JP2015100838A - Welding equipment and welding method - Google Patents

Abstract

PROBLEM TO BE SOLVED: To weld the whole area of a portion to be seamed of a steel pipe outer surface with high accuracy correspondingly to a variety of shapes of the portion to be seamed of the steel pipe outer surface.SOLUTION: Welding equipment according to one aspect of the present invention includes: a welding machine for welding a portion to be seamed of a steel pipe outer surface; a weld torch moving part for moving a weld torch of the welding machine in a width direction of the portion to be seamed of the outer surface; a shape detecting part for detecting an outer peripheral sectional shape of the steel pipe; an arithmetic processing part; and a controlling part. The arithmetic processing part: sets first and second arithmetic processing ranges that respectively correspond to a position range of each steel material end part of a steel pipe outer peripheral surface; calculates a displacement amount of the outer peripheral sectional shape relative to a positional change in an outer peripheral direction of the steel pipe, for the first and second arithmetic processing ranges respectively; and calculates each position of both side seam edge parts in the width direction of the portion to be seamed of the outer surface, on the basis of a displacement amount equal to or less than a predetermined threshold out of the calculated displacement amount of the sectional shapes respectively. The controlling part controls the weld torch moving part such that the weld torch follows a center position between each of the positions of both side seam edge parts.

Description

  The present invention relates to a welding apparatus and a welding method for welding an outer surface side of a seam portion of a welded steel pipe.

  Conventionally, a welded steel pipe such as a UOE steel pipe is manufactured by welding a seam portion (seam portion) of a steel pipe material formed into a tubular shape. In general, in a manufacturing process of a welded steel pipe, a steel plate, which is a steel pipe material, is formed into a tubular shape by pressing or the like after being subjected to a groove processing in which end portions on both sides in the plate width direction are processed into a groove shape. At that time, both end portions of the groove shape (the portions that were originally the end portions on both sides in the plate width direction of the steel plate) are abutted with each other to produce a joint portion in the longitudinal direction of the welded steel pipe, that is, a welded steel pipe. At this time, it becomes a seam portion to be welded.

  A seam portion of a welded steel pipe (hereinafter abbreviated as a steel pipe as appropriate) is usually subjected to submerged arc welding after being tack welded. In this main welding, first, inner surface welding is performed in which the seam portion after tack welding is welded from the inner peripheral surface side of the steel pipe. Next, the outer surface welding which welds the seam part after this inner surface welding from the outer peripheral surface side of a steel pipe is performed.

  Further, in the above-described main welding, it is important to optimize the welding position of the seam portion (that is, the position where the arc is generated) in order to ensure high quality of the main welding of the seam portion. Specifically, in order to ensure high welding quality in outer surface welding, the outer surface seam portion of the steel pipe (hereinafter referred to as the outer surface seam portion) is located at the center position in the width direction across the entire seam portion. It is effective to weld the outer seam while accurately following the welding torch.

  As a conventional technique related to such outer surface welding, for example, a fan-shaped laser beam is irradiated to a groove portion of a steel pipe to capture a cross-sectional shape of the groove portion, and an image of the cross-sectional shape of the captured groove portion is also obtained. In some cases, the position of the groove portion is detected, and a welding torch is inserted into the groove portion where the position is detected (see Patent Document 1). In the prior art described in Patent Document 1, the combination of the gradients of the cross-sectional shape of the imaged groove portion is classified into one of a plurality of preset gradient patterns, and is associated with the gradient pattern classification. The position coordinates of the left and right edges of the groove portion are calculated by the calculation method. Further, the intermediate point between the left and right edge positions is set as the groove center position, and the welding torch drive mechanism is driven so as to cancel the relative positional deviation of the groove center position with respect to the reference position. The relative position is always constant.

Japanese Patent Publication No. 6-95010

  However, in the above-described prior art, if the gradient pattern of the cross-sectional shape of the outer surface seam portion formed on the steel pipe does not match the preset gradient pattern of the cross-sectional shape of the groove portion, both sides in the width direction of the outer surface seam portion Cannot be detected (hereinafter referred to as seam edge portions). Such a situation is unexpected, for example, when a weld bead formed by tack welding a seam portion of a steel pipe (hereinafter referred to as a tack weld bead) becomes discontinuous due to humping or fusing. This may occur when the cross-sectional shape of the outer surface seam portion is difficult to predict due to an external factor. Since the seam edge portion cannot be detected as described above, it is difficult to obtain the center position in the width direction of the outer surface seam portion. For this reason, the center position in the width direction of the outer surface seam portion is accurate over the entire area of the outer seam portion. It is difficult to follow the welding torch well. As a result, a weld defect in the outer seam portion may occur. Furthermore, since the operation of causing the welding torch to follow the center position in the width direction of the outer seam portion by manual operation occurs, not only the burden on the worker increases, but also the welding efficiency of the steel pipe is reduced and extended. Leads to a decrease in the manufacturing efficiency of the steel pipe.

  In addition, demands for high-strength and high-temperature toughness specifications of steel pipes have been increasing in recent years. In order to meet such product requirements for steel pipes, the groove shape of steel pipes has become complicated, such as changing the groove shape from one stage to two stages and improving the weld quality of steel pipes. The shape of the outer seam is diversified. However, the above-described conventional technology cannot cope with various shapes of the outer surface seam portion of the steel pipe. For this reason, a seam edge part can be detected corresponding to the shape of various outer surface seam parts of a steel pipe, and as a result, it is desired that the outer surface seam part of various shapes can be welded with high accuracy.

  The present invention has been made in view of the above circumstances, and a welding apparatus capable of accurately welding the entire outer surface seam portion of a steel pipe in accordance with the shapes of various outer surface seam portions of the steel pipe, and An object is to provide a welding method.

