JP2003230961A - Narrow groove tig automatic arc welding device and welding method thereof - Google Patents
Narrow groove tig automatic arc welding device and welding method thereofInfo
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- JP2003230961A JP2003230961A JP2002029801A JP2002029801A JP2003230961A JP 2003230961 A JP2003230961 A JP 2003230961A JP 2002029801 A JP2002029801 A JP 2002029801A JP 2002029801 A JP2002029801 A JP 2002029801A JP 2003230961 A JP2003230961 A JP 2003230961A
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- arc
- consumable electrode
- narrow groove
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Abstract
Description
【０００１】[0001]
【発明の属する技術分野】本発明は、１層１パス溶接を
行う狭開先ＴＩＧ溶接において、母材表面からの余盛り
量を一定に保持することが可能な狭開先ＴＩＧ自動アー
ク溶接装置ならびにその溶接方法に関する。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a narrow groove TIG automatic arc welding apparatus capable of maintaining a constant amount of extraneous material from the surface of a base metal in narrow groove TIG welding for performing one-layer one-pass welding. And a welding method thereof.
【０００２】[0002]
【従来の技術】発電用ボイラの主配管、原子力発電のＲ
ＰＶ（Reactor Pressure Vessel）等の圧力容器は厚さ
３０ｍｍ〜１５０ｍｍの厚板構造物であり、多数の溶接
箇所がある。例えば発電用ボイラの一部を構成している
主配管は、主蒸気管、高温再熱蒸気管、低温再熱蒸気
管、主給水管等は、高温あるいは高圧のために大径で厚
肉管の構造となっている。主配管は、コイルで加熱され
た高温、高圧の蒸気をボイラからタービンまで送り、タ
ービンで仕事を終えた蒸気を、再びボイラのコイルに還
流するといった高温、高圧の配管構造である。2. Description of the Related Art Main piping for power generation boilers, R for nuclear power generation
A pressure vessel such as PV (Reactor Pressure Vessel) is a thick plate structure having a thickness of 30 mm to 150 mm, and has many welding points. For example, the main pipes that form part of the boiler for power generation are main steam pipes, high-temperature reheat steam pipes, low-temperature reheat steam pipes, main water supply pipes, etc. It has a structure of. The main piping has a high-temperature, high-pressure piping structure in which high-temperature, high-pressure steam heated by a coil is sent from a boiler to a turbine, and steam that has finished its work in the turbine is returned to the boiler coil again.
【０００３】また、配管自身が高温、高圧であるためボ
イラの起動、停止時における伸縮量が大きく、溶接継手
に応力が集中するため、ボイラからタービンまでの主配
管には高品質の溶接部が要求される。この溶接には、母
材に対する入熱量を抑えて溶接歪みや熱影響を少なく
し、また効率的に溶接が行えることから、開先幅５ｍｍ
〜１２ｍｍの狭開先アーク溶接法が適用される。Further, since the piping itself is at high temperature and high pressure, the expansion and contraction amount at the time of starting and stopping the boiler is large, and the stress concentrates on the welded joint. Therefore, a high quality welded portion is provided in the main piping from the boiler to the turbine. Required. In this welding, the groove width is 5 mm because the heat input to the base material is suppressed to reduce welding distortion and thermal influence, and the welding can be performed efficiently.
A narrow groove arc welding method of ~ 12 mm is applied.
【０００４】このアーク溶接法としてはステンレス鋼や
高合金鋼の場合は、非消耗電極式ＴＩＧ（Tungsten Ine
rt Gas Arc）溶接法が、また低合金や軟鋼の場合は、消
耗電極式ＧＭＡ（Gas Metal Arc）溶接法が適用される
場合が多い。As the arc welding method, in the case of stainless steel or high alloy steel, non-consumable electrode type TIG (Tungsten Ine)
In the case of low alloy or mild steel, the consumable electrode type GMA (Gas Metal Arc) welding method is often applied.
【０００５】ここで図８と図９により狭開先ＴＩＧ溶接
法を説明する。図８は厚板材の狭開先ＴＩＧ溶接状況
を、図９は管材の狭開先ＴＩＧ溶接状況を示す。図８で
は、対向する母材３ａ，３ｂの間に幅５ｍｍ〜１２ｍｍ
の狭開先２４を加工し、開先幅より薄い長尺な溶接トー
チ１とワイヤトーチ１０を狭開先２４に挿入する。溶接
トーチ１の先端には、タングステンからなる非消耗電極
２が取り付けられ、トーチ先端から吹き出すアルゴン
（Ａｒ）ガスやヘリウム（Ｈｅ）ガスなどに不活性ガス
からなるシールドガスにより溶接部を空気からシールド
しながら、非消耗電極２を負極、母材３ａ，３ｂを正極
としてアーク５を形成する。ワイヤトーチ１０により導
かれた添加ワイヤ６を溶接部に送給して溶接に関与し、
狭開先２４を溶接ビード２０により埋めることにより母
材３ａと３ｂの接合を行う。図８では図には示していな
いが、台車等の駆動装置により、溶接装置を開先方向に
移動しながら溶接している状況を示している。The narrow groove TIG welding method will be described with reference to FIGS. 8 and 9. FIG. 8 shows a narrow groove TIG welding condition of a thick plate material, and FIG. 9 shows a narrow groove TIG welding condition of a pipe material. In FIG. 8, a width of 5 mm to 12 mm between the base materials 3a and 3b facing each other.
The narrow groove 24 is processed, and the long welding torch 1 and wire torch 10 thinner than the groove width are inserted into the narrow groove 24. A non-consumable electrode 2 made of tungsten is attached to the tip of the welding torch 1, and the weld is shielded from the air by a shield gas made of an inert gas such as argon (Ar) gas or helium (He) gas blown from the tip of the torch. Meanwhile, the arc 5 is formed using the non-consumable electrode 2 as a negative electrode and the base materials 3a and 3b as a positive electrode. Participates in welding by feeding the additive wire 6 guided by the wire torch 10 to the welded portion,
By filling the narrow groove 24 with the welding bead 20, the base materials 3a and 3b are joined. Although not shown in the figure in FIG. 8, the welding device is being moved while being moved in the groove direction by a driving device such as a carriage.
【０００６】図９では、母材３ｃが管材で、溶接装置を
固定し、母材３ｃである管材を図示しない母材回転機構
により回転させ最終層まで連続溶接を行う状況を示して
いる。添加ワイヤ６は図８と同様にワイヤリール９に巻
かれていて、ワイヤ送給装置７により、コンジットライ
ナ８とワイヤトーチ１０を経由して溶接部に導かれる。
溶接トーチ１の先端から吹き出すシールドガスだけで
は、溶接トーチ１周辺の空気を巻き込み溶接部のシール
ドが不完全である。そのため溶接トーチ１上部の狭開先
２４外にシールドガスボックス２３を設置し、狭開先２
４方向に対してシールドガスを流して、狭開先２４内全
体を不活性ガス雰囲気にする方法が一般に採用されてい
る。本溶接法は１層１パスの多層溶接であり、１層３ｍ
ｍ程度の積層になることから、母材３の板厚が厚くなる
と数時間におよぶ長時間連続溶接になる。FIG. 9 shows a situation in which the base material 3c is a pipe material, the welding device is fixed, and the pipe material which is the base material 3c is rotated by a base material rotating mechanism (not shown) to perform continuous welding up to the final layer. Similar to FIG. 8, the addition wire 6 is wound around the wire reel 9 and guided by the wire feeding device 7 to the welding portion via the conduit liner 8 and the wire torch 10.
