 10 and the second traveling chassis 20 move to the evacuation area (steps S16 and SS16) when steps S15 and SS15 are completed (steps S15 and SS15: Yes) (FIGS. 13A and 13A). b)).

Next, in the welding method S, when the first traveling chassis 10 and the second traveling chassis 20 move to the retreat area, a signal from a sensor (not shown) is transmitted via the first control means 110 and the second control means 120. When the mounting table control unit 103 receives the control signal from the mounting table control unit 103, the tilt directions of the first mounting table 50A and the second mounting table 50B are reversed from the left side to the right side (step S17, step SS17).
When tilting the first mounting table 50A and the second mounting table 50B from +45 degrees to -45 degrees, a signal indicating that the assigned welding location on one side of the first work W1 and the second work W2 has ended, Since it is after receiving a signal (when the counted number exceeds the set number) from the sensor indicating that both the first traveling chassis 10 and the second traveling chassis 20 have returned to the retreat area, FIG. As shown in (), the surrounding safety can be ensured.

As shown in FIG. 10, in the welding method S, when the operations from step S4, SS4 to step S17, SS17 are completed, the first traveling chassis 10 and the second traveling chassis 20 are connected to the first control means 110 and the second control means. 120 is repeated at steps S18 and SS18 to steps S30 and SS30 in the same manner at the welding location on the other side of the U trough Wb of the first workpiece W1 and the second workpiece W2 (FIGS. 13B and 13C). )).
In the welding method S, the determination as to whether or not all the U troughs Wb of the first workpiece W1 and the second workpiece W2 have ended is based on the welding locations in charge from the first control unit 110 and the second control unit 120. This is done by receiving a signal indicating that this has occurred. In addition, as shown in FIG. 12, the 1st control means 110 and the 2nd control means 120 exchange a signal mutually about whether the welding operation | work of the 1st traveling housing 10 and the 2nd traveling housing 20 was mutually completed. This is confirmed by synchronizing.

  As shown in FIGS. 13C and 13D, in the welding method S, the entire range of the welding locations that the first traveling housing 10 and the second traveling housing 20 are in charge of is terminated and synchronized (Step S29, Step S29). After confirming SS29), the first traveling chassis 10 and the second traveling chassis 20 move to the retreat area (step S30, step SS30). When the control means 100 (the first control means 110 and the second control means 120) receives from the sensor (not shown) that the first traveling chassis 10 and the second traveling chassis 20 have moved to the retreat area, it sends a control signal. The first workpiece W1 and the second workpiece W2 are set in a horizontal state by operating the rotating portions 52 and 52 of the first mounting table 50A and the second mounting table 50B so that the mounting surface 53 is horizontal. And in the welding method S, the 1st workpiece W1 and the 2nd workpiece W2 are carried out from the 1st mounting base 50A and the 2nd mounting base 50B with the crane etc. which are not illustrated (step 31, step SS31). Subsequently, in the welding apparatus 1, a new third work W3 and a fourth work W4 are carried in, and the welding work is performed again by the welding method S of the same procedure.

  In the welding method S, the first control unit 110 and the second control unit 120 of the control unit 100 exchange signals to synchronize the operations of the first traveling housing 10 and the second traveling housing 20. . For example, the first traveling chassis 10 and the second traveling chassis 20 can always start operations such as movement start, sensing start, welding start, and welding end simultaneously, so that the PLC (programmable logic controller) has another one. It is more convenient that it is configured to control with synchronization timing so that there is a stand.

