JP7564006B2 - Self-propelled welding robot and welding method - Google Patents

Description

The present invention relates to a self-propelled welding robot and a welding method.

Conventionally, a method for manufacturing a construction structure is known in which a plurality of first construction members arranged at intervals are welded to the top surface of the first construction members, and second construction members arranged at intervals in a direction intersecting the longitudinal direction of the first construction members.

Japanese Patent Application Laid-Open No. 62-246487

However, in the conventional technology, workers must use a welding torch to weld the first construction member and the second construction member together, which creates a problem in that welding is time-consuming.

The present invention has been made in consideration of the above, and one of its objectives is to reduce the effort required to weld the first construction member and the second construction member.

The self-propelled welding robot according to the present invention is a self-propelled welding robot that welds a plurality of first construction members arranged at intervals in a direction intersecting the vertical direction and a second construction member arranged at intervals on the upper surface of the first construction members in a first arrangement direction in which the plurality of first construction members are arranged and a second arrangement direction intersecting the vertical direction, and includes a vehicle body, a welding machine mounted on the vehicle body, a first running part connected to the vehicle body and capable of running in the first arrangement direction while in contact with the upper surface of the second construction members, a second running part connected to the vehicle body and capable of running in the second arrangement direction while in contact with the upper surfaces of the plurality of second construction members, and a moving part that moves the first running part and the second running part relatively in the vertical direction to bring one of the first running part and the second running part into contact with the upper surface of the second construction member and bring the other of the first running part and the second running part into a state where it is positioned above the second construction member in the vertical direction.

With such a self-propelled welding robot, the self-propelled welding robot can selectively use the first running part and the second running part to move to the location to be welded between the first construction member and the second construction member and perform welding. This reduces the effort required to weld the first construction member and the second construction member.

The self-propelled welding robot has, for example, a pair of rotating bodies that can move between a clamping position where the second construction member is clamped while aligned with the second construction member in the second alignment direction and in contact with the second construction member, and a retracted position that is positioned above the second construction member.

The self-propelled welding robot is provided, for example, with a pair of opposing members that are provided on one side and the other side of the second arrangement direction relative to the second construction member and are movable between an opposing position that faces the second construction member with a gap between them and a retracted position that is located above the second construction member.

The welding method according to the present invention is a welding method using the self-propelled welding robot, and includes a step of the self-propelled welding robot traveling in the first alignment direction by the first traveling part with the moving part in a state where the first running part is in contact with the upper surface of the second construction member and the second running part is positioned above the second construction member, a second traveling step of the self-propelled welding robot traveling in the second alignment direction by the second traveling part with the moving part in a state where the second running part is in contact with the upper surface of the second construction member and the first running part is positioned above the second construction member, and a step of the welding machine welding the first construction member and the second construction member with the first running part in contact with the upper surface of the second construction member.

The self-propelled welding robot and welding method of the present invention allows the self-propelled welding robot to selectively use the first running section and the second running section to move to the location to be welded between the first construction member and the second construction member and weld there. This reduces the effort required to weld the first construction member and the second construction member.

FIG. 1 is a plan view showing a schematic diagram of a self-propelled welding robot and a welding target according to an embodiment. FIG. 2 is a side view that illustrates a schematic diagram of the self-propelled welding robot according to the embodiment. FIG. 3 is a plan view showing a schematic view of a part of the self-propelled welding robot according to the embodiment. FIG. 4 is a front view showing a schematic view of a portion including a welding machine in the self-propelled welding robot according to the embodiment. FIG. 5 is a rear view showing a schematic view of a portion including a second traveling unit in the self-propelled welding robot according to the embodiment, in which the second traveling unit is located at the retracted position. FIG. 6 is a rear view showing a schematic view of a portion including the second traveling unit in the self-propelled welding robot according to the embodiment, in which the second traveling unit is located at the traveling position. FIG. 7 is a rear view that illustrates a portion including a clamping unit in the self-propelled welding robot according to the embodiment. FIG. 8 is a rear view that illustrates a portion including a guide unit in the self-propelled welding robot according to the embodiment.

Below, an embodiment of the self-propelled welding robot and welding method according to the present invention will be described in detail with reference to the drawings. Note that the present invention is not limited to this embodiment.

