Control system, control method, and program

Abstract

To provide a control system, control method, and program that enable easy and precise control of a welding robot even when a construction jig is attached to any part of a steel pipe. [Solution] A welding system 100 for controlling a welding robot 1 that welds a steel pipe 8 while moving along a guide rail 2 arranged along the steel pipe 8, characterized in that it includes a position information acquisition unit that acquires erection jig position information relating to the position of an erection jig 9 attached to the steel pipe 8.

Description

Technical Field

[0001] The present invention relates to a control system, a control method, and a program.

Background Art

[0002] In large buildings such as high-rise buildings, steel pipe columns formed by welding square steel pipes are used. For joining square steel pipes, a welding robot that can travel around the steel pipe along a guide rail is used. Specifically, first, while the steel pipes are temporarily fixed by construction jigs, initial welding of the steel pipes is performed by the welding robot. Then, the construction jigs are removed from the steel pipes, and main welding of the steel pipes is performed by the welding robot.

[0003] During initial welding, it is necessary to prevent contact between the welding robot and the construction jig. In Patent Document 1, the construction jig is attached to the corner of the steel pipe, and when the welding robot reaches the corner of the steel pipe, the welding torch of the welding robot is moved to a position where it does not contact the construction jig.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0005] In Patent Document 1, the attachment position of the construction jig is limited to the corner of the steel pipe. However, since the corner of the steel pipe is formed by cold bending, its strength is weaker than other parts of the steel pipe. When the construction jig is attached to the corner of the steel pipe, the strength of the corner of the steel pipe may further decrease when the construction jig is removed from the steel pipe after initial welding. For the reasons stated above, it is desirable to attach the erection jig to the straight section of the steel pipe. However, when the erection jig is attached to the straight section of the steel pipe, it is difficult to determine the position of the erection jig, and the mechanism to prevent contact between the welding robot and the erection jig becomes complicated. Therefore, even in such cases, it is necessary to control the welding robot easily and accurately.

[0006] The present invention has been made in view of the circumstances described above, and aims to provide a control system, control method, and program that enable easy and accurate control of a welding robot even when a construction jig is attached to any part of a steel pipe. [Means for solving the problem]

[0007] To solve the aforementioned problems, the present invention proposes the following means. A control system according to one aspect of the present invention is a control system for a welding robot that welds steel material while moving along a guide rail, wherein the welding robot includes an acquisition unit that acquires position information relating to the position of a construction jig attached to a straight section of the steel material, and the position information indicates the position of the construction jig in the width direction of the construction jig.

[0008] Another aspect of the present invention relates to a control system for a welding robot that welds steel material while moving along a guide rail, wherein the welding robot comprises an acquisition unit that acquires position information relating to the position of a construction jig attached to a straight section of the steel material, and an input unit that causes a user to input the position information, and the acquisition unit acquires the position information based on the input result of the input unit.

[0009] Another aspect of the present invention is a control system for a welding robot that welds steel material while moving along a guide rail, comprising an acquisition unit that acquires positional information relating to the position of a construction jig attached to a straight section of the steel material, wherein the positional information is the central position of the construction jig in the width direction.

[0010] Another aspect of the present invention relates to a control system for a welding robot that welds steel material while moving along a guide rail, comprising an acquisition unit that acquires position information relating to the position of a construction jig attached to a straight section of the steel material, wherein the position information is information relating to the position of the welding robot when the central position of the welding robot in the width direction and the central position of the construction jig in the width direction coincide when viewed along a direction perpendicular to the direction in which the welding robot moves along the guide rail.

[0011] Another aspect of the present invention is a control system for a welding robot that welds steel material while moving along a guide rail, comprising an acquisition unit that acquires position information relating to the position of a construction jig attached to a straight section of the steel material, wherein the acquisition unit acquires width information indicating the width of the construction jig along with the position information.

[0012] In this invention, even when the erection jig is attached to any part of a steel material, including a straight section of the steel material, the acquisition unit acquires positional information regarding the position of the erection jig. Based on this positional information, the welding robot can be easily and accurately controlled.

[0013] Furthermore, the control system may further include a control unit that tilts the welding torch of the welding robot based on the position information and width information acquired by the acquisition unit, and performs welding on the portion of the steel material covered by the erection jig.

[0014] Furthermore, the control system may further include an output control unit that causes the output unit to output whether or not the welding torch has been retracted to a position where it does not interfere with the erection jig, or whether or not welding is being performed on the covered portion.

[0015] Furthermore, in the control system described above, the acquisition unit may acquire width information indicating the width of the erection jig along with the position information.

[0016] Furthermore, in the control system described above, the welding robot may further include a welding torch, and the welding torch may be tilted based on the position information and the width information.

[0017] Furthermore, in the control system described above, the portion of the steel material covered by the erection jig may be welded continuously to the portion of the steel material not covered by the erection jig.

[0018] A control method according to one aspect of the present invention is a control method for a welding robot that welds steel material while moving along a guide rail, comprising an acquisition step of acquiring position information relating to the position of a construction jig attached to a straight section of the steel material, wherein the position information indicates the position of the construction jig in the width direction of the construction jig.

[0019] Another aspect of the present invention relates to a control method for a welding robot that welds steel material while moving along a guide rail, comprising: an acquisition step of acquiring position information relating to the position of a construction jig attached to a straight section of the steel material; and an input step of causing a user to input the position information, wherein the acquisition step acquires the position information based on the input result in the input step.

[0020] Furthermore, in the control method described above, in the acquisition step, width information indicating the width of the erection jig may be acquired along with the position information.

[0021] Furthermore, in the control method described above, the welding robot may further include a welding torch, and the welding torch may be tilted based on the position information and the width information.

[0022] In addition, in the above control method, the portion of the steel material covered by the construction jig may be continuously welded to the portion of the steel material not covered by the construction jig.

[0023] A program according to an aspect of the present invention is a program for causing a computer to function as the above control system.

Effect of the Invention

[0024] According to the present invention, it is possible to provide a control system, a control method, and a program capable of easily and accurately controlling a welding robot even when a construction jig is attached to an arbitrary portion of a steel pipe.

