JPH09262668A - Two-head type automatic pipe circumferential welding equipment and its mechanism deviation correcting method - Google Patents

Abstract

PROBLEM TO BE SOLVED: To shorten the required time in measuring the groove shape using two welding heads, and to correct the mechanism deviation with excellent accuracy. SOLUTION: In this welding equipment, two heads 3a, 3b to hold torches 4a, 4b are movably installed on the same track to perform the automatic welding of the pipe circumference. In the work of the initial stage, the groove shape of a pipe to be welded is measured at a plurality of parts on X-axis by the heads in a sharing manner. The groove shape of one part is duplicate-measured by the heads 3a, 3b, and the error between the heads ΔYh and ΔZh on Y-axis and Z-axis of torches of the heads 3a, 3b are obtained from the results of measurement. The data on the results of measurement at every point of measurement are obtained for the respective heads 3a, 3b, taking into consideration the error ΔYh and ΔZh between the heads 3a, 3b to the data on the results of measurement for the point where no measurement is made by the subject head, and the mechanism deviation is corrected based on the data of the results of measurement for the respective subject heads 3a, 3b to the command position on Y-axis and Z-axis of the torches 4a, 4b of the first and second heads 3a, 3b.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an apparatus for automatically performing pipe circumferential welding such as butt welding of pipes, and more particularly, to two welding heads each equipped with a torch running on the same track. The present invention relates to a two-head type automatic circumferential welding device that performs automatic welding.

[0002]

2. Description of the Related Art At the time of laying a gas pipeline, the end faces of two pipes fixed in abutting manner are connected by full circumference welding. When this welding is performed by automatic welding, a belt-like guide rail is wound around a pipe, and a welding head is run on the guide rail to perform welding by a MAG (metal active gas) method or the like. When viewed in detail, the shape of the pipe to be welded is not a true cylinder but a strain, and there is also a pipe butting error. Further, there are distortions and mounting errors on the guide rail side.

Therefore, in order to control the position of the head and the torch with high accuracy, it is necessary to measure the groove shape of each welding target, and at that time, the groove-guide for each X-axis position. It is necessary to correct the error in the Y-axis direction and the Z-axis direction between the rails.

In relation to this, the applicant of the present application has previously proposed a method for measuring the groove shape with high accuracy in Japanese Patent Application No. 7-173921.

[0005]

The above-mentioned groove shape measurement is
The touch sensing of the tube surface using the wire of the torch is repeatedly performed while changing the position. Furthermore, since the measurement points reach a plurality of points (for example, 8 points) on the circumference,
This is a work that requires a considerable amount of time.

On the other hand, in the automatic pipe circumference welding, in order to greatly reduce the welding time and save the labor, it is impossible to increase the welding speed and the welding amount in the 1-series system. Circumferential welding is beginning to be performed with two welding heads. For such a two-series system, refer to the 151st Welding Method Material “Onshore Guy Pipeline Automatic Welding Machine” “Development of MAG Fully Automatic Welding for Inner and Outer Surfaces of Guy Pipeline” "
It is disclosed in "Pipeline High Speed Rotating Arc Automatic Welding".

Therefore, the present invention uses a two-head welding head to reduce the time required to measure the groove shape and correct the mechanical deviation with high accuracy, and a two-head automatic pipe circumference welding apparatus and its mechanism. An object is to provide a deviation correction method.

[0008]

According to a method for correcting a mechanism deviation of a two-head type automatic pipe circumference welding apparatus according to the present invention, first and second welding heads respectively holding a torch are attached to a pipe to be welded. The torch is installed movably on the X-axis along the same track on the pipe circumference, and each torch is moved in the Z-axis direction perpendicular to the pipe tube surface and in the Y-axis direction orthogonal to both the X and Z axes. While it is a mechanism deviation correction method in a welding device that automatically welds the circumference of a pipe,
The groove shape of the pipe to be welded is measured by sharing a plurality of positions on the axis, and the head-to-head error ΔYh of the measured values of the Y-axis and the Z-axis of the torches of both heads is measured at one position on the X-axis. When ΔZh is obtained and the mechanism deviation of each torch of both heads is corrected at the X-axis position where the own head did not measure, the measurement result data measured by the other head is corrected by the head-to-head errors ΔYh and ΔZh. It is used to correct the mechanical displacement.