  As described above, in the welding method S of the welding apparatus 1, the moving process (S 4, S 10, S 18, S 24, SS 4, SS 10, SS 18, and the like) moves the first traveling chassis 10 and the second traveling chassis 20 to the welding locations in charge. SS24), and a welding process (S7, S13, S21, S27, SS7, welding with the one-side welding robot A30 of the first traveling chassis 10 and the other-side welding robot B30 of the second traveling chassis 20 moved to the welding position in charge) SS 13, SS 21, SS 27), and the welding location in charge ends after welding by the one-side welding robot A 30 of the first traveling chassis 10 moved to the welding position in charge and the other welding robot B 30 of the second traveling chassis 20. A determination step (S8, S14, S22, S28, SS8, SS14, SS22, SS28) for determining (determining) whether or not the control means 100 Is performed.

In the welding method S, in the moving process, when the determination process determines that the welding of the welding location in charge of the welding robot A30 of the first traveling chassis 10 has been completed, the one-side welding robot A30 of the first traveling chassis 10 is completed. Is moved to a preset assigned welding location of the next member to be welded, and if it is determined that the welding is not finished, the one-side welding robot A30 of the first traveling housing 10 is not finished welding. It is moved to the welding location. Further, in the welding method S, in the moving process, when the determination step determines that the welding of the welding location in charge of the other side welding robot B30 of the second traveling casing 20 is completed, the other side welding of the second traveling casing 20 is performed. When the robot B30 is moved to a preset welding position of the next member to be welded and it is determined that the welding is not finished, the welding of the other side welding robot B30 of the second traveling housing 20 is not finished. It is made to move to the said welding location concerned.
Therefore, since the welding apparatus 1 performs the welding operation by the first traveling housing 10 and the second traveling housing 20 by the welding method S, the same operation or different operations or separate workpieces are performed on the same workpiece W. The same operation or different operations can be performed on W, and the welding efficiency can be increased.

  Furthermore, as shown in FIG. 14 and FIG. 15, various settings can be made freely as the welding order of the welded portions of the member to be welded based on the welding method S described above. FIG. 14A shows the procedure shown in FIGS. Further, in FIG. 14, the first to fifth welding locations from the first traveling housing 10 side will be described, and the welding order will be described as operating from the left long side to the right long side of the page. 14 and 15, details about the movement process, the welding process, and the determination process are omitted.

As shown in FIG. 14B, in the welding method, the first traveling housing 10 starts from the first and second of the first workpiece W1, and the first, second, and third of the second workpiece W2. The second traveling chassis 20 may be responsible for starting from the third of the first workpiece W1, and in charge of the fourth and fifth, and the fourth and fifth of the second workpiece W2.
Further, as shown in FIG. 14 (c), in the welding method, the first traveling housing 10 starts from the first and second of the second workpiece W2, and the third, further first and second of the first workpiece W1. The second traveling chassis 20 may start from the fourth and fifth of the second work W2, and may take charge of the third and fourth and fifth of the first work W.

Further, as shown in FIG. 14 (d), in the welding method, the first traveling housing 10 starts from the first and second of the second workpiece W2, and the first, second and third of the first workpiece W1 are changed. The second traveling chassis 20 may start from the third and fourth of the second work W2, and may take charge of the fifth and fourth and fifth of the first work W1.
And as shown in FIG.14 (e), in the welding method, the 1st driving | running | working housing | casing 10 starts from the 1st workpiece | work W1, the 1st-3rd of the 1st workpiece | work W1, and the 1st, 2nd of the 2nd workpiece | work W are carried out. The second traveling chassis 20 may start from the second work W2, take charge of the first to third of the second work W2, and take charge of the fourth and fifth of the first work W1.
Further, as shown in FIG. 14 (f), in the welding method, the first traveling chassis 10 starts from the third of the first workpiece W1, the first, second of the second workpiece W2, and the first of the first workpiece. The second running chassis may start from the third of the second work, and may take charge of the fourth and fifth of the second work and the fourth and fifth of the first work W1.

