JPH0459995B2 - - Google Patents

Description

[Detailed Description of the Invention] [Industrial Application Field] The present invention relates to an internal fillet welding device for box structures, and is particularly suitable for fillet welding of large box structures such as ship hull blocks. The present invention relates to a welding device suitable for automation.

[Conventional technology]

A hull block assembled in a shipbuilding factory is constructed by standing longitudinal members and transformer members in a lattice pattern on a skin plate, and fillet welding each member to each other. Therefore, the welding work performed on the hull block must be performed inside the box structure surrounded by the skin plate, longitudinal material, and transformer material.

Conventional welding equipment for welding the inside of this type of box structure uses a gravity welding machine, in which a welding rod is attached at an angle to a holder that descends due to its own weight along a slide bar, and the tip of the welding rod is welded. Partial automation of welding was achieved by utilizing the fact that the weld moves along the weld line as it progresses.

[Problem that the invention seeks to solve]

However, the welding line of the hull block is a horizontal plane welding between the skin plate and the longitudinal material etc. assembled to it, but when welding between the longitudinal material and the aggregate of the transformer material, the welding line is a vertical line. Therefore, gravity welding machines cannot perform welding, and we currently rely on manual welding. In addition, since the gravity welding machine itself has a fixed installation structure, there is a limit to the welding range, and when the long side is long even with the same weld line, such as on large hull blocks, the installation position of the welding machine can be moved each time. I had to.
Moreover, the length of the Gravity Welding Rod is
700mm, and for welding rods exceeding 700mm,
There is always a bar joint in the middle. Generally, welding defects occur in this part, and rework welding is required later.

For this reason, conventional internal fillet welding of box structures requires manual welding and movement of the welding machine, which poses the problem of not being able to perform the welding work with high efficiency, and there is a desire to automate the welding work. Ta.

Japanese Patent Application Laid-Open No. 58-145368 discloses that a chain consisting of a power transmission mechanism and a steering mechanism is spanned across the four wheels of a square traveling bogie, and the four wheels are simultaneously driven and steered in the same direction. In addition, a limit switch is installed on each side of the trolley to detect when the traveling trolley collides with one vertical plate, and a welding torch is mounted on this traveling trolley to automatically perform fillet welding. It has been proposed that the

However, in the system disclosed in Japanese Patent Application Laid-Open No. 145368/1983, the drive and direction control of the traveling carriage is performed via a chain, and the drive mechanism and steering mechanism are complex and prone to failure. Moreover, the limit switch detects when the trolley has reached the end of the moving welding line, making it difficult to change the direction of the traveling trolley when welding a corner or the next welding line, and the control is difficult. It is complicated and time-consuming, and cannot sufficiently improve the efficiency of welding work.

The purpose of the present invention is to focus on the above-mentioned conventional problems,
To provide a fillet welding device capable of automating internal fillet welding of a box structure, especially a large box structure such as a ship's hull block, and capable of highly efficient welding.

[Means for solving problems]

In order to achieve the above object, an internal fillet welding device for a box structure according to the present invention is arranged inside a box structure such as a hull block, and is equipped with a pair of drive wheels that are driven independently of each other. a traveling truck, a pair of distance sensors provided on each side of the traveling truck, and also provided on each of the front and rear sides of the traveling truck to detect the distance to the side wall of the box structure; A multi-axis welding robot body fixed on a truck is connected to the welding robot body, and when it is detected that the traveling truck is in a predetermined position, the welding robot body starts welding a predetermined part, and When the welding of the box structure is completed, a command to move the traveling cart is sent, and the welding robot body sequentially performs corner fillet welding, including vertical welding, and traveling movement welding of the straight section, so that the entire box structure can be welded. A robot control unit that welds the circumference is connected to the traveling carriage, receives a carriage movement command from the robot control unit, captures the detection signal of the distance sensor, and sequentially moves the running carriage to a predetermined position and stops. The robot controller also includes a truck control section that sends a truck stop signal to the robot control section.

