Welding robot

Abstract

To provide a welding robot that can perform accurate welding.SOLUTION: A welding robot 100 for welding a steel material 6 while moving in a predetermined direction DR along a rail 7 provided along a plane surface of the erected steel material 6 while sagging from the rail 7 includes: a welding torch 1; and a T-axis drive part 12 for rotating the welding torch 1 about a T axis XB that is vertical to the predetermined direction DR. The T-axis drive part 12 includes a T-axis motor unit 13 and a T-axis deceleration unit 14. The T-axis motor unit 13 and the T-axis deceleration unit 14 are arranged vertical to the plane surface of the steel material 6.SELECTED DRAWING: Figure 2

Description

[Technical Field]

[0001] This invention relates to a welding robot. [Background technology]

[0002] Large buildings such as skyscrapers utilize steel pipe columns formed by welding together rectangular steel pipes. For joining these rectangular pipes, a welding robot capable of circling the pipe along a guide rail is used. Specifically, the steel pipes are first temporarily fixed together with a construction jig, and the welding robot performs initial welding of the pipes. Afterward, the construction jig is removed from the pipes, and the welding robot performs the final welding of the steel.

[0003] During initial welding, it is necessary to prevent contact between the welding robot and the erection jig. Patent Document 1 discloses a welding system in which a restraining jig is placed across the corners of a rectangular prism-shaped workpiece to be welded, and the joints of the workpieces are welded together using an approach-and-remove device that moves the welding torch closer to and further away from it. In the welding system described in Patent Document 1, the corner is welded from one opening of the restraining jig, and then the welding torch passes over the corner while avoiding the restraining jig, and the corner is welded from the other opening of the restraining jig. [Prior art documents] [Patent Documents]

[0004] [Patent Document 1] Japanese Patent Application Publication No. 8-229676 [Overview of the project] [Problems that the invention aims to solve]

[0005] The welding equipment described in Patent Document 1 comprises a pivoting mechanism for rotating horizontally and an arm that rotates in a vertical plane above the pivoting mechanism. The pivoting mechanism is provided on the base side of the welding equipment, and the arm is provided on the tip side of the pivoting mechanism. A welding torch is provided at the tip of the arm. In other words, the welding equipment of Patent Document 1 is configured such that the pivoting mechanism, arm, and welding torch are arranged in that order from the base side of the welding equipment upwards. In such a configuration, when the pivoting mechanism rotates horizontally, the welding torch and arm also rotate. For this reason, many workers may be required when transporting or installing the welding equipment, and heavy machinery may also be required.

[0006] This invention has been made in view of the above circumstances, and aims to provide a welding robot capable of welding with high precision. [Means for solving the problem]

[0007] To solve the above-mentioned problems, the inventors have found a welding robot that can weld with high precision by appropriately arranging the configuration of the rotating part of the welding torch.

[0008] This invention was made in view of the above findings. The gist of this invention is to employ the following means. A welding robot according to one embodiment of the present invention is a welding robot that is suspended from a rail that is aligned with the plane of an upright steel material and moves along the rail in a predetermined direction while welding the steel material, comprising a welding torch and a T-axis drive unit that rotates the welding torch around a T-axis which is an axis perpendicular to the predetermined direction, wherein the T-axis drive unit comprises a T-axis motor unit and a T-axis reduction unit, and the T-axis motor unit and the T-axis reduction unit are arranged perpendicular to the plane of the steel material. [Effects of the Invention]

[0009] According to the present invention, it is possible to provide a welding robot that can weld with high precision. [Brief explanation of the drawing]

[0010] [Figure 1] It is a perspective view showing an example of a welding robot according to an embodiment of the present invention. [Figure 2] It is a figure partially extracting the side view of FIG. 1. [Figure 3] It is a plan view explaining the state where the welding torch is in the upright welding position in the welding robot according to the present embodiment. [Figure 4] It is a plan view explaining the state where the welding torch is in the inclined welding position in the welding robot according to the present embodiment. [Figure 5] It is a side view explaining the state where the welding torch is in the welding position in the welding robot according to the present embodiment. [Figure 6] It is a side view explaining the state where the welding torch is in the retracted position in the welding robot according to the present embodiment.

MODE FOR CARRYING OUT THE INVENTION

[0011] The welding robot 100 according to an embodiment of the present invention will be described with reference to the drawings. In the following description, the same reference numerals may be given to common components and their redundant descriptions may be omitted.

