JP3224739B2 - Automatic pipe welding equipment - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an automatic welding apparatus for welding an annular frame to an outer surface or an inner surface of a large single pipe in a ship or a steel structure product.

[0002]

In the case of welding an annular frame to the outer or inner surface of a large single pipe in shipbuilding or the manufacture of steel products, the positioning of the welding torch is usually visually confirmed by an operator. The copying of the welding member is performed by a method in which a roller is mechanically pressed against the above-mentioned member, and an amount of movement of the roller is detected to move the slide member.

For this reason, the above-mentioned conventional welding method has the following problems.

(1) A high level of skill is required for the operation, and the finished state of the weld bead differs depending on the operator.
Variations occur in the quality of the welded product. In addition, since it is multi-layer welding of thick plates, it is necessary to set the welding torch to the target position corresponding to the shape of the front bead. It costs.

[0005] (2) Since the copying is a contact type using a roller, the projection is caught by the projection at the joint of the member or the projection due to the spatter or the like attached to the member, dust is scattered, or the vehicle runs over, so that smooth copying cannot be performed. .

(3) When there are a plurality of devices, it is difficult for each worker to monitor and fine-tune each device, so that it is difficult to save labor.

An object of the present invention is to automatically control the position and orientation of a welding torch accompanying a welding operation when welding an annular frame to the outer or inner periphery of a single pipe. It is an object of the present invention to provide a welding device that can reduce the number of steps, obtain a welded product with improved quality, and further improve the welding operation environment.

[0008]

SUMMARY OF THE INVENTION The present invention has been made to solve the above problems, and a gist of the invention is to provide an automatic welding apparatus for fillet-welding an annular frame to an outer surface or an inner surface of a single pipe. A torch forward / backward slide for tilting the torch at an arbitrary angle forward or backward in the direction of the welding line; a torch forward / backward angle slide for tilting the welding torch at an arbitrary angle in a direction perpendicular to the welding line; A protruding length slide for moving the torch in and out of the welding wire, a weaving mechanism for rocking the welding torch in a direction perpendicular to the welding line, and a front and rear control slide for moving and positioning the welding torch in a direction perpendicular to the welding line. When,
An electromagnetic sensor that is disposed on the forward side in the traveling direction of the welding torch, is held by a positioning jig for following the single tube and the frame, and detects the surface of the single tube and the frame; and the welding torch. A front-back scanning slide positioned so as to follow the surface of the single tube detected by the electromagnetic sensor in the direction of the single tube, and a welding surface to follow the frame surface detected by the electromagnetic sensor in the direction of the frame. An automatic pipe welding apparatus comprising: a vertical scanning slide for positioning; and a swivel head for rotating at least the vertical scanning slide in a vertical direction and for turning the welding torch upward or downward.

According to the above means, a plurality of welding mechanisms, such as a torch forward / backward advance slide, a torch forward / backward angle slide, a protruding length slide, a weaving mechanism, and a forward / backward control slide, are simultaneously operated, so that the position and posture of the welding torch can be adjusted. Changes and corrections can be made quickly and accurately.

In addition, the non-contact type electromagnetic sensor can smoothly follow the surface without interfering with the surfaces of the single tube and the frame and the irregularities of the members of the welding device and without being affected by deposits such as spatters. As a result, it is possible to quickly correct the vertical and horizontal displacement of the entire groove due to the roundness, center deviation, verticality, frame mounting error, and fall of the single tube.

[0011] In addition to the first means, the second means is disposed on the front side and the rear side of the welding torch,
An arc monitor with a camera for remotely monitoring the weld,
A positioning mechanism for positioning the arc monitor, and a target position control of the welding torch in the groove, in order to perform image processing by a light cut image of a groove cross section by laser slit light,
A laser slit light sensor composed of a laser slit light source and a CCD camera, a positioning mechanism that holds the laser slit light sensor and moves it at least up and down, front and back, arc light to the laser slit light sensor, sputtering, In order to remove the influence of the fume, a shielding jig arranged between the welding torch and the sensor is provided.