Brief Description of the Drawings

[0025] [Figure 1] It is an overall view showing a welding system according to the first embodiment. [Figure 2] It is a block diagram explaining the outline of a welding system according to the first embodiment. [Figure 3] It is a perspective view showing a welding robot and a photographing device according to the first embodiment. [Figure 4] In the welding robot according to the first embodiment, it is a side view explaining a state where a welding torch is at a welding position. [Figure 5] In the welding robot according to the first embodiment, it is a side view explaining a state where a welding torch is at a retracted position. [Figure 6] In the welding robot according to the first embodiment, it is a front view showing a state where a welding torch is at a vertical welding position. [Figure 7] In the welding robot according to the first embodiment, it is a front view showing a state where a welding torch is at an inclined welding position. [Figure 8] It is a perspective view showing a welding robot and a photographing device according to the first embodiment. [Figure 9] It is a perspective view showing a welding robot and a photographing device according to the first embodiment. [Figure 10]This is a system block diagram of the system control device according to the first embodiment. [Figure 11] This is a system block diagram of the control unit of the system control device according to the first embodiment. [Figure 12] This diagram illustrates the operation of a welding torch according to the first embodiment. [Figure 13] This is a first flowchart showing an example of the overall flow of processing performed by the system control device in the first embodiment. [Figure 14] This is a second flowchart showing an example of the overall flow of the initial welding process performed by the system control device in the first embodiment. [Figure 15] This is a third flowchart showing an example of the flow of the evacuation process executed by the system control device in the first embodiment. [Figure 16] This is a diagram illustrating the sensing process in the first embodiment. [Figure 17] This figure illustrates the initial welding process in the first embodiment. [Figure 18] This figure illustrates the welding process in the first embodiment. [Figure 19] This figure illustrates the sensing process in the second embodiment. [Figure 20] This figure illustrates the initial welding process in the second embodiment. [Figure 21] This figure illustrates the welding process in the second embodiment. [Modes for carrying out the invention]

[0026] [First Embodiment] The welding system 100 according to the first embodiment of the present invention will be described below with reference to Figures 1 to 18. As shown in Figure 1, the welding system 100 is used to weld the ends of steel pipes 8 that are arranged in a vertical direction Dv. The steel pipe 8 is a rectangular steel pipe having four arc-shaped corners and four straight sections connecting each corner. The steel pipe 8 extends in the vertical direction Dv. In the initial state, the steel pipe 8 is temporarily fixed by erection jigs 9. The erection jigs 9 are attached to the straight sections of the steel pipe 8. Four erection jigs 9 are attached to each of the four straight sections.

[0027] [Overview of the welding system] First, the welding system 100 will be described with reference to Figures 1 and 2. The welding system 100 comprises a welding robot 1, a guide rail 2, a camera 3, a welding power supply 4, a wire feeder 5, and a system control device 6.

[0028] The welding robot 1 comprises a control unit 31, a plurality of motors 32, and a welding torch 13. The control unit 31 controls the operation of the welding robot 1. The control unit 31 is communicatively connected to a system control device 6 and controls the operation of the welding robot 1 under the control of the system control device 6. The control unit 31 may also be provided in the system control device 6. Motor 32 is a motor that drives the welding robot 1. Motor 32 includes a servo motor that moves the welding robot 1 along the guide rail 2.

[0029] The welding torch 13 is used to weld the ends of the steel pipe 8 together. Welding with the welding torch 13 is performed, for example, by arc welding. A welding wire 113 is placed inside the welding torch 13.

[0030] As shown in Figure 1, the guide rail 2 is positioned along the steel pipe 8. The guide rail 2 is positioned in a ring shape around the circumferential direction of the steel pipe 8, enclosing the steel pipe 8. The welding robot 1 is movable along the guide rail 2. Hereinafter, the direction in which the welding robot 1 moves along the guide rail 2 will be referred to as the travel direction Dr. That is, the travel direction Dr is the direction in which the guide rail 2 extends. The direction perpendicular to the vertical direction Dv and the travel direction Dr will be referred to as the proximity / isolation direction Dh. For example, in the straight section of the steel pipe 8, the proximity / isolation direction Dh is the direction perpendicular to the surface of the steel pipe 8.

[0031] The imaging device 3 is attached to the welding robot 1. The imaging device 3 photographs the welding area of ​​the steel pipe 8 and the erection jig 9 during the pre-welding sensing process. The imaging device 3 also photographs the welding process performed by the welding robot 1 during the welding process. The imaging device 3 is, for example, a camera. The imaging device 3 is connected to the system control unit 6 for communication, and the images or videos (hereinafter referred to as "imaging results") acquired by the imaging device 3 are transmitted to the system control unit 6.

[0032] The welding power supply 4 supplies power to the wire feeder 5. The welding power supply 4 applies voltage between the steel pipe 8 and the welding torch 13. The wire feeder 5 supplies welding wire 113 to the welding torch 13. The welding torch 13 is connected to the wire feeder 5 via the welding torch cable 80.

[0033] The system control device 6 controls the operation of the welding system 100. Specifically, the system control device 6 controls the operation of the welding robot 1, the welding power supply 4, and the wire feeder 5. The welding robot 1 is connected to the system control device 6 via a control cable 70. The control cable 70 transmits signals sent by the system control device 6, which are control signals for controlling the welding robot 1, to the welding robot 1.

[0034] [Configuration of the welding robot] Next, the configuration of the welding robot 1 will be described with reference to Figures 1 and 3. The welding robot 1 comprises a main body 11, a welding torch 13, and a support unit 14. The main body 11 is the base of the welding robot 1. The main body 11 includes a control unit 31 and a motor 32. The main body 11 includes a sliding part 12 that is attached to a guide rail 2. The welding robot 1 moves in the travel direction Dr by the sliding part 12 sliding on the guide rail 2. The sliding part 12 slides on the guide rail 2 when driven by the motor 32 (servo motor).

[0035] The support section 14 is provided between the main body section 11 and the welding torch 13 and supports the welding torch 13. The support section 14 includes a case 21, a bracket 22, a panel 23, and a holder 24. The case 21 is provided so as to cover the outside of the main body 11. The case 21 is movable in the proximity / isolation direction Dh relative to the main body 11 by, for example, a feeding mechanism configured inside the case 21. The case 21 and the bracket 22 constitute the movable part 33. The movable part 33 can move the case 21 in the proximity / isolation direction Dh relative to the main body 11, thereby moving the welding torch 13 closer to or further away from the steel pipe 8.

[0036] Bracket 22 is connected to case 21. Bracket 22 extends downward in the vertical direction Dv from the lower end of case 21. Panel 23 is connected to the lower end of bracket 22. Holder 24 is connected to the lower surface of panel 23. The welding torch 13 is supported by holder 24.

[0037] Panel 23 is rotatable relative to bracket 22 around an axis 341 parallel to the travel direction Dr. The bracket 22 and panel 23 together constitute the first angle adjustment section 34. The holder 24 is rotatable relative to the panel 23 around an axis 351 perpendicular to the surface of the panel 23. The panel 23 and the holder 24 together constitute a second angle adjustment section 35.

