JPH04344872A - Automatic welding device - Google Patents

Abstract

PURPOSE:To offer the automatic welding device which can accurately finish the height of reinforcement of weld in a weldable plate thickness range without necessitating a data base of a large capacity. CONSTITUTION:First welding wall thickness information (A type) and second welding wall thickness information (B type), information as to which of the A type or the B type is used at every plate thickness, and the number of layers of a weld layer of every plate thickness are stored in a memory in advance. Based on plate thickness of a steel frame to be welded, a main control part reads out a type of necessary welding wall thickness information and the number of layers of the weld layer from the memory from a flowchart shown in the figure 6, and executes welding of the steel frame, based on these data. As for the welding wall thickness information, it will suffice that only two types are stored, therefore, comparing with a conventional device, the capacity of a data base becomes much smaller.

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. Furthermore, since steel frame members for construction generally have thick plates, welding is performed by stacking several welding layers.

0003

By the way, in construction welding, it is necessary that the welded part after welding is finished is higher than the surface of the steel frame member. That is, if the height of this protrusion (hereinafter referred to as excess height) is too low, the strength will be insufficient, and if it is too high, welding stress will increase. For this reason, it is necessary to determine the thickness of the weld layer and the number of weld layers so that the excess height falls within a certain range. However, with conventional automatic welding equipment, data on each welding condition (thickness of each weld layer, number of weld layers) when the thickness of the steel frame member to be welded is, for example, 20 mm, 25 mm, and 30 mm, is stored in a database. When performing automatic welding, the necessary conditions for each plate thickness are read from the database and welding is performed. In this way, conventional equipment stores data for each thickness of the steel frame members to be welded, so even if the plate thickness is within the weldable thickness range, it is possible to store data for each thickness of the steel frame members to be welded. It was not possible to have data on this because the database would be huge. For this reason, with conventional automatic welding equipment, the thickness of steel plates that can be automatically welded is 20 mm, 25 mm, and 30 mm.
Since we did not have welding data for steel materials with dimensions between these thicknesses, such as 23 mm and 28 mm, we decided to increase the excess height for steel materials with these thicknesses. I couldn't finish it with precision.

The present invention has been made based on the above-mentioned circumstances, and provides an automatic welding method that can finish the excess height with high accuracy within the weldable plate thickness range without requiring a large-capacity database. The purpose is to provide a device.

[0005]

[Means for Solving the Problems] An automatic welding device according to the present invention for achieving the above object is an automatic welding device that welds a groove portion of a workpiece by moving a welding torch on a spatial orthogonal coordinate axis. , a plurality of weld thickness information that determines the thickness of each weld layer, information that determines which of the plurality of weld thickness information is to be selected for each plate thickness of the welded member, and the a storage means for storing the number of weld layers for each thickness of the welded member; and a storage means for storing any of the plurality of weld thickness information and the welding from the storage means according to the thickness of the welded member. The present invention is characterized by further comprising a control means for reading the number of layers and controlling the welding torch to weld each welding layer.

[0006] The weld thickness information includes the thickness of the first and second weld layers of 6 mm, the thickness of the third and fourth weld layers of 5 mm, and the fifth to nth (n is an integer of 6 or more). ) The first weld thickness information in which the thickness of the weld layer is 4 mm, the second weld in which the thickness of the first to fourth weld layers is 5 mm, and the thickness of the fifth to nth weld layers is 4 mm. It may also include wall thickness information.

[0007]

[Operation] With the above-described structure, the present invention stores in advance a plurality of weld thickness information and the number of weld layers, and selects one of the plurality of weld thickness information according to the thickness of the member to be welded. By reading out the optimal weld thickness information and the number of weld layers at that time and welding, welding can be performed on parts to be welded with multiple plate thicknesses.
Since common weld thickness information can be used, it requires much less capacity than conventional equipment that stores data on the thickness and number of weld layers for each plate thickness of the workpiece. The database allows welding of parts to be welded,
Moreover, it is possible to finish the desired excess height with high precision.

[0008]The thickness of the first and second welding layers is 6 m.
m, the thickness of the third and fourth welding layers is 5 mm, and the fifth to nth (
(n is an integer of 6 or more) First weld thickness information in which the thickness of the weld layer is 4 mm, the thickness of the first to fourth weld layers is 5 mm, and the thickness of the fifth to nth weld layers is 4 mm. By providing the second weld wall thickness information, for a workpiece having a plate thickness of 6 mm or more, by setting an appropriate number of weld layers, the excess height can be set to between 2 mm and 4 mm. The excess height can be kept within the range, and by providing only two pieces of data regarding the weld thickness information, it is possible to finish the excess build-up height with high precision.

[0009]

DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described below with reference to FIGS. 1 to 6. 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 includes a welding machine 10 and a control device 100. 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.

In order to perform welding 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 and end portions, 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 Fig. 3, the weld length L from the welding start point to the welding end point of the groove is equally divided into 32 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 wall thicknesses of each welding layer are t1, t2 = 5, 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, ie, 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 way 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.

In order to perform multi-layer welding of, for example, 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).

Next, the thickness of each weld layer to be laminated and the number of layers will be explained. Table 1 is a table showing the relationship between plate thickness, weld thickness information which is information regarding the thickness of each weld layer to be laminated, the number of weld layers, etc.

