JPS5939479A - Automatic welding device for pipe - Google Patents

Abstract

PURPOSE:To provide a titled device having improved quality and working efficiency of butt welding at pipe ends by providing an annular rail, traveling carriage, moving means for a welding torch and a copying sensor, a storage medium for welding conditions, means for collecting information on copying and control means for welding. CONSTITUTION:An automatic welding device for welding the butt parts at the ends of steel pipes W, W' to each other is constituted as follows: This device is provided with an annular rail 17 mounted to the pipes W, W' and a traveling carriage 15 provided with a welding torch 16 and a copying sensor 20 and is guided in the circumferential direction of the pipes W, W' by tha rail 17. This device is also provided with a means for moving the torch 16 and the sensor 20 in the longitudinal and diametral directions of the pipes W, W' and a means for moving the carriage 15 while engaging the sensor 20 with the butt parts prior to welding and collecting the information on copying in the longitudinal and diametral directions of the pipes W, W'. The device is provided with a storage medium which stores welding conditions by associating the same to the circumferential positions of the pipes W, W' and a control means which performs welding in accordance with the welding conditions stored in said medium and the above- described information on copying.

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to an automatic pipe welding device for abutting pipe ends and welding the abutted portions.

In recent years, the construction of pipelines has been promoted in various places as an efficient means of transporting energy resources.

In the construction of such pipelines, it is necessary to butt the pipe ends together and weld the butts. However, unlike other types of welding, this welding has special forces and technical difficulties as listed below.

(1) It is all-position welding. (2) In many cases, it is welding in which complete welding is performed by one-sided welding, so-called Uranami welding. (3) The welding work is on-site work, and - (4) High-quality joints are required despite on-site work in poor environments. Due to these special characteristics and technical difficulties, automation is extremely difficult, and conventional Even though it is automatic welding, the reality is that the operator constantly monitors the arc during welding, traces the groove, and adjusts the welding conditions. In this type of automatic welding, the skill of the operator is extremely high! There are many problems with iK, and the welding quality is not constant. Many automatic welding devices have been developed for this purpose, but no perfect device exists yet.

The present invention was made in view of certain circumstances, and in the construction of pipelines, pipe ends are butted against each other,
The purpose of the present invention is to provide a fully automatic pipe welding device capable of performing high-quality welding stably and efficiently by automating Uranami welding in all positions and tracing of the weld line, as a device for welding the butt portion 1. shall be.

DESCRIPTION OF THE PREFERRED EMBODIMENTS The automatic pipe welding device (hereinafter referred to as the present device) according to the present invention will be described in detail below based on drawings showing embodiments thereof.

FIG. 1 is a perspective view showing the entire mechanical section of the device of the present invention, FIG. 2 is a schematic front view of the mechanical section showing a cross section of the annular rail, and FIG.
The figure is a front view showing the weld line tracing sensor, Figure 4 is a side view showing the inner clamp device partially cut away, and Figure 5 is the
It is a partially fragmented front view taken along line V-■ in the figure. First, a mechanism section and a clamping device used in conjunction with the device of the present invention will be described with reference to these drawings.

wii A steel pipe which is one of the materials to be welded has a grooved end face to be welded, and the end face to be welded has the same bevelling process as the steel pipe W symmetrically applied to the end face to be welded. A welding joint is formed in abutment against the end surface of the steel pipe W', which is the other material to be welded, to be welded.

When using the present device, the height of the root surface of the groove Lt- may be set to 0 as shown schematically in FIG. 2, and the root interval may also be set to 0. Also, the groove angle is, for example, 60°.
Unlike conventional equipment, there is no need for particularly precise bevel processing, and the root spacing between the steel pipes w and w' is O, making it easy to prepare for the butt. be.

Laminate welding is performed by moving the welding torch 16 continuously around the circumference following the welding groove, and the two steel pipes w and w are welded.
In order to perform such welding, an annular rail 17 that guides a traveling trolley 15 that runs a welding torch 16 is fitted around the copper pipes W. The rail 17 is A C-shaped large member 17b with a missing circular arc portion having a chord slightly longer than the outer diameter of one steel pipe W so that it can be installed even when the steel pipes w and w' are butted together, and one that should complement this. It is divided into a small member 17a having an arcuate shape corresponding to the arc portion mentioned above, and a large member 17a.
b is placed around the steel pipe W and positioned so as to be concentric with the copper pipe W, and fixed using fixtures 17c provided at three equal intervals on the side of the large member 17b, and then the large member 17b is fixed.
By combining and fixing the small members 17a, the rail 17 is completed around the steel pipe W. The drive mechanism, that is, the rack 173, etc., is connected by a combination of both members, and the power supply system is connected by a cable 17d, etc. that spans both members.

The lower part of the traveling trolley 15 is driven by a pulse motor 15a, and its driving force is transmitted through gears in a gear box 15g.
A pinion 15e that is engaged with the pinion 15e is attached to the inside of the tlL strip 17, and an annular rack 173 is attached to the entire circumference of the tlL strip 17, which has a toothed portion that engages with the pinion 15e. From the fact that it is driven by the pinion 15 e camo-1r15a,
The traveling truck 15 travels around the rails 17. During this traveling, two sets of outer and side guide rollers 15b...1 are installed directly below the traveling bogie 15 so as to sandwich the convex portion 171 formed on the outer peripheral surface of the rail 17 from both sides.
5b, and an inner guide roller which is attached to the traveling bogie 15L:rA: and which is located further below the binion 15e so as to engage with a convex portion 172 formed on the inner circumferential surface of the rail 17. 15f, the traveling trolley 15 is guided around.

