JPH08197254A - Automatic welding method and equipment therefor - Google Patents

Abstract

PURPOSE: To tack weld the groove bottoms which are fixed by mounting a block on weld line in two works formed with butt groove and assembled each other. CONSTITUTION: From a number of pieces, dimension and reference point of a block 3, the information of position of each block, etc., is inputted, by an arithmetic unit 14 from the information, a welding route consisting of the weld line part not including the block 3 as the route of welding torch 6 and the detour route to jump/detour each block are operated, the welding control head 9 to mount the welding torch 6 movable up/down, left/right the torch 6 is run along the weld line. The welding torch 6 is operated in accordance with the operated route of welding torch 6 by the welding control head 9, further, arc is generated at the welding route from the welding torch and welding is executed, arc is stopped at the detour route of the groove block 3.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an automatic welding method and apparatus suitable for welding a welded work having groove groove joints, which are attached to a groove block at a plurality of positions on a welding line and positioned and fixed. Regarding

[0002]

2. Description of the Related Art In welding important structures such as nuclear power plants and chemical plants, high quality and highly reliable welding results are required. In order to ensure the dimensional accuracy and welding quality of the groove joint, a witness inspection is conventionally performed on the groove joint before welding, and after welding,
A quality inspection is performed on the welding result. If the dimensional accuracy of the groove joint is inadequate in the witness inspection before welding and it fails, the permission for welding is not granted and the construction of the groove joint must be revised again to satisfy the dimensional accuracy. I have to. The groove joint is positioned and fixed by the groove block so that the shape and dimensional accuracy of the groove joint can be inspected for a welding work requiring an attended inspection before welding.

For example, FIG. 17 (1) shows an example of a circumferential groove joint of a fixed pipe positioned and fixed by a groove block, which is formed between welded works 1a and 1b of the fixed pipe (pipe). Several groove blocks 3 (for example, four locations) are provided on the weld line of the groove joint 2. FIG. 17 (2) shows an AA ′ cross section of the installation place of the groove block 3 and FIG. 1 shows a BB ′ cross section of the installation place of the groove block 3 not shown.
7 (3), respectively. In this case, the left and right welded works 1a, 1b and the groove block 3 are fixed by welding. Further, in the circumferential groove joint of the fixed pipe shown in FIG. 17 (1), a groove joint provided with an insert ring 5 as shown in FIG. 18 may be used.

As described above, the groove joint positioned and fixed by the groove block 3 must be subjected to an attending inspection before welding. Then, when this witness inspection is passed, the welding license is approved for the first time. The welding of such a groove joint usually requires multi-layer multi-pass welding, and further requires a high level of welding skill because a high quality welding result of complete penetration up to the back side is required.

For such a welded joint with a groove block, manually operated welding has been conventionally performed by a skilled welding operator having a high degree of welding skill. As a welding method at this time, a TIG (tungsten inert gas) arc welding method is mainly used. For example, a filler metal (welding wire) is used in an arc generated between an electrode of a manual welding torch and a welding base metal. ) Is sent and melted while welding.

Particularly, in the welding of the first layer, since several groove blocks 3 are installed on the welding line, the welded portion where the groove block 3 is not installed is intermittently welded (this number of divisions is open). (Equal to the number of the previous blocks installed), and moreover, it is necessary to form a uniform back-bead while completely melting the back side. After the intermittent split welding of the portion where the groove block 3 is not installed is completed, the groove block 3 is removed. Then, after the groove block 3 is removed, the initial layer welding of the remaining unwelded portion that has been divided is continued. Particularly, in this connection welding, in order to form a uniform backside bead, a careful construction technique is required for the welding process of superposing the previous bead and the bead being welded.

After the first layer welding is completed in this manner, further multi-pass multi-pass welding from the next layer welding to the final layer for filling the groove joint with molten metal is sequentially carried out. Multi-layer multi-pass welding by TIG welding is performed by an operator manually operating the welding torch. In the welding operation at this time, the welding bead is formed while the filler material is sent into the arc and the welding torch is skillfully swung (weaving operation).

When a general-purpose automatic welding apparatus is used, split welding while the groove block is installed,
A skilled welding operator manually performs connection welding of the unwelded portion immediately after removing the groove block 3 and subsequent several-pass welding, and then attaches the device. And
With this automatic welding device set in place,
A skilled welding operator manually performs a correction operation of the welding position and welding conditions while constantly monitoring the welding state, and sequentially performs a multi-pass multi-pass welding operation. Weaving welding is performed for each pass.

On the other hand, Japanese Patent Publication No. 2-54188 discloses that
There is disclosed a device for performing a teaching operation of a welding line and controlling execution of welding by reproducing the teaching data by allocating to both welding directions in an upward posture.

[0010]

It has been conventionally said that welding work is performed in a bad environment. Especially, when it comes to multi-layer multi-pass manual welding, it must be a harsh work for a long time. Absent. As described above, for a groove joint in which a groove block is installed in a part of the welding line, welding is conventionally performed by a manual operation of a welding torch by a skilled welding operator. The skill and physical condition of the operator have a great influence on the welding result, and it is difficult to always ensure good and good welding quality. Further, it is expected that it will be difficult to secure skilled welders in the future due to the aging of skilled workers and the shortage of successors of welding.
Therefore, there is a strong demand for automation and sophistication of welding.

Further, since the general-purpose automatic welding device used conventionally does not have an operation function of jumping over obstacles on the welding line, it has hitherto been used for welding groove joints with groove blocks. Could not be applied from. If used, this is from the weld after removing the groove block and then performing a few more manual welds. When performing welding with this automatic welding device, the welding operator does not have the function of automatically setting the welding position and welding conditions and the function of position correction and condition correction during welding. It is necessary to frequently correct the welding position and set and change the welding conditions by manual operation while constantly monitoring.

Since the circumferential welding device disclosed in Japanese Patent Publication No. 2-54188 distributes welding in the upward posture direction, the teaching operation of the welding line and the welding operation of reversal tend to be complicated. . It cannot be applied to welding in all positions that go around the circumference. Further, even in this apparatus, there is no function of welding operation for jumping over an obstacle, and it is difficult to apply it to automatic welding of a groove joint with a groove block.

