JPS60111778A - Method for controlling automatic welding device - Google Patents

Abstract

PURPOSE:To perform stably and surely multi-layered welding by calculating the welding area of objects to be welded from the groove shape thereof by an optical shape detector, determining welding conditions and build-up pattern and performing welding while moving a welding torch to the welding position. CONSTITUTION:An optical shape detector 28 is controlled in a direction Y and the output thereof and the output of a potentiometer 29 are inputted to a control device 10 which recognizes the groove shape of objects 39 to be welded and calculates the area necessary for welding of the groove part, thereby determining the inital conditions and sequence for welding. The build-up pattern of beads is predicated from the area value and the groove shape. A welding torch 31 is then moved to the position for starting welding, then welding is started. The groove part is scanned by the detector 28 during welding and the next min. value (recess) 42 is detected within the specified range 41 from the position of the torch 31 by using the output from said detector, by which the welding spot is exactly determined and the moving position of the torch 31 is set.

Description

[Detailed Description of the Invention] The present invention relates to a method of controlling an automatic welding device.
The present invention relates to a method of controlling automatic tracing while recognizing the groove shape of a welding target.

As a method for performing welding by recognizing the groove shape of the welding object, there is a slit method using light. In this method, as shown in Figure 1, two plane beams pass through a slit.
is projected onto the welding object I, the refraction point 3 of the light at the contact portion is detected, and the welding torch (not shown) is assigned 1.

However, in multilayer welding, the changes in the unevenness of the welded part become complicated, so this method has the disadvantage that it is even more difficult to perform processes other than welding.

In addition, as shown in Fig. 2, in the conventional method for multi-layer welding, according to the groove shape of the welding object 4, bath contact conditions such as voltage, current, speed, etc., and bead thickness are determined in advance. There is a method of calculating the pattern 5 in advance and then controlling the welding torch (not shown).

However, this method has the disadvantage that it is only possible to perform control according to a fixed sequence, and therefore it is not possible to correct any deviation from the initially predicted state during welding.

This invention was made to eliminate the above drawbacks,
Recognize the groove shape of the object to be welded, calculate the area of the tip of the weld, and use this to determine the voltage required for special capacity welding, city b1
The welding effect can be improved by setting welding conditions such as speed and speed, and even during welding, the optical shape detection device recognizes the groove shape one by one and matches the initially predicted shape. It is an object of the present invention to provide a method for controlling automatic welding equipment that can correct the welding torch position according to the deviation of the welding torch and also recognize the final bead overlay pattern.

In this invention, the groove shape of the welding target is recognized by the output of an optical shape detection device that scans the groove of the welding target, and the groove is detected by the output of recognizing the groove shape. The welding area is calculated, the welding conditions such as Yamada, current, and speed are determined, and the bead build-up pattern for the groove is determined, and the welding torch is connected to the The above object is achieved by using a step of moving the welding point to a welding position corresponding to the minimum value and performing welding under the welding conditions.

Embodiment 1 of the present invention will be described below with reference to the drawings.

In this invention, first, before starting welding, the shape of the groove of the welding object is thoroughly known, and its cross-sectional area is calculated. Based on this result, the various conditions necessary for bath welding, that is, the voltage, 'It is used to set airflow, speed, etc. That is, as shown in Figure d-3, the area 6 of the groove of the object 4 to be contacted (from ↑ to 1 minute indicated by diagonal lines) is calculated and welding conditions are set.

FIG. 4 shows a system of an automatic welding device according to the present invention, and 10 is a control device. This controlled itl fermentation 1θ
includes a central processing unit (hereinafter referred to as CPU) 13, a random access memory (hereinafter referred to as RA, M) 1
4, floppy disk controller 15, display device controller 16, parallel input interface I7,
It includes an analog-to-digital converter 18, a serial interface 19, and a parallel output interface 2o. In this control device 10, (1, (':! P U
Z3 controls the operation of each circuit according to the program.

A floppy disk device II is connected to the floppy disk controller 15.

-111...O-No9#AJ: MakchoyIP+N2;
(qθ) Used for storing programs and data.

If the data is wrong, b! Standard data such as the welding conditions for the groove portion of the xi tip shape, welding conditions for turning, bead build-up, and turns are stored. Display device controller 1
6, the display device I2 is closed.

