JP2001340966A - Automatic welding method and it's apparatus - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an automatic welding method which is able to perform automatic copy welding along a groove without an operator watching. SOLUTION: In the apparatus, when the second layer is formed by MAG welding, the second camera 15 taking an image of the shape of bead to find a remaining lamination layer height at the groove 2, corresponding to the lamination layer height, as a groove copy position and the height position to be formed in the following layer are corrected a welding position, a welding current.speed, and a weaving width can be decided, corresponding to that, automatic copy welding can be performed. Accordingly it's not needed that an operator watches always the welding position, the welding current.speed, and the weaving width of the welding apparatus such as in conventional method, so that working efficiency can be improved highly.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

TECHNICAL FIELD The present invention relates to MAG welding (Meta
l Active Gas Welding (hereinafter referred to as MAG Welding), which relates to a welding method that enables automatic profile welding and an automatic welding device for performing the welding method, particularly a groove formed between workpieces Suitable for MAG welding.

[0002]

2. Description of the Related Art MAG, TIG (Tungsten Inert Gas,
In MIG (Met-al Inert Gas, hereinafter referred to as MIG) welding, the welding proceeds while forming a bead, and an appropriate bead is required to obtain a sound weld joint free from poor penetration. It is essential to secure the shape. However, the bead shape depends on the welding current, arc voltage,
Since it is formed by being influenced by many factors such as an electrode position and the like, in some cases, conditions may be broken and a proper bead shape may not be maintained. Therefore, conventionally, a welding operator constantly monitors the welding position, welding current / voltage, welding speed, and weaving width, and when defective, adjusts the welding conditions to adjust the welding conditions.
The G welding equipment was operating.

[0003]

However, in the prior art, as described above, the welding operator must monitor the MAG welding apparatus, that is, the operator always determines the welding position, welding current / voltage, welding speed, and the like. Since monitoring must be performed, there has been a problem that the work efficiency is reduced accordingly.

The present invention has been made in consideration of the above-described circumstances of the related art, and has as its object to provide an automatic welding method that can perform automatic welding copying along a groove without monitoring by an operator. An object of the present invention is to provide an automatic welding device that can be implemented accurately.

[0005]

Means for Solving the Problems To solve the above problems, the present invention employs the following means.

According to the first aspect of the present invention, MAG welding (Metal Welding) is performed on the groove formed between the workpieces to be joined to each other.
Active gas welding (hereinafter, referred to as MAG welding))
When the first layer bead is formed by welding, the shape of the bead is imaged, the remaining stack height at the groove is determined based on the image data, and the next layer is determined based on the determined stack height. An automatic welding method, wherein a groove copying position to be formed and a wire height position are respectively corrected, and a welding torch is controlled according to the corrected contents.

As described above, when the first layer bead is formed by MAG welding, the remaining layer height at the groove is obtained based on the image data of the bead, and the next layer is formed based on the layer height. Since the groove following position and the wire height position to be corrected are corrected respectively,
It becomes possible to form beads in multiple stages by welding. Therefore, the welding position, welding current / speed, and weaving width can be determined by correcting the groove following position and the wire height position to be formed in the next layer, respectively.
As a result, automatic copy welding becomes possible, and as a result, the operator does not need to constantly monitor the welding position, welding current / speed, and weaving width of the welding device as in the prior art, greatly improving work efficiency. Can be.

According to the second aspect of the present invention, when the first bead is formed by MAG welding, a) the shape of the formed bead is imaged, and the remaining stack height at the groove is determined based on the imaged data. The groove following position and the wire height position to be formed in the next layer are respectively corrected in accordance with the obtained lamination height, and b) the welding torch is controlled in accordance with the corrected contents to control the next layer. C) After the above steps a) and b) are sequentially repeated to form a bead of the desired layer, d) between the uppermost bead and the layer before the extra layer, the uppermost bead In addition to correcting the groove tracing position and the wire height position obtained based on the imaging data of the bead shape, the welding conditions are corrected by controlling the welding amount of the bead, and e) the corrected contents are satisfactory. If so, Depending on what form the bead of the next layer, f) below, and forming said d) and e) successively repeating bead layer to the previous layer of excess prime.

