JPH02255276A - Method for detecting end of fillet welded joint - Google Patents

Abstract

PURPOSE:To accurately detect the end position regardless of an end shape of a first member by using starting end and last end shape information of the first member and set information stored in advance and correcting the positional data of the detected ends. CONSTITUTION:In the end detection by the wire sensing method in a fillet welded joint, a starting end detector and a last end detector are moved to the starting end side together with a welding torch to detect the ends. The present positional data of the end detectors are fetched in an arithmetic part by using the detected signal. The end shape data of the first member stored in advance and the positional data of the distance with respect to a second member of the end detectors are read out on the arithmetic part. Based on both data of these, the present positional data of the first member are corrected by operation. By this method, the positions of the starting end and the last end are detected accurately and the occurrence of bead defects, undercuts, etc., on the starting and last ends in boxing welding on the starting end and the last end is reduced.

Description

DETAILED DESCRIPTION OF THE INVENTION [Industrial Application Field] The present invention relates to an edge detection method when automatically welding a fillet weld joint using a consumable electrode type automatic arc welding device.

[Prior Art 7] In this type of fillet welding, starting end welding is usually performed, for example, as shown in Japanese Patent Publication No. 63-31301. That is, as shown in FIG.
A predetermined position in front of the starting end surface (starting end rotation position) of the standing plate (first member) 2 set up on the member) 1 is the target position of the consumable electrode (wire) 4 of the welding torch 3.3, and welding is performed under the starting end welding conditions. After forming the bead B, move the welding torch 3.3 to the starting end S side of the standing plate 2 along the welding line 5.5, and move the welding torch 3.3 to the starting end S side of the standing plate 2 (position coordinate is Po, X coordinate is P. ) by a predetermined distance toward the end E (Positional coordinates are Po, X coordinates are PEx) on the welding line 5. Dodge. At the end, end round welding is performed. Let the direction of the welding line 5 be the X coordinate.

In this starting edge welding, weld beads B of a predetermined leg length are brought together at the starting edge from both sides to prevent defects such as undercuts and overlaps in fillet welding, as well as undercuts at the edge of the starting edge of the standing plate 2. In order to prevent defects from occurring, the welding conditions such as welding current and voltage, the torch trajectory, etc. are devised. It is of fundamental importance to aim the welding torch accurately.

[Problem to be solved by the invention]

Detection of the starting end S of the standing plate 2 is carried out by using a welding head section (torch support mechanism) 7 that supports the welding torch, as shown in FIG.
An end detector (starting end detector) 6A using an optical switch or a trim switch is set at a predetermined distance f from the welding torch.
This is done by placing the starting edge of the standing board 2 at a position that is ahead by sk, but since some of the starting end shapes of the standing board 2 are not simple as shown in Figure 2 (1)) and (C), in the case of such a standing board, This causes an error in starting edge detection. That is, in the case of the vertical plate W in FIG. 2(a), the position when the starting edge detector 6 is activated (detected starting edge) and the starting edge S match, but the scallop W2 in FIG. 2(b) Now, let's take a look at the set position of the starting edge detector 6A (lower plate 1 of the detection center O).
When the height from )
Also, the snip W in Figure 2 (C)
In the case of , the position P where the start end detector 6A operates (X coordinate is pHf), that is, the detection start end is shifted from the start end S by a distance ε3 in the X direction (terminal direction). , there was a problem that accurate detection of the starting point S was difficult.

Similarly, regarding the detection of the terminal end E, in the case of the scallop W2, there is a shift in the X-axis direction, and in the case of the snip W3, the shift is in the direction of the starting end. In FIG. 5, 6B indicates a termination detector.

The present invention has been made to solve the above problems, and an object of the present invention is to provide a method for detecting the end of a fillet weld joint that can accurately detect the end position regardless of the end shape of the first member. purpose.

[Means to solve the problem]

In order to achieve the above object, the present invention uses an edge detection signal sent out when an edge detector detects an edge to import current position data of the edge detector into a calculation unit, and
The end shape data of the first member stored in a memory in advance and the position data of the separated position of the end detector with respect to the second member are read out to the calculation unit, and based on both data, the end shape data of the first member by the end detector is read out. The current position data, which is the position data of the sensing end of the member, is corrected by calculation.

[Effect]

In the present invention, even if the end detected by the end detector deviates from the actual starting end of the welding process, the amount of deviation is calculated and corrected, so that the end of the first member has a complicated shape. Even if there is, accurate end position data can be obtained.

(Example) Hereinafter, one embodiment of the present invention will be described with reference to the drawings.

As shown in FIG. 1, the starting end detector (in this example, an optical type) 6A and the ending end detector 6B are spaced apart from the vertical plate 2 and the lower plate 1 by a predetermined distance L7 and L2, respectively, by a method described later. The initial position is set to 11fP, (X coordinate P□, Y coordinate PI1., Z coordinate P, . . .). This initial position P7 is written into a data memory (not shown) in the control device of the automatic welding device at the time of setting.

Next, detection of the starting end of the standing board W2 will be explained with reference to FIG. 2(b). After the starting edge detector 6 is set as described above, the starting edge detector 6A and the ending edge detector 6B are moved together with the welding torch 3 toward the starting edge S side, and the starting edge detector 6 is moved to the X coordinate position P of the starting edge S. When it passes through X and reaches the coordinate position of PJX, it sends out a starting edge detection signal. This detection start point PJX is the start point P. For X, ε, = R-R”-H” ・・・・・・・・・・・・(1)
However, the radius of the R varnish cover is different.

