JP2007190589A - Fillet welding method, and fillet welding equipment - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a fillet welding method, and fillet welding equipment capable of automatically performing the fillet welding including treatments at a starting end and a terminating end of an opening formed in a vertical plate, enhancing the accuracy of its welding position and its reliability, and automatically and continuously performing the fillet welding including the treatments at the starting end and the terminating end of a plurality of openings distributed in the vertical plate with high accuracy of the welding position and high reliability. <P>SOLUTION: The fillet welding method performs the fillet welding of a corner constituted of a lower plate X and a vertical plate Y having openings A, B in a lower end face, and comprises following first step and second step. In the first step, a first opening detection means S1, a welding torch 8 and a second opening detection means S2 are arranged in the welding direction y from the front side in this order; inequalities L2≥L1 and L3≤L1 are satisfied where L1 denotes the opening width, L2 denotes the distance between S1 and the welding torch, and L3 denotes the distance between S2 and the welding torch; an assembly of S1, S2 and the welding torch is driven in the y direction with S1 at the leading position; the drive is stopped at the timing Yc based on the detection of the starting end of S2 to start the welding; the assembly is re-driven thereafter, and the fillet welding is performed by continuing the arc. The second step comprises stopping the drive at the timing Yd based on the detection of the terminating end of the opening of S1, treating a crater and stopping the arc thereafter. <P>COPYRIGHT: (C)2007,JPO&INPIT

Description

  The present invention relates to a fillet welding method and apparatus, and more particularly to a fillet welding method and apparatus in the case where there is an opening such as a drain hole in a lower end surface of a standing plate that is in contact with a lower plate.

  For example, some shipboard longi members, which are structures composed of a lower plate and a standing plate, have an opening in the standing plate on the fillet weld line. This opening is provided in order to discharge oil, water, etc. accumulated on the bottom of the ship.

  When there is an opening in the standing plate on the fillet weld line, the operator stopped welding, caused the traveling carriage to run idle, moved to the next welding position, stopped, and restarted welding. In addition, when performing complete welding of the starting end and the terminal end of the opening, for example, turning welding, it is necessary to weld both ends of the opening semi-automatically. Moreover, the conventional fillet welder does not have a function of detecting that an arc has occurred when performing welding. Even if the welding tip at the tip of the torch, that is, the welding wire does not come out, or there is an abnormality in which there is a slag at the welding location and the arc does not come out, the dolly will run without welding.

JP-A-10-128537 Japanese Patent Application Laid-Open No. 07-185812.

  In Patent Document 1, when there is a drain hole (opening) in the standing plate, one detection roller that crosses the opening is provided in order to detect the opening, and the edge of the opening is formed by rolling contact with the standing plate directly. An apparatus that detects and activates a limit switch using a mechanical mechanism to generate an opening detection signal and automatically performs welding and stopping in response to the presence or absence of the opening indicated by the opening detection signal is disclosed.

  However, as in Patent Document 1, when a drain hole is detected in front of the welding progress direction with one detection roller, the torch opens after the detection roller / torch distance has elapsed from the detection of the start and end of the hole. Since the start and end are reached, accurate travel distance measurement is required. In Patent Document 1, the time corresponding to the distance corresponding to the distance between the detection roller and the torch is set as a delay time, and welding stop and start are started after the delay time has elapsed from the detection of the start and end of the hole. However, in the case of opening detection using a detection roller, if welding spatter adheres to the detection roller, the detection of the opening becomes impossible or inaccurate, and the detection roller must be considerably separated from the welding torch. Therefore, the distance between the detection roller / welding torch becomes longer. As a result, the delay time becomes longer, and the possibility of shifting the timing of stopping and starting the welding at the opening start and end ends increases due to fluctuations or fluctuations in the traveling speed during the delay time. In addition, in the case of opening detection using a detection roller, the movable part moves due to time delay when detecting, malfunction due to vibration of the mechanical transmission part, welding spatter entering and attaching to the roller, arm, and detection device. It may cause the phenomenon to disappear. Moreover, since the opening automatic detection apparatus disclosed in Patent Document 1 has a complicated structure, the shape increases and the apparatus weight also increases. For this reason, it is not suitable for a small fillet welder in a narrow place.

  Further, Patent Document 2 discloses a self-propelled self-propelled welding carriage provided with a pair of tracing arms for standing plate pressing projections protruding at both ends in the traveling direction of the welding carriage. No countermeasure is disclosed regarding the opening on the fillet weld line provided in the plate.

  The first object of the present invention is to automatically perform fillet welding including processing of the start and end portions of the opening when the standing plate has an opening, and to improve the welding position accuracy and reliability. As a second object, fillet welding including processing of the start and end portions of the opening is automatically and continuously performed with high welding position accuracy and reliability when a plurality of openings are distributed on the standing plate. This is the third purpose.

(1) In fillet welding for welding a corner formed by a lower plate X and a standing plate Y having an opening (A, B) on the lower end surface facing the lower plate,
First opening detection means (S1), welding torch (8) and second opening detection means (S2) are arranged in this order in the welding torch moving direction y in the direction in which the standing plate Y extends, and the opening The width in the direction y is L1, the distance between the first opening detecting means (S1) / welding torch (8) is L2, and the distance between the second opening detecting means (S2) / welding torch (8) is L3. , L2 ≧ L1 and L3 ≦ L1,
The assembly of the first and second opening detecting means (S1, S2) and the welding torch (8) is arranged in the direction y following the standing plate Y with the first opening detecting means (S1) as the head. Drive, stop the drive at the timing (Yc) based on the opening start detection of the second opening detection means (S2), supply a welding current to the welding torch (8) to generate an arc, and start welding And then re-driving the assembly and continuing the arc to fillet weld,
Including a second step of stopping the driving at a timing (Yd) based on detection of an end of opening of the first opening detecting means (S1), continuously performing the crater process on the arc, and then stopping the arc. A fillet welding method characterized by that.

