KR20240003096A - Automatic tracking method and device for welding height of pipe adj - Google Patents

Abstract

One embodiment of the present invention provides a method and device for automatically tracking the welding height, which calculates a correction value for controlling the height of a welding torch and automatically tracks the precise height during welding to prevent undercut. The method of automatically tracking the welding height of pipes capable of controlling pipe change according to an embodiment of the present invention includes (a) a setting module setting the set current value ( _IS ) and the first maximum correction value (L _MAX1 ) of the welding torch; step; (b) a measurement module measuring the voltage (V), current (I), and angle (Φ) of the welding torch and transmitting the measured values to a receiving module; (c) the receiving module transmits the measured value to the calculation module, and the calculation module calculates the rate of change (K) and the calculation correction value (ΔL ₁ ) of the welding current value according to the change in the height of the welding torch; (d) The calculation module compares the calculated correction value (ΔL ₁ ) and the first maximum correction value (L _MAX1 ), resets the first maximum correction value (L _MAX1 ), and sets the second maximum correction value (L _MAX2 ). forming a; (e) a control module controls the welding torch to drive the welding torch, and an actual correction value (L _a ) is formed; (f) The calculation module compares the actual correction value (L _a ) and the second maximum correction value (L _MAX2 ) and resets the second maximum correction value (L _MAX2 ) to obtain a third maximum correction value (L Setting _MAX3 ); and (g) performing welding by controlling the height motion of the welding torch according to the reset third maximum correction value (L _MAX3 ) by the control module.

Description

Method and device for automatically tracking welding height of pipes capable of controlling pipe change {AUTOMATIC TRACKING METHOD AND DEVICE FOR WELDING HEIGHT OF PIPE ADJ}

The present invention relates to a method and device for automatically tracking the welding height of pipes that can be changed and adjusted, and more specifically, to prevent undercut by automatically tracking the precise height during welding by calculating a correction value that controls the height of the welding torch. It relates to a method and device for automatically tracking welding height.

In general, when welding pipes, a skilled worker would tie the pipes to be welded together with one hand and then proceed with the welding work while holding it with the other hand. At this time, the worker's hand would tremble while applying force. There is a problem in that the welding work cannot be performed precisely due to vibration or vibration.

Additionally, in the case of pipes with a diameter of 14 inches or more, the diameter varies in the circumferential direction because a constant roundness cannot be formed. Therefore, in the case of pipe circumference welding, height control is required as an essential function.

However, in the case of an arc sensor for height tracking during welding, height control is possible, but during height control, the welding arc melts the base metal and may cause welding defects such as undercut.

Korean Patent No. 10-2302446 (title of the invention: welding torch control system and control method through monitoring welding variables) describes a welding state including at least one of welding current, welding voltage, and wire feed speed when welding in an arc welding device. A sensing module that detects information; a monitoring module that receives and analyzes the welding state information sensed by the sensing module and generates torch motion control information that controls the vertical motion of the welding torch of the arc welding device; And a torch motion control module that controls the vertical motion of the welding torch in real time according to the torch motion control information of the monitoring module, wherein the monitoring module is configured to control at least one of welding current, welding voltage, and wire feed speed. a control setting input unit configured to receive control setting information including a standard setting value from an administrator, a control setting storage unit storing the control setting information input by the control setting input unit, and the received welding unit. The torch motion control includes comparing the status information and the standard setting value for each item of the control setting information stored in the control setting storage unit, and calculating the vertical movement direction and vertical movement distance of the welding torch according to the comparison result. A torch motion monitoring unit that generates information is disclosed.

However, this prior art does not compensate for the height where the diameter varies in the circumferential direction, which may cause defects in the direction of height control, resulting in welding defects such as undercuts in which the welding arc melts the base metal.

Therefore, there is a need for automatic welding height tracking technology and devices that control the height according to the roundness of the pipe and track the welding height to prevent undercut where the welding arc melts the base material.

Korean Patent No. 10-2302446

The purpose of the present invention to solve the above problems is to easily install and perform welding on the outer peripheral surface in response to changes in the diameter of the pipe.

Another purpose of the present invention is to control the height according to the roundness of the pipe and perform welding by tracking the welding height.

The technical problem to be achieved by the present invention is not limited to the technical problem mentioned above, and other technical problems not mentioned can be clearly understood by those skilled in the art from the description below. There will be.

