JP2524570B2 - Automatic welding equipment for spiral seam welded steel pipes - Google Patents

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a spiral seam welded steel pipe (hereinafter simply referred to as a steel pipe) for welding.
The present invention relates to an automatic welding apparatus that automatically controls the moving distance and moving time of a welding torch by the signal of a visual sensor.

[0002]

2. Description of the Related Art Next, the structure of a conventional steel pipe welding apparatus will be described with reference to FIG. 6 is a solenoid valve, 7 is a cylinder, 8A and 8B are switches, 10 is a projector, 11 is a steel pipe, and 12 is a welding torch. To manufacture the steel pipe 11, the steel strip 11A is spirally wound and formed, and the spiral joints of the steel strip 11A are welded by the submerged arc welding method.

In the submerged arc welding method, the welding position cannot be visually confirmed because of the flux 12A as shown in FIG. Therefore, the projector 10 is attached to the welding torch 12, and the cross mark 1 projected from the projector 10 onto the steel pipe 11 is attached.
Determine the welding position with 0A as the target. The distance between the intersection of the cross mark 10A and the center of the welding torch 12 is
A is set in advance to a close distance such that the cross mark 10A is not hidden. While feeding the steel pipe 11, the welding torch 12 is moved aiming at the cross mark 10A to move the steel pipe 1
Can weld 1 joint.

The welding torch 12 is a reciprocating hydraulic cylinder 7.
The welding torch 12 is reciprocally moved in the Y-axis direction in FIG. 6 by switching the port of the solenoid valve 6. The port of the solenoid valve 6 is switched by pushing the push button type switches 8A and 8B connected to the solenoid of the solenoid valve 6. In FIG. 6, switch 8A and switch 8B
Since neither is pressed, the cylinder 7 is stopped. When the switch 8A is pressed, the welding torch 12 moves to the right from the position on the paper surface of FIG. 6, and when the switch 8B is pressed, the welding torch 12 moves to the left from the position on the paper surface of FIG.

[0005]

The welding shown in FIG. 6 is so-called semi-automatic welding, and it is inconvenient because the welding torch is moved by switching the switch while observing the welding position. Also, the spiral seam steel pipe is a standard width steel strip 11A.
When the steel strip 11A has a width difference, the spiral position is changed to change the spiral spiral forming angle in order to secure the diameter of the product standard. Changes the target welding point position. Since there is a large width difference between the steel strips 11A at the points where the joints of the steel strips 11A intersect, there is a problem in that the welding torch must be greatly moved in an instant. The present invention
When welding a spiral seam welded steel pipe, compare the preset moving range value of the welding torch with the signal of the visual sensor, select the moving time value corresponding to the moving range value, and move the welding torch. The objective is to control the distance and travel time without causing a welding arc break.

[0006]

To achieve this object, in the present invention, the detector 1 for detecting the position of the deepest portion of the joint of the steel pipe 11 and the detection value of the detector 1 are input,
Welding position data generating means 2 for generating data of distance value "P" with the position of distance L from the origin being the welding position, narrow range movement value "A" of the reciprocating range of welding torch 12, and narrow range movement. Input wide area movement value "B" wider than value "A",
Comparing means 3 for comparing the distance value "P" of the welding position data generating means 2 with the narrow area movement value "A" and the wide area movement value "B";
A short time movement value "T1" for moving the welding torch 12,
Long-term movement value "T2" longer than short-time movement value "T1"
And the comparison value of the comparison means 3 are input, and "-B">
When "P" and "B"<"P", the long-term movement value "T"
2 ", the selection signal 4A for moving the welding torch 12 toward the origin is output, and" -B "≤" P "<"-A "and" A "<
When “P” ≦ “B”, the selection signal 4A for moving the welding torch 12 toward the origin with the short-time movement value “T1” is output, and when “−A” ≦ “P” ≦ “A”. , Welding torch 1
Selection means 4 for outputting a selection signal 4A for stopping 2;
A selection signal 4A from the selection means 4 is inputted, the selection signal 4A is converted into a movement output, and a movement output generation means 5 for driving the solenoid valve 6 is provided.