After the bead of the desired layer has been formed in this way, after the bead of the desired layer is formed, the bead is formed between the bead and the layer just before the extra layer.
And e) are sequentially repeated to form a bead of the next layer, so that the height of all the beads before reaching the extra height can be adjusted.

According to the third aspect of the present invention, after the bead of the layer before the extra layer is formed, the extra layer is formed under the same welding conditions as the beads of the preceding layer.

As described above, when forming the extra bank, the extra bank is formed under the same welding conditions as the bead of the previous layer, so that the extra bank can be formed easily and reliably, and all the MAG welding is performed. Can be performed without monitoring by the operator.

According to a fourth aspect of the present invention, there is provided an automatic welding apparatus for sequentially laminating beads by MAG welding on a groove formed between workpieces to be joined to each other. A first imaging means for imaging the welding condition of the beam, a beam slit light irradiating unit for irradiating each formed bead with a beam slit light every time a bead is formed in the groove, and a beam slit light irradiating unit And a control unit for controlling the welding torch based on the image data from the second image capturing means, which captures the reflected light from the camera and captures the shape of each bead. The control unit obtains the remaining stack height at the groove based on the image data from the second imaging unit, and based on the obtained stack height, the groove copying position and the wire to be formed on the next layer. It is characterized by having means for correcting the height position and controlling the welding torch according to the corrected content.

As described above, the control unit obtains the remaining stack height at the groove based on the image data from the second image pickup means, and based on the obtained stack height, the groove to be formed in the next layer. Since there are means for correcting the scanning position and the wire height position, respectively, and controlling the welding torch according to the corrected contents, the method of claim 1 can be carried out accurately.

According to the present invention, the control unit captures an image of the shape of the formed bead, and obtains the remaining stack height at the groove based on the captured data.
In accordance with the obtained lamination height, the groove copying position to be formed in the next layer and the wire height position are respectively corrected, and only when the corrected contents are good, the welding torch is controlled in accordance with the corrected contents. Means for sequentially forming a bead of a desired layer, and a groove pattern obtained based on image data of the bead of the uppermost layer in a desired layer between the uppermost bead and the layer immediately before the surplus. In addition to correcting the position and the wire height position, the welding conditions are corrected by controlling the amount of welding of the beads, and the bead layers are sequentially formed in order according to the corrected contents, until the layer before the extra pile is sequentially repeated. Means.

As described above, in the desired layer between the uppermost bead formed by the first means and the front of the extra layer, when the desired layer before the extra layer is welded, based on the bead shape of the preceding layer. The groove tracing position, wire height position, and welding amount were each corrected, and the welding torch was controlled in accordance with the corrected details to sequentially form the desired layers before the swelling. The height of all the beads before reaching can be adjusted accurately, and the second aspect can be implemented.

According to a sixth aspect of the present invention, when the bead layer is formed before the extra layer, the control section has means for forming the extra layer under the same welding conditions as the bead layer. And

As described above, when the bead layer before the extra layer is formed, there is provided a means for forming the extra layer under the same welding conditions as that of the bead layer. Can be implemented.

[0018]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described below with reference to FIGS. FIG. 1 is an explanatory view of the principle showing the automatic welding method of the present invention, FIG. 2 is a sectional explanatory view showing a groove to which the automatic welding method of the present invention is applied, and FIG. 3 is an automatic view for carrying out the automatic welding method of the present invention. FIG. 4 is a schematic view showing a welding apparatus, FIG. 4 is an explanatory view showing the operation of a welding torch at a groove, FIG.
Is an explanatory view showing an image picked up by the second image pickup means, FIG. 6 is an overall perspective view showing an embodiment of an automatic welding apparatus for carrying out the automatic welding method of the present invention, FIG. 7 is a block diagram of FIG. 8 and 9 are flowcharts showing one embodiment of the automatic welding method of the present invention. In the automatic welding method of the present invention, as shown in FIG. 1, grooves 2 are formed at both ends of two pipes 1 to be welded, and the lowermost layer 3 is manually welded in the grooves 2. After that, beads 4a to 4n of the next layer are sequentially formed on the lowermost layer 3 by MAG welding (Metal Act-ive Ga
s welding (metal active gas welding). (Hereinafter referred to as MAG welding), and furthermore, the extra layer 4n as the final layer is also subjected to MAG welding, so that the second layer 4a to the extra layer 4n of the final layer can be automatically welded.