  In order to solve the above-described problems and achieve the object, the welding apparatus according to the present invention moves the welding torch relative to the seam portion on the outer peripheral surface side of the steel pipe along the longitudinal direction of the steel pipe, An outer periphery of the steel pipe including a welding machine for welding the seam part, a welding torch moving part for moving the welding torch in the width direction of the seam part, and one end part and the other end part that abut each other to form the seam part A shape detecting unit for optically detecting a cross-sectional shape of the surface; a first calculation processing range corresponding to a position range of the one end along the outer peripheral direction of the steel pipe; and the other end along the outer peripheral direction of the steel pipe A second calculation processing range corresponding to the position range of the portion, and the displacement amount of the cross-sectional shape of the one end portion and the displacement amount of the cross-sectional shape of the other end portion with respect to the position change in the outer peripheral direction are set to the first Processing range and The width of the seam portion is calculated based on a displacement amount equal to or less than a predetermined threshold among the displacement amounts of the cross-sectional shape of the one end portion calculated for the second calculation processing range. A displacement amount equal to or less than the predetermined threshold value among the displacement amounts of the cross-sectional shape of the other end portion calculated for the second calculation processing range, and calculating the position of one of the seam edge portions on both sides in the direction. Based on the calculation processing unit for calculating the position of the other seam edge part of the both-side seam edge parts, and the center position between the calculated position of the one seam edge part and the position of the other seam edge part And a control unit that controls the welding torch moving unit so as to follow the welding torch.

  Further, in the welding apparatus according to the present invention, in the above invention, the calculation processing unit is less than the predetermined threshold value from the displacement amount peak of the cross-sectional shape of the one end calculated for the first calculation processing range. A displacement amount peak is selected as a displacement amount candidate of the one seam edge portion, and a displacement amount peak of the one seam edge portion is determined based on a groove shape of the steel pipe from the selected displacement amount candidates, and determined. The position of the one seam edge portion forming the displacement amount peak is calculated, and the displacement amount peak of the cross-sectional shape of the other end portion calculated for the second calculation processing range is equal to or less than the predetermined threshold value. A displacement peak is selected as a displacement amount candidate for the other seam edge portion, and the other seam edge portion is selected from the selected displacement amount candidates based on the groove shape of the steel pipe. The amount of displacement peak determined, and calculates the position of the other seam edge portion forming the determined the amount of displacement peak.

  In the welding device according to the present invention, in the above invention, the arithmetic processing unit may be spaced apart from each other across a position of a weld bead formed in the seam portion by tack welding of the seam portion. A first calculation processing range and the second calculation processing range are set.

  Further, the welding method according to the present invention includes a shape detection step for optically detecting a cross-sectional shape of the outer peripheral surface of the steel pipe including one end and the other end that abut each other to form a seam portion on the outer peripheral surface side of the steel pipe. The first calculation processing range corresponding to the position range of the one end along the outer peripheral direction of the steel pipe and the second calculation processing range corresponding to the position range of the other end along the outer peripheral direction of the steel pipe A range setting step for setting the first cross-sectional shape displacement amount of the one end portion and the displacement amount of the cross-sectional shape of the other end portion with respect to the position change in the outer circumferential direction. A displacement amount calculating step for calculating each of the calculation processing ranges, and a displacement amount equal to or less than a predetermined threshold among the displacement amounts of the cross-sectional shape of the one end calculated for the first calculation processing range. Width The position of one seam edge part of the both-side seam edge parts is calculated, and the displacement amount equal to or less than the predetermined threshold among the displacement amounts of the cross-sectional shape of the other end portion calculated for the second calculation processing range is calculated. Based on the edge position calculating step of calculating the position of the other seam edge portion of the both-side seam edge portions, and at the center position between the calculated position of the one seam edge portion and the position of the other seam edge portion. A welding torch moving step for moving the welding torch in the width direction of the seam portion so that the welding torch follows, and moving the welding torch relative to the seam portion along the longitudinal direction of the steel pipe And a welding step of welding the seam portion.

  In the welding method according to the present invention as set forth in the invention described above, the edge position calculation step includes a displacement amount peak of the cross-sectional shape of the one end calculated for the first calculation processing range, which is equal to or less than the predetermined threshold value. The displacement amount peak of the one seam edge portion is selected as a displacement amount candidate, and from the selected displacement amount candidates, the displacement amount peak of the one seam edge portion is determined based on the groove shape of the steel pipe, The position of the one seam edge portion that forms the determined displacement amount peak is calculated, and the displacement amount peak of the cross-sectional shape of the other end portion calculated for the second calculation processing range is equal to or less than the predetermined threshold value. Is selected as a displacement amount candidate for the other seam edge portion, and the other shim edge portion is selected from the selected displacement amount candidates based on the groove shape of the steel pipe. Determining the displacement of the peak of Muejji unit, and calculates the position of the other seam edge portion forming the determined the amount of displacement peak.

  In the welding method according to the present invention, in the above invention, the range setting step may be performed such that the range setting step is separated from each other with a position of a weld bead formed in the seam portion by tack welding of the seam portion. A first calculation processing range and the second calculation processing range are set.

  According to the present invention, there is an effect that the entire outer seam portion of the steel pipe can be welded with high accuracy corresponding to the shape of various outer seam portions of the steel pipe.

FIG. 1 is a diagram illustrating a configuration example of a welding apparatus according to the present embodiment. FIG. 2 is a view of the welding apparatus shown in FIG. 1 as viewed from above. FIG. 3 is a diagram for explaining optical detection of the outer peripheral cross-sectional shape of the steel pipe by the shape detection unit. FIG. 4 is a flowchart showing an example of the welding method according to the embodiment of the present invention. FIG. 5 is a diagram for explaining the setting of the calculation processing range necessary for calculating the position of the seam edge portion and the calculation of the displacement amount of the outer cross-sectional shape in this embodiment. FIG. 6 is a diagram for explaining calculation processing for position calculation of the seam edge portion in the present embodiment.

  Hereinafter, preferred embodiments of a welding apparatus and a welding method according to the present invention will be described in detail with reference to the accompanying drawings. Note that the present invention is not limited to the embodiment. Moreover, the same code | symbol is attached | subjected to the same component in each drawing.

