JPH06285637A - Automatic welding control method for connected column cores - Google Patents

Abstract

PURPOSE:To obtain a automatic welding control method of the connected column cores to stabilize the welding quality by operating a welding robot based on a second job and welding actually the connected column cores. CONSTITUTION:A first job which changes first data taught based on second data inputted and allows the welding robot 10 to execute specified measuring operation on the actual positions, shapes and dimensions of the connected column cores 401, 402 and 403 is made. The shapes, etc., of the connected column cores 401-403 are measured by using the welding robot 10 based on the first job. Based on the measured result, the second job which allows the welding robot 10 to weld the connected column cores 401-403 is made. Based on the second job, the welding robot 10 is operated to weld actually the connected column cores 401-403. Consequently, frequency of generation of the weld defects can be reduced drastically.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an automatic welding control method for connecting column cores used in a steel structure for welding by an automatic welding robot.

[0002]

2. Description of the Related Art The early welding robots for welding steel frames for buildings used in buildings and the like are basically of a teaching playback system, and work pieces such as column cores (connection cores) are welded. Unless the welding robot has a completely identical shape, in order to have the welding robot weld a column core of a different shape, as a general rule, the welding robot manually moves the start and end points and the movement between them. Teaching work, so-called teaching work is required. However, when introducing a welding robot and teaching the operation of the welding robot by teaching at the production site, the column core produced by one type of teaching is generally used due to the price of the welding robot and other peripheral devices. If the number does not reach 2,000, the cost will not be balanced. In addition, since teaching generally takes a considerable amount of time, if the number of required teaching tasks increases,
The work efficiency decreases accordingly. In many cases, steel frames and the like used as building materials are generally produced in small quantities in a large variety, and thus, conventionally, teaching work had to be frequently performed at a production site. Therefore, there is a problem that the efficiency of the welding work using the welding robot is largely limited by the teaching work.

In order to solve such a problem, in recent years,
A welding robot of a type has been developed in which a manufacturer performs a teaching operation in advance for a welding operation with respect to a predetermined work including a column core before shipping. That is, the manufacturer side teaches the basic shapes of multiple column cores in advance, or the single basic shape is taught in advance, and the user side obtains basic numerical values regarding the dimensions of the column core to be welded. Only input data etc. When such input data is input, the welding robot automatically selects the required shape data from the database of basic shapes that have been taught in advance, or enlarges / reduces the basic shapes evenly. Then, software (job) for performing the welding operation is created based on these data. Also, regarding welding conditions such as welding voltage, welding current, and weaving width, appropriate ones are selected according to the above-mentioned job.

In order to perform the actual welding work with such a welding robot, the user has only to input the necessary numerical data or the like to start the above-mentioned job, and therefore the user performs the teaching work of the welding robot. No need. Therefore, the work efficiency at the production site is improved as compared with the welding robot which requires teaching on the user side as in the past.

[0005]

However, in a welding robot of the type that selects data from a database of pre-teached basic shapes, the dimensions of the column core to be welded are close to any of the prepared data. However, if the actual size of the column core deviates greatly from any data, proper welding work cannot be performed. Therefore, when performing a welding operation on a column core other than the column core of a specific dimension that each welding robot is good at, there is a problem that a welding defect frequently occurs due to poor matching between the job and the column core. is there. In particular, welding defects often occur in a portion that transitions from a curved portion to a straight portion or a portion that transitions from a curved portion to a linear portion. In addition, the basic shape has been expanded.
In the welding robot of the type to shrink, it was created because the basic shape expansion and contraction work is not done well when creating a job, and there is a positional deviation when fixing the column core to the positioner. The matching between the job and the actual column core may be bad. Even in such a case, welding defects frequently occur.

On the other hand, a plurality of column cores are connected by using a connecting jig or by temporary fixing welding to form a connected column core.
In this state, the groove portions of each column core are sequentially welded, and when all welding is completed, the column cores may be separated and used as a single column core. In this case, if you enter the numerical data related to dimensions etc. for one column core, create a job, weld it, and then perform the same work for the next column core, the operator constantly monitors the system and needs it. Depending on the situation, it is necessary to input numerical values, clean the welding torch nozzle, cut the welding wire, and replace the tip or torch.