The configuration of the present invention to achieve the above object includes: (a) setting the setting module to set the setting current value ( _IS ) and the first maximum correction value (L _MAX1 ) of the welding torch; (b) a measurement module measuring the voltage (V), current (I), and angle (Φ) of the welding torch and transmitting the measured values to a receiving module; (c) the receiving module transmits the measured value to the calculation module, and the calculation module calculates the rate of change (K) and the calculation correction value (ΔL ₁ ) of the welding current value according to the change in the height of the welding torch; (d) The calculation module compares the calculated correction value (ΔL ₁ ) and the first maximum correction value (L _MAX1 ), resets the first maximum correction value (L _MAX1 ), and sets the second maximum correction value (L _MAX2 ). forming a; (e) a control module controls the welding torch to drive the welding torch, and an actual correction value (L _a ) is formed; (f) The calculation module compares the actual correction value (L _a ) and the second maximum correction value (L _MAX2 ) and resets the second maximum correction value (L _MAX2 ) to obtain a third maximum correction value (L Setting _MAX3 ); and (g) performing welding by controlling the height motion of the welding torch according to the third maximum correction value (L _MAX3 ) reset by the control module. A correction value for controlling the height of the welding torch is included. It is characterized by automatically tracking the precise height during welding and preventing undercut.

In an embodiment of the present invention, step (b) includes: (b1) measuring the voltage (V) and current (I) of the welding torch by the measurement module; (b2) the measurement module measuring the angle (Φ) between the welding portion and an imaginary line connecting the welding torch and the welding portion; and (b3) the receiving module receiving the measurement value measured by the measurement module and storing the measurement value.

In an embodiment of the present invention, the calculation formula for the rate of change (K) is the following equation: K = ΔI / ΔL (where ΔI: amount of change in current, ΔL). : change in welding torch height).

In an embodiment of the present invention, the calculated correction value (ΔL ₁ ) is a method for automatically tracking the weld height of pipes capable of changing and controlling pipes, characterized in that the equation is as follows:

ΔL ₁ = = (II _S )/K

(where ΔI: change in current, cos(Φ): cosine value for angle (Φ), I: measured current value, I _S : set current value to maintain a constant current value, K: according to change in welding torch height It may be the rate of change of the welding current value).

In an embodiment of the present invention, in step (d), (d1) the calculation module calculates the calculated correction value (ΔL ₁ ) when the calculated correction value (ΔL 1) is greater than or equal to the first maximum correction value (L _{MAX1 )} . ) is reset to be equal to the first maximum correction value (L _MAX1 ); and (d2) the calculation module setting the second maximum correction value (L _MAX2 ) to the same value as the reset first maximum correction value (L _MAX1 ).

In an embodiment of the present invention, in step (f), (f1) the calculation module calculates the second maximum correction value (L _a ) when the actual correction value (L a ) exceeds a multiple of the second maximum correction value (L _MAX2 ). increasing the correction value (L _MAX2 ); and (f2) when the actual correction value (L _a ) is less than twice the second maximum correction value (L _MAX2 ), the calculation module sets the same value as the second maximum correction value (L _MAX2 ) as the third maximum correction value. It may include the step of setting (L _MAX3 ).

In an embodiment of the present invention, step (f2) increases the second maximum correction value (L _MAX2 ) when the second maximum correction value (L _MAX2 ) has the same value twice in a row. Can be unset.

In an embodiment of the present invention, step (g) includes: (g1) the calculation module transmitting a third maximum correction value (L _MAX3 ) to the receiving module; (g2) the receiving module receiving the calculated third maximum correction value (L _MAX3 ) and receiving it to the control module; and (g3) performing welding on the welding portion by controlling the height motion of the welding torch according to the value of the third maximum correction value (L _MAX3 ) calculated by the control module.

In an embodiment of the present invention, the calculated correction value (ΔL ₁ ) may be formed as an absolute value.

In an embodiment of the present invention, an apparatus for automatically tracking the weld height of a pipe capable of changing and controlling pipes includes: the welding torch for welding the weld portion; The setting module for storing and setting information; A measurement module that measures at least one information selected from the welding current of the welding torch, the welding voltage, the angle (Φ) between the virtual line connecting the welding wire and the welding portion and the welding portion, and the feeding speed; a receiving module connected to the measurement module and receiving and storing measurement information from the measurement module; a calculation module connected to the receiving module and calculating a height motion of the welding torch using measurement information received from the receiving module; and a control module connected to the calculation module and controlling and monitoring the height of the welding torch based on information received from the calculation module.

In an embodiment of the present invention, the welding torch includes a welding wire that is inserted into the welding torch and welds the weld portion; and a motor connected to the welding wire and driving the welding wire.

In an embodiment of the present invention, the motor is connected to the control module, and the control module can control the motor to control the speed of the welding wire.

In an embodiment of the present invention, the measurement module includes a current measurement sensor located in the welding torch and measuring current and voltage; and an angle measuring sensor located on the welding torch and measuring an angle (Φ) between the welding portion and an imaginary line connecting the welding wire and the welding portion.

The effect of the present invention according to the above configuration has the advantage of being easily installed on the outer peripheral surface in response to changes in the diameter of the pipe and performing welding.

Another object of the present invention is to prevent welding defects such as undercuts by controlling the height according to the roundness of the pipe and performing welding by tracking the welding height.

