CN101462192B - Squitter pulse welding method - Google Patents
Squitter pulse welding method Download PDFInfo
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- CN101462192B CN101462192B CN 200810188506 CN200810188506A CN101462192B CN 101462192 B CN101462192 B CN 101462192B CN 200810188506 CN200810188506 CN 200810188506 CN 200810188506 A CN200810188506 A CN 200810188506A CN 101462192 B CN101462192 B CN 101462192B
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Abstract
The present invention provides an interrupting pulse welding method capable of forming wide welding seam. According to the method, an arc welding torch (T) welds again at next operation position away from preset move distance after the torch (T) is moved and weld at an operation position on work line (L), such that welding marks formed at each operation position overlap and the welding marks are formed on the work piece (W), welding tracks (Kc) are formed in preset area including operation position (Pn) and having preset width in operation lien direction (Dr) and direction orthorhombic to the operation line (L), a front end of the arc welding torch (T) moves along the welding tracks (Kc) at same time of welding. The welding tracks (Kc) are round or elliptical or spiral welding tracks, and are generated according to patterns selected from preset track patterns. Wide welding marks may be obtained by forming welding marks with the welding tracks (Kc) at each operation position.
Description
Technical field
The heat affecting that the present invention relates to will bring the mother metal of thin plate on one side is suppressed to irreducible minimum, Yi Bian the interrupting pulse that welds (stitch pulse, ス テ Star チ パ Le ス) welding method.
Background technology
Heat input and cooling when so-called interrupting pulse welding refers to by the control welding will be suppressed to the heat affecting that mother metal brings the welding of irreducible minimum.Be the welding that is automated as purpose with plate sheet welding, compare with existing plate sheet welding, can improve weld appearance, reduce welding deformation amount (for example with reference to patent documentation 1).
In patent documentation 1, disclose, under the state that the electric arc welding torch is stopped, making electric arc generation predetermined time and make the mother metal fusing, this setting-up time through after electric arc is stopped, and make the again method of starting point of electric arc that the electric arc welding torch moves to the melting end outer circumferential side.Below the prior art is described.
Figure 13 is the figure of the existing interrupting pulse welder 51 of expression.
The device of manipulator (manipulator) M for workpiece W is automatically carried out arc welding consists of by upper arm 53, underarm 54 and wrist 55 and for a plurality of servomotors (not shown) with their rotary actuations.
Electric arc welding torch T is installed in the fore-end of the upper arm 53 of manipulator M, is directed to the welding position that is instructed to of workpiece W for the welding wire 57 about the diameter 1mm that will be wrapped on the wire reel (wire reel) 56.Source of welding current AP supplies with weldingvoltage between electric arc welding torch T and workpiece W.When workpiece W is welded, welding wire 57 is carried out under the state of the outstanding length Ew of the outstanding expectation of front end of electric arc welding torch T.The length of outstanding length Ew is general many about 15mm, but the operator can adopt length that teaching operation dish TP described later adjusts to expectation in advance with the groove shape that cooperates the welding position, welding procedure condition etc.
Conduit (conduit) cable 52 possesses for the coiling guider (coil liner) (not shown) at inside guiding welding wire 57, and T is connected with the electric arc welding torch.And then conduit cable 52 will also be supplied with electric arc welding torch T from the electric power of welding power supply AP and from the protective gas of gas bomb 58.
Teaching operation dish TP as operating unit is so-called movable operation board, be used for to set the action of manipulator M, the essential condition (welding current, weldingvoltage, translational speed, moving interval, weld interval and cool time) etc. in order to carry out the interrupting pulse welding.The operator adopts this teaching operation dish TP, finishes the operation procedure of having set above-mentioned condition with the action of manipulator M.
Robot controller RC is used for making manipulator M to carry out the control of welding action, possesses master control part, operation control part and servo-driver (all not shown) etc. in inside.And the operator is based on by the indicated operation procedure of teaching operation dish TP, and each the servomotor output action control signal from servo-driver to manipulator M is rotated respectively a plurality of axles of manipulator M.Current location is identified in the output of the encoder (not shown) that arranges in the servomotor of robot controller RC by next comfortable manipulator M, therefore can control the leading section of electric arc welding torch T.
In addition, implement the position of interrupting pulse welding, calculated in advance by be segmented in the production line of storing in the operation procedure by the moving interval that sets.Below, the position after will cutting apart is called job position.When the leading section of electric arc welding torch T is imported the job position calculated successively, carry out the interrupting pulse welding by repeatedly carrying out following illustrated welding, movement, cooling.
The figure of the state when Figure 14 carries out the interrupting pulse welding for being used for explanation.Welding wire 57 is outstanding from the front end of electric arc welding torch T.When beginning from welding, protective gas G blows out from electric arc welding torch T with fixing flow all the time to welding when finishing.Below, each state when interrupting pulse is welded describes.
Appearance when this figure (a) expression electric arc produces.Based on the welding current that sets and weldingvoltage, electric arc A produces between the front end of welding wire 57 and workpiece W in job position P1, and welding wire 57 fusings also form melting tank Y in workpiece W.Produce from electric arc A and to have passed through after set weld interval, stop electric arc A.
Appearance after this figure (b) expression electric arc stops.After electric arc stops, until through keeping the state after the welding before cool time of setting.Under the state that the state that is manipulator M and electric arc welding torch T with welding the time has similarly stopped, only becoming from electric arc welding torch T and blow out protective gas G, so melting tank Y is because protective gas G and be cooled in fact and solidify forms weld mark Y '.
This figure (c) expression makes electric arc welding torch T move to the appearance of next job position P2.Through after cool time, make electric arc welding torch T move to the next job position P2 that has separated predefined moving interval Mp in the production line direction.The translational speed of this moment is the translational speed that sets.Above-mentioned moving interval Mp is such predefined distance of mode that welding wire 57 is positioned according to the outer circumferential side of the weld mark Y ' after melting tank Y solidifies shown in this figure (c).
This figure (d) is illustrated in the appearance that again produces electric arc A among the job position P2.Form new melting tank Y and weld at the leading section of weld mark Y '.Thus, in interrupting pulse welder 51, electric arc is produced and the state that welds and the state that cools off, moves.Its result is that the mode that squamous overlaps forms weld seam according to weld mark.
Figure 15 is for being used for illustrating the figure of the weld seam that forms after welding procedure.As shown in the drawing, production line L is divided by the moving interval Mp of regulation, calculates job position P1～P4 ...Afterwards, in initial job position P1, form weld mark Sc, in the job position P2 of separate mobile spacing Mp, also form same weld mark Sc towards production line direction Dr.Also further form successively later on weld mark Sc at job position P3.As mentioned above, the result that the mode that overlaps according to weld mark forms is for forming the weld seam B of squamous.
Patent documentation 1: Japanese kokai publication hei 6-55268 communique
As mentioned above, interrupting pulse welding is with the mother metal of the thin plate object as arc welding.Generally speaking, need to weld by large welding current or long weld interval in order to form the wide weld seam of width, but in this case, because heat input becomes large, so the mother metal of thin plate burns.Namely in the interrupting pulse welding, there is the problem that can not form the wide weld seam of width.
Summary of the invention
At this, the object of the present invention is to provide a kind ofly in the interrupting pulse welding take the mother metal of thin plate as the object of welding, can easily form the Squitter pulse welding method of the wide weld seam of width.
To achieve these goals, the Squitter pulse welding method of the first invention, it is by after repeatedly making welding torch move to the job position on the production line and welding, next job position at the moving interval that leaves regulation welds again, make by the formed weld mark of the welding of each job position and overlap and form weld seam at workpiece, it is characterized in that, generate welded rails comprising above-mentioned job position and have in the regulation zone of Rack in above-mentioned production line direction and with the direction of above-mentioned production line phase quadrature, the leading section that makes on one side above-mentioned welding torch moves according to the welded rails of this generation, Yi Bian weld.
The second invention is characterized in that according to the Squitter pulse welding method of the first invention above-mentioned welded rails is circle welded rails or oval welded rails or spiral welded track.
The 3rd invention is according to the Squitter pulse welding method of the second invention, it is characterized in that, above-mentioned round welded rails is calculated based on the posture information of the predetermined parameter that comprises circular diameter value or radius of circle value and the above-mentioned welding torch leading section in the above-mentioned job position, and the center is configured on the above-mentioned production line and in orbit configuration welding starting position and welding end position.
The 4th invention is according to the Squitter pulse welding method of the second invention, it is characterized in that, above-mentioned oval welded rails is calculated based on the posture information of the predetermined parameter that comprises oval major axis value and minor axis value and the above-mentioned welding torch leading section in the above-mentioned job position, and the center is configured on the above-mentioned production line and in orbit configuration welding starting position and welding end position.
The 5th invention is characterized in that according to the Squitter pulse welding method of the 3rd or the 4th invention above-mentioned welding starting position and above-mentioned welding end position are above-mentioned job position.
The 6th invention is characterized in that according to the Squitter pulse welding method of the 3rd or the 4th invention above-mentioned center is above-mentioned job position.
The 7th invention is characterized in that according to the Squitter pulse welding method of the 6th invention, before moving above-mentioned welding torch according to above-mentioned welded rails, stops the welding of weld interval of stipulating under the state of above-mentioned welding torch in above-mentioned center.
The 8th invention is according to the Squitter pulse welding method of the second invention, it is characterized in that, above-mentioned spiral welded track comprises namely that based on the displacement to above-mentioned production line direction the predetermined parameter of maximum radius of spin value and the posture information of the above-mentioned welding torch leading section in the above-mentioned job position are calculated, above-mentioned job position as the welding starting position, will be left the position of above-mentioned maximum radius of spin value amount as the welding end position in above-mentioned production line direction.
The 9th invention is characterized in that according to the Squitter pulse welding method of the 8th invention above-mentioned maximum radius of spin value is identical with above-mentioned moving interval.
The tenth invention is according to the Squitter pulse welding method of each invention in the three～nine invention, upper above-mentioned parameter comprise be used to make above-mentioned welded rails with the flat ratio of the Direction distortion of above-mentioned production line direction phase quadrature.
The 11 invention is according to the Squitter pulse welding method of each invention in the first～ten invention, and above-mentioned welded rails generates according to a track pattern of selecting from a plurality of track pattern that comprise predetermined circle or ellipse or spiral.
By the first invention, when the welding of each job position, have in the regulation zone of Rack in the production line direction and with the direction of production line phase quadrature and to generate the welded rails that comprises job position, weld by according to this welded rails the leading section of electric arc welding torch being moved on one side on one side, thereby can suppress the heat input to mother metal, and in comprising the large zone of job position, form weld mark.Namely can form the weld mark large weld mark that forms than under the existing state that has stopped, therefore can realize the weld seam that width is wide.
By the second invention, become circle or ellipse or spiral by making welded rails, thereby except the effect that the first invention realizes, can also improve the attractive in appearance of weld seam.
By the 3rd invention, justifying welded rails is calculated based on the posture information of the predetermined parameter that comprises circular diameter value or radius of circle value and the electric arc welding torch leading section in the job position, the center is configured on the production line, and starting position and welding end position are welded in orbit configuration.Namely except the effect that the first and second invention realizes, can in each job position, form the weld mark of toroidal.
By the 4th invention, the oval welded rails of oval welded rails for being calculated based on the posture information of the predetermined parameter that comprises major axis value and minor axis value and the electric arc welding torch leading section in the job position, the center is configured on the production line, and starting position and welding end position are welded in orbit configuration.Namely except the effect that the first and second invention realizes, can form at each job position the weld mark of elliptical shape.
By the 5th invention, by will weld starting position and welding end position as job position, thereby after job position begins welding, electric arc welding torch leading section is moved according to justifying welded rails or oval welded rails, and turn back to job position.Thus, except the effect that the first～the 4th invention realizes, can realize the wide weld seam of width by the weld mark that is generated by circle welded rails or oval welded rails.
By the 6th invention, will justify the center of welded rails or oval welded rails as job position.In the 5th invention, job position as base end part, is formed on round welded rails or the oval welded rails of skew (offset) on the production line direction.Relative therewith, in the 6th invention, can form round welded rails or oval welded rails centered by job position.Thus, except the first～the 4th effect of realizing of invention, also realize the weld mark that produced by circle welded rails or oval welded rails form the position desirable and for the operator effect clearly.
By the 7th invention, before according to the round welded rails that generates or oval welded rails moving electric arc welding torch, in the center of track, the welding of the weld interval of under the state that stops the electric arc welding torch, stipulating.For example in the situation of round welded rails, in the situation excessive as the radius of circle value of parameter regulation or circular diameter value, existence can not form the situation of weld mark near the center of circle, but by the welding of weld interval of stipulating under the state that the electric arc welding torch is stopped in the center at first at first, thereby even radius of circle or circular diameter greatly also form weld mark near the center.This situation is also identical in oval welded rails.Namely except the effect that the 1st～the 6th invention realizes, can form more reliably large weld mark.
By the 8th invention, the spiral welded track is that the predetermined parameter of maximum radius of spin value and the posture information of the electric arc welding torch leading section in the job position are calculated based on comprising to the displacement of production line direction.And, after job position begins welding, make electric arc welding torch leading section according to the spiral welded rail moving and arrive the position of leaving maximum radius of spin value amount.Thus, except the effect that the first and second invention realizes, can also realize the wide weld seam of width by the weld mark that generates at the spiral welded track.
By the 9th invention, making the maximum radius of spin value of spiral welded track is that moving interval is identical with displacement to next job position.Thereby, except first, second and the 8th effect that realize of invention, can also reduce spiral welded track relevant teaching man-hour.In addition, can also shorten the productive temp time.Be in the situation of the value different from moving interval in the maximum radius of spin value of regulation namely, describe the spiral welded track and after the mobile maximum radius of spin value amount of production line direction, need to move to the next job position that leaves the moving interval amount, but make in the maximum radius of spin value situation identical with moving interval, do not need the movement to next job position, therefore can shorten the productive temp time.
By the tenth invention, make welded rails be used as parameter at the flat ratio that is out of shape with the direction of production line direction phase quadrature by being given for, thereby can make the welded rails distortion.Namely except the effect that the first～the 9th invention realizes, can further realize the welded rails according to operator's needs.
By the 11 invention, pass through from predetermined pattern, to select the pattern of especially suitable welded rails in order to realize the weld seam that width is wide, thereby except the effect that the first～the tenth invention realizes, can realize the weld appearance corresponding with operator's needs.
Description of drawings
The block diagram of the interrupting pulse welder 1 of the Squitter pulse welding method that Fig. 1 is correlated with for applicable the present invention.
Fig. 2 is the figure of the predetermined a plurality of trajectory diagram cases of expression.
Fig. 3 is for being used for the figure of explanation sealing wire coordinate system.
Fig. 4 generates the figure of the appearance of circle welded rails for being illustrated in the embodiment 1 in comprising the regulation zone of job position.
Fig. 5 is for being illustrated in the embodiment 1 flow chart of the flow process of the processing the during welding of expression interrupting pulse.
Fig. 6 generates the figure of the appearance of circle welded rails for being illustrated in the embodiment 2 around job position Pn.
Fig. 7 is the flow chart of the flow process of the processing when being illustrated in the embodiment 2 interrupted pulse welding.
Fig. 8 once welds the flow chart when afterwards the electric arc welding torch being moved according to welded rails for being illustrated in the embodiment 2 in the center of welded rails.
Fig. 9 is the figure that is used for explanation spiral welded track in embodiment 3.
Figure 10 is in embodiment 3, is used for the figure of the kind of explanation spiral welded track.
Figure 11 is for being used for explanation at embodiment 3, the image (image) of the weld seam of the relation between maximum radius of spin value and moving interval figure.
Figure 12 is the flow chart of the flow process of the processing when being illustrated in the embodiment 3 interrupted pulse welding.
Figure 13 is the figure of the existing interrupting pulse welder of expression.
The figure of the state when Figure 14 carries out the interrupting pulse welding for being used for explanation.
Figure 15 is for being used for illustrating the figure of the weld seam that forms after welding procedure.
[explanation of symbol]
1 interrupting pulse welder
3 master control part
4 hard disks
5 RAM
6 CPU
11 operation control part
12 drive instruction department
13 welding control parts
20 teaching handling parts
21 Graphics Processing sections
22 explain enforcement division
41 display parts
42 configuration parts
51 existing interrupting pulse welders
52 conduit cables
53 upper arm
54 underarms
55 wrists
56 wire reels
57 welding wires
58 gas bombs
A electric arc
The AP source of welding current
The B weld seam
The Cc center
Cc ' center
Cr radius of circle value
Ct cool time
Dr production line direction
The Ep end point
Ew gives prominence to length
The G protective gas
H sealing wire coordinate system and plane Z axis phase quadrature
Kc circle welded rails
Kc ' circle welded rails
The oval welded rails of Kd
The oval welded rails of Kd '
Kg track pattern group
Kr spiral welded track
The Kp track pattern
The L production line
The M manipulator
The Mp moving interval
The Ms translational speed
The P1 job position
The P2 job position
The P3 job position
The P4 job position
The Pn job position
Pe welds end position
The Pm parameter
The RC robot controller
The Rd direction of rotation
The Sc weld mark
The Sp starting point
The maximum radius of spin value of Sr
T electric arc welding torch
The Tc welding condition
TP teaching operation dish
The W workpiece
The W1 workpiece
The W2 workpiece
We welds end position
Wp welding beginning end position
Wp ' welding beginning end position
The Y melting tank
Y ' weld mark
The specific embodiment
[embodiment 1]
Below, the working of an invention mode is described with reference to accompanying drawing according to embodiment.
