JP2019126819A - Groove welding method and groove welding device - Google Patents

Abstract

To provide an automatic welding method and an automatic welding device, easy in setting a welding condition, and easily usable by an operator.SOLUTION: In automatic welding for automatically welding respective passes under respective pass welding conditions formed by automatically forming the welding pass number and the respective pass welding conditions based on a groove shape, an automatic welding method executes automatic welding of the determined welding pass number and a corrected welding speed, by correcting the welding speed to a welding speed of offsetting a welding-quantity increase- quantity by round-up of a decimal value, by determining this to the welding pass number with a calculated pass number value as an integral value by the round-up of its decimal value, by calculating the required pass number for filling the groove cross-sectional area.SELECTED DRAWING: Figure 9

Description

  BACKGROUND OF THE INVENTION Field of the Invention The present invention relates to automatic welding of a groove, and more particularly to a groove welding apparatus in which the operation of the operator is simple.

  In welding a welding line of a welding target material, such as a T-joint or a flat joint, the welding torch travels in the Y direction along a welding line extending in the Y direction. Normally, during this Y traveling, the welding torch reciprocates in the width direction X of the groove (weaving or oscillation), and the cross section of the groove is filled with several passes of such welding. A welding robot has been developed and used to automatically detect a groove and automatically drive a welding torch based on welding conditions registered in advance in a computer using sensors and a computer for labor saving of welding construction and quality improvement. Yes.

  For example, in Patent Document 1, the welding target section from the groove start to the end is divided into a plurality of areas in advance, the welding conditions are calculated for each area and stored in the memory, and then the groove welding is started, An automatic welding apparatus is described which sequentially reads the welding conditions for each region on the memory as the groove welding progresses and changes the groove welding conditions accordingly. The welding control device (control panel) of the automatic welding device is used by the operator to determine the welding length (the length of the welding line), the groove bottom width at the groove start and end, the groove angle, and the groove height. When the thickness (plate thickness t) is input, the number of weld layers (required number of passes) and the thickness of the weld layer of each pass are determined from the plate thickness t so that the extra height falls within a predetermined range. In each of the divided regions, the groove cross section is calculated and the welding cross-sectional area of each pass is calculated by filling this with the required number of passes, and the welding cross-sectional area of each pass is obtained based on a predetermined calculation formula. Calculate the welding speed. The calculated welding speed for each region and each path is stored in the memory. The stored data is extracted each time the welding by the welding torch passes the area division point, and becomes a command value of the motor speed (welding speed).

  The welding control device (control board) described in Patent Document 2 is a track record of past welding corresponding to the shape (groove angle, groove depth, gap, etc.) of the material to be welded this time and the specifications of the welding machine. We automatically read out the welding conditions of similar welding materials from the database, and determine the welding conditions (welding speed, welding current / voltage, welding wire feed speed) and weaving conditions (amplitude, pitch, frequency) of the material to be welded this time. Calculate automatically.

  Patent Document 3 includes a non-contact type shape measurement sensor, measures the groove shape at each predetermined interval in the welding longitudinal direction of the welding workpiece (welding target material), and measures the welding conditions read from the database. An automatic welding device is described which is used for groove welding with a correction corresponding to the value.

  If there is a face plate such as a ceramic tab or steel tab that dams the molten pool at the beginning and end of the groove, the welding torch is tilted in the longitudinal direction of the groove and the tip of the welding wire is joined to the welding base material and the face plate. Although it is made to face the corner and the welding residue of an open tip end is eliminated, in patent documents 4, the torch angle change mechanism which performs tilting of this torch by electric drive is indicated. By this mechanism, the welding torch is driven to swing and rotate about an axis (T axis) extending in a direction X orthogonal to the longitudinal direction Y of the groove. By providing this torch angle variation mechanism in an automatic welding apparatus, the welding point of the welding torch is automatically or manually determined at the groove start point with the face plate, and groove welding is started, just before the groove end. But it can be automatically welded to the groove end by tilting the torch. That is, even in the case of automatic welding, it is possible to eliminate unwelded left and right ends of the groove.