Figure 1 is a plan view showing a schematic diagram of a self-propelled welding robot 1 and a welding object 100 according to an embodiment. The self-propelled welding robot 1 moves over the welding object 100 while being placed on the welding object 100 so that the up-down direction of the self-propelled welding robot 1 is aligned with the vertical direction, and welds the welding object 100 during the movement. In the following description, three mutually orthogonal directions are defined. The X direction is along the front-to-rear direction of the self-propelled welding robot 1. The Y direction is along the width direction (left-right direction) of the self-propelled welding robot 1. The Z direction is along the up-down direction (height direction) of the self-propelled welding robot 1.

The welding object 100 includes a plurality of first construction members 101 and a second construction member 102. The plurality of first construction members 101 are arranged at intervals in a first arrangement direction D1 that intersects with the vertical direction (for example, perpendicular to the vertical direction). The first construction member 101 is, for example, a steel frame member. The plurality of second construction members 102 are arranged at intervals on the upper surface 101b of the first construction member 101 in a second arrangement direction D2 that intersects with the first arrangement direction D1 and the vertical direction (for example, perpendicular to the vertical direction). The second construction member 102 is, for example, a PC joist member. The details of the first construction member 101 and the second construction member 102 will be described later. The self-propelled welding robot 1 is placed on the second construction member 102 so that the front-rear direction is along the first arrangement direction D1. The first construction member 101 and the second construction member 102 are also referred to as welding object members.

Figure 2 is a side view that shows a schematic of the self-propelled welding robot 1 of the embodiment. Figure 3 is a plan view that shows a schematic of a portion of the self-propelled welding robot 1 of the embodiment. Figure 4 is a front view that shows a schematic of a portion of the self-propelled welding robot 1 of the embodiment, including a welding machine 11. As shown in Figures 2 to 4, the self-propelled welding robot 1 has a vehicle body 10, a welding machine 11, a traveling unit 12, a clamping unit 14, a guide unit 15, a generator 17, a signal tower 18, a control device 19, and a group of sensors.

The various parts of the self-propelled welding robot 1 are housed inside the vehicle body 10. The vehicle body 10 can be composed of a plurality of members. The vehicle body 10 is provided with a door 10a (Figure 4). When the door 10a is opened, the inside of the vehicle body 10 is exposed. The vehicle body 10 is also referred to as a body.

The welding machine 11 is mounted on the vehicle body 10. More specifically, the welding machine 11 is housed in the vehicle body 10. The welding machine 11 can weld the first construction member 101 and the second construction member 102. Specifically, the welding machine 11 has a multi-joint manipulator 20 and a welding torch 21. The manipulator 20 is installed approximately in the center of the vehicle body 10. The welding torch 21 is fixed to the tip 20a of the manipulator 20. The welding torch 21 performs arc welding using a welding wire 22 with at least the tip positioned outside the vehicle body 10. A windshield skirt 25 is arranged in front and behind the welding torch 21 in the state where this welding is performed. The windshield skirt 25 is fixed to the vehicle body 10. The welding wire 22 is supplied to the welding torch 21 from a wire supply device 23. During welding by the welding machine 11, a shielding gas is supplied from a gas cylinder 24 to the area to be welded. The self-propelled welding robot 1 is also provided with a wire cutter/nozzle cleaner 26 (FIG. 4) that maintains the welding torch 21. The wire cutter/nozzle cleaner 26 can cut the welding wire 22 in the welding torch 21 and clean the nozzle of the welding torch 21 through which the welding wire 22 is inserted.

As shown in Figs. 2 and 3, the running unit 12 has a first running unit 30, a second running unit 31, and a moving unit 32 (Fig. 5). The first running unit 30 is connected to the vehicle body 10 and can run in the first arrangement direction D1 while in contact with the upper surface 102a of the second construction member 102. That is, the first running unit 30 can make the self-propelled welding robot 1 run in the first arrangement direction D1. The second running unit 31 is connected to the vehicle body 10 and can run in the second arrangement direction D2 while in contact with the upper surfaces 102a of the multiple second construction members 102. That is, the second running unit 31 can make the self-propelled welding robot 1 run in the second arrangement direction D2.

