JP6543014B2 - Arc welding equipment - Google Patents

Description

  TECHNICAL FIELD The present invention relates to an arc welding apparatus that performs electrodeposition type arc welding such as MIG welding.

  When a metal with good thermal conductivity is subjected to the electrodeposition type arc welding, the electrode melts at the same time as the generation of the arc, so that the lack of penetration occurs at the start of the weld. Therefore, conventionally, a welding apparatus has been proposed which generates a TIG arc and heats a base material to a necessary temperature and then performs MIG welding (see, for example, Patent Document 1).

  The welding device comprises a single welding torch. The welding torch incorporates a tungsten electrode for generating a TIG arc, an electrode drive coil and a spring for projecting and retracting the tungsten electrode, a tip for MIG welding, and a MIG wire.

Unexamined-Japanese-Patent No. 3-264161

  Incorporating the tungsten electrode and the MIG welding tip into a single welding torch makes the welding torch large in weight. For this reason, it becomes difficult to access the welding torch to the welding part set in the narrow space.

  Therefore, it is an object of the present invention to make the welding torch easily accessible to the welding portion set in the narrow space when performing the arc welding with the insufficient penetration suppressed.

  In the arc welding apparatus according to the present invention, a welding jig for supporting a base material, and a non-sintering electrode type arc is generated at a predetermined portion on a welding portion to be welded when welding the base material. Electrode welding torch for heating the metal and welding at the time of welding the base material, the electrode welding is carried out along the extending direction of the welding portion from the predetermined portion after heating by the electrode welding torch The welding apparatus includes: a pole welding torch; an articulated non welding electrode type welding robot equipped with the non welding electrode type torch; and an articulated welding electrode type welding robot equipped with the welding electrode type torch The non-electrode welding robot and the welding welding robot are installed so as to sandwich the welding jig in a substantially diagonal direction in plan view.

  According to the above configuration, the torch for performing the arc welding is separated from the torch for heating the base material prior to the arc welding, and the two torches are respectively mounted on different articulated robots. Thus, even if the weld is set in a confined space, both two torches are easily accessible.

  The two articulated robots are installed so as to sandwich the welding jig in a substantially diagonal direction in plan view, and are thereby arranged as far apart as possible in the horizontal direction. For this reason, the movable range of a torch becomes wide as much as possible, and it becomes difficult for torches to interfere.

  In addition, when installed in this way, the flow line for retracting the non-electrode torch from the predetermined part after stopping the non-electrode arc moves the flux line for accessing the predetermined part to the electrode torch or the welding electrode during arc welding It becomes difficult to interfere with the flow line of the formula torch, and it is possible to suppress detour movement and speed suppression for avoiding the interference. Therefore, even if the two torches are separated, it is possible to start the electrode arc welding in a state where the base material is heated or melted immediately after the non-electrode arc is stopped, and in the electrode arc welding Inadequate penetration can be suppressed.

  The non-electrolytic torch may be a TIG welding torch, and the electrolytic torch may be a MIG welding torch.

  It has a jig robot for displacing the welding jig, a controller for a cathode electrode type that controls the cathode welding robot, and a controller for a cathode electrode type that controls the cathode welding robot. The controller for the welding electrode type also controls the jig robot, and the welding robot for the welding electrode type and the jig according to the input / output of the operation permission signal with the controller for the non-electrode electrode The robot may be driven to displace the welding torch and the welding jig.

  According to the above configuration, the welding robot is controlled according to the input / output of the operation permission signal between the controller for the welding electrode type and the controller for the non-melting electrode system, so that the two sets of robots and torches Interference with each other can be avoided.

  Since the base material is also actively displaceable in displacing the welding torch relative to the base material along the weld, the shape of the weld is complicated or the weld is set in a narrow space. Even in this case, it is possible to easily carry out the welding by means of arc welding, and the range of application of welding can be expanded.

  A dedicated controller for controlling the jig robot can be omitted, and the control system hardware of the arc welding apparatus can be simplified.

  The electrode-type controller also serves as a controller that controls the jig robot. When the controller is integrated in this way, the welding jig is used while taking measures to avoid interference in which the controller for the electrode type and the controller for the non-electrode type drive the robot according to the signal input / output of each other. It is also possible to allow simultaneous displacement of the welding torch.

  In this manner, interference avoidance of the two sets of robots and torches, increased welding coverage and simplification of control system hardware can be achieved simultaneously.

  The non-electrode controller outputs the operation enable signal during heating by the non-electrode arc or at the end of heating, and the electrode controller controls the electrode according to the output of the operation enable signal. The welding pole welding robot is driven to move the welding pole torch to the predetermined portion, and the controller for the non-soldering electrode welding performs the non-soldering electrode welding in parallel with the displacement of the welding pole torch. The robot may be driven to retract the non-electrode torch from the predetermined portion.

