CN102371415B - Arc Welding Method And Arc Welding System - Google Patents
Arc Welding Method And Arc Welding System Download PDFInfo
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- CN102371415B CN102371415B CN201110221801.7A CN201110221801A CN102371415B CN 102371415 B CN102371415 B CN 102371415B CN 201110221801 A CN201110221801 A CN 201110221801A CN 102371415 B CN102371415 B CN 102371415B
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Abstract
The invention provides an arc welding method and an arc welding system. The arc welding method repeatedly includes unit welding periods of a droplet transfer period, an arc duration preparation period (T2) and an arc duration period (T3). In the droplet transfer period, welding currents are made to flow through in a method of determining a time average value of an absolute value to be a first value while a maximum value of the absolute value to be a second value between a consumption electrode and a base material, thereby making the droplet transferred to the base material from the consumption electrode. And in the period T2, the welding currents are made to flow through in a method that the maximum value of the absolute value is larger than the second value. And in the period T3, the welding currents are made to flow through in a method that the time average value of the absolute value is smaller than the first value, thereby generating arc duration between the consumption electrode and the base material. Thus, short circuit of the consumption electrode and base material in the arc duration period can be inhibited.
Description
Technical field
The present invention relates to arc-welding method and arc welding system.
Background technology
From in the past known make by during the droplet transfer and electric arc duration the unit weld period that the forms welding method (such as with reference to patent document 1) that repeats.Such welding method is called as pulse stitch welding (stitch pulse welding) method.During the droplet transfer of this welding method, make welding torch (welding torch) the mother metal stopping relatively of maintenance sacrificial electrode.Then, by making larger welding current flow through between sacrificial electrode and mother metal, thus produce electric arc between sacrificial electrode and mother metal, and make molten drop be transitioned into mother metal from sacrificial electrode.In addition, in during the droplet transfer, from welding torch with larger feed speed feeding sacrificial electrode.On the other hand, interior electric arc duration, welding torch is moved relative to the welding direct of travel of mother metal to regulation.Then, by making smaller welding current flow through between sacrificial electrode and mother metal, thus continue the state producing electric arc, but do not carry out the droplet transfer in fact.In addition, interior electric arc duration, from welding torch with less feed speed feeding sacrificial electrode.By repeat by during such droplet transfer and electric arc duration the unit weld period that forms, form the weld seam (bead) of squamous.
In this welding method, there is following possibility, namely interior electric arc duration, a part for sacrificial electrode becomes molten drop, produces beyond thought short circuit between sacrificial electrode and mother metal.If interior generation short circuit electric arc duration, then there is the possibility that the shape of the weld seam formed is destroyed.
Patent document 1: Japanese Unexamined Patent Publication 11-267839 publication
Summary of the invention
The present invention completes based on above-mentioned situation, and its problem is, provides a kind of arc-welding method and arc welding system of not easily short circuit between internal consumption electrode and mother metal electric arc duration.
Electric arc after during the arc-welding method provided by the 1st side of the present invention repeats to comprise the droplet transfer, during the described droplet transfer continue between the preparatory stage and described electric arc continue between the preparatory stage after electric arc duration unit weld period, this arc-welding method comprises: in during the described droplet transfer, between sacrificial electrode and mother metal, be the first value according to the time average of absolute value and the mode that the maximum of absolute value is the second value makes welding current flow through, thus make molten drop be transitioned into the operation of described mother metal from described sacrificial electrode; Continue in the preparatory stage at described electric arc, the operation that the mode being the value larger than described second value according to the maximum of absolute value makes described welding current flow through; And interior described electric arc duration, the mode being the value less than described first value according to the time average of absolute value makes described welding current flow through, thus makes the operation that the state creating electric arc between described sacrificial electrode and described mother metal continues.
Of the present invention preferred embodiment in, in the operation that the state making to create described electric arc continues, DC current is flow through, as described welding current.
Of the present invention preferred embodiment in, also comprise: during the described droplet transfer and described electric arc continue between the preparatory stage in these two periods, all the time with constant speed from the operation of sacrificial electrode described in the welding torch feeding keeping described sacrificial electrode.
The arc welding system provided by the 2nd side of the present invention, comprise: power circuit, during it repeats to comprise the droplet transfer and the described droplet transfer during after electric arc duration unit weld period, in during the described droplet transfer, between sacrificial electrode and mother metal, be the first value according to the time average of absolute value and the mode that the maximum of absolute value is the second value makes welding current flow through, interior described electric arc duration, the mode being the electric arc follow current value less than described first value according to the time average of absolute value makes described welding current flow through, electric arc continues to prepare current value storage part, and it stores the electric arc larger than described second value and continues to prepare current value, current control circuit, it continues to prepare current value based on described electric arc, sends the welding current setting signal of the value of the described welding current of instruction to described power circuit, travel mechanism, it makes the welding torch of the described sacrificial electrode of maintenance carry out relative movement along described mother metal, and feed mechanism, it is from sacrificial electrode described in described welding torch feeding, described power circuit accepts described welding current setting signal, and during described droplet transfer in each unit weld period and described electric arc duration between electric arc continue in the preparatory stage, be that the mode that described electric arc continues to prepare current value makes described welding current flow through according to the maximum of absolute value.