The effects of the present invention are not limited to the effects described above, and should be understood to include all effects that can be inferred from the configuration of the invention described in the detailed description or claims of the present invention.

Figure 1 is a definition diagram of the motion axis reference direction of a welding carriage and a torch according to an embodiment of the present invention.
Figure 2 is a perspective view of a welded joint of a pipe according to an embodiment of the present invention.
Figure 3 is a conceptual diagram showing a pipe, a guiding ring, and a welding torch according to an embodiment of the present invention.
Figure 4 is a conceptual diagram showing the height tracking direction, correction value, and height between the pipe and the welding portion of the welding portion and the welding torch according to an embodiment of the present invention.
Figure 5 is a conceptual diagram showing the movement trajectory of a welding torch according to the maximum correction amount according to an embodiment of the present invention.
Figure 6 is a conceptual diagram showing a tracking path changed according to the maximum correction amount condition according to an embodiment of the present invention.
Figure 7 is a graph of change in current value according to change in height according to an embodiment of the present invention.
Figure 8 is a comparative diagram comparing the maximum correction amount and the actual correction amount according to an embodiment of the present invention.
Figure 9 is a wobbling motion diagram of a welding torch according to an embodiment of the present invention.
Figure 10 is a configuration diagram of an automatic pipe weld height tracking process according to an embodiment of the present invention.
Figure 11 is a system diagram of automatic pipe weld height tracking technology according to an embodiment of the present invention.

Hereinafter, the present invention will be described with reference to the attached drawings. However, the present invention may be implemented in various different forms and, therefore, is not limited to the embodiments described herein. In order to clearly explain the present invention in the drawings, parts that are not related to the description are omitted, and similar parts are given similar reference numerals throughout the specification.

Throughout the specification, when a part is said to be "connected (connected, contacted, combined)" with another part, this means not only "directly connected" but also "indirectly connected" with another member in between. "Includes cases where it is. Additionally, when a part is said to “include” a certain component, this does not mean that other components are excluded, but that other components can be added, unless specifically stated to the contrary.

The terms used in this specification are merely used to describe specific embodiments and are not intended to limit the present invention. Singular expressions include plural expressions unless the context clearly dictates otherwise. In this specification, terms such as “comprise” or “have” are intended to indicate the presence of features, numbers, steps, operations, components, parts, or combinations thereof described in the specification, but are not intended to indicate the presence of one or more other features. It should be understood that this does not exclude in advance the possibility of the existence or addition of elements, numbers, steps, operations, components, parts, or combinations thereof.

Hereinafter, the present invention will be described in detail with reference to the attached drawings.

Figure 1 is a definition diagram of the reference direction of the motion axis of the welding carriage 200 and the welding torch 220 according to an embodiment of the present invention, and Figure 2 is a perspective view of a weld joint phenomenon of the pipe 100 according to an embodiment of the present invention. 3 is a conceptual diagram showing a pipe 100, a guide ring 210, and a welding torch 220 according to an embodiment of the present invention, and FIG. 4 is a welding portion 130 according to an embodiment of the present invention. This is a conceptual diagram showing the height tracking direction of the welding torch 220, the correction value, and the height between the pipe 100 and the welding portion 130.

Figure 5 is a conceptual diagram showing the movement trajectory of the welding torch 220 according to the maximum correction value according to an embodiment of the present invention, and Figure 6 is a tracking path changed according to the maximum correction value condition according to an embodiment of the present invention. This is a conceptual diagram showing, and Figure 7 is a graph of the change in current value according to the change in height according to an embodiment of the present invention.

Figure 8 is a comparative diagram comparing the maximum correction value and the actual correction value according to an embodiment of the present invention, Figure 9 is a wobbing motion diagram of the welding torch 220 according to an embodiment of the present invention, and Figure 10 is a It is a configuration diagram of a process for automatically tracking the height of a pipe 100 welded portion 130 according to an embodiment of the present invention, and Figure 11 is a system of automatic tracking technology for the height of a pipe 100 welded portion 130 according to an embodiment of the present invention. It is also a degree.

A welding carriage is provided with a guide ring 210 formed in a shape surrounding the pipe 100 and welds the weld portion 130 using a welding torch 220 provided with a welding wire 221 along the guide ring 210. The height tracking method using (200) includes the steps of the setting module setting the set current value ( _IS ) and the first maximum correction value (L _MAX1 ) of the welding torch 220, and the measurement module 600 setting the welding torch ( 220) measuring the voltage (V), current (I), and angle (Φ) and transmitting the measured values to the receiving module 500, the receiving module 500 transmits the measured values to the calculation module 400, and , the calculation module 400 calculates the rate of change (K) and the calculated correction value (ΔL ₁ ) of the welding current value according to the change in height of the welding torch 220, the calculation module 400 calculates the calculated correction value (ΔL ₁ ) Comparing and first maximum correction value (L _MAX1 ) and resetting the first maximum correction value (L _MAX1 ) to form a second maximum correction value (L _MAX2 ), the control module 300 controls the welding torch 220 ) is controlled to drive the welding torch 220 and the actual correction value (L _a ) is formed, and the calculation module 400 compares the actual correction value (L _a ) and the second maximum correction value (L _MAX2 ). and setting the third maximum correction value (L _MAX3 ) by resetting the second maximum correction value (L _MAX2 ), and the control module 300 uses the welding torch (L _MAX3 ) according to the reset third maximum correction value (L MAX3). 220) may include performing welding by controlling the height motion.

