WO2019220827A1

WO2019220827A1 - Vertical multi-joint welding robot

Info

Publication number: WO2019220827A1
Application number: PCT/JP2019/015906
Authority: WO
Inventors: 司竹中; 隆士桐本
Original assignee: 株式会社アットロボティクス; 株式会社アンズスタジオ
Priority date: 2018-05-18
Filing date: 2019-04-12
Publication date: 2019-11-21

Abstract

[Problem] To provide a vertical multi-joint welding robot which can perform steel column welding operations with very little space. [Solution] This vertical multi-joint welding robot is provided with a base which is fixed on and supported by a column, a swivel unit which is axially supported on the base and which swivels in the horizontal direction around a vertical axis, a lower arm which swings in the forward-back direction by the base end being rotatably supported on the swivel unit, an upper arm which can swing in the vertical direction by the base end being rotatably supported on the distal end of the lower arm, and a welding head which is attached to the distal end of the upper arm, wherein the attitude of the robot is controlled to weld the column.

Description

Vertical articulated welding robot

The present invention relates to a robot attached to a steel column that welds a steel column used as a column structure of a high-rise building or the like, and a robot that moves on a circular rail attached to the steel column and welds the steel column. And relates to a vertical articulated welding robot.

Conventionally, a technique such as Patent Document 1 has been proposed as a robot for welding a steel column used as a column structure of a high-rise building or the like. That is, Patent Document 1 proposes a robot that moves and welds on a linear rail.

JP 2013-202673 A

However, since the robot proposed in Patent Document 1 needs to move on a rail that is laid in a straight line in order to move to a place to be welded, a space for laying the rail in a straight line is necessary. In high-rise workplaces where it is not possible to secure sufficient space, robots cannot be used to weld steel columns, and there was no way other than human welding.

The present invention has been made in view of such problems, and proposes a vertical articulated welding robot capable of welding a steel column with little space.

The vertical articulated welding robot includes a base part fixedly supported by a column, a turning part pivotally supported by the base part and turning in a horizontal direction around the vertical axis, and a base end part rotatable in the turning part. A lower arm that swings in the front-rear direction by being supported, an upper arm that swings in the vertical direction by a base end portion being rotatably supported by the distal end portion of the lower arm, and a distal end portion of the upper arm A welding head attached to the column, and the column is welded by controlling the posture.

The vertical articulated welding robot includes a circular rail fixedly supported by a column, a connecting portion connected to the rail, a base portion fixedly supported by the connecting portion, and a shaft supported by the base portion. A swivel portion that swivels horizontally around a vertical axis, a lower arm that swings in the front-rear direction by a base end portion rotatably supported by the swivel portion, and a base end portion at a distal end portion of the lower arm An upper arm that swings in the vertical direction by being rotatably supported, and a welding head attached to the tip of the upper arm, and the column is welded by controlling the posture. And
The vertical articulated welding robot is characterized by being suspended from a rail.

The vertical articulated welding robot is characterized in that a column is welded by a plurality of vertical articulated welding robots.

According to the vertical articulated welding robot according to the present invention, it is possible to weld a steel column without relying on a person's hand even in a high-rise work place where a space for the robot to perform work can hardly be secured. .

It is a figure which shows the whole structure of the vertical articulated welding robot fixed to the column. It is the figure which expanded the hand part. It is a figure when scanning the welding part with a sensor. It is a figure at the time of welding work with four robots. It is a figure which shows the whole structure when there exists a vertical articulated welding robot in the rail upper part. It is a figure which shows the whole structure in case a vertical articulated welding robot exists in the rail lower part.

(Example 1)
1 and 2, this robot is a vertical articulated welding robot 1, a swing arm unit 4 that can be turned on a column mounting base unit 3 that is attached to a column 2, and a swing arm unit. 4 is supported by a robot base 5 that pivots in a horizontal plane about a vertical axis, and a lower arm (robot arm) that has a base end pivotally supported by the robot base 5 and swings back and forth about a horizontal axis 6. ) 7, an upper arm (robot arm) 9 whose base end is pivotally supported by the distal end of the lower arm 7 and swings in the vertical direction around the horizontal axis 8, and a horizontal axis attached to the distal end of the upper arm 9. There are provided a wrist portion 11 that can be pivoted up and down about 10 times, and a hand portion 12 that is attached to the wrist portion 11 and that can turn freely.

A welding head 20 that performs arc discharge and welding is coupled to the hand portion 12, and a welding wire supply device 21 that supplies a welding wire 22 to a welding location by the welding head 20 is provided.

The hand unit 12 is provided with a sensor 31 that scans the welded portion and recognizes the shape (groove shape) of the welded portion.