[0038] The first angle adjustment unit 34 will be described in detail with reference to Figures 4 and 5. As shown in Figure 4, the first angle adjustment unit 34 adjusts the aiming angle Aw of the welding torch 13 by adjusting the angle of the panel 23 relative to the bracket 22. The aiming angle Aw is the vertical direction Dv of the welding wire 113 supported at the tip of the welding torch 13. The aiming angle Aw is appropriately adjusted according to the condition of the welding area of ​​the steel pipe 8. In Figure 4, although the aiming angle Aw of the welding torch 13 is adjusted, the welding wire 113 at the tip of the welding torch 13 is in contact with or close to the welding area of ​​the steel pipe 8, making it possible to weld the steel pipe 8 with the welding torch 13. The position of the welding torch 13 within the range in which welding is possible is referred to as the welding position Pw.

[0039] Furthermore, in this embodiment, as shown in Figure 5, the first angle adjustment unit 34 also serves as a retraction mechanism that retracts the welding torch 13 from the welding position Pw to a retraction position Pr where the welding torch 13 does not interfere with the erection jig 9. That is, the first angle adjustment unit 34 rotates the welding torch 13 significantly around the axis 341, thereby moving the welding wire 113 away from the welding area of ​​the steel pipe 8 to the retraction position Pr. The retraction position Pr is the position of the welding torch 13 when the welding wire 113 and the tip of the welding torch 13 supporting it do not interfere with the erection jig 9.

[0040] The second angle adjustment section 35 will be described in detail with reference to Figures 6 and 7. As shown in Figure 6, the second angle adjustment unit 35 adjusts the torch angle At of the welding torch 13 by adjusting the angle of the holder 24 relative to the panel 23. The torch angle At is the direction Dr of the travel of the welding wire 113 supported at the tip of the welding torch 13. The torch angle At is appropriately adjusted according to the condition of the welding area of ​​the steel pipe 8 and the relative position of the welding robot 1 and the erection jig 9. In Figure 6, the torch angle At of the welding torch 13 is 0. The position of the welding torch 13 at this time is defined as the upright welding position Pw0. That is, when the welding torch 13 is in the upright welding position Pw0, the welding torch 13 is upright perpendicular to the welding direction (travel direction Dr), and welding can be performed under the same conditions regardless of whether the welding direction is bidirectional.

[0041] Furthermore, as shown in Figure 7, the second angle adjustment unit 35 changes the torch angle At of the welding torch 13, tilting the welding torch 13 so that the tip of the welding torch 13 is inserted between the steel pipe 8 and the erection jig 9. This allows welding to be performed on the portion of the steel pipe 8 that is covered by the erection jig 9. The position of the welding torch 13 at this time is called the tilted welding position Pw1. These angle adjustment units 34 and 35 are both operated by the motor 32.

[0042] As shown in Figures 8 and 9, the imaging device 3 is attached to the welding robot 1 via the posture adjustment mechanism 40. The imaging device 3 is attached to the welding robot 1 in a manner that is not affected by the posture of the welding torch 13. The posture adjustment mechanism 40 and the imaging device 3 are positioned so as not to interfere with the erection jig 9 when the welding robot 1 is moving.

[0043] A pair of imaging devices 3 and a pair of posture adjustment mechanisms 40 are installed on both sides of the welding robot 1 in the width direction. The width direction of the welding robot 1 is parallel to the travel direction Dr. By providing a pair of imaging devices 3, regardless of whether the welding robot 1 travels in the travel direction Dr, one imaging device 3 can photograph the welding area in front of the welding robot 1, i.e., the area to be welded, and the other imaging device 3 can photograph the welding area behind the welding robot 1, i.e., the welded area.

[0044] As shown in Figure 9, the attitude adjustment mechanism 40 includes a rail 401, a slider 402, an arm 403, and a mount 404. The rail 401 is attached to the case 21. The rail 401 extends along the vertical direction Dv. The slider 402 is attached to the rail 401 so as to be movable along the rail 401. The slider 402 can be stopped at any position on the rail 401. This allows the imaging device 3 to be moved to any position in the vertical direction Dv relative to the welding robot 1. Arm 403 extends from slider 402. Mount 404 is attached to the tip of arm 403. The imaging device 3 is supported by the mount 404. The imaging device 3 is mounted on the mount 404 so as to be rotatable around an axis in the vertical direction Dv. This allows the imaging device 3 to be rotated to any angle around an axis along the vertical direction Dv. Thus, the imaging device 3 can be moved to any position in the vertical direction Dv relative to the welding robot 1, and can also be rotated at any angle around an axis along the vertical direction Dv. This increases the degree of freedom of the imaging angle of the imaging device 3.

[0045] Furthermore, the slider 402 can be pulled out above the rail 401. This allows the imaging device 3 to be detached from the welding robot 1.

[0046] [Control system for welding systems] Next, the control system of the welding system 100 will be described with reference to Figures 10 and 11. Figure 10 shows an example of the hardware configuration of the system control device 6 in the embodiment. The system control device 6 includes a processor 91 such as a CPU (Central Processing Unit) and memory 92 connected by a bus, and executes programs. The system control device 6 functions as a device comprising a control unit 61, a communication unit 62, an input unit 63, a storage unit 64, and an output unit 65 through program execution.

[0047] More specifically, the system control device 6 reads the program stored in the storage unit 64 by the processor 91 and stores the read program in the memory 92. By having the processor 91 execute the program stored in the memory 92, the system control device 6 functions as a device comprising a control unit 61, a communication unit 62, an input unit 63, a storage unit 64, and an output unit 65.

[0048] The control unit 61 controls the operation of various functional units of the system control device 6. For example, the control unit 61 controls the operation of the welding robot 1. For example, the control unit 61 causes the welding robot 1 to perform welding. When controlling the operation of the welding robot 1, the control unit 61 may also control the operation of the welding power supply 4 and the wire feeder 5. Other functions of the control unit 61 will be described later.

[0049] The communication unit 62 is configured to include a communication interface for connecting the system control device 6 to an external device. The communication unit 62 communicates with the external device via wired or wireless means. The external device is, for example, a welding robot 1. The communication unit 62 communicates with the welding robot 1 via, for example, a control cable 70. The communication unit 62 transmits control signals to, for example, the welding robot 1. The external device is, for example, an imaging device 3. The communication unit 62 acquires imaging results by communicating with the imaging device 3. The external device is, for example, a welding power supply 4. The external device is, for example, a wire feeding device 5.

[0050] The communication unit 62 acquires information regarding the position of the welding robot 1 (hereinafter referred to as welding robot position information) via, for example, the control cable 70. The welding robot position information is, for example, the target value (hereinafter also simply referred to as the target value) for controlling the servo motor (motor 32) related to the movement of the welding robot 1.

