JP6110002B1 - Steel aggregate welding system and steel aggregate welding method - Google Patents

Abstract

A metal fitting for connection is automatically welded to multiple surfaces of a steel frame without rotating the steel frame. A steel frame welding system according to the present invention includes a first chuck mechanism for gripping a metal fitting arranged in a parts tray, a moving mechanism for moving the first chuck mechanism holding the metal fitting to the vicinity of the steel frame, and a steel frame material. A second chuck mechanism that receives the metal fitting from the first chuck mechanism moved in the vicinity of the first chuck mechanism, a pressing mechanism that moves the second chuck mechanism to press the metal fitting against the surface of the steel frame, a first welding torch, and a first welding A first welding machine that has a moving mechanism for moving the torch, and welds a portion of the first side while moving the first welding torch along the first side of the metal fitting pressed against the surface of the steel frame; A second welding torch and a moving mechanism for moving the second welding torch, and in synchronization with the first welding machine, along the second side facing the first side of the metal fitting pressed against the surface of the steel frame Second welding for welding the portion of the second side while moving the second welding torch Comprising the door. [Selection] Figure 1

Description

  The present invention relates to a steel-frame material welding system and a steel-frame material welding method for welding metal fittings such as L-shaped metal fittings to steel frames such as rectangular steel pipes and lip-groove steels used for body edges for architectural steel frames, for example.

  Conventionally, it has been assumed that welding engineers perform welding of L-shaped metal fittings on steel frames. However, in recent years, the shortage of welding engineers is becoming more serious, and there is an urgent need for technical development of automation.

  As one of the steel frames, for example, there is a body edge of a steel material for construction. This body edge is, for example, a long square steel pipe having a length of about 12 m, a width of 12 cm, and a height of about 12 cm (previously cut into a short size). In many cases, a small part (for example, an L-shaped metal fitting of about several tens of centimeters) is welded to other steel pipes and shipped as a product, and such welding work requires a technique. Therefore, it is carried out manually by a welding craftsman. Specifically, the position where the part is fixed on the square steel pipe is marked, and the work such as performing the main welding after temporarily fixing the part to the position is performed.

  Conventional automatic welding technology is used in large-scale machining processes such as in the automobile industry. When joining flat steel materials such as the body of a vehicle, the welding robot moves above the welding parts of the steel materials. It is common to perform welding.

  On the other hand, the welded part of a child part to a square steel pipe is not limited to one surface (upper surface), but is welded to multiple surfaces such as two surfaces (right side, left side) and three surfaces (upper surface, right side, left side). However, as described above, since welding is performed with the welded portion facing down from above, it is necessary to rotate the square steel pipe and turn the welding surface upward in order to weld the side surface of the square steel pipe.

  As a conventional technique of steel-related multi-face welding, there is a technique involving the introduction of a large-scale facility including a rotary positioner that rotates while holding a steel column, a feed mechanism thereof, and the like (see, for example, Patent Document 1).

Japanese Patent No. 2013-202673

  However, because of the cost-effectiveness, it is not possible to introduce large-scale equipment such as a rotary positioner or its feed mechanism in the case of edge processing of steel for construction. Therefore, the steel pipe (steel frame) to be processed for multi-surface welding is not available. It cannot be rotated.

  The present invention has been made to solve such a problem, and a steel frame welding system and a steel frame capable of automatically welding metal fittings for connection to a plurality of different surfaces of a steel frame without rotating the steel frame. It is to provide a material welding method.

The steel frame welding system of the present invention is a steel frame welding system for welding metal fittings to a steel frame material. The first chuck mechanism for holding the metal fittings arranged in a parts tray, and the first chuck mechanism for holding the metal fittings include the first chuck mechanism. The moving mechanism that moves in the vicinity of the steel frame, the second chuck mechanism that receives the metal fitting from the first chuck mechanism that is moved in the vicinity of the steel frame by the moving mechanism, and the second chuck mechanism are drawn in an arc. includes a pressing mechanism for pressing the side surface of the moving the fitting and the steel material as, and a moving mechanism for moving the first welding torch first welding torch, wherein the steel material by the pushing mechanism a first welding machine for welding a portion of the first side while moving the first welding torch along a first side of the pressing was the fitting on the side surface of the second welding and the second welding torch Move the torch And a moving mechanism, the first in synchronism with the welding machine, while moving the first side facing the second welding torch along a second side of the pressing was the fitting on the side surface And a second welder that welds the portion of the second side.

