Welding apparatus, welding method, and welding program

Abstract

To improve welding accuracy in a welding apparatus, a welding method, and a welding program.SOLUTION: This welding apparatus for an object to be welded, which is formed by connecting a first member, a second member, and a third member so as to be orthogonal, comprises: a welding robot; and a control device that controls the welding robot. The control device calculates first three-dimensional measurement data containing the position of a first direction in the first member and the inclination of a second direction orthogonal to the first direction, calculates second three-dimensional measurement data containing the position of the second direction in the first member, calculates third three-dimensional measurement data containing the position of a third direction orthogonal to the first and second directions in the second member and the inclination of the second direction, defines three-dimensional coordinates of the object to be welded with respect to a reference point in the welding robot on the basis of three-dimensional design data of the object and the first, second and third three-dimensional measurement data, and controls the welding robot on the basis of the three-dimensional coordinates of the object to be welded to perform weld.SELECTED DRAWING: Figure 3

Description

[Technical field]

[0001] The present disclosure relates to a welding device, a method, and a program for performing welding using a robot. [Background technology]

[0002] When performing automatic welding work using a welding robot, the workpiece is fixed at a predetermined position, and the welding position on the workpiece is detected by touch sensing or the like. Then, the welding robot is automatically controlled to move the welding torch along the welding position to perform welding. For example, there is a welding device described in the following patent document. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Patent No. 3355243 [Patent Document 2] Patent No. 4353857 Summary of the Invention [Problem to be solved by the invention]

[0004] However, when welding is performed along the welding position of the workpiece, thermal distortion occurs in the workpiece. When thermal distortion occurs in the workpiece, there is a problem that the welding position where the next welding is performed is shifted, resulting in a decrease in welding accuracy.

[0005] The present disclosure is devised to solve the above-mentioned problems, and aims to provide a welding device, method, and program that improve welding accuracy. [Means for solving the problem]

[0006] In order to achieve the above-mentioned object, the welding apparatus of the present disclosure is a welding apparatus for welding objects constituted by a first member, a second member, and a third member connected perpendicularly, and includes a welding robot and a control device for controlling the welding robot, wherein the control device calculates first three-dimensional measurement data having a position of the first member in a first direction and a tilt of a second direction perpendicular to the first direction, calculates second three-dimensional measurement data having a position of the first member in the second direction, calculates third three-dimensional measurement data having a position of the second member in a third direction perpendicular to the first direction and the second direction and a tilt of the second direction, determines three-dimensional coordinates of the objects to be welded relative to a reference point on the welding robot based on three-dimensional design data of the objects to be welded, the first three-dimensional measurement data, the second three-dimensional measurement data, and the third three-dimensional measurement data, and controls the welding robot based on the three-dimensional coordinates of the objects to be welded to perform welding.

[0007] Further, a welding method of the present disclosure is a method for welding objects constituted by connecting a first member, a second member, and a third member, comprising the steps of: calculating first three-dimensional measurement data having a position of the first member in a first direction and a tilt of a second direction perpendicular to the first direction; calculating second three-dimensional measurement data having a position of the first member in the second direction; calculating third three-dimensional measurement data having a position of the second member in a third direction perpendicular to the first direction and the second direction and a tilt of the second direction; determining three-dimensional coordinates of the objects to be welded relative to a reference point in a welding robot based on three-dimensional design data of the objects to be welded, the first three-dimensional measurement data, the second three-dimensional measurement data, and the third three-dimensional measurement data; and controlling the welding robot based on the three-dimensional coordinates of the objects to be welded to perform welding.

[0008] The program disclosed herein is a program for welding a welding object constituted by connecting a first member, a second member, and a third member, and causes a computer operating as a welding device to execute the following steps: calculating first three-dimensional measurement data having a position of the first member in a first direction and a tilt of a second direction perpendicular to the first direction; calculating second three-dimensional measurement data having a position of the first member in the second direction; calculating third three-dimensional measurement data having a position of the second member in a third direction perpendicular to the first direction and the second direction and a tilt of the second direction; determining three-dimensional coordinates of the welding object relative to a reference point in a welding robot based on three-dimensional design data of the welding object, the first three-dimensional measurement data, the second three-dimensional measurement data, and the third three-dimensional measurement data; and controlling the welding robot based on the three-dimensional coordinates of the welding object to perform welding. Effect of the Invention

[0009] According to the welding apparatus, method, and program of the present disclosure, it is possible to improve welding accuracy. [Brief description of the drawings]

[0010] [Figure 1] FIG. 1 is a schematic plan view showing the welding device of the present embodiment. [Diagram 2] FIG. 2 is a schematic diagram showing the welding device. [Diagram 3] FIG. 3 is a flowchart showing a welding method using the welding device of this embodiment. [Figure 4] FIG. 4 is a schematic diagram showing sensing locations when the coordinates of the support legs are set. [Diagram 5] FIG. 5 is a schematic diagram showing sensing locations when the coordinates of the support legs are set. [Figure 6] FIG. 6 is a schematic diagram showing sensing locations when the coordinates of the support legs are set. [Figure 7]FIG. 7 is a schematic diagram showing sensing points when correcting the taught positions of the supporting legs. [Figure 8] FIG. 8 is a schematic diagram showing sensing points when correcting the taught positions of the supporting legs. [Figure 9] FIG. 9 is an explanatory diagram showing a welded portion along the horizontal direction. [Figure 10] FIG. 10 is an explanatory diagram showing a welded portion along the vertical direction. [Figure 11] FIG. 11 is a perspective view showing the support leg. [Figure 12] FIG. 12 is a plan view showing the support leg. [Figure 13] FIG. 13 is a plan view showing the positioner of the support leg. [Figure 14] FIG. 14 is a side view showing the positioner of the support leg. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0011] Preferred embodiments of the present disclosure will be described in detail below with reference to the drawings. Note that the present disclosure is not limited to these embodiments, and when there are multiple embodiments, the present disclosure also includes a configuration in which each embodiment is combined. In addition, the components in the embodiments include those that a person skilled in the art can easily imagine, those that are substantially the same, and those that are within the so-called equivalent range.

