JPH04305370A - Automatic welding equipment - Google Patents

Abstract

PURPOSE:To provide an automatic welding equipment capable of performing optimum welding according to the change of a groove corner part and groove base width of a groove part without necessitating the large capacity data base. CONSTITUTION:The welding length L of the groove part, the groove part base widths WS and WE, a groove angle alpha and thickness (t) of the groove part at a welding start part and a welding completion part are inputted from an operation part in advance. A main control part 70 divides the welding length L from the welding start part to the welding completion part of the groove part equally into thirty-two areas, an address of among from zero to thirty-one is given to each area and the area of each welding layer in each of the thirty-two areas is obtained. Further, the welding speed of each welding layer at each layer from the zero address to the thirty-one address is calculated. A result calculated in this way is stored in a memory 71. A (y)-axis direction movement control part 62 controls a motor My to move a carriage part 20 based on the welding speed read-out from a common memory 72 and the welding speed of a welding torch part 50 is regulated to the specified speed.

Description

[Detailed description of the invention]

0001

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an automatic welding device for automatically welding grooves of steel frame members mainly used in construction.

0002

[Prior Art] Since the welding of architectural steel members involves short welding points and many welding points, welding of such steel members has conventionally been carried out using lightweight, compact orthogonal automatic welding equipment that is easy to move and prepare for welding. is used.

0003

[Problems to be Solved by the Invention] However, in conventional automatic welding equipment, the groove angle of the groove portion is, for example, 35 degrees or 45 degrees.
Data on each welding condition (for example, welding speed) for each welding speed is compiled into a database, and when performing automatic welding, the necessary conditions are read from the database and welding is performed. In this way, conventional equipment stores data for each groove angle, so it is impossible for conventional equipment to have data for all groove angles because the database would be huge. there were. therefore,
When using a conventional device, when processing a steel frame member in a factory or the like, processing must be performed so that a predetermined groove angle is obtained, which is extremely inconvenient. As mentioned above,
In conventional automatic welding equipment, the bevel angle is, for example, 35 degrees and 4 degrees.
5 degrees, and the angle between them, e.g. 3
Since we did not have welding data for groove angles of 8 degrees and 40 degrees, there was a problem that welding could not be performed.

Furthermore, in the conventional automatic welding apparatus, if the width of the bottom surface of the groove differs between the welding start part and the welding end part, accurate welding cannot be performed. This is because conventional automatic welding equipment has a narrow tolerance range (for example, from 6 mm to 9 mm) when the groove bottom width changes, so for example, if the groove bottom width becomes wider as it approaches the welding end, This is because the thickness of each weld layer becomes thinner as it approaches the welding end, and if the above tolerance is exceeded, welding defects may occur due to poor fusion or the like. For this reason, even if the groove angle of the steel frame member is finished at a predetermined angle, if the welding surfaces of both steel frame members cannot be placed parallel during alignment, welding will start. Since the groove bottom width of the groove differs between the welding end portion and the welding end portion, conventional automatic welding equipment has been unable to weld the groove portion of such a steel frame member with high precision.

The present invention has been made based on the above circumstances, and it is possible to perform optimal welding according to changes in the groove angle and groove bottom width of the groove portion without requiring a large-capacity database. The purpose of this invention is to provide an automatic welding device that can perform the following steps.

[0006]

[Means for Solving the Problems] To achieve the above object, an automatic welding device according to the present invention is an automatic welding device for welding a groove portion of a predetermined welding length by controlling the welding speed of a welding torch portion. , the welding length is divided into a plurality of regions, and each region in each region is determined based on the groove bottom width, the groove angle, and the groove height of the groove at the welding start part and the welding end part. Calculating means for calculating a cross-sectional area of a welding layer and further calculating a welding speed of the welding torch portion for each welding layer in each region according to the cross-sectional area, and storing information calculated by the calculating means. The present invention is characterized in that it is provided with a storage means and a speed control means for reading out information for each welding layer in each region from the storage means and controlling the welding speed of the welding torch portion.

[0007]

[Operation] With the above-described structure, the present invention divides the weld length into a plurality of regions, and adjusts the groove bottom width, groove angle, and groove height of the groove at the welding start part and the welding end part. Based on this, the cross-sectional area of each weld layer in each region is calculated, and the welding speed when welding each weld layer in each region is determined according to the size of the cross-sectional area of each weld layer in each region. Even if the groove bottom width of the groove portion differs between the welding start part and the welding end part, welding can be performed while maintaining the thickness of the weld layer constant. In addition, by determining the welding speed of each weld layer in each region according to the size of the cross-sectional area of each weld layer in each region, if it is within a certain range (for example, 0 degrees to 60 degrees), No matter what the groove angle of the tip, welding can be performed with the thickness of the weld layer constant. Furthermore, since data is created for each weld layer in each region depending on the condition of the groove of the welded member each time weld, a large-capacity database is not required.