A reel 18 that holds the welding core wire in a wound state is attached to the traveling truck 15, and the reel 18 moves around together with the traveling truck 15, but the welding core wire (wire) is also attached to the traveling truck 15. A feeding force is applied by the core wire feeding device 19 attached to the protective tube 16.
a and is fed into the welding torch 16. A slip ring 174 is provided inside the rail 17 over the entire circumference, and a welding current is supplied to the slip ring 174 from a grounding power source (not shown). This slip ring 174 is connected to the electrode of the welding torch 16 and has a current collector brush 1 attached to the lower part of the traveling truck 15.
5h are in sliding contact with each other, and the welding current is supplied to the electrode of the welding torch 16. As a result, traveling trolley 1
5 runs around the rail 17, the welding current feeding wire does not become entangled with the rail 17 or the steel pipes w and w'. Note that power is supplied to the pulse motor 15a and the pulse motors 15c and 15d, which will be described later, using the same structure as the slip ring 174 and current collection flange 15h described above.

Further, welding gas is supplied to the welding torch 16 through a gas supply pipe (not shown), and the supply and disconnection of the gas is performed by a solenoid valve (not shown).

Inside the traveling trolley 15, a pulse generator is used to move an arm 21, in which a welding torch 16 and a welding line tracing sensor 20 are detachably housed, in the radial direction (hereinafter referred to as the vertical direction) of the steel pipes W, W/. A transmission mechanism 15j consisting of a motor 15c and a series of gears, and a transmission mechanism consisting of a pulse motor 15d and a series of gears for moving the 011 arm 21 in a direction perpendicular to the traveling direction of the trolley 15 (hereinafter referred to as the left-right direction). 15k is built in (8th
(see figure).

The arm 21KIri, the block-shaped height adjuster 22
A welding line tracing sensor 20 as shown in detail in FIG.
can be stored. The upper end portion of the welding line tracing sensor 20 consists of a support 11 which is a member to be accommodated in the height adjuster 22. The support body 11 is L when viewed from the front.
A bolt 23 is inserted into the through hole 11b provided in the center of the vertical part (vertical part when located at the top of the pipe).
When the bolt 23 is screwed into the threaded hole of the height adjuster 22 and tightened, the support body 11 is fixed to the height adjuster 22 by means of the bolt K. Further, a through hole 11cK provided at the center of the horizontal portion allows a screw punch 10, which is set upright at the center of the upper surface of the holder 5, which will be described later, to be freely pushed through, and a push spring 12 loosely fitted around the screw punch 10. is interposed between the holder 5 and the support 11, and is housed by threading a nut 13 onto the tip of the screw punch 10 and tightening it appropriately. Therefore, when no force is applied to the holder 5 from below, the holder 5 presses the spring 12 against the support 11 until the tightening of the nut 13 is regulated by the amount.
However, when a force that resists the pressing force of the push spring 12 is applied to the holder 5 from below, the push spring 12 is compressed accordingly and the holder 5 approaches the support 11. do. A leaf spring 9 is interposed between the holder 5 and the support 11 described above. That is, one end of the plate spring 9#i is fixed to the upper surface of the holder 5 with a bolt 14, and the other end is a groove 11a provided at the tip of the horizontal part of the support 11, which is curved into a horizontal U-shape. The insertion is fixed. Strain gauges 9a and 9b are attached to the front and back surfaces of the central portion of the leaf spring 9, respectively, in order to measure the amount of deformation thereof.

Since the leaf spring 9 is interposed between the holder 5 and the support 11 in this way, the holder 5 is connected to the holder 5 via the pivot shaft 3 as described later.
When the annular contactor 1 supported by the welding groove enters the welding groove and rolls, the plate spring is moved in the vertical direction according to the amount of movement in the vertical direction of the amount of movement accompanying the displacement of the welding groove. 9 is deformed, and by detecting the amount of deformation using strain gauges 9a and 9b, vertical displacement of the welding groove portion can be detected.

The holding body 5 is a member having an inverted U-shape when viewed from the front,
Through holes 5 are provided symmetrically at the lower ends of the left and right legs.
A slide bearing 6.61 is fitted inside each of a and 5B', and a pivot shaft 3 is fitted inside both slide pairs 6.6'. The presence of 6.6' allows easy movement in the axial direction. A retaining pin (not shown) is attached to both ends of the pivot shaft 3. In the center of the pivot shaft 3, a ring-shaped contact l having a narrow circumferential edge that engages in the weld groove and rolls is fitted using a pole bearing 2.

Further, a leaf spring mounting plate 4 is fixed to one side of the pivot shaft 3 where the annular tentacle 1 is fitted. Said leaf spring mounting plate 4Vi
The plate spring 7 is a plate-shaped member having a through hole 4b into which the pivot shaft 3 is inserted, and one end of the plate spring 7 is inserted and fixed into the groove 4a in the upper part thereof.The plate spring 7 is curved into an inverted U-shape, and the other end is connected to the holder It is fixed to the inner surface of the right leg of 5 using bolts 8. Strain gauges 7a and 7b are attached to the top surface and back surface of the leaf spring 7, respectively, in order to measure the deformation thereof.

Therefore, a leaf spring 7 is installed between a leaf spring mounting plate 4 fixed to the pivot shaft 3 that rotatably supports the annular tentacle 1 and a holder 5 that holds both ends of the pivot shaft 30. Because it is interposed,
Once the annular contactor 1 enters the welding groove and rolls, the amount of movement in the axial direction of the pipe, that is, in the left-right direction (pivotally The leaf spring 7 deforms according to the amount of movement (in the axial direction of the support shaft 3), and the amount of deformation is measured by the strain gauge 7a.
, 7b, it is possible to detect the displacement of the welding groove in the left-right direction.