According to another aspect of the method for compensating the mechanical deviation of the two-head automatic pipe circumference welding apparatus according to the present invention, the first and second welding heads respectively holding the torch are attached to the pipe to be welded. X along the same orbit around the pipe circumference
Welding that installs movably on the axis and automatically welds the circumference of the pipe while moving each torch in the Z-axis direction perpendicular to the pipe surface and in the Y-axis direction orthogonal to both X and Z axes. A method for correcting a mechanical deviation in an apparatus, in which both heads
The groove shape of the pipe to be welded is measured by sharing multiple points on the X axis, and at that time, both heads measure at one point in duplicate, and from the measurement results at the one point on the X axis. , Head-to-head errors ΔYh and ΔZh of the measured values of the Y-axis and Z-axis of the torches of both heads are obtained, and for each of the first and second heads, with respect to the measurement result data of the points not measured by the own head The head-to-head errors ΔYh and ΔZh
In consideration of the above, the measurement result data of all the measurement points is obtained for each head, and the measurement result for the own head is obtained with respect to the Y-axis and Z-axis command positions of the torches of the first and second heads. The mechanism deviation is corrected based on the data.

According to the present invention as described above, since the groove shape measurement is shared by the two heads, the work time of the groove shape measurement can be reduced to almost half. Further, the problem of the error between the heads newly generated by using the two heads is to find the error between the heads based on the measurement result data of both heads at one position on the X axis, that is, at the same measurement point. It can be solved by correcting the measurement result data.

In any one of the above methods, it is preferable that X, Y and Z of each torch of each of the heads be used.
After aligning each axis to the mechanical origin, set the working origin of each torch, and set the Y-axis and Z-axis positions as the origin of the command value to indicate the working origin. To use.

In any of the above methods, for example, a table capable of obtaining the correction amounts of the Z-axis and the Y-axis corresponding to each X-axis position where the groove shape is measured is created, and the measurement result data is stored in the table. The correction of the mechanism deviation based on the table can be executed by referring to the table. On this occasion,
For X-axis positions other than the X-axis position where the groove shape is measured, the measurement result data of the two most recent measurement points can be linearly interpolated and used. As a result, the number of groove-shaped measurement points can be reduced, and the measurement work time can be shortened.

For the Y-axis correction amount in the table, the inclination of the groove center line may be taken into consideration by using the Z-axis value reflecting the Z-axis correction amount of the X-axis position.

In the two-head automatic pipe circumference welding apparatus according to the present invention, the first and second welding heads, each holding a torch, are movably installed on the X axis along the same orbit.
Moreover, each torch is connected to the Z-axis direction perpendicular to the pipe surface, X,
A welding device for automatically welding the circumference of a pipe while moving it in the Y-axis direction orthogonal to both Z-axes, and for each torch of each head, to the mechanical origin of each X-, Y-, and Z-axis. A machine origin position aligning unit that aligns the position and a groove measuring unit that measures the groove shape of the pipe to be welded by both heads by sharing a plurality of locations on the X axis, and 1 on the X axis.
At each position, the head-to-head error calculation means for obtaining the head-to-head errors ΔYh and ΔZh of the Y-axis and Z-axis measurement values of the torches of both heads, and the respective heads were not measured. Measurement result data calculating means for obtaining the measurement result data of all the measurement points for each head as the measurement result data for the head in consideration of the inter-head errors ΔYh and ΔZh with respect to the measurement result data of the point; Mechanical displacement correction means for correcting the mechanical displacement based on the measurement result data for the own head with respect to the Y-axis and Z-axis commanded positions of the torches of the first and second heads, respectively. To do. With this device, the same operational effect as the above method can be obtained.

[0015]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Preferred embodiments of the present invention will be described below in detail with reference to the drawings.

Referring to FIG. 1, a schematic configuration of a welding apparatus according to the present invention will be described. In order to perform the pulse arc automatic welding on the groove portion 11 of the joint portion of the welded material pipe 10, a detachable guide rail 12 is attached to the outer circumference of the pipe. Two welding heads 3a and 3b are mounted on the guide rail 12. The welding heads 3a and 3b hold the torches 4a and 4b, and move the torches 4a and 4b with respect to the groove portion 11 while moving on the guide rail 12 according to a command from the NC control device 1. Welding is performed in all positions over the entire circumference of the pipe 10 while two-dimensionally weaving. The operator can perform various welding operations from the remote operation panel 2. In addition, 5a and 5b are solid wires for welding, 6
a and 6b are wire spools, 7a and 7b are power supplies, 8
a and 8b are multi-core special cables, 9a and 9b are capy tire cables, 13 is an LCD display, 14 is a keyboard, and 15 is a mouse, and two lines are simultaneously operated by one NC control device 1 (both have the same specifications). Are in control.

