JP2002361413A - Method for completing consumable two-electrode arc welding, method for controlling completion of welding, and welding robot - Google Patents

Abstract

PROBLEM TO BE SOLVED: To improve a method for completing arc welding in which two wires are fed in one torch for welding, in consumable electrode arc welding. SOLUTION: In the method for completing consumable two-electrode arc welding in which two wires are fed in one torch for welding, the feeding and energizing of a preceding wire 3 are stopped at a welding completion position P2; while the welding torch is moved by a first crater fill distance D1 at a speed slower than the regular welding speed in the welding direction, the first crater fill is performed by a succeeding wire 4; and then, with the movement of the welding torch stopped, a second crater fill is performed by the succeeding wire.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an improved method for terminating arc welding in which two consumable electrodes (hereinafter referred to as wires) are fed and welded within one torch in consumable electrode arc welding. .

[0002]

2. Description of the Related Art In the construction of various welded structures, work efficiency has been improved by performing thin plate high-speed welding or thick plate high-welding welding.
As shown in FIG. 1, a consumable electrode arc welding method of a two-electrode one-torch method in which two wires are fed from one torch is adopted. In the figure, power is supplied from a welding power source (not shown) between the preceding chip 1 and the following chip 2 and the work 8 to be welded, and the leading wire tip 3a fed from the preceding chip 1 and the following chip 2 respectively. And trailing wire tip 4
Arcs 5 and 6 are generated from a. The nozzle 10 surrounds the preceding chip 1 and the following chip 2 and supplies the shielding gas 11 to the inside of the nozzle 10.

In FIG. 2, the molten metal in a molten pool 7 formed by an arc 5 generated from a preceding wire 3 tends to flow backward due to surface tension. The molten metal whose force is about to flow backward is pushed back just below the arc 5 generated from the preceding wire 3 so that the amount of molten metal at each welding position is made uniform.

FIG. 3 is a view showing a general configuration of the above-described two-electrode one-torch welding robot. In the figure, a welding torch 14 having a leading tip 1 and a trailing tip 2 is attached to the tip of a manipulator 21, and a leading wire welding power supply device 23 for feeding the leading tip 1 and a trailing wire for feeding to the trailing tip 2. A welding power supply 24 supplies welding power between the preceding chip 1 and the following chip 2 and the workpiece 8, respectively. Lead wire feeder 25
And the following wire feeding device 26 feeds the wires to the preceding chip 1 and the following chip 2 respectively. The robot control device 27 controls the manipulator 21, the power supply device 23 for preceding wire welding, and the power supply device 24 for following wire welding.
When the welding direction is changed, the leading and trailing lines are switched, so that the leading chip 1, the leading wire 3, the leading wire feeding device 25, the leading wire welding power supply device 23, the trailing chip 2, the trailing wire 4, and the trailing wire The description of each reference numeral of the row wire feeding device 26 and the following wire welding power supply device 24 is replaced with the preceding and following description.

[Prior art 1] Conventionally proposed 2
A method of terminating welding using a welding robot of the one-electrode torch type (hereinafter referred to as Conventional Technique 1) will be described with reference to FIGS. In order to simplify the description, the leading wire 3
And the case where the following wire 4 is fed. FIG. 4 is a view for explaining a method of terminating the consumable electrode arc welding of the two-electrode one-torch method of the prior art 1, and FIG. It is a figure explaining an end method.

FIG. 4A shows a state in which a consumable electrode arc welding of a two-electrode, one-torch method is performed. In FIG.
0, the leading wire 3 and the trailing wire 4 protrude from the leading wire welding power supply 23 and the trailing wire welding power supply 24 shown in FIG. Electric power is supplied in between, and arcs 5 and 6 are generated from the leading wire tip 3a and the trailing wire tip 4a, respectively, to form a weld bead 9.

As shown in FIG. 4 (B), when the leading end 3a of the leading wire reaches the welding end position P2 which is the end of the welding bead formed by the leading wire 3, the robot controller shown in FIG. 27 determines that the leading wire tip 3a has reached the welding end position P2, and outputs a crater processing command signal to the leading wire welding power supply device 23 and the following wire welding power supply device 24.

Here, the crater process will be described. At the end of the weld bead, a so-called crater is formed in the molten pool immediately below the arc due to the arc force. Defects such as cracks and shrinkage holes are likely to occur in this crater. In order to prevent this, the operation of reducing or eliminating the crater is called crater processing. In general, a method of decreasing the welding current continuously or stepwise at the end of the welding bead or interrupting the welding current is used. In the present invention, the above-described conventional crater process is referred to as a second crater process.

Thereafter, when the crater process is completed,
The robot control device 27 shown in FIG. 3 inputs a welding end command signal to the leading wire welding power supply device 23 and the following wire welding power supply device 24, and terminates welding as shown in FIG. 4 (C). .

FIG. 5 is a view showing the appearance of the end portion of a weld bead by the method of terminating the consumable electrode arc welding of the two-electrode one-torch method of the prior art 1. As shown in the figure, since both the leading wire 3 and the following wire 4 perform crater processing, two crater processing traces 15 and 16 are generated. Therefore, not only the appearance of the weld bead becomes poor, but also a depression 15a is formed between the two crater processing marks, and the strength of the weld joint is reduced. In addition, when performing high-speed welding, since the molten pool before the crater treatment is solidified without being subjected to the crater treatment and solidifies to form a molten pool mark 13, defects such as cracks and shrinkage holes are likely to occur.

[Prior Art 2] Japanese Patent Application Laid-Open No. 2001-113373 entitled "Control Method for Tandem Arc Welding" (hereinafter referred to as Prior Art 2) has been proposed to solve the above-mentioned problems. FIG. 6 is a diagram showing an apparatus for performing tandem arc welding according to Prior Art 2. In the figure, a power supply device 44 for leading wire welding and a power supply device 45 for trailing wire welding supply electric power between the leading tip 41 and trailing tip 42 and the workpiece 43, respectively. Lead wire feeder 4
6 and the following wire feeder 47 supply the leading wire 48 and the trailing wire 49 to the leading chip 41 and the trailing chip 42, respectively, to generate the arc 50 and the arc 51. The weld pool 52 is formed by the arc 50 and the arc 51, and a weld bead 53 is formed behind the weld pool 52. The welding control device 54 controls the operation of the welding robot 55 and the power supply device 44 for preceding wire welding and the power supply device 4 for following wire welding.
5 is performed.

FIG. 7 is a time chart for explaining a control method at the end of welding according to the prior art 2, in which FIG. FIG. 7C shows the elapsed time t of the moving speed of the preceding chip 41 and the succeeding chip 42, and FIG. 9D shows the elapsed time of the following wire energizing current. FIG. 7E shows the lapse of time t of the voltage applied to the succeeding wire.

At time t1 shown in FIG. 7, when the leading tip 41 reaches the welding end position P2, the current flowing through the leading wire 48 is reduced from I1 to I2, as shown in FIG. As shown in FIG.
The applied voltage of 8 is reduced from E1 to E2. Thereafter, after the elapse of the waiting time Td1, the arc of the leading wire 48 is stopped to reduce the size of the molten pool.

At time t2 in FIG.
Reaches the welding end position P2, the movement of the leading tip 41 and the trailing tip 42 is stopped, as shown in FIG. Then, as shown in FIG.
Is decreased from I3 to I4, and as shown in FIG.
From E4 to E4. Thereafter, after the elapse of the waiting time Td2, the arc of the following wire 49 is stopped.

It is appropriate that the conduction currents I2 and I4 reduced before the arc is stopped are about half of the normal welding currents I1 and I2, respectively. Further, the applied voltages E2 and E4 reduced before the arc is stopped may be set to values suitable for the reduced currents I2 and I4, respectively.

As described above, the current flowing through the leading wire 48 and the trailing wire 49 at the end of welding and the voltage to be applied are reduced, and the welding is stopped after the waiting time. In addition, it is disclosed that a good weld end portion free of welding defects such as irregularities, pits and cracks can be obtained, but has the following problems.

[0017]

In the above-mentioned prior art 2, as shown in FIG. 7, after the current and voltage applied to the leading wire 48 are reduced, welding is performed only by the trailing wire 49. . The welding speed at this time is a speed at which high-speed welding is performed, as shown in FIG. Therefore, after reducing the current and voltage applied to the leading wire 48, the welding speed of the leading tip 41 and the trailing tip 42 is too fast to perform welding only by the arc of the trailing wire 49, so that the welding bead width is too small. In some cases, insufficient penetration may occur, or a humping bead may occur, and the weld bead near the welding end position cannot have a uniform and beautiful appearance. Also, the welding speed is 2 [m /
Min], the current flowing through the leading wire 48 and the following wire 4 are required to obtain a uniform weld bead.
9 is about 2: 1. Therefore, if the current supplied to the leading wire 48 is reduced and stopped while maintaining the high-speed welding speed, the leading wire 48 is stopped.
And the current ratio of current flowing to the following wire 49 is not an appropriate ratio, and in order to perform high-speed welding, the arc force of the following wire 49 becomes excessive, and this arc force blows away the molten pool and the weld bead becomes uneven. And welding defects occur.

[0018]

The invention as claimed in claim 1 at the time of filing is the same as that of the first embodiment shown in FIGS.
Is an invention in which the first and second crater processes are performed, and in a consumable two-electrode arc welding end method of feeding and welding two wires in one torch, a welding end position P2
Then, the feeding and energization of the leading wire 3 are stopped, and the succeeding wire 4 performs the first crater processing while moving the welding torch in the welding direction at a speed lower than the normal welding speed by the first crater processing distance D1. Then, the movement of the welding torch is stopped, and the subsequent wire performs the second crater process.

The invention described in claim 2 at the time of filing is a consumable two-electrode arc welding in which the first crater processing distance D1 according to claim 1 at the time of filing is "the distance between the wire tips having a standard protrusion length" L2. This is the end method.

According to a third aspect of the present invention, there is provided a consumable two-electrode for calculating the first crater processing distance D1 according to the first crater processing moving speed and the first crater processing moving time. This is the arc welding termination method.

