JP4578614B2 - Welding equipment - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a welding apparatus having a welding robot and a welding auxiliary work method thereof.
[0002]
[Prior art]
One of the pillar structures that form the framework of a steel structure is one in which columns and joint blocks are alternately connected. Here, the joint block is a member used for a portion connecting a column and a beam on each floor, and the column is a portion serving as a pillar on each floor connecting the upper and lower joint blocks. FIG. 14 shows an example of such a column structure, in which the joint block 1 and the column 2 are connected alternately. The joint block 1 manufactured as a unit in advance is normally held by a positioner together with a column 2 and is welded by a welding robot.
[0003]
Further, as auxiliary devices attached to the welding robot, there are a preheating device, a temperature measuring device, a post-heating device, a flaw detection device, a slag removing device, and the like. The preheating device is a device that preheats a welded portion before welding in order to prevent weld cracking. The temperature measurement device is a device that monitors until the temperature of the temperature-welded portion that has increased excessively falls to the reference temperature. The post-heating device is a device that heats the welded portion after completion of welding in order to improve the toughness of the welded portion. The flaw detection apparatus is an apparatus for inspecting the presence or absence of defects inside the weld after welding. The slag removing device is a device that removes the slag layer. These auxiliary devices are arranged around the positioner together with the robot to be welded, and are positioned in the vicinity of the welded portion during use.
[0004]
A slag removing device will be described as an example of the auxiliary device.
FIG. 15 is a detailed view showing a groove portion of a welded portion between the joint block 1 and the column 2. A groove is provided in the column 2, a backing metal 5 is applied under the groove, and the diaphragm 4 of the joint block 1 and the column 2 are welded. In welding with a large plate thickness, as shown in FIG. The numbers in circles in FIG. 15 indicate the order of welding passes. Slag is formed on the bead surface by welding. Since the slag layer is non-conductive, the arc may not start when attempting to start the next pass of welding. In order to solve such a problem, an example of a slag removing device as shown in FIG. 16 that reliably removes slag before welding is disclosed in Japanese Patent Laid-Open No. 6-285646.
[0005]
In FIG. 16, the joint block 1 and the column 2 are rotatably supported by a positioner (not shown). When the welding of a certain welding line is completed, the robot 6 moves on the robot rail 7 to the position of the next welding line. The slag removing device 8 is movably disposed on the slag removing device rail 9 at a position facing the robot 6 across the joint block 1 and the column 2, and is attached to the body of the robot 6 by the interlocking arm 10. It is connected and moves on the slag removing device rail 9 in synchronization with the movement of the robot 6. Further, the slag removing device 8 has a multi-needle chisel 13 driven by the drive unit 12 at the tip, and the multi-needle chisel 13 is always welded by a pressing cylinder (not shown) that presses with a predetermined constant force. It is pressed and vibrates. Thus, the slag is removed by the slag removing device 8 on the other side while welding by the robot 6 on one side of the positioner, so that the arc can be easily started at the start of welding in the next pass.
[0006]
[Problems to be solved by the invention]
However, the above-described prior art in which slag is removed by the slag removing device 8 disposed at a position facing the robot 6 across the joint block 1 and the column 2 has the following problems.
In addition to the robot 6, a slag removing device 8 and a slag removing device rail 9 for moving the slag removing device 8 to the weld line portion are required, so that it becomes an expensive device and the device becomes large. There is a problem of requiring a large installation space. Further, when the joint block 1 is large, the slag removing device 8 on the slag removing device rail 9 cannot straddle the joint block 1 and therefore cannot move to the position of the next welding line. It is necessary to provide a plurality of units or lift and move them with a crane or the like.
The prior art and its problems have been described above by taking the slag removal device as an example. However, as with the slag removal device, the preheating device, the temperature measurement device, the post-heating device, and the flaw detection device are also expensive and have a small installation space. There is a problem that it is difficult to move between welding lines.
[0007]
The present invention has been made paying attention to the above-described problems, and aims to provide a welding apparatus having a welding auxiliary device that is inexpensive, has a small installation space, and can easily move between welding lines. .
[0008]
[Means, actions and effects for solving the problems]
In order to achieve the above object, a first invention is a welding apparatus having a welding robot, a positioner, a traveling device, and the like. A welding torch, a detachable nozzle that is inserted into the tip of the welding torch, and a detachable nozzle that is inserted into the tip of the welding torch Auxiliary work tool for auxiliary work during welding And comprising It is configured.
[0009]
According to the first invention, when a plurality of auxiliary work tools are provided and the auxiliary work is necessary, the welding robot attaches the corresponding auxiliary work tools to the welding torch or the welding torch motion mechanism. The motion mechanism is preferably a tip of a motion drive unit that can use the position data of the welding robot as it is. Then, the auxiliary work is performed with the attached auxiliary work tool. This eliminates the need for a large apparatus for each auxiliary operation, and thus provides an auxiliary work tool for welding that is inexpensive, requires a small installation space, and is easy to move between welding lines.