The steel aggregate welding method of the present invention is a steel aggregate welding method for welding a metal fitting to a steel frame, in which a first chuck mechanism holds the metal fittings arranged in a parts tray, and the first chuck mechanism holds the metal fitting. A moving mechanism is moved to the vicinity of the steel frame, a second chuck mechanism receives the metal fitting from the first chuck mechanism moved to the vicinity of the steel frame, and a pushing mechanism is moved to the second chuck. the mechanism, a step of pressing the bracket to move in an arc on a side surface of the steel material, first welding machine and a moving mechanism for moving the first welding torch the first welding torch, a step of welding a portion of the first side while moving the first welding torch along a first side of the metal fitting which is pressed against the side surface of the steel material, the second welding and the second welding torch torch The second welder and a moving mechanism for moving said first in synchronism with the welding machine, the side surface pressing was the second along the first side and the second opposing sides of said bracket And welding the second side portion while moving the welding torch.

  ADVANTAGE OF THE INVENTION According to this invention, the metal fitting for a connection can be automatically welded to several different surfaces of a steel frame material, without rotating a steel frame material.

It is a top view which shows the structure of the steel-frame-material welding system of one embodiment of this invention. It is a figure which shows a mode that the QR code laser-printed on the trunk edge is read. It is a figure which shows a mode that L-shaped metal fitting is delivered to a carriage from a handling robot. It is a figure which shows a mode that a metal fitting is pressed on a trunk edge. It is a figure which shows a mode that two welding robots weld simultaneously both the edges of the metal fitting of the right side surface of a trunk | drum. It is a figure which shows a mode that two welding robots weld simultaneously both the edges of the metal fitting of the left side surface of a trunk | drum. It is a figure which shows a mode that the clamping mechanism of an upper surface carriage moves to the upper surface vicinity of a trunk edge, and clamps an L-shaped metal fitting. It is a figure which shows a mode that a clamping mechanism is dropped and L-shaped metal fitting is pressed on the upper surface of a trunk edge. It is a figure which shows a mode that two welding robots weld simultaneously both the edges of the L-shaped metal fitting of the upper surface of a trunk edge.

  Hereinafter, an embodiment of the present invention will be described in detail with reference to the drawings. FIG. 1 is a perspective view showing a configuration of a steel aggregate welding system according to one embodiment of the present invention, and FIG. 2 is a view showing a state in which a QR code laser-printed on a trunk edge 6 is read. QR code is a registered trademark.

  As shown in FIG. 1, the steel aggregate welding system of this embodiment includes a stock portion (before processing) 1, a conveying line 2, a welding portion 3, a stock portion (after processing) 5, and the like.

  The stock part (before processing) 1 is a place for storing a steel frame material before processing, for example, a steel frame material such as a square steel pipe or a lip groove steel. In this example, as one of the square steel pipes, for example, welding of the trunk edge 6 which is a steel material for construction will be described.

  In the stock section (before processing) 1, beams arranged at predetermined intervals for placing the barrel edge 6, a belt rotating in a direction perpendicular to the axis of the arranged barrel edges 6, and a reading device A QR code reader 8 and the like are provided.

  In this stock portion (before processing) 1, a plurality of trunk edges 6 of various lengths and thicknesses are randomly arranged on the beam, and the trunk edges 6 are moved to the left as viewed in the figure by the belt during processing. It stops at a position directly below the QR code reader 8 in front of the transport line 2 (see FIG. 2).

  As shown in FIG. 2, a QR code 81 as code information is printed by laser processing on at least one surface of the end portion of the rectangular barrel edge 6. The QR code reader 8 has a reading range below, reads the QR code 81 that has moved into the reading range, and sends information of the read QR code 81 to the main control panel 7 (see FIG. 1). In the QR code 81, identification information (work ID) for identifying individual steel frames (body edge 6) is recorded. That is, the QR code reader 8 is a reading device that reads identification information (work ID) of the trunk edge 6 from a QR code 81 provided on the surface of the trunk edge 6.

  Based on the work ID of the barrel edge 6 received from the QR code reader 8, the main control panel 7 refers to a database to process data for welding an L-shaped bracket to the barrel edge 6 (dimensional data of the barrel edge 6). In addition, data of parts to be welded, data of processing procedures, etc.) are read out and sent to the controllers 41-44. The database may be provided in the main control panel 7 or may be provided in a server on a network to which the main control panel 7 is connected.

  After reading the QR code 81 at the position of the QR code reader 8, the belt edge 6 to be processed is moved to the transport line 2 by the belt.

  The transport line 2 is provided with a plurality of rollers and a carry robot 21. The carry robot 21 has a mechanism for gripping the trunk edge 6, and moves on the transport line 2 by a rack and pinion gear structure provided along the transport line 2 and a motor drive.

  The carry robot 21 is supported so as to grip the barrel edge 6 on the conveyance line 2 and moves in the direction of the welding portion 3 while sliding the barrel edge 6 on the conveyance line 2 by rotation of a roller by driving a motor.