[0007]

Next, the structure of the welding apparatus according to the present invention will be described with reference to FIG. 1 is a detector, 2 is a welding position data generating means, 3 is a comparing means, 4 is a selecting means, 5 is a movement output generating means, and others are the same as those in FIG. FIG.
Then, the detector 1 detects the position of the deepest part of the joint of the steel pipe 11, and the detected value of the detector 1 is input to the welding position data generating means 2. The welding position data generating means 2 receives the detected value as input, sets the position at a distance L from the origin as the welding position, and generates data corresponding to the distance value "P".

The narrow range movement value "A" of the reciprocating range of the welding torch 12 is inputted to the comparing means 3, and the reciprocating range of the welding torch 12 is wider than the narrow range moving value "A".
Is input, and the distance value “P” of the welding position data generating means 2 is input.
Is input, and the distance value “P” is compared with the narrow area movement value “A” and the wide area movement value “B”.

The short-time movement value "T1" of the welding torch 12 having a short movement time is input to the selecting means 4, and the long-time movement value "T2" of which the movement time of the welding torch 12 is longer than the short-time movement value "T1" is inputted. Is input, the comparison value of the comparison means 3 is input, and the selection signal 4A is output.

The selection signal 4A from the selection means 4 is input to the movement output generating means 5, the selection signal 4A is converted into a movement output, and the rightward movement output 5A or the leftward movement output 5B is output to the solenoid valve 6. . The solenoid valve 6 converts the movement output into a hydraulic signal. The cylinder 7 reciprocates in response to the hydraulic signal of the solenoid valve 6 to reciprocate the welding torch 12.

Next, the relationship between the detector 1 and the steel pipe 11 will be described with reference to the system diagram of FIG. 2A is a projector, 1A
B is a light receiver, which is provided in the detector 1. Floodlight 1A
The light beam 1C from 1 scans the surface of the steel pipe 11, and the movement of the bright spot is detected by the light receiver 1B. In FIG. 2, V of the steel pipe 11
The welding position is the deepest part of the character-shaped seam, the distance L from the origin is calculated by the welding position data generation means 2, and the data corresponding to the distance L is sent to the comparison means 3 as the distance value “P”. The welding position data generating means 2 is, for example, Japanese Patent Application No. 61-1.
By using the one described in the specification of No. 3465, accurate shape recognition can be performed even in the presence of welding arc light (noise light).

Next, the relationship between the distance value "P", the movement value and the movement time value will be described with reference to FIG. FIG. 3A shows a welding torch 12.
3A shows the moving position, and FIG. 3A shows the distance value P. “± A” in FIG. 3A is a narrow range movement value of the welding torch 12, which is a range in which the welding torch 12 does not move as compared with the distance value “P”. “± B” in FIG. 3A is a wide-area movement value of the welding torch 12, which is a range in which the welding torch 12 moves toward the origin as compared with the distance value “P”. In FIG. 3A, the distance value “P” is “−B” ≦ P <“− A” or “A” <P ≦.
When "B", the welding torch 12 moves toward the origin at a short time value "T1". Distance value "P" is "-B">
When “P” or “B” <“P”, the welding torch 12 moves toward the origin at a long time value “T2”.

Next, the operation of FIG. 1 will be described with reference to the flowchart of FIG. In step 21 of FIG. 4, the distance value "P" from the origin obtained by the welding position data generating means 2 is sent to the comparing means 3, and in step 22, the distance value "P" is changed to the narrow area movement value "A", wide area movement. Compare with value "B". Step 23
Then, as a result of the comparison, if -B> P, the process proceeds to step 24, the long-time movement value "T2" is selected by the selection means 4, and the rightward movement output 5A is output. As a result of the comparison in step 23, if −B ≦ P, the process proceeds to step 25.

If -B≤P <-A in step 25, the process proceeds to step 26, and the short-term movement value "T1" is selected by the selecting means 4.
Is selected, and the rightward movement output 5A is output. When −A ≦ P in step 25, the process proceeds to step 27. When −A ≦ P ≦ A in step 27, the process proceeds to step 28, and the selecting means 4 outputs nothing. When A <P in step 27, the process proceeds to step 29. When A <P ≦ B in step 29, the process proceeds to step 30, and the short-term movement value “T1” is selected by the selection means 4, and the leftward movement output 5B is output. When B <P in step 29, the process proceeds to step 31, the process proceeds from step 31 to step 32, and the selection means 4
The long-term movement value "T2" is selected with and the leftward movement output 5
B is output.