  According to the above configuration, since the welding torch approaches the start of the weld without waiting for the withdrawal of the welding torch after stopping the welding arc, the welding is performed promptly after the welding arc is stopped. It is possible to start pole type arc welding and to suppress the lack of penetration in electrode type arc welding.

  According to the present invention, the welding torch can be easily accessed even to the welding portion set in the narrow space when performing the arc welding in which the insufficient penetration is suppressed.

FIG. 2 is a view showing a frame assembly of a motorcycle that can be manufactured using the arc welding apparatus according to the embodiment. 1 (a) is a left side view, FIG. 1 (b) is a view on arrow b of FIG. 1 (a), and FIG. 1 (c) is a view on arrow c in FIG. 1 (a). It is a perspective view showing the appearance of the arc welding device concerning an embodiment. It is a top view of the arc welding apparatus shown in FIG. It is a block diagram which shows the structure of the arc welding apparatus shown in FIG. It is a flowchart which shows the procedure of the arc-welding method performed by the control system shown in FIG.

  Hereinafter, embodiments will be described with reference to the drawings. The same or corresponding elements will be denoted by the same reference symbols, without redundant description.

  FIGS. 1A to 1C are views showing a frame assembly 150 of a motorcycle that can be manufactured using the arc welding apparatus according to the embodiment. 1 (a) is a left side view of the frame assembly 150, and FIG. 1 (b) is a view on arrow b of FIG. 1 (a) (that is, the frame assembly 150 is axially lower than the head pipe portion 151). 1 (c) is a view on arrow c in FIG. 1 (a) (that is, a rear view of the frame assembly 150). The concept of the direction of the frame assembly 150 described with reference to FIG. 1 is based on the direction viewed from the driver who is mounted on the motorcycle provided with the frame assembly 150.

  1A to 1C, the frame assembly 150 according to the illustrated example includes a cylindrical head pipe portion 151 and a pair of main frame portions 152 and 153 which are divided left and right from the head pipe portion 151 and extend rearward. (The illustration of the right main frame portion 153 is omitted in FIG. 1A). As shown in FIG. 1C, the frame assembly 150 according to the illustrated example has a center cross bar portion 154 connecting the main frame portions 152 and 153 in the left and right direction at its front and rear center portions; And a rear cross bar portion 155 which connects the rear end portion in the left and right direction.

  In FIGS. 1A to 1C, the frame assembly 150 is manufactured by performing arc welding using five metal members 161 to 165 as base materials. The first metal material 161 roughly corresponds to the head pipe portion 151, and has joint portions 161a and 161b which are divided leftward and rightward from a portion forming the head pipe portion 151 and project rearward. The second metal material 162 roughly corresponds to the left main frame portion 152, and is formed at the front end portion, and a joint portion 162a which is welded to the joint portion 161a, and a front and rear central portion and a rear end of a portion forming the left main frame portion 152. Each portion has joint portions 162b and 162c that project inward in the vehicle width direction from the inner surface of the portion. The third metal member 163 roughly corresponds to the right main frame portion 153, and has joint portions 163a to 163c in the same manner as the second metal member 162. The fourth metal member 164 roughly corresponds to the center cross bar portion 154, and is formed at the left end and is jointed with the joint portion 162b, and the joint portion formed at the right end and welded with the joint portion 163b. And 164b. The fifth metal material 165 roughly corresponds to the rear cross bar portion 155, and is formed at the left end and is jointed with the joint portion 162c and welded with the joint portion 162c, and the joint formed with the right end and welded with the joint portion 163c. And 165b.

  In FIGS. 1 (a) to 1 (c), the frame assembly 150 is manufactured by performing arc welding on a total of six welding points 171 to 176. The first welding point 171 for welding the joint parts 161a and 162a, the second welding point 172 for welding the joint parts 161b and 163a, and the third welding for welding the joint parts 162b and 164a to the welding points 171 to 176. Portion 173, a fourth welding portion 174 for welding the joint portions 163b and 164b, a fifth welding portion 175 for welding the joint portions 162c and 165a, and a sixth welding portion 176 for welding the joint portions 163c and 165b. Be

  Generally, in the frame assembly 150 of a motorcycle, since the metal materials 161 to 165, which are base materials in the manufacture thereof, are formed into a tubular shape having a substantially angular cross section, welding is performed at all of the six welding portions 171 to 176. The welds (or weld lines) 181-186 to be made are endless. Furthermore, the six welds 181 to 186 are set in a narrow space surrounded by the left and right main frame portions 152 and 153 and in close proximity to the inner surfaces of the main frame portions 152 and 153. In general, a material with good thermal conductivity such as an aluminum alloy is applied to the metal members 161 to 165, and when arc welding is performed along the welds 181 to 186, insufficient welding occurs at the start point thereof. Cheap.