  The welding section 3 includes parts trays 31 and 32, handling robots 33 and 34, carriages 35 and 36 as pressing mechanisms, welding robots 37 and 38, work fixing mechanisms 39 and 40, controllers 41 to 44, and a main control panel 7. Prepare.

  On the part trays 31 and 32, metal fittings to be welded to the body edge 6, for example, L-shaped metal fittings 9 (see FIG. 3) are arranged (arranged at predetermined intervals).

  The L-shaped metal fitting 9 is a child part (metal part) to be welded having a welding surface 91 and a flange surface 92 perpendicular to the welding surface 91 (at right angles). The flange surface 92 is provided with a through hole 93 for fixing another steel frame member by bolting or the like.

  On the parts tray 31, an L-shaped metal fitting 9 to be welded to the right side surface of the trunk edge 6 is placed. The flange surface 92 of the L-shaped bracket 9 is gripped by the first chuck mechanism (chuck members 45 and 46) of the handling robot 33 and taken out from the parts tray 31. An L-shaped bracket 9 to be welded to the right side surface of the trunk edge 6 is placed on the parts tray 32, and the L-shaped bracket 9 is taken out by the handling robot 34.

  That is, the handling robot 33 includes a first chuck mechanism (chuck members 45 and 46) for gripping the L-shaped bracket 9 arranged in the parts tray and a first chuck mechanism (chuck members 45 and 46) for gripping the L-shaped bracket 9. And an articulated arm (moving mechanism) that moves in the vicinity of the edge 6.

  The handling robots 33 and 34 are multi-axis (multi-joint type) robots, and are controlled by the controllers 41 and 42, and the first chuck mechanism provided at the tip of the arm (see the chuck members 45 and 46 in FIG. 3). It is possible to control the posture and chucking three-dimensionally.

  The handling robot 33 is controlled by the controller 41 and moves to the vicinity of the right side surface of the trunk edge 6 by grasping the center portion of the flange surface 92 of the L-shaped bracket 9 arranged on the parts tray 31. The handling robot 34 is controlled by the controller 42 to move to the vicinity of the left side surface of the trunk edge 6 by grasping the center portion of the flange surface 92 of the L-shaped bracket 9 arranged on the parts tray 32.

  The handling robots 33 and 34 are realized by changing the attachment at the tip of the welding robots 37 and 38 to the first chuck mechanism (chuck members 45 and 46). Including the first chuck mechanism, there is a limit of about 10 kg, and the L-shaped metal fitting 9 to be moved can only be carried and moved (moved) with a load weight of about 6 kg (up to about 8 kg). .

  The first chuck mechanism (chuck members 45 and 46) at the end of the arm also has a small gripping force and pressing force, and positioning accuracy is high when the first chuck mechanism (chuck members 45 and 46) grips the part. Therefore, it is not possible to press the L-shaped metal fitting 9 accurately on the welded portion on the side surface of the trunk edge 6.

  Therefore, in the present invention, in addition to the handling robots 33 and 34 for grasping and moving the parts, side carriages 35 and 36 as mediators having high gripping force, pressing force, and movement accuracy are interposed, so that each carriage has a trunk edge. The L-shaped metal fitting 9 is pressed against the side surface of 6. The carriage for the upper surface has a configuration including the clamping mechanisms 66 and 76 shown in FIGS.

  Of the carriages 35 and 36 arranged on both sides (left and right) of the transport line 2, for example, the right-side carriage 35 includes a pair of clamping mechanisms 60 and 70 as shown in FIG. 3. Each clamping mechanism 60, 70 supports a second chuck mechanism (chuck member 63 and chuck member 64, chuck member 73 and chuck member 74) provided at the tips of the arms 61 and 71, and a welding surface 91 of the L-shaped metal fitting 9. For this purpose, the projections 62 and 72 are provided. That is, the protrusions 62 and 72 support the welding surface 91 perpendicular to the flange surface 92 of the L-shaped metal fitting 9.

  The carriage 35 receives the L-shaped bracket 9 moved near the right side surface of the trunk edge 6 from the handling robot 33 and presses it against the right side surface of the trunk edge 6. The carriage 35 includes a second chuck mechanism, a pressing mechanism (see FIG. 4), and the like.

  Specifically, the handling robot 33 holds the L-shaped bracket 9 up to the delivery position to the carriage 35 by holding the center portion of the flange surface 92 of the L-shaped bracket 9 by the first chuck mechanism (see the members 45 and 46 in FIG. 3). When moved, the pair of clamping mechanisms 60, 70 of the carriage 35 move in the direction of arrow P from an angle of about 45 ° on both side edges of the L-shaped bracket 9 to clamp the side edges of the flange surface 92 of the L-shaped bracket 9. Then, after the chuck members 64 and 74 of the respective second chuck mechanisms move in the direction of the arrow Q and the side edges (end surfaces) of the flange surface 92 are gripped by the chuck members 63 and 64 (73 and 74), the handling robot The carriage 35 receives the L-shaped bracket 9 from the handling robot 33 by opening the first chuck mechanism (chuck members 45, 46) 33.

