JPS6310074A - Generating method for laminated pattern of multi-layer welding - Google Patents

Abstract

PURPOSE:To automatically generate a laminated pattern of multi-layer welding by synthesizing a groove sectional shape which has been derived from a weld joint dimension data, and a groove shape which has been brought to an image processing, by a computer, and operating and determining the number of weld layers and the number of weld passes. CONSTITUTION:In case a pipe intersection joint 3 of a base pipe 1 and a branch pipe 2 is brought to groove multi-layer welding, a sectional shape of a groove which has been formed, based on a dimension data of a weld joint 3 is operated and derived by a computer. Also, a groove image by an image pickup means is derived. By synthesizing body of them, a groove sectional shape data is synthesized. By this synthesized data and an allowable limit value of thickness of the layer and width of the pass, the number of weld layers and the number of weld passes of each weld layer are determined. By comparing with groove welding by a conventional manual work of pipe intersection joint 3 whose groove sectional shape is varied continuously, the efficiency of the welding work is improved.

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to a method for creating a lamination pattern for multilayer welding, which creates a lamination pattern of weld layers when performing multilayer welding on a groove formed in a welded joint.

[Conventional technology]

Generally, as shown in Figure 9, the main pipe (1) and the branch pipe (2)
When performing multilayer welding on a groove with a hollow weld line formed in a welded joint such as a pipe-penetrating joint (3), manual welding is mainly used. A typical lamination pattern is created based on the cross-sectional shape of the groove depending on the depth, etc., and manual welding is performed according to the created lamination pattern.

[Problem that the invention seeks to solve]

However, in the case of the pipe-penetrating joint (3) described above, the weld line of the groove becomes hollow-shaped, and the cross-sectional shape of the groove changes continuously and in a complicated manner, so it is difficult for the welding operator to be an expert. However, it is very difficult to create a lamination pattern that matches the cross-sectional shape of the groove at each point on the saddle-shaped weld line,
There is a problem in that a new lamination pattern must be created and changed by trial and error during welding, which is time consuming and does not improve work efficiency.

Therefore, in the present invention, a lamination pattern is created at each point on the weld line of the weld joint based on the cross-sectional shape data of the groove of the weld joint obtained by calculation and measurement using an imaging means, and the welding robot uses the created lamination pattern to The technical challenge is to enable automatic multi-layer welding of grooves using methods such as the following.

[Means for solving problems]

The present invention has been made with the above-mentioned points in mind.Based on the dimensional data of the welded joint, the cross-sectional shape of the groove formed in the welded joint is derived by calculation, and the shape of the groove formed in the welded joint is calculated. Process the image to derive the actual cross-sectional shape of the groove, synthesize the cross-sectional shape data of the groove derived by the calculation and the image processing, and synthesize the cross-sectional shape data of the groove and the layer. A method for creating a laminated pattern for multilayer welding, characterized in that the number of weld layers and the number of welding passes for each weld layer are determined based on allowable limit values of thickness, pass width, etc., and a laminated pattern of the groove is created. .

[For production]

Therefore, according to the present invention, the cross-sectional shape of the n-shaped groove is derived by calculation based on the dimensional data of the welded joint, and the cross-sectional shape of the groove is derived by processing the groove image by the imaging means, The groove cross-sectional shape data obtained through calculation and image processing is synthesized, and the number of welding layers and the number of welding passes for each welding layer are determined based on the allowable limit values of layer thickness and pass width, etc., and a lamination pattern is created.

At this time, the cross-sectional shape data of the groove is synthesized by calculation and image processing using a computer or the like.

It becomes possible to determine the number of welding layers and welding passes, automatically create a lamination pattern, and automatically perform multilayer welding of grooves using a welding robot or the like.

〔Example〕

Next, the present invention will be explained in detail with reference to FIGS. 1 to 8 showing embodiments thereof.

First, as shown in FIG. 9, we consider an XYZ coordinate system in which the direction of the center line of the main pipe (1) is the X axis, and the two directions orthogonal to the center line are the Y and Z axes, respectively. A case will be described in which the partial intersection angle ψ at the partial intersection P on the weld line is determined.

