JPS61147978A - Intelligence type welding device - Google Patents

Abstract

PURPOSE:To provide a lightweight portable type device which controls automatically an oscillation width according to a groove gap in an arc welding device in which a wire is used by processing the information from an oscillator, arc sensor circuit and operation box and controlling the outputs of the oscillator, welding carriage and welding power source. CONSTITUTION:The groove center position and groove gap are detected by the calculation in an electrical arithmetic circuit in accordance with the change of the welding conditions arising from the change of the distance between a tip and a material 4 to be welded by the arc sensor 13 circuit in the mid-way of welding while the welding carriage is run. The operator teaches various conditions necessary for welding, controls the inching of a movable part and makes key operation with switch functions by an operation box 10. A welding torch 1 is held in the above-mentioned manner and the information from the oscillator 3 consisting of biaxial (X, Y) driving mechanisms, the arc sensor 13 circuit and the operation box 10 is taken by a control device 7 and is processed by the electrical arithmetic circuit. The device 7 controls the outputs of the oscillator 3, the carriage 9 and the welding power source 14, by which welding is executed.

Description

DETAILED DESCRIPTION OF THE INVENTION (Industrial Application Field) The present invention relates to a portapull type automatic welding device that uses a consumable electrode and is applied to an automatic oscillation width control method.

(Prior art) In arc welding using a consumable electrode (hereinafter referred to as the wire), the power to change the oscillation rate of the sum of the arc length during welding and the wire protrusion length (hereinafter referred to as the distance between the tip and the workpiece) This function detects changes in the groove spacing, automatically controls the oscillation width accordingly, and uses that information to control the welding speed to an appropriate value.

Furthermore, there has not yet been a lightweight, portable welding device that can trace the welding line based on the detection of the groove center position, which is determined from information on changes in groove spacing, and currently the teaching playback method is used. A method in which welding line information (such as welding line misalignment, changes in groove spacing, and welding speed conditions that match the spacing) is memorized in advance and reproduced, or the operator operates sequentially as welding progresses. The current situation is that it is done using one of the manual methods.

(Problem that the invention attempts to solve) In the Anik welding method using wire.

It was necessary to develop a device that calculates the welding conditions during welding and automatically controls the oscillation width according to changes in the groove spacing without installing a tangible detector near the welding torch.

That is, this makes detection easy, and the distance between the tip and the workpiece is determined by processing the normally used welding conditions with an electrical calculation circuit, and the distance between the tip and the workpiece is determined by oscillating 1. Changes in the groove spacing are detected from changes in the groove distance, and the oscillation width is automatically controlled by two-dimensional control in the groove width direction and in the direction perpendicular to the groove width, depending on the size of the groove spacing. As a result, try to follow the deviation of the weld line.

Furthermore, the oscillator's X and Y axes each have sufficient strokes, and the oscillator's two axes (X , Y) Welding to the open beam of the welded material only!・To control and tighten the position of -chi.

Furthermore, based on the above-mentioned groove spacing detection, the welding speed is automatically adjusted to always be appropriate for the groove spacing, which changes moment by moment as welding progresses, based on the relationship between the preset groove spacing and the trolley running speed. control.

(Means for solving the problem) An oscillator that holds the welding 1-chi and is composed of a two-axis (X, Y) drive mechanism, a welding truck that carries the oscillator and travels, and a chip and a chip during welding. An arc sensor circuit that detects the groove center position and groove spacing by calculating with an electrical calculation circuit based on changes in welding conditions caused by changes in the distance between the welded materials, and various types necessary for welding. An operation box for teaching conditions, inching control of moving parts, and switch functions with key operations.

A control device that controls the output of the oscillator, the welding cart, and the welding power source, which takes in information from the oscillator, the arc sensor circuit, and the operation box and processes it in an electrical calculation circuit.

It is characterized by consisting of:

(Function) While the welding wheel is running and welding is in progress, the arc sensor circuit teaches various necessary conditions based on changes in welding conditions caused by changes in the distance between the tips and the welded materials, and controls the inching of the movable parts. The welding torch is held by detecting the center position of the tip and the gap between grooves, teaching the various conditions necessary for welding from the operation box, controlling the inching of the movable parts, and operating keys using the switch function. Information from an oscillator consisting of a two-axis (X, Y) drive mechanism, the arc sensor circuit, and the operation box is taken in and processed by an electrical calculation circuit to control the output of the oscillator, the welding cart, and the welding power source. Perform welding.

(Embodiment) Although the arithmetic processing in the embodiment according to the present invention can of course be performed by an analog computing unit, in the second embodiment, a case where processing is performed by a digital computer is shown.

Figure 1 Figure 18 shows an embodiment of the present invention; Figure 1 is an overall configuration diagram of the welding device of this embodiment;
Figure 2 is the resulting system diagram, Figure 3 is the configuration and circuit diagram of the control device, Figure 4 is a block diagram showing the welding circuit and arc sensor of the welding device, and Figure 5 is the principle of the arc sensor. The explanatory diagrams are graphs of the oscillation pattern and the distance between the tip and the welded material [IL], Fig. 6 is an explanatory diagram showing the state where the groove spacing of the welded material is changing, and Fig. 7 is the graph of the - (2) A cross-sectional view and an explanatory diagram showing a change pattern of the distance (L) between the tip and the welded material with respect to the oscillation width (W) when the oscillation width is decreased within the groove.

Figure 8 is an explanatory diagram showing the ■-■ cross-sectional view of Figure 6 and the change pattern of the distance between the tip and the welded material [''L] with respect to the oscillation width [:W)' when oscillating within the groove. Figures 9 and 10 are explanatory diagrams of the principle according to the present invention, and when the buds are cut two-dimensionally, the oscillation j/height/W in the thickness direction
Figures 11 and 12 are diagrams of the relationship between the distance between the tip and the welded material (L) and the oscillation width (W), taking into account
A relationship diagram between the graph shown in FIG. 10 and the groove cross-sectional view,
Fig. 13 is a block diagram of the oscillator of this embodiment, Fig. 14 is a block diagram of the welding cart of this embodiment, Fig. 15 is a block diagram of the remote control box of this embodiment, and Fig. 16 is a block diagram of the simple oscillator j. FIG. 17 is an explanatory diagram of the pattern of the trajectory, FIG. 17 is an explanatory diagram of the pattern of the trapezoidal oscillation trajectory, and FIG. 16 is a cross-sectional view of the welded part showing the lamination procedure of welding.

In Fig. 1, 1 is a welding torch for consumable electrodes, and 2 is a welding torch for consumable electrodes.
- A welding torch holder that holds the torch 1 and is connected to the rotating body of the X-axis drive mechanism of the oscillator 3. Oscillator 3
The holder 2 is moved by an X-axis drive mechanism that swings in a direction transverse to the groove of the material to be welded 4, and a Y-axis drive mechanism that swings in a direction parallel to the traveling direction of the welding wire 5 fed out from the tip of the welding wire 1. This is composed of a shaft drive mechanism. The two oscillators 3 will be explained in detail in the example shown in FIG. 13, which will be described later.

Reference numeral 6 denotes a control signal cable and an electric drive cable 8a led from the control device 7, and an oscillator 3. Welding trolley 9
and a cable 8b led from the remote control box 10
A box-shaped interruption box configured to removably connect to the t 8Cl 8d with a plug. The relay box 6 can be fixed to a part of the welding cart 9, for example. The welding cart 9 has a traveling drive mechanism.

For example, it runs on a guide rail (FIG. 14, 90) on which a rack gear or the like is laid, via a rack gear (FIG. 14, 9f).

A wire feeding device 11 has an electric motor inside and feeds the wire 5 wound into a coil.

A rotation amount detector 12 such as an encoder is attached to the wire feeding device 11 and is mechanically coupled to a roller or the like that is always pressurized on the surface of the wire 5 to detect the wire feeding speed [v]. . 13 is an arc sensor, which will be described later.
This will be explained in detail with reference to the illustrated example of FIG. The control device 7 includes a servo unit and a welding cart 9 that drive two axes (x, y) of the oscillator 3 based on control commands from a remote control panel 10.
The oscillating motion of the welding unit 1 and the traveling of the welding cart 9 are controlled through a servo unit, that is, an electric drive device that drives the welding power source 1 by a control command from the remote control type 10.
4 to control welding conditions such as welding current [work], welding voltage [V], wire feed speed (V), etc., and further automatically change the oscillation width according to the output signal from the arc sensor 13. The position of the torch 1 is controlled by a calculation function and a calculation function that automatically changes the welding speed CD (travel speed of the welding cart 9) according to the calculated oscillation width, that is, the groove interval. It should be noted that the control of the positions of 1 and 1 can be performed either manually or automatically according to a pre-programmed procedure.