The present invention has been made based on the above circumstances, and it is not necessary for the user to perform teaching work for a connected column core in which a plurality of column cores are connected, and an actual welding target is provided. It is possible to create operation jobs that are well matched to each column core to make welding quality more stable, and to perform welding work for the entire connected column core automatically even without an operator. It is an object of the present invention to provide an automatic welding control method.

[0008]

According to the present invention for solving the above problems, a welding robot is controlled by a control means to automatically weld a connected column core in which a plurality of column cores are connected. In an automatic welding control method for a column core, the operation for moving the welding robot is taught for a first column core having a standard shape and dimensions in advance, and the first data is stored in the control means. Second data relating to a plurality of column cores, which are stored in the device and actually constitute a connected column core to be welded, are input to the control device, and the taught first data is input to the second data. The welding robot is changed as necessary based on the above data, and a predetermined measuring operation is performed on at least one of the actual position, shape and size of the column core connected to the welding robot. Create a first job for adjusting, and using the welding robot based on the first job, measure at least one of the position, shape and size of the connecting column core to be actually welded, A second job for welding the connecting column core to the welding robot is created based on the measurement result by the welding robot, and the welding robot is operated based on the second job to actually connect the column. It is characterized in that the procedure consists of welding the core.

The steps of causing the welding robot to perform the measurement operation, the step of creating the second job, and the step of actually welding the connected column cores include, for example, first of all, a plurality of column cores forming the connected column cores. One of the column cores is performed, and thereafter, the series of steps is performed for each column core in a predetermined order.

In the step of actually welding the connected column cores, for example, the welding torch nozzle cleaning, the wire cutting, the welding torch and the tip replacement are performed on the basis of a predetermined welding amount or a predetermined wire usage amount. It is a feature.

The predetermined measurement operation for the connected column cores is performed by, for example, using a contact type position detection sensor, contacting a diaphragm surface of each column core and a predetermined number of points on the column surface to actually measure each column core. It is characterized by detecting the position.

The predetermined measuring operation for the connected column cores is performed, for example, by a contact type position detecting sensor, and further by contacting at least one point on the groove bottom and at least two points on the groove side surface of the column side to each column core. The shape of the groove is detected.

The first job and the second job are characterized in that standard shapes and dimensions stored in the storage means are enlarged or reduced for each part, for example. is there.

[0014]

With the above-described structure, the present invention relates to the shape of the connected column core, which is the subject of welding, on the side of the user, the teaching of the welding robot for the standard column core is completed by the manufacturer before shipment. By inputting the data, the shape and the like of the connected column core to be actually welded are measured, and the second job is created based on the measurement result, so that an accurate second job can be created.

When welding the connected column core,
After performing the measurement operation, the creation of the second job, and the actual welding for one column core, the measurement operation is performed for the next column core, so that the second and subsequent column cores are already welded. Since it is possible to perform the measurement operation in consideration of the welding distortion of the column core which has been subjected to the above, it is possible to perform the reliable welding for the second and subsequent column cores as in the first case.

Since welding of the connected column core requires longer time than welding of a single column core, for example, the welding torch nozzle is cleaned and the wire is cleaned based on a predetermined welding amount or a predetermined wire usage amount. By performing the operations of cutting, welding torch and tip replacement, high welding quality can be maintained even in the case of long-time welding. In addition, welding work can be performed during long-time welding without an operator, improving work efficiency.

When the user inputs data regarding the shape and the like, the welding robot actually measures the shape and the like of the connected column core by the contact type position detecting sensor. This measurement contacts the diaphragm surface of each column core and a predetermined number of points on the column surface to detect the actual position of each column core. This makes it possible to correct the positional deviation and create a more accurate second job.

Further, the groove shape of each column core is detected by contacting at least one point on the groove bottom and at least two points on the groove side surface of the column side surface, and the second shape is detected based on the detection result. Since a job can be created, a more accurate job can be created.

