CN102672307B - The striking control method of sacrificial electrode arc welding - Google Patents
The striking control method of sacrificial electrode arc welding Download PDFInfo
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- CN102672307B CN102672307B CN201210057772.XA CN201210057772A CN102672307B CN 102672307 B CN102672307 B CN 102672307B CN 201210057772 A CN201210057772 A CN 201210057772A CN 102672307 B CN102672307 B CN 102672307B
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Abstract
The invention provides a kind of striking control method of sacrificial electrode arc welding, even if be in the contact start state that the front end of welding wire and mother metal contact from the beginning, also can realize the good starting the arc.The striking control method of sacrificial electrode arc welding of the present invention possesses: welding wire is advanced mobile, controls once just pull open the starting the arc that retracts producing electric arc after touching mother metal; And welding wire is advanced mobile contact with mother metal the usual starting the arc producing electric arc and control, wherein, from by weld commencing signal (As) be input to the source of welding current thus start time point (t2) that the advance of welding wire moves (Fi) rise lead to welding current (Iw) in the past specified time limit (Tt) time, carry out retracting the starting the arc to control, and when (Tt) elapsed time point (t3) does not lead to welding current (Iw) during afore mentioned rules, carry out usual starting the arc control.Thus, control owing to automatically selecting to retract the starting the arc when contact start state, therefore can realize the good starting the arc.
Description
Technical field
The present invention relates to a kind of striking control method of sacrificial electrode arc welding, possess: retract (retract) starting the arc and control, welding wire is advanced mobile, just pull open after touching mother metal, after pulling open generation initial arc by this, shift towards stable arc; And usually the starting the arc controls, make above-mentioned welding wire carry out above-mentioned advance and move and contact with mother metal or close, produce stable arc, and switch these two kinds of starting the arc controls and start to weld.
Background technology
Fig. 6 is the general pie graph of the welder for carrying out sacrificial electrode arc welding.Below, with reference to FIG. each construct is described.
If source of welding current PS is transfused to the welding commencing signal As starting circuit AS from the welding being located at outside, then starts and export weldingvoltage Vw and welding current Iw, but also the feeding control signal Wc being used for feeding welding wire 1 is outputted to feed motor WM.The welding torch switch installed in welding torch, start circuit AS for the corresponding above-mentioned welding such as PLC (programmable logic controller (PLC)), robot controller controlling welding sequence.Welding wire 1 is passed by the rotation of feed rolls 5 that is combined with feed motor WM and is fed in welding torch 4.And the power supply chip 4a installed from the front end of welding torch 4 powers to welding wire 1.Between welding wire 1 and mother metal 2, produce electric arc weld.
If above-mentioned feed rolls 5 rotates forward, then welding wire 1 towards near the direction of mother metal 2 by feeding of advancing, otherwise if feed rolls 5 reverses, then welding wire 1 is retreated feeding towards the direction away from mother metal 2.Feed speed Fw (m/min) becomes positive value when advancing feeding to welding wire 1, and becomes negative value when retreating feeding, becomes 0 when stopping.Welding wire front end and mother metal spacing Lw (mm) represent the distance between the front end of welding wire 1 and mother metal 2, roughly equal with arc length under electric arc generation state.In the usual starting the arc described later controls, only advance feeding is carried out to welding wire 1, retract in starting the arc control described later, both of advance feeding and retrogressing feeding are carried out to welding wire 1.
The starting the arc as sacrificial electrode arc welding controls, and the usual starting the arc below illustrated controls the most often to use.In the usual starting the arc controls, if welding commencing signal As is input to source of welding current PS, then with slow feed speed at a slow speed, advance feeding is carried out to welding wire.If the front end of welding wire 1 to be contacted with mother metal 2 by this advance feeding or closely, then logical welding current Iw produce electric arc.If logical welding current Iw, then switch to stable feed speed by the feed speed of welding wire 1, shift towards stable arc.Thus, the starting the arc is completed.
On the other hand, when the material of welding wire be aluminium or stainless steel time the starting the arc bad, this is known.In addition, even iron and steel wire, when using the thin footpath silk of below 1.0mm, the starting the arc is also bad, and this is known.If use these welding wires 1 to control to carry out the above-mentioned usual starting the arc, even if then welding wire 1 contacts with mother metal 2, the situation that this short-circuit condition continues tens of more than ms also can occur often.If become such state, then produce electric arc with splashing more generation, thus become the underproof starting the arc.In order to improve this starting the arc, the starting the arc that retracts employing following explanation controls (with reference to patent document 1,2 etc.).
Retracting in starting the arc control, if welding commencing signal As is input to source of welding current PS, then with slow feed speed at a slow speed, advance feeding is carried out to welding wire 1.If by this advance feeding, the front end of welding wire 1 contacts with mother metal 2, then the logical small area analysis not producing such tens of below the A of electric arc, maintains short-circuit condition.Meanwhile, start the retrogressing feeding of welding wire 1, carry out the action pulled open from mother metal 2 front end of welding wire 1.If by this retrogressing feeding, the front end of welding wire 1 is opened from mother metal 2, then produce the logical initial arc stating small area analysis value.While maintain the state of this initial arc of creating, continue retrogressing feeding specified time limit, to make arc length elongated gradually.After above-mentioned specified time limit, welding wire 1 is switched to the feeding that readvances under stable feed speed, shifts to stable arc from initial arc.Thus, the starting the arc is completed.Retract in starting the arc control at this, produce initial arc owing to being pulled open by welding wire 1 under the state of logical small area analysis, therefore independently can realize splashing with the material of welding wire 1 or diameter produces the considerably less reliable starting the arc.
Patent document
Patent document 1:JP JP 2007-216303 publication
Patent document 2:JP JP 2006-263822 publication
Welding method with the most use is answered in the sacrificial electrode arc welding employing the iron and steel wire of diameter 1.2mm.In this welding method, control to obtain the substantially good starting the arc by the above-mentioned usual starting the arc.But even this welding method, if become welding wire and mother metal plays the so-called contact start state being just in short-circuit condition from the beginning, then short-circuit condition continues thus to become the situation of the underproof starting the arc producing many of splashing many for a long time.This contact start state produces in the following manner.In robot welding, when robot moves to welding end position and terminates welding, in order to make the front end of welding wire not be fused to molten bath, carry out being called that the welding that anti-stick (antistick) controls ends process.It is make the front end of welding wire by arc ignition to the process making the distance between the front end of welding wire and mother metal become about 5mm that this welding ends process.Another object that this welding ends process is that the front end of welding wire does not contact with mother metal in order to when robot moves to next welding start position.This is because, if contact in the front end and mother metal starting the time point welding wire welded, then become contact start state as mentioned above, thus the probability becoming the underproof starting the arc uprises.