As shown in FIG. 2, welding heads 3a and 3b are provided.
Position on the outer circumference of the pipe (expressed in hours and minutes) X1 axis, X2 axis,
A servo mechanism is provided for each of the weaving groove width direction (pipe axis direction) Y1 axis, Y2 axis and welding height direction (pipe radial direction) Z1 axis, Z2 axis of the torch 4a, 4b, and a total of 6 axes. It is controlled by the NC control device 1. Two-dimensional weaving means that the torch is in the Y-axis direction and the Z-axis direction orthogonal to the welding progress direction (X-axis).
It refers to an operation of moving along the groove portion 11.

Parts attached to the welding head 3 (3a, 3b) in the present embodiment will be described with reference to FIG. In the figure, for the sake of convenience, only one head is shown.
Each welding head 3 has encoders 32x, 32y, 3 for detecting a positional change of the head for each X, Y, Z axis.
2z (generally indicated by 32) and origin sensors 31x, 3 for detecting a machine origin (not shown) provided for each axis.
1y and 31z (generally indicated by 31) are attached. Each axis encoder 32 is a device that generates a number of pulses corresponding to the head movement amount in the axial direction, and the movement amount can be obtained by counting the number of pulses. However, the X-axis encoder 32x is configured by an absolute value encoder so that its absolute position can be held even during the power-off period of the motor. For the Y-axis and Z-axis, even if the current position information is lost, the stroke of movement is small, and the trouble and time for newly detecting and setting the machine origin do not matter, so simpler incremental (relative value) It uses an encoder. The origin sensor 31 of each axis is a sensor for detecting a mechanical origin indicating a mechanical origin of each axis, and for example, an optical sensor can be used. The mechanical origin of the X-axis is an index provided at one predetermined location on the circumference of the guide rail 12, and in this example, a light blocking member (not shown) provided at the top of the guide rail 12. . The mechanical origin of the Y axis is a light blocking member (not shown) provided at a retreat position of the torch in the Y axis direction.
Similarly, the mechanical origin of the Z axis is a light blocking member (not shown) provided at the most uppermost position of the torch in the Z axis direction. Of course,
The sensor is not limited to an optical sensor, and for example, a sensor such as a proximity sensor can be used. The target position of the torch can be designated with reference to the origin of each of these axes. The detection and setting of these origins are performed as an initial work of the welding work.

FIG. 4 shows the configuration of the NC control device 1 shown in FIG. 1 and the connection relationship with other parts. NC controller 1
Has a microcomputer 101 for controlling creation of control data for welding, display of welding state, and the like, and a three-axis motion controller (including a CPU) 103 connected to the microcomputer 101. A non-volatile large-capacity memory 102 including a hard disk or the like is also connected to the microcomputer 101. The motion controller 103 includes a CPU that controls the welding power sources 7a and 7b, the welding heads 3a and 3b, and the like.
It has a large-capacity RAM 104 for storing the PU operation program and various data. Further, the motion controller 103 is connected to a pulse waveform measuring unit 105 for monitoring various welding parameters such as welding current and welding voltage. The motion controller 103 controls the three-axis servo amplifiers 106a and 106b of both heads based on the data given from the microcomputer 101, and supplies the outputs to the welding heads 3a and 3b via the cables 8a and 8b. In the welding heads 3a and 3b, the X, Y, and Z axis motors of the welding heads 3a and 3b are controlled according to the signals supplied from the servo amplifiers 106a and 106b. The above-mentioned origin sensors 31a and 31b for the respective axes are attached to the welding heads 3a and 3b. Wire feeders 109a and 109b are also mounted on the welding heads 3a and 3b. The motion controller 103 also controls the welding power supplies 7a and 7b. From the welding power sources 7a and 7, signals of various parameters are input to the motion controller 103 and the pulse waveform measuring unit 105.

In order to create a control program for optimum automatic welding conditions for controlling two series, various welding is performed by inputting CAD values (design values such as pipe outer diameter, plate thickness, material and groove shape). It is generated by the control device 1 as a multi-layer welding automatic welding control program in accordance with a logic table storing conditions, parameters, algorithms and program organization functions. Although it is not a two-series system, the details of such a logic table and the creation of welding data using this are described in Japanese Patent Application No. 7-173 previously proposed by the applicant of the present application.
No. 921.