Therefore, the present invention has been made in view of the above problems, and an object thereof is to automate welding for a groove joint having an obstacle such as a groove block on a welding line. The present invention provides an automatic welding method and an automatic welding apparatus for performing the welding operation while jumping over the groove and continuously performing the welding operation after the groove block is removed.

[0014]

In order to achieve the above object, the first automatic welding method of the present invention is directed to a welding line showing a welding direction of a welding groove formed at a butt portion of two welding works. The welding torch moves along the welding line by attaching a groove block to one or more places, positioning and fixing two welding works, and mounting a welding torch horizontally and vertically with respect to the welding line. In the automatic welding method of traveling as described above and welding using predetermined welding conditions, (1) the number and dimensions of the groove blocks and the position information of each groove block from the reference point is input to the arithmetic unit,
(2) Calculate the welding line path between each groove block and the avoidance path jumping over each groove block by the arithmetic unit based on the input information, and (3) weld according to the calculated welding line path and avoidance path. It is characterized in that the torch is moved, a welding operation of melting the welding groove by the welding torch is executed in the welding line path, and the welding operation is stopped in the avoidance path.

The welding operation in the first automatic welding method is carried out under the provisional welding condition stored in the control device to partially melt the bottom of the welding groove.

Further, the second automatic welding method of the present invention comprises (4) the groove after the welding operation of the welding line path between the groove blocks in the item (3) in the first automatic welding method is completed. The block is removed, and (5) the multi-layer multi-pass welding is sequentially performed until the end of all passes according to the sequence of the multi-pass multi-pass welding conditions stored in the control device.

In the second automatic welding method, after the groove block of (4) is removed and before the multi-pass multi-pass welding of (5), (3 ') the unwelded portion of the part where the groove block is removed. May be welded using the tack welding conditions stored in the control device for partially melting the bottom of the welding groove.

Further, the third automatic welding method of the present invention is
Two welding works are positioned and fixed by attaching a groove block to one or a plurality of places on the welding line showing the welding direction of the welding groove formed at the butt portion of one welding work,
A rail is installed adjacent to the welding line on one of the welding workpieces, a welding control head equipped with a welding torch that moves vertically and horizontally relative to the rail is run, and welding is performed using pre-stored welding conditions. In the automatic welding method to
(1) Input the information on the number and size of the groove blocks and the position of each groove block from the reference point to the arithmetic unit, and (2) Weld between the groove blocks on the arithmetic unit based on the input information. Calculate the avoidance route over the line route and each groove block,
(3) Teach multiple welding line positions to which the welding torch should move, (4) Perform linear interpolation calculation of the welding line to obtain the passing point position between the two taught points, and (5) Calculate The welding torch is moved along the welding line route and the avoidance route according to the linear interpolation of the calculated welding line, and in the welding line route, the welding torch performs the temporary welding operation to melt the weld groove bottom, and the avoidance route Then, it is characterized in that the tack welding operation is controlled to be stopped.

Further, the fourth automatic welding method of the present invention is, after the welding operation of the welding line path between the groove blocks of the item (5) in the above-mentioned third automatic welding method is completed, (6) groove The block is removed, and (7) the multi-layer multi-pass welding is sequentially executed until the end of all passes according to the sequence of the multi-pass multi-pass welding conditions stored in the controller, and the welding torch position is maintained during this multi-layer multi-pass welding. Is controlled by linear interpolation of the calculated welding line.

Further, in order to achieve the above object, the first automatic welding apparatus of the present invention is one or a plurality of points on a welding line indicating a welding direction of a welding groove formed at a butt portion of two welding works. Enter the number and size of groove blocks and the information of the position of each groove block from the reference point in the welding device that attaches groove blocks to the positions, positions and fixes two welding works, and welds the butt Input teaching means, arithmetic processing means for calculating a welding line path between each groove block and an avoidance path jumping over each groove block from the input information, and welding in which a welding torch is mounted so as to move vertically and horizontally. The control head, the welding operation control means for performing the welding operation of melting the groove in the welding line path, and controlling the welding operation to be stopped in the avoidance path, and the welding operation by the command from the arithmetic and control unit. Drive control of the welding control head so that the coach moves in the welding line path and the avoidance path,
And a welding controller that controls the output of the arc generated from the welding torch.

The second automatic welding apparatus of the present invention is a groove block in addition to the input teaching means, the arithmetic processing means, the welding control head, the welding operation control means and the welding controller of the first automatic welding apparatus. A welding data file that stores the welding conditions that use the welding line path between the welding and the welding condition group that is used in the multi-pass multi-pass welding that is performed after removing each groove block after welding the welding line path. It is characterized by having.

Further, the third automatic welding apparatus of the present invention comprises 2
Two welding works are positioned and fixed by attaching a groove block to one or a plurality of places on the welding line showing the welding direction of the welding groove formed at the butt portion of one welding work,
In a welding device for welding a butt portion, an input teaching means for inputting the number and size of the groove blocks and information on the position of each groove block from a reference point, and between each groove block from the input information. A processing unit for calculating a welding line path and an avoidance path that jumps over each groove block, and a welding control head that mounts a welding torch vertically and horizontally and travels on a rail arranged adjacent to the welding line. ,
A welding operation control means for performing a welding operation of melting the groove in the welding line path and controlling the welding operation to be stopped in the avoidance path, and a welding torch move in the welding line path and the avoidance path according to a command from the arithmetic and control unit. To control the drive of the welding control head and to control the output of the arc generated from the welding torch, the welding conditions using the welding line path between the groove blocks in welding, and the welding line path after welding. A welding data file storing a welding condition group used in the multilayer multi-pass welding performed after removing the groove block, and another teaching means for teaching a plurality of positions of the welding line to which the welding torch should move, The welding torch is constructed by another calculation means for obtaining the passing point position between two points from the position data taught by the teaching means and the position data obtained by the different calculation processing means. And weld line interpolation control means for controlling the linear interpolation of the weld line to dynamic, further comprising a characterized.