[0012] In the following description, the vertical direction is Dv, the direction in which the welding robot 100 moves along the guide rail 7 is the traveling direction Dr, and the direction orthogonal to the vertical direction Dv and the traveling direction Dr is the proximity / separation direction Dh.

[0013] FIG. 1 is a perspective view showing an example of the welding robot 100 according to the present embodiment. As shown in FIG. 1, the welding robot 100 is used to weld the ends of the workpieces 6 arranged side by side in the vertical direction Dv. In the present embodiment, the workpiece 6 is a steel material 6. The steel material 6 may be a steel pipe. FIG. 2 is a figure partially extracting the side view of FIG. 1, and for the sake of convenience, only the half side is shown. In FIG. 2, for the sake of easy understanding of the configuration of the welding robot 100, a part of the portion that cannot be seen from the side of the welding robot 100 is described by a solid line. The same applies to FIGS. 5 and 6 described later. The steel member 6 is a rectangular steel member having four arc-shaped corners and four straight sections connecting each corner. The steel member 6 extends in the vertical direction Dv. Before the steel member 6 is welded, it is temporarily fixed in place by erection pieces (construction jigs) 5. The ends of the steel member 6 are butted together, and the four erection pieces 5 are attached to the four flat sections of the steel member 6 and temporarily fixed in place.

[0014] The welding robot 100 welds the steel material 6 while moving in a predetermined direction. In this embodiment, the predetermined direction is the direction Dr (travel direction Dr) in which the welding robot 100 moves along the guide rail 7. As shown in Figure 1, the guide rail 7 is arranged along the outer circumference of the steel material 6. The guide rail 7 is arranged to surround the steel material 6 in a ring shape in the circumferential direction. The guide rail 7 is made of aluminum to reduce weight.

[0015] The welding robot 100 moves in the travel direction Dr by the sliding part 21 sliding on the guide rail 7. The sliding part 21 slides on the guide rail 7 by being driven by a motor (servo motor) (not shown). The welding robot 100 can move in both directions in the travel direction Dr.

[0016] The welding robot 100 includes a welding torch 1 and a T-axis X which is an axis perpendicular to a predetermined direction Dr (travel direction Dr). T It includes a T-axis drive unit 12 that rotates the welding torch 1 around the T-axis X. T This direction is parallel to the plane of the steel material (the plane in which the steel material extends).

[0017] The welding torch 1 is used to weld the ends of steel materials 6 together. Welding with the welding torch 1 is performed, for example, by arc welding. A welding wire 110 is placed inside the welding torch 1. In this embodiment, the welding torch 1 is connected to the lower end of the B-axis drive unit 2, which will be described later. The B-axis drive unit 2 is an axis that is aligned in a predetermined direction Dr, the B-axis X B The welding torch 1 is rotated around the . The welding torch 1 may be connected to the T-axis drive unit 12.

[0018] The T-axis drive unit 12 will be described in detail with reference to Figures 2 to 4. Figure 3 is a plan view illustrating the state in which the welding torch 1 is in the upright welding position, and is a view of the welding torch 1 from below in the vertical direction Dv. Figure 4 is a plan view illustrating the state in which the welding torch 1 is in the inclined welding position, and is a view of the welding torch 1 from below in the vertical direction Dv. The T-axis drive unit 12 is rotated by a drive source. The T-axis drive unit 12 is the T-axis X which is perpendicular to a predetermined direction Dr. T The welding torch 1 is rotated around the T-axis. The T-axis drive unit 12 comprises a T-axis motor unit 13 and a T-axis reduction unit 14. Inside the T-axis drive unit 12, the T-axis motor unit 13 and the T-axis reduction unit 14 are arranged perpendicular to the plane on which the steel material 6 extends. That is, the T-axis motor unit 13 and the T-axis reduction unit 14 are arranged in the proximity-isolation direction Dh. The T-axis motor unit 13 is T-axis X T This is a motor for rotating the T-axis. The T-axis motor unit 13 is connected to the T-axis reduction unit 14 via the T-axis connecting belt 15, and transmits the driving force of the T-axis motor unit 13 to the T-axis reduction unit 14.

