JPS63252671A - Control device for multilayer build welding robot - Google Patents

Abstract

PURPOSE:To automatize welding work and to secede from the skillfulness in setting conditions by operating the conditions in welding work based on the preset data with specific basical conditions as the parameter and executing the control of a multilayer build welding robot. CONSTITUTION:At the time of working a multilayer build welding, the basic conditions of the selection in the single or plural number of build-up passes, the selection in a welding current value, the groove shape of the body to be welded, the presence or absence of backing or the kind, etc., are inputted from a basic conditions input means 10. The standard welding conditions of the torch aiming position in multilayer build welding, welding voltage value, welding speed, weaving conditions, etc., are then operated by an arithmetic means 12 based on the storage contents of a storage means 11 and according to the arithmetic results, the motion of a multilayer build welding robot is controlled by a control means 13 to automatically perform the multilayer build welding work. At that time, the inputting basic conditions are simplified and standardized into those which hardly need the experience and skill in the multilayer build welding work.

Description

DETAILED DESCRIPTION OF THE INVENTION (Field of Industrial Application) The present invention relates to a control device for a multi-layer welding robot 1, and in particular, to countermeasures for de-skilling welding techniques by simplifying welding condition settings.

(Conventional technology) Conventionally, multi-return welding openings for multi-layer welding are controlled to 1; As a ll device, for example, Japanese Patent Application Laid-Open No. 59-509
As disclosed in Publication No. 69, for each pass of multilayer welding, the target position of the welding torch, the angle of the welding torch, the welding current value, the welding voltage value, the welding speed, the weaving width, the stopping time, the weaving frequency, . . . etc., and then input them. Alternatively, as disclosed in JP-A-60-37274@, for example, if the conditions for multi-I stack welding are set, the multi-layer welding after 1st figure There is a known method in which the welding current value, welding voltage value, welding speed, etc. necessary for performing welding welding are automatically determined and the multilayer welding work is controlled according to the calculated values. .

(Problems to be Solved by the Invention) However, among the above conventional methods, the method of the composer is
It is necessary for the welding operator to input the welding conditions for each layer, but selecting such working conditions requires extensive experience and skill, and de-skilling has progressed to the point where it can be used easily. The problem is that it is not.

In addition, although the above notes are intended to solve the above problems, only the groove shape is disclosed as the basic condition to be input necessary for multilayer welding, and furthermore, Since the details of the specific calculation means are not disclosed, it is difficult to achieve sufficient functionality to actually automate multi-layer welding work.

The present invention has been made in view of the above, and its purpose is to provide 12 welding parameters that require almost no experience with multi-layer welding as basic conditions to be input.
! By determining from a wealth of experimental data and inputting the basic conditions, R suitable welding work conditions are determined and multi-layer welding is automatically performed by the welding robot. The aim is to eliminate the need for skill in determining work conditions for multi-layer welding.

(Means for Solving the Problems) In order to achieve the above object, the solution number of the present invention is as shown in FIG. , basic condition input means (10) for inputting basic conditions such as selection of welding current value, original shape A3 of the welded object, presence or absence or type of abutment, and multi-layer welding using the basic conditions as parameters. 1・− for each pass of
storage means (11) for presetting and storing welding work conditions such as target position, welding current value, welding voltage value, welding speed and weaving conditions; specialized means (12) for calculating the standard working conditions of the welding working conditions based on the stored contents of the storing means (11); This configuration includes a control means (13) for controlling the welding robot.

(Function) With the above configuration, in the present invention, during multilayer welding work,
When basic conditions such as single or multiple selection of the number of lamination passes, selection of welding current value, groove shape of the workpiece, presence or absence of backing or its type are input from the basic condition input means (10), the Based on the memory contents of the means (11), the calculation means (12)
The standard welding conditions such as 1~-1 target position, welding voltage value, welding speed, and weaving conditions for multilayer welding are PfI.
The operation of the multi-layer welding robot 1- is controlled by the control means (13) according to the calculation result, and the multi-layer welding work is performed automatically.

At that time, the basic conditions that the welding operator must input have been simplified and standardized to the point that almost no experience or skill in multi-layer welding work is required. Therefore, it is possible to automate the multi-layer welding work and to reduce the need for skill in determining the welding work conditions.

(Example) Embodiments of the present invention will be described below based on the drawings.

