JPS6233060A - Automatic welding equipment - Google Patents

Abstract

PURPOSE:To obtain a uniform weld reinforcement height by executing an automatic correction of a welding condition corresponding to a variation of a groove width or a groove sectional area, based on a groove setting input of both ends of an object to be welded and teaching information of a position of both ends of a weld zone. CONSTITUTION:A storage part 5, a control part 4 and a condition setting part 6 are provided on the inside of a control part 30, and also each axis motor 32, 33 and 34 of a welding torch 13 is provided on a welding head 31. On each axis driving motor 32, 34 and 33, pulse encoders 35, 37 and a potentiometer 36 are provided as position detectors, respectively. First of all, a welding condition is set to the condition setting part 6, and subsequently, teaching of a position of a welding start point and its end point is executed. After welding has been started, a part of the welding condition corresponding to a variation of a groove width or a groove sectional area is corrected automatically, based on a set input of the storage part 5 and teaching information. Since a deposition quantity can be controlled, a uniform weld reinforcement height is obtained.

Description

[Detailed Description of the Invention] [Industrial Application Field] The present invention is applicable to steel frames where the weld line is composed of Txi,
The present invention relates to an automatic welding device that performs arc welding on a workpiece having a welding groove.

[Conventional technology]

In recent years, automation of arc welding has been promoted, and butt welding of straight parts, which is considered to be relatively simple welding and easy to automate, or multilayer welding with grooves, is difficult to perform during tack welding. Gap management of welding grooves in welding is rarely performed accurately, and this has become a major barrier to automation.

Conventionally, this type of device S! 1 was shown in Figure 8g11. Moreover, FIG. 12 is a plan view and a front view showing an example of the object to be welded. In FIG. 12, (1) is the object to be welded, (2) is the rj groove, the X direction is the welding direction, and the Y direction is the welding groove direction.

In FIG. 11, (3) is a control device that forms the core of the automatic welding device, and (4) is a control unit that is centered on the UPUi.

(5) is a storage unit for various data, which is composed of a random access memory (RAM). (6) is IIE from the keyboard switch and data display section in the welding condition setting section, and (7) external all! The input/output circuit (8) handles the input/output between the control unit (4) and the input/output circuit (7).
) The welding connection to the A control section (4) is reassuring.

(9) is the welding helide, and the H'S head (9) is the driving source.
) X-axis drive motor that moves the entire body in the welding direction (1, Y@drive Moog α11 that moves the entire groove in the groove width direction. Yld
The potentiometer (6) is engaged to change the phase ft as the drive motor (b) rotates, and the l''+f
f)-chi αJ, etc.

In addition, ('L4 is the control unit (4
) is an FA converter for converting the melting speed command fil t IXA, and is connected to the X-axis drive motor α0 via the motor drive circuit 09.

α7) A D/A converter for converting the output command II of the oscillation pattern from iIfi (4) to i)/-A. Tied and b.

In addition, fine adjustment volumes αG and 2 are respectively provided for the welding speed command value and oscillation pattern command value given by D/A '9. In addition, the input/output path (7) is a Rumata converter electrical system for four welding current commands.

It is also connected to the bath contact 1M source (8) by IIE contact, arc generation detection signal line, etc.

In addition, the welding power source (8) should be protected against any deviation of the torch from the welding source (8).

Power cape/1/c! tied together. The Y-axis drive motor αη is movable in the groove width direction, and the xa drive motor rtg is disposed so as to be movable in the welding direction as a whole.

Next, the operation will be explained.

Before starting welding work, the operator must first check the condition setting section (6).
Accordingly, welding mvt: data is set regarding various conditions for welding.The welding condition to be set is welding current.

Settings such as welding speed, oscillation width, oscillation traverse time, etc. are performed using keyboard switches in the condition setting section (6). The set data is stored in the RAM of the storage section (5) via the control section (4).

When the welding start command is sent from the condition setting section (6) to the control section (4), the control section (4) starts controlling the welding head (9) and welding source (8) according to the welding sequence. do.

The preset values for the welding speed are stored in the memory section (5
), through the input/output circuit (7), and further from JIX
A-hen W14i! After being converted to an analog value by IQ4.