[0019] As shown in Figures 3 and 4, the welding torch 1 is moved along the T-axis X via the T-axis drive unit 12. T By rotating it, the welding angle in the travel direction Dr of the welding torch 1 can be adjusted. This allows the torch angle At(°) of the welding torch 1 to be adjusted. The torch angle At is the angle at which the welding wire 110 supported at the tip of the welding torch 1 expands in the direction of the travel direction Dr. The torch angle At is appropriately adjusted according to the condition of the welding area of ​​the steel material 6 and the relative position of the welding robot 100 and the erection piece 5. In FIG. 3, the torch angle At of the welding torch 1 is 0 (°). The position of the welding torch 1 at this time is defined as the vertical welding position Pw0. The vertical welding position Pw0 is the position where the welding torch 1 faces the steel material 6 directly. When the welding torch 1 is positioned at the vertical welding position Pw0, the welding torch 1 stands upright at a right angle to the welding direction (travel direction Dr), and welding can be performed under the same conditions regardless of whether the welding direction is two-way. Note that at the vertical welding position Pw0, a straight line extending along the longitudinal direction of the welding torch 1 becomes a straight line perpendicular to the plane of the steel material 6 that the welding torch 1 faces within the plane in which the steel material 6 extends.

[0020] As shown in FIG. 4, the T-axis drive unit 12 changes the torch angle At of the welding torch 1, tilts the welding torch 1, and makes the tip of the welding torch 1 penetrate between the steel material 6 and the erection piece 5. Thereby, welding of the portion of the steel material 6 covered by the erection piece 5 can be performed. The position of the welding torch 1 at this time is defined as the inclined welding position Pw1 (°). In this way, the T-axis drive unit 12 can rotate the welding torch 1 around the T-axis X with a small torque to weld the steel material 6. T

[0021] Since the T-axis motor unit 13 and the T-axis reduction unit 14 are arranged perpendicular to the plane in which the steel material 6 extends, the distance between the T-axis drive unit 12 and the tip of the welding torch 1 is shortened. Thereby, when the welding torch 1 rotates around the T-axis X, the influence of the rotation error on the welding line direction of the tip of the welding torch 1 can be suppressed. That is, the welding robot 100 can perform welding with high accuracy. T Furthermore, by reducing the center of gravity of the welding robot 100, the rigidity of the welding robot 100 can be ensured.

[0022] The welding robot 100 according to the present embodiment includes a B-axis drive unit 2 that rotates the welding torch 1 around the B-axis X, which is an axis along the predetermined direction Dr. B

[0023] ​​The B-axis drive unit 2 will be described in detail with reference to Figures 5 and 6. Figure 5 is a side view illustrating the welding torch 1 in the welding position in the welding robot 100 according to this embodiment, and for convenience only, only half of the figure is shown. Figure 6 is a side view illustrating the welding torch 1 in the retracted position in the welding robot 100 according to this embodiment, and for convenience only, only half of the figure is shown. The B-axis drive unit 2 is connected to the lower end of the T-axis drive unit 12. The welding torch 1 is connected to the lower end of the B-axis drive unit 2. The B-axis drive unit 2 is an axis that is aligned in a predetermined direction Dr, which is the B-axis X B The welding torch 1 is rotated around the X. That is, the order in which the B-axis drive unit 2 and the T-axis drive unit 12 are connected is, from the welding torch 1 side, B-axis drive unit 2, then T-axis drive unit 12. B It extends in the direction of travel Dr. B axis X B In Figures 5 and 6, it extends in the direction of the depth of the paper. The B-axis drive unit 2 is driven by the T-axis drive unit 12 to the T-axis X T It rotates around. The B-axis drive unit 2 is connected to the lower end of the T-axis drive unit 12, so the T-axis drive unit 12 moves along the T-axis X. T When it rotates, the B-axis drive unit 2 also inevitably rotates along the T-axis X T It rotates around.

[0024] The B-axis drive unit 2 is rotated by a drive source. The B-axis drive unit 2 comprises a B-axis motor unit 10 and a B-axis reduction unit 11. The B-axis motor unit 10 and the B-axis reduction unit 11 are arranged perpendicular to the plane on which the steel material 6 extends. That is, the B-axis motor unit 10 and the B-axis reduction unit 11 are arranged in the proximity-isolation direction Dh. The B-axis motor unit 10 is B-axis X B This is a motor for rotating the B-axis X. The B-axis motor unit 10 is connected to the B-axis reduction unit 11 via the B-axis connecting belt 16, and the drive of the B-axis motor unit 10 is transmitted to the B-axis reduction unit 11. The welding torch 1 is driven along the B-axis X via the B-axis drive unit 2. B The welding angle of welding torch 1 is adjusted by rotating it.

