JP5168250B2 - Welding apparatus and welding method - Google Patents

Description

  The present invention relates to a welding apparatus and a welding method, and more particularly to a welding apparatus and a welding method capable of performing welding while specifying a welding start position and a welding end position during welding without teaching the welding position in advance. is there.

In a conventional welding apparatus that automatically detects a welding start position and a welding end position, a detector mounting frame is mounted in front of the welding torch head, and two laser-type height detectors have welding seams in front of the lower part thereof. It was attached to both sides with the boundary. Then, the position where the distances h ₁ and h ₂ between the two height detectors and the measurement target surface exceed the predetermined value h is recognized as the starting end of the plate to be welded. , H ₁ and h ₂ from the state of being within h, the position where either h ₁ or h ₂ exceeded h was recognized as the end of the plate. (For example, see Patent Document 1)

JP-A-6-297147 (pages 3-4, FIG. 3)

  In such a welding apparatus, when the member to be welded is attached at an angle with respect to the direction perpendicular to the welding progress direction, the height detector recognizes the welding start position and the welding end position. And actual welding start position and welding end position do not match. For this reason, there was a problem that a welding error occurred.

  The present invention has been made to solve the above-described problem. Even when the member to be welded is attached at an angle with respect to a direction perpendicular to the welding progress direction, the welding start position and the welding end position are determined. It is an object of the present invention to provide a welding apparatus and a welding method capable of accurately detecting and performing welding correctly.

  The welding apparatus according to the present invention includes a first sensor attached to a position a predetermined distance ahead of the welding torch in the welding progress direction, and a direction perpendicular to the welding progress direction with respect to the first sensor. A second sensor attached to a position separated by a predetermined distance, and either one of the first sensor and the second sensor detects the first start end of the member to be welded, and then the other is welded. A measuring unit that measures a first time difference until the second start end of the member is detected, and a second time difference from when one detects the first end to when the other detects the second end And a calculation unit that obtains a welding start position and a welding end position by calculation based on the first time difference and the second time difference.

  Further, the welding method according to the present invention includes a first position separated from the welding line by a predetermined distance and a first position separated from the first position by a predetermined distance without straddling the welding line in a direction perpendicular to the welding progress direction. A step of measuring a first time difference from the detection of the first start end of the member to be welded at any one of the positions 2 to the detection of the second start end on the other side, and the first time difference. Similarly to the step of calculating the welding start position, the first end of the member to be welded is detected at one of the first position and the second position, and then the second end is detected at the other. A step of measuring the second time difference until and a step of calculating the welding end position based on the second time difference.

  According to the welding apparatus according to the present invention, the first sensor and the second sensor attached to the first sensor at a position separated from the first sensor by a predetermined distance in a direction perpendicular to the welding progress direction, The first and second time differences from when either one of the first sensor or the second sensor detects the first start and end of the member to be welded until the other detects the second start and end are measured. And a calculation unit for calculating the welding start position and the welding end position based on the first and second time differences, so that the member to be welded is at an angle with respect to a direction perpendicular to the welding progress direction. Even if it is attached with the welding position, it is possible to accurately detect the welding start position and the welding end position and perform welding correctly.

  According to the welding method of the present invention, the first position separated from the welding line by a predetermined distance and the predetermined distance away from the first position in a direction perpendicular to the welding progress direction without straddling the welding line. Measuring the first and second time differences from detection of the first start and end of the member to be welded at any one of the second positions to detection of the second start and end at the other And a step of calculating the welding start position and the welding end position based on the first and second time differences, so that the member to be welded is attached at an angle with respect to the direction perpendicular to the welding progress direction. Even in this case, it is possible to accurately detect the welding start position and the welding end position and perform welding correctly.

It is a perspective view which shows the to-be-welded member in Embodiment 1 of this invention. It is a side view which shows the welding apparatus in Embodiment 1 of this invention. It is a bottom view which shows the welding apparatus in Embodiment 1 of this invention. It is a block diagram which shows the welding apparatus in Embodiment 1 of this invention. It is a figure which shows the method of calculating | requiring the welding start position in case the vertical member in Embodiment 1 of this invention is attached with an angle ahead in the welding progress direction with respect to the direction perpendicular | vertical to a welding progress direction. It is a figure which shows how to obtain | require the welding end position in case the vertical member in Embodiment 1 of this invention is attached with an angle ahead of the welding progress direction with respect to the direction perpendicular | vertical to a welding progress direction. It is a flowchart which shows the welding method in Embodiment 1 of this invention. It is a figure which shows the method of calculating | requiring the welding start position in case the vertical member in Embodiment 1 of this invention is attached with an angle behind welding progress direction with respect to the direction perpendicular | vertical to welding progress direction. It is a figure which shows how to obtain | require the welding end position in case the vertical member in Embodiment 1 of this invention is attached with an angle in the back of a welding progress direction with respect to the direction perpendicular | vertical to a welding progress direction. It is a bottom view which shows the welding apparatus in Embodiment 2 of this invention. It is a block diagram which shows the welding apparatus in Embodiment 2 of this invention. It is a figure which shows how to obtain | require the welding start position in case the vertical member in Embodiment 2 of this invention is attached with an angle ahead of the welding progress direction with respect to the direction perpendicular | vertical to a welding progress direction. It is a figure which shows how to obtain | require the welding end position in case the vertical member in Embodiment 2 of this invention is attached with an angle ahead of the welding progress direction with respect to the direction perpendicular | vertical to a welding progress direction. It is a flowchart which shows the welding method in Embodiment 2 of this invention. It is a figure which shows the method of calculating | requiring the welding start position in case the vertical member in Embodiment 2 of this invention is attached with an angle behind welding progress direction with respect to the direction perpendicular | vertical to welding progress direction. It is a figure which shows how to obtain | require the welding end position in case the vertical member in Embodiment 2 of this invention is attached with an angle in the back of a welding progress direction with respect to the direction perpendicular | vertical to a welding progress direction.

