JPH04200866A - Pipe single side welding equipment - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to a pipe single-sided welding device for butt circumferential welding of pipes during vibrate line installation work.

[Prior Art] A conventional pipe single-sided welding device has a configuration as shown in FIG. , fs3 movement frequency 5Kz or less, welding speed M A X 1.10
cm2/min.

A welding torch groove profile control method is not used, but is a manual operation performed by an operator operating a switch on a remote control pendant while monitoring the welding area.

[Problems to be solved by the invention] When high current and high speed welding is performed using the conventional method, the arc force is too strong and the back bead formation becomes unstable.Since the number of oscillations is less than 511Z, the welding speed is, for example, 180 am. /min, and the number of oscillations is 1011z, the oscillation pitch will be in the order of 3, so welding defects such as welding defects will occur in the groove on the opposite side of the oscillation.
The back bead formation is also unstable and tends to result in meandering beads.

On the other hand, since groove profile control is not used, a skilled operator is required.

The present invention has been made to solve these problems, and is capable of high-current, high-speed welding for single-sided butt welding of pipes, shortening welding time and ensuring stable welding quality, and employing groove profile control. The aim is to promote greater automation.

[Means for Solving the Problems] A pipe single-sided welding device according to the present invention employs a high-speed rotating arc welding method in which a circumferential guide rail is attached to the abutting portion of the pipe, and the pipe runs on the outer peripheral surface of the pipe while being guided by the guide rail. The automatic welding machine consists of a traveling device that has a Z-axis motor that runs on the outer circumferential surface of the pipe guided by a circumferential guide rail, and a welding torch installed in the traveling device that moves the welding torch to the bevel. An X-axis slide with an X-axis motor that allows the welding torch to slide in the width direction; a Y-axis slide that has a Y-axis motor that is installed on the X-axis slide and allows the welding torch to slide in the height direction; A β-axis torch angle adjuster has a β-axis motor that allows the welding torch to freely tilt in the circumferential direction, and a welding torch that is installed in the β-axis torch angle adjuster and has a freely rotatable wire with eccentricity. The welding torch includes a rotating mechanism having a rotary motor that rotates the welding torch, and a wire feeding device that is provided on the traveling device and feeds the welding wire to the welding torch.

Figure 2 is a diagram of the principle of high-speed rotating arc, and the electrode nozzle 3
is rotatably supported by a bearing part 2, and 4 is an electrode nozzle 3.
A welding wire 5 is screwed to the lower part of the electrode nozzle and is continuously fed from the eccentric hole of the current-carrying tip 4, having an eccentric wire passing hole. Reference numeral 1 denotes a motor that continuously rotates the electrode nozzle 3 in one direction via a gear mechanism.In other words, since the energizing tip 4 having an eccentric hole connected to the tip of the electrode nozzle 3 is also rotated, a current is sent from the tip of the energizing tip 4. The supplied welding wire 5 also moves in a circular motion, and the arc can rotate easily and at high speed.

Further, the present invention is equipped with arc sensor groove tracing control using the waveforms of the welding current and arc voltage of an automatic welding machine that performs welding while rotating the arc at high speed.

FIG. 3 is a diagram showing the principle of groove profile control using an arc sensor, and shows the waveform of the arc voltage E that changes in response to the position of the rotating welding wire, that is, the arc. In the figure, (a> defines the position of the arc; the front center of the arc that continuously rotates to the right is C4, and the rear center is 01 left: right, R. In the figure, it is indicated by a solid line. The waveform is shown in (b) in the figure.
When the center of the rotating arc is shifted toward the R side by ΔX from the groove center, as shown in the figure, the waveform shown by the broken line shows the case where there is no shift. If there is no shift as shown by the broken line, position C1
However, if the waveform is shifted by ΔX as shown by the solid line, the waveform becomes asymmetrical.

By detecting and correcting this waveform asymmetry, the deviation amount ΔX in the X-axis direction can be corrected.