According to this means, the target position of the welding torch in the welded portion, the arc and the penetration of the weld pool are welded during welding by displaying the image of the welded portion from the arc monitor on a monitor such as a separate television monitor. The state, the state of the bead before welding, the state of the bead after welding, and the like can be simultaneously detected and grasped.

Further, by employing the laser slit optical sensor 23, it is possible to detect the shape of the front bead, which is difficult to visually recognize, with high accuracy, and to change the proper torch 4 from the heap state of the front bead for each pass. The target position can be obtained and the position can be controlled.

Preferably, a low-temperature air generator for cooling the inside of the arc monitor and generating low-temperature air for cooling the inside of the laser slit optical sensor is further provided in addition to the second means.

[0015]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described below in detail with reference to FIGS. FIG. 1 is a front view of a single pipe frame automatic welding apparatus according to an embodiment of the present invention, and FIG.
3 is a plan view thereof, and FIG. 3 is a view taken along the line AA of FIG.

1 to 3, 1 is a turntable, 2 is a single tube as a welding member, 3 is a frame to be welded to the single tube 2, and 4 is a welding torch.

As shown in FIG. 3, the single tube 2 is vertically mounted on a turntable 1 installed horizontally. The frame 2 is provided on the outer surface of the single tube 2.
The K-shaped grooved joint at the joint of the frame 3 and the single pipe 2 is subjected to fillet multi-layer fillet MIG welding from both sides by the welding torch 4. Is done.

The welding torch 4 is held by an umbrella-fixed torch forward / backward slide 5 which can manually tilt the welding torch forward or backward at an arbitrary angle in the welding line direction.
The torch forward / backward slide 5 is engaged with an electric protruding long slide 6 which is moved in and out of the welding wire in the protruding direction. The protruding length slide 6 also has a function of performing arc length control for controlling the torch height arc length (protruding length) so that the current becomes constant during welding. The protruding long slide 6 is connected to an electric weaving mechanism 7 for swinging the welding torch 4 right and left.

The weaving mechanism 7 has a structure in which the wire swings in parallel, and can be adjusted to an arbitrary swing width and speed, and can be set to stop for an arbitrary time at both ends of the swing. Have been. The weaving mechanism 7 is connected to a torch front-rear angle slide 8 composed of an electric arc rack and pinion mechanism for tilting the welding torch 4 to an arbitrary angle and setting a target angle. And the welding torch 4 is inclined.

The torch front-rear angle slide 8 is an electric front-rear control slide 9 for controlling the positioning of the welding torch 4 so that the welding torch 4 is brought to an appropriate target position from the raised state of the front bead.
It is connected to. The front-rear control slide 9 is connected via a bracket 10 to an electric front-rear scanning slide 11 that performs front-rear scanning for the entire groove of the welding torch 4. The front-back scanning slide 11 sets an output, which is detected by an electromagnetic sensor X12 provided close to the surface of the single tube 2 and is obtained in proportion to the distance between the sensor X12 and the single tube 2, to an arbitrary value. So that it is always constant,
During the rotation of the single tube 2, the tracking control is performed in response to a change in distance due to the roundness, center deviation, verticality, and the like of the single tube 2.

Further, the front-rear scanning slide 11 is an electric vertical scanning slide 1 that, via a bracket 13, performs vertical scanning with respect to the displacement of the entire groove of the welding torch 4.
4. The vertical scanning slide 14 outputs an output, which is detected by an electromagnetic sensor Y15 provided close to the frame 3 and is proportional to the distance between the sensor Y15 and the frame 3, to the mounting error of the frame 3, In response to the above, tracking control is performed. The vertical scanning slide 14 is connected to an electric turning head 16 that turns the welding torch 4 upward or downward for welding from both sides of the groove. The turning head 16 is finally connected to a manipulator or a portal gantry.