  According to the arc welding apparatus 1 according to the present embodiment, for example, a material having good heat conductivity is applied to the base material as in the vehicle body frame of the motorcycle shown in FIG. Even if it is set in a narrow space, arc welding can be performed smoothly while suppressing the shortage of penetration.

  Drawing 2 is a perspective view showing the appearance of arc welding device 1 concerning an embodiment. FIG. 3 is a plan view of the arc welding apparatus 1 shown in FIG. In FIG. 2 and FIG. 3, the arc welding apparatus 1 has a frame 2 that forms a welding space 3, and arc welding is performed on the joint portion of the base material 100 in the welding space 3. The first to fifth metal members 151 to 155 shown in FIG. 1 are preferable examples of the base material 100, and the first to sixth weld points 171 to 176 shown in FIG. Is a preferred example of

  In FIG. 2, the frame 2 includes a substantially rectangular bottom plate 4 and a ceiling plate 5, and four pillars 6 connecting the four corners of the bottom plate 4 and the ceiling plate 5 in the vertical direction, and the welding space 3 Is formed inside of these members 4 to 6 and is rectangular in plan view. In the following description, the horizontal direction in which one side of the rectangular shape of the welding space 3 extends is referred to as “lateral direction X”, and the other side extending in the rectangular direction perpendicular to the one side is the horizontal direction. Let the horizontal direction orthogonal to the "longitudinal direction Y". Although the welding space 3 is illustrated without being isolated from the outside for convenience of illustration, the welding space 3 is shielded from the outside when arc welding is performed on the base material 100 to prevent scattering of the arc light and a windshield. Ru.

  The arc welding apparatus 1 further includes a welding jig 11, a jig robot 12, a non-electrolytic torch 13, an electrolytic torch 14, a non-electrolytic welding robot 15, and an electrolytic welding robot 16. And have. These devices 11 to 16 are disposed in the welding space 3.

  The base material 100 is supported by the welding jig 11 so that the position and posture with respect to the welding jig 11 do not change. The welding jig 11 is mounted on a jig robot 12 provided on the frame 2. The jig robot 12 displaces the welding jig 11 with respect to the frame 2 and thereby displaces the position and posture of the base material 100 supported by the welding jig 11 with respect to the frame 2.

  As an example, the jig robot 12 can tilt around a traveling body 21 capable of traveling straight in the traveling direction (vertical direction Y in the illustrated example) horizontal to the frame 2 and a tilting axis horizontal to the traveling body 21. The welding jig 11 is pivotably mounted on the tilting body 22 about a pivot axis which is not parallel to the tilting axis. The jig robot 12 has a traveling actuator 23 (see FIG. 4) for causing the traveling body 21 to travel straight with respect to the frame 2 and a tilting actuator 24 (FIG. 4) for tilting the tilting body 22 with respect to the traveling body 21. And a pivoting actuator 25 (see FIG. 4) for pivoting the welding jig 11 with respect to the tilting body 22. When the actuators 23 to 25 operate, the welding jig 11 and the base material 100 supported by the welding jig 11 can change their positions in the traveling direction Y, and change their postures around the tilting axis and the turning axis.

  In FIG. 2, the traveling body 21 includes a slider 21 a supported by the bottom plate 4 so as to travel straight in the traveling direction, and a pair of standing portions 21 b extending upward from the slider 21 a. The slider 21 a is disposed at the central portion in the horizontal direction (lateral direction X in the illustrated example) orthogonal to the traveling direction in the welding space 3. The standing portion 21b is opposed in the traveling orthogonal direction. The tilting body 22 is tiltably supported by each of the pair of standing portions 21b, and tilts above the slider 21a around a tilting axis directed in the traveling orthogonal direction. The welding jig 11 is mounted on such a tilting body 22 and is positioned at the center in the vertical direction in the welding space 3.

  The non-electrode torch 13 is a welding torch that can perform non-electrode arc welding. When welding the base material 100, the non-electrode torch 13 according to the present embodiment generates a non-electrode arc at a predetermined portion on a weld (or weld line) to be welded. Thus, the non-electrode torch 13 is not used to perform non-electrode arc welding, but the predetermined portion is not melted prior to the electrode-type arc welding using the electrode-type torch 14 It is used to heat with a polar arc. Therefore, the non-electrode torch 13 does not have to be equipped with a device for feeding the filler material.