Groove 2 to which the automatic welding method of the present invention is applied
For example, as shown in FIG. 2, after the bottom is opened at an angle of about 45 °, it is formed at an angle of about 20 to 25 °, and further formed at an angle of about 0 to 5 °. It has a narrowed groove.

As shown in FIG. 3, the automatic welding apparatus 10 for carrying out the above-described automatic welding method of the present invention performs welding on a welding portion of a groove 2 formed between two pipes 1 to be welded. When a bead is formed by the torch 11, a first image of a welding state by the welding torch 11 is taken.
Imaging means 12, a laser slit light irradiating section 13 for irradiating a laser slit light 14 to a portion welded by the welding torch 11, a second imaging means 15 for capturing reflected light of the irradiated laser slit light 14, and Based on the imaging data from the first imaging unit 12 and the second imaging unit 15,
And a controller 16 for sequentially forming the multilayer beads 4a to 4n in the groove 2.

The first image pickup means 12, as shown in FIG.
When welding is being performed on the groove 2 between the pipes 1 by the welding torch 11, the welding condition consisting of the groove surface at the welding portion immediately below the welding torch 11 and the wire insertion position of the welding torch 11 is described. An image is taken and output to the control device 16. In this example, the first imaging means 12 employs a CCD camera, and captures an image of a portion of the groove 2 that is being welded by the welding torch 11. Note that the camera lens of the first imaging unit 12 can accurately image the groove surface and the wire insertion position without being interrupted by the arc light from the welding torch 11.
A filter that transmits a desired wavelength is mounted.

As shown in FIG. 3, the laser slit light irradiating section 13 irradiates a bead formed by the welding torch 11 to the groove 2 of the pipe 1 with a laser slit light 14, In the example, the wavelength is 780 nm
A laser light source for irradiating the laser slit light is adopted.

The second imaging means 15, as shown in FIG.
This is for taking in the reflected light of the laser slit light 14 from the laser slit light irradiator 13 into the bead formed by the welding torch 11 in the groove 2. In this example,
A CCD camera is employed. Accordingly, the second imaging means 15 and the laser slit light irradiating unit 13 are provided with the welding torch 11 and the first imaging means 12 at the groove 2 between the pipes 1.
An image of the bead formed by the welding torch 11 is installed at a position slightly more distant (in this example, about several cm to about 10 cm from the welding position). Note that a filter is also attached to the camera lens as the second imaging unit 15 so that a desired image can be captured by transmitting a desired wavelength without being affected by arc light or the like.

On the other hand, the control device 16
Based on the imaging data from, the groove surface and the wire insertion position of the welding torch 11 are controlled, and as shown in FIG.
When the distance WL, WR between the welding torch 11 and both end faces in the width direction of the groove 2 becomes equal to or less than a predetermined distance, it is determined that the groove walls on both ends of the groove 2 have been melted, so that the welding torch is provided. Eleven weaving widths are controlled. At that time, the control device 16 controls the arc sensor 1 described later.
7 and the wire and pipe 1 of the welding torch 11
The welding current and voltage are controlled so that the arc length between them is constant.

The control device 16 recognizes the bead 4 formed by the welding torch 11 based on the image data from the second image pickup means 15 as shown in FIG. As shown by the thick line in the figure, the remaining lamination height shape 2A is obtained at the groove 2, and according to the obtained height shape 2A, bead welding conditions to be formed on the next layer are used. It is also used for an error check of groove profiling welding by the welding torch 11.

Further, the control device 16 controls the first image pickup means 1
2. In addition to controlling the welding torch 11 based on outputs from the second imaging means 15 and the arc sensor, a plurality of MAG welding devices 20 and 30 having these are controlled. For example, as shown in FIG. 6, a first MAG welding device 20 includes a pipe 1 in which a manipulator 21 is rotatably supported between a side table 22 and a turning roller 23.
The other MAG welding apparatus 30 includes a manipulator 31 and a side table 32.
It is provided for welding the pipe 1 rotatably supported between the open chuck 33 and the turning roller 34.