FIGS. 2 and 3 show the general configuration of a mobile multi-layer welding port 11; The robot body (1) slides back and forth on the guide rail (3) (in the T-axis direction) while resting on the guide rail (3)! At the same time as the torch ( 2) is the horizontal axis (
S axis), and as a result of the above, the above-mentioned torch (2)
The positions of the mutually orthogonal X, Z, and T axes and the inclination angle α with respect to the vertical axis are adjustable.

In addition, in FIG. 2, (5) is the control tllI of the entire device.
board, (6) is the output power supply device of the torch (2) connected to the gas cylinder, cooling water source, electric power source, etc., and (7) is the output power supply device (6) connected to the gas hose (C1) and the cooling water hose (
Cz), power cable (C3), feed control cable (
C4) etc., and are connected via wiring and piping.
A wire feeding device is connected to the torch (2) through a wooden conduit cable (Co), which adjusts the length of these wires and aggregates them. Also, (C
5) is based on the above rule η! The main control cable (C8) connects the l board (5) and the robot body (1) so that signals can be exchanged.
) is an upper bus bar that connects the utility +5!1i (5) and the output power supply device (6) so that signals can be exchanged.

The control panel (5) has a built-in control device F (8) that controls the entire device, and a display device P1 consisting of a cathode ray tube is mounted on the front of the upper part of the casing of the control σIJ panel (5).
(9) is provided, and the control panel (5) also outputs a command signal q to the internal control device (8) by remote control, and also outputs a command signal q to the internal control device (8). A teaching box (as a basic condition input means) for inputting basic conditions such as single-view selection of the required number of lamination passes, selection of welding current value, groove shape of the workpiece, presence or absence or type of abutment, etc.
10) are connected via a signal gland.

Figure 1 schematically shows the internal configuration of the control device (8) and the signal connections with external devices, and (11) is necessary for performing multilayer welding, which is input from the teaching box (10). Using the above basic conditions as parameters, "1--chi target position, welding current value, welding voltage value,
ROM as a storage means to set and record welding work conditions such as welding speed and weaving conditions in advance
, (12) is based on the stored contents of the ROM (11) in response to the command of the teaching 1; a computing device as a calculation means for calculating the torch target position, welding current value, welding voltage value, welding speed, weaving conditions, etc. for each pass of multi-layer welding;
(13) is a CPLI as a control means for controlling the multi-layer welding robot 1- based on the standard working conditions calculated by the calculation means (12). And (15) is the above CP
This is a signal conversion device that receives the control signal q of the IJ (13) and converts the content into an iB signal, and converts the content according to the archaic language signal converted by the signal conversion device (15). is displayed on the display device (8).

Note that (14) is a RAM that stores old control programs and the like.

Hereinafter, the contents of the welding work conditions using the basic conditions set in advance in the ROM (11) as parameters will be explained.

First, as the number of lamination passes, "g1" shown in FIG. 4 or FIG.
One of two types of lamination methods, 1-layer pass or 7-layer multi-pass, is selected, and the welding current value Δi is selected from high current value 11 and medium current value A M N low current value AL. . In addition, the groove shape of the welded object is shown in Figs. 6 to 8.
According to the three types of groove shapes shown in the figure, diamond-shaped, V-shaped, and horizontal fillet, the plate thickness for diamond-shaped and V-shaped is determined,
Bevel angle IUθ, Rou1-Face+(, Root gap G value, For horizontal fillets, leg lengths X and Z
The value is entered. And in the ROM (11),
The values of the welding voltage value V and the welding speed (■) for the selected welding current value are preset as shown in Table 1 below.

Table 1: Values of welding voltage V and welding speed V for one-layer multi-pass lamination method are determined according to Table 1 above. Note that weaving is not performed.

■When using 91-layer 1-pass lamination method The welding voltage value V is set to the same value as in Table 1 above.

The welding speed V is determined by the weaving width wn in each layer and the welding current (laAi
Which function is set to be found. That is, v= f (Ai, Wn)
(11 However, as the weaving width W r+ increases, the welding speed V decreases, that is, the bead j9 length ΔT remains approximately constant even if the weaving width Wn changes.
(I-mentioned) is set to be (Q).

(1'3, weaving speed vw is vw+ for high current value A H and medium current 1 direct AM, low current value AL
and VIN2, respectively.