[0012] [First embodiment] <Support legs> Fig. 11 is a perspective view showing the support leg, and Fig. 12 is a plan view showing the support leg. In the following explanation, the width direction (horizontal direction) of the support leg is defined as the X direction, the longitudinal direction (horizontal direction) of the support leg is defined as the Y direction, and the vertical direction of the support leg is defined as the Z direction.

[0013] 11 and 12, the object to be welded is a support leg 100. The support leg 100 is, for example, a platform on which a large structure is placed and supported. The support leg 100 is composed of one bottom plate 101, two side plates 102 and 103, one support plate 104, and six ribs 105, 106, 107, 108, 109, and 110.

[0014] The bottom plate 101 has a plate shape along the X and Y directions, and the length in the Y direction is longer than the length in the X direction. The bottom plate 101 has lower parts of the side plates 102 and 103 connected to each end in the Y direction. The side plates 102 and 103 have plate shapes along the X and Z directions, and the length in the Z direction is longer than the length in the X direction. The bottom plate 101 and the side plates 102 and 103 have a support plate 104 connected to their inner sides. The support plate 104 has a plate shape along the Y and Z directions, and the length in the Y direction is longer than the length in the Z direction. The support plate 104 has a lower part connected to the bottom plate 101, and each side part connected to the side plates 102 and 103. The support plate 104 is disposed at a middle position in the X direction with respect to the bottom plate 101 and the side plates 102 and 103. The support plate 104 has a curved shape such that the upper part is recessed downward in the Z direction.

[0015] The bottom plate 101 and the support plate 104 are connected by ribs 105, 106, 107, 108, 109, and 110. The ribs 105, 106, 107, 108, 109, and 110 have plate shapes along the X direction and the Z direction. The ribs 105, 106, 107, 108, 109, and 110 are connected so as to be perpendicular to the bottom plate 101 and the support plate 104. The ribs 105, 106, 107, and 108 have the same shape, and the ribs 109 and 110 have the same shape. The ribs 105, 106, 107, 108, 109, and 110 have the same length in the X direction, and the length of the ribs 105, 106, 107, and 108 in the Z direction is longer than the length of the ribs 109 and 110 in the Z direction.

[0016] The ribs 109, 110 are disposed at a middle position in the Y direction between the side plates 102, 103. The ribs 105, 106 are disposed at a middle position in the Y direction between the side plate 102 and the ribs 109, 110. The ribs 107, 108 are disposed at a middle position in the Y direction between the side plate 103 and the ribs 109, 110. The ribs 105, 106, the ribs 107, 108, and the ribs 109, 110 are all disposed at the same positions in the Y direction.

[0017] <Positioner> FIG. 13 is a plan view showing the positioner of the support leg, and FIG. 14 is a side view showing the positioner of the support leg.

[0018] As shown in FIG. 13 and FIG. 14, the positioner 120 supports the support leg 100. The positioner 120 has a surface plate 121, a contact plate 122, a heat insulating material (heat retaining material) 123, and a heater 124. The surface plate 121 is a plate material of a predetermined thickness, and the levelness is ensured. A plurality of contact plates 122 are fixed to the upper surface of the surface plate 121. The plurality of contact plates 122 are in the form of blocks of a predetermined thickness, and all have the same shape. The plurality of contact plates 122 are arranged at predetermined intervals in the X direction and the Y direction, and are fixed by welding, for example. The lower surface of the bottom plate 101 of the support leg 100 is placed on the upper surface of the plurality of contact plates 122. The plurality of contact plates 122 are arranged so as to be able to support support legs 100 of different sizes. Therefore, a space having a thickness of the contact plate 122 is provided between the upper surface of the surface plate 121 and the lower surface of the bottom plate 101 of the support leg 100 .

[0019] The surface plate 121 has a heat insulating material 123 disposed on the upper surface thereof excluding the contact plates 122. The heat insulating material 123 has a thickness smaller than that of the contact plates 122. The heat insulating material 123 has a plurality of heaters (heating devices) 124 disposed on the upper surface thereof. The heaters 124 are disposed at predetermined intervals in the X direction. The heaters 124 are, for example, electric heaters, but may be heaters of another type. Here, the contact plates 122 are disposed to form a frame, and the heaters 124 are disposed inside the contact plates 122. The contact plates 122 may be disposed between the heaters 124. The heaters 124 are thinner than the contact plates 122. The sum of the thickness of the heat insulating material 123 and the heaters 124 is thinner than the contact plates 122. Therefore, a minute gap is secured between the upper surface of the heaters 124 and the lower surface of the bottom plate 101 of the support leg 100. The upper surface of the heater 124 may contact the lower surface of the bottom plate 101 of the support leg 100, but it is preferable that the load of the support leg 100 is not applied to the heater 124. Also, in the space between the base plate 121 and the support leg 100, a heat insulating material 123 may be placed in a portion where the heater 124 is not placed.

[0020] The support leg 100 is placed on a plurality of contact plates 122 arranged on a surface plate 121. The support leg 100 is arranged so that the center of the support leg 100 is located at the center of the positioner 120. The support leg 100 arranged at a predetermined position of the positioner 120 has a bottom plate 101 fixed to the plurality of contact plates 122 by, for example, welding. At this time, the lower surface of the bottom plate 101 of the support leg 100 faces the plurality of heaters 124. Therefore, the support leg 100 can be heated by the plurality of heaters 124 via the bottom plate 101. Since the bottom plate 101 of the support leg 100 is thick, it is necessary to suppress welding defects such as low-temperature cracking and deformation during welding by heating it with the heaters 124 before welding.

