To restrain dislocation of a welding aiming position caused by an operational speed difference between a circumferential operation of a welding torch and a circular operation of the whole branch pipe welder.
An automatic welding unit 1 is constituted by installing a branch pipe welder 4 having a horseshoe guide 5 and the welding torch 10 for executing circumferential operation in a tip part of a robot hand 3. Before starting welding work, a division point for dividing the circumferential direction of a branch pipe 2 into a plurality, is set on a welding place of the branch pipe 2 and a header 1 in a welder control device 16 and a robot control panel 15, and a position for arranging the welding torch 10 by the branch pipe welder 4 and a position for arranging the whole branch pipe welder 4 by the robot hand 3, are preset in response to the division point. When executing the welding work of the branch pipe 2, when the welding work reaches the division point, positioning work is executed by aiming at the position for arranging the welding torch 10 by the preset branch pipe welder 4 and the position for arranging the whole branch pipe welder 4 by the robot hand 3, and after eliminating dislocation of the welding aiming position once, the welding work is resumed.
SAITO HIROSHI
UCHIDA YUTA
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