As shown in FIG. 10, in step (a), the welding start step (S100), the setting module sets the set current value ( _IS ) and the first maximum correction value (L _MAX1 ) of the welding torch 220. ) may be performed, and in step (a), the set current value ( _IS ) is a set current value for maintaining a constant current value, and the welding torch 220 is constant through the set current value ( _IS ). It may be possible to maintain the height of

Stable torch height control is possible during _the real-time height control process through the first maximum correction value (L _MAX1 ) set as the maximum correction value, and the first maximum correction value (L _MAX1 ) can be reset. It can become and change.

After step (a) is performed, the measurement module 600 in step (b) measures the voltage (V), current (I), and angle (Φ) of the welding torch 220 and sends the measured values to the receiving module 500. The step of transmitting may be performed.

Step (b) is step (b1) in which the measurement module 600 measures the voltage (V) and current (I) of the welding torch 220, and the measurement module 600 measures the welding torch 220 and the welding portion 130. Step (b2) of measuring the angle (Φ) between the virtual line connecting and the welded portion 130, and step (b3) of the receiving module 500 receiving the measured value measured by the measuring module 600 and storing the measured value. may include.

In step (b1), the current measurement sensor of the measurement module 600 can measure the voltage (V) and current (I) of the welding torch 220, and the longer the length of the welding wire 221, the more the welding torch 220 ) and the resistance (R) between the base material may increase. In the case of a constant voltage welder that maintains a constant voltage, the current (I) can be small according to Ohm's law (V = I × R).

In step (b2), as shown in Figure 4 (b), the angle measurement sensor in the measurement module 600 may be configured as a radar sensor, and the angle measurement sensor is connected to the expansion pipe 110 and the insertion pipe 120. The angle between the virtual line (a) connecting the welding portion 130, which is the contact portion, and the welding wire 221, and the outer surface of the pipe 100 can be measured.

In step (b3), the measurement module 600 may be connected to the receiving module 500, and the measurement module 600 connected to the receiving module 500 may transmit measurement data to the receiving module 500. The receiving module 500 can store the transmitted data in the receiving module 500 and, if necessary, transmit it to the calculation module 400, control module 300, etc.

After step (b) is performed, the receiving module 500 in step (c) transmits the measured value to the calculation module 400, and the calculation module 400 calculates the welding current value according to the change in height of the welding torch 220. The steps of calculating the rate of change (K) and the calculated correction value (ΔL ₁ ) may be performed, and step (c) includes step (c1) of calculating the rate of change (K) and calculating the calculated correction value (ΔL ₁ ). Step (c2) may be included.

As shown in Figure 7, in step (c1), the calculation module 400 calculates the welding current according to the change in height of the welding torch 220 using the amount of change in current (ΔI) and the amount of change in height of the welding torch 220 (ΔL). The rate of change (K) of the value can be calculated. The rate of change (K) can be calculated experimentally and can range from about 2 to about 6 depending on the current range used. At this time, if the value of change rate (K) decreases, the calculated correction value (ΔL ₁ ) may increase.

The formula for calculating the rate of change (K) of the welding current value according to the change in height of the welding torch 220 is as follows.

K=ΔI/ΔL

(where ΔI: change in current, ΔL: change in height of welding torch (220))

In step (c2), (S200) the calculation module 400 calculates the calculation correction value (ΔL ₁ ) may be performed. When the welding current value (I) measured using the change rate (K) calculated in (c1) is different from the set current value ( _IS ), the amount of change in current (ΔI) is adjusted to the change in height of the welding torch 220. Divide by the rate of change (K) of the welding current value and cos (Φ), which is the cosine value for the angle (Φ) between the virtual line (a) connecting the welding portion 130 and the welding wire 221 and the outer surface of the pipe 100. Calculation correction value (ΔL ₁ ) can be calculated.

It is possible to calculate which direction the welding torch 220 moves using the sign (±) of the calculated correction value (ΔL ₁ ), and the absolute value of the calculated correction value (ΔL ₁ ) can be used to calculate the direction in which the welding torch 220 moves. The movement value of can be calculated.

The calculation formula for the calculated correction value (ΔL ₁ ) is as follows.