[0025] As shown in Figure 5, the B-axis drive unit 2 is set to the B-axis XB The welding angle of the welding torch 1 can be adjusted by rotating it. This allows the aiming angle Aw(°) of the welding torch 1 to be adjusted. The aiming angle Aw is the angle at which the welding wire 110 supported at the tip of the welding torch 1 spreads in the vertical direction Dv. The aiming angle Aw is appropriately adjusted according to the condition of the welding area of ​​the steel material 6. In Figure 5, although the aiming angle Aw of the welding torch 1 is adjusted, the welding wire 110 at the tip of the welding torch 1 is in contact with or close to the welding area of ​​the steel material 6, making it possible to weld the steel material 6 with the welding torch 1. The position of the welding torch 1 within the range in which welding is possible is referred to as the welding position Pw.

[0026] Furthermore, as shown in Figure 6, the B-axis drive unit 2 also has a retraction function that moves the welding torch 1 from the welding position Pw to a retraction position Pr where the welding torch 1 does not interfere with the erection piece 5. In other words, the B-axis drive unit 2 moves the welding torch 1 along the B-axis X B By rotating it significantly, the welding wire 110 is moved away from the welding area of ​​the steel material 6 and to the retracted position Pr. The retracted position Pr is the position of the welding torch 1 when the welding wire 110 and the tip of the welding torch 1 supporting it do not interfere with the erection piece 5.

[0027] In this way, by retracting the welding torch 1 to a retracted position Pr where it does not interfere with the erection piece 5, the welding robot 100 can pass over the erection piece 5 in the travel direction Dr while preventing contact with the erection piece 5. Therefore, continuous welding across the erection piece 5 can be performed.

[0028] Since the B-axis motor unit 10 and the B-axis reduction unit 11 are aligned perpendicular to the plane on which the steel material 6 extends, the distance between the B-axis drive unit 2 and the tip of the welding torch 1 is shortened. As a result, the welding torch 1 moves along the B-axis X BWhen rotating, the rotational error can be suppressed in the vertical direction of the tip of the welding torch 1. In other words, the welding robot 100 can weld with high precision. Furthermore, by lowering the center of gravity of the welding robot 100, the rigidity of the welding robot 100 can be ensured.

[0029] The welding robot 100 according to this embodiment is equipped with a T-axis drive unit 12 and a B-axis drive unit 2, so that erection pieces 5 can be efficiently avoided without reducing welding efficiency. Specifically, the B-axis X B Even if the rotation of the surrounding area is small, the T-axis X is controlled by the T-axis drive unit 12. T Since it can also rotate, it can reliably avoid the erection piece 5 installed on the steel material 6. Therefore, T-axis X T The rotational radius of the welding torch 1 due to rotation around it is reduced, and the B axis X B The rotational movement can be reduced. This allows the welding robot 100 to be made smaller. Alternatively, the position of the welding torch 1 may be controlled as follows: that is, in front of the erection piece 5, the T-axis X T The welding torch 1 is positioned at the inclined welding position Pw1 by rotation, and while maintaining that position, the B axis X B The welding torch 1 may be positioned in the retracted position Pr by rotation, and while maintaining that position, the welding torch 1 may be moved along the travel direction Dr until the welding torch 1 has passed over the erection piece 5, after which the welding torch 1 may be positioned in the welding position Pw. This allows for efficient avoidance of the erection piece 5 without reducing welding efficiency.

[0030] The welding robot 100 according to this embodiment includes an arm 30 to which a T-axis drive unit 12 is attached, and an arm drive unit 31 that moves the arm 30 so that the T-axis drive unit 12 moves along a direction parallel to the plane on which the steel material 6 extends (vertical direction Dv).

[0031] The arm 30 is housed inside the arm drive unit housing case 40, which will be described later, and extends in the vertical direction Dv. The T-axis drive unit 12 is connected to the lower end of the arm 30. The length of the arm 30 is, for example, 250 mm to 300 mm. The length of the arm 30 is set considering the required amount of movement of the arm in the vertical direction Dv.

[0032] The arm drive unit 31 comprises an arm motor unit 32 and an arm reduction unit 33. The arm motor unit 32 is connected to the arm reduction unit 33 via an arm connecting belt 34, and transmits the driving force of the arm motor unit 32 to the arm reduction unit 33. The arm drive unit 31 is driven, and the arm 30 moves in the vertical direction Dv. The arm drive unit 31 can move the arm 30 in both directions in the vertical direction Dv. This allows the T-axis drive unit 12 to move in both directions in the vertical direction Dv. The arm motor unit 32 and the arm reduction unit 33 are arranged perpendicular to the plane on which the steel material 6 extends. This makes it possible to position the arm drive unit 31 on the guide rail 7 side, thereby reducing the deflection of the guide rail 7. As a result, the positional accuracy of the tip of the welding torch 1 in the direction of the target angle can be improved.