Only the shield gas blown from the tip of the welding torch 1 entraps the air around the welding torch 1 and the shield at the welded part is incomplete. Therefore, the shield gas box 23 is installed outside the narrow groove 24 above the welding torch 1, and
A method of flowing a shield gas in four directions to make the entire inside of the narrow groove 24 an inert gas atmosphere is generally adopted. This welding method is multi-layer welding of 1 layer 1 pass, 1 layer 3m
Since the lamination is about m, the thicker the base material 3 becomes, the longer the welding becomes for several hours.
【０００７】また、開先幅が８ｍｍ以下などの非常に狭
い開先でＴＩＧ溶接を行うと、非消耗電極を開先内で左
右にウィービングしなくてもアークで両側開先壁を溶融
でき、高速溶接が可能になり、溶着金属量も少なくて済
むことからＴＩＧ溶接でも高能率溶接が行える。また入
熱量が少なくなることから、溶接変形も残留応力も非常
に小さくなり、より高品質な溶接が行える。Further, when TIG welding is performed with a very narrow groove having a groove width of 8 mm or less, both groove walls can be melted by an arc without weaving the non-consumable electrode left and right in the groove, Since high-speed welding is possible and the amount of deposited metal is small, high-efficiency TIG welding can be performed. Further, since the heat input amount is small, the welding deformation and the residual stress are very small, and higher quality welding can be performed.
【０００８】１層１パスの狭開先溶接の場合、使用する
溶接条件は数種類であり、裏側まで溶かして裏波ビード
を形成する初層、次の２〜３層の次層、中間層、最終層
前、母材表面より凸になるように余盛り溶接を行う最終
層で、その溶接条件が異なることが多い。In the case of the narrow groove welding of one layer and one pass, there are several welding conditions to be used. The first layer, which melts to the back side to form the back bead, the next two to three layers, the intermediate layer, Before the final layer, the welding conditions are often different in the final layer in which extra welding is performed so as to be convex from the base metal surface.
【０００９】前記中間層では、下ビードのコーナ部と両
側開先壁を充分溶かして融合不良を起こさなくする必要
があり、溶接電流を高めにしアーク長を短かめにした方
が良い。それに対して、余盛り溶接では溶接ビードを広
げる必要があり、添加ワイヤ量を少な目にして溶接電流
を下げてアーク長は長めにした方が良い。In the intermediate layer, it is necessary to sufficiently melt the corner portion of the lower bead and the groove walls on both sides to prevent defective fusion, and it is better to increase the welding current and shorten the arc length. On the other hand, in excess welding, it is necessary to widen the welding bead, and it is better to decrease the amount of added wire and lower the welding current to lengthen the arc length.
【００１０】連続溶接を行う場合に問題になるのは、最
終層前の溶接であり、最終層の余盛り溶接を行うために
積層高さの調整を行う必要がある。つまり最終層前で、
ビード表面が開先上部の母材表面より少し低く、開先上
部のコーナが残るくらいが良い。この母材表面レベルよ
り低すぎても、高すぎても余盛り溶接が難しくなり、余
盛りビードの高さが一定高さにならなくなる。A problem when performing continuous welding is welding before the final layer, and it is necessary to adjust the stack height in order to perform extra welding of the final layer. That is, before the final layer,
It is better that the bead surface is slightly lower than the base metal surface at the top of the groove, leaving a corner at the top of the groove. If it is lower or higher than the base metal surface level, excess welding becomes difficult and the height of the excess bead does not become a constant height.
【００１１】また、余盛り溶接条件に切り換えるタイミ
ングも重要になる。同じ形状のワークが作業場所に流れ
る場合は、溶接条件を固定して施工することが可能だ
が、対象ワークの径、板厚が多品種の場合は、この最終
層前の溶接条件は固定できない。特に板厚が厚い場合
は、積層が数十層にもなるため、開先の加工誤差や溶接
の変形により開先幅が変化し、例えば、１層の積層高さ
が０．１ｍｍ違ったとしても２０層溶接すれば高さが２
ｍｍ最終的に違ってくることになり、標準積層高さ３ｍ
ｍに対して無視できない大きさになり、余盛り前の層の
積層高さ調整が必要になる。The timing of switching to the extra welding condition is also important. When workpieces of the same shape flow to the work place, welding conditions can be fixed and construction can be performed, but when the workpieces of various diameters and thicknesses are used, the welding conditions before the final layer cannot be fixed. Especially when the plate thickness is large, the number of laminated layers is several tens, so that the groove width changes due to the groove processing error and welding deformation. For example, if the laminated height of one layer differs by 0.1 mm. Also, if you weld 20 layers, the height is 2
mm It will be finally different, and the standard stacking height is 3m.
It becomes a size that cannot be ignored with respect to m, and it is necessary to adjust the stacking height of the layers before the surplus.
【００１２】自動ＴＩＧ溶接において、溶接ビードの盛
り残し量又は余盛り量を一定に保持する方法としては、
溶接トーチを定アーク長制御又は定電圧制御により駆動
し、溶接中にアーク点から１００ｍｍ以内の位置の母材
表面を基準とするトーチ高さを溶接トーチに固定したレ
ーザセンサにより測定し、この測定結果に基づいて母材
表面を基準とするトーチ高さが一定となるように、溶接
速度及び又は添加ワイヤ送給速度を制御する方法が提案
されている（特開平7-148576号公報）。[0012] In automatic TIG welding, a method for keeping the remaining amount or the remaining amount of the weld bead constant is as follows.
The welding torch is driven by constant arc length control or constant voltage control, and the torch height based on the base metal surface within 100 mm from the arc point during welding is measured by a laser sensor fixed to the welding torch. A method has been proposed in which the welding speed and / or the feeding speed of the additive wire are controlled so that the torch height based on the surface of the base material becomes constant based on the result (JP-A-7-148576).
【００１３】[0013]
【発明が解決しようとする課題】しかしながら、狭開先
溶接では板厚が１００ｍｍにもなる厚い対象物があり、
レーザセンサを溶接トーチに固定すると測定範囲が非常
に広くなり、この範囲をカバーできる適当なレーザセン
サがない。また、溶接部周辺は材質によっては２００℃
程度の予熱をすることもあり、また溶接によりかなりの
高温になるためレーザセンサは耐熱対策が必要になる。
そして狭開先溶接の場合、図９に示すように溶接トーチ
１の母材近傍にはシールドガスボックス２３が設置され
ているため、それとレーザセンサが干渉しないようにす
ると、溶接トーチ１の周辺がかなり複雑、大型になる問
題があった。However, in narrow groove welding, there is a thick object having a plate thickness of 100 mm.
If the laser sensor is fixed to the welding torch, the measuring range becomes very wide and there is no suitable laser sensor that can cover this range. Depending on the material, the temperature around the weld is 200 ° C.
The laser sensor may need to be preheated to some extent, and since the temperature becomes considerably high due to welding, the laser sensor requires heat resistance measures.
In the case of narrow groove welding, a shield gas box 23 is installed near the base material of the welding torch 1 as shown in FIG. There was a problem that it became quite complicated and large.