  Then, after the handling robot 33 is detached from the position, the carriage 35 (pressing mechanism) swings the clamping mechanisms 60 and 70 so as to draw an arc in the direction of the arrow R as shown in FIG. The welding surface 91 of the L-shaped metal fitting 9 is pressed against the right side surface. The configuration and movement of the carriage 35 are the same for the carriage 36 installed on the opposite side (left side) of the conveyance line 2. That is, the carriage 36 receives the L-shaped bracket 9 moved to the vicinity of the left side surface of the trunk edge 6 from the handling robot 34 and presses it against the left side surface of the trunk edge 6.

  In addition, there is an upper surface carriage (hereinafter referred to as an “upper surface carriage”). The upper surface carriage includes clamping mechanisms 66 and 76 (see FIG. 7) for welding the welding surface 91 of the L-shaped metal fitting 9 on the upper surface of the trunk edge 6, and a pressing mechanism that moves the entire clamping mechanisms 66 and 76 up and down. (Not shown). The clamping mechanisms 66 and 76 are provided with chuck mechanisms (chuck members 67 and 77), respectively. The mechanism itself is the same as the second chuck mechanism of the carriage 35, but the L-shaped bracket 9 is chucked. The movement to move later is different.

  That is, in this upper surface carriage, the pair of left and right clamping mechanisms 66 and 76 are moved in the direction of the arrow S in a state where the welding surface 91 of the L-shaped bracket 9 is horizontal and stopped in the vicinity of the upper portion of the trunk edge 6 to form an L shape. The side edge portion of the flange surface 92 of the metal fitting 9 is sandwiched, and the inner chuck mechanism (chuck members 67 and 77) sandwiches the surface of the side edge portion of the flange surface 92. (The chuck members 45 and 46), and then the pressing mechanism lowers the two clamping mechanisms 66 and 76 in the direction of the arrow T (directly below) while maintaining the horizontal state of the L-shaped bracket 9. The metal fitting 9 is pressed against the upper surface 6c of the trunk edge 6 (see FIGS. 7 and 8).

  That is, in the case of the upper surface carriage, after the holding mechanisms 66 and 76 are moved in the direction of arrow S to chuck the L-shaped metal fitting 9, both the holding mechanisms 66 and 76 are simultaneously lowered directly below (in the direction of arrow T), 6, the welding surface 91 of the L-shaped metal fitting 9 is pressed against the upper surface 6 c of the steel 6.

  The welding robots 37 and 38 are multi-axis (multi-joint type) robots, and the attitudes of the welding torches 37a and 38a (see FIG. 5) provided at the tip of the arm are controlled in three dimensions by control from the controllers 43 and 44. And movement control is possible.

  The welding robot 37 has a welding torch 37a and a moving mechanism (multi-joint arm) that moves the welding torch 37a. As shown in FIG. 5, the L-shaped metal fitting 9 on the right side surface of the trunk edge 6 is welded. In this case, the portion of the lower side 91b is welded while moving the welding torch 37a along the lower side 91b (first side) of the L-shaped bracket 9 pressed against the right side surface of the trunk edge 6 by the carriage 35.

  When welding the left and right side surfaces of the trunk edge 6, the welding robot 37 is connected to the lower side 91b (first side) (see FIG. 5) of the L-shaped bracket 9 pressed against the right side surface of the trunk edge 6 by the carriage 35. The upper side 91a (second side) (see FIG. 6) of the L-shaped bracket 9 pressed against the left side surface of the trunk edge 6 is welded.

  The welding robot 38 has a welding torch 38a and a moving mechanism (multi-joint arm) that moves the welding torch 38a. As shown in FIG. The welding torch 38a is moved to the welding start position of the upper side 91a (second side) of the L-shaped metal fitting 9 pressed against the surface, and the upper side 91a is moved while moving the welding torch 38a along the upper side 91a from the welding start position. Weld.

  When welding the left and right side surfaces of the trunk edge 6, the welding robot 38 includes a second side (upper side 91 a) (see FIG. 5) of the L-shaped bracket 9 pressed against the right side surface of the trunk edge 6 by the carriage 36. The first side (lower side 91b) (see FIG. 6) of the L-shaped bracket 9 pressed against the left side surface of the trunk edge 6 is welded.

