JPS6115210A - Copying method of welding line - Google Patents

Abstract

PURPOSE:To minimize the number of data collecting points as few as possible without deteriorating the copying accuracy by defining a point where the displacement from a copying point on a welding line in the direction orthogonal to the welding direction exceeds a prescribed level as the next copying data collecting point. CONSTITUTION:The coordinate value (X1, Y1) of the tip position of a welding torch at a welding start point A is stored. Then the torch is shifted from the point A for reading the torch coordinates. A point that exceeds the displacement lof the Y coordinates is defined as a data collection point B, and the coordinates (X<2>, Y2) of the point B is stored. Then the torch is shifted from the point B, and the coordinates (X3, Y3) of a data collection point C is stored in the same way. Hereafter the data collection points are specified successively and the coordinates of these coordinates are stored. Then a welding job is started at the point A. Thus the torch is set on an interpolation point b(X2, Y1) according to the coordinate value and then shifted to the axis Y to receive a correction of its position. Then the torch reaches the point B. Hereafter the torch is successively shifted through interpolation points c C d E ....

Description

[Detailed Description of the Invention] [Industrial Application Field] When automatically performing circumferential welding on steel pipes, the present invention involves the following steps: 1. Prior to welding, a welding torch is made to trace the welding line to obtain tracing data, and the welding Sometimes it relates to a welding line tracing method in which a welding torch is moved along the welding line based on the data.

[Prior art]

There are two methods of tracing data during welding: a method of obtaining tracing data simultaneously with welding, and a method of obtaining tracing data prior to welding.

Although the present invention relates to the latter, a conventional weld line copying method of this type is the one described in Japanese Patent Publication No. 58-17706.

The method will be explained based on FIG. Welding line 1°,
The welding direction is expressed in an X-Y coordinate system with the X-axis direction. now,
For simplicity, it is assumed that the welding line 1o is formed on a plane and that the height position of the welding torch tip is constant. First, before welding, the welding line 1° is divided into distances of rml, and the scanning data collection points are set as A, B, C...■, and the tip of the welding torch is faced at the welding start point A. The location is stored in a predetermined storage device or the like. Next, the tip of the welding torch is brought to face point B on the welding line at a distance of 1111M in the welding direction, and the X and Y coordinate values of this position are memorized. Following the same process, data collection points C, D... and welding 1 - at the welding end point.
Position the tip of the tip and memorize the x and y coordinate values of that position. After that, welding start value 2! When the welding torch tip is set at A and automatic welding is performed, the welding torch tip is positioned at a point moved from point A by a distance l in the X-axis direction while generating an arc. It is moved in the Y-axis direction based on the stored value and positioned on the tracing data collection point B on the welding line 10. Distance in the X-axis direction from the scanning data collection point in the same way! At that point, it is moved in the Y-axis direction and located at the tracing data collection point on the weld line.

In this method, tracing accuracy can be improved by moving the tip of the welding torch and increasing the number of memorized positions, but increasing the number of memorized positions requires a large-capacity storage device.
Another disadvantage is that it is troublesome to move the tip of the welding torch to obtain tracing data.

〔the purpose〕

The present invention has been made in view of the above circumstances, and its purpose is to provide a weld line tracing method that reduces the number of tracing data collection points as much as possible without reducing tracing accuracy. .

〔composition〕

The welding line imaging method according to the present invention involves tracing the welding line with a welding torch prior to welding, identifying and storing the welding torch position for a plurality of tracing data collection points, and at the time of welding, the welding torch position is specified based on the memorized position. A welding line imaging method in which the welding line image is moved is characterized in that a point at which the displacement of the welding line from one tracing point in the welding line in a direction perpendicular to the welding direction exceeds a predetermined amount is set as the next tracing data collection point. shall be.

〔Example〕

The method of the present invention will be specifically explained below based on the drawings.