ΔL ₁ = = (II _S )/K

(where ΔI: change in current, cos(Φ): cosine value for angle (Φ), I: measured current value, I _S : set current value to maintain a constant current value, K: height of welding torch (220) Rate of change in welding current value according to change)

After step (c) is performed, the calculation module 400 in step (d) compares the calculated correction value (ΔL ₁ ) and the first maximum correction value (L _MAX1 ), and calculates the first maximum correction value (L _MAX1 ). A step of resetting to form a second maximum correction value (L _MAX2 ) may be performed.

In step (d), when the calculated correction value (ΔL ₁ ) of the calculation module 400 is greater than or equal to the first maximum correction value (L _MAX1 ), the first maximum correction value (L _MAX1 ) is equal to the calculated correction value (ΔL ₁ ). It may include a step (d1) of resetting and a step (d2) of the calculation module 400 setting the second maximum correction value (L _MAX1 ) to the same value as the reset value of the first maximum correction value (L _MAX1 ). You can.

In step (d), if there is a large difference in height between the height of the torch at a random position by the operator and the position where the torch, which is the position to be controlled in real time, converges to the set current (Is) value, the torch position is suddenly changed and the welding arc is It may become unstable, and the measurement current value (I) may become very large or small due to an abnormality in the measurement signal (I), which may cause the calculated correction value (ΔL ₁ ) for control to become large, causing an unstable welding arc.

In step (d1), in order to prevent the occurrence of an unstable welding arc, the calculation module 400 can control the first maximum correction value (L _MAX1 ) of the calculated correction value (ΔL ₁ ) by limiting it, and the calculated correction value (ΔL ₁ ) is greater than or equal to the first maximum correction value (L _MAX1 ), the calculated correction value (ΔL ₁ ) can be reset to be equal to the first maximum correction value (L _MAX1 ).

In step (d2), _the calculation module 400 sets the second maximum correction value (L MAX2) to the same value as the first maximum correction value (L _MAX1 ) reset to be the same as the calculation correction value (ΔL ₁ ), It is possible to prevent an unstable welding arc that occurs due to the difference between the second maximum correction value (L _MAX2 ) and the calculated correction value (ΔL ₁ ), and to achieve stable height control during the height control process of the welding torch 220.

After step (d) is performed, the control module 300 in step (e) controls the welding torch 220 to drive the welding torch 220, and the step of forming the actual correction value (L _a ) is performed. You can.

In step (e), the receiving module 500 transmits the second maximum correction value (L _MAX2 ) calculated in the calculation module 400 to the control module 300, and the control module 300 uses the welding torch 220. The actual correction value (L _a ) can be formed by controlling and driving the welding torch 220 to move the height of the welding torch 220 by the second maximum correction value (L _MAX2 ).

After step (e) is performed, the calculation module 400 in step (f) compares the actual correction value (L _a ) and the second maximum correction value (L _MAX2 ), and calculates the second maximum correction value (L _MAX2 ). A step of resetting and setting the third maximum correction value (L _MAX3 ) may be performed.

Step (f) is a step (f1) in which the calculation module 400 increases the second maximum correction value (L _MAX2 ) when the actual correction value (L _a ) exceeds a multiple of the second maximum correction value (L _MAX2 ). And it may include a step (f2) in which the calculation module 400 sets the third maximum correction value (L _MAX3 ) to a value equal to the increased value of the second maximum correction value (L _MAX2 ).

In step (f1), the calculation module 400 (S400) may be performed to compare the actual correction value (L _a ) and the second maximum correction value (L _MAX2 ), and after (S400) is performed, the actual correction value (L a ) may be compared. When the correction value (L _a ) is more than twice the second maximum correction value (L _MAX2 ), (S502) of increasing the second maximum correction value (L _MAX2 ) may be performed. As shown in FIG. 8, when m, which is the actual correction value (L _a ) divided by the second maximum correction value (L _MAX2 ), is 2 or more, the value of the second maximum correction value (L _MAX2 ) may increase.

In step (f2), if the actual correction value (L _a ) is less than twice the second maximum correction value (L _MAX2 ) after performing (S400), a value equal to the value of the second maximum correction value (L _MAX2 ) is set to the third maximum correction value. Forming a correction value (L _MAX3 ) and adding 1 to the correction value count (S501) may be performed. If the maximum correction value count remains the same two times in a row, (S600) may be performed to determine that a stable section has been entered.

After performing step (S502), the actual correction value (L _a ) is less than twice the increased second maximum correction value (L _MAX2 ), so it does not increase, and when it has the same value twice in a row, the second maximum correction value (L (S501) may be performed to form a third maximum correction value (L _MAX3 ) with a value equal to the value of _MAX2 and adding 1 to the correction value count. If the maximum correction value count remains the same two times in a row, step (S600) can be performed to determine that a stable section has been entered.

After step (f) is performed, if the third maximum correction value (L _MAX3 ) reset by the control module 300 in step (g) does not change, welding is performed by controlling the height motion of the welding torch 220. (S700) can be performed.

