CN102205453A - Electric arc welding method - Google Patents
Electric arc welding method Download PDFInfo
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- CN102205453A CN102205453A CN2011100689152A CN201110068915A CN102205453A CN 102205453 A CN102205453 A CN 102205453A CN 2011100689152 A CN2011100689152 A CN 2011100689152A CN 201110068915 A CN201110068915 A CN 201110068915A CN 102205453 A CN102205453 A CN 102205453A
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Abstract
The invention provides an electric arc welding method through which more attractive scale-shaped weld beads can be formed. The electric arc welding method comprises the first processes (S2) of generating electric arcs and meanwhile performing droplet transitions by making the welding current between a consumption electrode and a base material flow in a way to adopt the average value of the absolute values as a first value; and second processes (S5) for making the welding current flow in a way to adopt another absolute average value which is lower than the first value as a second value and maintaining the generation of the above-mentioned electric arc; wherein, the first processes (S2) and the second processes (S5) are repeated in the method. The feeding speed (Vf) (S11) of the above-mentioned consumption electrode is modified in a way that the welding voltage (Vfa) between the consumption electrode and the base material during the second process (S5) is set at a target voltage value (Vds) of the welding voltage betweent the consumption electrode and the base material in the first process (S2).
Description
Technical field
The present invention relates to a kind of arc-welding method.
Background technology
Figure 10 is the figure of an example of the welding system of expression prior art.Use so-called stitch pulse (stitch pulse) welding to weld with the welding system among the figure 91.Stitch impulse welding connection is meant a kind ofly to be controlled by heat supply and cooling to when welding, thereby suppresses to be applied to the welding of the heat affecting of mother metal easily.If use this stitch impulse welding connection, then plate sheet welding compared to existing technology can make weld appearance be improved, and makes the welding deformation quantity reduce (for example, with reference to patent documentation 1).
Manipulator (manipulator) 9M automatically carries out arc welding to mother metal (base material) 9W, and by upper arm 93, underarm 94, wrist portion 95 and be used to rotate a plurality of servomotors (servo motor) (not shown) that drive them and constitute.
Arc torch (welding torch) 9T is installed in the fore-end of the wrist portion 95 of manipulator 9M, the welding wire 97 about the diameter 1mm that is used for being wound on the wire reel (wire reel) 96 import to mother metal 9W by the welding position of teaching.Source of welding current 9WP supplies with weldingvoltage between arc torch 9T and mother metal 9W.When mother metal 9W is welded, under the state that stretches out welding wire 97 with the extension elongation of expectation from the front end of arc torch 9T, carry out.
Underground cable (conduit cable) 92 possesses the coil guide part (coil liner) (not shown) that is used for welding wire 97 guiding inside, and is connected with arc torch 9T.Further, underground cable 92 will supply to arc torch 9T from the electric power of welding power supply 9WP and from the protective gas of gas cylinder (gas cylinder) 98.
Teaching machine (teach pendant) 9TP as operating unit is so-called movable operating dish, is used for the condition of setting necessity for action, the stitch impulse welding that makes manipulator 9M taps into row etc.
Robot controller 9RC is used to make manipulator 9M to carry out the control of welding action, and portion possesses master control part, operation control part and servo-driver (servo driver) (all not shown) etc. within it.And the operator is based on the operation procedure by teaching machine 9TP teaching, each servomotor from servo-driver output action control signal to manipulator 9M, and make a plurality of rotations of manipulator 9M respectively.Because robot controller 9RC basis is discerned current location from the output of the encoder that servomotor possessed (encoder) (not shown) of manipulator 9M, so can control the front position of arc torch 9T.Then, in weld part, when repeating the welding of following explanation, moving, cooling off, carry out stitch pulse welding.
Figure 11 is the figure that is used to illustrate the 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 till when protective gas (shield gas) G plays the welding end when the welding beginning.Below, each state when welding about the stitch pulse describes.
Situation when producing with figure (a) expression electric arc.Based on welding current that sets and weldingvoltage, between the front end of welding wire 97 and mother metal 9W, produce electric arc a, welding wire 97 fusions, and on mother metal 9W, form fusion pool Y.Produce from electric arc a, after teaching weld interval shown in the process, stop electric arc a.
With the situation of scheming after (b) expression electric arc stops.After electric arc stops, up to through till the cool time that sets, the state after the welding is kept.That is, under the state that manipulator 9M and the arc torch 9T state with welding the time similarly stops, only from arc torch 9T ejection protective gas G, so fusion pool Y is cooled off and solidified by protective gas G in fact.
Make arc torch 9T move to the situation of next welding position with figure (c) expression.After cool time, the position that makes arc torch 9T move to predefined moving interval (pitch) Mp of being separated by on the welding direct of travel is the electric arc restart point in process.The translational speed of this moment is the translational speed that sets.Moving interval Mp shown in figure (c), is to carry out adjusted distance for location welding wire 97 on the outer circumferential side of the weld mark Y ' after solidifying at fusion pool Y.
Be illustrated in the situation that produces electric arc a on the electric arc restart point again with figure (d).On the leading section of weld mark Y ', form fusion pool Y again and weld.Like this, in stitch impulse welding welding system 91, generation electric arc state that welds and the state that cools off, move are alternately repeated.Then, according to making the overlapped mode of squama (ゥ ロ コ) form welding bead (weld bead) as weld mark.
Figure 12 is the figure that is used to illustrate formed welding bead after welding procedure.Shown in figure, on initial electric arc starting point P1, form weld mark Sc, towards welding direct of travel Dr, on the starting point of the electric arc again P2 of the moving interval Mp of being separated by, also form same weld mark Sc.And then, after electric arc starting point P3 again, also form increasing weld mark Sc successively.Like this, be the welding bead B that forms squamous as the overlapped formed result of the squama of weld mark Sc.
In said method, shown in Figure 11 (b), Figure 11 (c) etc., carrying out that repeatedly electric arc a is stopped and after electric arc a is produced again operation.Again produce electric arc a and need the time.Therefore, in said method, produced elongated problem weld interval.In addition, when electric arc a is produced again, there is the problem that generation is splashed (sputter), the deterioration of the outward appearance of welding bead B is such.For this reason, as shown in figure 13, a kind of welding (for example, with reference to patent documentation 2) that produces again that electric arc a is not stopped and not needing electric arc a of motion.
As Figure 13 (b), Figure 13 (c) clearly shown in, different with the situation shown in Figure 11 (b), Figure 11 (c), when cooling fusion pool Y, electric arc a is stopped, and keeps producing the state of electric arc a.Thus, realize the shortening of weld interval.In addition, owing to there is no need to make electric arc a to produce again, so the generation that can suppress to splash.In this case, for example, utilize pulse current when welding, the method for utilizing DC current when carrying out the cooling of fusion pool Y is known.
But, shown in Figure 13 (b), Figure 13 (c), when cooling fusion pool Y, need make welding current minimum in order to prevent the droplet transfer.If welding current diminishes, then when the cooling fusion pool, electric arc interrupts and can frequently take place.If electric arc interrupts frequent generation, the deterioration that then can bring the outward appearance of welding bead B.Like this, method shown in Figure 13 is not enough for the deterioration of the outward appearance that prevents welding bead B.
In addition, further, when from pulse current when DC current switches, be separated with situation about diminishing between between welding wire 97 and the mother metal 9W.In this case, the length of electric arc a can change, and the pressure of electric arc a can change.At this moment, fusion pool Y vibration is arranged, the situation that the outward appearance of welding bead B worsens.
Patent documentation 1:JP spy opens flat 6-55268 communique
Patent documentation 2:JP spy opens flat 11-267839 communique
Summary of the invention
The present invention proposes based on the above-mentioned fact just, will provide the arc-welding method of the welding bead that can form squamous more attractive in appearance as problem.
Comprised by arc-welding method provided by the invention: first operation is that the mode of first value flows through by make welding current between sacrificial electrode and mother metal according to the average absolute of this welding current, Yi Bian electric arc is produced, Yi Bian carry out the droplet transfer; With second operation, above-mentioned welding current is flow through according to the average absolute of this welding current mode for second value littler than above-mentioned first value, make the state continuance of the above-mentioned electric arc of generation; This arc-welding method repeats above-mentioned first operation and above-mentioned second operation, wherein, in above-mentioned second operation, revise the feed speed of above-mentioned sacrificial electrode according to the mode that makes weldingvoltage between above-mentioned sacrificial electrode and the above-mentioned mother metal become target voltage values, wherein, this target voltage values is set based on above-mentioned sacrificial electrode in above-mentioned first operation and the weldingvoltage between the above-mentioned mother metal.
In preferred implementation of the present invention, above-mentioned target voltage values is set at the above-mentioned sacrificial electrode in above-mentioned first operation and the mean value of the weldingvoltage between the above-mentioned mother metal.
According to this formation, revise the feed speed of above-mentioned sacrificial electrode owing to the mode that becomes the mean value of the above-mentioned weldingvoltage in above-mentioned first operation according to the above-mentioned weldingvoltage in above-mentioned second operation, so from above-mentioned first operation when above-mentioned second operation shifts, be difficult to take place big voltage change.Therefore, the length of above-mentioned electric arc is difficult to take place big variation in above-mentioned first operation and above-mentioned second operation.Thus, can prevent that arc length from changing sharp, thereby can realize the welding bead that outward appearance is more beautiful.
In preferred implementation of the present invention, above-mentioned first operation has: the pulse current interval; And between constant region, between this constant region in, the current value of being implemented after above-mentioned pulse current interval is constant; In between above-mentioned constant region, adjust,, when above-mentioned first operation is between above-mentioned constant region, carry out transfer to above-mentioned second operation so that the mean value of the weldingvoltage between above-mentioned sacrificial electrode and the above-mentioned mother metal is predefined welding voltage value.
In preferred implementation of the present invention, the above-mentioned welding current in above-mentioned second operation is a DC current.
In preferred implementation of the present invention, in above-mentioned second operation, above-mentioned welding current is carried out constant current control.
Other features of the present invention and advantage, by following with reference to detailed explanation that accompanying drawing carried out and clearer and more definite.
Description of drawings
Fig. 1 is the figure of formation of an example of the used welding system of expression the present invention.
Fig. 2 is the figure that the inside of expression welding system shown in Figure 1 constitutes.
Fig. 3 is the figure that the inside of expression feed speed initialization circuit shown in Figure 2 constitutes.
Fig. 4 is the flow chart of the arc-welding method of expression the 1st embodiment of the present invention.
Fig. 5 is the sequential chart of each signal etc. of the welding system of expression the 1st embodiment.
Fig. 6 is the figure of the variation of welding current in being illustrated in during the droplet transfer.
The weldingvoltage in the duration that Fig. 7 being expression electric arc and the figure of the relation between the arc length.
Fig. 8 is the voltage difference in the expression feed speed initialization circuit and the figure of the relation between the feed speed difference.
Fig. 9 is the figure of variation of the welding current in during droplet transfer in the arc-welding method of expression the 2nd embodiment of the present invention.
Figure 10 is the figure of formation of an example of the welding system of expression prior art.
Figure 11 is the figure of the state of explanation when carrying out stitch pulse welding.
Figure 12 is the figure that is used to illustrate formed welding bead after welding procedure.
Figure 13 is the figure that is used to illustrate the state when carrying out stitch pulse welding.
Symbol description:
A: 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: robot controller
21: control circuit
22: interface circuit
3: welding supply
31: output control circuit (current control unit)
32: current detection circuit
33: feed speed initialization circuit (feed speed setup unit)
331: the voltage split circuit
332,333: computing circuit
334: error amplifying circuit
335: the corrected signal output circuit
34: the feeding control circuit
35: interface circuit
36: voltage detecting circuit
D: distance
W: welding base metal (mother metal)
St: welding commencing signal
On: output commencing signal
Ws: feed speed setting signal
Δ Ws: feed speed difference
Mc: action control signal
Fc: feeding control signal
VR: robot translational speed
Iw, Iw1, Iw2: welding current
Iw1: current value (first value)
Vf: feed speed
Vw: weldingvoltage
Vfa: average voltage level
Vds: target voltage values
Δ V: amplify voltage difference
Δ Vth: voltage difference threshold value
T1: during the droplet transfer (between the first phase)
T2: the duration of electric arc (second phase)
Iep: electrode straight polarity electric current
Ien: electrode negative polarity electric current
Ipp: positive polarity peak point current
Ipb: positive polarity background current
Te: cycle
During the Tep:EP
During the Ten:EN
Tpp is during the Tpb. electrode straight polarity
Ten: during the electrode negative polarity
Is1: DC current values
The specific embodiment
Below, about embodiments of the present invention, be specifically described with reference to accompanying drawing.
Fig. 1 is the figure of formation of an example of the expression welding system that is used to implement arc-welding method of the present invention.
Welding system A shown in Figure 1 comprises: welding robot 1, robot controller 2 and welding supply 3.1 couple of mother metal W of welding robot carries out for example arc welding automatically.Welding robot 1 comprises: substrate (base) member 11, a plurality of arm 12, a plurality of motor 13, welding torch 14, welding wire feeding (feeding) device 16 and coil guide part (coil liner) 19.
Welding torch 14 is provided with on the leading section that is arranged at the wrist portion 12a on the side foremost of welding robot 1.Welding torch 14 is used for and will imports near the position of the regulation the mother metal W such as the welding wire about diameter 1mm 15 as sacrificial electrode.Welding torch 14 comprises the protective gas nozzle (diagram slightly) of the protective gas that is used to supply with argon (Ar) etc.Motor 13 is arranged on the two ends or an end (diagram is omitted a part) of arm 12.Motor 13 is driven by robot controller 2 rotations.Drive by this rotation, control moving of a plurality of arms 12, thereby welding torch 14 can freely move up and down all around.
In motor 13, be provided with not shown encoder.And the output of this encoder is administered to robot controller 2.According to this output valve, the current location of robot controller 2 identification welding torches 14.
Fig. 2 is the figure that the inside of expression welding system A shown in Figure 1 constitutes.
Fig. 1, robot controller 2 shown in Figure 2 are used to control the action of welding robot 1.As shown in Figure 2, robot controller 2 is made of control circuit 21, interface circuit 22.
Control circuit 21 has not shown microcomputer (microcomputer) and memory, is storing the operation procedure and the database described later of the exercises of having set welding robot 1 in this memory.In addition, control circuit 21 is set the translational speed VR of robot described later.Control circuit 21 provides action control signal Mc based on above-mentioned operation procedure, from the coordinate information of above-mentioned encoder and the translational speed VR of robot etc. to welding robot 1.According to this action control signal Mc, each motor 13 rotation drives, and makes welding torch 14 move to the welding starting position of the regulation of mother metal W, and it is moved along direction in the face of mother metal W.
