KR20100058796A - Torch triangle weaving method and apparatus for welding on horizontal position - Google Patents

Abstract

PURPOSE: A torch triangle weaving method for welding on horizontal position and an apparatus using the same are provided to control triangle weaving and V-shaped weaving by controlling a weaving module. CONSTITUTION: A torch triangle weaving method for welding on horizontal position comprises following steps. The weaving point of 3 spot is set up as a movement point of a welding torch(90). The welding torch is moved to the fixed weaving point to control the weaving and welding. The change amount of the output current of the welding torch is detected on the previous weaving cycle and the present weaving cycle. Weaving is controlled by varying the speed to move welding torch to a next weaving point according to the change amount of the welding torch output current.

Description

 Torch triangle weaving method and apparatus for welding on horizontal position}

In the present invention, in the horizontal welding control, the weaving method of the welding torch is controlled by the triangular weaving method, but the tilting or stacking amount of the melt pool is varied by varying the moving speed to the next weaving point based on the amount of current change at each weaving point. The present invention relates to a triangular weaving control method and an automatic welding device for high heat input lateral welding, which enables welding control corresponding to the welding control.

In general, the shipbuilding process is made by independently manufacturing hull blocks of various shapes and then combining the blocks with each other in a dock. 250 ~ 400 hull blocks are made to build one large ship, and there are about 200 welding cells (two vertical welds per cell) inside the hull block. Intersections should be welded.

An alternative application of welding equipment is vertical welding and welding of inclined portions in ship manufacturing processes. Welding is a basic structure of a welding device that welds two welding members (steel plate) to each other but the gap between the front bead and the welding member by melting the wire which becomes the welding material at the same time as the arc is generated from the welding part through the welding torch To form a back bead.

The above welding is a case of performing CO2 welding, but when the welding member (iron plate) is thick, the depth to be filled with molten metal is deepened, and thus the welder repeatedly performs several welding on the beads formed primarily. The way is to complete the welding.

However, repetitive welding by hand takes a long welding time, high defect incidence according to the degree of skill of the welder, and there is a limit to the phenomenon of flowing down beads and the use of high current by multi-pass welding.

In the case of the conventional vertical electro-gas welding (EGW), as shown in (a) of FIG. 1A, the molten pool is almost accumulated, so that the welding quality is obtained even when the general method such as the average value or the real time is applied to the arc sensing method. In the case of horizontal electrogas welding (EGW), as shown in (b) of FIG. 1A, the molten pool not only accumulates inclined but also does not have a constant inclination, so the arc length (torch height) varies depending on the weaving point. When the arc sensing is performed by the electro-gas welding method, the arc length varies greatly, which is very likely to cause welding defects such as fusion defects and undercuts.

In the conventional horizontal welding, the weaving method is controlled by a method of weaving two points. As described above, the melt pool is stacked by tilting, and the stacking angle and height are not constant. Due to this, the welding failure as shown in Figure 1b is generated.

As described above, the vertical welds are automatically welded using the electrogas welding (EGW) method and apparatus, but the horizontal welds are difficult to apply the EGW technique, and thus the FCAW technique is applied.

Figure 1c is an illustration of a horizontal welding using a typical FCAW technique. As shown in the figure, in the case of the FCAW technique, it is difficult to finish welding at a time because the high heat input welding is impossible like EGW.

The present invention provides a weaving control method for the high heat input welding lateral welding to weld by horizontal welding method to improve the conventional problems as described above, to prevent welding interference by the molten pool by controlling the welding torch by triangular weaving. It is to provide.

In addition, the present invention is to provide a triangular weaving control method for high heat input lateral welding to detect the change amount of the output current at each weaving point, and to independently control the arc length at each point based on each change amount of the current. will be.

In addition, the present invention provides a high-column transverse automatic welding device having a weaving module in the automatic welding device for the control of the triangular weaving or V-shaped weaving and controlling the weaving module to allow the weaving control while automatically moving three point points. It is to.

