JP5190023B2 - Welding setting device, welding robot system, and welding setting program - Google Patents

Description

  The present invention relates to a technique for simultaneously welding a plurality of welded joints of a steel structure by a plurality of welding robots in a welding robot system.

  Conventionally, when assembling a steel structure used as a building column, the temporarily welded column is held by the positioner so that it is horizontal, and a plurality of welded joints of this steel structure (simply referred to as joints) Are automatically welded by a welding robot. Steel structures used as architectural pillars include pillars having a diameter of, for example, 300 mm to 1 m or more. Moreover, the length of the column is generally several meters to several tens of meters.

  In addition, welding conditions for steel structures are defined by Japanese Industrial Standards (JIS) and steel construction technical guidelines. The width (root gap) of the bottom of the joint is, for example, about several millimeters, and is an allowance for adjusting the height of the column. By filling the groove with weld metal, the pillar can be given strength. Also, for example, when a joint is welded in a multi-layer welding pass (simply referred to as a pass), the upper pass is welded many times after the previous pass has cooled below the specified temperature. Also, the welding quality is maintained by depositing the weld metal so that the prescribed shape and welding amount are obtained. Therefore, it may take, for example, a full day (for example, 8 hours) to finish one column by automatic welding. Assuming that such work is performed by two welding robots, if there are a plurality of joints in the steel structure and all of them can be combined to achieve the maximum theoretical effect, The entire welding can be completed in half the time (for example, 4 hours).

  By the way, in other technical fields such as automobiles, automatic welding of one workpiece with a plurality of robots has been performed for many years. However, in the field of steel structures such as columns, because of the huge size and the need to perform multi-layer welding, the two joints were welded simultaneously by two welding robots. In recent years. In recent years, a technique aimed at shortening the welding time by simultaneous welding has been developed (for example, see Patent Document 1).

Below, the automatic welding control method of patent document 1 is demonstrated.
In the automatic welding control method described in Patent Document 1, the cross section of a square pipe as a workpiece to be welded (work) used for assembling a steel structure is substantially square, and a straight portion and an arc as a weld line Part (corner part). For this reason, the workpiece is fixed when the linear portion is welded, and the workpiece is rotated when the arc portion is welded. Thereby, the path | pass for 1 round can be welded continuously, without cutting an arc in a circular arc part.

  In the automatic welding control method described in Patent Document 1, when two joints are welded simultaneously, the weld metal cross-sectional area (amount of weld metal) differs between the two joints, so that welding is performed from the base point to the next base point. If the welding volume is different, adjust the welding wire feed rate (wire feed rate) so that the welding time from the base point to the next base point is the same for the two welding robots. Yes. Specifically, the welding speed obtained from the welding length or the like, or the wire feeding speed corresponding to the required amount of deposited metal obtained using the target throat thickness after the pass is determined as the welding current with respect to the wire feeding speed obtained in advance. The welding current is regulated within the variable range defined by the relationship. If it is determined that even if the wire feed speed is adjusted, the total amount of meat at the end of all passes cannot be controlled within the desired range, a pass to be welded individually is determined and the robot is used for that pass. By operating alone, the total amount of meat at the end of all passes is controlled within a desired range. That is, although the root gap (groove width) of each joint is usually different, in this automatic welding control method, joints having different widths are finally set to a desired height in two robots. Adjustments are made to make it so exciting.

  As a result, in this automatic welding control method, when welding workpieces having different root gaps and different cross-sectional areas (groove cross-sectional areas) of the welded portions while rotating to weld the corner portions, a welding robot is used. Since two units are applied at the same time, the welding time can be significantly reduced as compared with the conventional case.

JP-A-2004-314108 (Claims 3 and 5)

  Since the steel structure used as a column is not only of a uniform diameter, but a column, it may be designed to have a thicker and thicker structure on the lower side than on the upper side. Therefore, in a plurality of welded joints of a steel structure, a relatively thick plate joint and a relatively thin plate joint may be mixed. As described above, when the plate thickness varies depending on the joint, the number of layers of the multi-layered path and the layer pattern itself are different.

  In the conventional method, when the adjustment cannot be performed, two joints having different plate thicknesses are each welded independently. For example, when six joints are welded by two welding robots, ideally three pairs should be possible, but only two pairs may be combined. In this case, although two welding robots are used, as a whole, welding cannot be completed in half the time of single operation (double speed). That is, the effect of shortening the welding time by applying two welding robots simultaneously cannot be fully exhibited.

  Accordingly, an object of the present invention is to solve the above-described problems and to provide a technique capable of shortening the welding time in which a plurality of welded joints of a steel structure are simultaneously welded in multiple layers by a plurality of welding robots. .

  In order to achieve the above object, a welding setting device according to claim 1 of the present invention includes a positioner that holds a steel structure as a work for welding, and arcs the held steel structure by a welding torch. Welding that performs a process of combining a plurality of arc welding robots to be welded and a welding path when simultaneously welding a plurality of welded joints of the steel frame structure sequentially from the lower layer using the plurality of arc welding robots from the lower layer A welding setting device in a welding robot system having a setting device, wherein a plurality of lamination patterns of a multipass welding path determined in advance according to a workpiece size, a weld joint shape and welding conditions Storage means for storing together with the amount of deposited metal for each welding pass, workpiece dimensions and welding input corresponding to the welding joint to be set Lamination pattern determining means for selecting and determining a lamination pattern corresponding to the welding joint to be set from the plurality of stored lamination patterns based on the shape of the hand and welding conditions, and a plurality of welding patterns simultaneously Welding joint selection means for selecting those having a similar number of passes as a welded joint in accordance with a predetermined rule, and in the determined lamination pattern of each of the selected welded joints, welding is sequentially performed sequentially from the lower layer side pass. Welding path combination means for combining the welding paths, and welding amount determination means for determining whether or not the difference in the amount of each deposited metal simultaneously welded in each welding pass when the combination is performed exceeds a predetermined threshold value. When the difference in the amount of the deposited metal exceeds the threshold value, the welding path having the larger amount of the deposited metal is welded independently at the same time. Independent operation path determination means for determining the combination of welding paths to be welded simultaneously from the lower layer after determining the welding path for independent operation, excluding the welding path for independent operation, and welding of the determined lamination pattern A current value corresponding to a wire feed speed based on a welding condition input to each of the welding passes in accordance with a lamination schedule of simultaneous welding passes combining the passes and a lamination schedule of the welding pass for single operation Welding condition determining means for calculating a seam forming position and determining a welding condition of a lamination schedule of each welding path including these calculated values; and a robot operation program for the plurality of arc welding robots according to the determined path schedule And an operation program creating means for setting the arc welding robot. It is characterized by.

  According to this configuration, the welding setting device selects and determines the lamination pattern according to the workpiece dimensions, the shape of the welded joint, and the welding conditions input corresponding to the welding joint to be set by the lamination pattern determination means. To do. Here, the lamination pattern is stored in a database in advance, and can easily cope with a one-layer multi-pass distribution path. A lamination pattern prescribes | regulates the number of lamination | stacking of a welding pass, and a distribution state. As this lamination pattern, the cross-sectional area corresponding to the weld metal volume, which is the amount of weld metal deposited on the welded joint by circumferential welding, can be expressed for each welding pass.

  Then, the welding setting device selects the welded joint to be combined in the simultaneous welding pass by the welded joint selecting means, and in the stacking pattern determined for the selected welded joint, the weld path is combined from the lower layer by the weld path combining means. The welding metal amount of the combined welding pass is compared by the sequential combination and welding amount discrimination means. Here, at the time of circumferential welding, the steel frame structure held by the positioner is rotated by a rotating machine of the positioner. Also, during circumferential welding, the movement times of multiple welding robots corresponding to different weld joint sections are synchronized, and the current corresponding to the amount of welding material fed per unit time is raised or lowered to make a single welding pass. Weld the required amount of metal. Therefore, in order to maintain the prescribed welding quality, the amount of heat input to the workpiece (workpiece) during welding is naturally determined. For example, the amount of heat input can be set as a predetermined threshold value as a criterion for determining whether simultaneous welding or single operation is performed.