The block diagram of the interrupting pulse welder 1 of the Squitter pulse welding method that Fig. 1 is correlated with for applicable the present invention.In the figure, be robot controller RC with the difference of Figure 13 of prior art, as the teaching operation dish TP of operating unit.Other manipulator M, source of welding current AP that illustrated in the prior art, wire reel 56, gas bomb 58 etc. are not shown and omit.Below, robot controller RC and the teaching operation dish TP that consists of major part of the present invention described.
Robot controller RC is used for making manipulator M weld the control of action, possess: the master control part 3 that becomes its maincenter, carry out the track computing etc. of manipulator M and with operation result as driving signal to the operation control part 11 that drives instruction department 12 outputs, output is used for each servomotor of manipulator M is rotated the driving instruction department 12 of the servo-control signal of control, the hard disk 4 that is used for storage operation program and various parameters etc., RAM5 as temporary transient zoning, CPU6 as the central operation treating apparatus, administer the welding control part 13 of control of welding and not shown servo-driver, they are connected by bus (not shown).
Teaching operation dish TP as operating unit possesses: the display part 41 that shows various information; The configuration part 42 of the various conditions of the moving target position of setting manipulator M, action parameter etc.Be imported into the master control part 3 of robot controller RC by the various conditions of configuration part 42 input etc.
Master control part 3 possesses: the teaching handling part 20 that the various conditions of 42 inputs from the configuration part is carried out stores processor; Graphics Processing section 21 and explanation enforcement division 22. Teaching handling part 20,42 inputs are when interrupting pulse welds during necessary condition from the configuration part, with welding condition Tc (welding current, weldingvoltage), translational speed Ms, moving interval Mp, cool time Ct and track pattern Kp and parameter Pm thereof store in the hard disk 4.Graphics Processing section 21 is presented at the various data of inputting in the display part 41 of teaching operation dish TP as required.At this, the track pattern of track pattern Kp when welding in the regulation zone that comprises job position.Above-mentioned operation control part 11 based on this track pattern Kp with and parameter Pm generate welded rails.
Fig. 2 is the figure of the example of expression track pattern.A plurality of patterns as shown in the drawing are stored in advance in the hard disk 4 as track pattern group Kg.Track pattern group Kg is presented at title and shape in the display part 41 of teaching operation dish TP as group, so the operator can be from visually understanding track pattern, and can select any track pattern.
In addition, track pattern group Kg is preferably the structure that comprises especially optimal circle, ellipse or spiral in order to realize the weld seam that width is wide.And then shown in this figure (c)～(f), the pattern predesignate sectionalization in the situation of spiral after will be better so that the starting position of spiral rotating, direction of rotation etc. can image (image) time.
Next, operation control part 11 is described according to the welded rails that circle or oval track pattern generate.At first the sealing wire coordinate system that becomes the benchmark when generating welded rails is described.
Fig. 3 is for being used for the figure of explanation sealing wire coordinate system.This figure (a) expression electric arc welding torch T and production line L are perpendicularly by the situation of teaching, and this figure (b) expression electric arc welding torch T and production line L are angularly by the situation of teaching.In the figure, production line L is for connecting by the line of the starting point Sp of teaching and end point Ep in order to engage workpiece W1 and workpiece W2.Production line direction Dr is the direction that electric arc welding torch T advances to end point Ep from starting point Sp.Same as the prior art, production line L is cut apart by moving interval Mp, calculates a plurality of job positions at production line L.Job position Pn represents in a plurality of job positions.Below, the method that defines the sealing wire coordinate system in the regulation zone that comprises this job position Pn is described.In other job position, also adopt and use the same method to define the sealing wire coordinate system.
The sealing wire coordinate system based on the posture information of the leading section of the electric arc welding torch T among the job position Pn, be the posture coordinate figure in production line direction composition and the base coordinate system, can define like that according to following.
Shown in this figure (a), be the sealing wire coordinate system with following Coordinate system definition, be about to initial point as job position Pn, with the production line direction Dr among this job position Pn as the Z+ direction, with retraction (retract) direction of welding wire (not shown) of inside of inserting electric arc welding torch T as the X+ direction, will be with Z+ direction and X+ direction phase quadrature and according to the direction of the so-called right-handed coordinate system coordinate system as the Y+ direction.Welded rails is calculated on the YZ plane.
Make electric arc welding torch T tool angularly by the situation of teaching under, shown in this figure (b), to comprise job position Pn and with the plane H projection electric arc welding torch T of the Z axis phase quadrature of sealing wire coordinate system, the retracted orientation of establishing the electric arc welding torch T ' after the projection is the X+ direction.Other are identical with this figure (a).
In addition, in above-mentioned, expression production line L is the situation of straight line, but production line L is in the situation of circular arc, if regard the wiring direction of circular arc as production line L, then can adopt method same as described above to define the sealing wire coordinate system, and therefore description thereof is omitted.
Next, be that benchmark describes the method that generates round welded rails and oval welded rails with above-mentioned sealing wire coordinate.
Fig. 4 generates the figure of the appearance of circle welded rails for expression.Among this figure, about the XYZ direction of job position Pn, electric arc welding torch T, workpiece W1, workpiece W2, starting point Sp, end point Ep, production line L, production line direction Dr and sealing wire coordinate system, because identical with Fig. 3, therefore description thereof is omitted.