[Effect]

With this configuration, the truck control section accurately positions and moves the traveling truck to the first weldable position based on the detection signal of the distance sensor, and sends a truck stop signal to the robot control section. As a result, the robot control section first causes the welding robot body (welding machine mounted on the traveling trolley) to perform corner fillet welding, including vertical welding, and when the corner fillet welding is completed, the robot control section causes the welding robot body (welding machine) to move the trolley. Send a command. Then, while the truck controller is moving the traveling truck linearly to the next predetermined position, the welding machine performs linear section welding in accordance with instructions from the robot controller as the truck moves linearly. In this way, by performing the above operations one after another while communicating with each other between the robot control section and the trolley control section, the traveling trolley is always moved to a position suitable for welding, and the welding work can be carried out. This can be carried out accurately and continuously over the entire interior circumference of the box structure, and the work can be automated.

The traveling bogie can change direction extremely easily and quickly by controlling the drive amount (rotational speed) and drive direction (rotational direction) of each pair of drive wheels that are driven independently by the bogie control unit. is carried out, which in turn improves the efficiency of welding work. Further, the trolley control section reliably stops the traveling trolley at a welding position at a corner portion or at a position where direction change is desired based on an output signal from a distance sensor provided on the traveling trolley. Further, the truck control section controls the traveling trajectory of the truck based on the deviation of the output signals of the distance sensors provided in pairs on both sides of the truck.

[Example] Hereinafter, an example of the internal fillet welding apparatus for a box structure according to the present invention will be described in detail with reference to the drawings.

FIGS. 1 and 2 are explanatory diagrams of the configuration of an internal fillet welding device for a box structure according to an embodiment of the present invention.

As shown in FIG. 2, this device includes a traveling carriage 12 on which a multi-axis welding robot body 10 is mounted. The traveling trolley 12 has casters 14 provided at the four corners of the bottom surface, and a pair of drive wheels 16 provided at both sides of the center. The drive wheels 16 are
The drive source is a DC servo motor (not shown).
It has a two-wheel, two-axle control structure that allows forward and reverse operation. Therefore, when traveling in a straight line, the traveling trolley 12 is driven by two-axes synchronous operation, and when performing a steering function, the position can be changed by two-axes operating at different speeds. In addition, the traveling trolley 12 includes
For positioning control, a plurality of distance sensors 18 made of ultrasonic sensors are attached. These distance sensors 18 are installed at the front and rear ends of the truck 12, respectively.
Consisting of 6 pieces, 2 pieces each placed at the front and back of both edges.

A bogie control device (bogie control unit) 20 shown in FIG. 1 is connected to the traveling bogie 12, and this bogie control device 20 takes in the detection signal from the distance sensor 18 and inputs the trajectory setting input in advance. A drive control signal is output to the drive device of the wheels 16 so that the traveling trolley 12 matches the set value by comparing the value with the set value of the longitudinal position.

On the other hand, the multi-axis welding robot main body 10 mounted on the traveling truck 12 has a vertical axis (S) with respect to the truck 12.
axis) and a horizontal axis (L axis), and a base 22 that can rotate around the horizontal axis (L axis).
A robot arm 24 that can rotate around an axis
Furthermore, the robot arm 24 is attached to the tip of the robot arm 24, and the axes (T
Welding torch 26 that can rotate around the axis and B axis)
It is equipped with Therefore, this welding robot main body 10 can take any welding posture and can perform welding work in accordance with a three-dimensional welding line. The welding robot main body 10 is controlled by a welding robot control device (robot control section) 28 shown in FIG. 1, which instructs motor drive to each axis and work instructions to the welding torch 26. These instructions are given through the operation panel 30 according to a program stored in the memory in advance.

Here, the traveling trolley 12 and the welding robot main body 10
need to be operated in conjunction with each other, and in order to associate the moving position of the trolley 12 with the welding operation at that position, the trolley controller 20 and the welding robot controller 28 are connected via a command/response transmission line 32. They are interconnected and can transmit sequence signals.

The internal fillet welding method for a hull block as a box structure using such welding equipment is as follows:
It is composed as follows.