[0019]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described below with reference to the drawings. FIG. 1 is a schematic perspective view of a welding robot for performing welding by an automatic welding control method of a connected column core which is an embodiment of the present invention, a connected column core which is an object to be welded and other devices, and FIG. 2 is a connected column. FIG. 3 is a side view showing a state in which the core is fixed to the positioner, FIG. 3 is a perspective view of one column core (connection core) that constitutes the connecting column core, and FIG. 4 is a groove portion when welding the diaphragm and the column portion. FIG.

The apparatus shown in FIG. 1 comprises a multi-joint welding robot 10
And the positioners 20, 22 for fixing the connecting column core 60 and rotating and moving it as necessary, and the welding robot 1.
A controller 2 for controlling 0, a welding power source 4 for supplying electric power for welding, and a search sensor unit 6 for performing touch sensing are provided. The welding robot 10 also has an articulated arm 12 and a welding torch 14 supported by the articulated arm 12. 1
6 is a welding wire. The connecting column core 60 welded by the welding robot 10 includes three column cores 401,
402 and 403 are connected to each other, and are held at a predetermined position in a double-sided state by a uniaxial fixed side positioner 20 and a driven side (free end side) positioner 22 as shown in FIG. (Only the fixed positioner 20 is shown). A connecting jig is used to connect the column cores, or temporary fixing welding is performed. Driven positioner 22
2 is equipped with wheels 24 that run on rails as shown in FIG. 2, and is used for connecting column cores 6 when welding shrinkage occurs.
It can move freely in the 0 axis direction. Also, the welding robot 1
0 also has wheels (not shown),
It is configured so that it can slide on a rail provided in parallel with the connection column core 60 as needed during welding work.
Move along.

Around the welding robot 10, there are further provided a device 80 for cleaning the torch nozzle, a device 82 for cutting and aligning the welding wire after cutting the arc, and a device 84 for replacing worn torches and chips.

As shown in FIG. 3, the column core 401 (40
2, 403) is welded between the column portion 42 and the two diaphragms 44a and 44b on either side thereof. The diaphragms 44a and 44b finally transmit the stress from the beams when the beams (not shown) are welded to the four sides thereof, respectively. Column 42 and diaphragm 44
As shown in FIG. 4, the groove to be a welded portion with and is shaped like a rectangle, and its cross-sectional shape is substantially the same over the entire circumference of the column core. In the figure, 70 is a backing plate.

In FIG. 1, the welding torch 12 supports the welding wire 16 and weaves the welding wire 16. In addition to this, the apparatus of this embodiment includes a personal computer (not shown) connected to the welding robot, and is used as a control means as described later. However, if the CPU of the controller itself of the welding robot has sufficient capacity and an input device such as a keyboard is connected, such a CPU can also be used as the control means.

In the welding robot apparatus shown in FIG. 1, the operation of the welding robot is taught in advance about the basic shape and size of the column core before being shipped by the manufacturer.
The data is stored. The job is a program (software) for causing the welding robot to perform a predetermined operation.

Further, as will be described later, the welding robot of the present embodiment measures the positional deviation and the groove of the column core for each of the connected column cores at the steel frame production site. Teaching has already been done. In principle, all of the above teaching work is performed by the manufacturer, and the user does not have to perform the teaching work at the production site.

On the user side, the operator first inputs numerical data concerning the shape of each column core and the shape of the groove of the connected column core to be actually welded. Specifically, in addition to the number of connected column cores, the column diameter of each column core, column plate thickness, column height, column corner radius, diaphragm plate thickness, groove angle (angle θ in FIG. 4), route Numerical data such as a gap (width G in FIG. 4) and a root face (height F in FIG. 4). Note that the groove angle and root gap values are entered as reference values for measurement, which will be described later, and do not always have to be entered.However, by entering them, you can prevent measurement errors. You can

The control means enlarges or reduces the data obtained in advance based on the numerical data input by the operator as described above, and corrects the data.
An operation job for measuring the displacement of the column core and an operation job for measuring the groove are automatically created on the computer. In the conventional method, the enlargement / reduction when creating a job was uniform for the entire column core. However, in this embodiment, the enlargement / reduction ratio can be changed for each part. Therefore, for example, even if the shape that is taught in advance is a square, an operation job for a rectangle is created by changing the enlargement / reduction ratio for each part, and conversely, a square for a square is created based on the teaching data of a rectangle. You can create motion jobs. The job here is not an actual job for the welding robot to actually perform a welding operation, but an operation job for measurement.

