CN102029456B - Arc-welding method and arc welding system - Google Patents
Arc-welding method and arc welding system Download PDFInfo
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- CN102029456B CN102029456B CN201010292348.4A CN201010292348A CN102029456B CN 102029456 B CN102029456 B CN 102029456B CN 201010292348 A CN201010292348 A CN 201010292348A CN 102029456 B CN102029456 B CN 102029456B
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Abstract
The invention provides a kind of arc-welding method, more perfectly flakey welding bead can be formed, have: the 1st step, by flowing through the welding current Iw that the mean value of absolute value is current value iw1 between welding wire (15) and welding base metal W, electric arc a occurring and carries out droplet transitions simultaneously; And the 2nd step, flow through welding current Iw, make the mean value of its absolute value be the current value is1 less than current value iw1 there is electric arc (a), repeatedly carry out the 1st step and the 2nd step.Also have: when moment tv1 electric arc (a) of above-mentioned 2nd step is eliminated, until the moment t3 when next one the 1st step of the 2nd step starts, the step of the state that pilot arc (a) is eliminated.According to this structure, until moment t3 does not need again electric arc (a) to occur.Therefore, it is possible to the deterioration of the welding bead outward appearance produced when again there is electric arc (a) before avoiding moment t3, more perfectly welding bead can be formed.
Description
Technical field
The present invention relates to arc-welding method and arc welding system.
Background technology
Fig. 6 is the figure of the example representing existing welding system.Welding system 91 in this figure uses so-called joint close impulse welding connection (stitch pulse welding) to weld.So-called joint close impulse welding connection is inputted and cooling by heat when controlling welding, thus easily suppress the welding method to the heat affecting of mother metal.When using this joint close impulse welding connection, compared with existing plate sheet welding, can weld appearance be improved, reducing welding deformation amount (such as with reference to patent document 1).
Operator 9M automatically carries out arc welding to workpiece 9W, and this operator 9M is by upper arm 93, underarm 94 and wrist portion 95, form for the multiple servomotors (not shown) these being carried out to rotary actuation.
Electric arc welding torch 9T is installed on the fore-end of the wrist portion 95 of operator 9M, for the welding wire 97 of diameter about the 1mm be wound on welding wire spool 96 is exported to the welding position indicated in workpiece 9W.Source of welding current 9WP provides weldingvoltage between electric arc welding torch 9T and workpiece 9W.When workpiece 9W is welded, welding wire 97 is being carried out from the state that the front end of electric arc welding torch 9T is stretched out with the extension elongation of hope.
Cable duct tube 92 have in inside to winding wire device (coilliner) (not shown) that welding wire 97 leads, this cable duct tube 92 is connected to electric arc welding torch 9T.Further, the electric power from source of welding current 9WP and the protective gas from gas container 98 are also all supplied to electric arc welding torch 9T by cable duct tube 92.
Vertical control device (teacher pendant) 9TP as operating unit is so-called packaged type operation board, for setting operation device 9M action, carry out the condition etc. of joint close pulse welding.
Automatics control device 9RC, for the control making operator 9M perform welding action, has master control part, operation control part and servo-driver (not shown) etc. therein.Further, based on operator by hanging down control device 9TP and the operation procedure that indicates, from each servomotor output action control signal of servo-driver to operator 9M, multiple axles of operator 9M are made to rotate respectively.Automatics control device 9RC identifies current location, therefore, it is possible to control the front position of electric arc welding torch 9T due to the output of the encoder (and not shown) by having in servomotor from operator 9M.Further, in weld part, while repeatedly carrying out following illustrated welding, movement, cooling, joint close pulse welding is carried out.
Fig. 7 is the figure for illustration of 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 from welding at the end of welding.Below, each state during involutory seam pulse welding is described.
Situation when this figure (a) represents that electric arc occurs.Based on set welding current and weldingvoltage, electric arc a occurs between the front end of welding wire 97 and workpiece 9W, welding wire 97 melts thus form melting tank Y on workpiece 9w.After there is electric arc a, after indicated weld interval, stop electric arc a.
This figure (b) represents the situation after electric arc stopping.Until through set cool time after electric arc stops, the state after welding will be kept.That is, under the state that operator 9M and electric arc welding torch 9T stops in the same manner as the state in time welding, just blow out protective gas G from electric arc welding torch 9T, therefore, melting tank Y in fact protected gas G cools thus solidifies.
This figure (c) represents makes electric arc welding torch 9T move to the situation of next welding position.Cool time, through later, makes electric arc welding torch 9T move to the position of the moving interval Mp preset of being separated by and electric arc starts place again at welding direct of travel.Translational speed is now the translational speed be set.Moving interval Mp, by the distance after adjusting, makes welding wire 97 be positioned at the outer circumferential side of the weld mark Y ' after melting tank Y solidifies as shown in this figure (c).
This figure (d) represents again to start at electric arc the situation that place makes electric arc a again occur.Again form melting tank Y in the leading section of weld mark Y ' thus weld.Like this, in joint close pulse welding system 91, the state that alternate repetition generation electric arc thus carry out welds and carrying out cools and the state of movement.So, form welding bead in the mode of weld mark and scale overlap.