The first running section 30 has two running mechanisms 33, one in front and one in back. The two running mechanisms 33 are provided with a gap between them in the front-rear direction of the self-propelled welding robot 1, i.e., the first arrangement direction D1. The running mechanism 33 has a pair of left and right wheels 34, a motor 35, and a transmission mechanism 36. The wheels 34 are rotatably supported on the vehicle body 10. The central axis of rotation (axis center) of the wheels 34 is along the width direction of the self-propelled welding robot 1, i.e., the second arrangement direction D2. The wheels 34 rotate by the driving force of the motor 35 transmitted via the transmission mechanism 36. The pair of left and right wheels 34 contact the upper surfaces 102a of a pair of adjacent second construction members 102 in the second arrangement direction D2.

The second running section 31 has two sets of running mechanisms 40A, 40B, which are spaced apart from each other in the front-to-rear direction of the self-propelled welding robot 1. The running mechanisms 40A, 40B of each set are spaced apart from each other in the width direction of the self-propelled welding robot 1, i.e., the second arrangement direction D2. Hereinafter, the running mechanisms 40 may be used as a general term for the running mechanisms 40A, 40B. The second running section 31 is also referred to as the traverse section.

Figure 5 is a rear view showing a schematic view of a portion including the second running part 31 in the self-propelled welding robot 1 of the embodiment, in which the second running part 31 is located in the retracted position. Figure 6 is a rear view showing a schematic view of a portion including the second running part 31 in the self-propelled welding robot 1 of the embodiment, in which the second running part 31 is located in the running position. As shown in Figures 3 to 6, the running mechanism 40 has a base 41 (Figures 5 and 6), a plurality of wheels 42, and a chain 43 (Figure 3). The base 41 is supported by a rail 44 so as to be movable in the width direction of the self-propelled welding robot 1, i.e., the second arrangement direction D2. The base 41 is moved in the width direction of the self-propelled welding robot 1, i.e., the second arrangement direction D2, by a drive cylinder 45 (Figure 3). Note that the base 41 is not shown in Figure 3. The drive cylinder 45 is, for example, a hydraulic cylinder. The drive cylinder 45 is controlled by a hydraulic unit 88 (Figure 4) that constitutes a hydraulic circuit.

The wheels 42 are arranged at intervals from one another in the width direction of the self-propelled welding robot 1, i.e., the second arrangement direction D2. The wheels 42 are rotatably supported on the base 41. The central axis of rotation (axis center) of the wheels 34 is along the front-rear direction of the self-propelled welding robot 1, i.e., the first arrangement direction D1. The wheels 42 rotate by the driving force of the motor 46 transmitted via a transmission mechanism. The wheels 42 and the motor 46 move integrally with the base 41 in the second arrangement direction D2. In addition, the electric wire that supplies electricity to the motor 46 is supported by the chain 47. The electric wire and the chain 47 are deformable in accordance with the movement of the motor 46.

The moving unit 32 shown in Figs. 5 and 6 moves the first running unit 30 and the second running unit 31 relative to each other in the vertical direction, thereby bringing one of the first running unit 30 and the second running unit 31 into contact with the upper surface 102a of the second construction member 102. At this time, the moving unit 32 brings the other of the first running unit 30 and the second running unit 31 into a state in which it is positioned vertically above the second construction member 102. As an example, the moving unit 32 moves the second running unit 31 relative to the vehicle body 10 in the vertical direction, thereby moving the first running unit 30 and the second running unit 31 relative to each other in the vertical direction. Note that the moving unit 32 may also move the first running unit 30 and the second running unit 31 relative to each other in the vertical direction by moving the first running unit 30 relative to the vehicle body 10 in the vertical direction.

The moving section 32 includes a moving mechanism 50 provided for each traveling mechanism 40. The moving mechanism 50 includes a movable member 51, a guide 52, and a drive cylinder 53. A rail 44 is fixed to the movable member 51. The movable member 51 is supported by the guide 52 so as to be movable in the up-down direction, i.e., the vertical direction, of the self-propelled welding robot 1. The movable member 51 is moved in the vertical direction by the drive cylinder 53. The drive cylinder 53 is, for example, a hydraulic cylinder. The drive cylinder 53 is controlled by a hydraulic unit 88.

When the drive cylinder 53 moves the movable member 51 vertically, the running mechanism 40 moves vertically together with the movable member 51.