[0008]

DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described below with reference to FIGS. 1 to 4. FIG. 1 is a schematic overall view of an automatic welding device that is an embodiment of the present invention, FIG. 2 is a sectional view of a groove to be welded using the device of this embodiment, and FIG. 3 is a first welding layer of the groove. FIG. 4 is a flow chart for calculating the cross-sectional area of each weld layer in each region, and FIG. 5 is a flow chart for calculating the welding speed of each weld layer in each region.

The automatic welding apparatus of this embodiment shown in FIG. 1 is composed of a welding machine 10 and a control device 100, and the welding machine 10 has a rail section 11 and a cart configured to be movable along the rail section 11. part 20 and a welding torch support part 4 attached via a telescopic arm 30 provided on the trolley part 20.
0, and a welding torch section 50 supported by a welding torch support section 40.

The control device 100 includes an x-axis direction movement control section 60 that controls the expansion and contraction of the telescoping arm 30 by a motor Mx to adjust the movement of the welding torch section 50 in the x-axis direction, and an x-axis direction movement control section 60 that controls the movement of the welding torch section 50 in the x-axis direction using a motor Mx. A y-axis direction movement control section (welding speed control means) 62 that adjusts the movement of the welding torch section 50 in the y-axis direction by
a z-axis direction movement control section 64 that adjusts the movement of the welding torch section 50 in the z-axis direction by controlling the movement of the welding torch support section 40 in the z-axis direction; A swing control section 66 that controls, a main control section 70 that controls the entire device, a memory 71 that stores data necessary for welding, and a shared memory 7.
2, and an operating section 80 having operating switches, meters, etc.
Equipped with. Note that x, y, and z each represent a spatial orthogonal coordinate axis. Further, 74 is an I/O port.

A welding wire fed by a welding wire supply device (not shown) is sent out from the welding torch portion 50, melted, and laminated on the groove portion. FIG. 2 shows a case where a V-shaped groove is divided into eight layers and welded, as in the case of attaching a beam to a column such as a steel frame for construction. Generally, in the case of steel frames for construction, the plate thickness is thicker, so multilayer welding is used like this.

[0012] In order to weld using the apparatus of this embodiment, the welding length L of the groove, the groove bottom widths WS and WE of the groove at the welding start part and the welding end part, the groove angle α and the opening are determined in advance. The height t of the tip (plate thickness in this example) is input from the operation section. These values may be entered manually or may be automatically measured and entered. Based on this information, the main control unit 70 determines the optimal number of weld layers and the thickness of the weld layers from the plate thickness t so that the excess height falls within the range of 2 to 4 mm, and The cross-sectional area of each weld layer in each area is calculated based on the value.

Now, the main control section 70 sets the number of welding layers to 8 and the thickness of each welding layer to t1 to t8, for example, as shown in FIG.
Then, as shown in Figure 3, the weld length L from the welding start point to the welding end point of the groove is divided into 32 equal regions, and each region is assigned an address from 0 to 31. Then, the area of each weld layer in each of the 32 regions is determined. Generally, the maximum weld length L for architectural steel frames is approximately 300 mm.
Therefore, if the area is divided into 32 areas, highly accurate welding control can be performed. Note that since architectural steel members are machined, the groove bottom width changes linearly. In addition, in this example, the plate thickness is 34 mm, so the thickness of each weld layer is t1, t2 = 6, t3, t4 = 5,
The distance from t5 to t8 is set to 4 mm.

The area SS1 (=S01) of the first weld layer at the welding start point shown in FIG. If the bottom of the layer is WS2 (W02), then SS1=WS1×t1 +t1 2 ×tan α/2
becomes. However, in this example, the groove angle α is assumed to be constant over the entire weld length. Moreover, the bottom side WS2 of the second welding layer at this time is as follows: WS2=WS1+t1×tan α. The area of the second weld layer is similarly determined based on the base W2 of the second weld layer. Thereafter, the area of each weld layer at the welding start part (area address 0) is sequentially calculated in the same manner. In this way, as shown in Figure 4, from address 0 to 31
Calculate the cross-sectional area of each weld layer for each area up to the address.

Next, the welding speed (VS1=V01) of the first welding layer at the welding start point, that is, address 0, is calculated using the following formula. VS1=Welding amount/7.8×SS1 However, the welding amount is a constant determined by the type of welding wire, wire supply speed, welding current, etc., and 7.8 is the specific gravity of iron. Further, the wire is a solid wire with a diameter of 1.2 mm. As shown in Figure 5 below, each weld layer at address 0 (
(2nd to 8th) welding speeds are calculated, and the welding speeds of each welding layer in each area up to address 31 are calculated. The results calculated in this manner are stored in the memory 71. The stored data is taken out every time the welding length region is passed and sent to the shared memory 72, and becomes a command value for the motor speed.