The manipulators 21 and 31 of these MAG welding devices 20 and 30 and the side tables 22 and 32
, Open chuck 33 and respective welding power source 2
4 and 35 are respectively connected to the control device 16 and the control device 1
6 controls each of the MAG welding devices 20 and 30 independently. At that time, the MAG welding equipment 2
Numerals 0 and 30 rotate the pipe 1 around its axis at a predetermined speed so that the welding torch 11 can form an arbitrary layer on the groove 2 over the entire circumference during welding by the manipulators 21 and 31. Like that. Therefore, the control device 16 and the MAG welding devices 30A and 30B have a relationship as shown in FIG.

That is, the control device 16 includes a wire insertion position determination unit 16a, a vertical scanning control unit 16b, a groove scanning control unit 16c, a welding amount control unit 16d, and a surplus control unit 16
e.

Then, the wire insertion position determining section 16a
Based on the imaging data from the first imaging means 12, the wire insertion position of the molten pool in the groove 2 is detected, and it is determined whether or not the position is abnormal. The vertical scanning control unit 16b
Based on the detection from the arc sensor 17, the height position between the welding torch 11 and the base material at the groove 2 is controlled. The groove following control unit 16c recognizes the bead shape based on the image data obtained by the second imaging unit 15, and calculates the bead shape based on the bead shape.
The remaining stack height at the groove 2 is determined, and the groove following position and the wire height position of the next layer are corrected based on the determined remaining stack height.

Then, the welding position, welding current / speed, and weaving width of the bead to be formed in the next layer are determined by correcting the groove following position and the wire height position. At this time, the correction of the wire height position is performed by the vertical scanning control unit 16b as described above. The vertical scanning control unit 16b also recognizes the groove width from the recognized bead shape, and performs an error check of the scanning control operation by the welding torch 11.

The welding amount control section 16d controls the amount of bead formation by increasing the thickness of the bead or, conversely, by reducing the thickness. When forming the extra bank 4n with the welding torch 11, the extra bank controller 16e controls the welding torch 11 under the same conditions as the welding conditions of the previous bead layer to form the extra bank 4n. ing.

The first image pickup means 12, the laser slit light irradiating section 13, the second image pickup means 15, the arc sensor 1
7 and the respective parts 16a to 16e of the control device 16,
Not only the MAG welding device 20 but also the MAG welding device 30 has the same configuration.

Next, an embodiment of the automatic welding method according to the present invention will be described with reference to FIGS.
It will be described based on. In the following description, the case where the control device 16 controls one MAG welding device 20 will be described, but the other MAG welding device 30 is similarly controlled. 8, first, in step S80, the pipe 1 to be welded is set at a predetermined position of the MAG welding apparatus 20, and when various welding conditions are set by the operator, welding is performed in step S81. You.

In this case, since the first layer of the groove 2 of the pipe 1 is formed by manual welding in advance, the manipulator 21 of the MAG welding apparatus 20 welds the groove 2 to the groove 2 from the second layer. The welding is performed by the torch 11. The welding conditions in step S81 are set in advance as a database necessary for MAG welding, and the welding position, welding current / speed, and weaving width of the welding torch 11 at the groove 2 of the pipe 1 are defined. It is set so that bead layers from the second layer to the first layer of the extra bank are sequentially welded to the groove 2, and then the extra bank 4n of the final layer is welded.

When the welding is performed in step S81, the groove tracing control unit 16c controls the welding torch 11 to form a second-layer bead. In this case, the first imaging unit 12 captures an image of the welding condition including the groove surface immediately below the welding torch 11 and the wire insertion position, and the welded part is located at the position of the laser slit light 14 of the laser slit light irradiation unit 13. Upon arrival, the reflected light of the laser slit light 14 is imaged by the second imaging means 15.

When the second-layer bead is formed by the welding torch 11 in this manner, the third-layer welding is performed. At this time, the control device 16 controls the imaging data obtained from the second imaging means 15. , The bead shape of the second layer is recognized, and the remaining lamination height is determined from the bead shape. Based on the determined lamination height, the groove tracing position of the next third layer and the wire height position are corrected. Since the data is calculated, in step S82, the groove copying position is corrected by the groove copying control unit 16c in step S82, and in step S83, the wire height position is adjusted via the vertical copying control unit 16b. Is corrected.

