JPH0263684A - Method for profiling weld line - Google Patents
Method for profiling weld lineInfo
- Publication number
- JPH0263684A JPH0263684A JP21462088A JP21462088A JPH0263684A JP H0263684 A JPH0263684 A JP H0263684A JP 21462088 A JP21462088 A JP 21462088A JP 21462088 A JP21462088 A JP 21462088A JP H0263684 A JPH0263684 A JP H0263684A
- Authority
- JP
- Japan
- Prior art keywords
- magnetic sensor
- output
- groove
- welding torch
- butt joint
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims abstract description 14
- 238000003466 welding Methods 0.000 claims abstract description 50
- 238000001514 detection method Methods 0.000 claims abstract description 35
- 210000001503 joint Anatomy 0.000 claims abstract description 26
- 238000010586 diagram Methods 0.000 description 5
- 239000011324 bead Substances 0.000 description 3
- 230000000694 effects Effects 0.000 description 2
- 238000007493 shaping process Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
Landscapes
- Butt Welding And Welding Of Specific Article (AREA)
Abstract
Description
【発明の詳細な説明】
〔産業上の利用分野〕
本発明は、２枚の被溶接物の■形開先突合わせ継手の自
動溶接における溶接線倣い方法に関する。DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to a weld line tracing method for automatic welding of a ■-shaped groove butt joint between two workpieces.
従来、２枚の被溶接物の突合わせ継手の自動溶接におい
ては、第７回正面図に示すように、被溶接物１．２の突
合わせ継手の開先３中に検出子２５を挿入してその検出
子２５の開先３′への当たシ具合によって開先３と検出
子２５の相対位置を検出し、その相対位置関係が設足さ
れた通９になるように検出子２５の位置を制御すること
によって、検出子２５と機械的如結合した溶接トーチが
常に溶接線を倣い追従するようにしている。Conventionally, in automatic welding of a butt joint between two objects to be welded, a detector 25 is inserted into the groove 3 of the butt joint of the object to be welded 1.2, as shown in the seventh front view. The relative position of the groove 3 and the detector 25 is detected by the degree of contact of the detector 25 with the groove 3', and the detector 25 is adjusted so that the relative positional relationship becomes the established groove 9. By controlling the position, the welding torch mechanically connected to the detector 25 always follows the welding line.
しかしながら、このような溶接線倣い方法は、検出子２
５の開先３への当たシ具合を検出するものであるため、
Ｕ形、Ｖ形、Ｊ形等の開先による突合わせ継手には有効
であるが、薄板の突合わせ継手に用いられる■形開先に
対しては、開先に傾斜面がないため適用することができ
ず、従って■形開先突合わせ継手における非接触式にし
て適確な溶接線倣い方法の開発が望まれている。However, such a welding line tracing method cannot be applied to the detector 2.
Since this is to detect the degree of contact of groove 3 with groove 3,
It is effective for butt joints with U-shaped, V-shaped, J-shaped grooves, etc., but it is not applicable to ■-shaped grooves used in butt joints of thin plates because the grooves do not have sloped surfaces. Therefore, it is desired to develop a non-contact and accurate weld line tracing method for ■-shaped groove butt joints.
本発明は、このような事情に鑑みて提案されたもので、
■形開先突合わせ継手に対し非接触式にして適確な溶接
線の倣いを行うことができ、かつ開先の段違いも考慮し
て常に正確に開先中中心を倣うことができる溶接線倣い
方法を提供することを目的とする。The present invention was proposed in view of these circumstances, and
■It is possible to accurately trace the weld line in a non-contact manner for grooved butt joints, and the weld line can always accurately trace the center of the groove, taking into account the difference in groove level. The purpose is to provide a copying method.