FIG. 3 is a bird's eye plan view of the hull block 40, in which a longitudinal material 44 serving as hull aggregate and a transformer material 46 are framed in a rectangular shape and erected on a skin plate 42 serving as a hull outer plate. The materials are then fillet welded at the joining edges to form a single piece. This welding work is carried out on the traveling bogie 12.
Basically, welding starts from one corner of the block 40, and welding is carried out by traveling along the side edge following this corner, and then welding is carried out in a circular motion until we reach the opposite side edge. All you have to do is apply. Therefore, first, the traveling trajectory of the traveling trolley 12 must be determined in relation to the torch movement range of the welding robot main body 10, and in the embodiment, the trajectory along the longitudinal direction of the skin plate 42 is set to 2. Parallel trajectories A and B of the book are set. The distances l _s between the set trajectories A and B and the longitudinal members 44 on both sides are stored in the main memory of the bogie control device 20 shown in FIG. Further, the distance l _s between the truck 12 and the transformer material 46 at the running end of the truck 12 on the tracks A and B is also stored in the main memory. On the other hand, the welding robot controller 28 receives from the truck controller 20 through the transmission line 32 that the truck 12 has reached the ends of the tracks A and B, and receives the notification that the robot 12 has reached the ends of the tracks A and B. The content of the work for causing the welding robot main body 10 to perform welding work along each welding line at one corner of the welding robot is programmed into the control ROM of the welding robot control device 28.

Additionally, the welding robot control device 28 is configured to control the traveling carriage 12 when the welding work at one corner is completed.
A bogie movement command is given to the bogie control device 20 via the transmission line 32 so that the bogie moves along the tracks A and B, and at the same time as the traveling bogie 12 starts traveling, a command is sent to the welding robot main body 10. The program is programmed to perform welding work on welding lines along trajectories A and B. Thereafter, when the traveling truck 12 reaches the opposite end of the tracks A and B on which it has traveled and the truck control device 20 sends a truck stop signal to the welding robot controller 28, the welding robot controller 28 responds to the welding robot main body 10. Fillet welding is performed at the corners, and then the bogie control device 20
The traveling trajectories A and B are changed and welding is performed on the opposite edge in the same manner to complete the welding work for the entire circumference. At this time, the bogie control device 20 takes in the detection signal of the distance sensor 18 and processes it so that the difference between the set distance l _s and the distance detected by the sensor on the side of the bogie falls within the tolerance when traveling in a straight line. The drive motor of the wheels 16 is controlled, and the mobile traveling trolley 1
2 to match the trajectory A and B. Also,
When the traveling cart 12 reaches the running end, control is performed so that the difference between the distance detected by the sensors at the front and rear ends of the cart and the set distance l _t falls within an allowable error.

The specific welding method is as follows. As shown in FIG. 3, when the truck 12 is on the track A and is located on one end side, the starting corner to be welded is the upper right corner in the figure, and the welding target line is between the transformer material 46 and the skin plate. 42, the first welding line W1 that bisects the joining line with 42, and the transformer material 46 and the longitudinal material 44.
The second welding line W2 is the joining line with the second welding line W2. Then, in the welding performed during the next run of the bogie, the joining line between the skin plate 42 and the longitudinal material 44 is set as the third welding line W3. This third welding line W3 is
Welding robot main body 10 when 2 reaches the running end
The remaining welding line is a fourth welding line W4 that will be performed after the truck 12 has stopped. At the position reached by traveling on track A, the lower right corner is the corner to be welded, and welding at this position is as follows:
In addition to the fourth welding line W4, a fifth welding line W5 of the joining line between the longitudinal material 44 and the transformer material 46, and a sixth welding of the joining line dividing the joining line between the transformer material 46 and the skin plate 42 into two. Let it be line W6. After welding at this position is completed, the track of the truck 12 is changed and the position is moved to track B. Then, the corner to be welded immediately after the trajectory change is the lower left corner in the figure, the remaining bonding line between the transformer material 46 and the skin plate 42 is defined as the seventh welding line W7, and the bonding line between the transformer material 46 and the longitudinal material 44 is defined as the seventh welding line W7. Position welding is performed using this as the eighth welding line W8. Thereafter, while running the bogie 12 along the track B, welding is performed halfway between the joining line between the skin plate 42 and the longitudinal member 44 as the ninth welding line W9, and the bogie 12 is run to the end of the track B. Orbit B
At the running end, the upper left corner in the figure is the corner to be welded, and the remaining transformer material 46 at the starting welding line W1 is
and the skin plate 42, the 11th welding line W11 is the joining line between the transformer material 46 and the longitudinal material 44, and the 9th welding line W9.
Next, the welding work of the 12th welding line W12 is performed to complete the fillet welding over the entire circumference.