When such a job is created, the control means controls and operates the welding robot based on this job, and the driven side positioner 22 of the coupled column core 60 is operated.
The position measurement, the groove shape measurement, the final welding job creation, and the welding operation based on this job are performed on the column core 403 fixed to. In this way, the reason why the above series of work is started from the column core fixed to the driven side positioner 22 is that if all the column cores are measured and then sequentially welded, the molten metal will solidify. This is because each welding position in actual welding may be deviated from the position at the time of measurement due to welding shrinkage caused by a decrease in volume of about 10%.

Further, the positional deviation of each column core is determined based on the measurement result of the position of each column core to be actually welded. Here, the positional deviation means that the position where the column core is actually fixed is deviated from the original position, and if the amount of this deviation is large, accurate welding cannot be performed and many defects occur. In addition, when measuring the groove angle and the root gap, the operator refers to the groove angle and the root gap, and detects the position of the number of points necessary to specify the groove angle and the root gap. By doing. In addition, for the measurement of this displacement and the measurement of the groove,
A wire ground method, a touch energization method using a dedicated jig, or a contact type position detection sensor such as a mechanical three-way touch sensor can be used. All of these methods are based on the energization of the column core and the welding wire.When the sensor contacts the column core, the coordinates of the welding robot at that position are stored, and a personal computer or a computer dedicated to the welding robot makes a predetermined recognition. Calculate.

Next, a specific method of the above measurement will be described with reference to FIGS. 3 and 4. Here, it is assumed that the column core in FIG. 3 is the rightmost column core 403 in FIG.
Further, it is assumed that the diaphragm 44a is fixed to the driven positioner 22. First, regarding the measurement of the positional deviation, the four points shown by in FIG. Here, the position in the z direction of the drawing is determined by measuring the point and, and the position in the x direction is determined by measuring the point and. Thus, the line of intersection 50 between the column portion 42 and the diaphragm 44a, which is the welding line, can be obtained. In this case, it is assumed that the column core is fixed to the positioner so that the uppermost surface of the column portion 42 is horizontal. However, if this top surface is tilted or if it is necessary to confirm that it is horizontal, the plane is determined by measuring at least 3 points, so the point'or ',
Alternatively, further measurement is performed for both of these points.

Next, the sensor is moved to the side surface of the column core 403, and the points and are measured. By performing this measurement, the positional deviation of the column core 403 in the horizontal direction, that is, the y direction in the figure can be known.

By the way, more accurate measurement becomes possible as the distance between the points and the distance between the points increases, so it is preferable that the measurement points (1) to (5) are as close to the curved portion (R portion) 52 as possible. However, the radius of curvature differs depending on the column core, and even one column core may have different radii of curvature at the four R parts, so if it is too close to the R part 52, the position at the shoulder of the R part Measurement may cause an error. For this reason, the four points above are the intersection line 50 and the
It is desirable to measure at a position about 20 mm inside from the boundary part of.

When the measurement at the above points (1) to (3) is completed, the positioners 20 and 22 rotate the entire connected column core by 90 degrees around the axis, and the same measurement is performed. Further, the measurement operation is performed over the entire circumference by further rotating 90 degrees at a total of four times. It should be noted that, since the measurement is performed by rotating each 90 degrees, the measurement of the points in FIG. 3 is not always necessary if necessary data is diverted.

Next, the column portion 42 and the diaphragm 44a
The measurement of the groove will be described with reference to FIG. 4, which shows a cross section of the groove that serves as a joint portion with. The sensor is diaphragm 44
One point on the surface of a, one point on the bottom of the groove, two points above and below the groove surface on the column 42 side, ′, and one point on the column surface (for example, in FIG. 3) are measured. However, as for one point on the surface of the diaphragm and the data on the surface of the column, data such as the point obtained by the positional deviation measurement described in FIG. 3 can be used. The groove angle θ can be obtained by measuring the upper and lower two points of the groove surface on the column side and ′. Note that the diaphragm 44a is also used here.
Is fixed vertically and the column part 42 is fixed horizontally. When fixed in a tilted state, two points are measured on the surface of the column in the direction parallel to the rotation axis of the positioner, and two points are measured on the diaphragm surface in the vertical direction to recognize the inclination of the surface. To do.