(Configuration of welding equipment)
First, the structure of the welding apparatus concerning embodiment of this invention is demonstrated. FIG. 1 is a diagram illustrating a configuration example of a welding apparatus according to the present embodiment. FIG. 2 is a view of the welding apparatus shown in FIG. 1 as viewed from above. A welding apparatus 1 according to the present embodiment is for welding a steel pipe 15 after being subjected to tack welding and inner surface welding, and as shown in FIGS. The arc welder 3 for welding the outer surface seam portion 16 of the steel pipe 15, the welding torch moving part 4 for adjusting the position of the welding torch 3a of the arc welder 3, and the cross-sectional shape of the outer peripheral surface of the steel pipe 15 (hereinafter referred to as the outer periphery) And a shape detecting unit 5 for detecting a sectional shape as appropriate. Further, the welding apparatus 1 has a condition input unit 6 for inputting the steel material conditions and the like of the steel pipe 15, an arithmetic processing unit 7 for performing various arithmetic processes required for high-precision welding of the entire outer surface seam unit 16, and the outer surface seam unit 16. And a control unit 8 that controls the follow-up of the welding torch 3a.

  The conveyance conveyor 2 is comprised using a some conveyance roll etc., and conveys the steel pipe 15 in the longitudinal direction (refer the thick line arrow of FIG. 1, 2). At this time, as shown in FIGS. 1 and 2, the transport conveyor 2 transports the steel pipe 15 with the outer surface seam portion 16, which is a welded portion of the steel pipe 15, facing upward. Moreover, the conveyance conveyor 2 continues conveyance of the steel pipe 15 until the whole region from one end of the longitudinal direction of the steel pipe 15 to the other end has passed below the welding torch 3a of the arc welding machine 3.

  The arc welder 3 arc welds the outer seam portion 16 of the steel pipe 15 by a submerged arc welding method or the like. Specifically, the arc welder 3 is configured using a plurality of welding torches 3 a and the like, and is installed at a position in the vicinity of the transport conveyor 2. The arc welder 3 moves each of the plurality of welding torches 3a in the vertical direction, thereby appropriately adjusting the height of each welding torch 3a with respect to the outer surface seam portion 16 of the steel pipe 15. Such an arc welder 3 causes the outer surface seam portion 16 to generate an arc by appropriately bringing the plurality of welding torches 3a close to the outer surface seam portion 16 of the steel pipe 15 being conveyed by the conveyor 2. Further, the arc welding machine 3 moves the plurality of welding torches 3 a relative to the outer surface seam portion 16 along the longitudinal direction of the steel pipe 15 by the action of the conveyor 2 described above, and the entire area of the outer surface seam portion 16. Arc welding.

  The welding torch moving part 4 moves the welding torch 3a in the width direction of the outer surface seam part 16 of the steel pipe 15 to adjust the relative positional relationship between the outer surface seam part 16 and the welding torch 3a. Specifically, as shown in FIG. 2, the welding torch moving unit 4 is connected to the arc welding machine 3 via a drive shaft. The welding torch moving unit 4 moves the arc welding machine 3 in the width direction of the outer surface seam portion 16 of the steel pipe 15 by moving the drive shaft in the projecting and retracting direction (see the double-sided thick arrows in FIG. 2). The welding torch moving unit 4 moves each welding torch 3 a of the arc welding machine 3 in the width direction of the outer surface seam part 16 through the movement of the arc welding machine 3. Thereby, the welding torch moving part 4 maintains the relative relationship between the position of each welding torch 3a and the center position of the outer surface seam part 16 constant.

  The shape detection unit 5 optically detects the cross-sectional shape of the outer peripheral surface of the steel pipe 15 including the outer surface seam portion 16. Specifically, as shown in FIG. 1, the shape detection unit 5 images a light projecting unit 5 a that projects light to the outer peripheral surface of the steel pipe 15 and reflected light from the outer peripheral surface of the projected steel pipe 15. Imaging section 5b. FIG. 3 is a diagram for explaining optical detection of the outer peripheral cross-sectional shape of the steel pipe by the shape detection unit.

  The light projecting unit 5 a is configured using a light output device such as a semiconductor laser element, and irradiates the outer peripheral surface of the steel pipe 15 with light of a predetermined wavelength band such as laser light. At this time, as shown in FIG. 3, the light projecting unit 5a emits light having a predetermined light projection range such as fan-shaped light from a predetermined direction (for example, a direction perpendicular to the outer peripheral surface of the steel pipe 15). The 15 outer peripheral surfaces 18 are irradiated. On the outer peripheral surface 18 of the steel pipe 15 projected by the light projecting part 5a, one end part and the other end part of the steel pipe material that abut each other to form the outer surface seam part 16, specifically, the steel material end part shown in FIG. 13 and 14 are included. The steel material end portions 13 and 14 are end portions on both sides in the plate width direction of the steel plate, which is a steel pipe material before being formed into a tubular shape, and have a predetermined groove shape (in this embodiment, a two-step groove shape). Has been processed. By abutting these steel material end portions 13 and 14, the outer seam portion 16 and the groove portion 17 of the steel pipe 15 as shown in FIG. 3 are formed. Since the outer surface seam portion 16 has already been tack welded, a tack weld bead 19 is formed along the outer surface seam portion 16 as shown in FIG.