In the above-mentioned work process, the position control of the traveling trolley 12 is performed by ranking each detected value as shown in FIG. ₃ according to the arrangement of the distance sensor 18.
When l ₆ , in straight line running control, |(l ₁ +l ₄ )/2-l _s |<2mm [or |(l ₃ +l ₆ )/2-l _s |<2mm] and |l ₁ −l ₄ |<2mm [or |l ₃ −l ₆ |<2mm], and the longitudinal positioning control is |l ₂ −l _t |<2mm [or |l ₅ −l _t |<2mm]. This calculation may be performed by the bogie control device 20.
The CPU loads the calculation program from the control ROM and executes it.

In addition, instructions to start welding upon initial positioning of the bogie 12 on track A, and instructions to start welding on the bogie 12 upon completion of corner welding.
The bogie control device 20 issues instructions to start straight-line travel, instructions to start corner welding after reaching the moving end, instructions to finish and start welding before and after changing the trajectory, etc.
This can be done through communication between the welding robot controller 28 and the welding robot controller 28 via a transmission line 32.

The overall flow of the above-mentioned welding work is shown in Figs. 4-6.

First, when welding is started, the traveling carriage 12 carrying the welding robot main body 10 is set inside the hull block 40, and the robot operation panel 30 shown in FIG.
Press the start button (step 100). As a result, the bogie control device 20 starts up and the traveling bogie 12
is set to the initial position _P1 (step 120). This setting process is performed by the bogie control device 20 according to the flow shown in FIG. That is, the trolley control device 20 receives the measured value (detection signal) from the distance sensor 18.
(step 300), performs the calculation based on the formula described above, and the calculated value is the set value at one end of the trajectory A.
It is determined whether or not l _s and l _t are within the tolerance range (step 310), and if they are not within the tolerance, the bogie position is corrected using the steering function using two-wheel different speed control to reduce the error ( step
320).

When the trolley control device 20 has finished correcting the trolley position, it sends a setting completion signal (standby signal) to the welding robot controller 28 through the transmission line 32. When the welding robot control device 28 receives the setting completion signal from the trolley control device 20, it drives the welding robot main body 10 and welds the first and second welding lines W1 and W2 using the robot arm 24 (step 130). When this welding is completed, the bogie control device 2
0 receives a cart movement command from the welding robot control device 28 and moves the cart 12 linearly along the track A. At this time, the welding robot control device 28
The arm of the welding robot main body 10 is held at a fixed position and a weaving operation is performed to weld the third welding line W3. Then, the trolley 12 moves to the stop position P ₂
When the welding robot controller 28 reaches this point and enters the stop operation, the welding robot controller 28 receives a signal from the truck controller 20 and finishes welding W3 (step 140).

As shown in FIG. 6, the flow at step 140 is such that the trolley 12 starts traveling in response to a command from the welding robot control device 28 (step 400), and at the same time, the welding robot main body 10 enters the robot arm stop weaving operation. (Step 410). The trolley control device 20 takes in the measured value of the distance sensor 18 while running the traveling trolley 12 (step
420), it is determined whether it is at the stop position _P2 or on the trajectory A (steps 430, 440), and corrective actions are performed as necessary (step 450). Traveling trolley 12
When the robot arm reaches the stop position, the weaving operation of the robot arm stops and welding is completed (step
460), and at the same time, the drive of the truck 12 is stopped (step 470).

