CN102029456A - Arc welding method and arc welding system - Google Patents
Arc welding method and arc welding system Download PDFInfo
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- CN102029456A CN102029456A CN2010102923484A CN201010292348A CN102029456A CN 102029456 A CN102029456 A CN 102029456A CN 2010102923484 A CN2010102923484 A CN 2010102923484A CN 201010292348 A CN201010292348 A CN 201010292348A CN 102029456 A CN102029456 A CN 102029456A
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Abstract
The invention provides an arc welding method, which enables better ripple welds to be formed. The arc welding method comprises a step 1, where a welding current Iw, of which the mean absolute value is current value iw1, running through between a welding wire (15) and welding base material generates arc a and transfers droplets; a step 2, where a welding current Iw, of which the mean absolute value, current value is1, is smaller than the current value iw1, generates arc (a). The step 1 and the step 2 are carried out repeatedly. The arc welding method also comprises a step to maintain the arc (a) in a quenched state during a moment tv1 to a moment t3, wherein the tv1 is the moment when the arc (a) is quenched at the step 2 and the t3 is the moment when the next step 1 starts. In such a structure, the arc (a) is maintained in a quenched state during moment tv1 to a moment t3 until no arc (a) is generated at the moment t3. Therefore, damage to the appearance of a weld due to arc (a) regenerated before the moment t3 can be avoided, thereby forming a better ripple weld.
Description
Technical field
The present invention relates to arc-welding method and arc welding system.
Background technology
Fig. 6 is the figure of an example of the existing welding system of expression.Welding system 91 among this figure uses so-called joint close impulse welding connection (stitch pulse welding) to weld.So-called joint close impulse welding connection is heat input and the cooling by when welding control, thereby suppresses the welding method to the heat affecting of mother metal easily.When using this joint close impulse welding connection, compare with existing plate sheet welding, can improve weld appearance, reduce welding deformation amount (for example with reference to patent documentation 1).
Electric arc welding torch 9T is installed on the fore-end of the wrist portion 95 of operator 9M, and the welding wire 97 about the diameter 1mm that is used for being wound on the welding wire spool 96 exports to the welding position that workpiece 9W indicates.Source of welding current 9WP provides weldingvoltage between electric arc welding torch 9T and workpiece 9W.When workpiece 9W is welded, under the state that welding wire 97 is stretched out from the front end of electric arc welding torch 9T with the extension elongation of hope, carry out.
Vertical control device (teacher pendant) 9TP as operating unit is so-called packaged type operation board, be used for setting operation device 9M action, carry out joint close pulse welding conditions needed etc.
Automatics control device 9RC is used to make operator 9M to carry out the control of welding action, and portion has master control part, operation control part and servo-driver (all not shown) etc. within it.And the operation procedure based on the operator indicates by the control device 9TP that hangs down from servo-driver each servomotor output action control signal to operator 9M, makes a plurality of axles of operator 9M rotate respectively.Therefore automatics control device 9RC can control the front position of electric arc welding torch 9T because current location is discerned in the output of the encoder by having in the servomotor from operator 9M (and not shown).And, in weld part, carry out following illustrated welding repeatedly, move, carry out when cooling off joint close pulse welding.
Fig. 7 is the figure that is used to illustrate the state when carrying out joint close pulse welding.Welding wire 97 stretches out from the front end of electric arc welding torch 9T.Protective gas G always blows out from electric arc welding torch 9T with constant flow when welding finishes from the welding beginning.Below, each state when involutory sutural vein dashes welding describes.
Situation when this figure (a) expression electric arc takes place.Based on welding current that sets and weldingvoltage, electric arc a takes place, thereby welding wire 97 fusings form melting tank Y on workpiece 9w between the front end of welding wire 97 and workpiece 9W.Take place to stop electric arc a through after indicated weld interval after the electric arc a.
Situation after this figure (b) expression electric arc stops.Electric arc stops the back until the cool time through setting, with the state after the maintenance welding.That is to say that operator 9M and electric arc welding torch 9T just blow out protective gas G from electric arc welding torch 9T under the state that the state with when welding similarly stops, therefore, thereby melting tank Y in fact protected gas G cool off and solidify.
This figure (c) expression makes electric arc welding torch 9T move to the situation of next welding position.Cool time through after, making electric arc welding torch 9T is that electric arc begins the place once more in the position that the welding direct of travel moves to the predefined moving interval Mp of being separated by.The translational speed of this moment is the translational speed that is set.Moving interval Mp is the distance after being adjusted, and makes welding wire 97 be positioned at the outer circumferential side that melting tank Y solidifies weld mark Y ' afterwards shown in this figure (c).
This figure (d) is illustrated in electric arc to begin the situation that electric arc a takes place once more in the place once more.At weld mark Y ' thus leading section form melting tank Y again and weld.Like this, in joint close impulse welding welding system 91, thus state that alternate repetition generation electric arc welds and the state that cools off and move.So, be that the overlapping mode of scale forms welding bead with weld mark.