Circle welded rails Kc has in the zone of Rack at the production line direction Dr that comprises job position Pn and with the direction of production line L phase quadrature and is generated.In addition, configuration job position Pn is as welding beginning end position Wp.So-called welding beginning end position Wp is the position that begins to weld, and rotated for 1 week according to direction of rotation Rd along circle welded rails Kc, finishes the position of welding.
Radius of circle value Cr and direction of rotation Rd are set the parameter Pm as the circle welded rails.Determine the width (being weld width) of weld mark also can replace the radius of circle value by the circular diameter value as the radius of circle value Cr of Rack.Direction of rotation Rd is used for when electric arc welding torch T is moved along the circle welded rails, determines that direction rotation to the left and right towards production line direction Dr.
Circle welded rails Kc is according to following such generation.If separate the position of radius of circle value Cr from job position Pn to production line direction Dr for the center Cc of circle, calculate the circular orbit with radius of circle value Cr in the YZ plane.In addition, this circular orbit is easily calculated based on known function etc., and therefore for detailed calculating formula etc., description thereof is omitted.And, job position Pn is begun end position Wp as welding.Thus, in the zone of the production line direction side that comprises job position Pn, generate circle welded rails Kc.
Also can adopt method same as described above, generate oval welded rails.The left and right directions length radius value of oval welded rails and direction of advance length radius value namely are set as parameter Pm, replace above-mentioned radius of circle value Cr.Left and right directions length radius value and direction of advance length radius value also can be respectively diameter value separately.This is equivalent to so-called oval major axis value and the minor axis value of necessity when generating oval welded rails.
And, will leave the position of direction of advance length radius value as the center Cc of ellipse from job position Pn to production line direction Dr, in the YZ plane, calculate the elliptic orbit with left and right directions length radius value and direction of advance length radius value.Because this elliptic orbit also can easily be calculated according to known function etc., therefore description thereof is omitted about detailed calculating formula etc.Afterwards, job position Pn is begun end position Wp as welding.Thus, in the zone of the production line direction side that comprises job position Pn, generate oval welded rails Kd.
Next, the action of carrying out interrupting pulse when welding is described.The flow chart of the flow process of the processing when Fig. 5 welds for the expression interrupting pulse.
Among the step S1, cut apart production line L with moving interval Mp and calculate job position.Be P1 if establish initial job position, then job position P1 is by the represented starting point Sp of Fig. 4.
In step S2, make electric arc welding torch T move to job position P1.
In step S3, by the sealing wire coordinate system among the above-mentioned method setting job position P1.
In step S4, establish job position P1 by above-mentioned method generation and be the welded rails of welding beginning end position Wp.And then, carry out be used to the interpolation operation that electric arc welding torch T is moved according to the welded rails that generates.Namely in the situation of round welded rails Kc, based on radius of circle value Cr geometry calculate the welding long (circumference) of round welded rails Kc, translational speed long based on this welding and that set is calculated the coordinate figure of the sealing wire coordinate system that should be adopted by each interpolation cycle, be the coordinate figure of base coordinate system (base coordinate) by coordinate transform with this coordinate transform, and then calculate the moving target value in each joint of manipulator M by carrying out the inverse transformation computing.In the situation of oval welded rails Kd, based on left and right directions length radius and direction of advance length radius geometry calculate the welding long (oval girth) of oval welded rails Kd, Kc similarly calculates the moving target value in each joint of manipulator M with the circle welded rails.In addition, the translational speed Ms that above-mentioned translational speed also can be used the condition that is set as the interrupting pulse welding can set speed of welding as the parameter Pm of track pattern, also can use this speed of welding.
In step S5, begin welding, electric arc welding torch T is moved according to welded rails, arrive welding beginning end position Wp.In addition, diagram not, but after welding beginning end position Wp is through with welding, with prior art equally set under the state that has stopped electric arc welding torch T cool time Ct during carry out the cooling processing of weld mark.
In step S6, judge whether current job position is end point Ep.When current job position is end point Ep, process ends.Not in the situation of end point Ep at current job position, turn back to step S2.After turning back to step S2, in each of next job position P2～Pn of separate mobile spacing Mp, step S2～S6 repeatedly.
As mentioned above, when the welding of each job position, have in the regulation zone of Rack in the production line direction that comprises job position and with the direction of production line phase quadrature and to generate welded rails, by the leading section of electric arc welding torch is moved on one side according to this welded rails, weld on one side to suppress the heat input to mother metal, and can in comprising the large zone of job position, form weld mark.Namely owing to can form than formed weld mark large weld mark under the existing state that has stopped, therefore can realize the weld seam that width is wide.
In addition, be circle or ellipse or spiral by making welded rails, thereby except above-mentioned effect, can also improve the attractive in appearance of weld seam.
In addition, can from predetermined pattern, select the pattern of particularly suitable welded rails in order to realize the weld seam that width is wide, thereby except above-mentioned effect, can also realize the weld appearance corresponding with operator's needs.
In addition, justifying welded rails is calculated based on the posture information of the predetermined parameter that comprises circular diameter value or radius of circle value and the electric arc welding torch leading section in the job position, the center of track is configured on the production line, and starting position and welding end position are welded in orbit configuration.Namely except above-mentioned effect, can in each job position, form the weld mark of toroidal.
In addition, oval welded rails is calculated based on the posture information of the predetermined parameter that comprises major axis value and minor axis value and the electric arc welding torch leading section in the job position, the center is configured on the production line, and starting position and welding end position are welded in orbit configuration.Namely except above-mentioned effect, can in each job position, form the weld mark of elliptical shape.
In addition, by will welding starting position and welding end position as job position, thereby after job position begins welding, electric arc welding torch leading section is moved according to circle welded rails or oval welded rails, and turn back to job position.Thus, except above-mentioned effect, can realize the weld seam that width is wide by the weld mark that generates at circle welded rails or oval welded rails.