[0010]
The second invention is based on the first invention, The welding auxiliary tool attachment / detachment means removes the tip of the welding torch nozzle. It is configured such that it can be divided into a clamp part to be clamped and an auxiliary work tool mounting holder for mounting the auxiliary work tool.
[0011]
According to the second aspect of the invention, the clamp part that clamps the welding torch or the welding torch motion mechanism part and the auxiliary work tool attachment holder for attaching the auxiliary work tool can be divided. Since various auxiliary work tools can be attached to the auxiliary work tool mounting holder, an inexpensive auxiliary work device for welding can be obtained. Moreover, the clamp part may be, for example, an air gripper or an electromagnetic clamper, and can be easily attached and detached in a short time, so that the attaching / detaching workability can be improved.
[0012]
The third invention is based on the second invention, The means for attaching and detaching the welding auxiliary work tool is A clamp part side coupling part provided on the auxiliary work tool attachment holder and a work tool side coupling part provided on the auxiliary work tool side and detachably attached to the clamp side coupling part are provided.
[0013]
According to the third invention, the auxiliary work tool mounting holder is attached to the welding torch or the welding torch motion mechanism part, and the clamp part side coupling part and the work tool side coupling part are coupled and separated to perform various operations. Welding auxiliary work tools can be replaced easily in a short time. Thereby, the work efficiency at the time of a welding auxiliary work can be improved.
[0014]
4th invention is based on 1st, 2nd, or 3rd invention, As a structure whose welding auxiliary work tool is at least any one of a slag removal work tool, a preheating / post-heating work tool, a temperature measurement work tool, and a flaw detection work tool. Yes.
[0015]
According to 4th invention, the auxiliary | assistant working tool of at least any one of a slag removal working tool, a preheating / post-heating working tool, a temperature measuring working tool, and a flaw detection working tool is provided. As a result, the welding robot can perform the main welding auxiliary work, and since there is no need for a large device for each auxiliary work, an auxiliary apparatus for welding that is inexpensive, has a small installation space, and can easily be moved between welding lines is provided. can get.
[0016]
DETAILED DESCRIPTION OF THE INVENTION
Embodiments according to the present invention will be described below with reference to the drawings.
FIG. 1 shows an overall configuration diagram of a first embodiment according to the present invention. The welding conditions and welding program input from the personal computer 20 are sent to the controller 21, and the welding robot 22 performs welding based on the welding conditions and welding program. In the operating range of the welding robot 22, a magazine 23 including a preheating / postheating working tool 25, a temperature measuring working tool 26, a flaw detection working tool 27 and a slag removing working tool 28 is arranged. Further, a nozzle attaching / detaching device 24 for attaching / detaching the nozzle 31 inserted at the tip of the welding torch 30 is disposed within the operation range of the welding robot 22. The welding robot 22, the magazine 23, and the nozzle attaching / detaching device 24 are connected by a connecting tool 55 and are movably disposed on the moving rail 44.
[0017]
The preheating / postheating work tool 25 is a gas torch 41 as shown in FIG. 2 as an example, and is attached to a side portion of the pneumatic gripper 36. Before supplying air to the cylindrical pneumatic gripper 36, the welding robot 22 inserts the tip of the welding torch 30 from which the nozzle 31 has been removed into the gripping portion of the pneumatic gripper 36. After insertion, the air gripper 36 is expanded by supplying air to grip the welding torch 30, and the gas torch 41 is attached to the welding torch 30. A position at a predetermined flame distance Lb from the tip of the gas torch 41 is set as a flame position Pb as a flame reference position.
When the preheating / postheating work tool 25 is used for preheating, it is called a preheating work tool 25a, and when used for postheating, it is called a postheating work tool 25b.
[0018]
The temperature measuring tool 26 is a non-contact thermometer 40 as shown in FIG. 3 as an example, and the non-contact thermometer 40 is attached to the side of the pneumatic gripper 36 in the same manner as the preheating / post-heating tool 25. ing. In addition, the position of the predetermined temperature measurement distance Lt from the front-end | tip of the non-contact thermometer 40 is made into the temperature measurement position Pt of the reference position of temperature measurement.
[0019]
The flaw detection tool 27 is an ultrasonic flaw detection probe 42 as shown in FIG. 4 as an example, and is attached to the side of the air gripper 36 in the same manner as the preheating / postheating work tool 25.
Since the ultrasonic flaw detection probe 42 is in contact with the welded surface and inspected, it is attached so as to be movable up and down along a pole 56 provided on the main body case of the air gripper 36, and from above and below via springs 43 and 43. It is supported. The tip position of the ultrasonic flaw detection probe 42 is defined as a flaw detection position Ps.