The keys of the remote control box 10 are provided with this function. The welding power source 14 generates an arc between the wire 5 and the material to be welded 4 and supplies the electric energy necessary to obtain weld metal. The remote control box 10 has, on the front, settings for welding conditions, oscillation conditions, inching control of the movable parts of the welding device, control of welding start and end, selection of welding beat pass numbers, and selection of presence/absence of oscillation 1 width control. , keys for calibrating command values and actual values such as welding conditions, and emergency stops, etc., and 11 or more keys or switches on the side for increasing/decreasing setting data and forward/reverse the inching direction. It is a box-shaped thing. Regarding this remote control box 10.

This will be explained in detail in the illustrated example of FIG. 15, which will be described later.

Next, in Fig. 2, (ON-OFF), (
A).

(V), (W/I), (W-8EMS), (S), (
H), CP), CW).

(T), COc), (X), (X:]
, (Y), [Y), CD), and [Z) are control items operated by keys on the remote control panel 10,
(ON-OFF) is the start of welding (ON).

End (OFF) control, [A] is welding current setting control,
[V] is welding voltage setting control, (W/I) is wire 5
[W・5ENS] is a control for specifying whether or not a signal is required for controlling the oscillation width output from the arc sensor 13. [S] is a mode for setting the center of tracing with respect to the weld line. Setting control of the movement amount of the oscillation center position with respect to the center line, [H] is position setting control in the Y direction of torch 1, that is, height direction, [P] is setting control of welding pass number, [W] is Y axis of oscillator 3 Or dimension setting control of each part of the oscillation pattern formed on the Y axis, [T]
is the setting control of the stop time at both ends of the oscillator pattern formed by the Y-axis of the oscillator 3 or the Y-axis and the Y-axis. Setting control of the drive speed of 1・-chi 1 when drawing , (X), (X) is the drive control of j・-chi 1 in the X direction, [X] is the forward direction, [X] is the reverse direction It is intended to be controlled. , (YL(Y) is drive control in the direction of 1・-chi 1, [Y] is control in the forward direction, [Y] is control in the reverse direction.CD) is the setting of the traveling speed of the welding cart 9 It is for controlling. (Z) is the welding cart 90 inch movement control, and control in forward and reverse directions is also possible. (pc) is a pulse signal output from an encoder attached to the welding cart 9, [θ] is a signal of the position of the torch 1 on the oscillation pattern output from the drive control section of the oscillator 3,
[△D] is a control signal in the X direction output from the arc sensor 13 and is a correction value for copying the welding line, and [△M] is a control signal in the Y direction output from the arc sensor in the height direction of the torch 1. This is the correction value of

In Fig. 3, 7a is one or more (CPU cards) and is a digital computer, and 7b is a computer 7a and CROM.
/RAM car 1') 7c, CD/A card)
7d, (I10 card) 7e, (OUT card) 7f,
(I10 card) 7g and servo unit I' 7h
+7 The bus line (pass line) 7C that connects the t-pulse counter 7j stores all necessary information (RO
Gd acts on the welding power source 14 and stores digital command values from other cards regarding welding conditions such as welding current [M], welding voltage [V], wire feed speed D), etc. 7e is connected to the keys or switches of the remote control panel 10 via the relay box 6 to control or drive the settings of the above control items. Communicate control signals with other cards (I (Imple 1-) 10 (
Key operations on the output panel 10 act on the welding power source 14 to actuate wire inching and welding start/end (ON-OFF), and act on the arc sensor 13 to generate signals 1 to 1.
Transmits X-direction position (81 information and Y-direction position (H) information. C OUT / output) card],
7g is a signal [θ
], the correction value [ΔD] signal for welding line copying output from the arc sensor 13, and the correction value [ΔD] in the torch height direction.
tM) mutually transmits and receives timing signals [I10 card], 71 is a servo unit for driving the traveling motor of the welding cart 9 and is a motor drive control device, 7j is an output from the encoder attached to the welding cart 9 In Fig. 4, the pulse counter of the pulse signal to be
1a is a shield nozzle, and the shield shields the atmosphere of the arc 16 and the weld metal 17 together with the gas 15 from the atmosphere. 1b is a chip for feeding power to the wire 5, 1c is a power feeding part to 1-chi 1 of the welding power source 14, 18 is a backing material,
19a is a roller for feeding the coiled wire 5 into the wires 1 and 1, and the feeding roller 19a is connected to the motor 2.
0 mechanically, and the speed of the motor 20 is controlled by a drive control device 21.

Thereby, the welding current CI) or welding voltage CV) is adjusted together with the welding condition setting device. In addition.

Drive control device 21 is generally built into welding power source 14 . 23 is a welding voltage detector such as a shunt, 24 is a welding voltage value detector such as a voltage divider that detects the voltage value between the tip 1b and the workpiece 4, and 25 is mechanically coupled to the roller 19b. - a rotation detector 26a for detecting the wire feeding speed (V) of an encoder, etc.;
26b is an amplifier for adjusting the signal from the rotation amount detector 25 to an appropriate level; 26C is a signal from the voltage value detector 24; 26d is an amplifier for generating a signal proportional to the average value of the welding current CI) from the signal of the current value detector 23; 26e is an amplifier for generating the welding current from the signal of the current value detector 23; an amplifier 27 for generating a signal proportional to the effective value of the chip 1, i.e., the distance CI between the tip and the material to be welded;
=L, +LA) Setting device t28
a, 28b, 28c, 28d.

28e and 28f are amplifiers 26a, 26b, 26G, 2
6d.

26e and an A/D for converting the analog signals of the setting device 27 into digital signals and inputting them to the digital computer 29.
The converter 30a converts the digital signal from the computer 29 into an analog signal and outputs it to the control device 7 that controls the oscillator 3 via the amplifier 26f. The signals are the oscillation width control signal and the welding speed CD), that is, the welding carriage
9 speed control signal. 30b converts the digital signal from the computer 29 into an analog signal and outputs it through the amplifier 26g to the control device 7 that controls welding line tracing. The signal is a weld line tracing signal. 30C is computer 29
The digital signal from the oscillator 3 is converted into an analog signal and output from the oscillator 3 to the control device 7 through the amplifier 26h.

The signal is a control signal with a height of 1.-chi. In FIG. 5, (ΔB is the sampling interval t of data (Ia, Ie, V, v), (i), (j) is the number of samplings of data, (W) is the oscillation width in FIG. (Lo) is a parameter related to (L), [Ll
) and (r), the parameters 130a and 130b indicate the oscillation trajectory. Ma? In the oscillator 3 shown in FIG. 13, 3a is a support rod of the oscillator 3, one end of which is attached to the welding cart 9, and the other end fixed to a substrate 3b inside the oscillator 3.

Reference numeral 3C is a column supporting the holding plates 3d, 3d2, which are located above and below the board 3b and forming the skeleton of the oscillator 3, and the holding plates 3d, 3d are at both ends.

It is fixed to the four corners of. The four pillars 3C each penetrate the substrate 3b, and have a structure in which they slide on the substrate 3b. 3e is a cover forming the outer shell of oscillator 3, 3f
An X-axis drive motor is fixed to the upper holding plate 3d, and its rotating shaft is fixed to the center of the rotating body 2a fixed to the holder 2 which holds the I-chi 1.

3g is the lower holding plate 3d! A Y-axis drive motor is fixed to the board 2b, and its rotating shaft is connected to a drive shaft 3h such as a ball screw.The drive shaft 3h passes through a female screw provided on the board 2b, and one end of the Rotating circle on plate 3d,
It is held in five places.

In the welding cart 9 shown in FIG.

9a is a frame that constitutes the main body of the welding cart 9. Reference numeral 9b denotes a plurality of spinning wheel-shaped wheels rotatably held by the frame 9a, which roll by sandwiching both ends of the guide rail 9C in the width direction.