[0051] The input unit 63 includes input devices such as a mouse, keyboard, or touch panel. The input unit 63 may also be configured as an interface for connecting these input devices to the system control device 6. The input unit 63 receives various types of information for the system control device 6. For example, the input unit 63 receives an instruction to start welding.

[0052] The storage unit 64 is configured using a computer-readable storage medium device such as a magnetic hard disk drive or a semiconductor storage device. The storage unit 64 stores various information related to the welding system 100, including the system control device 6 itself. The storage unit 64 stores information input via, for example, the communication unit 62 or the input unit 63. The storage unit 64 stores various information generated by, for example, the execution of processing by the control unit 61. The storage unit 64 stores, for example, the imaging results acquired by the imaging device 3. The memory unit 64 stores, for example, the target value (welding robot position information). The memory unit 64 stores pre-defined erection jig shape information indicating the shape of the erection jig 9. The erection jig shape information includes width information indicating the width of the erection jig 9. The erection jig shape information also includes height information indicating the height of the side of the erection jig 9 opposite to the steel pipe 8 (hereinafter also referred to as the height of the erection jig 9), and the height of the side of the erection jig 9 on the steel pipe 8 side (hereinafter also referred to as the height of the bottom surface of the erection jig 9 from the steel pipe 8). The memory unit 64 stores in advance the rotatable range of the welding torch 13 around the axis 351 by the second angle adjustment unit 35 (hereinafter also referred to as the movable range of the torch angle At), and the range of movable length of the welding wire 113 at the tip of the welding torch 13 (hereinafter also referred to as the movable radius of the welding torch 13). The memory unit 64 stores in advance retraction operation information relating to the operation of moving the welding torch 13 from the welding position Pw to the retraction position Pr. The retraction operation information includes, for example, the amount of rotation of the welding torch 13 from the welding position Pw to the retraction position Pr.

[0053] The output unit 65 outputs various types of information. The output unit 65 is comprised of a display device such as a CRT (Cathode Ray Tube) display, a liquid crystal display, or an organic EL (Electro-Luminescence) display. The output unit 65 may also be configured as an interface for connecting these display devices to the system control device 6. The output unit 65 outputs information input to the input unit 63, for example. The output unit 65 may display, for example, the result of processing performed by the control unit 61. For example, the output unit 65 may display whether or not the welding torch 13 has been moved to a retracted position Pr where it does not interfere with the erection jig 9, and whether or not the welding robot 1 is welding the portion of the steel pipe 8 that is covered by the erection jig 9. For example, the current position of each axis of the welding robot 1 is displayed on the user interface, and as a result of this display, the user can determine that the welding torch 13 has been moved to the retracted position Pr and that the welding robot 1 is welding the portion of the steel pipe 8 that is covered by the erection jig 9. Furthermore, the output unit 65 may output, in a voice-based manner, whether or not the welding torch 13 has been moved to a retracted position Pr where it does not interfere with the erection jig 9, and whether or not the welding robot 1 is welding the portion of the steel pipe 8 that is covered by the erection jig 9.

[0054] Figure 11 shows an example of the functional configuration of the control unit 61 in this embodiment. The control unit 61 comprises a data acquisition unit 610, a welding robot control unit 620, a storage control unit 630, an input control unit 640, and an output control unit 650.

[0055] The data acquisition unit 610 acquires the shooting results of the shooting device 3 stored in the storage unit 64. The data acquisition unit 610 acquires the welding robot position information stored in the storage unit 64. The data acquisition unit 610 acquires the erection jig shape information that is pre-stored in the storage unit 64. The data acquisition unit 610 acquires the movable range of the torch angle At and the movable radius of the welding torch 13 that are pre-stored in the storage unit 64. The data acquisition unit 610 acquires the retraction operation information that is pre-stored in the storage unit 64.

[0056] The welding robot control unit 620 controls the operation of the welding robot 1. The welding robot control unit 620 includes a welding execution control unit 621, a position information acquisition unit 622 (acquisition unit), a contact determination unit 623 (determination unit), a retraction processing execution control unit 624 (control unit), and a welding completion determination unit 625.

[0057] The welding execution control unit 621 controls the movement of the welding robot 1 to perform welding. Under the control of the welding execution control unit 621, the welding robot 1 moves along the guide rail 2 and welds the steel pipe 8.

[0058] The position information acquisition unit 622 acquires erection jig position information, which is information regarding the position of the erection jig 9.

[0059] This section details how to obtain location information for construction jigs. For example, a marker is placed at the center of the width direction of the erection jig 9. An example of a marker is a QR code (Quick Response Code). The width direction of the erection jig 9 is the direction parallel to the travel direction Dr. In the sensing process before welding, the welding robot 1 is moved along the guide rail 2, and the marker attached to the erection jig 9 is photographed by the imaging device 3. The photographic results acquired by the imaging device 3 are stored in the storage unit 64 via the communication unit 62. For example, at the start of photography by the imaging device 3, the origin of the axis (one-dimensional coordinate) along the travel direction Dr is set. The origin of the axis can be set arbitrarily and is stored in the storage unit 64. For example, the origin of the axis can be the position of the welding robot 1 when the instruction to start photography is input to the input unit 63. The position information acquisition unit 622 acquires the shooting results from the shooting device 3 via the storage unit 64 and the data acquisition unit 610. The position information acquisition unit 622 identifies the position of the marker by performing image recognition processing on the shooting results acquired by the shooting device 3. The position of the marker is indicated by the one-dimensional coordinates described above. The position information acquisition unit 622 acquires this marker position as erection jig position information. In this case, the erection jig position information is the position of the center in the width direction of the erection jig 9. The position of the center in the width direction of the erection jig 9 is indicated by the one-dimensional coordinates described above.

[0060] Furthermore, the position information acquisition unit 622 acquires welding robot position information via the storage unit 64 and the data acquisition unit 610. Furthermore, the position information acquisition unit 622 acquires construction jig shape information via the storage unit 64 and the data acquisition unit 610.

[0061] The position information acquisition unit 622 acquires contact position information, which is information regarding the position of the welding robot 1 (hereinafter also referred to as the contact position) when the welding torch 13 contacts the erection jig 9. Specifically, the position information acquisition unit 622 calculates the contact position of the welding robot 1 based on the erection jig position information (in the above case, the position of the center in the width direction of the erection jig 9) and the width information included in the erection jig shape information. The contact position of the welding robot 1 is shown in the above one-dimensional coordinates.