On the way to the ATM route, the X-axis drive motor is driven to control the welding head (9) in the direction of the welding direction.

Also, during welding, the operator monitors the entire arc condition and adjusts the welding speed to the set value while sleeping.

A fine adjustment polyneem α@ is provided to increase or decrease the welding speed as appropriate.

On the other hand, when the groove (2) has a width of d degree wide, the movement control (oscillation) is performed in the width direction of the groove. The traverse time is the time when both ends are stopped, and is set by the condition setting section (6) in the same way as the welding speed. Note that the oscillation pattern is determined by the eight conditions described above.

The output command i of the oscillation pattern is issued after the control unit (4) reads out the above eight conditions from the storage unit (5) and continuously outputs the MWL as one position information and the position information on the Y axis with respect to the time axis from the control unit (4). is output to.

The command value output from the control unit (4) is sent to the input/output circuit (7)
After that, it is further converted to an analog value by a negative converter αη, and this analog value is amplified by a frame amplifier (to) and then reaches the Y-axis drive motor αυ.

On the other hand, the potentiometer does not engage the Y-axis n+motor αυ, and the generally well-known servo system t-WF5
1. The error signal between the oscillation pattern output command value and the output voltage of the potentiometer (2) is compared and amplified, and this signal drives the Y-axis drive motor Ql).
Control is performed to eliminate the error. Also, during welding, the width of the welding groove is measured by the operation saw.

A fine adjustment volume is provided so that you can finely adjust the oscillation width while checking the arc condition etc.
r), Operate V-Guke, as appropriate, increase or decrease the oscillation width.

After reading out the melt layer current setting from the storage unit (5), it passes through the input/output circuit (7) and the D/A converter and becomes the command voltage for the welding power source. decide.

[Problem that the invention seeks to solve]

The conventional device is configured as described above.

If the welding groove width at the welding start point and welding end point differs as shown in Figure 12, the operator must constantly adjust the oscillation width and welding speed using the fine adjustment volume. There are many problems such as the tendency for individual differences to appear in the operation, and the current situation is that it is a long way from becoming unmanned.

This invention was developed in view of the above-mentioned problems and conditions, and even when the groove widths at both ends of the I8 welding point are different, it automatically corrects the welding conditions and controls the welding i to achieve uniform welding. The purpose of the present invention is to obtain a device that can obtain a high excess height and also achieve unmanned work.

[Means to solve problems]

The automatic welding apparatus according to the present invention has a self-propelled LFG contact head having an oscillation function, and performs arc melting M on a workpiece having a dispersion groove.
It is necessary to correct a part of the welding conditions in accordance with the predetermined welding conditions at a specific position of the object to be welded, and the change in the groove width or the cross-sectional area of the groove in the hard object. means for setting and inputting data relating to welding grooves at both ends of the workpiece;

means for teaching the positions of both ends of the welding point of the object to be welded;
Based on the setting input layer and information taught by each of the above methods,
The change in the groove width of the above-mentioned WI welded product is configured to include means for automatically correcting a part of the 1@layer condition in accordance with the change in the groove cross-sectional area.

[For production]

With this invention, part of the welding conditions, such as oscillation, can be fully automatically corrected in accordance with changes in the groove width or groove cross-sectional area of the wave-melted material.

〔Example〕

Hereinafter, an embodiment of this invention will be explained with reference to the drawings. 1st
The figure is a completed block diagram of the embodiment, and FIG. 2 is a plan view showing the positional relationship between the welding head and the workpiece.

FIG. 8 is a side view thereof, and FIG. 4 shows the operating section.

Components A in FIG. 1 whose functions are similar to those in FIG. 211, which is an explanatory diagram of a conventional device, are denoted by the same reference numerals and their explanations will be omitted.

01 is a control device which is the central part of the automatic welding device, and 01) is a welding head. The welding head c3η serves as a drive source: an X-axis drive motor (to) that moves the entire welding head in the welding direction, a Y-axis drive motor (to) that moves the entire welding head in the groove width direction, and a welding torch (13t-in the vertical direction). It has a Z-axis drive motor 04 for moving.In addition, each drive mechanism is provided with an upright detector, the x@drive motor (2) has a pulse encoder (to), and the Y@drive motor (to) has a A pulse encoder (b) is respectively engaged with the hotensitometer (to) and the drive motor (z) so as to change the output according to the rotation of the motor.

