CN102189314B - Arc welding control method of non-consumable electrode - Google Patents
Arc welding control method of non-consumable electrode Download PDFInfo
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- CN102189314B CN102189314B CN201110060864.9A CN201110060864A CN102189314B CN 102189314 B CN102189314 B CN 102189314B CN 201110060864 A CN201110060864 A CN 201110060864A CN 102189314 B CN102189314 B CN 102189314B
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Abstract
The present invention provides an arc welding control method of a non-consumable electrode. In the arc welding of the non-consumable electrode, which is simultaneously performed when a filler wire is performed, even when welding torch height control of keeping the length of the arc to a certain length is performed, an insertion height of the filler wire can be always kept to a preset value. According to the arc welding control method of the non-consumable electrode, welding arc height control for restricting variation of an arc length (La), which is caused along with the consumption of a non-consumable electrode (1) in welding is performed. Furthermore a mounting component (51) is controlled for lifting along a longitudinal long shaft direction of the welding torque (4) through a mode which is characterized in that: the welding is performed simultaneously when the filler wire (5) is fed into a welding wire guiding device (52) which is mounted on the welding torque (4) through a mounting component (51), and an insertion height (Lh) of the filler wire (5) into an arc generation part is certain. Therefore, the variation of the insertion height of the filler wire (5) along with arc length control can be restrained, and an excellent welding quality can be obtained.
Description
Technical field
The present invention relates to the arc welding control method of non-consumable electrode carrying out while the mode reaching setting with electric arc carries out torch height control welding.
Background technology
Weld as non-melt electrode arc, have TIG to weld (tungsten inert gas welding), plasma-arc welding etc.In non-melt electrode arc welding, electrode uses the non-melt electrode of tungsten electrode etc., under the state that the protective gas by argon gas etc. makes it cover from air, electric arc occurs between non-melt electrode and mother metal weld.Now, through being everlasting feeding filler wire welding while being inserted into electric arc generating unit.In the following description, non-melt electrode is recited as electrode separately.
Fig. 3 is the summary pie graph of the welder used in the non-melt electrode arc welding of feeding filler wire.Below, with reference to this figure, each construct is described.
Source of welding current PS exports welding current Iw and weldingvoltage Vw for there is electric arc 3, and exports welding torch elevating control signal Tc to welding torch elevating motor TM, export feeding control signal Fc to the feed motor FM of filler wire 5.Because use constant-current characteristics in non-melt electrode arc welding, therefore this source of welding current PS is the power supply of current constant control, controls as welding current Iw reaches setting.In the front end of welding torch 4, nozzle 41 is installed, and from spraying protective gas (omitting diagram) inside this.In addition, in the front end of welding torch 4, electrode 1 is installed, installs with the state of giving prominence to several mm from the front end of nozzle 41.Electric arc 3 is there occurs between electrode 1 and mother metal 2.
Via installation component 51, wire guide 52 is arranged on welding torch 4.By feed motor FM feeding filler wire 5 in wire guide 52, to be inserted into electric arc generating unit.Feed motor FM is by controlling feed speed from the feeding control signal Fc of above-mentioned source of welding current PS.
Welding torch elevating mechanism 6 is for the mechanism along above-below direction lifting welding torch 4.Welding torch elevating motor TM is for the motor along above-below direction lifting welding torch 4.This welding torch elevating motor TM, as above-mentioned, by the welding torch elevating control signal Tc from source of welding current PS, controls lifting direction and lifting distance.Although the diagram of eliminating, mother metal 2 is arranged on automatic chassis, and automatic chassis moves with prespecified speed of welding in welding process.
In the figure, the distance between the front end of electrode 1 and mother metal 2 is the long La of electric arc.Further, the expression chain-dotted line y1 of direction of feed of filler wire 5 and the intersection point between the front end of electrodes 1 and the chain-dotted line y2 of mother metal 2 are set to P.Be the insertion height Lh of filler wire 5 by the distance definition between this intersection point P and mother metal 2.In order to obtain good welding quality, need the insertion height Lh of the long La of electric arc in welding and filler wire to be set as appropriate value.