Furthermore, as shown in FIG. 14 (g), in the welding method, the first traveling housing 10 starts from the first and second of the second workpiece W2, starts the third, and the first and second of the first workpiece W1. The second traveling chassis 20 may start from the fourth and fifth of the first work W1, and may take charge of the third and fourth and fifth of the second work W2.
Moreover, as shown in FIG.14 (h), in the welding method, the 1st driving | running | working housing | casing 10 starts from the 1st of the 2nd workpiece | work W2, the 2nd and 3rd, the 1st and 2nd of the 1st workpiece | work W1 are carried out. The second traveling chassis may start from the fifth of the first work W1, and may take charge of the third and fourth, and the fourth and fifth of the second work W2.

  Furthermore, as shown in FIG. 15, in the welding method, when the number of welding robots A30 of the first traveling chassis 10 and the number of welding robots B30 of the second traveling chassis 20 is the same as or an integer multiple of the number of welding locations. The order of welding operations will be described. In FIG. 15, description will be made assuming that the first to fourth welding locations from the first traveling housing 10 side are the first to fourth. The timing of the welding operation is as shown in the figure.

As shown in FIG. 15 (a), in the welding method, the first traveling housing 10 starts from the first and second of the first work W1 and takes charge of the first and second of the second work W2, and the second The traveling chassis 20 may start from the third and fourth of the first work W1 and take charge of the third and fourth of the second work W2.
Further, as shown in FIG. 15 (b), in the welding method, the first traveling housing 10 starts from the first and second of the second work W2, and takes charge of the first and second of the first work W1, The second traveling chassis 20 may start from the third and fourth of the second workpiece W2 and take charge of the third and fourth of the first workpiece W1.
Further, as shown in FIG. 15 (c), the first traveling chassis 10 starts from the first and second of the first workpiece W1 and takes charge of the first and second of the second workpiece W1, and the second traveling chassis. 20 may start from the third and fourth of the second workpiece W2 and take charge of the third and fourth of the first workpiece W1.

And as shown in FIG.15 (d), in the welding method, the 1st driving | running | working housing | casing 10 starts from the 1st, 2nd of the 2nd workpiece W2, and takes charge of the 1st, 2nd of the 1st workpiece W2, The second traveling chassis 20 may start from the third and fourth of the first work W1, and take charge of the third and fourth of the second work W2.
As shown in FIGS. 15A to 15B, in the welding method, even if the number of welding locations is the same as the number of welding robots of the first traveling housing 10 and the second traveling housing 20, the conditions of the welding locations are the same. Since they are not exactly the same, there may be a time difference between the first traveling housing 10 and the second traveling housing 20 between the sensing operation and the welding operation. Therefore, in the welding apparatus 1, the first traveling casing 10 and the second traveling casing 20 operate independently of each other, so that each operation can be performed smoothly even if a time difference occurs.

In the welding method S, the information used for determining each operation has been described as using a result obtained by receiving a signal from a sensor (not shown), but the first control unit 110 and the second control unit 120 are used. It is also possible to make a determination based only on a signal indicating the end of each operation.
In the welding apparatus 1, the welding operation is described to be performed on a number of welding locations different from an integer multiple of the number of the four welding robots Ao30, Ai30, Bo30, Bi30, but the same number as the integer multiple. Similarly, the work can be efficiently performed on the welded portion.
Moreover, in the welding apparatus 1, although it showed as a procedure which performs welding operation in the state which inclined the 1st mounting base 50A and the 2nd mounting base 50B in the same direction, the 1st mounting base 50A and the 2nd mounting base 50B differ. You may make it perform a welding operation in the state made into the inclination direction.

As described above, in the welding apparatus 1 of the present invention, the first traveling case 10 and the second traveling case 20 can operate independently to perform welding work, and therefore the first mounting table 50A and the second mounting base 50A can be used. It is possible to efficiently perform the welding work by replacing the first work W1 and the second work W2 with new ones on the mounting table 50B.
In addition, although the welding apparatus 1 demonstrated as an example which performs welding operation in the state which inclined the workpiece | work W, in the state where the workpiece | work W is horizontal, both one side and the other side of the U trough Wb are 1 side 1st welding. The welding may be performed by the robot Ao30 and the one-side second welding robot Ai30, and the other-side first welding robot Bo30 and the other-side second welding robot Bi30.
The welding apparatus 1 has been described as performing the welding operation using the mounting table 50. However, there is no mounting table 50 (50A, 50B), and the workpiece W (W1, W2) is directly placed on the floor surface. A welding operation may be performed.