A sensor arm 17 is mounted on the non-movable portion of the front / rear control slide 9 so that the central portion can be bent to both sides by electric power and provided horizontally. The sensor arm 17 includes a front arc monitor 18 and a rear arc monitor 19 having a function of electrically opening and closing the aperture of the CCD camera and the camera lens and the filter at positions on the front side and the rear side of the welding torch 4, respectively. Both monitors swing up and down electrically, or swing to position.
It is mounted via a turning mechanism 20. The weld and its vicinity are monitored by the front arc monitor 18 and the rear arc monitor.

At a position near the front side of the welding torch 4 of the sensor arm 17, the electromagnetic sensor X 12 and the electromagnetic sensor Y 15 are combined and mounted via a positioning jig 21. Also, a lamp 22 is mounted for illumination during monitoring by the camera.

In order to control the front / rear control slide 9 by image processing from a light section image of a groove section by laser slit light, the sensor arm 17 is provided with a laser slit light source at a position further forward of the front arc monitor 18. C
Laser slit optical sensor 2 composed of CD camera
3 is mounted via a positioning mechanism 24 for manually positioning up, down, front and back, swinging and turning.

The positioning mechanism 24 has a function of electrically adjusting the aperture and focus of the camera lens. When the curvature of the welding line changes due to a change in the diameter of the single tube 2 or when the frame 3 to be welded to the single tube 2 becomes the inner surface of the single tube 2, the arc monitors 18, 19 and the laser slit light sensor are used. The sensor arm 17 is configured to be able to bend outward or inward at an arbitrary angle since the sensor arm 23 deviates greatly from the welding line.

In order to remove the influence of arc light, spatter, and fume during welding to the laser slit optical sensor 23 and to further conform to the groove shape, the distance between the laser slit optical sensor 23 and the front arm monitor 18 is adjusted. Heat resistance,
A shielding jig 25 having a flexible sheet is mounted via a positioning jig 26. Further, the inside of the arc monitors 18 and 19 and the laser slit optical sensor 23 are cooled, and a low-temperature air generation is provided on the front surface of the arc monitors 18 and 19 to generate low-temperature air for preventing and removing fumes and spatter from adhering as an air curtain. A vessel 27 is provided.

According to the automatic welding apparatus according to this embodiment, when welding the outer surface or inner surface of the single tube to the frame, the images of the welded portions from the front arc monitor 18 and the rear arc monitor 19 are respectively displayed on separate television sets. By displaying the image on a monitor such as a monitor, the target position of the welding torch 4 at the weld portion, the penetration state of the arc and the welding pond, the state of the bead before welding, and the state of the bead after welding can be simultaneously detected and grasped during welding. . Further, a plurality of mechanisms such as a torch front-rear angle slide 5, a protruding length slide 6, a weaving mechanism 7, a torch front-rear angle slide 8, and a front-rear control slide 9 can be simultaneously operated, thereby changing and correcting the position and posture of the torch 4. Etc. can be done quickly.

Further, the non-contact type electromagnetic sensors 12 and 15 can smoothly follow the surfaces of the single tube 2 and the frame 3 without interfering with the irregularities of the members of the welding device and without being affected by extraneous matter such as spatter. Is made. As a result, the roundness of the single tube 2, the deviation of the center, the verticality, the frame 3
It is possible to quickly correct the vertical and horizontal displacement of the entire groove due to the mounting error, the falling down, and the like. Further, by employing the laser slit optical sensor 23, it is possible to detect the front bead shape, which was difficult to visually recognize, with high accuracy. And position control can be performed.

[0029]

The present invention is configured as described above.
According to the present invention, the position and orientation of the welding torch can be changed and corrected by simultaneously operating a plurality of welding mechanisms such as a torch forward / backward advance slide, a torch forward / backward angle slide, a protruding length slide, a weaving mechanism, and a forward / backward control slide. Etc. can be made quickly and accurately.

Further, the non-contact type electromagnetic sensor can smoothly follow the surface without interfering with the irregularities of the surface of the single tube and the frame or the members of the welding device, and without being affected by deposits such as spatters. This makes it possible to quickly correct the vertical and horizontal displacement of the entire groove due to the roundness, center deviation, verticality, frame mounting error, and fall of the single tube.