The running section 12 of the above configuration can be changed between a first state (FIG. 5) in which the first running section 30 is in contact with the upper surface 102a of the second construction member 102 and the first running section 30 can run, and a second state (FIG. 6) in which the second running section 31 is in contact with the upper surface 102a of the second construction member 102 and the second running section 31 can run. The transition from the first state to the second state is performed as follows, for example. That is, first, the running mechanism 40 located in the position of FIG. 5 (storage position) is moved toward the outside of the vehicle body 10 by the drive cylinder 45 and stopped at the extended position. Next, the running mechanism 40 located in the extended position is moved downward relative to the vehicle body 10 by the drive cylinder 53. As a result, the second running section 31 is in contact with the upper surface 102a of the second construction member 102, and the first running section 30 is separated upward from the upper surface 102a of the second construction member 102 (FIG. 6). That is, the first running section 30 is lifted together with the vehicle body 10.

On the other hand, the transition from the second state (Fig. 6) to the first state (Fig. 5) is, for example, performed as follows. That is, first, the running mechanism 40 located in the position shown in Fig. 6 is moved upward relative to the vehicle body 10 by the drive cylinder 53. As a result, the first running part 30 contacts the upper surface 102a of the second construction member 102, and the second running part 31 moves upward away from the upper surface 102a of the second construction member 102 (Fig. 6). Next, the running mechanism 40 is moved toward the inside of the vehicle body 10 by the drive cylinder 45, and is stopped at the storage position (Fig. 5).

As shown in FIG. 3, multiple clamping sections 14 (two in one example) are provided at intervals from each other in the front-to-rear direction of the self-propelled welding robot 1, i.e., the first arrangement direction D1.

Figure 7 is a rear view that shows a schematic diagram of a portion including the clamping unit 14 in the self-propelled welding robot 1 of the embodiment. As shown in Figure 7, the clamping unit 14 has a pair of pressing mechanisms 59A, 59B. The pressing mechanism 59A is located on one side of the second arrangement direction D2 relative to the second construction member 102, and the pressing mechanism 59B is located on the other side of the second arrangement direction D2 relative to the second construction member 102. Hereinafter, the pressing mechanisms 59 may be used as a general term for the pressing mechanisms 59A, 59B.

The pressing mechanism 59 has a rotating body 60, a drive cylinder 61, a connecting member 62, and a rail 64. The rotating body 60 is connected to the drive cylinder 61 via the connecting member 62. The rotating body 60 is moved in the vertical direction relative to the vehicle body 10 by the drive cylinder 61. The rotating body 60 is rotatably supported by the connecting member 62. The central axis of rotation of the rotating body 60 is aligned in the vertical direction.

The drive cylinder 61 is supported by rails 64 so that it can move in the width direction of the self-propelled welding robot 1, i.e., the second alignment direction D2. The drive cylinder 61 is also connected to a slider 66 via a connecting member 65. The slider 66 is supported by rails 67 so that it can move in the width direction of the self-propelled welding robot 1, i.e., the second alignment direction D2. The slider 66 also has a built-in drive unit, and moves in the second alignment direction D2 by the operation of this drive unit. The drive unit includes, for example, a drive cylinder and a spring, and can move to one side of the second alignment direction D2 by the force of the drive cylinder, and to the other side of the second alignment direction D2 by the force of the spring.

In the clamping section 14 of the above configuration, the pair of rotating bodies 60 arranged with the second construction member 102 between them can be moved between a clamping position (the position of the rotating body 60 shown by the dashed line in FIG. 7) where the pair of rotating bodies 60 are arranged in the second arrangement direction D2 and in contact with the second construction member 102 and clamp the second construction member 102, and a retracted position (the position of the rotating body 60 shown by the solid line in FIG. 7) located above the second construction member 102. As an example, the movement from the clamping position to the retracted position is performed as follows. That is, first, the rotating body 60 is moved by the driving cylinder of the slider 66 in a direction away from the second construction member 102 along the second arrangement direction D2. Next, the rotating body 60 is moved upward relative to the vehicle body 10 by the driving cylinder 61.

On the other hand, movement from the retracted position to the clamping position is, for example, performed as follows. The rotating body 60 is moved downward relative to the vehicle body 10 by the drive cylinder 61. Next, the drive cylinder of the slider 66 is released, and the spring force of the slider 66 moves the rotating body 60 along the second arrangement direction D2 in a direction toward the second construction member 102. This causes the rotating body 60 to come into contact with the second construction member 102 and press against it.

