JP2024165074A - Welding equipment and welding method - Google Patents

Abstract

A welding device and a welding method are provided that can efficiently weld the bottom flange of an H-shaped steel in a downward position.
[Solution] The welding device 1 is a device for welding H-shaped steel HS having a web WB, an upper flange UF, and a lower flange LF, and is equipped with a welding robot 2 and a rail 3 for guiding the welding robot 2. The rail 3 extends from one side of the web WB of the lower flange LF to the other side, and guides the welding robot 2 from one side of the lower flange LF to the other side so that the welding robot 2 downward welds the lower flange LF from one side and the other side.
[Selected Figure] Figure 1

Description

The present invention relates to a welding device and a welding method.

A welding device is known for welding H-shaped steel having a web, an upper flange, and a lower flange (see, for example, Patent Document 1).

JP 2020-66019 A

In conventional welding equipment such as that described in Patent Document 1, when welding the lower flange downward, it is necessary to set a welding robot on both sides of the web of the lower flange, or to reset the welding robot set on one side of the lower flange to the other side of the lower flange, which is inefficient.

The object of the present invention is to provide a welding device and a welding method that can efficiently weld the bottom flange of an H-shaped steel in a downward position.

The welding device of the present invention is a welding device for welding H-shaped steel having a web, an upper flange, and a lower flange, and includes a welding robot and a rail for guiding the welding robot, the rail extends from one side of the web of the lower flange to the other side, and guides the welding robot from one side of the lower flange to the other side so that the welding robot welds the lower flange downward between the one side and the other side.

According to the present invention, the rail that guides the welding robot extends from one side of the web of the lower flange to the other side, and guides the welding robot to weld the lower flange downward on both sides of the lower flange, so there is no need to set the welding robot on both sides of the web of the lower flange, or to reset the welding robot set on one side of the lower flange to the other side of the lower flange, and the lower flange of the H-shaped steel can be efficiently welded downward.

In the welding device of the present invention, the rails include an upper flange rail that guides the welding robot to weld the upper flange downward, a lower flange rail that guides the welding robot to weld the lower flange downward, and a connection rail that connects the upper flange rail and the lower flange rail and guides the welding robot from one of the upper flange rail and the lower flange rail to the other.

According to the present invention, a connecting rail is provided to connect the upper flange rail and the lower flange rail, so that a welding robot can be guided from one of the upper flange rail and the lower flange rail to the other, and the upper flange and the lower flange can be welded downward with a single welding robot.

The welding method of the present invention is a method for welding H-shaped steel having a web, an upper flange, and a lower flange, and includes the steps of extending a rail from one side of the web of the lower flange to the other side, setting a welding robot on the rail, guiding the welding robot from one side of the lower flange to the other side using the rail, and downward welding the one side and the other side of the lower flange with the welding robot.

The present invention provides the same effects as the welding device described above.

1 is a schematic diagram of a welding device according to a first embodiment of the present invention; FIG. 2 is a side view of the welding device of FIG. FIG. FIG. FIG. 5 is a schematic diagram of a welding device according to a second embodiment of the present invention. FIG. 6 is a side view of the welding device of FIG. 5 . FIG. FIG. FIG.

Hereinafter, an embodiment of the present invention will be described with reference to the drawings.
In the following description, when directions are indicated, the state in which the welding apparatus 1 is positioned as shown in FIG. 1 is used as the reference, with up being the direction of the Z-axis arrow and down being the opposite direction, left being the direction of the X-axis arrow and right being the opposite direction, and front being the forward direction in FIG. 1 parallel to the Y-axis and rear being the opposite direction.
In the second and subsequent embodiments, the same components as those in the first embodiment are denoted by the same reference numerals as those in the first embodiment, and descriptions thereof will be omitted or simplified.

[First embodiment]
1 and 2, a welding device 1 welds an H-shaped steel HS having a web WB, an upper flange UF, and a lower flange LF. In this embodiment, as shown in FIG. 2, the welding device 1 welds the H-shaped steel HS to another H-shaped steel HS as a steel material.
The welding apparatus 1 comprises a welding robot 2, a rail 3 for guiding the welding robot 2, a control unit 4 for controlling the entire apparatus including the welding robot 2, and a fixing unit 5 for fixing the rail 3 to an H-shaped steel HS.