Japanese Patent Publication No. 08-15665 JP2015-229169A JP 09-155543 A Japanese Patent Laid-Open No. 51-12111

  In the automatic welding described in Patent Document 1, the number of required passes and the thickness of the welded layer of each pass are determined from the plate thickness t, and the groove at the start of the region is directed to each region virtually divided from the start to the end of the groove. Calculate the groove cross-sectional area from the shape (groove bottom width, groove angle, plate thickness), calculate the weld cross-sectional area of each pass that fills this with the required number of passes, and based on a predetermined calculation formula, Calculate the welding speed for each pass that results in a weld cross section. Patent Document 1 does not describe a method for determining the required number of paths. If the number of passes determined is an error, the welding cross-sectional area of each pass will also be an error, and the welding speed of each pass will also be an error. The required number of paths must be an integer, and the calculation of the required number of paths is troublesome. In particular, in the case of a new welding target material having few actual data to be referred to, the effort of trial and error increases in the calculation of the required number of passes. The welding condition derivation described in Patent Document 2 can easily calculate the welding conditions using the database for the current welding target material having high similarity to the past welding target material for which the database has already been constructed. However, if the similarity is low, the calculation will be complicated and will consume excessive effort. In automatic welding described in Patent Document 3, the groove shape is measured using a groove shape measuring sensor, the number of welding layers (passes) is calculated based on the groove shape, and each calculated value is rounded off to obtain an integer value. The welding conditions are calculated (FIG. 14). Since the number of passes is converted to an integer by rounding off, the calculated welding conditions for each pass include calculation errors due to fractions of the calculated number of passes, but the bevel shape using the bevel shape measuring sensor for each pass The welding conditions calculated above are corrected based on the groove shape, so that when welding of all passes is finished, it is considered that welding errors corresponding to the fractions included in the calculated pass number will be substantially eliminated . However, measuring the groove shape of each virtual divided region for each pass and correcting the welding conditions of each region based on the measured groove shape is complicated and easily causes a measurement error, and easily causes a welding condition setting error. The labor of the operator who monitors and adjusts the welding state tends to be excessive.

  In general, the welding conditions for each pass (welding current, voltage, welding speed) are determined based on the welding amount of each pass based on the number of welding passes that determine the integer number of welding passes and determine the welding amount of each pass that fills the groove cross section. Because there are many parameters of welding conditions, the calculation of each parameter for each pass is complicated and complicated.

  The present invention provides an automatic welding method and an automatic welding apparatus that can easily set welding conditions and can be easily used by the operator.