Furthermore, inside the robot, there are a CPU 32 for controlling each part of the vertical articulated welding robot 1 and controlling image recognition by the sensor 31, position information of the part to be welded, data obtained by scanning by the sensor 31, and the like. A storage unit 33 for saving is provided.

If necessary, a shield gas nozzle that supplies a shield gas for protecting the welded portion toward the welded portion may be attached to the hand portion 12. Further, the welding wire supply device 21 sends the welding wire 22 from the tip of the wire supply pipe 23 toward the welding location at a controlled speed.

The welding head 20 that performs welding and the sensor 31 that scans the welding portion are configured as shown in FIG. 3, and can be selectively used by rotating and moving the welding head 20 and the sensor 31 during welding and scanning.

In addition, the back side of the column mounting base portion 3 is a mechanism that sticks to the column 2 by having a permanent magnet or the like.

Next, in welding, first, the articulated robot 1 is controlled to a posture for scanning the welded portion, and the welded portion is scanned.

Specifically, the CPU 32 controls the articulated robot 1 based on the position information of the welded portion stored in the storage unit 33.

More specifically, based on the position information of the welded portion stored in the storage unit 33, the CPU 32 issues a command, the swing arm unit 4 turns to position the entire articulated robot 1, and the robot base unit 5 The sensor 31 is turned in the horizontal direction so that the sensor 31 is directed in the direction in which the welded portion exists, the lower arm 7 is moved back and forth, and the upper arm 9 is moved up and down to direct the tip of the sensor 31 toward the welded portion. Then, the welded portion is scanned, and the obtained scan data is stored in the storage unit 33. The CPU 32 analyzes the welded portion based on the scan data stored in the storage unit 33, and derives a welding method.

Next, welding is performed by controlling the articulated robot 1 to a welding posture based on the derived welding method. Specifically, the CPU 32 issues an operation instruction, controls the sensor 31 of the hand unit 12 to perform welding using the welding head 20, and directs the tip of the wire supply pipe 23 of the wire supply device 21 to the welding portion. Then, the welding wire 22 is supplied and the arc is discharged from the welding head 20 to weld the welded portion.

(Modification of Example 1)
Although the first embodiment has been described for the case where one vertical articulated welding robot works, as a modification thereof, a plurality of vertical articulated welding robots can work. Here, a case where four vertical articulated welding robots work on the quadrangular column 2 will be described.

One robot is arranged on each surface of the square pillar 2. Specifically, as shown in FIG. 4, the four robots are a vertical articulated welding robot 101, a vertical articulated welding robot 102, a vertical articulated welding robot 103, and a vertical articulated welding robot 104, respectively.

In this case, it is necessary to perform control so that the vertical articulated welding robots 101 to 104 do not cross or contact each other.

Specifically, there is a computer 34 that performs overall control so that the robots do not cross or come into contact with each other. The computer 34 is connected to each CPU 32 and storage unit 33 of four robots to transmit data and the like. Based on the positional information of the four robots, the computer 34 calculates the movements of the robots so that they do not cross or touch each other, and sends the movement information to the four robots. Send and control each robot.

(Example 2)
Explaining based on FIG. 5, a mechanism using a circular rail or the like as a whole is adopted as a mechanism for moving the vertical articulated welding robot 1 A to a welding point.

Specifically, the vertical articulated welding robot 1 A, the rail 13 having a substantially circular shape as a whole, the rail fixing portion 14 that fixes the rail 13 to the column 2, and the position where the rail 13 is fixed to the column 2 are firmly fixed. In order to adjust the distance between the rail 13 and the rail fixing portion 14, a hinge portion 15, a robot connecting portion 16 that connects and fixes the rail 13 and the vertical articulated welding robot 1A, and a rail And a tire portion 17 composed of three tires for horizontally moving 13.

In addition, the back side of the rail fixing | fixed part 14 is a mechanism attached to the pillar 2 by having a permanent magnet etc.

The vertical articulated welding robot 1A includes a swing arm unit 4A that is turnable on the robot coupling unit 16, a robot base unit 5A that is pivotally supported by the swing arm unit 4A and rotates about a vertical axis in a horizontal plane, and a robot base A lower arm (robot arm) 7A that pivots in the front-rear direction around the horizontal axis 6A with a base end pivotally supported by the portion 5A, and a base end that is pivotally supported at the distal end of the lower arm 7A around the horizontal axis 8A An upper arm (robot arm) 9A that swings in the vertical direction, a wrist portion 11A that is attached to the tip of the upper arm 9A and is rotatable about the horizontal axis 10A, and is attached to the wrist portion 11A. And a hand portion 12A that is freely turnable.