[0033] As shown in Figure 2, the T-axis motor unit 13 and the T-axis reduction unit 14 are arranged in the order of T-axis reduction unit 14 followed by T-axis motor unit 13 from the steel material 6 side. This increases the space between the T-axis drive unit 12 and the steel material 6, making it possible to reduce the amount of vertical movement of the T-axis drive unit 12 required to avoid interference between the T-axis drive unit 12 and the erection piece 5 when avoiding the erection piece 5. In addition, especially when the thickness of the steel material 6 is thick, the welding torch 1 can be lowered to a deeper position in the thickness direction (proximity isolation direction Dh) of the steel material 6 without interference between the T-axis drive unit 12 and the steel material 6, so that thicker steel material 6 can be welded.

[0034] T-axis T This axis is parallel to the plane on which the steel material 6 extends and is perpendicular to the predetermined direction Dr.

[0035] The B-axis motor unit 10 and the B-axis reduction unit 11 are arranged in the order of B-axis reduction unit 11, B-axis motor unit 10, from the steel material 6 side. This increases the space between the B-axis drive unit 2 and the steel material 6, making it possible to reduce the amount of vertical movement of the T-axis drive unit 12 required to avoid interference between the B-axis drive unit 2 and the erection piece 5 when avoiding the erection piece 5. In addition, especially when the thickness of the steel material 6 is thick, the welding torch 1 can be lowered to a deeper position in the thickness direction (proximity isolation direction Dh) of the steel material 6 without interference between the B-axis drive unit 2 and the steel material 6, so that thicker steel material 6 can be welded.

[0036] The arm 30 and the arm drive unit 31 are arranged in the order of arm 30, then arm drive unit 31, from the steel material 6 side. This allows the center of gravity of the arm drive unit 31 to be lowered. Lowering the center of gravity of the arm drive unit 31 allows the welding robot 100 to have a lower center of gravity. In other words, the welding robot 100 can be made smaller. This reduces the deflection of the guide rail 7, improving the positional accuracy of the tip of the welding torch 1 in the direction of the target angle. Furthermore, lowering the center of gravity of the welding robot 100 ensures the rigidity of the welding robot 100.

[0037] The welding robot 100 according to this embodiment includes a ball screw 43 and two or more guide members 41 that guide the arm 30. The ball screw 43 consists of a screw shaft 44 and a nut 45, etc. One end of the ball screw 43 is connected to the arm reduction unit 33, and the ball screw 43 rotates when the arm drive unit 31 is driven. This causes the nut 45 to move along the screw shaft 44. The arm 30 connected to the nut 45 moves along with the movement of the nut 45. That is, the arm drive unit 31 moves the arm 30 parallel to the plane on which the steel material 6 extends via the ball screw 43. As the arm 30 moves, the T-axis drive unit 12 connected to the arm 30 moves. Each of the two or more guide members 41 is positioned between the arm 30 and the steel material 6. In Figure 2, two guide members 41 are positioned parallel to the plane on which the steel material 6 extends.

[0038] By positioning two or more guide members 41 between the arm 30 and the steel material 6, the welding robot 100 can have its center of gravity lowered. In other words, the welding robot 100 can be made smaller. This reduces the deflection of the guide rail 7, thereby improving the positional accuracy of the tip of the welding torch 1 in the direction of the target angle. Furthermore, lowering the center of gravity of the welding robot 100 ensures the rigidity of the welding robot 100.

[0039] The welding robot 100 according to this embodiment includes a rail 46, blocks 42 that move along the rail 46 and constitute two or more guide members 41, and balls 47 that are arranged between the blocks 42 and the rail 46 as rolling members. The rail 46 extends parallel to the plane on which the steel material 6 extends. The length of the rail 46 is approximately the same as the length of the arm 30. The block 42 connects to the rail 46 and moves along the rail 46 via balls 47. Multiple balls 47 are arranged throughout the groove formed along the length of the rail 46. The balls 47 act as rolling members, causing the block 42 to move along the rail 46. The balls 47 are, for example, steel balls with a diameter of 2 mm to 3 mm.