9d is a travel drive motor attached to the frame 9a via a gear unit 1-96, and a pinion gear is attached to the rotating shaft of the motor 9d via a reduction gear or the like, and is laid on the surface of the guide rail 9C. The welding cart 9 is moved by meshing with the rack gear 9f. 9g is an encoder for counting the position of the welding cart 9 on the guide rail 9C, and a pinion gear that meshes with the rack gear 9g and rolls is connected to its rotating shaft.

In the remote control box 10 shown in FIG.
A box body 2 constitutes the outer shell of the remote control box 10a, and is made of a material such as synthetic resin. 10b is a plurality of keys, 1
0C is a plurality of LEDs for display, etc., and 10d is a switch with three states, for example, the lower part 10 of the switch 10d.
When d1 is pressed, the electrical contact of switch 10d turns on,
When released, it becomes OFF. Further, when the upper part 10d2 of the switch 10d is pressed, the above-mentioned electrical contact and another electrical contact are turned on, and when the upper part 10d2 is released, it is turned off. In this way, two types of O
A switch having an N state and an OFF state, 10e is a signal cable, and the key 10 on the panel of the remote control box 10
The arrangement of keys 10b shows one example, but the definitions of each key 10b are as follows.

(W-8EMS) is the oscillation width control on/off key.

Oscillate when the key is ON!・With width control, without oscillation width control when the key is OFF, [P] is the setting key for welding pass corrosion (number), CP, R:] is used to set the command value (displayed value) and actual value of welding conditions, etc. The calibration key CC0N) is used to count the traveling position of the welding cart 9 when restarting from the interrupted point after welding is interrupted, and sensing information (arc) of the position on the welding line based on the count. The intermediate continuation command keys [D, R] are used to continue the memory of [ΔD] and 廠...] output from the sensor 13 in the state before the interruption, and when the key is ON, the command keys other than emergency stop -+ - Interlock key for not accepting keys, (W, L(W2), (W, 1.CT,')
, (T2) and (Oc) R keys for setting oscillation conditions; (W,) is a key for setting the oscillation width in the case of a simple oscillation trajectory or the oscillation width of the lower side in the case of a trapezoidal oscillation trajectory.

[W2] is a key to set the interval between the lower side and the upper side in the case of a trapezoidal oscillation trajectory, that is, the oscillation width in the height direction of the trajectory synthesized by the movement of the Y-axis and the Y-axis of oscillator 3. The key to set the oscillation width on the upper side in the case of a trapezoidal oscillation trajectory, (T,) is the instantaneous point/stop time of the oscillation movement at both ends in the case of a simple oscillation trajectory, or at both ends of the lower side in the case of a trapezoidal oscillation trajectory. Key to set.

[T2] is a setting key for the instantaneous stop time of the oscillation movement at both ends of the upper side in the case of a trapezoidal oscillation trajectory;
(Oc) is the key to set the oscillation speed of oscillator 3 by driving the X-axis alone or the Y-axis and Y-axis; [H]
and (S) are keys for setting the position of 1.
- Regarding the groove position, the case where the center position of the groove matches the center position of the oscillate is set to 0, and this state is normally the normal state), and the center position of the groove is adjusted according to the purpose of welding. Shift key to shift the center position of oscillate 3 to advance welding.

(H) is a key for setting the distance between the tip 1b and the weld metal 17, which is output from the arc sensor 13 during welding.
is corrected to maintain the set (H). (A), (V'l and [D), a keys for setting welding conditions.

(A) is a setting key for the welding current CI) output from the welding power source 14, and the feeding speed [v] of the wire 5 is also determined in proportion to the set welding current value. (V) is welding power source 1
4 is the setting key for the welding voltage [V] outputted from 4, [D] is the setting key for the traveling speed of the welding cart 9, but [W] is the setting key for the traveling speed of the welding cart 9.

If you start welding with the SEMS) key turned on,
The welding cart 9 travels at a speed based on a program of a relational expression between the groove interval and the welding speed (traveling speed of the welding cart 9), which is input into the control device 7 in advance. (O8/S) and (D
/S) is a simulation key that operates under set conditions, [O8/S) is [W+), CW-),
[W-)1.

An oscillation simulation key that operates under the oscillation conditions set by CT, '), (T, ) and [U]. [D/S] is the traveling speed simulation key of the welding cart 9 that operates under the conditions set in [D], (Z/I
), (W/I), (X/I) and CY/
I) is an inching key for driving the drive system; [Z
/I) is an inching key for manually operating the welding cart 9. The traveling speed in this case may be the speed set in ['D).

The inching speed may be specified in a separate program. (W/I) is an inching key for manually feeding the wire 5. The speed in this case is normally a value proportional to the welding current value CI) set in (A). (X/I) is an inching key that manually drives the Y axis of oscillator 3.

(Y/I) is an inching key that manually drives the Y axis of oscillator 3. (STT) is the welding start key. [:5TP
) is the welding stop key. [Emergency stop] turns off the welding power source 14. in case of an emergency. A key that stops the electrical circuits of the motor drive system's power system and some control systems. In the example patterns of oscillation j/trajectories shown in FIGS. 16 and 17, (W,) is the oscillation motion in the oscillation trajectory.

[W1] in FIG. 16 indicates the width of the simple oscillation locus formed by driving only the Y axis of oscillator 3, and [W1] in FIG.
Indicates the width of the lower side of the trapezoidal oscillation locus formed by driving with the shaft. [W2] is a trapezoidal oscillation locus formed by driving the oscillator 3 between the Y-axis and the Y-axis.
It shows the height of a trajectory that is a combination of the Y-axis movement and the Y-axis movement. [W,] is] (W2
) is the oscillation width that moves in the X-axis direction while maintaining the height of , that is, the width of the upper side of the trapezoidal oscillation locus. [T1]
is the instantaneous stop time of the oscillation motion at both ends of the simple oscillation trajectory (FIG. 16) and at both ends of the lower side of the trapezoidal oscillation trajectory (FIG. 17).

[T2] is the instantaneous stop time of the oscillation motion at both ends of the upper side in the case of the trapezoidal oscillation locus (FIG. 17). Thick lines ja) in Figures 16 and 17, I
c) , (d) , ! e) is the trajectory of the outward path of the oscillation, and the two-dot chain lines rbl, If), Ig), rh
In the trajectory of the return trip, the thick line (al, lcl l fd
) l fel and two-dot chain line fb) , ge) , (g
), fh) indicate the direction of oscillation.

In the welding procedure illustrated in FIG.

17a, 17b, and 17G indicate the lamination status of welding bead filling the groove, so 17a is the first layer bead.

17b represents one or more intermediate layers, and 17C represents the final layer.

Next, the operation of this embodiment will be explained in detail.

First, the function of the arc sensor shown in FIG. 4 and FIG. 12 will be explained. The average value (Ia) of the welding current [I] is determined by the current detector 23 and the amplifier 26d, and the welding current C is determined by the current detector 23 and the amplifier 26e.
The effective value [Ie) of I) is determined. Further, the voltage (V) between the tip 1b and the workpiece 4 is determined by the voltage value detector 24 and the amplifier 26C. Furthermore, the wire feeding speed [
v] is detected.

These analog quantities are processed by the A/D converter 28d.

It is converted into a digital quantity by 28e, 28C, and 28b and is applied to the digital computer 29.

Here, the symbols are defined as follows.

(Ia); Average value of welding current CI).

(Ie); Effective value of welding current [I].

[V]; Wire feeding speed.

[V]; Voltage between the tip 1b and the material to be welded 4.

(L,); Length of the wire 5 from the tip of the chip 1b to the arc 16, so-called wire protrusion length.

(L,); Distance from the tip of wire 5 to weld metal 17, so-called arc length.

[L]; Wire protrusion length [L] and arc length [LA
], that is, the distance from the tip of tip 1b to weld metal 17.

[Vt): Voltage drop caused by welding current CI''+Ie) at the wire protrusion.

(V, ): Voltage obtained by subtracting the voltage drop [v6] from the welding voltage (V), that is, the arc voltage.

Then, there is approximately the following relationship between the above quantities.

In addition, the above quantities are indicated only with the following numbers.

L, = f, (Ia, Ie, v)---
---1 Formula 1 (Reference 1) V, = f, (Ia, I
e, v, Lt) --- 1st formula VA = V - V, --
−−−−−1−−−−Third formula, = f, (Ia,
VA)----------1 4th formula (Sabi chicken 2) L =
L. , and the first formula 41 can be obtained from Reference Document 2. The specific form of the second equation is determined by experiment.
can be done.