The welding robot 2 comprises a main body 21 which is detachably attached to a slider 21A which is movable on the rail 3 and moves on the rail 3, a torch 22 which is movably supported on the main body 21, and a conduit cable 23 (see FIG. 2) connected to the torch 22.
The main body 21 is equipped with a driving device such as a self-propelled motor, and is configured to be self-propelled on the rails 3. The main body 21 also has a plurality of movable parts that move the torch 22, and the plurality of movable parts enable the torch 22 to move in the up-down and left-right directions and to rotate about a rotation axis parallel to the X-axis and a rotation axis parallel to the Y-axis.
The torch 22 performs welding using a welding wire 24 (see FIG. 2), such as a solid wire or a flux wire.
The welding wire 24 is inserted through the torch 22 and the conduit cable 23 and is exposed to the outside from the tip of the torch 22 .

The rail 3 extends from one side (left side) to the other side (right side) across the web WB of the lower flange LF, and guides the welding robot 2 from one side to the other side of the lower flange LF so that the welding robot 2 downward welds the lower flange LF from one side to the other side.
The rail 3 includes an upper flange rail 31 that guides the welding robot 2 to weld the upper flange UF downward, a lower flange rail 32 that guides the welding robot 2 to weld the lower flange LF downward, and a connection rail 33 that connects the upper flange rail 31 and the lower flange rail 32 and guides the welding robot 2 from one of the upper flange rail 31 and the lower flange rail 32 to the other.

The upper flange rail 31 has a first guide portion 31A and a second guide portion 31B.
The first guide portion 31A is provided above the upper flange UF and extends in a direction substantially parallel to the upper flange UF (left-right direction), and guides the welding robot 2 in that direction.
The second guide portion 31B is continuous with the first guide portion 31A via a curved portion provided in at least one of the first guide portion 31A and the second guide portion 31B. The second guide portion 31B extends in a direction (up-down direction) substantially parallel to the web WB and guides the welding robot 2 in that direction.

The lower flange rail 32 has a first guide portion 32A, a second guide portion 32B, a third guide portion 32C, a fourth guide portion 32D, a fifth guide portion 32E, and a sixth guide portion 32F.
The first guide portion 32A extends in a direction (left-right direction) approximately parallel to the lower flange LF on one side (left side) of the web WB, and guides the welding robot 2 above the lower flange LF in a direction approximately parallel to the lower flange LF.
The second guide portion 32B is formed in a substantially L-shape. The second guide portion 32B is rotatably supported by the first guide portion 32A via a connection portion such as a hinge having a rotation axis parallel to the Y axis, and is rotated by a driving device such as a rotation motor that rotates the second guide portion 32B. The second guide portion 32B rotates counterclockwise from an initial position of a retracted position rotated upward to connect to the third guide portion 32C, thereby connecting the first guide portion 32A to the sixth guide portion 32F.
The third guide portion 32C extends in a direction substantially parallel to the web WB, and guides the welding robot 2 in this direction. The second guide portion 32B and the connection rail 33 are selectively connected to the third guide portion 32C.
The fourth guide portion 32D is continuous with the third guide portion 32C via a curved portion provided on at least one of the third guide portion 32C and the fourth guide portion 32D. The fourth guide portion 32D extends below the lower flange LF in a direction substantially parallel to the lower flange LF, and guides the welding robot 2 in that direction.
The fifth guide portion 32E is continuous with the fourth guide portion 32D via a curved portion provided in at least one of the fourth guide portion 32D and the fifth guide portion 32E. The fifth guide portion 32E extends in a direction substantially parallel to the web WB and guides the welding robot 2 in that direction.
The sixth guide portion 32F is continuous with the fifth guide portion 32E via a curved portion provided on at least one of the fifth guide portion 32E and the sixth guide portion 32F. The sixth guide portion 32F extends in a direction substantially parallel to the lower flange LF on the other side (right side) of the web WB, and guides the welding robot 2 above the lower flange LF in a direction substantially parallel to the lower flange LF.

The connection rail 33 is formed in a straight line. The connection rail 33 is rotatably supported on the second guide portion 31B of the upper flange rail 31 via a connection portion such as a hinge having a rotation axis parallel to the Y axis, and is rotated by a driving device such as a rotation motor that rotates the connection rail 33. The connection portion such as a hinge and the connection rail 33 are detachable from each other, and by changing the length of the connection rail 33, it is possible to respond to changes in the beam configuration when the H-shaped steel HS is used as a beam. The connection rail 33 connects the first guide portion 31A of the upper flange rail 31 to the sixth guide portion 32F of the lower flange rail 32 by rotating counterclockwise from the initial position of the retracted position rotated leftward to connect to the third guide portion 32C of the lower flange rail 32.