[0040] Multiple balls 47 are arranged without gaps throughout the entire groove formed in the longitudinal direction of the block 42. As a result, each of the two or more guide members 41 applies preload from the balls 47 to the block 42 and the rail 46. This configuration increases the rigidity between the rail 46 and the block 42.

[0041] The welding robot 100 according to this embodiment includes a conduit cable 50 connected to the rear end of a welding torch 1, an arm drive unit 31, a ball screw 43, and an arm drive unit housing case 40 that houses two or more guide members 41. One end of the conduit cable 50 is connected to the rear end of the welding torch 1, supplying power to the welding torch 1. The other end of the conduit cable 50 is connected to a wire feeder (not shown), which is connected to a welding power source (not shown). In this embodiment, the welding power source is located on the floor. The arm drive unit housing case 40 is roughly box-shaped and houses a ball screw 43 and two or more guide members 41 inside. In Figures 1, 2, 5, and 6, for convenience, the arm drive unit housing case 40 is shown with the ball screw 43 and guide members 41 visible from the side, but to protect against dust, the arm drive unit housing case 40 is designed to be covered with a lid when viewed from the side.

[0042] The arm drive unit housing case 40 comprises a first exterior plate 51 and a second exterior plate 52. The first exterior plate 51 is an exterior plate constituting the arm drive unit housing case 40 and faces the welding torch 1. The second exterior plate 52 is an exterior plate constituting the arm drive unit housing case 40 and is located on the opposite side of the welding torch 1, with the first exterior plate 51 in between. The second exterior plate 52 is inclined toward the first exterior plate 51 when viewed along a predetermined direction Dr. The angle of inclination of the second exterior plate 52 is the angle between the second exterior plate 52 and the vertical direction Dv when viewed along the predetermined direction Dr, and the inclination angle is, for example, 45°. As shown in Figure 2, etc., in a side view of the arm drive unit housing case 40, the second exterior plate 52 is inclined toward the direction away from the steel material 6 in the proximity isolation direction Dh. In other words, the arm drive unit housing case 40 is trapezoidal in a side view. By configuring the arm drive unit housing case 40 in this way, interference between the conduit cable 50 and the arm drive unit housing case 40 can be prevented, and vibration of the welding torch 1 tip due to interference of the conduit cable 50 can be prevented.

[0043] The welding robot 100 according to this embodiment includes a main body case 53. The main body case 53 houses a drive unit (not shown) that moves the welding robot 100 in a predetermined direction Dr along the guide rail 7, and a drive unit (not shown) that moves the arm drive unit housing case 40 in a proximity isolation direction Dh. The main body case 53 and the arm drive unit housing case 40 overlap when viewed along the predetermined direction Dr. This configuration allows the welding robot 100 to have a low center of gravity. In other words, the welding robot 100 can be made smaller. As a result, the deflection of the guide rail 7 can be reduced, improving the positional accuracy of the tip of the welding torch 1 in the target angle direction. Furthermore, by lowering the center of gravity of the welding robot 100, the rigidity of the welding robot 100 can be ensured.

[0044] The welding robot 100 according to this embodiment includes a main body 54 to which a welding torch 1, a B-axis drive unit 2, and a T-axis drive unit 12 are attached. The steel material 6 is provided with erection pieces 5. In this embodiment, four erection pieces 5 are attached to and temporarily fixed to four flat surfaces of the steel material 6. Between the main body 54 and the welding torch 1, there is a storage space 55 in which the rear end of the welding torch 1, which is rotated by the B-axis drive unit 2, is housed. By providing the storage space 55, the welding torch 1 can be moved along the B-axis X B Even when rotated, the rear end of the welding torch 1 and the conduit cable 50 do not come into contact with the B-axis drive unit 2. Even when the welding torch 1 is closest to the B-axis drive unit 2, that is, when it is retracted to the retracted position Pr where it does not interfere with the erection piece 5, the rear end of the welding torch 1 is stored in the storage space 55, and the rear end of the welding torch 1 and the conduit cable 50 do not interfere with the B-axis drive unit 2. The rear end of the welding torch 1 is the end opposite to the side on which the welding wire 110 is supported.