  Then, when the welding setting device is determined as a single operation welding path by the single operation path determination means, the welding operation apparatus excludes the single operation welding path from the combination, and then simultaneously combines the welding path combinations to be welded from the lower layer. Determine sequentially. For example, assuming a combination of 1 layer 1 pass and a path in 1 layer multi-path where 1 layer is divided into 2 or more paths, 1 layer 1 pass (one) is operated independently, the other is operated After a pause, simultaneous welding is possible by combining the next pass of the upper layer of one layer and one pass (one) and the pass of the other lower layer. That is, even when the plate thickness is different, the number of isolated operations can be reduced as compared with the conventional control method.

  Then, even if the welding setting device determines the welding path for single operation, the welding condition determination means performs the wire feeding based on each input welding condition according to the lamination schedule of each welding path including the simultaneous welding path. A current value and a seam forming position corresponding to the feeding speed are calculated. And a welding condition determination means determines the welding conditions of the lamination schedule of each welding pass containing these calculated values. The welding conditions determined here are determined including movement control of the welding torches of a plurality of arc welding robots. Then, the welding setting device creates a robot operation program corresponding to the pass schedule by the operation program creation means and sets it to the arc welding robot.

  Moreover, the apparatus of Claim 2 is the welding setting apparatus of Claim 1, Comprising: As for the steel structure as the said workpiece | work for welding, the cross-sectional shape of a column part is circular, The said welding condition determination When the means shifts the joint position of the welding path in the combination of the welding paths excluding the welding path for the independent operation, simultaneous welding of the welding paths is started in each weld joint to which the welding path is combined. Sometimes, the respective welding torches are moved so that the arc welding robots can form an arc at a position corresponding to a start angle indicating an angle at which the positioner starts to rotate, and simultaneous welding of the welding paths is performed. The plurality of simultaneous welding passes can be formed at a position corresponding to a stop angle indicating an angle at which rotation of the positioner is stopped when finishing the positioner. It was to determine the welding conditions including the control for moving each of the welding torch of the arc welding robot.

  According to such a configuration, when the welding setting device circumferentially welds a plurality of weld joints of a workpiece having a circular cross section, since the number of weld passes completed for each weld joint is different, the joint positions of the weld paths are shifted. However, welding is started at a position that assumes that the rotation angle of the positioner that holds the workpiece is common to the weld joints. Therefore, the previous shift of the joint position is corrected in the current simultaneous welding pass, and the previous shift is not carried over to the upper layer after the next time.

  In order to achieve the above object, a robot welding system according to a third aspect of the present invention holds the welding setting device according to the first or second aspect and a steel structure as a work for welding. A positioner, a plurality of arc welding robots that simultaneously weld a plurality of welded joints of the held steel structure with a welding torch, and a wire feeding device that sends a welding wire to the welding torch; Driving the wire feeding device, controlling a movement of the welding torch of the arc welding robot, and a welding power source device for supplying a welding current to the welding wire fed from the wire feeding device to the welding torch A robot control device for controlling the wire feed speed via a welding power supply device for each arc welding robot, and the welding setting device A plurality of arc welding robot robot operation programs created for each, through each of the robot controller and sets the arc welding robot.

  According to such a configuration, the robot welding system uses a robot operation program set by the welding setting device to the arc welding robot via each robot control device, so that a plurality of arc welding robots A plurality of welded joints are simultaneously welded together by a welding torch. Since the simultaneous welding passes are combined in advance before the main welding, it is possible to shorten the welding time even when the thicknesses of the respective welded joints are different.

According to a fourth aspect of the present invention, there is provided a welding setting program comprising: a positioner that holds a steel structure as a work for welding; and a plurality of arc welding robots that arc-weld the held steel structure with a welding torch. In order to perform a process of combining welding passes when welding a plurality of welded joints of the steel structure using the plurality of arc welding robots simultaneously from the lower layer in a multi-layer welding before welding, A computer which stores a plurality of lamination patterns of multi-pass welding paths determined in advance according to workpiece dimensions, weld joint shapes and welding conditions together with the amount of deposited metal for each welding path in the lamination patterns in storage means. , Based on the workpiece dimensions, weld joint shape and welding conditions entered corresponding to the weld joint to be set From the stored plurality of stacked pattern, stacked pattern determining means selects and determines the laminate pattern corresponding to the weld joint and the setting object,
Weld joint selection means for selecting a plurality of weld joints to be welded at the same time according to a predetermined rule as a plurality of weld joints to be welded at the same time, in the determined lamination pattern of each of the selected weld joints, sequentially from the lower-layer side pass Welding path combination means for combining welding paths to be welded at the same time, welding amount determination for determining whether or not the difference in the amount of each deposited metal simultaneously welded in each welding pass exceeds a predetermined threshold Means, if the difference in the amount of deposited metal exceeds the threshold, determine the welding pass with the larger amount of deposited metal as a single operation welding pass for non-simultaneous welding, excluding the single operation welding pass In addition, it is possible to function as a single operation path determination means that sequentially determines a combination of welding paths to be welded simultaneously from the lower layer. And butterflies. According to this configuration, a computer in which this program is installed can realize each function based on this program.

  According to the present invention, the welding setting device determines a plurality of welded joints of a steel structure to be welded simultaneously by a plurality of welding robots using a plurality of welding robots based on the difference in the amount of each deposited metal that is simultaneously welded in a welding pass. It is possible to perform a process of sequentially combining simultaneous welding passes from the lower layer after removing the independent operation welding pass. Therefore, in the robot welding system, an operation program for executing the welding conditions determined for the simultaneous welding paths combined by the welding setting device is set in advance in each welding robot, so that the plurality of welding robots At the same time, the welding time for multilayer circumferential welding can be shortened.

It is a block diagram which shows typically the structure of the welding robot system of this invention. It is a block diagram which shows typically the simultaneous welding path | pass combination determination part shown in FIG. It is a figure which shows an example of the welding robot system of this invention. It is a perspective view which shows an example of a square-pipe type architectural steel structure. It is an assembly drawing of a square pipe type architectural steel structure. It is a perspective view of the column core shown in FIG. It is sectional drawing of the column shown in FIG. It is a figure which shows the locus | trajectory of the welding wire front-end | tip of the linear part and circular arc part in the circumferential welding of the column shown in FIG. It is sectional drawing which shows an example of the welding path of two joints selected in the simultaneous welding path combination determination part shown in FIG. It is a figure which shows an example of the cross-sectional area of the metal welded by the welding pass of two joints shown in FIG. It is a flowchart which shows operation | movement of the simultaneous multilayer build-up setting apparatus shown in FIG. It is a block diagram which shows typically the structural example of the welding robot system shown in FIG. It is a figure which shows an example of a round pipe type architectural steel frame structure, (a) is a perspective view, (b) has shown sectional drawing, respectively. It is explanatory drawing of the seam formation in the circumference welding of the round pipe column part shown in FIG. 13, Comprising: (a) has shown the enlarged view of the pipe cross section shown in (b). It is a figure which shows the welding line of the path welding of two joints from which an interlocking radius differs, Comprising: (a) has shown the welding line at the time of single operation, (b) has shown the welding line at the time of simultaneous operation, respectively. It is sectional drawing of the welding pass at the time of simultaneous welding of two joints from which an interlocking radius differs, Comprising: (a) at the time of one pass welding start, (b) at the time of completion | finish of one pass welding, (c) is the other pass. At the start of welding, (d) shows the end of the other pass welding. FIG. 7 is a plan view of a welding pass showing the relationship between the welding end position of the first pass and the welding start position of the second pass in the divided pass assigned to the first layer and the second pass, and (b) when (b) is not overlapped, ) Indicates the case of overlapping.

  Hereinafter, a mode for carrying out a welding setting device and a robot welding system of the present invention (hereinafter referred to as “embodiment”) will be described with reference to the drawings.

  FIG. 1 is a block diagram schematically showing the configuration of the welding robot system of the present invention. Moreover, an example of the external appearance of the welding robot system which is welding a workpiece | work is shown in FIG. Moreover, an example of the building steel structure to which the square pipe and the round pipe were joined is shown in FIG. 4 and FIG. 13, respectively. In the first embodiment, square pipes and round pipes are targeted, and in the second embodiment, round pipes are targeted.

