CN102101208B - Arc welding method, arc welding robot control device and arc welding system - Google Patents
Arc welding method, arc welding robot control device and arc welding system Download PDFInfo
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- CN102101208B CN102101208B CN201010598034.7A CN201010598034A CN102101208B CN 102101208 B CN102101208 B CN 102101208B CN 201010598034 A CN201010598034 A CN 201010598034A CN 102101208 B CN102101208 B CN 102101208B
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Abstract
The present invention provides an arc welding method which can cause forming of more attractive weld bead, an arc welding robot control device and an arc welding system. The arc welding method comprises a unit welding step. The unit welding step is repeated in the arc welding method, wherein, the unit welding step comprises the following steps: a step of generating arc thereby transferring drop; and a step of generating arc and cooling molten pools formed on the welding base material. The arc welding method further comprises a step of periodically changing the welding state values such as time (T1) of the process for transferring drop which are preset in each unit welding process and is reflected in a molten state of a consumable electrode or a molten state of the welding base material. Thus, even when the temperature of the base material is changed, an optimal welding state value can be determined. Therefore, the melting state of the consumable electrode or the welding state of the base material can be optimized. As a result, the formed weld bead is more attractive.
Description
Technical field
The present invention relates to a kind of arc-welding method, arc welding robot control device and arc welding system.
Background technology
Figure 13 is the figure of an example of the welding system representing prior art.So-called stitch pulse (stitch pulse) welding is used to weld with the welding system 91 in figure.Stitch impulse welding connection, is a kind of by controlling heat supply during welding and cooling, thus easily suppresses the welding being applied to the heat affecting of mother metal.If use this stitch impulse welding connection, then plate sheet welding compared to existing technology, can make weld appearance be improved, and makes welding deformation quantity reduce (for example, referring to patent document 1).
Manipulator (manipulator) 9M automatically carries out arc welding to workpiece (work) 9W, and by upper arm 93, underarm 94, wrist portion 95 and form for these multiple servomotors (servo motor) (not shown) of rotary actuation.
Arc torch (welding torch) 9T, be arranged on the fore-end of the wrist portion 95 of manipulator 9M, for the welding wire 97 of diameter about the 1mm twisted on wire reel (wire reel) 96 is imported to workpiece 9W by the welding position of teaching.Source of welding current 9WP supplies weldingvoltage between arc torch 9T and workpiece 9W.When welding workpiece 9W, carrying out from the state that welding wire 97 is stretched out in the front end of arc torch 9T with the extension elongation expected.
Coil guide part (coil liner) 92 for guiding welding wire 97, and is connected with arc torch 9T.
Teaching machine (teach pendant) 9TP as operating means is so-called movable operating dish, for for making the action of manipulator 9M, stitch pulse welding carries out and sets necessary condition etc.
Robot controller 9RC, for the control making manipulator 9M perform welding action, possesses master control part, operation control part and servo-driver (servo driver) (all not shown) etc. therein.Operator, based on the operation procedure by teaching machine 9TP teaching, from servo-driver output action control signal to each servomotor of manipulator 9M, and makes multiple axles of manipulator 9M rotate respectively.Due to the output of encoder (encoder) (not shown) that robot controller 9RC possesses according to the servomotor from manipulator 9M, identify current location, therefore the front position of arc torch 9T can be controlled.Then, in weld part, while repeating the welding of following explanation, movement, cooling, carry out stitch pulse welding.
Figure 14 is the figure for illustration of state when carrying out stitch pulse welding.Welding wire 97 stretches out from the front end of arc torch 9T.All the time spray from arc torch 9T with constant flow at the end of welding when protective gas (shield gas) G is from welding.Below, be described about each state during stitch pulse welding.
Situation when representing that electric arc produces with figure (a).Based on set welding current and weldingvoltage, between the front end of welding wire 97 and workpiece 9W, produce electric arc a, welding wire 97 melting, and form fusion pool Y on workpiece 9W.From electric arc a produces, through shown teach weld interval after, stop electric arc a.
The situation after electric arc stopping is represented with figure (b).After electric arc stops, until through set cool time, the state after welding is all made to maintain.That is, under the state that manipulator 9M and arc torch 9T stops in the same manner as the state in time welding, only spray protective gas G from arc torch 9T, therefore fusion pool Y is cooled by protective gas G in fact and solidifies.
Representing with figure (c) makes arc torch 9T move to the situation of next welding position.After cool time, make arc torch 9T on welding direct of travel, move to position and the electric arc restart point of the moving interval Mp preset of being separated by.Translational speed is now set translational speed.Above-mentioned moving interval, shown in figure (c), is the outer circumferential side in order to the weld mark Y ' after fusion pool Y solidifies is located welding wire 97 and distance after adjusting.
The situation regenerating electric arc a on electric arc restart point is represented with figure (d).New formation fusion pool Y on the leading section of weld mark Y ' also welds.Like this, in stitch pulse welding system 91, the state making generation electric arc carry out welding with carry out cooling, the state of movement alternately repeats.Then, welding bead (weldbead) is formed according to squama (ウ ロ コ) the overlapped mode made as weld mark.
Figure 15 is the figure for illustration of the welding bead formed after welding procedure.As shown in the figure, initial electric arc starting point P1 forms weld mark Sc, towards welding direct of travel Dr, the starting point P2 of electric arc again of moving interval Mp of being separated by also forms same weld mark Sc.And then, after electric arc starting point P3 again, also form increasing weld mark Sc successively.Like this, overlapped the formed result of squama as weld mark Sc is the welding bead B forming squamous.
In the above-mentioned methods, as shown in Figure 14 (b), Figure 14 (c) etc., repeatedly to carry out making electric arc a stop and making the operation that electric arc a regenerates afterwards.When making electric arc a regenerate, there is the problem that generation is splashed (spatter), the deteriorated appearance of welding bead B is such.For this reason, as shown in figure 16, motion is a kind of makes electric arc a not stop and the welding (for example, referring to patent document 2) not needing electric arc a to regenerate.
As Figure 16 (b), Figure 16 (c) clearly shown in, different from the situation shown in Figure 14 (b), Figure 14 (c), also make electric arc a not stop when cooling fusion pool Y, and keep the state producing electric arc a.Owing to there is no need to make electric arc a regenerate, therefore the generation of splashing can be suppressed.Like this, compared to existing technology, research and the exploitation of the stitch pulse welding that can form welding bead more attractive in appearance is achieved.
