JPH04102793U - Steel joint material welding equipment - Google Patents

Abstract

(57) [Summary] [Purpose] To increase the welding range of a welding robot for welding steel joint materials. [Structure] A positioner 8 that supports the steel frame joint material 4 and rotates and positions it around one axis, a welding robot 10 with six degrees of freedom, and a moving device that moves the welding robot in the directions of two orthogonal axes. Once the welding torch is positioned by the welding robot 10, it becomes possible to perform welding by moving the welding robot along the welding line with the moving device 16 while maintaining that position. It is possible to do this by activating it.

Description

[Detailed explanation of the idea]

0001

[Industrial application field]

The present invention relates to a welding device for welding and assembling steel frame joint materials.

0002

[Conventional technology]

Conventionally, the welding torch was supported by the robot's hand, and the robot's arm was controlled. Welding robots that are operated under computer control to perform welding work are known. Conventional melting A contact robot has six degrees of freedom: movement in three orthogonal axes and rotation around three orthogonal axes. , the welding torch can take any position and orientation in three-dimensional space. is being kept. On the other hand, steel frame joint materials (unit members that form the intersections of steel beams and columns) are usually , has a structure as shown in FIG. 5, and A, B, and C are the welding lines to be welded.

0003

[Problem that the idea aims to solve]

Welding is possible when welding steel joint materials using a conventional welding robot with 6 degrees of freedom. The range is limited to the movement range of the welding robot's hand. Therefore, the welding joint material When it comes to large shapes and dimensions, it is not possible to weld all the welded parts in one setup. Requires stage change, which causes problems such as increased work required for stage change of heavy objects and decreased welding efficiency. there was.

0004 This invention expands the welding range of welding robots, and also The purpose is to reduce the amount of replacement work.

[0005]

[Means to solve the problem]

To achieve the above object, the steel joint material welding device according to the present invention is capable of welding steel joint material. A positioner that supports and rotates around one axis and a welding robot with 6 degrees of freedom. a moving device for moving the welding robot in the direction of each of two orthogonal axes; , consisting of.

[0006]

[Effect]

This device has 6 degrees of freedom that the welding robot has and 1 degree of freedom that the positioner has. , has a total of 9 degrees of freedom, including the 2 degrees of freedom that the moving device has. The welding posture of the welding torch is determined by the control of the welding robot. I kept this attitude Then, operate the moving device and move the welding torch to the welding line (A, B, or C in Figure 5). Move it along the direction and weld. Therefore, the movement range of the welding robot's hand is Since the movement of the moving device increases, the weldable range expands. It also turns heaven and earth upside down If necessary, all you need to do is turn the steel frame joint material upside down using a positioner, and then use a crane etc. There is no need to lift the spout and turn it upside down, eliminating the need for large-scale changeover work. . In addition, since the positioner is an integrated type that holds both sides, it can also clamp L-shaped and T-shaped joint materials. is possible.

[0007]

【Example】

Hereinafter, preferred embodiments of the present invention will be described with reference to FIGS. 1 to 4. As shown in FIGS. 1 and 2, the steel frame joint material welding device 2 according to the embodiment of the present invention A positioner 8 that supports the bone joint material 4 and rotates around one axis 6, and a positioner 8 with six degrees of freedom. Welding robot 10 (conventional general-purpose welding robot with 6 degrees of freedom) and the welding robot 10 in the respective axial directions of two orthogonal axes 12 and 14. Become. Among these, the positioner 8 sets the steel joint material 4 as shown in FIG. A stand 18, a bearing 20 that rotatably supports the stand 18 around the shaft 6, and a bearing 20 that rotates the shaft 6 at a required angle. It consists of a servo motor 22 with a speed reducer that rotates the motor. Rotation angle is determined by computer Follow the instructions, but when reversing the top and bottom of the steel frame joint material, make sure to rotate it 180 degrees. Ru. As shown in FIG. 4, the moving device 16 can move the welding robot 10 in the Y-axis direction. The table 24 mounted on the robot and the welding robot 10 are moved in the Y-axis direction relative to the table 24. A driving Y-axis direction drive device 26 (for example, a combination of a ball screw and a threaded rod) (consisting of a motor that rotates the threaded rod) and an X-axis that is perpendicular to the Y-axis. X-axis drive 28 (e.g., rack, pinion, It consists of a motor that rotates the engine. A plane containing the X and Y axes The X-axis and Y-axis are set so that the surface is a horizontal plane. X-axis direction drive device 28 and The Y-axis direction drive devices 26 can be driven independently of each other and respond to instructions from the computer. Therefore, it is driven. The welding robot 10 is a general-purpose robot with six degrees of freedom, and has a welding hand. By supporting the torch and operating the arm under computer control, any It can take any position within its posture and movement range. The steel joint material welding device 2 of the present invention configured as described above is different from the conventional welding device. In comparison, the conventional welding equipment has a positioner 8 and a moving device 16. It is different from the location.