(First embodiment)
As shown in FIG. 1, a welding robot system 1 according to an embodiment of the present invention includes a robot control device 2, a welding power supply device 3, a wire feeding device 4, a welding robot 5, a positioner 6, and a simultaneous multilayer. And a prime welding setting device 10. In the welding robot system 1, in addition to the simultaneous multi-layer welding setting, a pre-processing of the simultaneous multi-layer welding setting, a pre-processing before welding, and a control block showing details of control between devices for executing the welding process A configuration example is shown in FIG. In the following, first, the outline of the welding robot system 1 and the outline of the configuration of the simultaneous multi-layer welding setting apparatus will be described with reference to FIG. 1, and the detailed description of FIG. 12 will be described later.

[Outline of welding robot system]
In this welding robot system 1, as shown in FIG. 1, each welding robot 5 includes a wire feeding device 4, a welding power supply device 3, and a robot control device 2. Further, in FIG. 1, two welding robots 5 are controlled by the respective robot control devices 2, and the simultaneous multi-layer welding setting device 10 sets a robot operation program for the two robot control devices 2. did.

  The robot control device 2 controls the movement of the welding torch 8 of the welding robot 5 and also controls the wire feed speed via the welding power source device 3. The robot control device 2 controls the welding robot body 7, the welding torch 8 provided on the arm of the welding robot body 7, and the welding power supply device 3. One robot control device 2 is connected to a positioner 6. The two robot control devices 2 are connected by a communication cable for position control and interlocking of each welding robot body 7. Details of the robot controller 2 will be described later.

  The welding power source device 3 drives a wire feeding device 4 including a roller or the like that feeds a welding wire (hereinafter simply referred to as a wire). The welding power source device 3 supplies a welding current to the welding wire sent from the wire feeding device 4 to the welding torch 8 and supplies welding power to the workpiece. Details of the welding power source device 3 will be described later.

  A welding robot (arc welding robot) 5 arc welds a building steel structure 100 held by a positioner 6 with a welding torch 8. The welding robot 5 is, for example, a multi-joint arc welding robot having a 6-axis configuration, and includes a welding robot body 7 such as an arm and a welding torch 8 attached to the arm.

  The welding robot body 7 performs an operation based on a teaching work by a teaching work input device which is a teaching pendant and a reproducing operation for reproducing the tip of the welding torch 8 based on teaching program execution data created by the teaching work. A wire is fed to the welding torch 8 by the wire feeding device 4, and this wire is fed from the welding torch 8 toward the welded portion of the workpiece (material to be welded). Welding is performed by forming an arc between the fed wire and the workpiece.

  The positioner 6 controls the posture of the workpiece for welding, and is configured to be rotatable. As the workpiece, for example, the architectural steel structure 100 to which the square pipe shown in FIG. 4 is joined, or the round shown in FIG. The architectural steel structure 200 to which the pipe is joined is held. Details of the positioner 6 will be described later.

[Configuration of simultaneous multi-layer welding setting equipment]
The simultaneous multi-layer welding setting device (welding setting device) 10 uses a plurality of welding robots 5 to weld a process for combining a plurality of welding joints of the building steel structure 100 sequentially from the lower layer to the multi-pass welding simultaneously. What to do before.

  The simultaneous multi-layer welding setting device 10 includes, for example, a central processing unit (CPU), a read only memory (ROM), a random access memory (RAM), a hard disk drive (HDD), and an input / output interface. As shown in FIG. 1, the simultaneous multi-layer welding setting device 10 includes an input / output unit 11, a storage unit 12, and a calculation unit 13.

The input / output unit 11 is an input / output interface with the robot control device 2.
The storage unit (storage unit) 12 includes a ROM, a RAM, and an HDD, and workpiece dimension data 15, input welding condition data 16, and joint shape data 17 are input to the primary storage unit 14 in advance by the user. And dimension / position correction data 18 are stored. The workpiece dimension data 15 indicates, for example, the dimensions illustrated in FIG.
The joint shape data 17 indicates the shape of the weld joint such as the shape of the groove and the angle of the groove.
The input welding condition data 16 indicates welding conditions such as, for example, a welding current, a welding voltage, a welding speed, and a protruding length of the welding torch 8.
The dimension / position correction data 18 is a sensing result obtained by a known sensing operation function by the robot controller 2 and the welding robot 5, and is more detailed than data obtained by correcting data input by the user or input data. Indicates dimension / position data. The dimension / position correction data 18 is acquired in advance from the robot controller 2.

  In addition, the storage unit 12 displays a plurality of lamination patterns of the multi-layer welding weld path obtained in advance according to the dimensions of the workpiece, welding conditions, and the shape of the weld joint together with the amount of deposited metal for each welding pass in the lamination pattern. The stored laminated pattern database 19 is stored. An example of the laminated pattern and the amount of deposited metal for each pass is shown in FIGS. The examples shown in FIGS. 9 and 10 will be described later.

  As shown in FIG. 1, the calculation unit 13 includes a simultaneous welding path combination determination unit 21, welding conditions determination unit 22, and an operation program creation unit 23. As shown in FIG. 2, the simultaneous welding pass combination determination unit 21 includes a lamination pattern determination unit 24, a weld joint selection unit 25, a weld path combination unit 26, a welding amount determination unit 27, and an independent operation path determination unit. 28.

  The lamination pattern determination unit (lamination pattern determination means) 24 stores in the storage unit 12 based on the workpiece dimension data 15, the joint shape data 17 and the input welding condition data 16 input corresponding to the welding joint to be set. From the laminated pattern database 19, the laminated pattern corresponding to the welded joint to be set is selected and determined. In the present embodiment, since the lamination pattern database 19 stores the lamination pattern obtained in advance according to the dimensions of the workpiece, the welding conditions, and the shape of the welded joint, the lamination pattern determination unit 24 uses the input data 15 described above. , 16 and 17 can be easily selected from the laminate pattern database 19 corresponding to the dimension / position correction data 18.

  The welded joint selection unit (welded joint selection means) 25 selects a plurality of welded joints that are welded at the same time and that have a close number of passes according to a predetermined rule. The selection method is arbitrary. For example, the architectural steel structure shown in FIG. 4B has six joints between the column 101 and the column core 103. When two welding robots 5 are used, it is only necessary to assemble three pairs of two joints, so if the number of three passes on the left is “8” and the number of three passes on the right is “9”, select from the left. To do. Alternatively, in order to pair the same groove shape, the pair of the first and third joints from the left, the pair of the first and third joints from the right, the second from the left and 2 from the right The second joint pair may be selected in order.

  The weld path combination unit (weld path combination means) 26 combines the weld paths that are sequentially welded from the lower layer side in the determined lamination pattern of each weld joint selected by the weld joint selection unit 25. The welding path combination unit 26 receives, as inputs, the lamination pattern determined by the lamination pattern determination unit 24 and the amount of weld metal for each welding path in the lamination pattern in each of the selected weld joints. And the welding pass combination part 26 combines the welding pass which welds sequentially from the path | pass of a lower layer side in each received lamination pattern.

  A welding amount determination unit (welding amount determination means) 27 determines whether or not the difference in the amount of each deposited metal that is simultaneously welded in each welding pass exceeds a predetermined threshold when the welding passes are combined. To do. This threshold value can be determined by, for example, a welding current range that can ensure appropriate welding quality, a welding voltage range, a welding speed range, or all of these conditions. Moreover, this threshold value can also be determined based on the amount of heat input to the workpieces during welding, for example. Of these, the amount of heat input (J / cm) to the work piece during welding is obtained as current (A) × voltage (V) × 60 / welding speed (cm / min). Below, as an example, it demonstrates as what defined the threshold value based on the heat gain. The amount of heat input to the workpiece during welding corresponds to the amount of deposited metal for each welding pass. In the simultaneous welding, the welding robot 5 simultaneously welds the respective paths at the joints at the same time. Also, in order to maintain the same welding time and to maintain the prescribed welding quality, it is necessary to increase and decrease the current corresponding to the amount of welding material fed per unit time and weld it in one welding pass. An appropriate amount of metal is naturally determined according to the amount of heat input. This required amount of metal can be expressed in terms of the deposited metal volume. In the present embodiment, the threshold value for the difference in the amount of weld metal is determined based on the difference in weld cross-sectional area corresponding to the weld metal volume in cross-sectional view. Specific examples thereof will be described later.