そのために本発明は、２枚の被溶接物の■形開先突合わ
せ継手溶接線を倣い進行する溶接トーチに先行して、上
記突合わせ継手の開先巾方向の中心位置に対する上記溶
接トーチの偏位を検出する磁気センサーと上記突合わせ
継手の段違い量を検出する磁気センサーとを配置し、上
記偏位検出磁気センサーの出力に応じて上記溶接トーチ
を開先中心に沿わせるとともに上記段違い量検出磁気セ
ンサーの出力に応じて溶接トーチを所定の高さに保持せ
しめ、かつ上記突合わせ継手に段違いがあるときは上記
段違い量検出磁気センサーの出力により上記偏位検出磁
気センサーの出力を修正することを特徴とする。To this end, the present invention provides a method for moving the welding torch to the center position in the groove width direction of the butt joint, prior to the welding torch moving along the welding line of the ■-shaped groove butt joint of two pieces to be welded. A magnetic sensor that detects deviation and a magnetic sensor that detects the amount of unevenness of the butt joint are arranged, and according to the output of the deviation detection magnetic sensor, the welding torch is aligned with the center of the groove and the amount of unevenness is adjusted. The welding torch is held at a predetermined height according to the output of the detection magnetic sensor, and when the butt joint has a level difference, the output of the deviation detection magnetic sensor is corrected based on the output of the level difference detection magnetic sensor. It is characterized by
本発明方法においては、■形開先の中方向中心に対する
溶接トーチの偏位を検出できる磁気センサーと、開先に
おける被溶接物の段違い量を検出できる磁気センサーと
を用いて、段違いがない場合は、前者により溶接トーチ
の開先中心倣いを行うとともに後者により溶接トーチ高
さ保持を図シ、かつ段違いがある場合は、前者の出力に
後者の出力を加味して段違いによる開先巾方向偏位出力
の誤差を修正して、常に正確な開先中心倣いを行わせる
とともに、丑た後者により溶接トーチ高さ保持を図る。In the method of the present invention, a magnetic sensor capable of detecting the deviation of the welding torch with respect to the middle center of the groove and a magnetic sensor capable of detecting the level difference of the workpiece in the groove are used. The former uses the welding torch to follow the groove center, and the latter uses the latter to maintain the welding torch height.If there is a difference in level, the output of the latter is added to the output of the former to calculate the deviation in the groove width direction due to the difference in level. By correcting errors in positioning force, accurate groove center tracing is always performed, and the latter is used to maintain the welding torch height.
本発明溶接線倣い方法の一実施例を図面について説明す
ると、第１図は本発明方法を実施する装置を示す斜視図
、第２図は同上装置の制御システムを示す系統図、第３
図は開先巾方向偏位検出センサーと■形開先との相対関
係を示す斜視図、第４図は開先段違い検出センサーと■
形開先との相対関係を示す斜視図、第５図は開先巾方向
偏位と検出センサー出力との関係を示す線図、第６図は
開先段違い量と検出センサー出力との関係を示す線図で
ある。An embodiment of the welding line tracing method of the present invention will be explained with reference to the drawings. Fig. 1 is a perspective view showing an apparatus for carrying out the method of the invention, Fig. 2 is a system diagram showing a control system of the same device, and Fig. 3 is a system diagram showing a control system of the same device.
The figure is a perspective view showing the relative relationship between the groove width direction deviation detection sensor and the ■-shaped groove, and Figure 4 shows the groove width difference detection sensor and the ■-shaped groove.
A perspective view showing the relative relationship with the shaped groove, Fig. 5 is a line diagram showing the relationship between deviation in the groove width direction and the detection sensor output, and Fig. 6 shows the relationship between the groove unevenness and the detection sensor output. FIG.
まず第１図において、被溶接物１と被溶接物２とに■形
開先３の突合わせ継手が形成され、との■形開先乙に、
先端から突出した電極４に生ずるアーク５により溶接ビ
ード６を生成しながら溶接方向７へ進行する溶接トチ８
が対向している。この溶接トーチ８はその上部が溶接方
向７の前方へ屈曲したＬ字状の取付はアーム９に取付け
られ、取付アーム９の先端が、■形開先３巾方向へ動く
横スライダ−１０と、溶接トーチ８の軸線方向へ動く竪
スライダー１１とを介して支持アーム１２に連結支持さ
れ、この支持アーム１２は溶接方向７の方向へ走行する
図示せざる溶接台車等の自動溶接装置に連結されており
、横スライダー１０．竪スライダー１１には、第２図Ｋ
示ｔ モーター２３．モーター２４がそれぞれ内蔵さ
れている。First, in FIG. 1, a butt joint with a ■-shaped groove 3 is formed between the workpiece 1 and the workpiece 2, and the ■-shaped groove B is
A welding torch 8 moves in a welding direction 7 while generating a welding bead 6 by an arc 5 generated on an electrode 4 protruding from its tip.
