JPH0815665B2 - Automatic welding equipment - Google Patents

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an automatic welding device for automatically welding a groove portion of a steel frame member or the like mainly used in construction.

[0002]

2. Description of the Related Art Since welding of steel members for construction is short and there are many welding points, conventionally, for welding such steel members, it is easy to move and prepare for welding. Is used.

[0003]

By the way, in the conventional automatic welding apparatus, the groove angle of the groove portion is, for example, 35 degrees or 45 degrees.
The data about each welding condition (for example, welding speed) in the case of degrees is made into a database, and when performing automatic welding, necessary conditions are read from the database and welding is performed. As described above, since the conventional device stores data for each groove angle, it is not feasible for the conventional device to have data for all groove angles because the database becomes huge. there were. Therefore, when the conventional apparatus is used, it is extremely inconvenient to process a steel member in a factory or the like so that a predetermined groove angle is obtained. As described above, in the conventional automatic welding apparatus, the groove angles are limited to, for example, 35 degrees and 45 degrees, and the angles between them, for example, the groove angles of 38 degrees and 40 degrees do not have welding data. Therefore, there is a problem that welding cannot be performed.

Further, in the conventional automatic welding apparatus, if the groove bottom width of the groove portion is different between the welding start portion and the welding end portion, it is not possible to perform welding accurately. This is because in the conventional automatic welding apparatus, the allowable range (for example, 6 mm to 9 mm) when the groove bottom width changes is narrow, and therefore, for example, when the groove bottom width becomes wider toward the welding end portion, This is because the thickness of each weld layer becomes thinner as it gets closer to the end of welding, and if it exceeds the above allowable range, welding defects may occur due to fusion defects and the like. Therefore, even if the groove angle of the groove portion of the steel frame member is finished to a predetermined angle, if the welding surfaces of both steel frame members cannot be arranged in parallel during alignment, welding will start. Since the groove bottom width of the groove portion differs between the welding portion and the welding end portion, the groove portion of the steel frame member cannot be welded with high accuracy by the conventional automatic welding apparatus.

The present invention has been made based on the above circumstances, and performs optimum welding according to changes in the groove angle of the groove portion and the groove bottom width without the need for a large-capacity database. It is an object of the present invention to provide an automatic welding device capable of performing the above.

[0006]

An automatic welding apparatus according to the present invention for achieving the above object is an automatic welding apparatus for controlling a welding speed of a welding torch portion to weld a groove portion having a predetermined welding length. , The welding length is divided into a plurality of regions, based on the groove bottom width of the groove portion at the welding start portion and the welding end portion, the groove angle and the height of the groove portion, each in each region. Calculation means for calculating the cross-sectional area of the welding layer, and for calculating the welding speed of the welding torch portion for each welding layer in each of the regions according to the cross-sectional area, and the information calculated by the calculation means are stored. Storage means and speed control means for controlling the welding speed of the welding torch part by reading information for each welding layer in each area from the storage means are provided.

[0007]

According to the present invention, the welding length is divided into a plurality of regions by the above-described structure, and the groove bottom width, groove angle and groove height of the groove portion at the welding start portion and the welding end portion are divided into a plurality of regions. Based on the calculation of the cross-sectional area of each welding layer in each region, by determining the welding speed when welding each welding layer of each region according to the size of the cross-sectional area of each welding layer of each region Even if the groove bottom width of the groove portion is different between the welding start portion and the welding end portion, welding can be performed while maintaining the thickness of the weld layer constant. In addition, by determining the welding speed of each welding layer in each region according to the size of the cross-sectional area of each welding layer in each region, if the welding speed is within a certain range (for example, 0 to 60 degrees), It is possible to carry out welding with a constant wall thickness of the weld layer regardless of the groove angle of the tip. Furthermore, since data is formed for each welding layer in each region according to the condition of the groove of the member to be welded each time welding is performed, a large-capacity database is not required.

[0008]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described below with reference to FIGS. FIG. 1 is a schematic overall view of an automatic welding apparatus according to an embodiment of the present invention, FIG. 2 is a sectional view of a groove portion to be welded using the apparatus of this embodiment, and FIG. 3 is a first welding layer of the groove portion. FIG. 4 is a flowchart for calculating the cross-sectional area of each welding layer in each region, and FIG. 5 is a flowchart for calculating the welding speed of each welding layer in each region.

The automatic welding apparatus of the present embodiment shown in FIG. 1 comprises a welding machine 10 and a control apparatus 100. The welding machine 10 is a rail portion 11 and a carriage that is movable along the rail portion 11. Welding torch support part 4 attached via the part 20 and the expandable telescopic arm 30 provided on the carriage part 20.
0 and a welding torch portion 50 supported by the welding torch support portion 40.