  Preferably, a TIG welding torch capable of performing TIG welding by generating a TIG arc from a tungsten electrode while injecting an inert gas (for example, argon) as a shielding gas is suitably applied to the non-electrode torch 13. it can. In addition, a plasma arc welding torch may be applied which can perform plasma arc welding by ejecting plasma jet from an electrode made of a material such as tungsten.

  The welding torch 14 is a welding torch capable of performing welding arc welding. In the arc welding apparatus 1 according to the present embodiment, when welding the base material 100, the welding pole torch 14 melts along the extending direction of the weld from the predetermined portion after heating by the non-soldering electrode torch 13. Perform polar arc welding.

  MIG welding is performed by feeding welding wire, which is an electrode for generating an arc while injecting an inert gas (for example, argon) as a shielding gas, and welding material to the welding torch 14 and performing MIG welding A torch can be suitably applied. In addition, a carbon dioxide gas arc welding torch using carbon dioxide gas (for example, carbon dioxide) as a shielding gas, or a MAG welding torch using a mixed gas of an inert gas and carbon dioxide gas as a shielding gas may be applied. In addition, a torch capable of performing submerged arc welding and a torch capable of performing self-shielded arc welding can also be applied.

  When the base material 100 is an aluminum alloy as illustrated in FIG. 1, it is preferable to apply a TIG welding torch to the non-electrode torch 14 and apply a MIG welding torch to the electrode torch 14. Thereby, cost can be held down and welding quality can be enhanced.

  Although detailed illustration is omitted, when the base material 100 is fixed to the welding jig 11, the base material 100 is a welder earth electrode (not shown) of the non-electrode type torch 13 and a welding of the electrode type torch 14. It connects with each machine earth electrode (not shown) via a cable (not shown). The two torches 13, 14 can thereby generate an arc.

  In FIG. 3, the non-electrode welding robot 15 is an articulated industrial robot including a base 15a and an articulated arm 15b provided on the base 15a. The polar torch 13 is mounted. The welding electrode type welding robot 16 is also an articulated industrial robot including a base 16a and an articulated arm 16b provided on the base 16a, and the welding electrode type torch 14 is attached to the tip of the articulated arm 16b. Be done. In this embodiment, the articulated arms 15b and 16b are of the vertical articulated type, and the positions and the attitudes of the non-electrode type torch 13 and the cathode type torch 14 according to the operation of the articulated arms 15b and 16b are welding spaces 3 It changes in three dimensions within.

  The two welding robots 15 and 16 are disposed in the welding space 3 in a suspended state. That is, in the welding robots 15 and 16, the frames 15 are fixed with the bases 15a and 16a fixed to the inner surface of the ceiling plate 5, and the articulated arms 15b and 16b extendable downward from the bases 15a and 16a. Supported by

  In FIG. 3, the two welding robots 15 and 16 are arranged in substantially diagonal directions so as to sandwich the welding jig 11 in a plan view. More specifically, the bases 15a and 16a are separately installed at two diagonal corners of the four corners of the welding space 3 which is substantially rectangular in a plan view. The bases 15a and 16a are opposed to each other in the extending direction of the diagonal line connecting the two corner portions. The welding jig 11 is disposed at a central portion in the direction X orthogonal to the traveling direction Y in the welding space 3, and the bases 15a and 16a are arranged to sandwich the welding jig 11 in a plan view.

  The articulated arm 15b and the torch 13 can be displaced apart from the corner where the corresponding base 15a is installed in both the lateral direction X and the longitudinal direction Y, and the articulated arm 16b and the torch 14 are also separated from this. It is similar. That is, the two torches 13 and 14 are not necessarily arranged to be separated substantially in the diagonal direction, and may overlap the welding jig 11 in plan view as in the case of arc welding.

  FIG. 4 is a block diagram showing the configuration of the arc welding apparatus 1 shown in FIG. In FIG. 4, the arc welding apparatus 1 is provided with a non-electrode type controller 31 and a cathode type controller 32 as main elements of its control system. The arc welding apparatus 1 may further include a transmitter / receiver 33.

  The non-electrode controller 31 controls the non-electrode welding robot 15. In detail, a plurality of arm actuators 15d corresponding to the joints 15c of the non-electrode welding robot 15 are controlled to thereby control the positions and postures of the articulated arm 15b and the non-electrode torch 13. The non-electrode controller 31 may control the operation of the non-electrode torch 13 (that is, the generation and stop of the arc) together.

  The welding electrode type controller 32 controls the welding electrode type welding robot 16. In detail, a plurality of arm actuators 16 d corresponding to the joints 16 c of the welding electrode welding robot 16 are controlled to thereby control the positions and postures of the articulated arm 16 b and the welding electrode torch 14. The welding controller 32 may control the operation of the welding torch 14 (i.e., generation and stop of the arc and feeding and stop of the welding wire) together.