【００１４】そこで従来、この盛り残し量又は余盛り量
を一定にするために、溶接作業者が手作業で溶接速度又
は添加ワイヤ送給速度を調整していた。このため、作業
者が最終層近くになると常に溶接状況を監視している必
要があり、そのために作業能率が悪く、省人化の要求に
応えることができなかった。Therefore, conventionally, a welding operator manually adjusts the welding speed or the feeding speed of the additive wire in order to make the remaining or surplus amount constant. For this reason, it is necessary for the worker to constantly monitor the welding condition near the final layer, which results in poor work efficiency and was unable to meet the demand for labor saving.
【００１５】本発明はかかる問題点を鑑みてなされたも
のであって、溶接ビードの盛り残し量、余盛り量を一定
に保持することができる狭開先ＴＩＧ自動アーク溶接装
置ならびにその溶接方法を提供することを目的とする。The present invention has been made in view of the above problems, and provides a narrow groove TIG automatic arc welding apparatus and a welding method thereof capable of keeping the remaining amount and the remaining amount of welding beads constant. The purpose is to provide.
【００１６】[0016]
【課題を解決するための手段】前記目的を達成するた
め、本発明の第１の手段は、狭開先を有する母材と、そ
の狭開先に挿入される非消耗電極と、その非消耗電極と
母材の間にアーク電流を供給するためのアーク電源と、
非消耗電極と母材の間に発生したアークにより形成され
る溶融池に送給する添加ワイヤと、その添加ワイヤを送
給するワイヤ送給手段と、前記非消耗電極と母材を相対
的に動かす例えば台車や母材回転機構などからなる駆動
手段とを備え、定アーク長制御で１層１パス溶接を行
い、溶接最終に余盛り溶接を行なう狭開先ＴＩＧ自動ア
ーク溶接装置において、前記非消耗電極と母材間のアー
ク電圧を測定するアーク電圧測定手段と、そのアーク電
圧測定手段で測定した測定アーク電圧が予め定めた閾値
Ｖａを越えると、溶接条件を余盛り溶接条件に切り換え
る例えば後述の制御回路ブロックからなる溶接条件切換
手段とを備えたことを特徴とするものである。To achieve the above object, the first means of the present invention is to provide a base material having a narrow groove, a non-consumable electrode inserted into the narrow groove, and a non-consumable electrode thereof. An arc power supply for supplying an arc current between the electrode and the base material,
Additive wire for feeding to the molten pool formed by the arc generated between the non-consumable electrode and the base material, wire feeding means for feeding the additive wire, and the non-consumable electrode and the base material relatively In a narrow groove TIG automatic arc welding apparatus, which is provided with a driving means for moving, for example, a dolly or a base material rotating mechanism, performs one-layer one-pass welding with constant arc length control, and performs extra welding at the end of welding. Arc voltage measuring means for measuring the arc voltage between the consumable electrode and the base material, and when the measured arc voltage measured by the arc voltage measuring means exceeds a predetermined threshold value Va, the welding condition is switched to the extra welding condition. And a welding condition switching means composed of the control circuit block.
【００１７】本発明の第２の手段は前記第１の手段にお
いて、前記アーク電圧測定手段でアーク電圧を測定し、
その測定アーク電圧の値により前記駆動手段による溶接
速度及び、又は前記ワイヤ送給手段によるワイヤ送給速
度を制御する例えば後述の制御回路ブロックからなる速
度制御手段を設けたことを特徴とするものである。A second means of the present invention is the same as the first means, wherein the arc voltage is measured by the arc voltage measuring means,
It is characterized in that a speed control means comprising, for example, a control circuit block described later is provided for controlling the welding speed by the driving means and / or the wire feeding speed by the wire feeding means according to the value of the measured arc voltage. is there.
【００１８】本発明の第３の手段は前記第１の手段にお
いて、前記非消耗電極と母材の間に形成されたアーク状
態を撮像する例えばＣＣＤカメラなどの撮像手段と、そ
の撮像手段からの画像を解析する画像処理装置を備え、
その画像処理装置で解析されたアーク長により定アーク
長制御を行うことを特徴とするものである。According to a third aspect of the present invention, in the first aspect, an image pickup means such as a CCD camera for picking up an image of an arc state formed between the non-consumable electrode and the base material, and the image pickup means from the image pickup means. Equipped with an image processing device that analyzes images,
It is characterized in that constant arc length control is performed according to the arc length analyzed by the image processing apparatus.
【００１９】本発明の第４の手段は狭開先を有する母材
と、その狭開先に挿入される非消耗電極と、その非消耗
電極と母材の間にアーク電流を供給するためのアーク電
源と、非消耗電極と母材の間に発生したアークにより形
成される溶融池に送給する添加ワイヤと、その添加ワイ
ヤを送給するワイヤ送給手段と、前記非消耗電極と母材
を相対的に動かす駆動手段とを備え、定アーク長制御で
１層１パス溶接を行い、溶接最終に余盛り溶接を行なう
開先ＴＩＧ溶接方法において、前記非消耗電極と母材間
のアーク電圧を測定して、その測定した測定アーク電圧
が予め定めた閾値Ｖａを越えると、溶接条件を余盛り溶
接条件に切り換えることを特徴とするものである。The fourth means of the present invention is for supplying a base material having a narrow groove, a non-consumable electrode inserted in the narrow groove, and an arc current between the non-consumable electrode and the base material. An arc power source, an additive wire for feeding to a molten pool formed by an arc generated between the non-consumable electrode and the base material, a wire feeding means for feeding the additive wire, the non-consumable electrode and the base material In a groove TIG welding method in which one-layer one-pass welding is performed by constant arc length control and excess welding is performed at the end of welding, in an arc voltage between the non-consumable electrode and the base metal. Is measured, and when the measured arc voltage exceeds a predetermined threshold value Va, the welding condition is switched to the extra welding condition.
【００２０】本発明の第５の手段は前記第４の手段にお
いて、前記アーク電圧を測定し、その測定アーク電圧の
値により前記駆動手段による溶接速度及び、又は前記ワ
イヤ送給手段によるワイヤ送給速度を制御することを特
徴とするものである。A fifth means of the present invention is the fourth means, wherein the arc voltage is measured, and the welding speed by the driving means and / or the wire feeding means by the wire feeding means is measured according to the value of the measured arc voltage. It is characterized by controlling the speed.
【００２１】本発明の第６の手段は前記第４の手段にお
いて、開先内を溶接している時に定電圧制御により前記
非消耗電極を上下に移動し、その非消耗電極の上下位置
を記憶しておき、前層から計算した非消耗電極の予定上
下位置より現状の非消耗電極位置がある値より低くなっ
たら、前層から計算した非消耗電極の予定上下位置によ
り定アーク長制御を行うことを特徴とするものである。A sixth means of the present invention is the fourth means, in which the non-consumable electrode is moved up and down by constant voltage control during welding in the groove, and the vertical position of the non-consumable electrode is stored. If the current non-consumable electrode position is lower than a certain value from the planned vertical position of the non-consumable electrode calculated from the previous layer, the constant arc length control is performed according to the planned vertical position of the non-consumable electrode calculated from the previous layer. It is characterized by that.
【００２２】本発明の第７の手段は前記第４の手段にお
いて、前記非消耗電極と母材の間に形成されたアーク状
態を撮像手段で撮像し、その撮像画像を画像処理装置で
解析し、解析から求められたアーク長により定アーク長
制御を行うことを特徴とするものである。A seventh means of the present invention is the fourth means, in which the arc state formed between the non-consumable electrode and the base material is imaged by an imaging means and the captured image is analyzed by an image processing device. The constant arc length control is performed according to the arc length obtained from the analysis.