The object of the present invention as such,

In the weaving control method for the hull shell welding,

Setting a three-weaving point for triangular weaving for the welded surfaces of the upper member and the lower member;

A second step of driving the welding device in a horizontal direction and welding while welding the welding torch to three weaving points set in the first step;

Detecting a change amount of the welding torch output current for each weaving point;

And controlling the weaving by varying the moving speed to the next point based on the amount of change in the welding torch output current detected in the third step, and stopping and moving for a predetermined pause time at each weaving point. Characterized in that made.

In the third step, the amount of change in current for each of the three weaving points is the amount of change in output current for each point by comparing the output current of each point in the previous weaving cycle with the output current of each point in the current weaving cycle when weaving the three points. It is characterized by detecting.

In another method of the third step, the section average output current between each weaving point and the point is detected, the amount of change is detected by comparing the section average output current between the point and the point in the previous weaving cycle, and the section average is The movement speed to the next weaving point is varied by the output current change amount.

In addition, the present invention is characterized in that by setting a triangular weaving point to selectively control the V-shaped weaving and triangular weaving based on the amount of change in the output current of each weaving point.

In another aspect, the present invention is characterized by adjusting the amount of heat input by controlling the welding arc at the top point (upper improvement surface) of each weaving point.

In addition, in the section of moving from the weaving point to the next weaving point exceeding a certain amount of current change based on the welding torch current change amount of the weaving point, it is characterized in that the heating amount is adjusted by controlling the welding arc.

In addition, the stop time set for each weaving point is to fill the amount of penetration, characterized in that the stop control by varying the reference stop time based on the welding torch current change amount.

The automatic welding device of the present invention,

A transfer rail attached to the iron plate at the welding position by a plurality of magnet devices; A transfer module installed to travel on the transfer rail 10; A torch Y slide unit installed in the transfer module to slide in the Y direction; A torch tilt unit connected to the torch Y slide unit to set a tilting angle for tilting the torch; A weaving module in which a pivoting hinge is coupled to the torch tilt unit to set a tilting angle, and an X and Z slide unit is installed therein to protrude and install the weaving bracket to automatically control the X and Z slides; A torch Z-direction slide unit fixed to the weaving bracket of the weaving module and configured to set an initial position by sliding the torch in the Z direction; A torch X-direction slide unit coupled to the torch Z-direction slide unit to set an initial position by sliding the torch in the X direction; A torch angle slide unit coupled to the torch X direction slide unit to set an angle of the torch; A torch clamp unit connected to the torch angle slide unit to fix and install a welding torch; After controlling the torch Y slide unit and the internal X and Z slides of the weaving module, three weaving points are set so that the welding points of the welding torch form a triangle, and then the output current of the welding torch is detected through the welding current detector. And a welding controller for welding control with triangular weaving while varying the weaving point based on the output current variation.

The present invention configured as described above is characterized in that the Y slide unit and the X and Z slides are provided inside the weaving module so that the triangular weaving control can be performed by the welding controller. In addition, the rotary hinge is provided on the weaving module, and the torch tilt portion is provided on the Y slide unit to tilt the weaving module to adjust the inclination of the triangular weaving or V weaving pattern corresponding to the inclination of the molten pool.

In the present invention, in the horizontal welding control, the weaving method of the welding torch is controlled by a triangular weaving method, and the tilting or stacking amount of the melt pool is varied by varying the moving speed to the next weaving point based on the amount of current change at each weaving point. Corresponding to this, the welding control becomes possible, thereby preventing the welding failure.

Hereinafter, an embodiment of the present invention will be described in detail with reference to the accompanying drawings.

Figure 2 is a block diagram of a high heat input automatic welding apparatus according to the present invention, Figure 3 is a picture of the weaving module of the high heat input automatic welding apparatus according to the present invention, Figure 4 is a vertical input heat transverse automatic welding according to the present invention 5 is a photograph of a device, and FIG. 5 is a control block diagram for weaving control of a high heat input automatic welding apparatus according to the present invention. As shown here,