The invention described in claim 4 at the time of filing is shown in FIG.
In the welding end position P2 of the second embodiment shown in FIG. 2, the feeding and energization of the leading wire 3 are stopped, and the succeeding wire 4 performs the first and second crater processes. In the consumable two-electrode arc welding end method of feeding and welding two wires, when the leading tip 1 reaches the welding end position P2, the feeding and energization of the leading wire 3 are stopped, and the welding torch is moved in the welding direction. The first wire is subjected to the first crater processing at the first crater processing current value and the first crater processing voltage value at the first crater processing speed lower than the normal welding speed while being moved to the next welding speed. Is the second
When the crater processing position P4 is reached, the welding torch is stopped, the second crater processing is started by the second crater processing current value and the second crater processing voltage value, and the measurement of a predetermined second crater processing time is started. Then, this is a consumable two-electrode arc welding termination method for terminating the second crater processing when the measurement of the second crater processing time has expired.

The invention described in claim 5 at the time of filing is an invention in which an anti-stick treatment and a welding release treatment are added to the invention described in claim 4 at the time of filing, and FIG. 10 and FIG. As shown in Fig. 7, the feed and supply of the leading wire 3 are stopped, and the succeeding wire 4 performs the first and second crater processes. In the consumable two-electrode arc welding end control method of feeding and welding, when the leading wire 3 reaches the welding end position P2, that is, when the following wire 4 reaches the first crater processing start position P3, the leading wire 3 And a "first crater processing start position welding torch moving step" (corresponding to step ST9) for instructing the end of welding to perform the first crater processing at the first crater processing speed lower than the normal welding speed of the succeeding wire. finger When a "first crater processing command step" (corresponding to step ST10) and a preceding wire welding end processing command are input, the anti-stick processing and welding release processing of the preceding wire 3 are performed, and the anti-stick processing and welding are performed. After the release processing is completed, the leading wire 3
When it is determined that there is no welding, a "preceding wire welding end processing step" (corresponding to step ST11) for processing the end of the preceding wire welding, and a first crater processing predetermined when the first crater processing is instructed. A "first crater processing step" (corresponding to step ST12) for outputting a current value and a first crater processing voltage value, and stopping the welding torch when the succeeding chip 2 reaches the second crater processing position P4. A “second crater processing start step” (corresponding to step ST13) in which the succeeding wire issues a command for performing the second crater processing, and a second crater processing is instructed when the following wire 4 is instructed to perform the second crater processing. The crater processing current value and the second crater processing voltage value are output, the measurement of the predetermined second crater processing time is started, and the measurement of the second crater processing time is completed. The second crater processing step (equivalent to step ST14) when the second crater processing time ends, and when the measurement of the second crater processing time has expired, the anti-stick processing and the welding release processing of the succeeding wire 4 are performed. After the anti-stick process and the welding release process are completed, when it is determined that there is no welding of the following wire 4, the following wire welding end process is completed (corresponding to step ST15). Consumption 2
This is an electrode arc welding end control method.

The invention according to claim 6 at the time of filing is the same as that of the second embodiment shown in FIGS. 10 and 12 (excluding the work program file output circuit 29 and the electrode parameters 31 in FIG. 12) and FIG. As shown in step ST11 and the subsequent wire welding end processing step ST15), the feeding and energization of the leading wire 3 embodying the invention of claim 5 at the time of filing are stopped, and the following wire 4 is stopped. Is a welding end control method for performing the first and second crater processes, wherein in the consumable two-electrode arc welding end control method in which two wires are fed and welded in one torch, the leading wire 3 is positioned at the welding end position. When it reaches P2, that is, when the following wire 4 reaches the first crater processing start position P3, the welding torch moving path calculation circuit 32 outputs the preceding wire welding end processing command signal S5. It outputs to the preceding wire welding condition output circuit 35, outputs the first crater processing command signal S6 to the following wire welding condition output circuit 36, and the welding torch moving path calculation circuit 32 outputs the first crater slower than the normal welding speed. A “first crater processing command signal output step” for outputting the processing speed to the servo control circuit 33 (step ST10);
When the first crater processing command signal S6 is input to the succeeding wire welding condition output circuit 36, the succeeding wire welding condition output circuit 36 sets the predetermined first crater processing current value and first crater processing voltage value at a later time. Power supply for row wire welding 24
"First crater processing step" (step S
T12) and the succeeding chip 2 moves to the second crater processing position P4
Is reached, the servo control circuit 33 stops the manipulator 21 and the welding torch movement path calculation circuit 32
The “second crater processing start step” (step ST13) for outputting the second crater processing command signal S8 to the subsequent wire welding condition output circuit 36, and the second crater processing command signal S8 is output to the subsequent wire welding condition output circuit 36. When input, the succeeding wire welding condition output circuit 36 outputs the second crater processing current value and the second crater processing voltage value to the following wire welding power supply device 24, and a predetermined second crater processing time. Measurement is started, and the second crater processing is terminated when the measurement of the second crater processing time is completed.
This is a consumable two-electrode arc welding end control method including a "crater processing step" (step ST14).

The invention described in claim 7 at the time of filing is an invention obtained by adding an anti-stick treatment and a welding release treatment to the invention described in claim 6 at the time of filing, and is shown in FIGS. 10 and 12 (FIG. 12). As shown in FIG. 15 and the work program file output circuit 29 and the electrode parameter 31), the feeding and energization of the leading wire 3 are stopped at the welding end position P2.
In the welding end control method according to the second embodiment, in which the succeeding wire 4 performs the first and second crater processes, the consumable two-electrode arc welding end control method in which two wires are fed and welded in one torch. When the preceding wire 3 reaches the welding end position P2, that is, when the succeeding wire 4 reaches the first crater processing start position P3, the welding torch moving path calculation circuit 32 outputs the preceding wire welding end processing command signal. S5 is output to the preceding wire welding condition output circuit 35, the first crater processing command signal S6 is output to the succeeding wire welding condition output circuit 36, and the welding torch moving path calculation circuit 32 determines that the first welding speed is lower than the normal welding speed. Servo control circuit 3
3 and a "first crater processing command signal output step" (step ST10) to be output to the third wire welding condition output circuit 35 when the preceding wire welding end processing command signal S5 is input from the welding torch movement path calculating circuit 32 After the anti-stick process and the welding release process are performed by the preceding wire welding power supply device 23 and the anti-stick process and the welding release process are completed, the preceding wire welding condition output circuit 35 is output.
When it is determined that there is no welding, a "preceding wire welding end processing step" (step ST11) for outputting a preceding wire welding end processing completion signal S7 to the welding torch movement path calculation circuit 32, and a succeeding wire welding condition output circuit 36th first
When the crater processing command signal S6 is input, the succeeding wire welding condition output circuit 36 outputs the predetermined first crater processing current value and first crater processing voltage value to the following wire welding power supply device 24. First crater processing step "(step ST12), and when the following chip 2 reaches the second crater processing position P4, the servo control circuit 33
Stops the manipulator 21, and the welding torch moving path calculation circuit 32 outputs the second crater processing command signal S8 to the succeeding wire welding condition output circuit 36 (“second crater processing start step”) (step ST13). The second crater processing command signal S is sent to the succeeding wire welding condition output circuit 36.
8 is input, the subsequent wire welding condition output circuit 3
6 outputs the second crater processing current value and the second crater processing voltage value to the succeeding wire welding power supply device 24, starts measurement of a predetermined second crater processing time, and measures the second crater processing time. "Second crater processing step" (step ST
14), when the succeeding wire welding condition output circuit 36 completes the measurement of the second crater processing time, the succeeding wire welding power supply device 24 performs anti-stick processing and welding release processing of the succeeding wire, and After the stick processing and the welding release processing are completed, when the succeeding wire welding condition output circuit 36 determines that there is no welding, the welding torch moving path calculation circuit 3
2 to output a succeeding wire welding end process completion signal S9 to the “posting wire welding end process step” (step ST1).
5) A consumable two-electrode arc welding end control method comprising:

The invention according to claim 8 at the time of filing is the same as the invention according to claim 6 at the time of filing, except that “a preceding wire and subsequent wire welding start completion signal output step” ST8 shown in FIG.
10 and FIG. 12, FIG. 14, and FIG. 15 (excluding the preceding wire welding end processing step ST11 and the succeeding wire welding end processing step ST15) of the second embodiment. This is a welding end control method in which the feeding and energization of the leading wire 3 are stopped, and the following wire 4 performs the first and second crater processes. The welding is performed by feeding two wires in one torch. Parameter output circuit 31 in the consumable two-electrode arc welding end control method
The standard protrusion length L of the leading wire 3 or the trailing wire 4
"Electrode parameter setting step" for setting electrode parameters including "1" and "the distance between the wire ends of the standard protrusion length" L2 of the leading wire 3 and the following wire 4 (Step S)
T1) “Work program file setting step” for setting a predetermined welding start parameter and a predetermined welding end parameter for each welding section of the workpiece 8 in the work program file output circuit 29 (step ST2).
Then, the welding robot system is started, and the electrode parameters set in the electrode parameter output circuit 31 and the normal welding at a predetermined welding start position in each welding section of the workpiece 8 set in the work program file output circuit 29 are performed. The speed is output to the welding torch movement path calculation circuit 32, and the welding current value and the welding voltage value of the leading wire 3 at the predetermined welding start position of each welding section of the workpiece 8 at the welding section are determined. The current is output to the output circuit 35, and the welding current value and the welding voltage value of the following wire 4 and the first crater processing current value and the first The crater processing voltage value, the second crater processing current value, and the second crater processing voltage value are output to the succeeding wire welding condition output circuit 36. Program file input step "(step ST3), the preceding wire welding start command signal S1 is inputted to the preceding wire welding condition output circuit 35, and the succeeding wire welding start command signal S2 is inputted to the succeeding wire welding condition output circuit 36. After that, the work program file output circuit 2
The first crater processing speed which is lower than the normal welding speed which is the moving speed of the welding torch during the first crater processing period from 9 and the first crater processing distance D1 which is the moving distance of the welding torch and the second crater processing time are input. Then, the “post-wire crater processing welding end position welding torch moving path calculation step” (step ST7) for calculating each joint angle of the manipulator 21 for moving the welding torch to the welding end position, and the following chip 2 When the first crater processing start position P3 is reached, the welding torch movement path calculation circuit 32 outputs the preceding wire welding end processing command signal S5 to the preceding wire welding condition output circuit 35, and outputs the first crater processing command signal S6. Output to the succeeding wire welding condition output circuit 36, and the welding torch movement path calculation circuit 32 outputs the first torque, which is lower than the normal welding speed. The servo control circuit data processing speed 3
3, a "first crater processing command signal output step" (step ST10) to be output to the following wire welding condition output circuit 36 when the first crater processing command signal S6 is input to the subsequent wire welding condition output circuit 36. 36 outputs the first crater processing current value and the first crater processing voltage value to the subsequent wire welding power supply device 24 (step ST12), and the following chip 2 moves to the second crater processing position. When it reaches P4, the servo control circuit 3
3 stops the manipulator 21, and the welding torch moving path calculation circuit 32 outputs the second crater processing command signal S8 to the succeeding wire welding condition output circuit 36 (“second crater processing start step”) (step ST13). When the second crater processing command signal S8 is input to the succeeding wire welding condition output circuit 36, the succeeding wire welding condition output circuit 36 outputs the second crater processing current value and the second crater processing voltage value to the following wire. A “second crater processing step” is output to the welding power supply device 24 to start measurement of a predetermined second crater processing time and to end the second crater processing when the measurement of the second crater processing time has expired. (Step S
T14).

