JPH09182962A - Welding robot - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a welding robot that performs horizontal welding of a building column while sensing in real time a groove shape or a bead shape using a non-contact type sensor such as a laser sensor. SOLUTION: The robot is constituted of a robot body 51 which performs a reciprocating motion on a guide rail 40 attached to a welding object 2, sensor 52 and torch 53 loaded on the robot body, sensor controller which corrects welding conditions retrieved from data base depending on the groove shape and bead shape detected by the sensor before and during the welding, and a robot controller which gives a command of a torch position to the robot body based on a corrected value from the sensor controller and which also instructs welding conditions to the welding machine.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a welding robot for horizontally welding a building column, a hull outer plate under construction, etc. while sensing a groove shape or a bead shape using a sensor such as a laser sensor.

[0002]

2. Description of the Related Art For example, on-site horizontal welding by a welding robot for building columns has been tried by various methods, but the groove precision is poor (misalignment, there are many errors in route intervals) It cannot be said that it is sufficiently compatible with, and there is nothing satisfactory in terms of efficiency and quality. Conventional methods include pre-welding sensing with a touch sensor, arc sensing during welding, or a combination of the two. In the case of arc sensing, horizontal welding is usually the first layer and multi-pass welding. Is not enough for.

[0003]

SUMMARY OF THE INVENTION The present invention has been made in view of the present situation, and an object thereof is to sense a groove shape or a bead shape in real time by using a non-contact type sensor such as a laser sensor. Meanwhile, it is to provide a welding robot that horizontally welds a building column.

[0004]

A welding robot of the present invention which can achieve the above object comprises a robot main body which reciprocates on a guide rail mounted on an object to be welded, a sensor and a torch mounted on the robot main body. , A sensor controller that corrects the welding condition called from the database by the groove shape or bead shape detected by the sensor before and during welding, and gives a torch position command to the robot body based on the corrected value of the sensor controller. It is characterized by comprising a robot controller for instructing welding conditions to the welding machine.

As described above, the robot main body that reciprocates on the guide rail attached to the object to be welded, the sensor and torch mounted on the robot main body, the groove shape or bead detected by the sensor before and during welding. By consisting of a sensor controller that corrects the welding conditions called from the database depending on the shape, and a robot controller that issues a torch position command to the robot body based on the correction value of the sensor controller and commands the welding conditions to the welding machine, Horizontal welding of construction site columns with poor groove precision can be performed with high quality and high efficiency.

[0006]

Embodiments of the present invention will be described below with reference to the drawings. In FIG. 1, reference numeral 50 denotes a welding robot, and the welding robot 50 mainly includes the robot main body 5
1, a laser camera 52 and a torch 53. The robot body 51 is adapted to reciprocate on the guide rail 40. This robot body 51
There are a laser camera 52 and a torch 5 as sensors.
3 is mounted, and the laser camera 52 is adapted to measure the groove shape of the square cylindrical pillar 2 at the construction site and the already welded bead shape in real time. The torch 53 moves up and down, back and forth, up and down, and horizontally swings, and has five degrees of freedom when the left and right movements of the robot body 51 are included.

Further, as shown in FIG. 2, the welding robot 5
0 is a sensor controller 54 as an auxiliary facility.
The robot controller 55 is connected to the sensor controller 54, and the sensor controller 54 uses the groove shape of the column 2 detected by the laser camera 52 and the bead shape already welded to call the welding condition from the database 56, that is, the torch 53. The aiming position, the aiming angle of the torch 53, the moving speed of the robot body 51, the welding current and the welding voltage of the welding machine 57, etc. are corrected.

Further, the robot controller 55 receives the correction signal from the sensor controller 54 and controls the aiming position and aiming angle of the torch, the moving speed of the robot body, the welding current and the welding voltage of the welding machine 57. There is. Further, in FIG. 1, reference numeral 1 is a guide rail mounting device, and this guide rail mounting device 1
Is mainly composed of a clamp 10 and a pair of rail fixtures 20 and 30 attached to the clamp 10.