In other words, the waveform is taken out between a predetermined angle on the left and right with the position Cr as the center, and the waveform area S, , S is created between the predetermined angles.
By determining this and correcting the welding torch in the X-axis direction so that the areas S 1 and S are equal to RL12, it is possible to align the rotation axis of the arc with the groove center.

Further, the distance control in the height direction of the torch, that is, in the y-axis direction, is a method in which the average value of the welding current waveform for one rotation period is compared with a reference value, and the y-axis is controlled to move so that the difference becomes zero.

[Function] According to the present invention, since a high-speed rotating arc welding method is used, wire diameters of 0.8 to 1.6 can be achieved even when welding at a high speed of 1.4 to 20 times compared to the conventional oscillating arc method. , welding current 300
Stable under large currents of A or more 1. Is it a good welding peat? Near you.

In addition, high viscosity contouring can be performed in real time using arc-sensing groove tracing control, which automates the welding process and achieves stable back bead shape and good front bead shape.

[Drop Layer Side] FIG. 1 is a perspective view schematically showing an automatic welding machine according to an embodiment of the present invention. In FIG.
The circumferential guide rail 21 is mounted on the circumferential guide rail 20, and the automatic welding machines 21 are placed on the circumferential guide rail 20. In the embodiment shown in 5 and -, two automatic welding machines 21 are installed. Automatic welding machine 21 circumferentially aligns the outer circumferential surface of the vibrator IO! 1'i1here-
The traveling devices 22 and 1 are guided by the sliding lever 20 and run, the sliding lever 23 is provided on the running device 22 and is connected to the slide X axis 23, and the torch height is Slide Y axis 24 that can slide freely to the right
, it is attached to the slide Y-axis 24 so that it can swing freely in the circumferential direction of the vibrator (
−=I kerbed torch support 25 and torch support 25
Welding torch 2B rotatably supported by and traveling device 2
2. Broadly divided from wire feeding device 27 provided in 2/
4 has been completed.

In the construction of each part, the circumferential guide '1 knoll 20 is formed with a spacing member 2 (+1) on its inner surface and external teeth 202 on its outer surface.

Further, the traveling device 22 of the automatic welding machine 21 is a traveling trolley 221.
and a traveling heavy wheel 222 that is provided at the F section of the traveling truck 221 and meshes with the first tooth 202 of the circumferential guide rail 20 and the traveling wheel 222.
The circumferential guide rail 20 is provided at the bottom of the i-truck 221.
, and a Z-axis motor 224 including a Z-axis encoder 225f'f, which is provided on the traveling carriage 221 and drives the traveling carriage 221.

231 is an X-direction drive mechanism that drives the slide X-axis 23 in the groove width direction, 241 is a Y-direction drive mechanism that drives the slide Y-axis 24 in the torch height direction, and 251 is an angular drive mechanism that drives the welding torch 26 in the β direction. β direction drive mechanism to adjust 17.20
1 is a rotary drive welding mechanism inside the welding torch, and an R-axis encoder 283f rotates the rotary motor 262. I'm here.

The wire feeding device 27 is composed of a wire feeding motor 272 that drives a soy A/feeding mechanism 271, and an old wire reel 274. 30 is a conduit handle 17 having a welding wire 31 built therein, and 29 is a running position detector provided on the running carriage 22.

The mechanical configuration of this embodiment is as follows. FIG. 4 is a block diagram showing the overall control system of the embodiment of the present invention.

10 () is a control device for an automatic welding machine 21 installed with a circumferential guide rail 20 attached to a vibrator 10 that is pushed out;
101 is a generator, 102 is a welding power source, 103 is a shielding gas supply device, +04 is an Ar gas cylinder, and 105 is a CO
2 to gas cylinder, 106 to personal computer, 10
8 is a memory card, and 107 is a remote control bendant of the welding control device 100.

The present embodiment is configured as described above, and its operation will be explained next.

= 8 -- The welding conditions and welding sequence settings for each welding position and bus are programmed off-line in advance in the personal computer, and are stored via the memory card 1.08.
．． and stored in the welding control device 100.