  The welding electrode type controller 32 also controls the jig robot 12. Specifically, the actuators 23 to 25 of the jig robot 12 are controlled to control the position and posture of the welding jig 11 and the base material 100 supported by the welding jig 11.

  The controller 31 for non-electrode type and the controller 32 for electrode type sequentially advance the control according to a predetermined order according to the base material 100 (that is, execute the sequence control according to the base material 100) Thus, the base material 100 is subjected to the required arc welding. The control program of the robots 12, 15, 16 is determined, for example, through teaching.

  When performing control, the non-electrode-type controller 31 and the electrode-type controller 32 mutually input and output operation enable signals, and after completing execution of a certain sequence assigned to themselves, Waits for the next order assigned to itself without executing until it receives the operation permission signal from. As a result, it is possible to prevent the situation in which the articulated arm 15 b and the torch 13 corresponding to the non-electrode welding robot 15 undesirably contact the articulated arm 16 b and the torch 14 corresponding to the welding electrode robot 16. .

  The transmitter / receiver 33 is communicably connected to the non-electrode-type controller 31 and the electrode-type controller 32, and controls input / output of signals between the two controllers 31 and 32. The transmitter / receiver 33 receives the operation permission signal output from the non-electrode-type controller 31, and outputs the operation permission signal to the electrode-type controller 32 in response to this. The transmitter / receiver 33 receives the operation permission signal output from the welding electrode type controller 31, and outputs the operation permission signal to the welding electrode type controller 32 in response to this. From another point of view, the two controllers 31 and 32 input via the transmitter / receiver 33 an operation permission signal output from the other party. For example, a programmable logic controller (PLC) can be suitably applied to the transceiver 33.

  The arc welding apparatus 1 includes a control panel 34 manually operated by an operator, and the operator can input a command to start welding or a command to stop urgently in the middle of welding. The command from the operator is input to, for example, the transmitter / receiver 33, and the transmitter / receiver 33 causes the non-electrode controller 31 and the controller 32 to perform an operation according to the command.

  FIG. 5 is a flow chart showing the procedure of arc welding performed by the arc control device 1 shown in FIG. Although not shown in detail, the operator mounts the base material 100 on the welding jig 11 prior to the execution of the arc welding, and inputs a command to start welding at the operation panel 34. When a command is input, arc welding is automatically performed on the base material 100 in accordance with the procedure shown in FIG.

  As shown in FIG. 5, first, the non-electrode-type controller 31 waits for an operation permission signal from the electrode-type controller 32 after a command to start welding (S101), and inputs the signal Wait until the next sequence (ie, air cutting of the non-electrode torch 13 and subsequent heating) is performed.

  On the other hand, in response to the welding start command (and the first movement permission signal as an example of the operation permission signal output from the transmitter / receiver 33 as necessary), the welding unit controller 32 controls the welding electrode type torch 14. And the air cut of the base material 100 is started (S201). That is, the electrode-electrode controller 32 drives the articulated arm 16 b to move the electrode-type torch 14 from the home position to the electrode-electrode standby position. The welding electrode type controller 32 drives each of the actuators 21 to 23 to move the welding jig 11 and the base material 100 supported thereby to the jig standby position from the origin position. The air cutting of the welding torch 14 and the base material 100 may be performed simultaneously or sequentially.

  When air cutting of the welding pole torch 14 and the base material 100 is completed (S202), the welding pole controller 32 waits for the operation permission signal from the non-soldering electrode controller 31 (S203), It waits for the next sequence (i.e., electrode arc welding) to be performed until the signal is input.

  Immediately after or just after the completion of the air cut, the electrode type controller 32 outputs a second movement permission signal as an example of the operation permission signal. The transmitter / receiver 33 receives the second movement permission signal from the welding electrode type controller 32, and outputs a second movement permission signal to the non-fluxing type controller 31.

  When the second movement permission signal is input, the non-electrode-type controller 31 starts air cutting of the non-electrode torch 13 (S102). That is, the controller 31 for non-electrode type drives the articulated arm 15 b which has been stopped from the instruction to start welding, and moves the non-electrode type torch 13 from the origin position to the heating position. When the non-electrode torch 13 moves to the heating position, the non-electrode torch 13 approaches the base material 100 located at the base material standby position.