[0021] <Welding equipment> FIG. 1 is a schematic plan view showing a welding device according to the present embodiment, and FIG. 2 is a schematic configuration diagram showing the welding device.

[0022] 1 and 2, the welding device 10 manufactures the support leg 100 by connecting the bottom plate 101, the side plates 102 and 103, the support plate 104, and the ribs 105, 106, 107, 108, 109, and 110 by welding. In the support leg 100, the bottom plate 101, the side plates 102 and 103, the support plate 104, and the ribs 105, 106, 107, 108, 109, and 110 are connected by temporary welding, and the welding device 10 connects the bottom plate 101, the side plates 102 and 103, the support plate 104, and the ribs 105, 106, 107, 108, 109, and 110 by main welding.

[0023] The welding device 10 includes a first welding robot 11, a second welding robot 12, and a control device 13.

[0024] Support leg 100 is supported by positioner 120. First welding robot 11 is disposed on one side of support leg 100 in the X direction. Second welding robot 12 is disposed on the other side of support leg 100 in the X direction. That is, first welding robot 11 and second welding robot 12 face each other across support leg 100 supported by positioner 120. First welding robot 11 is disposed on support base 21 and supported so as to be movable along the Y direction. Second welding robot 12 is disposed on support base 31 and supported so as to be movable along the Y direction. First welding robot 11 and second welding robot 12 have substantially the same configuration.

[0025] The first welding robot 11 has a first multi-joint arm 22, and a first welding torch 23 is attached to the tip of the first multi-joint arm 22. In addition, the first welding robot 11 has a first touch probe 24 and a first temperature sensor 25 attached to the tip of the first multi-joint arm 22. The second welding robot 12 has a second multi-joint arm 32, and a second welding torch 33 is attached to the tip of the second multi-joint arm 32. In addition, the second welding robot 12 has a second touch probe 34 and a second temperature sensor 35 attached to the tip of the second multi-joint arm 32.

[0026] The first welding robot 11 is connected to the first robot control unit 26. The first robot control unit 26 controls the welding work by the first welding robot 11 based on a preset program. The second welding robot 12 is connected to the second robot control unit 36. The second robot control unit 36 ​​controls the welding work by the second welding robot 12 based on a preset program. The first robot control unit 26 is connected to the first display device 27, and the second robot control unit 36 ​​is connected to the second display device 37. The first display device 27 and the second display device 37 can display various data on the welding work by the first welding robot 11 and the second welding robot 12. The first display device 27 and the second display device 37 display, for example, an image of the welding work (weld bead, etc.) captured by a CCD camera provided at the tip of the articulated arm 22, 32, although not shown. The first display device 27 and the second display device 37 also display the remaining amount of welding wire, the time to replace the welding tip, etc.

[0027] The control device 13 is connected to the first robot control unit 26 and the second robot control unit 36. The control device 13 can control the first welding robot 11 and the second welding robot 12 via the first robot control unit 26 and the second robot control unit 36. The input device 14 is connected to the control device 13. The input device 14 is connected to various databases, and an operator can input various data stored in the databases to the control device 13 using the input device 14. The control device 13 is also connected to the first touch probe 24 and the first temperature sensor 25, and the second touch probe 34 and the second temperature sensor 35. The control device 13 receives the measurement results of the first touch probe 24 and the first temperature sensor 25, and the second touch probe 34 and the second temperature sensor 35.

[0028] Specifically, the control device 13 controls the first welding robot 11 and the second welding robot 12 to simultaneously weld a first weld line and a second weld line on both sides of the symmetrical axis L in the support leg 100. The support leg 100 has a plurality of welding sections A1, B1, C1, D1, A2, B2, C2, and D2.

[0029] The first welding robot 11 and the second welding robot 12 simultaneously weld the first and second welding lines located opposite to each other on the support plate 104. That is, the first welding robot 11 welds the welding sections A1, B1, C1, and D1 of the support leg 100 in this order. The second welding robot 12 welds the welding sections A2, B2, C2, and D2 of the support leg 100 in this order. At the same time that the first welding robot 11 welds the welding section A1 of the support leg 100, the second welding robot 12 welds the welding section A2 of the support leg 100. The first welding robot 11 and the second welding robot 12 similarly weld the other welding sections B1, C1, D1, B2, C2, and D2.

[0030] Also, the first welding robot 11 and the second welding robot 12 may simultaneously weld the first and second weld lines diagonally positioned with respect to the support plate 104. That is, the first welding robot 11 welds the welding sections A1, B1, C1, and D1 of the support leg 100 in this order. The second welding robot 12 welds the welding sections B2, A2, D2, and C2 of the support leg 100 in this order. At the same time that the first welding robot 11 welds the welding section A1 of the support leg 100, the second welding robot 12 welds the welding section B2 of the support leg 100. The first welding robot 11 and the second welding robot 12 simultaneously weld the other welding sections, namely, the welding sections B1 and A2, the welding sections C1 and D2, and the welding sections D1 and C2.

[0031] The support leg 100 has a shape that is symmetrical in the X direction with respect to the symmetric axis L. As shown in FIG. 11 and FIG. 12, in the welding section A1, the first welding robot 11 performs welding along the welding lines a11, a12, and a13. At this time, the first welding robot 11 moves back and forth multiple times along the welding lines a11, a12, and a13 as the first welding lines to form a layered weld bead. The welding line a11 is formed by moving the first welding torch 23 (see FIG. 1) in a U-shape along the horizontal direction (X direction and Y direction) to weld and connect the bottom plate 101 to the ribs 105 and 109 and the bottom plate 101 to the support plate 104. The welding line a12 is formed by moving the first welding torch 23 along the vertical direction (Z direction) to weld and connect the rib 105 to the support plate 104. The weld line a13 is formed by moving the first welding torch 23 in the vertical direction (Z direction) to weld and connect the rib 109 and the support plate 104. The second welding robot 12 that performs welding in the welding section A2 also welds in the same manner, and the weld lines a21, a22, and a23 are set as second weld lines.

