JPS59150668A - Automatic control device for welding - Google Patents

Abstract

PURPOSE:To control a torch in accordance with the extent of shifting in a welding route from initial to final layers and to perform automatically multi-layer build-up welding by teaching the welding route for the initial layer and setting the extent of shifting the torch in the 2nd and succeeding layers. CONSTITUTION:The weld line of an initial layer is A B C and the Y- and Z coordinates in the torch aiming position of an initial layer L1 are used as the standard for setting the torch aiming position of the 2nd and succeeding layers. The extent of shifting in each layer is therefore inputted from a setting part 24 to an automatic control device 10 for welding in order to calculate the Y- and Z coordinates L2, L3 of the 2nd and succeeding layers with said control device, and the result of the calculation is stored through a control part 22 into a storage part 26. The torch is successively matched with the pints A, B, C in order to teach the torch aiming position of the initial layer L1 and the X-, Y- and Z coordinates of the points A, B and C are stored in the part 26. The forward and backward welding is thus accomplished automatically.

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to an automatic welding control device, particularly an automatic welding control device that is controlled by a microcomputer and can automatically perform multilayer welding on a nearly straight welding line. be.

Automation in the welding field has been progressing rapidly in recent years, and especially since the commercialization of welding robots as exemplified by the automatic welding industry, the speed of automation has been accelerating in order to increase production efficiency.

However, on the other hand, it has been difficult to automate long objects in fields such as shipbuilding and steel bridges using stationary robots. Particularly thick structures require not only one layer of welding, but often dozens of welded layers (multilayer welding).
These laminations naturally require changing the aiming position of the bath torch for each pot 1i.

In conventional control devices, a welding torch was attached to control the traveling speed of a traveling bogie running on a traveling rail.
In order to perform multilayer welding with this device, it was necessary to align the running rail parallel to the welding line and change the target position of the bath welding torch for each layer.

Furthermore, as an improved control device, the welding torch target position for each layer during welding lamination is set in advance as a relative shift amount with the first layer as a reference in the control unit, and the torch target position change is automated. However, with this device, 0
The relative shift amount for the layer is only set, and in order to ensure the torch aiming position for the vJ layer, the traveling rail is aligned parallel to the bath tangent line, and the welding torch is adjusted to the welding start point. There was a need.

The present invention has been made in view of the above-mentioned conventional problems, and its purpose is to teach the welding path of the 0th layer, and to set the relative shift of the torch with respect to the 0th layer for the 2nd and subsequent layers. It is an object of the present invention to provide an automatic bath contact control device that can shorten working time through the control action of a control section for automatically controlling the bath contact path from t7J Vl to the final layer based on the shift amount.

In order to achieve the above object, the present invention provides an automatic welding control device that uses a microcomputer to control an automatic arc welding device for forming multiple bath contact layers on a workpiece having a bath tangent close to a straight line. A setting section for inputting the torch target position for each layer after the layer as a shift amount with respect to the first layer, a storage section for storing the welding route from the welding start point to the end point of the first layer, and a welding section for the first layer based on the welding route for the first layer. The present invention is characterized by comprising a control section for automatically controlling a welding path from the 0th layer to the final layer based on the shift amount.

A preferred embodiment of the present invention will be described below based on Figure hJ.

FIG. 1 shows the overall configuration of a welding system using an automatic welding control device [10] according to the present invention, and in the figure, the automatic welding control device 10 automatically controls the bath welding travel path of a traveling cart 12. ing.

The traveling trolley 12 is equipped with a drive motor 14, 16, 18 for traveling along a travel path corresponding to the welding line of the workpiece, and the driving motor 14, 16, 18 is used to weld the welding line for each welding line. Direction (x-), horizontal shift (Y-), vertical shift (
2-) move the traveling trolley 12.

Further, a detector 20 is arranged on the traveling truck 12, and the detector 20 is directly connected to the drive motor 14.16.18 to detect the state of movement of the traveling truck by the motor 14.16.18, Self! A detection pulse signal is sent to the bath control device 10.

In the figure, the automatic welding control device IO has a control section 22, and the control section 22 controls the traveling route for the second and subsequent layers, and for this purpose? ) Memory control of shift) t is performed to move the torch aiming position by a predetermined amount with respect to the welding path of JIfJ.

The automatic welding control device 10 further includes two
Setting section 2 for inputting and setting each shift) t after the layer
4, and the shift amount set in the setting section 24 and stored in the storage section 26 via the control section 22 is
In step 2, the calculation is performed together with the welding line data of the 0th layer sent from the @iI detector 20, and welding line settings for the second and subsequent layers are performed.

The storage section 26 is constituted by an IC memory, and the setting section 2
It stores the shift amount set by 4, and 2
Memory control is performed by the n11 distribution control unit 22 in order to set welding lines for layers and subsequent layers.

Further, the automatic static control device f&to has an input/output circuit 3°, and the input/output circuit 30 receives the pulse count of the traveling truck 12 from the detector 20 mounted on the traveling truck 12 via the pulse counting circuit 28. Receive pulse signals corresponding to the position.

The input/output circuit 30 sends and receives the pulse signal (data on the movement status of the traveling route by the drive motors 14, 16, and 18 in each direction) to the control unit 22, and also stores the pulse signal in the storage unit 26 and uses the welding route of the layers as a reference. A calculation control value obtained by calculating and controlling the shift amount for welding the second and subsequent layers and the pulse signal is obtained.

Here, the pulse count circuit 2B is connected to each axis (
Direction) Detector 2 directly connected to drive motor 14.16.18
The pulse signal sent from 0 is measured by AF, and the measured pulse signal is supplied to the input/output circuit 30.