According to the invention as set forth in claim 9 at the time of filing, the feeding and energizing of the leading wire 3 are stopped, and
10 and 1 of Embodiment 2 in which the second crater process is performed.
As shown in FIG. 2 (excluding the work program file output circuit 29 and the electrode parameters 31 in FIG. 12), in a welding robot that feeds and welds two wires within one torch, the welding robot moves from the welding start position to the welding end position. Each joint angle of the manipulator 21 for moving the welding torch is calculated (to a servo control circuit 33 to be described later), and the calculated value of each joint angle is output. When the welding torch reaches the welding start position, the leading wire A welding start command signal S1 is output (to a preceding wire welding condition output circuit 35 to be described later), and a subsequent wire welding start command signal S2 is output to a subsequent wire welding condition output circuit 36 to be described later. (To the servo control circuit 33 described later), and the following chip 2
When the crater processing start position P3 is reached, the preceding wire welding end processing command signal S5 is output (to the later-described preceding wire welding condition output circuit 35), and the first crater processing command signal S6 is output (to be described later later wire welding). Condition output circuit 36
), And outputs a first crater processing speed lower than the normal welding speed (to a servo control circuit 33 described later),
A welding torch movement path calculation circuit 32 that outputs a second crater processing command signal S8 (to a later-described wire welding condition output circuit 36 described later) when the following chip 2 reaches the second crater processing position P4; Torch moving path calculation circuit 3
Manipulator 2 for moving welding torch from 2
The calculated value of each joint angle of 1 is input to the manipulator 2
1 and the following chip 2 is in the second crater processing position P
4, the servo control circuit 33 for stopping the manipulator 21 and the preceding wire welding start command signal S1
Is input, a welding current value and a welding voltage value to be supplied to the leading wire 3 at the welding start position are output (to the leading wire welding power supply device 23 described later), and the arc 5 is generated at the leading wire tip 3a. When this occurs, the preceding wire welding start completion signal S3 is output to the welding torch movement path calculation circuit 32, and when the preceding wire welding end processing command signal S5 is input, the supply and energization of the preceding wire 3 are stopped. When a preceding wire welding condition output circuit 35 that outputs a command signal (to a later-described preceding wire welding power supply device 23) and a signal that instructs the supply of welding current to the preceding wire from the preceding wire welding condition output circuit 35 are input. When a preceding wire welding power supply device 23 for supplying a welding current to the preceding wire 3 and a succeeding wire welding start command signal S2 are input, the following wire at the welding start position is received. Welding current value supplied to the 4 and the welding voltage value and the (later line after the wire welding power supply 24
When the arc 6 is generated at the leading wire end 4a, the following wire welding start completion signal S4 is outputted to the welding torch movement path calculating circuit 32, and the first crater processing command signal S6 is inputted. At this time, the first crater processing current value and the first crater processing voltage value are output (to the power supply device 24 for subsequent wire welding described later), and when the second crater processing command signal S8 is input, the second crater processing command signal S8 is output. The processing current value and the second crater processing voltage value are output (to the later-described wire welding power supply device 24 described later), and the measurement of the predetermined second crater processing time is started, and the measurement of the second crater processing time is completed. At this time, a trailing wire welding condition output circuit 36 that outputs a command signal (to the trailing wire welding power supply 24 described later) to stop feeding and energizing the trailing wire 4.
And a trailing wire welding power supply device 24 that supplies a welding current to the trailing wire 4 when a signal instructing the trailing wire welding current to flow is input from the trailing wire welding condition output circuit 36. Is a welding robot.

The invention according to claim 10 at the time of filing is an invention obtained by adding an anti-stick treatment and a welding release treatment to the invention according to claim 9 at the time of filing. As shown in FIG. 12 (excluding the work program file output circuit 29 and the electrode parameters 31 in FIG. 12) of the second embodiment in which the subsequent wire 4 stops and performs the first and second crater processes within one torch. In the welding robot that feeds and welds two wires, each joint angle of the manipulator 21 for moving the welding torch from the welding start position to the welding end position is calculated (to the servo control circuit 33 described later). The calculated value of the joint angle is output, and when the welding torch reaches the welding start position, the preceding wire welding start command signal S1 is output (to the preceding wire welding condition output circuit 35 described later), and (Row wire welding condition output circuit 36 after that will be described later) and outputs a wire welding start command signal S2, the servo control circuit 33 to the normal welding speed (described later
), And when the following chip 2 reaches the first crater processing start position P3, the preceding wire welding end processing command signal S5 is output to the preceding wire welding condition output circuit 35 (to be described later).
), And outputs a first crater processing command signal S6 (to a later-described wire welding condition output circuit 36 described later), and outputs a first crater processing speed lower than a normal welding speed to a servo control circuit 33 described later. ) Output, and the following chip 2
When reaching the crater processing position P4, a welding torch movement path calculation circuit 32 that outputs a second crater processing command signal S8 (to a subsequent wire welding condition output circuit 36 described later).
And the calculated value of each joint angle of the manipulator 21 for moving the welding torch from the welding torch moving path calculation circuit 32, and controls the manipulator 21 so that the succeeding tip 2 reaches the second crater processing position P4. Sometimes, the servo control circuit 33 that stops the manipulator 21
When the preceding wire welding start command signal S1 is input, the welding current value and the welding voltage value to be supplied to the preceding wire 3 at the welding start position are output (to the later-described preceding wire welding power supply device 23). , Arc 5 at the leading wire tip 3a
Is generated, the preceding wire welding start completion signal S3 is output to the welding torch movement path calculation circuit 32, and when the preceding wire welding end processing command signal S5 is input, the anti-stick processing and welding release of the preceding wire 3 are performed. A signal for instructing the processing is supplied to the power supply unit 23 for the preceding wire welding described later.
), And when it is determined that there is no welding, a preceding wire welding condition output circuit 35 that outputs a preceding wire welding end processing completion signal S7 to the welding torch movement path calculation circuit 32, and a preceding wire welding condition output circuit 35 The welding current is supplied to the preceding wire 3 when a signal for instructing the supply of the welding current to the wire is input, and when the command signal for the anti-stick processing and the welding release processing of the preceding wire 3 is input, A welding current value and welding to be supplied to the following wire 4 at the welding start position when the preceding wire welding power supply device 23 that performs the anti-stick process and the welding release process and the following wire welding start command signal S2 is input. And output the voltage value (to a power supply device 24 for subsequent wire welding described later),
When the arc 6 is generated at the trailing wire tip 4a, the trailing wire welding start completion signal S4 is output to the welding torch movement path calculation circuit 32, and the first crater processing command signal S6 is output.
Is input, the first crater processing current value and the first crater processing voltage value are output (to a later-described wire welding power supply device 24 described later), and the second crater processing command signal S8 is input. The second crater processing current value and the second crater processing voltage value are output (to a later-described wire welding power supply unit 24 to be described later), measurement of a predetermined second crater processing time is started, and measurement of the second crater processing time is performed. Is completed, a command signal for performing anti-stick processing and welding release processing of the succeeding wire 4 is output (to the power supply device 24 for later-wire welding described later). A trailing wire welding condition output circuit 36 that outputs a trailing wire welding end processing completion signal S9 to the path calculation circuit 32, and the welding current of the trailing wire 4 is supplied from the trailing wire welding condition output circuit 36. When a command signal is input, a welding current is supplied to the following wire 4, and when a command signal for performing anti-stick processing and welding release processing of the following wire 4 is input, anti-stick processing of the following wire 4 is performed. And a power supply unit for subsequent wire welding 24 for performing a welding release process.