Fig. 8 is the figure that is used to illustrate the welding bead that forms after the welding procedure.As shown in the drawing, begin place P1 at first electric arc and form weld mark Sc, towards welding direct of travel Dr at interval the electric arc of moving interval Mp begin place P2 once more and also form same weld mark Sc.Begin place P3 once more at electric arc and further form weld mark Sc later in proper order.Like this, form scale, consequently formed lepidiod welding bead B as weld mark Sc in overlapping mode.
In above-mentioned method, shown in Fig. 7 (b), Fig. 7 (c) etc., make electric arc a stop, making once more afterwards the recurrent step of electric arc a repeatedly.Want to make electric arc a to take place once more, need the time.Therefore, in said method, there is long problem weld interval.Thereby, as shown in Figure 9, a kind of welding method (for example with reference to patent documentation 2) that electric arc a is stopped and then just not need electric arc a to take place has once more been proposed.
Shown in Fig. 9 (b), Fig. 9 (c), different with the situation shown in Fig. 7 (b), Fig. 7 (c), when cooling melting tank Y, electric arc a is stopped, keeping electric arc a to continue the state that takes place.Thus, can realize the shortening of weld interval.
But, shown in Fig. 9 (b), Fig. 9 (c), when cooling melting tank Y, need make welding current extremely little in order to prevent molten drop from moving.If welding current diminishes, then when cooling melting tank Y electric arc might take place and interrupt.Take place under the situation of electric arc interruption, interrupt then taking place once more immediately electric arc a if electric arc takes place usually.When the generation once more of this electric arc a, might splash, thereby cause the deterioration of lepidiod welding bead outward appearance.
The flat 6-55268 communique of [patent documentation 1] TOHKEMY
The flat 11-267839 communique of [patent documentation 2] TOHKEMY
Summary of the invention
The present invention considers above-mentioned situation and carries out, and its objective is that providing a kind of can form the more perfectly arc-welding method and the arc-welding apparatus of flakey welding bead.
The arc-welding method that the 1st aspect according to the present invention is provided has: the 1st step, by between sacrificial electrode and mother metal, flowing through welding current, make that its average absolute is the 1st value, and thereby taking place, electric arc make it carry out droplet transitions simultaneously; And the 2nd step, the average absolute that makes described welding current is 2nd value littler than described the 1st value, and the state continuance that above-mentioned electric arc is taken place, carry out described the 1st step and described the 2nd step repeatedly, described arc-welding method is characterised in that, also have: under the situation that electric arc described in described the 2nd step is eliminated, till described the 1st step of (next one) after the 2nd step begins, keep the step of the state of described electric arc elimination.
According to this structure, when beginning, described the 1st step of the next one do not need to take place once more described electric arc.The deterioration of the welding bead outward appearance that produces in the time of therefore, can avoiding when described the 1st step of the next one begins, once more described electric arc taking place.Thus, can form more perfectly flakey welding bead.
In the preferred embodiment of the present invention, the energising that also has by detecting described welding current stops, detects the step that described electric arc is eliminated.When described electric arc is eliminated under described sacrificial electrode and state that described mother metal separates, stop the energising of described welding current.Therefore, this structure is applicable to the elimination that detects described electric arc.
In the preferred embodiment of the present invention, in the step of the state of keeping described electric arc elimination, make described sacrificial electrode welding direct of travel among the direction in the face of described mother metal, relatively move with respect to described mother metal always.In this structure, keep described electric arc and eliminate and do not make described sacrificial electrode move or it is stopped in the step of state towards the direction opposite with described welding direct of travel.Therefore, described sacrificial electrode is moved quickly to the position of next described the 1st step of beginning.Thus, can shorten the time required in the described arc welding.
In the preferred embodiment of the present invention, also have: described sacrificial electrode is given to described mother metal with the regulation speed of giving, in the step of keeping described electric arc elimination state, made the described step that speed reduces of giving.
In the preferred embodiment of the present invention, in the step of the state of keeping described electric arc elimination, be reduced in the output of flowing through the current control unit of described welding current between described sacrificial electrode and the described mother metal.
In the preferred embodiment of the present invention, shrink start method by adopting, begin to be connected on described the 1st step after the step of keeping the state that described electric arc eliminates, described contraction start method makes described sacrificial electrode contact with described mother metal afterwards described sacrificial electrode to be left from described mother metal.According to this structure, can suppress to take place when next described the 1st step begins sputter.
In the preferred embodiment of the present invention, also have following step: under the situation that electric arc described in described the 2nd step is eliminated, the former big value of value when described the 2nd value being changed to eliminate than described electric arc.According to this structure, after having carried out the described step that makes its variation, be difficult for eliminating at electric arc described in described the 2nd step.Thus, reduced the necessity that described electric arc takes place once more.Therefore, can further suppress the generation of splashing.Its result can make the welding bead outward appearance that forms on the described mother metal perfect more.
The arc welding system that the 2nd aspect is provided according to the present invention, by between sacrificial electrode and mother metal, flowing through welding current, electric arc takes place to be welded, it is characterized in that, have: current control unit, during taking place the 1st repeatedly and during the 2nd, the average absolute with described welding current during the described the 1st is set at the 1st value, and the average absolute with described welding current during the described the 2nd is set at 2nd value littler than the 1st value; And detecting unit, it detects the elimination of described electric arc, and detecting unit is judged under the situation that described electric arc eliminated described in during the described the 2nd, till the beginning, keeps the state that described electric arc is eliminated during the described the 1st after during the 2nd.
This arc welding system is fit to the arc-welding method that use the 1st aspect of the present invention is provided.
In the preferred embodiment of the present invention, described detecting unit stops energising by detecting described welding current, detects the elimination of described electric arc.
In the preferred embodiment of the present invention, also have: the sacrificial electrode mobile unit, during the state of keeping described electric arc elimination, make described sacrificial electrode in the face of described mother metal, weld direct of travel among the direction, relatively move with respect to described mother metal always.
In the preferred embodiment of the present invention, also have: give control module, give described sacrificial electrode with the speed of giving of regulation to described mother metal, the described control module of giving reduces the described speed of giving during the state of keeping described electric arc elimination.
In the preferred embodiment of the present invention, during the state of keeping described electric arc elimination, described current control unit reduces the output that is used for flowing through described welding current between described sacrificial electrode and described mother metal.
In the preferred embodiment of the present invention, shrink start method by adopting, begin to be connected on and keep during the described the 1st after the state that described electric arc eliminates, described contraction start method makes described sacrificial electrode contact with described mother metal afterwards described sacrificial electrode to be left from described mother metal.
In the preferred embodiment of the present invention, described detecting unit, under the situation that electric arc is eliminated described in during the described the 1st, when eliminating, described electric arc eliminates through being judged as described electric arc after the 1st time delay, and, under the situation that electric arc is eliminated described in during the described the 2nd, when described electric arc is eliminated through eliminating than being judged as described electric arc after short the 2nd time delay described the 1st time delay.
In the preferred embodiment of the present invention, be judged as under the situation that described electric arc has been eliminated during the described the 2nd the big value of value before when described current control unit is changed to described the 2nd value to eliminate than described electric arc at described detecting unit.
Other features of the present invention and advantage can be further clear and definite by the following detailed description of carrying out with reference to accompanying drawing.
Description of drawings
Fig. 1 is the structure chart of an example of the related welding system of expression the 1st embodiment of the present invention.
Fig. 2 is the cut-away view of expression welding system shown in Figure 1.
Fig. 3 is the sequential chart of each signal of the related welding system of expression the 1st embodiment etc.
Fig. 4 is the figure of the variation of the welding current during the expression droplet transitions.
Fig. 5 is the sequential chart of each signal of the related welding system of expression the 2nd embodiment etc.
Fig. 6 is the structure chart of the existing routine welding system of expression.
Fig. 7 is the figure that the state when carrying out joint close pulse welding is described.
Fig. 8 is the figure that is used to illustrate the welding bead that forms after the welding procedure.
Fig. 9 is the figure that is used to illustrate the state when carrying out joint close pulse welding.
Among the figure:
The A-welding system
1-welds automatics
The 11-base component
The 12-arm
The 12a-wrist portion
The 13-motor
The 14-welding torch
15-welding wire (sacrificial electrode)
16-welding wire feed apparatus
161-gives motor
2-automatics control device
21-control circuit (sacrificial electrode mobile unit)
The 22-interface circuit
The 3-welding supply
31-output control circuit (current control unit)
The 32-current detection circuit
33-electric arc is eliminated testing circuit (detecting unit)
34-gives control circuit
The 35-interface circuit
The 36-voltage detecting circuit
W-welding base metal (mother metal)
St-welds commencing signal
On-exports commencing signal
Sa-electric arc is eliminated signal
Ws-gives rate setting signal
Mc-moves control signal
Fc-gives control signal
VR-automatics translational speed
Iw, Iw1, Iw2-welding current
Iw1-current value (the 1st value)
The Vw-weldingvoltage
During the T1-droplet transitions (during the 1st)
The duration of T2-electric arc (during the 2nd)
Iep-electrode straight polarity electric current
Ien-electrode negative polarity electric current
Ipp-positive polarity peak point current
Ipb-positive polarity base current
The Te-cycle
During Tpp, the Tpb-electrode straight polarity
During the Ten-electrode negative polarity
Is-current settings signal
Is1, is2-current value (the 2nd value)
Dt1-(the 1st) time delay
Dt2-(the 2nd) time delay
Fw-gives speed
The specific embodiment
Below, with reference to accompanying drawing embodiments of the present invention are specifically described.
Fig. 1 is the structure chart of an example of the related welding system of expression the 1st embodiment of the present invention.
Welding system A shown in Figure 1 has: welding automatics 1, automatics control device 2 and welding supply 3.Welding automatics 1 is automatically carried out for example arc welding to welding base metal W.Welding automatics 1 has: base component 11, a plurality of arm 12, a plurality of motor 13, welding torch 14, welding wire feed apparatus 16 and coil guider 19.
Welding torch 14 is arranged at the leading section of arm part 12a, and this arm part 12a is arranged at welding automatics 1 foremost.Welding torch 14 will guide to welding base metal W assigned position nearby as the welding wire 15 about for example diameter 1mm of sacrificial electrode.Has the protective gas nozzle (omitting diagram) that is used to provide protective gas such as Ar at welding torch 14.Motor 13 is arranged at the two ends or an end (omitting part diagram) of arm 12.Motor 13 is rotated driving by automatics control device 2.Control moving of a plurality of arms 12 by this rotation driving, welding torch 14 is all around freely being moved up and down.
Be provided with not illustrated encoder at motor 13.The output of this encoder offers automatics control device 2.According to this output valve, in automatics control device 2, can discern the current location of welding torch 14.
Welding wire feed apparatus 16 is arranged on the top of welding automatics 1.Welding wire feed apparatus 16 is used for welding torch 14 is sent welding wire 15.Welding wire feed apparatus 16 has: give motor 161, welding wire spool (omitting diagram) and welding wire push unit (omitting diagram).To give motor 161 as drive source, above-mentioned welding wire push unit will be wound in the welding wire 15 of above-mentioned welding wire spool and send to welding torch 14.
Fig. 2 is the figure of the internal structure of expression welding system A shown in Figure 1.
Fig. 1, automatics control device 2 shown in Figure 2 are used to control the action of welding automatics 1.As shown in Figure 2, automatics control device 2 is made of control circuit 21, interface circuit 22.
Thereby welding supply 3 is to be used for applying the device that weldingvoltage Vw flows through welding current Iw between welding wire 15 and welding base metal W, and is the device of giving that is used to carry out welding wire 15.As shown in Figure 2, welding supply 3 has: output control circuit 31, current detection circuit 32, electric arc are eliminated testing circuit 33, are given control circuit 34, interface circuit 35 and voltage detecting circuit 36.
The output one end of output control circuit 31 is connected in welding torch 14, and the other end is connected in welding base metal W.Output control circuit 31 to applying weldingvoltage Vw between welding wire 15 and the welding base metal W, flows through welding current Iw via the contact chip of the front end that is arranged at welding torch 14.Thus, electric arc a takes place between the front end of welding wire 15 and welding base metal W.The heat that is caused by this electric arc a makes welding wire 15 fusings.And, welding base metal W is implemented welding.
Current settings signal Is and output commencing signal On from control circuit 21 are passed out to output control circuit 31 via interface circuit 35,22.
Current detection circuit 32 is used for detecting the welding current Iw that welding wire 15 flows through.Current detection circuit 32 outputs and the corresponding current detection signal Id of welding current Iw.
It is to detect the circuit that electric arc a eliminates that electric arc is eliminated testing circuit 33.Electric arc is eliminated input current detection signal Iw in the testing circuit 33.Electric arc is eliminated testing circuit 33, and to judge welding current Iw according to the current detection signal Id of input be under 0 the situation, judges that electric arc a eliminates.At this moment, electric arc is eliminated 33 pairs of output control circuits of testing circuit, 31 output electric arcs and is eliminated signal Sa.In addition, electric arc elimination testing circuit 33 is eliminated signal Sa via interface circuit 35,22 with electric arc and is exported control circuit 21 to.
It is not to receive to be judged as electric arc a immediately when welding current Iw is 0 current detection signal Id and to eliminate that electric arc is eliminated testing circuit 33.Electric arc is eliminated testing circuit 33 when being 0 current detection signal Id from input welding current Iw after the time delay through regulation, still receives welding current Iw and is under the situation of 0 current detection signal Id, is judged as electric arc a and eliminates.In addition, also can make current detection circuit 32 also have the arbitration functions of utilizing this time delay.
Giving the control signal Fc that gives that control circuit 34 will be used to give welding wire 15 exports to and gives motor 161.Giving control signal Fc is the signal of the speed of the giving Fw of expression welding wire 15.In addition, giving control circuit 34 from control circuit 21 via 35,22 pairs of interface circuits sends output commencing signal On and gives rate setting signal Ws.
Next, utilize Fig. 3 that one example of the related arc-welding method of present embodiment is described.
This figure (a) represents the variable condition of automatics translational speed VR, (b) represents the variable condition of current settings signal Is, (c) represents the variable condition of welding current Iw, (d) represents the variable condition of giving speed Fw.The translational speed of the automatics translational speed VR welding direct of travel (the welding direct of travel Dr of prior art corresponding shown in Figure 8) that to be welding torch 14 stipulate among the direction in the face of welding base metal W.
At first, by the welding commencing signal St (with reference to Fig. 2) of input from the outside, the welding of carrying out transition generally speaking begins to handle.In welding begins to handle, control circuit 21 will be exported commencing signal On and export output control circuit 31 to and give control circuit 34.Output control circuit 31 applies weldingvoltage Vw between welding wire 15 and welding base metal W.Thus, form electric arc a.And as shown in Figure 3, T2 welds by carry out during the droplet transitions T1 and electric arc repeatedly the duration.During droplet transitions, among the T1, carry out droplet transitions, and form melting tank by flowing through welding current Iw1.On the other hand, the duration of electric arc, among the T2,, carry out droplet transitions hardly, and welding torch 14 is moved pilot arc a the time by flowing through welding current Iw2.Below be specifically described.
(1) (the t1～t2) constantly of T1 during the droplet transitions
During droplet transitions, among the T1, carry out the processing of the melting tank Y shown in Fig. 7 (a), Fig. 9 (a) in the explanation of prior art.Among the T1, shown in Fig. 3 (a), VR is set at 0 with the automatics translational speed during droplet transitions.Therefore, welding torch 14 is in halted state with respect to welding base metal W.Shown in this figure (c), as welding current Iw, flowing through average absolute is the alternating-current pulse welding current Iw1 of current value iw1.During droplet transitions, among the T1, carry out constant voltage control.In constant voltage control, if by welding condition decisions such as the extension elongation of the material of welding wire 15, diameter, welding wire 15, polarities of electrode, then welding current Iw can determine according to the speed of the giving Fw of the welding wire 15 shown in this figure (d).That is to say that the rate setting signal Ws that gives that welding current Iw1 gives speed Fw by setting sets.Among the T1, welding wire 15 is fed to the speed of the giving Fw of fw1 during droplet transitions.Fw1 for example is 650～1000cm/min.In addition, T1 for example is 0.4～0.5sec during the droplet transitions.
Fig. 4 is the figure that represents the time variation of welding current Iw1 in detail.In Fig. 3, though for the ease of understanding the simple welding current Iw1 that represented, in fact welding current Iw1 is an alternating-current pulse electric current shown in Figure 4.Current value iw1 among Fig. 4 is consistent with the current value iw1 among Fig. 3.Time scale among Fig. 4 is compared very little with the time scale among Fig. 3.In Fig. 4, the longitudinal axis of expression welding current Iw, the electric current that welding wire 15 is flow through during for anode is as " just ".
According to this figure as can be known, welding current Iw1 respectively has an electrode straight polarity electric current I ep and electrode negative polarity electric current I en in period T e.Period T e for example is about 20ms.Electrode straight polarity electric current I ep is that welding wire 15 is the electric current that flows through under the state of negative electrode for anode, welding base metal W.Electrode straight polarity electric current I ep comprises: positive polarity peak point current Ipp, positive polarity base current Ipb.Positive polarity peak point current Ipp Tpp during electrode straight polarity flows through.Tpp for example is 2msec during the electrode straight polarity.The absolute value Iepp of positive polarity peak point current Ipp for example is 300～350A.On the other hand, positive polarity base current Ipb Tpb during electrode straight polarity flows through.Tpb for example is 14msec during the electrode straight polarity.The absolute value of positive polarity base current Ipb for example is 50～100A.
Electrode negative polarity electric current I en is that welding wire 15 is the electric current that flows through under the state of anode for negative electrode, welding base metal W.Electric current negative polarity electric current I en Ten during the electrode negative polarity flows through.Ten for example is 3.0～4.0msec during the electrode negative polarity.The absolute value Ienp of electrode negative polarity electric current I en for example is 50～100A.
During positive polarity peak point current Ipp, positive polarity base current Ipb, electrode negative polarity electric current I en, the electrode straight polarity during Tpp and the electrode negative polarity Ten be set at setting.Tpb carries out FEEDBACK CONTROL during electrode straight polarity, makes the mean value of weldingvoltage equate with the weldingvoltage setting value of predesignating.Is desired value by this control with the length setting of electric arc a.It is consistent with current value iw1 that the absolute value that aligns polarity peak electric current I pp, positive polarity base current Ipb and electrode negative polarity electric current I en carries out the value that time average obtains.Current value iw1 for example is 90A.
(2) (the t2～t3) constantly of T2 electric arc the duration
The duration of electric arc shown in Figure 3, among the T2, carry out the processing of the cooling melting tank Y shown in Fig. 9 (b), (c) in the explanation of prior art, electric arc a is continued.T2 for example is 0.2～0.3sec duration of electric arc.
(i) beginning of T2 electric arc the duration～to electric arc a eliminate during (t2～tv1) constantly
Shown in Fig. 3 (a), t2 constantly during the beginning of T2 duration of electric arc, VR is set at V2 with the automatics translational speed.Thus, welding torch 14 begins to move along the welding direct of travel of regulation.V2 for example is 100cm/min.Different with T1 during the droplet transitions, the duration of electric arc, carry out constant current control among the T2.Shown in this figure (b), current settings signal Is is set to: flow through the constant current that current value is is1 (that is, average absolute is current value is1) as welding current Iw.Therefore, shown in this figure (c), flow through the constant welding current Iw2 that current value is is1 as welding current Iw.
Current value is1 for example is about 15～20A.Current value is1 is that degree is little of the value that is difficult to carry out droplet transitions.In addition, welding current Iw2 is that welding wire 15 is that flow through, so-called electrode straight polarity electric current under the state of negative electrode for anode, welding base metal W.Shown in this figure (d), give welding wire 15 with the speed of the giving Fw of fw2.Fw2 is littler than fw1, for example is 70cm/min.
(ii) electric arc a eliminate～when T1 begins during the next droplet transitions during (tv1～t3) constantly
At moment tv1, owing to unexpected reason electric arc a eliminates.So shown in this figure (c), welding current Iw becomes 0.The current detection circuit 32 of Fig. 2 is that 0 current detection signal Id exports electric arc to and eliminates testing circuit 33 with welding current Iw.Electric arc is eliminated testing circuit 33 and is judged that according to the current detection signal Id that imports welding current Iw is 0.Then, electric arc is eliminated testing circuit 33 and is judged electric arc a and eliminate.So electric arc elimination testing circuit 33 is eliminated signal Sa with electric arc and is exported output control circuit 31 and control circuit 21 to.
As mentioned above, electric arc is eliminated testing circuit 33 when to receive welding current Iw be 0 current detection signal Id, is not judged as electric arc a immediately and eliminates.Passed through regulation after time delay when the current detection signal Id that from input welding current Iw is 0, electric arc is eliminated testing circuit 33 and is still received under the situation that welding current Iw is 0 current detection signal Id, is judged as electric arc a and eliminates.The duration of preferred electric arc among the T2 time delay dt2 than droplet transitions during dt1 time delay among the T1 short.For example with time delay dt2 be set at 20～50ms, for example with time delay dt2 be set at 100ms.
When control circuit 21 receives electric arc elimination detection signal Sa, change and give rate setting signal Ws, make that giving speed Fw is 0.Thus, shown in this figure (d), the speed Fw of giving is 0, stops to give of welding wire 15.On the other hand, when output control circuit 31 receives electric arc elimination signal Sa, make output be changed to (OFF) state of closing.Stop to give or the output of output control circuit 31 being changed to this step of closed condition of welding wire 15, the state of eliminating for pilot arc a carries out.The state of wanting pilot arc a to eliminate may not make giving fully of welding wire 15 stop, and not need to make the output of output control circuit 31 to be changed to closed condition.Also can continue to give welding wire 15, and the output of output control circuit 31 is maintained opening with the degree of the state can pilot arc a eliminated.Shown in this figure (a), at moment tv1～moment t3, automatics translational speed VR also maintains V2 all the time.Therefore, even in tv1～t3, welding torch 14 does not stop yet, and moves along the welding direct of travel of regulation.
T1 during the (iii) next droplet transitions (moment t3～t4)
Shown in this figure (a), at the moment t3 automatics translational speed VR is set at 0, stop to move of welding torch 14.In addition, shown in this figure (d), the speed Fw of giving is set at the fw3 littler than fw1, begins giving of welding wire 15.Then, be in unlatching (ON) state, electric arc a is taken place once more by the output that makes output control circuit 31.For electric arc a is taken place once more, can adopt various arc starting methods.For example can adopt welding wire 15 contact welding base metal W are separated welding wire 15 afterwards from welding base metal W contraction start method as this arc starting method.Also can make electric arc when electric arc a takes place once more begin condition, with moment tv1 that electric arc a eliminates before electric arc when electric arc a taking place in the arc welding carried out to begin condition different.As this electric arc condition that begins for example is the size of beginning electric current or the time of flowing through the beginning electric current.And, after electric arc a takes place, shown in this figure (d), make the speed Fw of giving be changed to fw1.And then carry out arc welding once more.
Next, the effect to present embodiment describes.
According to present embodiment, during sequentially carrying out droplet transitions repeatedly T1 and electric arc the duration under the situation of T2, can form perfect flakey welding bead not eliminating electric arc a.And then, according to present embodiment, even if under the situation that the moment tv1 electric arc a of T2 eliminates once in a while the duration of electric arc, electric arc a takes place once more before the t3 of T1 during also not needing since moment tv1 to droplet transitions once more.The deterioration of the welding bead outward appearance that produces in the time of therefore, can avoiding before moment tv1 to t3, electric arc a taking place once more.Thus, can form more perfectly flakey welding bead.
According to present embodiment, shown in Fig. 3 (a), during droplet transitions, among the T1, welding torch 14 is stopped with respect to welding base metal W, only the duration of electric arc, among the T2, welding torch 14 is moved with respect to welding base metal W.This just is being suitable for forming more perfectly welding bead of outward appearance.
In addition, even in moment tv1～t3, welding torch 14 does not stop yet, and moves along the welding direct of travel of regulation.Therefore, above-mentioned welding torch 14 can be moved to quickly the position of T1 during the beginning droplet transitions.Thus, can shorten the time required in the welding.
Shown in this figure (c), electric arc a eliminates under moment tv1 welding wire 15 and state that welding base metal W separates, and welding current Iw becomes 0, and current detection circuit 33 detects welding current Iw and becomes 0.This structure is suitable for detecting electric arc a and eliminates.
In addition, dt2 time delay with electric arc the duration among the T2 set than droplet transitions during under the short situation of dt1 time delay among the T1, can more promptly stop to give welding wire 15, or the output of output control circuit 31 is changed to closed condition.Therefore, dt2 time delay by with electric arc the duration among the T2 sets shortlyer than dt1 time delay among the T1 during the droplet transitions, and it is approaching to welding base metal W further promptly to stop welding wire 15.Thus, can be further the state eliminated of pilot arc a reliably.
When moment tv1 electric arc a eliminates, stop to give of welding wire 15 fully.In addition, when when moment tv1 electric arc a eliminates, the output of output control circuit 31 is changed to closed condition.Therefore, the not accessible welding base metal W of welding wire 15 after electric arc a eliminates.That is to say that the related structure of present embodiment is suitable for the state that pilot arc a eliminates.