[0023]

As described above, according to the first to fourth automatic welding methods of the present invention, from the information such as the number and size of the groove blocks taught by input and the position of each groove block from the reference point, etc. By calculating the position where the groove block is installed and the position where the groove block is not installed on the welding line, it is possible to cause the welding control head to perform the groove block jumping operation without causing the welding torch to collide with the groove block. That is,
After the welding operation is temporarily stopped before the groove block is installed, the operation of avoiding the rising of the welding torch and the operation of jumping over the groove block are performed. Further, the welding torch is lowered at a position sufficiently passing over the groove block, and the welding operation is restarted to perform the welding operation up to the front of the next groove block. The operation of jumping over the groove blocks at this time is repeated for the number of groove blocks installed.

In this groove block fly-welding, by performing the tack welding conditions using a small amount of energy to partially melt the bottom of the weld groove, there is an obstacle to the first layer backside welding performed after the tack welding. The bottom of the groove joint can be welded and fixed without causing any damage. By satisfactorily welding the bottom portion of the groove joint in this manner, the groove joint portion of the welded work can be held even if the groove block is removed.

According to the second automatic welding of the present invention,
Since the groove block is removed after the welding operation of skipping the groove block is completed, and according to the sequence of the welding conditions of the multi-layer multi-pass stored in the welding data file, the welding is performed sequentially and repeatedly until all passes are completed. It is possible to reduce the setup time and automate the welding.

In the third and fourth automatic welding methods of the present invention, the rail on which the welding control head equipped with the welding torch runs is
In order to solve this point, linear interpolation control of the welding line is performed assuming that it is difficult to install it in parallel with the welding line of the welding work.By this control, the welding torch is guided along the welding line. It can be moved and tack welding can be performed in a regular bead shape.

According to the fourth automatic welding method of the present invention, the welding position deviation during welding is automatically corrected by performing the linear interpolation control of the welding line by reproducing the teaching data taught in advance before welding. In multi-layer multi-pass welding after removing the groove block, linear interpolation control can be performed by recreating the welding line of the current pass from the torch position coordinates and welding teaching data for each welding pass, and position detection It is possible to automatically perform a series of multi-pass multi-pass welding without using a special sensor for welding and without using nerves for aligning the torch and the welding line for each welding pass. Each element constituting the automatic welding device of the present invention will be described in detail in the following embodiments.

[0028]

EXAMPLES The contents of the present invention will be specifically described below with reference to examples. FIG. 1 is a diagram showing the overall configuration of an automatic welding apparatus according to a first embodiment of the present invention, and FIG. 2 is a block diagram showing the control mechanism of this apparatus. This automatic welding device
A ring-shaped rail 10 set on the outer peripheral surface of the fixed pipe welding work 1b, a welding control head 9 traveling on the rail 10, a drive control of the welding control head 9 and an output control of a welding power source 12 are performed. A welding controller 11 to perform,
It is composed of the welding controller 11 and an arithmetic and control unit 14 for performing operation management and control of the welding control head 9. The welding control head 9 is equipped with a welding torch 6, a wire 7 and a wire reel 8 which feed the tip of the torch, and a circular traveling axis (Y axis) for traveling on the rail 10 and a welding torch. 6 and the wire 7 from the outer peripheral surface of the pipe up and down axis (Z axis) and the horizontal axis (X axis) for swinging left and right in the axial direction of the tube, and the welding torch 6 on each of these axes. Each detector for position detection is built in. Further, a plurality of groove blocks 3 are installed on the welding line of the groove joint 2 (circumferential joint) portion formed between the welded works 1a and 1b of the fixed pipe. Therefore, the welding torch 6 jumps over the groove block 3 and the welding operation before and after the jump is required.

The welding controller 11 is, as shown in FIG. 2, each axis drive circuit 1 for driving the welding control head 9.
11, a counting circuit 112 for each axis position that receives signals from the position detector 92 of each axis, a welding output circuit 113 for outputting an arbitrary current waveform from the welding power source 12 to the welding torch 6, and an operation pendant 13. Input signal from the setting / memory circuit 116 and control circuit / control software 1
An input / output circuit 115 for transmitting to the control circuit / control software 114; and an input / output circuit 115 for transmitting to the control circuit / control software 114.
It consists of

A pulse encoder is used for each axis (X axis, Y axis, Z axis) as the position detector 92 for each axis provided in the welding control head 9, and this pulse signal is used for the position detection count circuit 112. The current position of each axis can be obtained by importing into. In particular, with respect to the Y axis of the traveling system, the current position of the welding control head is represented by an attitude angle so that the attitude (downward / upright / upward, etc.) of the welding control head can be understood. Regarding wire feeding, the wire feeding speed is obtained from the pulse signal of the detector that follows the wire feeding.

The welding controller 11 is controlled by a control circuit / control software 114, which takes in a remote control command signal from the arithmetic and control unit 14 or an operation signal from the operation pendant 13 to drive and control the welding control head 9. The output of the welding power source 12 can be controlled. Welding display section 118
Is the welding condition set and changed from the arithmetic and control unit 14 or the operation pendant 13 (for example, the peak current I).
p and its time Tp, the base current Ib and its time Tp,
Welding speed V, wire feed speed Wp at current Ip, current I
The wire feed speed Wb at b) and the current position of each axis (X, Y, Z) during the driving operation are displayed on the control panel.

On the other hand, the arithmetic and control unit 14 uses a personal computer (personal computer) here and is connected to the welding controller 11 side. Keyboard 15
The welding operation control program 142 is activated via the man-machine interface circuit 144 by the key operation from. Therefore, the welding operation control program 1
The command signal transmitted from 42 is transmitted to the control circuit / control software 114 (control unit) on the welding controller 11 side via the communication interface circuit 141, and the welding control head is controlled by this command signal. Further, during the operation of the welding operation, the welding output data 151 being output and the respective axes (X, Y, Z axes) of the welding control head are output.
Current position data 145 of the
The processing control device 14 manages and controls the position of the welding control head, the operating condition, and the welding conditions, while fetching the processing data obtained by performing the position calculation processing 147 from FIG. The communication parameter 146 is calculated by the arithmetic and control unit 14
The communication initialization and the parameters are automatically set at the time of operation so that the communication side and the welding controller 11 side can be communicated.