【００２３】、[0023]
【発明の実施形態】次に本発明の実施形態を図とともに
説明する。図１は、本発明の実施形態に係る開先幅が８
ｍｍ以下、例えば５ｍｍの狭開先ＴＩＧ自動アーク溶接
装置の概略構成図である。BEST MODE FOR CARRYING OUT THE INVENTION Next, an embodiment of the present invention will be described with reference to the drawings. FIG. 1 shows that the groove width according to the embodiment of the present invention is 8
It is a schematic block diagram of the narrow groove TIG automatic arc welding apparatus of mm or less, for example, 5 mm.
【００２４】同図において、１は水冷された非消耗電極
を保持する溶接トーチ、２はタングステンより成りアー
クを発生するための非消耗電極、３は被溶接物の母材、
４は非消耗電極２と母材３間にアーク電流を供給するた
めのアーク電源、５はアーク、６は添加ワイヤ、７は添
加ワイヤ６を溶接部に送り込むためのワイヤ送給装置、
８はワイヤ送給装置７とワイヤトーチ１０間を連結し添
加ワイヤ６の送給路となるコンジットライナ、９は添加
ワイヤ６が巻かれたワイヤリール、１０は添加ワイヤ６
を溶接部に送り込むためのワイヤトーチである。In the figure, 1 is a welding torch for holding a water-cooled non-consumable electrode, 2 is a non-consumable electrode made of tungsten for generating an arc, 3 is a base material of an object to be welded,
4 is an arc power supply for supplying an arc current between the non-consumable electrode 2 and the base material 3, 5 is an arc, 6 is an additive wire, 7 is a wire feeder for sending the additive wire 6 to the welded portion,
8 is a conduit liner which connects the wire feeding device 7 and the wire torch 10 and serves as a feeding path for the addition wire 6, 9 is a wire reel around which the addition wire 6 is wound, and 10 is the addition wire 6
It is a wire torch for feeding the wire to the welding part.
【００２５】１１は溶接トーチ１を保持して母材３に対
してて上下駆動する上下スライダ、１２は溶接トーチ１
を上下スライダ１１に取付固定する取付具、１３は溶接
トーチ１の上下位置を検出するために上下スライダ１１
の駆動機構に取り付けたエンコーダあるいはポテンショ
メータ等の位置検出器、１４はシステム全体を制御する
ための溶接制御装置、１５はマイクロコンピュータ等の
演算回路、メモリー回路、入出力回路、ソフトウエアー
からなる制御回路ブロック、１６は溶接トーチ１と母材
３間のアーク電圧を測定するためのアーク電圧測定回
路、１７は位置検出器１３の信号を受けて積算し溶接ト
ーチ１の上下位置を演算する位置演算回路、１８は上下
スライダを駆動するための上下スライダ駆動回路、１９
はアーク５により形成された溶融池、２０は溶接後の溶
接ビードである。Reference numeral 11 is a vertical slider which holds the welding torch 1 and drives it vertically with respect to the base material 3, and 12 is the welding torch 1.
Is attached to the vertical slider 11, and 13 is a vertical slider for detecting the vertical position of the welding torch 1.
Position detectors such as encoders or potentiometers attached to the drive mechanism, welding controller 14 for controlling the entire system, and control circuit 15 including an arithmetic circuit such as a microcomputer, a memory circuit, an input / output circuit, and software A block, 16 is an arc voltage measuring circuit for measuring an arc voltage between the welding torch 1 and the base metal 3, and 17 is a position calculation circuit for receiving signals from the position detector 13 and integrating them to calculate the vertical position of the welding torch 1. , 18 are upper and lower slider drive circuits for driving the upper and lower sliders, 19
Is a molten pool formed by the arc 5, and 20 is a weld bead after welding.
【００２６】溶接トーチ１先端の非消耗電極２と母材３
の間に発生したアーク５のアーク電圧はアーク電圧測定
回路１６で測定され、そのアーク電圧の測定値が制御回
路ブロック１５に入力される。溶接トーチ１の上下位置
は上下スライダ１１に取り付けた位置検出器１３の信号
を位置演算回路１７に入力し、制御回路ブロック１５に
送られる。制御回路ブロック１５には溶接シーケンス等
の制御プログラムが入れられている。図には記載されて
いないが溶接トーチ１、あるいは母材３を動かすための
例えば台車や母材回転機構などからなる駆動装置、ワイ
ヤ送給装置、アーク溶接電源４等も制御回路ブロックの
信号により制御される。Non-consumable electrode 2 at the tip of welding torch 1 and base material 3
The arc voltage of the arc 5 generated during the period is measured by the arc voltage measuring circuit 16, and the measured value of the arc voltage is input to the control circuit block 15. Regarding the vertical position of the welding torch 1, a signal from the position detector 13 attached to the vertical slider 11 is input to the position calculation circuit 17 and sent to the control circuit block 15. The control circuit block 15 contains a control program such as a welding sequence. Although not shown in the figure, a driving device for moving the welding torch 1 or the base metal 3, such as a trolley or a base metal rotating mechanism, a wire feeder, an arc welding power source 4, etc. is also controlled by a signal from the control circuit block. Controlled.
【００２７】非消耗電極式ＴＩＧアーク溶接方法、溶接
手順は従来の方法と同様であるのでその説明は省略し、
本実施形態の狭開先ＴＩＧ自動アーク溶接方法について
図１ないし図５により説明する。Since the non-consumable electrode type TIG arc welding method and the welding procedure are the same as the conventional method, the description thereof will be omitted.
The narrow groove TIG automatic arc welding method of this embodiment will be described with reference to FIGS. 1 to 5.
【００２８】非消耗非消耗電極式アークの電圧と電流の
特性例を各アーク長ごとに図５に示す。なおこのテスト
は、母材は水冷銅板、ワイヤは無添加、シールドガスは
Ａｒ単独ガスを使用し、アーク長は２．５ｍｍ、５ｍ
ｍ、１０ｍｍと一定に保ち、そのときのアーク電圧とア
ーク電流の関係を示した。アーク電圧は、非消耗電極２
先端の形状、シールドガス、被溶接対象物である母材３
の形状により影響を受けるが、これらの条件が同一なら
アーク電圧はアーク長に依存し、図５に示すようにアー
ク長が長くなるとアーク電圧も高くなり、アーク長が一
定ならばアーク電圧は一定になる。FIG. 5 shows characteristic examples of voltage and current of non-consumable non-consumable electrode type arc for each arc length. In this test, the base material was a water-cooled copper plate, the wire was not added, the shielding gas was Ar alone gas, and the arc length was 2.5 mm and 5 m.
The relationship between the arc voltage and the arc current at that time was shown. Arc voltage is non-consumable electrode 2
Shape of tip, shield gas, base material 3 to be welded
However, if these conditions are the same, the arc voltage depends on the arc length, and as shown in FIG. 5, the arc voltage increases as the arc length increases, and if the arc length is constant, the arc voltage remains constant. become.
【００２９】狭開先ＴＩＧ溶接において開先幅が５ｍｍ
で、１層１パス溶接を行うときのアーク電圧の実測値例
（母材が軟鋼材でワイヤを添加）を図３に示す。シール
ドガスとしては不活性ガスのＡｒ又はＨｅガスを使用
し、図の横軸はＡｒガスにＨｅガスを混合した場合の混
合比（体積％）を表している。A groove width of 5 mm in narrow groove TIG welding
FIG. 3 shows an example of the actual measurement value of the arc voltage when performing the one-layer one-pass welding (the base metal is a mild steel and a wire is added). An inert gas Ar or He gas is used as the shield gas, and the horizontal axis of the figure represents the mixing ratio (volume%) when the He gas is mixed with the Ar gas.