Next, in step S84, it is determined whether or not the corrected wire height position is abnormal as a welding condition. In step S85, the wire insertion position in the corrected groove copying position is also determined. It is determined whether the welding condition is abnormal. In this case, if it is determined that both steps S84 and S85 are not abnormal, the third-layer bead is welded based on the corrected groove follow-up position and the wire height position as in step S87.
If it is determined that one of them is abnormal, the operation stops in step S86.

After the second bead layer 4a is thus formed, the welding torch 11 is controlled by correcting the groove tracing position and the wire height position based on the bead layer 4a. The bead layer 4b is formed, and this is sequentially repeated until the third layer before the extra layer, that is, until the bead layer 4e shown in FIG. 1 is formed. Then, when the bead layer 4e which is the third layer before the extra bank is formed, the processing shown in FIG. 9 is subsequently executed.

That is, as shown in FIG.
, The welding of the second layer before the extra bank and the layer before the extra bank is executed. In this case, first, at the time of welding the second layer before the extra bank, in step S91, the groove copying position is obtained based on the image data of the second imaging unit 15 obtained by welding the third layer before the extra bank. In step S92, the welding condition for controlling the welding amount is corrected by the welding amount control unit 16d, and in step S93, the wire height position is also corrected.

Thereafter, in step S94, it is determined whether or not the corrected wire height position is abnormal as a welding condition. In step S95, the wire insertion position in the corrected groove following position is also determined. It is also determined whether the welding condition is abnormal. In this case, when it is determined that both Step S94 and Step S95 are not abnormal, as shown in Step S97, the second layer before the extra bank is welded based on the corrected groove copying position and the wire height position. If it is determined that one of them is abnormal, the operation stops at step S96.

In this manner, a bead of the second layer before the extra bank is formed, and the processing of steps S91 to S95 is repeated again to form the layer before the extra bank.

Further, when the layer before the extra height is formed in step S97, the process proceeds to step S99.
In step S99, welding is performed based on the data exactly the same as the welding data of the layer before the extra layer to form the extra layer 4n as the final layer, thereby ending the welding.

In the automatic welding method of the present invention, as described above,
After the first bead 3 is formed manually, the MAG
When the second-layer bead 4a is formed by welding, the shape of the bead is imaged by the second imaging means 15, and the remaining stack height in the groove 2 is determined based on the image data, and the stack height is determined. , The groove following position and the wire height position to be formed in the next layer are respectively corrected, so that beads can be formed in multiple steps on the groove 2 by MAG welding.

Therefore, based on the image data obtained by the second image pickup means 15, the groove copying position to be formed in the next layer and the wire height position are respectively corrected to obtain the welding position, welding current / speed, weaving. The width can be determined, and MAG welding can be performed accordingly. As a result, the operator does not need to constantly monitor the welding position, welding current / speed, and weaving width of the welding device as in the related art. , Work efficiency can be greatly increased. This work efficiency is determined by the control device 16
Since the welding devices 20 and 30 are controlled, that is, a plurality of M
Since the AG welding devices are controlled independently of each other, it becomes more remarkable.

In the automatic welding method according to the present invention,
When welding the second layer before the extra layer and the layer before the extra layer, not only the groove tracing position and the wire height position are corrected, but also the welding conditions are corrected by controlling the welding amount. It is possible to adjust the height of all beads before reaching the height.

In addition, when forming the extra layer thereafter, since the MAG welding is performed under the same conditions as the welding conditions of the preceding bead layer, the extra layer can be easily and reliably formed, and the second layer can be formed easily. All the steps from 4a to 4n can be performed by MAG welding.

Further, the control device 16 controls the second image pickup means 15
Since the groove width is recognized based on the image data of the bead layer and the error check of the copying control operation by the welding torch 11 is performed, the copying control operation by the welding torch 11 can be performed more precisely. The reliability of the welding operation can be improved.