The above operation is also performed for the joint portion between the diaphragm 44b and the column portion 42 on the opposite side this time. When the displacement of the column core 403 and the groove shape are measured as described above, based on these measurement results,
An operation job for actually causing the welding robot to weld the groove portion of the column core 403 is created. In this operation job, welding conditions are automatically selected and set in addition to the movement trajectory of the welding robot. The welding conditions include welding current, welding voltage, welding speed (mm / sec), presence or absence of weaving, and the like. The welding method used in this example is the carbon dioxide shield arc welding method. This final operation job creation work is also automatically performed by the personal computer.

In the present embodiment, even when multi-layer welding is performed, the data initially given by the manufacturer on the teaching side is only for one pass. Therefore, from the measured data such as the groove angle, the root gap, and the plate thickness, the movement locus of the welding torch in the case of performing the welding in the second and subsequent passes is also automatically obtained. However, if it is not multi-layer welding, such work is naturally unnecessary.

In the case of creating the final operation job described above, the so-called taper gap correspondence method is used for the straight line portion 50. That is, the straight line portion 50 is divided into, for example, eight portions, and the divided portions are regarded as having the same groove-shaped cross section and welding conditions. The larger the number of divisions, the higher the welding accuracy.
By using such a method, for example, the straight part 5
Even if the groove shape linearly fluctuates from one end of No. 0 to the other end, each part can be welded under optimum conditions. In order to be able to apply this taper gap correspondence method, it is a condition that the straight line portion 50 is close to a perfect straight line, and cannot be applied, for example, when the groove shape in the middle has a mountain-shaped variation. However, since the groove of the building steel frame is generally produced with high precision by machining, and the certain root gap G is provided and the backing 70 is further applied, the straight line portion 50 does not change greatly. Can be considered. So in the general case,
The taper gap correspondence method is sufficiently applicable. Since the job created in this way is based on the actual measurement result, the matching with the column core to be actually welded is extremely good.

On the other hand, the operation job of the R section 52 is divided into, for example, six equal parts, and the welding conditions and the like of the six sections are calculated by the data based on the data measured in the straight line portions near both ends of the R section. To create. In this way the column core 403
When the final job is created, the job is automatically started so that the welding robot starts welding the groove portions on both sides of the column core 403. Since this welding work is based on the job created based on the result of actual measurement as described above, the operation is extremely suitable for the column core which is the object to be welded.

After the series of operations such as measurement, job creation and welding for the column core 403 is completed as described above, the same operation is then performed for the column core 402 fixed in the center of FIG. And finally, the column core 401 fixed to the leftmost fixed positioner 20 in FIG.
The same work as above is performed. After the welding of the connecting column cores 60 including the three column cores is completed in this manner, the individual column cores are separated for actual use.

Incidentally, when the welding arc is once cut in order to move the welding torch from one place to another during the welding work on the connected column core, the torch nozzle is cleaned before the next welding. Then, perform the work of trimming the lengths of the tips of the wires. Also, it may be necessary to replace a worn torch or tip during the welding operation. For such a case, the torch nozzle cleaning device 80, the wire cutting device 82, the torch and wire exchanging device 84 shown in FIG. 1 are provided, and for example, the torch nozzle is cleaned every time the column core is rotated once by the positioner, Set to perform wire cutting, torch and tip replacement. Therefore, for example, each device 8
0, 82 and 84 are configured to be movable in the axial direction of the column core together with the welding robot 10.

By the way, if the operator sets home to perform the above-mentioned series of work at the end of working hours and returns home, and if the welding robot can perform the above-mentioned series of work at night from the end of working hours to the next morning. , Work efficiency is greatly improved. In the first place, the purpose of connecting the column cores to form the connected column core was to increase the work efficiency of the production site by such a method. However, with the conventional welding robot, even when returning home after setting the work to be finished during the night, the welding work often stopped halfway through with the alarm buzzer.