【００３０】非消耗電極先端と母材間の距離を２．５ｍ
ｍの一定として、余盛り溶接時のアーク電圧を同図
（Ａ）に、開先幅が５ｍｍの狭開先内で溶接した場合の
アーク電圧を同図（Ｂ）に示す。同図（Ｂ）に示すよう
に溶接電流３００Ａの時は開先内では８Ｖ（Ａｒ単独ガ
ス）〜１３Ｖ（Ｈｅ単独ガス）なのに対して、開先外で
は１２Ｖ（Ａｒ単独ガス）〜１８Ｖ（Ｈｅ単独ガス）に
なり、４〜５Ｖの差になる。この値は開先内のアーク電
圧値が８Ｖ〜１３Ｖなので非常に大きな値である。以下
判りやすくするためにシールドガスとしてＨｅ単独ガス
を使用し、３００Ａの溶接電流で溶接した場合を考え
る。開先幅が５ｍｍの狭開先内で溶接した場合のアーク
電圧は１３Ｖになり、余盛り溶接時は１８Ｖになる。The distance between the tip of the non-consumable electrode and the base material is 2.5 m.
The arc voltage at the time of extra welding is shown in (A), and the arc voltage in the case of welding in a narrow groove having a groove width of 5 mm is shown in (B) when m is constant. As shown in FIG. 7B, when the welding current is 300 A, it is 8 V (Ar single gas) to 13 V (He single gas) inside the groove, whereas it is 12 V (Ar single gas) to 18 V (He alone) outside the groove. It becomes a single gas) and has a difference of 4 to 5V. This value is a very large value because the arc voltage value in the groove is 8V to 13V. In order to make it easier to understand, consider the case where He is used as a shield gas and welding is performed at a welding current of 300A. The arc voltage when welding is performed within a narrow groove having a groove width of 5 mm is 13 V, and is 18 V during extra welding.
【００３１】図２に開先内の溶接状況、余盛り前の層の
溶接状況、余盛り溶接時の溶接状況と溶接後のビード形
状を表す模式図を示す。また、図４はその時のアーク電
圧値の例を示す特性図である。FIG. 2 is a schematic diagram showing the welding condition in the groove, the welding condition of the layer before the extra welding, the welding condition at the extra welding and the bead shape after the welding. FIG. 4 is a characteristic diagram showing an example of the arc voltage value at that time.
【００３２】図２において同図（Ａ）は開先内の溶接状
況を示す図、同図（Ｄ）はその溶接後のビード形状を示
す図、同図（Ｂ）は余盛り直前の溶接状況を示す図、同
図（Ｅ）はその溶接後のビード形状を示す図、同図
（Ｃ）は余盛り溶接の状況を示す図、同図（Ｆ）はその
溶接後のビード形状を示す図である。なお、図中の２０
ａは余盛り溶接ビード、２０ｂは余盛り直前溶接ビー
ド、２０ｃは開先内溶接ビードである。In FIG. 2, FIG. 2A is a diagram showing the welding condition in the groove, FIG. 2D is a diagram showing the bead shape after the welding, and FIG. 2B is the welding condition just before the extra fill. The figure showing the bead shape after the welding, the figure showing the bead shape after the welding, the figure showing the situation of extra welding, and the figure showing the bead shape after the welding. Is. 20 in the figure
a is an extra weld bead, 20b is a weld bead just before extra weld, and 20c is an in-groove weld bead.
【００３３】同図（Ａ）〜（Ｃ）に示すように溶接中、
アーク長ａは一定になるように制御されている。ここで
は、図面を簡略化するために添加ワイヤ６、溶融池１９
などを省略している。通常アークは余盛り溶接時のよう
に円錐状の形状をしているが〔同図（Ｃ）参照〕、同図
（Ａ）に示すように狭い開先内で溶接した場合にはアー
ク５が開先により閉じ込められ、非消耗電極２近傍まで
両側に開先壁が接近するためにアーク電圧が下がる。こ
の開先内と開先外のアーク電圧の差が大きいことから、
アーク電圧を監視すれば余盛り前の開先の残り量が判定
でき、また、余盛り溶接条件への溶接条件の切り換えタ
イミングが判る。During welding as shown in FIGS.
The arc length a is controlled to be constant. Here, in order to simplify the drawing, the addition wire 6 and the molten pool 19
Are omitted. Normally, the arc has a conical shape as in the case of extra welding [Refer to the same figure (C)], but as shown in the figure (A), the arc 5 is generated when welding is performed in a narrow groove. It is confined by the groove, and since the groove walls approach both sides to the vicinity of the non-consumable electrode 2, the arc voltage drops. Since the difference in arc voltage inside and outside the groove is large,
If the arc voltage is monitored, the remaining amount of the groove before the extra welding can be determined, and the timing of switching the welding condition to the extra welding condition can be known.
【００３４】つまりアーク電流３００Ａで溶接した場
合、図２と図４の（Ａ）の開先内で溶接した場合のアー
ク電圧は１３Ｖ、図２と図４の（Ｃ）の余盛り溶接では
１８Ｖになる。余盛り前の層（Ｂ）では開先の残り具
合、つまり母材３表面からの深さによりアーク電圧が変
化するので、アーク電圧の値に合わせて溶接速度及び、
又はフィラワイヤ送給速度を制御すれば、余盛り前の積
層を開先上部の母材表面とほぼ同レベルの高さに合わせ
ることができる。そして、アーク電流３００Ａで溶接し
た場合余盛り溶接のアーク電圧が１８Ｖとすると、アー
ク電圧の閾値Ｖａを例えば１７Ｖの値とし、この閾値Ｖ
ａの値を越えたところで溶接条件を余盛り溶接条件に切
り換えれば良いことになる。That is, when welding with an arc current of 300 A, the arc voltage when welding in the groove of FIGS. 2 and 4A is 13 V, and 18 V in the extra welding of FIGS. 2 and 4C. become. In the layer (B) before the surplus, the arc voltage changes depending on the remaining state of the groove, that is, the depth from the surface of the base metal 3. Therefore, the welding speed and the welding voltage are adjusted according to the value of the arc voltage.
Alternatively, if the filler wire feeding speed is controlled, it is possible to adjust the stacking before the build-up to a height that is substantially the same level as the surface of the base material above the groove. When the arc voltage of extra welding is 18 V when welding is performed with an arc current of 300 A, the threshold voltage Va of the arc voltage is set to, for example, 17 V, and this threshold V
When the value of a is exceeded, the welding condition may be switched to the extra welding condition.
【００３５】アーク電圧、アーク電流、溶接速度、フィ
ラワイヤ送給速度などの各種溶接条件は、前述の開先内
溶接、余盛り溶接でそれぞれ決められており、前記アー
ク電圧の閾値Ｖａとともにこれらの溶接シーケンスは前
記制御回路ブロック１５（図１参照）に格納されてい
る。そして、測定したアーク電圧が閾値Ｖａを越えると
余盛り溶接条件に切り換える制御、ならびに測定したア
ーク電圧の値により溶接速度及び、又はワイヤ送給速度
を制御することが、制御回路ブロック１５でなされる。Various welding conditions such as arc voltage, arc current, welding speed, filler wire feeding speed, etc. are determined by the above-mentioned groove welding and extra welding, respectively. The sequence is stored in the control circuit block 15 (see FIG. 1). When the measured arc voltage exceeds the threshold value Va, the control circuit block 15 controls to switch to the extra welding condition, and controls the welding speed and / or the wire feeding speed according to the value of the measured arc voltage. .