Further, a left/right adjustment volume (to) for moving the entire stroke of the iY-axis is provided between the D/A converter αη for driving the Y-axis and the amplification circuit (to).

On the other hand, the x-axis pulse encoder (to) and the input/output circuit (7)
There is a balsukawanta (to) in between, and an input/output circuit (7
) is connected to the kawantari reset signal line (g).

The Y-axis potentiometer 4 meters (up to) is an element constituting the servo base as in the conventional device, and its position information is A.
The configuration is such that the signal can be input to the input/output circuit (7) through the /Df converter @η.

Further, the two-axis drive motor (to) is driven by a drive circuit (6) to rotate at a constant speed in response to a rotation command from a control unit (4). Furthermore, there is a pulse quanta (g) between the z＠ bus encoder (ro) and the input/output circuit (7), as in the case of the X-axis, and the μ quanta reset signal line is connected from the input/output circuit (7). - are tied.

Furthermore, the input/output circuit (7) is equipped with an operating section (g) shown in Fig. 4 for performing various commands, and a left/right adjustment volume (to) is provided in this operating section (c). I'm getting beaten up.

In FIGS. 2 and 8, the group is a guide rail for guiding the welding head (0) with respect to the workpiece (1).

Fixed. Conflict 1) is the running wheels and the guide rail■
Four welding heads are arranged so that the welding heads 0υ can be moved in the X-axis direction. Trout is Gaitley A/F4
This is a rack installed in the The link is a pinion gear, which is engaged with the single rotary shaft of the x#I drive mechanism of the welding/hood G1), and is arranged so as to mesh with the rack.

f4 is a Y-axis drive machine with a welding head of 0η.5. This is a guide bar that slides in the Y-axis direction. A mounting bracket is fixed to the tip of the guide bar, and a Z-axis drive 11J is also attached.

V) is a slide block, which is movable in the vertical (Z-axis) direction at Z@driver beak ω, and a welding torch (2) is attached to it.

Further, F4 is a welding start point, and 151 is a welding end point.

Figure 4 shows the operating section. In Figure 1, the ring is a memory switch for storing the position information of the tip of the welding torch, and eυ is an LED (light emitting diode) for displaying the step number of the position information. It is. The next step is to return the welding torch to the position of step number "1".

e3nThis is a reset switch that resets the X-axis bus wanter and the Z-axis bus wanter.

-0- is an inching switch for moving the welding head "forward" or "backward" in the direction of the c+nt-x axis A;
, @ are inching switches for "raising" or "lowering" the welding torch Q3t-Z axis direction.

In addition, when the left and right adjustment volume @Se is turned to the right, the welding torch (to) moves toward the welding head Gυ, and the welding head C31 is turned to the left.
) move in the direction away from.

Also, - is a switch for commanding start and stop of welding.

Next, the operation of this embodiment will be explained. Before starting welding fv, the operator sets data for welding conditions and teaches the positions of welding start and end points.

The welding conditions are set by the condition setting section (6) in Figure 1. All the welding conditions to be set are coded, and the data is set after specifying the code number. Once the input data is passed through the control unit (4) to the storage unit (
5) is stored in the RAM. A portion of the bottom of the internal groove of the storage section (5) is shown in Figure 6. Here the engineering is melting mwL
2 represents the welding voltage, F represents the beam velocity, and other factors such as the oscillation width and the oscillation traverse time are encoded and stored. The setting data is iW'w!
It is added here that the welding conditions are such that the welding occurs at the starting point (to).

Further, in accordance with the above welding conditions, the operator actually measures the dimensions of the welding groove of the workpiece and sets this O[ from the 9 condition setting section (6) in the same way as the above welding conditions.