Equations 3 and 5 are obvious from FIG.

■ Therefore, the relationship of the first equation can be calculated using a digital computer29.
(Ia.

If Ie) and (V) are given, [toy] is obtained.

(2) On the other hand, if the relationship of the second equation is programmed into the digital computer 29 and + (Ia + Ie) t [v] and (L,') obtained in the above 0 term are given, [V,] is obtained.

■ By programming the relationship of the third equation into the digital computer 29 and giving the voltage between the chip 1b and the welded material 4 and (V, ) obtained in the above 0 term, [■] can be obtained. .

■ The relationship of the fourth formula is programmed into the digital computer 29, and the CV obtained from (Ia, Ie) and the above 0 term,
) is given, (L, ) is obtained.

■ If the relationship of the fifth formula is programmed into the digital calculation formula 29, the tip 1b and the material to be welded 4 The distance (L) between the two points is reduced.

■ As mentioned above, as an explanatory variable (IaJ6) [v]
, [v], then (L) is obtained as the objective variable from the first equation artificial fifth equation.

■ Figure 5 shows the timing at which the oscillation amplitude crosses zero based on the oscillation position signal [θ] (the timing at which the amplitude becomes maximum and the timing at which the amplitude becomes zero) output from the drive control section of the oscillator 3. Based on , (Ia, Ie) , (v) , (V) at fixed time intervals [Δt]
(This is equivalently the oscillation amplitude. The oscillation speed is constant and the sampling interval is also constant.) and (L) An example of the relationship between the two is shown in the case where welding is performed within a V-shaped butt groove formed of the welded material 4 as shown in FIG. 4. In this example, data (Ia
, Ie), (v), and (V) are performed only on the maximum outward path from the zero crossing of the amplitude, and are not performed on the backward path. When oscillate welding is performed within the groove in this way, a graph of the oscillate position and the corresponding (L) can be obtained.

■ Figure 6 shows a state in which the groove spacing of the joint formed with the welded material 4 is changing, but Figures 7 and 8 show two different groove positions shown in Figure 6. The relationship between the oscillation width [W) and (L) in the X direction and the trajectory 30a of the torch tip when welding is performed while performing oscillation two-dimensionally in the cross section,
30b is shown.

FIG. 7 shows a case where the groove gap is small, and FIG. 8 shows a case where the groove gap is large, both of which show a two-dimensional oscillation trajectory (30a).

30b) is selected close to the cross-sectional shape of the groove (W
) and (L), the locus 30a of (L),
30. b R-Become flat.

■ Figures 9 and 10 show the relationship between (W) and (L) in Figures 7 and 8, and the trajectory 30a of the tip tip;
30b and the oscillation height in the Y direction.
(L" wY) for -(W) when .Here, (W,) and [W,] are
The inner oscillation width, [w,) and [W4] are (wY=0
) is the width of [W], and '(WY) is the width of [W] when the axis (
It is assumed to be symmetrical with respect to WT='O).

O Figures 11 and 12 show the V formed by the material to be welded 4.
0 when welding by two-dimensional oscillation in type butt joints
(w-LJ (i.e. (L'=L-w, )
This is an explanatory diagram showing that the oscillation width [w] can be controlled by paying attention to the following.

Here, (L,') is the value of (L') when the oscillation width (W) in the X direction is small, that is, near the center of the groove.

[r] is a parameter provided in order to remove the influence of the value of [L') obtained by calculation, which causes variations due to errors due to disturbances, that is, a variation removal parameter. (u) is a parameter provided for controlling the oscillation amplitude, that is, an oscillation amplitude control parameter.

(2) FIG. 11 is an explanatory diagram of how the appropriate [W] changes depending on the magnitude of the set value of (Lm) when the groove shape remains unchanged. Here, [r] and (IJ)); t are determined in advance through experiments and are set in the digital computer 29 as parameters.

■ When welding starts, the zero timing of the oscillation amplitude in the X direction is detected, and when it is detected, the data (Ia, Ie,
V, v ] and convert (L) into the first formula artificial fifth
Calculate according to the formula. Next, when the sampling time comes, data is still taken in and (L) is calculated. Repeat this process several times and find the average value. The sampling interval is [Δt] shown in FIG.

@ After that, the data at that time (Ia, I
Calculate [L] based on e, V, v).

Pay attention to the magnitude relationship between [L1] and (LL,'-(r',-u')).If (L')≧(Lo'= (
If r+u))), oscillation is further performed in the same direction. However, s ((L') <(Lo"-(r+u)
If the condition )) is satisfied several times in succession, the oscillation direction is reversed.

O Next, detect the timing when the oscillation amplitude in the X direction is zero in the opposite direction to the oscillation direction described in section 0, and thereafter repeat the sequence described in @ and section ◎.

(2) In this way, oscillation is repeatedly performed at an appropriate magnitude according to the parameter conditions set in D) and (u).

■ By the way, Fig. 11 shows the case where the groove shape remains unchanged (u
) is ("u,), (Lit), ((ul)<(u, month).

In order to satisfy the condition ((L') <(Lo') - (r+u)), (u,) must be oscillated more in the X direction than [U,]. This is obvious from FIG. That is, by adjusting [U], [W] can be controlled.

(If (u,) < (u,) then (ws ) <'(ws
). Here, [W,] is the oscillation width in the X direction corresponding to (u,), and [:W,] is the oscillation width in the X direction corresponding to (u2). ) The oscillation pattern is controlled by controlling the oscillation widths [W2] and [W4] in the X direction in FIGS. 9 and 10.

(w,)max and (w, -w, ), (w4-
w,) is assumed to be constant. Here [W a) max is l:W
Y) is the maximum value.

■ Figure 12 shows when the groove spacing changes during welding (u
) is kept constant, [W] can be controlled to an appropriate value.

The principle of operation is the same as the @artificial @ term, but in the case of Figure 12, (u) is set to a constant value [U,]. If (u) is constant when the groove spacing is different,
Oscillation width when the groove spacing is large (shown by the solid line) [
It is obvious from FIG. 12 that W, ] is larger than the oscillation width [W8] when the groove interval is small (indicated by the dotted line). That is, if an appropriate value is selected for [U], [W] is automatically controlled by changes in the groove spacing.

@ From the above, from Figure 11, if the groove spacing remains unchanged, [W]
can be controlled by the setting value of (u). Also, the first
When the groove spacing shown in Figure 2 is changing, (W) can be changed by setting an appropriate value (u).

It was explained that it is possible to perform control that adapts to changes in groove spacing.

[Phase] Next, in Figures 9 and 10 (CL'
)=[L-wy]l, the average value (L'm) of one cycle of the X-direction oscillation rate shown in FIG. 5 can be calculated as follows.

M-1t+2 ■ Therefore, the setting value (Ld) of the setting device 27 and [phase]
Compare the term (L'm) and if [(L'm]> (
Ld) If l, the control device 7 that controls the torch height should output a signal proportional to ((L'm) -CLd month.
The Y-axis of the oscillator 3 is controlled until L'm) = (Ld)]. Conversely, f(L'm) < [:Ldl l
If so, the Y-axis of the oscillator 3 is controlled until [(L'm) = (Ld)] as described above.

(L'm) is expressed as (Ld) by O[phase] and [phase] terms.
can always be held at this value.

[Phase] Also, ((L') in Figures 9 and 10
= [In the oscillation pattern shown in Figure 5 for the L-WY month, the sum on the left side (''L''1) and the sum on the right side (!!L'',) of the vertical axis [L°]! = OJ"" The difference (oil) is , but when C [ΔD1≠0), the oscillate center axis and the welded material 4. This shows that the central axes of the grooves formed by the two do not match. That is, if ([ΔD)>0).

The oscillation center axis is on the right side of the groove center axis,
Conversely, if ([ΔD)<0], the oscillation center axis is on the left side of the groove center axis.

■ Therefore, if ((ΔD)>0), oscillator 3
A signal proportional to [ΔD] is output to the control device 7 that controls the welding line tracing.

The Y-axis of the oscillator 3 is controlled until ([ΔD)=Q]. On the other hand, if (Hoko's) <0), then ((
Control the Y-axis of the oscillator 3 until -f)=O).

[Phase] ◎The artificial [phase] allows the oscillation center position to be always maintained at the center position of the groove.