The screen display processing 143 is for processing various information such as the input teaching screen of the groove block, various data display, and operation display during automatic operation. In addition, the block jump calculation process (program) 150 calculates the welding path of the place where the groove block 3 is installed and the place where the groove block 3 is not installed from the input and taught information of the groove block 3, and the welding control head 9 When the operation is calculated, the result is taken into the welding operation control program 142 and executed.

The path plan calculation program 149 creates a welding path plan, and inputs the basic conditions for determining the dimensions and shape of the groove joint of the welding work and the welding conditions while observing the screen displayed on the CRT 16. By doing so, the welding conditions for each welding pass necessary for multi-layer multi-pass welding are obtained by automatic calculation.

FIG. 3 shows a welding pass plan calculation program 14
9 shows an outline of the operation of 9, and creates a new path plan 53
And select one of the registered file drawers 5
I am able to do one. In the new path plan creation 53, after the input setting 54 of the groove shape of the welding work and the input setting 54 of the basic welding conditions necessary for welding work are first performed,
Based on this input information, the automatic calculation processing 56 of the welding pass plan is performed. The main processing contents are calculation 62 of the groove cross-sectional area required to perform welding, calculation 63 of the number of welding layers and the number of passes necessary to fill the obtained groove cross-sectional area, and each welding pass. Calculation of pulse current and its time and calculation of wire feed speed 64, determination of bead height accumulated by welding and calculation of cumulative bead height 65,
At that time, the calculation of the laminated bead width and the calculation 66 of the weaving conditions necessary for swinging the welding torch, the calculation 67 of the welding area and welding speed per layer, the calculation 68 of the welding position coordinate for each welding pass, etc. are performed. I am trying. Then, after displaying the result 57 of the calculation processing, the welding pass plan data is created 58. Also, the welding pass plan data 5 created in this way
The contents of 8 can be edited and modified 59 freely,
Also, the file registration 60 can be performed. This welding pass plan data 58 file contains
It describes the welding conditions used in the welding operation of the groove block jump, the welding conditions and the welding coordinates for each welding pass necessary for the multi-pass multi-pass welding after the block removal.

The welding data file 148 created in advance in this way is called during the automatic operation by the welding operation control program 142 shown in FIG. 2 and used in the welding operation of the groove block jump. Further, even when the welding is continuously performed after the groove block is removed, the welding described in the welding data file 148 is used until all the passes are completed.

Next, the input teaching method of the groove block will be specifically described. For example, FIG. 4 shows an example in which four groove blocks are installed on the circumference of the groove joint. Four groove blocks 3a, 3b, 3c, 3d are installed at an arbitrary angle, and each block has a height H and a width W.

FIG. 5 shows an example of a groove block input screen displayed for the above block installation.
Number of groove blocks: 4, block center angles at each installation location: θ1, θ2, θ3, θ4, block height: H, block width: W, number of tack welding:
I try to enter 2 and. Here, up to six groove blocks can be input. If you select 2 tack welding, the groove block welding (1
After performing the second tack welding, the second tack welding is performed before the main welding by the welding operation after the block removal. Further, when the temporary welding is selected once, the welding operation after skipping the blocks is performed from the main welding as it is after performing the temporary welding in which the groove blocks are skipped. From the information of the groove block thus input and taught, the paths of the jumping operation of the installation location of the groove block and the welding operation of the non-installation location are calculated.

For example, as shown in FIG. 6, the first groove block 3a is provided at the position of the central angle θ1.
The contact avoidance distance L provided before and after the groove block 3a is preset as a constant for avoiding contact of the welding torch. The points where the groove block 3a needs to jump over are points P1 to P4. The angle θ (P1) of this P1 point and P
The angle θ (P4) at the four points is obtained from equations (1) and (2), respectively. However, D is the outer diameter of the welding work, and L is the contact avoidance distance.

Θ (P1) = θ1− (360 / π · D) · (W / 2 + L) …… (1) θ (P4) = θ1 + (360 / π · D) · (W / 2 + L) …… (2) Further, assuming that the groove depth is S and the allowance distance is c1, the welding torch rising position Z1 is obtained from the equation (3).

Z1 = S + H + c1 (3) On the other hand, the welding line in the part without the block has the start position S
From point to P1 and from P4 to P5. P
The angle θ (P5) at the five points is in front of the second groove block 3b (center angle θ2) and is calculated by the equation (4).

Θ (P5) = θ2− (360 / π · D) · (W / 2 + L) (4) In the other three groove blocks 3b, 3c, 3d, the same method as above is used. Can be found at.

FIG. 7 shows the outline of the groove block jump welding operation. After setting the conditions for the first-pass tack welding,
Set the welding torch 6 mounted on the welding control head 9 to the initial position P0.
From the point (current position) to the start position S point, welding is started. Location S where there is no groove block after arc
→ P1, P4 → P5, P8 → P9, P12 → P13, P
The tack welding operation is performed in each section of 16 → E. on the other hand,
Locations P1 with blocks (3a, 3b, 3c, 3d)
In each of the sections P4, P5 to P8, P9 to P12, and P13 to P16, the arc is stopped and the welding torch is moved up / down / down to perform the block jump operation. The position of the temporary stop of welding at this time is points P1, P5, P9, and P13 before each block (contact avoidance distance L: about 40 mm). Further, the positions at which arcs are regenerated after jumping over blocks are P4, P8, P12,
It becomes the point of P16. When the point E is reached, the welding end processing is performed, the welding torch is prevented from rising and the reversing return movement is performed, and then the request for block removal work is displayed. Then, if the continuation of welding is selected after removing the block, the welding is started toward the welding start position of the next pass (second pass). The block jump welding operation can be realized by operating in this manner.

In the second-pass tack welding after the block is removed, the circumference is continuously welded so that a continuous bead is formed. Further, when this tack welding is completed, the first layer backside welding of the first pass of the main welding is performed. The multi-layer multi-pass welding from the first layer welding to the final layer is sequentially and repeatedly executed until all passes are completed according to the permutation of the welding condition group described in the welding data file.