[0045] The welding robot 100 according to this embodiment includes a T-axis drive unit housing case 56 that houses the T-axis drive unit 12. The T-axis drive unit housing case 56 includes a third exterior plate 57 and a fourth exterior plate 58. The third exterior plate 57 is an exterior plate that constitutes the T-axis drive unit housing case 56 and faces the welding torch 1. The fourth exterior plate 58 is an exterior plate that constitutes the T-axis drive unit housing case 56 and is located on the opposite side of the welding torch 1, with the third exterior plate 57 in between. The third exterior plate 57 is inclined toward the fourth exterior plate 58 when viewed along a predetermined direction Dr. The inclination angle of the third exterior plate 57 is the angle between the third exterior plate 57 and the vertical direction Dv when viewed along the predetermined direction Dr, and the inclination angle is, for example, 45°. As shown in Figure 2, etc., in a side view of the T-axis drive unit housing case 56, the third exterior plate 57 is inclined toward the steel material 6 in the proximity isolation direction Dh. In other words, the T-axis drive unit housing case 56 is trapezoidal in a side view. By configuring the T-axis drive unit housing case 56 in this way, interference between the conduit cable 50 and the T-axis drive unit housing case 56 can be prevented, and vibration of the welding torch tip 1 due to interference of the conduit cable 50 can be prevented.

[0046] The welding robot 100 according to this embodiment includes a B-axis drive unit housing case 59 that houses the B-axis drive unit 2. The B-axis drive unit housing case 59 includes a fifth exterior plate 60 and a sixth exterior plate 61. The fifth exterior plate 60 is an exterior plate that constitutes the B-axis drive unit housing case 59 and faces the welding torch 1. The sixth exterior plate 61 is an exterior plate that constitutes the B-axis drive unit housing case 59 and is located on the opposite side of the welding torch 1, with the fifth exterior plate 60 in between. The fifth exterior plate 60 is inclined toward the sixth exterior plate 61 when viewed along a predetermined direction Dr. The inclination angle of the fifth exterior plate 60 is the angle between the fifth exterior plate 60 and the vertical direction Dv when viewed along the predetermined direction Dr, and the inclination angle is, for example, 45°. As shown in Figure 2, etc., in a side view of the B-axis drive unit housing case 59, the fifth exterior plate 60 is inclined toward the steel material 6 in the proximity isolation direction Dh. In other words, the B-axis drive unit housing case 59 is trapezoidal in a side view. By configuring the B-axis drive unit housing case 59 in this way, interference between the conduit cable 50 and the B-axis drive unit housing case 59 can be prevented, and vibration of the welding torch 1 tip due to interference of the conduit cable 50 can be prevented.

[0047] The steel material 6 may be a steel pipe.

[0048] Although embodiments of the present invention have been described above, these embodiments are presented as examples only, and the scope of the present invention is not limited to these embodiments. The above embodiments can be implemented in various other forms, and various omissions, substitutions, and modifications can be made without departing from the spirit of the invention. The above embodiments and their variations are included in the scope and spirit of the invention, as well as in the claims and their equivalents. For example, the welding robot 100 in the embodiment of the present invention welds steel material 6 that is temporarily fixed with an erection piece 5 in a horizontal direction, but is not limited to this. For example, the welding robot 100 may also weld steel material 6 that is temporarily fixed with a restraining material such as an erection piece 5 in a downward direction, vertical direction, or upward direction. [Explanation of Symbols]

[0049] 1. Welding torch 2 B-axis drive unit 5 Erection Pieces 6 Steel material 7 Guide rails 8 Main unit 10 B-axis motor unit 11 B-axis reduction unit 12 T-axis drive unit 13 T-axis motor unit 14 T-axis reduction unit 20 Welding robots 21 Slide section 22 plates 23 cases 30 Arms 31 Arm drive unit 32 Arm Motor Unit 33 Arm reduction unit 40 Arm drive unit storage case 41 Guide member 42 blocks 43 Ball screw 50 Conduit Cables 51. First exterior panel 52. Second exterior panel 53 Main unit case 54 Main body 55 storage spaces 56 T-axis drive unit storage case 57 Third exterior panel 58. Fourth exterior panel 59 B-axis drive unit storage case 60. Fifth exterior panel 61. Sixth exterior panel 100 welding robots 110 welding wire

Claims

1. A welding robot that is suspended from a rail that is aligned with the plane of an upright steel material and moves along the rail in a predetermined direction while welding the steel material, Welding torch and A T-axis drive unit that rotates the welding torch around a T-axis, which is an axis perpendicular to the predetermined direction, Equipped with, The T-axis drive unit comprises a T-axis motor unit and a T-axis reduction unit. The T-axis motor unit and the T-axis reduction unit are arranged perpendicular to the plane of the steel material. A welding robot characterized by the following features.