The display device 12 is a monitor using a single polar knitting tube, and the screen shows the groove shape of the object 390 to be bathed according to necessity: ? <It is possible to show 1.

The parallel input interface 17 includes a switch 1.
Immersion 2I will be sold directly. This switch device 2I has motors 30, 32 . -33 manual operation commands, commands for shuffling, welding start, etc., and the output commands are decoded by the CPU 13. The d1 shape detection V l[
? 1. ' controller 22 is connected. The shape detection device controller 22 controls the i of the optical shape detection device 28.
ii control, such as power supply and signal person output control,
The detection example number from the optical shape rendering device 28 is transmitted to the CPU &.

C. A pulse generator 23 is connected to the serial interface I9. The pulse generator 23 is
In response to commands from the CPU 13, a signal is generated and the motor 30 is generated through the motor controllers 25, 26, 27.
, ,? 2.

This is for 1 sotrol of 33.

A relay box 24 is connected to the parallel output interface 2o. The relay of the relay box 24 controls the welding power supply unit [c' (not shown) on and off according to commands from the CPU Z 3, and issues a movement command to the moving table J41 (not shown). This is Tanu's output.

A potentiometer 29 is connected to the analog-digital converter Z8. The potentiometer 29 controls the position, orientation, speed, etc. of the optical shape detection device 28 from the motor 3.
0 and transmits the information to the CPUZ3, which is used to control the movement of the optical shape detection device 28.

Further, the tachometer generator 34 and the pulse encoder 35 are used to manage and control the position, speed, etc. of the welding torch 31 when the motor 32 controls the movement of the welding torch 31. Further, a tachometer generator 136 and a pulse encoder f37 are also used for management control of the motor 33.

Here, the Kuwa-Yu 30 moves the optical shape detection device 28 in the illustrated Y direction with respect to the welding object 39. The motor 32 moves the welding torch 31 in the direction of the arrow Z (up and down) shown in the figure, and the motor 33 moves the welding torch 31 in the width direction of the groove, that is, in the direction of the arrow Y (left and right) shown in the figure.

Regarding the direction of arrow X shown in the figure, welding torch 3Z.

A mobile cart (not shown) equipped with an optical shape detection device 28, etc. (for example, issued by the applicant) was developed in 1982.
205618) is moved, the X-direction position of the optical shape detection holder 28 of the welding tip 311 is set.

The sand 38' placed in a part of the groove part of the welding object 390 is for blocking the arc light from the welding torch 3I.

The system according to the present invention is configured as described above. next,
With reference to FIG. 5, the automatic welding operation will be explained in detail.

When the welding start switch of the switch device 2I is turned on in step SZ, the following work and processing are performed in step S2. That is, the optical shape detection device 28 is controlled in the Y direction by the motor 30, and its detection output and the output of the potentiometer 29 are input to the control device 10.

Thereby, the groove shape of the welding object 39 is recognized. Furthermore, the area required for welding of the groove portion is calculated, and the initial welding conditions and welding procedure are determined from the calculated value. The initial welding conditions are determined by comparing the area value with a standard value previously stored on a floppy disk, and reading standard data regarding the closest value from the floppy disk. The standard data includes data regarding the electric mower, current, speed, etc., which are welding conditions. Furthermore, the bead overlay pattern is predicted from the area value and groove shape.

Next, the process moves to step S3, where control is performed to move the welding torch 3I to the welding start position, and welding is started at step S84.

That is, as shown in FIG. 6, by detecting the next minimum value 42 within a certain range 4I, the welding spot can be determined accurately.

Next, in step S5, the optical shape detection device 28 scans the groove part during welding, and the output is used to detect the minimum value (indentation) within a certain range from the position of the welding torch 3I. Detect. Then, in step S6, the next spot to be welded is determined based on the minimum value, and the moving position of the welding torch 31 is set. Therefore, the predicted movement amount of the welding torch 3I, which is set based on the initially predicted bead build-up pattern, is corrected by the movement amount determined from the minimum value, as described above. Such welding stripes are repeated, and it is determined in stave S7 whether or not welding has been performed to the welding end. If welding has been completed to the welding end, step S8
Welding is interrupted at step S9.