The automatic welding apparatus according to the present embodiment includes a laser slit light irradiating section 13 for irradiating a portion of the groove 2 welded by the welding torch 11 with a laser slit light 14, and a reflected light of the laser slit light 14. Second imaging means 15 for capturing the bead shape just formed, and welding torch 11 based on the bead shape.
And a control device 16 for controlling the control. Then, the control device 16 controls the wire insertion position determination unit 16a,
It has a vertical scanning control unit 16b and a groove scanning control unit 16c,
Based on the bead shape formed as the second layer, the remaining stacking height in the groove 2 is determined, and based on the determined stacking height, the groove copying position and the wire height position to be formed in the next layer are respectively determined. In addition to the correction, it is determined whether the welding condition of the correction content is good or not, and when the welding condition is good, the welding torch 11 is controlled in accordance with the corrected content. be able to.

The control device 16 has a welding amount control unit 16d in addition to the wire insertion position determination unit 16a, the vertical scanning control unit 16b, and the groove scanning control unit 16c. Sometimes, based on the bead shape of the previous layer, the groove tracing position, the wire height position, and the amount of welding are each corrected, and whether the welding conditions of the correction contents are good or not is determined. Since the welding torch 11 is controlled in accordance with the corrected contents to sequentially form the desired layers before the extra build, the height of all the beads before reaching the extra build can be accurately adjusted.

Further, the control device 16 is provided with
6e, which is formed by MAG welding under the same conditions as the welding conditions of the bead layer before the extra stake, so that the extra stake can be easily and reliably formed.

In the present embodiment, an example is shown in which as many as nine layers of beads, including the extra bank, are formed by MAG welding, so that the welding amount control unit 16d controls the height up to the extra bank. In order to adjust the amount of welding, an example was shown in which the amount of welding was controlled between the second layer before the extra layer and the layer before the extra layer. However, the present invention is not limited to this. The welding amount may be controlled from the earlier layer. Conversely, if the total number of layers is small, it is needless to say that only the welding amount of the layer before the extra layer may be controlled.

[0052]

As described above, according to the first aspect of the present invention, when the first layer bead is formed by MAG welding, the remaining stack height at the groove is determined based on the image data of the bead. Is obtained, and the groove copying position to be formed in the next layer and the wire height position to be formed on the next layer are corrected based on the lamination height, and the welding position, welding current / speed, and weaving width can be determined. In addition, as a result, automatic copy welding becomes possible, as in the prior art,
This eliminates the need for the operator to constantly monitor the welding position, welding current / speed, and weaving width of the welding device, and has the effect of greatly improving work efficiency.

According to the second aspect, there is an effect that the height of all the beads before reaching the extra height can be adjusted.

According to the third aspect, after the bead of the layer before the extra layer is formed, the extra layer is formed under the same welding conditions as the bead of the previous layer, and the extra layer is easily and reliably formed. Therefore, there is an effect that all operations can be performed by MAG welding without monitoring by an operator.

According to the fourth aspect of the present invention, the control unit obtains the remaining stack height at the groove based on the image data from the second image pickup means, and based on the obtained stack height, determines the next stack height. Since there is provided means for correcting the groove copying position to be formed and the wire height position, and controlling the welding torch in accordance with the corrected contents, the method of claim 1 can be carried out accurately. Effective, especially for multiple MAs
By controlling the G welding device, there is an effect that the improvement in working efficiency becomes more remarkable.

According to the fifth aspect, at the time of welding the desired layer before the extra layer, the groove copying position, the wire height position, and the welding amount are respectively corrected based on the bead shape of the previous layer, and the correction is performed. Since the welding torch is controlled in accordance with the contents thus formed and the desired layers before the extra height are sequentially formed, the height of all the beads before reaching the extra height can be accurately adjusted. There is an effect that can be implemented.

According to the sixth aspect, when the bead layer before the extra layer is formed, there is provided a means for forming the extra layer under the same welding conditions as the bead layer. Has the effect of being able to carry out exactly.

[Brief description of the drawings]

FIG. 1 is a principle explanatory view for explaining an automatic welding method of the present invention.

FIG. 2 is an explanatory sectional view showing a groove to which the automatic welding method of the present invention is applied.

FIG. 3 is a schematic diagram showing an automatic welding device for performing the automatic welding method of the present invention.

FIG. 4 is an explanatory view showing an operation of a welding torch at a groove.

FIG. 5 is an explanatory diagram illustrating an image captured by a second imaging unit.