As shown in FIG. 3, the guide unit 15 is provided at the front of the self-propelled welding robot 1. The guide unit 15 has a pair of guide mechanisms 69A, 69B. The guide mechanism 69A is located on one side of the second arrangement direction D2 relative to the second construction member 102, and the guide mechanism 69B is located on the other side of the second arrangement direction D2 relative to the second construction member 102. Hereinafter, the guide mechanisms 69 may be used as a general term for the guide mechanisms 69A, 69B.

Figure 8 is a rear view showing a schematic diagram of a portion including the guide portion 15 in the self-propelled welding robot 1 of the embodiment. The guide mechanism 69 has an opposing member 70, a guide 71, and a drive cylinder 72. The opposing member 70 has an opposing surface 70a that can face the second construction member 102 in the second arrangement direction D2. The opposing member 70 is supported by the guide 71 so as to be movable in the up-down direction, i.e., the vertical direction, of the self-propelled welding robot 1. The opposing member 70 is moved in the vertical direction by the drive cylinder 72. The drive cylinder 72 is, for example, a hydraulic cylinder. The drive cylinder 72 is controlled by a hydraulic unit 88.

In the guide section 15 configured as described above, the pair of opposing members 70 can be moved between an opposing position where the opposing surfaces 70a face the second construction member 102 with a gap therebetween (the position of the opposing members 70 of the guide mechanism 69A in FIG. 8) and a retracted position located above the second construction member 102 (the position of the opposing members 70 of the guide mechanism 69B in FIG. 8). The opposing members 70 are moved between the opposing positions and the retracted positions by the drive cylinder 72.

As shown in FIG. 3, the sensor group includes sensors 80 to 84. Sensor 80 can detect the longitudinal end of the second construction member 102 on which the self-propelled welding robot 1 is placed. Sensor 81 can detect the second construction member 102 adjacent in the first arrangement direction to the second construction member 102 on which the self-propelled welding robot 1 is placed. Sensor 82 can detect the top surface 102a of the second construction member 102 on which the self-propelled welding robot 1 is placed. Sensor 83 can detect the area to be welded (position to be welded). The area to be welded is the boundary (contact area) between the top surface 101b of the first construction member 101 and the side surface 102c of the second construction member 102. Sensor 84 can detect an obstacle. Sensors 80 to 83 are, for example, laser sensors. Sensor 84 is, for example, a contact sensor.

Returning to FIG. 2, the generator 17 supplies the generated electricity to each part of the self-propelled welding robot 1. The signal tower 18 emits light according to various states of the self-propelled welding robot 1, such as when a welding operation is in progress. The self-propelled welding robot 1 also has an air pressure circuit 90. The air pressure circuit 90 includes an air compressor 91 and an air tank 92. The air pressure circuit 90 controls an actuator (not shown) of the self-propelled welding robot 1.

The control device 19 controls each part of the self-propelled welding robot 1. The control device 19 has a CPU (Central Processing Unit), a ROM (Read Only Memory), and a RAM (Random Access Memory). In other words, the control device 19 is a computer. The CPU reads and executes programs stored in the ROM, etc. The RAM temporarily stores various data used when the CPU executes the programs and performs various arithmetic processing. In addition, the detection results of the sensors 80 to 83 are input to the control device 19.

Next, the first construction member 101 and the second construction member 102 will be described in detail. As shown in FIG. 2 and FIG. 4, the first construction member 101 is, for example, a member such as an H-shaped steel or an I-shaped steel, and has a pair of flanges 101a (only one is shown in the drawing). One flange 101a includes an upper surface 101b. The second construction member 102 has a rectangular cross section and has an upper surface 102a, a lower surface 102b, and two side surfaces 102c. The second construction member 102 is also composed of multiple members. Specifically, the second construction member 102 has a base 103 including the upper surface 102a and a part of the side surface 102c, and a steel beam 104 including the lower surface 102b and a part of the side surface 102c.