2. The welding torch is rotated around the B-axis, which is an axis aligned in the predetermined direction, by a B-axis drive unit. The B-axis drive unit is rotated around the T-axis by the T-axis drive unit. The B-axis drive unit comprises a B-axis motor unit and a B-axis reduction unit. The B-axis motor unit and the B-axis reduction unit are arranged perpendicular to the plane. The welding robot according to feature 1.

3. The arm to which the T-axis drive unit is attached, The T-axis drive unit includes an arm drive unit that moves the arm so as to move along a direction parallel to the plane, Equipped with, The arm drive unit comprises an arm motor unit and an arm reduction unit. The arm motor unit and the arm reduction unit are arranged in a direction perpendicular to the plane. The welding robot according to feature 2.

4. The T-axis motor unit and the T-axis reduction unit are arranged in the order of the T-axis reduction unit and the T-axis motor unit from the steel material side. The welding robot according to feature 3.

5. The T-axis is an axis that is parallel to the plane and perpendicular to the predetermined direction. The welding robot according to feature 4.

6. The welding torch is rotated around the B-axis, which is an axis aligned in the predetermined direction, by a B-axis drive unit. The B-axis drive unit comprises a B-axis motor unit and a B-axis reduction unit. The B-axis motor unit and the B-axis reduction unit are arranged perpendicular to the plane. The B-axis motor unit and the B-axis reduction unit are arranged in the order of the B-axis reduction unit, then the B-axis motor unit, from the steel material side. The welding robot according to feature 5.

7. The arm to which the T-axis drive unit is attached, The T-axis drive unit includes an arm drive unit that moves the arm so as to move along a direction parallel to the plane, Equipped with, The arm drive unit comprises an arm motor unit and an arm reduction unit. The arm motor unit and the arm reduction unit are arranged in a direction perpendicular to the plane. The arm and the arm drive unit are arranged in the order of the arm, then the arm drive unit, from the steel material side. The welding robot according to feature 6.

8. Ball screw and Two or more guide members that guide the arm, Equipped with, The arm drive unit moves the arm parallel to the plane via the ball screw, The welding robot according to claim 7, characterized in that each of the two or more guide members is positioned between the arm and the steel material.

9. The aforementioned rail and, Blocks that move along the rail and constitute the two or more guide members, A ball is placed between the block and the rail as a rolling member, Equipped with, Each of the two or more guide members applies preload from the ball to the block and the rail. The welding robot according to feature 8.

10. A conduit cable connected to the rear end of the welding torch, The arm drive unit, the ball screw, and the arm drive unit housing case which houses the two or more guide members, Equipped with, The aforementioned arm drive unit housing case is The outer panel constituting the arm drive unit housing case comprises a first outer panel facing the welding torch, The outer panel constituting the arm drive unit housing case comprises a second outer panel located on the opposite side of the welding torch from the first outer panel, Equipped with, The second exterior panel is inclined toward the first exterior panel when viewed along the predetermined direction. The welding robot according to feature 9.

11. Main unit case Equipped with, The main body case and the arm drive unit housing case overlap when viewed along the predetermined direction. The welding robot according to feature 10.

12. A conduit cable connected to the rear end of the welding torch, The welding torch, the B-axis drive unit, and the main body to which the T-axis drive unit is attached are provided. The aforementioned steel material is provided with an erection piece, Between the main body and the welding torch, there is a storage space for the rear end of the welding torch, which is rotated by the B-axis drive unit. A welding robot according to any one of claims 2 to 11.

13. It includes a T-axis drive unit housing case for housing the aforementioned T-axis drive unit, The T-axis drive unit housing case is The exterior plate constituting the T-axis drive unit housing case comprises a third exterior plate facing the welding torch, The exterior plate constituting the T-axis drive unit housing case comprises a fourth exterior plate located on the opposite side of the welding torch, sandwiching the third exterior plate. Equipped with, The third exterior panel is inclined toward the fourth exterior panel when viewed along the predetermined direction. The welding robot according to feature 12.

14. The B-axis drive unit housing case is provided for housing the B-axis drive unit, The B-axis drive unit housing case is The exterior plate constituting the B-axis drive unit housing case comprises a fifth exterior plate facing the welding torch, The outer panel constituting the B-axis drive unit housing case comprises a sixth outer panel located on the opposite side of the welding torch, sandwiching the fifth outer panel. Equipped with, The fifth exterior panel is inclined toward the sixth exterior panel when viewed along the predetermined direction. The welding robot according to feature 13.

15. The aforementioned steel material is a steel pipe. A welding robot according to any one of claims 1 to 11.

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