JPS59232668A - Controlling method of groove profiling - Google Patents

Abstract

PURPOSE:To perform satisfactory welding by picking up the image near a groove with a camera prior to welding, deriving the weld line connecting the intermediate points of both groove walls of the groove and moving a torch. CONSTITUTION:A light source 13 is lighted and a torch 10 is moved along a groove 8 by a control part. The image near the groove 8 is picked up with a camera. The line connecting the intermediate points of both groove walls in the groove base is derived as the weld line to be profiled and the position of both groove walls and weld line are stored with an arithmetic device. The distance from the stored support point up to the weld line is read out with the control part and an operation signal is outputted, by which the torch 10 is moved and is disposed in the prescribed profiling position and thereafter welding is started. The weld line of the groove is thus easily and exactly detected and satisfactory welding is accomplished.

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a groove tracing control method in which welding 1--chi is imitated to the welding line of a groove formed in a peritoneal-d' joint, and vice versa. Objective 1-1 is to detect the line easily and accurately and to be able to perform good welding.

Generally, as shown in Fig. 1, a pipe inter-connecting joint is made up of an L-I pipe (1) and a branch pipe (2) inserted into a hole (1)' formed in the main pipe (1). The so-called nozzle neck part (
When welding by copying the narrow gap (4) made in 3),
Weld 1 and 11.17 to the two ends of 1 and 1:
1'liJ while bringing the contact sensor such as a moving transducer into contact with 1+111-ma/ko (/; I, the imitation formed on the outside) 7ij of the branch pipe (2) Record i
--Make 7 moves, MiJ; 1R from the product sensor. Follow the example of “i”
i”WL! The l--ch is being moved hyperactively to perform copy welding of the narrow gap (4).

However, as shown in Figure 1, the center of the hole (1) and the branch pipe (
If the middle U of 2) is misaligned, the peripheral surface of the branch pipe (2) will be 1 and 1°1! i (The fabric tangent line derived by contacting the sensor and the center line of the groove (4) do not match, 1) Even if you move 1) 11-1 by following the iJ notation tangent, the self IJ notation does not match. The tip C of 1.-chi will be moved to a position deviated from the middle 1. line, making it impossible to form a uniform welding beat at the groove (4), resulting in good welding. The disadvantage is that it cannot be done.

In addition, it is necessary to process 1) iJ imprint iMj on the branch pipe (2), and the MiJ imprint must be processed smoothly so that the sensor can easily slide. In addition, only pipes with a shape that can be machined with the profiled surface can be applied to the branch pipe (2), which limits the number of ways that can be welded. However, there is a problem of ii:J in that the sensor is affected by heat during welding, causing deterioration of the sensor and wear of the fingers.

This invention is based on rJiJ,,L! This was done keeping in mind the following points, and a welding force that was movable within the groove formed in the pipe joint consisting of the main pipe and branch pipes was attached, and the - Move the groove to the groove, and use an industrial television camera connected to the MiJ fiber to take an image of the vicinity of the groove via the MiJ fiber, and receive a monitor television image. Depending on the machine, +
ii Displaying an image of the vicinity of the groove marked MiJ, and having the processing unit derive in advance a weld line connecting the positions of both groove walls of the groove marked MiJ to the midpoint of the two groove walls based on the image. The present invention provides a groove tracing control method characterized in that the control section moves []IJ 1--CH following the +'+il welding line to perform welding.

Therefore, according to the groove tracing control method of the present invention, prior to welding, the vicinity of the groove is imaged by an industrial television camera 1:I) through an optical fiber and displayed on a monitor television receiver 1. )′l.

Based on the image of the vicinity of the groove described above, a welding line connecting the midpoint of both groove walls of the own IJ groove was derived, and welding 1.-ch was moved following the welding line. Even in the case of -C, which has a fluctuating groove width, the welding line of the groove can be easily and accurately detected, and welding can be performed with good fX.

Next, we will show one embodiment of this invention.

This will be explained in detail along with the following drawings.

In Figures 2 to 4, (5) B In 'i
'i, (6) is a branch pipe that is orthogonally crossed and joined to the main pipe (5) and forms a pipe-penetrating joint (7) with the main pipe (5).
(8) is the circular ■-shaped gap formed on the i sputum hand (7),
(9) is the backing groove provided at the bottom of the groove (8), 1.
The inside of O is fed with welding Y (11) and the groove (8
) is a rectangular arc-generating welding torch that is movable along the support point and rotatable around the support point. The optica I reflector that monitors the vicinity of (8) is) -- the light source for illumination that is taken from (10), (
14) is a light source (rTl source for I■, (lυ is a filter,
(j6) is an industrial television that is connected to the fiber (t)2) via the fiber (1 fiber and filter L15) and images the vicinity of the groove (8) and outputs the captured 1φ signal. John camera (hereinafter referred to as the camera), u is the image Asahikawa 1 device connected to the camera (16), ) 18) u
: Processing device (1 via 1) 1J recording 1@! '1M
When g is input, a monitor television receiver (hereinafter referred to as a monitor) displays an image of the vicinity of the bevel (8) on the screen t1g)'j-, (l is an interface l"l path+
i) The processing device Qη is connected to the processing device Qη through the processor BAB device U, as shown in FIG. The Asahikawa 1 signal is output to the device (1! place f
! +', VCJ+ (The position of both groove walls of groove (8) and the weld line connecting the point between both groove walls of nIJ are calculated and memorized, and "fj 'y" is configured in l. has been done.