A transfer rail 10 attached to the iron plate at the welding position by the plurality of magnet devices 20; A transfer module 30 installed to travel on the transfer rail 10; A torch Y slide unit 31 mounted to the transfer module 30 and sliding in the Y direction; A torch tilt unit 32 connected to the torch Y slide unit 31 to set a tilt angle for tilting the torch; Rotating hinge 41 is coupled to the torch tilt portion 32, the tilting angle is set, X, Z slide means is installed therein, the weaving bracket 42 is automatically controlled X, Z slide protrudes to the outside surface Weaving module 40 is installed; A torch Z-direction slide unit 50 fixedly installed at the weaving bracket 42 of the weaving module 40 to set the initial position by sliding the torch in the Z direction; A torch X-direction slide unit 60 coupled to the torch Z-direction slide unit 50 to set the initial position by sliding the torch in the X direction; A torch angle slide unit 70 coupled to the torch X direction slide unit 60 to set an angle of the torch; A torch clamp unit 80 connected to the torch angle slide unit 70 to fix the welding torch 90; By controlling the torch Y slide unit 31 and the inner X and Z slides 43 and 44 of the weaving module 40, three weaving points are set such that the welding points of the welding torch 90 form a triangle. Then, the welding controller detects the output current of the welding torch 90 through the welding current detection unit 110 and performs welding control by triangular weaving or V-shaped weaving while varying the moving time of the weaving point based on the output current change amount ( 100).

According to the present invention configured as described above, the transfer rail 10 is provided with a plurality of magnet devices 20, and the magnet device 20 can be attached to or detached from the iron plate of the hull by magnetic force using an on / off switch. Is made possible. As a result, the transfer rail 10 is aligned with the welding target position, and the magnet device 20 is turned on to be attached to the steel plate.

Coupling and installing the welding torch 90 to the clamp unit 80, and adjust the Y slide unit 31, Z slide unit 50, X slide unit 60 to align the welding torch 90 in the welding position, , By adjusting the tilt angle of the welding torch 90 by using the tilt portion 41, and adjusts the angle of the torch by adjusting the torch angle slide unit 70. The Z and X slide parts 50 and 60, the tilt part 41 and the torch angle slide part 70 adjust the welding torch 90 to the initial reference position by manual operation.

As described above, the welding apparatus is installed at the welding position, the welding torch 90 is set at the initial position, and the welding controller 100 performs the lateral welding control by the triangular weaving or the V-shaped control method. In particular, the present invention sets the stop time for filling the penetration amount at each weaving point to move after the stop control for each weaving point during the weaving control, and to control the movement between the weaving points based on the output current change amount of the welding torch.

In addition, during triangular weaving, in the section of moving from the weaving point of the top point at the highest point with respect to the bottom surface of the three points to the next weaving point, the arc of the welding torch is controlled to control the amount of heat input. The arc interruption method may be controlled in a manner of passing without arcing in a section moving from the top point to the next weaving point and repeating on / off at a predetermined timing during the moving section.

In the embodiment of the present invention, an interruption method that passes without generating an arc while moving from the top point to the next weaving point is taken as an example. Also, not only the top point, but also the weaving point where the current variation of the welding torch exceeds the threshold set by the specified angle or situation due to problems such as stacking and tilting of the melt pool. Control can be passed. And if the arc is interrupted when moving from the weaving point to the next weaving point instead of the top point, in the next weaving cycle, weaving control is decided based on the output current change amount to decide whether to continue the control or not to control the control. .

An apparatus feature of the present invention includes a Y slide unit 31 in the transfer module 30 so as to automatically control the weaving module 40 in the Y direction, and in the inside of the weaving module 40 X, Z slides 43 and 44 are provided to automatically control the X and Z direction slides so that the triangular weaving control can be performed by the welding controller 100. In addition, the weaving module 40 is provided with a rotary hinge 41, and the Y slide unit 31 is provided with a torch tilt unit 32 to tilt the weaving module 40 to use the torch tilt unit 32. To fix the tilt angle. The torch tilt unit 32 adjusts the inclination of the triangular weaving or V weaving pattern corresponding to the inclination of the molten pool.

Figure 5 is a weaving control block diagram of a high heat input heat welding apparatus according to the present invention, Figure 6 is a high heat input heat direction weaving control flow chart according to the present invention.