According to the above, welding current value A1 welding voltage value V,
Once the welding speed V is determined, the amount of molten metal per unit length is determined, and from the result, the bead thickness when welding each layer of the welded object is 6 teeth (Fig. 4) (see figure)
is determined, and its value is set in advance in the ROM (11).

The above are the general working conditions for multi-layer welding, but when performing multi-layer welding, the working conditions are set according to separate programs for the first layer, intermediate M, and final finishing layer. ing. I will explain below.

A. Working conditions for the first layer The working conditions for the first layer C are unique with respect to the groove shape of the workpiece to be welded, roux 1-gap G, and the presence or absence of ability or type. is set to .

(1) When there is no emergency V=V.

V=VQ One layer is welded in one pass, but weaving is not performed. Here, Vo and Vo are initial layer welding condition values determined in advance. However, G>Go (Go is the maximum route width 1z x 1 width in which the melt does not fall in Vo, Vo)'r: is inappropriate as a working condition, so an error message is displayed.

(21 When using abutment (same type of metal)+a+ Q≦G+ (G+ is the standard bead width for straight 1 to welding) Weaving is not performed according to the values of V and v in Table 1 above.

When the peak IG+<G≦G2 (G2 is V, the maximum weaving width corresponding to v), weaving is performed according to the condition of equation (1) in the one-layer, one-pass method. However, if G>G2, the error display will be 1.

(3) When using backing material (1 lamic material) V=V2 v=y2 W=W2 Weaving is performed under the following conditions.

Here, V2. V2 and W2 are the optimum cutting points A'1 determined in advance for the actual ability H used. However, G<
G3 and G>G4 <G3, G4 is the minimum and maximum width of the optimal root gap range determined in advance for the backing material used, respectively), the error display is covered.

Note that multilayer welding can also be performed on objects to be welded that have already been partially welded, and in that case, the width E of the already welded portion
According to o, work conditions are set as follows.

When f41Eo≦(E+ (E+ is the standard bead width during straight welding), the same conditions as in (a) of 2J above are set.

When (51E+<Eo≦E2 (E2 is the maximum width that allows weaving welding), the same conditions as above (city of '2J) are set.

(Error display when 61E>E2 (welding impossible) is set up to do so.

(b) When using the one-store multi-pass lamination method, as shown in Figure 9, the width of the welded part of the intermediate "first layer" should be set to E.
n1 If the shift in the X direction for each pass is ΔX, and the number of passes in each layer is m, the remainder (unwelded part) r when welding by m sea nodes is expressed by the following formula [2] .

r=E-<K0m・ΔX) +2
1 Here, K is the distance between the welding start position and the wall surface of the object to be welded, and is an empirical value determined to prevent undercuts from occurring on the wall surface. In addition, depending on the current conditions, the shift suspension ΔX in -g is ΔX1 ((standard bead width corresponding to high current) at high current, and ΔXM at medium current.
(Standard bead width corresponding to medium current), ΔX at low current
It is set to L (standard bead width compatible with low current).

Then, according to the value of the remainder r, settings are made so that the welding process can be performed as follows.

When +a+r<0 Now we can move on to welding the next layer.

<b) When 0≦r≦ΔX (M+1>pass welding is performed.

At this time, the inclination angle α of 1--di (2) is determined according to the shape of the groove for the groove j3 and the horizontal fillet. In addition, when it is V-shaped, 1-1chi<2) is set to stand vertically.

J3 welding process on C1 most holly finish layer As shown in Figure 10 (however, only the case of a diamond-shaped groove shape is shown), the width of the upper edge of the groove is adjusted from the upper surface of the E1 welded part to the upper edge of the groove. When the distance is 8d, the final finishing is set as follows according to the value of the distance [d (common for each groove shape).

tll''N flash 1-pass lamination method +a+ O< d < d + < d+ is 1, which is about 50% of the standard peed height for the welded part fi of the final layer.
lfI), one pass welding finish is performed with a weaving width of (E-e) mm. Here, e is a constant value taking into account the shape of the bead and the final finishing bead shape.

When dl≦d≦d2 (d2 is approximately 75% of the standard bead height based on the final layer welding conditions), two-pass finishing is performed. In the first pass, welding is performed under the same weaving conditions as in the previous pass, and in the second pass, welding is performed with a weaving width wider by a predetermined value than in the first pass.

tC+d2≦d≦d3 (however, d3 is the Z-axis shift of the next layer), which is a 2-pass finish. The first pass is the total n based on the groove shape.
Welding is performed according to the value of weaving g W n, and the second pass is performed with a weaving width that is a predetermined value () wider than the first pass.