Embodiment 1 FIG.
FIG. 1 is a perspective view showing a member 1 to be welded according to Embodiment 1 of the present invention. As shown in FIG. 1, a case is considered in which a plurality of vertical members 3 having different attachment positions, attachment angles, and welding lengths are attached to a beam member 2 extending in a welding progress direction as a member to be welded 1.

  FIG. 2 is a side view showing welding apparatus 5a according to Embodiment 1 of the present invention, and FIG. 3 is a bottom view showing welding apparatus 5a according to Embodiment 1 of the present invention. The welding apparatus 5a can be applied regardless of the type of welding such as arc welding, spot welding, laser welding, gas welding, etc., but here, an example of arc welding will be described.

  First, the structure of the welding apparatus 5a in Embodiment 1 of this invention is demonstrated. 2 and 3, a wheel 10 driven by a motor 7 is attached to the bottom surface of the base 6, and the welding device 5 a can freely move on the beam member 2. If the rotational speed of the motor 7 varies, the determination of the welding start position and the welding end position will vary, so it is desirable to use a servo motor with a small rotational speed variation for the motor 7.

  A torch bracket 11 is attached to a rear portion of the base 6 in the welding progress direction, and a welding torch 12 is attached to the torch bracket 11. The torch bracket 11 has a structure in which the position of the welding torch 12 can be finely adjusted. The welding torch 12 is attached so as to project outward from the base 6 so that the welding device 5a can easily perform welding while traveling on the beam member 2.

  The first sensor 15 is attached to the welding torch 12 at a position away from the welding torch 12 by a predetermined distance in front of the welding progress direction and at a position away from the welding direction by a predetermined distance in a direction perpendicular to the welding progress direction. Yes. Further, a second sensor 16 is attached to the first sensor 15 at a position away from the first sensor 15 by a predetermined distance in a direction perpendicular to the welding progress direction in the outer direction of the base 6. A deceleration sensor 17 is attached to a position that is a predetermined distance away from the first sensor 15 and the second sensor 16 in the welding progress direction.

  Examples of the sensor used as the first sensor 15, the second sensor 16, and the deceleration sensor 17 include a laser sensor, a magnetic sensor, and an ultrasonic sensor. However, a sensor having a small spot diameter and high responsiveness is used. It is desirable to use it. For this reason, since the first sensor 15 and the second sensor 16 are particularly important sensors for determining the welding start position and the welding end position, it is desirable to use a laser sensor.

  When laser sensors are used as the first sensor 15 and the second sensor 16, if the distance between these sensors and the welding torch 12 in the welding progress direction is too short, erroneous detection occurs due to the influence of arc light or spatter during welding. there is a possibility. However, if the distance is too far, the traveling distance from the detection of the longitudinal member 3 to the start of welding becomes long, which causes the welding position to shift. For this reason, it is desirable that the distance in the welding direction between the first sensor 15 and the second sensor 16 and the welding torch 12 is about 100 mm.

  The distance in the direction perpendicular to the welding progress direction between the first sensor 15 and the welding torch 12 only needs to be separated by a distance at which the first sensor 15 can easily detect the longitudinal member 3, and is specifically about 10 mm apart. It is desirable that

  The first sensor 15 and the second sensor 16 need only be separated from each other by a distance that can sufficiently obtain the accuracy for determining the welding start position and the welding end position, and specifically, should be about 15 mm apart.

  In addition, the 1st sensor 15 and the 2nd sensor 16 serve also as the role of the height copying sensor for determining the height of the welding torch 12 during welding.

  On the upper surface of the base 6, the motor 7 and the processing device 19 for driving the wheel 10 are mounted. Normally, the upper surface of the base 6 is covered with a housing, but is omitted in FIG.

  Next, the configuration of the processing device 19 will be described. FIG. 4 is a block diagram showing welding apparatus 5a according to Embodiment 1 of the present invention. The processing device 19 includes a measuring unit 20 and a measuring unit 20 that measure a time difference from when one of the first sensor 15 and the second sensor 16 detects the longitudinal member 3 until the other detects the longitudinal member 3. The calculation part 21 which calculates | requires a welding start position and a welding end position by calculation based on the time difference measured by is provided. Further, a storage unit 22 that stores information on the welding start position and the welding end position obtained by the calculation unit 21 is also provided. Based on the signals from the first sensor 15, the second sensor 16, and the deceleration sensor 17, and information on the welding start position and the welding end position, the motor 7, the welding torch 12, the measuring unit 20, and the like are controlled. A control unit 25 is provided. The storage unit 22 can store information on a plurality of welding start positions and welding end positions.