(1) In automatic welding in which welding of each pass is automatically performed under each pass welding condition generated by automatically generating the number of welding passes and each pass welding condition based on the groove shape,
Calculate the number of passes that fill the groove cross-sectional area, round up the calculated pass value and round it up to determine an integer value as the number of welding passes, and determine the weld for the total welding amount necessary to fill the groove cross-sectional area An automatic welding method comprising: determining a welding speed at a speed that leads to a decrease in the amount of deposition due to an excess of the amount of deposition due to the number of passes, and performing automatic welding of the determined number of welding passes and the determined welding speed.
(2) In automatic welding in which welding of each pass is automatically performed under each pass welding condition generated by automatically generating the number of welding passes and each pass welding condition based on the groove shape,
An intermediate groove cross-sectional area between the first and second points is calculated based on the first groove cross-sectional area on the grid line and the second groove cross-sectional area, and the intermediate groove cross-section is calculated The number of passes for filling the area was calculated, and the calculated pass value was rounded up to a decimal value to be determined as an integer value as the number of welding passes, and was determined for the total welding amount necessary for filling the first bevel cross-sectional area The first welding speed is determined at a speed that leads to a decrease in the amount of welding due to the excess of welding due to the number of welding passes, and the above-mentioned welding pass is determined with respect to the total welding amount necessary to fill the second groove cross sectional area. The welding speed of the second point is determined to the speed that causes the welding amount to be reduced by the number exceeding the welding amount,
Using the determined welding speeds of the first point and the second point, the welding speed of each region from the first point to the second point is determined by linear interpolation,
An automatic welding method, wherein the first to second points are automatically welded by the number of welding passes at the determined welding speed.
(3) The automatic welding method according to (1) or (2) above, in which each region oscillating condition is set according to the determined welding speed to oscillate the welding torch during welding.
(4) a guide rail disposed parallel to the groove extending in the Y direction;
An electric Y traveling carriage which moves in the Y direction along the guide rail;
A motorized X drive mechanism on the Y traveling carriage for driving the welding torch in the X direction;
An electric Z drive mechanism on the Y traveling carriage for driving the welding torch in the Z direction; and
Calculate the number of passes to fill the groove cross-sectional area, round up the calculated pass value to an integer value to determine this as the number of welding passes, and determine the welding amount for the total amount of welding required to fill the groove cross-sectional area Determine the welding speed to the speed that leads to a decrease in the amount of deposit over the amount of deposit due to the number of passes,
Control means for controlling the driving of the Y drive carriage, the X drive mechanism, and the Z drive mechanism, and welding the groove with the determined welding speed at the determined welding speed by the welding torch;
An automatic welding apparatus comprising:
(5) The control means calculates an intermediate groove sectional area between the first point and the second point based on the first groove sectional area and the second groove sectional area on the groove line. Then, the number of passes for filling the intermediate groove cross-sectional area is calculated, and the calculated pass numerical value is rounded up to an integer value to determine the number of welding passes, and the first groove cross-sectional area is filled. The welding speed at the first point is determined as the speed at which the welding amount is reduced by the number of welding passes determined with respect to the required total number of welding passes, and the total necessary for filling the groove sectional area at the second point. A welding speed for the second point is determined at a speed that causes a decrease in the welding amount of the excess of the welding amount due to the determined number of welding passes with respect to the welding amount;
Using the determined welding speeds of the first point and the second point, the welding speed of each region from the first point to the second point is determined by linear interpolation,
Controlling the drive of the Y drive carriage, the X drive mechanism and the Z drive mechanism, and welding the groove with the determined welding speed at the determined welding speed by the welding torch;
The automatic welding apparatus as described in said (4).
(6) The automatic welding apparatus according to (5), wherein the control means sets each region oscillation condition according to the determined welding speed and oscillates the welding torch during welding.
(7) Further, a T-axis drive mechanism for swinging and driving the welding torch about an axis extending in the X direction is provided, and the control means controls the drive of the T-axis drive mechanism to open the welding torch. The automatic welding apparatus according to any one of the above (3) to (5), which is set to an inclined posture directed to the tip end and an inclined posture directed to the groove end.
(8) Furthermore, a T-axis drive mechanism for swinging and driving the welding torch about an axis extending in the X direction is provided, and the control means controls the drive of the T-axis drive mechanism to open the welding torch. The automatic welding apparatus according to the above (5) or (6), which is set to an inclined posture directed to the first point which is the leading end and an inclined posture directed to the second point which is the groove end.

  (9) When fully automatic measurement is instructed, the control means controls the drive of the T-axis drive mechanism to make the welding torch inclined to the first point, and the Y traveling carriage travels in the Y direction Start and detect the first point, measure the groove shape there, and then control the drive of the T-axis drive mechanism to make the welding torch inclined to the second point, and set the Y posture of the Y traveling carriage The automatic welding apparatus according to (8), which starts traveling in the Y reverse direction, detects the second point, and measures a groove shape of the second point.

  (10) The automatic welding apparatus according to (8), wherein the control means measures a travel distance of the Y backward travel between the first point and the second point and determines the weld length to be welded.

In the present invention, the number of passes for filling the groove cross-sectional area is calculated, and the calculated pass numerical value is rounded up to a decimal value to determine this as an integer value as the number of welding passes, and the total welding amount necessary for filling the groove cross-sectional area Since the welding speed is determined as the speed that leads to a decrease in the amount of deposition due to the excess of the amount of deposition due to the determined number of welding passes, the set welding current and voltage can be determined without adjusting each pass welding condition. The groove automatic welding can be easily carried out.
When the decimal value is rounded down, the welding speed may be reduced to a speed that results in an increase in the welding amount due to the lack of the welding amount due to the determined number of welding passes with respect to the total welding amount necessary to fill the groove cross-sectional area. Decelerating increases the heat input to the groove and increases the heat effect. In the present invention, the decimal value is rounded up to make the pass number an integer value, and the excess welding amount is compensated by increasing the welding speed, so the heat input is suppressed and the heat influence on the groove is small.

