CN102205453B - Arc-welding method - Google Patents
Arc-welding method Download PDFInfo
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- CN102205453B CN102205453B CN201110068915.2A CN201110068915A CN102205453B CN 102205453 B CN102205453 B CN 102205453B CN 201110068915 A CN201110068915 A CN 201110068915A CN 102205453 B CN102205453 B CN 102205453B
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Abstract
A kind of arc-welding method that can form the welding bead of squamous more attractive in appearance is provided.This arc-welding method comprises: the first operation (S2), is flow through, electric arc is produced, while carry out the droplet transfer by the chien shih welding current at sacrificial electrode and mother metal according to the mode that the mean value of absolute value is the first value; With the second operation (S5), above-mentioned welding current is flow through according to the mode that the mean value of absolute value is the second value less than above-mentioned first value, the state of the above-mentioned electric arc of generation is continued; This arc-welding method repeats above-mentioned first operation (S2) and above-mentioned second operation (S5), wherein, in above-mentioned second operation (S5), become mode according to the target voltage values (Vds) set by the weldingvoltage between the above-mentioned sacrificial electrode in above-mentioned first operation (S2) and above-mentioned mother metal to revise feed speed (Vf) (S11) of above-mentioned sacrificial electrode according to the weldingvoltage made between above-mentioned sacrificial electrode and above-mentioned mother metal (Vfa).
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 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 refers to 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 mother metal (base material) 9W, and by upper arm 93, underarm 94, wrist portion 95 and form for their multiple servomotors of rotary actuation (servo motor) (not shown).
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 be wound on wire reel (wire reel) 96 is imported to mother metal 9W by the welding position of teaching.Source of welding current 9WP supplies weldingvoltage between arc torch 9T and mother metal 9W.When welding mother metal 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.
Underground cable (conduit cable) 92 possesses for the inner coil guide part (coil liner) (not shown) that led by welding wire 97, and is connected with arc torch 9T.Further, underground cable 92 is by the electric power from source of welding current 9WP and be supplied to arc torch 9T from the protective gas of gas cylinder (gas cylinder) 98.
Teaching machine (teach pendant) 9TP as operating unit is so-called movable operating dish, in order to make 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.Further, 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.The output of encoder (encoder) (not shown) that possess according to the servomotor from manipulator 9M due to robot controller 9RC identifies current location, therefore can control the front position of arc torch 9T.Then, in weld part, while repeating the welding of following explanation, movement, cooling, carry out stitch pulse welding.
Figure 11 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 till at the end of protective gas (shield gas) G plays welding when welding starts.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 mother metal 9W, produce electric arc a, welding wire 97 melting, and form fusion pool Y on mother metal 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 moving interval (pitch) Mp preset of being separated by.Translational speed is now set translational speed.Moving interval Mp, 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).The leading section of weld mark Y ' forms fusion pool Y again and welds.Like this, in stitch pulse welding system 91, make generation electric arc to carry out the state of welding and carry out cooling, the state of movement alternately repeats.Then, welding bead (weld bead) is formed according to squama (ゥ ロ コ) the overlapped mode made as weld mark.
Figure 12 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 11 (b), Figure 11 (c) etc., repeatedly carry out electric arc a is stopped and in the operation making electric arc a regenerate afterwards.Regenerate electric arc a and need the time.Therefore, in the above-mentioned methods, elongated problem weld interval is created.In addition, when making electric arc a regenerate, there is the problem that generation is splashed (sputter), the deteriorated appearance of welding bead B is so at every turn.For this reason, as shown in figure 13, motion is a kind of makes electric arc a not stop and not needing the welding (for example, referring to patent document 2) regenerated of electric arc a.
As Figure 13 (b), Figure 13 (c) clearly shown in, different from the situation shown in Figure 11 (b), Figure 11 (c), do not make electric arc a stop when cooling fusion pool Y yet, and keep the state of generation electric arc a.Thus, the shortening of weld interval is realized.In addition, owing to there is no need to make electric arc a regenerate, therefore the generation of splashing can be suppressed.In this case, such as, utilizing pulse current when welding, utilizing when carrying out the cooling of fusion pool Y the method for DC current to be known.
But, as shown in Figure 13 (b), Figure 13 (c), when cooling fusion pool Y, need to prevent the droplet transfer from making welding current minimum.If welding current diminishes, then when cooling fusion pool, electric arc interrupts frequently occurring.If electric arc interrupts frequent generation, then can bring the deterioration of the outward appearance of welding bead B.Like this, the method shown in Figure 13 is inadequate for the deterioration of the outward appearance preventing welding bead B.
In addition, further, when switching from pulse current to DC current, situation about diminishing between welding wire 97 and mother metal 9W, is separated with.In this case, the length of electric arc a can change, and the pressure of electric arc a can change.Now, fusion pool Y is had to vibrate, the situation of the deteriorated appearance of welding bead B.
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 the arc-welding method of the welding bead that can form squamous more attractive in appearance be provided as problem.
Comprised by arc-welding method provided by the invention: the first operation, flow through according to the mode that the mean value of the absolute value of this welding current is the first value by the chien shih welding current at sacrificial electrode and mother metal, electric arc is produced, while carry out the droplet transfer; With the second operation, above-mentioned welding current is flow through according to the mode that the mean value of the absolute value of this welding current is the second value less than above-mentioned first value, the state of the above-mentioned electric arc of generation is continued; This arc-welding method repeats above-mentioned first operation and above-mentioned second operation, wherein, in above-mentioned second operation, the mode of target voltage values is become to revise the feed speed of above-mentioned sacrificial electrode according to the weldingvoltage made between above-mentioned sacrificial electrode and above-mentioned mother metal, wherein, this target voltage values sets based on the weldingvoltage between the above-mentioned sacrificial electrode in above-mentioned first operation and above-mentioned mother metal.
In a preferred embodiment of the invention, above-mentioned target voltage values is set as the mean value of the weldingvoltage between above-mentioned sacrificial electrode in above-mentioned first operation and above-mentioned mother metal.
According to this formation, owing to becoming the mode of the mean value of the above-mentioned weldingvoltage in above-mentioned first operation according to the above-mentioned weldingvoltage in above-mentioned second operation to revise the feed speed of above-mentioned sacrificial electrode, therefore when from above-mentioned first operation to above-mentioned second operation transfer, be difficult to large voltage change occurs.Therefore, the length of above-mentioned electric arc is difficult to large change occurs in above-mentioned first operation and above-mentioned second operation.Thereby, it is possible to prevent arc length from changing sharp, thus the more beautiful welding bead of outward appearance can be realized.
In a preferred embodiment of the invention, above-mentioned first operation has: pulse current is interval; With between constant region, between this constant region, the current value implemented after above-mentioned pulse current interval is constant; In above-mentioned constant region, adjust, to make the mean value of the weldingvoltage between above-mentioned sacrificial electrode and above-mentioned mother metal be the welding voltage value preset, when above-mentioned first operation is between above-mentioned constant region, carry out the transfer to above-mentioned second operation.
In a preferred embodiment of the invention, the above-mentioned welding current in above-mentioned second operation is DC current.
In a preferred embodiment of the invention, in above-mentioned second operation, constant current control is carried out to above-mentioned welding current.
Other features of the present invention and advantage, by the detailed description of carrying out referring to accompanying drawing definitely.
Accompanying drawing explanation
Fig. 1 is the figure of the formation of the example representing the welding system that the present invention is used.
Fig. 2 is the figure of the Inner Constitution representing the welding system shown in Fig. 1.
Fig. 3 is the figure of the Inner Constitution representing the feed speed initialization circuit shown in Fig. 2.
Fig. 4 is the flow chart of the arc-welding method representing the 1st embodiment of the present invention.
Fig. 5 is the sequential chart of each signal of the welding system representing the 1st embodiment etc.
Fig. 6 is the figure of the change representing welding current in during the droplet transfer.
Fig. 7 be the duration of representing electric arc in weldingvoltage and arc length between the figure of relation.
Fig. 8 is the figure of the relation represented between voltage difference in feed speed initialization circuit and feed speed difference.
Fig. 9 be represent the droplet transfer in the arc-welding method of the 2nd embodiment of the present invention during in the figure of change of welding current.
Figure 10 is the figure of the formation of an example of the welding system representing prior art.
Figure 11 is the figure of the state illustrated when carrying out stitch pulse welding.
Figure 12 is the figure for illustration of the welding bead formed after welding procedure.
Figure 13 is the figure for illustration of 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: voltage split circuit
332,333: computing circuit
334: error amplifying circuit
335: corrected signal output circuit
34: feeding control circuit
35: interface circuit
36: voltage detecting circuit
D: distance
W: welding base metal (mother metal)
St: welding commencing signal
On: export 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 (the 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 (first period)
T2: the duration of electric arc (second phase)
Iep: electrode straight polarity electric current
Ien: Electrode Negative electric current
Ipp: positive polarity peak point current
Ipb: positive polarity background current
Te: cycle
During Tep:EP
During Ten:EN
During Tpp, Tpb. electrode straight polarity
Ten: during Electrode Negative
Is1: DC current values
Detailed description of the invention
Below, about embodiments of the present invention, be specifically described with reference to accompanying drawing.
Fig. 1 is the figure of the formation of an example of the welding system represented for implementing arc-welding method 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 mother 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, welding wire feeding (feeding) device 16 and coil guide part (coil liner) 19.
Basal component 11 is fixed on the suitable place such as ground (floor).Each arm 12 links via axle and basal component 11.
The leading section of the wrist portion 12a of welding torch 14 on the side being foremost arranged at welding robot 1 is arranged.Welding torch 14 is for importing to the position of the regulation near mother 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) of the protective gas for supplying argon (Ar) etc.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 administered 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 be wound 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.As welding wire propulsion unit, such as, use AC servomotor.
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, is inserted through 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 is made up of control circuit 21, interface circuit 22.
Control circuit 21 has not shown microcomputer (microcomputer) and memory, stores the operation procedure of the various actions setting welding robot 1 and database described later 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 mother metal W, or makes it move along direction in the face of mother metal W.
Not shown operating and setting device is connected with control circuit 21.This operating and setting device is used for being set by the user various action.
Database, as the form of the corresponding relation represented between the material of such as mother metal W, the material of welding wire 15 and diameter, robot translational speed VR and the value of DC current that should flow through in T2 the electric arc described later duration, be stored in above-mentioned memory.When inputting the material of mother metal W, the material of welding wire 15 and diameter via aforesaid operations setting device, and then during setting robot translational speed VR, the value of DC current is decided in control circuit 21 comparable data storehouse.
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 applying weldingvoltage Vw between welding wire 15 and mother metal W, thus makes the device that welding current Iw flows 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, feed speed initialization circuit 33, 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.Output control circuit 31 carries out high-speed response and the control of the welding current waveform of precision by inverter control circuit to the source power supply inputted from outside (such as, 3 phase 200V).
Output control circuit 31, via the contact chip (contact chip) of front end being arranged on welding torch 14, applies weldingvoltage Vw, thus flows through welding current Iw between welding wire 15 and mother metal W.The output of output control circuit 31, its 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, electric arc a is produced.This electric arc of welding wire 15 reason a produce heat and melting.Then, welding is implemented to mother metal W.
By from control circuit 21 current settings signal Is and export commencing signal On via interface circuit 35,22, be sent to output control circuit 31.Further, output control circuit 31 receives the current detection signal Id corresponding with welding current Iw from detecting the current detection circuit 32 flowing through the welding current Iw of welding wire 15.
Voltage detecting circuit 36 is for detecting weldingvoltage Vw.The voltage detection signal Vd corresponding with weldingvoltage Vw is outputted to output control circuit 31 and feed speed initialization circuit 33 by voltage detecting circuit 36.
Feed speed initialization circuit 33 is the circuit exported to feeding control circuit 34 by the corrected signal Ds calculated based on voltage detection signal Vd.
Fig. 3 is the figure of the internal structure representing feed speed initialization circuit 33.Feed speed initialization circuit 33 comprises: voltage split circuit 331, and its receiver voltage detection signal Vd also carries out separation output; With computing circuit 332,333, it receives the signal after separation respectively.Further, also comprise: error amplifying circuit 334, it amplifies the difference of the operation result of computing circuit 332,333 and exports; With corrected signal output circuit 335, it exports corrected signal Ds, and this corrected signal Ds makes the feed speed of welding wire 15 increase and decrease according to the signal from error amplifying circuit 334.
The feeding control signal Fc being used for the feeding carrying out welding wire 15 is outputted to feed motor 161 by feeding control circuit 34.Feeding control signal Fc is the signal of the feed speed Vf representing welding wire 15.In addition, the output commencing signal On from control circuit 21, the feed speed setting signal Ws from feed speed initialization circuit 33 and corrected signal Ds are delivered to feeding control circuit 34 via interface circuit 35,22.
Next, about the 1st embodiment of arc-welding method of the present invention, be described with reference to Fig. 4 ~ Fig. 6.Fig. 4 is the figure of the step of the arc-welding method representing present embodiment.
Fig. 5 (a) represents the variable condition of robot translational speed VR, and (b) represents the variable condition of welding current Iw.Robot translational speed VR is the translational speed of the welding torch 14 of the welding direct of travel (corresponding with the welding direct of travel Dr of the prior art shown in Fig. 9) of regulation in the face of mother metal w among direction.
First, by the welding commencing signal St (with reference to Fig. 2) of input from outside, carry out cambic welding and start to process (S1).Start in process (S1) in welding, output commencing signal On is outputted 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 mother metal W.Like this, electric arc a is lighted.
After welding starts completing of process (S1), start period droplet transfer T1 (S2).After the completing of period droplet transfer T1, T2 (S5) duration of starting electric arc, and carry out welding the confirmation (S13) terminated.When such as user has sent the instruction of welding end (S13=is), control circuit 21 has carried out welding and has ended process welding is terminated.When not sending the instruction that welding terminates (S13=is no), get back to the operation (S2) again starting period droplet transfer T1.In addition, the confirmation (S13) that welding terminates can also be carried out after the end of period droplet transfer T1.In this case, electric arc duration T2 end after (S12=is), automatically implement period droplet transfer T1.
In such arc-welding method, as shown in Figure 5, welded by T2 duration of repetition period droplet transfer T1 and electric arc.In period droplet transfer T1, carry out the droplet transfer by flowing through welding current Iw1, and form fusion pool.On the other hand, electric arc duration in T2, by flowing through welding current Iw2, thus carried out the droplet transfer hardly, and pilot arc a is while make welding torch 14 move.Below, be specifically described.
In period droplet transfer T1, in the description of prior, the process of the formation fusion pool Y as shown in Figure 11 (a), Figure 13 (a) is carried out.In period droplet transfer T1, as shown in Fig. 5 (a), robot translational speed VR is set as 0.Thus, welding torch 14 is stop relative to mother metal W.Shown in figure (b), as welding current Iw, the mean value flowing through absolute value is the welding current Iw1 of the pulse of the interchange of current value iw1.In period droplet transfer T1, implement constant voltage and control.In constant voltage controls, 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 determined by the feed speed Vf 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, period droplet transfer T1 is such as 0.4 ~ 0.5sec.
Fig. 6 is the figure of the time variations representing welding current Iw1 in detail.In Figure 5, in order to the convenience on understanding, reduced representation has been carried out to welding electric current I w1, but welding current Iw1 is the alternating pulsing current shown in Fig. 6.Current value iw1 in current value iw1 and Fig. 5 in Fig. 6 is consistent.The scale (scale) of the time in Fig. 6 is more much smaller than the scale of the time in Fig. 5.In figure 6, 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 cycle T e from this figure.Cycle T e is such as about 20msec.Electric current positive polarity electric current I ep be welding wire 15 be anode, the electric current that flows through under being negative electrode state of 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 period Tpp in flow through.Electrode straight polarity period Tpp is such as 2msec.The absolute value Iepp of positive polarity peak point current Ipp is such as 300 ~ 350A.On the other hand, positive polarity background current Ipb during electrode straight polarity period Tpb in flow through.Electrode straight polarity period Tpb is such as 14msec.The absolute value Iepb of positive polarity background current Ipb is such as 30 ~ 80A.
Electrode Negative electric current I en be welding wire 15 be negative electrode, mother metal W be anode state under the electric current that flows through.Electrode Negative electric current I en during Electrode Negative period Ten in flow through.Electrode Negative period Ten is such as 3.0 ~ 4.0msec.The absolute value Ienp of Electrode Negative electric current I en is such as 50 ~ 100A.
Positive polarity peak point current Ipp, positive polarity background current Ipb, Electrode Negative electric current I en, electrode straight polarity period Tpp and Electrode Negative period Ten are set as setting.FEEDBACK CONTROL is carried out to electrode straight polarity period Tpb, the weldingvoltage setting value equaling to preset to make the mean value of weldingvoltage Vw.Be appropriate value by this control by the cut to lengthen of electric arc a.It is consistent with current value iw1 that absolute value for positive polarity peak point current Ipp, positive polarity background current Ipb and Electrode Negative electric current I en gets the value after time average.Current value iw1 is such as 90A.
Further, in period droplet transfer T1, voltage detection signal Vd sends (S3) to computing circuit 332 by the voltage split circuit 331 receiving the voltage detection signal Vd corresponding with weldingvoltage Vw.After the end of period droplet transfer T1, computing circuit 332 calculates the mean value of the weldingvoltage Vw in period droplet transfer T1, and this mean value is outputted to error amplifying circuit 334 (S4) as target voltage values Vds.In addition, in the present embodiment, FEEDBACK CONTROL is carried out to electrode straight polarity period Tpb, the weldingvoltage setting value equaling to preset to make the mean value of weldingvoltage Vw, thus can take the gimmick of the weldingvoltage setting value output preset as target voltage values Vds.
The electric arc shown in Fig. 4 duration in T2, in the description of prior, as shown in Figure 13 (b), (c), electric arc a is made to continue the process carrying out cooling fusion pool Y.The duration of electric arc, T2 is such as 0.2 ~ 0.3sec.
Electric arc duration during the beginning of T2 (S5), as shown in Fig. 5 (a), robot translational speed is set as V2.Like this, welding torch 14 starts mobile along the welding direct of travel of regulation.V2 is such as 100cm/min.After robot translational speed is set as V2, carry out rapidly the setting (S6) of DC current values is1.
The setting (S6) of DC current values is1 is selected to be that value corresponding to the situation of V2 is carried out with robot translational speed VR by referring to the database be stored in the memory of control circuit 21 automatically.Electric arc duration in T2, as shown in Fig. 5 (b), control welding current Iw, flow through as welding current Iw2 to make this DC current values is1.DC current values is1 is such as about 5 ~ 20A.DC current values is1 is small enough to the value being difficult to carry out the droplet transfer.In addition, welding current Iw2 welding wire 15 be anode, mother 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 mother metal W with the feed speed Vf of the value less than the value in period droplet transfer T1.This feed speed Vf is such as 70cm/min.Feed speed Vf is the value be embedded into accordingly, in advance with DC current values is1 in operation procedure, is sent from control circuit 21 by feed speed setting signal Ws via feed speed initialization circuit 33 to feeding control circuit 34.
Fig. 7 represents when feed speed initialization circuit 33 does not play a role, and can get the figure of the behavior of weldingvoltage Vw electric arc duration in T2.Constant current control is carried out in T2 electric arc duration.That is, based on the current detection signal Id from current detection circuit 32, in output control circuit 31, control weldingvoltage Vw, thus make welding current Iw constant.
That distance D between welding wire 15 and mother metal W has variation with one of the reason that object makes weldingvoltage Vw increase and decrease that is embodied as of constant current.Distance D owing to not being the physical quantity directly carrying out measuring and controlling, therefore can pass through the condition variation of welding.Such as, can enumerate the flatness of mother metal W, welding robot 1 teaching (teaching) precision, the feeding of welding wire 15 is played to the frictional force etc. of inhibition.When distance D diminishes, in order to keep constant current, implement the control that weldingvoltage Vw is diminished.On the other hand, when distance D becomes large, in order to keep constant current, implement the control making weldingvoltage Vw become large.
In the present embodiment, feed speed initialization circuit 33 after T2, the standby stipulated time (S7), during this period, receives the voltage detection signal Vd corresponding with weldingvoltage Vw starting electric arc duration.The standby time takes the circumstances into consideration setting from the scope of such as 10 milliseconds ~ several 10 milliseconds.The voltage detection signal Vd received during this period sends to computing circuit 333 by voltage split circuit 331.Computing circuit 333, according to the voltage detection signal Vd received, calculates the average voltage level Vfa in stand-by time, and sends (S8) to error amplifying circuit 334.
It is how many that error amplifying circuit 334 detects the target voltage values Vds received before average voltage level Vfa departs from actually, and amplify this error, and error amplification signal Ev is sent to corrected signal output circuit 335 (S9).The amplification voltage difference delta V transmitted by error amplification signal Ev is the value obtained be multiplied by positive constant on (Vfa-Vds) after.The corrected signal Ds corresponding with the amplification voltage difference delta V transmitted by error amplification signal Ev is sent to feeding control circuit 34 (S10) by corrected signal output circuit 335.
In the present embodiment, corrected signal output circuit 335 decides feed speed difference delta Ws according to the amplification voltage difference delta V transmitted by error amplification signal Ev.All charts are as shown in Figure 8 used in this decision.As shown in Figure 8, at amplification voltage difference delta V=0, when namely average voltage level Vfa equals target voltage values Vds, feed speed difference delta Ws is set as 0.In addition, when the absolute value of amplification voltage difference delta V is voltage difference threshold value below Δ Vth, feed speed difference delta Ws is set as 0.When the absolute value amplifying voltage difference delta V is larger than voltage difference threshold value Δ Vth, 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 the process be added to by feed speed difference delta Ws on feed speed setting signal Ws, and sends to feeding control circuit 34 as corrected signal Ds.
If feeding control circuit 34 receives corrected signal Ds, then revise the feed speed Vf (S11) of welding wire 15 based on this.In addition, in order to more critically carry out the correction of the feed speed Vf of welding wire 15, AC servomotor can be set near the front end of welding torch 14 to carry out the adjustment of the feed speed Vf of welding wire 15.
Thereafter, be whether the confirmation (S12) of the time that the duration of making electric arc, T2 terminates.When making electric arc duration T2 terminate time (S12=is), carry out weld terminate confirmation (S13).When be not the duration of making electric arc T2 terminate time (S12=is no), get back to and again carry out standby operation (S7) with the stipulated time, and repeat above-mentioned operation.
Next, the effect about present embodiment is described.
According to the present embodiment, when due to distance D change between above-mentioned reason welding wire 15 and mother metal w, along with this variation, amplifying voltage difference delta V can change.Feed speed initialization circuit 33, based on this amplification voltage difference delta V, carries out the control making feed speed Vf speed change.The speed change of this feed speed Vf is carried 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, it is possible to avoid the length because of electric arc a long and cause electric arc to interrupt producing, or cause the state of affairs of short circuit because the length of electric arc a is too short.This is suitable for arc welding is stably continued, and is suitable for preventing the outward appearance of welding bead irregular.
In the present embodiment, target voltage values Vds calculates as the mean value of the weldingvoltage Vw in the period droplet transfer T1 carried out before just.Therefore, when shifting from period droplet transfer T1 to T2 duration of electric arc, weldingvoltage Vw is difficult to change.
Further, according to the present embodiment, the DC current values is1 of the welding current Iw duration of electric arc in T2 automatically selects the value corresponding with robot translational speed VR by referring to the database be stored in the memory of control circuit 21 and carries out.Thus, user there is no need the setting carrying out DC current values is1, except user operation burden alleviate except, also can step-down to the dependency degree of the technology of the user of welding result.Therefore, arc-welding method of the present invention can prevent from, because the technical deficiency of user or the result of welding of lacking experience and causing are deteriorated, are suitable for arc welding is stably continued, and are suitable for preventing the outward appearance of welding bead irregular.
When amplification voltage difference delta V is voltage difference threshold value below Δ Vth, by feed speed difference delta Ws is set as 0, thus can prevent from causing feed speed Vf acceleration and deceleration continually because of the generation of small amplification voltage difference delta V.But not the acceleration and deceleration frequently of original idea, even if this plus-minus rate is very little, wrongful hunting (hunting) etc. also may be brought out.According to the present embodiment, the confusion of such control can be suppressed.About voltage difference delta V and feed speed difference delta Ws is set to stepped, be the form of amplifying the such as form of the relation between voltage difference delta V and feed speed difference delta Ws to be carried out data input and maintenance, thus degree easy to use is high.
Next, about the 2nd embodiment of arc-welding method of the present invention, be described with reference to Fig. 9.The arc-welding method of present embodiment, utilizes welding system A in the same manner as above-mentioned arc-welding method, and the duration of by alternately repeating period droplet transfer T1 and electric arc, T2 carries out.In fig .9, the waveform of the welding current Iw of the tail end of the period droplet transfer T1 of the arc-welding method of present embodiment is illustrated.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, welding current Iw1 recurring unit cycle T e, this unit period Te by the polarity of welding wire 15 become+EP period Tep and the polarity of welding wire 15 become-EN period Ten form.In EP period Tep, welding current Iw1 becomes electrode straight polarity electric current I ep.In EN period Ten, welding current Iw1 becomes Electrode Negative electric current I en.Electrode Negative 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.
EP period Tep is made up of following: Tp between the peak period that electrode straight polarity electric current I ep gets peak value iwlp, as the increase period Tu of the first-half period more forward than Tp between the peak period, as than the minimizing period Td between Tp between peak period latter half rearward and constant period Tb.Increase period Tu beginning from being switched to electrode straight polarity electric current I ep by Electrode Negative electric current I en.During increasing period Tu, welding current Iw1 increases.When the current value of welding current Iw1 reaches peak value iw1p, increase period Tu terminates, and between the peak period, Tp starts.Between the peak period during Tp, the value of welding current Iw1 remains peak value iw1p.After between the peak period, Tp terminates, start to reduce period Td.During reducing period Td, welding current Iw1 reduces.When the current value of welding current Iw1 reduces to the value iw1d of regulation, minimizing period Td terminates, and constant period Tb starts.During constant period Tb, the current value of welding current Iw1 flows through with constant value iw1d.After the end of this constant period Tb, carry out the switching from electrode straight polarity electric current I ep to Electrode Negative electric current I en.
Peak value iw1p, value iw1n, iw1d, between the peak period, Tp and EN period Ten is set as setting.FEEDBACK CONTROL is carried out to constant period Tb, the weldingvoltage setting value equaling to preset to make the mean value of weldingvoltage Vw.Be appropriate value by this control by the cut to lengthen of electric arc a.
In EN period Ten, because welding wire 15 is positioned at cathode side, therefore in the front end of welding wire 15, molten drop has the trend of easily growing up.Otherwise in EP period Tep, owing to getting peak value iw1p, the electromagnetic contractile force (electromagnetic pinch force) large for welding wire 15 works, therefore molten drop has the trend easily fallen.After molten drop falls, enter EN period Ten, molten drop is grown up again.Like this, during a unit period Te, a molten drop is transitioned into mother metal W from welding wire 15.
In the present embodiment, in during constant period Tb, carry out the transfer from period droplet transfer T1 to T2 duration of electric arc.Further, target voltage values Vds is set as the weldingvoltage setting value preset used by FEEDBACK CONTROL of carrying out in constant period Tb.According to this method, there is no need to calculate target voltage values Vds in each period droplet transfer T1, thus the complicated of feed speed initialization circuit 33 can be prevented.