The vertical displacement detection by the strain gauges 9a, 9blC and the horizontal displacement detection by the strain gauges 7a, 7b are performed using the absolute value of the amount of deformation of the leaf springs 9, 7 or the bridge related to the strain gauges 9a, 9b or 7a, 7b. Rather than directly using the unbalanced current of Therefore, it is excellent in terms of miniaturization of the entire detection system, high detection accuracy, etc., and also has the advantage that this displacement information becomes the freezing torch position control data.

Now, as mentioned above, the rail 1 guides the traveling carriage 15 for traveling the welding torch 16 and the welding line tracing sensor 20.
Steel pipe W to which 7 is attached and wI to be matched with this
An inner clamp device is arranged inside the tube V,
This is used to clamp the steel pipes w and w' from the inside.

The framework of the inner clamp device is a steel pipe W.

A central base 51 with a diameter slightly smaller than the inner diameter of W', a central base 52 of the same diameter that is bendably connected to this via a ball joint, and a central base 51.52 on both sides of each central base 51.52.
It consists of two side disks 53.53 of the same shape with a diameter smaller than the outer diameter of 5)
4, 54, . . . 54, which are each fixed integrally.

In addition, outer covers 65 and 65 are respectively attached to cover the space between the central base 51 and the side discs 53 that face each other, and between the central base 51 and the side discs 53 that face each other from the periphery. There is.

A ball joint convex member 51d is fitted into a groove protruding from the opposite central base 52 side of the central base 51 and provided around the inner surface of the round ball joint outer ring member 51b. A cylindrical ball joint inner ring member 52 protruding from the 51 side.
A ball joint convex member 52d having a convex surface having the same curvature as the concave surface of the concave member 51d is fitted onto b, and the central base 51.52 is assembled by engaging the concave member 51d and the convex member 52d. Connected so that they can be bent.

Head guide cylinders 51a and 52a are provided at the center of the above-mentioned central base 51, 52 so as to protrude toward side disks 53, 53 respectively attached to the central bases 51, 52. Inside 51a and 52a, a head 55.5 is installed at the tip of the ram of a single-acting hydraulic cylinder 56.56.
The bottomed cylindrical bodies 55b, 55b, which are the tip portions of 5, are slidably inserted.

A pair of plate-like members with through holes are connected to the hydraulic cylinder 5 in #1 of the heads 55, 55 and the bottomed cylinders 55b, 55b.
6.6 sets of bearing ears 55a, each set of bearing ears 55a facing each other in parallel with the direction of advancement and retraction of the ram of 56, arranged at six equal intervals on the outer periphery;
55a...55a are provided.

Further, a spring seat 52e is fitted and fixed in the ball joint inner ring member 52b, and return springs 57.57 extend from both sides of the spring seat 52e to the bottoms VC of the bottomed cylinders 55b, 55b. are arranged respectively, and the ram of the hydraulic cylinder 56.56 advances and the head 55.55
When moves forward, its return spring 57.57
When the ram 0f1 is compressed and the ram 0f1 is retracted, the elastic force of the return spring 57.57 helps the head 55.55 of the FlrI retreat.

Furthermore, as described above, link elements 58, 58, .
Insert one end of each bearing ear 5, and in that state, insert one end of the bearing ear 5.
5a, 55a...55a through the link elements) 58.58...58 to the other bearing ear 55a, 55a...55a through hole.
By pushing through 59...59, the link elements 58° 58, 58 are connected to the bearing ears 55a, 55a.
-55a Rotatably connected to K. Further, the other ends of the link elements 58, 58, .

Horseshoe-shaped clamp fittings 61 are arranged so that the bottom is located at 65a...65a, and inserted between both legs 61a, 61a...61a of 61...61, one of the legs 61a, 61a. ... 61a through the through holes of the link elements 58, 58...58 to the other leg portion 51a.

51a...Pin 60.60...6 to the through hole of 51a
Link element 58.58 from K to push 0 through
...58 and the clamp fitting 61 are rotatably connected. Thus head 55.55 and link element 5
8.58...58 and clamp fittings 61.61...6
1 constitutes a link mechanism, and the forward and backward movement of the head 55.55 driven by the hydraulic cylinder 56.56 is transferred to the clamp fittings 61.61...61 via the link elements 58.58...58. The clamp fitting 6
1.61...61Fi moves forward and backward in the radial direction, and moves in and out of the openings 65a, 65a...65aK.

Further, as is clear from FIG. 6, which is a perspective view of the vicinity of the clamp fitting 61 of 52 central bases, one clamp fitting 61.6
1...Half of 61 have both legs 61a, 61a
Guide plates 61b, 61b...61)) having a long rectangular sliding groove on the center side end surface of 61a are inserted through the opening 52f of the central base 52 and extended to the opposing gap between the central bases 51 and 52. The guide plates 61b, 61b...6
Clamp fittings with extended portions 1b and clamp fittings without such extensions are alternately arranged in the circumferential direction. On the other hand, half of the clamp fittings 61, 61...61 on the central base 51 side have both legs 61a, 61a...61a K
The guide plates 61b, 61b...61b are pushed through an opening (not shown) in the central base 51 and extend into the opposing gap of the central base 51.52, and the guide plates 61b, 61b...
. . . Clamp fittings with extended extensions 61b and clamp fittings without such extensions are arranged alternately in the circumferential direction ζ. Further, the guide plates 61b, 61b...61b on the central base 52 side are not extended at the positions facing the clamp fittings on which the guide plates 61b, 61b...61b of the central base 51 are extended. Since the clamp fittings are arranged, the clamp fittings to which the guide plates 61b, 61b, . It has a button.