  Independent operation path determination unit (independent operation path determination means) 28, when the difference in the amount of deposited metal exceeds a threshold value, independently operating welding for non-simultaneously welding the welding path with the larger amount of deposited metal. The path is determined as a pass, the welding pass for independent operation is excluded, and a combination of welding paths to be welded simultaneously is sequentially determined from the lower layer. In the present embodiment, the islanding path determining unit 28 determines the islanding welding path when the difference in the welding cross-sectional areas exceeds a predetermined ratio. Specific examples thereof will be described later.

  The simultaneous welding pass combination determination unit 21 uses a general computer that stores the lamination pattern database 19 as the above-described lamination pattern determination unit 24, weld joint selection unit 25, welding path combination unit 26, welding amount determination unit 27, and It can also be realized by operating by a welding setting program that functions as the independent operation path determination unit 28. This welding setting program can be provided via a communication line, or can be written and distributed on a recording medium such as a CD-ROM or a flash memory.

Returning to FIG. 1, the description of the calculation unit 13 of the simultaneous multilayer welding setting apparatus 10 will be continued.
The welding conditions determining unit (welding condition determining means) 22 applies each welding pass according to the lamination schedule of the simultaneous welding pass determined by the simultaneous welding path combination determining unit 21 and the lamination schedule of the welding pass for independent operation. On the basis of the welding conditions input for the current value, the current value and the seam forming position corresponding to the wire feed speed are calculated. The welding conditions determining unit 22 determines the welding conditions of the lamination schedule of each welding pass including the current value corresponding to the calculated wire feed speed and the seam forming position. This determined welding pass stacking schedule is called a pass schedule. In the present embodiment, the input welding condition data 16 is, for example, a welding current, a welding voltage, a welding speed, a protruding length of the welding torch 8, and the like. In addition to these parameters, the current value corresponding to the wire feed speed is also included in the welding conditions. The welding conditions determination unit 22 also includes movement control such as an arc ON position, a main welding start position, a seam formation position (crater formation position, seam processing start position), and the like shown in FIG. For this reason, these are referred to as welding conditions in distinction from the input welding conditions.

  The operation program creation unit (operation program creation means) 23 creates a robot operation program for the plurality of welding robots 5 according to the pass schedule determined by the welding conditions determination unit 22 and sets it in the welding robot 5. In the present embodiment, the operation program creation unit 23 sets a robot operation program created for each of the plurality of welding robots 5 in the welding robot 5 via each robot control device 2. That is, the motion program creation unit 23 outputs the robot motion program to the robot control device 2. This operation program creation unit 23 creates a program that teaches a procedure necessary for welding each path of the joint to be welded before the welding robot 5 performs the main welding process. The teaching program includes information such as a welding current, a welding voltage, a welding speed, a protruding length of the welding torch 8, a current value corresponding to the wire feeding speed, an arc ON position, a main welding start position shown in FIG. , Information on the crater formation position, the start position of the joint processing, and the like.

Here, the supplement of the welding conditions determination unit 22 and the operation program creation unit 23 will be described. These welding conditions determination unit 22 and operation program creation unit 23 are premised on performing the following controls (1) to (6), as in the automatic welding control method described in Patent Document 1.
(1) The positioner 6 is rotated at the arc portion of the workpiece and welded once without cutting the arc.
(2) Adjust the "welding wire feed rate" so that the welding time is the same when the "volume to be welded" differs between the "base points (reference points when welding)" of the joints to be welded simultaneously. .
(3) An appropriate current range that can be appropriately welded in each welding pass is set, and a “welding wire feed rate” is set within the range.
(4) If it is determined that the amount of meat after completion of all passes cannot be controlled within the desired range, the amount of meat at the end of welding is brought to the desired range by welding one or more passes individually. Control.
(5) For joints in multi-layer welding, each welding pass forms a seam and cuts an arc each time it is welded once.

(6) Moreover, in order for these welding conditions determination part 22 and the operation program preparation part 23 to perform control of (1)-(5), before welding, the following (6-1)-(6- Each of the relational expressions 4) is obtained through experiments and the like. The obtained relational expressions are stored in advance in the storage unit 12 so that the welding conditions determination unit 22 and the operation program creation unit 23 can read them.

(6-1) The relationship of the welding current with respect to the wire feed speed at a predetermined protrusion length is obtained. In addition, an appropriate arc voltage relationship is obtained with respect to the wire feed speed of the predetermined protruding length.
(6-2) Similarly, when the protrusion length is increased or decreased, the relationship of the welding current to the wire feed speed is obtained in advance.
(6-3) A reference welding condition (this is referred to as a reference welding condition) is determined for a predetermined protrusion length, a predetermined reference route gap, and a predetermined plate thickness. That is, the welding current, arc voltage, welding speed, and target position are obtained from experiments and the like.
(6-4) For each pass of multi-layer welding, a variable welding current range and an arc voltage corresponding thereto are obtained.

[Example of appearance of welding robot system]
FIG. 3 shows a method of welding the column 101 to the diaphragm 105 of the column core 103 in the building steel structure 100 shown in FIG. Here, the welding robot system 1 includes two welding robots 5a and 5b and two positioners 6a and 6b. Here, the welding robot 5 a, the positioner 6 a, the welding robot 5 b, and the positioner 6 b are arranged in this order along the rail 50.

  The welding robots 5 a and 5 b include a moving carriage 51 that travels on the rail 50. On the movable carriage 51, the wire supply container 52 and the welding power source device 3 are placed. Further, the welding robots 5a and 5b include an arm 53 at one end in a direction orthogonal to the rail 50 of the movable carriage 51, and another arm 54 via an indirect end of the arm 53. A welding torch 8 is provided at the tip of the arm 53. In the wire supply container 52, a welding wire 55 is wound and stored in a coil shape. The welding wire 55 unwound from the wire supply container 52 is supplied to the welding torch 8 via the conduit tube 56 and is supplied to the welded portion through the welding torch 8. The welding power supply device 3 is connected to the welding torch 8 by a cable 57 and supplies welding power to the welding wire 55 via the welding torch 8.

  The positioners 6a and 6b are provided with a rotating part 59 for rotating a workpiece having a welding line in the vertical plane on the table 58 fixed on the floor. The rotating part 59 has a shape in which a central part is cut out in a rectangular shape, and a fixing tool 60 for fixing a workpiece is provided on at least one pair of opposing sides in the central notch part. The workpiece is preliminarily welded and assembled as shown in FIG. 4A, and the rotary member 59 fixes the column 101 by holding the surface of the column 101 that is an object to be welded by the fixture 60. . The positioners 6a and 6b are respectively fixed at positions where the central notches of the rotating portion 59 are aligned (overlapped) when viewed in the longitudinal direction of the column 101. When each positioner 6a, 6b sandwiches the two columns 101 of the architectural steel structure 100 shown in FIG. 4 (a), the fixtures for the positioners 6a, 6b so that the central axes of the columns 101 coincide with each other. 60 is adjusted respectively.

[An example of a square pipe column]
An architectural steel structure 100 shown in FIG. 4 is an example of an architectural steel structure to which square pipes are joined, and includes a column 101, a joint 102, and a column core 103. The column 101 is a square pipe including a straight portion and a circular arc portion (corner portion) as a weld line for circumferential welding. In the column core 103, the joints 102 are attached to the four side surfaces in the direction orthogonal to the direction in which the column 101 is connected by welding. FIG. 4A shows a state in which two columns 101 and two column cores 103 are connected in this order. FIG. 4B shows a state in which another column 101 is connected to the state of FIG. FIG. 5 shows an assembly drawing of the building steel structure 100 up to the state shown in FIG. As shown in FIG. 6, the column core 103 is assembled by joining diaphragms 105 to both ends of a cylindrical column portion 104 by welding. The column 101 is welded and joined to the diaphragm 105 perpendicularly.

  A cross section (or end) of the column 101 is shown in FIG. As the dimensions of the column 101, the column thickness t, the column vertical diameter h, the column horizontal diameter w, the corner radius r (four from the first corner portion to the fourth corner portion) as a cross-sectional shape, and the dimensions in the longitudinal direction are included. Used as input data for each welded joint. As shown in FIG. 7, the cross section (or end) of the column 101 is composed of four straight portions and four corner portions (arc portions), and the corner portions are curved at an appropriate radius. doing. Therefore, the weld line between the end portion of the column 101 and the surface of the diaphragm 105 is composed of four straight portions and four corner portions along the outer edge of the end portion of the column 101. .