Further, the automatic welding control device IO is provided with a motor drive circuit 32, and the motor rK drive circuit 32 receives a signal that is calculated and controlled by the control section 22 sent from the input/output circuit 30, and runs the motor rK drive circuit 32. By sending (if) to each shaft drive motor 14, 16, 18 disposed on the trolley 12, movement along each welding line and shifting action for the second and subsequent layers are automatically performed.

A power source 34 is connected to the input/output circuit 30, and supplies power to the entire automatic welding control device 10.

In FIGS. 2 and 3, the base material 36 which becomes the object to be bathed.
38 is shown, and a traveling carriage 12 (not shown) travels for welding in the X-axis direction of the base material 36.38. FIG. 2 shows a laminated cross section in multi-layer build-up welding in the case of three-layer welding in which 36.3 g of base material is fillet welded.

In FIG. 2, the torch aiming positions of the second layer (L, ) and third layer (L,) based on the torch aiming position L1 (0%0) of the first layer are sent from the control unit 22. The Y-axis and two-axis coordinates are respectively controlled by the calculation control signal.

The embodiment of the present invention has the above configuration, and its operation will be explained below.

In Fig. 2.3, the first layer welding line is A - + B - + C, and the Y and Z coordinates of the torch aiming position in the first layer are set as the torch aiming position setting standard for the second and subsequent layers (0 ,0)
shall be. In this case, the Y and Z coordinates of the second and third layers are expressed as "t (Yz, z, Ls ("a, zs), respectively.

First of all, 2nd layer, 3rd layer 117) Y, Z coordinates Lt, L
In order to calculate s in the automatic welding control device IO, the shift angle of each layer is set and inputted from the setting section 24. The shift location is then stored in the storage unit 26 via the control unit 22.

Next, adjust the torch position to point A in order to teach the torch target position for the first layer. Here, the setting unit 24 teaches that it is the starting point, and as a result, the A point 17) X% Y%
The Zffl mark is stored in the storage unit 26 as (0, 0, 0). Similarly, for points B and 0, each k(X', 0.0
), (xI, 0.0) can be stored. Note that each coordinate corresponds to each shaft drive motor 1 of the welding traveling trolley 12.
The value of the detector 20 directly connected to 4.16.18 is measured by the pulse count circuit 28 and stored by taking it into the storage section 26.

With the above, the teaching of the torch aiming position for the W layer and the setting of the relative shift amount for the second and subsequent layers are completed.

Is it necessary to start welding the first layer manually? When the teaching of the 7J layer is completed, the torch is at the 0 point position, and when a command to start welding is issued at this position, the welding traveling trolley 12 starts welding in the direction of points B and A without generating an arc from the torch. .

When returning to point A, the arc is automatically cut and the torch is automatically shifted to the second layer coordinates "t (Yz, zt). When the shift is completed, the arc is generated again and the torch is moved to point B.
, perform welding toward the 0 point. In this way, the control unit 22
Shift alarm based on the initial layer bath contact stored in memory +tAz6 via +tAz6 and the detector 2 mounted on the traveling trolley 12
The control unit 22 calculates and controls the detection pulses that are sent to the vehicle, and sends the calculation results to the drive motor 14.1 mounted on the traveling bogie via the input/output circuit 30 and the motor electric circuit 32.
By transmitting the signal to F+, 18, welding of the second and subsequent layers can be controlled and reciprocating welding can be performed automatically.

In addition, although the above description takes the case up to the third layer as an example, it is possible to obtain the same effect as described above even if there are any number of layers thereafter.

As explained above, according to the present invention, it is possible to combine the teaching of the welding position of the first layer and the storage of the relative shift amount of the torch for the second and subsequent layers, and at the same time, to perform reciprocating welding as is after teaching the first layer. The preparatory work and bath welding time before the start of slag contact can be shortened, making it possible to significantly improve efficiency.In addition, the relative shift amount from the second layer onwards can be left as is, even if the base material changes. This has the effect of making it possible to respond simply by teaching the following.

[Brief explanation of the drawing]

Figure 1 is a block diagram showing a preferred embodiment of the automatic welding control device according to the present invention, Figure 2 is an explanatory diagram showing the bath contact state of the workpiece, and Figure 3 is an explanatory diagram showing the welding state of the workpiece. FIG. In each figure, the same members are given the same reference numerals, and 10 is an automatic welding control device, 12 is a traveling truck, 24 is a setting section, 22 is a control section, 26 is a storage section, and 30 is an input/output circuit. Agent Patent attorney Makoto Kuzuno - (and other names) 1 J Showa year, month, day 2, Name of the invention Automatic welding control device 3, Relationship to the case of the person making the amendment Patent applicant address 2-chome Marunouchi, Chiyoda-ku, Tokyo 2 No. 3 Name (601,) Mitsubishi Electric Co., Ltd. Representative Katayuni 8 Department 4, Agent (Contact information 03 (213) 3421 Patent Department) 5, Subject of amendment 1 email

Claims (2)

[Claims] (1) For objects to be welded that have a nearly straight weld line,
In an automatic welding control device that uses a microcomputer to control an automatic arc welding device for forming multiple welding layers, what is the target position of the torch for the second and subsequent layers? IJ) A setting section for inputting the shift amount for Wt, a storage section for storing the welding path from the welding start point to the end point of the first layer, and a welding section that automatically stores the welding path from the 0th layer to the welding path of the first layer as a reference. An automatic welding control device comprising: a control section that controls a welding path up to the final layer based on the shift amount. (2) In the device according to claim (1),
The automatic welding control device is characterized in that, after the teaching up to the end point of the W layer is completed, the control section immediately controls return welding that is shifted and calculated from the end point, and performs welding using the reciprocating path up to the final layer. .