Moreover, in the welding method S, you may set so that sensing may be performed 1 time with respect to one workpiece | work, and it may not be performed after the 2nd time.
In the welding apparatus 1, the traversing / elevating frames 14, 15, 24, and 25 have been described. However, the elevating operation is performed within the operation range of the robot arms A 31, A 31, B 31, and B 31, 13 or a traversing frame (not shown) that moves only in the horizontal direction along the second transverse beam 23 may be used.
Furthermore, although two welding robots 30 have been described as being mounted on the first traveling chassis 10 and two are mounted on the second traveling chassis 20, a configuration in which one each is mounted may be possible. In the welding apparatus 1, when one welding robot 30 is mounted on each of the first traveling housing 10 and the second traveling housing, the welding robot 30 is installed via the one-side horizontal interposed frame 16 and the other-side horizontal interposed frame 26. You may make it the structure which is. In the welding apparatus 1, the first traveling housing 10 and the second traveling housing 20 can be used regardless of whether the first work W <b> 1 or the second work W <b> 2 is started by interposing the horizontal interposed frames 16 and 26. Can perform the same operation. That is, the welding operation is performed from the U trough Wb at the center of the first work W1 and the second work W2, or from the right side to the center side of the first work W1, from the left side to the center side of the second work W2, etc. It is possible to freely perform operations such as making the operation symmetrical.

In the welding method S, the procedure in which the first traveling chassis 10 and the second traveling chassis 20 start from the left starting end side and the right starting end side of the same first work W1 has been described. However, the left starting end side of the first work W1. Then, it can be installed freely from any position, such as starting from the right-side starting end side of the second workpiece W2.
Furthermore, although the welding method S has been described as a procedure in which the first workpiece W1 and the second workpiece W2 are loaded and unloaded at substantially the same timing, one welding operation of the U trough Wb of the first workpiece W1 is performed. When finished, the inclination direction of the first mounting table 50A is changed, and when the welding operation of one U trough Wb of the second workpiece W2 is finished, the inclination direction of the second mounting table 50B is changed. You may make it change an inclination direction alternately.

DESCRIPTION OF SYMBOLS 1 Welding apparatus 1L 1st traveling rail 1La rail 1Lb rail
1Ld Rack 2L Second traveling rail
2La rail 10 1st traveling housing 11 traveling carriage 11a traveling carriage body 11b traveling wheel 11c traveling motor 11d pinion
11f Overturn prevention means 11g Side roller 12 First pillar 13 First horizontal beam 13a Rack 13b Traverse linear guide 14 Elevating frame 15 Elevating frame 16 One side horizontal interposition frame 20 Second traveling frame 23 Second lateral beam 24 Elevating frame 25 Elevating frame 26 Other side horizontal interposition frame 30 Welding robot 32 Welding torch 50 Mounting table 50A First mounting table 50B Second mounting table 51 Support frame table 52 Turning unit 53 Mounting surface 100 Control unit 101 Operation unit 102 Input unit 103 Mounting table control unit 104 one-side storage unit 105 other-side storage unit 106 output unit 110 first control unit 120 second control unit 140 transverse frame 141 support frame main body 142 elevating guide unit 143 driven mechanism
143a Traverse linear guide bearing 144 Moving mechanism
144a Pinion 144b Traverse drive motor
144c Deceleration mechanism 145 Elevating guide section 145a Elevating linear guide bearing 142a Ball screw nut 146 Elevating frame 146a Side frame 147 Elevating linear guide rail 148 Ball screw 149 Elevating drive motor 150 Traverse frame 151 Support frame body 152 Elevating guide section 152a Ball screw nut 153 Drive mechanism 153a Transverse linear guide bearing 154 Movement mechanism 154a Pinion 154b Transverse drive motor 154c Deceleration mechanism 155 Elevating guide section 155a Elevating linear guide bearing 156 Elevating frame 156a Side frame 157 Elevating linear guide rail 158 Ball screw 159 Elevating drive motor 240 Transverse frame 241 Support frame 46 Elevating frame 250 Traversing frame 251 Support frame body 256 Elevating frame A30 One side welding robot A31 One side robot arm Ao30 One side first welding robot Ai30 One side second welding robot B30 Other side welding robot Bo30 Other side first welding robot Bi30 Other side second welding robot S Welding method W Work Wb U trough Wa Panel material
S4, S10, S18, S24 Moving process SS4, SS10, SS18, SS24 Moving process S7, S13, S21, S27 Welding process SS7, SS13, SS21, SS27 Welding process S8, S14, S22, S28 Determination process SS8, SS14, SS22 , SS28 judgment process