  In addition, in order to facilitate understanding, in the parentheses, the correspondence of the embodiment shown in the drawings and described later, or the symbol of the corresponding element or the symbol of the corresponding matter is added as an example for reference. The same applies to the following.

  According to the present invention, fillet welding in all steps including the welding process of the opening end and end of the opening can be continuously automated. Furthermore, turning welding at both ends of the opening, which has been performed by semi-automatic welding, that is, start welding at the terminal end of the opening and crater welding processing at the starting end can be performed automatically following fillet welding between the openings. It was. Therefore, good welding results can be obtained, the burden on the welding engineer can be greatly reduced, the working time can be shortened, and the working efficiency can be increased.

  (2) The fillet welding method according to claim 1, wherein a plurality of the openings are distributed on the standing plate Y, and the first stroke and the second stroke are repeated following the second stroke. According to this, it is possible to perform full length welding of a long structure of a standing plate and a lower plate in which a plurality of openings are distributed continuously and repeatedly.

  (3) The fillet welding is performed by the welding torch (8-1) of the first assembly, that is, the first welding torch (8-1) by the second assembly having the same configuration as the first assembly which is the assembly. The fillet welding including the first and second strokes of the second corner facing the first corner to the first corner is performed in parallel with the fillet welding by the first assembly (1) or The fillet welding method according to (2).

  (4) The corner according to any one of (1) to (3), wherein the welding start processing is continuation of normal arc detection by an arc detector during a first set time (arc detection time). Meat welding method.

  (5) The fillet welding method according to any one of (1) to (4), wherein the crater treatment is arc continuation for a second set time (crater treatment time) in which a welding current value is reduced.

  (6) As L2 = L1 = L3, in the first stroke, when the opening start end is detected by the second opening detecting means (S2), the driving is stopped and a welding current is supplied to the welding torch (8). Supply arc to generate welding start process, and in the second stroke, when the opening end is detected by the first opening detecting means (S1), the drive is stopped and the arc continues to crater The fillet welding method according to any one of (1) to (4), wherein the processing is performed.

  (7) When L2> L1 and L3 <L1, in the first stroke, the second opening detection means (S2) detects the opening start end, and then stops the driving after driving at a distance of L2-L1. Then, a welding current is supplied to the welding torch (8) to generate an arc and a welding start process is performed. In the second stroke, the opening end is detected by the first opening detecting means (S1) and then the L1 is detected. The fillet welding method according to any one of (1) to (5), wherein the driving is stopped and the arc is continuously cratered after driving at a distance of L3.

(8) In a fillet welding apparatus for welding a corner formed by the lower plate X and the standing plate Y,
A welding base in which a first opening detection means (S1), a welding torch (8), and a second opening detection means (S2) are arranged in this order in the welding torch moving direction y in the direction in which the standing plate Y extends. Stand (1);
Drive means (22, 9, 40) for driving the welding base (1) in the direction y following the vertical plate Y; and
The driving is stopped at the timing (Yc) based on the detection of the opening start end of the second opening detection means (S2), a welding current is supplied to the welding torch (8) to generate an arc, and a welding start process is performed. Thereafter, the assembly is re-driven, the arc is continued and fillet welded, and the drive is stopped at the timing (Yd) based on the opening end detection of the first opening detecting means (S1), and the arc continues. Control means (40) for performing crater treatment and then stopping the arc;
A fillet welding apparatus comprising:

  (9) The above (8) further comprising means (16a, 16b) for adjusting the distances L2, L3 in the direction y with respect to the welding torch (8) of the first and second opening detection means (S1, S2). ) Fillet welding device.

  (10) The fillet welding apparatus according to (8) or (9), wherein the arc detector (36) is installed in a welding power cable (32) connected to the welding torch (8).

  (11) The first and second opening detecting means (S1, S2) are proximity sensors that detect the presence or absence of a standing plate material at a facing position in a non-contact manner facing the side surface of the standing plate Y. The fillet welding apparatus as described in any one of thru | or (10).

  (12) The fillet welding apparatus according to (11), wherein the first and second opening detection means (S1, S2) are magnetic sensors that detect the presence or absence of a metal body.

  FIG. 1 shows an embodiment of an embodiment of the present invention. On the lower plate X arranged horizontally or substantially horizontally, a standing plate Y having an opening at the lower end is erected vertically or substantially vertically. A corner where the lower end of the standing plate Y is in contact with the lower plate X is a “corner” to be welded and extends in the direction y in which the standing plate Y extends, but there are “openings” in some places. That is, one or a plurality of openings (for example, openings A and B in FIG. 6) are distributed in the y direction.

  In the embodiment shown in FIG. 1, the first welding machine WER-1 and the second welding machine WER-2 are arranged to face each other in the horizontal x direction perpendicular to the y direction in which the standing plate Y extends, with the standing plate Y interposed therebetween. At the same time, self-propelled in the same direction y, the front and back corners (left and right corners) of the standing plate Y are welded with gas shield arc fillet.

  FIG. 2A shows a top view of the first welding machine WER-1, and FIG. 2B shows a front view seen from the vertical plate Y side. FIG. 1B is a left side view of the first welding machine WER-1 with respect to the front view of the first welding machine WER-1 in FIG. Since the first welding machine WER-1 and the second welding machine WER-2 are products of the same specification, the right side view of the first welding machine WER-1 is the right side of the second welding machine WER-2 in FIG. It is substantially the same as the surface view. The first welding machine WER-1 and the second welding machine WER-2 have the same specifications and the same usage pattern. Below, the element code | symbol of each welding machine is described without a branch number, and the structure of 1st welding machine WER-1 is mainly demonstrated.