Patent document 1:JP Unexamined Patent 6-55268 publication
Patent document 2:JP Unexamined Patent 11-267839 publication
Summary of the invention
The present invention proposes just based on the above-mentioned fact, will arc-welding method, arc welding robot control system and the arc welding system that can form welding bead more attractive in appearance be provided as problem.
The arc-welding method provided by the first side of the present invention comprises unit welding sequence, this arc-welding method repeats above-mentioned unit welding sequence, wherein, this unit welding sequence comprises: by producing at the chien shih electric arc of sacrificial electrode and mother metal thus making first operation of droplet transfer; And while produce while the second operation of cooling the fusion pool be formed on above-mentioned mother metal at the chien shih electric arc of above-mentioned sacrificial electrode and above-mentioned mother metal; This arc-welding method also comprises makes regulation in above-mentioned constituent parts welding sequence and one or more welding condition values be reflected in the molten condition of above-mentioned sacrificial electrode or the molten condition of above-mentioned mother metal, the operation periodically changed according to each above-mentioned unit welding sequence.
According to such formation, even if the temperature of the angle between gap (gap) width between the thickness of slab of above-mentioned mother metal, above-mentioned mother metal, above-mentioned mother metal and above-mentioned mother metal changes, optimum welding condition value also can be determined.Like this, the molten condition of the molten condition of above-mentioned sacrificial electrode or above-mentioned mother metal can be made optimum.The welding bead of formation consequently can be made more attractive in appearance.
In a preferred embodiment of the invention, in the operation of above-mentioned change, make above-mentioned welding condition value monotone increasing or minimizing.
In a preferred embodiment of the invention, one of them of one or more above-mentioned welding condition values is the time of carrying out above-mentioned first operation.
In a preferred embodiment of the invention, the operation of above-mentioned change, from arc welding starts regulation during in perform.
In a preferred embodiment of the invention, in above-mentioned second operation, make above-mentioned sacrificial electrode along direction in the face of above-mentioned mother metal, relatively above-mentioned mother metal carries out relative movement with sacrificial electrode translational speed, and one of them of one or more above-mentioned welding condition values is above-mentioned sacrificial electrode translational speed.
In a preferred embodiment of the invention, the operation of above-mentioned change, from the midway of arc welding regulation during in perform.
In a preferred embodiment of the invention, one of them of one or more above-mentioned welding condition values is the mean value of the absolute value of above-mentioned welding current in the EN ratio of the welding current flow through between above-mentioned sacrificial electrode and above-mentioned mother metal in above-mentioned first operation, above-mentioned first operation or the mean value of the absolute value of weldingvoltage that applies between above-mentioned sacrificial electrode and above-mentioned mother metal in above-mentioned first operation.
The arc welding robot control device provided by the second side of the present invention comprises: control unit, it makes constituent parts weld period repeat to produce, this unit weld period comprises by producing at the chien shih electric arc of sacrificial electrode and mother metal thus making the first period of droplet transfer, and while produce while second phase of cooling the fusion pool be formed on above-mentioned mother metal at the chien shih electric arc of above-mentioned sacrificial electrode and above-mentioned mother metal, the welding condition value in the molten condition of molten condition or the above-mentioned mother metal being reflected in above-mentioned sacrificial electrode is also specify in this unit weld period, input block, its input comprises the welding condition value first welding condition value of multiple above-mentioned units weld period when the transition period that interior and above-mentioned welding condition value changes starts and the welding condition value second welding condition value at the end of above-mentioned transition period, and computing unit, it calculates above-mentioned welding condition value and the graded seal condition value of above-mentioned transition period, using as the value between inputted above-mentioned first welding condition value and above-mentioned second welding condition value.
In a preferred embodiment of the invention, above-mentioned computing unit, calculates the graded seal condition value of monotone increasing or minimizing in above-mentioned transition period.
In a preferred embodiment of the invention, above-mentioned welding condition value is the length of above-mentioned first period.
In a preferred embodiment of the invention, above-mentioned welding condition value is in the above-mentioned second phase, above-mentioned sacrificial electrode is along the translational speed of the relatively above-mentioned mother metal in direction in the face of above-mentioned mother metal.
The arc welding system provided by the 3rd side of the present invention comprises: the arc welding robot control device that the second side of the present invention is relevant; Keep the welding torch of above-mentioned sacrificial electrode; And to be controlled by above-mentioned arc welding robot control device and to make the relatively above-mentioned mother metal of above-mentioned welding torch carry out the welding robot of relative movement.
About other features of the present invention and advantage, with reference to adding accompanying drawing, can definitely by the following detailed description carried out.
Accompanying drawing explanation
Fig. 1 is the figure of the formation of an example of the welding system representing the 1st embodiment of the present invention.
Fig. 2 is the figure of the Inner Constitution representing the welding system shown in Fig. 1.
Fig. 3 is the figure of the change state of the welding condition value of the welding system representing the 1st embodiment.
Fig. 4 is the figure of the change state representing welding current in during the droplet transfer.
Fig. 5 is the figure of the change state of the welding condition value representing the 1st embodiment.
Fig. 6 is the figure of the length during the droplet transfer representing the 1st embodiment.
Fig. 7 is the figure of the change state of the welding condition value representing the 2nd embodiment.
Fig. 8 is the figure of the change state of the robot translational speed representing the 2nd embodiment.
Fig. 9 is the figure of the change state of the welding condition value representing the 3rd embodiment.
Figure 10 is the figure representing the value of weldingvoltage of the 3rd embodiment and the change state of the value of welding current.
Figure 11 is the figure of the change state of the welding condition value representing the 4th embodiment.
Figure 12 is the figure of the change state of the welding condition value representing the 5th embodiment.
Figure 13 is the figure of the formation of an example of the welding system representing prior art.
Figure 14 is the figure of the state illustrated when carrying out stitch pulse welding.
Figure 15 is the figure for illustration of the welding bead formed after welding procedure.
Figure 16 is the figure for illustration of the state when carrying out stitch pulse welding.
Symbol description:
A:(electric arc) welding system
1: welding robot
11: basal component
12: arm
12a: wrist portion
13: motor
14: welding torch
15: welding wire (sacrificial electrode)
16: wire feed unit
161: feed motor
2:(arc welding) robot controller
21: control circuit
22: interface circuit
23: operational part
3: welding supply
31: output control circuit
32: current detection circuit
34: feeding control circuit
35: interface circuit
36: voltage detecting circuit
Fc: feeding control signal
Iep: electrode straight polarity electric current
Ien: Electrode Negative electric current
Is: current settings signal
Iw, Iw1, Iw2: welding current
Iw1, iw2: current value
Mc: action control signal
On: export commencing signal
St: welding commencing signal
T1: during the droplet transfer (first period)
T2: the duration of electric arc (second phase)
Te: pulse period
Tu, Tp, Td, Tb, Tn: period
TP: teaching machine
Ta: unit weld period
VR: robot translational speed
Vw, Vw1, Vw2: weldingvoltage
Vw1, vw2: magnitude of voltage
W: welding base metal (mother metal)
Ws: feed speed setting signal
Detailed description of the invention
Below, about embodiments of the present invention, illustrate with reference to accompanying drawing.
< the 1st embodiment >
Fig. 1 is the figure of the formation of an example of the welding system representing the 1st embodiment of the present invention.
Welding system A shown in Fig. 1 comprises: welding robot 1, robot controller 2 and welding supply 3.Welding robot 1 couple of welding base metal W carries out such as arc welding automatically.Welding robot 1 comprises: substrate (base) component 11, multiple arm 12, multiple motor 13, welding torch 14, wire feed unit 16 and coil guide part 19.
Basal component 11 is fixed on the suitable place such as ground (floor).Each arm 12 links via axle and basal component 11.
Welding torch 14 arranges and is on the leading section of going up set wrist portion 12a foremost of welding robot 1.Welding torch 14 is for being directed to the position of the regulation near welding base metal W using the welding wire 15 of such as diameter about the 1mm as sacrificial electrode.Welding torch 14 comprises the protective gas nozzle (diagram slightly) for supplying the protective gas such as argon (Ar).Motor 13 is arranged on two ends or one end (diagram omits a part) of arm 12.Motor 13 is by robot controller 2 rotary actuation.By this rotary actuation, control the movement of multiple arm 12, thus welding torch 14 freely can move up and down all around.
Not shown encoder is provided with in motor 13.And the output of this encoder is given to robot controller 2.According to this output valve, robot controller 2 identifies the current location of welding torch 14.
Wire feed unit 16 is arranged on the top of welding robot 1.Wire feed unit 16 is for sending welding wire 15 to welding torch 14.Wire feed unit 16 comprises: feed motor 161, wire reel (diagram slightly) and welding wire advance (push) unit (diagram slightly).The welding wire 15 twisted on above-mentioned wire reel, using feed motor 161 as drive source, is passed out to welding torch 14 by above-mentioned welding wire propulsion unit.
Coil guide part 19, its one end is connected with wire feed unit 16, and the other end is connected with welding torch 14.Coil guide part 19 is formed as managing (tube) shape, inserts welding wire 15 therein.Coil guide part 19 is for being directed to welding torch 14 by the welding wire sent from wire feed unit 16 15.The welding wire 15 sent reaches outside from welding torch 14 and plays a role as sacrificial electrode.
Fig. 2 is the figure of the Inner Constitution representing the welding system A shown in Fig. 1.
Robot controller 2 shown in Fig. 1, Fig. 2 is for controlling the action of welding robot 1.As shown in Figure 2, robot controller 2 comprises: control circuit 21, interface circuit 22, operational part 23 and teaching machine TP.
Control circuit 21 has not shown microcomputer (microcomputer) and memory, stores the operation procedure of the various actions setting welding robot 1 in this memory.In addition, control circuit 21 sets robot translational speed VR described later.Control circuit 21 is based on above-mentioned operation procedure, coordinate information and robot translational speed VR etc. from above-mentioned encoder, and butt welding machine device people 1 provides action control signal Mc.According to this action control signal Mc, the rotary actuation of each motor 13, makes welding torch 14 move to the welding start position of the regulation of welding base metal W, or makes it move along direction in the face of welding base metal W.
Teaching machine TP is connected with control circuit 21 and operational part 23.Teaching machine TP is used for setting various action by user.
Setting value user inputted in teaching machine TP delivers to operational part 23 from teaching machine TP.Operational part 23 carries out computing for this setting value, and its result is delivered to control circuit 21.
Interface circuit 22 is for exchanging various signal with welding supply 3.Current settings signal Is, output commencing signal On and feed speed setting signal Ws are delivered to interface circuit 22 from control circuit 21.
Welding supply 3 is for the device applying weldingvoltage Vw between welding wire 15 and welding base metal W, make welding current Iw flow through, and is again the device of the feeding for carrying out welding wire 15.As shown in Figure 2, welding supply 3 comprises: output control circuit 31, current detection circuit 32, feeding control circuit 34, interface circuit 35 and voltage detecting circuit 36.
Interface circuit 35 is for exchanging various signal with robot controller 2.Specifically, current settings signal Is, output commencing signal On and feed speed setting signal Ws are delivered to interface circuit 35 from interface circuit 22.
Output control circuit 31 has inverter (inverter) control circuit be made up of multiple transistor unit.The source power supply (such as, 3 phase 200V) that output control circuit 31 is inputted from outside by inverter control circuit high-speed response, carries out accurate welding current waveform and controls.
The output of output control circuit 31, its one end is connected with welding torch 14, and the other end is connected with welding base metal W.Output control circuit 31, via the contact chip (contactchip) of front end being arranged on welding torch 14, applies weldingvoltage Vw, and welding current Iw is flow through between welding wire 15 and welding base metal W.Like this, between the front end of welding wire 15 and welding base metal W, electric arc a is produced.The heat that welding wire 15 produces because of this electric arc a and melting.Then, welding is implemented to welding base metal W.
By from control circuit 21 current settings signal Is and export commencing signal On via interface circuit 35,22, deliver to output control circuit 31.
Current detection circuit 32 is for detecting the welding current Iw flowing through welding wire 15.The current detection signal Id corresponding with welding current Iw is outputted to output control circuit 31 and control circuit 21 by current detection circuit 32.
Voltage detecting circuit 36 is for detecting voltage and the weldingvoltage Vw of the output of output control circuit 31.The voltage detection signal Vd corresponding with weldingvoltage Vw is outputted to output control circuit 31 by voltage detecting circuit 36.
Feeding control circuit 34 is for outputting to feed motor 161 by the feeding control signal Fc carrying out welding wire 15 feeding.Feeding control signal Fc is the signal of the feed speed representing welding wire 15.In addition, feeding control circuit 34 is delivered to from the output commencing signal On of control circuit 21 and feed speed setting signal Ws via interface circuit 35,22.
Next, be described about the arc-welding method that make use of welding system A.Below, be first described about the conventional method of stitch pulse welding.Thereafter, the arc-welding method about the welding bead forming squamous more attractive in appearance illustrates.
First, be described about the general welding method of stitch pulse welding with Fig. 3.The change state of robot translational speed VR is represented with figure (a), b () represents the change state of the time average of the absolute value of weldingvoltage Vw, (c) represents the change state of the time average of the absolute value of welding current Iw.Robot translational speed VR is the translational speed of welding torch 14 along the welding direct of travel (corresponding with the welding direct of travel Dr shown in Figure 15) of the regulation in direction in the face of welding base metal W.
First, generally speaking, by the welding commencing signal St (with reference to Fig. 2) of input from teaching machine TP, carry out cambic welding and start process.Start in process in welding, output commencing signal On is exported to output control circuit 31 and feeding control circuit 34 by control circuit 21.Output control circuit 31 applies weldingvoltage Vw between welding wire 15 and welding base metal W.Like this, electric arc a is lighted.Then, as shown in Figure 3, welded at interior unit weld period Ta containing T2 duration of period droplet transfer T1 and electric arc by duplicate packages.In period droplet transfer T1, by applying weldingvoltage Vw1, welding current Iw1 is flow through carry out the droplet transfer, and form fusion pool.On the other hand, electric arc duration in T2, by applying weldingvoltage Vw2, making welding current Iw2 flow through, thus carried out the droplet transfer hardly, and pilot arc a is while make welding torch 14 move.Below, be described in detail.
(1) period droplet transfer T1 (moment t1 ~ t2)
In period droplet transfer T1, in the description of prior, the process of the formation fusion pool Y as shown in Figure 14 (a), Figure 16 (a) is carried out.In period droplet transfer T1, as shown in Fig. 3 (a), robot translational speed VR is set as 0.Therefore, relative welding base metal W, welding torch 14 stops.Shown in figure (b), the time average applying absolute value is the weldingvoltage Vw1 of magnitude of voltage vw1, as weldingvoltage Vw.Shown in figure (c), the mean value of absolute value is made to be that the welding current Iw1 of current value iw1 flows through, as welding current Iw.In period droplet transfer T1, realize determining Control of Voltage.Determining in Control of Voltage, if the welding condition of the extension elongation, polarity of electrode etc. of the material of welding wire 15, diameter, welding wire 15 is determined, then welding current Iw is decided by the feed speed of welding wire 15.That is, welding current Iw1 is set by feed speed setting signal Ws.
Fig. 4 is the figure representing that the time of welding current Iw1 changes in detail.As shown in the figure, welding current Iw1 is alternating pulsing current.Current value iw1 in current value iw1 and Fig. 3 in Fig. 4 is consistent.The scale (scale) of the time in Fig. 4 is more much smaller than the scale of the time in Fig. 3.In the diagram, representing the longitudinal axis of welding current Iw, is just at welding wire 15 for making the electric current flow through during anode.
Be appreciated that welding current Iw1 on average gets one-time electrode positive polarity electric current I ep and Electrode Negative electric current I en in a pulse period Te from this figure.Electricity level positive polarity electric current I ep be welding wire 15 be anode, welding base metal W be negative electrode state under the electric current that flows through.Welding current Iw1 is electrode straight polarity electric current I ep, is in period Tu, Tp, Td, Tb.Electrode Negative electric current I en be welding wire 15 be negative electrode, welding base metal W be anode state under the electric current that flows through.Welding current Iw1 is Electrode Negative electric current I en, is in period Tn.Welding current Iw1 increases in period Tu.Then, welding current Iw1 flows through with constant value Iepp in period Tp.Then, welding current Iw1 reduces in period Td.Then, welding current Iw1 flows through with constant value Iepb in period Tb.Then, welding current Iw1 flows through with constant value Ienp in period Tn.The value (area Sen) obtained after carrying out time integral to the absolute value of the welding current Iw1 in period Tn is called EN ratio divided by the value obtained after the value (area Sep+ area Sen) obtained after carrying out time integral to the absolute value of the welding current Iw1 in a pulse period Te.By adjustment EN ratio, thus can control with identical welding current welding wire 15 melting speed and to the heat supply of welding base metal W.
By value Iepp, Iepb, Ienp, period Tp, Tn be set as setting.FEEDBACK CONTROL is carried out to period Tb, to make the mean value of weldingvoltage Vw equal with the weldingvoltage setting value preset.According to this control, be appropriate value by the cut to lengthen of electric arc a.The value obtained after getting time average for the absolute value of welding current Iw1 is consistent with current value iw1.
(2) T2 (moment t2 ~ t3) duration of electric arc
The electric arc shown in Fig. 3 duration in T2, in the description of prior, as shown in Figure 16 (b), (c), electric arc a is made to continue the process carrying out cooling fusion pool Y.
As shown in Fig. 3 (a), moment t2 when T2 starts electric arc duration, is set as V2 by robot translational speed VR.Like this, welding torch 14 starts mobile along the welding direct of travel of regulation.Shown in figure (b), the time average applying absolute value is the weldingvoltage Vw2 of vw2, as weldingvoltage Vw.Electric arc duration in T2, different from period droplet transfer T1, implement Given current controller.Shown in figure (c), the time average of absolute value is made to be that the constant welding current Iw2 of current value iw2 flows through, as welding current Iw.Current value iw2 is small enough to the value being difficult to carry out the droplet transfer.In addition, welding current Iw2 be welding wire 15 be anode, welding base metal W be negative electrode state under flow through, be so-called electrode straight polarity electric current.In addition, welding wire 15 carrys out feeding (diagram slightly) towards welding base metal W with the feed speed of the value less than the value in period droplet transfer T1.
Afterwards, from moment t3, period droplet transfer, T1 restarted.Like this, duplicate packages containing period droplet transfer T1 and electric arc duration T2 at interior unit weld period Ta.
General stitch pulse welding carries out according to above-mentioned steps.Next, about the arc-welding method forming squamous welding bead more attractive in appearance, illustrate with Fig. 5, Fig. 6.
Below in order to simplify, as long as no special circumstances, be called welding current Iw by period droplet transfer T1 to welding the value iw1 obtained after electric current I w gets time average.In addition, similarly, the value vw1 obtained after get time average to weldingvoltage Vw in period droplet transfer T1 is called weldingvoltage Vw.In addition, similarly, by the EN ratio of the EN ratio of the welding current Iw in period droplet transfer T1 simply referred to as welding current Iw.In addition, similarly, by the robot translational speed VR in T2 the electric arc duration simply referred to as robot translational speed VR.
In the present embodiment, following welding condition value is made to change when welding.So-called in this manual welding condition value specifies in constituent parts weld period Ta, and, be the value reflected in the molten condition of welding wire 15 or the molten condition of welding base metal W.Such welding condition value is the value of the length of such as period droplet transfer T1, robot translational speed VR, the EN ratio of welding current Iw, the value of welding current Iw or weldingvoltage Vw.
The welding condition value of concrete numerical value must be specified to be the length of period droplet transfer T1, the value of welding current Iw and robot translational speed VR before welding starts.Before welding starts, the welding condition value be kept in the database of control circuit 21 is the value of weldingvoltage Vw, the EN ratio of welding current Iw.In order to obtain welding bead more attractive in appearance, inching can be carried out for the value of weldingvoltage Vw or the EN ratio of welding current Iw.Below, also will specifically specify welding condition value and all be called input welding condition value for the action that welding condition value carries out inching.
About from beginning arc welding, within specified time limit, the situation that welding condition value is changed, is described with Fig. 5.Fig. 5 (a) represents the change state of robot translational speed VR, the change state of the EN ratio of welding current Iw is represented with figure (b), the change state of the length of period droplet transfer T1 is represented with figure (c), represent the change state of the value of weldingvoltage Vw with figure (d), represent the change state of welding current Iw with figure (e).The transverse axis of Fig. 5 is the distance that distance starts the place of arc welding.More go to the right direction of Fig. 5, the place that distance starts arc welding is far away.Shown in figure (c), in the present embodiment, the welding condition value of change is the length of period droplet transfer T1.
First, before welding starts, the welding condition value when welding condition value inputting a1 place from the teaching machine TP of such as Fig. 2 is namely welding and the welding condition value from a2 place.Like this, the welding condition value during operational part 23 calculates from a1 place to a2 place in (transition period TT1), as the value between the welding condition value in a1 place and the welding condition value in a2 place.Welding condition value in during operational part 23 calculates from a1 place to a2 place, as the value at monotone decreasing this period.Fig. 5 schematically illustrates welding condition value, but in fact, the length of the period droplet transfer T1 of the per unit welding sequence during transition in TT1 represents change state as shown in Figure 6.In addition, the position that welding base metal W can be sufficiently heated can be adopted as a2 place.Distance from a1 place to a2 place is such as 15 ~ 20mm.
Next, light electric arc a, start welding.When welding beginning, welding base metal W is heated hardly.In order to by such welding base metal W heat supply, welding a1 place when starting, will obtain relatively long as one of them the length setting of period droplet transfer T1 of welding condition value.
Next step, advance along with from a1 place to a2 place, periodically shortens the length of period droplet transfer T1.After the welding moment of carrying out a2 place, maintain the consistent length of period droplet transfer T1.
In such formation, when welding beginning, the length setting of period droplet transfer T1 obtains relatively long.Therefore, it is possible to shorten the time must carrying out welding under the state that the temperature of welding base metal W is lower.Like this, the width of formed welding bead and the constant shape of welding bead can be made.
In addition, after welding starts, periodically shorten the length of period droplet transfer T1.Therefore, it is possible to rise along with the temperature of welding base metal W, reduce the heat giving welding base metal W gradually.In addition, give the heat of welding base metal W by reducing, thus can suppress excessively to give welding base metal W heat under the state fully risen in the temperature of welding base metal W.The state of affairs of the excessive melting of welding base metal W under the state preventing from fully rising in the temperature of welding base metal W is contributed to the suppression of the excessive heat supply of welding base metal W.
In addition, in the present embodiment, in order to adjust to the heat supply of welding base metal W, the value of welding current Iw and weldingvoltage Vw is made not change and only make the length of period droplet transfer T1 change.If make the value of welding current Iw and weldingvoltage Vw change, then electric arc a easily becomes unstable.And in the present embodiment, the value of welding current Iw and weldingvoltage Vw is not changed.Therefore, according to the present embodiment, electric arc a becomes unstable rough sledding and is difficult to occur.
In addition, adjust to the heat supply of welding base metal W, preferably make the length of period droplet transfer T1 change, but the present invention be not limited to this, other welding condition value also can be made to change and adjust to the heat supply of welding base metal W.Such as, in the present embodiment, EN ratio can be made to increase from a1 place to a2 place.In addition, such as, in the present embodiment, the value of weldingvoltage Vw can be made to reduce from a1 place to a2 place.In addition, such as, in the present embodiment, the value of welding current Iw can be made to reduce from a1 place to a2 place.
Below, be described about other embodiments of the present invention.At this, in these figures, the symbol identical with above-mentioned embodiment is given, so the description thereof is omitted as appropriate for the key element identical or similar with above-mentioned embodiment.
< the 2nd embodiment >
As the 2nd embodiment of the present invention, use Fig. 7, Fig. 8, be described about the situation making welding condition value change within specified time limit from arc welding midway.Fig. 7 and Fig. 5 is identical, represents the change state of each welding condition value.Fig. 7 (a) represents the change state of robot translational speed VR, the change state of the EN ratio of welding current Iw is represented with figure (b), the change state of the length of period droplet transfer T1 is represented with figure (c), represent the change state of the value of weldingvoltage Vw with figure (d), represent the change state of welding current Iw with figure (e).The transverse axis of Fig. 7 is the distance that distance starts the place of arc welding.More go to the right direction of Fig. 7, the place that distance starts arc welding is far away.Shown in figure (a), the value of the welding condition Zhi Shi robot translational speed VR changed in the present embodiment.
First, before starting welding, input from the teaching machine TP such as shown in Fig. 2 and arrive the welding condition value till b1 place and the welding condition value from b2 place.Like this, the welding condition value during operational part 23 calculates from b1 place to b2 place in (transition period TT2), as the welding condition value arrived till b1 place and from the value between the welding condition value in b2 place.Welding condition value in during operational part 23 calculates from b1 place to b2 place, as the value at monotone decreasing this period.Fig. 7 schematically shows welding condition value, but in fact, the value of the robot translational speed VR of the per unit welding sequence during transition in TT2, as shown in Figure 8, changes by per unit welding sequence, and, constant in constituent parts welding sequence.
Next, light electric arc a, start welding.Welding base metal W, till arrival b1 place, temperature is risen gradually by heating.Till when playing the welding carrying out b2 place when carrying out the welding in b1 place, in during longer, cool fusion pool, the value of robot translational speed VR is periodically reduced.After when carrying out the welding in b2 place, the value maintaining robot translational speed VR is constant.
In such formation, till when playing the welding carrying out b2 place when carrying out the welding in b1 place, the value of robot translational speed VR is periodically reduced.Therefore, due to the constant distance of movement in T2 electric arc duration, therefore the duration of electric arc, the length of T2 is elongated gradually.Thus, the fusion pool be formed on welding base metal W can be cooled with the longer time.Like this, the sharp of each shape of the squama formed in each period droplet transfer T1 can be made.Thus, according to the present embodiment, the welding bead that is formed on welding base metal W can be made more attractive in appearance.
In addition, in the present embodiment, the length of the value of the value of welding current Iw, weldingvoltage Vw and period droplet transfer T1 is not changed, and Jin Shi robot translational speed VR change.If make the value of the value of welding current Iw, weldingvoltage Vw or the length of period droplet transfer T1 change, then the amount of the metal of melting can change.Therefore, the size of the squama in formed welding bead is different according to every sheet squama.But, in the present embodiment, the length of the value of the value of welding current Iw, weldingvoltage Vw and period droplet transfer T1 is not changed.Therefore, according to the present embodiment, according to every sheet squama, different rough sledding is difficult to occur the size of squama.This is applicable to forming welding bead more attractive in appearance.
In addition, easily solidify by making fusion pool thus form welding bead more attractive in appearance, preferably make robot translational speed VR change, but the present invention be not limited to this, other welding condition value also can be made to change.Such as, in the present embodiment, EN ratio can be made to reduce from b1 place to b2 place.In addition, such as, in the present embodiment, the length of period droplet transfer T1 can be made to reduce from b1 place to b2 place.In addition, such as, in the present embodiment, the value of weldingvoltage Vw can be made to reduce from b1 place to b2 place.In addition, such as, in the present embodiment, the value of welding current Iw can be made to reduce from b1 place to b2 place.
< the 3rd embodiment >
As the 3rd embodiment of the present invention, use Fig. 9, Figure 10, represent example welding condition value being changed when the thickness of welding base metal W changes gradually in welding.Fig. 9 and Fig. 5 and Fig. 7 is identical, represents the change state of each welding condition value.Fig. 9 (a) represents the change state of robot translational speed VR, the change state of the EN ratio of welding current Iw is represented with figure (b), the change state of the length of period droplet transfer T1 is represented with figure (c), represent the change state of the value of weldingvoltage Vw with figure (d), represent the change state of welding current Iw with figure (e).The transverse axis of Fig. 9 is the distance that distance starts the place of arc welding.More go to the right direction of Fig. 9, the place that distance starts arc welding is far away.With figure (d), shown in figure (e), the welding condition value changed in the present embodiment is the value of weldingvoltage Vw and the value of welding current Iw.As shown in Figure 9, from c1 place to c2 place, the thickness of welding base metal W is thickening gradually.
First, before starting welding, input from the teaching machine TP such as shown in Fig. 2 and arrive the welding condition value till c1 place and the welding condition value from c2 place.Like this, operational part 23 calculates the welding condition value during from c1 place to c2 place in (transition period TT3), as the welding condition value arrived till c1 place and from the value between the welding condition value in c2 place.Welding condition value in during operational part 23 calculates from c1 place to c2 place, as the value at monotone increasing this period.Fig. 9 schematically illustrates welding condition value, but in fact, the value of the weldingvoltage Vw of the per unit welding sequence during transition in TT3 and the value of welding current Iw, as shown in Figure 10, change by per unit welding sequence, and, constant in constituent parts welding sequence.
Next, light electric arc a, start welding.Till arrival c1 place, the constant thickness of welding base metal W.Till arrival c1 place, each welding condition value is maintained steady state value, while weld.Increase from c1 place to the thickness of c2 place welding base metal W.If the thickness of welding base metal W is thickening, then in order to will suitable welding be carried out, be necessary to make it more by heat supply to welding base metal W.Therefore, till when playing the welding carrying out c2 place when carrying out the welding in c1 place, the value of the value of welding current Iw and weldingvoltage Vw is periodically increased.After when carrying out the welding in c2 place, the value maintaining the value of welding current Iw and weldingvoltage Vw is constant.
In such formation, till when playing the welding carrying out c2 place when carrying out the welding in c1 place, the value of the value of welding current Iw and weldingvoltage Vw is periodically increased.Therefore, it is possible to make to increase gradually to the heating load of welding base metal W.Like this, even if welding base metal W is thickening, also welding bead attractive in appearance can be formed.
In addition, in order to increase to the heating load of welding base metal W, from c1 place to c2 place, robot translational speed VR can be made to reduce.But if make robot translational speed VR reduce, then the time of welding needs can be elongated.On the other hand, in the present embodiment, owing to not making robot translational speed VR reduce, therefore the possibility that the time required for welding of not having is elongated.
In addition, from c1 place to c2 place, change to the heating load of welding base metal W, preferably make the value of welding current Iw and the value of weldingvoltage Vw change, but the present invention be not limited to this, and other welding condition value also can be made to change.Such as, in the present embodiment, robot translational speed VR can be made to reduce from c1 place to c2 place.In addition, such as, in the present embodiment, EN ratio can be made to increase from c1 place to c2 place.In addition, such as, in the present embodiment, the length of period droplet transfer T1 can be made to increase from c1 place to c2 place.
< the 4th embodiment >
As the 4th embodiment of the present invention, use Figure 11, be described about the example making welding condition value change when the gap in welding between welding base metal W changes gradually.Figure 11 and Fig. 5, Fig. 7 and Fig. 9 are identical, represent the change state of each welding condition value.Figure 11 (a) represents the change state of robot translational speed VR, the change state of the EN ratio of welding current Iw is represented with figure (b), the change state of the length of period droplet transfer T1 is represented with figure (c), represent the change state of the value of weldingvoltage Vw with figure (d), represent the change state of welding current Iw with figure (e).The transverse axis of Figure 11 is the distance that distance starts the place of arc welding.More go to the right direction of Figure 11, the place that distance starts arc welding is far away.Shown in figure (b), the welding condition value changed in the present embodiment is the EN ratio of welding current Iw.As shown in figure 11, from d1 place to d2 place, the gap between welding base metal W becomes large gradually.