The perspective view which shows the outline | summary of the welding system using the automatic welding apparatus of this invention. The Y direction is the direction in which the welding line extends, the X direction is the horizontal direction perpendicular to the welding line, Z is the vertical (vertical) direction, and T is the rotational direction in which the welding torch swings in the Y direction in which the groove extends. . The top view which looked down at the robot main body 10 shown in FIG. 1 from the top. The front view which looked at the robot main body 10 shown in FIG. 1 from the front. The right view of the robot main body 10 shown in FIG. FIG. 10 is an X-Z cross-sectional view showing an overview of the Y traveling carriage 20, the Z drive mechanism 30, and the X drive mechanism 40 provided in the robot main body 10 shown in FIG. FIG. 3 is an enlarged plan view of the manual torch posture adjustment mechanism 50 outside the outer case 12 of the robot main body 10 shown in FIG. 2 as viewed from above. The flowchart which shows the outline | summary of the function which the computer in a control panel performs according to the operator's input operation with respect to the control panel and radio | wireless pendant shown in FIG. The flowchart which shows the outline | summary of the "fully automatic measurement welding" which the computer in a control panel performs, when an operator instruct | indicates "1. Fully automatic measurement" on the teaching mode setting screen displayed on the control panel.

FIG. 9 is a flowchart showing an outline of functions of “condition generation (s13)” shown in FIG. 7 and “condition generation (s29)” shown in FIG. 8; The flowchart which shows the outline | summary of "automatic measurement welding" which the computer in a control panel performs, when an operator designates "2. The flowchart which shows the outline | summary of "manual measurement welding" which the computer in a control panel performs, when an operator instruct | indicates on a teaching mode setting screen (s3).

Referring to FIG. 1 which shows an overview of a welding system according to an embodiment of the present invention, a welding robot main body 10 is mounted on a guide rail 9 disposed parallel to a groove 4 to be welded.
Guide rail 9
The guide rail 9 is supported on four suction tools 7 and fixed on the material to be welded 5. Referring to FIG. 2, there is a rack 8 on one side of the guide rail 9, and as shown in FIG. 5, a pinion 23 rotatably supported by a carriage base 21 of a Y traveling carriage 20 is engaged with the rack 8. Yes.

Y traveling cart 20
There are four copying rollers 22 below the bottom surface of the carriage base 21, and one pair of them accepts the side of the guide rail 9 where the rack 8 is located, and at the Y direction intermediate point of the pair of copying rollers, There is a pinion 23 that meshes with the rack 8. The other pair of copying rollers receives the side of the guide rail 9 that faces the side where the rack 8 is located. When the pinion 23 rotates, the carriage base 21 moves in the Y direction.

The lower end of the rectangular cylindrical inner case 11 is fixed to the carriage base 21. The inner case 11 is covered with an inverted box-shaped outer case 12 that receives it inside, and the outer case 12 can be raised and lowered in the Z direction with respect to the inner case 11. A reduction gear mechanism 25 in which a pinion 23 is coupled to an output shaft is mounted on the carriage base 21, and an electric motor 24 rotationally drives an input shaft of the reduction gear mechanism 25.
The electric motor 24 is a stepping motor, and the computer in the control panel shown in FIG. 1 gives drive command pulses to a motor driver for driving the motor 24 to control the operation of the motor and grasp the rotation amount (Y movement amount) Know the Y position.

Z drive mechanism 30
The lower end of the screw rod 31 of the Z drive mechanism 30 is fixed to the carriage base 21. The upper end of the screw rod 31 is fixed to the bottom side of the U-shaped rotation support tool 32. The rotation support 32 is fixed to the inner case 11. A nut 33 is screwed into the threaded rod 31 and the support bearing 34 rotatably supports the nut 33, whereby the nut 33 can be rotated about the threaded rod 31. A drive gear 36 is meshed with a gear 35 integral with the nut 33, and the drive gear 36 is rotationally driven by an electric motor 37. By this rotational drive, the nut 33 is rotated and raised or lowered. Since the support bearing 34 and the electric motor 37 are mounted on the outer case 12, when the electric motor 37 rotates forward or reverse, the nut 33 moves forward or reverse and rises or lowers, thereby raising or lowering the outer case 12. To do. The electric motor 37 is also a stepping motor, and a computer in the control panel shown in FIG. 1 gives a drive command pulse to a motor driver for driving the motor 37 to control the operation of the motor and grasp the rotation amount (Z movement amount) Know the Z position.