The clamp 10 is a long beam 1 having a hollow prismatic shape.
1 and two pads 12 and 13 arranged on this beam 11
And is formed from These two reliance 12,1
One of the metal fittings 12 is fixed to one end of the beam 11, but the other metal fitting 13 is slidable. However, the slide side pad 13 can also be fixed by tightening the tightening bolt 14.

The metal plate 12 on the fixed side has a tightening piece 15 on the contact surface side thereof. This tightening piece 15
When the lever 16 is turned, the lever slightly moves toward the contact surface side, and the tightening force of the clamp 10 increases. On the other hand, a pair of rail fixtures 20,
One of the rail fixing brackets 20 of the rails 30 is rotatably attached to the fixed-side pad 12. The rail fixing metal fitting 20 has a vertical groove 21 provided in the upper portion of the metal fitting itself in the longitudinal direction of the beam 11. Further, a tightening bolt 22 is provided on the side of the vertical groove 21. The rail fixing member 20 has a screw shaft 23 on the bottom surface thereof. After inserting the screw shaft 23 into the hole 17 formed in the contact metal plate 12, the butterfly nut 24 screwed to the screw shaft 23 is attached. By tightening, it can be fixed to the pad 12 on the fixed side.

The other one of the rail fixing fittings 30 is fixed to the slide metal 13 on the slide side. In the rail-side metal fitting 30 on the slide side, a vertical groove 31 provided so as to face the longitudinal direction of the beam 11 and a lateral groove 32 provided so as to face the lateral direction of the beam 11 cross each other. One of the blocks divided into four by the two grooves 31 and 32 has a tightening bolt 34 provided in the lateral direction of the beam 11.
And a tightening bolt 35 provided in the longitudinal direction of the beam 11 is screwed to the other one.

The rail fixing fittings 20 and 30 are arranged at a position separated from the outer surface of the iron column 2 as the object to be welded by a constant distance a determined by the size of the welding robot. In FIG. 1, reference numeral 40 denotes a guide rail having a T-shaped cross section. After the guide rail 40 is inserted into the vertical grooves 21 and 31 of the rail fixing brackets 20 and 30, the ribs 42 provided at the bottom of the guide surface 41 are inserted. By tightening the tightening bolts 22 and 34, they are fixed to the rail fixing fittings 20 and 30.

Next, the operation of the welding robot will be described. This welding robot is controlled based on the flowchart of FIG. As shown in FIG. 4 and FIG. 5, when welding the horizontal joint portion 3 of the square tubular iron column 2 under construction, the erection piece 4 is not attached.
The two facing surfaces A and B, and the above-mentioned joint portion 3
After the guide rail mounting device 1 is positioned further downward and fixed, the guide rail 40 is fixed to the rail fixing fittings 20 and 30 of the guide rail mounting device 1, and the welding robot 50 is set on the guide rail 40.

Next, the welding robot 50 is moved to the guide rail 4
The thickness of the joint portion 3, the groove shape, the welding start end and the welding end end are measured in real time by the laser camera 52 while moving along with 0, and the sensor controller 5
The welding condition of the database 56 is selected according to 4. Next, after returning the welding robot 50 to the welding start end, the robot controller 55 adjusts the traverse speed of the robot body 51, the aiming position and the aiming angle of the torch 53 in response to the pruned welding conditions of the sensor controller 54. The welding current and welding voltage of the welding machine 57 are adjusted.

Next, the welding machine 57 is started, the robot main body 51 is traversed, and the groove shape and the groove position are detected while the groove shape of the joint 3 is detected by the laser camera 52 mounted in front of the torch 53. Based on the above, the sensor controller 54 corrects the welding condition called from the database 56, and based on this corrected value, the robot controller 55 causes the robot main body 51 to traverse speed, the torch 53 target position and target angle, the welding machine 57. Part or all of the parameters such as the welding current and voltage of 1 are adjusted, and the torch 53 performs the first welding of the joint portion 3.

Next, the robot main body 51 is traversed, the first bead shape and position of the joint portion 3 is detected by the laser camera 52 mounted in front of the torch 53, and the torch 53 performs the second welding. Be seen. As described above, while correcting the welding conditions called from the database 56 based on the previous bead shape of the joint portion detected by the laser camera 52, the joint portion 3 on the A and B surfaces of the cylindrical column 2
To weld.