A welding head 20A that performs welding by arc discharge is coupled to the hand portion 12A, and a welding wire supply device 21A that supplies a welding wire 22A to a welding location by the welding head 20A is connected to the hand portion 12A. Is provided. In addition, the hand portion 12A is provided with a sensor 31A that scans the welded portion and recognizes the shape (groove shape) of the welded portion.

Furthermore, inside the robot, there are a CPU 32 for controlling each part of the vertical articulated welding robot 1A and controlling image recognition by the sensor 31A, position information of the part to be welded, data obtained by scanning with the sensor 31A, and the like. A storage unit 33 for saving is provided.

If necessary, a shield gas nozzle that supplies a shield gas for protecting the welded portion toward the welded portion may be attached to the hand portion 12A. The welding wire supply device 21A sends the welding wire 22A from the tip of the wire supply pipe 23A toward the welding location at a controlled speed.

Note that the welding head 20A for welding and the sensor 31A for scanning the welded portion are configured as shown in FIG. 3, and can be selectively used by rotating and moving the welding head 20A and the sensor 31A during welding and during scanning. it can.

Further, in order to firmly fix the rail 13 to the desired position of the pillar 2, first, the rail fixing part 14 is attached to the side of the pillar 2 at the desired position, and then the hinge part 15 is loosened so that the rail 13 is the tire. The rail 13 is put on the tire portion 17 in a state where it can be moved via the portion 17, and finally the hinge portion 15 is tightened so that the rail 13 does not move and is fixed to the column 2.

Specifically, the pillar 2 that is a square pillar will be described. When the position for fixing the rail 13 to the pillar 2 is determined, the four rail fixing portions 14 are attached to the side surfaces of the pillar 2 and the hinge portion 15 is loosened. In this case, the rail 13 can be moved via the tire portion 17, the rail 13 is placed on the tire portion 17, the hinge portions 15 are tightened one by one to prevent the rail 13 from moving, and the rail 13 can be moved to the pillar 2. Secure to.

Next, when welding, the multi-joint robot 1A is moved to a place to be welded. As a specific operation, the CPU 32 issues a command based on the position information of the welded portion stored in the storage unit 33, and the tire of the tire unit 17 rotates and horizontally moves the rail 13 according to the operation instruction of the CPU 32. The joint robot 1A is moved to a predetermined position.

Next, the articulated robot 1A is controlled to a posture for scanning the welded portion, and the welded portion is scanned.

Specifically, the swing arm portion 4A turns to position the entire articulated robot 1A, the robot base portion 5A turns to the horizontal direction, the sensor 31A faces in the direction where the welded portion exists, and the lower arm 7A. Is moved back and forth, and the upper arm 9A is moved up and down to point the tip of the sensor 31A toward the welded portion. Then, the welded portion is scanned, and the obtained scan data is stored in the storage unit 33. The CPU 32 analyzes the welded portion based on the scan data stored in the storage unit 33, and derives a welding method.

Next, welding is performed by controlling the articulated robot 1 A to a welding posture based on the derived welding method. Specifically, the CPU 32 issues an operation instruction, controls the sensor 31A of the hand portion 12A to perform welding using the welding head 20A, and directs the tip of the wire supply pipe 23A of the wire supply device 21A to the welding portion. Then, the welding wire 22A is supplied and the arc is discharged from the welding head 20A to weld the welded portion.

(Modification of Example 2)
In the second embodiment, the case where the robot is on the rail has been described. As a modification, the case where the robot is suspended on the rail will be described.

Specifically, as shown in FIG. 6, the vertical articulated welding robot 1 A, the rail 13, and the tire portion 17 of Example 2 are simply turned over and turned downward.

Specifically, the hinge portion 15 is completely loosened and removed, and the tire portion 17 is turned over, and then the hinge portion 15 is tightened again to connect the turned over rail 13 and the vertical articulated welding robot 1A. In addition, since the rail 13 is firmly fitted to the three tires of the tire portion 17, the rail 13 does not fall even if it is directed downward.

Even in the case of the second embodiment and the modification of the second embodiment, the welding operation can be performed by the plurality of robots described in the modification of the first embodiment.

Moreover, although the case where the vertical articulated welding robot 1A is moved to the welding location by moving the rail 13 in the modification of the second embodiment and the second embodiment has been described, the tire portion 17 does not exist, that is, the rail 13 moves. The vertical articulated welding robot 1 A may move to the welding point on the rail 13.

The vertical articulated robot has been described by taking a 6-axis robot as an example, but a robot with a different number of axes such as 7 axes may be used.

Furthermore, although the welding has been described based on gas shielded arc welding, laser welding may be used instead of gas shielded arc welding.