In order to automatically perform the welding work of the connected column cores at night, it is a condition that the welding robot can be operated in an unmanned state and that no human labor is required on the way. Therefore, in the present embodiment, when the work is interrupted due to a measurement error or welding abnormality, the work of the part is redone, and when the same error occurs even if it is repeated a predetermined number of times, the work of the part is performed. Is set to pass and move to the next task. If you do this, even if some work is not done, most of the work is completed the next morning except for the part where the error occurred, so the operator is required only for the abnormal part. It suffices to carry out the correction work, the influence of the abnormality occurrence can be suppressed to the minimum, and the waste due to the work stop can be omitted. At this time, if the above-mentioned abnormality is an abnormality during measurement work or an abnormality during welding work, after the arc of FIG. 1 is cut, the tip of the welding wire is trimmed by the welding wire trimming device 82. Make sure you do the following: This can significantly reduce the probability of anomalies.

The present invention is not limited to the above embodiments, but various modifications can be made within the scope of the invention. For example, in the above-described embodiment, the case where the groove shape is a L-shape has been described, but the groove shape may be an I-shape. Further, the measurement of the position and groove shape of each column core is not limited to the above items 1 to 3.
Further, in the above embodiment, the shape of the column core is input by the operator, but this shape may be measured by the contact type position detection sensor and the input value may be corrected.

[0044]

As described above, according to the first aspect of the invention, the teaching work is performed only at the stage of manufacturing the welding robot and its peripheral devices.
At the steel frame production site, you only need to enter the necessary numerical data for the connected column cores, then the first job that requires control means is created, the shape of each column core is measured, and based on this. Since a second job for actually performing the welding work is created, the work efficiency is significantly improved compared to the conventional method that required teaching work at the production site, and the welding robot can be used at the production site. Since the shape etc. of each column core is actually measured and the final motion job is created based on this, such a second job is a good match to the actual shape of the column core, and therefore the second job (EN) An automatic welding control method for a connected column core in which the frequency of welding defects is significantly reduced and welding quality is stabilized by executing welding operations based on jobs. Can.

According to the second aspect of the present invention, first, the measuring operation is performed on one column core, the second job is created and the actual welding is performed, and then the measuring operation is performed on the next column core. By doing so, it is possible to perform a measurement operation that takes into account the welding distortion of the column cores that have already been welded for the second and subsequent column cores. It is possible to provide an automatic welding control method for a connected column core in which reliable welding can be performed similarly to the above, and therefore the frequency of occurrence of welding defects is significantly reduced and the welding quality is stabilized.

According to the third aspect of the present invention, for example, the welding torch nozzle cleaning, wire cutting, welding torch and tip replacement can be performed based on a predetermined welding amount or a predetermined wire usage amount. ,
Even in the case of long-time welding, high welding quality can be maintained, and since welding work can be performed during long-time welding without an operator, it is possible to improve work efficiency by automatically connecting column cores. A welding control method can be provided.

According to the fourth aspect of the invention, the contact-type position detecting sensor actually contacts the diaphragm surface of each column core and a predetermined number of positions on the column surface for actual welding. It is possible to detect the position of each column core, which can correct the positional deviation and create a more accurate second job, and therefore the frequency of occurrence of welding defects is greatly reduced and the welding quality is stabilized. An automatic welding control method for a column core can be provided.

Further, according to the invention of claim 5, the groove of each column core to be actually welded by contacting at least one point on the groove bottom and at least two points on the groove surface on the column side. A shape can be detected, and a more accurate job can be created by creating a second job based on the detection result. Therefore, the frequency of occurrence of welding defects is further reduced, and welding quality is stabilized. It is possible to provide an automatic welding control method for the connected column core.

[Brief description of drawings]

FIG. 1 is a welding robot for performing welding by an automatic welding control method for a connected column core according to an embodiment of the present invention,
It is a schematic perspective view of the connection column core which is a to-be-welded object, and other apparatuses.

FIG. 2 is a side view showing a state in which a connection column core is fixed to a positioner.

FIG. 3 is a perspective view of one column core (portion core) that constitutes a connected column core.

FIG. 4 is a cross-sectional view of a groove serving as a joint portion between a column portion and a diaphragm.