[0062] The position information acquisition unit 622 acquires inclined welding start position information, which is information regarding the position of the welding robot 1 when it tilts the welding torch 13 to begin welding the portion of the steel pipe 8 covered by the erection jig 9 (hereinafter also referred to as the inclined welding start position). Specifically, the position information acquisition unit 622 calculates the inclined welding start position of the welding robot 1 as a position a predetermined margin α in the one-dimensional coordinate system, starting from the contact position of the welding robot 1. The inclined welding start position of the welding robot 1 is shown in the one-dimensional coordinate system. The predetermined margin α is stored in the storage unit 64 beforehand.

[0063] The position information acquisition unit 622 may acquire the erection jig position information, contact position information, and inclined welding start position information before the start of the initial welding process described later.

[0064] The contact determination unit 623 performs a contact determination process based on the contact position information or the inclined welding start position information and the welding robot position information to determine whether or not the welding torch 13 will come into contact with the erection jig 9 if welding continues.

[0065] The contact detection process will be described in detail. For example, the contact determination unit 623 causes the position information acquisition unit 622 to acquire contact position information or inclined welding start position information. The contact determination unit 623 causes the position information acquisition unit 622 to acquire welding robot position information and estimates the position of the moving welding robot 1 (hereinafter also referred to as the moving position) based on the acquired welding robot position information. The moving position is indicated by the above one-dimensional coordinates. Based on the estimated moving position and the contact position information or inclined welding start position information, the contact determination unit 623 determines whether the welding torch 13 will come into contact with the erection jig 9 if welding continues. For example, the contact determination unit 623 determines whether the welding torch 13 will come into contact with the erection jig 9 if welding continues by determining whether the moving position of the welding robot 1 has reached the inclined welding start position. The contact determination unit 623 may also determine whether the welding torch 13 will come into contact with the erection jig 9 if welding continues by determining whether the moving position of the welding robot 1 has reached the contact position.

[0066] The retraction process execution control unit 624 executes the retraction process. The retraction process includes moving the welding torch 13 from the welding position Pw to a retraction position Pr where the welding torch 13 does not interfere with the erection jig 9. The retraction process also includes tilting the welding torch 13 to weld the portion of the steel pipe 8 that is covered by the erection jig 9.

[0067] The evacuation procedure will be described in detail with reference to Figure 12. When the retraction processing execution control unit 624 determines that the welding robot 1 has reached the inclined welding start position, it changes the torch angle At of the welding torch 13 using the second angle adjustment unit 35 (welding position Pw1) and performs welding on the front half of the steel pipe 8 that is covered by the erection jig 9. At this time, the movement of the welding robot 1 is not interrupted. Specifically, the retraction processing execution control unit 624 acquires erection jig shape information via the storage unit 64 and the data acquisition unit 610. The retraction processing execution control unit 624 acquires the movable range of the torch angle At and the movable radius of the welding torch 13 via the storage unit 64 and the data acquisition unit 610. Based on the width information and height information included in the erection jig shape information, the movable range of the torch angle At, and the movable radius of the welding torch 13, the retraction processing execution control unit 624 controls the welding to perform welding on the front half of the steel pipe 8 that is covered by the erection jig 9.

[0068] When the first half of the welding is completed, the retraction processing execution control unit 624 stops the welding robot 1 and interrupts the welding by the welding robot 1. The retraction processing execution control unit 624 returns the torch angle At of the welding torch 13 to 0 using the second angle adjustment unit 35, and moves the welding torch 13 from the welding position Pw (Pw1) to the retraction position Pr using the first angle adjustment unit 34. Specifically, the retraction processing execution control unit 624 acquires retraction operation information via the storage unit 64 and the data acquisition unit 610. Based on the retraction operation information, the retraction processing execution control unit 624 moves the welding torch 13 from the welding position Pw to the retraction position Pr. Subsequently, the retraction processing execution control unit 624 moves the welding robot 1 a predetermined distance in the travel direction Dr, allowing it to pass over the erection jig 9. That is, based on the width information included in the erection jig shape information acquired by the position information acquisition unit 622, the retraction processing execution control unit 624 moves the welding robot 1 in the travel direction Dr to a position where the welding torch 13 does not come into contact with the erection jig 9.

[0069] When the welding robot 1 is moved a predetermined distance, the retraction processing execution control unit 624 stops the movement of the welding robot 1 and moves the welding torch 13 from the retraction position Pr to the welding position Pw (Pw2) to approach the steel pipe 8 using the first angle adjustment unit 34. The retraction processing execution control unit 624 resumes the movement of the welding robot 1 and, while changing the torch angle At of the welding torch 13 using the second angle adjustment unit 35 (welding position Pw2), performs welding on the portion of the steel pipe 8 covered by the erection jig 9. Based on the width information and height information included in the erection jig shape information, the movable range of the torch angle At, and the movable radius of the welding torch 13, the retraction processing execution control unit 624 controls the welding to perform welding on the rear half of the portion of the steel pipe 8 covered by the erection jig 9.

[0070] The welding completion determination unit 625 determines whether the initial welding completion condition is met. The initial welding completion condition is the condition for terminating the initial welding by the welding robot 1. For example, the initial welding completion condition is that the welding robot 1 has reached a predetermined position (hereinafter also referred to as the welding completion position). In this case, the welding completion determination unit 625 causes the position information acquisition unit 622 to acquire welding robot position information, and estimates the position (travel position) of the traveling welding robot 1 based on the acquired welding robot position information. The welding completion determination unit 625 determines whether the initial welding completion condition is met by determining whether the estimated travel position is the welding completion position. The initial welding completion condition may be, for example, a condition that a predetermined amount of time has elapsed since welding by welding robot 1 began.

[0071] The memory control unit 630 records various information in the storage unit 64. The memory control unit 630 records various information generated by the operation of the control unit 61, for example, in the storage unit 64. The information generated by the operation of the control unit 61 is, for example, information indicating the content of the control of the welding robot 1 by the welding robot control unit 620.

[0072] The input control unit 640 controls the operation of the input unit 63. The output control unit 650 controls the operation of the output unit 65. For example, the output control unit 650 displays on the output unit 65 whether the welding torch 13 has been moved to a retracted position Pr where it does not interfere with the erection jig 9, and whether the welding robot 1 is welding the portion of the steel pipe 8 that is covered by the erection jig 9. The output control unit 650 may also output on the output unit 65 by voice whether the welding torch 13 has been moved to a retracted position Pr where it does not interfere with the erection jig 9, and whether the welding robot 1 is welding the portion of the steel pipe 8 that is covered by the erection jig 9.

[0073] [Examples of control systems performed by welding systems] Refer to Figures 13-18 to illustrate an example of the control performed by the welding system. Figure 13 is a first flowchart showing an example of the overall flow of processing performed by the system control device 6 in this embodiment.