Be connected with not shown operating and setting device with control circuit 21.This operating and setting device is used to be set by the user exercises.
Database, form as the corresponding relation between the value of the material of expression such as the material of mother metal W, welding wire 15 and diameter, the translational speed VR of robot and the DC current that should flow through in the T2 the electric arc described later the duration is stored in the above-mentioned memory.When importing the material of mother metal W, the material and the diameter of welding wire 15 via the aforesaid operations setting device, and then when setting the translational speed VR of robot, the value of DC current is decided in control circuit 21 comparable data storehouses.
Interface circuit 22 is used for and the various signals of welding supply 3 exchanges.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 to be used for applying weldingvoltage Vw between welding wire 15 and mother metal W, thereby the device that welding current Iw is flow through is again the device that is used to carry out the feeding of welding wire 15.As shown in Figure 2, welding supply 3 comprises: output control circuit 31, current detection circuit 32, feed speed initialization circuit 33, feeding control circuit 34, interface circuit 35 and voltage detecting circuit 36.
Interface circuit 35 is used for and the various signals of robot controller 2 exchanges.Particularly, 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 that is made of a plurality of transistor units.Output control circuit 31 carries out high-speed response and accurate welding current waveform control by inverter control circuit to the source power supply (for example, 3 phase 200V) from the outside input.
Output control circuit 31 applies weldingvoltage Vw, thereby flows through welding current Iw via the contact chip (contact chip) of the front end that is arranged on welding torch 14 between welding wire 15 and mother metal W.The output of output control circuit 31, the one end is connected with welding torch 14, and the other end is connected with mother metal W.Like this, between the front end of welding wire 15 and mother metal W, produce electric arc a.The heat that this electric arc of welding wire 15 reasons a produces and fusion.Then, mother metal W is implemented welding.
To send to output control circuit 31 from the current settings signal Is of action control circuit 21 and output commencing signal On via interface circuit 35,22.Further, output control circuit 31 flows through the current detection circuit 32 receptions current detection signal Id corresponding with welding current Iw of the welding current Iw of welding wire 15 from detection.
Voltage detecting circuit 36 is used to detect weldingvoltage Vw.Voltage detecting circuit 36 will be corresponding with weldingvoltage Vw voltage detection signal Vd output to output control circuit 31 and feed speed initialization circuit 33.
Feed speed initialization circuit 33 is the corrected signal Ds that will calculate based on voltage detection signal Vd circuit to 34 outputs of feeding control circuit.
Fig. 3 is the figure of the internal structure of expression feed speed initialization circuit 33.Feed speed initialization circuit 33 comprises: voltage split circuit 331, and it receives voltage detection signal Vd and separates output; With computing circuit 332,333, it receives the signal after the separation respectively.Further, also comprise: error amplifying circuit 334, its difference to the operation result of computing circuit 332,333 is amplified and is exported; With corrected signal output circuit 335, its output corrected signal Ds, this corrected signal Ds make the feed speed increase and decrease of welding wire 15 according to the signal from error amplifying circuit 334.
The feeding control signal Fc that feeding control circuit 34 will be used to carry out the feeding of welding wire 15 outputs to feed motor 161.Feeding control signal Fc is the signal of the feed speed Vf of expression welding wire 15.In addition, will be from the output commencing signal On of action control circuit 21, deliver to feeding control circuit 34 from the feed speed setting signal Ws and the corrected signal Ds of feed speed initialization circuit 33 via interface circuit 35,22.
Next, the 1st embodiment about arc-welding method of the present invention describes with reference to Fig. 4～Fig. 6.Fig. 4 is the figure of step of the arc-welding method of expression present embodiment.
The variable condition of Fig. 5 (a) expression translational speed VR of robot, (b) variable condition of expression welding current Iw.The translational speed VR of robot is the translational speed of welding torch 14 of the welding direct of travel (corresponding with the welding direct of travel Dr of prior art shown in Figure 9) of the regulation among the direction in the face of mother metal w.
At first, by the welding commencing signal St (with reference to Fig. 2) of input, carry out cambic welding and begin to handle (S1) from the outside.Begin to handle in (S1) in welding, control circuit 21 will be exported commencing signal On and output to output control circuit 31 and feeding control circuit 34.Output control circuit 31 applies weldingvoltage Vw between welding wire 15 and mother metal W.Like this, light electric arc a.
After welding begins finishing of processing (S1), T1 (S2) during the beginning droplet transfer.After the finishing of T1 during the droplet transfer, T2 (S5) duration of beginning electric arc, and weld the affirmation (S13) of end.Under the situation of the indication of having sent the welding end such as the user (S13=is), control circuit 21 welds end process finishes welding.Under the situation of not sending the indication that welding finishes (S13=is not), get back to the operation (S2) that begins T1 during the droplet transfer once more.In addition, the affirmation (S13) of welding end can also be carried out after the end of T1 during the droplet transfer.In this case, the duration of electric arc after the end of T2 (S12=is), automatically implement T1 during the droplet transfer.
In such arc-welding method, as shown in Figure 5, T2 welds the duration of by T1 during repeating the droplet transfer and electric arc.During the droplet transfer, in the T1, carry out the droplet transfer, and form fusion pool by flowing through welding current Iw1.On the other hand, the duration of electric arc in the T2, by flowing through welding current Iw2, thereby carried out the droplet transfer hardly, on one side and on one side pilot arc a welding torch 14 is moved.Below, be specifically described.
During the droplet transfer, in the T1, in the explanation of prior art, carry out the processing of the formation fusion pool Y shown in Figure 11 (a), Figure 13 (a).During the droplet transfer, in the T1, shown in Fig. 5 (a), the translational speed VR of robot is set at 0.Thus, welding torch 14 stops with respect to mother metal W.Shown in figure (b),, flow through average absolute and be the welding current Iw1 of pulse of the interchange of current value iw1 as welding current Iw.During the droplet transfer, in the T1, implement constant voltage control.In constant voltage control, if the welding condition of the extension elongation of the material of welding wire 15, diameter, welding wire 15, polarity of electrode etc. determines that then welding current Iw is by the feed speed Vf decision of welding wire 15.That is, welding current Iw1 is set by feed speed setting signal Ws.The feed speed Vf of welding wire 15 is such as 650～1000cm/min.In addition, T1 is such as 0.4～0.5sec during the droplet transfer.
Fig. 6 is the figure that represents the time variation of welding current Iw1 in detail.In Fig. 5, for the convenience on understanding, w1 has carried out reduced representation to the welding electric current I, but welding current Iw1 is an alternating-current pulse electric current shown in Figure 6.Current value iw1 among Fig. 6 is consistent with the current value iw1 among Fig. 5.The scale of time among Fig. 6 (scale) is more much smaller than the scale of the time among Fig. 5.In Fig. 6, the longitudinal axis of expression welding current Iw makes during for anode the electric current that flows through for just at welding wire 15.
Be appreciated that from this figure welding current Iw1 on average gets one-time electrode positive polarity electric current I ep and electrode negative polarity electric current I en in period T e.Period T e is such as about 20msec.Electric current positive polarity electric current I ep is to be the electric current that flows through under the negative electrode state at welding wire 15 for anode, mother metal W.Electrode straight polarity electric current I ep comprises positive polarity peak point current Ipp and positive polarity background current Ipb.Positive polarity peak point current Ipp during electrode straight polarity Tpp during in flow through.Tpp is such as 2msec during the electrode straight polarity.The absolute value Iepp of positive polarity peak point current Ipp is such as 300～350A.On the other hand, positive polarity background current Ipb during electrode straight polarity Tpb during in flow through.Tpb is such as 14msec during the electrode straight polarity.The absolute value Iepb of positive polarity background current Ipb is such as 30～80A.
Electrode negative polarity electric current I en is to be the electric current that flows through under the state of anode at welding wire 15 for negative electrode, mother metal W.Electrode negative polarity electric current I en during the electrode negative polarity Ten during in flow through.Ten is such as 3.0～4.0msec during the electrode negative polarity.The absolute value Ienp of electrode negative polarity electric current I en is such as 50～100A.
During positive polarity peak point current Ipp, positive polarity background current Ipb, electrode negative polarity electric current I en, the electrode straight polarity during Tpp and the electrode negative polarity Ten be set at setting.Tpb during the electrode straight polarity is carried out FEEDBACK CONTROL, so that the mean value of weldingvoltage Vw equals predefined weldingvoltage setting value.Be controlled to be appropriate value by this length of controlling electric arc a.The value of getting behind the time average at the absolute value of positive polarity peak point current Ipp, positive polarity background current Ipb and electrode negative polarity electric current I en is consistent with current value iw1.Current value iw1 is such as 90A.
Further, in the T1, the voltage split circuit 331 that receives the voltage detection signal Vd corresponding with weldingvoltage Vw sends (S3) with voltage detection signal Vd to computing circuit 332 during the droplet transfer.After the end of T1 during the droplet transfer, computing circuit 332 calculates the mean value of the weldingvoltage Vw in the T1 during the droplet transfers, and this mean value is outputed to error amplifying circuit 334 (S4) as target voltage values Vds.In addition, in the present embodiment, Tpb during the electrode straight polarity is carried out FEEDBACK CONTROL,, thereby can take and to have carried out the gimmick of predefined weldingvoltage setting value output as target voltage values Vds so that the mean value of weldingvoltage Vw equals predefined weldingvoltage setting value.
The duration of electric arc shown in Figure 4 in the T2, in the explanation of prior art, shown in Figure 13 (b), (c), while make electric arc a continue to cool off the processing of fusion pool Y.T2 is such as 0.2～0.3sec duration of electric arc.
The duration of electric arc, during the beginning of T2 (S5), shown in Fig. 5 (a), the robot translational speed is set at V2.Like this, welding torch 14 begins to move along the welding direct of travel of regulation.V2 is such as 100cm/min.After the robot translational speed is set at V2, carry out the setting (S6) of DC current values is1 rapidly.
The setting of DC current values is1 (S6) is by to select with the translational speed VR of robot automatically be that the corresponding value of the situation of V2 is carried out with reference to being stored in database in the memory of control circuit 21.In the T2, shown in Fig. 5 (b), control welding current Iw is so that this DC current values is1 flows through as welding current Iw2 duration of electric arc.DC current values is1 is such as about 5～20A.DC current values is1 is small enough to the value that is difficult to carry out the droplet transfer.In addition, welding current Iw2 flows through under the state of negative electrode, is so-called electrode straight polarity electric current.In addition, welding wire 15 comes feeding (diagram slightly) towards mother metal W with the feed speed Vf of the value littler than the value in the T1 during the droplet transfer.This feed speed Vf is such as 70cm/min.Feed speed Vf is embedded into value in the operation procedure accordingly, in advance with DC current values is1, is sent to feeding control circuit 34 via feed speed initialization circuit 33 from control circuit 21 by feed speed setting signal Ws.
Fig. 7 is illustrated under the situation that feed speed initialization circuit 33 do not play a role, and can get the figure of the behavior of weldingvoltage Vw duration of electric arc in the T2.The duration of electric arc, carry out constant current control in the T2.That is, based on current detection signal Id from current detection circuit 32, control weldingvoltage Vw in output control circuit 31, thus make welding current Iw constant.
One of the reason that purpose makes weldingvoltage Vw increase and decrease that is embodied as with constant current is that distance D between welding wire 15 and the mother metal W has change.Distance D is owing to being not the physical quantity of directly carrying out instrumentation and control, so can be by the condition variation of welding.For example, can enumerate flatness, the welding robot 1 of mother metal W teaching (teaching) precision, the feeding of welding wire 15 is played frictional force of inhibition etc.Under the situation that distance D diminishes,, implement the control that weldingvoltage Vw is diminished in order to keep constant current.On the other hand, under the big situation of distance D change,, implement to make weldingvoltage Vw to become big control in order to keep constant current.
In the present embodiment, feed speed initialization circuit 33 behind the T2, the standby stipulated time (S7), during this period, receives the voltage detection signal Vd corresponding with weldingvoltage Vw duration of beginning electric arc.The time of standby is from setting such as taking the circumstances into consideration the 10 milliseconds～several 10 milliseconds scope.The voltage detection signal Vd that voltage split circuit 331 will receive during this period sends to computing circuit 333.Computing circuit 333 calculates the average voltage level Vfa in the stand-by time according to the voltage detection signal Vd that receives, and sends (S8) to error amplifying circuit 334.
The target voltage values Vds that receives before error amplifying circuit 334 detection average voltage level Vfa depart from actually how much, and amplify this error, and error amplification signal Ev is sent to corrected signal output circuit 335 (S9).The amplification voltage difference delta V that is transmitted by error amplification signal Ev multiply by the value that obtains behind the positive constant on (Vfa-Vds).Corrected signal output circuit 335 sends to feeding control circuit 34 (S10) with the corrected signal Ds corresponding with the amplification voltage difference delta V that is transmitted by error amplification signal Ev.
In the present embodiment, corrected signal output circuit 335 decides feed speed difference delta Ws according to the amplification voltage difference delta V that is transmitted by error amplification signal Ev.In this decision, use all charts as shown in Figure 8.As shown in Figure 8, amplifying voltage difference delta V=0, promptly average voltage level Vfa equals under the situation of target voltage values Vds, and Ws is set at 0 with the feed speed difference delta.In addition, under the absolute value that amplifies voltage difference delta V was situation below the voltage difference threshold value Δ Vth, Ws was set at 0 with the feed speed difference delta.The absolute value that amplifies voltage difference delta V than the big situation of voltage difference threshold value Δ Vth under, set feed speed difference delta Ws according to illustrated chart.In the present embodiment, amplify voltage difference delta V and feed speed difference delta Ws and be configured to stair-stepping relation.Corrected signal output circuit 335 carries out feed speed difference delta Ws is added to processing on the feed speed setting signal Ws, and sends to feeding control circuit 34 as corrected signal Ds.
Feeding control circuit 34 is then revised the feed speed Vf (S11) of welding wire 15 if receive corrected signal Ds based on this.In addition, in order more critically to carry out the correction of the feed speed Vf of welding wire 15, the adjustment that AC servomotor carries out the feed speed Vf of welding wire 15 can be set near the front end of welding torch 14.
Whether be the affirmation (S12) of time that make electric arc duration T2 finish thereafter.Under the situation that is the time that T2 finishes the duration of making electric arc (S12=is), weld the affirmation (S13) of end.(S12=is not) got back to the operation (S7) of carrying out standby once more with the stipulated time, and repeated above-mentioned operation under the situation that is not the time that T2 finishes the duration of making electric arc.
Next, the effect about present embodiment describes.
According to present embodiment, under the situation owing to above-mentioned reason welding wire 15 and the distance D change between the mother metal w, along with this change, amplifying voltage difference delta V can change.Feed speed initialization circuit 33 amplifies voltage difference delta V based on this, makes the control of feed speed Vf increase and decrease speed.The increase and decrease speed of this feed speed Vf is to carry out according to the mode of average voltage level Vfa convergence target voltage values Vds.Consequently, the length of electric arc a keeps length when average voltage level Vfa gets target voltage values Vds, that wish.Therefore, can avoid causing electric arc to interrupt producing, perhaps because of the too short state of affairs that causes short circuit of the length of electric arc a because of the length of electric arc a is long.This is suitable for making arc welding stably to continue, and is suitable for preventing that the outward appearance of welding bead is irregular.
In the present embodiment, the mean value of the weldingvoltage Vw in the T1 calculates during the droplet transfer of having been carried out before the target voltage values Vds conduct just.Therefore, when T2 shifted the duration that T1 is to electric arc during the droplet transfer, weldingvoltage Vw was difficult to change.
Further, according to present embodiment, the DC current values is1 of the welding current Iw the duration of electric arc in the T2 is by selecting the value corresponding with the translational speed VR of robot to carry out automatically with reference to the database in the memory that is stored in control circuit 21.Thus, the user there is no need to carry out the setting of DC current values is1, except user's operation burden alleviates, and also can step-down to the dependency degree of the user's of welding result technology.Therefore, arc-welding method of the present invention can prevent because of user's technical deficiency or the variation as a result of the welding that causes of lacking experience, and is suitable for making arc welding stably to continue, and is suitable for preventing that the outward appearance of welding bead is irregular.
Amplifying voltage difference delta V is under the situation below the voltage difference threshold value Δ Vth, by feed speed difference delta Ws is set at 0, thereby can prevent to cause feed speed Vf acceleration and deceleration continually because of the generation of small amplification voltage difference delta V.But not the frequent acceleration and deceleration of original idea even this acceleration and deceleration amount is very little, also may be brought out wrongful hunting (hunting) etc.According to present embodiment, can suppress the confusion of such control.Stepped about voltage difference delta V and feed speed difference delta Ws are set for, be to use such as the form of form with the relation between the feed speed difference delta Ws and carry out data input and maintenance, thereby degree easy to use is high with amplifying voltage difference delta V.
Next, the 2nd embodiment about arc-welding method of the present invention describes with reference to Fig. 9.The arc-welding method of present embodiment similarly utilizes welding system A with above-mentioned arc-welding method, and T2 carries out by T1 during alternately repeating the droplet transfer and electric arc the duration.In Fig. 9, represented the waveform of the welding current Iw of the tail end of T1 during droplet transfer of arc-welding method of present embodiment.Further, in the arc-welding method of present embodiment, decide target voltage values Vds by method shown below.In addition, other steps are identical with above-mentioned arc-welding method.
As shown in Figure 9, the period T e of welding current Iw1 recurring unit, this unit period Te by the polarity of welding wire 15 become+EP during the polarity of Tep and welding wire 15 become-EN during Ten form.In the Tep, welding current Iw1 becomes electrode straight polarity electric current I ep during EP.In the Ten, welding current Iw1 becomes electrode negative polarity electric current I en during EN.Electrode negative polarity electric current I en flows through with constant value iwln.On the other hand, electrode straight polarity electric current I ep increases and decreases according to the mode of getting peak value iwlp.
Tep is made of following during the EP: electrode straight polarity electric current I ep get Tp between peak period of peak value iwlp, as Tu during the increase of the first-half period more forward than Tp between the peak period, as than Td during the minimizing between the latter half after Tp leans between the peak period and constant during Tb.Tu is when switching to electrode straight polarity electric current I ep by electrode negative polarity electric current I en during the increase.During increasing Tu during, welding current Iw1 increases.Reach moment of peak value iw1p at the current value of welding current Iw1, Tu finishes during the increase, and Tp begins between the peak period.During Tp between the peak period, the value of welding current Iw1 remains peak value iw1p.After Tp between the peak period finishes, Td during beginning to reduce.During reducing Td during, welding current Iw1 reduces.Reduce to moment of the value iw1d of regulation at the current value of welding current Iw1, Td finishes during the minimizing, constant during Tb begin.During constant Tb during, the current value of welding current Iw1 flows through with constant value iw1d.During this is constant, after the end of Tb, carry out switching from electrode straight polarity electric current I ep to electrode negative polarity electric current I en.
Peak value iw1p, value iw1n, iw1d, between the peak period during Tp and the EN Ten be set at setting.Tb during constant is carried out FEEDBACK CONTROL, so that the mean value of weldingvoltage Vw equals predefined weldingvoltage setting value.Be controlled to be appropriate value by this length of controlling electric arc a.
During EN in the Ten, because welding wire 15 is positioned at cathode side, so at the front end of welding wire 15, molten drop has the trend of easy growth.Otherwise, during EP, in the Tep,, work for welding wire 15 big electromagnetic contractile forces (electromagnetic pinch force), so molten drop has the trend that easily falls owing to get peak value iw1p.After molten drop falls, enter Ten during the EN, molten drop is grown up once more.Like this, during a unit period Te, a molten drop carries out the transition to mother metal W from welding wire 15.
In the present embodiment, during constant Tb during in, carry out the transfer of T1 T2 duration of electric arc during the droplet transfer.Further, target voltage values Vds is set at the used predefined weldingvoltage setting value of the FEEDBACK CONTROL of during constant, being carried out in the Tb.According to this method, there is no need during each droplet transfer, to calculate target voltage values Vds in the T1, thereby can prevent the complicated of feed speed initialization circuit 33.
According to the arc-welding method of present embodiment, can make constant during in the Tb arc length with during this is constant after electric arc the duration in the T2 arc length much at one.Therefore, when T2 shifted the duration that T1 is to electric arc during the droplet transfer, fusion pool is difficult to vibration, and was irregular thereby the outward appearance of welding bead is difficult to become.
Further, when T2 shifts the duration that T1 is to electric arc during the droplet transfer, be difficult to residual bigger molten drop at the front end of welding wire 15, thereby can prevent from the duration of electric arc, to form wrongly in the T2 big molten drop.
Scope of the present invention is not limited to above-mentioned embodiment.Concrete formation of the present invention can freely be carried out various design variations.In the above-described embodiment, will amplify voltage difference delta V and feed speed difference delta Ws has set stepped relation for, also can be relation such as linearity but amplify relation between voltage difference delta V and the feed speed difference delta Ws.Setting voltage difference limen value Δ Vth realizes stable feed speed control with optimal way, but also can carry out the not control of working voltage difference limen value Δ Vth.
Foregoing has been represented the example of welding current Iw1 for the pulse current of interchange, but the present invention is not limited to this, and welding current Iw1 can be the constant current of direct current etc.Undoubtedly, be suitable for too at welding current Iw2.
Claims (5)
1. arc-welding method comprises:
First operation is that the mode of first value flows through by make welding current between sacrificial electrode and mother metal according to the average absolute of this welding current, Yi Bian electric arc is produced, Yi Bian carry out the droplet transfer; With
Second operation makes described welding current flow through according to the average absolute of this welding current mode for second value littler than described first value, makes the state continuance of the described electric arc of generation,
This arc-welding method repeats described first operation and described second operation,
This arc-welding method is characterised in that,
In described second operation, revise the feed speed of described sacrificial electrode according to the mode that makes weldingvoltage between described sacrificial electrode and the described mother metal become target voltage values, wherein, this target voltage values is set based on described sacrificial electrode in described first operation and the weldingvoltage between the described mother metal.
2. arc-welding method as claimed in claim 1, wherein,
Described target voltage values is set at the described sacrificial electrode in described first operation and the mean value of the weldingvoltage between the described mother metal.
3. arc-welding method as claimed in claim 2, wherein,
Described first operation has: the pulse current interval; And between constant region, wherein, between this constant region in, the current value of being implemented after described pulse current interval is constant,
In between described constant region, adjust, so that the mean value of the weldingvoltage between described sacrificial electrode and the described mother metal is predefined welding voltage value,
When described first operation is between described constant region, carry out transfer to described second operation.
4. as any described arc-welding method in the claim 1 to 3, wherein,
Described welding current in described second operation is a DC current.
5. arc-welding method as claimed in claim 4, wherein,
In described second operation, described welding current is carried out constant current control.
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| JP2010082119A JP2011212707A (en) | 2010-03-31 | 2010-03-31 | Arc welding method |
| JP2010-082119 | 2010-03-31 |
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| CN105382377A (en) * | 2014-09-02 | 2016-03-09 | 株式会社大亨 | Arc welding method |
| CN105705285A (en) * | 2014-01-15 | 2016-06-22 | 株式会社达谊恒 | Arc welding control method |
| CN111867771A (en) * | 2018-03-23 | 2020-10-30 | 松下知识产权经营株式会社 | Method and device for setting welding conditions |
| CN111918740A (en) * | 2018-03-20 | 2020-11-10 | 松下知识产权经营株式会社 | Arc welding method, arc welding system, and welding power supply device control device |
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| JP5990784B2 (en) * | 2012-03-15 | 2016-09-14 | パナソニックＩｐマネジメント株式会社 | Arc welding method and arc welding apparatus |
| JP6125932B2 (en) * | 2013-07-10 | 2017-05-10 | 株式会社ダイヘン | Power supply apparatus for arc welding and control method for power supply apparatus for arc welding |
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| Publication number | Publication date |
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| CN102205453B (en) | 2015-08-19 |
| JP2011212707A (en) | 2011-10-27 |
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