[0032] Here, the first weld line (weld lines a11, a12, a13) of the welded section A1 as the first welded section and the second weld line (weld lines a21, a22, a23) of the welded section A2 are symmetrical with respect to the symmetry axis L of the support leg 100. However, the welding directions of the weld lines a11 and a21 are opposite to each other. The first weld lines (weld lines a11, a12, a13) and the second weld lines (weld lines a21, a22, a23) are the same length. The same is true for the other welded sections B1, C1, D1, B2, C2, D2.

[0033] 1 and 2, controller 13 simultaneously starts welding operations by first welding robot 11 and second welding robot 12. First welding robot 11 moves first welding torch 23 along the first weld line, while second welding robot 12 moves second welding torch 33 along the second weld line. That is, controller 13 controls first welding robot 11 and second welding robot 12 to simultaneously perform welding operations in welding section A1 on one side of support plate 104 and welding section A2 on the other side. When both welding operations in welding section A1 and welding section A2 are completed, controller 13 starts welding operations in the next welding sections B1 and B2.

[0034] The control device 13 determines the position of the support leg 100 relative to each of the reference points of the first welding robot 11 and the second welding robot 12 based on the three-dimensional design data of the support leg 100 and the three-dimensional measurement data of the support leg 100 positioned by the positioner 120. The three-dimensional design data of the support leg 100 is stored in a database as, for example, a drawing. The worker inputs the three-dimensional design data of the support leg 100 stored in the database to the control device 13 using the input device 14.

[0035] The control device 13 measures the arrangement of the support leg 100 using one of the touch probes 24, 34 provided on the first welding robot 11 and the second welding robot 12, and calculates three-dimensional measurement data. In this case, the measurement of the arrangement of the support leg 100 is not limited to the one using the touch probes 24, 34, and may use, for example, a wire touch sensor that detects by passing an electric current through a wire coming out of the welding torch 23, 33. The control device 13 defines the position of the support leg 100 relative to each of the reference points (three-dimensional coordinates) of the first welding robot 11 and the second welding robot 12 as three-dimensional coordinates based on the three-dimensional design data and three-dimensional measurement data of the support leg 100. Note that a method of calculating the three-dimensional measurement data and a method of defining the three-dimensional coordinates of the support leg 100 will be described later.

[0036] The control device 13 measures the positions of the bottom plate 101, the side plates 102 and 103, the support plate 104, and the ribs 105, 106, 107, 108, 109, and 110 that form the first weld line and the second weld line, and corrects the position of the support leg 100 that is defined based on the measurement data of the position of the support leg 100. The support leg 100 is temporarily connected based on the three-dimensional design data and fixed to a predetermined position of the positioner 120. However, the three-dimensional design data does not take into account manufacturing errors, assembly errors, positioning errors to the positioner 120, and the like of the side plates 102 and 103, the support plate 104, and the ribs 105, 106, 107, 108, 109, and 110. In addition, the three-dimensional measurement data is obtained by measuring the support leg 100 using the touch probes 24 and 34. However, the three-dimensional measurement data has few measurement points of the support leg 100. In addition, the deformation of the support leg 100 after welding is not taken into account. Therefore, the control device 13 measures the positions of the first weld line and the second weld line for each of the welding sections A1, B1, C1, D1, A2, B2, C2, and D2. A method for measuring the positions of the first weld line and the second weld line will be described later.

[0037] When the temperature of support leg 100 falls within a preset welding temperature range, control device 13 starts the welding work by first welding robot 11 and second welding robot 12. Control device 13 receives the measurement results of temperature sensors 25, 35 provided on first welding robot 11 and second welding robot 12. Control device 13 keeps first welding robot 11 and second welding robot 12 on hold until the temperature of support leg 100 input from temperature sensors 25, 35 falls within the welding temperature range.

[0038] <Welding method> Figure 3 is a flowchart showing a welding method using the welding apparatus of this embodiment, Figures 4 to 6 are schematic diagrams showing sensing points when setting the coordinates of the support leg, Figures 7 and 8 are schematic diagrams showing sensing points when correcting the taught position of the support leg, Figure 9 is an explanatory diagram showing a welded portion along the horizontal direction, and Figure 10 is an explanatory diagram showing a welded portion along the vertical direction.

[0039] In the following explanation, the first welding robot 11 and the second welding robot 12 simultaneously weld the first weld line and the second weld line that are located opposite each other on the support plate 104. However, the same applies to the case where the first welding robot 11 and the second welding robot 12 simultaneously weld the first weld line and the second weld line that are located diagonally across from the support plate 104.

[0040] In the welding method using the welding device of this embodiment, as shown in Fig. 1 to Fig. 3, in step S11, an operator installs the support leg 100 on the positioner 120. In this case, the support leg 100 is arranged and fixed so that the center of the support leg 100 is located at the center of the positioner 120. In step S12, the operator inputs the three-dimensional design data of the support leg 100 stored in the database to the control device 13 using the input device 14. In step S13, the operator senses the arrangement position of the support leg 100 using the first touch probe 24 of the first welding robot 11 by the control device 13.

