JP2751175B2 - Automatic welding equipment with self-diagnosis function - Google Patents

Description

The present invention relates to an automatic welding apparatus with a self-diagnosis function capable of evaluating the integrity of a welded portion during welding, and a non-destructive inspection after welding is omitted. It is designed to greatly reduce the number of man-hours.

[Prior Art] Automatic welding apparatuses using various welding methods are used in order to efficiently perform welding widely used as a joining method of metals and the like.

Currently used automatic welding equipment includes welding head and position adjustment equipment, wire feeding equipment, traveling equipment, control equipment,
It is composed of a welding power source, etc., and if an abnormality occurs in the welding conditions based on the welding conditions (welding current, welding voltage, welding speed, wire feed speed, etc.) preset in the control device, it is adjusted while performing feedback control. Weld it continuously.

[Problems to be Solved by the Invention] Even products that have been welded by an automatic welding apparatus that performs automatic welding while controlling welding conditions in this way, since it is not always known whether or not welding has been performed under set welding conditions, advanced At present, all products requiring quality are inspected by nondestructive inspection.

For this reason, especially when welding a large amount of workpieces,
There is a problem that the time required for non-destructive inspection after welding is long, the construction period is long, and the number of steps is very large.

The present invention has been made in view of the problems of the related art, and it is possible to evaluate the soundness of a welded portion during welding, perform a self-diagnosis, and to omit a non-destructive inspection after welding. It is intended to provide an automatic welding device with a function.

[Means for Solving the Problems] In order to solve the above problems, a first means of the automatic welding apparatus with a self-diagnosis function of the present invention determines a position of a welding head based on welding conditions preset in a welding control panel. In an automatic welding apparatus that continuously welds while adjusting, a groove state signal recorder that samples the actual groove state of the workpiece, and a welding condition signal recorder that samples welding conditions at the time of actual welding, A proper condition range recorder for storing and recording data of a groove condition range and a welding condition range for obtaining a sound welding quality, a storage data of the proper condition range recorder, the groove state signal recorder and the welding condition signal. A comparison calculator for comparing the actual groove state and welding condition signals recorded in the recorder during welding to obtain a welded portion where sound welding quality cannot be obtained, and a signal from the comparison calculator. Signal to the welding control panel, and a display for displaying actual welding conditions and abnormal welding positions when the welding quality is not sound from the comparison arithmetic unit. .

[Operation] When automatic welding is performed by such an automatic welding apparatus with a self-diagnosis function, automatic welding is performed by feedback control based on preset welding conditions, and at the same time, the actual welding conditions are set to a welding condition signal. Recorded on the recorder,
This signal is compared with a signal in the range of welding conditions where welding is performed properly and a healthy weld is obtained, and from the result, it is determined whether or not the weld is healthy even during welding. In addition, nondestructive inspection after welding is not required, and an unhealthy portion can be read from a display and inspected only.

Furthermore, since the welding quality is also affected by the groove state of the workpiece, the groove state immediately before welding should be recorded with a groove state signal recorder, and this signal should also be input to the comparison arithmetic unit. Thus, the reliability of the soundness judgment of the welded portion is further improved.

Hereinafter, an embodiment of the present invention will be described in detail with reference to the drawings.

FIG. 1 is a schematic diagram showing an embodiment of an automatic welding apparatus with a self-diagnosis function according to the present invention.

This automatic welding device 10 with self-diagnosis function
And a self-diagnosis device 12.

The automatic welding device 11 includes a welding head 13, a welding power source 14, and a welding control panel 15. This welding head 13
Is equipped with a welding torch 16, a torch position adjusting device 17, a wire feeding device 18, a head traveling device 19, and the like.

The welding control panel 15 adjusts and controls each of these devices 13 and 14, and the welding conditions 20, such as welding current, welding voltage, welding speed, welding position, torch position, oscillating width, and wire feed. Depending on the feed rate and the like, and furthermore, depending on the welding method employed for automatic welding, feedback control is performed based on preset conditions such as pulse current and pulse frequency.

In addition, in order to perform control based on the welding conditions 20 as described above, the automatic welding device 11 is provided with a detector at each part so that each welding condition 20 can be sampled, although not shown in the drawings. A detection signal is input to the welding control panel 15. Further, depending on the welding method to be employed, the supply amount of siled gas, cooling water, or the like is also adjusted and controlled by the welding control panel 15.

Therefore, in such an automatic welding apparatus 11, the position of the welding torch 16 is adjusted by the torch position adjusting device 17 while the feedback control is performed by the welding control panel 15 based on the preset welding conditions 20, and the wire feeding device is used. The wire is supplied at 18 and the groove 22 of the workpiece 21 is
Automatic welding can be performed while traveling along the road.