  The locus of the welding wire tip in circumferential welding of the column 101 is shown in FIG. In FIG. 8, the operation in which the positioners 6a and 6b rotate the column 101 and the operation in which the welding robot 5 moves the arms 53 and 54 to move the welding torch 8 are shown together. In FIG. 8, (1) to (5) show the transition of the rotation state of the column cross section when the column 101 rotates 90 degrees, and the transition of the position of the tip of the welding wire supplied from the welding torch 8 to the welded portion. Is shown.

  Moreover, the track | orbit corresponding to transition of the position of the welding wire front-end | tip to (1)-(5) of FIG. 8 is expanded and it shows on the lower side of FIG. In this orbit, the period from (1) to (5) in FIG. 8 is divided into finer steps “1” to “10”. In this orbit, for example, an arrow heading from “10” to “2” corresponds to an arrow shown in the period (1) in FIG. Since the welding time between the base point and the next base point is the same for each welding robot 5a, 5b, each arrival time at the start point (10) and end point (2) of the straight section and the start point (2 of the corner section) ) And the end time (10) so that the arrival times are the same.

  In the period (1) in FIG. 8, the positioners 6a and 6b remain stationary without the column 101 rotating. At this time, the welding robots 5a and 5b move the welding torch 8 in the horizontal direction. Thereby, the straight part of the welding line is welded by the welding wire 55.

  In the period from (2) to (5) in FIG. 8, the positioners 6 a and 6 b rotate (rotate) the column 101 and the diaphragm 105 around the central axis of the column 101. At this time, the welding robots 5a and 5b move the welding torch 8 in an arc shape. Thereby, the corner part of a welding line is welded by the welding wire 55, and it moves to welding of the next linear part. In addition, the joint of each welding pass is formed in a linear part.

[Combination processing of simultaneous welding passes]
A specific example of the case where there are two weld joints between the column portion 104 and the diaphragm 105 will be described with reference to FIG. As shown in FIG. 9, the left multi-layer circumferential weld joint 200L (hereinafter referred to as the left joint 200L) is a weld joint between the column portion 104a and the diaphragm 105a. The welding method of the left joint 200L is as follows. That is, the end surface of the column portion 104a is formed so as to be inclined, the column portion 104a is horizontally installed, the diaphragm 105a is vertically installed, and a re-shaped groove is formed between the column portion 104a and the diaphragm 105a. The backing member 106a is disposed below the groove, and the column portion 104a and the diaphragm 105a are joined by automatic welding using a backing metal method. The right multi-layer circumferential weld joint 200R (hereinafter referred to as the right joint 200R) is a weld joint between the column portion 104b and the diaphragm 105b and can be similarly welded.

Here, as an example, the root gap G ₁ of the left joint 200L, while at the same the root gap G ₂ of the right joint 200R, and the angle of the groove in the same. Further, the plate thickness of the column portion 104a of the left joint 200L is made thicker than the plate thickness of the column portion 104b of the right joint 200R. For this reason, in the left joint 200L, the number of welding passes is 9 including the divided passes. In FIG. 9, numbers “1” to “9” representing the pass numbers are shown in the cross section of each pass. Similarly, in the right joint 200R, the number of welding passes is 8 including the divided passes.

In the example shown in FIG. 9, the welding passes are sequentially combined from the lower layer.
Assuming that the first pass x first pass ⇒ second pass x second pass ⇒… and simply combining simultaneous welding passes, the 9th pass of the left joint 200L remains, so individual welding (single operation) is required. Become. However, in the fourth layer from the lowest layer, the left joint 200L is one layer one pass (pass number “4”), and the right joint 200R is one layer two passes (pass number “4”, pass number “5”). The fourth pass of the left joint 200L has a large cross-sectional area, and the fourth pass of the right joint 200R has a small cross-sectional area. Here, the cross-sectional area of the path is an amount reflecting the volume of the deposited metal. That is, the amount corresponds to the amount of deposited metal. For simplicity, an example of a cross-sectional area of a laminated pattern assuming a section (depth) of the same length is shown in FIGS. 10 (a) and 10 (b). FIG. 10A shows a case where the simultaneous welding passes are simply combined with the first pass × 1st pass →.. .⇒4th pass × 4th pass →.

  In the present embodiment, the fourth pass of the left joint 200L having a large cross-sectional area is excluded from the combination of the simultaneous welding passes. For example, the fourth pass of the right joint 200R having the small cross-sectional area is replaced by the fifth pass of the left joint 200L. Combine with. That is, the fifth pass × the fourth pass → the sixth pass × the fifth pass →... FIG. 10B shows a combination of simultaneous welding passes at this time. In this case, at the time of the main welding, the welding robot 5 on the left joint 200L side and the welding robot 5 on the right joint 200R side synchronize and perform simultaneous welding until the third pass. The welding robot 5 on the left joint 200L side performs individual welding (independent operation) for the fourth pass of the left joint 200L. During this single operation, the welding robot 5 on the right joint 200R side stops operation. Thereafter, the two welding robots 5 perform simultaneous welding again in synchronization.

Here, the relationship between the determination of whether or not to perform simultaneous welding and the cross-sectional area will be described. As shown in FIG. 10 (a), the cross-sectional area of the path with the path number “4” of the left joint 200L is 55.3 [mm ² ], and the cross-sectional area of the path with the path number “4” of the right joint 200R is 32.5 [mm ² ]. For the pass number “4”, the ratio of the difference based on the larger cross-sectional area is 41.2% (= (55.3-32.5) /55.3). In this case, it is very difficult to synchronize the welding robots 5 and adjust only the current corresponding to the wire feed speed in the same movement time of the respective welding torches 8 to adjust the scale. Therefore, the path with the pass number “4” of the left joint 200L having the larger cross-sectional area is determined as the welding path for independent operation.

  On the other hand, as shown in FIG. 10A, for the pass number “5”, the ratio of the difference based on the larger cross-sectional area is 10.9%, and the difference of the difference for the pass number “6” is The percentage is 14.2%. In the present embodiment, in order to adjust the current by adjusting only the current corresponding to the wire feed speed in the same movement time, the ratio of this difference is combined within 20%, preferably within 15%. It was.

In the combination of passes after the independent operation welding pass is excluded, as shown in FIG. 10B, the pass with the pass number “4” of the right joint 200R is the same as the pass with the pass number “5” of the left joint 200L. Combined. Here, the cross-sectional area of the path with the path number “5” of the left joint 200L is 34.3 [mm ² ], and the cross-sectional area of the path with the path number “4” of the right joint 200R is 32.5 [mm ² ]. It is. Therefore, the ratio of the difference based on the larger cross-sectional area is 5.24%. As shown in FIG. 10B, the ratio of the difference is 2.03% in the combination of the path with the path number “6” of the left joint 200L and the path with the path number “5” of the right joint 200R. . Further, the ratio of the difference between the path of the path number “7” of the left joint 200L and the path of the path number “6” of the right joint 200R is 5.34%.

[Operation of welding robot system]
The operation of the welding robot system 1 shown in FIG. 1 will be described with reference to the flowchart of FIG. 11 (refer to FIG. 1 as appropriate) with the simultaneous multi-layer welding setting device 10 as the main. Here, it generalizes like the joints 1, 2,..., N. First, the simultaneous multi-layer welding setting device 10 receives data including correction results such as sensing, such as the shape of the workpiece (workpiece), the shape of the welded joint, and the like from the primary storage unit 14 by the simultaneous welding path combination determination unit 21. Read (step S10).

  And the simultaneous multilayer build-up setting apparatus 10 determines a lamination pattern for every joint by the lamination pattern determination part 24. FIG. For example, a lamination pattern is determined in the joint 1 (step S21), a lamination pattern is determined in the joint 2 (step S22), and a lamination pattern is determined in the joint n (step S2n). In addition, the order which determines a lamination pattern is arbitrary.