As a result, one worker can perform a welding operation by using a plurality of welding devices at the same time, and the labor of the welding operation can be reduced. Further, since uniform and stable welding quality can be obtained, bead shaping work by a grinder or the like after welding can be reduced, and the working environment can be improved. As described above, reduction in the number of steps of the welding operation, reduction in cost, and improvement in productivity can be realized.

[Brief description of the drawings]

FIG. 1 is a front view of an automatic welding apparatus according to an embodiment of the present invention.

FIG. 2 is a plan view of the automatic welding device.

FIG. 3 is a view taken along line AA of FIG. 1;

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Turntable 2 Single pipe 3 Frame 4 Welding torch 5 Torch forward / backward advance slide 6 Protruding long slide 7 Weaving mechanism 8 Torch forward / backward angle slide 9 Front / back control slide 11 Front / back follower slide 12 Electromagnetic sensor X 14 Vertical follower slide 15 Electromagnetic sensor Y 16 Swivel head 17 Sensor arm 18 Forward arc monitor 19 Back arc monitor 20 Swing swing mechanism 21 Positioning jig 23 Laser slit optical sensor 24 Positioning mechanism 25 Shielding jig 26 Positioning jig 27 Low-temperature air generator

──────────────────────────────────────────────────の Continued on the front page (51) Int.Cl. ⁷ Identification symbol FI B23K 9/095 515 B23K 9/095 515A 9/12 331 9/12 331Q 350 350B 350D 9/32 9/32 E (72) Invention Person Riki Toyohara 1-1-1, Wadasaki-cho, Hyogo-ku, Kobe-shi, Mitsubishi Heavy Industries, Ltd. (56) References JP-A-4-237566 (JP, A) JP-A-60-127082 (JP, A) JP-A-5-293648 (JP, A) JP-A-7-80645 (JP, A) JP-A 52-78654 (JP, A) JP-A 63-106501 (JP, A) JP-A 61-63393 (JP, U) JP-A 60-74855 (JP, U) (58) Int.Cl. ⁷ , DB name) B23K 9/127 B23K 9/0 28 B23K 9/095 B23K 9/12 B23K 9/32

Claims (3)

(57) [Claims] 1. An automatic welding apparatus for fillet-welding an annular frame to an outer surface or an inner surface of a single pipe, wherein the torch moves forward and rearward at an arbitrary angle in a direction of a welding line. A square slide, a torch front-rear angle slide for inclining the welding torch at an arbitrary angle in a direction perpendicular to the welding line, a protruding long slide for allowing the welding torch to enter and exit the welding wire in a protruding direction, and the welding torch as a welding line. A weaving mechanism for swinging the welding torch in a direction perpendicular to the welding line, a front-rear control slide for moving and positioning the welding torch in a direction perpendicular to the welding line, and a forward-moving direction of the welding torch; An electromagnetic sensor that is held by a positioning jig for following the frame and detects the surface of the single tube and the surface of the frame; Front and rear scanning slides positioned so as to follow the single tube surface detected by the electromagnetic sensor in the direction, and vertical scanning slides positioned so that the welding torch follows the frame surface detected by the electromagnetic sensor in the direction of the frame. And a turning head for turning at least the vertical scanning slide in the vertical direction and turning the welding torch upward or downward. 2. An arc monitor, which is disposed on the front side and the rear side of the welding torch and has a camera for remotely monitoring a welded portion, a positioning mechanism for positioning the arc monitor, and a welding mechanism for the welding torch in a groove. In order to control the aiming position by performing image processing using a light cut image of a groove cross section by laser slit light, a laser slit light sensor composed of a laser slit light source and a CCD camera, and holding the laser slit light sensor, at least up and down A positioning mechanism for moving the laser slit optical sensor in the front-rear direction, and a shielding jig disposed between the welding torch and the sensor to remove the influence of arc light, spatter, and fume on the laser slit optical sensor. Item 2. An automatic pipe welding apparatus according to Item 1. 3. The automatic pipe welding apparatus according to claim 2, further comprising a low-temperature air generator that cools the inside of the arc monitor and generates low-temperature air for cooling the inside of the laser slit optical sensor.