But due to the middle existence deviation to a certain degree of igniting of the welding wire front end based on anti-stick control, the situation shorter than appropriate value of the distance therefore between the front end of time point welding wire that welding terminates and mother metal can occur.And then because the case of bending of the cable of welding torch, the posture of robot can change in the movement of welding start position from welding end position, the situation of length that therefore welding wire stretches out from welding torch front end can occur.Due to these situations, the situation of contact start state can be become.
Even if become contact start state as described above, retract the starting the arc if carry out and control, also can obtain the good starting the arc.But, retracting problem such below existence in starting the arc control.Namely exist retract the starting the arc control to control with the usual starting the arc compared with the problem grown of time needed for the starting the arc.This is because, retracting during the starting the arc controls, unexistently in needing the usual starting the arc to control carrying out retreating during feeding to welding wire.Therefore, when carrying out multiple welding to short weld length, production efficiency will decline.In addition, retracting during the starting the arc controls, needing welding wire advance feeding, retreating feeding, readvancing feeding and direction of feed is reversed.Thus, burden can be caused to the parts that power supply chip, coil guide part (coilliner), feed motor etc. associate with feeding, therefore also there is the problem safeguarding expense and time.
Summary of the invention
, the object of the invention is to for this reason, a kind of striking control method of sacrificial electrode arc welding is provided, even if frequently produce contact start state, also can guarantee the good starting the arc, and starting the arc required time can be suppressed elongated, the burden safeguarded can also be suppressed to become heavy.
In order to solve above-mentioned problem, the invention of technical scheme 1 is a kind of striking control method of sacrificial electrode arc welding, be characterised in that, possess: retract the starting the arc and control, welding wire is advanced mobile, once after touching mother metal, retreat to move by making welding wire and welding wire is pulled open from mother metal, after pulling open generation initial arc by this, shift to stable arc; Control with the usual starting the arc, make above-mentioned welding wire carry out above-mentioned advance to move to contact with mother metal or close, produce stable arc, from welding commencing signal is input to the source of welding current thus time of above-mentioned advance movement of above-mentioned welding wire light the prespecified 1st during before logical welding current time, carry out above-mentioned retract the starting the arc control, and during the logical welding current of elapsed time point during the above-mentioned 1st, carry out the above-mentioned usual starting the arc and control.
The invention of technical scheme 2 is on the basis of the striking control method of the power pole arc welding described in technical scheme 1, be characterised in that, elapsed time point during than the above-mentioned 1st during the long prespecified 2nd logical welding current time, after above-mentioned welding wire being pulled open from mother metal by above-mentioned retrogressing movement, be switched to above-mentioned advance to move, carry out the above-mentioned usual starting the arc and control.
The invention of technical scheme 3 is on the basis of the striking control method of the power pole arc welding described in technical scheme 1 or 2, and be characterised in that, the advance being carried out above-mentioned welding wire by advance feeding is moved.
The invention of technical scheme 4 is on the basis of the striking control method of the power pole arc welding described in technical scheme 1 or 2, is characterised in that, moves by making the mobile advance carrying out above-mentioned welding wire of welding torch advance.
The invention of technical scheme 5 is on the basis of the striking control method of power pole arc welding described any one of technical scheme 1 ~ 4, and be characterised in that, the retrogressing carrying out above-mentioned welding wire by retreating feeding is moved.
The invention of technical scheme 6 is on the basis of the striking control method of power pole arc welding described any one of technical scheme 1 ~ 4, is characterised in that, retreats the mobile retrogressing carrying out above-mentioned welding wire move by making above-mentioned welding torch.
According to the present invention, from welding commencing signal is input to the source of welding current thus the time of advance movement starting welding wire light the prespecified 1st during before lead to welding current time, carry out retracting the starting the arc to control, and during the logical welding current of elapsed time point during the described 1st, carry out usual starting the arc control.Thus, due to when being in welding wire and mother metal plays the contact start state just contacted from the beginning, automatically selecting to retract the starting the arc and controlling, therefore can carry out splashing produces few reliable starting the arc.In addition, due to when being in the common state that welding wire and mother metal are separated, automatically selecting the usual starting the arc to control, therefore on the basis of guaranteeing the good starting the arc, the time needed for the starting the arc can be shortened.That is, control owing to automatically selecting to retract the starting the arc under the contact start state produced with low-frequency degree, and automatically select the usual starting the arc to control when noncontact starting state, shorten the total time needed for the starting the arc with therefore maintaining the good starting the arc all the time.And then, control owing to only selecting to retract the starting the arc when contact start state, therefore will alleviate the burden to feed system parts, safeguard and also become easy.
Accompanying drawing explanation
Fig. 1 represents welding sart point in time and be in the sequential chart of the striking control method involved by when the front end of welding wire and mother metal play the contact start situation just contacted from the beginning, embodiments of the present invention 1.
Fig. 2 be represent when the front end and mother metal of welding sart point in time welding wire are in released state (non-shorting state), the sequential chart of striking control method involved by embodiments of the present invention 1.
Fig. 3 is the block diagram of the source of welding current PS of the striking control method represented for implementing the sacrificial electrode arc welding involved by embodiments of the present invention 1.
Fig. 4 be represent be in released state (non-shorting state) in the front end of welding sart point in time welding wire and mother metal and when the front end of welding wire is attached with insulant, the sequential chart of striking control method involved by embodiments of the present invention 2.
Fig. 5 is the block diagram of the source of welding current PS of the striking control method represented for implementing the sacrificial electrode arc welding involved by embodiments of the present invention 2.
Fig. 6 is the general pie graph of the welder for carrying out sacrificial electrode arc welding of the prior art.