[0020]
As shown in FIG. 5, the slag removal working tool 28 is a working tool that includes a chisel 34, a spring 35, and a case 34a. The chisel 34 has a spring 35 that is movable up and down in the case 34a. Is supported through. The attachment means 37 for attaching the slag removing work tool 28 to the welding torch 30 includes an auxiliary work attachment holder 36a and a pneumatic gripper 36 as a clamp portion, and the pneumatic gripper 36 is attached to the auxiliary work attachment holder 36a. Has been. The case 34a is fixed to the auxiliary work attachment holder 36a. The slag removing work tool 28 is attached to the welding torch 30 by supplying air to the pneumatic gripper 36 and expanding the slag removing work tool 28 to grip the welding torch 30.
During operation, air is supplied to vibrate the chisel tip 38, and the oscillating chisel tip 38 is pressed against the surface of the weld bead to remove slag. In addition, let the front-end | tip of the chisel tip part 38 be the removal position Pe.
[0021]
Next, the processing operation of the controller 21 of this embodiment will be described with reference to the flowchart of FIG. In the processing flow in FIG. 6, each processing step is indicated by a number with S.
As shown in the preconditions of FIG. 6, any one of the tool coordinate systems respectively corresponding to the flame position Pb, the temperature measurement position Pt, the flaw detection position Ps, and the removal position Pe, which are the operation tip positions of each work tool, from the personal computer 20 in advance. For example, the flame position Pb is registered in the tool 2, the temperature measurement position Pt is registered in the tool 3, the flaw detection position Ps is registered in the tool 4, and the removal position Pe is registered in the tool 5. When the tool number is designated by a program when using each work tool, the controller 21 can define the operating tip position of each work tool in accordance with the designated tool number with respect to the coordinate position of the welding torch 30. Next, work data for instructing the operation start condition and the operation condition of each work tool is input from the personal computer 20. The workpiece data includes a start flag for instructing the operation of each work implement, target temperatures for preheating and postheating, and the like. Further, the number N of weld layers and the flag removal timing n are each set to 1.
[0022]
In S1, it is determined whether or not the preheating start flag Ab is ON “1”. When it is on “1”, it is determined that there is preheating, and in S2, the preheating work tool 25a is operated to move to S3 after completion, and when it is “0”, it is determined that there is no preheating and the process proceeds to S4.
In S3, the temperature measuring tool 26 is operated to measure the temperature of the preheating portion, and it is determined whether or not the measured temperature satisfies the preheating temperature Bb2. If satisfied, the number N of weld layers is 1 in S4. That is, the first layer is welded and the process proceeds to S5. When not satisfied, the process of S2 is repeated.
In S5, it is determined whether or not the weld layer number N is equal to a value calculated by multiplying the slag removal timing n by the removal start layer number Cb. If they are equal, it is determined that the lag removal start condition is satisfied, the slag removal work tool 28 is actuated in S6, and the process proceeds to S7 after completion. If not, the process proceeds to S8.
In S7, the slag removal timing n is increased by 1, and then the process proceeds to S8.
In S8, it is determined whether or not the number N of weld layers is the same as the number Nw of final weld layers. If they are the same, the process proceeds to S10. If they are not the same, the number N of weld layers is increased by 1 in S9, and the process returns to S4.
In S10, it is determined whether or not the after heat start flag Db is ON “1”. If it is on “1”, it is determined that there is post-heating, and the post-heating work tool 25b is actuated in S11, and the process proceeds to S12. When it is off “0”, it is determined that there is no post-heating, and the process proceeds to S13.
In S12, the temperature measuring work tool 26 is operated to measure the temperature of the rear heat part, and it is determined whether or not the measured temperature satisfies the rear heat temperature Bb2. If satisfied, the process proceeds to S13. When not satisfied, the process of S11 is repeated.
In S13, it is determined whether or not the flaw detection start flag Eb is on “1”. When it is on “1”, it is determined that there is a flaw detection, and the flaw detection work tool 27 is operated in S14, and this flow ends after the flaw detection ends. Also, when there is no flaw detection, this flow is finished immediately. It is also possible to measure the temperature between passes by the temperature measuring tool 26.
[0023]
Here, the work data will be described with reference to FIG.
The work data includes preheating work data A, temperature measurement work data B, removal work data C, post-heating work data D, flaw detection work data E, welding work data F, and the like. Each work data is composed of operation start condition data and operation condition data.