[Phases] According to the above two embodiments, when the groove spacing changes, the oscillation width adapts to it, and even if the distance between the torch 1 and the workpiece 4 changes, the 1.-chip is always maintained. The height L) can be maintained at the set value (Ld). moreover,
As mentioned above, even if the welding line deviates from the set position, it can be automatically followed, but if the groove spacing changes, the wire feeding speed [v] should be constant (this is usually the case) and the welding speed CD) If is constant, the bead height will change.

◎ Therefore, as shown in Figures 11 and 12,
The digital computer 29 has an oscillation rate width (W, LCW,)
, (W,), (:W,) can be calculated, so
Changes in the oscillation width (W) are fed back to control the moving speed of the welding cart 9 so that the bead height becomes uniform.

It is assumed that all the operations described above are controlled by the program of the digital computer 29.

Next, various conditions necessary for welding are taught in Fig. 15.

The functions of the remote control box, which controls the drive of movable parts and performs switch functions by key operation, will be explained.

■ When the power supply of the control circuit is switched on, the control device 7. The pilot lamps provided in the arc sensor 13 and the relay box 6 light up, and at the same time the remote control box 10 (
LED) The last digit of IOC will display 0.

lights up to indicate the power ON status.

@) When the (W-8ENS) key is pressed, the lamp installed in the key lights up, the key is turned on, and the circuits of the welding line tracing function and groove width control function of the arc sensor 13 are put into operation. Therefore, in this state, solution in the groove of butt welding provided with a groove such as a V-shaped groove is possible. Next, when you press the same key again, the lamp built into the key goes out and the key becomes OFF'F, leaving only the welding line tracing state of the arc sensor 13 as the operating state, and the groove width control function is turned OFF. state. Thank you, (W, 5BNS)
When the key is OFF, the signals output from the arc sensor 13 are only [. Therefore, the oscillation width in this state is kept at the oscillation width (dimension) previously taught by the remote control box 10. Note that the ON state of this key will not be switched to OFF by pressing any other key.

θ When you press the (P) key, the lamp built into the key lights up, the key is in the ON state, and the welding pass mark is displayed (L
ED) IOC indicates [1]. Next, when the upper l Qdz of the switch 10d is pressed, (LE
D: The displayed value of lOc is from [1] to [2].

It changes as (3), (4), and (5). When the push operation of the switch 10d is stopped, the increase in the value of welding pass corrosion at that time stops and the value at that time is displayed on the (LED) 10c. Conversely, if you press the lower part 10d of switch 10d, (LED) 10C
The light number will change in the decreasing direction, and when you release it, the value at that time will be displayed on the CLED (IOC). The ON state of this key cannot be switched to OFF by pressing any other key.

Note that this CP) key is used to set the oscillation conditions (w, ,w, ,w, ,T,
.

Tz+(X') +Welding 1 - Setting values of position conditions (H, S) and welding conditions (A, V, D) can be stored. That is, for example, if multilayer welding is performed, the above conditions corresponding to each welding pass A are taught in advance.

In the case of actual welding, each condition can be changed simply by changing the numerical value of the welding path.

■When you press the [P, 'R] key, the lamp built into the key lights up, and the key is in the ON state. This is an operating system to match the command value (displayed value) of welding conditions, etc. with the actual value. becomes.

The command values and command operations of welding conditions include welding current [■], welding voltage [V], welding speed [D], etc., but here, as an example, a calibration operation for welding current [I] will be described.

In advance, measure multiple pairs of command values and actual values of welding cursor (1,, l) to determine the deviation between the command value and the actual value, and then write a program that calculates this deviation in advance from the command value. Calibration operations are performed in the first step using a method that automatically matches the command value and the actual value.

■Press the welding current key (A) to turn on the current.

(2) Press the lower part 10d or the upper part 10d2 of the switch 10d to set the current value (command value) displayed on the CLED) 10c to an arbitrary value.

■ Press the welding start key (STT) to generate an arc, and read the actual value using another highly accurate ammeter wired in advance near the welding head. At this time, the welding current key (A) automatically returns to the OFF state.

■ Press the calibration keys (P, R) to turn the calibration ON.

■Press the welding current key (4) again to turn on the current. (In this state, the display value change routine of the welding current (I) goes through the calibration routine.) ■ Press the lower part 10dl or the upper part 10d2 of the switch 10d to display the previously read actual value on the (LED) 10C.

■Press the welding current key (A) to return to the current OFF' state.

■Press the calibration keys (P, R) to return to the calibration OFF state.

This completes the calibration of one point of current value. next.

Separately, if you perform the calibration operation for the current value (command value) in the same manner as described above, when the V... operation is finished, the calibration point set earlier and the calibration point set later will be changed to the software inside the control device 7. A calibration curve connected by a straight line and passing through the above two points is stored by the program. Therefore, when the welding current value (command value) is subsequently set, an actual value matching the command value is reproduced.

Note that the nine calibration points are not limited to the two points mentioned above, but may also be two or more points. In that case, multiple line graphs will be obtained, and the output of the welding power source 14 and the displayed value (command value) can be calibrated. Accuracy will be higher.

■ The (CON,) key is used to restart welding from the interrupted point after welding has been interrupted. When this key is pressed, the lamp built into the key lights up, and the key is pressed.
N state, and welding is interrupted by counting the running position of the welding cart 9 and memorizing the sensing information of the position on the welding line based on the count ([・to D] and [・to H) output from the arc sensor 13. The previous state can be continued.

Note that when welding is restarted with the key OFF, the welding line sensing information based on the count of the fast moving position before welding interruption disappears, and storage is started with the restart point set as 0 point.

θ (When you press the IyR1 key, the lamp built into the key lights up and the key is kept in the ON state.i [Emergency stop]
Keys other than the key are interlocked by software. In addition.

Pressing this key again turns off the lamp and releases the interlock.

■ [w,], [w*], [w, :+, [T,], +'
r, :+, [oc].

[H), (S), [A), (V), I
Each key of "D) is a command value setting key, for example (W
, ] When the key° is pressed, the lamp built into the key lights up, turning the key ON, and the previously set value is displayed on (LED) 10C. If you want to change this value,
The displayed value is changed by pressing the upper IQdz or lower 10dl of the switch 10d. Like other keys, when this key is pressed again, the lamp goes out and the key becomes OFF. Also, if the key is in the ON state (W, 5E
NS).

When a key other than (P), (P, R), or (CON) is pressed, the lamp goes out and the key becomes OFF, and the lamp of the newly pressed key lights up and turns ON. Switch.

■ The (O8/S) and [D/S] keys are simulation keys that operate under set conditions.
S) When the key is pressed, the lamp built into the key lights up and the key is turned on. When the upper part 10d or the lower part 10d of the switch 10d is pressed, the preset (Wl
), (Wt), (TI), ('I's) and [Oc
] Oscillate under the following conditions. [瑳4] When the key is pressed, the lamp built into the key lights up and the key is in the ON state, and the upper part 10d of the switch 10d! When is pressed, the vehicle travels at a preset speed and in a direction preset by a program, and when the lower part 10d2 of the switch 10d is pressed, the vehicle travels at the same speed as above but in the opposite direction.

If you press any of these keys again, the lamp will go out and the key will be in the OFF state, and (W-8ENS)
CP), CP, R].

When a key other than (CON) is pressed, the lamp goes out in the same way, turning the key OFF, and the lamp of the newly pressed key turns on, turning it ON.

■ (Z/I), (W/I), (X/I
) and (Y/I) keys are inching keys that are activated in combination with the operation of the switch 10d, and when the keys are pressed, lamps built into the keys light up, turning the keys on.

When the (Z/I) key is on, press the top l of the switch 10d.
When Oton or lower i0d is pressed, the welding cart 9 travels in the same direction as when the above-mentioned CD/8) key is activated for the time it is pressed. The traveling speed at this time is a speed set in advance by a program (for example, the speed necessary for the inching operation).

When either the upper or lower part of the switch 10d is pressed while [I/I] is ON, the button will move in the direction preset by the program corresponding to the pressed position of the switch 10d for the time it is pressed. The Y-axis drive motor 3g of the oscillator 3 is activated, and the 1-chi 1 moves in the height direction.

The movement speed at this time is also the speed set in advance by the program (for example, the speed required for the inching operation) as in the case of the (X, /I) keys.