  Then, the simultaneous multi-layer welding setting device 10 determines a combination of simultaneous welding passes (step S30). Specifically, the weld joint selection unit 25 selects a plurality of weld joints to be welded simultaneously from n joints. For example, when two welding robots 5 are used, the weld joint selection unit 25 selects two joints, and the weld path combination unit 26 combines paths that are sequentially welded from the lower layer. And the welding amount determination part 27 discriminate | determines whether the difference of the amount of welding metals of each path | pass exceeds a threshold value, when a path | pass is combined. When the difference in the amount of deposited metal exceeds the threshold value, the single operation path determination unit 28 excludes the welding path with the larger amount of deposited metal as the single operation welding path, and then combines the combinations of paths to be welded simultaneously. Determine sequentially from the lower layer.

  Then, the simultaneous multi-layer welding setting device 10 determines the welding conditions for each joint by the welding conditions determination unit 22. For example, welding conditions are determined for the joint 1 (step S41), welding conditions are determined for the joint 2 (step S42), and welding conditions are determined for the joint n (step S4n). In addition, the order which determines welding conditions is arbitrary.

  The simultaneous multi-layer welding setting device 10 creates an operation program for each joint by the operation program creation unit 23. For example, an operation program is created in the joint 1 (step S51), an operation program is created in the joint 2 (step S52), and an operation program is created in the joint n (step S5n). The order of creating the operation program is arbitrary.

  Then, the simultaneous multi-layer welding setting device 10 sets the created operation program in each robot control device 2. Thereby, each robot control apparatus 2 starts each welding robot 5, and reproduces | regenerates robot operation | movement (step S60).

[Detailed control block between devices]
FIG. 12 shows a detailed block of control between the devices of the welding robot system 1 shown in FIG. A positioner driving device 61 of the positioner 6 shown in FIG. 12 rotates each weld joint of the workpiece fixed by the fixture 60 of the rotating portion 59 provided on the table 58 according to a command from the robot control device 2, The welding posture is appropriate for the welding robot body 7.

The welding power source device 3 is, for example, of the carbon dioxide shield consumable electrode welding method, and includes a feed motor control unit 71, a welding power supply power source unit 72, and a sensing power source unit 73 as shown in FIG. Yes. The feeding motor control unit 71 controls the wire feeding device 4.
The welding power supply power supply unit 72 receives welding start and end commands from the welding power supply control unit 94 of the robot controller 2 and also receives welding current commands and welding condition commands for the welding current, and generates welding power based on the welding condition commands. The welding torch 8 and the workpiece W are supplied.
The sensing power supply unit 73 receives sensing start and end commands from the welding power supply control unit 94 of the robot control device 2 and supplies a sensing voltage to the welding torch 8 and the workpiece W.

As shown in FIG. 12, the robot control device 2 includes an input device 81, a storage device 82, a robot body control device 83, an external control device 84, and an arithmetic processing device 85.
The input device 81 is composed of, for example, a control panel, and inputs various data and commands. The input device 81 may be constituted by a teaching pendant.

The storage device 82 includes a teaching program storage unit 91 and a primary storage unit 92.
The teaching program storage unit 91 stores a teaching program for each workpiece by teaching work.
The primary storage unit 92 temporarily stores calculation values in each calculation unit (position, location) such as each detection information by the welding joint sensing operation.

  The robot main body control device 83 controls movement of the welding robot main body 7 (the arms 53 and 54) in accordance with a teaching calculation command from the robot operation calculation unit 97.

As shown in FIG. 12, the external control device 84 includes a positioner control unit 93, a welding power source control unit 94, a weld joint detection control unit 95, and a feed motor control instruction unit 96.
The positioner control unit 93 outputs a command to the positioner driving device 61 to drive the positioner 6 to rotate so that the welding robot body 7 has an appropriate welding posture.

The welding power source control unit 94 receives welding start and end commands from the robot operation calculation unit 97 of the arithmetic processing unit 85 and outputs them to the welding power supply power source unit 72 of the welding power source device 3.
The welding power source control unit 94 receives a welding current command and a welding condition command of the voltage from the robot operation calculation unit 97 of the arithmetic processing unit 85 and outputs them to the welding power supply power source unit 72 of the welding power source device 3. Further, the welding power source control unit 94 outputs welding joint sensing start and end commands to the sensing power source unit 73 from the robot motion calculation unit 97 of the arithmetic processing unit 85.

The weld joint detection control unit 95 outputs the weld joint position detection information based on the sensing operation to the weld joint sensing calculation unit 98 of the arithmetic processing device 85. The sensing operation (arc copying) is performed by, for example, advancing the welding torch in the welding line direction and swinging (weaving) in the groove width direction to detect the welding current flowing at that time, and to change the welding current. Based on this, the misalignment of the torch with respect to the weld line is corrected.
The feed motor control instruction unit 96 outputs a control signal to the feed motor control unit 71 to control the wire feed speed (welding wire feed speed).

  The arithmetic processing device 85 stores this data in the storage device 82 based on the data input from the input device 81. Further, the arithmetic processing unit 85 calculates based on the data read from the storage device 82 and outputs a control signal to the external control device 84 and the robot main body control device 83.

As shown in FIG. 12, the arithmetic processing device 85 includes a robot motion calculation unit 97, a weld joint sensing calculation unit 98, and a wire feed speed calculation unit 99.
The robot operation calculation unit 97 performs a teaching calculation command operation of the welding robot main body 7 and also performs a reproduction calculation command operation by the welding robot main body 7 and the welding power source device 3.
The weld joint sensing calculation unit 98 performs each calculation of detection information and the like by the weld joint sensing operation.
The wire feed speed calculation unit 99 calculates the wire feed speed (welding wire feed speed) based on the robot operation program, and sends it to the feed motor control unit 71 via the feed motor control instruction unit 96. Output a control signal.

  According to the first embodiment, the simultaneous multi-layer welding setting device 10 compares the amount of deposited metal when the passes are sequentially combined in the joint lamination pattern to be combined in the simultaneous welding pass, and combines the welding pass for single operation from the combination. After the exclusion, the combination of passes to be welded simultaneously is sequentially determined from the lower layer. Therefore, even if the plate thickness is different, the number of isolated operations can be reduced as compared with the conventional control method.

(Second Embodiment)
The simultaneous multi-layer welding setting device of the second embodiment is different from the first embodiment in that the adjustment processing of the joint position of the round pipe is executed in the simultaneous multi-layer welding. Therefore, the same reference numerals are given to the same components as those of the simultaneous multi-layer welding setting device 10 of the first embodiment, and the description thereof is omitted as appropriate. First, conditions assumed in the simultaneous multi-layer welding setting device (welding setting device) 10 of the second embodiment will be described.

  As a matter common to both square and round pipes, in “multi-layer welding” in which one-round welding of a steel structure is repeated, the joints of each pass are stacked at the same position in the circumference. The "welding height" is higher than that of the other portions only in the position within the weld line of the joint. This is not preferable as a weld appearance. Conventionally, in order to suppress the rise of the seam position, the position at which the seam is formed in each pass of the multi-layer is avoided by shifting in the welding progress direction. This is called cascade processing.

  A desirable position for starting the next pass by shifting the position of the joint in the welding progress direction is that the metal is exposed in the crater portion of the joint formed when the welding of the previous pass of the multi-layer welding is completed. Part. If the portion of the crater where the metal is exposed is not aimed, there are the following two disadvantages. One problem is that it is difficult to energize because slag is accumulated at the welded portion in the welded state. Secondly, in the movement of energizing the base metal, it is necessary to return to the original welding position (main welding start position) after the arc is generated (arc ON), which requires an extra operation. There is.

  The position of the joint of the square pipe is usually located on any one of the four straight portions. That is, the positioner 6 is in a position not accompanied by the rotation of the workpiece. Therefore, in the case of a square pipe, there is no restriction on the position of the seam due to positioner rotation. Therefore, even if the joint position is different in the simultaneous welding pass of each joint, by determining the welding speed with the common travel time between the respective base points, when welding the next pass, each desired It is easy to form a seam at the position. However, in round pipe welding, if the weld line is a circumference and the seam position shifts with respect to the welding progress direction, an arc is generated, and the inclination of the welded portion changes, so that a desired welding result may not be obtained. There is.