[0008] Next, the action will be explained. The steel frame joint material 4 is set on the stand 18 of the positioner 8 after being temporarily fixed. Next, the moving device 16 is activated to move the welding robot 10 onto the steel joint material 4. come to a predetermined relative position. Moving the welding robot 10 by computer control Then, move the welding torch supported by the hand to the welding line of the steel joint material 4 (A, B in Fig. 5, C). However, since the torch is basically held in a downward position, For this purpose, set the welding surface horizontally. While welding in this state, move the Activate position 16 (move only the moving device or change the posture of the moving device and robot) There are two ways to move the welding robot 10 along the welding line. Move it, weld that weld line to the other end, and then weld that weld line. 1 weld line For example, when welding line B is finished, positioner 8 will set the temperature to 180°C or 90°C. The steel joint material 4 is rotated by .degree. and the next welding line B is welded. A place to turn heaven and earth upside down The positioner 8 is also activated. Therefore, once the welding start point and end point are taught, Once the The welding posture is ensured by posture control through synchronization between the robot and the moving device. For example, one Once the posture of the welding robot 10 is determined, the posture of the welding robot 10 is fixed. (Therefore, all six degrees of freedom of the position and orientation of the welding robot 10 change) Welding one welding line by moving only the moving device 16 (without performing control calculations) You can also do The moving distance of the welding robot 10 by the moving device 16 is By making it large enough to cover bone joint material, the weldable range is expanded. Ru. Further, it is easy to change the orientation of the steel frame joint material 10. Moving device 16 and position 8 is an operation with one degree of freedom (or at most two degrees of freedom), so it is easy and computable. The computer can be small and the program can be simple.

[0009]

[Effect of the idea]

According to the present invention, the following effects are obtained. stomach. Conventionally, welding of large steel joint materials exceeds the operating range of robots. However, since the present invention has a moving device, it can also be used for large steel joints. Ru. B. Previously, it was necessary to turn the steel joint material upside down using a crane, etc., which worsened work efficiency. However, since the present invention has a positioner, it is possible to easily reverse the top and bottom. can. C. The welding robot's position and orientation calculations are simplified, and the computer is relatively small. It is possible to improve welding speed and simplify operation.

[Brief explanation of drawings]

FIG. 1 is a plan view of a steel joint material welding device according to an embodiment of the present invention.

FIG. 2 is a side view of the steel joint material welding device shown in FIG. 1;

FIG. 3 is a front view of the positioner shown in FIG. 1 with the positioner removed.

FIG. 4 is a plan view of the moving device in FIG. 1 with the moving device taken out;

FIG. 5 is a perspective view of a steel frame joint material.

[Explanation of symbols]

2 Steel frame joint material welding equipment 4 Steel frame joint materials 8 positioner 10 Welding robot 16 Mobile device

──────────────────────────────────────────────── ─── Continued from the front page (51) Int.Cl. ⁵ Identification code Internal reference number FI Technical display location B25J 9/06 A 9147-3F 9/16 9147-3F

Claims (1)

[Scope of utility model registration request] Claim 1: A positioner that supports a steel frame joint material and rotates it around one axis, a welding robot with six degrees of freedom, and a moving device that moves the welding robot in the directions of two orthogonal axes. A steel frame joint material welding device characterized by comprising: