CN101898272A - Arc-welding method - Google Patents
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- CN101898272A CN101898272A CN2010101259706A CN201010125970A CN101898272A CN 101898272 A CN101898272 A CN 101898272A CN 2010101259706 A CN2010101259706 A CN 2010101259706A CN 201010125970 A CN201010125970 A CN 201010125970A CN 101898272 A CN101898272 A CN 101898272A
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Abstract
Even the invention provides a kind of for example because the change of the feed motion of welding wire and short-circuit condition continues also can suitably suppress the arc-welding method of the generation of sputter.In the arc-welding method that generation electric arc welds between welding wire (17) and welding base metal (W), be included in the electric arc that has produced to electric arc from the short-circuit condition of welding wire (17) and welding base metal (W) short circuit when producing status transition, the step that the necking down that produces in the bridge part between welding wire (17) and welding base metal (W) is detected, when in the process of this step, not detecting necking down, welding wire (17) is left from welding base metal (W) liberate short-circuit condition.By this method, even for example short-circuit condition continues by the change of the feed motion of welding wire (17), also can suppress the generation of sputter reliably.
Description
Technical field
The present invention relates to arc-welding method.
Background technology
In the past, known had one side as consumable electrode feeding welding wire, this welding wire and welding base metal between produce electric arc, the arc-welding method that weld on one side.In the operation of this arc welding, carry out the short-circuit condition of welding wire and welding base metal short circuit and short-circuit condition repeatedly by liberation and the electric arc that electric arc produces produces state.
When carrying out the transition to electric arc generation state from short-circuit condition, necking down produces in the fusion bridge part between welding wire and welding base metal.It is the sign that necking down represents to produce to electric arc from short-circuit condition status transition.In addition, from short-circuit condition when electric arc produces status transition, by the welding wire fusing by the caused Joule heat of energising, a large amount of sputters produces.Sputter becomes the reason of smearing defective etc., and welding quality is brought bad influence.
At this, the method as the generation to sputter suppresses for example proposes the method shown in the patent documentation 1.In the method shown in the patent documentation 1, detect the necking down that when electric arc produces status transition, produces from short-circuit condition, based on the detection of this necking down the welding current that welding wire is switched on is descended.When welding current is descended, when electric arc produces, can reduce pressure, therefore can suppress the generation of sputter the electric arc of welding base metal.
But, for example since feed motion moment of welding wire ground change etc., the molten drop hypertrophyization that produces at the leading section of welding wire makes short circuit form improperly produce to more than necessity sometimes.Therefore, be created in the situation that short-circuit condition continues chronically under the state that above-mentioned necking down do not produce.If short-circuit condition continues, then in the method shown in the above-mentioned patent documentation 1, can not detect the generation of necking down.Therefore, can not reduce welding current, be difficult to suppress the generation of sputter.
[patent documentation 1] TOHKEMY 2004-114088 communique
Summary of the invention
The present invention proposes in view of above-mentioned situation just, and short-circuit condition continues by the change of the feed motion of welding wire even its problem for example is to provide, and also can suitably suppress the arc-welding method of the generation of sputter.
By arc-welding method provided by the present invention, producing electric arc between welding wire and welding base metal welds, it is characterized in that, comprise: from the short-circuit condition of above-mentioned welding wire and welding base metal short circuit when the electric arc that has produced above-mentioned electric arc produces status transition, the step of the necking down that the bridge part of detection between above-mentioned welding wire and above-mentioned welding base metal produces, when not detecting above-mentioned necking down in the process of above-mentioned steps, above-mentioned welding wire is left from above-mentioned welding base metal liberate above-mentioned short-circuit condition.
By this structure,, when electric arc produces status transition, continue and do not detect under the situation of necking down from short-circuit condition in short-circuit condition, make welding wire leave welding base metal forcibly.Thus, short-circuit condition is liberated, and can produce electric arc.At this moment, do not follow the fusing of welding wire, therefore can suppress the generation of the sputter when electric arc produces status transition.
In preferred implementation of the present invention, when in the process of above-mentioned steps, not detecting above-mentioned necking down, make from above-mentioned welding wire to reduce to the welding current that above-mentioned welding base metal flows.By this structure, can more effectively suppress the generation of sputter.
In preferred implementation of the present invention, do not detect the judgement of above-mentioned necking down, by after being in above-mentioned short-circuit condition through after the stipulated time, the variable quantity of the time per unit of the weldingvoltage of supplying with between above-mentioned welding wire and the above-mentioned welding base metal for the threshold value of regulation with under carry out.
In addition, do not detect the judgement of above-mentioned necking down, also can by from be in after the above-mentioned short-circuit condition through the stipulated time carry out.By this structure, can not detect the judgement of necking down reliably.
In preferred implementation of the present invention, above-mentioned welding wire is mobile with respect to leaving of above-mentioned welding base metal, is undertaken by the welding torch that above-mentioned welding wire is directed to the welding position of regulation is moved.By this structure, can easily make welding wire leave welding base metal.
In preferred implementation of the present invention, above-mentioned welding torch is mobile with respect to leaving of above-mentioned welding base metal, is undertaken by making above-mentioned welding torch cam mechanism approaching with respect to above-mentioned welding base metal and that leave.
Other features and advantages of the present invention, by the following detailed explanation of carrying out with reference to accompanying drawing, can be clearer and more definite.
Description of drawings
Fig. 1 is the figure of the structure of the expression welding system that is suitable for the arc-welding method that the present invention is correlated with.
Fig. 2 for the expression welding torch and move back and forth to produce near the mechanism structure want portion's enlarged drawing.
Fig. 3 be the reciprocating motion shown in the presentation graphs 2 produce mechanism want portion's enlarged drawing.
Fig. 4 is the figure that is used to illustrate the action of drive cam (drive cam).
Fig. 5 is the figure of the electric structure of expression welding system.
Fig. 6 is the figure of the state of the action of the variable condition of representing weldingvoltage and welding current respectively, the welding torch in each variable condition and cam rotating shaft.
[explanation of symbol]
1 welding robot
11 reference components
12,12a mechanical arm (arm)
13 motor
14 welding torches
15 feed arrangements
151 feed motors
16 coiling guiders (coin liner)
17 welding wires
2 robot controllers
21 control circuits
22 interface circuits
3 welding supplys
31 output control circuits
32 voltage detecting circuits
33 necking down testing circuits
34 feeding control circuits
35 interface circuits
41 motor
42 core shift rotating shafts
43 drive cams (cam mechanism)
44a, 44b bearing (bearing)
45 supports
46 linings (bush)
47 rotating shafts
Fc feeding control signal
The Iw welding current
Mc moves control signal
Nd necking down detection signal
The Rp release signal
Sp welds the starting position
The Vt threshold voltage
The Vw weldingvoltage
The W welding base metal
The specific embodiment
Below, with reference to accompanying drawing, embodiments of the present invention are described particularly.
The figure of the structure of the welding system that the arc-welding method that Fig. 1 is correlated with for expression the present invention is suitable for.This welding system possesses welding robot 1, robot controller 2 and welding supply 3.Possess the distinctive reciprocating motion of present embodiment in the welding robot 1 and produce mechanism 4.
1 couple of welding base metal W of welding robot automatically carries out for example arc welding.Welding robot 1 possesses reference component 11, a plurality of mechanical arm 12, a plurality of motor 13, welding torch 14, silk feed arrangement 15 and coiling guider 16.
Other parts of 11 pairs of welding robots 1 of reference component support, and are fixed in the suitable place on ground etc.Each mechanical arm 12 is connected with reference component 11 via a plurality of axles (omitting diagram).Motor 13 is arranged at the two ends or an end (omitting part diagram) of mechanical arm 12.Motor 13 is driven in rotation by robot controller 2.Be provided with not shown encoder in the motor 13.The output of this encoder is provided for robot controller 2.According to this output valve, the current location of robot controller 2 identification welding torches 14.
Welding torch 14 is arranged at the leading section at the mechanical arm 12a of the setting of side foremost of welding robot 1.Welding torch 14 is directed to for example welding wire about diameter 1mm 17 near the position of the regulation of welding base metal W.Welding torch 14 possesses the protective gas nozzle (omitting diagram) of the protective gas that is used to supply with Ar etc.Be rotated driving by above-mentioned motor 13, control moving of a plurality of mechanical arms 12, welding torch 14 can move freely up and down all around.
Coiling guider (coin liner) 16, the one end is connected with silk feed arrangement 15, and its other end is connected with welding torch 14.Coiling guider 16 forms tubulose, and portion inserts welding wire 17 within it.Coiling guider 16 will be directed to welding torch 14 from the welding wire 17 that silk feed arrangement 15 is sent.The welding wire of sending 17 is outstanding and as consumable electrode performance function to the outside from welding torch 14.
Fig. 2 for expression welding torch 14 and move back and forth to produce near the mechanism 4 structure want portion's enlarged drawing.Fig. 3 be the reciprocating motion shown in Fig. 2 produce mechanism 4 want portion's enlarged drawing.
Welding torch 14 as shown in Figure 2, is installed to mechanical arm 12a via moving back and forth generation mechanism 4.Move back and forth generation mechanism 4 and be used to make welding torch 14 to leave with respect to welding base metal W, and approaching.Move back and forth and produce mechanism 4, as shown in Figure 3, possess motor 41, core shift rotating shaft 42, drive cam 43, bearing 44a, 44b, support 45, lining 46 and rotating shaft 47.
As shown in Figure 2, motor 41 is fixed on mechanical arm 12a.Motor 41 with the axle 41a that extends along the left and right directions of Fig. 3 as rotating shaft.Not shown encoder is installed in the motor 41.Core shift rotating shaft 42 is fixed on the rotating shaft 41a of motor 41.Core shift rotating shaft 42 can be with the direction rotation identical with the direction of rotation of motor 41.Core shift rotating shaft 42 is provided with bolt 42a in the relative position of the rotating shaft 41a core shift distance L of motor 41.
Form two holes in the drive cam 43.Drive cam 43 is via a side's who is arranged on these two holes bearing 44a, is connected with the above-mentioned bolt 42a of core shift rotating shaft 42.Support 45 links with drive cam 43 via the opposing party's who is arranged on above-mentioned 2 holes bearing 44b.Support 45 links via lining 46 and rotating shaft 47.Rotating shaft 47 is fixed with respect to the body of motor 41.Support 45 links with welding torch 14.
When motor 41 was rotated, the bolt of core shift rotating shaft 42 carried out the core shift rotation.Drive cam 43 rotates according to above-mentioned core shift, as shown in Figure 4, carries out a series of action of from (K1) to (K4).Support 45 by action as shown in Figure 3, moves back and forth on above-below direction along rotating shaft 47.Its result, welding torch 14 can move on the above-below direction of Fig. 2 and Fig. 3 minutely.
The output of output control circuit 31, for example side of the positive electrode is connected with welding torch 14, and negative side is connected with welding base metal W.Between welding wire 17 and welding base metal W, apply weldingvoltage Vw via the contact tip of the front end that is arranged on welding torch 14 (figure slightly).Thus, between the front end of welding wire 17 and welding base metal W, produce electric arc.Welding wire 17 carries out fusion by the heat that is produced by this electric arc, and W applies welding to welding base metal.
The voltage that voltage detecting circuit 32 is used to detect the output of output control circuit 31 is weldingvoltage Vw.Voltage detecting circuit 32 will output to necking down testing circuit 33 with the corresponding voltage detection signal Vd of weldingvoltage Vw.
The circuit that necking down testing circuit 33 detects for the generation to the necking down that produces in the welding bridge part between welding wire 17 and welding base metal W.Necking down becomes between welding wire 17 and the welding base metal W from the sign of short-circuit condition when electric arc produces status transition.The processing that this necking down is detected has for example surpassed the threshold value of stipulating according to the variable quantity (differential value dV/dt) of the time per unit of the weldingvoltage Vw that is supplied to and has carried out between welding wire 17 and welding base metal W.Necking down testing circuit 33 produces signal Nd with necking down and outputs to output control circuit 31, and outputs to control circuit 21 via interface circuit 35,22.
The necking down testing circuit 33 that present embodiment is relevant, except necking down is detected, passed through stipulated time Ts (with reference to Fig. 6) when welding wire 17 is in short-circuit condition with welding base metal W after, whether the variable quantity (differential value dV/dt, be equivalent to the slope C of waveform shown in Figure 6) that detects the time per unit of weldingvoltage Vw is below the threshold value of regulation.Be that necking down testing circuit 33 detects above-mentioned necking down and not have the state that short-circuit condition continues chronically under the state of generation.
When 33 pairs of these states of necking down testing circuit detected, to produce signal Nd different with necking down, and the signal (below be called short circuit continue signal) that will detect the meaning of the state that short-circuit condition continues via interface circuit 35,22 outputs to control circuit 21.When control circuit 21 is collected short circuit continuation signal, will be used to make the moving up and down signal of welding torch 14 to output to welding robot 1 as action control signal Mc.
The feeding control signal Fc that feeding control circuit 34 will be used for feeding welding wire 17 outputs to feed motor 151.Feeding control signal Fc is the signal of the feed speed of expression welding wire 17.
Next, with reference to Fig. 6, an example of the arc-welding method that the present invention is correlated with describes.
Fig. 6 represents respectively from the variable condition of the weldingvoltage Vw of output control circuit 31 output and welding current Iw, the action of welding torch 14 each variable condition and the state of cam rotating shaft 43.Especially, Fig. 6 represents to compare the situation that short-circuit condition continues chronically with common welding action.In addition, the state (K1)～(K4) of cam rotating shaft 43 shown in this Fig is corresponding with (K1)～(K4) shown in Fig. 4.
(1) constantly before the t1 during
At first, after the welding of process transition begins to handle,, usually begin to stablize soldering by the welding commencing signal St (with reference to Fig. 5) of input from the outside.Stablize in the soldering, control circuit 21 will be exported commencing signal On and output to output control circuit 31 and feeding control circuit 34, and will move control signal Mc and output to welding robot 1.Thus, welding torch 14 is moved to welding starting position Sp.In addition, feeding control circuit 34 flows to feed motor 151 with feeding control signal Fc.Thus, welding wire 17 is fed with stabilized speed towards welding base metal W.By these stable solderings, during before the moment t1, between welding wire 17 and welding base metal W, produce electric arc.
(2) constantly t1～t2 during
Form molten drop 51 by weldingvoltage Vw and welding current Iw at the leading section of welding wire 17 from output control circuit 31.At moment t1, shown in (H1), above-mentioned molten drop 51 contacts with the fusion pool 52 of welding base metal W, is in short-circuit condition between welding wire 17 and the welding base metal W.At this moment, output control circuit 31 temporarily makes welding current Iw reduce.Thus, suppress to produce the generation of the sputter of state when the short-circuit condition transition from electric arc.After this, molten drop 51 is to fusion pool 52 transition (with reference to (H2)).
(3) constantly t2～t3 during
(4) moment t4
Since the change of the moment during welding wire 17 feedings etc., and can not produce necking down, and under the situation that short-circuit condition continues (with reference to (H3)), the variable quantity of the time per unit of weldingvoltage Vw is also below the threshold value of regulation behind process stipulated time Ts.Necking down testing circuit 33 detects this state at moment t4, short circuit is continued signal output to output control circuit 31.
When control circuit 21 is collected short circuit continuation signal, the action control signal Mc that makes welding torch 14 leave welding base metal W is outputed to the motor 41 of drive cam 43.Thus, drive cam 43 moves shown in (K2), (K3), and welding torch 14 is shown in (H4), and beginning is moved to the direction of leaving from welding base metal W.Begin to move this welding torch 14 and be equivalent to begin step that the short-circuit condition among the present invention is removed.
(5) constantly t4～t5 during
By carrying out moving of welding torch 14, at moment t4～t5, the short-circuit condition between liberation welding wire 17 and the welding base metal W shown in (H5), produces electric arc 53.In this state, output control circuit 31 reduces welding current Iw.The pressure of the fusion pool 52 when thus, being applied to electric arc 53 and having produced is weakened.Therefore, can suppress the generation of sputter.
(6) moment t6
At moment t6, control circuit 21 outputs to output control circuit 31 and feeding control circuit 34 with release signal Rp.Thus, shown in (K4), (K1), drive cam 43 moves, and welding torch 14 moves to welding starting position Sp shown in (H6).
Afterwards, control circuit 21 will make welding torch 14 move to by the action control signal Mc on the welding direction of teaching and output to welding robot 1.Leading section at welding wire 17 forms molten drop 51, be fed by welding wire 17, thereby welding wire 17 is in short-circuit condition (with reference to (H1)) once more with welding base metal W.After, till the welding end, repeat this step.
Next, the effect to the relevant arc-welding method of present embodiment describes.
By present embodiment, the necking down that forms in the fusion bridge part between welding torch 14 and welding base metal W is that short-circuit condition continues not have to detect this state under the situation of formation chronically usually, and it is mobile that welding torch 14 is left forcibly.Therefore, short-circuit condition is liberated at once, does not follow the fusing of welding wire 17 this moment.In addition, because welding current is reduced, so the pressure of 53 pairs of fusion pool 52 of electric arc weakens.Therefore, continue and do not form under the situation of necking down, also can suppress from the generation of the sputter of short-circuit condition when electric arc produces status transition in short-circuit condition.
For welding torch 14 is left from welding base metal W, perhaps welding base metal W is approaching relatively, and the motor 41 of drive cam 43 is just being changeed, and does not need to make motor 41 counter-rotatings of drive cam 43.Therefore the operating lag that does not have the inertia owing to feed motor 13 to cause.Thus, become big, also do not produce badly, can adopt the relevant method of present embodiment even above-mentioned short-circuit condition and electric arc produce the cycle repeatedly of state.
Scope of the present invention is not limited to above-mentioned embodiment.The concrete structure of the each several part of the arc-welding method that the present invention is correlated with can freely all design alterations.For example, the detection that short-circuit condition continues also can be undertaken by begin not detect necking down by the method beyond the above-mentioned method in the stipulated time from short-circuit condition.In addition, in the figure of the weldingvoltage of presentation graphs 6 and the relation between the time, if be stipulated time Ts ' till short-circuit condition begins when weldingvoltage Vw reaches predetermined threshold value voltage Vt, at the time point that reaches this stipulated time Ts ', it is mobile also welding torch 14 to be sowed discord forcibly.Perhaps also can and above-mentioned judge that for the threshold value of regulation the method that short-circuit condition continues is combined when following with this method through the variable quantity of the time per unit of weldingvoltage Vw behind the stipulated time Ts.
In addition, carry out the mobile method of sowing discord of welding torch 14, also can not adopt above-mentioned reciprocating motion to produce mechanism 4.For example, also can make mechanical arm 12 actions that welding torch 14 is moved by moving control signal Mc to welding robot 1 output.Perhaps, also can make feed motor 151 counter-rotatings of a feed arrangement 15, welding wire 17 is retreated.
In addition, the detection of the short-circuit condition between welding wire 17 and the welding base metal W for example also can be touched testing circuit (diagram slightly) by the wire connection of installing in the robot controller 2 and be detected.In addition, the preferred also side of being output unceasingly of feeding control signal Fc in above-mentioned short-circuit condition, but the present invention is not limited thereto, and also can stop the feeding of welding wire 17.
Claims (6)
1. an arc-welding method produces electric arc and welds between welding wire and welding base metal,
Comprise: from the short-circuit condition of above-mentioned welding wire and welding base metal short circuit when the electric arc that has produced above-mentioned electric arc produces status transition, detect the step of the necking down of the bridge part generation between above-mentioned welding wire and above-mentioned welding base metal,
When not detecting above-mentioned necking down in the process of above-mentioned steps, above-mentioned welding wire is left from above-mentioned welding base metal liberate above-mentioned short-circuit condition.