[Explanation of symbols]

 10 Welding robot 12 Multi-joint arm 14 Welding torch 16 Welding wire 20 Positioners 401, 402, 403 Column core 80 Torch nozzle cleaning device 82 Wire cutting device 84 Torch and tip changer 44a, 44b Diaphragm

 ─────────────────────────────────────────────────── ─── Continuation of front page (71) Applicant 000233701 Nippon Steel Welding Industry Co., Ltd. 3-5-4 Tsukiji, Chuo-ku, Tokyo (72) Inventor Iwa Shimizu 20-1 Shintomi, Futtsu-shi, Chiba Nippon Steel Co., Ltd. Company Technology Development Headquarters (72) Inventor Shunsuke Fukami 20-1 Shintomi Steel, Futtsu City, Chiba Prefecture Nippon Steel Co., Ltd. (72) Inventor Norimitsu Baba 20-1 Shintomi, Futtsu City, Chiba Prefecture Nippon Steel Stock Company Technology Development Division (72) Inventor Toshio Aoki 20-1 Shintomi, Futtsu City, Chiba Prefecture Nippon Steel Corporation Technology Development Division (72) Inventor Toru Noda 7-6-1 Higashi Narashino, Narashino City, Chiba Prefecture Welding Industry Co., Ltd. Equipment Division (72) Inventor Shinji Okumura 2-1, Kurosaki Shiroishi, Hachimannishi-ku, Kitakyushu City Yasukawa Electric Robot Factory (72) Inventor Kazuhiko Kurosaki Shiroishi No.2, Yawatanishi-ku, Kitakyushu City Yasukawa Electric Robot Factory (72) Inventor Masao Tamada No.1 Kurosaki Shiroishi, Yawatanishi-ku, Kitakyushu City Yasukawa Electric Robot Factory (72) Inventor Kanehara Takeyoshi Kitakyushu Yaskawa Electric Robot Factory, 2-1, Kurosaki Shiroishi, Hachimansai-ku, Yokohama (72) Inventor Kiyoshi Kawami 2-19-7 Akanehama, Narashino City, Chiba Yaskawa Corporation Robot Engineering Department

Claims (6)

[Claims] 1. An automatic welding control method for a connected column core, which automatically welds a connected column core connecting a plurality of column cores by controlling a welding robot using a control means. The operation for moving the welding robot is taught with respect to the first column core having, and the first data is stored in the storage means in the control means, and the connected column core to be actually welded is stored. Second data regarding a plurality of column cores to be configured is input to the control means, the taught first data is changed as necessary based on the input second data, and the welding robot is provided. Creating a first job for performing a predetermined measuring operation on at least one of the actual position, shape and size of the connected column core; At least one of the position, the shape and the size of the connecting column core to be actually welded by using the welding robot based on the welding, and connecting to the welding robot based on the measurement result by the welding robot. Second for welding column cores
Job is created, the welding robot is operated based on the second job, and the connected column core is actually welded. The automatic welding control method for the connected column core. 2. The step of causing the welding robot to perform a measurement operation, the step of creating the second job, and the step of actually welding the connected column cores are first performed by a plurality of column cores forming the connected column cores. The automatic welding control method for a coupled column core according to claim 1, wherein one of the column cores is performed, and thereafter, the series of steps is performed for each column core in a predetermined order. 3. In the step of actually welding the connected column cores, each work of cleaning the welding torch nozzle, wire cutting, welding torch and tip replacement is performed with reference to a predetermined welding amount or a predetermined wire usage amount. 3. The automatic welding control method for a coupled column core according to claim 1 or 2. 4. The predetermined measurement operation for the connected column cores is performed by a contact type position detection sensor by contacting a diaphragm surface of each column core and a predetermined number of points on the column surface to actually measure each column core. The method for controlling automatic welding of a connected column core according to claim 1, 2 or 3, wherein the position of is detected. 5. A predetermined measurement operation for the connected column core is performed by contacting at least one point on the bottom of the groove and at least two points on the groove side surface of the column by a contact-type position detecting sensor for each column. The automatic welding control method for a coupled column core according to claim 4, wherein the groove shape of the core is detected. 6. The first job and the second job are created by enlarging or reducing a standard shape and size stored in the storage unit for each part. Item 6. An automatic welding control method for a connected column core according to Item 1, 2, 3, 4 or 5.