Thereafter, W4, W5, and W6 are welded at the corners (step 150), the track is changed from A to B, and the traveling bogie 12 is moved to _P3 , which is symmetrical to _P2 (step 160). The trajectory change follows the operation flow shown in FIG. 5, similar to the initial setting. On trajectory B, weld the 7th and 8th weld lines W7 and W8 at the corner (step 170) in the same way as steps 130 to 150, and weld W9 in parallel with the straight run (step 180), and Welding lines W10 and W on the transformer material 46 side at P ₄
11 welding is performed. Finally, the remaining weld line W12 between the skin plate 42 and the longitudinal member 44 is welded according to the operation flow shown in FIG. Welding is completed while stopping at _P5 ) (step 200), and welding of the entire circumference is completed (step 210).

7A and 7B are flowcharts showing the control operation of the welding robot control device 28. FIG.

First, the welding robot control device 28 is activated when the start button of the robot operation panel 30 shown in FIG.
Requests the sending of a status signal indicating the status of. Then, the welding robot control device 28 reads the status signal sent by the trolley control device 20 (steps
502), it is determined whether the status signal is a signal indicating that the traveling trolley 12 is in a position where welding can start (standby) (step 504). If it is not a standby signal, the process returns to step 500 and requests the next status signal to be sent, and if it is a standby signal, it returns to step 506.
Proceed to and confirm that the traveling trolley 12 is at the initial position _P1 .

Thereafter, the welding robot controller 28 proceeds to step 508 and controls the welding robot controller 28.
The CPU reads a welding program for welding the welding lines W1 and W2 from the control ROM, and drives the robot arm 24 of the welding robot body 10 to weld the welding lines W1 and W2 (step 510). This welding program is created by teaching it in advance using a master robot offline, for example, and making modifications that take machine differences in the welding robot main body 10 into consideration, and is stored in the control ROM of the welding robot control device 28 shown in FIG. Store it.

The welding robot control device 28 controls the welding lines W1, W
After the welding of step 2 is completed, the robot arm 24
is stopped at the corner (step 512). next,
The welding robot control device 28 reads the program for welding the welding line W3 (step 514), and sends the program to the cart control device (cart control section) via the transmission line 32.
20 (step 516), the robot arm 24 is weaved to weld the welding line W3 to the welding robot main body 10 as the traveling trolley 12 moves on the track A. (Step 518).

Thereafter, the welding robot controller 28 performs the step
500, and welding of the welding line W3 is continued until the standby signal from the truck control device 20 is sent. Upon receiving the standby signal, the welding robot control device 28 proceeds from step 506 to step 520, confirms that the traveling cart 12 has reached the opposite end _P2 on the track A and has stopped, and then controls the robot arm 24.
The weaving operation of the welding line W3 is stopped and welding of the welding line W3 is completed (step 522). Next, the CPU of the welding robot control device 28 controls the welding line W in the control ROM.
After reading the welding programs for welding lines W4, W5, and W6 (step 524) and having the welding robot main body 10 weld welding lines W4, W5, and W6, the bogie control device 2
Output a command to move the traveling cart 12 to 0 and step
Return to 500 (step 528).

The welding robot control device 28 is the trolley control device 2.
0 moves the traveling bogie 12 on the track B at a symmetrical position to P ₂ .
When receiving a status signal indicating standby at _P3 , the process proceeds from steps 506 and 520 to step 530 in FIG. 7B, where it is confirmed that the vehicle 12 is at _P3 . After that, the welding robot control device 28
The same process as in steps 508 to 518 described above is performed to form a welding line W on the welding robot main body 10.
7, W8, and W9 are welded (steps 532 to 542), and the process returns to step 500.

When the traveling cart 12 travels on the track B and reaches the end _P4 opposite to _P3 , and a stop signal is input to the welding robot control device 28, the welding robot control device 28 performs steps 506, 520, and 530. Step through
Proceed to 544. Then, when it is confirmed in step 544 that the traveling trolley 12 has stopped at _P4 , the welding program for welding lines W10 and W11 is read,
These welding lines are welded to the welding robot main body 10 (steps 546 and 548). Welding line W10, W1
When welding No. 1 is completed, the robot arm 24 is stopped at the corner, the welding program for the welding line W12 is read (steps 550 and 552), a cart movement command is sent to the cart control device 20, and the robot arm 24 is weaved. Welding line W1
2 welding is started (steps 554, 556). Thereafter, the welding robot controller 28 requests the trolley controller 20 to send a status signal indicating the status of the traveling trolley 12, and reads the status signal (step
558), it is determined whether the status signal indicates that the traveling carriage 12 has stopped at the welding end position _P5 (step 560). If the read status signal does not indicate that the traveling carriage 12 has stopped, the process returns to step 556 to continue welding the welding line W12 and read the next status signal. On the other hand, if it is determined in step 560 that the read status signal indicates that the traveling trolley 12 has stopped, the robot arm 2
The weaving operation of step 4 is stopped, and the welding control is ended.