[embodiment 2]
Next, embodiments of the present invention 2 are described.In embodiment 1, become welded rails at the production line direction adnation of job position Pn, but in embodiment 2, around job position Pn, generate welded rails.
Fig. 6 is the figure of the appearance that generates the circle welded rails around job position Pn in the expression embodiment 2.In the figure, the difference with Fig. 4 is the center Cc ' as circle welded rails Kc ' with job position Pn.Other are identical with embodiment 1, and therefore description thereof is omitted.
Following such generation of circle welded rails Kc '.At first, job position Pn as center Cc ', is calculated the circular orbit that has radius of circle value Cr in the YZ plane.Afterwards, on this circular orbit, leave the position of radius of circle value Cr from job position Pn to the direction opposite with production line direction Dr and calculate welding beginning end position Wp '.Thus, the zone around job position Pn generates circle welded rails Kc '.
Identical with embodiment 1, also can around job position Pn, generate oval welded rails.Namely, left and right directions length radius and direction of advance length radius that oval welded rails is set replace above-mentioned radius of circle value Cr as parameter Pm, if position Cc ' centered by the job position Pn calculates the elliptic orbit with left and right directions length radius and direction of advance length radius in the YZ plane.Afterwards, on this elliptic orbit, calculate welding beginning end position Wp ' in position from job position Pn to the direction opposite with production line direction Dr that leave direction of advance length radius from.Thus, around job position Pn, generate oval welded rails Kd '.And then, identical with embodiment 1, carry out be used to the interpolation operation that electric arc welding torch T is moved along welded rails.
Next, the action of carrying out interrupting pulse when welding is described.The flow chart of the flow process of the processing when Fig. 7 welds for the interrupting pulse in the expression embodiment 2.
In step S1, calculate the job position of being cut apart production line L by moving interval Mp.Be P1 if establish initial job position, then job position P1 is starting point Sp shown in Figure 4.
In step S2, by the sealing wire coordinate system among the said method setting job position P1.
In step S3, job position P1 as the center, is created on the welded rails that has welding beginning end position Wp ' on the production line L by said method.And then, identical with embodiment 1, carry out be used to the interpolation operation that electric arc welding torch T is moved according to welded rails.
In step S4, make electric arc welding torch T begin end position Wp ' to the welding on the welded rails and move.
In step S5, begin welding, electric arc welding torch T is moved according to welded rails, and arrive welding beginning end position Wp '.In addition, although not shown, same as the prior art after welding beginning end position Wp ' finishes welding, set under the state that stops electric arc welding torch T cool time Ct during carry out the cooling processing of weld mark.
In step S6, judge whether current job position is end point Ep.When current job position is end point Ep, process ends.When current job position is not end point Ep, turn back to step S2.Turn back to after the step S2, in each of the next job position P2～Pn that leaves moving interval Mp, step S2～S6 repeatedly.
As mentioned above, in embodiment 2, with circle or oval center as job position.In the embodiment 1, job position is formed on the production line direction circle or the ellipse of skew (offset) as base end part, but by with job position as circle or oval center, thereby form circle or ellipse centered by job position.Thus, can realize that circle or the formation position of oval formed weld mark are desirable and are effect clearly for the operator.
In addition, in above-mentioned embodiment 2, after also can in the center of welded rails, once welding the electric arc welding torch is moved according to welded rails.Below, the mode of once welding in the center of welded rails is described.
Flow chart when Fig. 8 makes the electric arc welding torch move according to welded rails afterwards for once welding in the center of welded rails.In the figure, the step S1 that is illustrated by the broken lines～S4 and S6 are the same step of giving the symbol identical with Fig. 7, and therefore description thereof is omitted.Below, step S4 ' and the S5 that is represented by solid line described.
In step S4 ', in job position, stop to weld in the weld interval of regulation under the electric arc welding torch T state afterwards.Constitute the condition in the time of to weld as interrupting pulse this weld interval and preset.
Afterwards, in step S5, make electric arc welding torch T begin end position Wp ' to the welding on the welded rails and move.When this moves, also can before movement, stop electric arc, also can connect beginning end position Wp ' movement at the state down hill welding that keeps sending electric arc.Afterwards, after moving according to welded rails, arrive welding beginning end position Wp '.
Thus, before according to the round welded rails that generates or oval welded rails moving electric arc welding torch, in the center of welded rails, under the state that stops the electric arc welding torch, carry out the regulation welding of weld interval.For example in the situation of circle welded rails, when excessive as the radius of circle value of parameter regulation or circular diameter value, existence does not form the situation of weld mark near the center of circle, but at first by the initial welding that stops weld interval of stipulating under the state of electric arc welding torch in the center, thereby even radius of circle or circular diameter greatly also form weld mark near the center.Even this mode also is in the same manner for oval welded rails.Namely can form more reliably large weld mark.
[embodiment 3]
Next, embodiments of the present invention 3 are described.In the embodiment 1 and 2, around the production line direction side of job position Pn or job position Pn, generate circle welded rails Kc (Kc ') or oval welded rails Kd (Kd '), but in embodiment 3, generate the spiral welded track of helically rotation toward the outer side from job position Pn.
Fig. 9 is for being used for the figure of explanation spiral welded track.This figure is the figure that sees the YZ plane of the sealing wire coordinate system that is illustrated by embodiment 1 from the X+ direction, is illustrated in the appearance of describing spiral welded track Kr on the YZ plane.In the figure, the part of giving same-sign among job position Pn, production line L, production line direction Dr and direction of rotation Rd and Fig. 4 is identical, and therefore description thereof is omitted.