[0024]
The preheating work data A is data relating to the operation of the preheating work tool 25a, and the preheating start flag Ab of ON “1” or OFF “0” is input as the operation start condition data. The preheating work tool 25a is activated when the preheating start flag Ab is on "1" and is not activated when it is off "0". Further, as the operating condition data, the first offset amount G1 indicating the preheating start position for starting preheating, the number of times of continuous preheating or the number M of one-way movements when reciprocating and the target temperature for preheating are input. In the present embodiment, the first offset amount G1 indicates the amount by which the flame position Pb of the preheating work tool 25a is offset from the welding start position Pw of the first layer. As shown in FIG. It has three values Xc, Yc, Zc in the direction.
[0025]
The temperature measurement work data B is data relating to the operation of the temperature measurement work tool 26, and the second offset amount G2, the preheating temperature Bb1, and the post heating temperature Bb2 are input as the operation condition data. The second offset amount G2 indicates the amount by which the temperature measurement position Pt of the temperature measurement work tool 26 is offset from the first layer welding start position Pw. The preheating temperature Bb1 and the afterheating temperature Bb2 are target temperatures when preheating and afterheating by the preheating / afterheating work tool 25.
[0026]
The removal work data C is data relating to the operation of the slag removal work tool 28, and the slag removal start layer number Cb is input as the operation start condition data. It should be noted that when operating the slag removal work tool 28, an integer of 1 or more is input as the slag removal start layer number Cb, and when 0 is input, it does not operate. As the operation condition data, the number of rounds to be removed continuously or the number of one-way movements R during reciprocation is input.
[0027]
The post-heat work data D is data related to the operation of the post-heat work tool 25b, and the post-heat start flag Db is input as ON “1” or OFF “0” as operation start condition data. The post-heat working tool 25b is activated when the post-heat start flag Db is on “1” indicating that there is post-heat, and is not activated when it is off “0”. As the operating condition data, the third offset amount G3, the number of times of continuous reheating, or the number of one-way movements P during reciprocation are input. Note that the third offset amount G3 indicates the amount by which the flame position Pb of the post-heating work tool 25b is offset from the welding start position Pw of the first layer, as in the case of preheating shown in FIG.
[0028]
The flaw detection work data E is data relating to the operation of the flaw detection work tool 27, and the flaw detection start flag Eb of ON “1” or OFF “0” is input as the operation start condition data. The flaw detection work tool 27 is operated when the flaw detection start flag Eb is on “1” indicating that flaw detection is present, and is not activated when the flaw detection work flag 27 is off “0”. As the operating condition data, the fourth offset amount G4 and the number of rounds of continuous flaw detection or the number of one-way movements Q during reciprocating movement are input. The fourth offset amount G4 indicates the amount by which the flaw detection position Ps of the flaw detection work tool 27 is offset from the first layer welding start position Pw as in the case of the preheating shown in FIG.
[0029]
The welding work data F is data relating to the operation of the welding torch 30, and as the operation condition data, the welding start position of the first layer, the plate thickness, the number of welding final layers Nw, and the like are input.
[0030]
Here, the setting method of the time which starts slag removal is demonstrated.
As preconditions, it is assumed that the plate thickness T and the groove shape (groove angle θ, route height Rh) shown in FIG. 9 are known. Since the welding robot 22 has a function of automatically measuring the root gap Rg when the plate thickness T and the groove shape are input, the welding cross-sectional area when the m-layer is welded and the height t is reached is obtained. Aw can be calculated by equation (1).
Aw = ((t−Rh) × (t−Rh) × tan θ) / 2 + Rg × t (1)
When the calculated welding cross-sectional area Aw is multiplied by the welding length to obtain the welding amount Vm when welding up to the m layer, and the sum of the welding amount Vm and the welding amount of the next layer becomes larger than the predetermined welding amount value Remove slag after m-layer welding.
The second setting method for starting the slag removal is a method in which the number of removed layers to be removed after welding is set in advance, and the slag removal is performed after the set number of layers is finished. In the work start condition data of the removal work data C in FIG. 7, this second setting method is used.
[0031]
Next, in each of S6, S2, S3 (or S12), S11, and S14 in FIG. 6, the slag removing work tool 28, the preheating work tool 25a, the temperature measuring work tool 26, the post-heating work tool 25b, and the flaw detection work tool 27, respectively. The contents of the work will be described.
[0032]
First, the operation procedure of the slag removal working tool 28 will be described with reference to FIGS.
(1) The welding robot 22 inserts the welding torch 30 into the nozzle attaching / detaching device 24, clamps the welding torch 30 and the nozzle 31 inserted into the tip of the welding torch 30, and removes the nozzle 31. If the attachment means 37 can be configured so as not to interfere with the protruding portion of the nozzle 31, this step and the nozzle attaching / detaching device 24 are not necessary.
(2) The welding torch 30 is inserted into the auxiliary work tool mounting holder 36 a of the mounting means 37 of the magazine 23, air is supplied to the air gripper 36, and the slag removing work tool 28 is mounted on the welding torch 30.
