JPS60206566A - Square boxing method - Google Patents

Abstract

PURPOSE:To perform always satisfactory square boxing by attaching a welding torch provided with a core wire contact type sensor to a welding robot, detecting the position of an angle part by sensing and welding the line to be welded. CONSTITUTION:The welding torch is moved to the point A on one side face of the set angle part 3b and the top end of the core wire is pressed perpendicularly to the line 3 to be welded to sense the directions +Y and +Z. An offset is given to the result thereof to determine the point B on the other side face of the angle part 3b. The welding torch is moved to the point B and the top end of the core wire is pressed perpendicularly to the line 3 to sense the direction -X by which the point D in the position of the angle part 3b is determined. The torch is moved to the point E on the other side face of the angle part 3b and the directions +Y and +Z are sensed. The point F on the other side face is then determined. The point G is determined in the above-mentioned way and welding is started. Welding is executed by straight beads up to the point H. The welding current and voltage are changed and the straight part 3a is welded by weaving beads up to the point D.

Description

DETAILED DESCRIPTION OF THE INVENTION [Industrial Application Field] The present invention relates to a square wrap welding method for welding a corner of a workpiece line to be welded using a welding robot.

[Prior art]

This conventional square wrap welding method uses a teaching and playback welding robot, and guides the tip of a welding torch attached to the robot to the corner of the line to be welded on the workpiece to determine the point in advance. When the torch that has taught and welded the straight part of the line to be welded reaches a corner point, the area surrounding the taught point is welded in a square wrap.

However, in the above case, if the shape of the workpiece or the setting position of the workpiece changes even slightly (1 to 2mm), good square wrap welding cannot be performed, so the robot has to be taught the corner points again. There are some inconveniences that must be avoided.

[Purpose of the invention]

This invention has been made with the above points in mind,
The purpose is to always perform good square wrap welding even if the shape of the workpiece or the setting position changes somewhat.

[Structure of the invention]

In this invention, a welding torch equipped with a wire contact type sensor is attached to a welding robot, and the tip of the wire of the welding torch is perpendicular to the line to be welded at one side of a corner of the line to be welded of the workpiece. At the same time, the tip of the core wire is sensed perpendicularly to the line to be welded on the other side of the corner, the position of the corner is detected by both sensing, and the corner is adjusted based on the detection result. This is a square wrap welding method characterized by welding the wire to be welded including the wire to be welded.

〔Effect of the invention〕

Therefore, according to the square wrap welding method of the present invention, the corner of the workpiece to be welded can be detected by sensing with the core contact type sensor of the welding torch, so that the shape and center position of the workpiece may change slightly. Also, it is possible to perform automatic welding by automatically changing the welding conditions as the line to be welded progresses from a straight section to a corner section and from a corner section to a straight section. It is.

〔Example〕

Next, the present invention will be explained in detail with reference to drawings showing embodiments thereof.

First, one embodiment will be described with reference to FIGS. 1 to 4.

These drawings show the case of upward corner wrap welding, (
1) + (2) is a workpiece to be welded with an upward corner wrap, and the welded line (3) d of both workpieces (1) and (2) has a stray part (3a) and a corner part (3b). do. (4) is a welding robot, (5) is a welding robot (4)
It is a welding torch attached to the tip of the arm of the robot, and is equipped with a core contact sensor. This sensor is used for welding torches (
5) The robot (
4) The control section detects the position of the core wire and the torch at the time of contact, and detects the wire to be welded.

Next, the welding method of the above embodiment will be explained.

(2) After adjusting the extension of the welding torch (5), move the torch (5) to the zero point on one side of the corner (3b) set by NC. At this time, the torch angle a is 90
, β is 45. Wow, this torch angle α shows the deflection angle with respect to Xl1ll]K, as shown in Fig. 4, and also,
β is the elevation angle in the X and Y planes.

At point (3), the tip of the core wire is brought into vertical contact with the wire to be welded (3) and sensed in the 10Y and 10Z directions, and an offset is added to the sensing result to determine the 0 side of the other side of the corner (3b). Score points.

■ Move the welding torch (5) to the 0 point.