FIG. 5 shows a front view of the remote operation panel 2. As you can see from this figure, the remote control panel 2
Has a display unit (LCD), an emergency stop button, and various operation keys. The names and operation contents of these operation keys are shown in Tables 1 and 2.

[0022]

[Table 1]

[Table 2] In addition, "home position" in "axis operation" in Table 1 indicates the current position registered by the "home" key + "setting" key in the setup work mode, and by the "home" key + "setting" key All axes can be moved to the home position. Also, "Sakuhara Search"
The key + "Start" key can be used to search the X-axis work origin (same as the machine origin).

FIG. 6 shows a standard welding procedure.
This is a process executed by the motion controller 103 of the NC control device 1 while receiving an instruction from the operator remote operation panel 2 except for the automatic driving step (49).

First, an initialization process is performed by turning on the power of the NC controller 1, and an initial screen is displayed on the display section of the remote operation panel 2 (step 40). On the initial screen, information such as the pipe diameter, material, and wall thickness which is preset in the microcomputer 101 is displayed, and the operator can confirm the information and change it if necessary. next,
The motion controller 103 receives various parameter data from the microcomputer 101 and sets them as internal data (step 41). This parameter data includes system parameters, welding power source mode information, automatic groove measurement parameters, basic welding condition parameters, arc sense scanning control parameters, and the like. The system parameters include selection of one-head system or two-head system, distance between torch and X-axis sensor, interference check allowable head distance (safety distance), and the like. The automatic groove measurement parameter is data designating a groove shape design value described later and the presence or absence of gap measurement.

Next, the operator mounts the head 3a on the guide rail and connects the cable. Further, the servo power is turned on according to the instruction of the operator (step 4).
2). In addition, the operator can select an operation method such as selection of only one head, two heads and two rails, in addition to two heads and one rail, but here, two heads and one rail are selected. I will continue the explanation as if I did.

Next, in response to an instruction from the operator, the head 3a
With respect to the X-axis mechanical origin, the position is set as the origin (X coordinate value 0) of the head 3a (step 43). However, X that detects the X-axis mechanical origin
Since the axis sensor and the torch are separated from each other to some extent, the distance is measured in advance, and the torch-X axis sensor distance x
The position that takes into account is taken as the origin. For example, when the torch is shifted to the negative side from the mechanical origin while reaching the X-axis mechanical origin, the X-axis position of the head is currently set to -x. If the head is returned to the origin of the X-axis in this state, the torch moves to the correct origin position and stops. Next, head 3
After retracting a from the top of the pipe, the other head 3
For b, the same processing as the head 3a is performed in step 44,
At 45.

After that, the interference detection processing of both heads is started.

Next, the working origin of the torch of each head (Y-axis coordinate 0 and Z-axis seat 0) is set according to the operator's instruction (step 46). That is, first, one head is positioned at the origin of the X axis, the torch is returned to the machine origins of the Y axis and the Z axis, and then the manual operation (JO
Position the torch tip at the tube surface height centering on the groove by G). Therefore, this point is set as the origin of the torch (Y axis 0, Z axis 0). The values of the Y-axis distance and the Z-axis distance from the machine origin of the Y-axis and the Z-axis to the origin of the torch are held, and those values are applied to the torch of the other head to determine the torch origin of the head. Set. Since the error between the heads is corrected by the method described later, the setting of the torch origin of the other head can be omitted and there is no problem, and the working time can be shortened.

Next, one of the heads is moved on the circumference of the tube surface by the manual operation of the operator, and the temporary attachment points on the circumference are taught to the apparatus (step 47). This is to exclude that point in the later groove measurement.

Next, in response to an operator's instruction, the two heads divide the entire circumference of the pipe, that is, a plurality of points on the X-axis into two parts, share the groove measurement, and create mechanism correction data (steps). 48). From the remote control panel 2, the operator
Measuring pitch angle in the circumferential direction when measuring the groove (for example, 45 degrees,
90 degrees, etc., groove measurement start point (usually point 1
It is possible to specify the number of measurement points, etc. (usually all points). The groove measurement data and the temporary attachment point data are displayed on the screen of the operation panel 2. Further, these data are also transferred to the microcomputer 101.