First, before starting welding, input from the teaching machine TP such as shown in Fig. 2 and arrive the welding condition value till d1 place and the welding condition value from d2 place.Like this, operational part 23 calculates the welding condition value during from d1 place to d2 place in (transition period TT4), as the welding condition value arrived till d1 place and from the value between the welding condition value in d2 place.Welding condition value in during operational part 23 calculates from d1 place to d2 place, as the value at monotone increasing this period.Figure 11 schematically shows welding condition value, but in fact, identical with above-mentioned embodiment, the value of the EN ratio of the welding current Iw of the per unit welding sequence during transition in TT4, change by per unit welding sequence, and, be constant in constituent parts welding sequence.
Next, light electric arc a, start welding.Till arrival d1 place, the gap of welding base metal W is constant.Till arrival d1 place, each welding condition value is maintained steady state value constant, while weld.From d1 place to d2 place, the gap of welding base metal W becomes large.If the gap of welding base metal W becomes large, then in order to will suitable welding be carried out, be necessary to make welding wire 15 melting more.Therefore, till when playing the welding carrying out d2 place when carrying out the welding in d1 place, the EN ratio of welding current Iw is periodically increased.After when carrying out the welding in d2 place, the EN ratios constant maintaining welding current Iw is constant.
In such formation, till when playing the welding carrying out d2 place when carrying out the welding in d1 place, the EN ratio of the welding current Iw in period droplet transfer T1 is periodically increased.Therefore, welding wire 15 becomes gradually and is easy to melting.Like this, even if the gap of welding base metal W becomes large, also welding bead attractive in appearance can be formed.
In addition, in the present embodiment, for promoting the melting of welding wire 15, be not make the value of welding current Iw, the value change of weldingvoltage Vw.If make the value of the value of welding current Iw, weldingvoltage Vw change, then there is the possibility changed to the heating load of welding base metal W.If change to the heating load of welding base metal W, then there is the possibility of the alteration of form of weld width or the welding bead formed on welding base metal W.But, in the present embodiment, for making the melting amount of welding wire 15 change, not that the value of value iw1 or weldingvoltage Vw is changed, but only making the EN ratio of welding current Iw change.Therefore, according to the present embodiment, under the state that the change of the heating load of giving welding base metal W is few, the melting amount of welding wire 15 can be made to increase.Like this, welding bead more attractive in appearance can be formed further.
In addition, from d1 place to d2 place, the melting amount of welding wire 15 be made to change, preferably make the EN ratio of welding current Iw change, but the present invention be not limited to this, other welding condition value also can be made to change.In addition, such as, in the present embodiment, the length of period droplet transfer T1 can be made to increase from d1 place to d2 place.When making the length of period droplet transfer T1 increase, robot translational speed VR can be made to reduce from d1 place to d2 place.In addition, such as, in the present embodiment, the value of welding current Iw can be made to increase from d1 place to d2 place.In addition, such as, in the present embodiment, the value of weldingvoltage Vw can be made to increase from d1 place to d2 place.
< the 5th embodiment >
As the 5th embodiment of the present invention, use Figure 12, be described about the situation making welding condition value change when the angle in welding between welding base metal W changes gradually.Figure 12 and Fig. 5, Fig. 7, Fig. 9 and Figure 11 are identical, represent the change state of each welding condition value.Figure 12 (a) represents the change state of robot translational speed VR, the change state of the EN ratio of welding current Iw is represented with figure (b), the change state of the length of period droplet transfer T1 is represented with figure (c), represent the change state of the value of weldingvoltage Vw with figure (d), represent the change state of welding current Iw with figure (e).The transverse axis of Figure 12 is the distance that distance starts the place of arc welding.More go to the right direction of Figure 12, the place that distance starts arc welding is far away.Shown in figure (d), the welding condition value changed in the present embodiment is the value of weldingvoltage Vw.As shown in figure 12, from e1 place to e2 place, the angle between welding base metal W becomes large gradually.
First, before starting welding, input from the teaching machine TP such as shown in Fig. 2 and arrive the welding condition value till e1 place and the welding condition value from e2 place.Like this, operational part 23 calculates the welding condition value during from e1 place to e2 place in (transition period TT5), as the welding condition value till inputted arrival e1 place and from the value between the welding condition value in e2 place.Welding condition value in during operational part 23 also calculates from e1 place to e2 place, as the value at monotone increasing this period.Figure 12 schematically shows welding condition value, but in fact, identical with above-mentioned embodiment, the value of the weldingvoltage Vw during transition in TT5, changes according to per unit welding sequence, and, be constant in constituent parts welding sequence.
Next, light electric arc a, start welding.Till arrival e1 place, the angle between welding base metal W is constant.Till arrival e1 place, maintain each welding condition value invariable, while weld.From e1 place to e2 place, the angle between welding base metal W becomes large.If the angle between welding base metal W becomes large, then the heated condition based on the welding wire 15 being formed in fusion pool on welding base metal W can change.Therefore, for the amount of the energy making welding wire 15 melting need can change.For this reason, till when playing the welding carrying out e2 place when carrying out the welding in e1 place, the value of weldingvoltage Vw is periodically increased.After when carrying out the welding in e2 place, the value maintaining weldingvoltage Vw is invariable.
In such formation, till when playing the welding carrying out e2 place when carrying out the welding in e1 place, the value of weldingvoltage Vw is periodically increased.Therefore, it is possible to make welding wire 15 suitably melting.Like this, even if the angle between welding base metal W becomes large, also welding bead attractive in appearance can be formed.
In addition, in the present embodiment, from e1 place to arrival e2 place, the value of weldingvoltage Vw is only made to change, with can suitably melting welding wire 15.If, from e1 place to arrival e2 place, not only make the value of weldingvoltage Vw, and the value of welding current Iw changed, then in order to keep motlten metal amount, the length of period droplet transfer T1 must be made to change.On the other hand, in the present embodiment, for keeping the melting amount of welding wire 15 not make the value of welding current Iw change, there is no need to make the length of period droplet transfer T1 to change, thus the time elongated rough sledding of welding needs is difficult to generation.
In addition, from e1 place to e2 place, welding wire 15 suitably melting be made, preferably make the value of weldingvoltage Vw change, but the present invention be not limited to this, other welding condition value also can be made to change.Such as, in the present embodiment, robot translational speed VR can be made to reduce from e1 place to e2 place.In addition, such as, in the present embodiment, the length of period droplet transfer T1 can be made to increase from e1 place to e2 place.In addition, such as, in the present embodiment, the value of welding current Iw can be made to increase from e1 place to e2 place.
