JPH0160349B2 - - Google Patents
Info
- Publication number
- JPH0160349B2 JPH0160349B2 JP11845582A JP11845582A JPH0160349B2 JP H0160349 B2 JPH0160349 B2 JP H0160349B2 JP 11845582 A JP11845582 A JP 11845582A JP 11845582 A JP11845582 A JP 11845582A JP H0160349 B2 JPH0160349 B2 JP H0160349B2
- Authority
- JP
- Japan
- Prior art keywords
- tube
- torch
- welding
- axis
- pipe
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K31/00—Processes relevant to this subclass, specially adapted for particular articles or purposes, but not covered by any single one of main groups B23K1/00 - B23K28/00
- B23K31/02—Processes relevant to this subclass, specially adapted for particular articles or purposes, but not covered by any single one of main groups B23K1/00 - B23K28/00 relating to soldering or welding
- B23K31/027—Making tubes by soldering or welding
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Butt Welding And Welding Of Specific Article (AREA)
Description
【発明の詳細な説明】
この発明は自動溶接装置を用いて管体の隅肉自
動溶接を行なう方法に関する。DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a method for automatically performing fillet welding of a tube body using an automatic welding device.
例えば炉筒煙管ボイラの製造に当つてはボイラ
本体に対して多数の煙管を取り付けるが、この煙
管の取り付け作業の省力化、溶接品質の向上のた
め溶接ロボツトを使用して溶接作業を行うように
なつてきている。第１図は管体１を母材板１０に
対して隅肉溶接する方法を示す。図中８は溶接ロ
ボツトにより作動する溶接トーチであり、６は溶
接ワイヤである。 For example, when manufacturing a smoke tube boiler, a large number of smoke tubes are attached to the boiler body, but in order to save labor and improve welding quality in the installation work of the smoke tubes, welding robots are used to perform the welding work. I'm getting used to it. FIG. 1 shows a method of fillet welding a tube body 1 to a base material plate 10. In the figure, 8 is a welding torch operated by a welding robot, and 6 is a welding wire.
自動溶接を行なう場合、最も重要なことは溶接
ワイヤが正しく管の隅肉部に沿つて移動すること
であり、この移動を行なうため従来は次の方法を
行つている。先ずワイヤ６を母材１０に対して斜
めに配置してワイヤ６が母材１０に対して点接触
するようにし、かつワイヤ６および母材１０の間
に高電圧をかける。この状態でワイヤ６を隅肉部
側に移動させ、ワイヤが点接触する直前に発生す
るパルス電流による電圧降下を検出することによ
り溶接部の位置検知を行ない誤差補正をしてい
た。しかしこの方法によると、ワイヤ６にねじれ
やアーク切れ時のノズルチツプ先のワイヤ長さ
（エクステンシヨン）の変化による検出点の誤差
が最大３mmと大きくなつてしまい自動溶接の精度
は必ずしも満足すべきものではなかつた。 When performing automatic welding, the most important thing is that the welding wire moves correctly along the fillet of the tube, and the following method has conventionally been used to accomplish this movement. First, the wire 6 is placed diagonally with respect to the base material 10 so that the wire 6 makes point contact with the base material 10, and a high voltage is applied between the wire 6 and the base material 10. In this state, the wire 6 is moved to the fillet side, and the voltage drop due to the pulse current generated just before the wire makes point contact is detected to detect the position of the weld and correct the error. However, according to this method, the accuracy of automatic welding is not necessarily satisfactory because the error in the detection point due to twisting of the wire 6 or changes in the wire length (extension) at the tip of the nozzle tip when the arc breaks is as large as 3 mm. Nakatsuta.
この発明の目的は上述した問題点を除去し、よ
り精度を高めた管の隅肉自動溶接方法を提供する
ことにある。 An object of the present invention is to eliminate the above-mentioned problems and provide a method for automatic fillet welding of pipes with higher accuracy.
要するにこの発明は隅肉溶接を行なうべき管体
の中心を検出し、これを中心としてあらかじめ定
められた回転半径でトーチを回転させることによ
り溶接ワイヤが常時正しい溶接部を移動するよう
にした隅肉溶接方法である。 In short, this invention detects the center of the tube to be fillet welded, and rotates the torch around this center at a predetermined rotation radius so that the welding wire always moves to the correct welding area. This is a welding method.