A ball joint 62 is provided at one end of the push rods 62, 62...62 in the sliding grooves of the guide plates 61b, 61b...61b.
Sliding fittings 62b, 62b...62b connected using a, 62a...62a are slidably engaged in the longitudinal direction of the steel pipes w, w'. Also, the push rods 62, 62
...analyte mounting bracket 62c connected to the other end of 62,
62c...62C (not shown in FIG. 6) have respective metal fittings 62c, 62c...62cK attached to the inner surfaces of the push rods 6.
Two guide square rods 63, 63, . . . , 63 are attached to both sides of 2, 62, . In addition, the center side terminal tf7 of the guide corner rods 63, 63...63
! It is marked J-. The guide square rod 63.63...63
Guide tools 63a, 63a...63a are housed on both sides of the opening (not shown) of the central base 51 or the opening 52f of the central base 52, respectively, to the opposite central base side. It has a guide groove with an inclined outer circumferential side.
Each guide square rod 63, 63, . . . 63 is guided by the guide groove. Analyte mounting bracket 62c, 62cm6
Analyzes 64a, 64a, . . . , 64a, which are the constituent elements of the copper backing 64, are attached to the outer surface K iJ of 2c, respectively. Since the copper backing metal 64 and its vicinity are configured in this manner, when the ram of the hydraulic sill 56.56 advances (or retracts), the clamp metal fittings 61, 61...61
moves in the centrifugal direction (or centripetal direction), and the slide fittings 62b, 62b...62b move in the guide plate 61 according to the movement.
b, 61b...61b along the sliding grooves to the opposing central base side (or hydraulic silling side), and the sliding fittings 62b, 62b...62b are connected to the push pieces 63, 63; ... 63 moves in the centrifugal direction (or centripetal direction), and as a result, each segmented body 64a, 64a.
... 64a is an opening 65a of the outer cover 65.65 that advances (or retracts) in the radial direction.

65a...Kichi and others who perform the appearance luck uJ for 65a,
Adjacent divided bodies 64a, 64a...64a F'i
They are moving closer and further away from each other.

The divided bodies 64a, 64a...64a are made of cylindrical copper material as described above with guide plates 61b, 61b...61b.
A member divided into the same number of extended clamp fittings 61, 61...61, that is, six, and further divided so that the shape developed in the circumferential direction is a trapezoid or a triangle (in this example, a trapezoid) By arranging each member in opposite directions alternately, the hypotenuses of the trapezoid or triangle are adjacent to each other. However, the divided body 64a.

64a...Fig. 7 (b) showing developed views of 64a.
), by retracting the ram of the hydraulic cylinder 56.56 and retracting the head 55.55, the clamping fittings 61.61...61 are removed via the link elements 58.58...58. Immerse it in the radial direction,
Accordingly, when the divided bodies 64a, 64a...64a are immersed in the radial direction while keeping their outer peripheral surfaces in good condition (Fig. 7(a)), K is the distance between adjacent divided bodies 64a.
, 64a -=64a move in the direction of separating from each other along the slope as shown by the arrows, so there is a gap on the center line (dotted chain line in the figure) corresponding to the position of the butt part of the steel pipe. It is designed not to occur. Also, by advancing the ram of the hydraulic cylinder 56.56 and advancing the head 55.55, the link elements 58.58...
The clamp fittings 61, 61, .
...If the outer circumferential surface of 64a is kept flush and protrudes in the radial direction (FIG. 7(b)), it becomes a divided body 64a.

64a... 64a move toward each other along the slope as shown by the arrows, so in this case as well, there is no space on the center line (dotted chain line in the figure) corresponding to the position of the butt part of the steel pipes. This ensures that there are no gaps.

Incidentally, three through screw holes are provided at appropriate positions on the central base plate 51, and Miki's Allenpol 66, 66, and 66 are respectively inserted and screwed into the screw holes. Then, tighten the pole 66, 66, 66 with a wrench inserted through the through hole cut in the outer cover 65 until its tip hits the central base 52, and then The adjusted state of the angle formed by the axis of the clamp device is fixed.

In addition, four traveling rollers 67, 67, 67 are housed in the side disks 53, 53, and these rollers control the movement of the device of the present invention when it is moved inside the steel pipe. Used to make things run smoothly. Such an inner clamp device is inserted from the opening of one steel pipe to the abutting portion of both steel pipes, and is used by supplying pressure oil to the hydraulic cylinders 56 and 56. 61 not only provides strong and reliable ramping, but also ensures reliable ramping throughout the entire circumference since the segments 64a of the copper backing 64 contact each other without any gaps and also contact the inner peripheral surface of the steel pipe in conjunction with the clamp fitting 61. This allows for proper urana wave formation. In addition, in this inner clamp device, the central bases 51 and 52 are connected by a ball joint, so when the steel pipes W and W' are joined, in other words, the welding is performed so that the axes of both pipes intersect at a predetermined angle. It can also be used in cases.

Next, the side leg system of the device of the present invention will be explained based on FIG. C
The PU (Central Processing Unit) 37 functions as the center of the control system, and controls the driving motor of the bogie 15 according to signals given from the operation unit 40 and the system program stored in the ROM (Read Only Memory) 38. 15a
1 Drives the motor 15c or 15d that moves the scanning sensor 20 or torch 16 up and down or left and right, collects and stores scanning data in the RAM (randomly accessed memory) 39, and also receives signals from the operation unit 40, systems program in the ROM 38, The removable FR is installed after writing the scanning data and welding conditions in the RAM 39 above.
According to the data (hereinafter referred to as user program) K written in the OM (programmable read-only memory) 48, drive control of the motor 15a (control of welding speed, number of turns, direction of turn), drive control of the motor 15c (control of the torch 16) is performed. vertical scanning control), drive control of the motor 15d (horizontal scanning control of the torch 16, quieping control), drive control of the wire feed motor 19a of the core wire feeding device 19 (
Directly controls the wire feed speed and indirectly controls the welding current. Particularly in welding the first layer, the wire protruding needle, which therefore affects the arc force and requires precise control 1), the control of the voltage regulator d71 of the welding power supply circuit 70, and the electromagnetic valve 72 of the shielding gas supply system controls the opening and closing of the cassette tape recorder 49 provided for recording the results of welding conditions, and controls the welding process by controlling the opening and closing of the cassette tape reader 49. 50 is controlled to display the vertical and horizontal positions of the torch 16, welding speed (rotating speed of the torch 16), circumferential position, wire feed speed, and welding voltage. Note that a pulse generator 19b is provided in conjunction with the wire feed motor 19a, which is a DC motor, for feedback speed control thereof. Further, in order to set the initial height of the welding torch 16, a rod-shaped electrode [16a] is provided in parallel with the welding torch 161C, and the lower end of the rod-shaped electrode 16a extends a predetermined distance below the lower end of the welding torch 16. It is connected so that the CPU 37 can recognize the contact (contact M) with the #j pipe W'. Further, in order to collect data written to the tape recorder 49, the welding power supply circuit 7o is provided with a current detector 70a and a voltage detector 70v.