(22) shows the torch (10) along the groove (8) above the support 4.
' The first drive part drives the moving motor that rotates with four points as center points, t23+ is a wire (1
・-Chi (1 (2nd drive unit that drives the rotation motor that turns the force 1! Shi, 1241 moves the 1-chi (10) up and down.) - The downward movement motor 11] According to the above-mentioned iii + - p, ', the moving parts (24) are operated to each 151, and the torch 1lO) moves to a predetermined tracing ft'1.i1'i. Each drive unit'!221~124)
(25j is configured.

Then, the focus of the camera (I6) via the fiber μ is set to the groove shoulder at the upper end of the groove (8), and the light source t13) is turned on to turn the torch QO on the open side j ( 25j is moved one step ahead of the groove (8) and the vicinity of the groove (8) is imaged by the camera 06) via the fiber u. Monitor (181
The imaging signal is output to the monitor 08), and the light source u3
The inside of the 15-FJ tip (8), where the light from the As shown in the second and lower ends of Figure 4, lines A and B corresponding to the upper edges of both groove walls of the groove (8) are displayed brightly, and the processing device (I Screen Q8)
A vertically elongated signal frame (S) with a predetermined width is superimposed on the image.

Further, the 6-embedding device (17) adjusts the screen brightness of each point in the width direction of the signal frame (S) within the signal frame (S) for each scanning line number in the vertical direction of the signal frame (S). One word corresponding to the number is integrated and transformed into a formula 1, and numerical data with the [)IJ specified scanning line number as shown in FIG. 5 is derived and the processed signal is modified based on the numerical data. The positions of the points C and I at which the numerical data on the curve shown in FIG. The position of each point on line A3B in S) is calculated, and based on the calculated position of each point on line A3B, the positions of both groove walls at the groove bottom are derived. At the same time, these operations are repeated to derive the actual position U'1 of both groove walls at the groove bottom, and the groove wall position iFL recorded by mJ at the groove bottom is The line connecting the midpoints of both groove walls at
No E (+iii) position of both groove walls and ")1
1. The welding line is written.1. (1) Depends.

At this time, the positions of both groove walls are as shown in the curves E and F in the 6th Iχ1.
-1・[)I at the bottom of the groove from the n1J support point
The distances M (θ) and N (θ) in the double-grooved wall groove marked J are the center height, and the welding line marked IJ is as shown by curve G in the same figure. ) The distance L(θ) from the support point 1j to each midpoint of the groove walls at the bottom of the groove, that is, to the welding line, is L(θ) 1Mi(θ) 1N(θ)/
Derived according to formula 2.

be remembered. Here, θ is 1) the oral angle (unit: degrees ).

Next, when welding is to be performed, the calculation signal is stored in the Mi calculation signal (19), the drive units of the control section t251) to (24j are activated, and the torch (1o) is moved. a torch flO is disposed at a predetermined height on the welding line, and a torch flO is disposed in alignment with the tangential direction of the welding line;
--After CH+IQ is placed at the predetermined tracing position, welding starts.
251 K YoD, l--chi flO) is moved following the welding line, and the welding of the groove (8) is done.
Ru.

Therefore, 1) According to the embodiment described in IJ, prior to welding, a camera (
16), and the image near the groove (8) is displayed on the monitor (18)! j (zuki, processing section (21)
The welding line connecting the midpoints of both groove walls of the groove (8) is determined using the % part (25j). Even if the groove (8) has a fluctuating element, the groove (8) according to 11J
It is possible to detect the weld line easily and accurately, and it is possible to perform good welding.

Furthermore, during welding work, the bath contact status of the groove (8) can be monitored from a remote location using a fiber @, camera (10) and monitor (18). However, it is still possible to visually see images near the arc, which is useful.

In addition, there is no deterioration due to abrasion of the commercial sensor that occurs in the case of tracing contact using conventional contact sensors, and there is no effect of heat during welding, making it easy to connect wires to +iii record 1. 3, which can be detected;

[Brief explanation of the drawing]

Fig. 1 is a plan view of the M joint of pipe A, and Fig. 1f11 of the second part 1 and below shows the groove copy of this invention. 1 large / 1 fii example of the I power method, Jze (゛;Karizu,',J: Figure 4 is a diagram showing an image of a certain prone step displayed on a monitor television receiver.
Figure 5 is a diagram of the relationship between numerical data and scanning line numbers calculated by the processing section, and Figure 6 is the distance and rotation from the support point of welding toe j to both groove walls and the weld line derived by the processing section. It is a relationship diagram with the Shizuru angle. (5)...1 pipe, (6)...branch pipe, (7)...
Pipe shell joint, (8)...Narrow tl tip, tIO)...
Welding 1・-chi, tlJ...Optical phi/<,
Qe...Karai television camera, (18)...
Monitor television receiver, (21)...processing unit,
(251...Control Department. Agent Patent Attorney Fujita NB Abe Section, Kazutsu Tsuki) -) -O1-

Claims (1)

[Claims] ■ Attach an optical fiber to a welding torch that is movable within a groove formed in a pipe E1 joint consisting of a main pipe and a branch pipe, and move the torch overflowing into the groove marked 1jIJ. , an industrial television camera connected to the fiber takes an image of the vicinity of the groove via the L fiber, and a monitor television receiver captures an image of the vicinity of the groove with the niJ camera. The processing section derives in advance a welding line connecting the positions of both groove walls of the groove to the midpoint of the two groove walls based on the image, and the control section - - A groove tracing control method characterized in that welding is performed by moving a groove along the welding line.