【００３６】本発明では何らかの方法によりアーク長を
一定に制御する必要がある。次に定アーク長制御方法に
ついて説明する。開先内を溶接している場合は、定電圧
制御により溶接トーチを上下に駆動して、アーク長を一
定にすればよい。つまりアーク電圧をアーク電圧測定回
路１６より測定し、その値が例えば１３Ｖになるよう
に、溶接トーチ１の上下位置を上下スライダ駆動回路１
８により上下スライダ１１を駆動して調整する。アーク
電圧が１３Ｖより高ければ溶接トーチ１を下げて、逆に
アーク電圧が１３Ｖより低ければ溶接トーチを上げれば
よい。In the present invention, it is necessary to control the arc length constant by some method. Next, the constant arc length control method will be described. When welding is performed in the groove, the welding torch may be driven up and down by constant voltage control to make the arc length constant. That is, the arc voltage is measured by the arc voltage measuring circuit 16, and the vertical position of the welding torch 1 is adjusted so that the value becomes 13 V, for example.
The upper and lower sliders 11 are driven by 8 for adjustment. If the arc voltage is higher than 13V, the welding torch 1 may be lowered, and if the arc voltage is lower than 13V, the welding torch may be raised.
【００３７】そして定期的に位置検出器１３の信号を位
置演算回路１７により読み込み、溶接トーチ１の上下位
置を制御回路ブロック１５のメモリに記録する。この記
録は、例えば図８に示すような長手溶接では３０ｍｍ〜
４０ｍｍに一度、図９に示すような円周溶接では１０度
回転する毎に一度行い、次層の溶接が終了するまでデー
タを保持するようにする。これにより定アーク長制御を
行いながら、溶接時の溶接トーチ１の上下位置を検出し
その値と、前層の溶接トーチ１の上下位置に現在溶接し
ている層の積層高さ例えば３ｍｍを加算した値を比較す
ることにより、定アーク長制御が正確に作動しているか
を判断することが可能になる。Then, the signal from the position detector 13 is periodically read by the position calculation circuit 17, and the vertical position of the welding torch 1 is recorded in the memory of the control circuit block 15. This record is, for example, 30 mm for longitudinal welding as shown in FIG.
It is performed once every 40 mm, and once every 10 degrees in the circumferential welding as shown in FIG. 9, so that the data is retained until the welding of the next layer is completed. While performing constant arc length control by this, the vertical position of the welding torch 1 at the time of welding is detected, and the value is added to the stacking height of the layer currently being welded to the vertical position of the welding torch 1 of the previous layer, for example, 3 mm. By comparing the values thus obtained, it becomes possible to judge whether the constant arc length control is operating correctly.
【００３８】そして溶接層が余盛り直前になると、定電
圧制御の基準電圧が１３Ｖのためアーク長が短くなり、
前層から計算した溶接トーチの予定上下位置と実際の溶
接トーチ位置に差が生じる。例えば、１層の積層高さを
３ｍｍとするとアーク長が２．５ｍｍになったところで
余盛り前の層に達したことが判定できる。そのためここ
からは、前層から計算した溶接トーチの予定上下位置に
より定アーク長制御を行うことにする。When the welding layer is just before the extra layer, the arc length becomes short because the reference voltage for constant voltage control is 13V.
There is a difference between the expected vertical position of the welding torch calculated from the previous layer and the actual welding torch position. For example, when the stacking height of one layer is 3 mm, it can be determined that the layer before reaching the extra layer is reached when the arc length reaches 2.5 mm. Therefore, from here on, the constant arc length control will be performed according to the expected vertical position of the welding torch calculated from the previous layer.
【００３９】本発明の他の実施形態について説明する。
余盛り前の層の積層高さ調整と、余盛り溶接条件への溶
接条件の切り換え制御は、同様の制御方法を用いるので
説明を省く。ここでは定アーク長制御の別の制御方法に
ついて説明する。Another embodiment of the present invention will be described.
The same control method is used for the adjustment of the stacking height of the layer before the extra fill and the switching control of the welding condition to the extra fill weld condition, and thus the description thereof is omitted. Here, another control method of the constant arc length control will be described.
【００４０】図６は、他の実施形態に係る狭開先ＴＩＧ
自動アーク溶接装置の概略構成図である。図１の実施形
態の溶接装置に、溶接部（アーク状態）の画像を撮影す
るＣＣＤカメラ２１と、撮影した画像を解析処理する画
像処理装置２２が追加されている。ＣＣＤカメラ２１に
よる溶接部のモニタは溶接進行方向斜め前方より行われ
る場合が多い。画像処理装置２２はコンピュータからな
り、画像をメモリに取込、数値解析ができるようになっ
ている。また、画像処理装置は溶接制御装置１４の制御
回路ブロック１５と信号のやり取りができるようになっ
ている。FIG. 6 shows a narrow groove TIG according to another embodiment.
It is a schematic block diagram of an automatic arc welding apparatus. A CCD camera 21 for capturing an image of a welded portion (arc state) and an image processing device 22 for analyzing the captured image are added to the welding apparatus of the embodiment shown in FIG. In many cases, the monitoring of the welded portion by the CCD camera 21 is performed from diagonally forward in the welding proceeding direction. The image processing device 22 is composed of a computer, and is capable of capturing an image in a memory and performing numerical analysis. Further, the image processing device can exchange signals with the control circuit block 15 of the welding control device 14.
【００４１】ＣＣＤカメラ２１から画像処理装置２２に
取込んで解析処理した画像例を図７に示す。非消耗電極
２とアーク５は非常に明るく映りその周りは暗くなる、
添加ワイヤ６は非消耗電極２とアーク５からの光の影に
なり暗くなる。また、非消耗電極２とアーク５、アーク
５と溶融池１９の境ははっきりと区別することはできな
い。特に溶融池はアークを反射するために赤外線カメラ
等を使用しないとその輪郭を正確に捉えることはできな
い。画像処理装置２２に取込んだ画像は座標データとし
て取扱うことができる。FIG. 7 shows an example of an image captured by the image processing device 22 from the CCD camera 21 and analyzed. The non-consumable electrode 2 and the arc 5 appear very bright and the surrounding area becomes dark,
The addition wire 6 becomes dark due to the shadow of light from the non-consumable electrode 2 and the arc 5. Further, the boundary between the non-consumable electrode 2 and the arc 5, and the boundary between the arc 5 and the molten pool 19 cannot be clearly distinguished. In particular, since the molten pool reflects the arc, its contour cannot be accurately captured without using an infrared camera or the like. The image captured by the image processing device 22 can be handled as coordinate data.
【００４２】例えば図７の場合は、左上を座標原点とす
ると、Ｘ座標は０〜５１０、Ｙ座標は０〜−５１０のよ
うになる。各座標点はピクセルと呼ばれ、輝度データを
持っている。例えば８ビットの２５５階調のデータに持
つことになる。非消耗電極２とアーク５の輪郭を求める
方法としては、例えばアーク部の最高輝度の半分の輝度
を閾値として、閾値より明るい部分をアーク部として判
別して抜出すことにより行うことができる。For example, in the case of FIG. 7, when the upper left is the coordinate origin, the X coordinate is 0 to 510, and the Y coordinate is 0 to -510. Each coordinate point is called a pixel and has luminance data. For example, it is stored in 8-bit data of 255 gradations. As a method of obtaining the contours of the non-consumable electrode 2 and the arc 5, for example, a luminance half the maximum luminance of the arc portion is used as a threshold value, and a portion brighter than the threshold value is discriminated as an arc portion and extracted.