  These welding robots 37 and 38 differ from the handling robots 33 and 34 only in the attachment at the tip, and the arm structure itself of the robot body is almost the same.

  The welding torches 37a and 38a are connected to a welding power source (not shown), generate an arc discharge with electric power supplied from the welding power source, and are supplied to the tip of the torch from a wire supply device (not shown). The welding site is welded while melting the welding wire.

  The work fixing mechanism 39 is disposed on the right side of the conveyance line 2 and projects a fixing member toward the side surface of the trunk edge 6 at a position where the trunk edge 6 is fixed, and abuts against the side surface of the trunk edge 6. To fix the barrel edge 6.

  The work fixing mechanism 40 is arranged on the left side of the conveying line 2 and projects a fixing member toward the side surface of the trunk edge 6 at a position where the trunk edge 6 is fixed, and abuts against the side surface of the trunk edge 6. To fix the barrel edge 6.

  The controller 41 controls the handling robot 33 based on machining data and control data from the main control panel 7 and preset teaching data. The controller 42 controls the handling robot 34 based on machining data and control data from the main control panel 7 and preset teaching data.

  The controller 43 controls the welding robot 37 based on the processing data and control data from the main control panel 7 and preset teaching data. The controller 44 controls the welding robot 38 based on machining data and control data from the main control panel 7 and preset teaching data.

  The main control panel 7 includes a CPU, a memory, a network communication interface, a touch panel, and the like. Based on the work ID received from the QR code reader 8, the main control panel 7 refers to a memory or an external database to obtain data on the body edge 6 to be processed, data on parts to be welded, data on processing procedures, and the like. These data are read as machining data, and control data for controlling the operation of each robot is read and sent to the controllers 41-44.

  That is, in the main control panel 7, the CPU sends the processing data and control data stored in the memory based on the work ID to the controllers 41 to 44 through the network communication interface to control the handling robots 33 and 34 and the welding robots 37 and 38. To do.

  The CPU includes various devices including a carry robot 21, side carriages 35 and 36, a top carriage (a mechanism including the clamping mechanisms 66 and 76 in FIG. 7), and workpiece fixing mechanisms 39 and 40 based on a memory control program. By controlling the above, the overall control related to the removal, welding and unloading of parts at the welded portion 3 from the movement of the trunk edge 6 on the conveying line 2 is performed.

  An operator can operate the touch panel to display and modify the control data and machining data of each device, or directly control each device by command input.

  That is, the main control panel 7 and the controllers 41 to 44 constitute a control unit. Based on the work ID read by the QR code reader 8, the control unit acquires the processing data of the trunk edge 6, and based on the acquired processing data of the trunk edge 6, the side carriages 35 and 36, the top carriage, The robots 33, 34, 37 and 38 are controlled.

  For example, the control unit controls the handling robots 33 and 34 to grip the L-shaped brackets 9 arranged on the part trays 31 and 32 and move them to the vicinity of the trunk edge 6 to control the carriages 35 and 36 to The L-shaped bracket 9 moved in the vicinity of the edge 6 is received from the handling robots 33 and 34 and pressed against the side surface of the trunk edge 6.

  At the same time, the control unit controls the welding robots 37 and 38 to cause the welding robot 37 to weld the welding portion of the first side 91 b of the L-shaped bracket 9 pressed against the right side surface of the trunk edge 6 by the carriage 35. The welding portion of the second side 91a facing the first side 91b of the L-shaped bracket 9 is welded to the welding robot 38 (see FIG. 5).

  Further, the control unit controls the welding robots 37 and 38 to cause the welding robot 38 to weld the welded portion of the first side 91 b of the L-shaped bracket 9 pressed against the left side surface of the trunk edge 6 by the carriage 36. Then, the welding portion of the second side 91a facing the first side 91b of the L-shaped bracket 9 is welded to the welding robot 37 (see FIG. 6).

  The stock portion (after processing) 5 stocks the processed body edge 6 welded by the weld portion 3. In the conveyance line 2 on the side of the stock part (after processing) 5, a feeding mechanism for transferring the processed barrel edge 6 from the conveyance line 2 to the stock part (after processing) 5, and the stock part (after processing) ) A space partitioned by a beam or the like for stocking the processed body edge 6 transferred to 5 is provided. In FIG. 1, the stock portion (after processing) 5 looks short, but for the convenience of the drawing, only the middle is omitted, and there is a distance similar to that of the stock portion (before processing) 1.

Hereinafter, the operation of this steel aggregate welding system will be described.
For example, when the L-shaped bracket 9 is automatically welded to the three sides of the body edge 6 on both sides and the upper surface, in the stock part (before processing) 1, a plurality of body edges 6 of various lengths and thicknesses are placed on the beam Arranged at random, the body edge 6 to be processed is moved to a position just below the QR code reader 8 in front of the transport line 2 by the belt during processing.