(symbol description)
1 welding wire
2 mother metals
3 electric arcs
3a initial arc
3b stable arc
4 welding torches
4a power supply chip
5 feed rolls
AS welding starts circuit
As welds commencing signal
CD is energized judging circuit
Cd is energized judgment signal
DV drive circuit
Dv drive singal
Ea error amplification signal
EI current error amplifying circuit
Ei current error amplifying signal
EV voltage error amplifying circuit
Ev voltage error amplifying signal
Fb retreats feed speed
FBR retreats feed speed initialization circuit
Fbr retreats feed speed setting signal
Fc stablizes feed speed
FCR stablizes feed speed initialization circuit
Fcr stablizes feed speed setting signal
Fi is feed speed at a slow speed
FIR is feed speed initialization circuit at a slow speed
Fir is feed speed setting signal at a slow speed
FR feed speed initialization circuit
Fr feed speed setting signal
FR2 the 2nd feed speed initialization circuit
Fw feed speed
ID current detection circuit
Id current detection signal
Ii initial current
IIR initial current initialization circuit
Iir initial current setting signal
Iw welding current
L0 initial distance
Lw welding wire front end and mother metal spacing
Ms direction of feed movable signal
ON starting circuit
On initiating signal
PM electric power main circuit
The PS source of welding current
The SC starting the arc controls selection circuit
The Sc starting the arc controls to select signal
SD short circuit discrimination circuit
Sd short circuit discrimination signal
SP external behavior commutation circuit
Td timing period
Td2 the 2nd timing period
During Ts judges for a long time
During Tt energising judges
VD voltage detecting circuit
Vd voltage detection signal
VR voltage setting circuit
Vr voltage setting signal
Vw weldingvoltage
WC feeding control circuit
Wc feeding control signal
WM feed motor
Detailed description of the invention
Below, with reference to accompanying drawing, embodiments of the present invention are described.
[embodiment 1]
In embodiments of the present invention 1, from welding commencing signal is input to the source of welding current thus the time of advance movement starting welding wire light the prespecified 1st during (energising judges period Tt) led to welding current in the past time, carry out retracting the starting the arc to control, when elapsed time point does not lead to welding current during the above-mentioned 1st, carry out usual starting the arc control.Fig. 1 represents welding sart point in time and be in the sequential chart of the striking control method involved by when the front end of welding wire and mother metal play the contact start situation just contacted from the beginning, embodiments of the present invention 1.In addition, Fig. 2 be represent when the front end and mother metal of welding sart point in time welding wire are in released state (non-shorting state), the sequential chart of striking control method involved by embodiments of the present invention 1.The formation of welder is identical with above-mentioned Fig. 6.But the internal circuit of source of welding current PS is different, therefore aftermentioned at Fig. 3.
Fig. 1 represents welding sart point in time and be in the sequential chart of the striking control method involved by when the front end of welding wire and mother metal play the contact start situation just contacted from the beginning, embodiments of the present invention 1.Fig. 1 (A) represents the time variations of welding commencing signal As, Fig. 1 (B) represents the time variations of feed speed Fw, Fig. 1 (C) represents the time variations of weldingvoltage Vw, Fig. 1 (D) represents the time variations of welding current Iw, Fig. 1 (E) represents the time variations of welding wire front end and mother metal spacing Lw, and Fig. 1 (F1) ~ (F4) represents the state in the electric arc generating unit in each moment.Below, be described with reference to Fig. 1.
(11) pre-stream (pre-flow) period of moment t1 ~ t2.
At moment t1, robot moves, and welding torch arrives welding start position and stops.At this moment t1, as shown in Fig. 1 (A), if welding commencing signal As is input to the source of welding current (high level), then start the discharge of protective gas with keeping not starting the output of the source of welding current.At moment t1 time point, as shown in Fig. 1 (B), because feed speed Fw stops therefore being maintained 0, as shown in Fig. 1 (C), owing to not exporting weldingvoltage Vw, be therefore 0V, as shown in Fig. 1 (D), welding current Iw is 0A.Then, as shown in Fig. 1 (E), owing to being in the situation of contact start state, therefore, welding wire front end and mother metal contact from the beginning, so welding wire front end and mother metal spacing Lw become 0mm.Thus, as shown in Fig. 1 (F1), at moment t1 time point, the front end of welding wire 1 contacts with mother metal 2.During during moment t1 ~ t2 being pre-stream, in this period, the output of the source of welding current and feeding is kept to stop and only discharge protective gas.By in advance stream during be set as 0.1 ~ 1 second about scope.
(12) energising of moment t2 ~ t3 judges period Tt
At moment t2, if terminate during above-mentioned pre-stream, then not only start the output of the source of welding current, also start the advance feeding of welding wire.Therefore, as shown in Fig. 1 (B), feed speed Fw becomes the feed speed Fi at a slow speed of the slow speed of positive value, carries out advance feeding.But because welding wire front end and mother metal are in short-circuit condition, therefore as shown in Fig. 1 (E), welding wire front end and mother metal spacing Lw keep 0mm.In addition, if with the state of welding wire and mother metal short circuit during moment t2 terminates pre-stream, then by the beginning output of the source of welding current and the advance feeding of welding wire, therefore as shown in Fig. 1 (C), weldingvoltage Vw changes from 0V the short circuit voltage value of several V.Meanwhile, as shown in Fig. 1 (D), the initial current Ii of the small area analysis value of tens of about A that starts to be energized.
(13) during the short circuit of moment t3 ~ t4 retreats feeding
Owing to judging in above-mentioned energising to lead to welding current Iw by the moment t3 that period Tt terminates as shown in Fig. 1 (D), therefore select to retract the starting the arc and control to be used as starting the arc control mode.If when this moment t3 does not lead to welding current Iw, the usual starting the arc is selected to control to be used as starting the arc control mode (carrying out aftermentioned with Fig. 2 for the action in this situation).The scope of about 1 ~ 5ms is such as set as during energising being judged.This energising judge period Tt with during above-mentioned pre-stream, short circuit described later retreat feeding during and electric arc retreat feeding during compared be about 1/10 ~ 1/100 the short time.At moment t3, retract the starting the arc if select as mentioned above and control, then as shown in Fig. 1 (B), feed speed Fw is switched to the retrogressing feed speed Fb of negative value, therefore start the retrogressing feeding of welding wire.But welding torch bending causes the time delay for carrying out retreating feeding to the redundancy section of welding wire, thus during the short circuit of moment t3 ~ t4 retreats feeding during, as shown in Fig. 1 (E), welding wire front end and mother metal spacing Lw keep 0mm.During the short circuit of this moment t3 ~ t4 retreats feeding, as shown in Fig. 1 (C), weldingvoltage Vw keeps short circuit voltage value, and as shown in Fig. 1 (D), welding current Iw keeps initial current Ii.
(14) during the electric arc of moment t4 ~ t5 retreats feeding
At moment t4, if as shown in Fig. 1 (F2), the front end of welding wire 1 is separated with mother metal 2 due to above-mentioned retrogressing feeding, then produce the initial arc 3a of logical above-mentioned initial current Ii.If generation initial arc, then as shown in figure (C), weldingvoltage Vw rapidly increases to the arc voltage value of tens of V.Because weldingvoltage Vw becomes more than short reference value, therefore during the timing period Td till playing t5 from the moment t4 of the generation determining electric arc, as shown in Fig. 1 (B), feed speed Fw keeps retreating feed speed Fb, therefore continues the retrogressing feeding of welding wire.Therefore, due to such as shown in Fig. 1 (F3), the arc length of initial arc 3a is elongated gradually, therefore as shown in Fig. 1 (E), welding wire front end and mother metal spacing Lw elongated gradually.In this timing period Td, as shown in Fig. 1 (D), keep logical initial current Ii.Set to make at the arc length of the initial arc of moment t5 time point to be about 3 ~ 6mm to this timing period Td.Such as, timing period Td is about 100 ~ 200ms.
(15) during the stable arc that moment t5 is later
At moment t5, if above-mentioned timing period Td terminates, then as shown in Fig. 1 (B), feed speed Fw is switched on the occasion of prespecified stable feed speed Fc, therefore welding wire starts the feeding that readvances.Meanwhile, as shown in Fig. 1 (D), welding current Iw is increased to the stable welding current determined by stable feed speed Fc from initial current Ii.In addition, as shown in Fig. 1 (E), welding wire front end and the mother metal spacing Lw cambic change through shortening gradually from moment t5 converges to stable arc length at moment t6, as shown in Fig. 1 (F4), shifts to stable arc 3b.By above-mentioned action, complete and retract starting the arc control.
Fig. 2 be represent when to be in the usual starting state be separated with mother metal in the front end of welding sart point in time welding wire, the sequential chart of striking control method involved by embodiments of the present invention 1.Fig. 2 (A) represents the time variations of welding commencing signal As, Fig. 2 (B) represents the time variations of feed speed Fw, Fig. 2 (C) represents the time variations of weldingvoltage Vw, Fig. 2 (D) represents the time variations of welding current Iw, Fig. 2 (E) represents the time variations of welding wire front end and mother metal spacing Lw, and Fig. 2 (F1) ~ (F3) represents the state in the electric arc generating unit in each moment.Below, be described with reference to FIG..
(21) during the pre-stream of moment t1 ~ t2.
At moment t1, robot moves, and welding torch arrives welding start position and stops.At this moment t1, as shown in Fig. 2 (A), if welding commencing signal As is input to the source of welding current (high level), then start the discharge of protective gas with keeping not starting the output of the source of welding current.At moment t1 time point, as shown in Fig. 2 (B), because feed speed Fw stops therefore being maintained 0, as shown in Fig. 2 (C), owing to not exporting weldingvoltage Vw, be therefore 0V, as shown in Fig. 2 (D), welding current Iw is 0A.Then, as shown in Fig. 2 (F1), because welding wire 1 front end is separated with mother metal 2, therefore as shown in Fig. 2 (E), welding wire front end and mother metal spacing Lw become initial distance L0 (mm).During during moment t1 ~ t2 being pre-stream, in this period, the output of the source of welding current and feeding is kept to stop and only discharge protective gas.
(22) energising of moment t2 ~ t3 judges period Tt
At moment t2, if terminate during above-mentioned pre-stream, then not only start the output of the source of welding current, also start the advance feeding of welding wire.Therefore, as shown in Fig. 2 (B), feed speed Fw become on the occasion of the feed speed Fi at a slow speed of slow speed, carry out advance feeding.Therefore, as shown in Fig. 2 (E), welding wire front end and mother metal spacing Lw shorten gradually from above-mentioned initial distance L0.At this, if will establish above-mentioned feed speed Fi=1.2m/min at a slow speed, energising will judge period Tt=5ms, then the forward travel distance in this energising period Tt becomes 0.1mm.That is, by judging in energising to carry out advance feeding to welding wire in period Tt, the situation that the front end of welding wire and mother metal are changed to contact condition from released state occurs hardly.In addition, if under the state that welding wire is separated with mother metal during moment t2 terminates pre-stream, then start the output of the source of welding current and the advance feeding of welding wire, therefore as shown in Fig. 2 (C), weldingvoltage Vw changes from 0V the non-load voltage value of about 80V.But as shown in Fig. 2 (D), owing to not being energized, therefore welding current Iw is 0A.
(23) during the feeding at a slow speed of moment t3 ~ t4
Have passed through the moment t3 of above-mentioned energising judgement period Tt, as shown in Fig. 2 (D), also logical welding current Iw, therefore selects the usual starting the arc to control to be used as starting the arc control mode.If when this moment t3 logical welding current Iw, then as Fig. 1 is above-mentioned, select to retract the starting the arc and control to be used as starting the arc control mode.At moment t3, if select the usual starting the arc to control as described above, then as shown in Fig. 2 (B), feed speed Fw remains above-mentioned feed speed Fi at a slow speed, and welding wire moves on feeding.Then, as shown in Fig. 2 (C), weldingvoltage Vw remains non-load voltage value, and as shown in Fig. 2 (D), owing to not being energized, therefore welding current Iw remains 0A.Then, as shown in Fig. 2 (E), welding wire front end and mother metal spacing Lw shorten gradually along with advance feeding.
(24) during the stable arc that moment t4 is later
At moment t4, as shown in Fig. 2 (F2), if the front end of welding wire 1 contacts with mother metal 2 due to above-mentioned advance feeding, then after of short duration short circuit, produce electric arc.As shown in Fig. 2 (C), weldingvoltage Vw is after the short circuit voltage value dropping to several V from non-load voltage value rapidly, and the arc voltage value again towards tens of V rises rapidly.Meanwhile, as shown in Fig. 2 (D), start the energising of welding current Iw, the stable welding current value towards big current value increases.If be determined as the energising starting this welding current Iw, then as shown in Fig. 2 (B), feed speed Fw is switched on the occasion of stable feed speed Fc.As shown in Fig. 2 (E), if produce electric arc after of short duration short circuit, then welding wire front end and mother metal spacing Lw are elongated rapidly from 0mm, and converge on stable arc length at moment t5.As shown in Fig. 2 (F3), become the state creating stable arc 3b.At moment t4, also exist and under the front end of welding wire and mother metal state closely, do not become short-circuit condition and the situation producing electric arc.By these actions, complete the usual starting the arc and control.
Fig. 3 is the block diagram of the source of welding current PS of striking control method for implementing the sacrificial electrode arc welding involved by embodiments of the present invention 1.Below, each piece is illustrated with reference to Fig. 3.
Electric power main circuit PM is with the source power supply of 3 phase 200V etc. (omitting diagram) for input, and the output carrying out inverter control etc. according to drive singal Dv described later controls, and exports weldingvoltage Vw and welding current Iw.Although this electric power main circuit PM omits diagram, by source power supply is carried out rectification No. 1 rectification circuit, to the smoothing capacitor of the direct current with pulsation through rectification, according to above-mentioned drive singal Dv by becoming the inverter circuit of high-frequency ac through level and smooth DC converting, high-frequency ac is depressurized to the high frequency transformer of the magnitude of voltage being suitable for arc welding, No. 2 rectification circuits high-frequency ac through step-down being carried out to rectification, the reactor smoothing to the direct current through rectification form.Welding wire 1 is passed by the rotation of feed rolls 5 that is combined with feed motor WM and is fed in welding torch 4, produces electric arc 3 between mother metal 2.
Welding starts circuit AS and is arranged at robot controller (omitting diagram), is output into the welding commencing signal As of high level when starting to weld.Starting circuit ON with this welding commencing signal As for input, from the time that this signal becomes high level light be delayed prespecified pre-stream during be output into the initiating signal On of high level.If welding commencing signal As becomes high level, then protective gas starts discharge, but diagram omits this control circuit.Current detection circuit ID detects above-mentioned welding current Iw, and output electric current measure signal Id.Energising judging circuit CD for input, is determined as logical welding current Iw with this current detection signal Id when this value is more than threshold value, thus is output into high level energising judgment signal Cd.Threshold value is such as about 5A.The starting the arc controls selection circuit SC with above-mentioned initiating signal On and this energising judgment signal Cd for input, judge that exporting the starting the arc period Tt controls to select signal Sc=0 through energising lighting to the time being changed to high level from initiating signal On, and starting the arc control selection signal Sc=1 is exported when the time point energising judgment signal Cd that have passed through is high level, control to select signal Sc=2 for exporting the starting the arc during low level.Selection circuit SC is controlled by this starting the arc, to judging period Tt through above-mentioned energising, become the starting the arc before judgement control (Sc=0), when have passed through above-mentioned energising and judging that the time point of period Tt leads to welding current Iw, selection retracts the starting the arc and controls (Sc=1), and when elapsed time point does not lead to welding current Iw, select the usual starting the arc to control (Sc=2).
Voltage detecting circuit VD detects above-mentioned weldingvoltage Vw and voltage sense signal Vd.Short circuit discrimination circuit SD with this voltage detection signal Vd for input, change in this value the time point being less than short circuit discrimination a reference value (about 15V) and become high level, light the time point that have passed through prespecified timing period Td from the time transforming to more than short circuit discrimination a reference value, be output into low level short circuit discrimination signal Sd.This short circuit discrimination signal Sd becomes high level in FIG during moment t2 ~ t5.Feed speed initialization circuit FIR exports the prespecified setting signal of feed speed at a slow speed Fir at a slow speed.Retreat feed speed initialization circuit FBR and export prespecified retrogressing feed speed setting signal Fbr.Stablize feed speed setting signal FCR and export prespecified stable feed speed setting signal Fcr.Feed speed initialization circuit FR controls to select signal Sc, above-mentioned energising judgment signal Cd, above-mentioned short circuit discrimination signal Sd, the above-mentioned setting signal of feed speed at a slow speed Fir, above-mentioned retrogressing feed speed setting signal Fbr and above-mentioned stable feed speed setting signal Fcr for input with above-mentioned initiating signal On, the above-mentioned starting the arc, carry out the action of following explanation, and export feed speed setting signal Fr.
1) when initiating signal On is high level and the starting the arc controls to select signal Sc=0, (during the t2 ~ t3 of the moment t of Fig. 1 and 2) will be exported as feed speed setting signal Fr by feed speed setting signal Fir at a slow speed.
2) at the time point changing to starting the arc control selection signal Sc=1 (retracting the starting the arc to control), feed speed setting signal Fbr will be retreated and export (the moment t3 of Fig. 1) as feed speed setting signal Fr, and be changed to low level time point at short circuit discrimination signal Sd and will stablize feed speed setting signal Fcr as feed speed setting signal Fr output (the moment t5 of Fig. 1).
3) at the time point being changed to starting the arc control selection signal Sc=2 (usual starting the arc control), continue the state (the moment t3 of Fig. 2) feed speed setting signal Fir at a slow speed exported as feed speed setting signal Fr, be changed to the time point of high level at energising judgment signal Cd, feed speed setting signal Fcr will be stablized and export (the moment t4 of Fig. 2) as feed speed setting signal Fr.
Feeding control circuit WC with above-mentioned feed speed setting signal Fr and above-mentioned initiating signal On for input, when initiating signal On is high level, with the speed being equivalent to feed speed setting signal Fr, the feeding control signal Wc being used for feeding welding wire is outputted to feed motor WM.
Voltage setting circuit VR exports prespecified voltage setting signal Vr.Initial current initialization circuit IIR exports prespecified initial current setting signal Iir.Voltage error amplifying circuit EV amplifies the error between above-mentioned voltage setting signal Vr and above-mentioned voltage detection signal Vd, and output voltage error amplifying signal Ev.By the FEEDBACK CONTROL of this voltage error amplifying circuit EV, the external behavior of the source of welding current becomes constant-voltage characteristic.Current error amplifying circuit EI amplifies the error between above-mentioned initial current setting signal Iir and above-mentioned current detection signal Id, and output current error amplification signal Ei.By the FEEDBACK CONTROL of this current error amplifying circuit EI, the external behavior of the source of welding current becomes the constant-current characteristics for logical initial current Ii.
External behavior commutation circuit SP controls to select signal Sc, above-mentioned short circuit discrimination signal Sd, above-mentioned voltage error amplifying signal Ev and above-mentioned current error amplifying signal Ei for input with the above-mentioned starting the arc, carry out the action of following explanation, and output error amplifying signal Ea.
1) as starting the arc control signal Sc=0, current error amplifying signal Ei is exported (during before the moment t3 of Fig. 1 and 2) as error amplification signal Ea.
2) at the time point changing to starting the arc control selection signal Sc=1 (retracting the starting the arc to control), continue the state (the moment t3 of Fig. 1) exported as error amplification signal Ea by current error amplifying signal Ei, change to low level time point at short circuit discrimination signal Sd, voltage error amplifying signal Ev is exported (the moment t5 of Fig. 1) as error amplification signal Ea.
3) at the time point changing to starting the arc control selection signal Sc=2 (retracting the starting the arc to control), voltage error amplifying signal Ev is exported (the moment t3 of Fig. 2) as error amplification signal Ea.
Drive circuit DV, when above-mentioned initiating signal On is high level, carries out PWM control according to above-mentioned error amplification signal Ea, and exports the drive singal Dv of the inverter circuit be used in driving power main circuit PM based on this result.
Can replace and make welding wire advance feeding with feed speed Fi at a slow speed, and by making robot motion make welding torch advance in feed direction movement, thus it is mobile that welding wire is advanced.Therefore, the advance of welding wire is moved such statement and is contained: make welding wire advance feeding and by making the welding torch mobile welding wire that makes that advances advance these two kinds of implications mobile.Equally, move back feed speed Fb after can also replacing and make welding wire retreat feeding, and mobile by making robot motion make welding torch retreat on the direction contrary with direction of feed, thus it is mobile that welding wire is retreated.Therefore, the retrogressing of welding wire is moved such statement and is contained: make welding wire retreat feeding and retreat these two kinds of implications mobile by making welding torch retreat the mobile welding wire that makes.And do not perform by the action of robot due to readvance feeding or the advance feeding under stable feed speed Fc, therefore performed by feeding.When being made welding wire advance mobile by the mobile welding torch that advances, in above-mentioned Fig. 1 and Fig. 2, be carry out during feed speed Fi at a slow speed at feed speed Fw.When by retreating mobile welding torch and making welding wire retreat mobile, in above-mentioned Fig. 1, carry out during feed speed Fw is retreat feed speed Fb.Advance based on the welding wire of the advance movement of welding torch move and based on the retrogressing movement of the welding wire of the retrogressing movement of welding torch can only carry out wherein a kind of or both.For the block diagram of source of welding current PS, in above-mentioned Fig. 3, change feed speed initialization circuit FR in the following way.
Feed speed initialization circuit FR controls to select signal Sc, above-mentioned energising judgment signal Cd, above-mentioned short circuit discrimination signal Sd and above-mentioned stable feed speed setting signal Fcr for input with above-mentioned initiating signal On, the above-mentioned starting the arc, carry out the action of following explanation, and export feed speed setting signal Fr and mail to the direction of feed movable signal Ms of robot controller.
1) when initiating signal On is high level and the starting the arc controls to select signal Sc=0, export feed speed setting signal Fr=0 (stopping), and export direction of feed movable signal Ms=1 (advancing mobile) (during the moment t2 ~ t3 of Fig. 1 and Fig. 2).
2) at the time point changing to starting the arc control signal Sc=1 (retracting the starting the arc to control), continue the state exporting feed speed setting signal Fr=0, and export direction of feed movable signal Ms=2 (retreating mobile) (the moment t3 of Fig. 1).Then, low level time point is changed at short circuit discrimination signal Sd, feed speed setting signal Fcr will be stablized export as feed speed setting signal Fr, and export direction of feed movable signal Ms=0 (stopping) (the moment t5 of Fig. 1).
3) at the time point changing to starting the arc control signal Sc=2 (usual starting the arc control), continue the state exporting feed speed setting signal Fr=0, and continue the state (the moment t3 of Fig. 2) exporting direction of feed movable signal Ms=1 (advancing mobile).Then, the time point of high level is changed at energising judgment signal Cd, feed speed setting signal Fcr will be stablized export as feed speed setting signal Fr, and export direction of feed movable signal Ms=0 (stopping) (the moment t4 of Fig. 2).
Above-mentioned direction of feed movable signal Ms is sent to robot controller from source of welding current PS.Robot controller makes robot motion thus makes welding torch advance mobile in feed direction or retreat mobile on the direction contrary with direction of feed.Welding torch towards sealing wire direction movement as prior art, starting with the time point of stable feed speed feeding welding wire mobile.
According to above-mentioned embodiment 1, from welding commencing signal is input to the source of welding current thus the time of advance movement starting welding wire light the prespecified 1st during (energising judges period Tt) led to welding current in the past time, carry out retracting the starting the arc to control, and when elapsed time point does not lead to welding current during the above-mentioned 1st, carry out usual starting the arc control.Thus, due to when being in the contact start state that welding wire contacts from the beginning with mother metal, automatically selecting to retract the starting the arc and controlling, therefore can carry out splashing produces few reliable starting the arc.In addition, due to when being in the common state that welding wire is separated with mother metal, automatically selecting the usual starting the arc to control, therefore on the basis of guaranteeing the good starting the arc, the time needed for the starting the arc can be shortened.That is, control owing to automatically selecting to retract the starting the arc under the contact start state produced with low-frequency degree, and automatically select the usual starting the arc to control when noncontact starting state, shorten the total time needed for the starting the arc with therefore maintaining the good starting the arc all the time.And then, control owing to only selecting to retract the starting the arc when contact start state, therefore will alleviate the burden to feed system parts, safeguard and also become easy.
[embodiment 2]
In embodiments of the present invention 2, on the basis of above-mentioned embodiment 1, during than the 1st during the long prespecified 2nd (long-term judge period Ts) elapsed time point logical welding current time, by after carrying out to welding wire that retrogressing is mobile and pulling open from mother metal, being switched to movement of advancing and carrying out usual starting the arc control.The formation of welder is identical with above-mentioned Fig. 6.Wherein the internal circuit of source of welding current PS is different, therefore carries out aftermentioned with Fig. 5.
Fig. 4 be represent the usual starting state that to be in mother metal in the front end of welding sart point in time welding wire and to be separated and when the front end of welding wire is attached with insulant, the sequential chart of striking control method involved by embodiments of the present invention 2.Fig. 4 (A) represents the time variations of welding commencing signal As, Fig. 4 (B) represents the time variations of feed speed Fw, Fig. 4 (C) represents the time variations of weldingvoltage Vw, Fig. 4 (D) represents the time variations of welding current Iw, Fig. 4 (E) represents the time variations of welding wire front end and mother metal spacing Lw, and Fig. 4 (F1) ~ (F4) represents the state in the electric arc generating unit in each moment.Fig. 4 is corresponding with above-mentioned Fig. 2, and the action to moment t4 is identical, the explanation during therefore omitting these.Below, with reference to Fig. 4, the action that moment t4 is later is described.
Fig. 4 becomes one-tenth contained in welding wire at the end of previous welding be divided into slag (insulant) and be attached to the situation of the state of the front end of welding wire.Though such state also depends on welding condition but often occurs.If be attached with insulant in the front end of welding wire, even if then the front end of welding wire contacts with mother metal, also welding current Iw can not be led to.Now, in order to mother metal conducting, need to remove and be attached to the insulant of the front end of welding wire, or make not to be that the part of the leading section accompanying by insulant contacts with mother metal.
(34) physical between the welding wire of moment t4 ~ t5 and mother metal period of contact
At moment t4, as shown in Fig. 4 (F2), although the front end of welding wire 1 is physically contacted with mother metal 2 by advance feeding, because being attached to the insulant of welding wire front end and not conducting.Therefore, as shown in Fig. 4 (C), weldingvoltage Vw keeps non-load voltage, as shown in Fig. 4 (D), and welding current Iw no power and keep 0A.In addition, as shown in Fig. 4 (B), feed speed Fw keeps feed speed Fi at a slow speed.Further, as shown in Fig. 4 (E), welding wire front end and mother metal spacing Lw become 0mm at moment t4, keep 0mm thereafter.
(35) during the retrogressing feeding of moment t5 ~ t6
The elapsed time of lighting from the time of the output starting advance feeding and the source of welding current at moment t2 reaches the moment t5 of prespecified long-term judgement period Ts, as shown in Fig. 4 (D), and logical welding current Iw.In response to this, as shown in Fig. 4 (B), owing to feed speed Fw to be switched to the retrogressing feed speed Fb of negative value, therefore start the retrogressing feeding of welding wire.But, due to the bending time delay caused for carrying out retreating feeding to the redundancy section of welding wire of welding torch, therefore, as shown in Fig. 4 (E), welding wire front end and mother metal spacing Lw keep 0mm in a bit of period from moment t5, elongated gradually thereafter.In this period, as shown in Fig. 4 (C), weldingvoltage Vw keeps non-load voltage, and as shown in Fig. 4 (D), welding current Iw keeps 0A.Time long during being set as by above-mentioned long-term judgement period Ts judging than above-mentioned energising is about 0.5 ~ 2.0 second.If feed speed Fi=1.2m/min will be set at a slow speed, then judge in period Ts welding wire feeding 10 ~ 40mm for a long time at this.Due in feeding when such distance, the front end of welding wire should physically contact with mother metal, even if therefore judging period Ts all also non-galvanization for a long time through this, can be judged to be it is the situation being attached with insulant in the front end of welding wire.Therefore, will can judge that period Ts is set as appropriate value for a long time according to power supply chip and mother metal spacing, at a slow speed feed speed Fi etc.
(36) during the feeding that readvances of moment t6 ~ t7
If arrive the 2nd prespecified timing period Td2 at moment t6 starting to retreat the elapsed time feeding from moment t5, then as shown in Fig. 4 (B), feed speed Fw is switched on the occasion of feed speed Fi at a slow speed, therefore, welding wire starts feeding of advancing again.At moment t6, as shown in Fig. 4 (F3), the front end of welding wire 1 and mother metal 2 are in a point state furthest away.Then, as shown in Fig. 4 (C), weldingvoltage Vw keeps non-load voltage value, and as shown in Fig. 4 (D), therefore welding current Iw no power keeps 0A.In addition, as shown in Fig. 4 (E), welding wire front end and mother metal spacing Lw shorten gradually along with advance feeding.The 2nd above-mentioned timing period Td2 is set, to make at the welding wire front end of the time point of moment t6 and mother metal spacing Lw as about 3 ~ 6mm.
(37) during the stable arc that moment t7 is later
At moment t7, if the front end of welding wire contacts with mother metal due to the feeding that readvances, then the part not being attached with the welding wire front end of insulant contacts with mother metal, after of short duration short circuit, produce electric arc.As shown in Fig. 4 (C), weldingvoltage Vw is after the short circuit voltage value dropping to several V from non-load voltage value rapidly, and the arc voltage value again towards tens of V rises rapidly.Meanwhile, as shown in Fig. 4 (D), start the energising of welding current Iw, the stable welding current value towards big current value increases.If be determined as the energising starting this welding current Iw, then as shown in Fig. 4 (B), feed speed Fw is switched on the occasion of stable feed speed Fc.As shown in Fig. 4 (E), if produce electric arc after of short duration short circuit, then welding wire front end and mother metal spacing Lw are elongated rapidly from 0mm, and converge on stable arc length at moment t8.As shown in Fig. 4 (F4), become the state creating stable arc 3b.As described above, the reason that the part not being attached with the welding wire front end of insulant contacts with mother metal is as follows.First, due to during moment t4 ~ t5, move under the state physically contacted with mother metal in the front end of welding wire feeding, and therefore welding wire front end becomes the state of pushing mother metal, thus welding wire front end becomes the state tilted a little.Then, at moment t7, because welding wire front end is bumped against with mother metal in an inclined state again, therefore the end of welding wire front end will contact with mother metal.Insulant is attached to welding wire front end a part and only stagger a little and contact position between mother metal just many with the situation of mother metal conducting.
Fig. 4 be under the state being attached with insulant in the front end of welding wire when weld start time welding wire front end and mother metal be in sequential chart when being separated.Under the state that the front end of welding wire is attached with insulant when weld start time the front end of welding wire and mother metal be in contact condition (contact start state) sequential chart as follows.In the diagram, at moment t2, the output of feeding and the source of welding current although start to advance, but the front end of welding wire physically contacts with mother metal via insulant, therefore as shown in Fig. 4 (C), weldingvoltage Vw becomes non-load voltage value, as shown in Fig. 4 (D), and obstructed welding current Iw.Then, as shown in Fig. 4 (E), welding wire front end and mother metal spacing Lw become 0mm from moment t1, to moment t5, keep 0mm.That is, be with the sequential chart difference of Fig. 4, be the value of the moment t1 ~ t4 of the welding wire front end shown in Fig. 4 (E) and mother metal spacing Lw, comprise other signals, in addition identical.Then, owing to have passed through the time point of energising judgement Tt in period and obstructed welding current Iw at moment t3, the usual starting the arc therefore will be selected to control.Thereafter, owing to have passed through the long-term time point also obstructed welding current Iw judging period Ts at moment t5, therefore the retrogressing feeding of welding wire and the feeding that readvances will be carried out.