Step (g) is step (g1) in which the calculation module 400 transmits the third maximum correction value (L _MAX3 ) to the receiving module 500, and the receiving module 500 transmits the calculated third maximum correction value (L _MAX3 ). ) is transmitted to the control module 300, and the control module 300 controls the height motion of the welding torch 220 according to the calculated third maximum correction value (L _MAX3 ) to control the welding portion. (130) may include step (g3) of performing welding.

In step (g1), the third maximum correction value (L _MAX3 ) calculated by the calculation module 400 is transmitted to the receiving module 500 so that the receiving module 500 can store the third maximum correction value (L _MAX3 ). .

In step (g2), the third maximum correction value (L _MAX3 ) stored by the receiving module 500 is received by the control module 300 so that the control module 300 can store the third maximum correction value (L _MAX3 ). there is.

In step (g3), the control module 300 adjusts the welding torch 220 to raise or lower the height of the welding torch 220 by the third maximum correction value (L _MAX3 ) to change the height of the welding torch 220. After changing the height of the welding torch 220, the control module 300 can control the welding torch 220 and drive the welding torch 220 to perform welding.

As shown in Figure 5, when the position of the welding torch 220 started by the worker before welding is lower than the position of the welding torch 220 to be automatically tracked, that is, the position of the set current ( _IS ), the sign (± ), the welding torch 220 can move upward by the third maximum correction value (L _MAX3 ).

When the position of the welding torch (220) started by the worker before welding is higher than the position of the welding torch (220) to be automatically tracked, that is, the position of the set current ( _IS ), the sign (±) of the calculated correction value is used to set the welding torch (220). 220) may move downward and move downward by the third maximum correction value (L _MAX3 ).

Through this process, the prior art tracks the height of the welding torch 220 in the direction of the virtual line (a) connecting the welding portion 130, which is the contact area between the expansion pipe 110 and the insertion pipe 120, and the welding wire 221. As a result, undercuts may occur in the welded portion 130, but as shown in Figure 4 (a), the present invention tracks the height in a direction perpendicular to the outer surface of the insert pipe 120 and tracks the height at the set height tracking position during height tracking. Regardless, welding defects may not occur.

As shown in FIG. 1, the welding carriage 200 having a guide ring 210 formed in a shape surrounding the pipe 100 may be equipped with a welding torch 220, and the welding torch 220 is a welding carriage. You can move to the x and y axes by (200).

As shown in Figure 2, the pipe 100 may include an insertion pipe 120 and an expansion pipe 110 in contact with the outer surface of the insertion pipe 120, and the insertion pipe 120 and the expansion pipe ( A welding portion 130 that performs welding may be formed at a contact portion where 110) is in contact. At this time, the outer diameter of the insertion pipe 120 may be the same as the inner diameter of the expansion pipe 110.

As shown in FIG. 3, in the case of a pipe 100 with a diameter of 14 inches or more, the diameter may vary in the circumferential direction because a constant roundness cannot be formed, and the conventional welding carriage 200 running along the guide ring 210 is unable to maintain a constant height due to changes in the roundness of the pipe 100, which may cause welding defects such as undercut. In the present invention, the height of the welding torch 220 can be adjusted by calculating a correction value according to the change in the roundness of the pipe 100, and thus welding can be performed at a constant height regardless of the roundness of the pipe 100 during welding.

As shown in FIG. 4(c), the height L between the end of the welding torch 220 and the welded portion 130 of the pipe 100 may be equal to the length of the welding wire 221 coming out of the torch. As the welding wire 221 becomes longer, the resistance (R) between the welding torch 220 and the base material increases. In the case of a constant voltage welder that maintains a constant voltage, the current (I) is small according to Ohm's law (V = I × R). You can lose.

As shown in Figure 9, the wobbling motion picture of the welding torch 220 can be driven as shown in the table below. It can be equipped with a weaving mode that measures the weaving time in the first stage, and at this time, the left edge is not driven and the torch height adjustment motor can be compensated in the up/down direction.

In step 2, the receiving module 500 can transmit measurement signals for the voltage and current measurement period to the current measurement sensor, and in step 3, the current measurement sensor can measure the current and voltage signals of the welding torch 220. In step 4, the receiving module 500 receives the value measured by the measurement sensor, the receiving module 500 receives the measured value from the calculating module 400, and the calculating module 400 calculates the correction value according to the voltage and current signal. You can. By receiving the correction value calculated by the calculation module 400 to the control module 300, the control module 300 can control the welding torch 220 to control the height of the welding torch 220 according to the correction value.