The invention described in claim 11 at the time of filing is an invention in which the work program file output circuit 29 and the electrode parameter output circuit 31 shown in FIG. 12 are added to the invention described in claim 9 at the time of filing. As shown in FIG. 12 of the second embodiment in which the feeding and energization of the leading wire 3 are stopped and the following wire 4 performs the first and second crater processes, two wires are fed in one torch. In a welding robot that performs welding by welding, a work program file output circuit 29 that stores predetermined welding start parameters and welding end parameters in each welding section of the workpiece 8 and a predetermined “preceding wire 3 or Standard overhang length of row wire 4 "
An electrode parameter output circuit 31 storing an electrode parameter consisting of L1 and a “standard distance between wire tip ends of the protruding length” L2, and a work program file output circuit 2
9, the manipulator 2 for moving the welding torch from the welding start position to the welding end position.
1 is calculated (the servo control circuit 3 described later).
3) output the calculated values of the joint angles, and when the welding torch reaches the welding start position, send the preceding wire welding start command signal S1 (the preceding wire welding condition output circuit 35 described later).
), Outputs a subsequent wire welding start command signal S2 (to a later-described wire welding condition output circuit 36 described later), outputs a normal welding speed (to a servo control circuit 33 described later), and outputs When 2 reaches the first crater processing start position P3, it outputs a preceding wire welding end processing command signal S5 (to the preceding wire welding condition output circuit 35 described later) and outputs the first crater processing command signal S6 (described later). The following tip 2 is output to the subsequent crater processing position P4), and the first crater processing speed lower than the normal welding speed is output (to the servo control circuit 33 described later). When it reaches the second crater processing command signal S8 (the following wire welding condition output circuit 36 described later)
The calculated values of the joint angles of the manipulator 21 for moving the welding torch from the welding torch movement path calculation circuit 32 to be output and the welding torch movement path calculation circuit 32 are input, and the manipulator 21 is controlled. When 2 reaches the second crater processing position P4, the servo control circuit 33 that stops the manipulator 21 and when the preceding wire welding start command signal S1 is input, supply to the preceding wire 3 at the welding start position. The welding current value and the welding voltage value (the power supply device
When the arc 5 is generated at the leading wire tip 3a, the leading wire welding start completion signal S3 is outputted to the welding torch movement path calculating circuit 32, and the leading wire welding end processing command signal S5 is inputted. And the leading wire 3
Wire welding condition output circuit 35 which outputs a command signal (to the later-described preceding wire welding power supply device 23) for stopping the supply and supply of current, and the supply of welding current of the preceding wire from the preceding wire welding condition output circuit 35. When a command signal is input, the preceding wire welding power supply device 23 that supplies a welding current to the preceding wire 3, and when the following wire welding start command signal S2 is input, the following wire at the welding start position is output. The welding current value and the welding voltage value to be supplied to the trailing wire welding power supply 24 are output (to a trailing wire welding power supply unit 24 described later), and when the arc 6 is generated at the leading wire tip 4a, the trailing wire welding start completion signal is output. S4 is a welding torch movement path calculation circuit 32
When the first crater processing command signal S6 is input, the first crater processing current value and the first crater processing voltage value are output to the power supply device 24 (described later).
), And when the second crater processing command signal S8 is input, the second crater processing current value and the second crater processing voltage value are output to the power supply device 24 (described later).
) To start measuring a predetermined second crater processing time, and when the measurement of the second crater processing time has expired, issue a command signal for stopping the feeding and energization of the following wire 4 (described later). The following wire welding condition output circuit 36 to be output to the following wire welding power supply device 24, and the subsequent wire welding condition output circuit 36 outputs a signal that instructs the following wire welding current to be supplied. This is a welding robot provided with a power supply device for subsequent wire welding 24 that supplies a welding current to the row wire 4.

The invention according to claim 12 at the time of filing is an invention in which an anti-stick treatment and a welding release treatment are added to the invention according to claim 11 at the time of filing. And the following wire 4 is connected to the first and second wires.
As shown in FIG.
In a welding robot that feeds and welds two wires in a torch, a work program file output circuit 29 storing predetermined welding start parameters and welding end parameters in each welding section of the workpiece 8 is provided. ,
An electrode parameter output circuit 31 storing electrode parameters including a predetermined "standard protrusion length of the leading wire 3 or the following wire 4" L1 and a "distance between the wire tips of the standard protrusion length"L2; An output signal of the file output circuit 29 is input, and each joint angle of the manipulator 21 for moving the welding torch from the welding start position to the welding end position is calculated (to a servo control circuit 33 described later). The calculated value is output, and when the welding torch reaches the welding start position, the preceding wire welding start command signal S1 is output (to the later-described preceding wire welding condition output circuit 35), and the succeeding wire welding start command signal S2 is output.
(To a later-described wire welding condition output circuit 36 to be described later) to output a normal welding speed (to a servo control circuit 33 to be described later).
), And when the following chip 2 reaches the first crater processing start position P3, the preceding wire welding end processing command signal S5 is output to the preceding wire welding condition output circuit 35 (to be described later).
), And outputs a first crater processing command signal S6 (to a later-described wire welding condition output circuit 36 described later), and outputs a first crater processing speed lower than a normal welding speed to a servo control circuit 33 described later. ) Output, and the following chip 2
When reaching the crater processing position P4, a welding torch movement path calculation circuit 32 that outputs a second crater processing command signal S8 (to a subsequent wire welding condition output circuit 36 described later).
And the calculated value of each joint angle of the manipulator 21 for moving the welding torch from the welding torch moving path calculation circuit 32, and controls the manipulator 21 so that the succeeding tip 2 reaches the second crater processing position P4. Sometimes, the servo control circuit 33 that stops the manipulator 21
When the preceding wire welding start command signal S1 is input, the welding current value and the welding voltage value to be supplied to the preceding wire 3 at the welding start position are output (to the later-described preceding wire welding power supply device 23). , Arc 5 at the leading wire tip 3a
Is generated, the preceding wire welding start completion signal S3 is output to the welding torch movement path calculation circuit 32, and when the preceding wire welding end processing command signal S5 is input, the anti-stick processing and welding release of the preceding wire 3 are performed. A signal for instructing the processing is supplied to the power supply unit 23 for the preceding wire welding described later.
), And when it is determined that there is no welding, a preceding wire welding condition output circuit 35 that outputs a preceding wire welding end processing completion signal S7 to the welding torch movement path calculation circuit 32, and a preceding wire welding condition output circuit 35 The welding current is supplied to the preceding wire 3 when a signal for instructing the supply of the welding current to the wire is input, and when the command signal for the anti-stick processing and the welding release processing of the preceding wire 3 is input, A welding current value and welding to be supplied to the following wire 4 at the welding start position when the preceding wire welding power supply device 23 that performs the anti-stick process and the welding release process and the following wire welding start command signal S2 is input. And output the voltage value (to a power supply device 24 for subsequent wire welding described later),
When the arc 6 is generated at the trailing wire tip 4a, the trailing wire welding start completion signal S4 is output to the welding torch movement path calculation circuit 32, and the first crater processing command signal S6 is output.
Is input, the first crater processing current value and the first
The crater processing voltage value is output (to the later-described wire welding power supply 24 described later), and the second crater processing command signal S8 is output.
When the is input, the second crater processing current value and the second crater processing voltage value are output (to the power supply device 24 for later-described wire welding described later), and measurement of a predetermined second crater processing time is started, When the measurement of the second crater processing time has expired, a command signal for performing the anti-stick processing and the welding release processing of the succeeding wire 4 is output (to the power supply device 24 for the succeeding wire welding described later) to determine that there is no welding. When you do
A trailing wire welding condition output circuit 36 that outputs a trailing wire welding end processing completion signal S9 to the welding torch movement path calculation circuit 32, and a command to supply a welding current to the trailing wire from the trailing wire welding condition output circuit 36. When a signal is input, a welding current is supplied to the following wire 4, and when a command signal for performing anti-stick processing and welding release processing of the following wire 4 is input, anti-stick processing and welding of the following wire 4 are performed. This is a welding robot including a power supply unit 24 for subsequent wire welding that performs a release process.

[0030]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS FIG. 1 is a diagram that best illustrates the features of the invention according to the present application. Since it is the same as FIG. 8 described later,
The description will be given later with reference to FIG. An embodiment of the present invention is a welding robot according to claim 12 at the time of filing, wherein the welding robot feeds and welds two wires in one torch, in each welding section of the workpiece 8. A work program file output circuit 29 storing a predetermined welding start parameter and a predetermined welding end parameter, and a predetermined "standard protrusion length of the preceding wire 3 or the following wire 4".
An electrode parameter output circuit 31 storing an electrode parameter consisting of L1 and a “standard distance between wire tip ends of the protruding length” L2, and a work program file output circuit 2
9, the manipulator 2 for moving the welding torch from the welding start position to the welding end position.
1 is calculated (the servo control circuit 3 described later).
3) output the calculated values of the joint angles, and when the welding torch reaches the welding start position, send the preceding wire welding start command signal S1 (the preceding wire welding condition output circuit 35 described later).
), Outputs a subsequent wire welding start command signal S2 (to a later-described wire welding condition output circuit 36 described later), outputs a normal welding speed (to a servo control circuit 33 described later), and outputs When 2 reaches the first crater processing start position P3, it outputs a preceding wire welding end processing command signal S5 (to the preceding wire welding condition output circuit 35 described later) and outputs the first crater processing command signal S6 (described later). The following tip 2 is output to the subsequent crater processing position P4), and the first crater processing speed lower than the normal welding speed is output (to the servo control circuit 33 described later). When it reaches the second crater processing command signal S8 (the following wire welding condition output circuit 36 described later)
The calculated values of the joint angles of the manipulator 21 for moving the welding torch from the welding torch movement path calculation circuit 32 to be output and the welding torch movement path calculation circuit 32 are input, and the manipulator 21 is controlled. When 2 reaches the second crater processing position P4, the servo control circuit 33 that stops the manipulator 21 and when the preceding wire welding start command signal S1 is input, supply to the preceding wire 3 at the welding start position. The welding current value and the welding voltage value (the power supply device
When the arc 5 is generated at the leading wire tip 3a, the leading wire welding start completion signal S3 is outputted to the welding torch movement path calculating circuit 32, and the leading wire welding end processing command signal S5 is inputted. And the leading wire 3
A signal for instructing the anti-stick processing and the welding release processing is output (to the power supply unit 23 for the preceding wire welding described later), and when it is determined that there is no welding, the welding torch movement path calculation circuit 32 completes the preceding wire welding end processing. A preceding wire welding condition output circuit 35 for outputting a signal S7, and when a signal for instructing to supply a welding current for the preceding wire is input from the preceding wire welding condition output circuit 35, the welding current is supplied to the preceding wire 3, When a command signal for the anti-stick process and the welding release process of the wire 3 is input, the power supply device 23 for the preceding wire welding that performs the anti-stick process and the welding release process of the preceding wire 3 and the following wire welding start command signal S2. When input, the welding current value and the welding voltage value to be supplied to the following wire 4 at the welding start position are set (the following wire welding voltage to be described later). Device 24) and outputs, when an arc 6 occurs in the trailing wire tip 4a, the trailing wire welding start completion signal S4 welding torch movement route calculation circuit 3
2 and when the first crater processing command signal S6 is input, the first crater processing current value and the first crater processing voltage value are output to the power supply device 24 (described later).
), And when the second crater processing command signal S8 is input, the second crater processing current value and the second crater processing voltage value are output to the power supply device 24 (described later).
), Starts measurement of a predetermined second crater processing time, and when the measurement of the second crater processing time expires, outputs a command signal for performing anti-stick processing and welding release processing of the succeeding wire 4 ( A subsequent wire welding condition output circuit that outputs a subsequent wire welding end processing completion signal S9 to the welding torch movement path calculation circuit 32 when it is determined that there is no welding. 36
When a signal instructing the energization of the welding current of the following wire is input from the following wire welding condition output circuit 36, the welding current is applied to the following wire 4, and the anti-stick processing and welding of the following wire 4 are performed. The welding robot is provided with a power supply device 24 for subsequent wire welding that performs anti-stick processing and welding release processing of the subsequent wire 4 when a command signal for performing release processing is input.

[0031]

Embodiment 1 Hereinafter, a method for terminating welding will be described in Embodiment 1, and a robot controller 27 will be described in Embodiment 2.
Will be described below. [Embodiment 1] FIG. 8 shows an embodiment in which the leading wire 3 and the trailing wire 4 are fed and the trailing wire 4 performs the first and second crater processes in the consumable two-electrode arc welding termination method of the present invention. FIG. FIG. 4A shows a state during the two-electrode one-torch type consumable electrode arc welding, and FIG.
The same functions shown in (A) are denoted by the same reference numerals, and description thereof will be omitted.

As shown in FIG. 8B, when the leading end 3a of the leading wire reaches the welding end position P2, as shown in FIG.
The robot controller 27 shown in FIG. 7 determines that the leading wire tip 3a has reached the welding end position P2, outputs a welding end command signal to the leading wire welding power supply 23, and outputs the following wire welding power supply 24. Outputs a first crater processing command signal. L2 shown in FIG. 8 (B) is a distance between the tip ends of the wires having the standard protrusion length, and can be used as a first crater processing distance D1 described later. Thereafter, as shown in FIG. 3C, the subsequent wire 4 performs the first crater processing while moving the welding torch in the welding direction by the first crater processing distance D1.

Here, the first crater process is a process in which the feeding and energization of the leading wire 3 are stopped, and only the succeeding wire 4 is energized to move the welding torch in the welding direction to perform the welding end process. is there. The welding current value, welding voltage value and welding speed during the first crater processing period can be set arbitrarily.
Welding until the welding torch reaches the welding end position (hereafter,
The welding is performed at a value lower than the welding current value, the welding voltage value, and the welding speed of “normal welding”.

FIG. 9 is a diagram for explaining a method of terminating welding following the procedure of FIG. 8 in the method of terminating welding of the first embodiment. FIG.
9A to 9C following FIG. 9C will be described. And the welding torch is the first crater processing distance D1,
For example, when the movement of the wire end distance L2 is completed, the welding torch stops, and the robot control device 27 shown in FIG.
The second crater processing command signal is output to the following wire welding power supply device 24, and as shown in FIG.
Performs a second crater process. Here, the second crater process is to process the crater in a state where the following wire stops the welding torch, and the welding current value and the welding voltage value can be arbitrarily set. This corresponds to the crater process described in the related art 1.

When the succeeding wire 4 completes the second crater process, the robot controller 27 shown in FIG.
However, a welding end command signal is output to the succeeding wire welding power supply device 24, and the welding is ended as shown in FIG. 9 (B).

As described above, in the first embodiment, only the succeeding wire 4 performs the crater processing described in the prior art 1 in the second crater processing, and therefore, as shown in FIG. Only one occurs. Further, since the moving speed of the welding torch during the first crater process shown in FIG. 8 (C) is reduced from the speed of normal welding, the molten metal generated while moving the following wire 4 is generated by the arc force. Pushed backward, the molten metal can fill the molten pool depressed by the arc force of the following wire 4, so that the weld pool mark 13 shown in FIG. 5 does not occur and the appearance of the weld bead is good. It is.

In the above embodiment, the first crater processing distance D1 is defined as "the distance between the wire tips having the standard protrusion length" L2
It can be. Also, the first crater processing distance D1
Can be calculated from the first crater processing moving speed and the first crater processing moving time. Further, the first crater processing distance D1 is set to “the distance between the wire tips of the standard protrusion length”.
It can be calculated as a percentage of L2.

[Description of FIG. 10] FIG. 10 shows a welding start position P1 when the trailing wire 4 of the present invention performs crater processing.
It is a figure for explaining the moving distance of the welding torch from the 1st crater processing start position and the 2nd crater processing position. In the figure for explaining the moving distance of the welding torch when the trailing wire 4 performs the crater process in FIG. , A total welding torch moving distance L3 which is a distance from the welding bead formed by the preceding wire 3 to the “welding end position” P2, is calculated. The distance L2 between the tip ends is subtracted, and the welding torch moving distance L4 = L3-L2 for normal welding, which is the distance from the welding start position to the first crater processing start position P3, is calculated. Then, the welding torch is moved at a normal welding speed when the position of the trailing tip 2 is from the welding start position P1 to the first crater processing start position P3. Next, the position of the following chip 2 is the first
First crater processing distance D from crater processing start position P3
The welding torch is moved at the first crater processing speed up to the second crater processing position P4 which is a position moved by one. As shown in the figure, when the leading wire 3 reaches the “welding end position” P2, at the same time, the following wire 4
Has reached the first crater processing start position P3.

As shown in FIG. 10, the method for terminating welding in Embodiment 1 is a method for terminating welding in which feed and energization of the leading wire 3 are stopped and the succeeding wire 4 performs the first and second crater processes. When the leading tip 1 reaches the welding end position P2, the feeding and the supply of the leading wire 3 are stopped, and the first crater processing current value is set at the first crater processing speed while moving the welding torch in the welding direction. And the following wire 4 performs the first crater processing at the first crater processing voltage value, and then stops the welding torch when the following wire 4 reaches the second crater processing position P4, Based on the current value and the second crater processing voltage value, the second crater processing is started and the measurement of the second crater processing time is started, and when the measurement of the predetermined second crater processing time is completed, the second clay is processed. A consumable second electrode arc welding termination method to end the process.

Next, a description will be given of a welding end control method and a welding robot according to a second embodiment of the present invention. [Embodiment 2] Embodiment 2 is described with reference to FIGS.
As shown in (2), while the feeding and energization of the leading wire 3 are stopped at the welding end position P2, the following wire 4 performs the first crater process while moving the welding torch in the welding direction,
Next, a welding end control method and a welding robot for performing a second crater process by substantially stopping a welding torch.

[Explanation of FIG. 11] FIG. 11 shows that when the welding line WL used in the second embodiment is the X axis and the center axis of the nozzle 10 is the Y axis, the leading tip 1 FIG. 4 is a diagram illustrating a positional relationship between a leading wire tip 3a and a trailing wire tip 4a when the trailing tip 2 is arranged at an angle. FIG. 11 in which the leading chip 1 and the trailing chip 2 are arranged at an angle with respect to the Y axis of the central axis of the nozzle 10.
Is the angle at which the central axis of the preceding chip 1 is inclined with respect to the center Y axis of the nozzle by the advance angle α.
The trailing tip angle β is an angle in which the central axis of the trailing tip 2 is inclined with respect to the center Y axis of the nozzle by the receding angle β, and the “standard protrusion length of the leading wire 3 or the trailing wire 4” L1 (for example, 20 [ mm]) is the tip position (tool center position) of the leading wire 3 or the trailing wire 4 when the leading wire 3 or the trailing wire 4 projects from the tip of the leading tip 1 or the trailing wire 2 by a predetermined length. The distance between the wire ends of the standard protruding length L2 is the distance between the preceding wire and the following wire when the protruding length of the preceding wire 3 or the following wire 4 is the standard protruding length L1. These are the distances between the tip ends of the wires, which are predetermined set values.

[Explanation of FIG. 12] FIG. 12 is a block diagram of a robot controller 27 when the welding end method or the welding end control method of the present invention is applied to the welding robot shown in FIG. 12, the work program file output circuit 29 stores predetermined welding start parameters and welding end parameters in each welding section of the workpiece 8. Here, the “welding start parameter” is a welding current value and a welding voltage value of the leading wire 3 and the following wire 4 at the welding start position of each welding section, and a normal welding speed. The “welding end parameter” is a condition of the first and second crater processes performed by the following wire 4, and includes a first crater process current value, a first crater process voltage value, and a first crater process period. , The moving speed of the welding torch in the welding direction, the moving distance of the welding torch (D1 shown in FIG. 10), the second crater processing current value, the second crater processing voltage value, and the second crater processing time.

The first crater processing distance D1
Is, for example, "distance between wire ends of standard overhang length"
It may be set to L2. Alternatively, the moving time of the welding torch during the first crater processing period of the following wire and the preceding wire may be set. In this case, (first crater processing distance)
D1 = (moving speed of welding torch during first crater processing period) × (moving time of welding torch during first crater processing period). Alternatively, the distance may be specified as a percentage of “the distance between the wire ends of the standard protrusion length” L2 and set as (first crater processing distance) D1 / L2 [%].

According to the experiments by the inventors, the speed is reduced when the welding speed is shifted from the normal welding speed to the first crater processing speed.
Even if the molten pool is depressed to such an extent that the molten metal is formed, the molten metal of the succeeding wire can sufficiently fill the depressed molten pool. Further, since the first crater processing speed is set to a low speed, the molten metal of the preceding wire 3 and the molten metal of the following wire 4 are sufficiently fused without moving the succeeding tip 2 to the welding end position. Therefore, as shown in FIG.
The first crater processing distance D1 may be shorter than the “distance between the wire tips of the standard protrusion length” L2.