FIG. 8 shows a welding outline of the joint with the groove block shown in FIG. 7, where (1) is a cross section of the installation location of the groove block 3 before welding, and (2) is before welding. No cross section of the groove block, (3) is the cross section when tack welding is performed by the block jump welding operation, and (4) is the first main welding (first pass) after removing the groove block 3 It is a cross section when layer backside welding is performed. In the welding of the groove joint 2, an example in which the insert 5 is provided is shown. In this block jumping welding operation, the tack welding condition of small energy which is less than the main welding is used, and as shown in (3), the welding bead 18 is formed by melting only the front side without melting to the back side. I have to. In addition, the same welding beads 18 are formed in the second pass tack welding after the block is removed. By welding in this way, the bottom portion of the groove joint can be welded and fixed without affecting the first layer backside welding of the main welding.

On the other hand, in the first layer backside wave welding in the first pass of the main welding, as shown in (4), the back bead 19b which completely penetrates to the back side is formed. By providing the insert 5, it is easy to form the back bead 19b in a uniform and convex shape. Needless to say, welding may be performed as described above even in welding of a groove joint having no insert 5. After the first layer backside welding, the multi-pass multi-pass welding of the main welding is performed so as to fill the groove 2 as shown in (5).

FIG. 9 and FIG. 10 show an embodiment of the procedure for executing the groove block jump welding operation. As a preparation before the automatic operation, the pendant operation 13 is performed on the welding controller 11 side.
By using the origin adjustment operation 161, the block installation angle adjustment operation 162 necessary for setting the coordinates of all axes (X, Y, Z),
Circumferential welding line teaching setting operation 16 required for welding torch positioning operation 163 and welding line linear interpolation control operation 180
The operations such as 4 are performed to make the automatic operation possible, and the standby 165 is performed. On the other hand, the arithmetic and control unit (personal computer) 14
On the side, the input teaching 166 of the block is performed by the key input 15 of the keyboard, and the calculation 120 of the welding path and the block jumping motion of the circumferential joint is performed. After that, when the execution key 121 of the block jump welding operation 122 is pressed, this operation operation is started.

Here, the arithmetic and control unit (personal computer) 14
The welding controller 11 responds to each command issued from the side.
The side executes the command operation and reports the result. First, a welding condition setting request 123 and a welding start position movement request 124 are issued, and the welding start request 125 is made after receiving the setting result and the movement result. On the other hand, the welding controller 11 side responds to each axis current position report request 126 while performing the linear interpolation control operation 180 of the welding line after returning the ON signal for performing the welding start and welding output operation 169. Current position data 17
I try to send 0.

Then, as shown in FIG. 7, the temporary stop positions 127 (Y = P
1, P5, P9, P13), a welding and traveling suspension request 128 and a Z-axis raising request 129 (P1 → P) for avoiding the welding torch and skipping the block.
2, P5 → P6, P9 → P10, P13 → P14) and the Y-axis travel request 130 are issued, and the corresponding 171,
The operations 172 and 173 are sequentially executed. Also, while sequentially receiving the result reports of these operation executions, the block end position 132 (Y = P3, P7, P1
1, P15), the Y-axis traveling stop request 133 and the Z-axis lowering request 134 (P3 → P4, P7 → P8, P11).
→ P12, P15 → P16). Further, after the execution of this operation, the welding start request 135 is issued again to perform the operation of welding the part where there is no block. Such a series of block skipping operations is performed by the number of blocks (4
Repeated) times.

In this block jumping welding operation, the tack welding condition of small energy which is less than the main welding is used. As shown in (3) of FIG. 8, the back side is not melted but only the front side is melted. The weld beads 18 are formed. Further, during welding, feedback control is performed by detecting the arc voltage so that the arc length is always constant. Furthermore, for the positional deviation of the welding line,
Automatic correction is performed by the linear interpolation control operation 180 of the welding line by reproducing the teaching data of the circumferential welding.
Then, in FIG. 10, the welding end position 136 (Y = E)
When the welding process reaches, the welding end operation 178 is performed, and then the Z-axis raising request and the Y-axis reversing return operation request 138 for performing the avoiding the welding torch and preparing for the next pass are issued and the operation 178 is executed. I am trying. Further, after this operation is performed, a welding end display and a block removal request display 139 for notifying the operator are displayed. With the execution procedure configured as described above, the welding operation at a portion without a block and the jumping operation at a portion with a block can be repeatedly and accurately performed.

Next, the groove blocks 3a, 3b, 3c, 3
The welding operation after removing d will be specifically described.
11 and 12 show an embodiment of the procedure for executing the welding operation. After the block removal 183, the welding continuation 18 is performed.
When 4 is selected (however, in the case of NO which is not selected, the process proceeds to welding end processing 197 in 196.), the welding pass is updated 185, and the tack welding operation of the second pass described in the welding data file is performed. move on. In the input screen example shown in FIG. 5, when the number of tack welding is input as 1, the tack welding operation of the second pass is lost and the first layer back seam of the first pass of the main welding is canceled. It starts from the operation of welding.

After performing the welding condition setting request 186 for the welding path updated in this way, the welding start position movement request 18 is made.
7 and welding start request 125, welding is started. The welding controller 11 side, which operates according to the operation command from the personal computer 14, performs the linear interpolation control operation 180 of the welding line at the same time as the welding and traveling operations, and at the same time, outputs the current position data 170 according to the current position report request 126 for each axis.
Is sent to the personal computer side 14. This operation is repeated until the welding end position 192 (Y = Ep) is reached. Furthermore, during the welding operation, the operator can change the welding position and the welding conditions 188, 19 according to the judgment of the operator.
In addition, the welding temporary stop 189 can be performed. By providing such a function, operability and usability can be improved. When the welding end position 192 is reached, the welding end operation 179 is performed, and then the Z-axis raising operation and the Y-axis reversing operation 179 necessary for avoiding the welding torch and preparing for the next pass welding are performed. .