  A traveling cart 1 (1-1) on the lower plate X shown in FIG. 1 is equipped with a welding torch 8, two magnetic sensors 11, and two copying rollers 9a and 9b. It travels by the traveling device built in. A welding power cable 32 from a welding power source 30 is connected to the rear portion of the welding torch 8 via a wire feeder 31, and a welding wire 37 is fed via the wire feeder 31. Further, a gas supply hose of a shield gas supply device (not shown) is connected. Control of welding by the welding torch 8, opening detection based on standing plate detection signals of the two magnetic sensors 11a and 11b shown in FIG. 2, control of the traveling carriage 1, and detection of the suitability of the welding arc immediately after the start of welding are controlled. This is performed by the control device 40 via the cables 33, 34 and 35. The control device 40 detects whether or not a normal arc has occurred on the basis of a detection signal of an arc generation detector 36 attached to the tip of the welding arc detection cable 35, so that a welding failure at the start of welding is detected. prevent.

  Although not shown in FIG. 1, a permanent magnet is attached to the bottom surface of the traveling carriage 1 to apply a magnetic adhesion force to the lower plate. That is, the apparent weight of the traveling carriage 1 is increased, the traction force of the traveling carriage 1 is increased, and it is difficult to cause the copying from the standing plate Y by dragging a welding cable or the like. In addition, this structure allows the inclined lower plate X to be a structural member (combination of the lower plate and the vertical plate) having an upward gradient and a downward gradient with respect to the traveling direction, and an upward gradient and a downward gradient with respect to the vertical plate Y direction. In contrast, it is possible to follow the weld line (corner).

  Referring also to FIG. 2, a welding torch 8 is supported on the traveling carriage 1 so as to be inclined with respect to the traveling surface by a torch holder mounting member 24. The torch holder mounting member 24 has a long hole in the vertical direction (not shown). Accordingly, the torch holder attaching member 24 can adjust the torch angle by moving the torch holder 5 by loosening the bolt to which the torch holder 5 is attached. The torch holder 5 can be fixed by tightening the bolt. The welding torch 8 is fixed to the traveling carriage 1 by a torch holder 5. By loosening the torch holder knob 6, the position of the welding torch 8 can be adjusted with respect to the lower plate X and the upright plate Y, and can be fixed by tightening the torch holder knob 6. The torch holder mounting member 24 that supports the torch holder 5 is attached to the vertical slider 2, and the vertical slider 2 moves up and down by the left and right rotation of the vertical slider knob 3, and the welding torch 8 moves up and down to the corner. Adjust the position to the meat weld line. The vertical slider 2 is attached to the horizontal slider 17 by the vertical slider attachment member 4. The horizontal slider 17 moves in the front-rear direction by the left-right rotation of the horizontal slider knob 18, and the welding torch 8 moves in the front-rear direction with respect to the standing plate Y to adjust the position to the fillet weld line.

  A traveling wheel 22 is attached to the lower part of the traveling carriage 1, and the traveling wheel 22 is pivotally supported on an axle (not shown). The traveling axle is rotationally driven by a drive device (not shown) provided in the operation box 29.

  Guide arms 21 a and 21 b are respectively attached to both ends of the traveling carriage 1 in the traveling direction in a direction perpendicular to the traveling wheels 22. The guide arms 21 a and 21 b protrude from the traveling carriage 1 in the vertical plate Y direction. Yes. A roller shaft 10 is attached to the tip of the guide arm, and a front copying roller 9a and a rear copying roller 9b are attached to the roller shaft 10 so as to be rotatable with their rotation axes vertical. As shown in FIG. 1, the guide arms 21a and 21b are provided with elongated holes extending in the longitudinal direction of the guide arms 21a and 21b, respectively, and screws are inserted into the elongated holes and screwed into the traveling carriage main body 1. Thus, the guide arms 21 a and 21 b are fixed to the traveling carriage 1. When changing the protruding lengths of the guide arms 21a and 21b, the screws are loosened, the guide arms 21a and 21b are moved along the elongated holes, and then the screws are tightened and fixed. The copying rollers 9a and 9b are installed at a high position so as to be higher than the upper end of the opening at the lower end of the standing plate Y. By making the guide arm 21a that supports the front scanning roller 9a in the traveling direction y shorter than the guide arm 21b that supports the rear scanning roller 9b, the carriage 1 travels by pressing against the standing plate Y. That is, the traveling cart 1 travels along the standing plate Y in an oblique posture toward the standing plate Y, and the welding torch 8 mounted on the traveling cart 1 is a corner formed by the lower plate X and the standing plate Y. Move along the meat weld line.

  Limit switches 20 are attached to the left and right side surfaces of the traveling carriage 1, and when this limit switch 20 travels leftward or rightward with respect to the vertical plate X and reaches the final position of the welding line. It comes into contact with the baffle plate and operates. When the limit switch 20 is operated, the traveling of the traveling carriage is stopped. The limit switch protective cover 19 fixes the limit switch 20 to the traveling carriage and protects the movable part.