Next, the self-diagnosis device 12, which is the most demanding part of the automatic welding device with self-diagnosis function 10, will be described.

The self-diagnosis device 12 includes a welding condition recorder 23, a proper welding range recorder 24, a comparison calculator 25, a display 26, and a groove state signal recorder 27.

The welding condition recorder 23 is inputted from the detector of the welding condition 20 at the time of actual welding via the welding control panel 15 and records each actually measured value.

The welding conditions 20 recorded in the welding condition recorder 23 include, for example, welding current, welding voltage, welding speed, welding position,
Signals such as torch position, oscillating width, wire feed speed, pulse current, and pulse frequency are used.Some of these signals need only be monitored during welding. The voltage and the torch position are recorded and stored as symbols of actual welding conditions 20 as well as monitoring.

Further, the appropriate welding range recorder 24 is for storing and recording, as data, a range of welding conditions in which sound welding quality is obtained from results obtained by conducting experiments and the like in advance.

The data to be stored and recorded in the appropriate welding range recorder 24 include a range of welding conditions in which sound welding quality is obtained, such as welding current, welding voltage, welding speed, welding position, torch position, oscillating width, wire feeding. Speed, pulse current, pulse frequency, and other ranges.In the experiment, welding is performed while changing these, for example, the proper lamination condition range from the first layer to the last layer and the proper welding condition range for each pass are compared with the experimental conditions. A large number of data indicating the relationship between the quality of the welded parts is obtained and recorded on Weibull probability paper or other charts.

Further, the comparison calculator 25 compares the actual welding data stored and recorded in the welding condition recorder 23 with the welding condition data recorded in the proper welding range recorder 24 to obtain a sound welded portion, and compares the data with the reliability. It is for judging whether or not the actual weld is sound by an engineering method.

The comparison between the appropriate welding conditions and the actual welding conditions is performed by, for example, two-stage soundness determination of (1): the entire welded joint and (2): each layer.

(1) For the entire welded joint, the soundness is determined by comparing with the proper lamination condition range from the first layer to the last layer. For example, as shown in FIG. Display using distribution probability paper,
The integrity of the weld is determined by whether it is within these certain limits.

That is, when the welded portion deviates from the frame in the proper lamination range shown in FIG. 2, it is determined that the welded portion is not sound, and when it is within the frame, the welded portion is determined to be sound.

(2): For each layer, the appropriate welding condition range of each pass is displayed on the -R control chart as shown in FIG. 3, for example, and the upper limit at which a welding portion with the proper welding conditions is obtained is obtained. Then, the soundness of the weld is determined based on whether it is within the range of the lower limit.

When judging the soundness of the welded portion of each pass, the welding conditions sampled at regular intervals are compared each time the sampling is performed, for example, if the upper limit or lower limit is exceeded several times or more, it is not sound. Make a decision. This is based on experimental results,
If the sampling time is about several seconds, there is no problem as a weld even if the value exceeds the appropriate condition range of about several times.

In this way, the soundness of the welded portion is compared with the appropriate condition range as shown in FIGS. 2 and 3 by the non-linear analysis of the actually measured welding conditions, and it is determined that the soundness is not good from the result of the analysis. Then, the result is transmitted from the comparison arithmetic unit 25 to the welding control panel 15 by the signal transmission circuit 28 for feedback.
To return the welding conditions to appropriate values.

At the same time, the result of the comparison calculator 25 is sent to the display 26, and data such as the welding position are displayed together with the actual welding conditions.

Therefore, it is possible to know from the display 26 that there is an unhealthy part in the welded portion and its position.

Further, based on the display 26, the non-destructive inspection of the welded joint can be omitted and the necessary non-destructive inspection can be efficiently performed.

Further, a groove state signal recorder 27 is installed in the self-diagnosis device 12, and the state of the groove 22 of the workpiece 21 immediately before welding, for example, a groove position, a groove gap, a groove angle, etc., is detected by a detector. Or, by visually checking the cleanliness of the groove, etc., and inputting the proper conditions of the groove 22 to the welding control panel 15 or the appropriate welding condition range recorder 24,
The comparison operation unit 25 can make the comparison. In this way, the signal indicating the groove state is also recorded in the welding condition signal recorder 23.
Is sent to the comparison arithmetic unit 25 via the CPU and is used together with the welding conditions to determine the soundness of the welded portion.

By providing the groove state signal recorder 27 in this manner, when welding, even if the weld portion is in a range of sound welding conditions, if the groove 22 is misaligned or the gap is not appropriate, the welding is performed. However, the groove state signal recorder 27 can be used to determine the state of the groove 22 and solve these problems, while further improving the reliability of the determination of the soundness of the welded portion. Can be improved.