In non-melt electrode arc welding, the distance between the long front end for electrode 1 of electric arc and mother metal 2.Therefore, before welding starts, adjust in the mode that the distance between the front end of this electrode 1 and mother metal 2 is appropriate value, make welding torch elevating motor TM action.As the main cause of the long La change of electric arc in welding, mainly contain two situations.As first situation be, the apparent height change of mother metal 2.Because the distance when the apparent height change of mother metal 2 and between electrode 1 changes, therefore the long La change of electric arc.Be consumed by the front end of electric arc 3 electrode 1 and shorten, causing the long La change of electric arc as the 2nd situation.Advancing of the consumption of electrode 1, different because of the frequency that the material of electrode 1, diameter, welding current value, the waveform (exchanging or direct current) of welding current, electric arc start etc.Especially, when being energized alternating current, when electrode straight polarity, this consumption is advanced rapidly.Performed the torch height control method (for example, referring to patent document 1) being maintained certain value for suppressing the change of the long La of this electric arc in the past.In the torch height control method of the prior art, detect the long La of electric arc by the illumination of weldingvoltage Vw or arclight, become the mode equal with setting value with this detected value and control welding torch elevating motor TM.
On the other hand, about the adjustment of the insertion height Lh of filler wire 5, employed various guiding mechanism (for example, referring to patent document 2) in the past.By arranging the guiding mechanism that patent document 2 grade is recorded, before welding starts, on one's own initiative the direction of insertion of filler wire 5 and insertion height Lh are adjusted to appropriate state.
Patent document
[patent document 1] Japanese Unexamined Patent Publication 2002-239728 publication
[patent document 2] Japanese Unexamined Patent Publication 2009-107003 publication
As above-mentioned, by carrying out torch height control, the change that the electric arc in welding is long can be suppressed.Now, when the 1st main cause that electric arc length changes and the change of mother metal apparent height, be that certain mode carries out torch height control with the distance between the front end of welding torch and the surface of mother metal.For this reason, the insertion height Lh of the long La of electric arc and filler wire maintains appropriate value, and can obtain good welding quality.
On the other hand, front end shortens when the 2nd main cause of the long change of electric arc and electrode carry out consuming, controlled by torch height and control as the distance between the front end of welding torch and the surface of mother metal shortens.Its result, the distance between electrode front end and mother metal surface and the long La of electric arc can maintain certain value.But, because torch height step-down, therefore the insertion of filler wire height Lh step-down.Do not change irrelevant with certain value with the long La of electric arc, due to the insertion height Lh change of filler wire, therefore the situation that generation welding quality is deteriorated.The reason of the insertion height Lh change of filler wire is, as described in Figure 3, because wire guide 52 is combined with welding torch 4 via installation component 51, therefore the insertion height Lh of filler wire also changes when torch height changes.
Summary of the invention
Therefore, the object of the invention is to, the change that a kind of electric arc that can suppress to cause because of the consumption of electrode is long is being provided, and the arc welding control method of non-consumable electrode of the change of the insertion height of filler wire can be suppressed.
In order to solve above-mentioned problem, a kind of arc welding control method of non-consumable electrode of the invention of technical scheme 1, the torch height performing the change for suppressing the consumption along with the non-melt electrode in welding to cause electric arc long controls, and by being arranged in the wire guide on welding torch via installation component, weld while feeding filler wire, the feature of this arc welding control method of non-consumable electrode is, be highly certain mode with described filler wire to the insertion that electric arc generating unit is inserted, fore and aft axis direction along described welding torch performs elevating control to described installation component.
The invention of technical scheme 2, it is the arc welding control method of non-consumable electrode described in technical scheme 1, it is characterized in that, it is according to prespecified each control cycle that described torch height controls, difference Δ V based on the detected value Vd of prespecified voltage setting value Vr and weldingvoltage carrys out computed correction Δ h, torch height is made to change the control of this correction amount h
The elevating control of described installation component is the control of reversion correction-Δ h after making described installation component be elevated the symbol of the described correction amount h that reversed.
[invention effect]
According to the present invention, the change that the electric arc controlling to suppress to cause because of the consumption of non-melt electrode by torch height is long, and by carrying out the insertion Altitude control of filler wire, insertion that is electric arc is long and filler wire appropriate value can be maintained highly all the time.Therefore, it is possible to obtain good welding quality.
Accompanying drawing explanation
Fig. 1 is the signal pie graph of the welder for implementing the arc welding control method of non-consumable electrode involved by embodiments of the present invention.
Fig. 2 is the detailed diagram of the source of welding current PS of pie graph 1.
Fig. 3 is the signal pie graph of the non-melt electrode arc welder of prior art.