[0074] First, as preparation for welding, a sensing process S1 is performed to determine the shape and condition of the welding area and the position of the erection jig 9. First, the welding robot 1 is moved along the guide rail 2, and the imaging device 3 continuously captures images of the entire circumference of the welded area of ​​the steel pipe 8 (step S101). For example, at the start of imaging by the imaging device 3, a predetermined position on the axis (one-dimensional coordinate) along the travel direction Dr is registered as the origin, and the welding robot 1 is moved in a full circle from the origin. Image processing is performed on the images of the welded area captured by the imaging device 3 to determine the shape of the welded area (e.g., information on the corners of the steel pipe 8) and its condition (e.g., groove information). Furthermore, the position information acquisition unit 622 acquires the position information of the construction jig using the image capture results from the imaging device 3 (step S102).

[0075] As shown in Figure 16, the welded area of ​​the steel pipe 8 is divided into four sections Rn (R1 to R4) by the erection jig 9. The sensing process S1 is performed continuously around the entire circumference of the welded area, i.e., the entire circumference from section R1 to R4.

[0076] Once the sensing process S1 is completed, an initial welding process S2 is performed to weld the ends of the steel pipes 8 together while the steel pipes 8 are temporarily fixed in place by the erection jig 9. During the initial welding process S2, a retraction process is performed at the position of the erection jig 9. This allows the welding robot 1 to pass over the erection jig 9 while preventing contact with it, even when the erection jig 9 is attached to the steel pipes 8, and enables continuous welding across the erection jig 9.

[0077] Specifically, conventionally, initial welding was performed for each section R1 to R4. That is, for example, initial welding was performed for section R1, then the welding torch 13 was temporarily removed to avoid the erection jig 9, the welding robot 1 was moved to the next section R2, the welding torch 13 was reattached, and initial welding was performed for section R2, and this process was repeated. In this embodiment, by performing a retraction process at the position of the erection jig 9, initial welding of the entire circumference of the welding area of ​​the steel pipe 8 can be performed continuously in the order of sections R2, R1, R4, and R3, as shown in Figure 17 (welding W1 to welding W4).

[0078] The welding of the entire circumference of the steel pipe 8 is basically repeated multiple times. For example, after performing welding W1 to W4 for one full circumference of the welding area of ​​the steel pipe 8 in succession, it is preferable to reverse the direction of travel of the welding robot 1 and perform welding W5 to W8 for one full circumference of the welding area of ​​the steel pipe 8 in the order of sections R3, R4, R1, and R2. By reversing the direction of travel of the welding robot 1 after each full circumference in this way, it is possible to prevent the control cable 70 and the welding torch cable 80 from becoming entangled with the steel pipe 8. Details of the initial welding process S2 will be described later.

[0079] The initial welding process S2 is terminated when a predetermined strength is achieved in the weld of the steel pipe 8. For example, the initial welding process S2 is determined to be terminated when the entire circumference of the welded area of ​​the steel pipe 8 has been welded a predetermined number of times.

[0080] Once the initial welding process S2 is completed, the erection jig 9 is removed from the steel pipe 8, and the main welding process S3 is performed to weld the ends of the steel pipe 8 together in this state. As shown in Figure 18, the welding process S3 is performed continuously around the entire circumference of the welding area of ​​the steel pipe 8. No retraction process is performed during the welding process S3. Also, the welding of the entire circumference of the steel pipe 8 is basically repeated multiple times. Similar to the initial welding process S2, in the welding process S3, it is preferable to reverse the direction of travel of the welding robot 1 after each rotation and perform welding (welding W1 to W3) in order to prevent the control cable 70 and the welding torch cable 80 from becoming entangled with the steel pipe 8.

[0081] The initial welding process S2 will be described in detail with reference to Figure 14. Figure 14 is a second flowchart showing an example of the overall flow of the initial welding process S2 performed by the system control device 6 in this embodiment.

[0082] First, an instruction to start initial welding is input to the input unit 63 (step S201). The instruction to start initial welding is input to the input unit 63, for example, by the user. Next, the welding execution control unit 621 controls the movement of the welding robot 1 to start welding (step S202). The welding robot 1 performs welding of the steel pipe 8 while moving along the guide rail 2. At this time, the welding torch 13 is in the welding position Pw.

[0083] Next, the position information acquisition unit 622 acquires the welding robot position information (step S203). The contact determination unit 623 uses the erection jig position information, the welding robot position information, and the width information to determine whether the welding torch 13 will come into contact with the erection jig 9 if welding continues (step S204). If it is determined that the welding torch 13 will not come into contact with the erection jig 9 even if welding continues (step S204: NO), the welding completion determination unit 625 determines whether the initial welding completion conditions have been met (step S205). If the initial welding completion conditions have been met (step S205: YES), the welding execution control unit 621 instructs the welding robot 1 to stop welding, and the initial welding process S2 is completed (step S206). On the other hand, if the initial welding completion conditions are not met (step S205: NO), the process returns to step S203. In this case, welding by welding robot 1 continues.

[0084] On the other hand, if it is determined that continuing welding would cause the welding torch 13 to come into contact with the erection jig 9 (step S204: YES), an instruction to execute the evacuation process is input to the evacuation process execution control unit 624, and the evacuation process execution control unit 624 executes the evacuation process (step S207). Once the evacuation process is completed, the process returns to step S203.

[0085] The evacuation process (step S207) will be described in detail with reference to Figure 15. Figure 15 is a third flowchart showing an example of the flow of the evacuation process executed by the system control device 6 in this embodiment.

[0086] First, when the retraction processing execution control unit 624 receives an instruction to execute the retraction process, it changes the torch angle At of the welding torch 13 and welds the front half of the steel pipe 8 that is covered by the erection jig 9 (step S211). After that, the retraction processing execution control unit 624 stops the welding robot 1 and interrupts welding. The retraction processing execution control unit 624 also returns the torch angle At of the welding torch 13 to 0 and moves the welding torch 13 from the welding position Pw to the retraction position Pr (step S212). After that, the retraction processing execution control unit 624 moves the welding robot 1 a predetermined distance in the travel direction Dr and passes over the erection jig 9 (step S213). After that, the retraction processing execution control unit 624 stops the welding robot 1 again and returns the welding torch 13 from the retraction position Pr to the welding position Pw (step S214). Subsequently, the retraction process execution control unit 624 resumes the movement of the welding robot 1 and, while changing the torch angle At of the welding torch 13, welds the rear half of the steel pipe 8 that is covered by the erection jig 9 (step S215). This completes the retraction process.