In the present embodiment, electric arc a does not take place in T2 once more duration of electric arc, and electric arc a takes place when T1 begins during droplet transitions once more.Therefore, for electric arc a takes place once more, can adopt various arc starting methods.Thus, as the arc starting method that is used for taking place once more electric arc a, can adopt for example shrink start method etc. be difficult to the method for splashing more.
As shown in Figure 4, welding current Iw1 is the alternating-current pulse electric current.Therefore, can suppress during the droplet transitions among the T1 input heat to welding base metal W.This is suitable for the situation that welding base metal W for example is the thin plate that is made of aluminium.
In addition, welding current Iw2 is the electric current of so-called electrode straight polarity.Welding current Iw2 is if welding wire 15 is the electrode negative polarity electric current that flows through under the state of anode for negative electrode, welding base metal W, and then the fusing amount of welding wire 15 is more, so just is easy to generate molten drop and easily drops on problem on the welding base metal W.But, in the present embodiment,, therefore can suppress the generation of this problem because welding current Iw2 is not electrode negative polarity electric current but electrode straight polarity electric current.
In addition, also can under the state that welding base metal W tilts with respect to horizontal direction, use method involved in the present invention.So, molten drop is difficult for dropping on the welding base metal W.Its result can form more perfectly welding bead.
Fig. 5 represents the 2nd embodiment of the present invention.In addition, in the figure, invest symbol same as described above for identical with above-mentioned embodiment or similar key element.The moment t4 of present embodiment after electric arc a eliminates makes current settings signal Is rise to current value is2 from current value is1, and be different with the 1st embodiment in this.
Imported the control circuit 21 that electric arc is eliminated Fig. 2 of signal Sa at moment tv1, risen to is2 from current value is1 by make current settings signal Is at moment t4, thus the step that current settings signal Is is risen.Control circuit 21 will export output control circuit 31 to from the current settings signal Is after current value is1 rises to current value is2.When input rose to the current settings signal Is of current value is2, output control circuit 31 like that, flow through welding current Iw2 with current value is2 shown in this figure (c).
In addition, current value is2 compares with current value is1, about for example big 1～10A.In addition, also can under the situation that electric arc a after the moment t4 eliminates once more, current settings signal Is be risen.
According to present embodiment, among the T2, welding current Iw2 flows through with current value is2 duration of the later electric arc of moment t4.Therefore, among the T2, electric arc a is difficult for eliminating the duration of the later electric arc of moment t4.Thus, the necessity that electric arc a is taken place once more at moment t4 reduces.Thereby, can suppress welding base metal W and upward splash.Its result can make welding base metal W go up the outward appearance perfection more of the flakey welding bead that forms according to present embodiment.
In addition, present embodiment also has the advantage identical with the 1st embodiment.
In the present embodiment, though represented moment tv1 only once electric arc a eliminate the example that current settings signal Is is risen, also can only under the situation that electric arc a eliminates for many times, make current settings signal Is rising.By only under the situation that electric arc a eliminates for many times, current settings signal Is being risen, excessively become big thereby can suppress welding current Iw2.Thus, the duration of can being suppressed at electric arc among the T2 welding wire 15 or welding base metal W melt.
As long as eliminated current settings signal Is is risen, may not make current settings signal Is rising at moment t4 according to electric arc a.For example, also can be the duration of electric arc current settings signal Is be risen in the process of T2.Perhaps also can current settings signal Is be risen at moment t6.
Scope of the present invention is not limited to above-mentioned embodiment.Concrete structure of the present invention can freely carry out the change in the various designs.In the above-described embodiment, though by being 0 to detect electric arc and eliminate with welding current, for example also can resolving, and then detect the elimination of electric arc to the image of having taken the part that electric arc takes place or the variation of image.Perhaps, set the threshold voltage (for example be than non-load voltage smaller value) bigger by T2 the electric arc duration than the common obtainable value of weldingvoltage Vw, surpass under the situation of this threshold voltage at weldingvoltage Vw, be judged as electric arc and eliminate, and then detect the elimination of electric arc.
In addition, though in order to form more perfectly welding bead outward appearance, preferably T1 is set at 0 with automatics translational speed VR during droplet transitions, and the present invention is not limited to this.For example, the automatics translational speed VR (V2) the duration of also can being set at the automatics translational speed VR among the T1 during the droplet transitions than electric arc among the T2 little and than 0 big value.And, also can according to automatics translational speed VR to droplet transitions during T1 and electric arc the duration T2 suitably adjust.
In above-mentioned, though represented that welding current Iw1 is the example of alternating-current pulse electric current, the present invention is not limited to this, and welding current Iw1 also can be the constant current of direct current etc.Certainly, for welding current Iw2 too.
Claims (15)
1. arc-welding method has:
The 1st step by flowing through the welding current that average absolute is the 1st value between sacrificial electrode and mother metal, thereby is carried out droplet transitions when electric arc takes place; And
The 2nd step, the average absolute that makes described welding current are 2nd values littler than described the 1st value, and the state continuance that above-mentioned electric arc is taken place,
Carry out described the 1st step and described the 2nd step repeatedly,
Described arc-welding method is characterised in that also have:
Under the situation that electric arc described in described the 2nd step is eliminated, till described the 1st step after the 2nd step begins, keep the step of the state of described electric arc elimination.