Next, the contents of the user program that should be written in FROM 48 will be explained. FIG. 9 shows one example. In the traveling position column, Osm is the initial position + i (bone top).
Welding conditions are specified for every 105m. In addition, it is specified by the cumulative value of the travel distance WFi, and even if it goes around and returns to the initial position, OK does not return and the travel distance is added, and the first
As shown in Figure 0, even when performing multi-layer welding in a pattern that starts with clockwise rotation and then rotates counterclockwise in the middle, the value is defined by adding the amount of movement without subtracting by K to go backwards.

Therefore, the same traveling position does not exist on this data. The next speed column is the circular traveling speed or welding speed of the torch 16, and a negative value specifies rotation in the opposite direction as described above. The next wire column shows the wire feed speed,
This indirectly defines the welding current. One of the most important things in welding pipes together is the formation of the uranami (especially the first layer of uranami), and together with the backing metal, the arc force has a large effect on the formation of the uranami bead. In this method, the torch position and the wire feeding speed are periodically changed to change the wire protrusion to adjust the arc force and obtain a good back wave. The optimum amount of wire protrusion varies depending on the posture (position in the pipe circumferential direction) and whether the wire is on the downward or upward side. The data to be written in this item is based on factors such as welding speed, voltage value, and number of passes in addition to these factors, to determine the optimum amount of protrusion for each traveling position.

The data in the torch HL and torch IO columns are for torch 16, respectively.
Vertical position (base material surface is set to 0) 9. This is data that defines the left and right positions (with the center of the groove being O).The former is set high at the initial position of travel position 0, but after that, as the number of passes increases, the value increases. grow bigger,
Further, even within the same bus number, it differs depending on the position in the same direction, and it is set high when welding is not performed and only circular traveling is performed, as shown by the broken line in FIG. The latter is defined as positive or negative according to the left and right direction from the initial position, and when welding a part where the groove is widened, that is, when the number of passes increases, the left side and right side are alternated for each pass. .

A feature of the apparatus of the present invention is that the torch position is controlled by associating the torch position conditions defined by the above-mentioned mechanism specific to circumferential welding with tracing data, which will be described later, in a superimposed manner. In other words, even if the user program specifies 44 torch vertical positions, if +11 is obtained as scanning data, the torch position is controlled by adding correction to /d 5.5 m. Therefore, it would be great if position control could be performed that perfectly corresponds to the conditions that vary depending on the target welding, such as the target welding target! becomes −.

The following voltage position column defines the welding voltage at the tap position of the voltage regulator 71. Other data related to sweeping (not shown) is also included, but this data is obtained by repeatedly adding the Wasei sweeping data of the data regarding the horizontal position of the torch and the tracing data regarding the horizontal direction in the user program. 15c
Sweeping is realized by controlling K.

Writing of such data into the FROM 48 is performed using a FROM writer (not shown), but since the amount of data to be written is large, in this embodiment a microcomputer is used to allow writing in an interactive manner.

The storage medium or storage method for storing such a user program is not limited to the above embodiment. For example, the FROM is not limited to a semiconductor PROM K, but may also be a magnetic puzzle memory or the like. Furthermore, the contents of the user program are extremely important in achieving high-quality welding, and the contents are not determined by the operator of the welding device of the present invention, but are provided by the welding device manufacturer or others. Since it is of F.
It does not need to be a ROM, but may be a ROM in which a user program is written by the supplier.

Furthermore, a user program is written on the cassette tape, and this is stored in the RAM 39 or a separate R for the user program.
It may also be an architecture in which AM is written.

Next, the collection of tracing data will be explained.

As mentioned above, the displacement of the welding groove in the left and right direction is detected by the strain gauges 7a and 7b, and the output signal thereof is detected by using the other resistors 24a and 24b and by using the strain gauges 7a and 7b. The voltage is input to the amplifier 26 as an unbalanced voltage in the Wheatstone bridge circuit 25, which is configured such that the sides are adjacent to each other.

After the output signal is amplified by the amplifier 26, it passes through the arithmetic circuit 27 and is displayed on the balance detection meter 28 installed in parallel with the operation section 40 so that it can be monitored. is input to.

A potentiometer 27a is connected to a terminal of the arithmetic circuit 27 that inputs the output from the amplifier 26, and the output of the arithmetic circuit 27 can be adjusted to zero by adjusting the output voltage thereof.

The unbalance detection circuit 29 determines whether the output of the arithmetic circuit 27 is positive or negative, in other words, whether the displacement of the welding groove is to the left or to the right. and outputs a signal corresponding to each.

The output of the unbalance detection circuit 29 is input to a logic gate 30, which is connected to the unbalance detection circuit 29.
9, an output from a comparator 35 (described later), and an output by operating manual switches 30a and 30b. Under the situation where the output from the unbalance detection circuit 29 is selected, the welding When a leftward or rightward displacement of the groove portion is detected, a leftward signal or rightward signal is output.