Next, in step S9, the optical shape detection device 28
The current scan is performed, and using the output, inspection of the welding state of the groove is started in step SIO.

That is, in step S10, it is determined whether all the grooves are welded and hidden. As a result of this inspection, the groove part was not hidden to the extent originally predicted.
If there are any remaining, the process moves to step S11. This inspection is determined by calculating, using the optical detection device 28, how much area is detected after the completion of welding with respect to the shape surface detected before the start of welding.

In step Sll, the remaining groove shape area and the required welding area are recalculated, and the welding conditions and welding operator ++
i is corrected and the process moves to step S3.

Therefore, in this case as well, welding is performed under appropriate welding conditions for the groove.

On the other hand, in step BIO, if it is found that all the grooves are hidden and welding is completed, step 13
Move on to 1.2. Here, an inspection is performed to see whether the build-up condition of the groove is good or not.

As shown in FIG. 7, the overlay state 43 (height of the bead) of the bead is checked using the output power. This(ri,?7.
This is done by calculating the difference between the small value (concave) portion and the protruding end portion. If a defective part is detected here,
The welding torch 31 is controlled to move to that part, and step S
Z,? Step S moves to welding of the defective overlay area, and step S
Welding ends at 14°S15. If no defect in the built-up part is detected in step S12, step E314
．． Move to BI5 and finish welding.

As described above, according to the present invention, it is possible to determine the welding conditions such as Ichikawa, 'l'lf, flow, speed, etc. according to the groove shape and area of the groove, and determine the bead overlay pattern. Appropriate and reliable welding can be achieved, and the conditions and welding spots can be corrected even during welding, so a method for controlling an automatic welding device that achieves a more stable welding state can be provided.

As described above, according to the present invention, it is possible to recognize the groove shape of the welding object, determine the position of the minimum value, and perform tracing according to the groove shape during welding. - Be able to perform welding stably and reliably! A method for controlling an IWj contact device can be provided.

[Brief explanation of the drawing]

The first item x 1 is explanation 1 for explaining the conventional method for recognizing lost items when bathing! , <+ 1 Fig. 2 is an explanatory diagram for explaining multilayer welding, Fig. 3 is an explanatory diagram for clarifying the concept of the present invention, and Fig. 4 is an explanatory diagram for explaining an embodiment of the present invention. FIG. 5 is an explanatory diagram of the system of the automatic welding apparatus 6°, FIG. 5 is an explanatory diagram of the operation of the apparatus of FIG. 4, and FIGS. 6 and 7 are explanatory diagrams showing one row in a welding state. DESCRIPTION OF SYMBOLS 10... Control device, 11... Floppy disk device, I2... Display device, 21... Switch device, 2
2... Shape detection device controller, 23... Pulse generator, 24... Relay box, 25° 26
．． 27... Motor controller, 28... Optical shape detection device, 29... Potentiometer, ao,
,? 2. s s...Motor, 31...Welding torch, 34.36 Tachometer generator, 35°3
7...Pulse encoder, 38...Sand, 39...
Object to be welded.

Claims (4)

[Claims] (1) The step of recognizing the groove shape of the welding object using the output of an optical shape detection device that scans the groove of the welding object, and the output of recognizing the groove shape of the welding object. A process of calculating the welding area of the groove, determining welding conditions such as turning pressure, current, speed, etc., and determining a beat overlay pattern for the groove, and calculating the welding torch based on the overlay pattern. A method for controlling an automatic welding device, comprising the step of moving the welding device to a welding position corresponding to the minimum value determined by the welding process, and performing welding according to the welding conditions. (2) In the step of recognizing the groove shape, it is determined whether or not all the groove portions are welded and the filling state of the bead is good. How to control welding equipment. (3) Recognizing the groove shape of the object to be welded, determining the welding conditions, and determining the overlay pattern. 1. A method of controlling an automatic welding apparatus according to claim 1, wherein the strokes are set sequentially during the welding operation. (4) The steps of recognizing the groove shape of the welding object, determining the welding conditions, and determining the build-up pattern are performed at the time of starting the welding operation. Control method for automatic welding equipment.