  Next, the operation of welding apparatus 5a in the first embodiment of the present invention will be described. FIG. 5 is a view showing a method for obtaining a welding start position when the vertical member 3 in Embodiment 1 of the present invention is attached at an angle forward with respect to the direction perpendicular to the welding progress direction with respect to the welding progress direction. These are figures which show how to obtain | require the welding end position in case the vertical member 3 in Embodiment 1 of this invention is attached with an angle ahead of the welding progress direction with respect to the direction perpendicular | vertical to a welding progress direction. FIG. 7 is a flowchart showing a welding method according to Embodiment 1 of the present invention.

  Here, as shown in FIG. 5, when the vertical member 3 is attached to the beam 2 extending in the welding progress direction at an angle in front of the welding progress direction with respect to the direction perpendicular to the welding progress direction. think of. First, the welding device 5 a is arranged so that both the first sensor 15 and the second sensor 16 are on the same side with respect to the welding line 30. At this time, the smaller the distance L1 between the weld line 30 and the first sensor 15, the smaller the detection error. However, if the edge of the beam 2 is not smooth, false detection will occur if it is too close, so that it is about 10 mm. Is preferable. In FIG. 5, for simplicity, the welding device 5 a is omitted, and only the detection line 26 of the welding torch 12, the first sensor 15, and the detection line 27 of the second sensor 16 are shown.

  Next, the power switch is turned on to start the welding apparatus 5a. Then, the motor 7 is controlled by the control unit 25, and the welding apparatus 5a starts traveling at the speed V0 (S1). This speed V0 is a speed higher than that at the time of welding, specifically, for example, about 150 cm / min.

  When the deceleration sensor 17 detects the longitudinal member 3 (S2), the rotation of the motor 7 is suppressed by the control unit 25, and the traveling speed of the welding device 5a is reduced to the welding speed V1 (S3). Specifically, V1 is a speed in the range of 15 to 30 cm / min, for example, and is kept constant.

  When the first sensor 15 detects the first start end 31 of the longitudinal member 3 (S4a), a measurement start signal is output from the control unit 25 to the measurement unit 20 (S5a). When the second sensor 16 detects the second start end 32 of the longitudinal member 3 (S6a), a measurement end signal is output from the control unit 25 to the measurement unit 20 (S7a). Thereby, the first time difference T1 from when the first sensor 15 detects the first start end 31 of the longitudinal member 3 to when the second sensor 16 detects the second start end 32 of the longitudinal member 3 is measured. Is completed.

  The first time difference T1 measured by the measurement unit 20 is input to the calculation unit 21, and the welding start position 35 is obtained by calculation (S8a). Next, this calculation method will be described. FIG. 5 shows the position of the welding torch 12 when the second sensor 16 detects the second start end 32 of the longitudinal member 3. First, a travel distance L3 = V1 × T1 between the first time difference T1 is obtained from the travel speed V1 and the first time difference T1. Next, from the travel distance L3 during the first time difference T1, the distance L1 between the weld line 30 and the first sensor 15, and the distance L2 between the weld line 30 and the second sensor 16, the first of the longitudinal members 3 is obtained. Mounting angle tan θ1 = L3 / (L2−L1). Then, the welding start position offset L4 = L2 × tan θ1 is obtained from the distance L2 between the welding line 30 and the second sensor 16 and the first attachment angle tan θ1 of the longitudinal member 3. Finally, the welding start distance L6 = L5−L4 = L5−L2 × V1 × T1 / (L2−) from the distance L5 between the first sensor 15 and the second sensor 16 and the welding torch 12 and the welding start position offset L4. L1) is obtained, and the welding start position 35 is obtained.

  The method for obtaining the welding end position 36 is the same. When the first sensor 15 detects the first end 40 of the longitudinal member 3 (S4b), a measurement start signal is output from the control unit 25 to the measurement unit 20 (S5b). When the second sensor 16 detects the second end 41 of the longitudinal member 3 (S6b), a measurement end signal is output from the control unit 25 to the measurement unit 20 (S7b). Thereby, measurement of the second time difference T2 from when the first sensor 15 detects the first end 40 of the longitudinal member 3 to when the second sensor 16 detects the second end 41 of the longitudinal member 3 is measured. Is completed.

  Next, the calculation part 21 performs calculation for obtaining the welding end position 36 (S8b). This calculation method will be described. In FIG. 6, the position of the welding torch 12 when the second sensor 16 detects the second end 41 of the longitudinal member 3 is shown. First, the travel distance L7 = V1 × T2 during the second time difference T2 is obtained. Then, the second attachment angle tan θ2 = L7 / (L2−L1) of the longitudinal member 3 is obtained, and the welding end position offset L8 = L2 × tan θ2 is obtained. Finally, the welding end distance L9 = L5-L8 = L5-L2 * V1 * T2 / (L2-L1) is obtained, and the welding end position 36 is obtained.

  Information on the welding start position 35 and the welding end position 36 obtained as described above is stored in the storage unit 22 (S9a, S9b). Then, the control unit 25 controls the motor 7 and the welding torch 12 based on the information of the welding start position 35 and the welding end position 36 read from the storage unit 22.

  When the welding torch 12 arrives at the welding start position 35 (S10), the motor 7 is stopped and the traveling of the welding apparatus 5a is stopped (S11). Then, welding is started (S12), and the motor 7 is rotated again to start traveling at the speed V1 (S13). When the welding torch 12 arrives at the welding end position 36 (S14), the traveling is stopped (S15), the crater process is performed, and the welding is ended (S16). For example, a method of using a roller or a sensor or a method of detecting a change in arc voltage or welding current is used for copying the welding line 30 during welding.