Fig. 8 is the figure for illustration of the welding bead formed after welding procedure.As shown in the drawing, start place P1 at first electric arc and form weld mark Sc, again start place P2 at the electric arc being spaced moving interval Mp towards welding direct of travel Dr and also form same weld mark Sc.After electric arc starts place P3 again, order forms weld mark Sc further.Like this, form the scale as weld mark Sc in an overlapping manner, consequently define lepidiod welding bead B.
In the methods described above, as shown in Fig. 7 (b), Fig. 7 (c) etc., repeatedly carry out making electric arc a stop, again making the recurrent step of electric arc a afterwards.Want electric arc a is occurred again, need the time.Therefore, in the above-mentioned methods, there is longer problem weld interval.Thus, as shown in Figure 9, a kind of welding method (such as with reference to patent document 2) not making electric arc a stop and then just not need electric arc a again to occur is proposed.
As shown in Fig. 9 (b), Fig. 9 (c), different from the situation shown in Fig. 7 (b), Fig. 7 (c), not making electric arc a stop when cooling melting tank Y yet, keeping electric arc a to continue the state occurred.Thus, the shortening of weld interval can be realized.
But, as shown in Fig. 9 (b), Fig. 9 (c), when cooling melting tank Y, need to prevent molten drop from moving to make welding current extremely little.If welding current diminishes, then likely there is electric arc when cooling melting tank Y and interrupt.When there is electric arc interruption, interrupt if usually there is electric arc, again electric arc a occurs immediately.Likely splash when the generation again of this electric arc a, thus cause the deterioration of lepidiod welding bead outward appearance.
[patent document 1] JP Laid-Open 6-55268 publication
[patent document 2] JP Laid-Open 11-267839 publication
Summary of the invention
The present invention considers above-mentioned situation and carries out, and its objective is and provides a kind of arc-welding method and the arc-welding apparatus that can form more perfectly flakey welding bead.
The arc-welding method that 1st aspect according to the present invention provides has: the 1st step, by flowing through welding current between sacrificial electrode and mother metal, makes the mean value of its absolute value be the 1st value, thus generation electric arc makes it carry out droplet transitions simultaneously; And the 2nd step, the mean value of the absolute value of described welding current is made to be 2nd value less than described 1st value, and the state making above-mentioned electric arc occur continues, repeatedly carry out described 1st step and described 2nd step, the feature of described arc-welding method is, also have: when electric arc described in described 2nd step is eliminated, till (next one) after the 2nd step described 1st step starts, maintain the step of the state that described electric arc is eliminated.
According to this structure, until do not need described electric arc occurs again when next described 1st step starts.Therefore, it is possible to avoid until the deterioration of the welding bead outward appearance produced when again there is described electric arc when next described 1st step starts.Thereby, it is possible to form more perfectly flakey welding bead.
In the preferred embodiment of the present invention, the energising also had by detecting described welding current stops, detects the step that described electric arc is eliminated.When described electric arc is eliminated under the state that described sacrificial electrode is separated with described mother metal, stop the energising of described welding current.Therefore, this structure is applicable to the elimination detecting described electric arc.
In the preferred embodiment of the present invention, in the step maintaining the state that described electric arc is eliminated, make described sacrificial electrode towards the welding direct of travel among direction in the face of described mother metal, relative to the relative movement always of described mother metal.In such an embodiment, maintaining in the step of described electric arc elimination state does not make described sacrificial electrode move towards the direction contrary with described welding direct of travel or make it stop.Therefore, it is possible to make described sacrificial electrode move to the position starting next described 1st step quickly.Thereby, it is possible to shorten the time required in described arc welding.
In the preferred embodiment of the present invention, also have: by described sacrificial electrode to specify that speed of giving is given to described mother metal, in the step maintaining described electric arc elimination state, described in making, give the step that speed reduces.
In the preferred embodiment of the present invention, in the step maintaining the state that described electric arc is eliminated, be reduced in the output of the current control unit flowing through described welding current between described sacrificial electrode and described mother metal.
In the preferred embodiment of the present invention, start method is shunk by adopting, start to be connected on described 1st step after the step maintaining the state that described electric arc is eliminated, described contraction start method make described sacrificial electrode contact with described mother metal after make described sacrificial electrode leave from described mother metal again.According to this structure, sputter when next described 1st step can be suppressed to start.
In the preferred embodiment of the present invention, also there is following step: when electric arc described in described 2nd step is eliminated, make described 2nd value be changed to the large value of value former when eliminating than described electric arc.According to this structure, after the step making it change described in having carried out, described in described 2nd step, electric arc is not easily eliminated.Thus, the necessity that described electric arc occurs again is decreased.Therefore, it is possible to suppress the generation of splashing further.Its result can make welding bead outward appearance that described mother metal is formed more perfect.
According to the arc welding system that the present invention the 2nd aspect provides, by flowing through welding current between sacrificial electrode and mother metal, there is electric arc to weld, it is characterized in that, have: current control unit, during repeatedly occurring the 1st and during the 2nd, during the described 1st, the mean value of the absolute value of described welding current is set as the 1st value, during the described 2nd, the mean value of the absolute value of described welding current is set as 2nd value less than the 1st value; And detecting unit, it detects the elimination of described electric arc, detecting unit judges that described electric arc is eliminated described in during the described 2nd, till starting during the described 1st after during the 2nd, maintains the state that described electric arc is eliminated.
This arc welding system is applicable to the arc-welding method using the 1st aspect of the present invention to provide.
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: sacrificial electrode mobile unit, during the state maintaining the elimination of described electric arc, described sacrificial electrode is made among direction in the face of described mother metal, to weld direct of travel, relative to the relative movement always of described mother metal.
In the preferred embodiment of the present invention, also have: give control unit, give described sacrificial electrode with the speed of giving specified to described mother metal, described in give control unit reduce during maintaining the state that described electric arc eliminates described in give speed.
In the preferred embodiment of the present invention, during the state maintaining the elimination of described electric arc, described current control unit reduces the output being used for flowing through described welding current between described sacrificial electrode and described mother metal.
In the preferred embodiment of the present invention, start method is shunk by adopting, start to be connected on maintain after state that described electric arc eliminates the described 1st during, described contraction start method make described sacrificial electrode contact with described mother metal after make described sacrificial electrode leave from described mother metal again.
In the preferred embodiment of the present invention, described detecting unit, electric arc described in during the described 1st is eliminated, from described electric arc is eliminated, after the 1st time delay, be judged as that described electric arc is eliminated, and, electric arc described in during the described 2nd is eliminated, from described electric arc is eliminated, after 2nd time delay shorter than described 1st time delay, be judged as that described electric arc is eliminated.
In the preferred embodiment of the present invention, when described detecting unit is judged as that described electric arc is eliminated during the described 2nd, described current control unit makes described 2nd value be changed to the large value of value former when eliminating than described electric arc.
Other features of the present invention and advantage can be clear and definite further by the detailed description carried out referring to accompanying drawing.
Accompanying drawing explanation
Fig. 1 is the structure chart of an example of the welding system represented involved by the 1st embodiment of the present invention.
Fig. 2 is the cut-away view representing the welding system shown in Fig. 1.
Fig. 3 is the sequential chart of each signal of the welding system represented involved by the 1st embodiment etc.
Fig. 4 be represent droplet transitions during the figure of change of welding current.
Fig. 5 is the sequential chart of each signal of the welding system represented involved by the 2nd embodiment etc.
Fig. 6 is the structure chart representing an existing routine welding system.
Fig. 7 is the figure of the state illustrated when carrying out joint close pulse welding.
Fig. 8 is the figure for illustration of the welding bead formed after welding procedure.
Fig. 9 is the figure for illustration of state when carrying out joint close pulse welding.
In figure:
A-welding system
1-welds automatics
11-base component
12-arm
12a-wrist portion
13-motor
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)
22-interface circuit
3-welding supply
31-output control circuit (current control unit)
32-current detection circuit
33-electric arc eliminates testing circuit (detecting unit)
34-gives control circuit
35-interface circuit
36-voltage detecting circuit
W-welding base metal (mother metal)
St-welds commencing signal
On-exports commencing signal
Sa-electric arc eliminates signal
Ws-gives rate setting signal
Mc-action control signal
Fc-gives control signal
VR-automatics translational speed
Iw, Iw1, Iw2-welding current
Iw1-current value (the 1st value)
Vw-weldingvoltage
During T1-droplet transitions (during the 1st)
The duration of T2-electric arc (during the 2nd)
Iep-electrode straight polarity electric current
Ien-Electrode Negative electric current
Ipp-positive polarity peak point current
Ipb-positive polarity base current
The Te-cycle
During Tpp, Tpb-electrode straight polarity
During Ten-Electrode Negative
Is-current settings signal
Is1, is2-current value (the 2nd value)
Dt1-(the 1st) time delay
Dt2-(the 2nd) time delay
Fw-gives speed
Detailed description of the invention
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 welding system represented involved by the 1st embodiment of the present invention.
Welding system A shown in Fig. 1 has: welding automatics 1, automatics control device 2 and welding supply 3.Welding automatics 1 automatically carries out such as arc welding to welding base metal W.Welding automatics 1 has: base component 11, multiple arm 12, multiple motor 13, welding torch 14, welding wire feed apparatus 16 and coil guider 19.
Base component 11 is fixed on the suitable position such as ground.Each arm 12 is linked to base component 11 via axle.
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.The welding wire 15 of such as diameter about the 1mm as sacrificial electrode is guided to the assigned position near welding base metal W by welding torch 14.At welding torch 14, there is the protective gas nozzle (omitting diagram) for providing the protective gas such as Ar.Motor 13 is arranged at two ends or one end (the omitting part diagram) of arm 12.Motor 13 carries out rotary actuation by automatics control device 2.Controlled the movement of multiple arm 12 by this rotary actuation, welding torch 14 can be made all around freely to move up and down.
Not illustrated encoder is provided with at motor 13.The output of this encoder is supplied to automatics control device 2.According to this output valve, the current location of identifiable design welding torch 14 in automatics control device 2.
Welding wire feed apparatus 16 is arranged on the top of welding automatics 1.Welding wire feed apparatus 16 is for sending welding wire 15 to welding torch 14.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, the welding wire 15 being wound in above-mentioned welding wire spool is sent to welding torch 14 by above-mentioned welding wire push unit.
Its one end of coil guider 19 is connected to welding wire feed apparatus 16, and the other end is connected to welding torch 14.Coil guider 19 is formed as tubulose, inserts welding wire 15 therein.The welding wire 15 sent from welding wire feed apparatus 16 is directed to welding torch 14 by coil guider 19.The welding wire 15 be sent stretches out from welding torch 14 toward outside and plays function as sacrificial electrode.
Fig. 2 is the figure of the internal structure representing the welding system A shown in Fig. 1.
Automatics control device 2 shown in Fig. 1, Fig. 2 is for controlling the action of welding automatics 1.As shown in Figure 2, automatics control device 2 is made up of control circuit 21, interface circuit 22.
Control circuit 21, has not illustrated microcomputer and memory.The operation procedure of the various actions of setting welding automatics 1 is store in this memory.In addition, control circuit 21 sets automatics translational speed VR described later.Control circuit 21, according to above-mentioned operation procedure, from the coordinate information of above-mentioned encoder and automatics translational speed VR etc., provides action control signal Mc to welding automatics 1.By this action control signal Mc, each motor 13 carries out rotary actuation, makes welding torch 14 move to the regulation welding start position of welding base metal W, or makes it move along direction in the face of welding base metal W.
Control circuit 21 connects not illustrated operating and setting device.This operating and setting device is used for setting various action by user.
Interface circuit 22 is for exchanging various signal with welding supply 3.In interface circuit 22, sent current settings signal Is from control circuit 21, export commencing signal On and give rate setting signal Ws.Send electric arc from interface circuit 22 pairs of control circuits 21 and eliminate signal Sa.
Welding supply 3 is for applying weldingvoltage Vw thus flow through the device of welding current Iw between welding wire 15 and welding base metal W, and is the device given for carrying 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, given control circuit 34, interface circuit 35 and voltage detecting circuit 36.
Interface circuit 35 is for exchanging various signal with automatics control device 2.Specifically, send current settings signal Is from interface circuit 22 interface circuit 35, export commencing signal On and give rate setting signal Ws.In addition, send electric arc from interface circuit 35 interface circuit 22 and eliminate signal Sa.
Output control circuit 31 has the converter control circuit be made up of multiple transistor unit.In output control circuit 31, the source power supply (such as three-phase 200V) inputted outside with high-speed response by converter control circuit is carried out accurate welding current waveform and controls.
Its one end of the output of output control circuit 31 is connected to welding torch 14, and the other end is connected to welding base metal W.Output control circuit 31, via the contact chip of front end being arranged at welding torch 14, applies weldingvoltage Vw between welding wire 15 and welding base metal W, flows through welding current Iw.Thus, between the front end of welding wire 15 and welding base metal W, there is electric arc a.The heat caused by this electric arc a makes welding wire 15 melt.Further, welding is implemented to welding base metal W.
From current settings signal Is and the output commencing signal On of control circuit 21, passed out to output control circuit 31 by via interface circuit 35,22.
Current detection circuit 32 is for detecting the welding current Iw flow through in welding wire 15.Current detection circuit 32 exports the current detection signal Id corresponding with welding current Iw.
It is the circuit detecting electric arc a elimination that electric arc eliminates testing circuit 33.Electric arc eliminates input electric cur-rent measure signal Iw in testing circuit 33.According to the current detection signal Id of input, when electric arc elimination testing circuit 33 judges that welding current Iw is 0, judge that electric arc a eliminates.Now, electric arc is eliminated testing circuit 33 pairs of output control circuits 31 and is exported electric arc elimination signal Sa.In addition, electric arc is eliminated signal Sa via interface circuit 35,22 and is exported control circuit 21 to by electric arc elimination testing circuit 33.
It is not receive when welding current Iw is the current detection signal Id of 0 to be judged as that electric arc a eliminates immediately that electric arc eliminates testing circuit 33.Electric arc to be eliminated when testing circuit 33 is the current detection signal Id of 0 from input welding current Iw after the time delay of regulation, when still to receive welding current Iw be the current detection signal Id of 0, is judged as that electric arc a eliminates.In addition, current detection circuit 32 also can be made also to have the arbitration functions utilizing this time delay.
Voltage detecting circuit 36 is for detecting the weldingvoltage Vw of the output end voltage as output control circuit 31.The voltage detection signal Vd of corresponding weldingvoltage Vw exports to and exports control voltage 31 by voltage detecting circuit 36.
Give control circuit 34 the control signal Fc that gives being used for giving welding wire 15 is exported to and gives motor 161.Giving control signal Fc is the signal giving speed Fw representing welding wire 15.In addition, send output commencing signal On and give rate setting signal Ws via interface circuit 35,22 from control circuit 21 giving control circuit 34.
Next, the example of Fig. 3 to the arc-welding method involved by present embodiment is utilized to be 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.Automatics translational speed VR is the translational speed of the welding direct of travel (the welding direct of travel Dr of the prior art shown in corresponding diagram 8) that welding torch 14 specifies among direction in the face of welding base metal W.
First, by the welding commencing signal St (with reference to Fig. 2) of input from outside, the welding generally carrying out transition starts process.Start in process in welding, control circuit 21 exports output commencing signal On to output control circuit 31 and gives control circuit 34.Output control circuit 31 applies weldingvoltage Vw between welding wire 15 and welding base metal W.Thus, electric arc a is formed.Further the duration of, as shown in Figure 3, by repeatedly carrying out droplet transitions period T1 and electric arc, T2 welds.In droplet transitions period T1, carry out droplet transitions by flowing through welding current Iw1, and form melting tank.On the other hand, electric arc duration in T2, by flowing through welding current Iw2, carry out droplet transitions hardly, and while pilot arc a, make welding torch 14 move.Below be specifically described.
(1) droplet transitions period T1 (moment t1 ~ t2)
In droplet transitions period T1, carry out the process of the melting tank Y in the explanation as prior art shown in Fig. 7 (a), Fig. 9 (a).In droplet transitions period T1, as shown in Fig. 3 (a), automatics translational speed VR is set as 0.Therefore, welding torch 14 is in halted state relative to welding base metal W.As shown in this figure (c), as welding current Iw, the mean value flowing through absolute value is the alternating-current pulse welding current Iw1 of current value iw1.In droplet transitions period T1, carry out constant voltage control.In constant voltage controls, if determined by the welding condition such as extension elongation, polarity of electrode of the material of welding wire 15, diameter, welding wire 15, then welding current Iw can the speed Fw that give of welding wire 15 according to this figure (d) determine.That is, the rate setting signal Ws that gives that welding current Iw1 gives speed Fw by setting sets.In droplet transitions period T1, welding wire 15 is fed to the speed Fw that gives of fw1.Fw1 is such as 650 ~ 1000cm/min.In addition, droplet transitions period T1 is such as 0.4 ~ 0.5sec.
Fig. 4 is the figure of the time variations representing welding current Iw1 in detail.In figure 3, although simply illustrate welding current Iw1 for the ease of understanding, in fact welding current Iw1 is the alternating pulsing current shown in Fig. 4.Current value iw1 in current value iw1 and Fig. 3 in Fig. 4 is consistent.Time scale in Fig. 4 is very little compared with the time scale in Fig. 3.In the diagram, the longitudinal axis of welding current Iw is represented, using welding wire 15 for the electric current flow through during anode is as " just ".
Known according to this figure, welding current Iw1 respectively has an electrode straight polarity electric current I ep and Electrode Negative electric current I en in cycle T e.Cycle T e is such as about 20ms.Electrode straight polarity electric current I ep is the electric current flow through under the state that welding wire 15 is anode, welding base metal W is negative electrode.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 flows through at electrode straight polarity period Tpp.Electrode straight polarity period Tpp is such as 2msec.The absolute value Iepp of positive polarity peak point current Ipp is such as 300 ~ 350A.On the other hand, positive polarity base current Ipb flows through at electrode straight polarity period Tpb.Electrode straight polarity period Tpb is such as 14msec.The absolute value of positive polarity base current Ipb is such as 50 ~ 100A.
Electrode Negative electric current I en is the electric current flow through under the state that welding wire 15 is negative electrode, welding base metal W is anode.Electric current negative polarity electric current I en flows through at Electrode Negative period Ten.Electrode Negative period Ten is such as 3.0 ~ 4.0msec.The absolute value Ienp of Electrode Negative electric current I en is such as 50 ~ 100A.
Positive polarity peak point current Ipp, positive polarity base current Ipb, Electrode Negative electric current I en, electrode straight polarity period Tpp and Electrode Negative period Ten are set as setting.Carry out FEEDBACK CONTROL at electrode straight polarity period Tpb, make the mean value of weldingvoltage equal with prespecified weldingvoltage setting value.Be desired value by this control by the length setting of electric arc a.It is consistent with current value iw1 that the absolute value aligning polarity peak electric current I pp, positive polarity base current Ipb and Electrode Negative electric current I en carries out the value that time average obtains.Current value iw1 is such as 90A.
(2) T2 (moment t2 ~ t3) duration of electric arc
The electric arc shown in Fig. 3 duration in T2, carry out the process of the cooling melting tank Y in the explanation as prior art shown in Fig. 9 (b), (c), make electric arc a continue simultaneously.The duration of electric arc, T2 is such as 0.2 ~ 0.3sec.
The duration of (i) electric arc T2 beginning ~ to electric arc a eliminate during (moment t2 ~ tv1)
As shown in Fig. 3 (a), electric arc duration, during the beginning of T2 and moment t2, automatics translational speed VR is set as V2.Thus, welding torch 14 starts mobile along the welding direct of travel of regulation.V2 is such as 100cm/min.Different from droplet transitions period T1, electric arc duration, carry out constant current controlling in T2.As shown in this figure (b), current settings signal Is is set to: flow through as welding current Iw the constant current (that is, the mean value of absolute value is current value is1) that current value is is1.Therefore, as shown in this figure (c), flow through as welding current Iw the constant welding current Iw2 that current value is is1.