The control unit 4 is composed of a microcomputer, personal computer, server, etc., equipped with a CPU (Central Processing Unit), GPU (Graphics Processing Unit), memory, input/output interface, etc. The control unit 4 is electrically connected to the main body 21 of the welding robot 2, and controls the welding robot 2 based on signals from an input operation unit 41 such as a touch panel or keyboard panel, and signals from the driving equipment and various sensors provided on the welding robot 2.

The fixing part 5 is equipped with a magnet and fixes the rail 3 to the H-shaped steel HS by magnetic force.

Hereinafter, a method for welding H-section steel HS by the welding device 1 will be described with reference to Figs.
First, the user of the welding device 1 positions the rail 3 so that the upper flange rail 31, the lower flange rail 32, and the connecting rail 33 are in the positions shown in Figures 1 and 2, and fixes the rail 3 to the H-shaped steel HS with the fixing parts 5. For example, as shown in Figure 1, the first guide part 31A of the upper flange rail 31 is fixed to the upper surface of the upper flange UF, the first guide part 32A and the sixth guide part 32F of the lower flange rail 32 are fixed to the upper surface of the lower flange LF, and the fourth guide part 32D is fixed to the lower surface of the lower flange LF via the fixing parts 5. At this time, the connecting rail 33 is retracted to a retracted position on the left side as shown in Figure 1, and is not connected to the lower flange rail 32.

Next, the user sets the welding robot 2 on the rail 31 for the upper flange as shown in FIG. 1. After that, the user or the control unit 4 sets the welding conditions such as the current and voltage during welding, the direction and amount of movement of the welding robot 2, and the direction and amount of movement of the torch 22 relative to the main body 21, and stores them in the control unit 4. The welding conditions may be set by the user based on information such as the groove shape and the plate thickness of the upper flange UF and the lower flange LF, and input by the user to the control unit 4 via the input operation unit 41, or the control unit 4 may control the positions of the main body 21 and the torch 22 of the welding robot 2 to automatically sense the groove shape, plate thickness, etc., and the control unit 4 may set them based on the results. Then, when the user inputs a signal to start automatic welding via the input operation unit 41, the control unit 4 controls the welding robot 2, and the welding robot 2 welds the upper flange UF downward.

When the downward welding of the upper flange UF is completed, the control unit 4 controls the driving device of the connection rail 33 to rotate the connection rail 33 counterclockwise to connect the connection rail 33 to the third guide portion 32C of the lower flange rail 32 as shown in FIG. 3. Next, the control unit 4 controls the welding robot 2 to move the welding robot 2 from the upper flange rail 31 to the sixth guide portion 32F of the lower flange rail 32 as shown in FIG. 3. Thereafter, the control unit 4 controls the driving device of the connection rail 33 to rotate the connection rail 33 clockwise to retract it to the retracted position as shown in FIG. 4, and then controls the driving device of the second guide portion 32B to rotate the second guide portion 32B counterclockwise to connect it to the third guide portion 32C. Then, the control unit 4 controls the welding robot 2 to weld the right side of the web WB of the lower flange LF downward with the welding robot 2.

When downward welding of the right side of the lower flange LF is completed, the control unit 4 controls the welding robot 2 to move the welding robot 2 from the sixth guide portion 32F of the lower flange rail 32 to the first guide portion 32A. Next, the control unit 4 controls the welding robot 2 to downward weld the left side of the web WB of the lower flange LF.

When downward welding on the left side of the lower flange LF is completed, welding of the H-shaped steel HS is complete. After that, the user removes the welding robot 2 from the lower flange rail 32, and then removes the rail 3 and the fixing part 5 from the H-shaped steel HS.

According to the above embodiment, the rail 3 that guides the welding robot 2 extends from one side of the web WB of the lower flange LF to the other side, and guides the welding robot 2 to downward weld the lower flange LF between one side and the other side of the lower flange LF. This eliminates the need to set the welding robot 2 on both sides of the web WB of the lower flange LF, or to reset the welding robot 2 set on one side of the lower flange LF to the other side of the lower flange LF, and allows efficient downward welding of the lower flange LF of the H-shaped steel HS.

