JP2000254778A - Column ring welding device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To save manpower of a welding work by mounting the welding hand having horizontal, up/down, folding axes to a manipulator movable up/down/ horizontally and having a welding power source and a controller, recognizing a groove shape with a laser beam sensor and correcting a target position and a welding condition at each pass with a control means with a welding condition stored. SOLUTION: A tube column mounted with a ring 12 is rotated by a positioner 14, multi layer cladding by welding is conducted by a welding torch. The work data of a position, groove shape, welding sequence, etc., of the ring of an object work is inputted from a drawing to a master controller 40. The groove shape data from a laser beam sensor 36 and the rotary position detection data are inputted in the master controller 40. The master controller 40 compares them to the work data, instructs respective hand controller 38 to control a welding hand 28 in order to correct a target position and a welding condition at each pass.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a column ring welding apparatus, in which a donut-shaped ring is mounted in a flange shape on a pipe such as a steel pipe, and a taper is formed on an inner peripheral portion of the ring to be fitted to the pipe. The present invention relates to a column ring welding apparatus suitable for simultaneously welding a groove portion formed between the tapered surface and the pipe surface from both surfaces by mounting.

[0002]

2. Description of the Related Art In conventional multilayer overlay welding of a pipe and a ring of a column ring, simultaneous fillet welding on both sides of the ring is performed by rotating the pipe.
Adjustment of welding conditions (current, voltage, speed) is all manual operation by an operator. At present, the operator constantly monitors the welding condition, manually corrects the target position of the torch during welding, and manually adjusts welding conditions such as current, voltage, and speed. The operator correction is different from the target position correction and the welding condition adjustment for each torch. Therefore, one operator has limited the welding operation of two torches. In addition, there is an automatic welding device using a plurality of articulated robots or the like, but no adjustment is made to adapt to the groove shape of each ring.

[0003]

SUMMARY OF THE INVENTION The object of the present invention is as follows.
Another object of the present invention is to significantly reduce the number of welding operations per se by adaptive control of simultaneous two-sided, four-groove fillet welding. A second object is to reduce the setup work by automating the movement of the welding device to each ring position.

[0004]

A column ring welding apparatus according to the present invention mounts a ring having a groove on a column,
A device for welding the groove in the circumferential direction along the groove while rotating the column, a positioner for supporting and rotating a pipe with a ring, a movable vertically and horizontally, a welding power source, hand control A single or a plurality of manipulators on which the device is mounted, a welding hand attached to the manipulator and having three axes of horizontal, vertical and bent, a welding torch provided on the welding hand and directed to the groove, and an individual groove It has a laser sensor that recognizes the shape, reads the work data that is input from the drawing in advance, such as the ring position, groove shape, welding order, etc. of the target work, and reads each layer, each path by stacking plan and rotation position detection Control means for correcting the target position and welding conditions between them, so that each groove of the ring can be welded simultaneously.

[0005]

According to the above construction, the manipulator holds one welding torch, and arranges two welding hands having three axes (horizontal, vertical, broken) from both sides of the ring. The manipulator is moved to the ring position mounted on the pipe held by the rotating means, and the welding torch is opened. It is arranged to face first. When there are two rings, the two manipulators are pointed to each ring position, and the torch is directed to the groove on both sides.

The control device may be constituted by a personal computer system which is communicatively connected to four hand control devices, two manipulators, and one rotating device. Enter the work data for which the data and welding data have been created. This control device builds a multi-layer welding algorithm, creates a lamination planning logic such as the number of layers and passes according to the groove type and shape, welding conditions, and an adaptive control logic such as an appropriate target position during welding and welding conditions. Welding work can be performed.

The control device controls the four hands, two manipulators, and one rotating device by a personal computer, incorporates sequence synchronization control of each hand, manipulator, and rotating device, and further controls four grooves. A function to create and check common welding conditions can be provided, and the built-up multi-layer welding algorithm refers to the front layer of groove shape data in circumferential multi-layer fillet welding, and passes each rotation during welding. By the inter-movement sequence, accurate welding is performed based on an adaptive welding condition generation logic such as a target position correction amount, current, voltage, and speed based on the shape data.