Further, when the manual switch 30a or Vi 30b is operated, the left signal or the right signal is output preferentially. The left row signal and right row signal of the logic circuit 30 are input to AND gates 32a and 32b, respectively.

The AND gates 32m and 32b surround the respective gates while the left row signal or right row signal is being output, and transmit the pulse signals input from the pulse generator 31 while the gates are open to the pulse motor. 15d and logic circuit 33
Output to. The pulse motor 15dVi AND gate 32m or #' 132b rotates the pulse motor in the positive direction or in the negative direction by an amount corresponding to the number of input cavities.

In the logic circuit 33, the above-mentioned input signals are converted into up/down signals and counting clock signals. That is, AN
When an input from the D gate 32a or #"i, 32b is given, an up or down signal is generated from one output terminal, and a pulse signal is converted into a counting clock signal using the if1 input signal from the other output terminal. The output signal 8 is then input to the up/dakunkakunta 34. While the up/dakunkakunta 34 is busy,
The counting lock signal is applied or decremented, but the counting contents are sent to the CPU via the I10 boat 36.
37.

The count contents of up/dakunkakunta 34 are also calculated by comparator 3.
5 is input. A position command signal for the arm 21 is also given to the comparator 35 from the CPU 37, and when the output from the CPU 37 is larger or smaller than the count contents of the up/down counter 34, a left row signal or a signal is sent to the logic game 30. Outputs right row signal.

On the other hand, the vertical displacement of the welding groove is detected by the strain gauges 9a and 9b, and the output signal thereof is exactly the same as the output signal of the horizontal displacement of the welding UFJ tip described above. The data is processed and read into the CPU 37. In addition, the circuit elements that perform each process in this case are given the same numbers as the circuit elements that process the output signal of the horizontal displacement of the welding groove described above, and in order to distinguish between the two, A ' (dash) is added to the number.

The signal regarding the traveling speed command from the CPU 37 is I
D/A (digital/analog) through 10 boats and 36
The signal is input to a converter 41, converted into an analog signal by the converter 41, amplified by an amplifier 42, and then input to a V/F converter 43. In the V/F converter 43, the signal is converted into a pulse signal and then input to the logic circuit 44. The frequency of this pulse signal represents the rotational speed of the motor 15a or the traveling speed of the traveling trolley 15. The traveling speed when collecting tracing data is set in advance. Also CP
A signal regarding the traveling direction is given from U37 to the logic circuit 44. This direction is also set in advance for one step in collecting data. With these inputs, the logic Jlj circuit 44
A drive pulse is applied to the forward or reverse rotation terminal of the motor 15a. Also provided is a manual operation circuit 45 that manually commands forward and reverse rotation of the motor 15a.
The output is input to the logic circuit 44, which causes the traveling trolley 15 to travel clockwise or counterclockwise at a constant speed. Manual filJ operation also has priority in running the motor 15a.

The logic circuit 44 provides an up/down signal and a counting clock signal to the up/down circuit 46 in response to the drive pulses it outputs. The hot Dakunkakunta 46
is reset to zero by a reset switch 47. The up/dakunkakunta 46 emits a pulse signal every time the traveling bogie 15 advances lOa+ according to a preset setting, and also emits a pulse signal every time it goes around the rail 17. 15 position data is read into the CPU 37 via the I10 port 36. This allows CPU3
7 is a welding line tracing sensor 20 (welding torch 16 when welding)
The running position or position from the state where is reset to zero is 101
Specify in units of 1111.

Next, the control of the CPU 37 when collecting scanning data will be explained in a series of steps when welding steel pipes W and W'.

FIG. 11 is a 70-chart of this process. First, the apparatus of the present invention is attached to the steel pipes w and w'. That is, steel pipe w, w
The ends of the pipes with the beveled edges of A rail 17 is installed to guide the traveling carriage 15 for running the carriage 16, and the traveling carriage 15 is supported by the rail 17.

Then, using the welding line tracing sensor 20, a tracing operation is performed prior to welding, and tracing data is collected. First, the initial setting positions of the steel pipes w and w' that should be the zero point (usually the steel pipes w,
Welding line tracing sensor °20
Match. This #i is performed by manual operation using the hand U1 operation circuit 45. Next, weld line tracing sensor 2
0 in the vertical and horizontal directions, and inserts the annular contact 1, which is a part of the welding line tracing sensor 20, into the welding groove I7 so that it is located at the center of the welding groove I7. This Ir1t+r+
Recorder 1σJ switch 30a, 30b, 30a'
, 30b' by manual operation. Further, the output of the arithmetic circuit 27 is adjusted to zero using the potentiometers 27a and 27a', and the up/down counter 46 is reset to zero using the reset switch 47. And the operation section 40
CPU3 by operating a copying switch (not shown) provided in
7 to command operation in copy mode. The reset switch 37 can also serve as a copying switch. When the CPU 37Vi enters the copying mode, first the user program from the FROM 48 is read into the RAM 39. Then, the motor 15a is rotated at a constant speed in a predetermined direction,
The traveling trolley 15 is rotated twice, basic scanning data is obtained during the first rotation, and confirmation scanning data is obtained during the second rotation, and scanning data used for welding is calculated from both data and stored in the RAM 39. , initializes the torch height. The CPU 37 first causes the logic gate 30.30' to select the output from the unbalance detection circuit 29.29'. After that, the traveling trolley 15 starts running around. The traveling trolley 15
As mentioned above, the welding line tracing sensor 2 is connected via the arm 21.
0 is attached, but the output is output so as to eliminate the deviation of the weld line tracing sensor 20 from the initial setting state in the left-right direction or the vertical direction in response to the displacement of the welding groove in the left-right direction and the vertical direction. AND gates 32a, 32b
, 32a', 32b', the pulse motors 15c, 15d y5:% are driven, and the welding line tracing sensor 2° is moved in the horizontal and vertical directions by the driving force. The CPU 37 obtains data regarding this amount of movement based on the initial setting state of the weld line tracing sensor 20, and stores it in the RAM 39 in association with the 10 m pulse. When the CPU 37 receives two circulating pulses, it stops the motor 15a. Both the basic scanning data and the ntt M scanning data obtained during this time are read out, and the results of averaging the two data of the first round (basic scanning) and second station (confirmation scanning) corresponding to the same position in the circumferential direction are calculated. The data is stored in the RAM 39 again as the required copying data. This averaging K
q, and if the difference between both data is greater than or equal to a predetermined value, it is ignored as abnormal data and the preceding and succeeding data are used.