  After welding is completed, the travel starts at the speed V0 (S17). When all the welding is completed and the end of the beam 2 is reached (S18), the welding apparatus 5a stops traveling and the power switch is automatically turned off. It is done. If the deceleration sensor 17 detects another vertical member 3 (S2), the subsequent steps are repeated to perform welding.

  Next, a description will be given of how to obtain the welding start position 35 and the welding end position 36 when the vertical member 3 is attached at an angle to the rear of the welding progress direction with respect to the direction perpendicular to the welding progress direction. FIG. 8 is a view showing a method for obtaining the welding start position when the vertical member 3 in Embodiment 1 of the present invention is attached at an angle to the rear of the welding progress direction with respect to the direction perpendicular to the welding progress direction. These are figures which show how to obtain | require the welding end position in case the vertical member 3 in Embodiment 1 of this invention is attached with an angle in the back of a welding progress direction with respect to the direction perpendicular | vertical to a welding progress direction.

  In this case, since the first sensor 15 detects the second start end 32 of the longitudinal member 3 after the second sensor 16 detects the first start end 31 of the longitudinal member 3, this time difference is determined. It is assumed that the first time difference T1.

  FIG. 8 shows the position of the welding torch 12 when the first sensor 15 detects the second start end 32 of the longitudinal member 3. First, the travel distance L3 = V1 × T1 during the first time difference T1 is obtained. Next, the first attachment angle tan θ1 = L3 / (L2−L1) of the longitudinal member 3 is obtained. Then, the welding start position offset L4 = L1 × tan θ1 is obtained. Finally, the welding start distance L6 = L5 + L4 = L5 + L1 × V1 × T1 / (L2−L1) is obtained, and the welding start position 35 is obtained.

  The method for obtaining the welding end position 36 is the same, and will be described with reference to FIG. In this case, since the first sensor 15 detects the second end 41 of the longitudinal member 3 after the second sensor 16 detects the first end 40 of the longitudinal member 3, this time difference is calculated. The second time difference T2.

  FIG. 9 shows the position of the welding torch 12 when the first sensor 15 detects the second end 41 of the longitudinal member 3. First, the travel distance L7 = V1 × T2 during the second time difference T2 is obtained. Then, the second attachment angle tan θ2 = L7 / (L2−L1) of the longitudinal member 3 is obtained, and the welding end position offset L8 = L1 × tan θ2 is obtained. Finally, the welding end distance L9 = L5 + L8 = L5 + L1 × V1 × T2 / (L2−L1) is obtained, and the welding end position 36 is obtained.

  Next, consider a case where the longitudinal member 3 is attached in a direction perpendicular to the welding progress direction with respect to the beam member 2 extending in the welding progress direction. In this case, when the welding start position 35 is obtained, the distance L5 between the first sensor 15 and the second sensor 16 and the welding torch 12 matches the welding start distance L6.

  The actual detection operation will be described. Since the first sensor 15 and the second sensor 16 simultaneously detect the first start end 31 and the second start end 32 of the longitudinal member 3, respectively, the first time difference T1 = 0. In the case where the longitudinal member 3 is attached at an angle forward with respect to the direction perpendicular to the welding progression direction, and the longitudinal member 3 is located behind the welding progression direction with respect to the direction perpendicular to the welding progression direction. Even if T1 = 0 is substituted into the equation for determining which welding start distance L6 is attached with an angle, L6 = L5, and the welding start distance L6, the first sensor 15, the second sensor 16, and the welding torch 12 and the distance L5 coincide with each other.

  The same applies to the welding end distance L9, and L9 = L5 is obtained by substituting the second time difference T2 = 0 into the above-described equation for obtaining the welding end distance L9.

  In the first embodiment of the present invention, the vertical member 3 is attached at an angle with respect to the direction perpendicular to the welding progress direction with respect to the beam member 2 extending in the welding progress direction due to the above configuration. Even when the welding is performed, the welding start position 35 and the welding end position 36 can be accurately detected and welding can be performed correctly. Even when the vertical member 3 is attached in a direction perpendicular to the welding progress direction, the welding start position 35 and the welding end position 36 can be accurately detected by the same detection method.

  Furthermore, by repeating the flow shown in FIG. 7, even when there are a plurality of longitudinal members 3 having different attachment positions, attachment angles, and welding lengths, all the longitudinal members 3 are automatically transmitted without teaching the welding positions in advance. It can be detected and welded.

  In addition, since the storage unit 22 capable of storing information on the plurality of welding start positions 35 and the welding end positions 36 is provided, a plurality of vertical positions are provided between the first sensor 15 and the second sensor 16 and the welding torch 12. Even when the material 3 enters, information of each welding start position 35 and welding end position 36 can be stored. For this reason, all the vertical members 3 can be welded without overlooking the welding location.

  In addition, since the deceleration sensor 17 is provided, it is possible to travel at a speed higher than that at the time of welding from the start of traveling until the deceleration sensor 17 detects the longitudinal member 3. Thereby, the time until the completion of all the steps can be shortened.

  In addition, since the 1st sensor 15 and the 2nd sensor 16 also serve as the height copying during welding, it is not necessary to provide a separate height scanning sensor, and no extra cost is required.