After the welding of both sides A and B is completed, as shown in FIG. 6, the erection piece 4 on the sides C and D of the iron column 2 is completed.
After removing, the fastening bolts 22 and 34 of the rail fixing fittings 20 and 30 are loosened, and the guide rail 40 is pulled out in the arrow direction while the welding robot 50 is mounted. Next, as shown in FIG. 7, the butterfly nut 24 of the rotatable rail fixing member 20 is loosened, and the guide rail 40 is rotated 90 degrees.

Next, as shown in FIG. 8, the guide rail 4
After attaching 0 to the rail fixing bracket 30, the guide rail 40 is fixed to the rail fixing bracket 20 and 30 with the tightening bolts 22 and 34, and the butterfly nut 24 is tightened to fix the rail fixing bracket 20. In this way,
After the welding robot 50 converts the welding surface of the iron pillar 2 into C and D, the welding robot 50 is moved along the guide rail 40 to weld the joint portion to the C and D surfaces of the iron pillar 2.

[0019]

As described above, according to the present invention, the robot body traverses while correcting the welding conditions called from the database while detecting the groove shape and the bead shape of the joint portion of the pillar at the construction site in real time. Since the speed, the target position and the target angle of the torch, and the welding current and voltage of the welding machine are controlled, horizontal welding of columns at a construction site with a poor groove precision can be performed with high quality and high efficiency.

Further, it is possible to continuously weld up to the finishing layer, and an unskilled worker can operate a plurality of welding robots. In addition, in the embodiment, the case where the square cylindrical pillars are welded side by side has been described, but the present invention can also be applied to a method in which the entire circumference of the pillar is circled. Further, the welding condition may be determined by calculation in addition to the method based on the database. Further, in addition to the welding of building columns, the present apparatus can be applied to horizontal welding of outer plates of hulls under construction, crane parts, and the like.

[Brief description of the drawings]

FIG. 1 is a perspective view of a welding robot according to the present invention.

FIG. 2 is a control block diagram of the welding robot according to the present invention.

FIG. 3 is a control flowchart of the welding robot according to the present invention.

FIG. 4 is a perspective view showing a state in which the welding robot according to the present invention is attached to a pillar at a construction site.

FIG. 5 is a plan view showing a state in which the welding robot according to the present invention is attached to a pillar at a construction site.

FIG. 6 is an explanatory view showing a state in which the guide rail is pulled out in the arrow direction after the welding of the corresponding two surfaces of the column is completed.

FIG. 7 is an explanatory diagram showing a state in which the guide rail is rotated 90 degrees.

FIG. 8 is an explanatory view showing a state in which a guide rail is fixed and a welded surface is converted into an unwelded surface.

[Explanation of symbols]

2 Architectural columns 40 Guide rails 51 Robot body 52 Sensors 53 Torches 54 Sensor controllers 55 Robot controllers 56 Databases 57 Welders

 ─────────────────────────────────────────────────── ─── Continued Front Page (72) Inventor Hirohiko Miyagi 3-1-1 Tam, Tamano-shi, Okayama Mitsui Engineering & Shipbuilding Co., Ltd. Tamano Works (72) Inventor Hiromichi Aoki 3-1-1 Tamano, Okayama Prefecture Mitsui Engineering & Shipbuilding Co., Ltd. Tamano Works (72) Inventor Isao Yamato 3-1, 1-1 Tamama, Okayama Prefecture Mitsui Engineering & Shipbuilding Co., Ltd. Tamano Works

Claims (1)

[Claims] 1. A robot main body that reciprocates on a guide rail attached to an object to be welded, a sensor and a torch mounted on the robot main body, and a groove shape or a bead shape detected by the sensor before and during welding. A welding robot consisting of a sensor controller that corrects the welding conditions called from the database, and a robot controller that issues a torch position command to the robot body based on the corrected values of the sensor controller and commands the welding conditions to the welding machine.