[0041] First, as shown in FIG. 4, the first touch probe 24 is moved in the Y direction from one side of the support leg 100 toward the outer surface of the side plate 102, and stopped at position P1 where the tip of the first touch probe 24 abuts. At this time, the Y coordinate of position P1 with respect to the reference point of the first welding robot 11 is obtained. The first touch probe 24 is shifted in the X direction, and similarly moved in the Y direction from one side of the support leg 100 toward the outer surface of the side plate 102, and stopped at position P2 where the tip of the first touch probe 24 abuts. At this time, the Y coordinate of position P2 with respect to the reference point of the first welding robot 11 is obtained. Then, the position in the Y direction and the inclination in the X direction of the side plate 102 are calculated based on the Y coordinates of positions P1 and P2.

[0042] 5, the first touch probe 24 is moved in the X direction from the front of the support leg 100 toward the end face of the side plate 102, and is stopped at position P3 where the tip of the first touch probe 24 comes into contact. At this time, the X coordinate of position P3 relative to the reference point of the first welding robot 11 is obtained. Then, the position of the side plate 102 in the X direction is calculated based on the position coordinate of position P3 in the X direction.

[0043] 6, the first touch probe 24 is moved in the Z direction from above the support leg 100 toward the upper surface of the bottom plate 101, and stopped at position P4 where the tip of the first touch probe 24 abuts. At this time, the Z coordinate of position P4 relative to the reference point of the first welding robot 11 is obtained. The first touch probe 24 is shifted in the X direction, and similarly moved in the Z direction from above the support leg 100 toward the upper surface of the bottom plate 101, and stopped at position P5 where the tip of the first touch probe 24 abuts. At this time, the Z coordinate of position P5 relative to the reference point of the first welding robot 11 is obtained. Then, the Z position and the X tilt of the bottom plate 101 are calculated based on the Z coordinates of positions P4 and P5.

[0044] Next, in the opposite direction to that described above, that is, by moving the first touch probe 24 relative to the side plate 103 of the support leg 100 and the bottom plate 101 on the side plate 103 side, the position coordinates of positions P1, P2, P3, P4, and P5 are obtained in the same manner as described above.

[0045] As shown in Figures 1 to 3, in step S14, the control device 13 determines the position of the support leg 100 relative to each reference point (three-dimensional coordinates) of the first welding robot 11 and the second welding robot 12 as three-dimensional coordinates based on the three-dimensional design data and three-dimensional measurement data of the support leg 100.

[0046] That is, as shown in Fig. 6, based on the position coordinates of positions P1, P2, P3, P4, and P5 of the support leg 100 measured from one side of the support leg 100, the three-dimensional coordinates in the X, Y, and Z directions of the angle Pa where the bottom plate 101, the side plate 102, and the support plate 104 are connected are calculated. Also, based on the position coordinates of positions P1, P2, P3, P4, and P5 of the support leg 100 measured from the other side of the support leg 100, the three-dimensional coordinates in the X, Y, and Z directions of the angle Pb (not shown) where the bottom plate 101, the side plate 103, and the support plate 104 are connected are calculated. After the three-dimensional coordinates of the angle Pa and the three-dimensional coordinates of the angle Pb are calculated, the three-dimensional coordinates of the center position O of the support leg are calculated based on the three-dimensional coordinates of the angle Pa and the three-dimensional coordinates of the angle Pb. Then, using the three-dimensional coordinates of the angle Pa and the three-dimensional coordinates of the angle Pb, the three-dimensional coordinates are converted into the three-dimensional coordinates of the support leg 100 with the center position O of the support leg 100 as the origin.

[0047] 1 to 3, in step S15, controller 13 moves the tips of first welding robot 11 and second welding robot 12 to the corresponding welding sections. When welding starts, controller 13 moves the tip of first welding robot 11 to welding section A1 and moves the tip of second welding robot 12 to welding section A2. In step S16, controller 13 senses the first welding line (welding lines a11, a12, a13) and the second welding line (welding lines a21, a22, a23) in the welding sections A1 and A2 by first welding robot 11 and second welding robot 12, respectively.

[0048] That is, first, as shown in FIG. 7, the first touch probe 24 is moved in the Z direction from above the support leg 100 toward the upper surface of the bottom plate 101, and stopped at a position P11 where the tip of the first touch probe 24 abuts. At this time, the Z coordinate of the position P11 relative to the origin (center position O) of the support leg 100 is obtained. The first touch probe 24 is shifted in the X direction, and similarly moved in the Z direction from above the support leg 100 toward the upper surface of the bottom plate 101, and stopped at a position P12 where the tip of the first touch probe 24 abuts. At this time, the Z position coordinate of the position P12 relative to the origin of the support leg 100 is obtained. In this way, the position and inclination in the Z direction of the bottom plate 101 are calculated based on the Z position coordinates of ten positions P11, P12, P13, P14, P15, P16, P17, P18, P19, and P20 of the bottom plate 101 in the area along the weld line a11.

[0049] Moreover, the first touch probe 24 is moved in the X direction from the front of the support leg 100 toward the end face of the rib 105, and stops at position P21 where the tip of the first touch probe 24 abuts. At this time, the X coordinate of position P21 with respect to the origin of the support leg 100 is obtained. Then, the X position of the rib 105 is calculated based on the X position coordinate of position P21. Similarly, the first touch probe 24 is moved in the X direction from the front of the support leg 100 toward the end face of the rib 109, and stops at position P22 where the tip of the first touch probe 24 abuts. At this time, the X coordinate of position P22 with respect to the origin of the support leg 100 is obtained. Then, the X position of the rib 109 is calculated based on the X position coordinate of position P22.

[0050] 8, the same method is used to determine the Y-coordinates of positions P31, P32, and P33 of the plane of the rib 105 by the first touch probe 24. The X-coordinates of positions P34 and P35 of the plane of the support plate 104 are also determined by the first touch probe 24. The Z-coordinates of position P36 on the top surface near the corner of the welding section A1 of the bottom plate 101 are also determined by the first touch probe 24. In this way, in the region along the weld line a12, the Y-direction position and inclination of the rib 105 are calculated based on the Y-direction position coordinates of positions P31, P32, and P33 of the rib 105, and the X-direction position and inclination of the support plate 104 are calculated based on the X-direction position coordinates of positions P34 and P35 of the support plate 104.