■ At point 0, connect the tip of the core wire to the wire to be welded (3) K vertical n [
When they come into contact, sensing is performed in the -X direction, an offset is added to this sensing result to set the 0 point, and the 0 point at the corner (3b) is set based on both of the sensing results.

■ Place the welding torch (5) on one side of the corner (3b).
Move to a point.

■ At point 0, perform sensing in →-Y, -1-Z directions, add an offset to the sensing results, and move to the corresponding corner (3b
) on the other side of point [F].

■ Move the welding torch (5) to the 0 point.

(2) At point [F], perform sensing in the 10X direction, add an offset to the sensing result to set the 0 point, and further set the 0 point at the corner (3b) based on both sensing results.

■ Move the welding torch (5) to the 0 point.

[Phase] Start welding from point 0 and perform welding with a straight bead to point 0 at the corner (3b).

(2) Welding the straight part (3a) with a weaving bead to the 0 point of the other corner part (3b) by changing the welding current and voltage without stopping the welding.

(2) Weld with a straight bead from point 0 to point 0 without stopping the welding, and after 0.5 seconds of crater treatment, stop welding.

q~ Return the welding torch (5) to its original position.

Note that the welding conditions in the above example were: a welding current of 220A;
Welding voltage 29V, welding speed 34 Qmm, /m
in, leg length 5mm, )--chi angle forward 10 (rz-
80, β-45), weaving amplitude is approximately 3 mm.

Therefore, according to the embodiment, it is possible to sense the corner (3b) of the line to be welded (3) using the core contact type sensor of the welding torch and software, and to sense the corner (3b) while automatically changing the welding conditions. (3b), the straight part (3a) can be automatically welded one after another, and even if the shape of the workpieces (1) and (2) and the way of welding change slightly (about 5mrn), the above-mentioned sensing allows Since the corners (3b) can be detected, good square wrap welding can always be performed.

Next, FIG. 5 showing another embodiment will be explained.

FIG. 5 shows the case of vertical upward advance angle winding welding, and the welding method will be described below.

■ After fitting the welding torch (5) extension ■
Sensing is performed in the -Z direction at the 0 point, an offset is added to the sensing result, and the 0 point is set.

■ Move the welding torch (5) to the 0 point.

■ Perform sensing in the -x and +Y directions at the 0 point, add an offset to the sensing result, and set the 0 point.

■ Move the welding torch (5) to point 6.

■ Perform sensing in the +Z direction at point [F], add an offset to the sensing result, ■, 0. ■Score points.

Weld with a bead and cut the arc once at the 0 point.

[Phase] Move the welding torch (5) to the 0 point.

Welding is started again from point 00, welding is performed with a weaving bead until point 0, and after about 3 hours of flake treatment at point 0, welding is finished.

@ Return to the original.

The above-mentioned welding conditions are: welding current 22OA, welding voltage 26cm, leg length 7rnm, I--ch angle forward movement 15 (
α=135, β=15).

Therefore, the same effect as described above can be obtained.

It goes without saying that the present invention can also be applied to square wrap welding other than those described above, such as downward square wrap welding. 5

[Brief explanation of the drawing]

The drawings show an embodiment of the square wrap welding method of the present invention.
Figures 1 to 4 show one embodiment; Figures 1 and 2 are a front view and a plan view of a workpiece; Figure 3 is a schematic front view of a welding robot; Figure 4 is an explanatory diagram of the torch angle; FIG. 5 is a front view of a workpiece in another embodiment. (1) t (2) Workpiece, (3) Line to be welded, (3b) Corner, (4) Welding robot, (
5)...Welding torch. Agent: Patent Attorney Ryuta Fujita Figure 2 b 1 Figure 5

Claims (1)

[Claims] ■ A welding torch equipped with a wire contact type sensor is attached to the welding robot, and the wire tip of the welding torch is sensed perpendicularly to the welded line at one side of the corner of the welded line of the workpiece, and the The tip of the core wire is sensed perpendicularly to the line to be welded on the other side of the corner, the position of the corner is detected by both sensing, and the line to be welded including the corner is determined based on the detection result. A square wrap welding method characterized by welding.