  The imaging unit 5b is configured using a solid-state imaging device or the like, and is disposed so as to have a light receiving region in a direction inclined with respect to the optical axis of the light projecting unit 5a, as shown in FIGS. The imaging unit 5b receives the reflected light from the outer peripheral surface 18 of the steel pipe 15 projected by the light projecting unit 5a, and performs predetermined processing such as photoelectric conversion processing on the received reflected light. Thereby, the imaging part 5b images the light strip formed on the outer peripheral surface 18 of the steel pipe 15 by the light projecting part 5a, that is, the outer peripheral cross-sectional shape 21 of the steel pipe 15. As shown in FIG. 3, the outer peripheral cross-sectional shape 21 has an outer surface formed by abutting each cross-sectional shape of the steel material end portions 13 and 14 that are continuous with the outer peripheral surface 18 of the steel pipe 15 and the steel material end portions 13 and 14. Each cross-sectional shape of the seam part 16 and the groove part 17 is included. Here, the outer surface seam portion 16 is usually formed by the seam edge portions 13 a and 14 a, the open front end surfaces 13 c and 14 c, and the tack weld bead 19. The seam edge portions 13 a and 14 a are both side edge portions in the width direction of the outer surface seam portion 16. One seam edge portion 13 a is an edge portion (corner portion) that forms a boundary between the open end surfaces 13 c and 13 d adjacent to each other in the steel material end portion 13. The other seam edge portion 14 a is an edge portion (corner portion) that forms a boundary between the open end surfaces 14 c and 14 d adjacent to each other in the steel material end portion 14. The groove portion 17 is formed by the outer surface seam portion 16, the groove edge portions 13b and 14b, and the open tip surfaces 13d and 14d. The groove edge portions 13 b and 14 b are both edge portions in the width direction of the groove portion 17. One groove edge portion 13 b is an edge portion (corner portion) that forms a boundary between the open tip surface 13 d and the outer peripheral surface 18 that are adjacent to each other in the steel material end portion 13. The other groove edge portion 14 b is an edge portion (corner portion) that forms a boundary between the open end surface 14 d and the outer peripheral surface 18 that are adjacent to each other in the steel material end portion 14.

  The shape detection unit 5 including the light projecting unit 5a and the imaging unit 5b described above has the outer peripheral cross-sectional shape 21 of the steel pipe 15 including the steel material end portions 13 and 14 that abut each other to form the outer surface seam portion 16 and the groove portion 17. Detect optically. That is, the shape detection unit 5 acquires an image of the outer circumferential cross-sectional shape 21 of the steel pipe 15 by the above-described actions of the light projecting unit 5a and the imaging unit 5b, and performs predetermined image analysis processing on the acquired image. 3, the cross-sectional shapes on the outer peripheral surface sides of the steel material end portions 13 and 14, the outer surface seam portion 16, and the groove portion 17 shown in FIG. 3 are detected. Moreover, the shape detection part 5 is fixedly arrange | positioned at the steel pipe entrance side edge part of the arc welding machine 3, as shown in FIGS. The shape detection unit 5 arranged in this way has a timing before the steel pipe 15 reaches the welding torch 3a of the arc welder 3, that is, a timing before the outer surface seam portion 16 is arc welded by the arc welder 3. The outer peripheral cross-sectional shape 21 of the steel pipe 15 is detected. The shape detection unit 5 sequentially performs the detection processing of the outer peripheral cross-sectional shape 21 continuously or intermittently as the steel pipe 15 is conveyed (progressed), and transmits the detected outer peripheral cross-sectional shape 21 to the arithmetic processing unit 7 each time. .

  The condition input unit 6 inputs the steel material conditions of the steel pipe 15 to be externally welded. Specifically, the condition input part 6 is implement | achieved using the apparatus which manages the order information required for operation of a steel pipe manufacturing line (not shown), such as a process computer, for every steel pipe. The condition input unit 6 inputs order information indicating the steel material conditions and product specifications of the steel pipe 15 to the arithmetic processing unit 7. Thereby, the condition input unit 6 inputs the material thickness and groove shape conditions of the steel pipe 15 to the arithmetic processing unit 7 as steel material conditions. The condition input unit 6 is realized by using an input device such as an input key and a mouse, and inputs the conditions of the material thickness and groove shape of the steel pipe 15 to the arithmetic processing unit 7 in accordance with an input operation by an operator. May be. Alternatively, the condition input unit 6 may be a combination of a process computer and an input device as appropriate.

  The arithmetic processing unit 7 performs various arithmetic processes necessary for accurately arc-welding the entire outer seam portion 16 of the steel pipe 15 by the arc welder 3. Specifically, the arithmetic processing unit 7 sets a first arithmetic processing range corresponding to the position range of one steel material end 13 along the outer circumferential direction of the steel pipe 15. And the arithmetic processing part 7 sets the 2nd arithmetic processing range corresponding to the position range of the other steel material edge part 14 along the outer peripheral direction of the steel pipe 15. FIG. Next, the arithmetic processing unit 7 calculates the amount of displacement of the cross-sectional shape of one steel material end 13 with respect to the position change in the outer peripheral direction of the steel pipe 15 for the set first arithmetic processing range. And the arithmetic processing part 7 calculates the displacement amount of the cross-sectional shape of the other steel material edge part 14 with respect to the position change of the outer peripheral direction of the steel pipe 15 about the set 2nd arithmetic processing range. Thereafter, the arithmetic processing unit 7 derives a displacement amount equal to or less than a predetermined threshold value from the displacement amount of the cross-sectional shape of the one steel material end portion 13 calculated for the first arithmetic processing range described above. The arithmetic processing unit 7 calculates the position of one of the seam edge portions 13a and 14a in the width direction of the outer surface seam portion 16 based on the derived displacement amount. In parallel with this, the arithmetic processing unit 7 derives a displacement amount equal to or less than a predetermined threshold value from the displacement amount of the cross-sectional shape of the other steel material end portion 14 calculated for the above-described second arithmetic processing range. The arithmetic processing unit 7 calculates the position of the other seam edge portion 14a of the both-side seam edge portions 13a, 14a based on the derived displacement amount. As described above, the arithmetic processing unit 7 transmits the position information of the obtained seam edge portions 13 a and 14 a to the control unit 8 every time the positions of the both-side seam edge portions 13 a and 14 a of the outer surface seam portion 16 are calculated.

  The control unit 8 controls a follow-up operation for causing the welding torch 3a of the arc welder 3 to follow the center position of the outer surface seam portion 16 of the steel pipe 15. Specifically, the control unit 8 acquires the position information of the both-side seam edge portions 13 a and 14 a of the outer surface seam portion 16 calculated by the arithmetic processing unit 7. The control unit 8 calculates the center position between the position of the one seam edge portion 13a and the position of the other seam edge portion 14a every time the position information is acquired from the arithmetic processing unit 7. Next, the control unit 8 controls the welding torch moving unit 4 so that each welding torch 3a follows the calculated center position, that is, the center position of the outer surface seam portion 16. The control unit 8 controls the follow-up operation of each welding torch 3 a to the center position of the outer surface seam portion 16 through the control of the welding torch moving unit 4.