(3) As shown in FIG. 9, assuming that the height t when m-layer welding is performed, the controller 21 calculates the groove width w according to the equation (2).
w = (t−Rh) × tan θ + Rg (2)
Based on the calculated groove width w, the weaving width is set by the mathematical expression “w ± α (α is a predetermined optimum value)”.
(4) The height position of the removal position Pe at the time of slag removal, that is, the slag removal height in the Z direction is the position of the raised height t, and the slag start position is the same position as the welding start position. It is possible to offset either position as required.
[0033]
(5) The removal position Pe at the time of slag removal moves along the locus of any of the first layer to m layer of the welding robot 22. It is also possible to move the offset position as necessary.
(6) The welding robot 22 moves the chisel tip 38 to the set slag removal start position and height, and continuously performs R-round slag removal while weaving with the calculated weaving width.
(7) The welding robot 22 places the slag removing work tool 28 on the magazine 23, removes the air from the air gripper 36, and disengages the welding torch 30 from the auxiliary work tool mounting holder 36a.
(8) The welding robot 22 moves to the position of the nozzle attaching / detaching device 24, inserts the welding torch 30, and attaches the nozzle 31 to the tip of the welding torch 30. As in the case of (1), if the attachment means 37 can be configured not to interfere with the protruding portion of the nozzle 31, this step and the nozzle attaching / detaching device 24 are not necessary.
[0034]
Next, the operation procedure of the preheating work tool 25a will be described with reference to FIGS.
The preheating work tool 25a is attached to the welding torch 30 in the same procedure as in the above (1).
Next, the welding robot 22 moves the flame position Pb of the preheating work tool 25a from the welding start position Pw to the position of the first offset amount G1, flows gas to the gas torch 41, automatically ignites, and performs continuous M-round preheating. Next, the welding robot 22 removes the preheating work tool 25a and attaches the nozzle 31 to the tip of the welding torch 30 in the same procedure as in (8).
[0035]
Next, the operation procedure of the temperature measuring tool 26 will be described with reference to FIGS.
The temperature measuring tool 26 is attached to the welding torch 30 in the same procedure as the above (1). Next, the welding robot 22 moves the temperature measurement position Pt of the temperature measurement work tool 26 from the welding start position Pw to the position of the second offset amount G2, and the temperature of the preheating part / rear heating part is set to a predetermined preheating temperature Bb1 · When the post-heat temperature Bb2 is reached, the temperature measurement is finished. Next, the temperature measuring tool 26 is removed and the nozzle 31 is mounted on the welding torch 30 in the same procedure as in (8).
[0036]
Next, the operation procedure of the post-heating work tool 25b will be described with reference to FIGS.
The post-heating work tool 25b is attached to the welding torch 30 in the same procedure as in (1) above. Next, the welding robot 22 moves the flame position Pb of the post-heating work tool 25b from the welding start position Pw to the position of the third offset amount G3, flows gas to the gas torch 41, automatically ignites, and continuously preheats P circumferences, When the target temperature is reached, end the post-heating. Next, the post-heating work tool 25b is removed and the nozzle 31 is mounted on the welding torch 30 in the same procedure as in (8).
[0037]
Next, the operation procedure of the flaw detection work tool 27 will be described with reference to FIGS.
The flaw detection tool 27 is attached to the welding torch 30 in the same procedure as in (1) above. Next, the welding robot 22 moves the flaw detection position Ps of the ultrasonic flaw detection probe 42 from the welding start position Pw to the position of the fourth offset amount G4. For example, the glycerin is detected at the flaw detection position by a coating device (not shown) attached to the welding robot 22. Then, the flaw detection position Ps of the ultrasonic flaw detection probe 42 is pressed and data is collected while weaving. Then, M-round data collection is performed while continuously shifting the measurement position (weaving phase). Next, the flaw detection work tool 27 is removed and the nozzle 31 is mounted on the welding torch 30 in the same procedure as in the above (8). Usually, the flaw detection operation is performed in a state where the workpiece is sufficiently cooled, and is performed after the removal of spatter and the like is completed.
[0038]
The operation and effect of the present embodiment having the above configuration will be described next.
As the operation start condition data of FIG. 7, the preheating start layer number Ab = “0”, the slag removal start layer number Cb = 3, the post-heat start flag Db = “0”, and the flaw detection start flag Eb = “1” are input, and The operation and effect of this embodiment will be described by taking as an example the case where the welding final layer number Nw = 4 is input as the operating condition.
Since the preheating start flag Ab is off “0”, preheating is not performed and the process proceeds to S4 to weld the first layer. Next, as determined in S5, the number N of weld layers taking a value of 1 is not equal to 3 calculated by multiplying the slag removal timing n by 1 and the slag removal start layer number Cb of 3, so slag removal work The process proceeds to S8 without operating the tool 28. In S8, since the weld layer number N is not equal to the final weld layer number Nw, in S9, the welding robot 22 increases the weld layer number N by 1 and sets the weld layer number N to 2, and returns to the process of S4.