[0051] Similarly, in the region along the weld line a13, the Y-direction position and inclination of the rib 109 are calculated based on the Y-direction position coordinates of multiple positions on the rib 109, and the X-direction position and inclination of the support plate 104 are calculated based on the X-direction position coordinates of multiple positions on the support plate 104.

[0052] 1 to 3, in step S17, the control device 13 obtains three-dimensional coordinates along the first weld line based on the positions and inclinations of the bottom plate 101, the support plate 104, and the ribs 105 and 109 in the area along the first weld line (weld lines a11, a12, a13) obtained by sensing, and corrects the three-dimensional coordinates of the support leg 100 defined in step S14. That is, the three-dimensional coordinates of the welding section A1 in the support leg 100 defined in step S14 are replaced with the three-dimensional coordinates of the welding section A1 calculated from the measurement data obtained in step S16.

[0053] In addition, the control device 13 performs a similar process on the welding section A2, and replaces the three-dimensional coordinates of the welding section A2 on the support leg 100 defined in step S14 with the three-dimensional coordinates of the welding section A2 calculated from the measurement data obtained in step S16.

[0054] In step S18, controller 13 operates first welding robot 11 and second welding robot 12, and measures the temperatures by bringing temperature sensors 25, 35 into contact with the vicinity of the weld lines of welding sections A1, A2. In step S19, controller 13 determines whether the temperatures input from temperature sensors 25, 35 are within a preset welding temperature range. If it is determined that the temperatures of welding sections A1, A2 are not within the welding temperature range (No), the process returns to step S18.

[0055] On the other hand, if it is determined that the temperatures of the welding sections A1 and A2 are within the welding temperature range (Yes), in step S20, the control device 13 operates the first welding robot 11 and the second welding robot 12 to start welding work on the welding sections A1 and A2. In this case, it is determined that the temperatures of both welding sections A1 and A2 are within the welding temperature range. Then, the first welding robot 11 welds the weld lines a11, a12, and a13 in this order, and the second welding robot 12 welds the weld lines a21, a22, and a23 in this order. The first welding robot 11 and the second welding robot 12 operate synchronously to simultaneously weld the first and second weld lines of the welding sections A1 and A2 on both sides of the support plate 104.

[0056] The first welding robot 11 and the second welding robot 12 perform welding by forming a plurality of layers of beads by moving back and forth along the welding line a plurality of times. That is, as shown in FIG. 9, when the first welding robot 11 moves the first welding torch 23 along the welding line a11, the first layer "1", the second layer "2-1", "2-2", the third layer "3-1", "3-2", "3-3", "3-4", the fourth layer "4-1", "4-2", "4-3", "4-4", "4-5", and "4-6" are stacked. Also, as shown in FIG. 10, when the first welding robot 11 moves the first welding torch 23 along the welding line a12, the first layer "1", the second layer "2", the third layer "3", and the fourth layer "4" are stacked. The number of layers of the welding lines a11, a12, and a13 is set appropriately according to the plate thickness of the members, and the above-mentioned number of layers is an example, and is not limited to this number of layers.

[0057] In the above description, sensing is performed along the welding line a11, then sensing is performed along the welding lines a12 and a13, and then welding is performed along the welding line a11, then welding is performed along the welding line a12, and then welding is performed along the welding line a13, but this is not limited to this method. For example, sensing is performed along the welding line a11, and then welding is performed along the welding line a11. Then, after welding the welding line a11, sensing may be performed along the welding lines a12 and a13, then welding is performed along the welding line a12, and then welding is performed along the welding line a13. According to this method, when sensing is performed along the welding lines a12 and a13, the thermal deformation of the support leg 100 due to the welding of the welding line a11 can be grasped, and the welding of the welding lines a12 and a13 can be performed with high accuracy.

[0058] In step S21, the control device 13 judges whether welding of all layers in the weld lines a11, a12, and a13 has been completed. If it is judged that welding of all layers has not been completed (No), in step S22, it is judged whether welding of the Nth layer has been completed. That is, if welding of a predetermined layer is in progress, it is judged that welding of the Nth layer has not been completed (No), and the process returns to step S20 to continue the welding work. On the other hand, if welding of a predetermined layer has been completed, it is judged that welding of the Nth layer has been completed (Yes), and the process returns to step S18 to measure the temperature of the support leg 100, and then the process of step S19 and subsequent steps is executed. That is, the control device 13 confirms that the temperature of the support leg 100 is within the welding temperature range each time welding of each layer is completed, and executes the welding work.

[0059] If it is determined in step S21 that welding of all layers in the welding lines a11, a12, and a13 has been completed (Yes), then in step S23 it is determined whether welding of all layers in the opposing welding sections A1 and A2 has been completed. If it is determined here that welding of all layers in the welding sections A1 and A2 has not been completed (No), then in step S24 the welding robot is made to wait for movement to the next welding section. In other words, if welding of both welding sections A1 and A2 has not been completed, or if welding of only one of the welding sections A1 and A2 has not been completed, the welding robot that welded the welding section where welding has been completed is made to wait in that position without moving to the next welding section.

[0060] On the other hand, if it is determined that welding of all layers of welding sections A1 and A2 is completed (Yes), in step S15, control device 13 moves the tips of first welding robot 11 and second welding robot 12 to the next welding sections B1 and B2, respectively. Then, control device 13 performs the same welding work as described above on welding sections B1 and B2 by first welding robot 11 and second welding robot 12. In this way, welding is performed on all welding sections A1, B1, C1, D1, A2, B2, C2, and D2.

