JPH07115184B2 - Automatic column welding method for column columns - Google Patents

Description

TECHNICAL FIELD The present invention relates to a method for automatically welding a column column joint portion in a building steel frame.

The column joint is formed by cold bending, and square steel pipes with curved surfaces with small radii at the four corners are cut into short pieces for the joint of buildings, and the diaphragm is welded to both ends. Produced.

[Conventional technology]

In the automation of the diaphragm attachment welding of the column column joint, the flat welding of the column is performed by horizontally moving the welding torch with a manipulator and the curved portion of the column corner is controlled by the welding torch while rotating the column joint with the positioner. Then, the technique of performing continuous downward welding while repeating these operations is used.

Techniques related to this include Japanese Patent Application Laid-Open No. 63-130278 and Japanese Patent Application No. 63-210825.

In the former, the core of the column joint and the core of rotation are made to coincide with each other, and one or both of the pair of attachment welds are welded at the same time. In the latter, the key point of the weld is the welding of the curved surface of the corner. The present invention is characterized in that the start of rotation of the column joint and the welding torch position are controlled using a column surface contact type height difference detection device.

In both cases, the welding torch is numerically controlled in advance based on the column shape such as the outer diameter of the column and the curvature of the curved surface. When the material shaft 2 of the column 1 and the rotary core 3 of the positioner match as shown in FIG. 6, The welding torch 5 can be controlled geometrically or numerically according to the rotation trajectory of the corner portion 4, but the error in assembling the column and the diaphragm and the assembling of the assembled column joint portion to the positioner can be prevented. In the case of occurrence of, as shown in FIG. 7, the material shaft 2 of the column and the rotary core 3 of the positioner do not coincide with each other, and the turning radii 6 and 6 of the respective corner parts are not matched.
Since a, 6b and 6c change and the rotation locus of each corner is different, the welding torch cannot be controlled and welding cannot be performed.

Furthermore, if there is a manufacturing error in the outer diameters of the columns that intersect at right angles, or if the column outer diameter changes due to welding deformation during welding,
Even if the attachment of the column connection part is misaligned, the turning radius changes, and as a result, welding cannot be performed as described above.

As another technique, there is a method of using a welding type welding robot in combination with a positioner, but it requires time and effort for teaching before welding, and there is no followability for deformation and misalignment during welding. Such,
The above problems cannot be solved sufficiently.

[Problems to be Solved by the Invention]

The present invention detects the different turning radii at the corners at the four corners of the column while performing welding in the diaphragm attachment welding of the column joint, and uses the trajectory of each corner depending on the actual turning radius to perform welding. An object of the present invention is to obtain a reliable and sound diaphragm mounting circumference welding bead by a continuous automatic welding method characterized by controlling a torch.

[Means for Solving the Problems]

The present invention is a circumferential welding method in which a diaphragm is attached to a column joint, a torch is synchronously controlled while a column is rotated by using a positioner, and welding is performed in a horizontal posture. The radius of gyration is calculated for each curved surface of each corner of the column, the trajectory of the curved surface is determined by the radius of gyration, and the horizontal and vertical trajectories of the welding torch are controlled along this trajectory. The method is an automatic circumferential welding method for column column joints.

Further, it is an automatic circumference welding method for a column column joint portion, in which the circumference of the column is continuously welded by repeating the calculation of the radius of gyration and the control of the movement trajectory of the welding torch.

[Action]

When continuously performing diaphragm attachment circumference welding of the column joint, it is necessary to control the welding torch by accurately grasping the rotation trajectory of the curved portion of the corner when the column joint is rotated at the curved portion of the corner. For this purpose, the radius of gyration that is different for each of the curved surface portions at the four corners due to the displacement between the column core and the rotary core,
It is necessary to measure and calculate each curved surface to be welded.

In the present invention, the distance from the column center of rotation to the flat surface of the column is detected, the radius of gyration of each corner of the column is calculated from these detected values, and the corner of the corner portion that rotates around the column center of gyration is used. Since the locus to be welded is obtained and the operation locus of the welding torch is controlled along this locus, normal welding can be performed even if the column rotation core and the column core do not match.

〔Example〕

The present invention will be described below with reference to examples. FIG. 1 shows the state after the initial operation of the present invention.
The column connector 8 assembled in the column 1 is attached to the rotary plate 10 of the positioner 9, and the column core 2 and the rotary plate 3 are displaced from each other.

Further, the welding torch 5 and the surface follow-up roller 11 are composed of a horizontal beam 14 which slides in a horizontal direction 13 which constitutes the manipulator 12.
And attached to the manipulator via a vertical beam 16 which slides in a vertical direction 15. In this case, the origin 17 of the manipulator 12 may be set at an arbitrary position, but here, for the sake of explanation, it is set at a position separated from the position of the rotary core 3 of the rotary plate of the positioner in the horizontal direction x _{0 and the} vertical direction y ₀ . Therefore, in the initial operation, after moving the surface-matching roller 11 by the horizontal beam 14 of the manipulator horizontally from the position of the origin 17 by (x ₀ + α) (α may be within the range of the flat surface of the column, here α = 0), and the vertical beam 16 is lowered in the vertical direction 15 until it comes into contact with the first flat surface 18 of the column 1, and the vertical distance y ₁ from the origin 17 is measured and the already known y ₀ and 1 Using the column outer diameter D ₁ orthogonal to the flat surface,
The third flat surface 20, which is a symmetrical surface of the first flat surface 18, and the third surface distance y ₁₂ to the rotary core are calculated and stored.

y ₁₂ = y ₁ + D ₁ −y ₀ Then, raise the vertical beam, move the surface-following roller away from the column surface, rotate the column connector by 90 ° with the positioner, and then perform the same measurement.