[0039]
Even if the number N of weld layers becomes 2, the same processing as the first layer is performed.
[0040]
When the number N of weld layers reaches 3, in S5, the number N of weld layers is determined to be equal to a value obtained by multiplying the slag removal timing n by the slag removal start layer number Cb and satisfy the slag removal start condition. , The operation of the slag removing work tool 28 is started in S6. Slag removal is performed for each value obtained by multiplying the slag removal timing n by the slag removal start layer number Cb even if the number of layers increases.
[0041]
When the slag removal work by the slag removal work tool 28 is completed, the slag removal timing n is increased by 1 to 2 in S7, and the process proceeds to S8. In S8, since the number N of welded layers that is 3 is not yet equal to the input value of the final number of welded layers Nw, in S9, the welding robot 22 increases the number N of welded layers by 1 and increases the number of welded layers N to 4 in S9. Then, the process returns to S5.
When the weld layer number N becomes 4, in S5, it is determined that the weld layer number N is not equal to 6 calculated by multiplying the slag removal timing n of 2 by the removal start layer number Cb of 3, and the process proceeds to S8. In S8, since the weld layer number N is equal to the weld final layer number Nw, it is determined that the weld final layer number Nw is completed, and in the processing steps after S10, a post-heat operation or a flaw detection work that is a post-work after the completion of welding. It is determined whether or not to perform.
[0042]
As an example of the operation start condition data, the post-heat start flag Db of OFF “0” and the flaw detection start flag Eb of ON “1” are input. Therefore, in S13, it is determined that the flaw detection start condition is satisfied. Then, in S14, the flaw detection work tool 27 is operated, and all work after flaw detection is completed.
[0043]
As described above, the preheating work tool 25a, the post-heating work tool 25b, the temperature measuring work tool 26, the slag removing work tool 28, and the flaw detection work tool 27 as auxiliary devices for welding work are stored in the magazine 23, and the personal computer Based on the work data having the operation start condition and the operation condition input by the operator from 20, the welding robot 22 activates each of the work tools. Each work tool is attached to the welding torch 30 of the welding robot 22 by supplying air to the pneumatic gripper 36. The welding robot 22 attaches a work tool according to the auxiliary work content after the nozzle 31 is removed from the welding torch 30 by the nozzle attaching / detaching device 24, and after the auxiliary work is completed by the work tool, the work tool is removed and welding is performed again. A nozzle 31 is attached to the torch 30. The welding robot 22 performs auxiliary work while moving on the moving rail 44 together with the magazine 23 and the nozzle attaching / detaching device 24 between the weld lines.
Accordingly, each auxiliary work can be performed by attaching the auxiliary work tool to the welding torch 30 of the welding robot 22 and operating the welding robot 22, and no separate large auxiliary device and special auxiliary device rail are required. Therefore, various auxiliary devices for welding are obtained that are inexpensive, require a small installation space, and can be easily and reliably moved between welding lines. In addition, if the attachment means 37 is comprised so that it may not interfere with the protrusion part of the nozzle 31, the attachment or detachment process of the nozzle 31 and the nozzle removal | desorption apparatus 24 become unnecessary.
[0044]
Further, since the auxiliary work tool is mounted via the air gripper 36, vibrations and shocks generated in the auxiliary work tool are buffered by the air gripper 36, and an excessive force is not applied to the welding torch 30. Therefore, it is possible to improve durability because the mounting torch 30 is not loosened or loosened, and is not damaged.
Further, particularly those that work while being in contact with the work target part, such as the slag removing work tool 28 and the flaw detection work tool 27, are susceptible to a large external force, and therefore are supported and attached via the spring 35 or the spring 43. Yes. Thereby, the external force to the welding torch 30 can be reduced.
[0045]
In the first embodiment, the preheating work tool 25a, the postheating work tool 25b, the temperature measurement work tool 26, the flaw detection work tool 27, and the slag removal work tool 28 are prepared in the magazine 23 as work tools. However, at least one of these working tools may be prepared in the magazine 23.
[0046]
Next, a second embodiment will be described with reference to FIG.
In the first embodiment, the slag removal working tool 28 has an air gripper 36 as an attaching means, and the air gripper 36 holds the welding torch 30 of the welding robot 22. In the present embodiment, the pneumatic gripper 36 is directly gripped by the motion mechanism 52 that is attached and driven by the welding torch 30, and the slag removing work tool 28 is attached to the welding robot 22.