For the work data, the welding sequence, combination, groove shape and the like of the corresponding ring are sequentially determined by an input operation on a personal computer screen based on the drawing information by a data creation system using a personal computer. Before welding at the site, it may be prepared in advance in the office and read into the control device by a floppy disk.

[0009]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, a specific embodiment of a column ring welding apparatus according to the present invention will be described in detail with reference to the drawings. The column ring welding apparatus according to the embodiment is used for attaching the ring 12 to the pipe column 10 and welding the two together so that the pipe column 10 and the ring 12 are combined and used as a steel column for a building.
A tapered surface is formed on the inner and outer peripheral surfaces of the ring 12,
The groove formed by attaching the ring 12 to the pipe column 10 is multi-layer welded. Since a groove is formed on both sides of the ring 12, the welding apparatus according to this embodiment welds both sides of the ring at the same time. When the ring 12 is provided in two places, four rings are simultaneously formed. The torch is used for welding.

FIG. 1 is an overall perspective view of a column ring welding apparatus for performing simultaneous side-by-side multi-layer build-up welding of two ring 4 grooves. As shown in this figure, in the embodiment, a positioner 14 for rotatably supporting a pipe column 10 on which a plurality of rings 12 are mounted around its axis is provided. The positioner 14 is provided with a chucking portion 16 for gripping one end of the pipe column 10 arranged horizontally. The positioner 14 is rotatably held in a so-called cantilever state, and is held at the end of the pipe column 10. The rotation position is detected and the flow is prevented. A first roller bogie 18 supported at a position near the chucking portion 16 is provided on a lower surface side of the pipe column 10, and a second roller bogie 20 is provided at a free end side of the pipe column 10. Both roller carriages 18 and 20 support the rotation of the pipe column 10 by column support rollers 22, and the first roller carriage 18 is configured as a pipe support rotation drive roller.
The second roller 20 is configured as a support roller. In order to cope with the difference in the pipe diameter and the length of both roller carriages 18 and 20, the traveling and column support rollers 22 are used.
Can be adjusted. In addition, the roller cart 20
Is adjustable in height.

In the embodiment, the pipe column 10 on which the ring 12 is mounted is rotated by the positioner 14, and during this rotation, the inner peripheral portion of the ring 12 and the column 1 are rotated.
The welding torch 24 is directed to the groove formed between the two layers to perform multi-layer build-up welding. This schematic diagram is shown in FIG. Both surfaces of the inner peripheral edge portion of the ring 12 mounted on the outer peripheral surface of the pipe column 10 are cut so as to have a tapered tip, so that V-shaped grooves 26 (on both sides of the ring 12 mounted on the column 10). 26R, 26
L) is set. The welding torch 24 is set laterally with respect to the two grooves 26, and the tip of the torch is set so as to face the top of the groove 26. The entire circumference is welded while rotating the pipe column 10, and this entire circumference welding is performed a plurality of times. The buildup welding is performed repeatedly in multiple layers.

Here, when welding is performed on both sides of the ring 12 at the same time, even when the initial welding conditions are the same, the welding layer thickness may differ between the left and right during repeated welding. For this purpose, the welding torch 24 can independently adjust welding conditions according to each groove 26. FIG. 3 is a skeleton diagram showing the degree of freedom of driving the welding torch 24. As shown in the drawing, a pair of left and right welding torches 24 is provided (24R, 24L), each of which is attached to a welding hand 28 (28R, 28L). The welding hand 28 has a shaft 30H for horizontally moving the torch 24 provided at the tip and a shaft 30V for vertically moving the torch 24. The torch base end is bent so that the direction angle of the welding torch 24 can be adjusted. It is supported by 30R. The pair of welding hands 28R and 28L are integrally mounted on a single manipulator 32. The manipulator 32 includes a vertical movement axis 34V of the welding hand 28 and a horizontal movement axis 34H that enables the entire horizontal movement. The configuration has a degree of freedom of the axis. Thereby, the main body of the welding device is movable in the vertical and horizontal directions, and includes a manipulator 32 on which a welding power source, a hand control device, and the like are mounted, and the manipulator 32.
Welding hands 28R and 28L having three axes of horizontal, vertical and bent, and welding torches 24R and 2 provided on the welding hands 28R and 28L and directed toward the groove 26.
4L. With such a configuration, the movement to the position of each welding ring 12 is performed by the entire traveling movement of the manipulator 32, and after the movement to the position of the corresponding ring 12, the manipulator 32 (34V) is moved up and down in accordance with the diameter of the pipe column 10. Positioning is performed. During the welding operation and during the sensing of the welding bead line, the respective torch positioning is performed only in the vertical, horizontal, and horizontal angles, and the traveling (34H) and the vertical (34V) operations of the manipulator 32 are stopped. State. These controls are executed by control means described later.

