JPH10272574A - Welding method by arc welding - Google Patents

Abstract

PROBLEM TO BE SOLVED: To enable the optimum welding conditions to be determined in starting welding by setting a gap for the starting point of welding. SOLUTION: Fillet welding is performed on a vertical plate 11 and a bottom plate of a fillet welded joint which is situated with a root gap open by a welding robot equipped with a wire 13 and a wire touch sensor. The position (1) of the vertical plate 11 is detected by bringing the wire 13 into contact with the plate 11; then, the position (2) of the bottom plate 12 is detected by retreating the wire in the direction opposite to the vertical plate 12 by a prescribed distance A from the position (1), lowering it in the direction of the bottom plate 12, and bringing it into contact with the plate 12; and then, the corner position (3) of the vertical plate 11 is detected by raising the wire 13 by a prescribed distance B from the position (2) and moving it by a prescribed distance x in the direction of the vertical plate 12. After that, the root gap G of the fillet welded joint is detected by an equation I. G=(a)tanθ+B+ Dcosθ...I, provided that (a) is distance x less distance A, θ is the inclined angle of the wire 13 against the bottom plate 12, and D is the diameter of the wire 13. The welding conditions are determined in accordance with the value of G so detected.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a welding method by arc welding for appropriately controlling welding conditions of a welding robot.

[0002]

2. Description of the Related Art Conventionally, a wire touch sensor provided as an indispensable technology of a welding robot is conventionally used for detecting the position of a joint, and generally used for setting a starting point and an ending point of welding. In setting the joint gap, there is an application example of butt welding in which the groove width is relatively wide. The fillet joint gap is much smaller than the butt joint,
Small changes in the gap will impair the welding result.

[0003]

SUMMARY OF THE INVENTION An object of the present invention is to determine an optimum welding condition at the start of welding by setting a gap at a welding start point, particularly for a fillet joint of a structure in which accuracy is likely to be poor. And to provide a welding method by arc welding.

[0004]

According to the first aspect of the present invention,
In a welding method by arc welding, a fillet weld between a standing plate (11) and a lower plate (12) of a fillet joint located with a root gap opened using a welding robot having a wire (13) and a wire touch sensor, The wire (13)
Is brought into contact with the upright plate (11) to detect the position of the upright plate (11), and then retracted by a predetermined distance A from the position in the opposite direction to the upright plate (12).
It is lowered in the direction of 2) and is brought into contact with the lower plate (12) to detect the position of the lower plate (12). Then, the position is raised by a predetermined distance B from the position, and then the direction of the upright plate (12). The wire (13) is moved by a predetermined distance x to detect the position of the corner of the standing plate (11).
The following equation (1), G = atan θ + B + Dcos θ (1) where a is a distance obtained by subtracting the distance A from the distance x, and θ is
The inclination angle D of the wire 13 with respect to the lower plate 12 is characterized in that the root gap G of the fillet joint is detected by the diameter of the wire 13.

According to a second aspect of the present invention, G is detected by the method of the first aspect, the distance B is set sufficiently small, and a
When = 0, it is determined that G = 0, and when a> 0, the value of G in the above equation (1) is used, and the optimum welding condition is selected based on the value of G thus obtained. is there.

According to a third aspect of the present invention, in the first aspect of the present invention, if the value of G obtained by the above equation (1) exceeds the value of the maximum gap that can be welded at the welding start point, welding is disabled. The feature is that welding is stopped when it is determined that the welding is possible.

[0007]

Next, an embodiment of the present invention will be described with reference to the drawings. FIG. 1 is a side view showing an embodiment of the present invention. Using a welding robot having a wire 13 and a wire touch sensor, the fillet joint of the fillet joint 11 and the lower plate 12 located with a root gap opened is arc welded. In FIG. 1, the positions where the wires 13 move are indicated in order by reference numerals 1 to 6 in FIG. First, the wire 13 is connected to the standing plate 11.
To make contact with the standing plate 11 to detect the position of the standing plate 11. Next, it is retracted from the position by a predetermined distance A in the direction opposite to the standing plate 12. Next, the position of the lower plate 12 is detected by lowering in the direction of the lower plate 12 and bringing the lower plate 12 into contact with the lower plate 12. Next, it is raised by a predetermined distance B from the position. Next, the wire 1 is moved a predetermined distance x in the direction of the standing plate 12.
3 is moved to detect the position of the corner of the standing plate 11.
Next, the root gap G of the fillet joint is detected by the following equation (1).

G = atan θ + B + Dcos θ ...
(1) where: a: distance obtained by subtracting distance A from distance x θ: inclination angle of wire 13 with respect to lower plate 12 D: diameter of wire 13

In FIG. 1, atan θ = y,
Dcos θ = C. When G is detected as described above, the distance B is set sufficiently small, for example, 0.5 m
m, and when a = 0, it is determined that G = 0. On the other hand, a>
When it is 0, the value of G in equation (1) is used. G thus obtained
The optimum welding condition is selected according to the value of and the welding condition is controlled.

At the welding start point, if the value of G obtained by the equation (1) exceeds the value of the maximum gap that can be welded, it is determined that welding is impossible and welding is stopped.

[0011]

As described above, according to the present invention, in a welding method using arc welding, a gap in a fillet joint of a structure, in which accuracy is liable to occur, particularly, a gap at a welding start point is recognized, and welding is performed. The optimal welding conditions at the start can be determined, thus providing an industrially useful effect.

[Brief description of the drawings]

FIG. 1 is a side view showing an embodiment of the present invention.

[Explanation of symbols]

 11 standing board 12 lower board 13 wire

Claims (3)

[Claims] An arc welding method for welding a fillet joint between a standing plate (11) and a lower plate (12) of a fillet joint with a root gap opened by using a welding robot having a wire (13) and a wire touch sensor. The wire (13) is brought into contact with the upright (11) to detect the position of the upright (11), and then a predetermined distance A from the position in the direction opposite to the upright (12). The lower plate (1) is retracted and then lowered in the direction of the lower plate (12).
2) to detect the position of the lower plate (12)
Then, it is raised by a predetermined distance B from the position,
The wire (13) is moved by a predetermined distance x in the direction of the standing plate (12) to detect the position of the corner of the standing plate (11), and then the following equation (1): G = atan θ + B + Dcos θ (1) where a is a distance obtained by subtracting the distance A from the distance x, and θ is
A welding method by arc welding, wherein a root gap G of a fillet joint is detected based on the inclination angle D of the wire 13 with respect to the lower plate 12 and the diameter D of the wire 13. 2. The method according to claim 1, wherein G is detected.
When the distance B is set to be sufficiently small, when a = 0, it is determined that G = 0, and when a> 0, the value of G in the equation (1) is used.
A welding method by arc welding, wherein an optimum welding condition is selected according to the value of G thus obtained. 3. At the welding start point, when the value of G obtained by the above equation (1) exceeds the value of the maximum gap that can be welded, it is determined that welding is impossible and welding is stopped. The method of claim 1.