[0061] [Effects of this embodiment] The welding apparatus of the first embodiment includes a first welding robot 11 arranged on one side of an axis of symmetry L of a support leg (object to be welded) 100, a second welding robot 12 arranged on the other side of the axis of symmetry L of the support leg 100, and a control device 13 that controls the first welding robot 11 and the second welding robot 12 to weld the first weld line and the second weld line on both sides of the axis of symmetry L of the support leg 100.

[0062] According to the welding device of the first aspect, the first welding robot 11 and the second welding robot 12 weld the first weld line and the second weld line on both sides of the support plate 104. Therefore, it is possible to suppress the occurrence of thermal distortion of the members during welding of the first weld line and the second weld line, and it is possible to improve the welding accuracy. Also, it is possible to shorten the welding time.

[0063] In the welding device according to the second aspect, the first weld line and the second weld line are symmetrical with respect to the symmetry axis L of the support leg 100, and the first welding robot 11 and the second welding robot 12 weld the first weld line and the second weld line that are positioned opposite each other with respect to the symmetry axis L. This makes it possible to suppress the occurrence of thermal distortion of the members during welding of the first weld line and the second weld line.

[0064] In the welding device according to the third aspect, the first weld line and the second weld line are point-symmetric with respect to a center position O of the support leg 100, and the first welding robot 11 and the second welding robot 12 weld the first weld line and the second weld line located diagonally with respect to the support plate 104. This makes it possible to suppress the occurrence of thermal distortion of the members when welding the first weld line and the second weld line.

[0065] In the welding device according to a fourth aspect, the first weld line and the second weld line are the same length, which makes it possible to suppress the occurrence of thermal distortion in the members during welding of the first weld line and the second weld line.

[0066] In the welding device according to the fifth aspect, control device 13 starts welding work by first welding robot 11 and second welding robot 12, and moves first welding torch 23 of first welding robot 11 along the first weld line, and moves second welding torch 33 of second welding robot 12 along the second weld line. This causes first welding robot 11 and second welding robot 12 to weld opposing positions on the first weld line and the second weld line, making it possible to effectively suppress the occurrence of thermal distortion of members.

[0067] In the welding device according to the sixth embodiment, support leg 100 has a plurality of welding sections A1, B1, C1, D1, A2, B2, C2, D2, and control device 13 controls first welding robot 11 and second welding robot 12 to perform welding work in first welding section A1, B1, C1, D1 on one side of symmetry axis L and welding work in second welding section A2, B2, C2, D2 on the other side. As a result, first welding robot 11 and second welding robot 12 perform welding work for each of the plurality of welding sections A1, B1, C1, D1, A2, B2, C2, D2, improving workability.

[0068] In the welding device according to the seventh embodiment, when the welding work in both the first welding section A1, B1, C1, D1 and the welding work in the second welding section A2, B2, C2, D2 are completed, the control device 13 starts the welding work in the next welding section. This allows the first welding robot 11 and the second welding robot 12 to perform welding work in each of the opposing welding sections A1, B1, C1, D1, A2, B2, C2, D2, and suppresses deviation of the welding position.

[0069] In the welding device according to the eighth aspect, control device 13 determines the position of support leg 100 relative to the respective reference points of first welding robot 11 and second welding robot 12 based on three-dimensional design data of support leg 100 and three-dimensional measurement data of support leg 100 positioned at a predetermined position. This makes it possible to determine with high accuracy the positional relationship between welding robots 11, 12 and support leg 100 fixed to positioner 120.

[0070] In the welding device according to the ninth aspect, the control device 13 measures the positions of the bottom plate 101, the side plates 102, 103, the support plate 104, and the ribs 105, 106, 107, 108, 109, 110 as a plurality of welding target members forming the first weld line and the second weld line, and corrects the position of the supporting leg 100 that has been defined based on the measurement data of the measured positions. This makes it possible to define the positional relationship between the welding robots 11, 12 and the weld line of the supporting leg 100 with high precision, thereby improving the welding precision.

[0071] The welding device according to the tenth embodiment is provided with a heater (heating device) 124 for heating the support leg 100, and when the temperature of the support leg 100 reaches a preset welding temperature range, the control device 13 starts the welding work by the first welding robot 11 and the second welding robot 12. This makes it possible to suppress thermal deformation of the support leg 100 during welding.

[0072] In the welding device according to the eleventh embodiment, a heater 124 and a plurality of contact plates 122 thicker than the heater 124 are arranged on a base plate 121, and the support legs 100 can be placed on the plurality of contact plates 122. This simplifies the structure and allows the support legs 100 to be appropriately heated.

[0073] The welding method according to the twelfth aspect includes the steps of arranging a first welding robot 11 on one side of a support leg (an object to be welded) 100, arranging a second welding robot 12 on the other side of the support leg 100, and controlling the first welding robot 11 and the second welding robot 12 to weld a first weld line and a second weld line on both sides of a support plate (a member to be welded) 104 on the support leg 100. This makes it possible to suppress the occurrence of thermal distortion of the members during welding of the first weld line and the second weld line, thereby improving the welding accuracy. Also, the welding time can be shortened.

[0074] The program according to the thirteenth aspect causes a computer operating as welding device 10 to execute the steps of arranging first welding robot 11 on one side of support leg (object to be welded) 100, arranging second welding robot 12 on the other side of support leg 100, and controlling first welding robot 11 and second welding robot 12 to weld a first weld line and a second weld line on both sides of support plate (object to be welded) 104 on support leg 100. This makes it possible to suppress the occurrence of thermal distortion of members during welding of the first weld line and the second weld line, thereby improving welding accuracy. Also, it is possible to shorten the welding time.