As a result, excessive force such as vibration and impact at the time of slag removal is not directly applied to the welding torch 30, so that there is no mounting backlash or loosening of the welding torch 30, and no damage to the welding torch 30 is caused. Durability can be improved. Further, since each work tool can be attached to the welding torch motion mechanism 52 via a highly rigid member, the positioning accuracy and trajectory precision of the work tool are improved without relying on the rigidity of the welding torch 30, and excellent auxiliary work performance is achieved. Is obtained.
[0047]
In the first and second embodiments, the air gripper 36 is used as a mounting means for mounting the slag removing work tool 28 to the welding robot 22. However, when excessive force buffering is unnecessary, a magnet clamp or the like is used. May be used and is not constrained by the attachment means.
[0048]
Next, 3rd and 4th embodiment is described with FIG.11 and FIG.12.
In the first and second embodiments, the attachment means 37 is integrated with the slag removing work tool 28. However, in the third and fourth embodiments, the attachment means 37 is also provided on the welding robot 22 side.
In the third embodiment shown in FIG. 11, the welding torch 30 has, for example, an electromagnetic clamp base 50 as the attachment means 37. Then, the magnetic part 54 provided on the slag removing work tool 28 is pressed against the positioning part 51 of the electromagnet-type clamp base 50 to apply an electromagnetic force, and the slag removing work tool 28 is attached to the welding torch 30.
Thereby, the attachment means 37 only needs to be prepared only on the welding robot 22 side, and only the magnetic part 54 needs to be provided on the slag removal work tool 28 side. Therefore, the slag removal work tool 28 is lighter, smaller and less expensive. A slag removing work tool 28 is obtained.
[0049]
In the fourth embodiment shown in FIG. 12, the welding torch motion mechanism 52 of the welding robot 22 has, for example, an electromagnetic clamp base 50 as the attachment means 37. Then, the magnetic part 54 provided on the slag removing work tool 28 is pressed against the positioning part 51 of the electromagnet-type clamp base 50 to apply an electromagnetic force so that the slag removing work tool 28 is welded torch motion mechanism part 52 of the welding robot 22. Attach to.
As a result, the attachment means 37 need only be prepared for the welding torch motion mechanism 52 of the welding robot 22 and only the magnetic part 54 needs to be provided on the slag removal work tool 28 side. The slag removal working tool 28 that is lightweight, downsized and inexpensive can be obtained. Further, since each work tool can be attached to the welding torch motion mechanism 52 via a highly rigid member, the positioning accuracy and trajectory precision of the work tool are improved without relying on the rigidity of the welding torch 30, and excellent auxiliary work performance is achieved. Is obtained.
[0050]
In the third and fourth embodiments, the electromagnet clamp base 50 is used as the attachment means. However, the pneumatic gripper 36 described in the first and second embodiments may be used and is restricted by the attachment means. It is not something.
[0051]
Next, a fifth embodiment will be described with reference to FIG.
In the present embodiment, the auxiliary work tool mounting holder 36a is provided with an electromagnet type clamp base 50 as a clamp part side coupling part. Further, the case 34a of the slag removing work tool 28 is provided with a magnetic part 54 as a work tool side coupling part. At the time of work, with the attachment means 37 already attached to the welding torch 30, the magnetic part 54 is pressed against the positioning part 51 of the electromagnetic clamp base 50, and the slag removal work tool 28 and the attachment means 37 are applied by electromagnetic force. Is integrated.
Accordingly, the slag removing work tool 28 can be easily attached to and detached from the welding torch 30 by the clamp part side joint part and the work tool side joint part, thereby shortening the detachment time and improving the work efficiency. Further, since an excessive force from the slag removing work tool 28 is buffered by the air gripper 36, an excessive force is not applied to the welding torch 30. Therefore, it is possible to improve durability because the mounting torch 30 is not loosened or loosened, and is not damaged.
[0052]
In the present embodiment, the work tool is described as being representative of the slag removal work tool 28, but instead of the slag removal work tool 28, the preheating work tool 25a, the post-heating work tool 25b, the temperature measurement work tool 26, and the flaw detection Any of the work tools 27 may be attached.
[0053]
As described above, according to the present invention, the auxiliary work tool for welding is provided, and when the auxiliary work is necessary, the welding robot attaches the corresponding auxiliary work tool to the welding torch or the motion mechanism portion of the welding torch. Then, the auxiliary work is performed with the attached auxiliary work tool. That is, the welding robot performs a welding operation with a welding torch, and also performs an auxiliary operation with an auxiliary work tool when necessary. Thereby, since a large auxiliary device for each auxiliary operation is not required, an auxiliary device for welding is obtained at low cost, with a small installation space and easy movement between welding lines. In addition, an inexpensive welding apparatus including the welding auxiliary device in the welding robot and having a small apparatus installation space can be obtained.
[Brief description of the drawings]
FIG. 1 is an overall configuration diagram of a first embodiment.
FIG. 2 is a configuration diagram of a preheating / postheating working tool.