[symbol description]
1-(non-melt) electrode; 2-mother metal; 3-electric arc; 4-welding torch; 41-nozzle; 5-filler wire; 51-installation component; 52-wire guide; 6-welding torch elevating mechanism; 71-installation component elevating mechanism; DB-decline button; Db-dropping signal; DH-correction counting circuit; EI-current error amplifying circuit; Ei-current error amplifying signal; FC-feed motor control circuit; Fc-feeding control signal; FM-feed motor; FR-feed speed initialization circuit; Fr-feed speed setting signal; HC-installation component elevating control circuit; Hc-installation component elevating control signal; HM-installation component elevating motor; ID-current detection circuit; Id-current detection signal; IR-current setting circuit; Ir-current settings signal; Iw-welding current; K-magnifying power; La-electric arc is long; Lh-filler wire inserts height; P-intersection point; PM-electric power main circuit; The PS-source of welding current; TC-welding torch elevating control circuit; Tc-welding torch elevating control signal; TM-welding torch elevating motor; UB-raise button; Ub-rising signals; VD-voltage detecting circuit; Vd-voltage detection signal; VR-voltage setting circuit; Vr-voltage sets (signal/value); Vw-weldingvoltage; Y1-filler wire direction of feed; Y2-electrode longitudinally; Δ h-correction (signal); The difference of Δ V-voltage setting signal and voltage detection signal.
Detailed description of the invention
Below, with reference to accompanying drawing, embodiments of the present invention are described.
Fig. 1 is the signal pie graph of the welder for implementing the arc welding control method of non-consumable electrode involved by embodiments of the present invention.In the figure, give same symbol to the construct identical with above-mentioned Fig. 3, and omit these explanations.This figure is the schematic diagram having added installation component elevating mechanism 71 and installation component elevating motor HM in figure 3.Below, with reference to this figure, these parts are described.
Installation component elevating mechanism 71 is the mechanisms for the fore and aft axis direction lifting installation component 51 along welding torch 4.
Installation portion elevating mechanism 71 is ball screws of being installed abreast by the fore and aft axis direction along welding torch 4 and consists of the part that the rotation of ball screw is slided abreast along the fore and aft axis direction of welding torch, and in the part of carrying out sliding, installation component 51 has been installed, and make installation component with the mechanism of arbitrary lift in height by swing roller screw rod.
Installation component 51 makes it be elevated on installation component elevating mechanism 71 by installation component elevating motor HM.Installation component elevating motor HM controls lifting direction and lifting distance according to the installation component elevating control signal Hc from source of welding current PS.When installation component 51 is elevated, the insertion height Lh of filler wire 5 can be adjusted.
Fig. 2 is the detailed diagram of the source of welding current PS representing pie graph 1.Below, with reference to this figure, each piece is described.
Electric power main circuit PM is using the source power supply (omitting diagram) of 3 phase 200V etc. as input, and the output carrying out inverter control etc. according to current error amplifying signal Ei described later controls, and exports welding current Iw.This welding current Iw is energized by welding torch 4, electrode 1, electric arc 3 and mother metal 2, applies weldingvoltage Vw between welding torch 4 and mother metal 2.
Current setting circuit IR exports prespecified current settings signal Ir.Current detection circuit ID detects above-mentioned welding current Iw, and output electric current measure signal Id.Current error amplifying circuit EI amplifies the error between above-mentioned current settings signal Ir and above-mentioned current detection signal Id, and output current error amplification signal Ei.Control to carry out current constant control by the output carrying out the source of welding current according to this current error amplifying signal Ei, be energized with the welding current Iw of desired value.
Voltage detecting circuit VD detects above-mentioned weldingvoltage Vw, and voltage sense signal Vd.Voltage setting circuit VR exports corresponding voltage setting signal Vr long with the electric arc of regulation.Correction counting circuit DH using above-mentioned voltage setting signal Vr and above-mentioned voltage detection signal Vd as input, according to prespecified each control cycle, the magnifying power K that the value of voltage setting signal Vr and the difference of the value of voltage detection signal Vd are multiplied prespecified, and export correction signal delta h=K (Vr-Vd).At this, control cycle is the cycle of welding torch elevating motor TM for control chart 1 and installation component elevating motor HM, as long as be the fully short time relative to the response speed of these motor, such as, is set at about 0.1 ~ 10ms.Because magnifying power K sets the gain of reponse system, therefore is configured to the stable value of reponse system.At this, illustrate the P being used as conventional techniques and control the situation of computed correction signal delta h, but similarly, also can to control based on the PI as conventional techniques and PID controls to calculate.