[0075] In the above-described embodiment, the touch probes 24, 34 attached to the tips of the welding robots 11, 12 are used to obtain the three-dimensional measurement data of the objects to be welded, but the present invention is not limited to this configuration. The touch probes 24, 34 do not have to be provided on the welding robots 11, 12. Also, instead of the contact-type touch probes 24, 34, a non-contact type laser measuring instrument or the like may be used.

[0076] In the above-described embodiment, the first welding robot 11 and the second welding robot 12 are robots having articulated arms, but the present invention is not limited to this configuration. It is only necessary to arrange appropriate welding robots according to the shapes of the first and second weld lines of the members to be welded.

[0077] In the above embodiment, the object to be welded has been described as the support leg 100, but the present invention is not limited to this configuration. Any object to be welded may be used as long as the first weld line and the second weld line are present on both sides of the object to be welded. In this case, the first weld line and the second weld line are preferably symmetrical with respect to the axis of symmetry L, but they do not have to be symmetrical. [Explanation of symbols]

[0078] 10 Welding equipment 11 No. 1 welding robot 12 No. 2 welding robot 13 Control device 14 Input Devices 21 Support stand 22 First articulated arm 23 No. 1 welding torch 24 First touch probe 25 First temperature sensor 26 First robot control unit 27 1st display device 31 Support stand 32 Second articulated arm 33 No. 2 welding torch 34 Second touch probe 35 Second temperature sensor 36 Second robot control unit 37 2nd display device 100 Support legs 101 Bottom plate 102,103 Side plate 104 Support plate 105,106,107,108,109,110 Ribs 120 Positioner 121 Fixed Plate 122 Toban 123 Insulation 124 Heater (heating device) A1, B1, C1, D1 First welding section A2, B2, C2, D2 Second welding section a11, a12, a13 Welding lines (first welding line) a21, a22, a23 Welding lines (second welding lines) O center position P1,P2,P3,P4,P5,P11,P12,P13,P14,P15,P16,P17,P18,P19,P20,P21,P22,P31,P32,P33,P34,P35,P36 Position

Claims

1. A welding device for welding objects configured by connecting a first member, a second member, and a third member so as to be perpendicular to each other, A welding robot A control device for controlling the welding robot; Equipped with The control device includes: calculating first three-dimensional measurement data having a position in a first direction of the first member and a tilt in a second direction perpendicular to the first direction; calculating second three-dimensional measurement data having a position in the second direction of the first member; calculating third three-dimensional measurement data having a position in a third direction perpendicular to the first direction and the second direction in the second member and an inclination of the second direction; defining three-dimensional coordinates of the object to be welded relative to a reference point in a welding robot based on three-dimensional design data of the object to be welded, the first three-dimensional measurement data, the second three-dimensional measurement data, and the third three-dimensional measurement data; and controlling the welding robot based on the three-dimensional coordinates of the object to be welded to perform welding. Welding equipment.

2. a touch probe is moved in the first direction and brought into contact with the first member to obtain two position coordinates in the first direction on the first member at two points in the second direction, and the control device calculates a position of the first member in the first direction and an inclination of the first member in the second direction; a touch probe is moved in the second direction and brought into contact with the first member to obtain a position coordinate of the first member in the second direction, and the control device calculates a position of the first member in the second direction; a touch probe is moved in the third direction and brought into contact with the second member to obtain two position coordinates in the third direction on the second member at two points in the second direction, and the control device calculates a position of the second member in the third direction and an inclination of the second member in the second direction; 2. The welding apparatus of claim 1.

3. The control device includes: calculating three-dimensional coordinates of a corner at which the first member, the second member, and the third member are connected based on three-dimensional design data of the welding object, the first three-dimensional measurement data, the second three-dimensional measurement data, and the third three-dimensional measurement data; Calculating the three-dimensional coordinates of a center position of the work piece based on the three-dimensional coordinates of the corner; Calculating three-dimensional coordinates of the object to be welded with the center position of the object to be welded as the origin; 2. The welding apparatus of claim 1.

4. the control device moves a tip of the welding robot to a welding section, senses a weld line with a touch probe, and then calculates three-dimensional coordinates along the weld line based on positions and inclinations of the first member, the second member, and the third member in a region along the weld line obtained by sensing, and corrects the three-dimensional coordinates of the object to be welded.

2. The welding apparatus of claim 1.

5. A method for welding a welding object configured by connecting a first member, a second member, and a third member, comprising the steps of: calculating first three-dimensional measurement data having a position in a first direction of the first member and a tilt in a second direction perpendicular to the first direction; calculating second three-dimensional measurement data having a position in the second direction of the first member; calculating third three-dimensional measurement data having a position in a third direction perpendicular to the first direction and the second direction in the second member and an inclination of the second direction; determining three-dimensional coordinates of the object to be welded relative to a reference point of a welding robot based on three-dimensional design data of the object to be welded, the first three-dimensional measurement data, the second three-dimensional measurement data, and the third three-dimensional measurement data; controlling a welding robot based on the three-dimensional coordinates of the object to be welded to perform welding; A welding method comprising the steps of:

6. A program for welding a welding object including a first member, a second member, and a third member connected to each other, calculating first three-dimensional measurement data having a position in a first direction of the first member and a tilt in a second direction perpendicular to the first direction; calculating second three-dimensional measurement data having a position in the second direction of the first member; calculating third three-dimensional measurement data having a position in a third direction perpendicular to the first direction and the second direction in the second member and an inclination of the second direction; determining three-dimensional coordinates of the object to be welded relative to a reference point of a welding robot based on three-dimensional design data of the object to be welded, the first three-dimensional measurement data, the second three-dimensional measurement data, and the third three-dimensional measurement data; controlling a welding robot based on the three-dimensional coordinates of the object to be welded to perform welding; A program for causing a computer operating as a welding device to execute the above.

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