Current value is1 is such as about 15 ~ 20A.Current value is1 is the little value to being difficult to carry out droplet transitions of degree.In addition, welding current Iw2 is flow through, so-called electrode straight polarity electric current under the state that welding wire 15 is anode, welding base metal W is negative electrode.As shown in this figure (d), give speed Fw to give welding wire 15 with fw2.Fw2 is less than fw1, such as, be 70cm/min.
(ii) electric arc a eliminate ~ to next droplet transitions period, T1 started time during (moment tv1 ~ t3)
At moment tv1, because unexpected reason electric arc a eliminates.So as shown in this figure (c), welding current Iw becomes 0.The current detection circuit 32 of Fig. 2 by welding current Iw be 0 current detection signal Id export electric arc to and eliminate testing circuit 33.Electric arc is eliminated testing circuit 33 and is judged that welding current Iw is 0 according to the current detection signal Id of input.Then, electric arc is eliminated testing circuit 33 and is judged that electric arc a eliminates.So electric arc is eliminated signal Sa and is exported output control circuit 31 and control circuit 21 to by electric arc elimination testing circuit 33.
As mentioned above, electric arc eliminates testing circuit 33 when receiving welding current Iw and being the current detection signal Id of 0, is not judged as that electric arc a eliminates immediately.Have passed through regulation time delay the current detection signal Id being 0 from input welding current Iw after, when electric arc is eliminated testing circuit 33 still to receive welding current Iw is the current detection signal Id of 0, be judged as that electric arc a eliminates.Dt2 time delay duration of preferred electric arc in T2 is shorter than dt1 time delay in droplet transitions period T1.Such as dt2 time delay is set as 20 ~ 50ms, such as, dt2 time delay is set as 100ms.
When control circuit 21 receives electric arc elimination detection signal Sa, change and give rate setting signal Ws, making to give speed Fw is 0.Thus, as shown in this figure (d), the speed Fw of giving is 0, stops giving of welding wire 15.On the other hand, when output control circuit 31 receives electric arc elimination signal Sa, make exporting change to (OFF) state of closedown.Stop this step giving or the output of output control circuit 31 changed to closed condition of welding wire 15, the state eliminated in order to pilot arc a is carried out.Want the state that pilot arc a eliminates, giving of welding wire 15 may not be made to stop completely, and do not need to make the exporting change of output control circuit 31 to closed condition.Also with can the degree of state eliminated of pilot arc a, can continue to give welding wire 15, and the output of output control circuit 31 be maintained opening.As shown in this figure (a), at moment tv1 ~ moment t3, automatics translational speed VR also maintains V2 all the time.Therefore, even if in tv1 ~ t3, welding torch 14 does not also stop, and moves along the welding direct of travel of regulation.
(iii) next droplet transitions period T1 (moment t3 ~ t4)
As shown in this figure (a), at moment t3, automatics translational speed VR is set as 0, stops the movement of welding torch 14.In addition, as shown in this figure (d), the speed Fw of giving is set as the fw3 less than fw1, starts giving of welding wire 15.Then, by making the output of output control circuit 31 be in unlatching (ON) state, electric arc a is occurred again.In order to make electric arc a again occur, various arc starting method can be adopted.As this arc starting method such as can adopt make welding wire 15 contact weld mother metal W after contraction start method that welding wire 15 is separated from welding base metal W.Also electric arc when again there is electric arc a can be made to start condition, the condition that starts from electric arc when there is electric arc a in the arc welding carried out before the moment tv1 that electric arc a eliminates is different.As this electric arc condition that starts be such as start electric current size or flow through and start time of electric current.Further, after electric arc a occurs, as shown in this figure (d), make to give speed Fw and be changed to fw1.And then again carry out arc welding.
Next, the effect of present embodiment is described.
According to the present embodiment, the duration of sequentially repeatedly carrying out droplet transitions period T1 and electric arc when not eliminating electric arc a when T2, perfect flakey welding bead can be formed.And then, according to the present embodiment, even if when electric arc duration, the moment tv1 electric arc a of T2 eliminates once in a while, do not need before the t3 of droplet transitions period T1 again, electric arc a again to occur from moment tv1 yet.Therefore, it is possible to avoid the deterioration of the welding bead outward appearance produced when again there is electric arc a before moment tv1 to t3.Thereby, it is possible to form more perfectly flakey welding bead.
According to the present embodiment, as shown in Fig. 3 (a), in droplet transitions period T1, welding torch 14 is stopped relative to welding base metal W, only electric arc duration, in T2, welding torch 14 is moved relative to welding base metal W.This is just being suitable for forming outward appearance more perfectly welding bead.
In addition, even if in moment tv1 ~ t3, welding torch 14 does not also stop, and moves along the welding direct of travel of regulation.Therefore, it is possible to above-mentioned welding torch 14 to be moved to quickly the position starting droplet transitions period T1.Thereby, it is possible to shorten the time required in welding.
As shown in this figure (c), under the state that moment tv1 welding wire 15 is separated with welding base metal W, electric arc a eliminates, and welding current Iw becomes 0, and current detection circuit 33 detects that welding current Iw becomes 0.This structure is suitable for detecting electric arc a and eliminates.