Index Weaving mode WCM
(Welding Control Module) WMM
(Welding signal Measurement Module) SMM
(Step Motor Module)
torch height adjustment motor One ① → ②
WV_MODE_GET_TIME
(left_edge off) Weaving time measurement - Up/down correction 2 ② → ③WV_MODE_RIGHT_EDGE
(right_edge on) Voltage/
electric current
measurement
to give
send Voltage/
electric current
measurement
to give
reception - 3 ③ → ④WV_MODE_SAMPLING
(right_edge off) Current voltage signal measurement - 4 ④ → ①
WV_MODE_LEFT_EDGE
(left_edge on) Voltage
electric current
signal
reception
Compensation value calculation

correction value
send electric current
Voltage
measurement
signal
send Receiving correction value (control command)

As shown in Figure 11, the automatic tracking device for the welding height of the pipe that can change and control the pipe 100 includes a welding torch 220 for welding the welding portion 130, a setting module for storing and setting information, and a welding torch 220. ) of welding current, welding voltage, the angle (Φ) between the virtual line connecting the welding wire 221 and the welding portion 130 and the welding portion 130, and the feeding speed. A measurement module 600 that measures at least one information selected from the group. , a receiving module 500 that is connected to the measurement module 600 and receives and stores measurement information from the measurement module 600, and is connected to the receiving module 500 and uses the measurement information received from the receiving module 500. A calculation module 400 that calculates the height motion of the welding torch 220 and a control connected to the calculation module 400 and controlling and monitoring the height of the welding torch 220 based on information received from the calculation module 400. It may include a module 300.

The welding torch 220 is inserted into the welding torch 220, is connected to a welding wire 221 for welding the welding portion 130, and the welding wire 221, and may be provided with a motor that drives the welding wire 221. there is.

The welding torch 220 may be provided on a welding carriage that is transported along the object to be welded by an electrical driving means, and may be moved up, down, left and right along the x and y axes of the welding carriage 200. The welding torch 220 may be provided with a motor that supplies the welding wire 221, so that the welding wire 221 can be moved up and down inside the welding torch 220.

The setting module may receive setting information including at least one standard setting value from the administrator, and may transmit the set information to the calculation module 400 to form a correction value for the setting information.

The measurement module 600 may include a current measurement sensor and an angle measurement sensor, and the current measurement sensor may periodically measure the voltage and current of the welding torch 220 and transmit them to the receiving module 500.

The angle measurement sensor may be formed as a radar sensor, and the angle measurement sensor is an imaginary line (a) connecting the welding portion 130, which is the contact area between the expansion pipe 110 and the insertion pipe 120, and the welding wire 221, and the pipe. (100) The angle between the outer surfaces can be measured and transmitted to the receiving module (500).

The receiving module 500 can receive information from the setting module, measurement module 600, and calculation module 400 and transmit it to the control module 300. Information input or measured from the setting module and measurement module 600 is received and transmitted to the calculation module 400, and the correction value calculated by the calculation module 400 is transmitted to the control module 300. The height of the welding torch 220 can be controlled.

The control module 300 may control the height of the welding torch 220 according to the correction value calculated by the calculation module 400. It can be moved up and down depending on the sign of the correction value, and the moving distance can be set according to the absolute value of the correction value.

Additionally, the control module 300 is connected to the motor of the welding torch 220 and can control the feeding speed of the welding wire 221. The welding wire 221 may be provided with an idle roller that is forcibly pulled and unwound by a motor, and the motor may unwind and supply the wound wire. At this time, the control module 300 can control the welding speed by controlling the supply speed of the wire.

The description of the present invention described above is for illustrative purposes, and those skilled in the art will understand that the present invention can be easily modified into other specific forms without changing the technical idea or essential features of the present invention. will be. Therefore, the embodiments described above should be understood in all respects as illustrative and not restrictive. For example, each component described as unitary may be implemented in a distributed manner, and similarly, components described as distributed may also be implemented in a combined form.

The scope of the present invention is indicated by the patent claims described below, and all changes or modified forms derived from the meaning and scope of the claims and their equivalent concepts should be construed as being included in the scope of the present invention.

100: pipe
110: expansion pipe
120: Insertion pipe
130: welding part
200: welding carriage
210: guiding ring
220: welding torch
221: welding wire
300: Control module
400: Calculation module
500: Receiving module
600: Measurement module

Claims (13)