  In Embodiment 1 of the present invention, the welding torch 12, the first sensor 15, the second sensor 16, and the deceleration sensor 17 are attached so as to be located on the outer side of the base 6. However, the present invention is not limited to this, and may be attached to, for example, the bottom surface of the base 6 as long as it does not hinder the traveling of the welding device 5a or the detection of the member 1 to be welded. Thereby, the width | variety of the welding apparatus 5a can be reduced.

  Furthermore, in Embodiment 1 of the present invention, the processing device 19 is mounted on the base 6. However, it is not necessarily mounted on the base 6 and may be installed outside the welding apparatus 5a and connected by a cable.

  In the first embodiment of the present invention, the member 1 to be welded is fixed and the welding device 5a itself travels. However, conversely, the member to be welded 1 may be placed on a movable stage, the member to be welded 1 may be moved, and each sensor and the welding torch 12 may be fixed.

Embodiment 2. FIG.
FIG. 10 is a bottom view showing welding apparatus 5b according to Embodiment 2 of the present invention, and FIG. 11 is a block diagram showing welding apparatus 5b according to Embodiment 2 of the present invention. 10 and FIG. 11 with the same reference numerals as those in FIG. 4 indicate the same or equivalent components, and the description thereof is omitted. In the first embodiment of the present invention, instead of using two sensors, the first sensor 15 and the second sensor 16, a drive that can move in a direction perpendicular to the welding progress direction by having a sensor drive unit 45 is provided. The configuration using the sensor 46 is different.

  As described above, the drive sensor 46 can be moved between the first position 50, the second position 51, and the third position 52 by the sensor driving unit 45. The first position 50 and the second position 51, and the second position 51 and the third position 52 need only be separated from each other by a distance that provides sufficient accuracy for determining the welding start position and the welding end position. Specifically, it may be about 15 mm away. It is assumed that the movable range of the sensor driving unit 45 is sufficiently wide.

  Next, the operation of the welding apparatus 5b in Embodiment 2 of the present invention will be described. FIG. 12 is a diagram showing how to obtain the welding start position 35 when the vertical member 3 in Embodiment 2 of the present invention is attached at an angle forward with respect to the direction perpendicular to the welding progress direction. 13 is a diagram showing how to obtain the welding end position 36 when the vertical member 3 according to Embodiment 2 of the present invention is attached to the front of the welding progress direction at an angle with respect to the direction perpendicular to the welding progress direction. FIG. 14 is a flowchart showing a welding method according to Embodiment 2 of the present invention. 12, FIG. 6 in FIG. 13, and FIG. 14 with the same reference numerals as those in FIG. 7 indicate the same or equivalent components, and the description thereof is omitted.

  Here, as shown in FIG. 12, when the longitudinal member 3 is attached to the beam member 2 extending in the welding progress direction with an angle in front of the welding progress direction with respect to the direction perpendicular to the welding progress direction. think of. First, the welding device 5 b is disposed on the beam material 2. At this time, the drive sensor 46 is in the first position 50. The distance L11 between the welding line 30 and the first position 50 of the drive sensor 46 is preferably about 10 mm. In FIG. 12, for the sake of simplicity, the welding apparatus 5 b is omitted, and the welding torch 12, the detection line 55 at the first position 50 of the drive sensor 46, the detection line 56 at the second position 51, and the detection at the third position 52. Only line 57 is shown.

  Next, a power switch is turned on and the welding apparatus 5b is started. Then, the welding apparatus 5b starts traveling at the speed V0 (S21).

  When the deceleration sensor 17 detects the longitudinal member 3 (S22), the traveling speed of the welding device 5b is reduced to the welding speed V1 (S23).

  When the drive sensor 46 detects the first start end 31 of the longitudinal member 3 (S24a), a measurement start signal is output from the control unit 25 to the measurement unit 20 (S25a). And the control part 25 controls the sensor drive part 45, and moves the drive sensor 46 to the 2nd position 51 (S26a).

  At this time, in the control unit 25, based on the detection signal from the drive sensor 46, the longitudinal member 3 is attached at an angle forward in the welding progress direction with respect to the direction perpendicular to the welding progress direction, or the welding progress direction rearward. And the drive sensor 46 is moved in an appropriate direction. Here, since the longitudinal member 3 is attached with an angle forward in the welding progress direction, the drive sensor 46 is moved to the second position 51 located on the left side of the welding progress direction.

  When the drive sensor 46 detects the second start end 32 of the longitudinal member 3 at the second position 51 (S27a), a measurement end signal is output from the control unit 25 to the measurement unit 20 (S28a). Thus, the drive sensor 46 detects the first start end 31 of the longitudinal member 3 at the first position 50 until the drive sensor 46 detects the second start end 32 of the longitudinal member 3 at the second position 51. The measurement of the first time difference T1 is completed.