X drive mechanism 40
A bearing 42 and an electric motor 48 are attached to the outer case 12. A threaded rod 41 extending in the X direction is rotatably supported by a bearing 42, a driven gear 45 is provided at one end of the threaded rod 41, and a nut 43 is engaged with the threaded rod 41. An X drive bar 44a is fixed to the nut 43, and a torch drive bar 44b is connected to the X drive bar 44a. An intermediate gear 46 meshes with the driven gear 45, and a drive gear 47 meshes with the intermediate gear 46. The drive gear 47 is fixed to the output shaft of the electric motor 48. When the electric motor 48 is rotated forward or backward, the screw rod 41 is rotated forward or backward via the gears 47, 46 and 45, whereby the nut 43 projects the torch drive bar 44b outward from the outer case 12 in the X direction. It moves in the direction or in the direction of drawing into the outer case 12. The electric motor 48 is also a stepping motor, and a computer in the control panel shown in FIG. 1 gives a drive command pulse to a motor driver for driving the motor 48 to control the operation of the motor to grasp the rotation amount (X movement amount) Know the X position.

Torch attitude adjustment mechanism 50
As shown in FIG. 4, the upper end of the vertical arm 51 is fixed to the tip of the torch drive bar 44 b, and the horizontal arms 52, 53 are sandwiched between the vertical arm 51 and the lower part of the vertical arm 51 (FIG. 6). Is fixed. A tilt lock screw 56 penetrating the elevating guide arm 55 is screwed into the horizontal arm 53, and when the tilt lock screw 56 is turned clockwise, the elevating guide arm 55 is pressed against the horizontal arm 53 to horizontally move the elevating guide arm 55. Fix to the arm 53. By turning the tilting lock screw 56 counterclockwise, the elevating guide arm 55 can rotate with respect to the horizontal arm 53, and the inclination angle of the elevating guide arm 55 with respect to the horizontal arm 53 can be adjusted. Similarly, the elevation guide arm 54 can adjust the inclination angle with respect to the horizontal arm 52. By adjusting the tilt angle by manual operation (manual), the welding torch 70 can be set to the forward tilt posture 70wf and the rear tilt posture 70wr and any tilt therebetween as shown by the two-dot chain line in FIG.

  An elevating plate 57 is slidably mounted on the tip of the elevating guide arms 54, 55, and elevating lock screws 58, 59 that restrain the elevating plate 57 from elevating are mounted on the elevating guide arms 54, 55. ing. The operator can adjust the height (Z position) of the lift plate 57 by loosening the lift lock screws 58 and 59. This adjustment is also by manual operation (manual) by the operator.

T-axis drive mechanism 60
A motor case 61 and a bearing case 62 of the T-axis drive mechanism 60 are mounted on the lifting plate 57. The T-axis drive mechanism 60 electrically swings and turns the welding torch similarly to the swinging and turning of the welding torch by the torch angle variation mechanism described in Patent Document 4. The T-axis 63 rotatably supported by the bearing in the bearing case 62 is coupled to the output shaft of the electric motor with a speed reduction mechanism in the motor case 61. A torch holder 64 is coupled to the T-axis 63, and the welding torch 70 is held by the torch holder 64. The welding torch 70 can be set to a right inclination posture 70Tr indicated by a two-dot chain line in FIG. 3 by forward rotation of the electric motor in the motor case 61, and to a left inclination posture 70T1 by reverse rotation. This electric motor is also a stepping motor, and a computer in the control panel shown in FIG. 1 gives a drive command pulse to a motor driver for driving the motor to control the operation of the motor to grasp the rotation amount (T-axis rotation amount) Grasp the tilt of the swing.

Control Panel and Wireless Pendant The control panel shown in FIG. 1 includes a computer, a display, input keys, operation switches, and indicator lights. Wireless pendants also have computers, displays, input keys, operating switches and indicators. The control panel and the wireless pendant have built-in wireless communication devices that perform communication between the computers.
The computer in the control panel responds to the operator's input operation to the control panel and the wireless pendant to set welding conditions, open tip detection, groove shape detection, calculation of welding conditions, correction, storage of welding data, editing And automatic control of the robot body 10, the wire feeding device, the welding power source, and the electromagnetic switch.

  The wireless pendant facilitates the setting or adjustment of the position and orientation of the welding torch by the operator before the start of welding, and facilitates various adjustments or corrections while watching the operation of the welding robot 10 after the start of welding. It is an input / output terminal carried by a worker, and bears part of the electronic processing and automatic control. The input key of the wireless pendant is automatically assigned to the torch T-axis rotation adjustment, X-direction position adjustment, Y-direction adjustment and Z-direction position adjustment before welding starts. The allocation is automatically changed to switching, oscillation width adjustment, aiming position X direction adjustment, Z direction adjustment, and Y direction traveling speed adjustment (welding speed adjustment).