Next, a welding method using the self-propelled welding robot 1 will be described with reference to FIG. 1 etc. The operation of each part of the self-propelled welding robot 1 in this welding method is controlled by the control device 19. As an example of a premise of the welding method, the self-propelled welding robot 1 is placed at one end of a set 105 of two adjacent second construction members 102. At this time, the wheels 34 of the first running part 30 are in contact with the upper surface 102a of the second construction member 102, and the wheels 42 of the second running part 31 are positioned above the upper surface 102a of the second construction member 102.

From the above state, the self-propelled welding robot 1 moves from one end of the group 105 to the other end of the group 105 by using the first running section 30 on the group 105 of the second construction member 102. During this movement, the self-propelled welding robot 1 welds the first construction member 101 and the second construction member 102. As described above, the welding target area is the boundary between the upper surface 101b of the first construction member 101 and the side surface 102c of the steel section 104 of the second construction member 102. There are four such boundaries in one group 105 and one first construction member 101. When welding is performed, the self-propelled welding robot 1 stops traveling and welds the four boundaries (contact areas). This welding forms a weld 110 (Figure 5). The control device 19 of the self-propelled welding robot 1 may, for example, determine the location to be welded using the detection results of each sensor 83, etc., or may determine that the self-propelled welding robot 1 has reached a preset coordinate position. The arrow E1 in FIG. 1 indicates the travel direction of the self-propelled welding robot 1 during the above movement.

When the self-propelled welding robot 1 completes welding all the welding points in one group 105, it moves to the group 105 next to the group 105. During this movement, the self-propelled welding robot 1 uses the moving unit 32 to bring the wheels 42 of the second running unit 31 into contact with the upper surface 102a of the second construction member 102, and position the wheels 34 of the first running unit 30 above the upper surface 102a of the second construction member 102. Here, the control device 19 of the self-propelled welding robot 1 determines that welding has been completed for all the welding points in one group 105, for example, when welding has been completed for a predetermined number of rough welding points. The arrow E2 in FIG. 1 indicates the traveling direction of the self-propelled welding robot 1 during the above movement.

When the self-propelled welding robot 1 moves to the adjacent group 105, the moving part 32 causes the wheels 34 of the first running part 30 to contact the upper surface 102a of the second construction member 102, and positions the wheels 42 of the second running part 31 above the upper surface 102a of the second construction member 102. Then, from the above state, the first running part 30 moves over the group 105 of the second construction member 102, moving from the other end to one end of the group 105. During this movement, the self-propelled welding robot 1 welds the first construction member 101 and the second construction member 102. The arrow E3 in FIG. 1 indicates the traveling direction of the self-propelled welding robot 1 during the above movement. When the self-propelled welding robot 1 completes welding all of the welding target points of the group 105, it moves to the group 105 adjacent to the group 105 (the group 105 on the Y direction side in FIG. 1). The arrow E4 in FIG. 1 indicates the travel direction of the self-propelled welding robot 1 during the above movement. In this way, when the self-propelled welding robot 1 completes welding for one group 105, it moves to the adjacent group 105 and performs welding for the adjacent group 105. In other words, welding is performed sequentially on multiple second construction members 102.

In this way, the welding method includes a step in which the self-propelled welding robot 1 travels in the first arrangement direction D1 by the first running part 30 while the moving part 32 has the first running part 30 in contact with the upper surface 102a of the second construction member 102 and the second running part 31 positioned above the second construction member 102. The welding method also includes a step in which the self-propelled welding robot 1 travels in the second arrangement direction D2 by the second running part 31 while the moving part 32 has the second running part 31 in contact with the upper surface 102a of the second construction member 102 and the first running part 30 positioned above the second construction member 102. The welding method also includes a step in which the welding machine 11 welds the first construction member 101 and the second construction member 102 while the first running part 30 is in contact with the upper surface 102a of the second construction member 102.

As described above, in this embodiment, the self-propelled welding robot 1 includes the vehicle body 10, the welding machine 11, the first running unit 30, the second running unit 31, and the moving unit 32. The first running unit 30 is connected to the vehicle body 10 and can run in the first arrangement direction D1 while in contact with the upper surface 102a of the second construction member 102. The second running unit 31 is connected to the vehicle body 10 and can run in the second arrangement direction D2 while in contact with the upper surfaces 102a of the second construction members 102. The moving unit 32 moves the first running unit 30 and the second running unit 31 relative to each other in the vertical direction, so that one of the first running unit 30 and the second running unit 31 is in contact with the upper surface 102a of the second construction member 102, and the other of the first running unit 30 and the second running unit 31 is positioned vertically above the second construction member 102. With this configuration, the self-propelled welding robot 1 can selectively use the first running part 30 and the second running part 31 to move to the welding target parts of the first construction member 101 and the second construction member 102 and weld them. This reduces the effort required to weld the first construction member 101 and the second construction member 102.