以下この発明の実施例を図面により説明する。 Embodiments of the present invention will be described below with reference to the drawings.
第２図はこの発明に係る方法に使用する溶接ト
ーチを示し、自動溶接装置のアームに取り付けら
れ、このアームの作動によつて溶接作業を行な
う。８は溶接トーチ本体、３は溶接トーチ本体８
の外周壁に対して取り付けたセンシングリング、
５はこのセンシングリングに対して高圧電流を供
給する導線である。 FIG. 2 shows a welding torch used in the method according to the invention, which is attached to an arm of an automatic welding device and performs the welding operation by operating this arm. 8 is the welding torch body, 3 is the welding torch body 8
Sensing ring attached to the outer wall of
Reference numeral 5 denotes a conductive wire that supplies high voltage current to this sensing ring.
隅肉自動溶接を行なうに当つては先ず溶接を行
なうべき管の内側に溶接トーチ８を差し入れこの
管の中心決定作業を行なう（第３図参照）。 To perform automatic fillet welding, first the welding torch 8 is inserted inside the tube to be welded, and the center of the tube is determined (see FIG. 3).
第４図は管体の中心決定方法の第１の実施例を
示す。先ずトーチ８を管１内に配置し、このトー
チ８を一定の方向に移動させる。トーチが管内壁
に接近すると、センシングリング３が内壁接触直
前で発生するパルス電流による電圧降下を検出
し、これと同期させてａ点を検知し記憶装置に入
力する。次にトーチ８はこのａ点に向つた軌跡を
戻つてｂ点を定め、ａ点及びｂ点を結ぶ線をＸ軸
とする。次にこのＸ軸と直交するＹ軸を求める
が、Ｙ軸とＸ軸との交点P1はＸ軸の中点（ａ，
ｂの1/2の位置を中点と称す）となるから、先ず
この交点P1を求めておく。トーチ８をこの交点
P1に戻したならばＸ軸と直交する方向にトーチ
を移動させ、Ｙ軸を求める。ｃ，ｄはＹ軸につい
ての管内壁との交点を示す。Ｙ軸が定まればＹ軸
の中点（ｃ，ｄの1/2点）P2が管１の中心であ
り、この中心の位置を記憶装置に入力しておく。
続いてトーチ８を管１の外に出し、管１の長径
R1と管１の肉厚l1を加えた長さを回転半径とし、
かつ点P2を中心として溶接トーチ８を移動させ
て管１の隅肉溶接を行なう。 FIG. 4 shows a first embodiment of the method for determining the center of the tube. First, the torch 8 is placed inside the tube 1, and the torch 8 is moved in a fixed direction. When the torch approaches the inner wall of the pipe, the sensing ring 3 detects a voltage drop due to a pulse current generated just before contacting the inner wall, and in synchronization with this, detects point a and inputs it into the storage device. Next, the torch 8 returns along its trajectory toward point a to determine point b, and the line connecting points a and b is defined as the X-axis. Next, find the Y-axis perpendicular to this X-axis, and the intersection point P 1 between the Y-axis and the X-axis is the midpoint of the X-axis (a,
The position of 1/2 of b is called the midpoint), so first find this intersection point P1 . Place torch 8 at this intersection
After returning to P 1 , move the torch in the direction perpendicular to the X-axis to find the Y-axis. c and d indicate the intersection with the pipe inner wall about the Y axis. Once the Y-axis is determined, the midpoint of the Y-axis (1/2 point between c and d) P2 is the center of the tube 1, and the position of this center is input into the storage device.
Next, take the torch 8 out of the tube 1 and remove the long diameter of the tube 1.
The radius of rotation is the sum of R 1 and the wall thickness l 1 of pipe 1,
Then, the welding torch 8 is moved around point P2 to perform fillet welding of the pipe 1.
第５図は中心決定方法の別の実施例を示す。 FIG. 5 shows another embodiment of the center determination method.