Above, 4 keys (Z/I), (W/I)
, (X/I) and (Y/I) are both pressed again from the ON state, the lamp built into the key goes out and the key becomes OFF, and (W, 5ENS), CP)
.

When a key other than CP, R), or (CON) is pressed, the lamp goes out in the same way and the key is in the OFF state, and the lamp of the newly pressed key lights up and switches to the ON state.

(2) When the (STT) key is pressed, arc sensor controlled welding based on this embodiment is started following the following sequence. Namely.

■ When the (STT) key is pressed, the lamp built into the key lights up and the key is in the ON state.

■ Simultaneously with the key ON state, the shield gas 15 supplied from the shield gas cylinder (not shown) acts on the electromagnetic valve installed in the supply line of the torch 15, and the shield gas 15 begins to flow, and the shield gas 15 starts to flow through the shield nozzle at the tip of the torch 1. It flows out from 1a. (The flow of shielding gas from a certain period of time before arc generation is called preflow.) After the start of preflow, when the timer set in the welding power source 14 etc. has elapsed, the welding power source 14 starts supplying welding power. As soon as the magnet switch for the welding is turned ON, the motor 20 of the wire feeding device 11 is driven and the feeding of the wire 5 is stopped, and the material to be welded 4 and the tip of the wire 5 fed out from the tip of the torch 1 are connected. During this time, an arc 16 is generated and welding begins.

■ When the arc 16 occurs, the welding current value CI) and welding voltage value (CI) set in advance by the remote control box 10
V) after stabilizing.

From the arc sensor 13 to the oscillation start point (oscillator 3
is in a state of suspension.

A signal for defining the oscillation center point (center point of oscillation) is sent to the control device, and at the same time, the signal is received and the oscillation progresses under the oscillation conditions set in advance by the remote control box 10.
l/-13f) Ika, -2 I, , 1, N.i 4 is driven and oscillation of the torch 1 is started. At the same time, the travel motor 9d of the welding cart 9 is driven to start traveling at a welding speed previously set by the remote control box 10.

Note that even if the I:5TT1 key is ON, (1,
R) If the key is in the OFF state, welding conditions etc. cannot be changed or modified.

(W,), (Wri, (W,), (T,), (T2).

(0,], (A), (V), ([1, (H]), (This is possible by operating keys 81 and switch 10d.

(, i;) When the (STP) key is pressed, welding stops after following the following sequence.

■ When you press the (STP) key, the lamp of the (8TT1 key goes out and the key becomes OFF.)

At the same time, the welding cart 9 stops running.

■ Next, the oscillator 3 stops when it reaches the center of the oscillation cycle at that point.

(2) Next, a crater filler installed inside the welding power source 14 is activated, the welding current (I) gradually decreases, and the arc is extinguished.

(2) Next, the silt gas aqua flow built into the welding power source 14 is activated, and after a preset time, the solenoid valve is activated and the supply of the shield gas 15 is stopped.

■ When you press the [Emergency Stop] key, the power input circuit of the control device 7 turns OFF.

Not only does the arc 16 stop, but also the power supply to the control system circuit stops.Next, in the storage section 7C of the control bag device 7 of the welding device according to the ninth embodiment, the following information is stored in order to make the automatic machine more useful for the two-wire welding device. It has built-in programs with similar functions.

[1] Welding line trajectory information storage program Correction signal based on meandering of the welding line and changes in groove spacing that change as welding progresses (group 4)
, (ΔH) is processed by the pulse counter 7j of the control device 7 to process the pulses oscillated by the encoder 9g of the welding cart 9 and output a signal to the (cpu) 7 at regular intervals (traveling distance of the welding cart 9).
[Δ[) ) at the time of receiving the signal,
This is the welding line trajectory information 5, which is a program that stores the value of (''). The welding line trajectory information obtained by this program is necessary for welding the final layer 17C, but the
Since trajectory information of all layers from 7a to intermediate layer 17b is not required, the trajectory information is only available when path A6 on the remote control box 10 shows [1] (during first layer welding). All you have to do is memorize the information. Of course, path A
It is not necessary that the display of [P] is [1], but 9, for example, [2].
] The above values may be stored as the pass before the final layer 17C, % (P).

In the second embodiment of this specification, the description will be made on the assumption that the program has been programmed in advance to store the path /I61.

Therefore, by welding either the initial layer 17a or the intermediate layer 17b, [ΔH] and [Δ
D] is stored at a certain interval from the welding start point, in welding the final layer 17C.

If welding is started by aligning the welding start point of the final layer 17C with the welding start point of the above-mentioned memorized layer, the above-mentioned stored information [△H] and [△D] will be transferred to the encoder 9 as welding progresses.
Based on positional information (traveling distance of welding cart 9) based on pulses emitted from g.

[ΔH] and [ΔD] are outputted from the storage unit 7C to the control unit (servo unit 7h), and the X-axis and Y-axis of the oscillator 3 are operated to repeat the so-called weld line locus.

[2] Welding speed automatic control program This program is described in the explanation of the function of the arc sensor in Figure 4, Figure 12, so I will not discuss it in detail, but this function can be used to control the welding posture,
Groove shape or welding conditions (welding current [■], welding voltage).

Since the relationship between the oscillation width and the welding speed [D] differs depending on [V]), etc., the relationship between the oscillation width and the welding speed [D] is calculated in advance for each welding posture or applied welding conditions, and the program is based on that algorithm. input is required.

Next, using the welding device according to this example, Let us describe the case of welding.

[First example] The groove shape of the material to be welded 4 is approximately a V-shaped groove.

In a downward butt weld joint where the groove interval changes in the direction of the weld line and the weld line is meandering, a straight idle rail 9C on which the welding cart 9 runs is laid parallel to the weld line as desired. It is in a state of The welding procedure is to stack a plurality of layers in one pass as shown in FIG. 18.

■ First, as explained in the example shown in FIG. 14, a guide rail 9C is laid almost parallel to the welding line of the material to be welded 4, and the welding cart 9 carrying the oscillator 3 is set on the guide rail 9C. . At this time, set the center of the groove 1 fixed to the holder 2 of the oscillator 3 so that it is approximately at the center of the groove.If you simply run the cart in this state,
Since the welding line is meandering, the center of the groove 1 and the center of the groove will gradually deviate from each other.

■ Next, turn on all the power switches of this welding equipment to supply power to the control circuit.

■ Using the key 10b and switch 10d of the remote control box 10, first calibrate the welding conditions etc. by operating the [P, R] keys mentioned above, and then calibrate the plate thickness of the target material 4 to be welded. Welding conditions (A,
V, D), oscillation conditions [W,.

W2 , w, , T, , T2 , Oc) and 1
・-Set the position conditions (H, S) for H1. The procedure for setting each condition is as described in the functional explanations in FIGS. 2, 3, and 15 above.

Note that the following should be considered when setting the oscillation conditions. That is, as explained in the example shown in FIG. 16, the oscillation trajectory in the case of downward butt welding can be a simple harmonic motion, so only [W,] is set according to the groove width [W2], [W,] may be O.

Also, there is generally no need to stop the oscillation (T,
), CT, ) may be 0. Also, set here [W
1] may be any condition that approximately matches the groove size at the welding starting point, except for the conditions for the final layer 17C. That is, the layer forming the bead in the groove starts to be welded, and the arc sensor 13
When activated, the oscillation width is controlled according to changes in the groove width. However, it is assumed that welding of the final layer 17C will be performed on a state where the inside of the groove is almost completely filled with weld metal 17, and if there is no groove surface remaining, welding will be performed based on the principle of the arc sensor [L] Since the change in is small, automatic control of the oscillation width is not possible. Therefore, the final layer 17c
Only [W] of the final layer 17C set in the remote control box 10
1] will be welded while maintaining the dimensions.

The same can be said of the welding speed (CD) among the welding conditions. In other words, in order to keep the bead height constant regardless of changes in the groove spacing, the apparatus of the second embodiment adjusts the running speed of the welding cart 9 according to the oscillation width controlled based on the principle of an arc sensor. Therefore, when welding within a groove where arc sensing is possible, CD] can be set to a speed that is approximately a guideline. However, when welding the final layer 178, automatic control of the oscillation width is not possible as described above, so the CD
) while welding.

Setting the position conditions (H, S) for welding 1 and -ch 1 is an operation for positioning welding 1 and -ch 1 with respect to the welding start point. This means the setting of the reference length of the distance between the chip base materials [L], which is composed of + arc length [L, ]. Therefore, when setting □, 1.
Assuming the case of welding of 7a and the case of welding of the final layer 17C when 1.-chi.