FIG. 3 is a configuration diagram of a temperature measuring tool.
FIG. 4 is a configuration diagram of a flaw detection tool.
FIG. 5 is a configuration diagram of a slag removal working tool.
FIG. 6 is a control flowchart for setting the operation of each work tool.
FIG. 7 is a schematic explanatory diagram of work data.
FIG. 8 is an explanatory diagram of a coordinate system in a welded portion.
FIG. 9 is an explanatory diagram of a start condition for slag removal work.
FIG. 10 is an explanatory diagram of a method for mounting an auxiliary work tool according to the second embodiment.
FIG. 11 is an explanatory diagram of a method for mounting an auxiliary work tool according to the third embodiment.
FIG. 12 is an explanatory diagram of a method for mounting an auxiliary work tool according to the fourth embodiment.
FIG. 13 is an explanatory diagram of a method for mounting an auxiliary work tool according to a fifth embodiment.
FIG. 14 is an explanatory diagram of a column structure of a steel structure.
FIG. 15 is an explanatory diagram of a weld cross section in which multiple layers are stacked.
FIG. 16 is an explanatory diagram of welding by a robot and slag removal work by a slag removing device.
[Explanation of symbols]
DESCRIPTION OF SYMBOLS 1 ... Joint block, 2 ... Column, 4 ... Diaphragm, 5 ... Backing metal, 6 ... Robot, 7 ... Robot rail, 8 ... Slag removal device, 9 ... Slag removal device rail, 10 ... Interlocking arm, 11 ... Base: 12 ... Drive unit, 13 ... Multi-needle chisel, 20 ... PC, 21 ... Controller, 22 ... Welding robot, 23 ... Magazine, 24 ... Nozzle attaching / detaching device, 25a ... Preheating work tool, 25b ... Post heating work tool, 26 ... Temperature measuring tool, 27 ... Flaw detection tool, 28 ... Slag removing tool, 30 ... Welding torch, 31 ... Nozzle, 34 ... Sleeve, 35 ... Spring, 36 ... Pneumatic gripper, 37 ... Mounting means, 38 ... The tip of the chisel, 40 ... non-contact thermometer, 41 ... gas torch, 42 ... ultrasonic flaw detection probe, 43 ... spring, 44 ... rail for movement, 50 magnet clamp base, 50 ... positioning part, 52 ... weld H: N ... Number of welded layers, Nw: Number of final welded layers, A ... Preheat work data, B ... Temperature measurement work data, C ... Removal work data, D ... Post heat work data, E ... Flaw detection work data, F: welding work data, Pb: flame position, Pt: temperature measurement position, Ps: flaw detection position, Pe: removal position, Pw: welding start position.

Claims (4)

Welding robot, the welding apparatus having a positioner and traveling device,
Welding torch,
At the time of welding work, the welding torch is inserted into the tip of the welding torch and welded to the welding line, so that welding is performed at the welding start position Pw where the first layer of welding is applied. A movement-controlled nozzle that can be attached to and detached from the tip of the welding torch ;
At the time of welding auxiliary work, it is inserted into the tip of the welding torch instead of the nozzle, and when it is inserted into the tip of the welding torch at a position where welding is performed with respect to the welding start position Pw , welding starts on the welding torch A welding auxiliary work tool that has a welding auxiliary work position for performing welding auxiliary work at a position offset from the position Pw in the XYZ axial direction, is controlled by the welding torch, and is attachable to and detachable from the tip of the welding torch ;
Including position information of the welding start position Pw, welding work data input in advance,
Including the amount of offset in the XYZ axial direction of the welding auxiliary work position with respect to the welding start position Pw, welding auxiliary work work data input in advance,
When performing welding, welding is performed at the welding start position Pw by controlling the movement of the welding torch using the welding start position Pw of the welding work data, and when performing welding auxiliary work, welding auxiliary work is performed. A welding program for performing welding auxiliary work on a welding point by offsetting the position information of the welding start position Pw of the welding workpiece data according to the offset amount of the workpiece data and performing movement control. apparatus. The welding device according to claim 1,
A welding apparatus characterized in that the welding auxiliary tool attachment / detachment means can be divided into a clamp part for clamping the tip of the welding torch and an auxiliary work tool attachment holder for attaching the auxiliary work tool. The welding apparatus according to claim 2, wherein
A means for attaching / detaching the welding auxiliary work tool is provided on the auxiliary work tool attachment holder, and a work tool side connecting part provided on the auxiliary work tool side and detachably attachable to the clamp part side connecting part. A welding apparatus comprising: 4. The welding apparatus according to claim 1, wherein the auxiliary welding work tool is at least one of a slag removing work tool, a preheating / post-heating work tool, a temperature measuring work tool, and a flaw detection work tool. Welding equipment.

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