In addition, a connection rail 33 is provided to connect the upper flange rail 31 and the lower flange rail 32, so that the welding robot 2 can be guided from one of the upper flange rail 31 and the lower flange rail 32 to the other, and a single welding robot 2 can weld the upper flange UF and the lower flange LF downward.

[Second embodiment]
5 and 6, the welding device 1A differs from the first embodiment in the moving directions of the lower flange rail 32 and the connection rail 33.

The second guide portion 32B of the lower flange rail 32 is not supported by the first guide portion 32A, and is movable in the extension direction (front-rear direction) of the lower flange LF by a driving device. The driving device is, for example, a linear motor equipped with a slider that moves in the extension direction of the lower flange LF, and the second guide portion 32B is supported by the slider of the linear motor.

The connection rail 33 is not supported by the second guide portion 31B of the upper flange rail 31, and is movable in the extension direction of the lower flange LF by a driving device. The driving device is, for example, a linear motor equipped with a slider that moves in the extension direction of the lower flange LF, and the connection rail 33 is supported by the slider of the linear motor.

Hereinafter, a method for welding H-section steel HS by the welding device 1A will be described with reference to Figs.
First, a user of the welding device 1A positions the rail 3 so that the upper flange rail 31, the lower flange rail 32, and the connecting rail 33 are in the positions shown in Figures 5 and 6, and fixes the rail 3 to the H-shaped steel HS with the fixing portion 5. At this time, as shown in Figures 5 and 6, the connecting rail 33 is connected to the second guide portion 31B of the upper flange rail 31 and the third guide portion 32C of the lower flange rail 32, and the second guide portion 32B of the lower flange rail 32 is retracted to the rear retracted position.

Next, as in the first embodiment, after the user sets the welding robot 2 on the upper flange rail 31, the user or the control unit 4 sets the welding conditions and stores them in the control unit 4. After that, when the user inputs a signal to start automatic welding via the input operation unit 41, the control unit 4 controls the welding robot 2, and the welding robot 2 welds the upper flange UF downward.

When downward welding of the upper flange UF is completed, the control unit 4 controls the welding robot 2 to move the welding robot 2 from the upper flange rail 31 to the sixth guide portion 32F of the lower flange rail 32 as shown in FIG. 7. The control unit 4 then controls the welding robot 2 to downward weld the right side of the web WB of the lower flange LF.

When downward welding of the right side of the lower flange LF is completed, the control unit 4 controls the driving device of the connection rail 33 to move the connection rail 33 forward to the retreat position as shown in FIG. 8, and then controls the driving device of the second guide portion 32B to move the second guide portion 32B forward to connect it to the first guide portion 32A and the third guide portion 32C of the lower flange rail 32. Next, the control unit 4 controls the welding robot 2 to move the welding robot 2 from the sixth guide portion 32F of the lower flange rail 32 to the first guide portion 32A as shown in FIG. 9. Thereafter, the control unit 4 controls the welding robot 2 to downward weld the left side of the web WB of the lower flange LF with the welding robot 2.

According to the embodiment described above, it is possible to obtain the same effects as those of the first embodiment.
Furthermore, since the connection rail 33 is moved in the front-rear direction, the connection rail 33 can be prevented from protruding outward relative to the H-shaped steel HS.

As described above, the best configurations and methods for implementing the present invention have been disclosed in the above description, but the present invention is not limited thereto. That is, the present invention has been illustrated and described mainly with respect to specific embodiments, but those skilled in the art can make various modifications to the above-described embodiments in terms of shape, material, quantity, and other detailed configurations without departing from the scope of the technical idea and purpose of the present invention. Furthermore, the descriptions limiting the shapes, materials, etc. disclosed above are provided as examples to facilitate understanding of the present invention, and do not limit the present invention. Therefore, descriptions of the names of components that remove some or all of the limitations on the shapes, materials, etc. are included in the present invention.

For example, the welding robot 2 may first be set on the first guide portion 32A or the sixth guide portion 32F of the rail 32 for the lower flange, and after downward welding the lower flange LF, may be moved to the rail 31 for the upper flange and downward weld the upper flange UF, or after downward welding the lower flange LF, the upper flange UF may not need to be welded, and if the upper flange UF is not welded, the user or another worker may weld the upper flange UF.
The torch 22 may be straight or may have a bent or curved tip.