  The first time difference T1 measured by the measurement unit 20 is input to the calculation unit 21, and the welding start position 35 is obtained by calculation (S29a). Next, this calculation method will be described. In FIG. 12, the position of the welding torch 12 when the drive sensor 46 detects the second starting end 32 of the longitudinal member 3 at the second position 51 is shown. First, a travel distance L3 = V1 × T1 between the first time difference T1 is obtained from the travel speed V1 and the first time difference T1. Next, from the travel distance L3 during the first time difference T1, the distance L11 between the weld line 30 and the first position 50, and the distance L12 between the weld line 30 and the second position 51, the first of the longitudinal members 3 is obtained. Mounting angle tan θ1 = L3 / (L12−L11). Then, a welding start position offset L4 = L12 × tan θ1 is obtained from the distance L12 between the welding line 30 and the second position 51 and the first attachment angle tan θ1 of the longitudinal member 3. Finally, the welding start distance L6 = L15−L4 = L15−L12 × V1 × T1 / (L12−L11) is obtained from the distance L15 between the drive sensor 46 and the welding torch 12 and the welding start position offset L4, and the welding start position. 35 is required.

  The method for obtaining the welding end position 36 is the same. When the drive sensor 46 detects the first end 40 of the longitudinal member 3 at the second position 51 (S24b), a measurement start signal is output from the control unit 25 to the measurement unit 20 (S25b). And the control part 25 controls the sensor drive part 45, and moves the drive sensor 46 to the 3rd position 52 (S26b).

  When the drive sensor 46 detects the second end 41 of the longitudinal member 3 at the third position 52 (S27b), a measurement end signal is output from the control unit 25 to the measurement unit 20 (S28b). As a result, the drive sensor 46 detects the first end 40 of the longitudinal member 3 at the second position 51 until the drive sensor 46 detects the second end 41 of the longitudinal member 3 at the third position 52. Measurement of the second time difference T2 is completed.

  Next, the calculation part 21 performs calculation for obtaining the welding end position 36 (S29b). This calculation method will be described with reference to FIG. In FIG. 13, the position of the welding torch 12 when the drive sensor 46 detects the second end 41 of the longitudinal member 3 at the third position 52 is shown. First, the travel distance L7 = V1 × T2 during the second time difference T2 is obtained. Then, a second attachment angle tan θ2 = L7 / (L20−L12) of the longitudinal member 3 is obtained, and a welding end position offset L8 = L20 × tan θ2 is obtained. Finally, the welding end distance L9 = L15−L8 = L15−L20 × V1 × T2 / (L20−L12) is obtained, and the welding end position 36 is obtained.

  Information on the welding start position 35 and the welding end position 36 obtained as described above is stored in the storage unit 22 (S30a, S30b). Then, the control unit 25 controls the motor 7 and the welding torch 12 based on the information of the welding start position 35 and the welding end position 36 read from the storage unit 22.

  When the welding torch 12 arrives at the welding start position 35 (S31), the motor 7 is stopped and the traveling of the welding apparatus 5b is stopped (S32). Then, welding is started (S33), and the motor 7 is rotated again to start traveling at the speed V1 (S34). When the welding torch 12 arrives at the welding end position 36 (S35), the traveling is stopped (S36), the crater process is performed, and the welding is ended (S37).

  After welding is completed, the travel starts at the speed V0 (S38). When all the welding is completed and the end of the beam 2 is reached (S39), the welding apparatus 5b stops traveling and the power switch is automatically turned off. It is done. When the deceleration sensor 17 detects another vertical member 3 (S22), the subsequent steps are repeated to perform welding.

  Next, how to obtain the welding start position 35 and the welding end position 36 when the vertical member 3 is attached at an angle to the rear of the welding progress direction with respect to the direction perpendicular to the welding progress direction will be described. 15 is a view showing a method for obtaining the welding start position when the vertical member 3 in Embodiment 2 of the present invention is attached to the direction perpendicular to the welding progress direction with an angle behind the welding progress direction. These are figures which show how to obtain | require the welding end position in case the vertical member 3 in Embodiment 2 of this invention is attached with an angle in the back of a welding progress direction with respect to the direction perpendicular | vertical to a welding progress direction. 15 and FIG. 16 denoted by the same reference numerals as those in FIG. 9 indicate the same or equivalent configurations, and the description thereof is omitted.

  Initially, it is assumed that the drive sensor 46 is in the third position 52. In this case, after the drive sensor 46 detects the first start end 31 of the longitudinal member 3 at the third position 52, the sensor drive unit 45 moves the drive sensor 46 to the second position 51, and then the second position 51 is reached. At the position 51, the drive sensor 46 detects the second start end 32 of the longitudinal member 3. The time required for this series of operations is defined as a first time difference T1.

  Then, after the drive sensor 46 detects the first end 40 of the longitudinal member 3 at the second position 51, the drive sensor 46 is moved to the first position 50, and the drive sensor 46 is longitudinally moved at the first position 50. A time difference until the second end 41 of the material 3 is detected is defined as a second time difference T2.

  At this time, as described above, in the control unit 25, based on the detection signal from the drive sensor 46, is the longitudinal member 3 attached at an angle forward in the welding progress direction with respect to the direction perpendicular to the welding progress direction? The drive sensor 46 is moved in an appropriate direction by determining whether it is attached at an angle to the rear of the welding direction. When the vertical member 3 is attached at an angle to the rear in the welding progress direction, the drive sensor 46 is moved to the right in the welding progress direction. Therefore, the drive sensor 46 is moved from the third position 52 to the second position 51 and the first position 50.

  A method of obtaining the welding start position 35 will be described with reference to FIG. In FIG. 15, the position of the welding torch 12 when the drive sensor 46 detects the second start end 32 of the longitudinal member 3 at the second position 51 is shown. First, the travel distance L3 = V1 × T1 during the first time difference T1 is obtained. Next, the first attachment angle tan θ1 = L3 / (L20−L12) of the longitudinal member 3 is obtained. Then, a welding start position offset L4 = L12 × tan θ1 is obtained. Finally, the welding start distance L6 = L15 + L4 = L15 + L12 × V1 × T1 / (L20−L12) is obtained, and the welding start position 35 is obtained.