  The first magnetic sensor (S1) 11a and the second magnetic sensor (S2) 11b that detect the standing plate Y are magnetic sensor vertical position adjustment mounting members 13a and 13b, magnetic sensor front and rear position adjustment mounting members 14a and 14b, and magnetic sensor left and right. The position adjustment attachment members 16a and 16b are attached to the traveling carriage main body 1 with screws. The first magnetic sensor S1 and the second magnetic sensor S2 are attached to the magnetic sensor vertical position adjusting attachment members 13a and 13b, and move up and down by loosening nuts (not shown) that fix the magnetic sensor. The vertical position can be adjusted and fixed by tightening the nut. The position adjustment attachment members 13a and 13b are attached to the magnetic sensor front and rear position adjustment attachment members 14a and 14b with screws. The magnetic sensor front / rear position adjusting attachment members 14a and 14b have long holes in the vertical direction with respect to the standing plate Y. By loosening the mounting screws, the magnetic sensor front / rear position adjusting mounting members 14a, 14b can be moved in the front / rear direction to adjust the distance to the upright plate Y, and can be fixed by tightening the screws. The magnetic sensor front / rear position adjustment attachment members 14a, 14b are attached to the magnetic sensor left / right position adjustment attachment members 16a, 16b with screws. The magnetic sensor left and right position adjustment attaching members 16a and 16b are attached to the traveling carriage main body 1 with screws. The magnetic sensor left and right position adjustment mounting members 16a and 16b have long holes in the direction parallel to the standing plate Y, and the positions of the first magnetic sensor S1 and the second magnetic sensor S2 are adjusted to the left and right by loosening the screws. It can be moved and fixed by tightening screws.

  The first magnetic sensor S1 and the second magnetic sensor S2 are attached about 0.5 to 2 mm from the front surface of the standing plate Y in front of and behind the welding torch 8 in the traveling direction y of the traveling carriage 1. Detecting the start end and the end of the opening of the plate Y. The first and second magnetic sensors S1, S2 have a magnetic field generating coil, an AC voltage is applied to the coil, and a conductor, typically metal, that generates an eddy current by an alternating magnetic field generated by the coil in front. This is a proximity switch that converts fluctuations in impedance of the coil depending on whether there is a body or a sensor coil added separately into a detection signal, and has the highest sensitivity to steel (iron). There is a small commercial product with a detection distance of 3 mm and a detection end face diameter of about 20 mm, which can be easily obtained and equipped. When attached to about 0.5 to 2 mm from the surface of the standing plate Y, the start and end of the opening can be detected with an error within 2 mm.

  When the positions of the first magnetic sensor S1 and the second magnetic sensor S2 in the y direction are distances L2 (between S1 / 8) and L3 (between S2 / 8) from the welding torch 8, respectively, these are the openings of the standing plate Y. Adjust to the width L1 (the length in the y direction). That is, it is set equal to the distance L1 from the start end to the end of the opening. That is, L1 = L2 = L3. In this way, when the first magnetic sensor S1 located in front of the welding torch 8 in the welding progress direction y detects the end of the opening, the welding torch 8 is connected to the start end of the opening (the corner between the openings distributed in the y direction). It is in the position of meat welding end point). When the second magnetic sensor S2 located behind the welding torch 8 in the welding progress direction y detects the starting end of the opening, the welding torch 8 is at the end of the opening (the fillet welding starting point between the openings distributed in the y direction). In position. The second magnetic sensor S2 detects the opening end (change from with or without standing plate: present / no change = fillet welding starting point of the torch 8), and the first magnetic sensor S1 detects the end of the opening (from without a standing plate). Change to presence: No / Yes = fillet welding end point of torch 8) is detected. That is, the second magnetic sensor S2 is for detecting the fillet welding start point of the torch 8, and the first magnetic sensor S1 is for detecting the fillet welding end point of the torch 8.

  A handle 7 is attached to the side surface of the traveling carriage main body 1. In order to protect against welding spatter and heat, spatter removal members 15 a and 15 b and a spatter adhesion preventing cover 23 are attached to the traveling wheel 22 on the standing plate side of the traveling carriage main body 1. A magnetic sensor protective cover 12 is attached to the outside of the magnetic sensor in order to protect the first magnetic sensor S1 and the second magnetic sensor S2 from welding spatter and heat. The first magnetic sensor S1 and the second magnetic sensor S2 are connected to the control device 40 via sensor connectors 25 and 26. The traveling carriage main body is connected to the control device 40 via the control connectors 27 and 28.

  As shown in FIG. 1, the welding torch 8 is connected to a wire feeding device 31 and supplied with a welding wire 37. A welding power cable 32 from the welding power source 30 is connected to the welding torch 8 via a wire feeding device 31. The arc generation detector (welding current detector) 36 is connected to the control device 40 by an arc generation detector cable with the welding power cable 32 sandwiched from the outside. That is, in this embodiment, the arc generation detector 36 is attached to the welding power cable 32 to detect the arc. The control device 40 controls the welding by detecting the generation of the welding arc based on the detection signal of the arc generation detector 36. The welding wire 37 is supplied to the welding torch via a wire feeding device 31 from a welding wire pail pack or spool (not shown).

  The running and welding control of the welding carriage 1 is performed by the control device 40 shown in FIG. The control device 40 starts welding, detects arc occurrence, time control of start part welding processing, fillet welding and cart travel, detection of the opening end of the standing plate Y based on the standing plate detection signal of the first magnetic sensor S1, and cart. Stop, control crater processing for a predetermined time, start cruising after running the trolley, detect opening start of the standing plate Y based on the standing plate detection signal of the second magnetic sensor S2, stop running, start welding, and arc Following the detection of the occurrence of

  The control device 40 includes a motor driver that drives the electric motor on the carriage 1-1, an interface circuit connected to the sensors and switches on the carriage 1-1, an operation board, a main microcomputer to which these are connected, and the carriage 1 -2 is composed of a motor driver for driving the electric motor on -2, an interface circuit connected to the sensors and switches on the carriage 1-2, a sub-microcomputer to which these are connected, and a control system power supply circuit. Each microcomputer is a computer system including a RAM, a ROM, a CPU, and other computer elements. The main microcomputer reads the operator's data input, sets it in the timer or register, displays it on the character display, and responds to the operator's instruction switch operation to control fillet welding of the first corner by the first welder WER-1. Only WPC-1 and fillet welding control WPC-2 of the second corner by the second welder WER-2 or fillet welding control WPC-1 and WPC-2 of the first and second corners are started. After starting the welding control, the main microcomputer shares the fillet welding control WPC-1 of the first corner by the first welder WER-1, and the sub-microcomputer shares the corner of the second corner by the second welder WER-2. Shares the meat welding control WPC-2.

  The operation board includes an instruction switch, a data input switch, an indicator lamp and a character display, and various timers.

  FIG. 3 shows an upper surface of the instruction switch board CSB which is a part of the operation board. The “start 1” switch is a welding start instruction switch that instructs fillet welding of only the first corner using only the first welder WER-1, and the “start 2” switch is a second that is provided only by the second welder WER-2. The welding start instruction switch for instructing only the corner fillet welding, the “parallel operation” switch, is the fillet welding of the first corner by the first welding machine WER-1 and the second corner of the second corner by the second welding machine WER-2. A welding start instruction switch for instructing parallel operation with fillet welding, and a “stop 1” switch are used to stop the fillet welding of the first corner by the first welding machine WER-1, and also the “stop 2” switch. These are the welding stop instruction | indication switches which instruct | indicate the stop of the fillet welding of the 2nd corner by the 2nd welder WER-2.

  Major timers include an arc detection timer, a travel delay timer, and a crater processing timer that are set or adjusted by an operator. The arc detection timer defines an arc detection time (normal arc continuation time) from when the arc start switch is turned on (contact; closed) until a normal arc is generated until driving of the cart 1 in the direction y is started. The arc detection time is input by the operator operating the data input switch on the operation board. The main microcomputer holds the input arc detection time as the setting value (first setting time) for the arc detection timer, and displays it on the one-digit character display printed as “arc detection timer” on the instruction switch board CSB. To do. Although the input value and the display value are numerical values of 0 to 9, 0.5 seconds is assigned to one unit. For example, if 8 is set, this means that 4 seconds have been set.

  The travel delay timer starts the fillet welding of the first corner by the first welding machine WER-1 when the parallel operation is instructed, and then the corner of the second corner by the second welding machine WER-2. A delay time (running delay time: backward running adjustment interval) until the start of meat welding is defined, and the running delay time is input by an operator by operating a data input switch on the operation board. The main microcomputer holds the inputted travel delay time as a set value for the travel delay timer and displays it on a one-digit character display printed with “travel delay” on the instruction switch board CSB. The input value and the display value are numerical values of 0 to 9, and 1 second is assigned to each unit. For example, if 4 is set, this means that 4 seconds has been set.

  The crater processing timer defines a crater processing time (second set time) after the fillet welding by the welding torch 8 reaches the end of the standing plate Y (starting end of the opening). The crater processing time is input by the operator operating the data input switch on the operation board. The main microcomputer holds the input crater processing time as a set value for the crater processing timer and displays it on a two-digit character display printed with “crater time” on the instruction switch board CSB. The input value and the display value are numerical values of 0 to 99, and 1 second is assigned to one unit.

  FIG. 4 shows an outline of fillet welding control by the main microcomputer of the control device 40, FIG. 5 shows an outline of fillet welding control by the sub-microcomputer of the control device 40, and FIG. FIG. 6B shows the relative positions (Ya to Ye) of the first and second magnetic sensors S1 and S2 and the welding torch 8 with respect to the standing plate Y during the fillet welding control. The vertical plate detection (on: opening non-detection) / non-detection (off: opening detection) and fillet welding start / stop timing of the first and second magnetic sensors S1, S2 are shown. For example, in the case of a bottom long, which is a hull reinforcing member, the vertical plate Y having an opening has a thickness of 9 mm and a height of 150 mm, and the openings A and B (FIG. 6) have a width L1: 60 mm. The height (90 mm) is the distance between the openings A and B (pitch) L4: 300 mm. The length of the longe is as long as 15 m, and the whole length is continuously welded by repeating the fillet welding process between the openings.

Embodiment 1
The contents of fillet welding control by the main microcomputer of the control device 40 will be described with reference to FIG. When power is turned on to the control device 40, the main microcomputer sets each part of the electric circuit of the control device 40 in a standby state and sets the input / output port to a signal level in the standby state. That is, “initialization” (step 1) is performed, and an input from the operator from the operation board is awaited (step 2). At this time, the operating voltage is also applied to the sub-microcomputer of the control device 40. In response to this, the sub-microcomputer also performs “initialization” (step s1 in FIG. 5) and waits for a command (instruction signal) from the main microcomputer. (Step s2).

  In the following, the word “step” is omitted, and only the step number is described in parentheses.

  The operator sets the distances L2 and L3 between the first magnetic sensor S1 and the second magnetic sensor S2 mounted on the welding traveling carriage 1 and the welding torch 8, and the distance L1 between the start end and the end of the opening A of the standing plate Y. To match. The position adjustment of the magnetic sensors S1 and S2 is adjusted by the magnetic sensor vertical position adjustment mounting members 13a and 13b, the magnetic sensor front and rear position adjustment mounting members 14a and 14b, and the magnetic sensor left and right adjustment mounting members 16a and 16b. When only the fillet welding of the first corner is performed only by the first welder WER-1, the position adjustment is performed with respect to the first welder WER-1. When performing only fillet welding of the second corner by only the second welder WER-2, the position adjustment is performed with respect to the second welder WER-2. When performing a parallel operation, the said position adjustment is performed regarding the 1st and 2nd welding machines WER-1 and WER-2.

  Furthermore, the arc detection time is input from the operation board to obtain a setting value (first setting time) for the arc detection timer, and a travel delay time corresponding to the thickness of the standing plate Y (input is required only in parallel operation) and The crater processing time is input to set values for the travel delay timer and the crater processing timer, and the welding current value, fillet welding speed, and crater processing welding current value are set in the control device 40 by input from the operation board. . The main microcomputer of the control device 40 decodes these inputs from the operation board by “input reading” in step 2 and writes them into the internal memory (input register) of the microcomputer. The arc detection time set in the arc detection timer is, for example, about 2 seconds, the travel delay time set in the travel delay timer is, for example, 5 to 6 seconds, and the time set in the crater processing timer is, for example, 4 seconds.

  The operator adjusts the position of the fillet welding direction y of the welding machine WER-1 and / or WER-2, so that the welding torch 8 is shown in FIG. The end position Yc or Ye of Ya or opening A or B is matched. In addition, when aligning the torch 8 with the fillet welding start position Ya, the lower plate X exists on the left side of the fillet welding start position Ya of the standing plate Y, or the start end side joining plate is located on the lower plate X. This is a case where they exist continuously. When the joint plate does not exist, it is adjusted to the end (Yc, Ye) of one opening of the standing plate Y. Then, the welding start instruction switch (button switch) “start 1”, “start 2” or “parallel operation” on the operation board of the control device 40 is pressed. That is, the controller 40 is instructed to start “start” the welding operation. In addition, welding can be started regardless of where the welding torch 8 is positioned not at the start end of the standing plate Y or at the end of the opening.

  The main microcomputer of the control device 40 executes “WER-1 welding control” shown in FIG. 4 (2, 3a, WPC-1) when “START 1” is a start instruction by operating the switch (2, 3a, WPC-1). If the start instruction is a switch operation, the sub-microcomputer is instructed to start welding (2, 3a, 3b, 23). The sub-microcomputer decodes this instruction at step s2 in FIG. 5, and executes “WER-2 welding control” shown in FIG. 5 (s2, s3, WPC-2).

  When it is a start instruction by operating the “parallel operation” switch, the main microcomputer sets the travel delay time as a time limit value to the travel delay timer and starts the timer (2, 3a, 3b, 3c, 24), and After permitting the timer interruption, “WER-1 welding control” shown in FIG. 4 is executed (25, WPC-1). In this case, when the running delay timer expires, the main microcomputer responds to the timer interruption, instructs the sub-microcomputer to start welding, and returns to the main routine (WPC-1). The sub-microcomputer decodes this instruction at step s2 in FIG. 5, and executes “WER-2 welding control” shown in FIG. 5 (s2, s3, WPC-2). Accordingly, after the “WER-1 welding control” (WPC-1) shown in FIG. 4 has started, the time limit value (running delay time) set in the running delay timer has elapsed, and then “WER- 2 welding control "(WPC-2) starts.

  Here, the contents of “WER-1 welding control” (WPC-1) shown in FIG. 4 when a start instruction is given with the welding torch 8 set to the position Ya will be described. Here, the lower plate X exists to the left of the front end Ya of the upright plate 1 or the lower end plate X is connected to the start end side connecting plate, and the right side of the tail end of the upright plate 1 is The plate X exists or the tail end side joining plate is continuous with the lower plate X, and the distance L1 (opening width) from the tail end of the standing plate 1 is placed on the lower plate X or the tail end side joining plate. Assume that a steel end indicator bar is set up. The main microcomputer of the control device 40 executes “start processing” (4) of the first welding machine WER-1 in response to the start instruction (start 1 switch-on).

  In the “start process” (4), the main microcomputer sends a welding start signal ((b) in FIG. 6) to the welding power source 30 and starts welding with the set welding current and voltage. At this time, the main microcomputer monitors the current detection signal of the arc generation detector 36 and determines whether the arc current value has reached the set welding current equivalent value. When the set welding current equivalent value is reached, the arc detection timer (first set time) is set as the time limit value in the arc detection timer, the arc detection timer is started, and the time is over (5). When the arc current value falls below a threshold value lower than the set welding current equivalent value, a start / stop signal is sent to the welding power source 30, the welding power source output is shut off, and a start error is displayed on the operation board. When the normal arc continues and the arc detection timer expires (time value measurement is completed), the profile welding drive of the traveling carriage 1 is started (6). As a result, fillet welding (7) is performed by copying the carriage 1 in the section Ya to Yb in FIG.

  When the detection signal of the first magnetic sensor S1 is switched from the presence of a standing plate (on) to the absence of a standing plate (off) and then from the presence of a standing plate (on) (8, 9), that is, the torch 8 is opened A When the starting end Yb of the vehicle is reached, the control device 40 stops driving the carriage 1 (10) and executes “crater processing” (11).

  In “crater processing” (11), a crater processing welding start signal (FIG. 6B) is output to the welding power source 30, and the crater processing time (second set time) is set as a time limit value in the crater processing timer. Then, the crater processing timer is started, crater processing welding is performed with the crater welding processing current and voltage set in advance in the crater processing conditions, and the crater processing timer is timed over (12). The welding current of the crater treatment welding is set in advance lower than the steady fillet welding current value, and although it is a crater treatment, the thickness surface (opening wall surface) of the vertical plate Y is turned (melting from the front side to the back side) Progress) is completed. When the crater processing timer expires, the welding power source 30 is instructed to stop welding output (13), and the carriage 1 starts to travel (14).

  The welding traveling carriage 1 travels, the first magnetic sensor S1 detects the start end of the opening A and becomes no standing plate (off), the traveling carriage 1 travels further, and the second magnetic sensor S2 detects the start end of the opening A. Then, when the detection signal of the magnetic sensor S2 is switched from OFF (no) to OFF (15) and then to ON (15), and then switched to OFF (off) (16, 17) That is, when the torch 8 reaches the rear end Yc of the opening A, the control device 40 stops driving the carriage 1 (18), and executes the “start process” (4). At this time, the welding torch 8 is at the fillet welding start point (Yc).

  “Start process” (4) The following processes are the same as the processes in steps 4 to 18 described above, and fillet welding from the end Yc of the opening A to the start end Yd of the opening B is similarly performed.

  By the fillet welding control described above, fillet welding starts at the end (Yc, Ye,...) Of the opening (A, B,...) And fillet welding stops at the start (Yd,...). Repeat. When the crater processing of the tail end of the standing plate Y is finished, the first magnetic sensor S1 detects the end indicator bar, and the detection signal of the first magnetic sensor S1 is on, but the carriage 1 starts to drive. Then, when the first magnetic sensor S1 passes through the terminal indicator bar, the detection signal of the sensor S1 is switched off. When the control device 40 detects this switching in step 17, the control device 40 turns on when the baffle plate detection switch is turned on (20) or when the welding stop switch on the operation board is turned on (21). Then, the traveling drive of the carriage 1 is stopped (22). In addition, after finishing the crater process at the start of the opening (A, B,...) And starting the traveling drive of the carriage 1, the welding torch 8 moves to the end of the opening (A, B,...). When the welding stop switch (stop 1) of the operation board is turned on during the period until the operation is performed, the control device 40 stops the traveling drive of the carriage 1 (15, 22).

  The content of “WER-2 welding control” (WPC-2) executed by the sub-microcomputer of the control device 40 shown in FIG. 5 is the same as the content of “WER-1 welding control” (WPC-1) described above. The steps that are the same as or corresponding to those steps are indicated by a symbol with “s” added to the head of the step number of “WER-1 welding control” (WPC-1). However, the stop input in steps s15 and s21 is not by the operator's “stop 1” switch operation but by the “stop 2” switch operation.

  According to the above-described welding apparatus, when the second magnetic sensor S2 detects the opening start end (the torch 8 is the opening end = fillet welding start point), the detection signal of the second magnetic sensor S2 is turned on (with a standing plate). In response to this, the control device 40 stops the traveling carriage 1, supplies a welding current, and starts a start process. This is the cart positions Yc and Ye shown in FIG. The carriage 1 is moved while finishing the start process and continuing welding, and when the first magnetic sensor S1 detects the opening end, and the detection signal of the magnetic sensor S1 changes from off to on, the control device responds to this. 40 stops the traveling carriage 1 and starts crater processing. This is the carriage position Yd shown in FIG.

  In the above-described first embodiment, L2 = L1 = L3 is set, and moves toward the fillet welding start point (14 to 18 in FIG. 4), stops at the fillet weld start point, and performs the welding start process (19, 4), when the opening start end is detected by the second magnetic sensor S2 as the second opening detecting means, the carriage drive is stopped and the welding current is supplied to the welding torch 8 to generate an arc. To start welding. In the second process, the fillet welding is performed while moving toward the fillet welding end point (6, 7), and the crater process is performed by stopping at the fillet welding end point (10-13). When the end of the opening is detected by the first magnetic sensor S1, which is the opening detection means, the carriage drive is stopped and the arc continues to perform crater processing.

Embodiment 2
However, even if L2 = L1 = L3 and L2> L1 and L3 <L1, the movement of the carriage 1 can be stopped in accordance with the fillet welding start point and fillet welding end point. . For example, using a carriage speed detector and a speed integrator (distance calculator), when the opening start edge is detected by the second magnetic sensor S2, the speed integrator is reset and speed integration (distance calculation) is started. If the cart 1 is stopped when the output (calculated distance) reaches the value “L2−L1”, the welding torch 8 stops facing the fillet welding start point. When the opening end is detected by the first magnetic sensor S1, the speed integrator is reset to start speed integration, and when the integrated output (calculated distance) reaches the value “L1-L3”, the carriage 1 is stopped. Then, the welding torch 8 stops opposite to the fillet welding end point.

  In place of the cart speed detector, a single pulse electric signal (moving synchronization pulse) is generated on the cart for a predetermined short distance movement of the cart 1, and the movement synchronization pulse is counted by the distance counter. Good. For example, when the opening start edge is detected by the second magnetic sensor S2, the distance counter is cleared to start counting up the movement synchronization pulse, and when the count value becomes a value equivalent to “L2-L1”, the carriage 1 is If stopped, the welding torch 8 stops opposite to the fillet welding start point. When the opening end is detected by the first magnetic sensor S1, the distance counter is cleared to start counting up the movement synchronization pulse, and when the count value becomes a value corresponding to “L1-L3”, the carriage 1 is stopped. In this case, the welding torch 8 stops opposite to the fillet welding end point.

  According to the embodiment described above, fillet welding of the bottom longe etc. with an opening in the standing plate can be continuously automated and can be automated for all processes including the processing of the start and end of the opening. Full length welding can be performed by repeatedly repeating a vertical stand. Furthermore, the turning welding at both ends of the opening, which has been performed by semi-automatic welding, that is, the start welding at the end of the opening and the crater welding process at the beginning of the opening are automatically performed continuously on the fillet welding from the end of the preceding opening to the tip of the subsequent opening. Yes. Therefore, good welding results can be obtained, the burden on the welding engineer can be greatly reduced, work time can be shortened, and work efficiency can be improved.