The control device 100 controls the expansion and contraction of the expandable arm 30 by the motor M _x to adjust the movement of the welding torch part 50 in the x-axis direction, and the trolley part 20 by the motor M _y. And a y-axis direction movement control section (welding speed control means) 62 for adjusting the movement of the welding torch section 50 in the y-axis direction, and a motor M _z to control the movement of the welding torch support section 40 in the z-axis direction. and z-axis direction movement control unit 64 for adjusting the movement in z-axis direction of the welding torch 50 by, swing control unit 66 for controlling the oscillation of the welding torch 50 by the motor M _r
A main control unit 70 that controls the entire apparatus, a memory 71 and a shared memory 72 that store data necessary for welding, and an operation unit 80 that has an operation switch, a meter, and the like. It should be noted that x, y, and z each represent a space orthogonal coordinate axis. Also, 74 is an I / O port.

A welding wire sent by a welding wire supply device (not shown) is sent out from the welding torch portion 50, melted and laminated on the groove portion. FIG. 2 shows a case where a square-shaped groove portion is divided into eight layers and welded, as in the case where a beam is attached to a steel frame or the like for construction. Generally, in the case of steel frames for construction, the plate thickness becomes thicker, and thus multi-layer welding is performed.

In order to perform welding using the apparatus of this embodiment, the welding length L of the groove portion, the groove bottom widths W _S and W _E of the groove portion at the welding start portion and the welding end portion, and the groove angle α are set in advance. And the height (plate thickness in the case of this embodiment) t of the groove portion are input from the operation portion. These values may be manually input or may be automatically measured and input. Based on these pieces of information, the main control unit 70 determines the optimum number of weld layers and the thickness of the weld layers from the plate thickness t so that the surplus height is within the range of 2 to 4 mm, and the The cross-sectional area of each weld layer in each region is calculated based on the value.

[0013] Now, the main controller 70, for example 8 the number of welding layers 2, when the thickness of each weld layer is determined to t ₁ ~t _8, then as shown in FIG. 3 opens The welding length L from the welding start portion to the welding end portion at the leading end is equally divided into 32 regions, and the numbers 0 to 31 are assigned to the respective regions, which is 3
The area of each weld layer in each of the two regions is determined. In general, the welding length L is about 300 mm at the longest in the steel frame for construction, so that if it is divided into 32 regions, highly accurate welding control can be performed. Since the steel member for construction is machined, the groove bottom width changes linearly. In addition, since the plate thickness is 34 mm in this embodiment, the thickness of each welding layer is t ₁ , t ₂ = 6, t ₃ , t ₄ = 5, t _{5 to} t _8.
= 4 mm is set.

The area S _S1 (= S ₀₁ ) of the first welding layer at the welding start portion shown in FIG. 2 is the groove bottom width (bottom side of the first welding layer) of the groove portion is W _S1 (= W ₀₁ ). , W _S2 (W
When _02), the _{S S1 = W S1 × t 1} + t 1 2 × tan α / 2. However, in this embodiment, the groove angle α is assumed to be constant over the entire welding length. Further, the base side W _S2 of the second weld layer at this time is W _S2 = W _S1 + t ₁ × tan α. The area of the second weld layer is similarly obtained based on the bottom side W ₂ of the second weld layer. In the same manner, the area of each welding layer at the welding start portion (area 0) is sequentially calculated. Thus, as shown in FIG. 4, the cross-sectional area of each welding layer is calculated for each region from address 0 to address 31.

Next, the welding speed (V _S1 = V ₀₁ ) of the first welding layer at the welding start portion, that is, at address 0 is calculated by the following formula. V _S1 = deposition amount / 7.8 × _{S S1} However, the deposition amount is a constant determined by the type of welding wire, the wire supply speed, the welding current, and the like, and 7.8 is the specific gravity of iron. The wire is a solid wire having a diameter of 1.2 mm. Hereinafter, as shown in FIG. 5, the welding speed of each weld layer (Nos. 2 to 8) at address 0 is calculated, and the welding speed of each weld layer at each area up to address 31 is calculated.
The result calculated in this way is stored in the memory 71. The stored data is taken out and sent to the shared memory 72 every time it passes through the welding length area, and becomes a command value of the motor speed.

In order to perform multi-layer welding of the groove portion of the steel frame member using the apparatus of this embodiment, first, the welding machine 10 of this embodiment is arranged at the welding start position of the groove portion of the steel frame member to be welded. . Next, as described above, the groove angle of the groove portion, the groove bottom width at the welding start portion and the welding end portion, the value of the welding length and the plate thickness of the groove portion are measured, and the manual or automatic operation is performed from the operation unit 80. To set these values.