When automatic welding is performed by such an automatic welding apparatus 10 having a self-diagnosis function, welding is performed by feedback control based on preset welding conditions. The soundness of the welded portion at the welding position is determined from time to time, and the soundness of the entire welded joint is also determined.The soundness of the welded portion can be determined without performing any inspection during welding. The result is displayed.

Therefore, only the non-destructive inspection is performed only when an unhealthy part is generated based on the display of the display 26, and the welded parts of all products are sound without any non-destructive inspection. In this non-destructive inspection, the location and the time of occurrence of the abnormality are known for the abnormal part, so that the sampling inspection can be easily performed.

The description of the specific structure of the automatic welding device is omitted, but these may be provided as long as they have an automatic welding function, and the structure is not limited at all, and the welding method is TIG welding, MIG welding, or MIG. Any welding method such as a welding method can be adopted.

Further, the number of welding conditions used for the analysis of the soundness of the welded portion is not limited to the nine items described in the above embodiment.

Furthermore, when judging the soundness of the welded portion, the first layer to the last layer and each welding point of each layer were used, but the case where welding was completed with only one layer is included, and the welding posture is also shown in the illustrated example. Not only downward horizontal welding but also circumferential welding may be used.

[Effects of the Invention] According to the automatic welding apparatus with the self-diagnosis function of the present invention, the welding conditions at the time of actual welding are recorded in the welding condition signal recorder as described above in detail with one embodiment. Comparing the signal with the signal from the appropriate welding condition range recorder for the range of welding conditions in which welding was performed properly and a healthy weld was obtained, the comparison calculator calculates and displays the result on the display. As a result, automatic welding is performed by feedback control based on preset welding conditions, and at the same time, it is possible to judge whether the welded portion is sound during welding based on the result of the comparison operation, eliminating the need for nondestructive inspection after welding. At the same time, the unhealthy part may be read from the display and inspected by sampling, thereby ensuring the integrity of the welded joint.

Furthermore, since the groove state of the workpiece is recorded by the groove state signal recorder, the groove state immediately before welding is known, and the welding quality affected by the groove state of the workpiece is also grasped. Therefore, the reliability of determining the soundness of the welded portion can be further improved.

Therefore, the work period and man-hour for automatically welding a large number of workpieces can be greatly reduced.

[Brief description of the drawings]

The drawings relate to an embodiment of an automatic welding apparatus with a self-diagnosis function according to the present invention. FIG. 1 is a schematic configuration diagram, and FIGS. 2 and 3 are explanatory diagrams comparing a proper welding condition and an actual welding condition, respectively. It is. 10: Automatic welding equipment with self-diagnosis function, 11: Automatic welding equipment, 1
2: Self-diagnosis device, 13: welding head, 14: welding power supply, 15: welding control panel, 16: welding torch, 17: torch position adjusting device,
18: wire feeder, 19: head traveling device, 20: welding condition, 21: workpiece, 22: groove, 23: welding condition recorder, 24: proper welding range recorder, 25: comparison calculator , 26: display, 27: groove state signal recorder, 28: signal transmission circuit for feedback.

 ──────────────────────────────────────────────────続 き Continuing on the front page (72) Inventor Tatsuo Saito 1st Shin-Nakahara-cho, Isogo-ku, Yokohama-shi, Kanagawa Prefecture Inside the Technical Research Laboratory, Ishikawajima-Harima Heavy Industries Co., Ltd. Ishikawajima-Harima Heavy Industries Co., Ltd. Yokohama first factory (56) References JP-A-63-313670 (JP, A) JP-A-56-160876 (JP, A)

Claims (1)

(57) [Claims] An automatic welding apparatus for continuously welding while adjusting the position of a welding head based on welding conditions set in advance in a welding control panel, for sampling an actual groove state of an object to be welded. A state signal recorder, a welding condition signal recorder for sampling welding conditions during actual welding,
A proper condition range recorder for storing and recording data of a groove condition range and a welding condition range for obtaining a sound welding quality, a storage data of the proper condition range recorder, the groove state signal recorder and the welding condition signal. A comparison arithmetic unit for comparing the actual groove state and welding condition signals recorded in the recorder during welding to obtain a welded portion where sound welding quality cannot be obtained, and a signal from this comparison arithmetic unit. A self-diagnosis function comprising a signal transmission circuit for feeding back to the welding control panel and a display for displaying actual welding conditions and abnormal welding positions when the welding quality from the comparison arithmetic unit is not sound. Automatic welding equipment.