are facing each other. This welding torch 8 has an L-shaped attachment whose upper part is bent forward in the welding direction 7, and is attached to an arm 9, and the tip of the attachment arm 9 has a horizontal slider 10 that moves in the width direction of the ■-shaped groove. It is connected and supported by a support arm 12 via a vertical slider 11 that moves in the axial direction of the welding torch 8, and this support arm 12 is connected to an automatic welding device such as a welding cart (not shown) that runs in the welding direction 7. Horizontal slider 10. The vertical slider 11 is shown in Fig. 2 K.
Shown Motor 23. Each has a built-in motor 24.
また横スライダ−１０に、溶接トーチ８の前方に位置す
る手動調整の竪スライダー１３゜更にその下部に手動調
整の横スライダ−１４がこの順に連結され、この横スラ
イダ−１４の下面に取付は杆１５が垂設され、その下端
に溶接方向７に沿って後方から、開先巾方向偏位検出用
の磁気センサー１６と開先段違い検出用の磁気センサー
１７とが配設されている。そしてこの磁気センサー１６
は第３図に示すように、その中心と■形開先乙の中心と
の偏位りに比例する信号を、第２図に示す検出装置１８
によって出力し、磁気センサー１７は第４図に示すよう
に、被溶接物１，２との距離の差ｈ２−ｈ、すなわち■
形開先３の段違い量に比例する信号を、第２図に示す検
出装置１９によって出力するものである。Further, a manually adjustable vertical slider 13° located in front of the welding torch 8 and a manually adjustable horizontal slider 14 are connected in this order to the horizontal slider 10. 15 is installed vertically, and a magnetic sensor 16 for detecting a deviation in the groove width direction and a magnetic sensor 17 for detecting a difference in groove level are disposed at the lower end thereof from the rear along the welding direction 7. And this magnetic sensor 16
As shown in FIG. 3, the detection device 18 shown in FIG.
As shown in FIG.
A signal proportional to the level difference of the shaped groove 3 is outputted by a detection device 19 shown in FIG.
しかしてこれらの検出装置１８．１９には第２図に示す
制御システムにおいて、制御装置２０が接続され、この
制御装置２０は前記モータ２３及びモーター２４の回転
方向及び回転量を調整する駆動装置２１及び駆動装置２
２に接続されている。These detection devices 18 and 19 are connected to a control device 20 in the control system shown in FIG. and drive device 2
Connected to 2.
このような装置において、溶接トーチ８を溶接方向７の
方向へ■形開先３を倣い進行させながら、電極４の先端
からアーク５を出し溶接ビード６を生成するにあたシ、
横スライダ−１０によって溶接トーチ８の中心と■形開
先３の中心とが一致するように調整し、更に磁気センサ
ー１６の中心がＩ形開先乙の中心と一致するように横ス
ライダ−１４を調整する。In such a device, while moving the welding torch 8 along the welding direction 7 along the ■-shaped groove 3, an arc 5 is emitted from the tip of the electrode 4 to generate a weld bead 6.
Adjust the center of the welding torch 8 and the center of the ■-shaped groove 3 using the horizontal slider 10, and adjust the horizontal slider 14 so that the center of the magnetic sensor 16 coincides with the center of the I-shaped groove 3. Adjust.
また竪スライダー１０によって溶接トーチ８の高さを、
溶接が安定に行えるように図示せざるコンタクトーチッ
プと■形開先３表面との距離が約１５〜２０１１ｊＩに
なるよう釦調整し、更に竪スライダー１３によって、磁
気センサー１６及び磁気センサー１７からＩ形開先３表
面までの距離Ｈ６を通常３〜１０龍に調整する。In addition, the height of the welding torch 8 is controlled by the vertical slider 10.