In the height tracking method using a welding carriage that has a guide ring formed in a shape to surround a pipe and welds a weld portion using a welding torch provided with a welding wire along the guide ring,
(a) a setting module setting the set current value ( _IS ) and the first maximum correction value (L _MAX1 ) of the welding torch;
(b) a measurement module measuring the voltage (V), current (I), and angle (Φ) of the welding torch and transmitting the measured values to a receiving module;
(c) the receiving module transmits the measured value to the calculation module, and the calculation module calculates the rate of change (K) and the calculation correction value (ΔL ₁ ) of the welding current value according to the change in the height of the welding torch;
(d) The calculation module compares the calculated correction value (ΔL ₁ ) and the first maximum correction value (L _MAX1 ), resets the first maximum correction value (L _MAX1 ), and sets the second maximum correction value (L _MAX2 ). forming a;
(e) a control module controls the welding torch to drive the welding torch, and an actual correction value (L _a ) is formed;
(f) The calculation module compares the actual correction value (L _a ) and the second maximum correction value (L _MAX2 ) and resets the second maximum correction value (L _MAX2 ) to obtain a third maximum correction value (L Setting _MAX3 ); and
(g) performing welding by controlling the height motion of the welding torch according to the third maximum correction value (L _MAX3 ) reset by the control module; Welding of pipes capable of changing and controlling pipes, comprising: Height automatic tracking method.
In claim 1,
In step (b),
(b1) measuring the voltage (V) and current (I) of the welding torch by the measurement module;
(b2) the measurement module measuring the angle (Φ) between the welding portion and an imaginary line connecting the welding torch and the welding portion; and
(b3) a step of receiving the measured value measured by the measuring module by the receiving module and storing the measured value.
In claim 1,
The calculation formula for the rate of change (K) is the following formula. Method for automatically tracking the weld height of pipes capable of controlling pipe change.
K=ΔI/ΔL
(Where ΔI: change in current, ΔL: change in welding torch height)
In claim 1,
The calculated correction value (ΔL ₁ ) is a method for automatically tracking the weld height of pipes capable of changing and controlling pipes, characterized in that the equation is as follows:
ΔL ₁ = = (II _S )/K
(where ΔI: change in current, cos(Φ): cosine value for angle (Φ), I: measured current value, I _S : set current value to maintain a constant current value, K: according to change in welding torch height Rate of change of welding current value)
In claim 1,
In step (d),
(d1) When the calculation module calculates the calculation correction value (ΔL ₁ ) is greater than or equal to the first maximum correction value (L _MAX1 ), the calculation correction value (ΔL ₁ ) is equal to the first maximum correction value (L _MAX1 ). steps to reset; and
(d2) the calculation module setting the second maximum correction value (L _MAX2 ) to the same value as the reset first maximum correction value (L _MAX1 ); pipe change control comprising a. A method of automatically tracking the weld height of possible pipes.
In claim 1,
In step (f),
(f1) the calculation module increasing the second maximum correction value (L _MAX2 ) when the actual correction value (L _a ) exceeds a multiple of the second maximum correction value (L _MAX2 ); and
(f2) When the actual correction value (L _a ) is less than twice the second maximum correction value (L _MAX2 ), the calculation module sets the same value as the second maximum correction value (L _MAX2 ) to the third maximum correction value (L MAX2). A method of automatically tracking the weld height of pipes capable of controlling pipe change, comprising the step of setting L _MAX3 ).
In claim 6,
In step (f2),
Welding of piping capable of pipe change control, characterized in that the increase value of the second maximum correction value (L _MAX2 ) is not set when the second maximum correction value (L _MAX2 ) has the same value twice in succession Height automatic tracking method.
In claim 1,
In step (g),
(g1) the calculation module transmitting a third maximum correction value (L _MAX3 ) to the receiving module;
(g2) the receiving module receiving the calculated third maximum correction value (L _MAX3 ) and receiving it to the control module; and
(g3) controlling the height motion of the welding torch according to the value of the third maximum correction value (L _MAX3 ) calculated by the control module to perform welding on the weld portion; Pipe change control comprising a. This method automatically tracks the weld height of pipes possible.
In claim 1,
A method of automatically tracking the weld height of a pipe capable of changing and controlling the pipe, characterized in that the calculated correction value (ΔL ₁ ) is an absolute value.
The automatic tracking device for the weld height of pipes capable of changing and controlling pipes using the automatic tracking method of welding heights of pipes capable of changing and controlling pipes according to any one of claims 1 to 9, includes:
The welding torch for welding the weld portion;
The setting module for storing and setting information;
A measurement module that measures at least one information selected from the welding current of the welding torch, the welding voltage, the angle (Φ) between the virtual line connecting the welding wire and the welding portion and the welding portion, and the feeding speed;
a receiving module connected to the measurement module and receiving and storing measurement information from the measurement module;
a calculation module connected to the receiving module and calculating a height motion of the welding torch using measurement information received from the receiving module; and
A control module that is connected to the calculation module and controls and monitors the height of the welding torch based on information received from the calculation module.
In claim 10,
The welding torch is,
a welding wire inserted into the welding torch and welding the weld portion; and
A motor that is connected to the welding wire and drives the welding wire. A device for automatically tracking the welding height of a pipe capable of changing and controlling the pipe, comprising a motor that drives the welding wire.
In claim 11,
The motor is connected to the control module, and the control module controls the motor to control the speed of the welding wire.
In claim 10,
The measurement module is,
A current measurement sensor located on the welding torch and measuring current and voltage; and
An angle measuring sensor located on the welding torch and measuring the angle (Φ) between the virtual line connecting the welding wire and the welding portion and the welding portion; Automatic welding height of pipe capable of changing and adjusting the pipe, comprising a. Tracking device.

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