Main Control Flow FIG. 7 shows a main control function and a control flow by cooperative processing of the control panel and the wireless pendant (each computer). When the power switch of the control panel is turned on, the control panel displays a welding system menu screen (step s1). In the following, the step No. is in parentheses. Write only. If the wireless pendant is also powered on, a similar menu screen is displayed. Then, when the operator designates a function on the menu screen, the function is executed.

Fully automatic measurement welding operation (Fig. 8)
When performing full-automatic measurement welding, the operator designates "3. Setting of welding pattern" on the menu screen (s1), and the control panel responds to this, and the joint form designation (s2)-" Proceeding to “Teaching mode setting” (s3)-“tab type selection” (s4), the operator's selection result in this process is stored. Then, when the operator instructs "1. welding operation" on the menu screen (s1), the control panel determines "origin adjustment" (s5 to s7) to determine the X, Y, Z positions of the welding wire tip of the welding torch 70. Then, the teaching mode "1. fully automatic measurement" is displayed on the display, and the process proceeds to "welding operation" (s9) and proceeds to "fully automatic measurement welding" shown in FIG.

The control panel starts traveling in the Y direction of the robot body 10 and travel distance measurement with "Full-automatic measurement welding", detects the first groove (left end of groove), and measures the first groove shape Then, Y return travel and travel distance measurement are started to detect the second groove (right end of groove), and the second groove shape is measured (s21 to s25). The first point of the groove is that the control panel controls the driving of the T-axis drive mechanism 60 to set the welding torch 70 in an inclined posture directed to the left end of the groove and drive the Y traveling carriage in the Y forward direction. This is detected by detecting contact with the face plate at the left end (end) of the groove at the tip of the welding wire.
In the second point of the groove, the control panel controls the drive of the T-axis drive mechanism 60 to set the welding torch 70 in an inclined posture pointing to the right end of the groove, and drives the Y traveling carriage 20 to travel in the Y backward direction. Then, detection is performed by detecting contact with the face plate at the groove right end (start end) of the welding wire tip. The traveling distance of the Y traveling carriage 20 from the first point to the second point at this time is defined as a welding length. If the control panel stores welding data of the same groove as the measured groove shape (s26), correction is added if necessary using it and it is set as the welding condition (s27). If there is no previous welding data, the number of passes and the welding speed are calculated based on the measured first point and second point groove shapes in "condition generation" (s29), and these are added to the welding conditions. The welding current and voltage in the welding conditions are previously set by the operator using the menu screen (s1).

Condition generation (s29) (Fig. 9)
FIG. 9 shows an outline of processing of condition generation (s29). Here, the control panel first calculates the first groove cross-sectional area from the measured or calculated first-point groove shape, and calculates the second-point groove cross-sectional area from the second-point groove shape; The average value of the groove cross-sectional area at the point is calculated and regarded as the groove cross-sectional area at the midpoint between 1 and 2. Then, the intermediate point total welding amount necessary to fill the intermediate point groove cross-sectional area is calculated (s41). Next, a pass numerical value is calculated from the set welding current, welding voltage and welding speed of one pass welding and the midpoint welding total (s42), and this pass numerical value is converted to an integer value by rounding up the decimal value. , This is determined as the number of welding passes (s43). Then, the first welding point necessary to fill the first groove cross section is determined with the determined welding pass number, and the two welding points required to fill the second groove cross section with the determined welding pass number The eye welding speed is determined (s44). The first welding speed and the second welding speed are obtained by adding the speed that offsets the increase in the welding amount due to the small value rounding up in s43 to the set welding speed in s42.

  Next, the first point to the second point are divided into regions, each pass welding speed at the first point is set at each pass welding speed at the first end of the first region, and each pass welding speed at the second point is set at each end of the last region. The pass welding speed is determined, and each pass welding speed from the beginning of the second region to the beginning of the last region is calculated by linear interpolation between the first welding speed and the second welding speed (s45). Next, an oscillating condition for each path in each region is calculated (s46). The welding conditions are changed (corrected) to the number of passes thus determined, the welding speed and the oscillating conditions.