To ensure stable welding, adjust the button so that the distance between the contact tip (not shown) and the surface of the ■-shaped groove 3 is approximately 15 to 2011jI, and then use the vertical slider 13 to remove the distance from the magnetic sensor 16 and magnetic sensor 17 to I The distance H6 to the surface of the shaped groove 3 is usually adjusted to 3 to 10 degrees.
このように溶接トーチ８．磁気センサー１６及び磁気セ
ンサー１７を設定したうえで、磁気センサー１６及び磁
気センサー１７による■形開先３のセンシングが行われ
るが、■形開先乙に、（１）段違いが生じていない場合
すなわち第４図においてｈｌ−ｈ２の場合と、（２１段
違いが生じている場合すなわち第４図においてｈ１Ｎｈ
２の場合とに分けて、そのセンシング態様を第５図及び
第６図を参照して以下詳細に説明する。In this way, welding torch 8. After setting the magnetic sensor 16 and the magnetic sensor 17, the magnetic sensor 16 and the magnetic sensor 17 sense the ■shape groove 3, but if (1) there is no difference in level in the ■shape groove B, that is. In Fig. 4, there is a case of hl-h2, and a case where there is a difference of 21 steps (i.e., h1Nh in Fig. 4).
The sensing mode will be explained in detail below with reference to FIGS. 5 and 6.
Ｃ１）ｈ１＝ｈ２の場合：
制御装置２０から駆動装置２１への制御信号はに、・Δ
Ｄ（ここにに、は比例定数）とする。このとき、磁気セ
ンサー１６．検出装置１８、制御装置２０．駆動装置２
１及びモーター２３で構成される制御系は、ΔＤに変化
が生じたときΔＤが小さくなる方向へ帰還がかかつてい
る。また制御装置２０から駆動装置２２への制御信号は
に３− （ｈｌ−Ｈｏ） （ここにに５は比例定数、Ｈ
ｏはさきの設定値）とする。このとき、磁気センサー１
７．検出装置２２、制御装置２０．駆動装置２２及びモ
ーター２４で構成される制御系は、（ｈ、−Ｈｏ）Ｋ変
化が生じたとき（ｈｌ−Ｈｏ）が小さくなる方向へ帰還
がかかつている。C1) When h1=h2: The control signal from the control device 20 to the drive device 21 is ・Δ
D (where is a constant of proportionality). At this time, the magnetic sensor 16. Detection device 18, control device 20. Drive device 2
1 and the motor 23, when a change occurs in ΔD, feedback is applied in the direction in which ΔD becomes smaller. Also, the control signal from the control device 20 to the drive device 22 is 3- (hl-Ho) (where 5 is a proportional constant, H
o is the previous setting value). At this time, magnetic sensor 1
7. Detection device 22, control device 20. The control system composed of the drive device 22 and the motor 24 is fed back in the direction in which (hl-Ho) becomes smaller when (h, -Ho)K changes occur.
この結果、磁気センサー１６の中心はＩ形開先乙の中心
を常に追従し、更に磁気センサー１６及び磁気センサー
１７と■形開先３表面との距離は常にＨ６に保たれる。As a result, the center of the magnetic sensor 16 always follows the center of the I-shaped groove B, and the distance between the magnetic sensors 16 and 17 and the surface of the ■-shaped groove 3 is always maintained at H6.
従って、溶接トーチ８は■形開先３表面から適切な距離
に常に保持されるとともに、その中心はＩ形開先３の中
心を常に追従する。Therefore, the welding torch 8 is always held at an appropriate distance from the surface of the ■-shaped groove 3, and its center always follows the center of the I-shaped groove 3.
【２）ｈ、Ｎａ３の場合：
磁気センサー１６の中心と■形開先３の中心が一致して
いても、偏位ΔＤと出力Ｐとの関係は第５図の破線のよ
うに原点を通らず、磁気センサー１６の中心とＩ形開先
３の中心とがずれた状態で平衡する。従って、■形開先
３の段違い量（ｈ２−ｈｌ）によって駆動装置２１に対
する制御装置２０の出力信号を修正する必要がある。[2) In the case of h, Na3: Even if the center of the magnetic sensor 16 and the center of the ■-shaped groove 3 coincide, the relationship between the deviation ΔD and the output P does not pass through the origin as shown by the broken line in Fig. 5. First, the center of the magnetic sensor 16 and the center of the I-shaped groove 3 are shifted from each other in equilibrium. Therefore, it is necessary to correct the output signal of the control device 20 to the drive device 21 according to the level difference (h2-hl) of the ■-shaped groove 3.