When the second pass tack welding is completed in this way, the process returns to the welding pass update 185 to proceed to the next pass 195, and proceeds to the welding operation of the first pass of the main welding to start the welding. To be done. In the first layer back seam welding in the first pass of the main welding, as shown in (4) of FIG. 8, welding conditions are used so that the completely melted back seam 19b is formed. When the welding end position 192 is reached and the welding of the first pass of the main welding is completed, the welding operation is updated to the second pass. This update of the welding operation is performed at the end of the last pass 194.
The process is repeated until (N = Np).

With the execution procedure configured as described above, tack welding after groove block removal and multi-pass multi-pass main welding can be continuously carried out, and the setup time of welding can be reduced and welding can be automated. Can be achieved.

Here, the teaching setting operation of the circumferential welding line performed before welding and the linear interpolation control of the welding line during the welding operation will be specifically described with reference to the embodiments of FIGS. 13 and 14. As shown in FIG. 1, using the operation pendant, the welding torch 6 (mounted on the welding control head 9) is moved onto the circumferential welding line of the groove block 3 where the groove block 3 is not installed to perform the teaching operation. Each teaching point taught by this teaching operation (see FIG.
3) is S1 ... Sn. Since it is difficult to always install the rail 10 in parallel with the groove joint 2, the welding line 20 on the teaching point is shown in FIG. 14 with respect to the traveling line 17 of the welding control head traveling on the rail 10. It looks like it is bent. The linear interpolation control corrects the bending of the welding line. That is, during the welding operation (including the arc stopping operation) from the welding start position S0 to the welding end position Ep (omitted), each teaching point S1, S2 ,.
The left and right X-axes are corrected so as to pass n-1 and Sn.

For example, the current position Sk (Xk, Yk) is S
Assuming that it is between point 1 (X1, Y1) and point S2 (X2, Y2), the movement amount of the traveling system is ΔYn = Yk-Y1, and the correction amount at that time is ΔXn = Xk-X1. . Therefore, the X coordinate Xk of the current position is obtained by the following equation (5). Also, each of the n teaching points is passed (n = 1 → n)
The X-coordinate Xkn of the moving position at the time of moving can be expressed as in Expression (6).

[0057]

[Equation 1]

Further, even when the multi-pass multi-pass welding of the main welding is performed in the welding operation after the block removal shown in FIGS. 11 and 12, the movement position for performing the linear interpolation control of the welding line for each welding pass is changed. The X coordinate Xkn can be obtained. For example, assuming that the welding position coordinate of the first pass of tack welding (block jump welding) is Q01 (Xf1, Zf1) and the welding position coordinate of the main welding P pass is Qp (Xfp, Zfp), welding of the X coordinate is performed. The moving amount ΔLx of the torch is the difference between the two and is expressed by equation (7).

ΔL = Xfp−Xf1 (7) Therefore, in the linear interpolation control of the welding line of the main welding P pass, the moving amount Δ with respect to the above equation (6) It would be good to shift by Lx. The X coordinate Xkn of the moving position at this time is given by the formula (8).
Can be shown as

[0060]

[Equation 2]

Linear interpolation control can be performed by recreating the welding line for each welding pass by performing the above calculation.
There is no need to use a special sensor for position detection. Also,
A series of multi-pass multi-pass welding can be carried out automatically and accurately without the need for nervous alignment with the welding torch.

FIG. 15 shows an embodiment in which the present invention is applied to a flat plate welding work with a groove block. Two groove blocks 3 are provided on the line of the groove joint 2 composed of the flat plate welding works 1c and 1d. A linear rail 101 is installed on the flat plate welding work 1d substantially parallel to the groove joint 2, and a welding control head 9 equipped with a welding torch 6 and a wire 7 runs on the linear rail 101 (Y axis). Is configured to. Although not shown, the welding control head 9 has a horizontal X-axis for vertically swinging the welding torch 6 and the wire 7 and a vertical Z-axis for vertical movement. Next, a description will be given of a block jumping welding operation for a flat plate welding work with such a groove block.

FIG. 16 shows the outline of the groove block jump welding operation. Here, it is assumed that the first groove block 3a is provided at a distance Y1 from the welding start position S and the second groove block 3b is provided at a distance Y2. In addition, the width of the groove blocks 3a and 3c is W,
Assuming that the contact avoidance distance of the welding torch is L, the point where the first groove block 3a requires the jumping operation is from the point P1 to the point P4, which is obtained by the equations (9) and (10).

P1 = Y1- (W / 2 + L) (9) P2 = Y1 + (W / 2 + L) (10) Further, the jumping operation of the second groove block 3a is performed. The required points are from P5 to P8, and equation (11) and equation (1
2).

P5 = Y2- (W / 2 + L) (11) P8 = Y2 + (W / 2 + L) (12) On the other hand, the welding torch rises during the block jump (P1 →
P2, P5 → P6) and descending (P3 → P4, P7 → P8)
The distance Z of is obtained from the above-mentioned equation (3).

By calculating in this way, the operation of welding the portions without blocks (S → P1, P4 → P5, P8 → E0) and the portions with blocks (P1 to P4, P5)
It is possible to carry out the operation of jumping up to P8) without welding. Further, as shown in FIG. 14, it is possible to correct the positional deviation of welding. Further, regarding the welding operation after the block is removed, the multi-pass multi-pass welding can be performed by using the welding execution procedure shown in FIGS. 11 and 12 again for the flat plate welding work.

[0067]

As described above, according to the present invention, 2
Based on the information such as the size and position of the groove block attached to the welding line of the butt parts to position and fix one welding work, the welding path where the welding torch moves along the welding line where there is no block, and the groove At a certain location of a block, the avoidance path that jumps over it is calculated and calculated, and the welding torch is controlled to move according to the calculated welding path and avoidance path.Therefore, there is an obstacle such as a groove block on the welding line. Temporary welding of the welding path can be automatically performed on the tip joint, and the conventional manual welding can be disengaged.