【００４３】この輪郭よりアーク５の見掛けのアーク長
Ｌを求めることができる。但し、この見掛けのアーク長
Ｌは円錐を斜め上方より見た画像で計測しているのと、
アークと溶融池の境界が明確でないため正確な値ではな
いが、この長さを一定にすればアーク長も一定の長さに
することが可能である。よって画像処理で求めたＬの値
を制御回路ブロック１５に信号として入力し、予め設定
した基準値にＬの値がなるように上下スライダ１１を駆
動しアーク長を一定にすることができる。From this contour, the apparent arc length L of the arc 5 can be obtained. However, this apparent arc length L is measured by an image of the cone viewed from diagonally above,
It is not an accurate value because the boundary between the arc and the molten pool is not clear, but if this length is made constant, the arc length can also be made constant. Therefore, it is possible to input the value of L obtained by the image processing as a signal to the control circuit block 15 and drive the upper and lower sliders 11 so that the value of L becomes equal to the preset reference value to make the arc length constant.
【００４４】この実施形態では制御回路ブロック１５と
画像処理装置２２を別個に設けたが、制御回路ブロック
１５に画像処理機能もたせて画像処理装置２２を省略す
ることもできる。Although the control circuit block 15 and the image processing device 22 are separately provided in this embodiment, the image processing device 22 may be omitted by providing the control circuit block 15 with an image processing function.
【００４５】[0045]
【発明の効果】本発明によれば、１層１パス溶接を行う
狭開先ＴＩＧ溶接において、アーク電圧を監視すること
により、母材表面からの盛り残し量を判定し、余盛り前
の積層高さ調整と余盛り溶接条件への切り換えが簡便に
でき、余盛り溶接の余盛り量を一定にすることができこ
とから、狭開先ＴＩＧ溶接の省人化に寄与できる。According to the present invention, in narrow groove TIG welding in which one-layer one-pass welding is performed, by monitoring the arc voltage, it is possible to determine the remaining amount from the surface of the base metal, and to laminate before the extra deposition. The height adjustment and switching to the extra welding condition can be easily performed, and the extra amount of the extra welding can be made constant, which can contribute to the labor saving of narrow groove TIG welding.
【図１】本発明の一実施形態に係る狭開先ＴＩＧ自動ア
ーク溶接装置の概略構成図である。FIG. 1 is a schematic configuration diagram of a narrow groove TIG automatic arc welding device according to an embodiment of the present invention.
【図２】開先内溶接、余盛り前溶接、余盛り溶接の溶接
状況と溶接後のビード形状を示す模式図である。FIG. 2 is a schematic diagram showing welding states of groove internal welding, pre-filling welding, and extra-filling welding, and a bead shape after welding.
【図３】軟鋼材でワイヤを添加した場合の開先内溶接と
余盛り溶接でのアーク電圧値の例を示す特性図である。FIG. 3 is a characteristic diagram showing an example of arc voltage values in groove welding and extra welding when a wire is added with a mild steel material.
【図４】軟鋼材でワイヤを添加しＨｅガスでシールドし
た場合の開先内溶接、余盛り前溶接、余盛り溶接でのア
ーク電圧値の例を示す特性である。FIG. 4 is a characteristic showing examples of arc voltage values in in-groove welding, pre-excess welding and extra welding when a wire is added with mild steel and shielded with He gas.
【図５】水冷銅板上でワイヤ無添加時の非消耗非消耗電
極式アークの電流・電圧特性の例を示す特性図である。FIG. 5 is a characteristic diagram showing an example of current-voltage characteristics of a non-consumable non-consumable electrode type arc when no wire is added on a water-cooled copper plate.
【図６】本発明のその他の実施形態に係る狭開先ＴＩＧ
自動アーク溶接装置の概略構成図である。FIG. 6 is a narrow groove TIG according to another embodiment of the present invention.
It is a schematic block diagram of an automatic arc welding apparatus.
【図７】その他の実施形態においてＣＣＤカメラで撮影
した溶接部の画像を説明するための図である。FIG. 7 is a diagram for explaining an image of a welded portion taken by a CCD camera in another embodiment.
【図８】厚板材の狭開先ＴＩＧ溶接法を示す説明図であ
る。FIG. 8 is an explanatory view showing a narrow groove TIG welding method for a thick plate material.
【図９】管材の狭開先ＴＩＧ溶接法を示す説明図であ
る。FIG. 9 is an explanatory view showing a narrow groove TIG welding method for a pipe material.
１ 溶接トーチ ２ 非消耗電極 ３、３ａ、３ｂ、３ｃ 母材 ４ アーク電源 ５ アーク ６ 添加ワイヤ ７ ワイヤ送給装置 ８ コンジットライナ ９ ワイヤリール １０ ワイヤトーチ １１ 上下スライダ １２ 取付具 １３ 位置検出器 １４ 溶接制御装置 １５ 制御回路ブロック １６ アーク電圧測定回路 １７ 位置演算回路 １８ 上下スライダ駆動回路 １９ 溶融池 ２０ 溶接ビード ２０ａ 余盛り溶接ビード ２０ｂ 余盛り直前溶接ビード ２０ｃ 開先内溶接ビード ２１ ＣＣＤカメラ ２２ 画像処理装置 ２３ シールドボックス ２４ 狭開先 Ｌ 画像処理で求めた見掛けのアーク長 1 welding torch 2 Non-consumable electrode 3, 3a, 3b, 3c Base material 4 arc power supply 5 arc 6 addition wire 7 wire feeder 8 conduit liner 9 wire reel 10 wire torch 11 Vertical slider 12 fittings 13 Position detector 14 Welding control device 15 Control circuit block 16 Arc voltage measuring circuit 17 Position calculation circuit 18 Vertical slider drive circuit 19 molten pool 20 weld beads 20a Extra weld bead 20b Welding beads just before the extra size 20c Weld bead in groove 21 CCD camera 22 Image processing device 23 Shield box 24 narrow groove L Apparent arc length obtained by image processing
Claims (7)
のアーク電源と、 非消耗電極と母材の間に発生したアークにより形成され
る溶融池に送給する添加ワイヤと、 その添加ワイヤを送給するワイヤ送給手段と、 前記非消耗電極と母材を相対的に動かす駆動手段とを備
え、 定アーク長制御で１層１パス溶接を行い、溶接最終に余
盛り溶接を行なう狭開先ＴＩＧ自動アーク溶接装置にお
いて、 前記非消耗電極と母材間のアーク電圧を測定するアーク
電圧測定手段と、 そのアーク電圧測定手段で測定した測定アーク電圧が予
め定めた閾値Ｖａを越えると、溶接条件を余盛り溶接条
件に切り換える溶接条件切換手段とを備えたことを特徴
とする狭開先ＴＩＧ自動アーク溶接装置。1. A base material having a narrow groove, a non-consumable electrode inserted in the narrow groove, an arc power supply for supplying an arc current between the non-consumable electrode and the base material, and a non-consumable electrode. Additive wire for feeding to the molten pool formed by the arc generated between the electrode and the base material, wire feeding means for feeding the additive wire, and drive for relatively moving the non-consumable electrode and the base material Means for performing one-layer one-pass welding under constant arc length control and performing extra welding at the end of welding, and measuring the arc voltage between the non-consumable electrode and the base metal. The arc voltage measuring means and the welding condition switching means for switching the welding condition to the extra welding condition when the measured arc voltage measured by the arc voltage measuring means exceeds a predetermined threshold value Va. Groove TIG automatic Click welding equipment.