ここで、段違い量（ｈ２−ｈ、）によって磁気センサー
１６と検出装置１８によって生ずる出力信号は、第６図
から次の（１）式で表わされるものとする。Here, it is assumed that the output signal generated by the magnetic sensor 16 and the detection device 18 due to the level difference (h2-h,) is expressed by the following equation (1) from FIG.
Ｑ−に２・（ｈ２−ｈ、） ・・・（
１）（ここにに２は比例定数）
次に第５図において、ｈ、Ｎａ２の場合の出力Ｐと偏位
ΔＤとの関係は、次の（２式で表わされるものとする。Q- to 2・(h2-h,) ...(
1) (where 2 is a proportionality constant) Next, in FIG. 5, the relationship between the output P and the deviation ΔD in the case of h and Na2 is expressed by the following (2 equations).
Ｐ＝に、’（ΔＤ−ｄ）＝に１・ΔＤ−に、’・ｄ・−
・ （２１
（ここにに１はり、Ｎａ２のときの比例定数）そこで、
ｒ２）式のに１・ｄと（１）式のに２・（ｈ２−ｈｌ）
が等しくなるように比例定数に１及びに２を選んでおく
と、出力Ｐと出力Ｑの和は、次の（３）式となって段違
いによる項は消去される。P=, '(ΔD-d)=1・ΔD-, '・d・-
・ (21 (1 here, constant of proportionality when Na2)
r2) 1・d in equation (1) and 2・(h2−hl) in equation (1)
If 1 and 2 are selected as the proportionality constants so that they are equal, the sum of the outputs P and Q becomes the following equation (3), and the term due to the difference in level is eliminated.
Ｐ十Ｑ ＝ Ｋ、’ （ΔＤ−ｄ）＋に２・（ｈ２−
ｈ、）Ｋ１・ΔＤ ［−、？ Ｋ１’・ｄ−に２・（ｈ
２−ｈ、）］・・・Ｃ３１
従って、この演算操作を制御装置２０で行い駆動装置１
７への制御信号はに、・ΔＤとなるようにする。このと
き、磁気センサー１６゜検出装置１８．制御装置２０．
駆動装置２１及びモーター２３で構成される制御系は、
ΔＤに変化が生じたときΔＤが小さくなる方向へ帰還が
かかつている。P0Q = K,' (ΔD-d)+2・(h2-
h,)K1・ΔD [−,? K1'・d− to 2・(h
2-h, )]...C31 Therefore, this calculation operation is performed by the control device 20 and the drive device 1
The control signal to 7 is set to be .DELTA.D. At this time, the magnetic sensor 16° detection device 18. Control device 20.
The control system composed of the drive device 21 and the motor 23 is
When a change occurs in ΔD, feedback is applied in the direction in which ΔD becomes smaller.
比例定数、Ｈｏは設定値）とする。このとき、磁気セン
サー１７．検出装置１９．制御装置２０、駆動装置２２
及びモーター２４で構成向へ帰還がかかつている。(Proportionality constant, Ho is set value). At this time, the magnetic sensor 17. Detection device 19. Control device 20, drive device 22
And the motor 24 is used to return to the configuration direction.
この結果、磁気センサー１６の中心は、工形開先３に段
違いが生じていてもその中心を常に追従する。更に磁気
センサー１６及び磁気センサー１７と工形開先３表面と
の距離は常にＨ６に保たれる。かくして溶接トーチ８は
工形開先３表面から適切な距離に常に保持されるととも
に、その中心は工形開先３の中心を常に追従する。As a result, the center of the magnetic sensor 16 always follows the center of the cutting groove 3 even if there is a difference in level. Furthermore, the distance between the magnetic sensors 16 and 17 and the surface of the cutting groove 3 is always maintained at H6. In this way, the welding torch 8 is always held at an appropriate distance from the surface of the shaping groove 3, and its center always follows the center of the shaping groove 3.