8A and 8B are flowcharts showing the operation of the bogie control device 20. FIG.

When the traveling bogie 12 is placed inside the hull block 40 and the start button on the robot operation panel 30 shown in FIG.
The CPU reads the initial position setting program stored in the control ROM (step 602). Then, the bogie control device 20 takes in the detection signal of the distance sensor 18 (step 604), performs the above-mentioned calculation, and determines whether the traveling bogie 12 is at the initial position _P1 (step 606). If the traveling carriage 12 is not at the initial position _P1 , a DC servo motor (not shown) is driven in step 608, and the traveling carriage 12 is moved to the initial position P1.
The position is corrected and the process returns to step 604.

When it is determined in step 606 that the traveling vehicle 12 is at _P1 , the process proceeds to step 610, in which a status signal indicating that the traveling vehicle 12 is on standby at _P1 is sent in response to a status signal sending request from the welding robot control device 28. It is sent to the welding robot control device 28 and waits for a cart movement command (step
612).

The trolley control device 20 is a welding robot control device 2.
When a cart movement command is received from 8, it is determined in step 614 whether the command was received when the traveling cart 12 was at _P1 . Trolley control device 2
When CPU 0 receives the cart movement command at _P1 , it reads a program to move the traveling cart 12 to _P2 from the control ROM (step 616), drives the DC servo motor, and directs the traveling cart 12 toward _P2 . to run in a straight line (step 618). Then, the bogie control device 20 takes in the detection signal of the distance sensor 18 while causing the traveling bogie 12 to travel in a straight line, and
2 is running on track A (steps 620, 622).

If the traveling vehicle 12 is off the track A, the aforementioned two-axle different speed operation is performed in step 624, the steering of the traveling vehicle 12 is corrected, and the process returns to step 620. On the other hand, if the traveling vehicle 12 is on the track A, the process advances to step 626 and it is determined whether the traveling vehicle 12 has reached _P2 . If the traveling trolley 12 has not reached _P2 , step
Return to 618, continue driving the traveling trolley 12 in a straight line, and when it reaches P ₂ , move the traveling trolley 12.
_P2 is stopped, and a standby signal is sent to the welding robot control device 28 (step
628), the process returns to step 612 and waits for the next cart movement command from the welding robot controller 28.

When the bogie control device 20 receives a bogie movement command while the traveling bogie 12 is stopped at _P2 , it proceeds to step 632 via steps 612, 614, and 630, and
The CPU reads a program for moving the traveling trolley 12 to _P3 from the control ROM. Then, the bogie control device 20 moves the traveling bogie 12 to _P3 (steps 634, 636, 638) in the same manner as steps 604 to 608 described above, and sends a state signal indicating that the traveling bogie 12 is on standby at _P3. It is sent to the welding robot control device 28 (step 640), and the process returns to step 612.

When the cart control device 20 receives a cart movement command from the welding robot control device 28 while the traveling cart 12 is stopped at _P3 , it performs steps 612, 614,
Step 630 through step 642 in Figure 8B
Proceeding to 644, the CPU reads a program for moving the traveling trolley 12 to _P4 from the control ROM.
Thereafter, the bogie control device 20 performs the same processing as in steps 618 to 626 to control the traveling bogie 12.
run in a straight line on track B toward P ₄ (steps 646, 648, 650, 652, 654). The traveling trolley 12
When P ₄ is reached, the bogie control device 20 switches the traveling bogie 1
2 is stopped, a standby signal is sent to the welding robot controller 28, and the process returns to step 612 (step 656).