管１の外周壁の所定の位置に点a′を定め、この
点a′を中心として管１の外径の1/2たるR2をもつ
てトーチを円１５を描くように回転させ、かつ同
様に管１の外周壁の他の点b′を中心としてやはり
半径R2をもつて円１６を描くようトーチを回転
させる。この回転の軌跡は全て記憶装置に入力さ
れ、両円１５，１６の交点Ｐ，Ｑを求め、このう
ち管１の内側に位置する点Ｐを管１の中心として
定め、この中心Ｐを記憶装置に入力し、以後この
Ｐを中心として半径R2をもつてトーチを移動さ
せることにより管１の隅肉溶接を行なう。 A point a' is set at a predetermined position on the outer circumferential wall of the tube 1, and the torch is rotated in a circle 15 with R2, which is 1/2 of the outer diameter of the tube 1, about this point a', and Similarly, the torch is rotated about another point b' on the outer peripheral wall of the tube 1 so as to draw a circle 16 also having a radius R 2 . The locus of this rotation is all input into the storage device, the intersection points P and Q of both circles 15 and 16 are determined, and among them, the point P located inside the tube 1 is determined as the center of the tube 1, and this center P is stored in the storage device. Fillet welding of the pipe 1 is then performed by inputting the following information and moving the torch with a radius R 2 with P as the center.
以上、中心の決定はいづれもトーチの外周部に
形成したセンシングリング３を用いて行つたが、
これに限るものではない。すなわち、センシング
リングを取り付けていない従来型のトーチを管内
に垂直に、つまり管の軸心線方向に配置し、ワイ
ヤと管内壁と線接触するようにし、かつワイヤ、
母材間に高電圧をかけておく。この状態において
トーチを第３図、第４図に示す如く作動させるこ
とにより管体の中心を決定する。この方法は前述
のセンシングリングを用いる場合に比較して中心
決定精度はやや低下するが、溶接トーチに特別な
改造を加える必要がなく、ワイヤ長さ、ワイヤの
ねじれ等に関係なく中心決定が行なえる。 In each case, the center was determined using the sensing ring 3 formed on the outer periphery of the torch.
It is not limited to this. That is, a conventional torch without a sensing ring is placed vertically within the tube, that is, in the axial direction of the tube, and is in line contact with the wire and the inner wall of the tube, and the wire,
Apply high voltage between the base materials. In this state, the center of the tube is determined by operating the torch as shown in FIGS. 3 and 4. Although this method has a slightly lower centering accuracy than when using the sensing ring described above, there is no need to make any special modifications to the welding torch, and the centering can be determined regardless of wire length, wire twist, etc. Ru.
この発明を実施することにより自動溶接装置を
用いて管の周壁に沿つて正確に隅肉溶接を行なう
ことができる。 By implementing the present invention, it is possible to accurately perform fillet welding along the circumferential wall of a pipe using an automatic welding device.
第１図は従来の隅肉溶接方法を示す溶接部の断
面図、第２図はこの発明に係る方法において使用
する溶接トーチの側面図、第３図はこの発明に係
る方法の一例を示す管断面図、第４図はこの発明
に係る溶接方法を実施するための管中心決定方法
の一例を示す管の断面図、第５図は別の管中心決
定方法を示す管の断面図である。
１……管体、３……センシングリング、６……
溶接ワイヤ、８……溶接トーチ、Ｐ，P2……管
体の中心、１５，１６……仮想円。
Fig. 1 is a cross-sectional view of a welded part showing a conventional fillet welding method, Fig. 2 is a side view of a welding torch used in the method according to the present invention, and Fig. 3 is a tube showing an example of the method according to the present invention. 4 is a sectional view of a tube showing an example of a method for determining the center of a tube for carrying out the welding method according to the present invention, and FIG. 5 is a sectional view of a tube showing another method of determining the center of a tube. 1... tube body, 3... sensing ring, 6...
Welding wire, 8... Welding torch, P, P 2 ... Center of tube, 15, 16... Virtual circle.