The welding conditions determination unit 22 of the simultaneous multi-layer welding setting device 10 (see FIG. 1) determines that the welding pass is not used when the joint position of the welding pass is shifted in a combination of welding passes excluding the welding pass for single operation. In each welded joint to be combined, when simultaneous welding of the welding path is started, a plurality of welding robots 5 can form arcs at positions corresponding to start angles indicating angles at which the positioner 6 starts to rotate. A pass schedule including control for moving the welding torch 8 is determined. Furthermore, when the welding conditions determining unit 22 ends the simultaneous welding of the welding path, a plurality of joints of the simultaneous welding path can be formed at positions corresponding to the stop angle indicating the angle at which the rotation of the positioner 6 is stopped. A pass schedule including control for moving each welding torch 8 of the welding robot 5 is determined.
Hereinafter, the details of processing different from the first embodiment in the welding conditions determination unit 22 will be described.

First, the premise of the process of the welding various condition determination part 22 is described.
Usually, in round pipe welding (single operation), in addition to the “main welding portion” in which the positioner 6 is rotated and welded, the positioner 6 is stopped and a “section for processing the start and end joints” exists. Therefore, when multiple joints of round pipe pillars are welded simultaneously, the distance from the rotation center of the positioner 6 to the position to be welded (hereinafter referred to as the interlocking radius) differs, for example, in a combination where the diameters or plate thicknesses of the two joints are different Need to be considered. Here, the isolated operation will be described with reference to FIG.

[Example of seam processing for islanding]
FIGS. 13A and 13B are diagrams showing an example of a round pipe-type architectural steel structure. FIG. 13A is a perspective view, and FIG. 13B is a cross-sectional view. As shown in FIG. 13 (a), an architectural steel structure 200 as a workpiece for welding has a circular cross-sectional shape of a column part, and includes a round pipe column 201, a joint 202, and a round pipe column. And a core 203. The column core 203 is assembled by welding diaphragms to both ends of a round pipe column portion 204 having a diameter D, whose cross section is shown in FIG.

Here, as an example of a welding pass when the round pipe column portion 204 and the diaphragm are joined, the first to third layer passes 211 to 213 are shown. The interlocking radius R ₁ in the first-layer path 211 is the radius D / 2 of the round pipe column portion 204. The interlocking radii in the second to fourth layer passes are indicated by R _{1 to} R ₄ . Further, when the position of the first-layer seam 221 is set to 0 ° (vertex) by the rotation angle of the positioner 6, the positioner offset angle when forming the second-layer seam 222 is θ ₂ , and the third-layer seam The positioner offset angle when forming 223 was θ ₃ . The interlocking radius is defined by the pipe diameter D + the vertical shift amount (twice the thickness of the path) as shown in FIG. 13 (b).

As shown in FIG. 14A, the processing length L of the seam is a distance L between the main welding start position P ₁ and the start position P ₂ of the seam processing. There is an arc ON position P ₃ before the main welding start position P ₁ . The distance between the arc ON position P ₃ and the crater formation position P ₄ is the bead splicing length N.

  As shown in FIG. 14 (b), the positioner rotation angle obtained by subtracting the angle δ from one round 360 ° of the round pipe column portion 204 corresponds to the main welding section Q. That is, in the portion L, the positioner 6 does not rotate and only the welding robot 5 (welding torch 8) moves.

The offset angle (°) of the positioner in each pass illustrated in FIG. 13B is set to L _n (mm) set for each pass under the welding conditions of each plate thickness, and each pass (pass number is n). ) And the interlocking radius R _n (mm) in (1). Note that, as shown in equation (1), be set the same L _n is different offset angle theta _n the interlocking radius R _n are different paths.

[Example of synchronization cancellation at common positioner stop angle]
In the welding conditions determination unit 22, the above-described processing of the single operation is expanded, and at the time of simultaneous welding, for example, in two joints, from the processing length L (L _n ) and the interlocking radius R (R _n ) of the individual seams. The common positioner stop angle is determined, and the process of adding the main welding section after the positioner stop is performed to the joint on the side where the length of the main welding section is insufficient. Then, after the positioner is stopped, the synchronization between the welding robots 5 is released, and each performs an independent operation.

A specific example will be described with reference to FIG. Here, when two joints for joining a diaphragm to both ends of the round pipe column portion 204 are welded, the interlock radius on one end side (front side) is R ₁ , and the interlock radius on the other end side (back side) is Let R ₂ (> R ₁ ). FIG. 15A shows a state where only the near side welding line 231 and the far side welding line 232 are viewed from the direction of the rotation axis of the rotating machine of the positioner 6 in the case of independent operation. One end side (front side) with a small interlocking radius has a smaller circumference than the other end side (back side) with a large interlocking radius. Further, when the start point of the weld line is aligned with the apex, the rotation angle when starting the seam processing is also smaller on the one end side (front side). That is, strictly speaking, a required positioner rotation angle is different between a joint on one end side (front side) and a joint on the other end side (back side).

In the present embodiment, there is no problem in the case of independent operation, but in this embodiment, in order to finish more precisely when performing simultaneous welding, the joint on the other end side (back side) with a large interlocking radius is shown in FIG. As described above, the welding is rotated to the middle of the back side welding line 232 by rotating the positioner 6 as much as the one end side (near side) having a small interlocking radius. Thereafter, the synchronization is canceled, and the welding robot 5 (welding torch 8) is moved without rotating the positioner 6 as shown by the white arrow in FIG. After welding, it was decided to form a seam. In FIGS. 15A and 15B, the angle and the like are exaggerated. However, in actuality, for example, if the interlocking radius of a pipe having a diameter of 1 m is different from that of one pass layer, the angle is used. The difference is a minute angle less than 1 °. Therefore, the portions of the seam processing lengths L ₁ and L ₂ are substantially straight weld lines.

[An example of joint processing during simultaneous welding]
The description of the processing of the welding conditions determining unit 22 will be continued. Referring to FIG. 16, it is assumed that diaphragms are joined to the ends of two round pipe column portions 204a and 204b as two joints having different interlocking radii. In the round pipe column portion 204a shown in FIG. 16 (a), as a simultaneous welding pass, a seam 221a is formed at the apex (0 °) after one round welding in the first layer pass 211a. In the second pass, the welding torch 8a is moved to finely adjust the arc-on position as a welding pass for single operation, and after the first round welding in the second layer pass 212a, the joint is formed at the apex (0 °). 222a is formed. Subsequently, the third layer finely adjusts the arc-on position by moving the welding torch 8a as a simultaneous welding pass. FIG. 16A shows a state where the center of the joint 222a is located at the vertex (0 °). In the third layer, the arc-on position of the welding torch 8a is advanced. That is, the arc-on position is moved in the direction opposite to the rotation direction by a distance g ₁ from the apex (0 °). Here, the arc-on position is a position slightly shifted from the center of the seam 222a, but is within the range of the length L of the seam processing. For example, if the length L of the seam processing is 15 mm, the distance g ₁ is about 5 mm. FIG. 16B shows a state in which the seam 223a is formed at the apex (0 °) after one round of welding in the third layer pass 213a.

On the other hand, in the round pipe column portion 204b shown in FIG. 16 (c), a seam 221b is formed at the apex (0 °) after welding once in the first-layer pass 211b as a simultaneous welding pass. In the second welding, the operation is stopped. However, the workpiece rotates with the common positioner 6. Subsequently, the third time (second layer) is a simultaneous welding pass. If no special control is performed, the arc-on position of the welding torch 8b is at the position of 240. However, while resting once operation, seam 221b is shifted in the rotational direction from the vertex (0 °) by a distance g _2. Therefore, in this embodiment, the Akuon position of the welding torch 8b, a distance g ₂ from the vertex (0 °) is moved in the direction of rotation.

  At this time, the interlocking radius of the round pipe column part 204b is smaller than the interlocking radius of the round pipe column part 204a. For this reason, in the third pass (second layer) 212b, for example, one round welding (main welding) is performed by rotating the positioner 6 to the angle indicated by reference numeral 241 in FIG. 16D, and then the joint 222b is formed. In the state where the processing is started and the joint 222b has been formed, the welding torch 8b reaches the apex (0 °).