As shown therein,

The welding controller 100 controls the Y slide unit 31 and the X and Z slides 43 and 44 in the weaving module 40 to set initial weaving points on the welded surfaces of the upper member and the lower member. Weaving point is a first step (S10) for setting the three-point weaving point (a, b, c) forming a triangle;

A second step (S20) of controlling the transverse welding while weaving the welding torch 90 to the three weaving points set in the first step (S10) by controlling the transfer module 30;

Detecting a change amount of the welding torch output current at each weaving point (S30);

The weaving is controlled by varying the moving speed to the next weaving point based on the amount of change in the welding torch output current detected in the third step (S30), but after stopping at the respective weaving points for a predetermined stop time, the next weaving is performed. It comprises a fourth step (S40) to move to the point.

In addition, the present invention, the third step (S30), by comparing the previous output current value and the current output current value for each weaving point to change the moving speed during the transfer to the next weaving point based on the change amount. .

In addition, the third step (S30) detects the average output current between each weaving point and the point, compares the previous value and the present value to detect the change amount, and varies the moving speed to the next weaving point by the change amount. It characterized in that to make.

In addition, the present invention by stopping the movement during the pause time at the weaving point to move to the next weaving point is a stop time means a welding operation to stop the movement and generate an arc to fill the penetration amount. At this time, stop time is experimentally obtained in advance and time is set and stop control is performed. In addition, it is also possible to control by varying the reference stop time based on the change amount of the output current.

In addition, it is possible to reduce the amount of heat input by controlling the welding arc at the top point (upper improvement surface) of each weaving point. This is to control the amount of heat input by stopping and moving the arc generation during the period from the top point to the next weaving point. As a result, the V-shaped weaving welding control is substantially performed.

Therefore, if the moving speed to the next weaving point is changed based on the change amount of the output current of the weaving point, the moving speed of the weaving point is changed during the process driven by the transfer module 30, so that the absolute coordinate value of each weaving point is Weaving control is performed while continuously moving in the driving direction while being variable.

On the other hand, as the weaving control method, the three-point weaving point can be weaved by the triangular weaving method, and the weaving control can be performed by the V weaving method.

7 and 8 are explanatory diagrams for explaining the triangular weaving control method according to the present invention.

The lower surface of the upper member 21 is formed as an inclined surface, the upper surface of the lower member 22 is formed as a horizontal surface, and performs the lateral welding of the welding device in a horizontal running. Conventionally, welding was performed by a two-point weaving method, but in the present invention, horizontal welding is processed by a triangular weaving method of moving three-weaving points (a, b, c).

Here, the weaving points a, b, c is a weaving point that is moved by the triangular weaving control according to the present invention, a ', b' is a two-point weaving point of the conventional two-point weaving control method. That is, conventionally, the welding proceeds in the driving direction while weaving the welding torch to a weaving point of a'-b '. In this case, when the molten pool 23 flows down and accumulates, the slope or height is different, so that normal welding is difficult. There were many concerns about welding defects such as poor fusion, poor penetration, undercut, and underfill.

Accordingly, the present invention is controlled by a triangular weaving method that is moved to the weaving point of the three points abc, by sensing the torch output current at each weaving point to adjust the moving speed between the weaving point to prevent welding failure by the fusion pool It is.

A first step S10 of setting three weaving points for triangular weaving on the welded surfaces of the upper member and the lower member is performed, and the user performs the test of the specimen for the three weaving points a, b, and c. It is inputted in advance from the control panel according to the thickness and groove angle, and the controller of the welding device is set as the weaving point of the torch.

Thereafter, the welding device is driven in the horizontal direction, and the second step (S20) of welding by triangular weaving is performed while sliding the welding torch to the three-weaving point set in the first step (S10).

Weaving points of three points due to the welding progress, the welding progress direction (View C) and the weaving point abc in the backward direction (View A) appears to be a straight line of different heights, in the upper direction (View B) weaving is shown as a triangle To be controlled.

When the welding proceeds in the triangular weaving method as described above, the stacking angle and amount of the melt pool 23 may be changed, and the distance between the torch and the melt pool at each weaving point may be changed, thereby changing the torch output current.