The electrode parameter output circuit 31 shown in FIG.
In FIG. 11, the leading end position of the leading wire 3 or the trailing wire 4 when the leading wire 3 or the trailing wire 4 projects from the leading end of the leading tip 1 or the trailing tip 2 shown in FIG. "Standard protrusion length of leading wire 3 or trailing wire 4" which is the length up to (tool center position) L
1 (for example, 20 [mm]) and the distance between the leading ends of the leading wire 3 and the trailing wire 4 when the trailing length of the leading wire 3 or the trailing wire 4 is the standard trailing length L1. An electrode parameter consisting of "distance between wire tips" L2 is stored. 12, the work program file output circuit 29 stores predetermined welding start parameters and welding end parameters in each welding section of the workpiece 8. Here, the “welding start parameter” is a welding current value and a welding voltage value of the leading wire 3 and the following wire 4 at the welding start position of each welding section, and a normal welding speed.

The welding torch moving path calculation circuit 32
The output signal of the work program file output circuit 29 is input to the controller, and calculates each joint angle of the manipulator 21 for moving the welding torch from the welding start position to the welding end position. The calculated value of the joint angle is output.

The servo control circuit 33 receives the calculated values of the joint angles of the manipulator 21 for moving the welding torch from the welding torch moving path calculation circuit 32 and controls the manipulator 21.

The preceding wire welding condition output circuit 35 outputs a preceding wire welding start command to instruct the leading wire 1 to reach a predetermined welding start position and to apply a welding current to the preceding wire 3 from the welding torch moving path calculation circuit 32. When the signal S1 is input, the work program file output circuit 2
9 outputs a signal instructing to supply a welding current of a welding current value of the preceding wire 3 output by the leading wire 3. The power supply device for leading wire welding 23 supplies a welding current to the leading wire 3 when a signal for instructing to supply a welding current to the leading wire is input from the leading wire welding condition output circuit 35.

The succeeding wire welding condition output circuit 36 instructs the succeeding tip 2 to reach a predetermined welding start position and instructs the succeeding wire 4 to supply a welding current to the succeeding wire 4 from the welding torch movement path calculating circuit 32. When the wire welding start command signal S2 is input, the work program file output circuit 2
9 outputs a signal instructing the energization of the welding current of the welding current value of the succeeding wire 4 output by the wire 9. The power supply device 24 for following wire welding supplies a welding current to the following wire 4 when a signal instructing to supply a welding current to the following wire is input from the following wire welding condition output circuit 36.

Next, the operation of the robot controller 27 according to the second embodiment will be described with reference to the time charts of signals in FIG.
This will be described with reference to the flowchart shown in FIG. [Explanation of FIG. 13] FIG. 13 is a diagram showing signals output by the welding torch moving path calculation circuit 32 of the robot controller 27 of the second embodiment and the moving speeds of the preceding chip 1 and the following chip 2. 13, FIG. 13A shows the elapsed time t of the preceding wire welding start command signal S1, and FIG. 13B shows the elapsed time t of the preceding wire welding end processing command signal S5. (C) shows the elapsed time t of the moving speed of the leading chip 1 and the following chip 2; FIG. (D) shows the elapsed time t of the following wire welding start command signal S2; The elapsed time t of one crater processing command signal S6 is shown,
FIG. 9F shows the elapsed time t of the second crater processing command signal S8. Here, for simplicity,
The path between the welding start position and the welding end position in each welding section is 1
It is assumed that the book is taught by a straight line.

[Explanation of FIGS. 14 and 15] FIGS. 14 and 15 are flowcharts showing the operation of the robot control device 27 of the third embodiment. Step ST1 shown in FIG.
In the “electrode parameter setting step”, the standard protrusion length L1 of the leading wire 3 or the trailing wire 4 and the leading wire 3 and the trailing wire 4
The electrode parameters are set including the “distance between the wire tips of the standard protrusion length” L2.

In step ST2 "work program file setting step", predetermined welding start parameters and welding end parameters in each welding section of the workpiece 8 are set in the work program file output circuit 29.

At step ST3 “input step of electrode parameter and work program file” shown in FIG. 14 and at time t1 shown in FIG. The normal welding speed at a predetermined welding start position in each welding section of the workpiece 8 set in the output circuit 29 is output to the welding torch movement path calculation circuit 32. Further, the welding current value and the welding voltage value of the preceding wire 3 at the welding start position of each predetermined welding section of each welding section of the workpiece 8 are output to the preceding wire welding condition output circuit 35, and the welding object 8 is output. The welding current value and welding voltage value, the first crater processing voltage value, the first crater processing voltage value, and the second crater processing current value of the succeeding wire 4 at a predetermined welding start position of each welding section in each welding section. And the second crater processing voltage value to the subsequent wire welding condition output circuit 36.

In step ST4 "calculation of welding start position welding torch moving path, output step" shown in FIG.
The welding torch movement path calculation circuit 32 calculates each joint angle of the manipulator 21 for moving the welding torch to the welding start position, and outputs the calculated value of each joint angle to the servo control circuit 33.

Step ST5 "leading wire and trailing wire welding start signal output step" shown in FIG. 14 and FIG.
When the welding torch moves to the welding start position at time t2 shown in FIG. 4 and reaches the calculated value of the joint angle at the welding start position described in step ST4, the welding torch movement path calculation circuit 32 starts the preceding wire welding. The command signal S1 is output to the preceding wire welding condition output circuit 35, and the following wire welding start command signal S2 is output to the following wire welding condition output circuit 36.

In step ST6 "start of energizing the leading wire and the following wire" shown in FIG. 14, the preceding wire welding start command signal S1 is inputted to the preceding wire welding condition output circuit 35, and the following wire welding start command signal S2 is inputted. When input to the succeeding wire welding condition output circuit 36, the preceding wire welding condition output circuit 35 and the following wire welding condition output circuit 36 are respectively applied to the leading wire 3 and the following wire 4 at the welding start position. The supplied welding current value and welding voltage value are output to the leading wire welding power supply device 23 and the trailing wire welding power supply device 24, and the leading wire 3 and the trailing wire 4 are energized, respectively.

In step ST7 "step of calculating the trailing wire crater process welding end position welding torch movement path" shown in FIG. 14, the leading wire welding start command signal S1 is input to the leading wire welding condition output circuit 35, and the trailing wire welding is performed. The start command signal S2 is output from the following wire welding condition output circuit 3
6, the welding torch movement path calculation circuit 32
From the work program file output circuit 29, the first crater processing speed which is the moving speed of the welding torch during the first crater processing period, the first crater processing distance D1 (shown in FIG. 10) which is the moving distance of the welding torch, and the second The crater processing time is input, and each joint angle of the manipulator 21 for moving the welding torch to the welding end position is calculated.

In step ST8 "outputting signal of start of preceding wire and subsequent wire welding completion signal", when arc 5 and arc 6 are generated at leading wire tip 3a and trailing wire tip 4a, respectively, preceding wire welding condition output circuit. 35 and the following wire welding condition output circuit 36 output the preceding wire welding start completion signal S3 and the following wire welding start completion signal S4 to the welding torch movement path calculation circuit 32, respectively.

In step ST9 “first crater processing start position welding torch moving step” shown in FIG. Then, the servo control of the joint angles of the manipulator 21 for moving the welding torch to the first crater processing start position P3 shown in FIG. 10 calculated by the welding torch movement path calculation circuit 32 in step ST7 shown in FIG. 14 is performed. Output to the circuit 33. As a result, the manipulator 21
Starts linear motion at the preset normal welding speed,
Perform normal welding.

At step ST10 “first crater processing command signal output step” shown in FIG. 15 and at time t3 shown in FIG. 13, the welding torch moves to the first crater processing start position P3 shown in FIG. Step S shown
When the calculated value of the joint angle at the first crater processing start position P3 calculated at T7 is reached, the welding torch movement path calculation circuit 32 outputs the preceding wire welding end processing command signal S5 to the preceding wire welding condition output circuit 35. Then, the first crater processing command signal S6 is output to the succeeding wire welding condition output circuit 36. In addition, the welding torch movement path calculation circuit 32 outputs the first crater processing speed to the servo control circuit 33.

At step ST11 "step of finishing preceding wire welding" shown in FIG. 15 and at time t3 shown in FIG. 13, the preceding wire welding condition output circuit 35 receives the preceding wire welding completion processing command signal S5 from the welding torch movement path calculating circuit 32. Is input, the preceding wire welding power supply device 23 performs an anti-stick process and a welding release process.
After the anti-stick process and the welding release process are completed, when the preceding wire welding condition output circuit 35 determines that there is no welding, the preceding wire welding completion process completion signal S7 is output to the welding torch movement path calculation circuit 32. . Here, the anti-stick processing means that the motor feeds the wire by the inertial force even after the stop signal is input to the wire feeding device. Therefore, when the wire plunges into the molten pool and the molten pool cools, the tip of the wire adheres (sticks) to the deposited metal. In order to prevent this stick, after a stop signal is input to the wire feeder, a current smaller than the welding current value is applied to continue the melting of the wire and prevent the wire from plunging into the molten pool. It is. In the welding release process, after the current supply to the wire is terminated, it is detected whether or not the tip of the wire is welded to the workpiece by, for example, a short-circuit detection circuit or a welding current relay. Then, when welding is detected, a no-load voltage is applied between the tip of the wire and the work to be energized, and the wire is burned up to release the welding.

In step ST12 “first crater processing step” shown in FIG. 15, when the first crater processing command signal S6 is input to the subsequent wire welding condition output circuit 36, the subsequent wire welding condition output circuit 36 The first crater processing current value and the first crater processing voltage value are output to the succeeding wire welding power supply device 24.

At step ST13 “second crater processing start step” shown in FIG. 15 and at time t4 shown in FIG. 13, the following chip 2 moves to the second crater processing position P4 shown in FIG. When the calculated value of the joint angle at the second crater processing position P4 calculated in step ST7 is reached, the servo control circuit 33 sets the manipulator 21
Is stopped, and the welding torch moving path calculation circuit 32
The crater processing command signal S8 is output to the succeeding wire welding condition output circuit 36.

In step ST14 “second crater processing step” shown in FIG. 15, when the second crater processing command signal S8 is input to the subsequent wire welding condition output circuit 36, But the second
The crater processing current value and the second crater processing voltage value are output to the succeeding wire welding power supply device 24, and measurement of the second crater processing time is started.

At step ST15 “step of finishing the subsequent wire welding” shown in FIG. 15 and at time t5 shown in FIG. The row wire welding power supply 24 performs an anti-stick process and a welding release process on the following wire. After the end of the anti-stick processing and the welding release processing, the subsequent wire welding condition output circuit 36
However, when it is determined that there is no welding, a succeeding wire welding end processing completion signal S9 is output to the welding torch moving path calculation circuit 32.

In step ST16 "next welding section welding step" shown in FIG. Step ST4 shown in FIG. 14 to step S shown in FIG.
The welding of the next welding section is performed by repeating T15, and when the welding of all the welding sections set in the work program file output circuit 29 is completed, the activation of the welding robot is stopped.

The welding end control method of the second embodiment described above is summarized as follows. The electrode parameters including the standard protruding length L1 of the leading wire 3 or the following wire 4 and the “distance between the wire tips of the standard protruding length” L2 of the leading wire 3 and the following wire 4 are set in the electrode parameter output circuit 31. "Electrode parameter setting step" (step ST1) and work program file output circuit 2
9 is a “work program file setting step” for setting predetermined welding start parameters and welding end parameters in each welding section of the workpiece 8 (step S
T2), start the welding robot system, and set the electrode parameters set in the electrode parameter output circuit 31 and the work piece 8 set in the work program file output circuit 29.
The normal welding speed at the predetermined welding start position in each welding section is output to the welding torch movement path calculation circuit 32, and the workpiece 8 at each predetermined welding start position in each welding section of each welding section is welded. The welding current value and welding voltage value of the leading wire 3 are output to the leading wire welding condition output circuit 35, and the succeeding wire 4 is welded at a predetermined welding start position of each welding section of the workpiece 8 in the welding section. The current wire value and welding voltage value, the first crater processed current value, the first crater processed voltage value, the second crater processed current value, and the second crater processed voltage value are converted into the following wire welding condition output circuit 36.
And the welding torch movement path calculation circuit 32 calculates each joint angle of the manipulator 21 for moving the welding torch to the welding start position. “Calculation of welding start position welding torch moving path calculation, output step” (step ST4) for outputting the calculated value of each joint angle to the servo control circuit 33, and calculation of the welding torch movement path when the welding torch reaches the welding start position. Circuit 32
Outputs the leading wire welding start command signal S1 to the leading wire welding condition output circuit 35 and outputs the trailing wire welding start command signal S2 to the trailing wire welding condition output circuit 36. "Completion signal output step" (step ST5), the preceding wire welding start command signal S1 is inputted to the preceding wire welding condition output circuit 35, and the succeeding wire welding start command signal S2 is inputted to the succeeding wire welding condition output circuit 36. The leading wire welding condition output circuit 35 and the following wire welding condition output circuit 36
The welding current value and the welding voltage value respectively supplied to the leading wire 3 and the trailing wire 4 at the welding start position are compared with the leading wire welding power supply device 23 and the trailing wire welding power supply device 2.
4 to energize the leading wire 3 and the following wire 4 respectively, and the welding torch moving path calculation circuit 32 outputs the normal welding speed to the servo control circuit 33. (Step ST6)
After the preceding wire welding start command signal S1 is inputted to the preceding wire welding condition output circuit 35 and the succeeding wire welding start command signal S2 is inputted to the following wire welding condition output circuit 36, the welding torch moving path calculating circuit A first crater processing speed 32, which is a moving speed of the welding torch during the first crater processing period, a first crater processing distance D1, which is a moving distance of the welding torch, and a second crater processing time 32, from the work program file output circuit 29. Is input to calculate a joint angle of the manipulator 21 for moving the welding torch to the welding end position (a welding end position welding torch movement path calculating step) (step ST7), a leading wire tip 3a and a following wire. When the arc 5 and the arc 6 are generated at the tip 4a, respectively, the preceding wire welding condition output circuit 35 and the rear The “leading wire and trailing wire welding start completion signal output step” in which the wire welding condition output circuit 36 outputs the leading wire welding start completion signal S3 and the trailing wire welding start completion signal S4 to the welding torch movement path calculation circuit 32, respectively. Step ST8), when the preceding wire welding start completion signal S3 and the following wire welding start completion signal S4 are input to the welding torch movement path calculation circuit 32, the welding torch movement path calculation circuit 32 starts the first crater process. The servo control circuit 33 determines the joint angles of the manipulator 21 for moving the welding torch to the position P3.
The first torch moving position calculating step 32 outputs the "first crater processing start position welding torch moving step" (step ST9) and outputs the first to crater processing start position P3 when the welding torch reaches the first crater processing start position P3. The processing command signal S5 is output to the preceding wire welding condition output circuit 35, the first crater processing command signal S6 is output to the following wire welding condition output circuit 36, and the welding torch movement path calculation circuit 32
A first crater processing command signal output step (step ST10) for outputting the first crater processing speed to the servo control circuit 33, and a leading wire welding from the welding torch moving path calculation circuit 32 to the leading wire welding condition output circuit 35. When the termination processing command signal S5 is input, the preceding wire welding power supply device 23 performs the anti-stick processing and the welding release processing, and after the anti-stick processing and the welding release processing is completed, the preceding wire welding condition output circuit 35 When it is determined that there is no welding, a "preceding wire welding end processing step" for outputting a preceding wire welding end processing completion signal S7 to the welding torch movement path calculation circuit 32 (step ST11).
When the first crater processing command signal S6 is input to the succeeding wire welding condition output circuit 36, the succeeding wire welding condition output circuit 36 follows the first crater processing current value and the first crater processing voltage value. “First crater processing step” output to the wire welding power supply device 24 (step ST1)
2) and when the following chip 2 reaches the second crater processing position P4, the servo control circuit 33
Is stopped, and the welding torch moving path calculation circuit 32
"Second crater processing start step" for outputting crater processing command signal S8 to succeeding wire welding condition output circuit 36
(Step ST13), when the second crater processing command signal S8 is input to the subsequent wire welding condition output circuit 36, the subsequent wire welding condition output circuit 36 outputs the second crater processing current value and the second crater processing voltage. The value is output to the power supply device 24 for subsequent wire welding, and the measurement of the second crater processing time is started.
T14) and when the succeeding wire welding condition output circuit 36 has completed the measurement of the second crater processing time, the succeeding wire welding power supply device 24 performs anti-stick processing and welding release processing of the succeeding wire, and After completion of the sticking process and the welding release process, when the succeeding wire welding condition output circuit 36 determines that there is no welding, the following wire welding end process completion signal S9 is output to the welding torch movement path calculation circuit 32. Wire Welding End Processing Step ”(Step ST1
5) A consumable two-electrode arc welding end control method comprising:

Embodiment 2 to which the above-mentioned welding end control method is applied
The following summarizes the welding robot. The welding robot according to the second embodiment includes a work program file output circuit 29 that stores a predetermined welding start parameter and a predetermined welding end parameter in each welding section of the workpiece 8, and a predetermined “preceding wire 3 or rear”. An output signal of the electrode parameter output circuit 31 storing the electrode parameters including the standard protrusion length of the row wire 4 "L1" and "the distance between the wire ends of the standard protrusion length" L2, and an output signal of the work program file output circuit 29 are input. Then, each joint angle of the manipulator 21 for moving the welding torch from the welding start position to the welding end position is calculated (to a servo control circuit 33 described later), and the calculated value of each joint angle is output. When the welding torch arrives, the preceding wire welding start command signal S1 is output to the preceding wire welding condition output circuit 35, and Ear welding start command signal S2
Is output to the succeeding wire welding condition output circuit 36, and the normal welding speed is output to the (servo control circuit 33 described later).
When the welding torch reaches the first crater processing start position P3, it outputs the preceding wire welding end processing command signal S5 (to the later-described preceding wire welding condition output circuit 35) and outputs the first crater processing command signal S6 (to be described later). To the subsequent wire welding condition output circuit 36, and outputs the first crater processing speed to the servo control circuit 33 described later. When the following chip 2 reaches the second crater processing position P4, 2
A welding torch movement path calculation circuit 32 that outputs a crater processing command signal S8 (to a later-described wire welding condition output circuit 36 described later), and each joint of the manipulator 21 for moving the welding torch from the welding torch movement path calculation circuit 32 The calculated value of the angle is input to control the manipulator 21, and when the following chip 2 reaches the second crater processing position P4, the servo control circuit 33 that stops the manipulator 21 and the preceding wire welding start command signal S1 are When input, a welding current value and a welding voltage value to be supplied to the preceding wire 3 at the welding start position are output (to a later-described preceding wire welding power supply device 23), and an arc 5 is generated at the leading wire tip 3a. Then, the preceding wire welding start completion signal S3 is output to the welding torch movement path calculation circuit 32, and the preceding wire welding end processing command signal is output. When S5 is input, a signal for instructing the anti-stick process and the welding release process of the preceding wire 3 is output (to the power supply device 23 for preceding wire welding described later), and when it is determined that there is no welding, the welding torch is moved. A preceding wire welding condition output circuit 35 that outputs a preceding wire welding end processing completion signal S7 to the path calculation circuit 32
When a signal for commanding the application of the welding current of the preceding wire is input from the preceding wire welding condition output circuit 35, the welding current is supplied to the preceding wire 3, and the anti-stick process and the welding release process of the preceding wire 3 are commanded. When a signal is inputted, the preceding wire welding power supply device 23 which performs the anti-stick process and the welding release process of the preceding wire 3 and when the following wire welding start command signal S2 is inputted, the power supply device 23 at the welding start position. The welding current value and the welding voltage value supplied to the row wire 4 are output (to a power supply device 24 for the following wire welding described later), and when the arc 6 is generated at the leading wire tip 4a, the subsequent wire welding is started. The completion signal S4 is output to the welding torch movement path calculation circuit 32, and when the first crater processing command signal S6 is input, the first crater processing current value and the first crater processing voltage (To the later-described wire welding power supply 24 described later), and when the second crater processing command signal S8 is input, the second crater processing current value and the second crater processing voltage value are output to the later-described later wire welding Command signal to output to the welding power supply device 24, start measurement of the second crater processing time, and when the measurement of the second crater processing time expires, perform anti-stick processing and welding release processing of the succeeding wire 4 (To a later-described power supply unit 24 for later-described wire welding), and when it is determined that there is no welding, a subsequent-wire welding end processing completion signal S9 is output to the welding torch movement path calculation circuit 32. Output circuit 3
6, when a signal instructing the energization of the welding current of the following wire is input from the following wire welding condition output circuit 36, the welding current is applied to the following wire 4, and the anti-stick processing of the following wire 4 is performed. The welding robot is provided with a power supply device 24 for subsequent wire welding that performs an anti-stick process and a welding release process on the following wire 4 when a command signal for performing the welding release process is input.