The main control unit 70 determines the number of weld layers and the wall thickness based on each set value, and further calculates the welding area calculated from the cross-sectional area of each weld layer in each of 32 regions according to the above procedure. The speed is stored in the memory 71. The y-axis direction movement control unit 62 controls the motor M _y based on the welding speed read from the shared memory 72 to control the moving speed of the carriage unit 20 to set the welding speed of the welding torch unit 50 to a predetermined speed. To do. When the welding of the first welding layer is completed, the z-axis direction movement control section 64 controls the motor M _z to move the welding torch support section 40 upward, so that the welding torch section corresponds to the thickness of the first welding layer. Move 50 upwards. Further, when welding a groove-shaped groove portion as in the present embodiment, since the welding start position in the x-axis direction is different for each welding layer,
The x-axis direction movement control unit controls the motor M _x to control the telescopic arm 30.
By adjusting the expansion and contraction of the welding torch portion 50, the welding start position of the welding torch portion 50 is adjusted as indicated by the dotted line A in FIG. Further, the swing control unit 66 controls the motor M _r for each welding layer in each region to swing the welding torch unit 50 so that the amplitude thereof corresponds to the bottom surface width, and thus the steel frame that is the member to be welded. It is possible to weld while reliably melting the weld layer before and. During welding, carbon dioxide gas for welding is supplied from a welding gas supply device (not shown).

According to the apparatus of this embodiment described above, the welding length of the groove portion of the steel member to be welded is divided into 32 regions, the cross-sectional area of each welding layer is calculated for each region, and the welding speed is calculated. Since it has been determined, if the groove angle is a value from about 0 degrees to about 60 degrees, a steel frame member having a groove angle of an arbitrary angle can be accurately made by making the thickness of each welding layer constant. Can be welded.

Further, according to the apparatus of the present embodiment, the welding length of the groove portion of the steel frame member to be welded is divided into 32 regions, the cross-sectional area of each welding layer is calculated for each region, and welding is performed. Since the speed is determined, even if the groove bottom width of the welding start part and the welding end part is different, the difference is within a certain range (about 0 mm to 15 m
In the case of m), the thickness of each welding layer can be kept constant and welding can be performed accurately.

In the above embodiment, the case where the groove portion of the steel frame member has a rectangular shape has been described, but the present invention is not limited to this, and the shape of the groove portion is an inverted rectangular shape. , V
It may be letter-shaped or I-shaped.

Further, in the above embodiment, the case where the groove bottom width of the groove portion is different between the welding start portion and the welding end portion has been described, but it goes without saying that the groove bottom width may be constant. Is.

In the above embodiment, the case where α is constant has been described, but when α changes, α _S and α _E are _divided into 32 in the same manner as when the groove bottom width changes. If the groove angle is calculated for each area and the area of each area is calculated using the result, the present invention can be applied even when the groove angle changes.

[0023]

As described above, according to the present invention, the welding length of the groove portion is divided into a plurality of regions, the cross-sectional area of each welding layer in each region is calculated, and the sectional area of each welding layer is calculated based on this result. Since the welding speed is set for each welding layer in the area, even if the groove bottom width of the groove differs between the welding start part and the welding end part, the allowable range is significantly larger than that of conventional equipment. Further, it is possible to provide an automatic welding device capable of welding a groove portion having an arbitrary groove angle with high accuracy in a stepless manner if the groove angle is within a predetermined angle range.

[Brief description of drawings]

FIG. 1 is a schematic overall view of an automatic welding apparatus that is an embodiment of the present invention.

FIG. 2 is a cross-sectional view of a groove portion to be welded using the device of this embodiment.

FIG. 3 is a schematic perspective view showing a first welding layer of the groove portion.

FIG. 4 is a flowchart for calculating a cross-sectional area of each welding layer in each region.

FIG. 5 is a flowchart for calculating a welding speed of each welding layer in each area.

[Explanation of symbols]

 10 Welding machine 11 Rail part 20 Bogie part 30 Telescopic arm 40 Welding torch support part 50 Welding torch part 60 x axis direction movement control part 62 y axis direction movement control part 64 z axis direction movement control part 66 Swing control part 70 Main control 71 memory 72 shared memory 74 I / O port 80 operation unit 100 control device

 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Inventor Iwa Shimizu 5-10-1 Fuchinobe, Sagamihara-shi, Kanagawa Nippon Steel Co., Ltd. 2nd Technical Laboratory (56) Reference JP-A-2-70384 (JP, A) JP-A-63-252671 (JP, A)

Claims (1)

[Claims] 1. An automatic welding device for controlling a welding speed of a welding torch to weld a groove portion having a predetermined welding length, wherein the welding length is divided into a plurality of regions, and a welding start portion and a welding end portion are divided. Based on the groove bottom width of the groove portion, the groove angle and the height of the groove portion, the cross-sectional area of each welding layer in each of the regions is calculated, and further, in each of the regions according to the cross-sectional area. Calculating means for calculating the welding speed of the welding torch portion for each welding layer, storage means for storing the information calculated by the calculating means, and information for each welding layer in each region are read from the storage means. An automatic welding apparatus comprising: speed control means for controlling a welding speed of the welding torch portion.