[0087] The welding system 100 according to this embodiment is a welding system 100 for controlling a welding robot 1 that welds a steel pipe 8 while moving along a guide rail 2 arranged along the steel pipe 8, and includes a position information acquisition unit 622 that acquires erection jig position information relating to the position of an erection jig 9 attached to the steel pipe 8. Therefore, even if the erection jig 9 is attached to any part of the steel pipe 8, including the straight section of the steel pipe 8, the position information acquisition unit 622 acquires position information of the erection jig 9, and the welding robot 1 can be easily and accurately controlled based on this position information.

[0088] Furthermore, the welding system 100 includes a contact determination unit 623 that uses the erection jig position information acquired by the position information acquisition unit 622 to determine whether or not the welding torch 13 will come into contact with the erection jig 9 if welding continues. This makes it possible to automatically determine the possibility of contact between the erection jig 9 and the welding torch 13 during welding of the steel pipe 8 by the welding robot 1.

[0089] Furthermore, the welding system 100 includes a retraction processing execution control unit 624 that, when the contact determination unit 623 determines that the welding torch 13 will come into contact with the erection jig 9 if welding continues, retracts the welding torch 13 to a retraction position Pr where the welding torch 13 does not interfere with the erection jig 9. By temporarily retracting the welding torch 13 to position Pr at the location of the erection jig 9, the welding robot 1 can pass over the erection jig 9 while preventing contact with it. Therefore, continuous welding can be performed over the erection jig 9, improving work efficiency.

[0090] Furthermore, the position information acquisition unit 622 acquires width information indicating the width of the erection jig 9, along with the position information of the erection jig. By acquiring width information, the placement of the erection jig 9 can be determined more accurately, thereby more reliably preventing contact between the erection jig 9 and the welding robot 1.

[0091] Furthermore, the welding system 100 includes a retraction processing execution control unit 624 that tilts the welding torch 13 based on the erection jig position information and width information acquired by the position information acquisition unit 622, and performs welding on the portion of the steel pipe 8 that is covered by the erection jig 9. This allows the welding of the portion of the steel pipe 8 covered by the erection jig 9 to be performed continuously with the welding of the regular steel pipe 8 (i.e., the welding of the portion of the steel pipe 8 not covered by the erection jig 9). Therefore, the work of welding the portion of the steel pipe 8 covered by the erection jig 9 separately becomes unnecessary, improving work efficiency.

[0092] Furthermore, the welding system 100 includes an output control unit 650 that displays on the output unit 65 whether the welding torch 13 has been retracted to a retracted position Pr where it does not interfere with the erection jig 9, or whether welding is being performed on the portion of the steel pipe 8 that is covered by the erection jig 9. This allows the user to easily determine that the welding torch 13 has been moved to the retraction position Pr and that the welding robot 1 is welding the portion of the steel pipe 8 that is covered by the erection jig 9.

[0093] Furthermore, the welding system 100 is further equipped with a camera 3 attached to the welding robot 1, and the position information acquisition unit 622 acquires the position information of the construction jig based on the imaging results acquired by the camera 3. Furthermore, the welding system 100 includes a marker placed at the center of the width direction of the erection jig 9, and the position information acquisition unit 622 acquires the erection jig position information based on the imaging results obtained when the imaging device 3 photographs the marker. This allows the position information of the construction jig to be automatically acquired using the imaging results obtained by the imaging device 3.

[0094] [Second Embodiment] The welding system 100 according to the second embodiment of the present invention will be described below with reference to Figures 19 to 21. In this embodiment, the welding system 100 includes two welding robots 1. The two welding robots 1 are mounted on one guide rail 2, and the welding of the steel pipe 8 is divided between them, with each robot handling half of the circumference. That is, one welding robot 1 performs welding on half of the circumference of the steel pipe 8. The configuration and operation of the welding system 100 in this embodiment are the same as those of the welding system 100 in the first embodiment, except for the inclusion of two welding robots 1, so redundant explanations will be omitted.

[0095] Similar to the first embodiment, in the initial state, the steel pipe 8 is temporarily fixed by the erection jig 9. The welded portion of the steel pipe 8 is divided into sections R1 to R4 by the erection jig 9. As shown in Figure 19, in this embodiment, sections R3 and R2 are designated as region A, and sections R4 and R1 are designated as region B. The welding robots 1 are placed in regions A and B, respectively. However, the two welding robots 1 share the same guide rail 2.

[0096] In sensing process S1, two welding robots 1 travel through areas A and B respectively, and the two welding robots 1 simultaneously perform sensing of half the circumference of the welded area of ​​the steel pipe 8.

[0097] As shown in Figure 20, in the initial welding process S2, two welding robots 1 travel through areas A and B respectively, and the two welding robots 1 perform initial welding on half the circumference of the welding area of ​​the steel pipe 8 in parallel. In other words, in area A, for example, welding W1 in section R3 and welding W2 in section R2 are performed consecutively by one welding robot 1. After that, the direction of travel of welding robot 1 is reversed, and welding W3 in section R2 and welding W4 in section R3 are performed consecutively. In area B, for example, welding W1 in section R1 and welding W2 in section R4 are performed consecutively by the other welding robot 1. After that, the direction of travel of welding robot 1 is reversed, and welding W3 in section R4 and welding W4 in section R1 are performed consecutively. In both area A and area B, the initial welding process S2 involves retracting the erection jig 9 at its current position.

[0098] As shown in Figure 21, once the predetermined strength is achieved in the weld of the steel pipe 8 by the initial welding process S2, the erection jig 9 is removed from the steel pipe 8 and the main welding process S3 is performed. In the main welding process S3, two welding robots 1 travel through areas A and B respectively, and the two welding robots 1 perform the main welding on half the circumference of the weld area of ​​the steel pipe 8 in parallel. No retraction process is performed in the main welding process S3.

[0099] In this embodiment as well, the same effects as in the first embodiment can be obtained. In other words, even if the erection jig 9 is attached to any part of the steel pipe 8, including the straight section of the steel pipe 8, it is possible to acquire position information of the erection jig 9 and easily and accurately control the welding robot 1 based on this position information. Furthermore, in this embodiment, since the welding of the steel pipe 8 is divided between two welding robots 1, each handling half of the rotation, the working time can be halved, further improving work efficiency.

[0100] It should be noted that the present invention is not limited to the embodiments described above with reference to the drawings, and various modifications are conceivable within its technical scope.

[0101] In the above embodiment, a method was described in which a marker is attached to the erection jig 9 and the position information of the erection jig is obtained by photographing the marker attached to the erection jig 9 with the photographing device 3, but the present invention is not limited thereto. For example, instead of attaching a marker to the erection jig 9, the erection jig position information can be obtained by taking advantage of the fact that the distance from the imaging device 3 is different for the steel pipe 8 and the erection jig 9, and acquiring distance information from the imaging results acquired by the imaging device 3.