Further, by performing the linear interpolation control of the welding line by teaching the welding line of the present invention and reproducing the teaching data, it is possible to use a special sensor for position detection.
It is possible to automatically correct the deviation of the parallelism between the rail serving as the traveling path of the welding control head and the welding line. Furthermore, the present invention can continuously carry out a welding operation of jumping a groove block and a series of multi-pass multi-pass welding after the groove block is removed, thereby achieving automation of welding and reduction of welding time. You can

[Brief description of drawings]

FIG. 1 is a diagram showing an overall configuration of an automatic welding apparatus according to an embodiment of the present invention.

FIG. 2 is a block diagram showing a control mechanism of the automatic welding apparatus according to the embodiment of the present invention.

FIG. 3 is a diagram showing a welding pass plan calculation program provided in the automatic welding apparatus according to the embodiment of the present invention.

FIG. 4 is an explanatory diagram showing the position and dimensions of a groove block provided on a circumferential welded joint of a pipe.

FIG. 5 is a diagram showing a screen example of input teaching of groove block jump welding according to the present invention.

FIG. 6 is an explanatory diagram showing a method of calculating the position of a groove block.

FIG. 7 is an explanatory view of a movement path of a welding torch in groove block jump welding according to the present invention.

FIG. 8 is a cross-sectional view showing a welding state of a joint with a groove block.

FIG. 9 is a flowchart (No. 1) showing an execution procedure of a groove block jump welding operation according to the present invention.

FIG. 10 is a flowchart (No. 2) showing the execution procedure of the groove block jump welding operation according to the present invention.

FIG. 11 is a flowchart (No. 1) showing an execution procedure of the multi-pass multi-pass welding after removing the groove blocks.

FIG. 12 is a flowchart (No. 2) showing an execution procedure of multi-layer multi-pass welding after removing the groove blocks.

FIG. 13 is an explanatory diagram showing a method of teaching a welding route.

FIG. 14 is an explanatory diagram showing linear interpolation control of a welding line.

FIG. 15 is a configuration diagram showing an automatic welding apparatus according to another embodiment of the present invention.

FIG. 16 is an explanatory view showing a groove block jump welding operation according to another embodiment of the present invention.

FIG. 17 is a view showing a circumferential groove joint of a fixed tube with a groove block as a conventional example.

FIG. 18 is a cross-sectional view showing a circumferential groove joint using an insert as a conventional example.

[Explanation of symbols]

 1a, 1b: Welding work (tube) 1c, 1d: Flat plate welding work 2: Groove joint 3, 3a, 3b, 3c, 3d: Groove block 4: Weld fixing part 5: Insert 6: Welding torch 7: Welding wire 8: Wire reel 9: Welding control head 10: Rail 11: Welding controller 12: Welding power supply 13: Operation pendant 14: Arithmetic control device 15: Keyboard 16: CRT 17: Running line of welding head 18: Temporary welding bead 19a : Beads for first layer welding 20: Welding route 101: Straight rail

─────────────────────────────────────────────────── ─── Continuation of the front page (51) Int.Cl. ⁶ Identification code Office reference number FI Technical display location B23K 9/095 501 H 8315-4E 505 C 8315-4E 9/12 331 L 8315-4E 9/235 B 8315-4E 37/04 H G05B 19/4093 (72) Inventor Nobuo Shibata No. 502 Jinritsucho, Tsuchiura-shi, Ibaraki Prefecture Inside the Institute of Mechanical Research, Hiritsu Seisakusho Co., Ltd. (72) Yoshio Nakajima No. 502 Kintate-cho, Tsuchiura-shi, Ibaraki Prefecture Mechanical Research Laboratory, Hiritsu Manufacturing Co., Ltd. (72) Hironari Kikuchi, 502 Jinritsucho, Tsuchiura City, Ibaraki Prefecture Mechanical Research Laboratory, Hitachi, Ltd. (72) Masahiro Kobayashi 3-1-1, Saiwaicho, Hitachi City, Ibaraki Prefecture Hitachi Ltd., Hitachi Works (72) Inventor Takeo Uehara 3-1-1, Saiwaicho, Hitachi, Ibaraki Hitachi Ltd. (72) Invention Eiji Hino Hitachi City, Ibaraki Prefecture Saiwaicho Third Street No. 1 No. 1 stock company Hitachi, Ltd. Hitachi in the factory (72) inventor Kazuhiko Mizuguchi Hitachi City, Ibaraki Prefecture Saiwaicho Third Street No. 1 No. 1 stock company Hitachi, Ltd. Hitachi in the factory

Claims (10)