Therefore, a third step S30 of detecting a change amount of the welding torch output current for each weaving point is performed. It compares the welding torch output current at each point in the previous weaving cycle and the welding torch output current at each point in the current weaving cycle when weaving 3 points, and detects the change in output current for each point.

 Even if the current is set the same in the welding device, the output current changes when the height of the torch changes. That is, since the torch output current is changed by the interval between the torch and the melt pool, the present invention senses the change in the output current of the torch and performs triangular weaving control by automatically transferring the carriage in the welding direction.

As described above, a fourth step S40 of measuring the amount of welding torch current at each weaving point and controlling the weaving by varying the moving speed to the next point based on the amount of change in the welding torch output current is performed.

In the method of varying the weaving point, the welding torch output current at each of the weaving points a, b, and c is detected as described above, and the feed speed of the welding torch is varied in proportion to the amount of change at each point. When the feed speed is variable, the welding progresses while the position of the weaving point is changed. By sensing the output current, if the amount of change in the output current is small, it moves at a relatively slow speed. If the amount of change is large, weaving control is made to move at a relatively high speed.

For example, when the inclination of the melt pool 23 decreases and the output current change amount of the torch is generated, the feed speeds of the first and second axes of FIG. 7 are changed. That is, by increasing the moving speed of the first axis relative to the moving speed of the second axis, the weaving point B is changed to the position of B '. Here, axis 1 and axis 2 represent the direction of the vector conveyed by the weaving control of the welding torch as the axis. Since the scalar amount is fixed as an absolute value by the initial weaving point setting, the moving speed of each moving axis is varied and melted. Corresponding to the inclination and the amount of accumulation of the pool, welding failure is prevented.

On the other hand, the present invention, in the third step (S30) can detect the average output current between each weaving point and the point to detect the amount of change, based on the amount of change it is possible to variably control the moving speed between each point. . That is, the average output current of the welding torch is detected in each section between the weaving point and the point, and compared with the welding torch average output current in the section between the point and the point in the previous weaving cycle. The change amount of the average output current is detected, and the moving speed to the next weaving point is varied based on the change amount of the section average output current.

Further, as another example of the present invention, the difference between the welding torch output current of any weaving point and the welding torch output current of the next weaving point is detected, and the output when weaving moves from the any weaving point to the next weaving point in the next weaving cycle. It is also possible to vary the weaving movement speed based on the current difference.

In the second step, the V-shaped weaving or the triangular weaving may be selectively controlled based on the amount of change in the output current of each weaving point. It is possible to control the weaving in the form of a V-shape when triangular weaving alone is difficult to cope with the effective melt pool, and when the current variation is more than a certain threshold, the weaving control is performed. If it is within the triangular weaving method to control the melt flow irregularly or piled up to cope.

In addition, in the present invention, by setting the stop time at each weaving point during the weaving control, and controlled to move to the next weaving point after the pause during the stop time, it can correspond to the stacking speed or the slope of the molten pool, the top of each weaving point At the point (upper surface improvement), the welding arc can be controlled intermittently to reduce the amount of heat input.

1A is an explanatory diagram of vertical welding and horizontal welding according to the prior art;

Figure 1b is an explanatory view of the weaving and normal welding and welding failure of the horizontal welding according to the prior art.

Figure 1c is an illustration of a horizontal welding using a typical FCAW technique.

2 is a block diagram of a high heat input heat automatic welding device according to the present invention.

Figure 3 is a photographic view of the weaving module of the high heat input automatic horizontal welding apparatus according to the present invention.

Figure 4 is a photographic input heat transverse automatic welding device according to the present invention.

5 is a control block diagram for the weaving control of the high heat input automatic welding apparatus according to the present invention.

Figure 6 is a flow chart showing a weaving control method of the high heat input automatic heat welding apparatus according to the present invention.