In addition, when dt2 time delay in T2 duration of electric arc is set than in droplet transitions period T1 time delay, dt1 was short, more promptly can stop giving welding wire 15, or the output of output control circuit 31 is changed to closed condition.Therefore, by setting shorter than dt1 time delay in droplet transitions period T1 by dt2 time delay in T2 duration of electric arc, can promptly stop welding wire 15 close to welding base metal W further.Thereby, it is possible to the state of reliably pilot arc a elimination further.
When eliminating at moment tv1 electric arc a, stop giving of welding wire 15 completely.In addition, when eliminating at moment tv1 electric arc a, 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, the structure involved by present embodiment is suitable for the state that pilot arc a eliminates.
In the present embodiment, again there is not electric arc a in T2 electric arc duration, and when droplet transitions period, T1 started, electric arc a occurs again.Therefore, in order to again there is electric arc a, various arc starting method can be adopted.Thus, as the arc starting method for again there is electric arc a, the method being more difficult to occur to splash of such as shrinking start method etc. can be adopted.
As shown in Figure 4, welding current Iw1 is alternating pulsing current.Therefore, it is possible to the input heat of welding base metal W in suppression droplet transitions period T1.This is suitable for the situation that welding base metal W is such as the thin plate be made up of aluminium.
In addition, welding current Iw2 is the electric current of so-called electrode straight polarity.Welding current Iw2 if welding wire 15 be negative electrode, welding base metal W be anode state under the Electrode Negative electric current that flows through, then the fusing amount of welding wire 15 is more, so just easily produces molten drop and easily drops on problem on welding base metal W.But, in the present embodiment, because welding current Iw2 is not Electrode Negative electric current but electrode straight polarity electric current, the generation of this problem can therefore be suppressed.
In addition, method involved in the present invention is used under the state that also can tilt relative to horizontal direction at welding base metal W.So, molten drop not easily drops on 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, symbol same as described above is invested for the key element identical or similar with above-mentioned embodiment.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, different from the 1st embodiment in this.
Have input at moment tv1 the control circuit 21 that electric arc eliminates Fig. 2 of signal Sa, by making at moment t4 current settings signal Is rise to is2 from current value is1, thus carrying out the step that makes current settings signal Is increase.Control circuit 21 exports the current settings signal Is after rising to current value is2 from current value is1 to output control circuit 31.When input rises to the current settings signal Is of current value is2, output control circuit 31, as shown in this figure (c), flows through welding current Iw2 with current value is2.
In addition, current value is2 compared with current value is1, such as large about 1 ~ 10A.In addition, also can when electric arc a eliminates again after moment t4, current settings signal Is be made to increase further.
According to the present embodiment, the duration of electric arc after moment t4 in T2, welding current Iw2 flows through with current value is2.Therefore, the duration of electric arc after moment t4 in T2, electric arc a not easily eliminates.Thus, the necessity making electric arc a again occur after moment t4 reduces.Thus, can suppress welding base metal W splashes.Its result, can make the outward appearance of the flakey welding bead that welding base metal W is formed more perfect according to the present embodiment.
In addition, present embodiment also has the advantage identical with the 1st embodiment.
In the present embodiment, although illustrate moment tv1 only once electric arc a eliminate the example just making current settings signal Is increase, also can only make current settings signal Is increase when electric arc a many times eliminates.By only making current settings signal Is rise when electric arc a eliminates for many times, thus welding current Iw2 can be suppressed excessively to become large.Thereby, it is possible to suppress electric arc duration in T2 welding wire 15 or welding base metal W melt.
As long as having eliminated according to electric arc a makes current settings signal Is rise, current settings signal Is may not be made to increase at moment t4.Such as, also can electric arc duration T2 process in make current settings signal Is increase.Or also current settings signal Is can be made to increase at moment t6.
Scope of the present invention is not limited to above-mentioned embodiment.Concrete structure of the present invention freely can carry out the change in various design.In the above-described embodiment, although by being 0 detect electric arc and eliminate with welding current, such as, also to have taken the image of part that electric arc occurs or the change of image is resolved, and then the elimination of electric arc can be detected.Or, the large threshold voltage (being such as the value more smaller than non-load voltage) of obtainable value more usual than weldingvoltage Vw is set by T2 the electric arc duration, when weldingvoltage Vw exceedes this threshold voltage, be judged as that electric arc is eliminated, and then detect the elimination of electric arc.
In addition, although in order to form more perfectly welding bead outward appearance, preferably at droplet transitions period T1, automatics translational speed VR is set as 0, the present invention is not limited to this.Such as, also the automatics translational speed VR in droplet transitions period T1 can be set as the value little and larger than 0 than the automatics translational speed VR (V2) in T2 duration of electric arc.Further, also suitably can adjust T2 duration of droplet transitions period T1 and electric arc according to automatics translational speed VR.
In above-mentioned, although illustrate the example that welding current Iw1 is alternating pulsing current, the present invention is not limited to this, and welding current Iw1 also can be the constant current etc. of direct current.Certainly, for welding current Iw2 too.