(Welding method)
Below, the welding method concerning embodiment of this invention is demonstrated. FIG. 4 is a flowchart showing an example of the welding method according to the embodiment of the present invention. FIG. 5 is a diagram for explaining the setting of the calculation processing range necessary for calculating the position of the seam edge portion and the calculation of the displacement amount of the outer cross-sectional shape in the present embodiment. FIG. 6 is a diagram for explaining calculation processing for position calculation of the seam edge portion in the present embodiment. The welding apparatus 1 (see FIGS. 1 and 2) according to the present embodiment performs an arc welding machine at the center position of the outer surface seam portion 16 of the steel pipe 15 by appropriately repeating the processes of steps S101 to S108 shown in FIG. 3, the entire outer seam portion 16 is welded while following each welding torch 3a.

  That is, in the welding method according to the present embodiment, as shown in FIG. 4, the welding apparatus 1 first acquires the steel material conditions of the steel pipe 15 that is the outer surface welding target (step S <b> 101). In step S <b> 101, the order information of the steel pipe 15 is input to the arithmetic processing unit 7 of the welding apparatus 1 by the condition input unit 6. The arithmetic processing unit 7 acquires the steel material condition of the steel pipe 15 included in the order information from the condition input unit 6, and recognizes the material thickness and groove shape of the steel pipe 15 based on the acquired steel material condition.

  Next, the welding apparatus 1 optically detects the outer peripheral cross-sectional shape 21 of the steel pipe 15 including the steel material end portions 13 and 14 that abut each other to form the outer surface seam portion 16 of the steel pipe 15 (step S102). In step S102, the shape detection unit 5 captures the band of light formed on the outer peripheral surface of the steel pipe 15 by the light projecting unit 5a by the imaging unit 5b, and processes the obtained image to thereby obtain the outer cross-sectional shape of the steel pipe 15 21 is detected. As shown in FIG. 3, the detected outer peripheral cross-sectional shape 21 includes steel end portions 13 and 14, and an outer surface seam portion 16 and a groove portion 17 formed by abutting the steel end portions 13 and 14 together. included.

  Subsequently, the welding apparatus 1 sets a range for performing arithmetic processing necessary for calculating the positions of the seam edge portions 13a and 14a of the outer surface seam portion 16 based on the detected outer peripheral cross-sectional shape 21 (step S103). In step S103, the arithmetic processing unit 7 uses the steel pipe 15 thickness and groove shape obtained from the condition input unit 6 as shown in step S101 described above, as shown in FIG. A position range X1 to X4 of one steel material end 13 along the outer circumferential direction and a position range X5 to X8 of the other steel material end 14 are set. In addition, the arithmetic processing part 7 expands the position range of the steel material edge parts 13 and 14 with at least one among the increase in the material thickness of the steel pipe 15, and complication of a groove shape. Next, the arithmetic processing unit 7 sets a first arithmetic processing range R1 corresponding to the position ranges X1 to X4 of the steel material end 13 out of the entire range of the position X in the outer circumferential direction of the steel pipe 15, and the steel material A second arithmetic processing range R2 is set corresponding to the position range X5 to X8 of the end portion 14. At this time, as shown in FIG. 5, the arithmetic processing unit 7 includes the first arithmetic processing range R <b> 1 and the second arithmetic processing range R <b> 1 so as to be separated from each other with the position of the tack weld bead 19 formed on the outer seam part 16. An arithmetic processing range R2 is set.

  Here, the first arithmetic processing range R1 is one of the edge portions of the steel material end portion 13, that is, one of the outer surface seam portions 16, out of the entire area of the outer peripheral cross-sectional shape 21 of the steel pipe 15 detected by the shape detection unit 5. This is a range that is limited so that the arithmetic processing related to the seam edge portion 13a and one groove edge portion 13b of the groove portion 17 is performed. As shown in FIG. 5, the first calculation processing range R1 includes a seam edge portion 13a and a groove edge portion 13b. On the other hand, the second calculation processing range R2 is selected from the entire outer peripheral cross-sectional shape 21 of each edge portion of the steel material end portion 14, that is, the other seam edge portion 14a of the outer surface seam portion 16 and the other of the groove portion 17. The range is limited so that the calculation processing related to the groove edge portion 14b is performed. As shown in FIG. 5, the second calculation processing range R2 includes a seam edge portion 14a and a groove edge portion 14b.

  After executing step S103 described above, the welding apparatus 1 calculates the displacement amount of the outer peripheral cross-sectional shape 21 of the steel pipe 15 detected in step S102 for each calculation processing range (step S104). In step S <b> 104, the arithmetic processing unit 7 calculates the amount of displacement of the cross-sectional shape of the steel material end 13 with respect to the position change in the outer circumferential direction of the steel pipe 15 for the set first arithmetic processing range R <b> 1. And the arithmetic processing part 7 calculates the displacement amount of the cross-sectional shape of the steel material edge part 14 with respect to the position change of the outer peripheral direction of the steel pipe 15 about the set 2nd arithmetic processing range R2. At this time, the arithmetic processing unit 7 derives a function indicating a correlation between the position in the outer circumferential direction of the steel pipe 15 and the position of the cross-sectional shape of the steel material end portion 13, and performs differential analysis processing on the function, thereby obtaining the steel material end portion. The displacement amount Y of 13 cross-sectional shapes is calculated. The arithmetic processing unit 7 derives a function indicating the correlation between the position in the outer peripheral direction of the steel pipe 15 and the position of the cross-sectional shape of the steel material end 14, and performs differential analysis processing on the function, whereby the steel material end 14. The displacement amount Y of the cross-sectional shape is calculated. As a result of the above, the calculation processing unit 7 has the peak P1 of the displacement amount Y of each inflection point in the cross-sectional shape of the steel material end 13 within the first calculation processing range R1, as indicated by the correlation line La in FIG. , P2 and P3, and the peaks P4, P5 and P6 of the displacement amount Y of each inflection point in the cross-sectional shape of the steel material end 14 in the second calculation processing range R2.