  The method for obtaining the welding end position 36 is the same, and will be described with reference to FIG. FIG. 16 shows the position of the welding torch 12 when the drive sensor 46 detects the second end 41 of the longitudinal member 3 at the third position. First, the travel distance L7 = V1 × T2 during the second time difference T2 is obtained. Next, a second attachment angle tan θ2 = L7 / (L12−L11) of the longitudinal member 3 is obtained, and a welding end position offset L8 = L11 × tan θ2 is obtained. Finally, the welding end distance L9 = L15 + L8 = L15 + L11 × V1 × T2 / (L12−L11) is obtained, and the welding end position 36 is obtained.

  Next, consider a case where the longitudinal member 3 is attached in a direction perpendicular to the welding progress direction. Initially, the drive sensor 46 is assumed to be in the first position 50. In this case, after the drive sensor 46 detects the first start end 31 of the longitudinal member 3 at the first position 50, when the drive sensor 46 is moved to the second position 51, the next is the second position 51. The drive sensor 46 detects the first end 40 of the longitudinal member 3.

  Thus, when the first end 40 is detected without detecting the second start end 32 after the detection of the first start end 31, the longitudinal member 3 is attached in a direction perpendicular to the welding progress direction. Judge that The welding start distance L6 and the distance L15 between the drive sensor 46 and the welding torch 12 are the same, L6 = L15, the welding end distance L9 is the same as the distance L15 between the drive sensor 46 and the welding torch 12, and L9 = L15. And

  In the second embodiment of the present invention, since it is configured as described above, it is not necessary to use two sensors, and the welding start position 35 and the welding end position 36 can be detected with only one drive sensor 46.

  In the second embodiment of the present invention, the drive sensor 46 is moved from the first position 50 to the second position 51, the third position 52, or from the third position 52 to the second position 51, Moved to position 50. However, after detecting the second start end 32 of the longitudinal member 3 at the second position 51, the drive sensor 46 is moved again to the first position, and the first end 40 of the longitudinal member 3 is detected at the first position. Then, the second end 41 may be detected by moving again to the second position 51. As a result, the travel distance required to obtain the welding end position can be further shortened.

  The first and second embodiments of the present invention have been described above. These configurations described in the first and second embodiments of the present invention can be combined with each other.

DESCRIPTION OF SYMBOLS 1 To-be-welded member 2 Beam material 3 Vertical material 5a, 5b Welding apparatus 12 Welding torch 15 1st sensor 16 2nd sensor 20 Measuring part 21 Calculation part 22 Memory | storage part 26 Detection line 27 of 1st sensor 27 2nd sensor Detection line 30 welding line 31 first start end of longitudinal member 32 second start end of longitudinal member 35 welding start position 36 welding end position 40 first end of longitudinal member 41 second end of longitudinal member 45 sensor driving unit 46 Drive sensor 50 First position of drive sensor 51 Second position of drive sensor 52 Third position of drive sensor 55 Detection line at first position of drive sensor 56 Detection line at second position of drive sensor 57 Detection line at the third position of the drive sensor T1 First time difference T2 Second time difference V1 Traveling speed of the welding apparatus during welding L1 Distance between the welding line and the first sensor L2 Welding line and first L5 Distance between the first sensor and the second sensor and the welding torch L6 Welding start distance L9 Welding end distance L11 Distance between the welding line and the first position of the drive sensor L12 Welding line and the drive sensor Distance from the second position L20 Distance between the welding line and the third position of the drive sensor L15 Distance between the drive sensor and the welding torch θ1 First attachment angle of the vertical member with respect to a direction perpendicular to the welding progress direction θ2 Welding progress The second mounting angle of the longitudinal member relative to the direction perpendicular to the direction

Claims (9)