When the CPU 37 t-t receives the second circulating pulse, it performs the data processing as described above, while the rod-shaped electrode 16 a
Grounding or non-grounding of the - input is detected, and until non-grounding is detected, control is performed to reversely drive the motor 15c in order to lower the torch 16 by a strong -1 in response to the logic game 30'. As a result, the copying sensor 2o is strongly pressed, but the leaf spring 9. A push spring 12 relieves this.

When the grounding of the rod-shaped electrode 16a is detected, the CPU 37 lowers the torch 16 to the height Hl (H9m in the example of FIG. 9) at the initial position.
m), the required numerical value is sent to the comparator 35', and the motor 15c is driven in normal rotation until the required numerical value is realized.

When the rod-shaped electrode 16a is grounded, the state shown in FIG. 12(b)
As shown in Fig. 12(a), the contents of the counter 34' are the difference H between the lower end of the rod-shaped electrode 16a and the surface of the base material at 0] as shown in Fig. 12(a).
The inner g (Ht) represents 7. If the distance between the lower end of the torch and the lower end of the rod-shaped electrode is Hl (Hl<Hl) (this is given in advance from the operating section 40 to the RAM 39), then C
PU37 outputs -H to comparator 35'! + (HI H
l) Output corresponding data. Then comparator 35
' is H2+ (HI Hs) > Hz, so an ascending signal is generated, the motor 15c rotates forward, the torch rises, and the contents of the counter 34' become -H2+ (HI Hs).
), in other words, the torch will stop when the height reaches Ht [Fig. 12(C)].

In addition to such control, the initial position in the left and right directions,
In the example of FIG. 9, the motor 15 (i) which should be set to O is controlled.

Before starting welding, the scanning sensor 20 is temporarily removed from the arm 21, and an automatic start switch (not shown) of the operating section 40 is operated to instruct the CPU 37 to operate the welding support.

The CPU 37 then enters the welding mode routine.
First, a sum check of the user program data read from the PROM 48 to the RAM 39 is performed. This is FROM
When writing data to the CPU 48, for example, calculate the sum of data for each item and check it in the specified area.
37 calculates the sum of each item of the data transferred and stored in the RAM 39, and compares this with the data stored as the sum to check for data corruption. This prevents welding control from running out of control.

Next, the KCPU 37 stores the run-up distance (copying sensor 20 and the welding torch 16 located on the rear side) which has been given in advance in the RAM 39.
circumferential distance between In this example, set to a multiple of ilOmm)
After reading out, a signal instructing the forward rotation of the motor 15a is sent to the logic circuit 44, and a speed command signal for a preset approach speed is sent to the Akatsuki converter 41. Next, a signal is issued to the electromagnetic valve 72 instructing it to open so as to eject shielding gas.Through the above series of controls, the torch 16 rotates clockwise while ejecting shielding gas. When the rotation corresponding to the run-up distance is detected based on the number of 19 mm pulses input from the welding machine, a necessary signal is issued to the voltage regulator 71 to cause welding to be performed at the welding voltage according to the user program. It is equipped with a tap switching device using a voltage regulator 71Vi relay, and the welding voltage is adjusted in stages.

Further, a necessary signal is issued to the core wire feeding device w19 to realize the wire feeding speed according to the user program. Wire feed motor 19a in this core wire feeding device 19
The drive control circuit 190 controls the motor drive circuit in order to eliminate the difference between the command analog value obtained by latching and converting the speed data issued from the CPU 37 and the feedback analog value obtained by converting the output of the generator 19b. It is configured to tilt.

Controlling the torch in the horizontal and vertical directions involves associating the user program with the scanning data so that they correspond to the same position in the same direction (as mentioned above, the running position of the busy user program is the cumulative amount of movement). The sum is added and outputted to the comparators 35 and 35'.

Since this control is performed after the run-up is completed, the scanning data will be aligned with the torch travel position. 〇 Busy logic circuit 4
4 and I)/A converter 41 to output data regarding the traveling direction and traveling speed.

As described above, the data output from the CPU 37 is updated every time a 10 mm pulse is input from the counter 46, so welding voltage, wire feed speed, welding speed (
The position of the torch 16 is controlled in such a way that the horizontal and vertical positions of the torch 16 are realized by superimposing the user program and the scanning data.

To explain K, the above superimposed data is sent to the comparator 35.
35' is inputted to the comparators 35 and 35' from the up/down counters 34 and 3a. Data related to the amount of rotation in the opposite direction is also input, and the comparator 35.35'
compares the surface input data, and if the surface inputs do not match, the O logic outputs the left row/right row or up/down row command signals to the logic game) 30.30' to resolve the mismatch. The above signals of gates 30, 30' are connected to AND gate 32, respectively.
a, 32b, 32a', 32b'. The A
ND game) 32a, 32b, 32a', 321)' output pulse signals to rotate the pulse motors 15cl, 150 based on the signals and the Nockles signals from the pulse transmitters 31, 31'. 15d, 1
Output to 5c. The pulse motors 15 d, 15 c
It rotates in the forward or reverse direction by an amount corresponding to the number of input pulses according to the pulse signal, and the horizontal and vertical positions of the arm 21°, that is, the welding torch 16 during welding, are controlled. The control AI+H running trolley 15 is 10m
As described above, this is performed based on the data that is updated every time the vehicle travels m distances.

