JPH0377036B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to a welding device that automatically performs welding using a welding robot at a construction site.

[Conventional technology]

Traditionally, when welding steel frames, etc. at construction sites,
Semi-automatic welding by welding workers has become established as an effective method.

In this case, as shown in Fig. 2, for example, welding of welding line b of welded materials a and a is performed in a welding position with welding torch c facing downward from the viewpoint of workability. In order to prevent deformation and generation of residual stress in the welded materials a, a, immediately after welding one or two layers of welding line b on one side, the welded materials a and a are reversed, and the welding line on the other side is welded in the same manner. Welded downwards.

[Problem that the invention seeks to solve]

However, in order to constantly weld downward while inverting the material to be welded, such as a steel frame, a turning table, which is a large inverting device, is required, and the equipment must be large-scale. It is inconvenient to use it for

In addition, as a welding method to prevent deformation due to welding heat input, there is a method in which welding workers are placed on both sides of the steel material and weld symmetrically while standing up and moving upwards. This is not preferable.

In view of the above-mentioned problems, the present invention introduces a welding robot to welding work at construction sites to reduce the dependence on welding workers, improve welding work efficiency, stabilize welding quality, and improve the work environment. This was done for the purpose of improvement.

[Means for solving problems]

In order to achieve the above object, the present invention is an automatic welding device that alternately welds both sides of a material to be welded,
a reversing machine attached to the material to be welded; an arm pivotally attached to the reversing machine so as to be able to swing back and forth; a traveling rail attached to a swinging end of the arm at a central portion in the longitudinal direction; a welding robot main body mounted on a rail for reciprocation and equipped with a welding torch; a computer for teaching the reversing machine and the welding robot main body alternately reversing operations and the welding line by a teaching-playback method; We provide automatic welding equipment.

[Effect]

The automatic welding device described above uses a computer to teach the reversing machine and the welding robot body alternately reversing operations and welding lines, and plays back the teaching content to perform automatic welding. After welding one or two layers of welding line on one side of the material to be welded by the welding robot main body, the welding robot main body is reversely moved to the other side of the material to be welded together with the traveling rail by the drive of the reversing machine, Welding is performed in the same manner as the welding on one side, and by alternately welding the welding lines on both sides of the material to be welded, distortion of the material to be welded due to welding heat is prevented. .

〔Example〕

An embodiment of the system of the present invention will be described below with reference to FIG.

Reference numeral 1 denotes a reversing machine driven by a motor (not shown), which firmly attaches the material onto the H-beam 12, which is the material to be welded, through a fixed part 3 having a chuck member 5 whose gripping width can be freely adjusted by rotating a screw 4. Fixed. 6 is pivotally attached to the main shaft 2 of the reversing machine, and is indicated by the arrow R.
This is an arm that swings back and forth in the -R' direction, and the longitudinal center portion of the traveling rail 7 is fixed to the swinging end of this arm 6. Reference numeral 9 denotes a welding robot main body that travels back and forth on a running rail 7 using a feed screw or the like, and is positioned in a rectangular coordinate system, and the welding posture of the welding torch 9 is determined by a polar coordinate system, that is, horizontal rotation, upward and downward rotation, and vertical and longitudinal directions. The positioning control, posture control, welding operation, welding current, etc. are controlled by a teaching system using teaching-playback, and are performed by a microcomputer (not shown).

The welding work is carried out vertically upward, that is, when the robot main body 8 travels upward on the traveling rail 7,
A consumable electrode wire 10 is automatically fed to a welding torch 9 through a conduit cable 11, a welding current is applied, and arc welding is performed using shielding gas. Teach. In other words, the H-shaped steel 1 which is the material to be welded
Manually move the welding line on one side of the H-shaped steel 12 from 1 to 2 by specifying the torch shift for the welding line 2, weaving operation according to the groove conditions of the welding line, other welding conditions, position coordinates, welding posture, etc. Pass welding is performed, the information is stored in the memory of the microcomputer using a teaching box (not shown), and the work position for the next work step is taught, and then the reversing machine 1 is driven to move the welding robot main body 8 to the traveling position. It is moved together with the rail 7 to the other side of the H-shaped steel 12. Note that the main shaft 2 of the reversing machine 1 is rotated when the reversing machine 1 is stopped.
It has a large fixing torque due to the electromagnetic magnet inside, and fixes the running rail 7 in a fixed position.

The automatic welding device of this embodiment sequentially reads out the teaching contents stored as described above and performs automatic welding, and one welding line on one side of the H-beam 12 is welded.
~ Perform two-layer longitudinal welding, then reverse machine 1
The welding robot main body 8 is driven by the traveling rail 7.
At the same time, it moves to the other side of the H-shaped steel 12 and repeats welding in the same manner as on the one side.

〔Effect of the invention〕

As explained above, the automatic welding device of the present invention uses a computer to teach the reversing machine and the welding robot body alternately reversing operations and welding lines in advance and playback the welding lines. Since one welding robot main body that can be turned over to both sides of the workpiece is configured to alternately weld the welding lines on both sides, in order to prevent deformation of the workpiece due to welding heat, etc. There is no need to use a large reversing device such as a turning table to invert the material to be welded, so it is very suitable for use at construction sites, and it also reduces the dependence on welding workers and improves work efficiency. This has excellent effects such as improving and stabilizing welding quality.

[Brief explanation of drawings]

FIG. 1 is a schematic structural explanatory diagram showing one embodiment of the present invention, and FIG. 2 is an explanatory diagram showing an example of a conventional welding method. 1... Reversing machine, 2... Main shaft, 3... Fixed part, 6
...Arm, 7...Traveling rail, 8...Welding robot main body, 9...Welding torch, 12...H-shaped steel which is the material to be welded.

Claims (1)

[Claims] 1 An automatic welding device that alternately welds both sides of a material to be welded 12, which includes a reversing machine 1 attached to the material to be welded 12, an arm 6 pivotally attached to the reversing machine 1 so as to be able to swing back and forth. , a traveling rail 7 attached to the swinging end of the arm 6 in the central portion in the longitudinal direction; a welding robot main body 8 attached to the traveling rail 7 so as to be able to freely reciprocate and provided with a welding torch 9; An automatic welding device comprising a computer that teaches the reversing machine 1 and the welding robot main body 8 about alternate reversing operations and welding lines by a teaching-playback method.