Feed speed initialization circuit FR exports prespecified feed speed setting signal Fr.Feeding control signal Fc is outputted to feed motor FM by feed motor control circuit FC, and this feeding control signal Fc is used for the value feeding filler wire 5 of above-mentioned feed speed setting signal Fr.Feed motor FM controls rotating speed according to above-mentioned feeding control signal Fc.
When raise button UB is pressed, be output into the rising signals Ub of height (High) level.When decline button DB is pressed, be output into the dropping signal Db of high level.Welding torch elevating control circuit TC using above-mentioned correction signal delta h, above-mentioned rising signals Ub and above-mentioned dropping signal Db as input, and when rising signals Ub is high level, export the welding torch elevating control signal Tc of the height promoting welding torch with prespecified low velocity, when dropping signal Db is high level, export the welding torch elevating control signal Tc making the height reduction of welding torch with above-mentioned low velocity, in welding, according to above-mentioned each control cycle, the height exporting welding torch only changes the welding torch elevating control signal Tc of the value of correction signal delta h.Welding torch elevating motor TM controls its direction of rotation and rotating speed according to above-mentioned welding torch elevating control signal Tc.When above-mentioned correction signal delta h is positive value, control the height rising Δ h of welding torch, when above-mentioned correction signal delta h is negative value, control the absolute value of the height decline Δ h of welding torch.Because the height of welding torch becomes the long La of electric arc, therefore the height controlling welding torch La equivalence long with control electric arc.Before starting welding, press raise button UB or decline button DB, the mode becoming setting with the height of welding torch adjusts, and then starts welding.
Installation component elevating control circuit HC is using above-mentioned correction signal delta h as input, in welding, according to above-mentioned each control cycle, export installation component elevating control signal Hc, this elevating control signal Hc make the Level Change of installation component reversed correction signal delta h symbol after value.Installation component elevating motor HM controls its direction of rotation and rotating speed according to above-mentioned installation component elevating control signal Hc.When above-mentioned correction signal delta h is positive value, carry out the height decline Δ h controlling to make installation component, when above-mentioned correction signal delta h is negative value, carry out the absolute value of the height rising Δ h controlling to make installation component.Because the height of installation component determines the insertion height Lh of filler wire, therefore control the height of installation component and control the insertion height Lh equivalence of filler wire.Before starting welding, manually carry out adjusting to make the height of installation component to be in reference position, then start welding.
Utilize numerical example, the control of the insertion height Lh of the long La of electric arc and filler wire is described.In the n-th control cycle in welding, if voltage detection signal Vd=20.2V, voltage setting signal Vr=20.0V.Namely, there is consumption of electrode and cause the situation that the long La of electric arc becomes longer than setting.Correction signal delta h=2 now × (20.0-20.2)=-0.4mm.At this, if magnifying power K=2.According to this correction signal delta h, decline in this n-th control cycle 0.4mm, the long La of electric arc of the height of welding torch shortens 0.4mm, thus close to setting.Meanwhile, the height of installation component rises 0.4mm and offset the rising part of welding torch in this n-th control cycle, therefore the insertion of filler wire height Lh is Lh-0.4+0.4=Lh, thus directly maintains with setting.At this, although establish magnifying power K=2, as above-mentioned, also can consider the stability of the insertion height control system of torch height control system and filler wire, set.
As above-mentioned, about the main cause of the long change of electric arc in welding, be the change of the apparent height of mother metal in first main cause, be the consumption of electrode in the 2nd.The change of the apparent height of mother metal can confirm before starting welding.By confirm and in the vicissitudinous situation of the apparent height of mother metal, inapplicable the present invention.Namely, only carry out torch height control, the action of the insertion Altitude control of filler wire stops.On the other hand, in the unconverted situation of the apparent height of mother metal, carry out the insertion Altitude control of torch height control and filler wire simultaneously.
According to above-mentioned embodiment, controlled the change that can suppress to cause because of the consumption of non-melt electrode electric arc long by torch height, and insertion that is electric arc is long and filler wire can maintain appropriate value highly all the time by the insertion Altitude control carrying out filler wire.Therefore, it is possible to obtain good welding quality.Especially, in the AC-TIG WELDING that the consumption of electrode is strong is welded and AC plasma arc electricity welds, present embodiment plays larger effect.