Fig. 5 is the block diagram of the source of welding current PS of striking control method for implementing the sacrificial electrode arc welding involved by embodiments of the present invention 2.Fig. 5 is corresponding with above-mentioned Fig. 3, gives same-sign, and omit their explanation to same.In Fig. 5, the feed speed initialization circuit FR of Fig. 3 is replaced as the 2nd feed speed initialization circuit FR2 shown in dotted line.Below, with reference to Fig. 5, different blocks is described.
2nd feed speed initialization circuit FR2 controls to select signal Sc, energising judgment signal Cd, short circuit discrimination signal Sd, at a slow speed feed speed setting signal Fir, retreat feed speed setting signal Fbr and stable feed speed setting signal Fcr for input with initiating signal On, the starting the arc, carry out the action of following explanation, and export feed speed setting signal Fr.
1) when initiating signal On is high level and the starting the arc controls to select signal Sc=0, (during the moment t2 ~ t3 of Fig. 1, Fig. 2 and Fig. 4) will be exported as feed speed setting signal Fr by feed speed setting signal Fir at a slow speed.
2) at the time point changing to starting the arc control selection signal Sc=1 (retracting the starting the arc to control), feed speed setting signal Fbr will be retreated and export (the moment t3 of Fig. 1) as feed speed setting signal Fr, and be changed to low level time point at short circuit discrimination signal Sd and will stablize feed speed setting signal Fcr as feed speed setting signal Fr output (the moment t5 of Fig. 1).
3) at the time point being changed to starting the arc control selection signal Sc=2 (usual starting the arc control), continue the state (the moment t3 of Fig. 2 and Fig. 4) feed speed setting signal Fir at a slow speed exported as feed speed setting signal Fr, then, elapsed time the time point (the moment t2 of Fig. 2) being changing into high level from initiating signal On is energized judgment signal Cd when being changed to high level before arriving prespecified long-term judgement period Ts, will stablize feed speed setting signal Fcr and export (the moment t4 of Fig. 2) as feed speed setting signal Fr.
4) elapsed time the time point (the moment t2 of Fig. 4) being changing into high level from initiating signal On is energized judgment signal Cd when not being changed to high level before arriving prespecified long-term judgement period Ts, retrogressing feed speed setting signal Fbr during the 2nd prespecified timing period Td2 is exported (the moment t5 ~ t6 of Fig. 4) as feed speed setting signal Fr, thereafter, (the moment t6 of Fig. 4) will be exported as feed speed setting signal Fr by feed speed setting signal Fir at a slow speed.Then, if energising judgment signal Cd is changed to high level, then will stablizes feed speed setting signal Fcr and export (the moment t7 of Fig. 4) as feed speed setting signal Fr.
Same with embodiment 1, the retrogressing feeding of the moment t5 ~ t6 of Fig. 4 can be replaced and make welding torch retrogressing movement make welding wire retreat movement.In addition, the advance feeding of the moment t6 ~ t7 of Fig. 4 can be replaced and welding torch advance is mobile makes welding wire advance mobile by making.During these, feed speed Fw is set to feed speed Fi or 0 (stopping) at a slow speed.
According to the embodiment of the present invention 2, during than the 1st (judgement period Tt) long the 2nd during (long-term judge period Ts) elapsed time point logical welding current time, after being pulled open from mother metal by welding wire by retrogressing movement, movement of advancing is switched to carry out usual starting the arc control.Thus, for embodiment 2, on the basis of the effect of embodiment 1, even if when the front end of welding wire is attached with insulant, also the starting the arc can be carried out.In the prior art, if be attached with insulant in the front end of welding wire, then the starting the arc can failure.And, under these circumstances, after initiatively making robot get back to welding start position, must the starting the arc again be carried out.Consequently production efficiency declines.On the other hand, in embodiment 2, even if due to when the front end of welding wire is attached with insulant, the starting the arc can be guided to, therefore do not have the situation that production efficiency declines yet.
Claims (5)
1. a striking control method for sacrificial electrode arc welding, is characterized in that, possesses:
Retract starting the arc control, make welding wire advance mobile and once after touching mother metal, retreat to move by making welding wire and pulled open from mother metal by welding wire, after pulling open generation initial arc by this, shift to stable arc; With
The usual starting the arc controls, and makes described welding wire carry out described advances movement and to contact with mother metal or close, producing stable arc,
From welding commencing signal is input to the source of welding current thus time of described advance movement of described welding wire light the prespecified 1st during before lead to welding current time, retract the starting the arc described in carrying out to control, and during the logical welding current of elapsed time point during the described 1st, carry out the described usual starting the arc to control
Elapsed time point during than the described 1st during the long prespecified 2nd logical welding current time, by described retrogressings mobile described welding wire is pulled open from mother metal after, be switched to described advances and move, carry out described usual starting the arc control.
2. the striking control method of sacrificial electrode arc welding according to claim 1, is characterized in that,
The advance being carried out described welding wire by advance feeding is moved.
3. the striking control method of sacrificial electrode arc welding according to claim 1, is characterized in that,
Move by making the mobile advance carrying out described welding wire of welding torch advance.
4. the striking control method of the sacrificial electrode arc welding according to any one of claims 1 to 3, is characterized in that,
The retrogressing carrying out described welding wire by retreating feeding is moved.
5. the striking control method of the sacrificial electrode arc welding according to any one of claims 1 to 3, is characterized in that,
Retreat the mobile retrogressing carrying out described welding wire by making welding torch to move.
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| CN108202177B (en) * | 2016-12-19 | 2020-06-30 | 上海沪工焊接集团股份有限公司 | Arc starting control method and device for gas shielded welding |
| CN110935982A (en) * | 2019-12-05 | 2020-03-31 | 深圳市鸿栢科技实业有限公司 | Arc starting control device for robot welding and control method thereof |
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