  As shown in FIG. 2, the QR code reader 8 reads the work ID from the QR code 81 of the trunk edge 6 that has entered the reading range, and sends it to the main control panel 7.

  Based on the work ID sent from the QR code reader 8, the CPU of the main control panel 7 refers to the memory or an external database, and data on the body edge 6 to be processed and data on the L-shaped bracket 9 to be welded. The processing procedure data and the like are read out, these data are used as processing data, and control data for controlling the operation of each robot is read out and sent to the controllers 41 to 44, and each device (carry robot) related to the processing process of this system is read. 21, carriages 35 and 36, clamping mechanisms 66 and 67, workpiece fixing mechanisms 39 and 40, and the like).

  After the QR code 81 of the body edge 6 to be processed is read by the QR code reader 8, when the body edge 6 moves to the transport line 2 by the belt, the main control panel 7 controls the carry robot 21 to carry the carry robot 21. Then, the body edge 6 is gripped and moved on the conveying line 2 in the direction of the welded portion 3.

  When the trunk edge 6 enters the welded portion 3, the main control panel 7 controls the carry robot 21 to stop the welding portion of the trunk edge 6 at a predetermined welding position.

  Subsequently, the main control panel 7 controls the work fixing mechanisms 39 and 40 on both sides of the line to cause the fixing members to protrude and contact the side surfaces of the trunk edge 6 to fix the trunk edge 6 from both sides.

Hereinafter, the operation process (automatic part welding process) of each robot under the control of the controllers 41 to 44 is entered.
In this case, first, the handling robot 33 moves the arm to the parts tray 31, and one of the L-shaped brackets 9 arranged on the parts tray 31 by the first chuck mechanism (chuck members 45 and 46) at the tip thereof. Is moved to a position near the right side surface of the trunk edge 6 (see FIG. 3).

  At the same time, the handling robot 34 moves the arm to the parts tray 32 and removes one of the L-shaped brackets 9 arranged on the parts tray 32 by the first chuck mechanism (chuck members 45 and 46) at the tip thereof. Grasping and moving to a position near the left side surface of the trunk edge 6.

(Delivery of L-shaped bracket 9)
Subsequently, as shown in FIG. 3, the carriage 35 moves the pair of clamping mechanisms 60, 70 in the direction of arrow P, and moves the side edge of the L-shaped bracket 9 moved to a position near the right side surface of the trunk edge 6. The chuck member 63 and the chuck member 64, and the chuck member 73 and the chuck are moved by moving the chuck members 64 and 74 of the second chuck mechanism of the clamping mechanisms 60 and 70 in the direction of the arrow Q. Both side edges (surfaces) of the flange surface 92 of the L-shaped bracket 9 are clamped by the member 74.

  After clamping the L-shaped bracket 9, the chuck mechanism (members 45 and 46) of the handling robot 33 releases chucking of the flange surface 92 of the L-shaped bracket 9, so that the L-shaped bracket 9 is delivered to the carriage 35. At this time, the protrusions 62 and 72 are brought into contact with the welding surface 91 of the L-shaped bracket 9. This operation is performed simultaneously with the carriage 35 on the carriage 36 on the left side of the transport line 2.

  Thereafter, as shown in FIG. 4, the carriages 35 and 46 both swing in the direction of the arrow R so as to draw an arc, and the welding surfaces 91 of the respective L-shaped brackets 9 are placed on the right side surface and the left side surface of the trunk edge 6. Press. At this time, since the protrusions 62 and 72 are in contact with the welding surface 91 of the L-shaped metal fitting 9, the entire welding surface 91 of the L-shaped metal fitting 9 is pressed against the side surface of the trunk edge 6, and the mutual surfaces are in close contact with each other. To come.

(Right side welding)
Next, as shown in FIG. 5, the welding robot 37 moves the welding torch 37 a to the welding start position of the first side 91 a of the L-shaped bracket 9 pressed against the right side surface of the trunk edge 6, and the welding robot 37. 38 moves the welding torch 38a to the welding start position of the second side 91b of the L-shaped bracket 9, and synchronizes the welding torches 37a and 38a along the sides 91a and 91b in the direction of the arrow A (almost simultaneously). ) Weld the part while moving. In the figure, the state after welding is shown so that the state of the welded part can be seen.

(Left side welding)
Subsequently, as shown in FIG. 6, the welding robot 37 moves the welding torch 37 a to the welding start position of the first side 91 a of the L-shaped bracket 9 pressed against the left side surface of the trunk edge 6. 38 moves the welding torch 38a to the welding start position of the second side 91b of the L-shaped bracket 9, and synchronizes the welding torches 37a and 38a along the respective sides 91a and 91b in the direction of the arrow B (almost simultaneously). ) Weld the part while moving. In the figure, the state after welding is shown so that the state of the welded part can be seen.