FIG. 6 is an overall perspective view showing one embodiment of an automatic welding device for performing the automatic welding method of the present invention.

FIG. 7 is a block diagram showing a configuration of the automatic welding device.

FIG. 8 is a flowchart showing one embodiment of the automatic welding method of the present invention.

FIG. 9 is a flowchart following FIG. 8;

[Explanation of symbols]

DESCRIPTION OF SYMBOLS 1 ... Piping pipe as an object to be welded 2 ... Bevel 4a-
4n: Bead layer by MAG welding, 10: Automatic welding device, 11: Welding torch, 12: First imaging means, 13: Laser slit light irradiation unit (beam slit light irradiation unit), 1
4: laser slit light (beam slit light), 15: second imaging means, 16: control device, 16a: wire insertion position determining unit, 16b: vertical scanning control unit, 16c: groove scanning control unit, 16d: welding amount Control unit, 16e ... Excess control unit.

──────────────────────────────────────────────────続 き Continued on the front page (51) Int.Cl. ⁷ Identification symbol FI Theme coat ゛ (Reference) B23K 9/095 510 B23K 9/095 510E 510D 9/173 9/173 A

Claims (6)

[Claims] In an automatic welding method in which beads are successively laminated by MAG welding on grooves formed between workpieces to be joined to each other, a first bead is formed by MAG welding. And the remaining stacking height in the groove is determined based on the imaging data, and the groove copying position and the wire height position to be formed in the next layer are determined based on the determined stacking height, respectively. An automatic welding method, comprising correcting and controlling a welding torch according to the corrected content. 2. In an automatic welding method in which beads are sequentially laminated by MAG welding on grooves formed between workpieces to be joined to each other, a first bead is formed by MAG welding. The shape of the formed bead is imaged, and the remaining stack height at the groove is obtained based on the image data, and the groove copying position and the wire height to be formed on the next layer according to the obtained stack height. B) forming the next bead layer by controlling the welding torch according to the corrected contents; c) forming the desired layer bead by repeating the above steps a) and b) sequentially. D) In the desired layer between the uppermost bead and the layer before the extra layer, the groove tracing position and the wire height position obtained based on the imaging data of the uppermost bead shape are respectively determined. Correct At the same time, the welding conditions are corrected by controlling the welding amount of the bead, and e) a bead of the next layer is formed in accordance with the corrected contents. An automatic welding method characterized by sequentially forming a bead layer up to a layer. 3. After the bead layer before the excess is formed,
3. The automatic welding method according to claim 2, wherein a margin is formed under the same welding conditions as the bead layer. 4. An automatic welding apparatus in which beads are sequentially laminated by MAG welding on a groove formed between workpieces to be joined to each other, and an image of a welding state in the groove by a welding torch at the time of welding. A first image pickup means for performing, each time a bead is formed in the groove, a beam slit light irradiating unit for irradiating each formed bead with a beam slit light, and a reflected light from the beam slit light irradiating unit. A second imaging unit that captures and captures the shape of each bead, and a control unit that controls the welding torch based on the imaging data from the second imaging unit, Based on the imaging data of the above, the remaining stack height at the groove is obtained, and based on the obtained stack height, the groove copying position and the wire height position to be formed on the next layer are respectively corrected, and the corrected contents To An automatic welding apparatus, comprising: means for controlling a welding torch in response. 5. The control unit captures an image of the shape of the formed bead, obtains the remaining stack height at the groove based on the image data, and determines the remaining stack height in the next layer according to the obtained stack height. A first means for correcting a groove contour position to be formed and a wire height position, and controlling a welding torch according to the corrected contents to sequentially form a bead of a desired layer; In the desired layer between the layer before the ascending and the bevel scanning position and the wire height position obtained based on the imaging data of the uppermost bead, and controlling the welding amount of the bead, welding 5. The automatic welding apparatus according to claim 4, further comprising: second means for correcting a condition and sequentially forming a bead layer by sequentially repeating the layers up to the layer before the extra bank in accordance with the corrected contents. 6. The control device according to claim 1, wherein the control unit has a means for forming a surplus under the same welding conditions as the bead of the preceding layer when the bead of the preceding layer is formed. Item 6. The automatic welding device according to Item 5.