The rail 3 may be supported directly on the H-shaped steel HS.
The rail 3 may be configured so that the second guide portion 32B of the lower flange rail 32 and the connecting rail 33 can be rotated manually. In this case, the user may rotate the second guide portion 32B and the connecting rail 33.
The second guide portion 32B of the lower flange rail 32 is rotatably supported on the first guide portion 32A via a connection portion such as a hinge having a rotation axis parallel to the Z axis, and may be rotated in one direction, forward or backward, to a retracted position which is an initial position, and then rotated in the other direction, forward or backward, to connect to the third guide portion 32C.
The connecting rail 33 is rotatably supported on the second guide portion 31B of the upper flange rail 31 via a connection portion such as a hinge having a rotation axis parallel to the X-axis, and may be rotated in one direction, forward or backward, to an initial position, and then rotated in the other direction, forward or backward, to connect to the third guide portion 32C of the lower flange rail 32.
The upper flange rail 31, the lower flange rail 32, and the connection rail 33 may be formed in any shape as long as the welding robot 2 can be guided to the first guide portion 31A of the upper flange rail 31 and the first guide portion 32A and the sixth guide portion 32F of the lower flange rail 32. For example, the second guide portion 31B of the upper flange rail 31, the third guide portion 32C of the lower flange rail 32, and the connection rail 33 may be formed such that the second guide portion 31B, the third guide portion 32C, and the connection rail 33 form an arc shape such as a continuous semicircle when the connection rail 33 is connected to the third guide portion 32C of the lower flange rail 32, or the second guide portion 31B may be formed in an arc shape connecting the first guide portion 31A and the connection rail 33. Also, for example, the second guide portion 32B of the lower flange rail 32 may be formed in an arc shape connecting the first guide portion 32A and the third guide portion 32C, and the fifth guide portion 32E may be formed in an arc shape connecting the fourth guide portion 32D and the sixth guide portion 32F.

The control unit 4 may be electrically connected to the welding robot 2 via a wire or wirelessly.
The input operation unit 41 may be integrated with the control unit 4 or may be separate from the control unit 4 .

The fixing portion 5 may be attached to the rail 3 in advance.
The fixing portion 5 may be configured to fix the rail 3 to the H-shaped steel HS using a gripping member such as a mechanical chuck or a chuck cylinder, Coulomb force, an adhesive sheet, an adhesive tape, magnetic force, Bernoulli adsorption, suction adsorption, a driving device, etc., or may be configured by directly or indirectly combining these.

The driving device in the above embodiment can be an electric device such as a rotary motor, a linear motor, a single-axis robot, or a multi-joint robot with two or more joints, or an actuator such as an air cylinder, a hydraulic cylinder, a rodless cylinder, or a rotary cylinder, or a direct or indirect combination of these.

There are no particular limitations on the steel material to which the H-shaped steel HS is welded; for example, the H-shaped steel HS may be welded to the skin plate or diaphragm of a steel column such as a box column, a steel wall, etc.

1...welding device, 2...welding robot, 3...rail, 31...rail for upper flange, 32...rail for lower flange, 33...connecting rail, HS...H-shaped steel, LF...lower flange, UF...upper flange, WB...web.

Claims (3)

A welding device for welding H-shaped steel having a web, an upper flange, and a lower flange, comprising:
A welding robot
a rail for guiding the welding robot;
The rail extends from one side of the web of the lower flange to the other side, and guides the welding robot from one side to the other side of the lower flange so that the welding robot downward welds the lower flange between the one side and the other side. The rail is
a rail for an upper flange that guides the welding robot so as to weld the upper flange downward;
a lower flange rail that guides the welding robot so as to weld the lower flange downward;
2. The welding device according to claim 1, further comprising a connecting rail that connects the upper flange rail and the lower flange rail and guides the welding robot from one of the upper flange rail to the other of the lower flange rail. A welding method for welding H-shaped steel having a web, an upper flange, and a lower flange, comprising the steps of:
a step of extending a rail from one side of the lower flange to the other side of the web;
setting a welding robot on the rail;
A welding method characterized in that the welding robot is guided by the rail from the one side to the other side of the lower flange, and the welding robot downward welds the one side and the other side of the lower flange.

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