When the welding start switch of the remote control bender l-107 is pressed, the automatic welding machine 21ζJ travels on the circumferential guide rail 20, and when the welding start position is detected by the travel position detector 29, welding is started from that position. During welding,
When the welding position and bus number from the traveling position detector 29 are always input to the welding control device 100, the control device 100 sends the wire feeding device 27, traveling device 22, rotating torch 26,
The off-line program for the β direction drive mechanism 2512 and the welding power source 102 continues to transmit command values corresponding to the determined welding position and welding conditions for each number of passes, so that welding can be carried out under the optimum welding conditions. Furthermore, in order to stabilize the arc, constant wire protrusion length and constant arc length control are performed using theoretical formulas.

(1) (rotation) The arc sensor groove tracing control (x, y axes) that makes the welding tool 6 groove and the memory regeneration tracing control are programmed offline, so the control starts at the same time as welding starts. The movement of the slide X-axis 23 is controlled to align the welding torch 26 with the center of the groove, and the slide X-axis 24 is controlled to keep the torch height constant.

In the example, a 0.9+n+aφ solid wire was used as the welding wire, 100% CO2 was used as the shielding gas, the welding current was 300-350A, and the welding speed was 150-200.
3/min, rotation diameter 1.0~4.0 mm, rotation speed 50~1
This is done at 0011z.

[Effects of the Invention] As explained above, the present invention can accelerate single-sided welding of pipes using the high-speed rotating arc welding method, and can stably form a back bead because the welding is performed with high accuracy using the arc sensor method that detects the groove of the welding torch. Also, no welding defects occur.

The welding time was reduced to about 1/10 compared to the conventional example.

This method has the advantage that butt welding of pipes can be performed with high quality and efficiency, and can be automated.

[Brief explanation of the drawing]

Fig. 1 is a perspective view schematically showing an automatic welding machine according to an embodiment of the present invention, Fig. 2 is a principle diagram of a high-speed rotating arc, Fig. 3 is a principle diagram of arc sensor groove profile control, and Fig. 4 is a diagram illustrating the principle of arc sensor groove tracing control. FIG. 5, an overall control system diagram of the embodiment, is a block diagram schematically showing a conventional single-sided pipe welding apparatus. 10... Pipe, 20... Circumferential guide rail, 21
... automatic welding machine, 22 ... traveling device, 23 ... slide X axis, 24 ... slide X axis, 25 ... torch support, 26 ... welding torch, 27 ... wire Feeding device, 3I...Welding wire, 224...Z-axis motor, 23]...X-direction drive mechanism, 232...X-axis motor, 241...Y-direction drive mechanism, 242...Y Shaft motor, 251... β direction drive mechanism, 252... β-direction motor, 261... Rotation drive mechanism, 262... Rotation motor, 272... Wire feeding motor. Agent Patent Attorney Souji Sasaki 1: Motor 2: Axis holder 3: Mioi nozzle 4: Electrification, knob 5: Σshu 1 tow X

Claims (2)

[Claims] (1) It consists of a circumferential guide rail that is attached to the butt part of the pipe, and an automatic welding machine that runs on the outer circumferential surface of the pipe while being guided by the guide rail and welds using a high-speed rotating arc welding method. A traveling device that has a Z-axis motor that runs on the outer circumferential surface of the pipe while being guided by a circumferential guide rail, and an X-axis slide that has an , a Y-axis slide with a Y-axis motor that is installed on the X-axis slide and allows the welding torch to slide freely in the height direction, and a β-axis that is installed on the Y-axis slide and has a Y-axis motor that allows the welding torch to freely tilt in the circumferential direction. A β-axis torch angle adjuster having a motor; a rotating mechanism having a rotary motor installed in the β-axis torch angle adjuster to rotate a freely rotatable welding torch having an eccentric wire; and a rotating mechanism provided in the traveling device. 1. A single-sided pipe welding device comprising: a wire feeding device having a wire feeding motor for feeding a welding wire to a welding torch; (2) In an automatic welding machine that welds pipes on one side while rotating an arc at high speed, arc sensor groove tracing uses the welding current and arc voltage waveforms to control the torch groove width and height. A single-sided pipe welding device comprising a control device.