| 摘要 |
Disclosed is a control method of an automatic welding apparatus for safety scaffolds. The control method of the automatic welding apparatus for safety scaffolds according to an embodiment of the present invention comprises a step for aligning welding positions of a safety scaffold for a plate fixed on a plate fixing unit installed on one side of a bed unit by pressurizing the safety scaffold in a direction intersecting the longitudinal direction of the bed unit by a scaffold aligning unit installed on both sides of the bed unit with the safety scaffold arranged; a step for making the safety scaffold in contact with the plate by pressing the safety scaffold with a scaffold pressing unit of a gripping and pressing unit provided with a clamping unit to grip the safety scaffold and a scaffold pressing unit to press the safety scaffold; a step for identifying the cross-section condition of the safety scaffold in contact with the plate by collecting sensing signals from a scaffold sensor separated from a position for arrangement of the plate of the plate fixing unit and arranged on the bed unit along the direction intersecting the longitudinal direction of the safety scaffold; and a step for welding the safety scaffold and the plate by activating a welding robot based on the cross-section condition of the safety scaffold identified by the scaffold sensor. [Reference numerals] (AA) Start; (BB) Horizontal compression (Safety scaffold width); (CC) Longitudinal compression (Safety scaffold length); (DD) Is a load cell value greater than a set input value?; (EE,PP,RR) No; (FF,MM,OO) Yes; (GG) Stop longitudinal compression; (HH) Sense and identify an identification sensor for scaffold cross-section conditions; (II) Extract a welding trajectory; (JJ) Three-face welding a plate and a safety scaffold; (KK) Loosening of longitudinal compression; (LL) Loosening of horizontal compression; (NN) Are all six faces welded?; (QQ) Is it turned over?; (SS) Safety scaffold clamping; (TT) Ascending in the vertical direction; (UU) Turn the safety scaffold over by the rotation of a rotary unit; (WW) Descending in the vertical direction; (XX) Loosening of safety scaffold clamping; (YY) End |