Claims (1)
肉溶接するものにおいて、溶接すべき管体の中心
を定め、この中心を記憶装置に入力し、中心位置
の入力後、溶接トーチを溶接始点に配置し、以後
この始点と中心との距離を半径としてトーチを移
動させ、隅肉溶接を行なうことを特徴とする管の
隅肉自動溶接方法。 ２ 管体内壁に対する所定の点を起点として基準
線たるＸ軸を想定し、かつこのＸ軸の中点を定
め、次にこのＸ軸の中点を通過しかつこのＸ軸と
直交するＹ軸を想定し、さらにＹ軸の中点を算出
することにより前記管体の中心点の検出を行なう
ことを特徴とする特許請求の範囲第１項記載の管
の隅肉自動溶接方法。 ３ 前記管体の中心点を、管体の外壁に定めた所
定の点を中心としかつこの管体の外径と等しい直
径を有する２つの円を想定し、これら二つの円の
交点を算出することにより求めることを特徴とす
る特許請求の範囲第１項記載の管の隅肉自動溶接
方法。 ４ 基準線及び円の想定をトーチを移動させるこ
とにより行ない、トーチの移動した軌跡を記憶装
置に入力するようにしたことを特徴とする特許請
求の範囲第１項または第２項記載の管の隅肉自動
溶接方法。 ５ 前記トーチ本体周囲に対してセンシングリン
グを形成し、センシングリングと管体との間に高
電圧をかけ、管体とセンシングリング間のパルス
電流発生による電圧降下により管体壁面における
基準点を定めることを特徴とする特許請求の範囲
第４項記載の管の隅肉自動溶接方法。 ６ 前記トーチを管体の中心軸線と平行に配置
し、トーチのワイヤと管体壁面とが線接触するよ
う構成したことを特徴とする特許請求の範囲第４
項記載の管の隅肉自動溶接方法。[Scope of Claims] 1. In a system in which a pipe is fillet welded to a base material using an automatic welding device, the center of the pipe to be welded is determined, this center is input into a storage device, and the center position is stored. After inputting the input, a welding torch is placed at a welding starting point, and thereafter the torch is moved using the distance between this starting point and the center as a radius to perform fillet welding. 2 Assume an X-axis as a reference line starting from a predetermined point on the inner wall of the tube, and determine the midpoint of this X-axis, then set a Y-axis that passes through the midpoint of this X-axis and is perpendicular to this X-axis. 2. The automatic pipe fillet welding method according to claim 1, wherein the center point of the pipe body is detected by assuming that the center point of the pipe body is further calculated by calculating the midpoint of the Y axis. 3 Assuming two circles whose center point is a predetermined point set on the outer wall of the tube and having a diameter equal to the outer diameter of the tube, calculate the intersection of these two circles. A method for automatic fillet welding of a pipe according to claim 1, characterized in that the method is determined by: 4. The tube according to claim 1 or 2, characterized in that the reference line and the circle are assumed by moving a torch, and the trajectory of the torch movement is input into a storage device. Fillet automatic welding method. 5 A sensing ring is formed around the torch body, a high voltage is applied between the sensing ring and the tube body, and a reference point on the tube wall surface is determined by the voltage drop caused by the generation of a pulse current between the tube body and the sensing ring. 5. A method for automatically welding fillets of a pipe according to claim 4. 6. Claim 4, characterized in that the torch is arranged parallel to the central axis of the tube body, and the torch wire and the wall surface of the tube body are in line contact.
Automatic pipe fillet welding method described in Section 1.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP11845582A JPS5910476A (en) | 1982-07-09 | 1982-07-09 | Automatic fillet welding method of pipe |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP11845582A JPS5910476A (en) | 1982-07-09 | 1982-07-09 | Automatic fillet welding method of pipe |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPS5910476A JPS5910476A (en) | 1984-01-19 |
| JPH0160349B2 true JPH0160349B2 (en) | 1989-12-22 |
Family
ID=14737064
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP11845582A Granted JPS5910476A (en) | 1982-07-09 | 1982-07-09 | Automatic fillet welding method of pipe |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS5910476A (en) |
-
1982
- 1982-07-09 JP JP11845582A patent/JPS5910476A/en active Granted
Also Published As
| Publication number | Publication date |
|---|---|
| JPS5910476A (en) | 1984-01-19 |
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