[0015]

EXAMPLE An example according to the present invention will be described below with reference to FIG. FIG. 5 corresponds to the configuration diagram according to the prior art. In FIG. 5, the detector 1 is attached to the welding torch 12.
Set so that the welding point 20mm to 200mm in front of the welding torch 12 can be detected. The center of the welding torch 12 and the welding point are set as close as possible. In FIG. 5, since the electromagnetic switch 9A is connected in parallel with the switch 8A, the output from the rightward movement output 5A is the same as when the switch 8A is turned on. Similarly, since the electromagnetic switch 9B is connected in parallel with the switch 8B, the output from the leftward movement output 5B is the same as when the switch 8A is turned on.

In the embodiment of FIG. 1, the narrow range movement value A = 0.3 m
When m, wide area movement value B = 0.5 mm, short time movement value = 0.1 seconds, long time movement value = 0.4 seconds, and distance value P = 0.4 mm, A <P <B. Then, the short-time movement value = 0.1 second is selected, and the left movement output 5B is output by the movement output generating means 5. In FIG. 5, the electromagnetic switch 9B is
The solenoid valve 6 is turned on for 0.1 second, the port of the solenoid valve 6 is switched, and the cylinder 7 is hydraulically driven. As a result, the center of the welding torch 12 moves to the left from the position shown in FIG. 5 for 0.1 second. In the example, the center of the welding torch 12 moved 0.4 mm and moved to the welding point of the steel pipe 11.

[0017]

According to the present invention, when welding a spiral seam welded steel pipe, a preset welding procedure is used.
It is possible to automatically control the moving distance and the moving time of the welding torch by comparing the moving range value of the CCH and the signal of the visual sensor, selecting the moving time value corresponding to the moving range value. Also,
By appropriately setting the movement range value and the movement time value, and by providing an electric circuit that repeats the movement until the welding torch falls within the range of -A ≤ P ≤ A, the welding seam position deviation is always automatically corrected. The welding torch can be quickly moved to the center of the seam of the steel strip even when the welding torch is largely moved even at the joint of materials or the like without causing the welding arc break.

[Brief description of drawings]

FIG. 1 is a configuration diagram of a welding device according to the present invention.

FIG. 2 is an explanatory diagram of a relationship between a detector 1 and a steel pipe 11.

FIG. 3 is a relationship diagram of a distance value “P”, a movement value, and a movement time value.

FIG. 4 is a flowchart of FIG.

5 is an embodiment of FIG.

FIG. 6 is a configuration diagram of a welding device for a steel pipe according to a conventional technique.

[Explanation of symbols]

 1 detector 2 welding position data generating means 3 comparing means 4 selecting means 4A selection signal 5 moving output generating means 5A rightward moving output 5B leftward moving output 6 solenoid valve 7 cylinder 11 spiral seam welded steel pipe 12 welding torch

Claims (1)

(57) [Claims] 1. A welding torch (12) connected to a cylinder (7) by reciprocally moving a cylinder (7) by screwing a spiral seam welded steel pipe (11) and driving a solenoid valve (6).
When submerged welding the joint of the spiral seam welded steel pipe (11) with, the detector (1) that detects the position of the deepest part of the joint of the spiral seam welded steel pipe (11) and the detection value of the detector (1) Is input and the welding position data generating means (2) for generating the data of the distance value "P" with the position of the distance L from the origin as the welding position, and the narrow range movement value of the reciprocating range of the welding torch (12) "A"
And a wide area movement value "B" wider than the narrow area movement value "A", the distance value "P" of the welding position data generating means (2), the narrow area movement value "A" and the wide area movement value "B". Comparing means (3) for comparing "," and a short-time movement value "T1" for moving the welding torch (12),
Long-term movement value "T2" longer than short-time movement value "T1"
And the comparison value of the comparison means (3) are input, and "-B">
When "P" and "B"<"P", the long-term movement value "T"
Selection signal to move the welding torch (12) toward the origin with "2"
(4A) is output and "-B" ≤ "P"<"-A" and "A"<
When "P" ≤ "B", the selection signal (4A) for moving the welding torch (12) toward the origin with the short-time movement value "T1" is output, and "-A" ≤ "P" ≤ "A". , The welding torch (1
Selection means (4) that outputs a selection signal (4A) to stop 2)
And the selection signal (4A) of the selection means (4) as input, the selection signal (4A)
And a moving output generating means (5) for converting the electromagnetic wave into a moving output and driving the solenoid valve (6).