Fig. 2 shows the measurement state after rotating the column connector by 90 °. Put the surface-following roller 11 against the second flat surface 21 of the column which is the upper surface, and measure the vertical distance y ₂ from the origin 17 And the second surface distance y ₂₁ = y ₀ −y ₂ of the second flat surface 21 from the rotary core 3 and the fourth surface distance y ₂₂ = y of the fourth flat surface 22 symmetrical to the second flat surface. the ₂ + D ₂ -y ₀ second, is calculated using a column outside diameter D ₂ between the fourth flat surface. In this case, the column outer diameter D ₂ is orthogonal to the column outer diameter D ₁ described above, D ₁ = D ₂ has a square column cross section, and D ₁ ≠ D ₂ has a rectangular shape. Therefore, the radius of gyration r ₂₃ that connects the center of rotation 3 of the curved surface portion 23 of the column corner to be rotated next and the curvature center 24 of the curvature R ₀ of the curved surface portion is calculated using y ₁₂ , y ₂₁ and R _0. be able to.

In this case, the curvature R ₀ is a constant determined by the column size. In this way, the welding is started from the second flat surface 21 and the manipulator is operated as shown in FIG. 3 to move the surface leveling roller 11 from the rotary core 3 in the horizontal direction 13 (y ₁₂ −
R ₀ ), reach the position, and at the same time rotate the column 90 ° with the positioner, and move the surface follower roller in the opposite horizontal direction.

FIG. 4 is an explanatory view when the column has finished rotating by 90 °, and the surface-following roller 11 is immediately after the end of the rotation from the column rotation start position (the horizontal distance (y ₁₂ −R ₀ ) position from the rotation core 3). The position (y ₂₁ −R ₀ ) from the rotary core 3, that is, (y ₂₁ −R ₀ ) + (y ₁₂ −R ₀ ) is moved in the horizontal direction 13a in the horizontal distance. Since the trajectory of the curved surface portion 23 during column rotation can be calculated from the radius r ₂₃ of rotation, the surface follower roller is controlled by numerical control or the like in synchronization with the column rotation.

Simultaneously with the end of the rotation of the column, the surface following roller 11 starts moving on the third flat surface 20 of the column in the horizontal direction 13.

FIG. 5 is an explanatory view during movement of the surface-following roller 11, and by measuring the vertical distance y ₃ between the origin 17 and the third flat surface 20 during that time, the third flatness from the rotary core 3 is the same as before. surface
The third surface distance y ₃₁ with respect to 20 and the first surface distance y ₃₂ with respect to the first flat surface 18, which is a symmetric surface with respect to the third flat surface 20, are calculated in advance, and the curved surface portion 26 to be rotated next is obtained. Curvature core 24 and rotary core 3
Connecting the measuring rotation radius r ₃₄ in the previous step, the calculated y ₂₂ and y
Calculated using ₃₁ and known curvature R ₀ and column outline D ₁ .
Of course, as shown in FIGS. 3 and 4, the welding torch 5 operates in synchronism with the surface following roller 11, and welding is continuously performed without cutting the arc during such operation.

The operations of the surface tracing roller and the welding torch are repeatedly controlled for each curved surface portion of such work until the welding is completed.

〔The invention's effect〕

As described above, the radius of gyration of each curved surface of the column corner is calculated just before each rotation, and if welding is performed while controlling the surface tracing roller and the welding torch with numerical values based on the rotational locus of the target curved surface, Circumferential welding of the column even if the core of the column and the core of rotation do not match, or if there is a deviation from the center of rotation due to deformation during welding, and if the orthogonal column outer shapes such as the rectangular cross section are different. Can be continuously and reliably and soundly performed.

[Brief description of drawings]

FIG. 1 is an explanatory diagram showing a state after an initial operation of an embodiment of the present invention, FIG. 2 is an explanatory diagram of a measurement state after 90 ° rotation, FIG. 3 is an explanatory diagram of a state at the time of starting welding, and FIG. Figure is an explanatory view of the measurement state after further rotating by 90 °, Figure 5 is an explanatory view during movement of the follower roller, and Figure 6 is a rotation locus diagram when the column material axis and the rotation core are aligned, and Figure 7. FIG. 4 is a rotation trajectory diagram when the column material axis and the rotation core do not match. 1 ... Column, 2 ... Column axis 3 ... Rotation core, 4 ... Corner section 5 ... Welding torch 6,6a, 6b, 6c, ... Rotation radius 7 ... Diaphragm, 8 ... Column finish Mouth 9 …… Positioner, 10 …… Rotating plate 11 …… Following roller, 12 …… Manipulator 13 …… Horizontal direction, 14 …… Horizontal beam 15 …… Vertical direction, 16 …… Vertical beam 17 …… Origin, 18 ...... First flat surface 20 ...... Third flat surface, 21 ...... Second flat surface 22 ...... Fourth flat surface, 23 ...... Curved part 24 ...... Curved core

Claims (2)

[Claims] 1. A circumferential welding method in which a diaphragm is attached to a column joint, and a column is rotated using a positioner to control the torch synchronously and weld in a horizontal posture. In the circumferential welding method, a distance from a column rotation core to a flat surface of the column is measured. To calculate the radius of gyration around the center of rotation for each curved surface of the corner of the column, obtain the rotation trajectory of the curved surface portion by the rotation radius, and control the movement trajectory of the welding torch along the rotation trajectory. A method for automatic circumference welding of column column joints. 2. A method for automatically welding a column column joint according to claim 1, wherein the circumference of the column is continuously welded by successively repeating the calculation of the radius of gyration and the control of the movement trajectory of the welding torch. .