Then, in response to an instruction from the operator, an automatic operation of welding with two heads is started according to a program from the microcomputer 101 (step 4).
9). This automatic operation can be interrupted / restarted by an operator's instruction. It is also possible to perform manual rework welding after the interruption.

FIG. 7 shows the process 2 described in step 48 of FIG.
The division of the groove shape measurement by the head and the operation sequence are shown. (A) and (b) correspond to the heads 3a and 3b, respectively. The circles in the figure indicate the outer circumference of the pipe, the circled numbers indicate the positions of the measurement points, and the arrows indicate the movement order. In this example, 4
The head 3a is in charge of 5 points, and the head 3b is in charge of 4 points, with an angular pitch of 5 degrees. Both the heads measure the dot circle 1 at the top of the pipe. This is to absorb an error between both heads, which will be described later.

FIG. 8A shows a processing sequence of an example of the groove shape measurement at one position on the X axis, and FIG.
Indicates the torch movement route of the automatic measurement.
In (a), “SENSE” indicates a measurement instruction by touching the surface of the wire on the tube surface, and “PTP” indicates a movement instruction between points.

In order to correct the deviation in the Y-axis direction between the groove and the guide rail during the groove measurement, the first point (point P, point R) of the groove slope is measured at each measurement position on the circumference. The position of the rear of the Y-axis is corrected at the time of measurement. This correction is performed by correcting the Y-axis position so that the distance in the Z-axis direction between the tube surface and the point P (R) matches the design value.

FIG. 9 shows the result data of the groove shape measurement. The result data varies depending on the time of measuring the groove and the type of groove. That is, (a) and (b) show the result data in the case of the first-step groove and the second-step groove in the case of the initial groove measurement and the pipe surface measurement, respectively. (C) and (d) respectively show the result data in the case of 1-step groove and the case of 2-step groove in the case of welding interruption groove measurement. The initial groove measurement is the measurement performed in the initial setup work of welding work,
This is a detailed measurement of the groove shape such as gap measurement. On the other hand, welding interruption groove measurement refers to measurement performed by temporarily interrupting the welding operation. In this measurement, only the pipe surface and weld bead height are measured. In addition, the tube surface measurement means that only the tube surface is measured.

By the way, the Y-axis mechanical origin and the Z-axis mechanical origin of each head, and the installation positions of these sensors do not necessarily match. Therefore, even if the heads have the same X-axis position and the same mechanism deviation correction is performed for the same Y / Z command value, the Y / Z-axis position of the torch tip may not match. This will be described with reference to FIG.

FIG. 10A shows the heads 3a and 3b at the time of measuring the groove shape at the X-axis origin of the pipe apex in order to explain the head-to-head error in the Y-axis direction. For convenience, the head 3a is shown. , 3b are vertically arranged. As shown in the figure, when the Y-axis machine origins Oya and Oyb (or Y-axis sensor) of both heads are deviated, even if the same groove center is detected by the torch in the groove shape measurement, the Y-coordinate Y of both heads is detected.
a and Yb do not match. (Here, the Y coordinate is shown as a value from the mechanical origin, but in reality, the Y coordinate is obtained as a value from the above-mentioned torch origin.) In other words, at the same X-axis position, the head 3a. , 3b move the torch to the same Y-axis command position, the Y-axis direction positions of both do not match. Such a difference ΔYh between Ya and Yb
Is the Y-axis error between the heads. FIG. 3B shows the heads 3a and 3b at the time of measuring the groove shape at the X-axis origin of the pipe apex in order to explain the head-to-head error in the Z-axis direction. They are shown side by side. As can be seen from this figure, the difference ΔZh between Za and Zb is the Z-axis error between the heads in the Z-axis as well as in the Y-axis.

The result data described with reference to FIG. 9 is assumed to hold data of eight measurement points separately for each head. Therefore, for the points measured by the other head, those data are corrected by the head-to-head errors ΔYh and ΔZh, and the reference is matched with the data of the own measurement point to obtain the same result data as that measured by the own head. . Head 3 for example
When the measured Y coordinate of a is larger than that of the head 3b by ΔYh, the head 3a reduces the Y coordinate of the data regarding the point measured by the head 3b by ΔYh and uses it. In this way, each head holds a set of result data of all measurement points for itself.