  When the air cutting to the heating position of the non-electrode type torch 13 is completed (S103), the base material 100 is heated for a predetermined period by the non-electrode type arc. That is, the controller 31 for non-electrode type generates an arc from the electrode of the non-electrode type torch 13 (S104), and stops the arc after a predetermined period (S105). The arc is generated at a predetermined site on the welding portion which is previously determined to be welded to the base material 100, whereby the predetermined site is heated and melted to form a molten pool at the predetermined site.

  When the arc is stopped, the non-electrode controller 31 starts an air cut (S106). That is, the non-electrode type controller 31 drives the articulated arm 15 b to move the non-electrode type torch 13 from the heating position to the welding withdrawal position. The welding withdrawal position is determined by these devices 11, 12 in order to avoid interference with the base material 100, the welding jig 11, the welding robot 12, the welding torch 14, and the welding welding robot 16 in the following welding of the welding arc. , 14 and 16 may be sufficient, and may be different from the origin position.

  When the air cutting to the welding retreat position of the non-electrode type torch 13 is completed (S107), the non-electrode type controller 31 waits for the operation permission signal from the electrode type controller 32 (S108) And waits for execution of the next sequence (ie, air cutting and subsequent heating of the non-electrode torch 13 or return to the home position) until the signal is input.

  The non-electrode controller 31 outputs a welding permission signal as an example of the operation permission signal during or after the heating by the arc (that is, in the middle of or after the predetermined period). The transmitter / receiver 33 receives the welding permission signal from the non-electrode controller 31 and outputs a welding permission signal to the cathode controller 32.

  When the welding pole type controller 32 inputs a welding permission signal, the welding pole type controller 32 starts air cutting of the welding pole type torch 14 (S204). That is, the controller 32 for the welding type drives the articulated arm 16 b which has been kept stopped after the output of the second movement permission signal, and moves the welding torch 14 from the welding standby position to the welding start position. When the welding torch 14 moves to the welding start position, the welding torch 14 approaches the base material 100 positioned at the base material standby position, and an arc from the welding wire can be generated at the predetermined portion. The welding standby position may coincide with the welding start position. In this case, the air cutting of the welding torch 14 can be omitted.

  When the air cutting to the welding start position of the welding torch 14 is completed (S205), the welding controller 32 starts one pass of the welding arc (S206). That is, while the welding electrode is fed, the welding electrode controller 32 generates an arc from the welding wire, and starts the welding of the welding electrode with the inside of the predetermined portion as a starting point. In this electrodeposition type arc welding, the electrodeposition type controller 32 drives the articulated arm 16b and the jig robot 12, and the electrodeposition torch 14 is used as the base material 100 in the extending direction of the welding portion to be welded. Move relative to This relative movement is realized only by the movement of the welding torch 14 relative to the frame 2 or only by the movement of the welding jig 11 relative to the frame 2 and the base material 100 supported thereby. It is also realized by a combination of two types of movement.

  When the welding pole torch 14 reaches a predetermined end point on the welding portion, the welding pole type controller 32 ends the welding pass arc welding for one pass (S207). That is, the welding electrode controller 32 stops the feeding of the welding wire and the arc.

  If an unwelded part remains in the base material 100 (S310: NO), the welding electrode type controller 32 drives the articulated arm 16b to correspond to the welding part to be welded next to the welding electrode type torch 14 Start moving to the welding standby position, and drive the jig robot 12 to move the welding jig 11 and the base material 100 supported thereby to the jig standby position corresponding to the welding portion to be welded next Start moving (S201). Thereafter, in the same manner as the above-mentioned procedure, the base material 100 is heated using the non-electrode torch 13 with respect to the welding portion, and the electrode welding is performed on the base material 100 using the cathode torch 14 Is done.

  If all the required welding is performed and there are no unwelded parts in the base material 100 (S310: YES), the non-electrode controller 31 continues to be on standby (S109) while the transmitter / receiver 33 is melted. The first feedback permission signal as an example of the operation permission signal is output to the pole type controller 32, and the electrode type controller 32 receives the first feedback permission signal to receive the electrode type torch 14 and the base material. An air cut to the origin position of 100 is started (S208). That is, the controller 32 for the welding electrode drives the articulated arm 16 b to return the welding torch 14 to the home position, and drives the respective actuators 21 to 23 of the jig robot 12 for welding the welding jig 11. And the base material 100 supported by this is returned to an origin position.

  Immediately after or immediately after completion of the air cutting to the origin position of the welding torch 14 and the base material 100 (S209), the welding controller 32 controls the second feedback permission signal as an example of the operation permission signal. Output. The transceiver 33 receives an input of the second feedback permission signal from the welding type controller 32 and outputs a second feedback permission signal to the non-melting type controller 31. When the second feedback permission signal is input, the non-electrode-type controller 31 starts an air cut to the origin position of the non-electrode-type torch 13 (S110). That is, the controller 31 for non-electrode type drives the multi-joint arm 15 b which has been kept waiting after the completion of the air cut to the welding retreat position of the non-electrode type torch 13 just before, and the non-melting type The pole torch 13 is returned from the welding retracted position to the home position. When the non-electrode type torch 13 reaches the home position, the non-electrode type controller 31 ends the air cut (S111).