Note that the groove dimensions are measured on both sides of the welding start point - and the welding end point (b). As shown in FIG. 5, both measurement points were the root gap lt· of the welding start point @t-, the upper side l■, the root surface height lst, and the plate thickness 113. Root gear knob 12 on the four sides of the welding end point, upper side 1t1. This is the 6@ place. Note that the root surface height and plate thickness are measured only on one side because it is difficult for errors to occur during processing.

Further, these dimensions are encoded as described above and stored in the storage section (5) as shown in No. 6-.

Next, the positions of the welding start point (toward) and welding end point are taught. First, in order to move the welding torch Q3t to a position slightly before the welding start point (to), the X-axis inching switch is pressed to move the welding head 0η to an appropriate position. Also 2
- Lower the welding torch a3 using the switch (to) and stop when its tip is located below the bottom of the groove. Next, press the reset switch ffA”?:.

As a result, X
The axis pulse counter (to) and Z-axis pulse counter (to) are reset, and the step number LED- display becomes 'hO'.Next, move the reprint torch α3 to the welding start point (, Operate the welding torch tip, Z + null, Z - switch ring, left/right adjustment dial (to), etc. After positioning the welding torch tip with respect to the welding start point - so that the wire protrusion length is appropriate, press the memory switch. Press the button.This causes the LED ■ to display rlJ, and the position information is stored in the storage unit (5).This position information is generated by the following process.X-axis drive motor As the (to) rotates, the pulse encoder (to) sends out a pulse number, and the pulse count (to) counts the number of pulses after being reset.

By pressing the memory switch group, this flight passes through the input/output circuit (7) and is further stored from the 71IIJ part (4) into the memory section (5). Z@ is also stored by a similar operation, but since it is not related to IIf in the present invention, detailed description will be omitted.

Next, for the bath welding end point ω, lC as in the case of the welding start dotted line.
After positioning the welding head ((U), press the memory switch ring. As a result, the LED (2) will be displayed in steps of "2", and the position information will be stored as the position of the step knob 2 in the memory ( 5).

With the above operations, you can set the welding conditions, welding start point (to),
This means that the position teaching of the welding end point has been completely cleared.

Move the welding point to the welding start point (E). For this operation fi:, just press the "Step l" switch.

The bath welding head 0]) and the 1-capacity welding torch a3 automatically return to step 9 step 1', that is, the welding start command, and at the same time, the LED 1) returns to the display of "1".

Next, the operator presses the "Welding start/stop" switch (port), and the reception torch (13) starts reception. [Commands from the welding start/stop J switch vj are sent from the input/output circuit (7) to the control unit (4). After the control unit (4) decodes that it is a welding start command, it sequentially reads out the r@contact condition data necessary for welding from the storage unit (5).

Calculations for controlling the output to the welding head 0υ and bath ff power supply (8) are started. One of these calculations according to the present invention will be described in detail, and the explanation of Ike's calculation will be omitted.

Figure 8 shows an overview of the IiJ calculation at the start of welding.

This is shown in the W2O diagram. Calculate! In the following, all preliminary calculations regarding the oscillation rate and calculation (2) regarding the welding operation H are performed.

In calculation l, first welding start command and welding end point 61
The control unit (4) reads the position information of f from the storage unit (5).
, position 7ft of step 1 (welding start point) in the X-axis direction:
Assuming that LI is the position tL2 of step 2 (welding end point), the welding distance is simply determined by L=Lz-LI.

Next, among the groove dimensions set and stored in the storage unit (5), the gap between the welding start point (to) and the welding end point ω (hcr, 12@g), and the oscillation amplitude data W
Read all. Since the oscillation amplitude needs to increase or decrease in proportion to the change in groove width as welding progresses, the oscillation amplitude at the end of welding is as follows. As mentioned before, the set oscillation amplitude W is at the welding start point ω
This is the data in 2nd place.

Therefore, the difference in oscillation amplitude between rJTfi end point ω and start point (to) is expressed by, and furthermore, the distance t between any point between 1 and 1 from the welding start point -
-'Ln, the oscillation rate 41M at the above arbitrary position is as follows. here.

Then, Oshin at any point)iGlliiUW
(t + C1Ln> ・・・・・・
...Can be replaced with ■.

In the constant calculation in Calculation I, 01 is obtained using equation (6) and temporarily stored in the storage section (5).