Fig. 1 is a graph for explaining the method of the present invention, and Fig. 2 is a flowchart as well.
0 is shown in the XY coordinate system with the welding direction as the X axis. In the method of the present invention, a point where the amount of displacement of the weld line in a direction perpendicular to the weld line (ie, the Y-axis direction) reaches a predetermined value l is taken as a data collection point. Now, let the welding start point be A, and the x and y coordinate values of the welding torch tip position at point A are stored in a predetermined storage device. This storage method is similar to the conventional method described above; first, the welding torch is positioned above the welding start point A, and the position is stored in a predetermined storage device. The memorized position of the welding torch in this case is represented by coordinates (x,,y,).

Next, move the welding torch along the welding line in the welding direction from welding start point A, read the coordinates of the welding torch position, and trace the point where the displacement of the Y coordinate exceeds l (YY+≧1) to obtain data collection point B. and its coordinates as (X2, Y2
), and further move the welding torch along the welding line in the welding direction from point B, trace the point where the displacement of the Y coordinate of the welding torch position is equal to or greater than β, and set that coordinate (X3.Y3) as the data collection point C. ) is stored in the storage device, the scanning data collection points are sequentially identified and their coordinate values are stored, and the welding torch is moved to the welding end position.

After completing the memorization work in this way, the welding torch is set to the memorized position by facing the welding start value 2A point in order to perform the welding work, and when welding is started in this state, the welding torch generates an arc. From X @ force direction, point A is the welding direction (X
axial direction) distance (X2 XI) by 4, and interpolation point b<
x2°Y,). Then, from above this interpolation point, the f6 contact torch is moved in the Y-axis direction and its position is corrected to the storage position (X2.
Y2).

Next, the welding torch stores the COX axial distance (
Move in the X-axis direction by X3-X2) to interpolate point c (X3
, Y2>, the position is corrected in the Y-axis direction, and the memory position on the scanning data collection point C (X3.Y
3), and will be sequentially moved as d - De - E . . . .

In addition, in the above-mentioned embodiment, the movement of the torch position stops in the X-axis direction (i.e., the progress of welding) at the correction point and moves to the Y-axis direction.
Although it is possible to move the torch in the axial direction (i.e., correct the torch position), in actual work, intermittent movement in the Since there is a possibility that the object is a person, it is desirable to correct the position by moving the object in the Y-axis direction while moving at a constant speed or a speed stored in a storage device.

In the above explanation, only two-dimensional copying was explained, but it goes without saying that three-dimensional copying can be performed in the same way.

〔effect〕

According to the method of the present invention, when the welding line has a large displacement in a direction perpendicular to the welding direction, the distance in the welding direction between the data collection points becomes small, and conversely, when the displacement is small, the distance between the data collection points decreases. The distance in the welding direction becomes larger, and therefore, in areas where the weld line has a large displacement, there are more data collection points and it is possible to reliably follow the weld line, and conversely, in areas where the weld line has a small displacement, there are fewer data collection points. This will save you the trouble of remembering it.

Table 1 compares the number of tracing data collection points in the conventional method and the method of the present invention in steel pipe butt welding and steel plate fillet welding. In the conventional method, data collection points were set at 5u intervals in the welding direction, and the number was 200. On the other hand, in the method of the present invention, when the displacement is 0.2 m, 0.3 fi, and 0.4 fi, respectively, in the case of steel pipe butt welding, the number of profiling data collection points is 140 and 60.40, respectively, and the steel plate fillet In the case of welding, the displacement is 0.3m and 0.
．． If it is 6m and 0.9 crane, the number of tracing data collection points is 1 each.
60, 80.40, and the memorization work is greatly reduced.

Chapter 1 Table

[Brief explanation of drawings]

FIG. 1 is a graph for explaining the method of the present invention, FIG. 2 is a flowchart, and FIG. 3 is a graph for explaining the prior art.

Claims (1)

[Claims] 1. A welding line tracing method in which the welding torch is traced along the welding line prior to welding, the welding torch position is specified and memorized for a plurality of tracing data collection points, and the welding torch is moved based on the memorized position during welding. A welding line tracing method characterized in that a point at which the displacement of the welding line from one tracing point in the welding line in a direction perpendicular to the welding direction exceeds a predetermined amount is set as the next tracing data collection point.