  By the above, the arc welding to the base material 100 using the arc welding apparatus 1 is completed. In addition, in order to grasp the end of arc welding as a control system, the controller 31 for non-electrode type outputs a feedback completion signal to the transmitter / receiver 33 after the air cutting to the origin position of the non-electrode type torch 13 is completed. You may In addition, when the controller 32 for the electrode type outputs the second feedback permission signal immediately before the completion of the air cut, a feedback completion signal may be separately output to the transmitter / receiver 33 after the completion of the air cut. The transceiver 33 receives feedback completion signals from the two controllers 31 and 32, thereby grasping the end of arc welding as a control system and making the operator aware of that (for example, permission to open the open / close door) You may When the electrode type controller 32 outputs a feedback permission signal after completion of the air cutting of the electrode type torch 14 and the base material 100, the feedback completion signal for the electrode type controller 32 is a feedback completion signal. It can be treated as

  According to the arc welding apparatus 1 of the above configuration, the torch 14 for performing arc welding is physically separated from the torch 13 for heating the base material 100 prior to this, and the two torches 13 and 14 are separately The robot is mounted on each of the articulated robots 15 and 16 of FIG. Therefore, even if the welding portion is set in the narrow space, both of the two torches 13 and 14 can easily access the welding portion. The two welding robots 15 and 16 are disposed so as to sandwich the welding jig 11 in a substantially diagonal direction in plan view, and are thereby arranged as far apart as possible in the horizontal direction. For this reason, the movable range of the torches 13 and 14 becomes as wide as possible, and it becomes difficult for the torches 13 and 14 to interfere with each other.

  Also, when installed in this manner, the flow line for retracting the non-electrode torch 13 from the heating position to the welding withdrawal position after stopping the arc using the non-electrode torch 13 welds the electrode torch 14. It becomes difficult to interfere with the flow line moved from the standby position to the welding start position. That is, the flow line of the non-electrode torch 13 can be set to approach the corresponding base 15a from the heating position, and the flow line of the welding torch 14 is the base corresponding to the welding standby position. It can be set apart from the table 16a, and the direction of approaching the base 15a of the non-electrode welding robot 15 and the direction of moving away from the base 16a of the welding electrode welding robot 16 are substantially the same. For this reason, the necessity for performing detouring movement and movement speed suppression for interference avoidance is reduced. Therefore, even if the two torches 13 and 14 are physically separated, it is possible that the base material 100 is sufficiently heated immediately after stopping the arc using the non-electrode torch 13 depending on the situation. With the molten pool remaining, it is possible to start electrode welding. Therefore, it is possible to quickly start the relative movement of the welding torch 14 with respect to the base material 100 after starting the welding arc welding while suppressing the shortage of welding in the welding arc, The bead can be placed on the weld with reduced overfill height.

  Further, as described above, the controller 31 for non-electrode type outputs a welding permission signal as an example of the operation permission signal during heating by the arc using the non-electrode type torch 13 or at the end of heating, In response to the output of the welding permission signal, the controller 32 drives the electrode welding robot 16 to move the electrode torch 14 to a welding start position adjacent to a predetermined portion, and the non-electrode torch 13 At the same time as the displacement, the non-electrode welding robot 15 is driven to retract the non-electrode torch 13 from a predetermined portion.

  By adopting this configuration, after the arc using the non-electrode torch 13 is stopped, the electrode-type torch 13 approaches the start of the weld without waiting for the retraction of the non-electrode torch 13. To go. As described above, since the two flow lines do not easily interfere with each other, the movement of the non-electrode torch 13 and the movement of the cathode torch 14 can be made parallel without special avoidance movement or speed limitation. Such parallel movement makes it possible to start the electrode arc welding immediately after stopping the arc using the non-electrode torch 13, thereby suppressing the insufficient penetration in the electrode arc welding. Especially useful.

  Further, as described above, the arc welding apparatus 1 is provided with the three kinds of robots of the jig robot 12, the non-melting-electrode robot 15 and the welding-electrode robot 16 and, as its control system, A non-electrode controller 31 and a cathode controller 32 are provided to control the robot 15 and the cathode robot 16, respectively. The two controllers 31 and 32 are configured to mutually input and output operation permission signals. The jig robot 12 is configured to be controlled by a cathode controller 32 that controls the cathode robot 16, and the cathode controller 32 controls a controller that controls the jig robot 12. Also serves as.