FIG. 11 shows an example of a mechanism correction logic for correcting the Y-axis and Z-axis coordinate values based on the result data of the groove shape measurement. This is the motion controller 1
03 is executed by software, and is provided for each head separately. The mechanism correction logic refers to the mechanism correction value table TB from the X-axis coordinate Xg and the Z-axis coordinate Zg of the given command position to correct the correction value ΔZm,
This is to obtain ΔYm. ΔZm is the Z-axis coordinate value Zg
Is a correction amount of ΔZm, and ΔZm of the table TB at the two closest points from the position of Xg is referred to, and the data ΔZ between the two points is linearly interpolated to obtain ΔZm. ΔYm is the Y-axis coordinate value Yg
Of the table TB at the two points closest to the position of Xg by linearly interpolating a ′, a ′,
b ′ is calculated and ΔYm is calculated from ΔYm = a ′ (Zg + ΔZm) + b ′ from this. Note that the Y-axis correction uses not only the X-axis data but also the Z-axis data. This is to cope with the inclination of. Mechanism correction table TB
The respective values of ΔZ, a, and b are obtained as follows.
That is, ΔZ is determined based on the Z-axis coordinate value of the groove center O point at the X-axis position. The value of b is Y of the groove center O
Determined based on axis coordinate values. The value of a is the O coordinate of the groove center (COY, COZ) and the R coordinate of the groove center (CRY, COZ).
CRZ) is calculated by the following equation.

A = (COY-CRY) / (COZ-CRZ) By correcting the Z-axis command value and the Y-axis command value of the X-axis position with ΔZm and ΔYm thus obtained, the mechanism deviation is corrected. Can be corrected.

Next, the simultaneous operation control of the two welding heads 3a and 3b will be briefly described. As an automatic operation method of the two heads on the same track on the circumference, there is an operation method of continuously operating in the same direction, or an operation method of repeatedly operating half directions in the opposite direction. When one of the heads has a trouble, it is possible to switch from the two-head drive to the one-head drive and operate either one of the heads independently. At this time, the other head is removed from the guide rail 12. Also, the operation mode for the operation of two heads is two heads or one head,
It is possible to select eight operation modes of combination of automatic and manual.

Although the preferred embodiments of the present invention have been described above, the specific contents of the system configuration and processing are merely examples, and various modifications and changes can be made without departing from the scope of the claims.
Changes are possible.

[0043]

EFFECT OF THE INVENTION In a two-head type pipe circumference automatic welding apparatus for performing automatic welding by running two welding heads on the same track, the time required for groove shape measurement is shortened by using two welding heads. The mechanism deviation can be corrected with high accuracy.

[0044]

[Brief description of drawings]

FIG. 1 is a configuration diagram showing a schematic configuration of a two-head type pipe circumference automatic welding apparatus according to the present invention.

FIG. 2 is an explanatory view of the operation of the head and the torch in the welding device of FIG.

FIG. 3 is an explanatory diagram of accessory parts of the head in the welding apparatus of FIG.

4 is a block diagram showing an internal configuration of an NC control device 1 of the welding device of FIG. 1 and a connection relationship with an external device.

5 is an external view of the front of the remote operation panel 2 shown in FIG. 1. FIG.

6 is a flowchart showing a welding work procedure of the welding apparatus of FIG.

7 is a second view of the groove measurement processing shown in the flow of FIG.
FIG. 7 is an explanatory diagram showing an example of head allocation.

8 is an explanatory diagram of the operation of the groove measurement processing shown in the flow of FIG.

FIG. 9 is an explanatory diagram of result data obtained by the groove measurement processing.

FIG. 10 is an explanatory diagram of an error between heads.

FIG. 11 is an explanatory diagram of a mechanism deviation correction logic based on result data obtained by the groove measurement processing.

[Explanation of symbols]

1 ... NC control device, 2 ... remote operation panel, 3a, 3
b ... welding head, 4a, 4b ... torch, 5a, 5b ... welding solid wire, 6a, 6b ... wire spool, 7
a, 7b ... Power supply device, 8a, 8b ... Special cable for multi-core, 9a, 9b ... Capytire cable, 10 ... Pipe, 11 ... Groove part, 12 ... Guide rail, 13 ... Display, 14 ... Keyboard, 15 ... mouse

Front page continuation (72) Inventor Ikuo Ikuo 2982-3 Sugaya, Naka-machi, Naka-gun, Ibaraki Prefecture (72) Inventor Kenichi Maeda 1225-47 Tenjinbayashi, Hitachiota-city, Ibaraki Prefecture

Claims (7)