At this time, as the dimensional data of the joint (3), the radius of the main pipe (1) is R1, the radius of the branch pipe (2) is r, and the center of the branch pipe (2) when the positive direction of the X axis is the reference! The central angle of the sector of the cross section perpendicular to l1m, that is, the advancing angle is θ, the angle between the center lines of the main pipe (1) and the branch pipe (2) is α, and the point P and the coordinate origin O when viewed from the negative direction of the X axis. If the angle between the line n connecting the two axes is -ξ, then the equation of the plane tangent to the main pipe (1) at point P is 0-X+sinξ・Y+abξ-Z=R-...■ The equation of the plane in contact with the branch pipe (2) at P is sin α-5inθ・X-abθ-Y-cnaα・si
nθ, Z=r ・−■, and the partial intersection angle ψ, which is the angle formed by these two planes, is: ro ψ = sin f + song θjuro ξ + sinθero α
...■, and from this, the partial intersection angle ψ
becomes.

Then, as described above, the case where the cross-sectional shape of the groove is determined based on the dimensional data of the joint (3) will be explained.

At this time, the AWS, API, and BP/MAGNUS standards define the relationship between the partial intersection angle ψ and the groove angle as follows.

Medium AWS standard (single side groove) ■When ψ<900 K=ψ/2■90
When °≦ψ＜135° K=45°■ψ≧1
At 85° K=ψ−90°(n)A
p I standard (single side groove) ■When ψ<900 K=ψ/2■9
When 0'≦ψ≦150° K=45° (ii)
BP/MAGNU8 standard (double-sided bevel)■When ψ≦45°K=ψ@45°≦90°K=ψ/2■When 90°≦135°K=45゜＠ψ When ≧185°
K=ψ-900 Now, Fig. 3(a) shows a groove cross section in a plane perpendicular to the weld line in a single-sided groove according to the AWS and API standards, and if the partial intersection angle ψ is, for example, 90
If '≦ψ≦135°, as mentioned above, the groove angle will be 45°, and therefore the wall thickness of the branch pipe (2) will also be set at the edge of the groove on the side of the branch pipe (2). Calculate the length of the perpendicular line that descends from Let d be the length of the perpendicular line drawn from the edge of the branch pipe (2) side to the straight line perpendicular to the surface of the groove.

Next, FIG. 3(b) shows a groove cross section in a plane perpendicular to the weld line in a double-sided groove according to the BP/MAGNUS standard, and the partial intersection angle ψ is, for example, 1200≦ψ<1
If it is 35°, as described above, the groove angle on the intersection angle side, that is, the groove side where welding can be performed, will be 45°, and therefore, the branch pipe (2 ), the lengths h and L are determined, and the wall thickness on the groove side of the branch pipe (2) is defined as tc.

Therefore, as shown in Fig. 4, in the groove cross section on a plane perpendicular to the weld line, the bottom of the groove is assumed to be point A, and a bisector l of the groove angle passing through point A is assumed. The edge of the previous branch pipe (2) side is set at point B2, and the intersection of the perpendicular line drawn from point B to the bisector j and the surface of the main pipe (1) is set at point C2. Assuming points, AD=AC+CD=L AC=AB sinK=h/A B Therefore, the length CD of the groove weld on the surface of the main pipe (1) is CD-L-AC=L -1...■5inl ( will be given by the above AW8, API
.

The dimensions of the groove cross section for each standard groove of BP/MAGNUS are derived by calculating the above formulas ■, ■, ■, ■, and for example, the groove cross section shape data for every 5 degrees of advance angle θ is derived. I'll keep it.

Imaging means such as camera, television camera, etc. (not shown)
, the groove of the joint (3) is actually imaged, the image of the groove is processed by an image processing means, and the actual cross-sectional shape of the groove at each point on the welding line with an advancing angle θ of 5° is obtained. The cross-sectional shape data of the groove derived by calculation and the cross-sectional shape data of the groove derived by image processing are combined.

At this time, the cross-sectional shape data of the groove obtained by image processing is only for the groove self-welded part, and in the case of FIG. 4, it is only for the triangle ABC. Data of a certain triangle BCD, especially point 0. D
The length between the grooves is compensated for by combining the groove cross-sectional shape data through calculation.

Then, based on the groove cross-sectional shape data obtained by the synthesis, the number of weld layers to be formed within the groove and the number of welding passes for each weld layer are determined to create a lamination pattern.

At this time, the following rules are established from the viewpoint of maintaining welding quality and welding continuity, and the laminated pattern is created in accordance with these rules.