7 is an explanatory diagram of a triangular weaving point according to the present invention;

8 is an explanatory diagram of the triangular weaving control according to the present invention;

<Description of the symbols for the main parts of the drawings>

10: transfer rail 20: magnet device

30: transfer module 31: Y slide unit

32: torch tilt portion 40: weaving module

41: rotating hinge 42: weaving bracket

43: X Slide 44: Z Slide

50: Z slide portion 60: X slide portion

70: torch angle slide portion 80: torch clamp portion

90: torch 100: welding controller

110: welding current detector

Claims (7)

A means for sliding the welding torch in the Y direction and a means for sliding in the X and Z directions, and the welding controller performs the automatic welding by controlling the weaving of the welding torch by automatically controlling the slide means while traveling in the driving direction. In the weaving control method for high heat input lateral welding, Setting a weaving point of three points as a moving point of the welding torch; A second step of controlling welding while controlling the weaving by moving the welding torch with respect to the weaving point set in the first step; Detecting a change amount of the output current of the welding torch in the previous weaving cycle and the current weaving cycle together with the weaving control; And a fourth step of controlling the weaving by varying a speed of moving the welding torch to the next weaving point based on the change amount of the welding torch output current of the third step. Weaving control method for high heat input lateral welding, characterized in that selectively controlling the V-shaped weaving or triangular weaving based on the change amount of the output current of each weaving point. The method of claim 1, wherein the fourth step, Weaving control method for high heat input welding, characterized in that for stopping the movement for a predetermined stop time at each weaving point and then moving to the next weaving point to control the weaving. The method of claim 2, wherein the fourth step, Substituting a pause time for a predetermined stop time at each weaving point, the stop time is a substitution characterized in that weaving control by varying the stop time based on the amount of change in the welding torch current detected in the third step at the preset basic stop time Weaving control method for thermal lateral welding. The method of claim 2, wherein the fourth step, Weaving control method for high heat input lateral welding, characterized in that in the section moving from the top point of the weaving point to the next weaving point to control the heat input by controlling the welding arc. The method of claim 2, wherein the fourth step, High heat input lateral welding, characterized in that the heat input is adjusted by controlling the welding arc in a section moving from the weaving point to the next weaving point exceeding any current change amount based on the welding torch current change amount of the weaving point. Weaving control method for. In the high heat input transverse welding apparatus which moves the welding apparatus horizontally with respect to the welding surface and welds while weaving the welding torch, A transfer rail 10 attached to the iron plate at the welding position by the plurality of magnet devices 20; A transfer module 30 installed to travel on the transfer rail 10; A torch Y slide unit 31 mounted to the transfer module 30 and sliding in the Y direction; A torch tilt unit 32 connected to the torch Y slide unit 31 to set a tilt angle for tilting the torch; Rotating hinge 41 is coupled to the torch tilt portion 32, the tilting angle is set, X, Z slide means is installed therein, the weaving bracket 42 is automatically controlled X, Z slide protrudes to the outside surface Weaving module 40 is installed; A torch Z-direction slide unit 50 fixedly installed at the weaving bracket 42 of the weaving module 40 to set the initial position by sliding the torch in the Z direction; A torch X-direction slide unit 60 coupled to the torch Z-direction slide unit 50 to set the initial position by sliding the torch in the X direction; A torch angle slide unit 70 coupled to the torch X direction slide unit 60 to set an angle of the torch; A torch clamp unit 80 connected to the torch angle slide unit 70 to fix the welding torch 90; By controlling the torch Y slide unit 31 and the inner X and Z slides 43 and 44 of the weaving module 40, three weaving points are set such that the welding points of the welding torch 90 form a triangle. Then, the welding current detection unit 110 detects the output current of the welding torch 90 and performs welding control while varying the moving speed to the weaving point based on the change amount of the output current, but the preset stop time at each weaving point. High heat input automatic welding device, characterized in that it comprises a welding controller 100 for stopping the movement while moving to weaving control. The torch tilt portion 32 of claim 6, wherein At the end of the Y slide unit 31 mounted on the transfer module 30, the rotating hinge 41 installed on the weaving module 40 is rotated and fixed, and corresponding to the inclination of the molten pool. A high heat input automatic welding apparatus, characterized in that the tilt angle is fixed to adjust the tilt of the triangular weaving or V weaving pattern.

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