[Claims] 1. A first and a second welding head, each holding a torch, are movably installed on a pipe to be welded on an X-axis along the same orbit on the circumference of the pipe, and each torch. Is a mechanism deviation correction method in a welding apparatus that automatically welds the circumference of a pipe while moving the Z axis direction perpendicular to the pipe surface and the Y axis direction orthogonal to both the X and Z axes. , The position of the groove of the pipe to be welded is measured by sharing multiple points on the X-axis, and the head-to-head error of the Y-axis and Z-axis measurement values of the torches of both heads is measured at one point on the X-axis. ΔYh and ΔZh are obtained, and when the mechanical deviation is corrected for each torch of both heads at the X-axis position where the own head is not measured, the measurement result data measured by the other head is used as the head-to-head error ΔY.
A mechanism deviation correction method for a two-head automatic pipe circumference automatic welding apparatus, characterized in that it is used after being corrected by h and ΔZh to correct the mechanism deviation. 2. A first and a second welding head, each holding a torch, are movably installed on the pipe to be welded on the X axis along the same track on the circumference of the pipe, and each torch is provided. Is a mechanism deviation correction method in a welding apparatus that automatically welds the circumference of a pipe while moving the Z axis direction perpendicular to the pipe surface and the Y axis direction orthogonal to both the X and Z axes. , The position of the groove of the pipe to be welded is measured by sharing multiple points on the X-axis, and at that time, both heads measure at one point, and the measurement results at the one point on the X-axis From the head-to-head error ΔYh of the measured values of the Y-axis and Z-axis of the torches of both heads
And ΔZh are calculated, and for each of the first and second heads, the head-to-head errors, ΔYh and ΔZh, are taken into consideration with respect to the measurement result data of the points that the own head did not measure, and all measurements are made for each head. The measurement result data of the point is obtained, and the mechanical deviation is corrected based on the measurement result data for the own head with respect to the Y-axis and Z-axis commanded positions of the torches of the first and second heads. A method for compensating for a mechanical deviation of a two-head automatic pipe circumference automatic welding device that features. 3. For each torch of each head, X,
After aligning the mechanical origins of the Y and Z axes, set the working origin of each torch, and use the work as the origin of the command value that indicates the Y-axis and Z-axis positions. The mechanism deviation correction method for a two-head pipe circumference automatic welding apparatus according to claim 1 or 2, wherein the upper origin is used. 4. A table capable of obtaining a correction amount for the Z-axis and a Y-axis corresponding to each X-axis position where the groove shape is measured is created, and the correction of the mechanism deviation based on the measurement result data is performed in the table. 5. The method for correcting a mechanism deviation of a two-head type pipe circumference automatic welding device according to claim 1, 2 or 3, wherein 5. The X-axis position other than the X-axis position at which the groove shape is measured is linearly interpolated and used for the measurement result data of the two most recent measurement points.
Method for compensating for mechanical displacement of head type pipe circumference automatic welding equipment. 6. The Y-axis correction amount in the table is characterized in that the inclination of the groove center line is also taken into consideration by using the Z-axis value reflecting the Z-axis correction amount of the X-axis position. A method for correcting a mechanism deviation of a two-head type pipe circumference automatic welding device according to claim 4 or 5. 7. A first and a second welding head, each holding a torch, are movably installed on the X-axis along the same orbit, and each torch is in the Z-axis direction perpendicular to the pipe surface,
A welding device for automatically welding the circumference of a pipe while moving in the Y-axis direction orthogonal to both X and Z axes, and for each torch of each head, the mechanical origin of each of the X, Y, and Z axes. On the X-axis, and a machine origin position aligning unit for aligning with the head and a groove measuring unit for measuring the groove shape of the pipe to be welded by sharing a plurality of positions on the X-axis by both heads. Head-to-head error calculating means for determining head-to-head errors ΔYh and ΔZh of Y-axis and Z-axis measurement values of the torches of both heads at one location, and the heads of each of the first and second heads are not measured. Measurement result data calculating means for obtaining the measurement result data of all the measurement points for each head as the measurement result data for its own head in consideration of the inter-head errors ΔYh and ΔZh with respect to the measurement result data of the different points; First And the Y-axis and Z of each torch of the second head
A two-head type automatic pipe circumference welding apparatus, comprising: a mechanism deviation correction unit that corrects a mechanism deviation based on measurement result data for the head itself with respect to a commanded position of an axis.