[Claims] 1. A welding block is attached to one or a plurality of positions on a welding line indicating a welding direction of a welding groove formed at a butt portion of two welding works to position and fix the two welding works, and the welding line. In the automatic welding method, a welding control head, which is equipped with a welding torch that is movable left and right and up and down, travels so that the welding torch moves along the welding line, and welds using predetermined welding conditions. Input the information on the number and size of each groove block and the position of each groove block from the reference point to the arithmetic unit, and jump the welding line path between each groove block and each groove block by the arithmetic unit based on the input information. The avoidance route is calculated, the welding torch is moved in accordance with the calculated welding line route and avoidance route, and the welding operation is performed in the welding line route by melting the welding groove by the welding torch. An automatic welding method characterized in that the welding operation is executed and controlled so that the welding operation is stopped in the avoidance path. 2. The automatic welding method according to claim 1, wherein the welding operation is performed using tack welding conditions for partially melting the bottom of the welding groove. 3. A welding block is attached to one or a plurality of positions on a welding line showing a welding direction of a welding groove formed at a butt portion of two welding works to position and fix the two welding works, and the welding line. In the automatic welding method, a welding control head, which is equipped with a welding torch that is movable left and right and up and down, travels so that the welding torch moves along the welding line, and welds using predetermined welding conditions. Input the information on the number and size of each groove block and the position of each groove block from the reference point to the arithmetic unit, and jump the welding line path between each groove block and each groove block by the arithmetic unit based on the input information. The avoidance route is calculated, the welding torch is moved in accordance with the calculated welding line route and avoidance route, and the welding operation is performed in the welding line route by melting the welding groove by the welding torch. The welding operation is controlled to be stopped in the avoidance path, the groove block is removed thereafter, and the multi-layer multi-pass welding is sequentially performed according to the sequence of multi-pass multi-pass welding conditions stored in the controller until the end of all passes. An automatic welding method characterized by executing pass welding. 4. The automatic welding method according to claim 3, wherein the welding operation in the welding line path is performed using a tack welding condition in which the bottom of the welding groove is partially melted. 5. Temporary welding conditions for partially melting the bottom portion of the welding groove at the unwelded portion of the portion where the groove block is removed after the groove block is removed and before the multi-pass multi-pass welding are performed. 5. Welding using
The automatic welding method described. 6. A groove block is attached to one or a plurality of positions on a welding line showing a welding direction of a welding groove formed at a butt portion of two welding works to position and fix the two welding works, and A rail is installed adjacent to the welding line on the work to be welded, and a welding control head equipped with a welding torch is mounted on the rail so that the welding torch can be moved vertically and horizontally with respect to the rail, and welding is performed using predetermined welding conditions. In the welding method, the information on the number and size of groove blocks and the position of each groove block from the reference point is input to the arithmetic unit, and the arithmetic unit calculates the welding line path between each groove block based on the input information. And the avoidance path jumping over each groove block is calculated, the welding torch is taught a plurality of positions of the welding line to be moved, and the linear interpolation calculation of the welding line is performed to obtain the passing point position between the two taught points. The welding torch is moved along the calculated welding line path and avoidance path, and according to the linear interpolation of the calculated welding line.In addition, in the welding line path, a temporary welding operation is performed to melt the welding groove bottom by the welding torch. The automatic welding method is characterized in that the temporary welding operation is executed and controlled so as to stop the tack welding operation in the avoidance path. 7. A groove block is attached to one or a plurality of positions on a welding line showing a welding direction of a welding groove formed at a butt portion of two welding works to position and fix the two welding works, and A rail is installed adjacent to the welding line on the work to be welded, and a welding control head equipped with a welding torch is mounted on the rail so that the welding torch can be moved vertically and horizontally with respect to the rail. In the welding method, the information on the number and size of the groove blocks and the position of each groove block from the reference point is input to the arithmetic unit, and the welding line path between each groove block is input by the arithmetic unit based on the input information. And the avoidance path jumping over each groove block is calculated, the welding torch is taught a plurality of positions of the welding line to be moved, and the linear interpolation calculation of the welding line is performed to obtain the passing point position between the two taught points. The welding torch is moved along the calculated welding line path and the avoidance path, and according to the linear interpolation of the calculated welding line.At the welding line path, a temporary welding operation is performed to melt the welding groove bottom part by the welding torch. The temporary welding operation is controlled to be stopped in the avoidance path, the groove block is removed after that, and the multi-pass welding is sequentially performed until the end of all passes according to the sequence of multi-pass welding conditions stored in the controller. An automatic welding method characterized in that multi-pass welding is executed and the welding torch position is controlled by linear interpolation of calculated welding lines during the multi-layer multi-pass welding. 8. A groove block is attached to one or a plurality of positions on a welding line showing a welding direction of a welding groove formed at a butt portion of two welding works to position and fix the two welding works, and a butt portion. In a welding device that performs welding, the input teaching means for inputting the number and size of the groove blocks and the position information of each groove block from the reference point, and the welding line between each groove block from the input information. A processing means for calculating a route and an avoidance route that jumps over each groove block, a welding control head that travels with a welding torch mounted vertically and horizontally, and a welding operation that melts the groove in the welding line route Welding operation control means for controlling the welding operation to be stopped along the route, and welding control to move the welding torch through the welding line route and the avoidance route in response to a command from the arithmetic and control unit. Automatic welding device is driven and controlled for de, and a welding controller for controlling the output of the arc to be generated from the welding torch, comprising the to. 9. A groove block is attached to one or a plurality of positions on a welding line showing a welding direction of a welding groove formed at a butt portion of two welding works to position and fix the two welding works, and a butt portion. In a welding device that performs welding, the input teaching means for inputting the number and size of the groove blocks and the position information of each groove block from the reference point, and the welding line between each groove block from the input information. A processing means for calculating a route and an avoidance route that jumps over each groove block, a welding control head that travels with a welding torch mounted vertically and horizontally, and a welding operation that melts the groove in the welding line route Welding operation control means for controlling the welding operation to be stopped along the route, and welding control to move the welding torch through the welding line route and the avoidance route in response to a command from the arithmetic and control unit. Welding controller that controls the drive of the welding arc and the output of the arc generated from the welding torch, the welding conditions used in the welding of the welding line path between the groove blocks, and each groove block after welding the welding line path. Removed,
An automatic welding device, comprising: a welding data file that stores a welding condition group used in a multilayer multi-pass welding to be subsequently performed. 10. A groove block is attached to one or a plurality of positions on a welding line indicating a welding direction of a welding groove formed at a butt portion of two welding works to position and fix the two welding works, and a butt portion. In a welding device that performs welding, the input teaching means for inputting the number and size of the groove blocks and the position information of each groove block from the reference point, and the welding line between each groove block from the input information. A processing unit that calculates a route and an avoidance route that jumps over each groove block, a welding control head that mounts a welding torch vertically and horizontally, and runs on a rail that is arranged adjacent to the welding line, and a welding line. Welding operation control means that performs welding operation to melt the groove on the path and stops welding operation on the avoidance path, and the welding torch moves the welding line path according to the command from the arithmetic and control unit. And a welding controller that controls the drive of the welding control head so as to move the avoidance path and controls the output of the arc generated from the welding torch; the welding conditions used for welding the welding line path between the groove blocks; After welding the line path, remove each groove block,
A welding data file that stores the welding condition group used in the multi-layer multi-pass welding to be performed next, another teaching means for teaching a plurality of positions of the welding line to which the welding torch should move, and the teaching means taught Another calculation means for obtaining a passing point position between two points from the position data, and welding line interpolation control means for controlling linear interpolation of the welding line moving by the welding torch based on the position data obtained by another calculation processing means. An automatic welding device characterized by being equipped with.