In the embodiment, as shown in FIG. 1, two manipulators 32 each having such a pair of welding torches 24 are provided so as to simultaneously weld both sides of two rings 12, whereby two rings are provided. Simultaneous welding of four grooves is possible. In addition, the welding apparatus includes a laser sensor 36 for monitoring the state of the groove 26. The laser sensor 36 is directed to each groove 26 to be welded to the rotating pipe column 10, and each groove 2 is welded.
6 is output to the control means, and the control means generates welding conditions such as the target position, speed, and current of the welding torch 24, and drives and controls the welding hand 28.

The control unit individually controls the welding torch 24 in accordance with the input from the corresponding laser sensor 36 so as to obtain welding conditions individually adapted to the shape of the groove 26, And a master controller 40 that supervises the operations. Hand control device 38
Are provided by the number of the welding torches 24, and four are provided in the embodiment. The hand control device 38 controls each welding torch 2
A sequence for every four, three-axis position control, and sensor control are performed. Based on the groove shape data detected by the laser sensor 36, adaptive welding conditions are calculated and executed by a dedicated algorithm. In addition, the master controller 40 moves the manipulator 32 (34H), and moves up and down (34V).
Movement and one-axis control of rotation of the positioner 14 are performed.
Communication control between two or four hand control devices 38, creation of detailed welding data of the target work, and control of related devices are performed.

Further, the welding apparatus reads work data input and created in advance from a drawing, such as a ring position, a groove shape, and a welding sequence of a target work, and sets initial conditions. For this purpose, a computer 42 provided offline is provided, data of a target work is input from the drawing to the offline computer 42, a stacking plan is set in advance based on the input data, and the welding created by this is set. Conditions for the master controller 4
0 is input. While setting the welding conditions according to this basic plan, the target position and welding conditions between each layer and each pass are corrected by the groove shape data from the laser sensor 36 and the rotation position detection from the positioner 14 in actual work. The torch control is performed by the individual hand control devices 38.

FIG. 4 is a block diagram of a welding apparatus having such a configuration. The master controller 40 is constituted by a personal computer system, and allows the offline data interface 44 to input basic welding plan data preset by the offline computer 42 described above. User interface 4
6 enables input of keyboard input data and switch input data from a push button switch or the like. Further, based on these input data, there is provided a planning processing unit 48 for making an execution plan of the welding work according to a predetermined algorithm, and the communication control unit 50 transmits the execution plan process to the four hand control devices 38 by the control signal. Is output. Further, based on the execution plan processing of the planning processing unit 48, the manipulator 32
Axis control device 5 for setting the positioner 14 to the working position
2, a process control unit 54 is provided. The axis control device 52 performs a rotation operation of the positioner 14 and a traveling operation (34H) and a vertical operation (34V) of the manipulator 32 via a servo amplifier 54.

On the other hand, the hand control device 38 includes a main processing unit (CPU board) 56, and executes a process based on an execution plan process input from the master through the communication control unit 58.
The three-axis operation control of the welding torch 24 attached to the welding hand 28 by the axis control device 60 is performed by the servo amplifier 62.
Through. The operation of the welding torch 24 and the operation of the wire feeding device 64 are performed through an analog interface 66 and a digital interface 68. Further, the hand control device 38 is provided with a pendant operation panel 70 so that a manual operation can be performed, and an independent operation can be performed based on a signal from the pendant operation panel 70.