In a welding apparatus in which welding is performed by moving a welding torch relative to a member to be welded,
A first sensor attached to the welding torch at a position a predetermined distance ahead of the welding direction;
A second sensor attached to the first sensor at a predetermined distance in a direction perpendicular to the welding progress direction;
The first until either one of the first sensor and the second sensor detects the first start end of the member to be welded until the other detects the second start end of the member to be welded. The time difference and from when either one of the first sensor or the second sensor detects the first end of the welded member until the other detects the second end of the welded member A measurement unit for measuring the second time difference;
A calculation unit that obtains a welding start position and a welding end position by calculation based on the first time difference and the second time difference measured by the measurement unit;
Welding device equipped with. The calculation unit
The first time difference, the traveling speed of the welding direction of the first sensor and the second sensor with respect to the member to be welded, the distance between the weld line and the first sensor, the distance between the weld line and the second sensor The first attachment angle of the member to be welded with respect to the direction perpendicular to the welding progress direction is obtained from the first attachment angle, the distance between the first sensor and the second sensor and the welding torch, and the welding. From the distance between the line and the first sensor or the distance between the weld line and the second sensor, an operation for obtaining the welding start position is performed.
From the second time difference, the traveling speed, the distance between the welding line and the first sensor, and the distance between the welding line and the second sensor, the first of the members to be welded with respect to the direction perpendicular to the welding progress direction. 2, the second mounting angle, the first sensor and the distance between the second sensor and the welding torch, the distance between the welding line and the first sensor, or the welding line The welding apparatus according to claim 1, wherein a calculation for obtaining a welding end position is performed based on a distance from the second sensor. In a welding apparatus in which welding is performed by moving a welding torch relative to a member to be welded,
A sensor attached to the welding torch at a position separated by a predetermined distance forward of the welding traveling direction;
A sensor drive unit for moving the sensor in a direction perpendicular to the welding progress direction;
After the sensor detects the first starting end of the welded member, the sensor is moved by the sensor driving unit in a direction perpendicular to the welding progress direction, and the sensor moves the second starting end of the welded member. A first time difference until detection, and after the sensor detects the first end of the member to be welded, the sensor driving unit moves the sensor in a direction perpendicular to the welding progress direction; A measuring unit that measures a second time difference until the second end of the welded member is detected;
A calculation unit that obtains a welding start position and a welding end position by calculation based on the first time difference and the second time difference measured by the measurement unit;
Welding device equipped with. The calculation unit
From the first time difference, the traveling speed of the sensor in the welding traveling direction with respect to the member to be welded, the distance between the welding line and the first position of the sensor, and the distance between the welding line and the second position of the sensor. A first attachment angle of the welded member with respect to a direction perpendicular to the direction is obtained, the first attachment angle, the distance between the sensor and the welding torch, and the distance between the weld line and the second position of the sensor. To calculate the welding start position,
From the second time difference, the traveling speed, the distance between the welding line and the second position of the sensor, and the distance between the welding line and the third position of the sensor, the coverage with respect to the direction perpendicular to the welding progress direction is determined. Calculation for obtaining a second attachment angle of the welding member, and obtaining a welding end position from the second attachment angle, the distance between the sensor and the welding torch, and the distance between the welding line and the third position of the sensor. The welding apparatus according to claim 3, wherein:   5. The welding apparatus according to claim 1, further comprising a storage unit that stores a welding start position and a welding end position obtained by the calculation unit. In a welding method in which welding is performed by moving a welding torch relative to a member to be welded,
In either one of the first position separated from the weld line by a predetermined distance and the second position separated from the first position by a predetermined distance without straddling the weld line in the direction perpendicular to the welding progress direction. A step of measuring a first time difference from detection of the first start end of the member to be welded to detection of the second start end of the member to be welded on the other side;
Obtaining a welding start position by calculation based on the first time difference;
The second period from when the first end of the member to be welded is detected at any one of the first position and the second position until the second end of the member to be welded is detected at the other. Measuring the time difference;
Obtaining a welding end position by calculation based on the second time difference;
Welding from the welding start position to the welding end position;
Welding method with. In the process of obtaining the welding start position by calculation,
From the first time difference, the traveling speed in the welding progress direction with respect to the member to be welded, the distance between the weld line and the first position, and the distance between the weld line and the second position, the coverage in the direction perpendicular to the welding progress direction. A first attachment angle of the welding member is obtained, a position at which the second starting end of the member to be welded is detected at any one of the first attachment angle, the first position, and the second position, and a welding torch. The welding start position is obtained from the distance of the distance between the weld line and the first position or the distance between the weld line and the second position,
In the process of calculating the welding end position by calculation,
The second time difference, the traveling speed, the distance between the welding line and the first position, the distance between the welding line and the second position, 2 is obtained, and the distance between the second attachment angle, the position at which the second end of the member to be welded is detected at any one of the first position and the second position, and the welding torch. The welding method according to claim 6, wherein a welding end position is obtained from a distance between the weld line and the first position or a distance between the weld line and the second position. In a welding method in which welding is performed by moving a welding torch relative to a member to be welded,
The first start of the member to be welded is detected by a sensor at a first position away from the weld line by a predetermined distance, and then the weld line is straddled from the first position in a direction perpendicular to the welding progress direction. And a step of detecting a first time difference until the second start end of the member to be welded is detected by the sensor at the second position by moving the sensor to a second position separated by a predetermined distance. ,
Obtaining a welding start position by calculation based on the first time difference;
After the first end of the member to be welded is detected by the sensor at the second position, the weld line extends away from the first position in a direction perpendicular to the welding progress direction from the second position. The second time difference until the second end of the welded member is detected by the sensor at the third position is detected by moving the sensor to a third position separated by a predetermined distance without straddling And a process of
Obtaining a welding end position by calculation based on the second time difference;
Welding from the welding start position to the welding end position;
Welding method with. In the process of obtaining the welding start position by calculation,
From the first time difference, the traveling speed of the sensor with respect to the member to be welded, the distance between the welding line and the first position, and the distance between the welding line and the second position, the direction perpendicular to the welding progress direction. A first attachment angle of the welded member with respect to a specific direction is obtained, and a welding start position is determined from the first attachment angle, the distance between the sensor and the welding torch, and the distance between the weld line and the second position. Seeking
In the step of calculating the welding end position by calculation, the second time difference, the traveling speed, the distance between the welding line and the second position, and the distance between the welding line and the third position are perpendicular to the welding traveling direction. A second mounting angle of the member to be welded with respect to a specific direction, and welding from the second mounting angle, the distance between the third position and the welding torch, and the distance between the welding line and the third position. The welding method according to claim 8, wherein an end position is obtained.

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