In addition, in the lamination method where one layer is formed in one pass as explained in the example shown in Fig. 18, it is desirable to match the center point of the oscillation with the center of the groove, so in this case, set [S]. (S) may be O.

■ Setting of the required welding conditions etc. is completed by operating the remote control box 10 as described above, but operations such as adjusting the position of the torch 1 with respect to the groove or adjusting the protruding length of the wire 5, and further simulating the various set conditions Needless to say, this can be done in seconds by the key operations mentioned above.

(2) Next, the operations after the start of welding will be explained. 0 When the (STT) key is pressed to start welding, welding is started according to the sequence after pressing the (STT) key, as explained in the example shown in FIG. 15. That is, it begins with the preflow of the shielding gas 15, the generation of the arc 16, and the stabilization of the arc 16.

Various operations for starting welding are performed in the order of driving the oscillator 3 and driving the welding cart 9. When the oscillator 3 starts moving, the arc sensor 13 is activated as previously explained in the example shown in FIG. is activated, and oscillation width control and weld line tracking are performed based on this principle. In this case, the oscillation pattern set by the remote control box 10 is a simple one as explained in the example shown in FIG.
The tip of the wire 5 swings along the surface (molten metal surface) of the weld metal 17 formed directly under the arc and the groove surfaces on both sides of the weld metal 17 via the arc 16, and at this time, the tip 1b and the groove surfaces The distance to the molten metal surface 17 is determined by the correction value [d] output from the arc sensor 13, that is, the correction value that acts on the drive of the Y-axis motor 3g of the oscillator 3 (H) of the remote control box 10.
Retains the dimensions set by the key. Therefore, even if the basic shape of the oscillation pattern is simple, the locus during welding takes on a uniform shape with both ends slightly curved up.

- When welding starts, it progresses while drawing a trajectory like this, but the arc sensor 13
Parameters (U) set in the digital computer 29 of
acts on the drive of the X-axis motor 3f of the oscillator 3, and progresses while maintaining an appropriate oscillation width according to the groove width. Furthermore, oscillation within the groove is always maintained even with fluctuations in the X-axis direction caused by meandering of the weld line by the action of the X-axis correction value [ΔD] and CU). This is sufficient on the premise that the maximum swing width of the weld line sufficiently covers the meandering of the weld line (the maximum amount of deviation in the X-axis direction).

Further, the oscillation width control signal corresponding to the groove width fluctuation acts on the welding speed automatic control program suitable for downward butt welding, which is input in advance to the control device 7, and controls the traveling speed of the welding cart 90. The height of the weld metal 17 formed within the groove, that is, the bead height, can be kept constant.Furthermore, the correction value [ΔD] and [ΔD] of the position of the torch 1 output from the arc sensor 13 during welding can be kept constant.
ΔH] is the distance counted as welding progresses from the welding start point as 0, that is, the encoder 9g of the welding cart 9
The pulses oscillated from the pulse counter 7j are processed and stored at regular intervals.

■ Next, we will explain the operation of stopping welding. 0 When the welding progresses to the target welding end point, the limiter hits the stopper installed in advance on the guide rail 9C, or the (ST) of the remote control box 10
When the P) key is pressed, welding is stopped according to the sequence described in the example illustrated in FIG. That is, following the stop of the drive of the oscillator 3 of the welding cart 9,
After the flator filler is activated and the arc 16 is extinguished, the shielding gas afterflow occurs.

All welding operations stop.

■ In this way, the welding of the first layer (initial layer) 17a is completed, but even if the groove width fluctuates and the weld line is meandering, even if the welding line is meandering, the height expected in advance can be maintained within the groove. A weld bead 17a is formed.

■ For welding of the intermediate layers after the second layer 17b, return the welding cart 9 to the welding starting point of the first layer.

When the [STT] key is pressed, proper welding is performed by the action of the arc sensor 3 under various conditions set in advance by the remote control box 10, similar to the welding of the first layer.

■ Next, the final layer is welded using the torch position information [ΔD,
ΔH] is repeated. However, first of all, the welding device needs to recognize that 1. "This welding is the final layer," but this is a certain arbitrary value that limits the path A (P) of the far-field operation box 10 to the final layer 17C. The purpose can be achieved by determining a signal and setting it so that when the value or signal is displayed on path 4 (P), the welding routine is executed based on the above-mentioned stored information.

[Second example] The groove shape of the material to be welded 4 is approximately V-shaped.

In a standing butt weld joint where the groove interval changes in the welding line direction and the welding line is meandering, the workpiece 40 to be welded is run along the straight guide rail 9C on which the welding cart 9 runs approximately parallel to the welding line. It is attached to the surface. In addition, the lamination procedure for welding is as explained in the example shown in Fig. 18.
This is a method of overlapping multiple layers in one pass layer.

■ As in the case of [first example], guide rail 9C
Set the welding cart 9 loaded with the oscillator 3 to I-L, l.
--Position the tip 1 almost on the center line of the groove.

■ Next, turn on all power switches for this welding equipment.

■ Using the key 10b and switch 10d of the remote control box 10, welding conditions (A, V, D) and oscillation conditions (W, , , W, , W3. T, , T, ,
Set the position conditions (H, S) of Oc) and 1.-chi 1. In addition.

Before setting these conditions, calibration of welding conditions, etc. is completed using the (P, R) keys.

When setting the oscillation conditions, consider the following regarding the initial layer 17a and the intermediate layer 17b. That is, as explained in the example shown in FIG. 17, the oscillation locus in vertical butt welding is preferably a trapezoid with no base. Therefore, the amplitude component corresponds to the width of the bead surface to be formed (WJ = Set the dimensions of [W,] corresponding to the height direction of the bead and [W8] corresponding to the groove gap (root spacing), and further [W,
] and [T2] at both ends of [W, ] and the optimum oscillation stop time for bead formation, respectively.

Welding of the final layer 17C is the same as in the first example, and since it is impossible to automatically control the oscillation width using the arc sensor 13, welding is carried out while maintaining the oscillation conditions of the final layer 17C set by the remote control box 10. .

Welding speed CD) also follows the set value.

Below is the first example of the operations up to the start of welding. Follow the steps up to item 0 above.

■ Next, we will explain the operation after the start of welding. After pressing the O [ST'T] key, the arc 16 is generated, the oscillator 3 is driven, and the welding cart 9 is driven.
Same as the example description.

- When the oscillator 3 starts moving, the arc sensor 13 operates to control the oscillation width and follow the welding line. In this case, the oscillation pattern set by the remote control box 10 will be explained using the example shown in FIG. As you can see, it is a trapezoid with no base. However, in the case of vertical welding, unlike downward welding, the weld metal 1 melted by the arc 16
7 flows slightly forward and downward from the arc point, forming a crater that descends forward. Therefore, the tip of the arc 16, which necessarily draws a trapezoidal oscillation locus as the welding cart 9 rises, always follows the upper edge of the crater. At this time, the distance between the chip 1b and the upper edge of the crater is [ΔH] output from the arc sensor 13 with respect to the dimension set by the town key, that is, a correction value that acts on the drive of the Y-axis motor 3g. Trapezoidal oscillation while maintaining the corrected dimensions!・Draw.

Also, it changes as welding progresses. For fluctuations in groove width and meandering of weld lines.

The parameter (U) set in the digital computer 29 of the arc sensor 13 and the X-axis correction value [ΔD] act on the drive of the X-axis motor 3f of the oscillator 3, and the appropriate oscillation width is determined according to the groove width. Adaptive control is performed for the groove center position. Furthermore, the control signal for the oscillation width according to the variation in the groove width acts on the welding speed automatic control program suitable for vertical butt welding, which is input in advance to the control device 7, to control the traveling speed of the welding cart 90. The height of the weld metal 17 formed within the groove, that is, the bead height, is kept constant.

Below, various sequences related to the action of the tracing signals [ΔD] and [ΔH] to store the welding start point as O, the operation sequence of stopping welding, welding of the second and subsequent intermediate layers 17b and welding of the final layer 17C, The operation and effect are in accordance with the section ``Artificial'' described in the first example.
・ [Effects] By applying the welding device according to the present invention to welded joints with poor groove precision (joints with fluctuating groove spacing or meandering weld lines), the oscillation width with respect to fluctuating groove spacing can be improved. Adaptive control and follow-up control for welding lines are automatically performed.