After the L-shaped metal fitting 9 is welded to both side surfaces of the trunk edge 6, the L-shaped metal fitting 9 is welded to the upper surface. In this example, the L-shaped bracket 9 welded to the upper surface is the same as the left-side L-shaped bracket 9 (or the right-side L-shaped bracket 9).
(Move L-shaped bracket to the top)
In this case, the handling robot 33 moves the arm to the parts tray 31, and grabs one of the L-shaped brackets 9 arranged on the parts tray 31 by the first chuck mechanism (members 45 and 46) at the tip thereof. As shown in FIG. 7, it moves to a position in the vicinity of the upper surface 6 c of the trunk edge 6.

  Subsequently, the upper surface carriage clamping mechanisms 66 and 76 move from both sides of the L-shaped bracket 9 in the direction of the arrow S, and the side edges of the flange surface 92 of the L-shaped bracket 9 near the upper surface 6 c of the trunk edge 6. Are sandwiched between the clamping mechanisms 66 and 76, and the side edge (surface) of the flange surface 92 of the L-shaped bracket 9 is clamped by the chuck member 67 and the chuck member 77 of the clamping mechanisms 66 and 76. .

  After the L-shaped bracket 9 is clamped, the first chuck mechanism (members 45 and 46) of the handling robot 33 releases the chucking of the L-shaped bracket 9 so that the L-shaped bracket 9 is connected to the clamping mechanisms 66 and 76 of the upper surface carriage. Delivered. At this time, the protrusions 68 and 78 are brought into contact with the welding surface 91 of the L-shaped bracket 9.

  Then, as shown in FIG. 8, the clamping mechanisms 66 and 76 descend downward (in the direction of arrow T) and press the welding surface 91 of the L-shaped bracket 9 against the upper surface 6 c of the trunk edge 6. At this time, since the protrusions 68 and 78 are in contact with the welding surface 91 of the L-shaped bracket 9, the entire welding surface 91 of the L-shaped bracket 9 is pressed against the upper surface 6 c of the trunk edge 6, so It comes in close contact.

(Top surface welding)
Next, as shown in FIG. 9, the welding robot 37 and the welding robot 38 operate almost simultaneously, and are welded to the welding start position of the first side 91 a of the L-shaped bracket 9 pressed against the upper surface of the trunk edge 6. While moving the torch 37a, moving the welding torch 38a to the welding start position of the second side 91b of the L-shaped bracket 9, and simultaneously moving the welding torches 37a, 38a in the direction of arrow C along the respective sides 91a, 91b Weld the part. In the figure, the state after welding is shown so that the state of the welded part can be seen.

  After the L-shaped bracket 9 is welded to the three surfaces of the trunk edge 6 as described above, the main control panel 7 controls the carry robot 21 to move the trunk edge 6 to the next welding position.

  When this process is repeated and the welding of the barrel edge 6 is completed, the main control panel 7 controls the carry robot 21 to push and move the barrel edge 6 to the conveyance line 2 on the stock portion (after processing) 5 side.

  When the barrel edge 6 passes through the welded portion 3, the barrel edge 6 is moved to the stock portion (after processing) 5 by the feeding mechanism to the stock portion (after processing) 5 provided in the conveying line 2, and the drum is rotated by the rotating belt. The edge 6 is moved further into the stock portion (after processing) 5.

  As described above, according to the steel frame welding system of this embodiment, the two handling robots 33 and 34 and the two welding robots 37 and 38 are arranged on both sides of the transport line 2 and are transported from the handling robots 33 and 34. By providing the carriage 35 (see FIG. 3) and 36 for transferring the L-shaped bracket 9 to the barrel edge 6 on the line 2, the welding surface 91 of the L-shaped bracket 9 is accurately pressed against the side surface of the barrel edge 6. Can be welded.

  Further, since the projections 62 and 72 are provided on the carriages 35 and 36, the welding surface 91 of the L-shaped bracket 9 can be pressed so as not to float from the surface of the trunk edge 6.

  As a result, without rotating a square steel pipe (steel frame) such as the trunk edge 6, a plurality of different surfaces (right side surface, left side surface, upper surface) of the trunk edge 6 can be connected to other steel frames. The L-shaped bracket 9 can be automatically welded with high accuracy and efficiency.

  In addition, although the example which welds to 3 surfaces of the trunk edge 6 was demonstrated in the said embodiment, the right side surface and left side surface of the trunk edge 6, or the right side surface and upper surface of the trunk edge 6, and also the left side surface of the trunk edge 6 Automatic welding of two surfaces such as the upper surface is also possible, and welding of only one surface is also possible.