Claims (4)

Between the first traveling rail and the second traveling rail that are installed in parallel, a plurality of sections that are defined as areas in which the members to be welded are arranged in series with reference to a retreat area that is partitioned as an area in which the members to be welded are not disposed . A welding robot mounted on a first traveling chassis that travels on the first traveling rail, in which a positioner area is set, and a member to be welded is arranged for each positioner area and is controlled to operate independently , and the second robot In a welding method in which a welding robot mounted on a second traveling housing that travels on a traveling rail sets and welds a welding location in charge of the welded member in which a plurality of welding locations are arranged in parallel,
The welding robot of the first traveling chassis and the welding robot of the second traveling chassis move from the evacuation area located at the beginning of the welding operation to preset welding responsibilities of the preset members to be welded. A movement step of moving to the evacuation area after completing all of the work separation and welding work ;
A welding step of welding the respective welding locations of the welding robot of the first traveling housing moved by the moving step and the welding robot of the second traveling housing along a welding line;
The first traveling housing is synchronized with a signal from a sensor set at a predetermined location as to whether or not the respective welding locations of the welding robot of the first traveling housing and the welding robot of the second traveling housing are completed. And the determination step of determining by the control means for controlling the second traveling housing is repeated until the welding locations of the plurality of members to be welded are welded.
In the determining step, when it is determined in the determining step that the welding of the welding spot in charge of the welding robot of the first traveling chassis has been completed, the welding robot of the first traveling chassis is set in advance for the next member to be welded. When it is determined that welding is not completed, the welding robot of the first traveling housing is moved to the responsible welding position where welding is not completed, and in the determination step, When it is determined that the welding of the welding location of the welding robot of the second traveling housing has been completed, the welding robot of the second traveling housing is moved to the preset welding location of the next welded member, and welding is performed. When it is determined that the welding has not been completed, the welding method of moving the welding robot of the second traveling housing to the relevant welding location where welding has not been completed. The member to be welded is fixed to a mounting table including a rotating portion that tilts a mounting surface on which the member to be welded is mounted in a direction orthogonal to the first traveling rail or the second traveling rail, Arranged between the first travel rail and the second travel rail;
In the welding process, the placement surface is inclined by a predetermined angle by the rotating portion, and then the welding robot in charge of each welded member by the welding robot of the first traveling chassis and the welding robot of the second traveling chassis. The welding method according to claim 1, wherein welding is performed.   3. The welded part in charge of the welding robot of the first traveling chassis and the welding robot of the second traveling chassis is set to the same welded member at the beginning. The welding method as described in.   3. The welding robot of the first traveling housing and the welding robot of the second traveling housing are respectively set to members to be welded that are in charge of different welding locations. The welding method as described in.

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