Of the present invention preferred embodiment in, also comprise: electric arc follow current value storage part, it stores described electric arc follow current value, described current control circuit is based on described electric arc follow current value, described welding current setting signal is sent to described power circuit, described power circuit described electric arc duration within, make DC current flow through all the time, as described welding current.
Of the present invention preferred embodiment in, also comprise: voltage control circuit, it sends the weldingvoltage setting signal of the value indicating the weldingvoltage applied between described sacrificial electrode and described mother metal to described power circuit, described power circuit comprises power supply characteristic commutation circuit, this power supply characteristic commutation circuit during the described droplet transfer in, switch to from making the constant-current characteristics that described welding current flows through based on described welding current setting signal the constant-voltage characteristic applying described weldingvoltage based on described weldingvoltage setting signal.
Of the present invention preferred embodiment in, described feed mechanism during the described droplet transfer and described electric arc continue between the preparatory stage in these two periods, all the time with constant speed from sacrificial electrode described in described welding torch feeding.
By the detailed description carried out referring to accompanying drawing, other feature and advantage of the present invention can become clearly.
Accompanying drawing explanation
Fig. 1 is the figure of the structure of an example of the welding system representing embodiments of the present invention.
Fig. 2 is the figure of the internal structure representing the welding system shown in Fig. 1.
Fig. 3 is the sequential chart of the part about each signal in the method for present embodiment etc.
Fig. 4 is the sequential chart of each signal in the method for present embodiment etc.
Fig. 5 is the sequential chart of each signal in the method for present embodiment etc.
Symbol description: A1-arc welding system; 1-welding robot; 11-basic components; 12-arm; 13-motor (travel mechanism); 14-welding torch (welding torch); 15-sacrificial electrode; 151-molten drop; 16-wire feed unit; 161-feed mechanism; 19-linearity coil (coil-liner); 2-robot controller; 21-control circuit; 23-teaching machine (teach pendant); 3-welding supply; 31-power circuit; 32-current control circuit; 33-setting value storage part; 34-voltage control circuit; The thin portion of 35-(く び れ) testing circuit; 36-resistance; 37-on-off circuit; 38-feeding control circuit; Ea-error signal; EI-current error counting circuit; Ei-current error signal; EV-voltage error counting circuit; Ev-voltage error signal; Fc-feed speed control signal; Fw-feed speed; ID-current detection circuit; Id-current detection signal; IHR1-height arc current value storage part; Ih1-height arc current value; IHR2-electric arc continues to prepare current value storage part; Ih2-electric arc continues to prepare current value; IMR1-low thin portion current value storage part; Im1-low thin portion current value; Im2-first is worth; IMR2-electric arc follow current value storage part; Im2-electric arc follow current value; Ir-current settings signal; Iw-welding current; MC-power generating circuit; Ms-action control signal; Nd-thin portion detection signal; SW-power supply characteristic commutation circuit; Sw-power supply characteristic switching signal; During the T1-droplet transfer; T2-electric arc continues between the preparatory stage; The duration of T3-electric arc; During Ta-electric arc produces; TDR1-first storage part time delay; Td1-first time delay; TDR2-second storage part time delay; Td2-second time delay; During Ts-short circuit; TUR1-height arc period storage part; Tu1-height arc period; TUR2-electric arc continues to prepare storage part between electric current period of output; Tu2-electric arc continues to prepare between electric current period of output; T α-unit weld period; Va-short circuit/electric arc discriminant value; VD-voltage detecting circuit; Vd-voltage detection signal; Vr-voltage setting signal; VR-robot translational speed; Vw-weldingvoltage; Va-value; W-mother metal.
Detailed description of the invention
Below, embodiments of the present invention are illustrated with reference to accompanying drawing.
Fig. 1 is the figure of the structure of an example of the welding system representing embodiments of the present invention.
The arc welding system A1 of present embodiment 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 basic components 11, multiple arm 12, multiple motor 13, welding torch 14, wire feed unit 16 and linearity coil 19.
Basic components 11 are fixed on the suitable place such as ground.Each arm 12 is connected with basic components 11 via axle.Sacrificial electrode 15 (welding wire) is guided to the position of the regulation near mother metal W by welding torch 14.Protective gas nozzle (omitting diagram) is provided with in welding torch 14.Protective gas nozzle is for supplying the protective gas such as argon gas.Motor 13 is travel mechanisms, carrys out rotary actuation by robot controller 2.By this rotary actuation, the movement of each arm 12 is controlled, and welding torch 14 can all around freely move up and down.
Encoder (encoder) (omitting diagram) is provided with in motor 13.The output of encoder is sent to robot controller 2.Wire feed unit 16 is arranged on the top in welding robot 1.Wire feed unit 16 is for sending sacrificial electrode 15 to welding torch 14.Wire feed unit 16 comprises feed mechanism 161 (motor), wire reel (wire reel) (omitting diagram) and welding wire propulsion plant (omitting diagram).With feed mechanism 161 for drive source, the sacrificial electrode 15 be wound on described wire reel is supplied to welding torch 14 by above-mentioned welding wire propulsion plant.
One end of linearity coil 19 is connected with wire feed unit 16, and the other end is connected with welding torch 14.Linearity coil 19 in a tubular form, inserts and through sacrificial electrode 15 therein.The sacrificial electrode 15 sent from wire feed unit 16 is guided to welding torch 14 by linearity coil 19.The sacrificial electrode 15 be sent is given prominence to from welding torch 14.
Fig. 2 is the figure of the internal structure representing the welding system A1 shown in Fig. 1.
Robot controller 2 comprises control circuit 21 and teaching machine 23.Robot controller 2 is for controlling the action of welding robot 1.
Control circuit 21 comprises not shown microcomputer and memory.The operation procedure of the various actions setting welding robot 1 is stored in this memory.In addition, control circuit 21 sets robot translational speed VR described later.Control circuit 21 based on described operation procedure, coordinate information and robot translational speed VR etc. from above-mentioned encoder, to welding robot 1 sending action control signal Ms.Welding robot 1 accepts action control signal Ms, makes each motor 13 rotary actuation.Thus, welding torch 14 moves to the welding start position of the regulation in mother metal W, or moves along direction in the face of mother metal W.
Teaching machine 23 is connected with control circuit 21.Teaching machine 23 is the equipment for making the user of arc welding system A1 set various action.
Welding supply 3 comprises power circuit 31, current control circuit 32, setting value storage part 33, voltage control circuit 34, thin portion testing circuit 35, resistance 36, on-off circuit 37 and feeding control circuit 38.Welding supply 3 is following devices: flow through to make welding current Iw for applying weldingvoltage Vw between sacrificial electrode 15 and mother metal W, and for carrying out the feeding of sacrificial electrode 15.
Power circuit 31 comprises power generating circuit MC, power supply characteristic commutation circuit SW, current error counting circuit EI, voltage error counting circuit EV, current detection circuit ID and voltage detecting circuit VD.Power circuit 31 for applying weldingvoltage Vw with the value be instructed between sacrificial electrode 15 and mother metal W, or makes welding current Iw flow through with the value indicated from sacrificial electrode 15 to mother metal W.
Power generating circuit MC is such as using the source power supply of three-phase 200V etc. as input, carry out inverter (inverter) control, thyristor (thyristor) phase controlling etc. according to error signal Ea described later and export control, export weldingvoltage Vw and welding current Iw.
Current detection circuit ID is the circuit of the value for detecting the welding current Iw flow through between sacrificial electrode 15 and mother metal W.Current detection circuit ID sends the current detection signal Id corresponding to welding current Iw.Current error counting circuit EI is value for calculating the actual welding current Iw flow through and the circuit of the difference Δ Iw of the value of the welding current be set.Specifically, current error counting circuit EI accepts current detection signal Id and the described later current settings signal Ir corresponding with the value of the welding current be set, and sends the current error signal Ei corresponding to difference Δ Iw.In addition, current error counting circuit EI also can send the signal corresponding with the value being exaggerated poor Δ Iw as current error signal Ei.
Voltage detecting circuit VD is the circuit of the value for detecting the weldingvoltage Vw applied between sacrificial electrode 15 and mother metal W.Voltage detecting circuit VD sends the voltage detection signal Vd corresponding to weldingvoltage Vw.Voltage error counting circuit EV is the value of weldingvoltage Vw for calculating actual applying and the circuit of the difference Δ Vw of the value of the weldingvoltage be set.Specifically, voltage error counting circuit EV accepts voltage detection signal Vd and the described later voltage setting signal Vr corresponding with the value of the weldingvoltage be set, and sends the voltage error signal Ev corresponding to difference Δ Vw.In addition, voltage error counting circuit EV also can send the signal corresponding with the value being exaggerated poor Δ Vw as voltage error signal Ev.