  Although the embodiment of the present invention has been described, this embodiment is shown as an example. In addition to this, the present invention can be implemented in various forms, and within the scope of the invention, the constituent elements are not limited. Can be omitted, replaced, or changed.

  In the above embodiment, the function of reading the identification information (work ID) of the trunk edge 6 is realized by a combination of the QR code reader 8 and the QR code 81. However, in addition to this, it is realized by a combination of a barcode reader and a barcode. Further, a function of reading identification information (work ID) of the trunk edge 6 may be realized by a combination of an RF reader and a wireless tag.

1 ... Stock part (before processing)
2 ... Conveying line 3 ... Welding part 5 ... Stock part (after processing)
6 ... trunk edge 7 ... main control panel 8 ... QR code reader 9 ... L-shaped bracket 21 ... carry robot 31, 32 ... parts tray 33, 34 ... handling robot 35, 36 ... carriage 37, 38 ... welding robot 39, 40 ... Work fixing mechanism 41-44 ... Controller 81 ... QR code 60, 70 ... Grip mechanism 91a, 91b ... Side (edge) of welding surface of L-shaped bracket
91 ... Welding surface of L-shaped bracket 92 ... Flange surface of L-shaped bracket

Claims (5)

In a steel aggregate welding system that welds metal fittings to steel aggregate,
A first chuck mechanism for gripping the metal fittings arranged in the parts tray;
A moving mechanism for moving the first chuck mechanism holding the metal fitting to the vicinity of the steel frame;
A second chuck mechanism that receives the metal fitting from the first chuck mechanism moved to the vicinity of the steel frame by the moving mechanism;
The second chuck mechanism, a pressing mechanism that moves in an arc pressed against the bracket on the side surface of the steel material,
And a moving mechanism for moving the first welding torch first welding torch, wherein the pressing mechanism by a first side of the first welding torch along the fitting which is pressed against the side surface of the steel material A first welder that welds the portion of the first side while moving
And a moving mechanism for moving the second welding torch second welding torch, in synchronization with the first welder, the second facing the first side of the pressing was the fitting on the side surface A steel frame welding system comprising: a second welding machine that welds a portion of the second side while moving the second welding torch along the side. The second chuck mechanism is
A gripping mechanism for gripping a side edge of the first surface of the metal fitting;
The steel frame welding system according to claim 1, further comprising: a protrusion that supports a second surface of the metal fitting perpendicular to the first surface. A reading device that reads identification information of the steel frame from code information provided on the surface of the steel frame;
The processing data of the steel frame material is acquired based on the identification information of the steel frame material read by the reader, and the first and second chuck mechanisms and the pushing mechanism are acquired based on the acquired processing data of the steel frame material. The steel frame welding system according to claim 1, further comprising a control unit that controls the first and second welding machines. In a steel aggregate welding system that welds metal fittings to a steel aggregate,
A handling robot that moves by grabbing the metal fittings arranged in the parts tray,
First and second welding robots for welding the steel frame and the metal fittings;
Disposed in the vicinity of the steel material, has a clamping mechanism that receive the metal from the handling robot, a carriage pressed against the steel material,
A controller for controlling the handling robot, the carriage , and the first and second welding robots,
The controller is
Control the handling robot, grab the metal fittings arranged in the parts tray and move them to the vicinity of the steel frame,
The carriage is controlled so that the metal fitting moved in the vicinity of the steel frame is received by the holding mechanism from the handling robot, and the holding mechanism is moved in an arc to be attached to the side surface of the steel frame. Let it push,
The first and second welding robots are controlled so that the welded part on the first side of the metal fitting pressed against the side surface of the steel frame and the welded part on the second side facing the first side simultaneously. A steel aggregate welding system characterized by welding. In the steel frame welding method of welding metal fittings to the steel frame,
A step in which the first chuck mechanism grips the metal fittings arranged in the parts tray;
A step of moving the first chuck mechanism holding the metal fitting to the vicinity of the steel frame;
A second chuck mechanism receiving the metal fitting from the first chuck mechanism moved to the vicinity of the steel frame;
Pushing mechanism the second chuck mechanism, a step of moving in an arc pressed against the bracket on the side surface of the steel material,
First welding machine having a moving mechanism for moving the first welding torch first welding torch, the first welding torch along a first side of the metal fitting which is pressed against the side surface of the steel material Welding the portion of the first side while moving;
The second welder and a moving mechanism for moving the second welding torch second welding torch, in synchronization with the first welding machine and the first side of the pressing was the fitting on the side surface And a step of welding the portion of the second side while moving the second welding torch along the opposing second side.

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