Calculate! After completing the calculation, the control unit (4) continues to calculate ■t-
Burn. At a total of W and H, setting data F of the groove dimensions and welding speed at the bath contact start point (to) and the welding end point are read out from the storage section (5). Since the groove dimensions are given as shown in Fig. 5, the control section (4) can easily calculate the groove cross-sectional area at the welding start point and welding end point axes, and the entire calculation result can be calculated. etc.

Al, A! shall be.

In the case of consumable electrode welding, the amount of welding at any position in the welding direction is as long as flIl electric welding 1 is constant.

Inversely proportional to welding speed. In addition, since the melt beach needs to be proportional to the change in the cross-sectional area of the groove as welding progresses, the welding speed f at the welding end point is as follows. Therefore, the difference in welding speed between the welding end point and the welding start point (g) is expressed by, and furthermore, the welding speed at an arbitrary point having a distance of Ln from the master starting point - is expressed as. Here, # at any point! ji speed is F (1+ C
! −Ln) −−−−−−−−(c+
) can be replaced with

In the constant calculation in Calculation Table (calculate C2 by formula 0,
It is temporarily stored in the storage unit (5).

The control unit (4) thus completes the pre-calculation and moves on to the output control operation for the external device.

In addition, in order to perform all kinds of controls during welding, such as welding speed, oscillation pattern, etc., melt flow, etc., the control section (4) needs to process these control sounds in real time.
For this purpose, the so-called OS (Operating System)
You need a 9 coral program called . Regarding this O8, there are some comparable ones on the market, and the contents themselves are unrelated to the present invention, so the explanation will be omitted.
FIG. 7 shows the state of control in accordance with changes in the welding speed and the groove of the oscillation pattern, and FIG. 10 is a flowchart regarding the control of the oscillation pattern.

Of the output control operations, oscillation pattern control will first be explained. Note that Figure @10 is a flowchart in which only oscillation-related controls are arranged in chronological order, and '! j!
It should be added here that in the actual control, the above-mentioned O8 performs real-time processing along with other tasks.

The data located at the midpoint of the oscillation amplitude is output from the control unit (4) to the VA converter αη for Y-axis control during initialization before the start of welding, and the output data is used as the data at the midpoint. If it is made larger, the right side [bath contact head 0
1), and if you make it smaller, it will be on the left side [Yohiro head! 3])
move the welding torch Q3 in the direction away from the

After a welding start command is issued and calculation 7.1 is executed,
The following pre-calculations are performed in the oscillation control task. In other words, from the oscillation amplitude of the setting data and the oscillation traverse time, the oscillation movement amount ΔW per certain time
2 Calculate. The certain time mentioned here is the execution time interval from one execution of the oscillation control task to the next execution.

Therefore, by adding ΔWt to the output data or subtracting 'V'h from the output data at each execution time interval, the welding torch Q3 can be moved to the right or left at a predetermined speed by the Y@ drive servo system.

Note that the execution time interval is 20 m5 in this hero example.

W! In Fig. 110h, at the same time as welding starts, the current X-axis pulse I[ is read with the processing wire, the oscillation rate vibration eat is calculated according to the formula (g) above, and the Y-axis at the right end of the oscillation rate to be reached is calculated from the result. location is required.

Furthermore, in (c), the current Y-axis position Wt is read from the N converters shown in the $1 diagram and compared with the Y-axis position to be reached. If it is determined in step 4 that it has not yet been reached, ΔMFI- is added and output to the current Y-axis output data in process (c), and the process returns to process 4. If the fish reaches the right end of the oscillation rate, it means that the right end of the oscillation rate has been reached, and the process proceeds to process t4. In the process O'→, the timer i is turned on according to the setting of the oscillation stop time. Furthermore, in process (c), the current X-axis pulse att- is read, the oscillation amplitude is calculated using the above-mentioned equation (c), and from the result, the Y-axis position of the right end of the oscillation rate to be reached is determined in the same way as in process 0'0. In process (7f), the welding torch is outputted as Y-axis output data and controlled so that the welding torch side follows the change in groove width even during the on-rate stop time. Judgment (5)
Then, the time-up of the oscillation stop time is determined, and if the time is still within the time, the program returns to step 11 G'S. When time-up occurs, the process proceeds to barrel 7, but the control method is to move the l'18 contact torch C13 to the left end of the oscillation from the process σ field. ) is basically the same as 5 and overlaps, so the explanation will be omitted.