(1) The thickness of each welding layer is set to a value within the permissible limits of the layer thickness and pass width determined in advance for each orientation of the welding torch.

Define the width of each welding pass.

(11) The number of weld passes for the same weld layer within the groove at each point on the weld line should be the same.

That is, as shown in FIG. 5, the a-a cross section of the groove W,
If weld pass patterns for the same weld layer in the b-b' and c-c' sections are defined as shown in the cross-hatched area in the figure, two or more passes of the -a/ section and one pass of the b-b
A small amount of unwelded parts will remain during construction of the cross-section, and this item is intended to prevent such inconvenience.

(if) The standard layer thickness is 4 mm, and other rules,
It increases or decreases as appropriate depending on the cross-sectional shape of the light.

4V) The thickness of each weld layer within the groove shall be the same at each point on the weld line.

(v) Avoid repeating increases and decreases in the number of weld layers at each point on the weld line in the continuous welding area.

6/D Outside the groove, the number of weld passes is decreased by 1 for each increase in the number of weld layers.

By the way, when welding the joint (3), the branch pipe (2)
For example, for a T-type joint, place it horizontally as shown in Figure 6 (
a) As shown by the arrow in the middle, from the lowest point of the welding line Lw at the advancing angle θ = 00 to the highest point, the angle of advance is 180' in the positive and negative directions of θ, that is, the advancing angle θ is +18
Upward welding is performed so that the angles are 0° and -1800°, and in Y-shaped joints, the T
Similar to the type joint, the advancing angle θ of the weld line Lw is from 00 to +18
17) In the case where upward welding is performed so that the angles are 0° and -180°, θ = +800 to +150.
' t Te range is a continuous welding range because automatic welding is impossible due to interference between the main pipe (1), branch pipe (2) and the welding robot's torch, so manual welding is required. Advance angles θS and θe indicating the starting point and end point of Based on this, the number of welding layers and number of welding passes are determined using the following procedure.

First, as shown in the flowchart of FIG. 7, in step Sl, the continuous welding range θS≦θ≦
After determining θe and deriving the groove cross-sectional shape data in the range, in step S2, according to the rule (m), the layer thickness is set to 4, and the number of weld layers Ra is set as Ra=INT (groove depth/4jff). −・・■
Calculated using the formula. However, INT indicates an operation for obtaining an integer value, for example, an arithmetic operation such as rounding.

At this time, the result of calculating the above formula 0 for a certain groove with a saddle-shaped weld line when the advancing angle θ is 00 to 180 degrees is as shown, for example, by the solid line in Fig. 8(a). For example, the solid line in Figure 8(a) represents the calendar number series as a pattern, and for such a calendar number series pattern, as shown in Figure 7, In step S3, the number of peaks in the pattern is “I It
A determination is made whether or not. In addition, Fig. 8(a) to (e)
The dashed line in the middle shows the change in layer thickness value obtained by dividing the groove depth by the calendar number indicated by the solid line in each figure.

In the calendar number series pattern of Fig. 8(a), 35°≦θ≦55°, 95°≦θ≦100°, 125°≦θ≦
140', there is a peak at θ=150°, so the number of peaks is 4, and the calendar number repeats increases and decreases, so the above rule (
v), the process passes through step s3 in FIG. 7 with a negative result (No) and proceeds to the next step S4; if affirmative (YES), the process proceeds to the calculation process of the number of welding passes described below. Then, in step S4, the number of peaks in the calendar number series pattern is reduced, that is, the process of reducing the number of peaks in the calendar number series is performed. For example, the 6-layer portion of the winding number series pattern in FIG. In this case, the pattern becomes as shown in FIG.

Here, the part where the calendar number is reduced, that is, 35°≦θ≦5
5°, 95°≦θ≦100°, Fig. 8 (b
), the layer thickness clearly increases compared to the dashed line in (a) of the same figure, and the layer thickness at that time is within the allowable limit according to rule 1) above. It is necessary to confirm that this is the case, and if the allowable limit is exceeded, the calendar number reduction process for that part is not performed.