要するに本発明によれば、２枚の被溶接物の工形開先突
合わせ継手溶接線を倣い進行する溶接トーチに先行して
、上記突合わせ継手の開先巾方向の中心位置に対する上
記溶接トーチの偏位を検出する磁気センサーと上記突合
わせ継手の段違い量を検出する磁気センサーとを配置し
、上記偏位検出磁気センサーの出力に応じて上記溶接ト
ーチを開先中心如沿わせるとともに上記段違い量検出磁
気センターの出力に応じて溶接トーチを所定の高さに保
持せしめ、かつ上記突合わせ継手に段違いがあるときは
上記段違い量検出磁気センターの出力により上記偏位検
出磁気センサーの出力を修正することにより、工形開先
突合わせ継手に対し非接触式にして適確な溶接線の倣い
を行うことができ、かつ開先の段違いも考慮して常に正
確に開先中中心を倣うことができる溶接線倣い方法を得
るから、本発明は産業上極めて有益なものである。In short, according to the present invention, the welding torch is directed to the center position of the butt joint in the groove width direction, prior to the welding torch moving along the welding line of the groove butt joint of two workpieces. A magnetic sensor that detects the deviation of the butt joint and a magnetic sensor that detects the level difference of the butt joint are arranged, and according to the output of the deviation detection magnetic sensor, the welding torch is aligned along the center of the groove and the level difference is adjusted. The welding torch is held at a predetermined height according to the output of the amount detection magnetic center, and when there is an unevenness in the butt joint, the output of the deviation detection magnetic sensor is corrected based on the output of the uneven amount detection magnetic center. By doing this, it is possible to accurately trace the weld line in a non-contact manner for the shaped groove butt joint, and to always trace the center of the groove accurately, taking into account the unevenness of the groove. The present invention is industrially extremely useful because it provides a weld line tracing method that allows for the following.
第１図は本発明溶接線倣い方法の一実施例における実施
装置を示す斜視図、第２図は同上装置の制御システムを
示す系統図、第３図は開先巾方向偏位検出センサーと工
形開先との相対関係を示す斜視図、第４図は開先段違い
検出センサーと工形開先との相対関係を示す斜視図、第
５図は開先巾方向偏位と検出センサー出力との関係を示
す線図、第６図は開先段違い量と検出センサー出力との
関係を示す線図である。
第７図は従来の溶接線倣い方法における検出子を示す正
面図である。
１．２・・・被溶接物、３・・・工形開先、４・・・電
極、５・・・アーク、６・・・溶接ビード、７・・・溶
接方向、８・・・溶接トーチ、９・・・取付はアーム、
１０・・・横スライダ−１１・・・竪スライダー１２・
・・支持アーム、１３・・・竪スライダー１４・・・横
スライダ−１５・・・取付は杆、１６・・・開先巾方向
偏位検出用磁気センサー １７・・・段違い検出用磁気
センサー １８ 、１９ 、、。
検出装置、２０・・・制御装置、２１．２２・・・駆動
装置、２３．２４・・・モーター
代理人 弁理士 塚 本 正 文Fig. 1 is a perspective view showing an implementation device in one embodiment of the weld line tracing method of the present invention, Fig. 2 is a system diagram showing a control system of the same device, and Fig. 3 shows a groove width direction deviation detection sensor and FIG. 4 is a perspective view showing the relative relationship between the groove height detection sensor and the shaped groove, and FIG. 5 shows the deviation in the groove width direction and the detection sensor output. FIG. 6 is a diagram showing the relationship between the groove unevenness and the detection sensor output. FIG. 7 is a front view showing a detector in a conventional weld line tracing method. 1.2... Workpiece to be welded, 3... Shaped groove, 4... Electrode, 5... Arc, 6... Weld bead, 7... Welding direction, 8... Welding Torch, 9...Installation is on the arm,
10...Horizontal slider-11...Vertical slider 12-
...Support arm, 13...Vertical slider 14...Horizontal slider 15...Mounted on rod, 16...Magnetic sensor for detecting deviation in groove width direction 17...Magnetic sensor for detecting difference in level 18 ,19,. Detection device, 20...Control device, 21.22...Driving device, 23.24...Motor agent Masafumi Tsukamoto, patent attorney
Claims (1)
せ継手の開先巾方向の中心位置に対する上記溶接トーチ
の偏位を検出する磁気センサーと上記突合わせ継手の段
違い量を検出する磁気センサーとを配置し、上記偏位検
出磁気センサーの出力に応じて上記溶接トーチを開先中
心に沿わせるとともに上記段違い量検出磁気センサーの
出力に応じて溶接トーチを所定の高さに保持せしめ、か
つ上記突合わせ継手に段違いがあるときは上記段違い量
検出磁気センサーの出力により上記偏位検出磁気センサ