Arc-welding method according to the present embodiment, the arc length duration of can making the arc length in constant period Tb and electric arc after this constant period in T2 is almost identical.Therefore, when shifting from period droplet transfer T1 to T2 duration of electric arc, fusion pool is difficult to vibration, thus the outward appearance of welding bead is difficult to become irregular.
Further, when shifting to T2 duration of electric arc from period droplet transfer T1, being difficult to residual larger molten drop in the front end of welding wire 15, thus can preventing from forming large molten drop wrongly in T2 electric arc duration.
Scope of the present invention is not limited to above-mentioned embodiment.Concrete formation of the present invention freely can carry out various design variations.In the above-described embodiment, amplification voltage difference delta V and feed speed difference delta Ws has been set to stepped relation, but the relation of amplifying between voltage difference delta V and feed speed difference delta Ws also can be such as linear relation.Setting voltage difference limen value Δ Vth realizes stable feed speed to control in a preferred way, but also can not use the control of voltage difference threshold value Δ Vth.
Foregoing illustrates the example that welding current Iw1 is the pulse current exchanged, but the present invention is not limited to this, and welding current Iw1 can be the constant current etc. of direct current.Undoubtedly, be suitable for too for welding current Iw2.
Claims (4)
1. an arc-welding method, comprising:
First operation, is flow through according to the mode that the mean value of the absolute value of this welding current is the first value by the chien shih welding current at sacrificial electrode and mother metal, electric arc is produced, while carry out the droplet transfer; With
Second operation, makes described welding current flow through according to the mode that the mean value of the absolute value of this welding current is the second value less than described first value, and the state of the described electric arc of generation is continued,
This arc-welding method repeats described first operation and described second operation,
The feature of this arc-welding method is,
In described second operation, the standby stipulated time after this second operation starts, calculate the average voltage level of weldingvoltage in stand-by time between described sacrificial electrode and described mother metal, and according to making this average voltage level become the mode of target voltage values to revise the feed speed of described sacrificial electrode, wherein, this target voltage values sets based on the weldingvoltage between the described sacrificial electrode in described first operation and described mother metal
Described target voltage values is set as the mean value of the weldingvoltage between described sacrificial electrode in described first operation and described mother metal.
2. arc-welding method as claimed in claim 1, wherein,
Described first operation has: pulse current is interval; With between constant region, wherein, between this constant region, the current value implemented after described pulse current interval is constant,
In described constant region, adjust, to make the mean value of the weldingvoltage between described sacrificial electrode and described mother metal be the welding voltage value preset,
When described first operation is between described constant region, carry out the transfer to described second operation.
3. arc-welding method as claimed in claim 1 or 2, wherein,
Described welding current in described second operation is DC current.
4. arc-welding method as claimed in claim 3, wherein,
In described second operation, constant current control is carried out to described welding current.
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| JP2010082119A JP2011212707A (en) | 2010-03-31 | 2010-03-31 | Arc welding method |
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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 |
| KR102193084B1 (en) * | 2014-01-15 | 2020-12-18 | 가부시키가이샤 다이헨 | Arc welding control method |
| CN105382377B (en) * | 2014-09-02 | 2019-12-24 | 株式会社大亨 | Arc welding method |
| EP3769891A4 (en) * | 2018-03-20 | 2021-07-14 | Panasonic Intellectual Property Management Co., Ltd. | Arc welding method, arc welding system, and control device for welding power supply device |
| 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 |
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| JP3533235B2 (en) * | 1992-10-26 | 2004-05-31 | 株式会社ダイヘン | Pulse MAG arc welding method and welding device |
| JPH11267839A (en) * | 1998-03-18 | 1999-10-05 | Yaskawa Electric Corp | Arc welding method |
| JP2000000668A (en) * | 1998-06-15 | 2000-01-07 | Kobe Steel Ltd | Gas shielded metal-arc welding method |
| JP2000254779A (en) * | 1999-03-08 | 2000-09-19 | Daihen Corp | Method and machine for ac pulse arc welding |
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