In addition, in this embodiment, the self-propelled welding robot 1 is equipped with a pair of rotating bodies 60. The pair of rotating bodies 60 can move between a clamping position where the pair of rotating bodies 60 are aligned with the second construction member 102 in the second alignment direction D2 and in contact with the second construction member 102 and clamp the second construction member 102, and a retracted position where the pair of rotating bodies 60 are positioned above the second construction member 102. With this configuration, when the first running unit 30 is running, the pair of rotating bodies 60 are positioned in the clamping position, thereby suppressing wobbling of the self-propelled welding robot 1. Furthermore, when the second running unit 31 is running, the pair of rotating bodies 60 are positioned in the retracted position, thereby enabling the second running unit 31 to run.

In addition, in this embodiment, the self-propelled welding robot 1 is equipped with a pair of opposing members 70. The pair of opposing members 70 are provided on one side and the other side of the second arrangement direction D2 with respect to the second construction member 102, and can be moved between an opposing position facing the second construction member 102 with a gap therebetween and a retracted position located above the second construction member 102. With this configuration, when the first running unit 30 is running, the opposing members 70 are positioned in the opposing position, so that if the self-propelled welding robot 1 is about to meander in the left-right direction, the other opposing member 70 can contact the second construction member 102 to guide the self-propelled welding robot 1 along the first arrangement direction. Also, when the second running unit 31 is running, the pair of opposing members 70 are positioned in the retracted position, so that the second running unit 31 can run.

The present invention is not limited to the above-described embodiment, and can of course be freely modified without departing from the spirit of the present invention.

1...self-propelled welding robot, 10...vehicle body, 11...welding machine, 30...first running part, 31...second running part, 32...moving part, 60...rotating body, 70...opposing member, 101...first construction member, 101b...upper surface, 102...second construction member, D1...first arrangement direction, D2...second arrangement direction.

Claims (4)

A self-propelled welding robot that welds a plurality of first construction members arranged at intervals in a direction intersecting a vertical direction, and a second construction member arranged at intervals on an upper surface of the first construction members in a first arrangement direction in which the plurality of first construction members are arranged, and in a second arrangement direction intersecting the vertical direction,
The car body and
A welding machine mounted on the vehicle body;
A first running portion connected to the vehicle body and capable of running in the first alignment direction while in contact with an upper surface of the second construction member;
A second running section that is connected to the vehicle body and is capable of running in the second arrangement direction while in contact with the upper surfaces of the second construction members;
a moving unit that moves the first running unit and the second running unit relatively in the vertical direction, so that one of the first running unit and the second running unit is in contact with the upper surface of the second construction member and the other of the first running unit and the second running unit is positioned above the second construction member in the vertical direction;
A self-propelled welding robot equipped with a The self-propelled welding robot according to claim 1, comprising a pair of rotating bodies that can move between a clamping position where the second construction member is clamped while aligned with the second construction member in the second alignment direction and in contact with the second construction member, and a retracted position located above the second construction member. The self-propelled welding robot according to claim 1, further comprising a pair of opposing members provided on one side and the other side of the second arrangement direction relative to the second construction member, and movable between an opposing position facing the second construction member with a gap therebetween and a retreated position located above the second construction member. A welding method using the self-propelled welding robot according to any one of claims 1 to 3,
a step of the self-propelled welding robot traveling in the first alignment direction by the first traveling part while the moving part has the first traveling part in contact with the upper surface of the second construction member and the second traveling part positioned above the second construction member;
a step of the self-propelled welding robot traveling in the second alignment direction by the second traveling part while the moving part has the second traveling part in contact with the upper surface of the second construction member and the first traveling part positioned above the second construction member;
a step of welding the first construction member and the second construction member by the welding machine while the first running portion is in contact with the upper surface of the second construction member;
A welding method comprising:

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