FIG. 5 shows a basic flowchart of the welding process by the column ring welding apparatus having such a configuration.
First, the welding order, combination, groove shape, and the like of the corresponding ring are sequentially determined by an input operation on a personal computer screen based on the drawing information offline. This is prepared in advance in the office before welding on site, recorded in a recording medium such as a floppy disk, and read by the master controller 40. After the completion of the preparation, the corresponding pipe data of the work to be worked is selected (step 100), and the automatic operation switch is turned on (step 102). In accordance with this operation start command, the origin of each axis such as the welding hand 28 is set (step 104), and the manipulator 32 is moved to the welding ring position (step 106). Thereafter, while the pipe column 10 is rotated by the positioner 14, the dry path sensing is first performed by a command from the hand control device 38 based on the basic execution plan input from the master controller 40 (step 108). This is to check whether simultaneous welding is possible with four torches. By this dry pass sensing, the possibility of simultaneous welding of two rings and four grooves is determined by determining whether or not the deviation (gap) of the target groove shape is within the allowable range (step 110). (Step 112), the mode is switched to manual welding (Step 114).
If it is within the allowable range, the first layer is welded one groove on each side (step 116). When all the first layer welding is completed, the next layer welding is performed by the laser sensor 36 for the four grooves, and the multi-layer build-up welding is performed up to the final layer while referring to the preceding layer groove shape data ( Step 11
8, 120). Since the welding conditions change for each layer with reference to the preceding layer, this is achieved by the hand control unit 38 generating the logic adapted to correct the target position of the welding torch and to optimize the current, voltage, speed, etc., individually. Control. After determining whether or not the ring is the last ring (step 122), if the target ring still remains, the manipulator 32 is moved to the next ring (step 124), and the process returns to step 108. Start with dry pass sensing processing. If it is the last ring, the manipulator 32 is returned to the origin position and the operation is completed (steps 126 and 128).

As described above, according to the present embodiment, a welding plan is made off-line based on the drawing data, and during the actual welding operation, the welding process is performed by referring to the front layer of the groove shape data in the circumferential multi-layer fillet welding. A multi-layer build-up welding is performed while setting an inter-pass movement sequence for each rotation and generating adaptive welding conditions such as a torch target position and current control based on the shape data. Multi-layer build-up welding can be performed.

[0020]

As described above, according to the column ring welding apparatus of the present invention, a ring having a groove is mounted on a column, and the column is rotated in the circumferential direction along the groove while rotating the column. A welding device, a positioner that supports and rotates a pipe with a ring, a single or multiple manipulators that can move vertically, horizontally, and has a welding power supply and hand control device, and this manipulator A welding hand having three axes of horizontal, vertical and bent, a welding torch provided on the welding hand and directed to the groove, and a laser sensor for recognizing each groove shape; Read the work data created by inputting the position, groove shape, welding order, etc. from the drawing in advance, and check each layer, Aiming position between the two, comprising a control means for correcting the welding conditions, it was possible to weld each groove of the ring at the same time, so the operator only the initial operation and quality check at the end of each layer welding, Since the movement to each ring and welding are performed automatically, it is possible to realize significant labor saving. In the case of 4 torches, it is 2
Although a human welder was required, this apparatus can be operated unattended except for abnormal work, except for work setup. Further, when the number of passes is large, the target position and welding conditions including movement between passes are managed in a stable state, so that the quality stability is extremely high as compared with manual welding.

[Brief description of the drawings]

FIG. 1 is an overall perspective view of a column ring welding apparatus according to an embodiment.

FIG. 2 is a schematic view of a welding state of the apparatus.

FIG. 3 is a skeleton diagram of a main part of the apparatus.

FIG. 4 is a block diagram showing a system configuration of the apparatus.

FIG. 5 is a basic flowchart of a welding process by the apparatus.