In addition, in the process C7tJ, (7G, (/15), the current X-axis pulse 1 shift and the X of the ordinary end point (to)
Compare with axial pulse su.

When a match is found, @ performs control to move the hair to 1003 to the midpoint of the oscillation amplitude.

By controlling the output of the oscillation pattern as described above, it is possible to make the oscillation pattern 'kff' over the entire bath contact distance as shown in FIG. 7(b) without worrying about the groove and Pai.

Next, the welding speed control operation will be explained.

The welding speed at any point in the f8f direction is expressed by the Q formula. During welding, the control unit (4) captures the entire current X-axis pulse in the welding speed control task, and calculates the current opening by the formula (fJ)). Calculate the welding speed corresponding to the tip cross-sectional area,
Output is performed to the D/A converter 04 through the input/output circuit (7). In addition to this, as shown in Eri 7 (2)
The welding speed can be adjusted according to the 2 grooves 197 over the entire 8 contact distance.

In the above embodiment, the welding groove diameter at both ends of the welding point is input and set, but the operator calculates the groove cross-section weight from the above actual measurement.

Similar results can be obtained by directly inputting and setting the cross-sectional areas A+ and A2 f from the condition setting section (6).

In addition, although A is used as a direct measurement of the groove diameter dimension, it is also possible to use the method of inputting and setting the groove angle if there is a groove angle as in the above embodiment. .

〔Effect of the invention〕

This invention has been developed as described above.

Bevels at both ends of the weld! ! Even if the IL is different.

Part of the welding conditions during welding is self-effect correction according to changes in the groove width as the welding progresses, or changes in the cross-sectional area of the groove, and by controlling the 'fRM amount, we can achieve uniformity. In addition, it is possible to obtain a sufficient reinforcement height, and also to eliminate the need for repair welding, making it possible to perform one operation unmanned.

[Brief explanation of the drawing]

Figures 1 to 1O show diagrams related to one embodiment of the present invention, Figure 1 is a block diagram, and Figure 2 is a welding head and MI welding system.
A plan view showing the positional relationship with the tc object, Fig. 8 is a side view, Fig. 4 is a front view of the operating section, Fig. 5 shows the bevel size B & Za constant H position, Fig. 6 is a memory. Internal configuration diagram of the department, No. 7
The figure shows a control chart for welding speed and oscillation pattern.
8□ is a pre-calculation flowchart for oscillation, @9 is a $m"tf calculation flowchart for welding speed. (a) (b) is a plan view and a front view showing an example of the workpiece to be welded.
6 is for condition setting section, hole 1 is for control device, 3υ is for welding,
Rad. Similarly, ν is also (lc *< 4 λ. In the figures, the same reference numerals indicate the same or equivalent parts.

Claims (4)

[Claims] (1) In an automatic welding device that has a self-propelled welding head with an oscillation function and performs arc welding on a workpiece having a welding groove, predetermined welding conditions at a specific position of the workpiece; and means for setting and inputting data related to the welding groove at both ends of the workpiece, which is necessary for correcting a part of the welding conditions according to a change in the groove width or a change in the groove cross-sectional area of the workpiece. , a means for teaching the positions of both ends of the welding part of the workpiece, and a means for teaching the positions of both ends of the welding part of the workpiece, and a means for responding to changes in the groove width or groove cross-sectional area of the workpiece based on the setting input and information taught by each of the above means. and means for automatically correcting a part of the welding conditions. (2) The automatic welding apparatus according to claim 1, wherein the specific position of the object to be welded is a welding start point. (3) The automatic welding apparatus according to claim 1 or 2, wherein part of the welding conditions is an oscillation width and a welding current. (4) The data related to the welding groove are the root gap, top side, root surface height, and plate thickness on the welding start point side, as well as the measured dimensions of the root gap and top side at the welding end point. An automatic welding device according to any one of claims 1 to 3.