The starting end rotation start position P, 8 (however, X coordinate) of the welding torch is as follows, assuming that the optimum rotation amount with respect to the vertical plate W2 is 1o.
X coordinate meter of starting point P0. For X, K = (l so
+ l sx), but since the detection start end is PJ, the X coordinate PJX of this detection start end PJ is corrected by the above-mentioned deviation amount ε2. That is, when the start edge detection signal is generated and the coordinates of the detection start point P at that time are written into the storage section, the arithmetic section calculates -+PJX+ε□...
...... Calculate (2) and find the start end turning start position p
Detect sw. The welding torch has an X coordinate of FSX, and is controlled in position so as to aim at a position a predetermined distance away from this position toward the center in the width direction of the upright plate, and then start round welding is started.

To detect the end rotation position pN (X coordinate is psx), the coordinate of the detection end is Pq, the distance between the end detector 6B and the welding torch is j2o, and the optimum amount of rotation is j!
If E(l, then K“ +P QX−ε2 ・・・・・・・・・・・・(
3) However, K'-#! ED+1. This is done by calculating EK.

In addition, when the standing board is the snip W2 in FIG. 2(C), (a) When the snip height is ASH, the starting end P. Since the starting edge PIX detected by the starting edge detector 6B deviates from X by an amount, determine the optimum turning amount for the vertical plate W3! , D゛, - +Pi, -ε3 ・・・・・・・・・・・・・・・(5
) However, K=lso"+28, is calculated to detect the starting end turning start position psx.

To detect the end rotation position PHX, set the coordinates of the detection end to Pr.
, the distance that the end detector (not shown) is separated from the welding torch! . X, the optimum slack amount is 2. If D′, then K” +P□+e, ・ ・ ・ ・ ・ ・ ・
・ ・ ・ ・(5) However, K″=ltn″ +! This is done by calculating □.

(b) If A > H, as in the case of the standing board W1 in FIG.
The detection terminals of , respectively, coincide with each other.

Type of standing board mentioned above WIxWs, starting end turning amount 1-5D
<LD, end rotation amount fi11. Starting end shape information and end end shape information such as the radius R of the fED scallop, the snip height A, and the snip inclination angle θ are stored together with the work piece as a table in the data memory in the control device of the automatic welding equipment, and can be controlled by the program. Read it out. The deviation amounts ε2 and ε3 may be calculated at the time of starting edge detection and ending edge detection, but they may be calculated in advance from the above starting edge shape information, ending edge shape information, and the set height H of the starting edge detector 6A and the ending edge detector 6B. , may be stored in the data memory.

Next, a method for setting end detectors (starting end detector, end end detector) using the wire sensing method will be briefly explained with reference to FIG. 3.

The welding torch 3 is vertically lowered from the retracted position in (a) toward the lower plate 1, and when the wire 6 comes into contact with the lower plate 1 (see Fig.
b)), the welding torch 3 is raised by a predetermined vertical distance Lz'=H ((C) in the same figure), and then the welding torch 3 is moved up to the vertical plate 2.
When the wire 4 contacts the standing plate 2 (see (e) in the same figure), the wire 4 moves horizontally toward the vertical distance 1. y" (see figure)) and position the welding torch. Since the starting end detector and ending end detector are supported by the torch positioning mechanism, their set position will be automatically determined when the torch position is determined. Become.

In the above embodiment, the detection of the ends of three types of standing boards having different end shapes has been described, but it is clear that the present invention can also be applied to detecting the ends of standing boards having other end shapes.

Note that the start and end ends may be detected in advance before welding is performed.

〔Effect of the invention〕

As explained above, in the case where the set height of the end detector deviates from the actual starting end where the end detected by the end detector is welded, the starting end/terminating end shape information of the first member is used. Since the configuration uses the set information such as the set height to correct the position data of the detection end by calculation, the start and end positions can be accurately determined regardless of the shape of the start and end of the first member. Since this can be detected, the occurrence of bead defects, start and end undercuts, etc. in start and end turn welding can be reduced compared to conventional methods.

[Brief explanation of drawings]

FIG. 1 is a diagram for explaining the set position of an end detector used in carrying out the present invention, and FIGS. 2 (a) to (C) are diagrams illustrating a standing board for explaining the present invention in detail. FIG. 3 is a diagram showing a method of setting an end detector used in carrying out the present invention, FIG. 4 is a diagram for explaining a starting end turning method, and FIG. 5 is a diagram showing a welding head section. 1-lower plate, 2, w, -wt-・vertical plate, 3--welding torch, 6A--starting end detector, 6B--terminating end detector. Patent applicant: Kobe Steel, Ltd.

Claims (1)

[Claims] The first member of the upright plate and the second member of the lower plate constituting the fillet weld joint.
After detecting the member at a position separated by a predetermined distance from the end of the standing plate to one end side by a wire sensing method, the welding torch is separated from the first member and the second member by a predetermined distance, respectively, and the welding torch is supported. The position of the end detector supported by the torch support mechanism is then set, and then the torch support mechanism is moved toward the end of the first member at a predetermined speed so that the end detector detects the position of the first member. When detecting the edge of a fillet weld joint that detects the edge position, the edge detection signal sent out immediately after the edge detector detects the edge is used to send the current position data of the edge detector to the calculation unit. The end shape data of the first member that has been captured and stored in memory in advance and the position data of the separated position of the end detector with respect to the second member are read out to the calculation unit, and based on both data, the end shape data of the end detector is A method for detecting an end of a fillet welded joint, comprising correcting the current position data, which is the position data of the detected end of the first member, by calculation.