Following such generation of spiral welded track Kr shown in this figure.At first, job position Pn as welding starting position Ws, is calculated the helical orbit that has maximum radius of spin value Sr in the YZ plane.So-called spiral track its radius of Dow Jones index and angle increases pro rata, so-called Archimedian screw.The formula of Archimedian screw is represented by radius R=a θ (a is constant, and θ is the anglec of rotation).Namely centered by job position Pn, regulation quadrant (0 π, 1/2 π, π, 3/2 π) as shown in the figure, give rotation beginning angle, rotation angle at the end, when rotation finishes radius (=maximum radius of spin value Sr) as parameter Pm, thereby can easily calculate helical orbit.In the situation of this figure, rotation beginning angle is 1/2 π, and the rotation angle at the end is 4 π, and maximum radius of spin value is Sr.Based on said method, calculate above-mentioned constant a, the radius R of also calculating each anglec of rotation.Namely can easily calculate the coordinate figure of the sealing wire coordinate system that on helical orbit, should obtain.
Figure 10 is the figure of the example of expression helical orbit.For example change by making rotation beginning angle and rotating angle at the end, and can generate as scheming the spiral welded track Kr shown in (a)～(f).In this figure (a)～(f), represent to make rotation to begin the example of the situation of angle and the variation of rotation angle at the end, but passed through to add therein radius value when rotating beginning, thereby can stipulate more neatly helical orbit.The formula that is above-mentioned Archimedian screw is radius R=Ri+a θ.Radius value when Ri begins for rotation.This figure (g) is illustrated in the helical orbit of radius value Ri when considering the rotation beginning among this figure (e).
Turn back to Fig. 9, on helical orbit and position from job position Pn to production line direction Dr that leave maximum radius of spin value Sr from calculate welding end position We.Thus, the zone around job position Pn generates spiral welded track Kr.
In addition, above-mentioned maximum radius of spin value Sr also can use identical value with moving interval Mp.Figure 11 is the striograph for the weld seam that the relation between maximum radius of spin value and the moving interval is described.Weld seam when the maximum radius of spin value Sr of this this figure (a) expression is identical value with moving interval Mp, maximum radius of spin value Sr is than moving interval Mp weld seam in short-term in this figure (b) expression, the weld seam when the maximum radius of spin value Sr of this figure (c) expression is longer than moving interval Mp.At this figure (b) and (c), describe spiral welded track Kr and behind the mobile maximum radius of spin value Sr of production line direction Dr, need further to move to the next job position that leaves moving interval Mp amount, but shown in this figure (a), making in the maximum radius of spin value Sr situation identical with moving interval Mp, do not need to move to next job position.
Next, the action of carrying out interrupting pulse when welding is described.The flow chart of the flow process of the processing when Figure 12 welds for the interrupting pulse in the expression embodiment 3.
In step S1, cut apart production line L and calculate job position by moving interval Mp.Be P1 if establish initial job position, then job position P1 is starting point Sp shown in Figure 4.
Among the step S2, electric arc welding torch T is moved to job position P1.
In step S3, by the sealing wire coordinate system among the above-mentioned method setting job position P1.
In step S4, generate job position P1 as welding starting position Ws by said method, will leave the position of maximum radius of spin value Sr as the spiral welded track Kr of welding end position We to production line direction Dr.And then, carry out be used to the interpolation operation that electric arc welding torch T is moved according to spiral welded track Kr.The welding long (spiral length) of spiral welded track Kr is calculated on the geometry ground such as radius value when namely beginning angle, rotation angle at the end, maximum radius of spin value Sr, rotation beginning based on the rotation of spiral, translational speed long based on this welding and that set is calculated the coordinate figure that should adopt in each interpolation cycle, calculate in the same manner the moving target value in each joint of manipulator M with above-mentioned embodiment 1.The translational speed Ms that above-mentioned translational speed also can use the condition as interrupting pulse welding to set also can set speed of welding as the parameter Pm of track pattern, uses this speed of welding.
In step S5, begin welding, electric arc welding torch T is moved according to spiral welded track Kr, and arrive welding beginning end position Wp.In addition, although not shown, same as the prior art after welding beginning end position Wp finishes welding, set under the state that has stopped electric arc welding torch T cool time Ct during carry out the cooling processing of weld mark.
In step S6, judge whether current job position is end point Ep.When current job position is end point Ep, process ends.Not in the situation of end point Ep at current job position, calculate after the displacement of next job position by the difference between maximum radius of spin value Sr and the moving interval Mp, turn back to step S2.Turn back to after the step S2 step S2～S6 repeatedly in each of next job position P2～Pn.
As described above, in each job position that carries out the interrupting pulse welding, begin welding at job position Pn, while describing that electric arc welding torch T is moved it to the spiral welded track Kr of the direction of direction of rotation Rd, make it arrive the welding end position Pe that leaves maximum radius of spin value Sr from job position Pn to the direction of production line direction Dr.
As mentioned above, the spiral welded track is that the predetermined parameter of maximum radius of spin value and the posture information of the electric arc welding torch leading section in the job position are calculated based on comprising to the displacement of production line direction.Afterwards, after job position begins welding, make electric arc welding torch leading section leave the position of maximum radius of spin value amount according to spiral welded rail moving and arrival.Thus, can realize by the weld mark that generates at the spiral welded track weld seam that width is wide.
In addition, making the maximum radius of spin value of spiral welded track is that moving interval is identical with displacement to next job position.Thereby, except above-mentioned effect, can also reduce the teaching man-hour relevant with the spiral welded track.In addition, can shorten the productive temp time (tact time).Be in the situation of the value different from moving interval in the maximum radius of spin value of regulation namely, describe the spiral welded track and after the mobile maximum radius of spin value amount of production line direction, need to move to the next job position that leaves the moving interval amount, but make in the maximum radius of spin value situation identical with moving interval, owing to do not need the movement to next job position, therefore can shorten the productive temp time.