Therefore, if standard welding conditions and drive system operating conditions are entered in a simple remote control box before welding starts, welding will proceed without monitoring or operation. Moreover, since the automatic control described above is performed with high precision using electrical signals based on the principle of arc sensing, it is possible to eliminate the welding of good quality by using the techniques of nine people. part is obtained.

References (1) Dai Maruo, Yoshinori Hirata, “Research on current-controlled arc welding”, published by the Welding Method Research Committee, Welding Society, July 1980 (2) Kohei Ando, Mitsuo Hase, “Welding arc phenomena” (expanded) Edition) October 1, 1962 ■Sanho Publication

[Brief explanation of the drawing]

Figure 1: People Figure 18 is related to the present invention. FIG. 1 is an overall configuration diagram of a welding device according to an embodiment of the present invention, and FIG. 2 is a wiring diagram thereof. Figure 3 shows the configuration and circuit diagram of the control device. Fig. 4 is a block diagram showing the welding circuit and arc sensor of the welding device, Fig. 5 is a diagram explaining the principle of the arc sensor, a graph of the oscillation pattern and the distance between the tip and the workpiece, and Fig. 6 is the welding workpiece. An explanatory diagram showing the state in which the groove spacing of the material is changing. Figure 7 is an explanatory diagram showing the ■-■ cross-sectional view and the pattern of change in the distance between the tip and the welded material with respect to the oscillation width when oscillating within the groove. Figure 8 is a cross-sectional view taken along the line ■-■ in Figure 6, an explanatory diagram showing the change pattern of the distance between the tip welded material and the oscillation width when the oscillation width is decreased within the groove, and Figures 9 and 10. is an explanatory diagram of the principle according to the present invention, FIGS. 11 and 12 are relationship diagrams between the graphs shown in FIGS. 9 and 10 and groove cross-sectional views, and FIG. 13 is a configuration diagram of the oscillator of this embodiment. , FIG. 14 is a configuration diagram of the welding combination wheel of this embodiment, FIG. 15 is a configuration diagram of the remote control box of this embodiment,
Fig. 16 is an explanatory diagram of the pattern of the simple oscillation locus, Fig. 17 is an explanatory diagram of the pattern of the trapezoidal oscillation locus,
FIG. 8 is a cross-sectional view of a welded part showing the method of laminating welding. 1...Welding 1--chi, la...shield nozzle. ■b...Chip, 1c...Power supply part, 2...Welding 1
-Chi holder, 2a...Rotating body, 3...Oscillator, 3a...Support ring, 3b...Substrate. 3C... Support column, 3d,, 3d2... Holding plate, 3e.
...Cover, 3f...X-axis drive motor +3g...
Y-axis drive motor, 3h... Drive shaft, 4... Material to be welded, 5... Welding wire, 6... Relay box. 7...Control device, 7a...CPU card. 7b... bus bar, 7c... ROM/RAM card. 7d---D/A card, 7e---Ilo car 1/. 7f...OUT card, 7g...I10 card. 7h, 7i... Surho units +-, 7j... Pulse counter + 8a, 8b, 8c, 8d...'y--
7"/l/. 9... Welding wheel, 9a... Frame body, 9b... Wheels. 9C/0 guide rail, 9d...-Travel drive motor,
9e...Gyaunits+-, 9f...Rack gear, 9
g...Encoder, 10...Remote control box, 10a.
...Box body, 10b...Key. 10C...LED, 10d('10d, 10d,
)... (lower, upper) switch, 10e... signal cable, 11... wire feeding device, 12... rotation amount detector, 13... arc sensor, 14... welding power source , 15...shielding gas, 16'... arc. 17... Weld metal + 17a... Initial layer bead. 17b...Middle layer, 17c...Final layer, 18...
Backing material, 19a, 19b...Roller, 20...Motor, 21...Drive control device, 22...Welding condition setting device, 23...Welding current detector, 24...Welding voltage Value detector, 25... Rotation amount detector. 26a, 26b, 26c, 26d+26ev26f, 2
6g+26h...Amplifier, 27...Setting device, 28a
. 28b, 28c, 28d, 28e, 28f---A/
D converter, 29...Digital computer. 30a, 30b...Oscillation trajectory Figure 7 Figure S Figure 9 Figure 10 Figure 12 Figure $16 Procedural amendment (voluntary) August 1985-218 Indication of incident 1988 Patent application No. 270324
Name of the invention No. Intelligent welding device Relation to the case of the person making amendments Patent applicant address 2-5-1 Marunouchi, Chiyoda-ku, Tokyo Name (620) Representative Mitsubishi Heavy Industries, Ltd. Address Chiyoda-ku, Tokyo Mitsubishi Heavy Industries, Ltd., 2-5-1 Marunouchi (telephone number 212-3111) Name (8124) Patent attorney Akira Sakama 0.゛Residence
Same as above 2゛-゛-
Mr. Ni Name (7934) *Physical Engineer Kita Nishi
Affairs. -1", 1 1. The specification is amended as follows. (1) "Result system" on page 6, line 8 is corrected to "wire connection system." (2) “Figure 16” on page 7, line 14 is changed to “Figure 18”
I am corrected. (3) Correct "remote control type" in line 10 of page 9 to "remote control box." (4) “Convert ([D
/ A card] or [digital/analog converter])" should be corrected to "convert [D/A card] or [digital/analog converter]." (5) Page 13, line 16 [Do. (OUT (output) card)” should be corrected to “do (OUT (output) card)”. (6) “Mesh with rack gear 9f” in line 12 of page 18 to “mesh with rack gear 9f”. (7) Correct “at a certain time” in line 18 of page 30 to “at a certain time.” (8) Correct “parameter” to “parameter” in line 5 of page 33. (9) “Welding line tracing status” on page 39, line 10.
Corrected to "welding line copying function". 2. Correct r VIII J on page 43, line 10 to "■". αυ rlodzJ on page 45, line 1θ, l” 10
Corrected to d2J. (6) Change rlodzJ on page 46, line 5 to “tod, +J
Correct. (13, page 43, line 10, line 17) r (W2),
(T+)J t' r(N21). [W3], [T1]”. G→ Change “10d2” on page 46, line 13 to “10d+J”
Correct. αυ Add the following sentence between page 47, line 15 and line 16. When either the upper part 10d2 or the lower part 10dl of the switch 10d is pressed while the r (W/I) key is ON, the direction set in advance by the program corresponds to the pressed position of the switch 10d for the time it is pressed. The motor 20 of the wire feeding device 11 is driven, the roller 19a rotates, and the wire 5 moves forward or backward. The speed at this time is generally the welding current (
The wire is fed at a wire feeding speed [v] according to the command value of I). When the (X/I) key is ON, turn the upper part of the switch 1°d.
When either 0d2 or the lower part 10d is pressed, the X-axis drive motor 3f of the onrator 3 operates in the direction preset by the program corresponding to the pressed position of the switch for the time it is pressed, and the torch 1 moves horizontally. The moving speed at this time is a speed set in advance by a program (for example, the speed required for an inching operation). ” αQ Correct “shield gas aquaflow” in line 13 of page 51 to “shield gas afterflow mechanism”. Change “OFF” in line 2 of page 52 to “OFF
Corrected to "become". (To) Change “(servo unit)” on page 54, line 5 to “(
(servo unit). α9 Correct "flake filler" from line 7 to line 8 of page 68 to "crater filler." (4) On page 64, line 7, "remote control box" is corrected to "remote control box." f2D On page 64, line 17, "verification" is corrected to "vertical verification." 2. Correct Figure 17 as shown in the attached drawings.

Claims (1)

[Claims] An oscillator that holds a welding torch and consists of a two-axis [X, Y] drive mechanism, a welding cart that carries the oscillator and travels, and a distance between the tip and the workpiece during welding. An arc sensor circuit that detects the groove center position and groove spacing by calculating with an electrical calculation circuit based on changes in welding conditions caused by changes, and teaching of various conditions necessary for welding. An operation box that performs inching control and switch functions of the movable parts by key operation, the oscillator, the arc sensor circuit, and the operation box. Information is taken in and processed by an electrical calculation circuit to control the oscillator, the welding cart, and the welding power source. An intelligent welding device characterized by comprising: a control device that controls the output of the