Here, the first calculation processing range R1 and the second calculation processing range R2 correspond to the position ranges of the steel material end portions 13 and 14 based on the material thickness and groove shape of the steel pipe 15 as described above. Each is set. As a result, the first calculation processing range R1 and the second calculation processing range R2 are narrowed down to the minimum necessary as the ranges for calculating the positions of the edge portions of the steel material end portions 13 and 14.
Therefore, even if the sputter 27 is unexpectedly generated on the outer peripheral surface of the steel pipe 15, the arithmetic processing unit 7 supports the sputter 27 from the first arithmetic processing range R1 and the second arithmetic processing range R2. The peak P7 of the displacement amount Y to be performed can be excluded. As a result, the arithmetic processing unit 7 can reduce the displacement amount peak (that is, disturbance) of unnecessary inflection points other than the edge portions of the steel material end portions 13 and 14 as much as possible.

  After executing step S104 described above, the welding apparatus 1 uses the displacement amounts of the cross-sectional shapes of the steel material end portions 13 and 14 calculated for each of the first calculation processing range R1 and the second calculation processing range R2. Then, the respective positions of the both side seam edge portions 13a, 14a in the width direction of the outer surface seam portion 16 are calculated (step S105). In step S105, the arithmetic processing unit 7 derives a displacement amount equal to or less than a predetermined threshold among the displacement amounts of the cross-sectional shape of the steel material end portion 13 calculated for the first arithmetic processing range R1, and the calculated displacement amount is also obtained. In addition, the position of one of the seam edge portions 13a and 14a is calculated. And the arithmetic process part 7 derives | leads-out the displacement amount below a predetermined threshold among the displacement amounts of the cross-sectional shape of the steel material edge part 14 calculated about 2nd calculation process range R2, Based on this derived displacement amount The position of the other seam edge portion 14a of the both-side seam edge portions 13a and 14a is calculated.

  Specifically, as shown in FIG. 6, the arithmetic processing unit 7 calculates the displacement of the cross-sectional shape in the first arithmetic processing range R1 and the displacement of the cross-sectional shape in the second arithmetic processing range R2. Then, the threshold value Yth is set. Here, the threshold value Yth is equal to or greater than the displacement amount peak of each edge portion of a wide variety of groove-shaped steel material end portions, and the displacement amount other than the above-described edge portions such as a spatter generation portion or a tack weld bead portion. The value is less than the peak. Such a threshold value Yth is derived based on past performance data, simulation data, experimental data, or the like of steel pipe production, and is preset in the arithmetic processing unit 7.

  Next, the arithmetic processing unit 7 compares the displacement amount Y of the cross-sectional shape of the steel material end 13 calculated for the first arithmetic processing range R1 with a preset threshold value Yth. Based on the result of the comparison processing, the arithmetic processing unit 7 determines the peaks P1, P2 of the displacement amount Y that are equal to or less than the threshold Yth from the peaks P1, P2, P3 of the displacement amount Y within the first arithmetic processing range R1. Are selected as displacement amount candidates of the seam edge portion 13a. The arithmetic processing unit 7 determines the displacement amount peak of the seam edge portion 13a based on the groove shape of the steel pipe 15 from the selected displacement amount candidates. For example, when the groove shape of the steel pipe 15 is a two-step groove shape, the calculation processing unit 7 is on the opposite side to the tack welding bead 19 in the first calculation processing range R1 among the peaks P1 and P2 that are displacement amount candidates. The second peak P2 calculated from (left side as viewed in FIG. 6) is set as the displacement amount peak of the seam edge portion 13a. The arithmetic processing unit 7 calculates the position coordinates of the position X3 of the seam edge portion 13a that forms the displacement amount peak (peak P2) determined in this way.

  In parallel with this, the arithmetic processing unit 7 compares the displacement amount Y of the cross-sectional shape of the steel material end portion 14 calculated for the second arithmetic processing range R2 with a preset threshold value Yth. Based on the result of the comparison processing, the arithmetic processing unit 7 determines the peaks P5, P6 of the displacement Y that are equal to or less than the threshold Yth from the peaks P4, P5, P6 of the displacement Y within the second arithmetic processing range R2. Are selected as displacement amount candidates of the seam edge portion 14a. The arithmetic processing unit 7 determines a displacement amount peak of the seam edge portion 14 a based on the groove shape of the steel pipe 15 from the selected displacement amount candidates. For example, when the groove shape of the steel pipe 15 is a two-step groove shape, the calculation processing unit 7 is opposite to the tack welding bead 19 in the second calculation processing range R2 among the peaks P5 and P6 that are displacement amount candidates. The second peak P5 is calculated from (from the right side in FIG. 6) as the displacement amount peak of the seam edge portion 14a. The arithmetic processing unit 7 calculates the position coordinates of the position X6 of the seam edge portion 14a that forms the displacement amount peak (peak P5) determined in this way.

  On the other hand, when the groove shape of the steel pipe 15 is an n-step groove shape (n is an integer equal to or greater than 2), the arithmetic processing unit 7 includes the temporary welding bead in the first arithmetic processing range R1 among the selected displacement amount candidates. The n-th peak from the side opposite to 19 is defined as the displacement amount peak of the seam edge portion 13a. The same applies to the second calculation processing range R2.