(Multi-axis swing arm 4)
In the embodiments (Example 1) and (Example 2), a plurality of swing arm portions 4 may be connected. In this case, a plurality of swing arm portions 4 are connected and provided between the column mounting base portion 3 and the robot base portion 5. Here, the number of the swing arm portions 4 is not particularly limited. For example, 2 to 5 swing arm portions 4 can be connected (multi-axis of the swing arm portions 4). Thereby, the individual swing arm portions 4 can turn around the axes of the plurality of swing arm portions 4. Thereby, the positioning freedom degree of the welding head 20 improves and exact position alignment can be performed.

Furthermore, since the distance between the column mounting base portion 3 and the welding head 20 is increased by making the swing arm portion 4 multi-axial, the column mounting base portion 3 can be compared with a configuration in which one swing arm portion 4 is provided. It becomes possible to weld a distant position. For example, by making the swing arm portion 4 multi-axial, the welding head 20 is turned around the side surface and the back surface of the column 2 starting from the column mounting base portion 3 mounted on the entire surface of the column 2 (modified example of the first embodiment) It is possible to weld the four surfaces of the column 2 with one straight articulated welding robot 1 without providing four straight articulated welding robots 1 as in FIG.

The direct articulated welding robot 1 according to an embodiment of the present invention can also be implemented from the following viewpoints.

<Viewpoint 1>
A base portion configured to be fixable to a pillar;
A swing arm portion provided on the surface of the base portion and pivotable about an axis perpendicular to the surface;
A swivel part pivotally supported by the swing arm part and swiveling horizontally around a vertical axis;
A lower arm that swings in the front-rear direction by a base end portion rotatably supported by the swivel unit;
An upper arm that swings in a vertical direction by a base end portion being rotatably supported by a distal end portion of the lower arm;
A welding head attached to the tip of the upper arm;
With
Vertical articulated welding robot characterized by welding the column with controlled posture.

<Viewpoint 2-1>
It has a base part, swing arm part, lower arm, upper arm, welding head and CPU,
The base portion is configured to be fixable to a pillar,
The swing arm portion is provided on the surface of the base portion, and is configured to be pivotable about an axis perpendicular to the surface,
The lower arm is provided directly or indirectly on the swing arm and is configured to be swingable in the front-rear direction with respect to a vertical plane.
The upper arm is configured such that the first end is rotatably supported by the lower arm, and is swingable in a vertical direction with respect to a horizontal plane.
The welding head is provided at a second end of the upper arm, and the second end is an end opposite to the first end;
The CPU is configured to be able to control the swing arm portion, the lower arm, and the upper arm based on position information of a welded portion to be welded by the welding head.
Vertical articulated welding robot.

Furthermore, (Viewpoint 2-2) can be combined with (Viewpoint 2-1).

<Viewpoint 2-2>
With sensors,
The sensor is configured to scan the welded portion,
The CPU is configured to be able to determine a welding method by the welding head based on a result of the scan.
Vertical articulated welding robot.

The invention and the embodiments described above are merely examples, and it is needless to say that all other improved inventions that can be considered by those skilled in the art are included.

1: straight joint welding robot, 2: column, 3: column mounting base, 4: swing arm, 5: robot base, 6: horizontal axis, 7: lower arm, 8: horizontal axis, 9: upper arm 10: Horizontal axis, 11: Wrist part, 12: Hand part, 13: Rail, 14: Rail fixing part, 15: Hinge part, 16: Robot connecting part, 17: Tire part, 20: Welding head, 21: Welding Wire supply device, 22: welding wire, 23: wire supply pipe, 31: sensor, 32: CPU, 33: storage unit, 34: computer

Claims

A base part fixedly supported by a pillar;
A revolving part that is pivotally supported by the base part and revolves horizontally around a vertical axis;
A lower arm that swings in the front-rear direction by a base end portion rotatably supported by the swivel unit;
An upper arm that swings in a vertical direction by a base end portion being rotatably supported by a distal end portion of the lower arm;
A welding head attached to the tip of the upper arm;
With
A vertical articulated welding robot characterized by welding a column with controlled posture.
A circular rail fixedly supported by a pillar;
A connecting part connected to the rail;
A base portion fixedly supported by the connecting portion;
A revolving part that is pivotally supported by the base part and revolves horizontally around a vertical axis;
A lower arm that swings in the front-rear direction by a base end portion rotatably supported by the swivel unit;
An upper arm that swings in a vertical direction by a base end portion being rotatably supported by a distal end portion of the lower arm;
A welding head attached to the tip of the upper arm;
With
A vertical articulated welding robot characterized by welding a column with controlled posture.
The vertical articulated welding robot according to claim 2, wherein the vertical articulated welding robot is suspended from a rail.
The vertical articulated welding robot according to any one of claims 1 to 3,
A vertical articulated welding robot characterized in that a column is welded by a plurality of vertical articulated welding robots.