[Explanation of symbols]

DESCRIPTION OF SYMBOLS 10 Pipe column 12 Ring 14 Positioner 16 Chucking part 18 1st roller trolley 20 2nd roller trolley 22 Column support roller 24 (24R, 24L) Welding torch 26 (26R, 26L) Groove 28 (28R, 28L) Welding hand 30H Horizontal movement axis 30V Vertical movement axis 30R Bend joint 32 Manipulator 34V Vertical movement axis 34H Horizontal movement axis 36 Laser sensor 38 Hand control unit 40 Master controller 42 Offline computer 44 Offline data interface 46 User interface 48 Planning processing unit 50 Communication control unit 52 axis Control unit 54 Servo amplifier 56 Main processing unit 58 Communication control unit 60 Axis control unit 62 Servo amplifier 64 Wire feeder 66 Analog interface 68 Digital Interface 70 pendant control panel

──────────────────────────────────────────────────続 き Continued on the front page (51) Int.Cl. ⁷ Identification FI FI Theme Court ゛ (Reference) B23K 37/047 502 B23K 37/047 502 (72) Inventor Takekatsu Danjo 1-1-1, Marunouchi, Chiyoda-ku, Tokyo No. 2 Nippon Kokan Co., Ltd. (72) Inventor Shuichi Yamashina 1-2-1, Marunouchi, Chiyoda-ku, Tokyo Nihon Kokan Co., Ltd. (72) Inventor Takekazu Arakawa 1-2-1, Marunouchi, Chiyoda-ku, Tokyo No. Nippon Kokan Co., Ltd. (72) Inventor Masatoshi Terada 1-1-2 Marunouchi, Chiyoda-ku, Tokyo Nippon Kokan Co., Ltd. (72) Inventor Waka Kato 1-1-2 Marunouchi, Chiyoda-ku, Tokyo Nippon Kokan Co., Ltd. (72) Inventor Kunio Seo Fukuyama Kyoki Co., Ltd., the first place in Kokancho, Fukuyama City, Hiroshima Prefecture (72) Inventor Kazumasa Fujiwara Okayama Prefecture 3-1-1 Tamano, Noshi City Mitsui Engineering & Shipbuilding Co., Ltd. Tamano Plant (72) Inventor Masaaki Kaneko 3-1-1 Tamama City, Okayama Prefecture Mitsui Engineering & Shipbuilding Co., Ltd. Tamano Plant (72) Inventor Shoji Masuda Okayama Prefecture 3-1-1 Tamama, Tamano City Mitsui Engineering & Shipbuilding Co., Ltd. Tamano Plant (72) Inventor Hiroshi Ono 3-1-1 Tamama City, Okayama Prefecture Mitsui Engineering & Shipbuilding Co., Ltd. Tamano Plant (72) Inventor Yoshihiro Higo Okayama Prefecture 3-1, 1-1 Tama, Tamano City Mitsui Engineering & Shipbuilding Co., Ltd. Tamano Plant (72) Inventor Junji Shirai 3-1-1, Tamano City, Okayama Prefecture Mitsui Engineering & Shipbuilding Co., Ltd. Tamano Plant (72) Inventor Shintaro Ogawa Okayama Prefecture 3-1-1, Tamano, Tamano-shi Mitsui Engineering & Shipbuilding Co., Ltd. Tamano Works F-term (reference) 4E081 AA12 AA15 BA41 DA10 DA12 DA19 DA23 DA47 EA12 EA24 EA33 EA47 EA54 EA56 YB03 YB08 YY19

Claims (1)

[Claims] 1. A ring having a groove is attached to a column,
A device for welding the groove in the circumferential direction along the groove while rotating the column, a positioner for supporting and rotating a pipe with a ring, a movable vertically and horizontally, a welding power source, hand control A single or a plurality of manipulators on which the device is mounted, a welding hand attached to the manipulator and having three axes of horizontal, vertical and bent, a welding torch provided on the welding hand and directed to the groove, and an individual groove It has a laser sensor that recognizes the shape, reads the work data that is input from the drawing in advance, such as the ring position, groove shape, welding order, etc. of the target work, and reads each layer, each path by stacking plan and rotation position detection Control means for correcting the target position and welding conditions between the grooves, so that each groove of the ring can be welded simultaneously. Column ring welding device that.