JPH0825020B2 - 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. In general, steel plates for construction have a large plate thickness, so welding is performed by stacking several welding layers.

[0003]

By the way, in the welding for construction, it is necessary that the welded portion after the welding is finished is higher than the surface of the steel frame member. That is, if the height of the raised portion (hereinafter referred to as the extra height) is too low, the strength becomes insufficient, and if it is too high, the welding stress increases. For this reason, it is necessary to determine the thickness of the welding layer and the number of welding layers so that the surplus height falls within a certain range. But,
In the conventional automatic welding equipment, the plate thickness of the steel member to be welded is
For example, in the case of 20 mm, 25 mm, and 30 mm, data on each welding condition (thickness of each welding layer, number of welding layers) is made into a database, and when performing automatic welding, the necessity for each plate thickness from the database We read out various conditions and perform welding. In this way, in the conventional device, data is stored for each plate thickness of the steel member to be welded,
Even if the plate thickness is within the weldable plate thickness range, it is impossible to have data on the plate thicknesses of all the steel members within the range because the database becomes huge. Therefore, in the conventional automatic welding device, the plate thickness of the steel plate that can be automatically welded is 20 mm, 25 mm, 30 m.
Since there is no welding data for steel materials having a dimension between these thicknesses, for example, a steel material having a thickness of 23 mm or 28 mm, the surplus height is required for steel materials having these thicknesses. I couldn't finish with high precision.

The present invention has been made based on the above circumstances, and is an automatic welding that can finish the surplus height with high accuracy within the range of weldable plate thickness without requiring a large-capacity database. The purpose is to provide a device.

[0005]

SUMMARY OF THE INVENTION An automatic welding apparatus according to the present invention for achieving the above object is an automatic welding apparatus for moving a welding torch on a space orthogonal coordinate axis to weld a groove of a member to be welded. In, the thickness of the first and second welding layers is 6m
m, the thickness of the third and fourth welding layers is 5 mm, the fifth to nth
(N is an integer of 6 or more) The first thickness of the welding layer is 4 mm.
Welding thickness information, and the thickness of the first to fourth welding layers is 5 m
m, the second welding in which the thickness of the 5th to nth welding layers is 4 mm
Welding thickness information having a wall thickness information, the information that defines one or to select one of the two weld thickness information to each plate for each thickness of the member to be welded, and the thickness of the workpiece to be welded Regarding the number of welding layers, and one of the two pieces of welding thickness information and the number of layers of the welding layer are read from the storage unit according to the plate thickness of the member to be welded. And a control means for controlling the welding torch to perform welding of each welding layer.

[0006]

[0007]

According to the present invention, a plurality of pieces of welding wall thickness information and the number of welding layers are stored in advance by the above-mentioned structure, and a plurality of pieces of welding wall thickness information are selected from among a plurality of pieces of welding wall thickness information according to the plate thickness of the member to be welded. By reading and welding the optimum welding thickness information and the number of layers of the welding layer at that time, for a welded member having a plurality of plate thicknesses,
Since it is possible to use common welding thickness information, a much smaller capacity than the conventional device that holds the data of the welding layer thickness and the number of layers for each plate thickness of the welded member can be used. Welding parts can be welded by the database,
Moreover, it is possible to finish with a desired extra height with high precision.

The wall thickness of the first and second welding layers is 6 m.
m, the thickness of the third and fourth welding layers is 5 mm, the fifth to nth
(N is an integer of 6 or more) The first thickness of the welding layer is 4 mm.
Welding thickness information and the thicknesses of the first to fourth welding layers are 5 mm,
By providing the second welding thickness information in which the thickness of the fifth to nth welding layers is 4 mm, the number of layers of the welding layers is made appropriate for the welded member having a plate thickness of 6 mm or more. As a result, the surplus height can be set within the range of 2 mm to 4 mm, and the surplus height can be finished with high accuracy only by providing two pieces of welding thickness information.

[0009]

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 this embodiment shown in FIG. 1 comprises a welding machine 10 and a control apparatus 100. The welding machine 10 has a rail portion 11 and a carriage which 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 expansion and contraction arm 30 by the motor M _x to adjust the movement of the welding torch part 50 in the x axis direction, and the carriage 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.

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 previously set. 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.

[0014] 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 the present embodiment, the thickness of each welding layer is t ₁ , t ₂ = 5, 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 (base 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 weld 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 calculated from the cross-sectional area of each weld layer in each of 32 regions according to the above-mentioned 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).

Next, the thickness of each welding layer to be laminated and the number of layers will be described. Table 1 is a table showing the relationship between the plate thickness, the welding thickness information, which is the information about the thickness of each of the welding layers to be laminated, the number of welding layers, and the like.

The weldable plate thickness range of the apparatus of this embodiment is 6 to.
It is set to 50 mm. This is because the plate thickness of the steel frame mainly used for construction is 6 to 50 mm.
Further, the apparatus of this embodiment has two types of weld thickness information for steel frames having a plate thickness of 6 to 50 mm. The first weld thickness information (hereinafter also simply referred to as A type) is 6 mm for the first and second weld layers, 5 mm for the third and fourth weld layers, and 4 mm for the fifth to twelfth weld layers. The second weld thickness information (hereinafter also simply referred to as B type) is 5 mm from the first weld layer to the fourth weld layer and 4 mm from the fifth weld layer to the twelfth weld layer. Also, the first and second welding wall thickness information,
Also, the relationship between the plate thickness and the number of molds and the number of welding layers shown in Table 1 are stored in the memory 71 in advance.