  By adopting such a configuration, the possibility that two sets of robots and torches interfere with each other can be eliminated as much as possible. In addition, since the base material 100 can be actively displaced in displacing the welding torch 14 relative to the base material 100 along the weld portion, the shape of the weld portion is complicated or the weld portion is narrow. Even if it is set inside, it is possible to easily carry out the welding by means of arc welding, and the range of application of welding can be expanded. A dedicated controller for controlling the jig robot 12 can be omitted, and the hardware of the control system of the arc welding apparatus 1 can be simplified. In order to simplify the hardware, the welding electrode type controller 32 doubles as a controller of the jig robot 12. In this manner, when the controllers are integrated, interference is caused that the non-electrode controller 31 and the cathode controller 32 drive the robots 15 and 16 corresponding to each other according to the signal input / output. It is also possible to allow the welding jig 11 to be displaced simultaneously with the welding electrode type torch 14 while taking measures for avoiding it. In this manner, interference avoidance of the two sets of robots and torches, expansion of welding coverage and simplification of control system hardware can be achieved simultaneously.

  In addition, as illustrated in FIG. 1, when the welded portion is endless, even if the base material 100 is attached to the welding jig 11 in any posture, a portion is partially made by the welding jig 11 or the tilting body 22. It is possible that the welding portion can not be processed in one pass even by using the arc welding apparatus 1 which exhibits the above-described action. At this time, a portion of the weld where the torch can access is processed for one pass, and then the base material 100 is turned over and fixed again to the welding jig 11, and the remaining portion of the weld is 1 Processing for the pass may be performed, and one continuous bead as a whole may be placed on the endless weld. At this time, when the welding start point in the first process and the welding start point in the second process are overlapped, it is possible to place a bead in which the overfill height at the welding start point is suppressed.

  The present invention has the function and effect that the welding torch can be easily accessed even at the welding portion set in the narrow space when performing arc welding with reduced infiltration shortage, and it is possible to manufacture a motorcycle frame etc. It is beneficial to apply to the welding process to be performed.

DESCRIPTION OF SYMBOLS 1 Arc welding apparatus 11 Welding jig 12 Welding robot 13 Non-electrolytic torch 14 Electrolytic torch 15 Non-electrolytic welding robot 16 Electrolytic welding robot 31 Non-electrolytic controller 32 Electrolytic controller 33 Transmitter and receiver 100 base material

Claims (3)

A frame forming a rectangular welding space in plan view,
A welding jig installed in the welding space for supporting a base material;
A non-electrode torch that generates a non-electrode arc at a predetermined site on a weld to be welded when the base material is welded, and heats the base material;
An electrode torch which performs electrode welding in the direction of extension of the welding portion from the predetermined portion after heating by the non-electrode torch at the time of welding the base material;
An articulated non welding pole welding robot equipped with the non welding pole torch;
An articulated welding robot equipped with the welding torch,
A jig robot for horizontally moving, tilting and turning the welding jig;
An electrode type controller for controlling the electrode type welding robot;
A controller for non-electrode type which controls the non-electrode welding robot;
Two corners of the four corners of the welding space that form a diagonal so that the non welding electrode welding robot and the welding electrode welding robot sandwich the welding jig in a substantially diagonal direction in plan view It is installed separately in each department,
The electrode-position controller also controls the jig robot, and the electrode-welding robot and the jig according to the input / output of the operation permission signal with the non-electrode-position controller. Driving the welding robot to displace the welding torch and the welding jig,
The non-soldering electrode type controller is configured to move the non-soldering electrode torch to the heating position to move the non-soldering electrode type torch to the base material supported by the welding jig positioned at the base material standby position It is close to torch, to heat the predetermined portion position of the base material to the non-consumable electrode type torch,
After the base material is heated, the controller for the cathode type moves the cathode torch to the welding start position to support the base supported by the welding jig positioned at the base material standby position. An arc welding apparatus, wherein the welding torch is brought close to a material and the welding torch performs welding arc welding.   The arc welding apparatus according to claim 1, wherein the non-electrode torch is a TIG welding torch, and the cathode torch is a MIG welding torch. The non-electrode controller outputs the operation permission signal during heating by the non-electrode arc or at the end of heating,
According to the output of the operation permission signal, the controller for the electrode type drives the welding robot for the electrode type to move the torch for the electrode type to the predetermined portion, and the controller for the non-electrode type The arc welding apparatus according to claim 1, wherein the non-electrode welding robot is driven to retract the non-electrode torch from the predetermined part in parallel with the displacement of the welding torch.

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