The weldable plate thickness range of this embodiment device is 6~
It is set to 50mm. This is because the plate thickness of steel frames mainly used for construction is 6 to 50 mm. Furthermore, the device of this embodiment has two types of weld thickness information for steel frames with plate thicknesses of 6 to 50 mm. The first weld thickness information (hereinafter also simply referred to as type A) is 6 mm for the first and second weld layers, 5 mm for the third and fourth weld layers, and 4 mm for the fifth to 12 weld layers. The second weld thickness information (hereinafter also simply referred to as type B) is 5 mm from the first weld layer to the fourth weld layer, and 4 mm from the fifth weld layer to the twelfth weld layer. In addition, first and second weld thickness information,
In addition, the relationship between the plate thickness and the number of molds and welding layers listed in Table 1 is stored in the memory 71 in advance.

[0021]

[Table 1]

FIG. 6 is a flow chart for explaining the selection operation of the type of weld thickness information and the number of weld layers. The selection operation of the type and number of layers will be described below with reference to FIG. First, the plate thickness of the steel frame to be welded, for example, 20 mm, is input from the operation unit 80. This plate thickness may be input automatically using a plate thickness measuring device or the like. Main control section 70 reads necessary welding conditions from memory 71 based on this input value.

That is, in step S1 of FIG. 6, it is determined whether or not there is an input. If there is an input, it is determined in step S2 whether or not the input plate thickness tx satisfies tx<6. If tx satisfies this condition, the process proceeds to step S3, where a display indicating that the input value is inappropriate, for example, an indicator light is turned on to issue a warning. If tx is greater than 6, the process moves to step S4 and it is determined whether tx >50. If tx is greater than 50, the process moves to step S3, where the indicator light is turned on and an alarm is issued as described above. Since tx is now smaller than 50, the process moves to step S10, and it is determined whether tx≦8. If this formula is satisfied, then the number of layers is 2 and the type is B type. Similarly, tx ≦10, tx
It is determined whether tx ≦13, tx ≦15, tx ≦18, and in step S60 it is determined whether tx ≦20. Since tx is now 20, step S6
1 and reads data indicating that the number of layers is 4 and the type is A type. The main controller 70 calculates the welding speed, oscillation amplitude, etc. based on the read data, and stores the command values in the shared memory 72.
send to The x-axis direction movement control section 60, the y-axis direction movement control section 62, and the z-axis direction movement control section 64 read out these data and control the welding torch section 50, and set the first and second welding layers to 6 mm and the second welding layer to 6 mm. Weld the third and fourth weld layers to 5 mm. Therefore, the stacked height of the welded layers in this case is 22 mm, and the excess height is 2 mm.

As explained above, according to the apparatus of this embodiment, if the plate thickness is 6 to 50 mm, no matter how many millimeters the steel frame is, the extra height required for welding steel frames for construction can be 2 to 4 m.
Multi-layer welding can be completed within the range of m.

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, if the groove angle is between about 0 degrees and about 60 degrees, the steel member with an arbitrary groove angle can be welded with the thickness of each weld layer constant. Can be welded with high precision.

Furthermore, 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.

In addition, according to the apparatus of this embodiment described above, only two types of types are stored in advance as weld thickness information, so weld thickness information is provided for each plate thickness. With a much smaller capacity database than conventional equipment, it is possible to perform highly accurate multilayer welding on steel frames with plate thicknesses of 6 mm to 50 mm.

[0028] 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 embodiment, the case where the groove bottom width of the groove portion differs 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.

In addition, in the above embodiment, the weldable plate thickness range is 6 to 50 mm, but the plate thickness may be 6 mm or less or 50 mm or more. Furthermore, in this embodiment, a case has been described in which two types of molds are provided in order to minimize the weld thickness information, but there may be three or more types of weld thickness information. This results in
The excess height can be controlled more accurately. Furthermore,
The height of the excess buildup is not limited to 2 to 4 mm, and the height of the excess buildup can be easily finished within the required range.

[0032]

As explained above, according to the present invention, a plurality of pieces of welding thickness information are prepared in advance, and the optimum welding thickness information and the number of welding layers are determined according to the plate thickness of the member to be welded. By reading and welding, common welding thickness information can be used for welded parts of multiple plate thicknesses, and data on the thickness and number of welding layers of each welding layer for each thickness of the welded part can be used. Compared to conventional equipment that maintains An automatic welding device suitable for multilayer welding can be provided.

[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.

FIG. 6 is a flowchart for explaining the selection operation of the type of weld thickness information and the number of weld layers.

[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 (2)

[Claims] Claim 1. An automatic welding device that welds a groove of a workpiece by moving a welding torch on a spatial orthogonal coordinate axis, comprising: a plurality of pieces of weld thickness information defining the thickness of each weld layer; Storage means for storing information that determines which of the plurality of weld thickness information is to be selected for each thickness of the member, and the number of weld layers for each thickness of the member to be welded; One of the plurality of pieces of weld thickness information and the number of the weld layers are read out from the storage means according to the thickness of the member to be welded, and the welding torch is controlled to weld each weld layer. An automatic welding device characterized by comprising a control means. 2. The weld thickness information is such that the thickness of the first and second weld layers is 6 mm, and the thickness of the third and fourth weld layers is 5 m.
m, the thickness of the 5th to nth (n is an integer of 6 or more) welding layer is 4
The first weld thickness information is mm, and the second weld thickness information is 5 mm for the first to fourth weld layers and 4 mm for the fifth to nth weld layers. The automatic welding device according to claim 1.