  On the other hand, in the round pipe column portion 204a, after the main welding is performed halfway by the rotation of the positioner 6 to the angle indicated by reference numeral 241 in FIG. 16B in the pass 213a of the third layer, the interlocking of the positioner 6 is released. After the remaining main welding is performed to the angle indicated by reference numeral 242 in FIG. 16B by the movement of the welding torch 8a, the formation process of the joint 223a is started, and the formation of the joint 223a is completed. 8a reaches the vertex (0 °). As a result, the same process as described above can be performed as the simultaneous welding pass for the next 4th layer of the round pipe column part 204a and the 4th time (3rd layer) of the round pipe column part 204b. .

  According to the second embodiment, the simultaneous multi-layer welding setting device 10 has the joint positions of the paths shifted when the plurality of joints of the round pipe workpiece are circumferentially welded because the number of passes of the joints is different. Even so, welding is started at a position where the rotation angle of the positioner holding the workpiece is common by the processing of the welding conditions determining unit 22. Therefore, the previous shift of the joint position is corrected in the current simultaneous welding pass, and the previous shift is not carried over to the upper layer after the next time.

  As mentioned above, although preferred embodiment of this invention was described, the simultaneous multilayer build-up setting apparatus and welding robot system of this invention are not limited to each above-described embodiment. For example, in each embodiment, although the case where plate | board thickness differs in a some joint was demonstrated, the case where a groove cross-sectional shape differs may be sufficient, and the case where a route gap differs may be sufficient. Furthermore, the present invention can be applied even when these three are different. In addition, although two welding robots 5 perform simultaneous welding, it is needless to say that three or more welding robots may be used.

  In the example shown in FIG. 16, the next path is assumed to be stacked on the previous path. However, the relationship between the previous path and the next path is, for example, 2 assigned to one layer and two paths. There may be a relationship between two split paths. FIG. 17A and FIG. 17B show examples of split paths viewed from the vertex (0 °) side. In the example shown in FIG. 17A, in the previous pass 215, after one round of welding, a seam is formed, and the arc is turned off at the position 301. In the next pass 216, the position 302 where the rotation angle of the positioner 6 is the same. Arc on at In the example shown in FIG. 17B, after one round of welding in the previous pass 215, the positioner 6 moves to the next pass 216 at the same rotational angle to form a seam, and the arc is turned off at this position 401a. At the time of welding in the next pass 216, the same position as the position 401a where the arc was turned off last time is set as the position 401b where the arc is turned on. Multi-layer welding can be performed with either of these two, but the example shown in FIG. 17B is more preferable because it easily targets the exposed portion of the metal in the crater portion.

DESCRIPTION OF SYMBOLS 1 Welding robot system 2 Robot control device 3 Welding power supply device 4 Wire feeding device 5 (5a, 5b) Welding robot (arc welding robot)
6 (6a, 6b) Positioner 7 Welding robot body 8 Welding torch 10 Simultaneous multi-layer welding setting device (welding setting device)
11 Input / output unit 12 Storage unit (storage means)
DESCRIPTION OF SYMBOLS 13 Calculation part 14 Primary storage part 19 Lamination | stacking pattern database 21 Simultaneous welding path combination determination part 22 Welding conditions determination part (welding condition determination means)
23. Operation program creation unit (operation program creation means)
24 Laminate pattern determining unit (Laminate pattern determining means)
25 Weld joint selector (weld joint selector)
26 Welding path combination part (welding path combining means)
27 Welding amount judging section (welding amount judging means)
28 Independent operation path determination unit (independent operation path determination means)

Claims (4)

A positioner for holding a steel structure as a workpiece for welding, a plurality of arc welding robots for arc welding the held steel structure with a welding torch, and a plurality of arc welding robots A welding setting device in a welding robot system having a welding setting device for performing a process of combining welding paths when welding a plurality of weld joints sequentially from the lower layer in a multi-layer welding, before welding,
Storage means for storing a plurality of lamination patterns of a multi-pass welding path determined in advance according to the dimensions of the workpiece, the shape of the weld joint, and the welding conditions together with the amount of deposited metal for each welding path in the lamination pattern;
Lamination according to the weld joint to be set from among the plurality of stored lamination patterns based on the workpiece dimensions, the shape of the weld joint and the welding conditions input corresponding to the weld joint to be set Laminated pattern determining means for selecting and determining a pattern;
Welding joint selection means for selecting a plurality of weld joints to be welded at the same time according to a predetermined rule;
Welding path combining means for combining the welding paths for sequentially welding from the lower layer side pass in the determined lamination pattern of each of the selected welded joints;
Welding amount discriminating means for discriminating whether or not the difference in the amount of each deposited metal that is simultaneously welded in each welding pass when the combination exceeds a predetermined threshold;
When the difference in the amount of deposited metal exceeds the threshold value, the welding pass having the larger amount of deposited metal is determined as a single operation welding pass for non-simultaneous welding, and the single operation welding pass is excluded. A path determination means for independent operation that sequentially determines a combination of welding paths to be welded simultaneously from the lower layer,
Based on the welding conditions input to each of the welding passes according to the lamination schedule of the simultaneous welding pass combining the welding passes of the decided lamination pattern and the lamination schedule of the welding pass for independent operation, A welding condition determining means for calculating a current value and a seam forming position corresponding to a feeding speed, and determining a welding condition of a lamination schedule of each of the welding paths including these calculated values;
Creating an operation program of the plurality of arc welding robots according to the determined pass schedule, and setting the operation program creating means for the arc welding robot;
A welding setting device comprising: The steel structure as the workpiece for welding has a circular cross-sectional shape of the column part,
The welding condition determining means includes
When the joint position of the welding pass is shifted in the combination of the welding passes excluding the welding pass for single operation, in each weld joint to which the welding pass is combined,
When simultaneous welding of the welding path is started, the respective welding torches are moved so that the plurality of arc welding robots can form an arc at a position corresponding to a start angle indicating an angle at which the positioner starts to rotate. ,And,
Each welding torch of the plurality of arc welding robots can form a joint of the simultaneous welding pass at a position corresponding to a stop angle indicating an angle at which rotation of the positioner is stopped when the simultaneous welding of the welding pass is finished. The welding setting apparatus according to claim 1, wherein a welding condition including control for moving the welding is determined. The welding setting device according to claim 1 or 2,
A positioner for holding a steel structure as a workpiece for welding;
A plurality of arc welding robots that simultaneously weld a plurality of welded joints of the held steel structure with a welding torch;
further,
A wire feeding device for feeding a welding wire to the welding torch;
A welding power supply device that drives the wire feeding device and supplies a welding current to the welding wire fed from the wire feeding device to the welding torch;
A robot control device that controls the movement of the welding torch of the arc welding robot and controls the wire feeding speed via the welding power supply device, and is provided for each of the arc welding robots,
The welding setting device sets a robot operation program created for each of the plurality of arc welding robots to the arc welding robot via each of the robot control devices. In a welding robot system having a positioner for holding a steel structure as a workpiece for welding and a plurality of arc welding robots for arc welding the held steel structure with a welding torch, the plurality of arc welding robots are used. In order to perform the process of combining the welding pass when welding a plurality of welded joints of the steel structure from the lower layer sequentially at the same time before welding,
A computer which stores a plurality of lamination patterns of multi-pass welding paths determined in advance according to workpiece dimensions, weld joint shapes and welding conditions together with the amount of deposited metal for each welding path in the lamination patterns in storage means. ,
Lamination according to the weld joint to be set from among the plurality of stored lamination patterns based on the workpiece dimensions, the shape of the weld joint and the welding conditions input corresponding to the weld joint to be set Laminate pattern determining means for selecting and determining a pattern,
Welded joint selecting means for selecting ones having a similar number of passes as a plurality of welded joints to be welded at the same time according to a predetermined rule;
Welding path combination means for combining welding paths for sequentially welding from the lower layer side pass in the determined lamination pattern of each of the selected welded joints;
Welding amount determination means for determining whether or not the difference in the amount of each deposited metal that is simultaneously welded in each welding pass when the combination exceeds a predetermined threshold;
When the difference in the amount of deposited metal exceeds the threshold value, the welding pass having the larger amount of deposited metal is determined as a single operation welding pass for non-simultaneous welding, and the single operation welding pass is excluded. In the independent operation path determination means for sequentially determining the combination of welding paths to be welded simultaneously from the lower layer,
Welding setting program characterized by functioning as

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