  After executing step S105 described above, the welding apparatus 1 moves each welding torch 3a of the arc welding machine 3 to a center position between the calculated position of one seam edge portion 13a and the position of the other seam edge portion 14a. Each welding torch 3a is caused to follow the center position of the outer seam portion 16 (step S106). In step S106, the control unit 8 acquires the position coordinates of the seam edge part 13a and the position coordinates of the seam edge part 14a calculated by the arithmetic processing unit 7 as described above. Next, the control unit 8 calculates the center position Xc between the position X3 of the seam edge part 13a and the position X6 of the seam edge part 14a, that is, the center position of the outer surface seam part 16 based on the acquired position coordinates. . Then, the control part 8 controls the welding torch moving part 4 so that each welding torch 3a follows the calculated center position of the outer surface seam part 16. The welding torch moving unit 4 moves the arc welding machine 3 in the width direction of the outer surface seam portion 16 based on the control of the control unit 8, thereby moving each welding torch 3 a in the width direction of the outer surface seam portion 16. To follow the center position of the outer seam portion 16.

  Next, the welding apparatus 1 welds the outer surface seam portion 16 while moving each welding torch 3a relative to the outer surface seam portion 16 along the longitudinal direction of the steel pipe 15 (step S107). In step S <b> 107, the welding torch moving unit 4 is driven based on the control of the control unit 8, and thereby maintains the state in which each welding torch 3 a follows the center position of the outer surface seam unit 16. The arc welder 3 causes each of the following welding torches 3a to appropriately approach the outer surface seam portion 16 to generate an arc in the outer surface seam portion 16, and generates the outer surface seam portion 16 along the longitudinal direction of the steel pipe 15. Arc welding.

  Thereafter, when the welding of the outer seam portion 16 of the steel pipe 15 is not completed (No at Step S108), the welding apparatus 1 returns to Step S102 described above and repeats the processes after Step S102. On the other hand, the welding apparatus 1 complete | finishes this process, when the welding of the whole region of the outer surface seam part 16 is completed (step S108, Yes). That is, the welding apparatus 1 repeatedly performs the processes of steps S102 to S108 described above until the outer seam portion 16 is completely welded over the entire length of the steel pipe 15. Moreover, whenever the welding apparatus 1 receives the new steel pipe 15, it repeats each process of step S101-S108 mentioned above with respect to this steel pipe 15 suitably.

  As described above, in the embodiment of the present invention, the outer circumferential cross-sectional shape of the steel pipe including each steel material end forming the outer seam portion is optically detected, and each steel material end along the outer circumferential direction of the steel pipe First and second calculation processing ranges respectively corresponding to the position ranges of the steel pipes are set, and the amount of displacement of the cross-sectional shape of each steel member relative to the position change in the outer circumferential direction of the steel pipe is set for each of the first and second calculation processing ranges. Both side seam edge portions in the width direction of the outer surface seam portion based on a displacement amount equal to or less than a predetermined threshold value among the displacement amounts of the cross-sectional shape of each steel material portion calculated and calculated for each of the first and second calculation processing ranges The outer surface seam is calculated by moving the welding torch relative to the outer surface seam portion along the longitudinal direction of the steel pipe along the center position between the calculated positions of the both side seam edge portions. Weld the part That.

  For this reason, with regard to the calculation processing range narrowed down to the extent where unexpected external factors such as discontinuous tack weld beads or spatters are excluded as much as possible, the cross-sectional shape of the multiple edge portions with respect to the position change in the outer circumferential direction of the steel pipe The amount of displacement can be calculated. Thus, it is possible to detect both seam edge portions in the width direction of the outer surface seam portion from the plurality of edge portions whose displacement amounts have been calculated, and calculate the positions of these both seam edge portions with high accuracy. As a result, not only a steel pipe having a simple groove shape such as a one-step groove, but also a steel pipe having a complicated groove shape more than a two-stage groove, the outer seam portion is not hindered by an unexpected external factor. The center position in the width direction can be calculated with high accuracy, and the welding torch can follow the center position with high accuracy. As a result, the entire outer surface seam portion of the steel pipe can be welded with high accuracy corresponding to the shapes of various outer surface seam portions of the steel pipe, and the improvement of the welding quality of the outer surface seam portion can be promoted.

  By applying the welding apparatus and welding method according to the present invention to a steel pipe production line, even if the temporary weld bead of the outer surface seam portion of the steel pipe is formed in a discontinuous or complicated shape, Even when the groove shape is diversified according to various product requirements such as high strength thick wall and low temperature toughness specifications, the welding torch is at the center position in the width direction of the outer seam part over the entire length of the steel pipe. The whole area of the outer seam can be welded with high quality while automatically following. Thereby, the welding repair work of the steel pipe and the follow-up work of the welding torch by manual operation can be omitted, and the manufacturing yield of the steel pipe can be improved. As a result, not only can the burden on the operator in the steel pipe production line be reduced, but also the welding efficiency of a wide variety of steel pipes can be improved, and consequently the production efficiency of a wide variety of steel pipes can be greatly improved.

  In the above-described embodiment, the position of each welding torch 3a of the arc welder 3 is fixed (constant) in the longitudinal direction of the steel pipe 15, and the steel pipe 15 is transported in the longitudinal direction by the transport conveyor 2. The present invention is not limited to this. That is, in the present invention, each welding torch 3 a may be moved relative to the outer surface seam portion 16 of the steel pipe 15 in the longitudinal direction of the steel pipe 15. At this time, the position of the steel pipe 15 may be fixed, and the arc welder 3 may move along the longitudinal direction of the steel pipe 15 together with each welding torch 3a. Alternatively, both the steel pipe 15 and the arc welder 3 are moved in the longitudinal direction of the steel pipe 15, and thereby each welding torch 3 a is moved relative to the outer seam portion 16 along the longitudinal direction of the steel pipe 15. Good.

  In the embodiment described above, the arc welding machine 3 is provided with the four welding torches 3a, but the present invention is not limited to this. The number of welding torches 3a provided in the arc welding machine 3 is not particularly limited to four, and may be one or plural. That is, in the present invention, the number of welding torches 3a is not particularly limited.

  Furthermore, in the above-described embodiment, the steel pipe 15 having a two-step groove shape is a welding target, but the present invention is not limited to this, and a plurality of (for example, three or more) groove shapes, etc. It can be applied to the welding of a wide variety of groove-shaped outer seams.