Power supply characteristic commutation circuit SW is the circuit of the power supply characteristic (constant-current characteristics or constant-voltage characteristic) of Switching power circuit 31.When the power supply characteristic of power circuit 31 is constant-current characteristics, control to export, so that the value of welding current Iw becomes the value of setting in power circuit 31.On the other hand, when the power supply characteristic of power circuit 31 is constant-voltage characteristic, power circuit 31 becomes the mode of the value of setting according to the value of weldingvoltage Vw, controls to export in power circuit 31.More particularly, power supply characteristic commutation circuit SW accepts power supply characteristic switching signal Sw described later, current error signal Ei and voltage error signal Ev.When the power supply characteristic switching signal Sw that power supply characteristic commutation circuit SW accepts is high level, the switch in power supply characteristic commutation circuit SW is connected to a side of Fig. 2.Now, the power supply characteristic of power circuit 31 is constant-voltage characteristic, and voltage error signal Ev is sent to power generating circuit MC as error signal Ea by power supply characteristic commutation circuit SW.Now, the mode that power generating circuit MC becomes the value (that is, above-mentioned poor Δ Vw becomes zero) of setting according to the value of weldingvoltage Vw controls.On the other hand, under the power supply characteristic switching signal Sw received at power supply characteristic commutation circuit SW is low level situation, the switch in power supply characteristic commutation circuit SW is connected to the b side of Fig. 2.Now, the power supply characteristic of power circuit 31 is constant-current characteristics, and current error signal Ei is sent to power generating circuit MC as error signal Ea by power supply characteristic commutation circuit SW.Now, the mode that power generating circuit MC becomes the value (that is, above-mentioned poor Δ Iw becomes zero) of setting according to the value of welding current Iw controls.
Setting value storage part 33 comprise first time delay storage part TDR1, second time delay storage part TDR2, high arc period storage part TUR1, electric arc continues to prepare storage part TUR2 between electric current period of output, low thin portion current value storage part IMR1, high arc current value storage part IHR1, electric arc continue to prepare current value storage part IHR2 and electric arc follow current value storage part IMR2.
First time delay storage part TDR1 store first time delay td1 value.Second time delay storage part TDR2 store second time delay td2 value.High arc period storage part TUR1 stores the value of high arc period tu1.Electric arc continues to prepare storage part TUR2 between electric current period of output and stores the value that electric arc continues to prepare tu2 between electric current period of output.Low thin portion current value storage part IMR1 stores the value of low thin portion current value im1.High arc current value storage part IHR1 stores the value of high arc current value ih1.Electric arc continues to prepare current value storage part IHR2 and stores the value that electric arc continues to prepare current value ih2.Electric arc follow current value storage part IMR2 stores the value of electric arc follow current value im2.First time delay td1, second time delay td2, high arc period tu1, electric arc continue to prepare tu2 between electric current period of output, low thin portion current value im1, high arc current value ih1, electric arc continue to prepare current value ih2 and electric arc follow current value im2 each value such as inputs from teaching machine 23 and is stored in each storage part via control circuit 21.
Current control circuit 32 is circuit of the value for being set in the welding current Iw flow through between sacrificial electrode 15 and mother metal W.Current control circuit 32 based on store in each storage part first time delay td1, second time delay td2, high arc period tu1, electric arc continues to prepare tu2 between electric current period of output, low thin portion current value im1, high arc current value ih1, electric arc continue to prepare at least one in each value of current value ih2 and electric arc follow current value im2, generates the welding current setting signal Ir being used to indicate the value of welding current Iw.Then, the welding current setting signal Ir of generation is sent to power circuit 31 by current control circuit 32.In addition, current control circuit 32 accepts thin portion detection signal Nd from thin portion testing circuit 35, sends power supply characteristic switching signal Sw to power supply characteristic commutation circuit SW.
Voltage control circuit 34 is circuit of the value for being set in the weldingvoltage Vw applied between sacrificial electrode 15 and mother metal W.The voltage setting signal Vr being used to indicate the value of weldingvoltage Vw, based on the setting voltage value stored in not shown storage part, is sent to power circuit 31 by voltage control circuit 34.
Thin portion testing circuit 35 is the circuit for detecting the thin portion directly over the molten drop that produces after sacrificial electrode 15 and mother metal W short circuit.In the present embodiment, thin portion testing circuit 35 detects the generation in thin portion by the value detecting weldingvoltage Vw.Such as after sacrificial electrode 15 and mother metal W short circuit, weldingvoltage Vw be increased to a certain value above when, thin portion testing circuit 35 is judged as creating thin portion.Or such as after sacrificial electrode 15 and mother metal W short circuit, when the time diffusion value of weldingvoltage Vw exceedes a certain value, thin portion testing circuit 35 is judged as creating thin portion.Then, thin portion testing circuit 35 will become low level thin portion detection signal Nd and will be sent to current control circuit 32 between a certain period.In addition, after sacrificial electrode 15 and mother metal W short circuit, when the value of weldingvoltage Vw has exceeded the value Va of regulation, thin portion testing circuit 35 has been judged as creating electric arc a1 again.
Resistance 36 is connected with power generating circuit MC.Further, in the present embodiment, resistance 36 is connected with sacrificial electrode 15.Resistance 36 also can be connected with mother metal W.On-off circuit 37 such as comprises transistor.On-off circuit 37 and resistance 36 are connected in parallel.On-off circuit 37 accepts thin portion detection signal Nd, carries out the switching be switched on or switched off.When the thin portion detection signal Nd received is high level, on-off circuit 37 becomes on-state, and resistance 36 is shorted.On the other hand, under the thin portion detection signal Nd received is low level situation, on-off circuit 37 becomes off-state, and resistance 36 is inserted in the electrical path of welding current Iw.
Feeding control circuit 38 is the circuit for controlling the speed (feed speed Fw) sending sacrificial electrode 15 from welding torch 14.Feeding control circuit 38 sends the feed speed control signal Fc being used to indicate feed speed Fw to feed mechanism 161.
Then, use Fig. 3 ~ Fig. 5 further, the arc-welding method employing arc welding system A1 is described.Fig. 3 represents the sequential chart of the part about each signal in the method for present embodiment etc.
In the method for present embodiment, repeat to comprise (1) period droplet transfer T1, (2) electric arc continue T2 between the preparatory stage, (3) electric arc duration T3 unit weld period T α.
(1) period droplet transfer T1
Fig. 4 represents the sequential chart in period droplet transfer T1.Compared with the time scale in Fig. 3, the time scale in Fig. 4 is extremely little.Period droplet transfer T1 is for during making molten drop be transitioned into mother metal W from sacrificial electrode 15.In the present embodiment, as shown in Figure 3, Figure 4, in period droplet transfer T1, robot translational speed VR is always certain value v1, and feed speed Fw is always certain value fw1.Value v1 is 0 (that is, the relative mother metal W of welding torch 14 stops), and value fw1 is such as 200 ~ 800cm/min.The time average of the absolute value of the welding current Iw in period droplet transfer T1 is the first value iw1.First value iw1 is such as 100 ~ 250A.In addition, the maximum of the absolute value of the welding current Iw in period droplet transfer T1 is the second value ip1.Second value ip1 is such as 200 ~ 400A.As shown in Figure 4, in period droplet transfer T1, the short circuit period Ts of alternately repeat consumption electrode 15 and mother metal W short circuit and the electric arc producing electric arc between sacrificial electrode 15 and mother metal W produce period Ta.
< short circuit period Ts (moment t1 ~ moment t3) >
In the short circuit period Ts of Fig. 4, be in the state of sacrificial electrode 15 and mother metal W short circuit.
In moment t1, molten drop 151 contacts with mother metal W, sacrificial electrode 15 and mother metal W short circuit.If sacrificial electrode 15 and mother metal W short circuit, then welding current Iw is not via electric arc a1, but directly flows to mother metal W from sacrificial electrode 15.Therefore, as shown in Fig. 4 (c), if sacrificial electrode 15 and mother metal W short circuit, then weldingvoltage Vw sharply declines, and is changing into value vw1 (such as, counting about V).As shown in Fig. 4 (b), in moment t1 ~ moment t2, power supply characteristic switching signal Sw becomes high level.That is, the power supply characteristic of power circuit 31 becomes constant-voltage characteristic.
In moment t1 ~ moment t2, the value of welding current Iw becomes large gradually.From prior art, if the value of the welding current Iw of (being moment t3 in the present embodiment) is larger when the short circuit between sacrificial electrode 15 and mother metal W becomes open circuit, then sputtering generation when short circuit becomes open circuit is more.In order to reduce the generation of sputtering when short circuit becomes open circuit, before short circuit becomes open circuit, reduce the value of welding current Iw as follows.
As shown in Fig. 4 (s2), in moment t1 ~ moment t2, a part for sacrificial electrode 15 becomes molten drop 151.Afterwards, the electromagnetic contractile force produced by the welding current Iw flowing through molten drop 151, produces thin portion a2 on the top of molten drop 151.If produce thin portion a2, then its diameter sharply reduces.Further, from creating the moment of thin portion a2 after the extremely short time (several 100 μ sec), while the short circuit between sacrificial electrode 15 and mother metal W becomes open circuit, between sacrificial electrode 15 and mother metal W, electric arc a1 is again produced.That is, the generation of thin portion a2 is the premonitory phenomenon that short circuit becomes open circuit.In the present embodiment, at moment t2, thin portion testing circuit 35 detects the generation of the thin portion a2 of the premonitory phenomenon becoming such.
As mentioned above, the value by detecting weldingvoltage Vw carries out the detection in the thin portion of thin portion testing circuit 35.Such as, after sacrificial electrode 15 and mother metal W short circuit, weldingvoltage Vw is increased to a certain more than value vth from value vw1, thin portion testing circuit 35 is judged as creating thin portion.Or such as after sacrificial electrode 15 and mother metal W short circuit, the time diffusion value of weldingvoltage Vw has exceeded a certain value, thin portion testing circuit 35 has been judged as creating thin portion.
As shown in Fig. 4 (g), if thin portion testing circuit 35 is judged as creating thin portion at moment t2, then send to current control circuit 32 and on-off circuit 37 by becoming low level thin portion detection signal Nd between a certain period.As shown in Fig. 4 (b), if current control circuit 32 accepts low level thin portion detection signal Nd at moment t2, then will the power supply characteristic switching signal Sw of power supply characteristic commutation circuit SW be sent to switch to low level from high level.In addition, as shown in Fig. 4 (f), current control circuit 32 sends the current settings signal Ir for making welding current Iw flow through with low thin portion current value im1 to current error counting circuit EI.In addition, if receive low level thin portion detection signal Nd, then on-off circuit 37 becomes off-state.Thus, the circuit formed at sacrificial electrode 15 and mother metal 15 comprises resistance 36.Therefore, the time constant of this circuit diminishes, and welding current Iw is sharply reduced to low thin portion current value im1.
< electric arc produces period Ta (moment t3 ~ moment t6) >
Produce in period Ta at the electric arc of Fig. 4, be in the state creating electric arc a1 between sacrificial electrode 15 and mother metal W.
As shown in Fig. 4 (c), at moment t3, when weldingvoltage Vw has exceeded short circuit/electric arc discriminant value va, thin portion testing circuit 35 has been judged as again creating electric arc a1 between sacrificial electrode 15 and mother metal W.Now, as shown in Fig. 4 (g), thin portion detection signal Nd is changed to high level by thin portion testing circuit 35.
As shown in Fig. 4 (f), if current control circuit 32 accepts the thin portion detection signal Nd of high level at moment t3, in during then till moment t3 to the first timing period Td1, continue to the current settings signal Ir of current error counting circuit EI transmission for making welding current Iw flow through with low thin portion current value im1.Thus, wait for that the vibration in the molten bath caused to the impact in molten bath because of the droplet transfer terminates.After the vibration in molten bath terminates, in next operation, welding current Iw is made to increase.Therefore, it is possible to suppress the generation of the sputtering caused by resonance of the change of the vibration by molten bath and the arc force based on curent change.
The current settings signal Ir being used for welding current Iw is flow through with high arc current value ih1, during moment t4 (have passed through the moment of the first timing period Td1 from moment t3) to high arc period tu1, is sent to current error counting circuit EI by current control circuit 32.In addition, as shown in Fig. 4 (b), owing to being low level up to moment t5 power supply characteristic switching signal Sw, so the power supply characteristic of power circuit 31 is constant-current characteristics.Therefore, as shown in Fig. 4 (d), welding current Iw sharply rises and reaches high arc current value ih1.
Afterwards, moment t5 (have passed through the moment of high arc period tu1 from moment t4), power supply characteristic switching signal Sw is changed to high level from low level.So the power supply characteristic of power circuit 31 switches to constant-voltage characteristic.Then, until till reaching moment t6, continue the state creating electric arc a1 between sacrificial electrode 15 and mother metal W, at moment t6, sacrificial electrode 15 and mother metal W short circuit.After instant t 6, the operation of above-mentioned moment t1 ~ moment t6 is again repeated.
So repeatedly short circuit period Ts and electric arc produce period Ta, are transitioned into electric arc and continue T2 between the preparatory stage.In addition, in a period droplet transfer T1, short circuit period Ts and electric arc produce period Ta and such as repeat about 30 ~ 100 times.
Fig. 5 represents from period droplet transfer T1 and is transitioned into sequential chart when electric arc continues T2 between the preparatory stage.Compared with the time scale in Fig. 3, the time scale in Fig. 5 is extremely little.
< electric arc continues short circuit period Ts (moment t7 ~ moment t9) > between the preparatory stage in front of T2
The operation till moment t7 ~ moment t9 is carried out, so omit the description in the same manner as the operation till t1 of above-mentioned moment ~ moment t3.
The electric arc that < electric arc continues between the preparatory stage in front of T2 produces period Ta (moment t9 ~ moment t10) >
As shown in Fig. 5 (c), at moment t9, when weldingvoltage Vw has exceeded short circuit/electric arc discriminant value va, thin portion testing circuit 35 has been judged as again creating electric arc a1 between sacrificial electrode 15 and mother metal W.Now, as shown in Fig. 5 (g), thin portion testing circuit 35 makes thin portion detection signal Nd be changed to high level.The moment that thin portion testing circuit 35 makes thin portion detection signal Nd be changed to high level from low level is not limited to this moment, after also can being moment t10 (such as moment t11).
As shown in Fig. 5 (f), if current control circuit 32 accepts the thin portion detection signal Nd of high level at moment t9, then in during moment t9 to the second timing period Td2, the current settings signal Ir being used for welding current Iw is flow through with low thin portion current value im1 is continued to be sent to current error counting circuit EI.Thus, wait for that the vibration in the molten bath caused to the impact in molten bath because of the droplet transfer terminates.After the vibration in molten bath terminates, in next operation, welding current Iw is made to increase.Therefore, it is possible to suppress the generation of the sputtering caused by resonance of the change of the vibration by molten bath and the arc force based on curent change.
(2) electric arc continues T2 between the preparatory stage (moment t10 ~ moment t11)
Current control circuit 32 is continuing between the preparatory stage T2 from moment t10 (have passed through the moment of the second timing period Td2 from moment t9) to electric arc, sends to current error counting circuit EI the current settings signal Ir that the welding current Iw that continues to prepare current value ih2 for making the maximum of absolute value be set to electric arc flows through.In the present embodiment, the waveform of welding current Iw that electric arc continues between the preparatory stage in T2 is a square wave.It is such as 10 ~ tens of msec that electric arc continues to prepare tu2 between electric current period of output.It is larger than the second above-mentioned value ip1 that electric arc continues to prepare current value ih2.It is such as 400 ~ 600A that electric arc continues to prepare current value ih2.As shown in Fig. 5 (b), because till moment t11, power supply characteristic switching signal Sw is low level, so the power supply characteristic of power circuit 31 is constant-current characteristics.Therefore, as shown in Fig. 5 (d), welding current Iw sharply rises, thus reaches electric arc lasting preparation current value ih2.Thus, sacrificial electrode 15 burns, and the standoff distance between sacrificial electrode 15 and mother metal W becomes larger.In the present embodiment, as shown in Fig. 3, Fig. 5, continue between the preparatory stage in T2 at electric arc, robot translational speed is always certain value v1 (=0), and feed speed Fw is always certain value fw1.
(3) T3 (moment t11 ~ moment t12) duration of electric arc
The T3 duration of beginning electric arc from moment t11.As shown in Fig. 5 (d), electric arc duration in T3, current control circuit 32 sends the current settings signal Ir for making welding current Iw flow through with the mean value of absolute value and electric arc follow current value im2 to current error counting circuit EI.Electric arc duration in T3, welding current Iw is preferably made to flow through as DC current.Electric arc duration in T3, power supply characteristic switching signal Sw maintains low level always.Therefore, welding current Iw is made to flow through with electric arc follow current value im2.Electric arc follow current value im2 is less than the above-mentioned first value iw1.Electric arc follow current value im2 is such as 30 ~ 100A.In the present embodiment, as shown in Fig. 3, Fig. 5, electric arc duration in T3, robot translational speed VR is always certain value v2, and feed speed Fw is always certain value fw2.V2 is larger than above-mentioned value v1 for value, such as, be 100cm/min.Fw2 is less than above-mentioned value fw1 for value, such as, be 70cm/min.
As mentioned above, by repeating to comprise (1) period droplet transfer T1, (2) electric arc continues T2 between the preparatory stage, (3) electric arc duration T3 unit weld period T α, thus to weld.
In such a configuration, electric arc duration T3 start before electric arc continue between the preparatory stage in T2, flow through and the maximum of absolutely large value be set to the welding current Iw that electric arc continues preparation current value ih2.Electric arc continue to prepare current value ih2 than the maximum of the absolute value of the welding current Iw in period droplet transfer T1 and peak current value ip1 large.Therefore, continue between the preparatory stage in T2 at electric arc, sacrificial electrode 15 burns, when T3 starts the duration of can increasing electric arc, between sacrificial electrode 15 and mother metal W standoff distance.Thus, electric arc duration in T3, sacrificial electrode 15 not easily contacts with mother metal W.Therefore, it is possible to suppress T3 internal consumption electrode 15 and mother metal W short circuit electric arc duration.
Electric arc duration in T3, the average current value of the absolute value of welding current Iw becomes the electric arc follow current value ih2 less than the first value iw1 in period droplet transfer T1.Therefore, if T3 internal consumption electrode 15 and mother metal W short circuit electric arc duration, then this short circuit temporarily can not become open circuit, and the weld shape of squamous is destroyed.Therefore, in the present embodiment, due to the situation of sacrificial electrode 15 and mother metal W short circuit can be suppressed, so weld shape can be prevented to be destroyed.
Scope of the present invention is not limited to above-mentioned embodiment.Freely various design alteration can be carried out to the concrete structure of various piece of the present invention.Such as, in the above description, exemplified with the short circuit welding carrying out repetition short circuit period Ts and electric arc generation period Ta in period droplet transfer T1, but the present invention is not limited to this.Such as, also in period droplet transfer T1, sacrificial electrode 15 and mother metal W can be made not to produce short circuit, thus weld.In addition, now, in period droplet transfer T1, both welding current Iw can be exported as the pulse current exchanged, also welding current Iw can be exported as the pulse current of direct current.
In addition, also can according to the size of the feed speed fw1 of the size of the diameter of sacrificial electrode 15 or period droplet transfer T1, change electric arc and continue to prepare the length that the size of current value Ih2 and/or electric arc continue to prepare tu2 between electric current period of output.Or, also can according to the size of the feed speed fw1 of the size of the diameter of sacrificial electrode 15 or period droplet transfer T1, using the welding current Iw continuing to export in T2 between the preparatory stage at electric arc as multiple impulse wave (being more particularly square wave).
The situation large at the diameter of sacrificial electrode 15 is inferior, becomes large by the size of the molten drop 151 of pulsatile once transition.If the size of the molten drop of transition 151 becomes large, then produce sputtering when the droplet transfer sometimes.If exported as multiple impulse wave by welding current Iw, then molten drop 151 can be made to be divided into multiple and to be transitioned into mother metal W.Thus, though the situation that the diameter of sacrificial electrode 15 is large inferior need transition more molten drop 151 time, also can suppress sputter generation.
Claims (8)
1. an arc-welding method, electric arc after during this arc-welding method repeats to comprise the droplet transfer, during the described droplet transfer continue between the preparatory stage and described electric arc continue between the preparatory stage after electric arc duration unit weld period, described arc-welding method comprises:
During the described droplet transfer, between sacrificial electrode and mother metal, be the first value according to the time average of absolute value and the mode that the maximum of absolute value is the second value makes welding current flow through, thus make molten drop be transitioned into the operation of described mother metal from described sacrificial electrode;
Continue in the preparatory stage at described electric arc, the operation that the mode being the value larger than described second value according to the maximum of absolute value makes described welding current flow through; And
Interior described electric arc duration, the mode being the value less than described first value according to the time average of absolute value makes described welding current flow through, thus makes the operation that the state creating electric arc between described sacrificial electrode and described mother metal continues.
2. arc-welding method as claimed in claim 1, wherein,
In the operation making the state creating described electric arc continue, DC current is flow through, as described welding current.
3. arc-welding method as claimed in claim 1 or 2, also comprises:
During the described droplet transfer and described electric arc continue between the preparatory stage in these two periods, all the time with constant speed from the operation of sacrificial electrode described in the welding torch feeding keeping described sacrificial electrode.
4. an arc welding system, comprising:
Power circuit, during it repeats to comprise the droplet transfer and the described droplet transfer during after electric arc duration unit weld period, in during the described droplet transfer, between sacrificial electrode and mother metal, be the first value according to the time average of absolute value and the mode that the maximum of absolute value is the second value makes welding current flow through, interior described electric arc duration, the mode being the electric arc follow current value less than described first value according to the time average of absolute value makes described welding current flow through;
Electric arc continues to prepare current value storage part, and it stores the electric arc larger than described second value and continues to prepare current value;
Current control circuit, it continues to prepare current value based on described electric arc, sends the welding current setting signal of the value of the described welding current of instruction to described power circuit;
Travel mechanism, it makes the welding torch of the described sacrificial electrode of maintenance carry out relative movement along described mother metal; And
Feed mechanism, it is from sacrificial electrode described in described welding torch feeding,
Described power circuit accepts described welding current setting signal, and during described droplet transfer in each unit weld period and described electric arc duration between electric arc continue in the preparatory stage, be that the mode that described electric arc continues to prepare current value makes described welding current flow through according to the maximum of absolute value.
5. arc welding system as claimed in claim 4, wherein,
Described arc welding system also comprises electric arc follow current value storage part, and this electric arc follow current value storage part stores described electric arc follow current value,
Described current control circuit, based on described electric arc follow current value, sends described welding current setting signal to described power circuit, described power circuit described electric arc duration within, make DC current flow through as described welding current all the time.
6. arc welding system as claimed in claim 4, wherein,
Described arc welding system also comprises voltage control circuit, and this voltage control circuit sends the weldingvoltage setting signal of the value indicating the weldingvoltage applied between described sacrificial electrode and described mother metal to described power circuit,
Described power circuit comprises power supply characteristic commutation circuit, this power supply characteristic commutation circuit during the described droplet transfer in, switch to from making the constant-current characteristics that described welding current flows through based on described welding current setting signal the constant-voltage characteristic applying described weldingvoltage based on described weldingvoltage setting signal.
7. arc welding system as claimed in claim 5, wherein,
Described arc welding system also comprises voltage control circuit, and this voltage control circuit sends the weldingvoltage setting signal of the value indicating the weldingvoltage applied between described sacrificial electrode and described mother metal to described power circuit,
Described power circuit comprises power supply characteristic commutation circuit, this power supply characteristic commutation circuit during the described droplet transfer in, switch to from making the constant-current characteristics that described welding current flows through based on described welding current setting signal the constant-voltage characteristic applying described weldingvoltage based on described weldingvoltage setting signal.
8. the arc welding system as described in any one of claim 4 to 7, wherein,
Described feed mechanism during the described droplet transfer and described electric arc continue between the preparatory stage in these two periods, all the time with constant speed from sacrificial electrode described in described welding torch feeding.
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| JP2010184914A JP5626866B2 (en) | 2010-08-20 | 2010-08-20 | Arc welding method and arc welding system |
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| EP3342521B1 (en) * | 2012-03-16 | 2019-08-21 | Panasonic Intellectual Property Management Co., Ltd. | Arc welding device |
| JP6089231B2 (en) | 2012-06-18 | 2017-03-08 | パナソニックＩｐマネジメント株式会社 | Arc welding method and arc welding apparatus |
| CN105382377B (en) * | 2014-09-02 | 2019-12-24 | 株式会社大亨 | Arc welding method |
| US20190030635A1 (en) * | 2017-07-28 | 2019-01-31 | Lincoln Global, Inc. | Welding power supply identification of remote switch operation |
| JP2022107350A (en) * | 2021-01-08 | 2022-07-21 | 株式会社ダイヘン | Welding robot |
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