More than, embodiment is illustrated, but in each embodiment, also can make comprise among the parameter Pm of each track pattern be used to make welded rails with the flat ratio of the Direction distortion of production line direction quadrature.This flat ratio is preferably set respectively right flat ratio and left flat ratio towards the production line direction on right side and left side.Thus, can the distortion weld track.Especially spiral welded track, for example as shown in Figure 9, under direction of rotation Rd towards production line direction Dr is right situation, larger a little than the track in left side towards the track on production line direction Dr and right side, therefore can prevent the deflection of spiral welded track by setting flat ratio.Namely can further realize the welded rails corresponding with operator's needs.
In addition, in the respective embodiments described above, in each job position, carry out the generation of welded rails at every turn, but also can only generate welded rails at initial job position, reuse this welded rails in the job position afterwards.
Claims (18)
1. Squitter pulse welding method, it is by after repeatedly making welding torch move to the job position on the production line and welding, next job position at the moving interval that leaves regulation welds again, make by the formed weld mark of the welding of each job position and overlap and form weld seam at workpiece, it is characterized in that
Generate welded rails comprising above-mentioned job position and have in the regulation zone of Rack in above-mentioned production line direction and with the direction of above-mentioned production line phase quadrature, the leading section that makes on one side above-mentioned welding torch moves according to the welded rails of this generation, Yi Bian weld.
2. Squitter pulse welding method according to claim 1 is characterized in that,
Above-mentioned welded rails is circle welded rails or oval welded rails or spiral welded track.
3. Squitter pulse welding method according to claim 2 is characterized in that,
Above-mentioned round welded rails is calculated based on the posture information of the predetermined parameter that comprises circular diameter value or radius of circle value and the above-mentioned welding torch leading section in the above-mentioned job position, and the center is configured on the above-mentioned production line and in orbit configuration welding starting position and welding end position.
4. Squitter pulse welding method according to claim 2 is characterized in that,
Above-mentioned oval welded rails is calculated based on the posture information of the predetermined parameter that comprises oval major axis value and minor axis value and the above-mentioned welding torch leading section in the above-mentioned job position, and the center is configured on the above-mentioned production line and in orbit configuration welding starting position and welding end position.
5. according to claim 3 or 4 described Squitter pulse welding methods, it is characterized in that,
Above-mentioned welding starting position and above-mentioned welding end position are above-mentioned job position.
6. according to claim 3 or 4 described Squitter pulse welding methods, it is characterized in that,
Above-mentioned center is above-mentioned job position.
7. Squitter pulse welding method according to claim 6 is characterized in that,
Before moving above-mentioned welding torch according to above-mentioned welded rails, stop the welding of weld interval of stipulating under the state of above-mentioned welding torch in above-mentioned center.
8. Squitter pulse welding method according to claim 2 is characterized in that,
Above-mentioned spiral welded track comprises namely that based on the displacement to above-mentioned production line direction the predetermined parameter of maximum radius of spin value and the posture information of the above-mentioned welding torch leading section in the above-mentioned job position are calculated, above-mentioned job position as the welding starting position, will be left the position of above-mentioned maximum radius of spin value amount as the welding end position in above-mentioned production line direction.
9. Squitter pulse welding method according to claim 8 is characterized in that,
Above-mentioned maximum radius of spin value is identical with the moving interval described in the claim 1.
10. according to claim 3, each described Squitter pulse welding method in 4,8,9, it is characterized in that,
Above-mentioned parameter comprise be used to make above-mentioned welded rails with the flat ratio of the Direction distortion of above-mentioned production line direction phase quadrature.
11. Squitter pulse welding method according to claim 5 is characterized in that,
Above-mentioned parameter comprise be used to make above-mentioned welded rails with the flat ratio of the Direction distortion of above-mentioned production line direction phase quadrature.
12. Squitter pulse welding method according to claim 6 is characterized in that,
Above-mentioned parameter comprise be used to make above-mentioned welded rails with the flat ratio of the Direction distortion of above-mentioned production line direction phase quadrature.
13. Squitter pulse welding method according to claim 7 is characterized in that,
Above-mentioned parameter comprise be used to make above-mentioned welded rails with the flat ratio of the Direction distortion of above-mentioned production line direction phase quadrature.
14. according to claim 1～4, each described Squitter pulse welding method in 8,9, it is characterized in that,
Above-mentioned welded rails generates according to a track pattern of selecting from a plurality of track pattern that comprise predetermined circle or ellipse or spiral.
15. each described Squitter pulse welding method is characterized in that according to claim 5,
Above-mentioned welded rails generates according to a track pattern of selecting from a plurality of track pattern that comprise predetermined circle or ellipse or spiral.
16. Squitter pulse welding method according to claim 6 is characterized in that,
Above-mentioned welded rails generates according to a track pattern of selecting from a plurality of track pattern that comprise predetermined circle or ellipse or spiral.
17. Squitter pulse welding method according to claim 7 is characterized in that,
Above-mentioned welded rails generates according to a track pattern of selecting from a plurality of track pattern that comprise predetermined circle or ellipse or spiral.
18. Squitter pulse welding method according to claim 10 is characterized in that,
Above-mentioned welded rails generates according to a track pattern of selecting from a plurality of track pattern that comprise predetermined circle or ellipse or spiral.
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| JP4787355B2 (en) * | 2009-12-17 | 2011-10-05 | 株式会社ダイヘン | Stitch pulse welding control device and stitch pulse welding device |
| CN103949755A (en) * | 2014-03-31 | 2014-07-30 | 长治清华机械厂 | Method for single-side welding double-side forming of HG785D steel plate by robot |
| CN108127217B (en) * | 2018-01-16 | 2023-12-05 | 中国计量大学 | Welding device and method for automatic guided welding of end face weld joint of spiral plate type heat exchanger |
| CN109093227A (en) * | 2018-10-25 | 2018-12-28 | 江苏阀邦半导体材料科技有限公司 | A kind of automatic more quadrant mould group welding systems |
| CN117226193B (en) * | 2023-11-10 | 2024-02-02 | 华潞科技(山西)有限公司 | Wire-cut electric discharge machine hardware interpolation method, device and storage medium |
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