Next, in step S5 of FIG. 7, it is again determined whether the peak of the calendar number series pattern is "1" or not, and as shown in FIG.
In the calendar number series pattern b), 10°≦θ≦115°,
Since there are three peaks of 125°≦θ≦140° and θ=150°, the process passes through step S5 with NO and proceeds to the next step S6.In step S6, the number of valleys in the layer number series pattern is determined. In other words, the process of increasing the number of calendars in the valley is performed, and θ = 120 in the layer number series pattern in Fig. 8(b).
When increasing the calendar number of the part where °, θ = 145 ° to 5 layers,
The pattern is as shown in the figure (e), and in the figure (C) it is 1
Only the portion where 0'≦θ≦150° becomes a peak and there are no valleys, so the number of peaks in the pattern is ゞl I It,
If the next step S7 in FIG. 7 determines whether the number of peaks in the calendar number series pattern is °°l'' with YES, and the steps S3 and S5 are YES, 1 The process moves to the next step S8.

However, if the result of the determination in step S7 is NO, that is, in step S4. If the number of crests in the calendar number series pattern does not become ゛l'' even after the processing in S6, it will contradict the above-mentioned rules, so the operator will judge and adjust the process according to the situation.

The superiority of rules (i) and (V) will be determined and one will be given priority.

Then, in step S8 of FIG. 7, the number of welding passes for each welding layer within the groove is calculated. At this time, in order to increase welding efficiency, the number of passes is reduced as much as possible within the allowable limit of the pass width. In step S9, the calculated number of welding passes is adjusted in accordance with the rule (11), and in step SlO, it is determined whether the number of welding passes is the same in the same welding layer. If the result of the determination is No, the operator determines whether to relax the rule (1) or re-set the number of weld layers depending on the situation. If the result of the determination is YES, follow the rules 1), (V), and (VD) in the same manner as the setting process of the number of weld layers and the number of weld passes in the groove,
The number of welding layers outside the groove and the number of welding passes are set, and the creation process of lamination patterns inside and outside the groove is completed.The creation process of these lamination patterns is performed by a computer, and the created lamination pattern is Graphics will be displayed on the CRT.

Therefore, step S in the flowchart of FIG.
1 to 87, the number of weld layers in the groove W at each point on the welding line is set as shown in FIG. Through the processes of S9 and S10, the number of welding passes for each welding layer within the groove W is set, and further, through the process of step SIT, the number of welding layers and the number of welding passes outside the groove W are set, for example. Figure 1 (a
), (b), ((A lamination pattern Pa, Pb, Pc at each point on the welding line as shown in () is created and graphically displayed on the CRT screen, and the joint is made by a welding robot according to the created lamination pattern. (3) Automatic welding of the groove is performed.

In addition, although the said Example demonstrated the case where it applied to the groove which has a neckline weld line, it is needless to say that it is not limited to this.

〔Effect of the invention〕

As described above, according to the layer pattern creation method for multilayer welding of the present invention, each point on the weld line of the weld joint is The created lamination pattern enables automatic multi-layer welding of the groove using a welding robot, etc., which is especially useful when the cross-sectional shape of the groove changes continuously, such as in a pipe-through joint. It is effective for improving work efficiency during welding, and the effect is extremely large.

[Brief explanation of drawings]

1 to 8 show an embodiment of the method for creating a laminated pattern for multilayer welding according to the present invention, FIGS. 1(a) to (C) are explanatory diagrams of different laminated patterns, and FIG. 2 is a welding layer. Figures 3(a) and 3(b) are cross-sectional views of different grooves, Figure 4 is a cross-sectional view for explaining the operation when calculating the groove cross-sectional shape, Figures 5 and 3 are Figure 6(a),
7(b) is an explanatory diagram of the operation, FIG. 7 is a flowchart for explaining the operation, and FIGS. 8(a) to (C) are explanatory diagrams of the operation, respectively. 9
Figures (a) to (C) are a front view, a top view, and a right side view of a general pipe-penetrating joint. (3) Pipe interpenetrating joint, Pa, Pb, Pc... Lamination pattern.

Claims (1)

[Claims] (1) Deriving the cross-sectional shape of the groove formed in the welded joint based on the dimensional data of the welded joint, and
The image of the groove by an imaging means is processed to derive the actual cross-sectional shape of the groove, and the cross-sectional shape data of the groove derived by the calculation and the image processing are synthesized, and the synthesized groove The number of welding layers and the number of welding passes for each welding layer are determined based on the cross-sectional shape data and allowable limit values of layer thickness, pass width, etc., and a lamination pattern of the groove is created. How to create a laminated pattern.