2. arc-welding method according to claim 1 is characterized in that,
When in the process of above-mentioned steps, not detecting above-mentioned necking down, make from above-mentioned welding wire to reduce to the welding current that above-mentioned welding base metal flows.
3. arc-welding method according to claim 1 and 2 is characterized in that,
Do not detect the judgement of above-mentioned necking down,
By after being in above-mentioned short-circuit condition through after the stipulated time, the variable quantity of the time per unit of the weldingvoltage of supplying with between above-mentioned welding wire and the above-mentioned welding base metal for the threshold value of regulation with under carry out.
4. arc-welding method according to claim 1 and 2 is characterized in that,
Do not detect the judgement of above-mentioned necking down,
By from be in after the above-mentioned short-circuit condition through the stipulated time carry out.
5. according to each described arc-welding method in the claim 1～4, it is characterized in that,
Above-mentioned welding wire is mobile with respect to leaving of above-mentioned welding base metal,
By being moved, the welding torch that above-mentioned welding wire is directed to the welding position of regulation undertaken.
6. arc-welding method according to claim 5 is characterized in that,
Above-mentioned welding torch is mobile with respect to leaving of above-mentioned welding base metal, is undertaken by making above-mentioned welding torch cam mechanism approaching with respect to above-mentioned welding base metal and that leave.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2009062457A JP2010214399A (en) | 2009-03-16 | 2009-03-16 | Arc welding method |
| JP2009-062457 | 2009-03-16 |
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| CN101898272A true CN101898272A (en) | 2010-12-01 |
| CN101898272B CN101898272B (en) | 2016-01-06 |
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| CN201010125970.6A Active CN101898272B (en) | 2009-03-16 | 2010-02-25 | Arc-welding method |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103506735A (en) * | 2012-06-19 | 2014-01-15 | 株式会社大亨 | Ion electrical arc welding method and ion electrical arc welding system |
| CN103567603A (en) * | 2012-07-18 | 2014-02-12 | 株式会社大亨 | Welding source output control method |
| CN103878465A (en) * | 2012-12-20 | 2014-06-25 | 株式会社安川电机 | Power Supply Device For Arc Welding, Arc Welding System, And Control Method Of Power Supply Device For Arc Welding |
| CN113891772A (en) * | 2019-05-22 | 2022-01-04 | 松下知识产权经营株式会社 | Arc welding method and arc welding device |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP5545996B2 (en) * | 2010-08-31 | 2014-07-09 | 株式会社ダイヘン | Constriction detection control method for consumable electrode arc welding |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103506735A (en) * | 2012-06-19 | 2014-01-15 | 株式会社大亨 | Ion electrical arc welding method and ion electrical arc welding system |
| CN103506735B (en) * | 2012-06-19 | 2017-04-26 | 株式会社大亨 | Ion electrical arc welding method and ion electrical arc welding system |
| CN103567603A (en) * | 2012-07-18 | 2014-02-12 | 株式会社大亨 | Welding source output control method |
| CN103567603B (en) * | 2012-07-18 | 2017-01-04 | 株式会社大亨 | The output control method of the source of welding current |
| CN103878465A (en) * | 2012-12-20 | 2014-06-25 | 株式会社安川电机 | Power Supply Device For Arc Welding, Arc Welding System, And Control Method Of Power Supply Device For Arc Welding |
| CN103878465B (en) * | 2012-12-20 | 2016-02-17 | 株式会社安川电机 | For the supply unit of arc welding and control method thereof and electric arc welding system |
| CN113891772A (en) * | 2019-05-22 | 2022-01-04 | 松下知识产权经营株式会社 | Arc welding method and arc welding device |
| CN113891772B (en) * | 2019-05-22 | 2023-10-24 | 松下知识产权经营株式会社 | Arc welding method and arc welding device |
Also Published As
| Publication number | Publication date |
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| JP2010214399A (en) | 2010-09-30 |
| CN101898272B (en) | 2016-01-06 |
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