Refer to FIG. 8 again. In the case of fully automatic measurement welding, the control panel next displays an input notification screen prompting the user to start welding or to reproduce welding conditions on the wireless pendant (s30), and when welding start is instructed, the second groove (open The welding toward the first point from the front right end) is started (s31, S33). When the first point is reached, Y travel is reversed and welding toward the second point is performed, and when the second point is reached, the welding is reversed to head toward the first point, and such welding passes are performed up to the previously determined number of passes. To do.
For example, in fully automatic welding (FIG. 8) when there are face plates that prevent molten metal from flowing out at each end of the groove, the computer in the operation panel sets the welding torch 70 to the left inclined posture 70Tl and sets the Y traveling carriage 20 to the left. Drive forward to automatically detect contact of the tip of the welding wire with the left face plate to determine the left end position of the groove, and swing the tip of the welding wire along a predetermined trajectory along the groove cross section to form the groove at the left end of the groove. The shape (first groove shape) is measured, and then the welding torch 70 is set to the right inclined posture 70Tr and the Y traveling carriage 20 is driven to move backward to automatically detect the contact of the welding wire tip with the right face plate. Two points were obtained by determining the right end position of the groove and measuring the groove shape (second groove shape) of the groove right end by shaking the tip of the welding wire along a predetermined locus along the groove cross section. Groove shape and welding conditions set (welding The flow, voltage, welding speed) and the number of passes (the number of welding layers) required to fill the groove cross section from the measured groove shape are calculated, and the calculated path value is welded as an integer by rounding up the decimal value. As the number of passes, the welding speed set is changed (corrected) by a speed that compensates for the amount of welding that is increased by rounding up the decimal value, and then the number of welding passes and the automatic groove welding of the changed welding speed Execute.

Automatic measurement welding work (Figure 10)
When the operator designates “2 automatic measurement” displayed in s3 on FIG. 7, the control panel executes the automatic measurement welding shown in FIG. In this automatic measurement welding, the operator operates the wireless pendant to input the welding length to the operation panel (s22), and positions the tip of the welding wire of the welding torch 70 at the first point (left end of the groove) (s38). ) Instructs measurement of groove shape. In response to this instruction, the control panel measures the first groove shape (s24). Next, the operator positions the tip of the welding wire of the welding torch 70 at the second point (the right end of the groove) (s39) and instructs the measurement of the groove shape. In response to this instruction, the control panel measures the second groove shape (s25). The operation of the control panel after this is completed is the same as in the case of the fully automatic measurement welding described above (FIG. 8).

Manual measurement welding operation (Figure 11)
When the operator designates “3 manual measurement” displayed in s3 on FIG. 7, the control panel executes the manual measurement welding shown in FIG. In this manual measurement welding, the operator operates the wireless pendant to position the welding wire end of the welding torch 70 at the first point (the left end of the groove) (s38), and the operator thickness and groove shape there Is input (s52). Next, the operator positions the tip of the welding wire of the welding torch 70 at the second point (the right end of the groove) and inputs the thickness and the groove shape thereof (s54). The operation of the control panel after this is completed is the same as in the case of the fully automatic measurement welding described above (FIG. 8).

4: Groove 5, 6: Material to be welded
7: Suction tool 8: Rack
9: Guide rail 10: Welding robot body
11: inner case 12: outer case
20: Y traveling carriage 21: carriage base
22: copying roller 23: pinion
24: Electric motor 25: Reduction mechanism
30: Z drive mechanism 31: screw rod
32: U-shaped rotary support 33: nut
34: Support bearing 35, 36: Gears
37: Electric motor 40: X drive mechanism
41: Screw rod 42: Bearing
43: Nut 44a: X drive bar
44b: Torch drive bar 45, 46, 47: Gears
48: Electric motor 50: Torch attitude adjustment mechanism (manual)
51: vertical arm 52, 53: horizontal arm
54, 55: Lifting guide arm 56: Tilting lock screw
57: Lifting plate 58, 59: Lifting lock screw
60: T-axis drive mechanism 61: Motor case
62: Bearing case 63: T axis
64: Torch holder

Claims (10)