Scope of the present invention is not limited to above-mentioned embodiment.The concrete formation of each several part of the present invention, its design can freely variously change.When once welding, can use in the such as welding method shown in the 1st embodiment and the 2nd embodiment any one.
Claims (17)
1. an arc-welding method, comprises unit welding sequence, and this arc-welding method repeats described unit welding sequence, and wherein, described unit welding sequence comprises: by producing at the chien shih electric arc of sacrificial electrode and mother metal thus making first operation of droplet transfer; And while produce while the second operation of cooling the fusion pool be formed on described mother metal at the chien shih electric arc of described sacrificial electrode and described mother metal,
This arc-welding method also comprises makes regulation in described constituent parts welding sequence and one or more welding condition values be reflected in the molten condition of described sacrificial electrode or the molten condition of described mother metal, from comprise multiple described units welding sequence the transition period that interior and described welding condition value changes time welding condition value first welding condition value play the welding condition value second welding condition value at the end of described transition period till, the operation periodically changed according to unit welding sequence described in each.
2. arc-welding method as claimed in claim 1, wherein,
In the operation of described change, make described welding condition value monotone increasing or minimizing.
3. arc-welding method as claimed in claim 1, wherein,
One of them of one or more above-mentioned welding condition values is the time of carrying out described first operation.
4. arc-welding method as claimed in claim 2, wherein,
One of them of one or more above-mentioned welding condition values is the time of carrying out described first operation.
5. arc-welding method as claimed in claim 3, wherein,
The operation of described change, from arc welding starts regulation during in perform.
6. arc-welding method as claimed in claim 4, wherein,
The operation of described change, from arc welding starts regulation during in perform.
7. as the arc-welding method in claim 1 ~ 6 as described in any one, wherein,
In described second operation, make described sacrificial electrode along direction in the face of described mother metal, relatively described mother metal carries out relative movement with sacrificial electrode translational speed,
One of them of welding condition value described in one or more is described sacrificial electrode translational speed.
8. arc-welding method as claimed in claim 7, wherein,
The operation of described change, from the midway of arc welding regulation during in perform.
9. as the arc-welding method in claim 1 ~ 6 as described in any one, wherein,
One of them of welding condition value described in one or more is the mean value of the absolute value of described welding current in the EN ratio of the welding current flow through between described sacrificial electrode and described mother metal in described first operation, described first operation or the mean value of the absolute value of weldingvoltage that applies between described sacrificial electrode and described mother metal in described first operation.
10. arc-welding method as claimed in claim 7, wherein,
One of them of welding condition value described in one or more is the mean value of the absolute value of described welding current in the EN ratio of the welding current flow through between described sacrificial electrode and described mother metal in described first operation, described first operation or the mean value of the absolute value of weldingvoltage that applies between described sacrificial electrode and described mother metal in described first operation.
11. arc-welding methods as claimed in claim 8, wherein,
One of them of welding condition value described in one or more is the mean value of the absolute value of described welding current in the EN ratio of the welding current flow through between described sacrificial electrode and described mother metal in described first operation, described first operation or the mean value of the absolute value of weldingvoltage that applies between described sacrificial electrode and described mother metal in described first operation.
12. 1 kinds of arc welding robot control device, is characterized in that, comprising:
Control unit, it makes constituent parts weld period repeat to produce, this unit weld period comprises by producing at the chien shih electric arc of sacrificial electrode and mother metal thus making the first period of droplet transfer and while produce while second phase of cooling the fusion pool be formed on described mother metal at the chien shih electric arc of described sacrificial electrode and described mother metal, define the welding condition value in the molten condition of molten condition or the described mother metal being reflected in described sacrificial electrode in this unit weld period;
Input block, its input comprises the welding condition value first welding condition value of multiple described units weld period when the transition period that interior and described welding condition value changes starts and the welding condition value second welding condition value at the end of described transition period; With
Computing unit, it calculates described welding condition value and the graded seal condition value of described transition period, using as the value periodically changed according to unit weld period described in each till playing described second welding condition value from inputted described first welding condition value.
13. arc welding robot control device as claimed in claim 12, wherein,
Described computing unit, calculates the graded seal condition value of monotone increasing or minimizing in described transition period.
14. arc welding robot control device as claimed in claim 12, wherein,
Described welding condition value is the length of described first period.
15. arc welding robot control device as claimed in claim 13, wherein,
Described welding condition value is the length of described first period.
16. as the arc welding robot control device in claim 12 ~ 15 as described in any one, wherein,
Described welding condition value is in the described second phase, described sacrificial electrode is along the translational speed of the relatively described mother metal in direction in the face of described mother metal.
17. 1 kinds of arc welding systems, is characterized in that, comprising:
Arc welding robot control device in claim 12 ~ 16 described in any one;
Keep the welding torch of described sacrificial electrode; With
Controlled by described arc welding robot control device and make the relatively described mother metal of described welding torch carry out the welding robot of relative movement.
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| JP2009-286451 | 2009-12-17 | ||
| JP2009286451A JP4848036B2 (en) | 2009-12-17 | 2009-12-17 | Arc welding method |
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| CN104169032B (en) * | 2012-03-15 | 2016-03-16 | 松下知识产权经营株式会社 | Arc-welding method and arc-welding apparatus |
| JP6746452B2 (en) * | 2016-09-28 | 2020-08-26 | 株式会社ダイヘン | AC arc welding control 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 |
| JP2022107353A (en) * | 2021-01-08 | 2022-07-21 | 株式会社ダイヘン | Welding robot |
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| JPS55120484A (en) * | 1979-03-12 | 1980-09-16 | Daihen Corp | Method and apparatus for nonconsumable electrode alternating current arc welding |
| JPS5747582A (en) * | 1980-09-04 | 1982-03-18 | Hitachi Seiko Ltd | Output controller for welding machine |
| JPH0335878A (en) * | 1989-06-30 | 1991-02-15 | Ishikawajima Harima Heavy Ind Co Ltd | Welding control method |
| JPH06179077A (en) * | 1992-12-11 | 1994-06-28 | Fanuc Ltd | Arc welding control method for welding robot |
| JPH11267839A (en) * | 1998-03-18 | 1999-10-05 | Yaskawa Electric Corp | Arc welding method |
| JP5145889B2 (en) * | 2007-11-16 | 2013-02-20 | パナソニック株式会社 | Welding equipment |
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