Claims (13)
1. an arc-welding method, has:
1st step, by flowing through the welding current that the mean value of absolute value is the 1st value between sacrificial electrode and mother metal, thus carries out droplet transitions while generation electric arc; And
2nd step, makes the mean value of the absolute value of described welding current be 2nd value less than described 1st value, and the state that above-mentioned electric arc is occurred continues,
Repeatedly carry out described 1st step and described 2nd step,
The feature of described arc-welding method is also have:
When electric arc described in described 2nd step is eliminated, till described 1st step after the 2nd step starts, control the step for maintaining the state that described electric arc is eliminated,
Described sacrificial electrode is given to described mother metal with the speed of giving of regulation,
In the step maintaining described electric arc elimination state, also there is the step that described in making, speed of giving reduces.
2. arc-welding method according to claim 1, is characterized in that,
Also have: stopped by the energising detecting described welding current, detect the step that described electric arc is eliminated.
3. the arc-welding method according to claims 1 or 2, is characterized in that,
In the step maintaining the state that described electric arc is eliminated, make described sacrificial electrode towards the welding direct of travel among direction in the face of described mother metal, relative to the relative movement always of described mother metal.
4. the arc-welding method according to claims 1 or 2, is characterized in that,
In the step maintaining the state that described electric arc is eliminated, be reduced in the output of the current control unit flowing through described welding current between described sacrificial electrode and described mother metal.
5. the arc-welding method according to claims 1 or 2, is characterized in that,
Shrinking start method by adopting, starting to be connected on described 1st step after the step maintaining the state that described electric arc is eliminated, described contraction start method make described sacrificial electrode contact with described mother metal after make described sacrificial electrode leave from described mother metal again.
6. the arc-welding method according to claims 1 or 2, is characterized in that,
Also there is following step:
When electric arc described in described 2nd step is eliminated, described 2nd value is made to be changed to the large value of value former when eliminating than described electric arc.
7., by flowing through welding current between sacrificial electrode and mother metal, there is electric arc and welding, it is characterized in that, having in an arc welding system:
Current control unit, during repeatedly occurring the 1st and during the 2nd, is set as the 1st value by the mean value of the absolute value of described welding current during the described 1st, during the described 2nd, the mean value of the absolute value of described welding current is set as 2nd value less than the 1st value; And
Detecting unit, it detects the elimination of described electric arc,
Detecting unit judges that described electric arc is eliminated described in during the described 2nd, till starting during the described 1st after during the 2nd, control the state eliminated for maintaining described electric arc,
Described arc welding system also has: give control unit, gives described sacrificial electrode with the speed of giving specified to described mother metal,
Described control unit of giving, during the state maintaining the elimination of described electric arc, gives speed described in reduction.
8. arc welding system according to claim 7, is characterized in that,
Described detecting unit stops energising by detecting described welding current, detects the elimination of described electric arc.
9. the arc welding system according to claim 7 or 8, is characterized in that,
Also have: sacrificial electrode mobile unit, during the state maintaining the elimination of described electric arc, make described sacrificial electrode among direction in the face of described mother metal, weld direct of travel, relative to the relative movement always of described mother metal.
10. the arc welding system according to claim 7 or 8, is characterized in that,
During the state maintaining the elimination of described electric arc, described current control unit reduces the output being used for flowing through described welding current between described sacrificial electrode and described mother metal.
11. arc welding systems according to claim 7 or 8, is characterized in that,
Shrink start method by adopting, start to be connected on maintain after state that described electric arc eliminates the described 1st during, described contraction start method make described sacrificial electrode contact with described mother metal after make described sacrificial electrode leave from described mother metal again.
12. arc welding systems according to claim 7 or 8, is characterized in that,
Described detecting unit, electric arc described in during the described 1st is eliminated, from described electric arc is eliminated, after the 1st Delay time is asked, be judged as that described electric arc is eliminated, and, electric arc described in during the described 2nd is eliminated, from described electric arc is eliminated, after 2nd time delay shorter than described 1st time delay, be judged as that described electric arc is eliminated.
13. arc welding systems according to claim 7 or 8, is characterized in that,
When described detecting unit is judged as that described electric arc is eliminated during the described 2nd, described current control unit makes described 2nd value be changed to the large value of value former when eliminating than described electric arc.
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| CN111093877B (en) * | 2018-01-24 | 2021-12-21 | 松下知识产权经营株式会社 | Arc welding control method |
| CN111001899B (en) * | 2020-03-09 | 2020-06-16 | 杭州凯尔达机器人科技股份有限公司 | Arc welding control method and device |
| JP7360987B2 (en) * | 2020-04-01 | 2023-10-13 | 株式会社ダイヘン | Welding condition adjustment device |
| JP2022107350A (en) * | 2021-01-08 | 2022-07-21 | 株式会社ダイヘン | Welding robot |
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| JP2002160059A (en) * | 2000-11-29 | 2002-06-04 | Babcock Hitachi Kk | Arc starting method and welding apparatus in consumable electrode arc welding |
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| JPH0550238A (en) * | 1991-08-16 | 1993-03-02 | Toyota Motor Corp | Arc actuation control method in arc welding |
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| TWI516331B (en) | 2016-01-11 |
| JP5410220B2 (en) | 2014-02-05 |
| TW201111093A (en) | 2011-04-01 |
| JP2011073004A (en) | 2011-04-14 |
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