To perform multi-layer welding, for example, on a groove of a steel frame member using the apparatus of this embodiment, first the welding machine 10 of this embodiment is placed at the welding start position of the groove of the steel frame member to be welded. . Next, as mentioned above, the values of the groove angle of the groove, the groove bottom width at the welding start part and the welding end part, the welding length, and the plate thickness of the groove are measured, and the values are manually or automatically Set these values with .

The main control unit 70 determines the number of weld layers and their wall thickness based on each of the set values, and further determines the weld thickness calculated from the cross-sectional area of each weld layer in each of the 32 regions according to the above procedure. The speed is stored in memory 71. The y-axis direction movement control section 62 controls the motor My based on the welding speed read from the shared memory 72 to control the moving speed of the truck section 20, thereby making the welding speed of the welding torch section 50 a predetermined speed. . When welding of the first welding layer is completed, the z-axis direction movement control section 64 controls the motor Mz to move the welding torch support section 40 upward, thereby moving the welding torch section 50 by the thickness of the first welding layer. move upward. In addition, when welding an L-shaped groove as in this example,
Since the welding start position in the axial direction differs for each welding layer, the x-axis direction movement control section controls the motor Mx to adjust the expansion and contraction of the telescopic arm 30, thereby welding the welding torch section 50 for each welding layer. Adjust the starting position as shown by dotted line A in FIG. Further, the swing control unit 66 controls the motor Mr for each welding layer in each region to swing the welding torch unit 50 so that the amplitude corresponds to the bottom width. It is possible to weld while reliably melting the previous weld layer. Note that during welding, carbon dioxide gas for welding is supplied from a welding gas supply device (not shown).

According to the apparatus of this embodiment, the weld length of the groove of the steel frame member to be welded is divided into 32 regions, the cross-sectional area of each weld layer is calculated for each region, and the welding speed is determined. As long as the groove angle is between approximately 0 degrees and 60 degrees, steel members with arbitrary groove angles can be accurately processed by keeping the wall thickness of each weld layer constant. Can be welded.

Further, according to the apparatus of this embodiment, the weld length of the groove of the steel frame member to be welded is divided into 32 regions, the cross-sectional area of each weld layer is calculated for each region, and the welding is performed. Since the speed is determined, even if the groove bottom width at the welding start part and welding end part is different, the difference will be within a certain range (approximately 0 mm to 15 mm).
), the thickness of each welding layer can be kept constant and welding can be performed with high precision.

[0020] In the above embodiment, the case where the groove portion of the steel frame member is in the shape of an inverted rectangle is explained, but the present invention is not limited to this. ,V
It may be in the shape of a letter or an I-shape.

Furthermore, in the above embodiments, the case where the groove bottom width of the groove portion is different between the welding start part and the welding end part is explained, but it goes without saying that the groove bottom width may be constant. It is.

Furthermore, in the above embodiment, the case where α is constant has been explained, but when α changes, αS and αE are divided into 32 in the same way as when the groove bottom width changes. By calculating the groove angle for each region and calculating the area of each region using the result, the present invention can be applied even when the groove angle changes.

[0023]

[Effects of the Invention] As explained above, according to the present invention, the weld length of the groove portion is divided into a plurality of regions, the cross-sectional area of each weld layer in each region is calculated, and based on this result, each Since the welding speed is set for each weld layer in the area, even if the groove bottom width of the groove differs between the welding start and welding end, the allowable range is significantly larger than with conventional equipment. Furthermore, it is possible to provide an automatic welding device that can steplessly weld a groove portion having an arbitrary groove angle with high precision as long as the groove angle is within a predetermined angle range.

[Brief explanation of drawings]

FIG. 1 is a schematic overall view of an automatic welding device that is an embodiment of the present invention.

FIG. 2 is a sectional view of a groove portion to be welded using the apparatus of this embodiment.

FIG. 3 is a schematic perspective view showing the first weld layer of the groove.

FIG. 4 is a flowchart for calculating the cross-sectional area of each weld layer in each region.

FIG. 5 is a flowchart for calculating the welding speed of each weld layer in each region.

[Explanation of symbols]

10 Welding machine 11 Rail part 20 Bogie part 30　　　Extendable arm 40 Welding torch support part 50 Welding torch part 60 x-axis direction movement control unit 62 Y-axis direction movement control unit 64 Z-axis direction movement control unit 66 Swing control section 70 Main control section 71 Memory 72 Shared memory 74 I/O port 80 Operation section 100 Control device

Claims (1)

[Claims] 1. An automatic welding device for welding a groove portion of a predetermined welding length by controlling the welding speed of a welding torch portion, wherein the welding length is divided into a plurality of regions, and the welding speed at the welding start portion and the welding end portion is The cross-sectional area of each weld layer in each region is calculated based on the groove bottom width, groove angle, and groove height of the groove portion, and each of the weld layers in each region is calculated according to the cross-sectional area. Calculating means for calculating the welding speed of the welding torch portion for each welding layer; storage means for storing information calculated by the calculating means; and reading information for each welding layer in each region from the storage means. An automatic welding device comprising: speed control means for controlling the welding speed of the welding torch section.