| 摘要 |
<P>PROBLEM TO BE SOLVED: To reduce a time required for welding processing for welding a plurality of branch pipes onto a parent pipe. <P>SOLUTION: A welding module 13 equipped with a branch pipe welding machine 4 on a multi-articular robot 14, and a sensing module 15 equipped with a sensor apparatus 17 on another multi-articular robot 16, are independently fitted so as to be able to move back and forth on a guide rail 12 extending in the longitudinal direction of the parent pipe 1. When a plurality of branch pipes 2a-2n are fitted on the parent pipe 1, on respective branch pipes 2a-2n arranged in a line from one end side in the longitudinal direction of the parent pipe 1 to the other end side, a sensing operation by the sensor apparatus 17 of the sensing module 15 is successively performed, and information on respective position measuring results are once stored in a controlling apparatus 18. In parallel to the sensing operation on the branch pipes 2b-2n whose welding orders by the sensing module 15 are afterward, the welding operations of respective branch pipe 2a-2n on the parent pipe 1 are performed by the welding module 13 while the position of the branch pipe welding machine 4 is controlled based on the information of the position measuring results obtained from the controlling apparatus 18. <P>COPYRIGHT: (C)2012,JPO&INPIT |