  Further, the present invention is not limited by the above-described embodiment, and the present invention includes a configuration in which the above-described constituent elements are appropriately combined. In addition, all other embodiments, examples, operation techniques, and the like made by those skilled in the art based on the above-described embodiments are included in the present invention.

DESCRIPTION OF SYMBOLS 1 Welding apparatus 2 Conveyor 3 Arc welding machine 3a Welding torch 4 Welding torch moving part 5 Shape detection part 5a Light projection part 5b Imaging part 6 Condition input part 7 Arithmetic processing part 8 Control part 13, 14 Steel material end part 13a, 14a Seam edge Part 13b, 14b Groove edge part 13c, 13d, 14c, 14d Open tip surface 15 Steel pipe 16 Outer seam part 17 Groove part 18 Outer peripheral surface 19 Tacking weld bead 21 Peripheral sectional shape 27 Sputter La correlation line R1 First calculation Processing range R2 Second arithmetic processing range

Claims (6)

A welding machine for welding the seam part while moving the welding torch relatively to the seam part on the outer peripheral surface side of the steel pipe along the longitudinal direction of the steel pipe;
A welding torch moving part for moving the welding torch in the width direction of the seam part;
A shape detection unit that optically detects a cross-sectional shape of the outer peripheral surface of the steel pipe including one end and the other end that form a seam portion by butting each other;
A first calculation processing range corresponding to the position range of the one end portion along the outer peripheral direction of the steel pipe and a second calculation processing range corresponding to the position range of the other end portion along the outer peripheral direction of the steel pipe. And calculating a displacement amount of the cross-sectional shape of the one end portion and a displacement amount of the cross-sectional shape of the other end portion with respect to the position change in the outer circumferential direction for the first calculation processing range and the second calculation processing range, respectively. One seam edge of both seam edge portions in the width direction of the seam portion based on a displacement amount equal to or less than a predetermined threshold among the displacement amounts of the cross-sectional shape of the one end portion calculated for the first calculation processing range And calculating the position of the portion, and based on the displacement amount equal to or less than the predetermined threshold among the displacement amounts of the cross-sectional shape of the other end portion calculated for the second calculation processing range, The other side of An arithmetic processing unit for calculating the position of Muejji portion,
A control unit that controls the welding torch moving unit to cause the welding torch to follow a center position between the calculated position of the one seam edge part and the position of the other seam edge part;
A welding apparatus comprising:   The arithmetic processing unit selects a displacement amount peak equal to or less than the predetermined threshold as a displacement amount candidate of the one seam edge portion from the displacement amount peaks of the cross-sectional shape of the one end calculated for the first arithmetic processing range. Then, the displacement amount peak of the one seam edge portion is determined based on the groove shape of the steel pipe from the selected displacement amount candidates, and the position of the one seam edge portion forming the determined displacement amount peak is determined. The displacement amount peak not more than the predetermined threshold is selected as a displacement amount candidate for the other seam edge portion from among the displacement amount peaks of the cross-sectional shape of the other end portion calculated for the second calculation processing range. Then, a displacement amount peak of the other seam edge portion is determined based on the groove shape of the steel pipe from the selected displacement amount candidates, and the determined displacement amount peak is determined. Welding device according to claim 1, characterized in that to calculate the position of the other seam edge portion.   The arithmetic processing unit sets the first arithmetic processing range and the second arithmetic processing range so as to be separated from each other with the position of a weld bead formed in the seam portion by tack welding of the seam portion. The welding apparatus according to claim 1, wherein the welding apparatus is set. A shape detecting step for optically detecting a cross-sectional shape of the outer peripheral surface of the steel pipe including one end and the other end forming a seam portion on the outer peripheral surface side of the steel pipe by butting together
A first calculation processing range corresponding to the position range of the one end portion along the outer peripheral direction of the steel pipe, and a second calculation processing range corresponding to the position range of the other end portion along the outer peripheral direction of the steel pipe; A range setting step for setting
Displacement amounts for calculating the displacement amount of the cross-sectional shape of the one end portion and the displacement amount of the cross-sectional shape of the other end portion with respect to the position change in the outer peripheral direction for the first calculation processing range and the second calculation processing range, respectively. A calculation step;
One seam edge portion of both side seam edge portions in the width direction of the seam portion based on a displacement amount equal to or less than a predetermined threshold among the displacement amounts of the cross-sectional shape of the one end portion calculated for the first calculation processing range. Of the both-side seam edge portions based on a displacement amount equal to or less than the predetermined threshold among the displacement amounts of the cross-sectional shape of the other end portion calculated for the second calculation processing range. An edge position calculating step for calculating the position of the other seam edge portion;
A welding torch moving step of moving the welding torch in the width direction of the seam portion so that the welding torch follows a center position between the calculated position of the one seam edge portion and the position of the other seam edge portion; ,
A welding step of welding the seam portion while moving the welding torch relative to the seam portion along the longitudinal direction of the steel pipe;
The welding method characterized by including.   In the edge position calculation step, a displacement amount peak equal to or less than the predetermined threshold is selected as a displacement amount candidate for the one seam edge portion from among the displacement amount peaks of the cross-sectional shape of the one end portion calculated for the first calculation processing range. The displacement amount peak of the one seam edge portion is determined based on the groove shape of the steel pipe from the selected displacement amount candidates selected, and the position of the one seam edge portion forming the determined displacement amount peak And a displacement amount peak equal to or less than the predetermined threshold value as a displacement amount candidate for the other seam edge portion among the displacement amount peaks of the cross-sectional shape of the other end portion calculated for the second calculation processing range. Select the displacement amount peak of the other seam edge portion based on the groove shape of the steel pipe from the selected displacement amount candidates, and the determined displacement Welding method according to claim 4, characterized in that to calculate the position of the other seam edge portion forming a peak.   In the range setting step, the first calculation processing range and the second calculation processing range are set so as to be separated from each other with a position of a weld bead formed in the seam portion by tack welding of the seam portion. The welding method according to claim 4, wherein the welding method is set.

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