2. arc-welding method according to claim 1 is characterized in that,
Also have: stop by the energising that detects described welding current, detect the step that described electric arc is eliminated.
3. according to claim 1 or 2 described arc-welding methods, it is characterized in that,
In the step of the state of keeping described electric arc elimination, make described sacrificial electrode welding direct of travel among the direction in the face of described mother metal, relatively move with respect to described mother metal always.
4. according to any described arc-welding method of claim 1 to 3, it is characterized in that also having:
Described sacrificial electrode is given to described mother metal with the speed of giving of regulation,
In the step of keeping described electric arc elimination state, make the described step that speed reduces of giving.
5. according to any described arc-welding method of claim 1 to 4, it is characterized in that,
In the step of the state of keeping described electric arc elimination, be reduced in the output of flowing through the current control unit of described welding current between described sacrificial electrode and the described mother metal.
6. according to any described arc-welding method of claim 1 to 5, it is characterized in that,
By adopt shrinking start method, begin to be connected on described the 1st step after the step of keeping the state that described electric arc eliminates, described contraction start method makes described sacrificial electrode contact with described mother metal afterwards described sacrificial electrode to be left from described mother metal.
7. according to any described arc-welding method of claim 1 to 6, it is characterized in that,
Also have following step:
Under the situation that electric arc described in described the 2nd step is eliminated, the former big value of value when described the 2nd value being changed to eliminate than described electric arc.
8. electric arc by flow through welding current between sacrificial electrode and mother metal, takes place and welds in an arc welding system, it is characterized in that having:
Current control unit, take place the 1st repeatedly during and the 2nd during, the average absolute with described welding current during the described the 1st is set at the 1st value, the average absolute with described welding current during the described the 2nd is set at 2nd value littler than the 1st value; And
Detecting unit, it detects the elimination of described electric arc,
Detecting unit is judged under the situation that described electric arc eliminated described in during the described the 2nd, during the 2nd after during the described the 1st till the beginning, keep the state that described electric arc is eliminated.
9. arc welding system according to claim 8 is characterized in that,
Described detecting unit stops energising by detecting described welding current, detects the elimination of described electric arc.
10. according to Claim 8 or 9 described arc welding systems, it is characterized in that,
Also have: the sacrificial electrode mobile unit, during the state of keeping described electric arc elimination, make described sacrificial electrode in the face of described mother metal, weld direct of travel among the direction, relatively move with respect to described mother metal always.
11. to any described arc welding system of 10, it is characterized in that according to Claim 8,
Also have: give control module, give described sacrificial electrode to described mother metal with the speed of giving of regulation,
The described control module of giving reduces the described speed of giving during the state of keeping described electric arc elimination.
12. to any described arc welding system of 11, it is characterized in that according to Claim 8,
During the state of keeping described electric arc elimination, described current control unit reduces the output that is used for flowing through described welding current between described sacrificial electrode and described mother metal.
13. to any described arc welding system of 12, it is characterized in that according to Claim 8,
By adopt shrinking start method, begin to be connected on and keep during the described the 1st after the state that described electric arc eliminates, described contraction start method makes described sacrificial electrode contact with described mother metal afterwards described sacrificial electrode to be left from described mother metal.
14. to any described arc welding system of 13, it is characterized in that according to Claim 8,
Described detecting unit, under the situation that electric arc is eliminated described in during the described the 1st, when eliminating, described electric arc eliminates through being judged as described electric arc after the 1st time delay, and, under the situation that electric arc is eliminated described in during the described the 2nd, when described electric arc is eliminated through eliminating than being judged as described electric arc after short the 2nd time delay described the 1st time delay.
15. to any described arc welding system of 14, it is characterized in that according to Claim 8,
Be judged as under the situation that described electric arc has been eliminated during the described the 2nd the big value of value before when described current control unit is changed to described the 2nd value to eliminate than described electric arc at described detecting unit.
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| JP2009223634A JP5410220B2 (en) | 2009-09-29 | 2009-09-29 | Arc welding method and arc welding system |
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| CN111001899A (en) * | 2020-03-09 | 2020-04-14 | 杭州凯尔达机器人科技股份有限公司 | Arc welding control method and device |
| CN114749757A (en) * | 2021-01-08 | 2022-07-15 | 株式会社达谊恒 | Welding robot |
| CN114749756A (en) * | 2021-01-08 | 2022-07-15 | 株式会社达谊恒 | Welding robot |
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| JP5758130B2 (en) * | 2011-01-11 | 2015-08-05 | 株式会社ダイヘン | Arc welding method |
| CN111093877B (en) * | 2018-01-24 | 2021-12-21 | 松下知识产权经营株式会社 | Arc welding control method |
| JP7360987B2 (en) * | 2020-04-01 | 2023-10-13 | 株式会社ダイヘン | Welding condition adjustment device |
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| JP2011073004A (en) | 2011-04-14 |
| TW201111093A (en) | 2011-04-01 |
| CN102029456B (en) | 2015-08-26 |
| TWI516331B (en) | 2016-01-11 |
| JP5410220B2 (en) | 2014-02-05 |
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