溶接装置において、前記アーク電圧測定手段でアーク電
圧を測定し、その測定アーク電圧の値により前記駆動手
段による溶接速度及び、又は前記ワイヤ送給手段による
ワイヤ送給速度を制御する速度制御手段を設けたことを
特徴とする狭開先ＴＩＧ自動アーク溶接装置。2. The narrow groove TIG automatic arc welding device according to claim 1, wherein the arc voltage is measured by the arc voltage measuring means, and the welding speed by the driving means and / or the wire is measured by the value of the measured arc voltage. A narrow groove TIG automatic arc welding apparatus comprising a speed control means for controlling the wire feeding speed by the feeding means.
溶接装置において、前記非消耗電極と母材の間に形成さ
れたアーク状態を撮像する撮像手段と、その撮像手段か
らの画像を解析する画像処理装置を備え、その画像処理
装置で解析されたアーク長により定アーク長制御を行う
ことを特徴とする狭開先ＴＩＧ自動アーク溶接装置。3. The narrow groove TIG automatic arc welding apparatus according to claim 1, wherein an image pickup means for picking up an image of an arc state formed between the non-consumable electrode and the base material and an image from the image pickup means are analyzed. A narrow groove TIG automatic arc welding device, which is provided with an image processing device for performing constant arc length control according to the arc length analyzed by the image processing device.
のアーク電源と、 非消耗電極と母材の間に発生したアークにより形成され
る溶融池に送給する添加ワイヤと、 その添加ワイヤを送給するワイヤ送給手段と、 前記非消耗電極と母材を相対的に動かす駆動手段とを備
え、 定アーク長制御で１層１パス溶接を行い、溶接最終に余
盛り溶接を行なう開先ＴＩＧ溶接方法において、 前記非消耗電極と母材間のアーク電圧を測定して、その
測定した測定アーク電圧が予め定めた閾値Ｖａを越える
と、溶接条件を余盛り溶接条件に切り換えることを特徴
とする狭開先ＴＩＧ自動アーク溶接方法。4. A base material having a narrow groove, a non-consumable electrode inserted into the narrow groove, an arc power source for supplying an arc current between the non-consumable electrode and the base material, and a non-consumable electrode. Additive wire for feeding to the molten pool formed by the arc generated between the electrode and the base material, wire feeding means for feeding the additive wire, and drive for relatively moving the non-consumable electrode and the base material In the groove TIG welding method in which one layer one-pass welding is performed under constant arc length control, and excess welding is performed at the end of welding, the arc voltage between the non-consumable electrode and the base metal is measured, A narrow groove TIG automatic arc welding method, characterized in that when the measured arc voltage exceeds a predetermined threshold value Va, the welding condition is switched to the extra welding condition.
溶接方法において、前記アーク電圧を測定し、その測定
アーク電圧の値により前記駆動手段による溶接速度及
び、又は前記ワイヤ送給手段によるワイヤ送給速度を制
御することを特徴とする狭開先ＴＩＧ自動アーク溶接方
法。5. The narrow groove TIG automatic arc welding method according to claim 4, wherein the arc voltage is measured, and the welding speed by the driving means and / or the wire by the wire feeding means is measured according to the value of the measured arc voltage. A narrow groove TIG automatic arc welding method characterized by controlling a feeding speed.
溶接方法において、開先内を溶接している時に定電圧制
御により前記非消耗電極を上下に移動し、その非消耗電
極の上下位置を記憶しておき、前層から計算した非消耗
電極の予定上下位置より現状の非消耗電極位置がある値
より低くなったら、前層から計算した非消耗電極の予定
上下位置により定アーク長制御を行うことを特徴とする
狭開先ＴＩＧ自動アーク溶接方法。6. The narrow groove TIG automatic arc welding method according to claim 4, wherein the non-consumable electrode is moved up and down by constant voltage control during welding in the groove, and the vertical position of the non-consumable electrode is set. When the current non-consumable electrode position is lower than a certain value from the planned vertical position of the non-consumable electrode calculated from the previous layer, the constant arc length control is performed by the planned vertical position of the non-consumable electrode calculated from the previous layer. Narrow groove TIG automatic arc welding method characterized by carrying out.
溶接装置において、前記非消耗電極と母材の間に形成さ
れたアーク状態を撮像手段で撮像し、その撮像画像を画
像処理装置で解析し、解析から求められたアーク長によ
り定アーク長制御を行うことを特徴とする狭開先ＴＩＧ
自動アーク溶接方法。7. The narrow groove TIG automatic arc welding apparatus according to claim 4, wherein the arc state formed between the non-consumable electrode and the base material is imaged by an imaging means, and the imaged image is imaged by an image processing apparatus. Narrow groove TIG characterized by performing a constant arc length control by analyzing the arc length obtained from the analysis
Automatic arc welding method.
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| JP2002029801A JP2003230961A (en) | 2002-02-06 | 2002-02-06 | Narrow groove tig automatic arc welding device and welding method thereof |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2002029801A JP2003230961A (en) | 2002-02-06 | 2002-02-06 | Narrow groove tig automatic arc welding device and welding method thereof |
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|---|---|
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2007253161A (en) * | 2006-03-20 | 2007-10-04 | Ihi Corp | Seal-welding apparatus for pipe end, and electrode exchanging method |
| JP2010017731A (en) * | 2008-07-09 | 2010-01-28 | Kawasaki Heavy Ind Ltd | Welding apparatus and welding method |
| CN104289795A (en) * | 2014-09-22 | 2015-01-21 | 武汉纳瑞格智能设备有限公司 | MAG/MIG automatic welding device and method |
| CN105643057A (en) * | 2016-03-17 | 2016-06-08 | 武汉纳瑞格智能设备有限公司 | Self-adaptive tracking device for constant values of distances from welding wires to sidewalls for narrow-gap arc welding |
| JP2021003725A (en) * | 2019-06-26 | 2021-01-14 | 株式会社神戸製鋼所 | Method of manufacturing molded laminate |
-
2002
- 2002-02-06 JP JP2002029801A patent/JP2003230961A/en not_active Withdrawn
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2007253161A (en) * | 2006-03-20 | 2007-10-04 | Ihi Corp | Seal-welding apparatus for pipe end, and electrode exchanging method |
| JP2010017731A (en) * | 2008-07-09 | 2010-01-28 | Kawasaki Heavy Ind Ltd | Welding apparatus and welding method |
| CN104289795A (en) * | 2014-09-22 | 2015-01-21 | 武汉纳瑞格智能设备有限公司 | MAG/MIG automatic welding device and method |
| CN105643057A (en) * | 2016-03-17 | 2016-06-08 | 武汉纳瑞格智能设备有限公司 | Self-adaptive tracking device for constant values of distances from welding wires to sidewalls for narrow-gap arc welding |
| JP2021003725A (en) * | 2019-06-26 | 2021-01-14 | 株式会社神戸製鋼所 | Method of manufacturing molded laminate |
| JP7160764B2 (en) | 2019-06-26 | 2022-10-25 | 株式会社神戸製鋼所 | Laminate-molded article manufacturing method |
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