(Welding is carried out under normal conditions until 1 wait d≦d3 of mountain d>d3, and then
Welding is performed under the above setting conditions according to any of the above (al to tel).

(2) When using single layer multi-pass lamination method +a+ When d≦d1 Performs one-layer finishing regardless of the welding current value.

When d1≦d≦d3, according to the welding current value, when the current value is high, the welding speed is set to the specified speed.One layer of finishing is performed on the lower part of C, and when the current value is medium or low, the welding speed is set to the specified speed, and when the current value is medium or low, normal conditions are applied. Finish one layer with .

When +c+d>d3, welding is performed under normal conditions until d≦d1, and d≦d3.
Then, according to each article fl(a+~mountain) above, 1 layer IJ
Do a raise.

In addition, it is also possible to further weld the welded part after the final finishing according to the user's wishes to form a so-called extra weld.

Based on the memory contents of the PCI (11) in which the working conditions for multi-layer welding are set in advance as described above, the basic welding conditions, working conditions, etc. When entered interactively, the arithmetic unit'
F1 (12) sets the standard working conditions that are considered suitable for multi-layer welding work, and the CPU
(13) controls the movement of the robot 1 to the main body (1) along the X, Z, and T axes and the inclination angle α of the torch (2).
At the same time, the welding output of the torch (2) is controlled via the output power supply device (6), and welding work is performed.

The control will be explained based on the flowchart of FIG. 4. In step S1, it is determined whether or not a program for performing multi-layer welding work should be read out. If No, in step S2, the welded object is subjected to multi-layer welding. Select one of the groove shapes according to the type of body, and input the basic conditions according to each groove shape as follows. In other words, when a V-shaped groove shape is selected, the actual dimensions of the welded object corresponding to each part of the V-shaped groove shape (see Fig. 7) shown on the display screen of the display device (9). d3 and article f [in accordance with
The value of plate thickness t is determined in step S3, and the groove angle α is determined in step S4.
The value of root face in step S5! The dog value, the values of loop 1 to gap G in step S6, the presence or absence of backing H in step S7, and the value of excess J9h in step S8 are set from the teaching box (10). On the other hand, if the groove shape is selected in step S2, the shape of the groove is determined according to the actual dimensions and conditions of the workpiece corresponding to each part of the groove shape shown on the display screen (see Figure 6). , step 89~S;3
Then, in the same manner as in steps 83 to S8 above, set the plate thickness t1, the tip angle 0, the value J of the root face [ku, root gear G, etc.]
3 and the presence or absence of skilled materials. In addition, if horizontal fillet is selected in step S2, the leg lengths Enter the value.

After completing the input of item f1 such as the groove shape of the workpiece to be welded, if you want to weld from the middle of something that has already been partially welded in step S +s, each groove shape on the display screen. (
Input the already welded width Eo according to Figs. 6 to 8),
Based on the welding method shown on the display screen in step S+s, that is, the number of lamination passes (single or double) (see Figure 4 or Figure 5), either the one-layer one-pass lamination method or the one-layer multi-pass lamination method is selected. After making a selection, in step S17 the welding direction is changed to either reciprocating welding or one-way welding, and in step S+s, three values are used as the current value, that is, a high current value (, medium current value Δflash and Select one of the low current values AL.

When the input of the basic conditions for performing multi-layer welding is completed in step S+=S+a, the above-mentioned OM (11) is preset by the control device (12) inside the control device (8). Standard working conditions are filtered based on the multilayer welding data and displayed on the display device (9) as a list of recommended conditions in step S19 (see Table 2 on the next page).