In automatic welding that automatically welds each pass under each pass welding condition generated by automatically generating the number of welding passes and each pass welding condition based on the groove shape,
Calculate the number of passes that fill the groove cross-sectional area, round up the calculated pass value and round it up to determine an integer value as the number of welding passes, and determine the weld for the total welding amount necessary to fill the groove cross-sectional area An automatic welding method comprising: determining a welding speed at a speed that leads to a decrease in the amount of deposition due to an excess of the amount of deposition due to the number of passes, and performing automatic welding of the determined number of welding passes and the determined welding speed. In automatic welding that automatically welds each pass under each pass welding condition generated by automatically generating the number of welding passes and each pass welding condition based on the groove shape,
An intermediate groove cross-sectional area between the first and second points is calculated based on the first groove cross-sectional area on the grid line and the second groove cross-sectional area, and the intermediate groove cross-section is calculated The number of passes for filling the area was calculated, and the calculated pass value was rounded up to a decimal value to be determined as an integer value as the number of welding passes, and was determined for the total welding amount necessary for filling the first bevel cross-sectional area The first welding speed is determined at a speed that leads to a decrease in the amount of welding due to the excess of welding due to the number of welding passes, and the above-mentioned welding pass is determined with respect to the total welding amount necessary to fill the second groove cross sectional area. The welding speed of the second point is determined to the speed that causes the welding amount to be reduced by the number exceeding the welding amount,
Using the determined welding speeds of the first point and the second point, the welding speed of each region from the first point to the second point is determined by linear interpolation,
An automatic welding method, wherein the first to second points are automatically welded by the number of welding passes at the determined welding speed. The automatic welding method according to claim 1 or 2, wherein each region oscillating condition is set according to the determined welding speed to oscillate the welding torch during welding. Guide rails arranged parallel to the groove extending in the Y direction;
An electric Y traveling carriage which moves in the Y direction along the guide rail;
A motorized X drive mechanism on the Y traveling carriage for driving the welding torch in the X direction;
An electric Z drive mechanism on the Y traveling carriage for driving the welding torch in the Z direction; and
Calculate the number of passes that fill the groove cross-sectional area, round up the calculated pass value and round it up to determine an integer value as the number of welding passes, and determine the weld for the total welding amount necessary to fill the groove cross-sectional area The welding speed is determined to the speed that leads to a decrease in the amount of welding, which exceeds the amount of welding due to the number of passes,
Control means for controlling the drive of the Y drive carriage, the X drive mechanism and the Z drive mechanism, and welding the groove by the welding torch at the determined welding speed at the determined welding speed;
An automatic welding apparatus comprising: The control means calculates an intermediate groove cross-sectional area between the first and second points based on the first groove cross-sectional area on the groove line and the second groove cross-sectional area, and Calculate the number of passes that fill the middle bevel cross-sectional area, round up the computed pass numbers and round up the decimal value to determine this as the integer number of weld passes, and the total required for filling the first bevel cross-sectional area The welding speed at the first point is determined as the speed at which the welding amount is reduced by the determined number of welding passes with respect to the welding amount, and the total welding amount required to fill the groove sectional area at the second point is determined. The second welding speed is determined as the speed at which the welding amount is reduced by the amount of welding determined by the determined number of welding passes,
Using the determined welding speeds of the first point and the second point, the welding speed of each region from the first point to the second point is determined by linear interpolation,
The drive of the Y drive carriage, the X drive mechanism, and the Z drive mechanism is controlled to weld the groove by the welding torch at the determined welding speed at the determined welding speed.
The automatic welding device according to claim 4. The automatic welding apparatus according to claim 5, wherein said control means sets each area oscillation condition according to the determined welding speed to oscillate the welding torch during welding. The welding torch further includes a T-axis drive mechanism that swings and drives the welding torch about an axis extending in the X direction, and the control means controls the drive of the T-axis drive mechanism to set the welding torch at the tip of the groove. The automatic welding apparatus according to any one of claims 3 to 5, wherein the inclined posture is directed as well as the inclined end facing the groove end. The welding torch further includes a T-axis drive mechanism that swings and drives the welding torch about an axis extending in the X direction, and the control means controls the drive of the T-axis drive mechanism to control the welding torch at the groove tip. The automatic welding apparatus according to claim 5 or 6, wherein an inclined posture directed to a certain first point and an inclined posture directed to a second point that is a groove end are set. When fully automatic measurement is instructed, the control means controls the drive of the T-axis drive mechanism so that the welding torch is inclined toward the first point and starts the Y traveling carriage traveling in the Y forward direction. The first point is detected and the groove shape is measured, and then the drive of the T-axis drive mechanism is controlled to make the welding torch oriented to the second point, and the Y return direction of the Y traveling carriage is made. The automatic welding apparatus according to claim 8, wherein traveling is started to detect the second point and measure a groove shape there. 9. The automatic welding apparatus according to claim 8, wherein the control means measures a traveling distance of the Y backward travel between the first point and the second point to determine a welding length to be welded.

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