[0021]

[Table 1]

FIG. 6 is a flow chart for explaining the operation of selecting the type of weld thickness information and the number of weld layers. The operation of selecting the mold and the number of layers will be described below with reference to FIG. First, the thickness of the steel frame to be welded, for example, 20 mm is input from the operation unit 80. This input of the plate thickness may be automatically performed using a plate thickness measuring device or the like. The main control unit 70 reads out the necessary welding conditions from the memory 71 based on this input value.

That is, it is determined in step S1 of FIG. 6 whether or not there is an input, and if there is an input, it is determined whether or not the plate thickness tx input in step S2 is tx <6. If tx satisfies this condition, the process proceeds to step S3 to display an indication that the input value is not appropriate, for example, an indicator lamp is turned on to issue an alarm. If tx is larger than 6, the process proceeds to step S4 and it is determined whether tx> 50. If tx is greater than 50, the process proceeds to step S3, and the indicator lamp is turned on to issue an alarm as described above. Now t
Since x is smaller than 50, the process proceeds to step S10 and t
It is determined whether x ≦ 8. If this formula is satisfied, the number of layers at this time is 2 and the mold is B-shaped. Similarly, tx≤10, tx≤13, tx≤15, tx≤1
8 is determined, and tx ≦ 20 in step S60.
Is determined. Now tx is 20, so
In step S61, the data that the number of layers is 4 and the type is A type is read. The main control unit 70 calculates the welding speed, the swing amplitude, etc. based on the read data, and sends the command value to the shared memory 72. The x-axis direction movement control unit 60, the y-axis direction movement control unit 62, and the z-axis direction movement control unit 64 read out these data and control the welding torch unit 50 to set the first and second welding layers to 6 mm, The 3rd and 4th welded layers are welded to 5 mm. Therefore, the stacking height of the welding layer in this case is 22 mm, and the surplus height is 2 mm.

As described above, according to the apparatus of this embodiment, if the plate thickness is 6 to 50 mm, the extra height of 2 to 4 m required for steel frame welding for construction can be obtained even if the steel frame has a thickness of several mm.
Multi-layer welding can be completed within the range of m.

Further, according to the apparatus of the present embodiment, 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 welding is performed. Since the speed is determined, if the groove angle is a value from about 0 to 60 degrees, the wall thickness of each welded layer of the steel frame member having the groove angle of any angle is made constant, Can be welded with high precision.

Further, according to the apparatus of the present embodiment, 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 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 addition, according to the apparatus of the present embodiment, since two types of dies are stored in advance as the welding thickness information, the welding thickness information is held for each plate thickness. A database having a much smaller capacity than that of a conventional apparatus enables highly accurate multi-layer welding on a steel frame having a plate thickness of 6 mm to 50 mm.

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 the groove bottom width may be constant. Is.

Furthermore, 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.

In addition, in the above embodiment, the case where the weldable plate thickness range is 6 to 50 mm has been described, but the plate thickness may be 6 mm or less or 50 mm or more. Further, in the present embodiment, the case of having two types of molds in order to make the welding thickness information as small as possible has been described, but the welding thickness information may be three or more types. This allows
The surplus height can be controlled more accurately. Furthermore,
The surplus height is not limited to 2 to 4 mm, and it is possible to easily finish the surplus height within the required range.

[0032]

According to the present invention as described in the foregoing, and use meaning a pre <br/> Me two weld thickness information, depending on the thickness of the member to be welded, and optimal weld thickness information By reading the number of welding layers and performing welding, common welding wall thickness information can be used for members to be welded having a plurality of plate thicknesses. Compared to conventional equipment that holds data on wall thickness and number of layers, with a database with a small capacity, it is possible to perform welding with high precision to a desired extra height within the range of weldable plate thickness, Therefore, it is possible to provide an automatic welding apparatus particularly suitable for multi-layer welding of building steel frames and the like.

[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.

FIG. 6 is a flowchart for explaining the operation of selecting the type of weld thickness information and the number of weld layers.

[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

Claims (1)

[Claims] 1. An automatic welding apparatus for welding a groove portion of a member to be welded by moving a welding torch on a space orthogonal coordinate axis, wherein the first and second welding layers have a wall thickness of 6 mm, and third and fourth welding layers.
Layer thickness is 5 mm, 5th to nth (n is an integer of 6 or more) melted
The first welding wall thickness information in which the wall thickness of the contact layer is 4 mm, and
The thickness of the first to fourth welding layers is 5 mm, and the thickness of the fifth to nth welding layers
Welding thickness information having second welding thickness information having a thickness of 4 mm, information defining which of the two welding thickness information is selected for each plate thickness of the member to be welded, Line up
Wherein said storage means for storing the number of layers of weld layers for each thickness of the welded members, from the storage means in response the to the plate thickness of the member to be welded to the 2
One of the two pieces of welding wall thickness information and the number of layers of the welding layer are read out to control the welding torch to perform welding of each welding layer. .