In the above-described embodiment, although exemplified with the situation of automatic soldering device, allow robot hold welding torch and carry out the situation of the robotic welding apparatus welded too.In this case, relevant module will be controlled with the torch height shown in Fig. 2 and voltage setting circuit VR, voltage detecting circuit VD, correction counting circuit DH, welding torch elevating control circuit TC and installation component elevating control circuit HC are built in manipulator controller.In addition, because carried out the Altitude control of welding torch by each axle of robot, therefore welding torch elevating motor TM is not needed.Installation component elevating motor HM is arranged on the wrist axis of manipulator.The operation same with raise button UB and decline button DB is carried out by the teaching machine (teach pendant) of teaching.By each axle of welding torch elevating control signal Tc control from welding torch elevating control circuit TC, the height of welding torch changes.
Claims (2)
1. an arc welding control method of non-consumable electrode, the torch height performing the change for suppressing the electric arc length caused along with the consumption of the non-melt electrode in welding controls, and by being arranged in the wire guide on welding torch via installation component, weld while feeding filler wire, the feature of this arc welding control method of non-consumable electrode is
Be highly certain mode according to described filler wire to the insertion that electric arc generating unit is inserted, the fore and aft axis direction along described welding torch performs elevating control to described installation component,
It is according to prespecified each control cycle that described torch height controls, difference (Δ V) based on the detected value (Vd) of prespecified voltage setting value (Vr) and weldingvoltage carrys out computed correction (Δ h), makes torch height change the control of this correction (Δ h).
2. arc welding control method of non-consumable electrode according to claim 1, is characterized in that,
The elevating control of described installation component is the control making described installation component be elevated reversion correction (-Δ h), and this reversion correction (-Δ h) makes the sign-inverted of described correction (Δ h).
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2010-059375 | 2010-03-16 | ||
| JP2010059375A JP2011189396A (en) | 2010-03-16 | 2010-03-16 | Non-consumable electrode arc welding control method |
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| Publication Number | Publication Date |
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| CN102189314A CN102189314A (en) | 2011-09-21 |
| CN102189314B true CN102189314B (en) | 2015-05-20 |
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| CN201110060864.9A Expired - Fee Related CN102189314B (en) | 2010-03-16 | 2011-03-10 | Arc welding control method of non-consumable electrode |
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| CN (1) | CN102189314B (en) |
Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20150048057A1 (en) * | 2012-03-29 | 2015-02-19 | Taiyo Nippon Sanso Corporation | Semi-automatic welding system, conversion adapter kit, and welding torch |
| CN104209631B (en) * | 2014-09-02 | 2016-03-30 | 招商局重工（江苏）有限公司 | A kind of consumable electrode arc welding control device |
| CN111168196B (en) * | 2020-01-07 | 2021-11-05 | 北京博清科技有限公司 | Control method for crawling welding robot, robot and storage medium |
| CN111451604B (en) * | 2020-04-10 | 2021-07-13 | 西安交通大学 | Repair welding monitoring feedback method and system for GTAW arc fuse material additive manufacturing arc blowout part |
| CN112388111A (en) * | 2020-12-02 | 2021-02-23 | 唐山松下产业机器有限公司 | TIG welding wire control method, TIG welding wire control system, TIG welding wire control device, and TIG welding wire control medium |
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| US3989921A (en) * | 1973-03-28 | 1976-11-02 | Kobe Steel Ltd. | Method and apparatus for non-consumable electrode type automatic arc welding |
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| CN101406980A (en) * | 2008-11-21 | 2009-04-15 | 北京工业大学 | Device and method for controlling length of electric arc |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP5219459B2 (en) * | 2007-10-31 | 2013-06-26 | 株式会社ダイヘン | Adjustment method of position adjustment mechanism of filler guide |
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2010
- 2010-03-16 JP JP2010059375A patent/JP2011189396A/en active Pending
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- 2011-03-10 CN CN201110060864.9A patent/CN102189314B/en not_active Expired - Fee Related
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| US3233076A (en) * | 1964-09-21 | 1966-02-01 | Welding Research Inc | Welding control system |
| US3989921A (en) * | 1973-03-28 | 1976-11-02 | Kobe Steel Ltd. | Method and apparatus for non-consumable electrode type automatic arc welding |
| JPS589771A (en) * | 1981-07-10 | 1983-01-20 | Hitachi Ltd | Controlling method for arc length in tig welding method |
| CN2249651Y (en) * | 1995-09-20 | 1997-03-19 | 宋武军 | Wire feeder of welder with non-fusion electrodes |
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| JP2011189396A (en) | 2011-09-29 |
| CN102189314A (en) | 2011-09-21 |
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