[0102] Furthermore, in the above embodiment, the position information acquisition unit 622 acquired the position of the center in the width direction of the erection jig 9 as erection jig position information, but the present invention is not limited thereto. For example, the position information acquisition unit 622 may acquire the position of the welding robot 1 as erection jig position information when the position of the center of the welding robot 1 in the width direction and the position of the center of the erection jig 9 in the width direction coincide when viewed along the vertical direction Dv.

[0103] Furthermore, in the above embodiment, the position information acquisition unit 622 acquires the position information of the construction jig by performing image recognition processing on the shooting results acquired by the shooting device 3, but the present invention is not limited thereto. For example, a user may manually register the position of the erection jig 9 via the input unit 63. In this case, the position information acquisition unit 622 acquires the registered position entered by the user as erection jig position information via the input unit 63 and the data acquisition unit 610.

[0104] Furthermore, in the above embodiment, the first angle adjustment unit 34 rotates the welding torch 13 significantly around the axis 341, thereby moving the welding torch 13 from the welding position Pw to the retracted position Pr. However, in addition to the rotation of the welding torch 13 by the first angle adjustment unit 34, the welding torch 13 may be further retracted by moving the case 21 away from the steel pipe 8 relative to the main body 11 using the moving unit 33.

[0105] Furthermore, in the above embodiment, the moving unit 33, the first angle adjustment unit 34, the second angle adjustment unit 35, and the attitude adjustment mechanism 40 may be manually operated or motor-driven. Motor drive is suitable for automation, but manual operation allows for a simpler structure.

[0106] Furthermore, all or part of the functions of the welding system 100 may be implemented using hardware such as ASICs (Application Specific Integrated Circuits), PLDs (Programmable Logic Devices), or FPGAs (Field Programmable Gate Arrays). The program may be recorded on a computer-readable recording medium. Computer-readable recording media include, for example, portable media such as flexible disks, magneto-optical disks, ROMs, and CD-ROMs, as well as storage devices such as hard disks built into computer systems. The program may also be transmitted via telecommunications lines.

[0107] Furthermore, without departing from the spirit of the present invention, the components in the above embodiments may be replaced with well-known components as appropriate, and the above-described modifications may be combined as appropriate. [Explanation of Symbols]

[0108] 100 welding systems 1. Welding robot 2 Guide rails 3. Imaging device 6 System Control Unit 8 Steel pipe 9. Construction jigs 13 Welding Torch 33 Mobile Unit 34 First angle adjustment section 35 Second angle adjustment section 61 Control Unit 62 Communications Department 63 Input section 64 Storage section 65 Output section 610 Data Acquisition Unit 620 Welding Robot Control Unit 621 Welding Execution Control Unit 622 Location information acquisition unit (acquisition unit) 623 Contact determination unit (determination unit) 624 Evacuation Processing Execution Control Unit (Control Unit) 625 Welding completion determination unit 630 Memory Control Unit 640 Input Control Unit 650 Output Control Unit Pw welding position Pr retreat position

Claims

1. A control system for a welding robot that moves along a guide rail and welds steel materials during the movement, The aforementioned welding robot An acquisition unit that acquires positional information relating to the position of a construction jig attached to the straight section of the steel material. Equipped with, The position information indicates the position of the erection jig in the width direction of the erection jig. A control system characterized by the following:

2. A control system for a welding robot that moves along a guide rail and welds steel materials during the movement, The aforementioned welding robot An acquisition unit that acquires positional information relating to the position of a construction jig attached to the straight section of the steel material, An input unit for allowing the user to input the aforementioned location information, Equipped with, The acquisition unit acquires the position information based on the input result of the input unit. A control system characterized by the following:

3. A control system for a welding robot that moves along a guide rail and welds steel materials during the movement, An acquisition unit that acquires positional information relating to the position of a construction jig attached to the straight section of the steel material. Equipped with, The aforementioned position information is the central position in the width direction of the erection jig. A control system characterized by the following:

4. A control system for a welding robot that moves along a guide rail and welds steel materials during the movement, An acquisition unit that acquires positional information relating to the position of a construction jig attached to the straight section of the steel material. Equipped with, The position information is information relating to the position of the welding robot when the central position of the welding robot in the width direction and the central position of the erection jig in the width direction coincide when viewed along a direction perpendicular to the direction in which the welding robot moves along the guide rail. A control system characterized by the following:

5. A control system for a welding robot that moves along a guide rail and welds steel materials during the movement, An acquisition unit that acquires positional information relating to the position of a construction jig attached to the straight section of the steel material. Equipped with, The acquisition unit acquires width information indicating the width of the erection jig, along with the position information. A control system characterized by the following:

6. Based on the position information and width information acquired by the acquisition unit, a control unit tilts the welding torch of the welding robot to perform welding on the portion of the steel material covered by the erection jig. The control system according to claim 5, further comprising the following:

7. An output control unit that causes the output unit to output whether the welding torch has been retracted to a position where it does not interfere with the erection jig, or whether welding is being performed on the covered portion. The control system according to claim 6, further comprising the following:

8. The control system according to any one of claims 1 to 4, characterized in that the acquisition unit acquires width information indicating the width of the erection jig along with the position information.

9. The welding robot is a welding torch Furthermore, The control system according to any one of claims 5 to 8, characterized in that the welding torch is tilted based on the position information and the width information.

10. The control system according to any one of claims 1 to 9, characterized in that the portion of the steel material covered by the erection jig is welded in continuous with the portion of the steel material not covered by the erection jig.

11. A control method for a welding robot that moves along a guide rail and welds steel materials during the movement, An acquisition step to acquire positional information relating to the position of a construction jig attached to the straight section of the steel material, Equipped with, The position information indicates the position of the erection jig in the width direction of the erection jig. A control method characterized by the following:

12. A control method for a welding robot that moves along a guide rail and welds steel materials during the movement, An acquisition step to acquire positional information relating to the position of a construction jig attached to the straight section of the steel material, An input step in which the user inputs the aforementioned location information, Equipped with, In the acquisition step, the location information is acquired based on the input result in the input step. A control method characterized by the following:

13. The control method according to claim 11 or 12, characterized in that the acquisition step acquires width information indicating the width of the erection jig along with the position information.

14. The welding robot is a welding torch Furthermore, The control method according to claim 13, characterized in that the welding torch is tilted based on the position information and the width information.

15. The control method according to any one of claims 11 to 14, characterized in that the portion of the steel material covered by the erection jig is welded in continuous with the portion of the steel material not covered by the erection jig.

16. A program for causing a computer to function as a control system according to any one of claims 1 to 10.

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