Then, if there are special conditions and it is necessary to partially change the recommended conditions, make the changes and proceed to step S? When the determination of the working conditions is completed in step o, steps 821, 822, 82
At step 9, the actual welding line is taught to the RAM (14), recorded and completed, and step 824. In S25, the teaching data and data regarding each welding condition are associated, and this is transferred to the robot body (1) side, where the welding work conditions entered above in step S27 are transferred to the robot body (1) side. , that is, the first layer, intermediate layer, and in multilayer welding.
Welding current 1 + fiA, welding voltage value V
1 welding speed V1 stacking pass method, weaving width W
Multi-layer welding is performed based on n, shift suspension ΔX of the torch (2) in the X-axis direction, shift suspension in the Z-axis direction corresponding to the bead thickness ΔT, and the like. During this welding, an arc sensor (a means for detecting vertical displacement of the welded part by fluctuations in arc current, not shown) is used in the short tube 829 to detect changes in the bead surface position, that is, the bead thickness up to the previous layer. When the total cutting is detected, the operation device (12)
If there is a deviation from the calculated value, the welding work conditions are automatically corrected.

On the other hand, in the case of YES in the above step S1 to read out the already set program and perform the multilayer welding work, the input of the basic conditions in steps 81 to S+a is omitted and the process proceeds to step SL9.

Therefore, in the above embodiment, the welding current value A, ?
If we include the groove shape of the welded body, the selection of the number of lamination passes, the presence or absence of misalignment ηj, and its ladder, then H? ＞'Jc
'? l (12) k: to V), preliminary ROM (11)
Calculate the standard working conditions for multi-layer welding based on the data obtained through experiments with the layer height set Ic. At that time, the parameters that the welding operator must judge are those for the VV four-layer pass method and those for welding.

The flow values are A and C, and these parameters are intermediately purified and standardized so that only a few values can be selected, so it is necessary to have experience and skill in multi-layer welding work. and does not require. Therefore, it is possible to automate the multi-layer welding work and to reduce the need for skill in determining the welding work conditions.

Also, the work set in the above ROM<11): 1!
The content number of 1-fl has been determined from a wealth of experimental data, so there is no need to conduct experiments to determine the welding conditions before performing multilayer welding, and for example, only one weld can be welded for the shape, etc. Automation can be achieved even when engraving a small amount of objects to be welded that do not need to be welded.

Furthermore, especially in the above embodiment, the necessary input is made interactively while looking at the display screen of the display device (9) when determining the working conditions, so there are fewer input errors and the time required for input is reduced. It has the advantage that it only needs to be similar.

(Effects of the Invention) As explained above, according to the present invention, by inputting basic conditions such as single or multiple selection of the number of lamination passes in multilayer welding, selection of welding current value, and groove shape of the workpiece, Welding work conditions are calculated based on data set in advance using the basic conditions as parameters, and multi-layer welding is performed according to the calculation results! Since the above control is performed, it is possible to automate the multi-layer i-welding work and reduce the skill level of determining welding conditions.

[Brief explanation of drawings]

The drawings show an embodiment of the present invention, and FIG. 1 shows a welding robot! - Figure 2 is an overall configuration diagram of the multilayer welding robot equipment; Figure 3 is a diagram showing the operating range of the robot body in the X-Z plane; Figures 4 and 2 are 5
The figures are explanatory diagrams of the lamination method of 1 layer multi-pass and 1 layer 1 pass, respectively, and Figures 6 to 8 are? ! 1 Welded body mold, ■ mold,
Figures showing the groove shapes of horizontal fillets, Figure 9 is an explanatory diagram of how to handle the surplus of the intermediate layer in the single layer multi-pass lamination method, Figure 10
The figure is an explanatory diagram of the welding process for multilayer welding finish 1G, No. 11.
The figure is a flow chart showing the control of ζV by CPLI. (10)...Teaching box (basic condition input means), (
11)...r(OM (storage means), (12)...legal frame device (computation means), (13)-CPU (system 611 means) Fig. 2 Fig. 3 Fig. 9 Fig. 10 E2X ' Figure 6 Figure 7 Figure 8 Figure 11

Claims (1)

[Claims] (1) A basic condition input means (10) for inputting basic conditions such as single or multiple selection of the number of lamination passes, selection of welding current value, groove shape of the workpiece, presence or absence or type of backing; A storage means (11) for presetting and storing welding work conditions such as torch aiming position, welding current value, welding voltage value, welding speed, and weaving conditions for each pass of multilayer welding as parameters, and the above-mentioned basic Condition input means (
a calculation means (12) which receives the output of step 10) and calculates standard working conditions of the welding work conditions based on the stored contents of the storage means (11); and standard working conditions calculated by the calculation means (12). A control device for a multi-layer welding robot, comprising: control means (13) for controlling the multi-layer welding robot based on the following.