ーの出力を修正することを特徴とする溶接線倣い方法。[Claims] Prior to the welding torch moving along the welding line of the I-shaped groove butt joint of two workpieces, the welding torch is moved to the center position of the butt joint in the groove width direction. A magnetic sensor that detects deviation and a magnetic sensor that detects the amount of unevenness of the butt joint are arranged, and according to the output of the deviation detection magnetic sensor, the welding torch is aligned with the center of the groove and the amount of unevenness is adjusted. The welding torch is held at a predetermined height according to the output of the detection magnetic sensor, and when the butt joint has a level difference, the output of the deviation detection magnetic sensor is corrected based on the output of the level difference detection magnetic sensor. A welding line copying method characterized by the following.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP21462088A JPH0263684A (en) | 1988-08-29 | 1988-08-29 | Method for profiling weld line |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP21462088A JPH0263684A (en) | 1988-08-29 | 1988-08-29 | Method for profiling weld line |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPH0263684A true JPH0263684A (en) | 1990-03-02 |
Family
ID=16658744
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP21462088A Pending JPH0263684A (en) | 1988-08-29 | 1988-08-29 | Method for profiling weld line |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH0263684A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2009028763A (en) * | 2007-07-27 | 2009-02-12 | Takeo Miyake | Torch position control device |
| CN108151946A (en) * | 2016-11-30 | 2018-06-12 | 迈克尔·康拉德 | The method that tactile tests measuring apparatus and force-displacement curve is determined in tactile test measures |
| CN109530864A (en) * | 2019-01-03 | 2019-03-29 | 湘潭大学 | A kind of weld seam tracking sensor with magnetic field control TIG electric arc |
| CN114393280A (en) * | 2022-03-10 | 2022-04-26 | 湘潭大学 | Large-curvature welding line deviation identification method based on asymmetric longitudinal magnetic field sensing |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS51133159A (en) * | 1975-05-15 | 1976-11-18 | Mitsubishi Heavy Ind Ltd | Detecting device for joints |
-
1988
- 1988-08-29 JP JP21462088A patent/JPH0263684A/en active Pending
Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS51133159A (en) * | 1975-05-15 | 1976-11-18 | Mitsubishi Heavy Ind Ltd | Detecting device for joints |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2009028763A (en) * | 2007-07-27 | 2009-02-12 | Takeo Miyake | Torch position control device |
| CN108151946A (en) * | 2016-11-30 | 2018-06-12 | 迈克尔·康拉德 | The method that tactile tests measuring apparatus and force-displacement curve is determined in tactile test measures |
| CN108151946B (en) * | 2016-11-30 | 2021-07-27 | 迈克尔·康拉德 | Tactile measurement device and method for determining a force-displacement curve during a tactile measurement |
| CN109530864A (en) * | 2019-01-03 | 2019-03-29 | 湘潭大学 | A kind of weld seam tracking sensor with magnetic field control TIG electric arc |
| CN109530864B (en) * | 2019-01-03 | 2021-03-26 | 湘潭大学 | Welding seam tracking sensor for controlling TIG electric arc by magnetic field |
| CN114393280A (en) * | 2022-03-10 | 2022-04-26 | 湘潭大学 | Large-curvature welding line deviation identification method based on asymmetric longitudinal magnetic field sensing |
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