When the cart control device 20 receives a cart movement command from the welding robot control device 28 while the traveling cart 12 is stopped at _P4 , it performs steps 612, 614,
From 630, the process proceeds to step 660 via steps 642 and 658 in FIG. 8B, where the CPU reads a program for moving the traveling carriage 12 to _P5 (welding end position) from the control ROM. And the bogie control device 2
0 performs the same processing as steps 618 to 626 described above, moves the traveling cart 12 to P ₅ (steps 662, 664, 666, 668, 670), and when the traveling cart 12 reaches P ₅ , moves the cart. Then, a truck stop signal is sent to the welding robot control device 28 (step 672), and the travel control of the traveling truck 12 is ended.

In this way, in this embodiment, it is possible to eliminate the movement of a welding machine and manual welding, which were conventionally required.
Fillet welding of box structures can be automated, and the efficiency of welding work can be improved.

Moreover, since the traveling trolley 12 on which the welding robot body 10 is mounted is provided with a pair of drive wheels 16 that are driven independently of each other, by changing the drive amount and drive direction of each of these drive wheels 16, The direction of the truck can be changed extremely easily and quickly, and the efficiency of welding work can be improved.
Further, in the embodiment, the distance sensor 18 detects the distance between the longitudinal material 44 and the transformer material 46 that are the side walls and the traveling bogie 1.
2, it is possible to easily and quickly move the traveling cart 12 to a corner welding position or to a desired position to change the track, thereby improving the efficiency of welding work. can.

Furthermore, since a pair of distance sensors 18 are provided on each side of the traveling truck 12, the traveling direction of the truck 12 is determined based on the distance deviation from the longitudinal material detected by each sensor on each side. The traveling trajectory can be controlled with high precision, and welding can be made uniform during traveling.

In the above embodiment, the welding start position is set at one corner of the block, but it is of course possible to start welding by moving in a straight line, and it is also possible to start welding from any position. can.

〔Effect of the invention〕

As explained above, according to the present invention, a traveling trolley equipped with a multi-axis welding robot is set inside a box structure, and the controller of the traveling trolley adjusts the trolley to suit welding based on the detection signal of the distance sensor. By moving the robot while positioning it at a certain position, and by communicating between the robot control unit and the trolley control unit to perform the welding work of the robot in conjunction with the movement of the trolley, welding of each box can be performed fully automatically and with high efficiency. You can get the effect you want.

[Brief explanation of drawings]

FIG. 1 is an explanatory diagram of the configuration of an internal fillet welding device for a box structure according to an embodiment of the present invention, FIG. 2 is a side view of the welding robot part of the embodiment, and FIG. 3 is a welding device according to the embodiment. Fig. 4 is a flowchart of the main operation of the method, Fig. 5 is an operation flowchart for setting the initial position, and Fig. 6 is an operation flow of linear moving welding. 7A and 7B are flowcharts showing the control operations of the welding robot control device which is the robot control section, and FIGS. 8A and B are flowcharts showing the control operations of the bogie control device which is the bogie control section. . DESCRIPTION OF SYMBOLS 10... Multi-axis welding robot, 12... Traveling truck, 18... Distance sensor, 20... Bogie control device, 28... Welding robot control device, 40... Hull block, 42... Skin plate, 44... …
Robot material, 46...Transformer material.

Claims (1)

[Scope of Claims] 1. A traveling truck equipped with a pair of drive wheels arranged inside a box structure such as a hull block and driven independently of each other, and one pair on each side of the traveling truck. a distance sensor that is provided at the front and rear of the traveling vehicle and detects the distance to the side wall of the box structure; a multi-axis welding robot body fixed on the traveling vehicle; When connected to the main body and detecting that the traveling cart is in a predetermined position, it causes the welding robot main body to start welding a predetermined portion, and sends a movement command for the traveling cart when welding of a predetermined portion is completed. , a robot control unit connected to the traveling truck, for causing the welding robot body to sequentially perform corner fillet welding including vertical welding and traveling moving welding of the straight portion to weld the entire circumference of the box structure; , a trolley control system that receives a trolley movement command from the robot controller, captures the detection signal of the distance sensor, sequentially moves the traveling trolley to a predetermined position and stops it, and sends a trolley stop signal to the robot controller. An internal fillet welding device for a box structure, comprising: