JP2008275482A - Device for measuring interpass temperature, welding method using device for measuring interpass temperature - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a device for measuring an interpass temperature and a welding method using the device for measuring an interpass temperature capable of measuring temperatures right before and after welding in a measurement position apart from a weld line by a certain distance, where the device for measuring the interpass temperature is positioned between welded passes by movement of an arm of a welding robot. <P>SOLUTION: The device for measuring the interpass temperature, which measures a work surface temperature in a located position, is mounted on a welding torch support part on an arm tip end of the welding robot right before welding operation, is located so that a measuring direction turns to a position apart from the weld line by the certain distance vertically to the weld line by the movement of the arm. When a measurement result is below a management prescribed value, welding of a next pass is sequentially continued. When the measurement result exceeds the management prescribed value, one or a plurality of times of temperature measurement is conducted again after a predetermined time passes. The welding of the next pass is restarted at a time point when the measurement result is below the management prescribed value. <P>COPYRIGHT: (C)2009,JPO&INPIT

Description

  TECHNICAL FIELD The present invention relates to an interpass temperature measuring device used in welding a steel column for construction, and a welding method using the interpass temperature measuring device.

  The Building Standard Law stipulates that the interpass temperature is controlled to 250 ° C. or lower or 350 ° C. or lower, depending on the combination of the applicable steel type and the welding wire. Therefore, in the welding robot system, it is necessary to temporarily stop the welding robot between passes, and the operator must actually measure the temperature at a predetermined position and confirm that the temperature is lower than the control temperature. This is the cause of the decline.

  For example, Patent Literature 1 and Patent Literature 2 disclose an automatic welding method for an architectural steel column. Examples of the steel column for building include a column column, a pipe column, and a connecting column core.

  However, the techniques disclosed in Patent Document 1 and Patent Document 2 are not devised for managing and recording the surface temperature (interpass temperature) of the workpiece to be welded, and manage the temperature immediately before welding. For this purpose, the operation of the welding robot is temporarily stopped, and the operator directly measures and records the temperature between passes, and if it exceeds the management regulation value, confirms that it has become the management regulation value or less, The welding robot must be restarted. For this reason, when automatic welding operation is started in the daytime and automatic welding operation continues at night, it is necessary for the worker to measure, record and manage the temperature between passes at night, and there is no worker. Then, there is a problem that the automatic welding operation must be stopped.

  As a prior art regarding the management method of the temperature between passes, patent document 3 is mentioned, for example.

JP-A-6-285637 JP 2000-79471 A JP 2005-46848 A

  However, the technique disclosed in Patent Document 3 is premised on temperature measurement between passes by an operator, and there is a problem that if the operator is absent, the automatic welding operation must be stopped.

  The present invention has been made in view of such problems, and the inter-pass temperature measuring device is positioned by the movement of the arm of the welding robot between the welding passes, and immediately before and immediately after the welding at a measurement position separated from the welding line by a certain distance. It is an object of the present invention to provide an interpass temperature measuring device capable of measuring the temperature of the above and a welding method using the interpass temperature measuring device.

  The inter-pass temperature measuring device according to the present invention is attached to a welding torch support at the tip of an arm of a welding robot, and the measurement direction is constant from the welding line to the welding line by moving the arm between the welding passes. It is positioned so as to go to a position separated by a distance, and the workpiece surface temperature at the positioned position is measured.

  The interpass temperature measuring device is attached to the welding torch support at the tip of the arm of the welding robot, and the arc point (welding position) of the welding torch and the measuring position of the interpass temperature measuring device are fixed so as to have a certain distance and angle. Thus, if the welding robot is instructed of the measurement position of the inter-pass temperature measuring device, the welding robot can position the measurement position with high accuracy, and the workpiece surface temperature at this measurement position can be measured. Temperature measurement immediately before and after welding at a measurement position away from the line by a certain distance can be performed.

  The measurement unit for measuring the workpiece surface temperature is a non-contact type radiation temperature sensor, and it is preferable that the sensor is shielded from the surroundings by an air shield or other means during welding.

  The interpass temperature measuring device according to the present invention may include a storage unit that records and stores the measurement result of the workpiece surface temperature.

  In the welding method using the interpass temperature measuring device according to the present invention, the workpiece surface temperature is measured by the interpass temperature measuring device immediately before the welding operation. If welding of the next pass is continued and the measurement result exceeds the control specified value, the temperature measurement is performed again one or more times after a predetermined time, and the measurement result falls below the control specified value. The welding of the next pass is resumed at the point of time.

  It is desirable that the specified management value can be selected from 250 ° C. or 350 ° C. or set to an arbitrary temperature.

  According to the present invention, the interpass temperature measuring device is attached to the welding torch support at the tip of the arm of the welding robot so that the welding position of the welding torch and the measured position of the interpass temperature measuring device have a certain distance and angle. By fixing, if the welding robot is taught the measurement position of the inter-pass temperature measurement device, the welding robot can accurately position this measurement position, and by measuring the workpiece surface temperature at this measurement position, Temperature measurement immediately before and after welding at a measurement position that is a certain distance away from the weld line can be performed.

  Hereinafter, embodiments of the present invention will be specifically described with reference to the accompanying drawings. First, a first embodiment of the present invention will be described. FIG. 1 is a schematic front view of an arm of a welding robot having a welding torch support portion to which an interpass temperature measuring device 1 according to the present embodiment is attached, and FIG. 2 is a schematic front view of the arm of the welding robot during welding. FIG. 3 is a schematic front view of the arm of the welding robot when measuring the temperature between passes.

  The inter-pass temperature measuring apparatus 1 according to the present embodiment includes a temperature sensor head 2 and a cover 3 as shown in FIG. As shown in FIGS. 1 to 4, a torch mounting bracket 5 is connected to a torch mounting bracket 4 provided on a rotatable arm 14 of the welding robot, and a shock sensor 6 is mounted on the torch mounting bracket 5. A torch mounting base 8 is screwed to the sensor 6 by a round bar retainer 7, and a spring 13 and a torch mounting bracket 9 for supporting a power cable (not shown) are screwed to the torch mounting base 8. In addition, the welding torch support portion constituted by the torch clamps 11 and 12 while the welding torch 10 is held is screwed. The cover 3 of the inter-pass temperature measuring device 1 is fastened to the torch clamp 12 together. Thereby, the interpass temperature measuring apparatus 1 which concerns on this embodiment is attached to the welding torch support part of the welding robot.

  As shown in FIG. 1, the arc point (welding position) of the welding torch 10 and the measurement position of the interpass temperature measuring device 1 have a fixed distance (146 mm in the illustrated example) and a fixed angle (35 ° in the illustrated example). It is fixed to have.

  Next, the operation of the inter-pass temperature measuring apparatus 1 according to this embodiment configured as described above will be described. As shown in FIG. 2, during welding, the arm 14 of the welding robot moves, and the arc point (welding position) of the welding torch 10 moves to the parts to be welded of the workpieces 15 and 16. Then, the arm 14 of the welding robot moves in the welding line direction, and the arc point of the welding torch 10 moves along the welding line.

  After welding, as shown in FIG. 3, the arm 14 of the welding robot rotates, and the interpass temperature measuring device 1 is positioned at a position where the measurement direction is a certain distance away from the weld line in a direction perpendicular to the weld line. Positioned to face. The interpass temperature measuring device 1 measures the workpiece surface temperature at this measurement position, and records and saves the measured value as necessary.

  The interpass temperature measuring device 1 according to the present embodiment is attached to a welding torch support at the tip of an arm 14 of a welding robot, and the arc point of the welding torch 10 and the measurement position of the interpass temperature measuring device 1 are at a certain distance ( (146 mm in the illustrated example) and an angle (35 ° in the illustrated example) are fixed to each other, and the measurement position of the interpass temperature measuring device 1 is previously taught to the welding robot, so that the interpass temperature measuring device 1 The measurement position can be accurately positioned, and temperature measurement immediately before and after welding is possible at this measurement position.

  For example, when the interpass temperature measuring device is not attached to the welding torch support part, when the measurement position of the interpass temperature measuring device is positioned by the welding robot, it is necessary to replace the welding torch with the temperature measuring device. Yes, even if an automatic tool changer is used, temperature cannot be measured within the change operation time. In addition, a tool changer is required, which is not economical.

  In addition, if the welding robot is not used when moving the interpass temperature measurement device to the measurement position, a device that moves the interpass temperature measurement device to the measurement position and retreats during welding is required. Increasing the size of the equipment is unavoidable and not economical.

  In addition, when the inter-pass temperature measuring device is fixed to the work and attached, it is necessary to attach the inter-pass temperature measuring device for each of a plurality of joints.

  In addition, when a contact type temperature measuring device such as a thermocouple is directly attached to the workpiece, the workpiece is welded while rotating, so that cable processing is difficult. Further, since interference with the welding torch occurs in the vicinity of the groove, it is necessary to attach and detach the contact-type temperature measuring device, and the ratio of automation of the welding operation is reduced. If the contact temperature measuring device is installed at a position where it does not interfere with the welding torch, it will be installed at a position away from the groove by a predetermined distance (for example, 30 mm or more), and high-precision temperature measurement cannot be performed.

  The interpass temperature measuring device 1 according to the present embodiment is attached to a welding torch support at the tip of an arm 14 of a welding robot, and the arc point of the welding torch 10 and the measurement position of the interpass temperature measuring device 1 are at a certain distance ( (146 mm in the illustrated example) and an angle (35 ° in the illustrated example) are fixed to each other, and the measurement position of the interpass temperature measuring device 1 is previously taught to the welding robot, so that the interpass temperature measuring device 1 The measurement position can be accurately positioned at a position where the measurement direction of the interpass temperature measuring device 1 is a certain distance away from the weld line in the direction perpendicular to the weld line. At this measurement position, the temperature measurement immediately before and after welding is performed. Since it is possible, all the above-mentioned problems can be solved.

  Next, a second embodiment of the present invention will be described. The present embodiment is an embodiment of a welding method using the interpass temperature measuring device 1 according to the first embodiment of the present invention described above. FIG. 4 is a diagram showing a flow of a welding method using the interpass temperature measuring device 1 according to the present embodiment.

  In the welding method using the interpass temperature measuring device 1 according to the present embodiment, robot welding is first started as shown in FIG. 4 (step S1). Then, the management specified value set in advance in the setting unit of the welding robot by the operator and the set value for a predetermined time until the temperature measurement is performed again when the management specified value is exceeded are read out. As the management specified value, 250 ° C. or 350 ° C. can be selected or set to an arbitrary temperature (step S2). Next, the measurement position of the interpass temperature measuring device 1 at the time of temperature measurement is taught to the welding robot, and an execution program for making a temperature measurement posture is created (step S3). Then, after welding, the arm 14 is rotated by the execution program of the welding robot to position the interpass temperature measuring device 1 at the measurement position. Then, the temperature is measured by the interpass temperature measuring device 1, and the measurement result is stored in the storage unit of the interpass temperature measuring device 1 (step S4). When the measurement result of the temperature measurement in step S4 exceeds the management specified value set in step S2 (step S5), the temperature measurement is performed again after a predetermined time has elapsed (step S4). Thus, it repeats from step S4. If the measurement result of the temperature measurement in step S4 is equal to or less than the control specified value set in step S2 (step S5), the time from the end of the previous pass welding to the start of the next pass welding is stored (step S6), and the next pass welding is performed. Is resumed (step 7).

  Thereby, in the prior art, it is possible to solve the problem that the operator must manage the temperature immediately before and after welding, and if the worker is absent, the automatic welding operation must be stopped. . Also, in order to manage the temperature immediately before welding, the operation of the welding robot is temporarily stopped, and the operator directly measures and records the temperature between passes, and if it exceeds the management regulation value, it will be below the management regulation value. After confirming that it has become, the problem that the welding robot has to be restarted can be solved.

It is a typical front view of the arm of the welding robot which has the welding torch support part to which the interpass temperature measuring device 1 which concerns on 1st Embodiment of this invention was attached. It is a typical front view of the arm of the welding robot at the time of welding. It is a typical front view of the arm of the welding robot at the time of temperature measurement between passes. It is a figure which shows the flow of the welding method using the interpass temperature measuring apparatus 1 which concerns on 2nd Embodiment of this invention.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1; Interpass temperature measuring device 2; Temperature sensor head 3; Cover 4; Torch mounting bracket 5; Torch mounting bracket 6; Shock sensor 7; Round bar presser 8; Torch mounting base 9; Torch mounting bracket 10; Torch clamp 12; torch clamp 13; spring 14; arm 15; work 16;

Claims (5)

It is attached to the welding torch support part at the tip of the arm of the welding robot, and by the movement of the arm between the welding passes, the measurement direction is positioned so as to go to a position away from the welding line by a certain distance in the direction perpendicular to the welding line, An interpass temperature measuring device that measures the workpiece surface temperature at the positioned position. The measurement unit for measuring the workpiece surface temperature is a non-contact type radiation temperature sensor, and the sensor is shielded from the surroundings by an air shield or other means during welding. Interpass temperature measuring device. The interpass temperature measuring device according to claim 1, further comprising a storage unit that records and stores the measurement result of the workpiece surface temperature. Immediately before the welding operation, the workpiece surface temperature is measured by the inter-pass temperature measuring device according to any one of claims 1 to 3, and if this measurement result is less than the control specified value, the next pass is continuously measured. When welding is continued and the measurement result exceeds the control specified value, the temperature is measured once or a plurality of times again after a predetermined time has elapsed, and when the measurement result falls below the control specified value. Welding method using interpass temperature measuring device, characterized by resuming welding of next pass. 5. The welding method using the interpass temperature measuring device according to claim 4, wherein the specified management value can be set to 250 ° C. or 350 ° C. or set to an arbitrary temperature.

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