It is a side view which shows one Embodiment of one Example of this invention. (A) is a top view of 1st welding machine WER-1 shown in FIG. 1, (b) is a front view of 1st welding machine WER-1. It is a top view which shows the upper surface of the instruction | indication switch board CSB which is a part of operation board of the control apparatus 40 shown in FIG. It is a flowchart which shows the outline | summary of the fillet welding control of the main microcomputer of the control apparatus 40 shown in FIG. It is a flowchart which shows the outline | summary of the fillet welding control of the sub microcomputer of the control apparatus 40 shown in FIG. (A) is a front view showing the upright plate Y shown in FIG. 1 in a reduced scale, and shows the positions of the openings A and B of the upright plate Y and the stop position of the torch 8. (B) is a time chart which shows the outline | summary of the change of the input-output signal of the control apparatus 40, while the trolley | bogie 1 (welding torch 8) moves to the y direction shown to (a), and fillet welding is carried out.

Explanation of symbols

A, B: Opening of vertical plate X: Lower plate Y: Vertical plate 1: Fillet traveling carriage body 2: Vertical slider 3: Vertical slider knob 4: Vertical slider mounting member 5: Torch holder 6: Torch holder knob 7: Handle 8: welding torch 9a: front copying roller, 9b: rear copying roller 10: roller shaft 11a: first magnetic sensor S1,
11b: Second magnetic sensor S2
12: Magnetic sensor protective cover 13a, 13b: Magnetic sensor vertical position adjustment mounting member 14a, 14b: Magnetic sensor front / rear position adjustment mounting member 15a, 15b: Spatter avoidance member 16a, 16b: Magnetic sensor left / right adjustment mounting member 17: Horizontal slider 18 : Horizontal slider knob 19: Limit switch protective cover 20: Limit switch 21a, 21b: Guide arm 22: Traveling wheel 23: Spatter adhesion prevention cover 24: Welding torch holder mounting member 25, 26: Sensor connector 27, 28: Control connector 29 : Operation boxes 30-1 and 30-2: Welding power sources 31-1, 31-2: Wire feeding devices 32-1, 32-2: Welding power cables 33-1 and 33-2: Traveling cart control cable 34- 1, 34-2: Welding control 35-1, 35-2: Arc generation detection Vessel cables 36-1 and 36-2: arcing detectors 37-1 and 37-2: welding wire 40: control device

Claims (12)

In fillet welding for welding a corner formed by a lower plate X and a standing plate Y having an opening at the lower end surface facing the lower plate,
First welding detection means, welding torch and second opening detection means are arranged in this order in the welding torch moving direction y in the direction in which the standing plate Y extends, and the width of the opening y in the direction y is L1, When the distance between the first opening detection means / welding torch is L2 and the distance between the second opening detection means / welding torch is L3, L2 ≧ L1 and L3 ≦ L1
The assembly of the first and second opening detection means and the welding torch is driven in the direction y following the standing plate Y with the first opening detection means at the head, and the opening of the second opening detection means The drive is stopped at a timing based on the detection of the start end, a welding current is supplied to the welding torch to generate an arc to perform a welding start process, and then the assembly is restarted to continue the arc and fillet The first step of welding;
And a second stroke in which the driving is stopped at a timing based on detection of an end of opening of the first opening detecting means, the arc is continuously cratered, and then the arc is stopped. Meat welding method.   The fillet welding method according to claim 1, wherein a plurality of the openings are distributed in the standing plate Y, and the first stroke and the second stroke are repeated following the second stroke.   The vertical plate is opposed to the first corner where the fillet welding is performed by the welding torch of the first assembly, that is, the first welding torch, by the second assembly having the same configuration as the first assembly which is the assembly. The fillet welding method according to claim 1 or 2, wherein fillet welding including the first and second strokes of the second corner is performed in parallel with fillet welding by the first assembly.   The fillet welding method according to any one of claims 1 to 3, wherein the welding start process is continuation of normal arc detection by an arc detector during a first set time.   The fillet welding method according to any one of claims 1 to 4, wherein the crater treatment is arc continuation for a second set time in which a welding current value is reduced.   As L2 = L1 = L3, in the first stroke, when the opening start end is detected by the second opening detecting means, the driving is stopped and a welding current is supplied to the welding torch to generate an arc to perform welding. The start process is performed, and in the second process, when the opening end is detected by the first opening detection means, the driving is stopped and the arc continues to perform the crater process. The fillet welding method according to one.   L2> L1 and L3 <L1, and in the first stroke, after the opening start end is detected by the second opening detecting means, the driving is stopped after the driving of the distance L2-L1, and the welding torch is applied to the welding torch. The welding start process is performed by supplying a welding current to generate an arc. In the second stroke, after the end of the opening is detected by the first opening detecting means, the driving is performed after driving the distance of L1-L3. The fillet welding method according to any one of claims 1 to 5, wherein the arc is stopped and the arc continues to perform crater processing. In the fillet welding apparatus for welding the corner formed by the lower plate X and the standing plate Y,
A welding base in which first opening detection means, welding torch and second opening detection means are arranged in this order from the front in the welding torch moving direction y in the direction in which the standing plate Y extends;
Driving means for driving the welding base in the direction y following the vertical plate Y; and
The drive is stopped at a timing based on detection of the opening start end of the second opening detection means, a welding current is supplied to the welding torch to generate an arc, a welding start process is performed, and then the assembly is re-driven. Control that the arc is continuously welded and the drive is stopped at a timing based on detection of the end of opening of the first opening detecting means, the arc is continuously cratered, and then the arc is stopped. means;
A fillet welding apparatus comprising:   The fillet welding apparatus according to claim 8, further comprising means for adjusting distances L2 and L3 in the direction y with respect to the welding torch by the first and second opening detection means.   The fillet welding apparatus according to claim 8 or 9, wherein an arc detector is installed in a welding power cable connected to the welding torch.   The first and second opening detection means are proximity sensors that detect the presence or absence of a standing plate material at a facing position in a non-contact manner facing the side surface of the standing plate Y. Fillet welding equipment. The fillet welding apparatus according to claim 11, wherein the first and second opening detection means are magnetic sensors that detect the presence or absence of a metal body.

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