While such welding control is being performed, the numerical display 5
At 0, a numerical value for monitoring is displayed.

In addition, the CPU 37 cassette tape recorder 49 inputs the running position (same as the user program, based on the 10 mm pulse of the cumulative value of the movement amount 0 counter 46), and the running speed (based on the signal to be given to the D/A converter 41). Wire feed speed (according to the output of the pulse generator 19b), torch horizontal and vertical positions (according to the count contents of the counters 34 and 34', respectively), and welding voltage and welding current (according to the outputs of the voltage detector 70v and current detector 70a, respectively) The 10 mm pulse input is recorded as a timing signal.This allows analysis after welding.

When the pipe ends of the steel pipes W and W are butted against each other using a device of the present invention such as a constrictor, and the butted portion is welded, the steel pipe w
It is possible to obtain profiling data that takes into account not only the displacement of the welding groove in the horizontal direction of w', but also the displacement of the welding groove in the vertical direction, and the profiling data of the inclined steel pipe w, w It is possible to superimpose data on the appropriate welding conditions for each position during the ' days and perform welding based on that data, which not only makes it possible to avoid misalignment between the weld groove and the weld bead, but also Welding can be performed under welding conditions that are appropriate for the welding position, upward movement, upward movement, etc. Moreover, the device of the present invention satisfies the above-mentioned appropriate conditions as FRO.
Since the information is provided by a storage medium such as M, the operator does not need any skill, and high-quality welding can be stably performed.

Further, if an upward retraction mechanism for the sensor 20 is added to the above embodiment, the series of steps can be performed fully automatically.

Since the twisted inner clamp device connects one central base 51 and the other central base 52 in a bendable manner at the center thereof, the mutual axial directions of the butted steel pipes w and w' are at a slight angle. It is possible to cut it so that it forms. In addition, since the copper backing metal 64 allows backing to be performed all around the inner circumference of the butt portion without any gaps, sound backing welding can be achieved.

As detailed above, the device of the present invention includes an annular rail, an inner clamp device, a traveling carriage, a means for moving a welding torch and a copying sensor, a storage medium for storing welding conditions, a means for collecting copying information, and a welding control means. Therefore, when the pipe ends are butted against each other and the butted portion is welded, it provides an extremely effective means for improving welding quality and nesting efficiency.

[Brief explanation of the drawing]

FIG. 1 is a perspective view showing the entire mechanism of the device of the present invention, FIG. 2 is a schematic front view of the mechanism along with a cross section of the annular rail, and FIG.
The figure is a square view showing the weld line tracing sensor, Figure 4 is a side view with a part of the inner clamp device cut away, and Figure 5 Vi
Fig. 4 is a partially fragmented front view taken along line v-■, Fig. 6 is a perspective view showing the main parts of the inner clamp device, Fig. 7(a)
(b) is a developed view of the copper backing, FIG. 8 is a block diagram showing the control system of the device of the present invention, FIG. 9 is a conceptual diagram showing an example of a user program, FIG. 10 is a running pattern diagram, and FIG. FIG. 11 is a flowchart for explaining the operation of the apparatus of the present invention, and FIGS. 12(a) to 12(c) are diagrams for explaining the setting of the initial height position of the torch. W, W...Steel pipe L...Welding groove 1...Annular contactor 3...Pivot shaft 5...Holding body 7, 9...Plate springs 7a, 7b, 9a, 9b - Strain gauge 11 Support body 15... Traveling trolley 16... Welding torch 17-
I-shaped rail 20... Welding line copying sensor 37...C
PU38 ・ROM 39 ・RAM 40-...
Operation unit 48...PROM 49...Cassette tape recorder 51.52...Central board 53.53.
・・Side disc 61.61-・61・・Clamp fitting
64... At the time of copper backing Applicant: One agent other than Sumitomo Metal Industries, Ltd. Patent attorney: Noboru Kono Figure 6 Figure 7 Figure q Figure 10 Figure 11 Group 12

Claims (1)

[Claims] 1. An automatic welding device that butts pipe ends together and welds the abutted portions, comprising: an annular rail attached to the pipe; a welding torch and a tracing sensor; A traveling cart that travels in the circumferential direction of the pipe, a means for moving a welding torch and a copying sensor in the longitudinal and radial directions of the pipe, a storage medium that stores welding conditions in association with positions in the circumferential direction of the pipe, and welding. a means for collecting longitudinal and radial tracing information of the tube by causing a traveling carriage to travel while engaging a tracing sensor with the abutting portion prior to the process, and associating the welding conditions stored in the storage medium with the tracing information. An automatic welding device for pipes, characterized in that it is equipped with a control means for welding. 2. The copying sensor includes a ring-shaped contact that engages in the abutment capital and rolls, a holder that supports the pivot shaft of the ring-shaped contact so as to be movable in the axial direction, and a support that supports the pivot shaft of the ring-shaped contact so that it can move in the axial direction. A tenth flexible intervening device is interposed between the shaft and the support, a support body elastically supports the holding body, a second flexible body interposed between the holding body and the support body, a tentacle and the holding body. A first strain gap arranged as a position trap in the first flexible body showing a change following a change in the relative positional relationship between the tentacle and the support; 2
2. The automatic pipe welding apparatus according to claim 1, further comprising a second strain gauge disposed at a position on the flexible body.