[0069]

The consumable two-electrode arc welding end method, the welding end control method and the welding robot of the present invention are the two-electrode one-torch consumable electrode arc welding end method for feeding the leading wire 3 at the welding end position. And stop the energization,
With the succeeding wire 4, the first welding is performed at a welding speed
Crater processing is performed, and then the movement of the welding torch is substantially stopped, and the second crater processing is performed. Therefore, only one crater processing mark is left, and even at the welding end position, the weld bead width is reduced or penetration is insufficient. The appearance of the weld bead is improved without generation of cracks, and the strength of the weld joint can be ensured. In addition, when performing high-speed welding, crater processing can also be performed on the hollow molten pool before performing crater processing.Therefore, no weld pool marks are generated at the welding end position, and defects such as cracks, shrinkage holes, etc. Will not occur.

[Brief description of the drawings]

FIG. 1 is a diagram that best represents the features of the invention according to the present application.

FIG. 2 is a view for explaining a method for ending a consumable electrode arc welding of a two-electrode one-torch method.

FIG. 3 is a diagram showing a general configuration of a two-electrode one-torch welding robot;

FIG. 4 is a diagram for explaining a method of terminating a consumable electrode arc welding of a two-electrode one-torch method according to Prior Art 1.

FIG. 5 is a diagram illustrating a method of ending the consumable electrode arc welding of the two-electrode, one-torch method according to the prior art 1 following FIG. 4;

FIG. 6 is a diagram showing an apparatus for performing tandem arc welding according to Prior Art 2.

FIG. 7 is a time chart illustrating a control method at the end of welding according to Prior Art 2.

FIG. 8 illustrates a case in which the leading wire 3 and the trailing wire 4 are fed and the trailing wire 4 performs the first and second crater processes in the consumable two-electrode arc welding termination method according to the first embodiment of the present invention. FIG.

FIG. 9 is a view for explaining a welding termination method following FIG. 8 in the welding termination method of the first embodiment.

FIG. 10 is a view for explaining a moving distance of a welding torch from a welding start position P1 to a first crater processing start position and a second crater processing position when the trailing wire 4 of the present invention performs crater processing. .

FIG. 11 shows that the leading tip 1 and the trailing tip 2 are angled with respect to the center axis of the nozzle 10 when the welding line WL used in the second embodiment is the X axis and the center axis of the nozzle 10 is the Y axis. FIG. 6 is a diagram showing a positional relationship between a leading wire tip 3a and a trailing wire tip 4a when the wires are arranged in a horizontal position.

12 is a block diagram of a robot control device 27 when the welding end method or the welding end control method of the present invention is applied to the welding robot shown in FIG.

FIG. 13 is a diagram illustrating a signal output from a welding torch movement path calculation circuit 32 of the robot control device according to the second embodiment, and a moving speed of a preceding chip 1 and a following chip 2;

FIG. 14 is a flowchart illustrating an operation of the robot control device 27 according to the second embodiment.

FIG. 15 is a robot controller 2 according to a second embodiment following FIG. 14;
7 is a flowchart showing the operation of FIG.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Leading tip 2 Trailing tip 3 Leading wire 3a Leading wire tip 4 Trailing wire 4a Trailing wire tip 5, 6 Arc 7 Molten pool 8 Workpiece 9 Weld bead 10 Nozzle 11 Shield gas 13 Molten pool mark 14 Welding torch 15 , 16 Crater processing mark 21 Manipulator 23 Lead wire welding power supply 24 Trailing wire welding power supply 25 Leading wire feeder 26 Trailing wire feeder 27 Robot controller 29 Work program file output circuit 31 Electrode parameter output circuit 32 Welding torch movement path calculation circuit 33 Servo control circuit 35 Lead wire welding condition output circuit 36 Trailing wire welding condition output circuit 41 Leading tip 42 Trailing tip 43 Workpiece 44 Lead wire welding power supply unit 45 Trailing wire welding Power supply 46 Lead wire feed Installation 47 Trailing wire feeder 48 Leading wire 49 Trailing wire 50, 51 Arc 52 Weld pool 53 Welding bead 54 Welding controller 55 Welding robot D1 First crater processing distance I1 Current during normal welding of leading wire 48 I2 Current when the leading wire 48 is reduced I3 Current when the following wire 49 is normally welded I2 Current when the following wire 49 is reduced E1 Voltage when the preceding wire 48 is normally welded E2 When the leading wire 48 is welded Voltage when reduced E3 Voltage during normal welding of the following wire 49 E4 Voltage when reduced of the preceding wire 49 L1 Standard protruding length of the preceding wire 3 or the following wire 4 L2 Wire of standard protruding length Tip distance L3 Total welding torch moving distance L4 Normal welding welding torch moving distance P1 Welding start position P2 Welding end position 3 First crater processing start position P4 Second crater processing position S1 Leading wire welding start command signal S2 Trailing wire welding start command signal S3 Leading wire welding start completion signal S4 Trailing wire welding start completion signal S5 Leading wire welding end processing command Signal S6 First crater processing command signal S7 Preceding wire welding completion processing completion signal S8 Second crater processing command signal S9 Subsequent wire welding completion processing completion signal T1 Waiting time until power supply to preceding wire 48 is stopped T1 Power supply of subsequent wire 49 Waiting time to stop α Leading tip angle β Trailing tip angle

 ──────────────────────────────────────────────────続 き Continued on the front page F term (reference) 4E001 AA03 BB08 BB09 DB01 QA01 QA04

Claims (12)

[Claims] In a consumable two-electrode arc welding end method for feeding and welding two wires in one torch, feeding and energization of a preceding wire are stopped at a welding end position, and the welding torch is moved in a welding direction. At a speed lower than the normal welding speed
While moving by the crater processing distance,
A consumable two-electrode arc welding ending method in which a crater process is performed, and then the movement of the welding torch is stopped and the succeeding wire performs a second crater process. 2. The method for ending consumable two-electrode arc welding according to claim 1, wherein the first crater processing distance is a distance between the wire tips having a standard protrusion length. 3. The consumable two-electrode arc welding end method according to claim 1, wherein the first crater processing distance is calculated from the first crater processing moving speed and the first crater processing moving time. 4. A consumable two-electrode arc welding end method for feeding and welding two wires in one torch, wherein when the leading tip reaches a welding end position, feeding and energizing of the leading wire are stopped. At the same time, while moving the welding torch in the welding direction, the subsequent wire performs the first crater processing at the first crater processing current value and the first crater processing voltage value at the first crater processing speed lower than the normal welding speed, and When the succeeding wire reaches the second crater processing position, the welding torch is stopped, the second crater processing is started by the second crater processing current value and the second crater processing voltage value, and a second predetermined crater processing is performed. Start measuring the crater processing time,
When the measurement of the second crater processing time expires, the second
A consumable two-electrode arc welding termination method for terminating the crater process. 5. A consumable two-electrode arc welding end control method in which two wires are fed and welded in one torch. A first crater processing start position for instructing the end of welding of the preceding wire when the processing start position is reached; a welding torch moving step; A first crater processing command step for giving a command to perform, and when a preceding wire welding end processing command is input,
Performing an anti-stick process and a welding release process of the preceding wire, and after finishing the anti-stick process and the welding release process, when it is determined that there is no welding of the preceding wire, a preceding wire welding end process step of processing the end of the preceding wire welding. A first crater processing step of outputting a predetermined first crater processing current value and a first crater processing voltage value when the first crater processing is instructed; and a subsequent chip reaches a second crater processing position. A second crater processing start step of stopping the welding torch and instructing the succeeding wire to perform the second crater processing, and a second crater processing start step in which the following wire is instructed to perform the second crater processing. Outputting a crater processing current value and a second crater processing voltage value, and starts measuring a predetermined second crater processing time;
When the measurement of the second crater processing time expires, the second
A second crater processing step for ending the crater processing;
When the measurement of the second crater processing time has expired, perform anti-stick processing and welding release processing of the following wire, and after the anti-stick processing and welding release processing, when it is determined that there is no welding of the following wire, A consumable two-electrode arc welding end control method comprising a succeeding wire welding end processing step of completing the succeeding wire welding end processing. 6. A consumable two-electrode arc welding end control method in which two wires are fed and welded in one torch, when a preceding wire reaches a welding end position, that is, when a following wire is a first crater. When the processing start position is reached, the welding torch movement path calculation circuit outputs the preceding wire welding end processing command signal to the preceding wire welding condition output circuit, and outputs the first crater processing command signal to the succeeding wire welding condition output circuit. A first crater processing command signal output step of outputting a first crater processing speed lower than a normal welding speed to the servo control circuit; and the following torch wire welding condition output circuit. When the first crater processing command signal is input, the succeeding wire welding condition output circuit outputs a predetermined first crater processing current value and a first crater processing current value.
A first crater processing step of outputting a crater processing voltage value to a power supply device for subsequent wire welding; and when the following chip reaches a second crater processing position, the servo control circuit stops the manipulator and performs the welding. A second crater processing start step in which the torch movement path calculation circuit outputs a second crater processing command signal to the succeeding wire welding condition output circuit; and the second crater processing command signal is output to the succeeding wire welding condition output circuit. When input, the following wire welding condition output circuit outputs the second crater processing current value and the second
The crater processing voltage value is output to the power supply device for subsequent wire welding, the measurement of the second predetermined crater processing time is started, and the second crater processing is completed when the measurement of the second crater processing time is completed. A consumable two-electrode arc welding end control method, comprising a second crater processing step to end. 7. A consumable two-electrode arc welding end control method for feeding and welding two wires in one torch, wherein when a preceding wire reaches a welding end position, that is, when a following wire is a first crater. When the processing start position is reached, the welding torch movement path calculation circuit outputs the preceding wire welding end processing command signal to the preceding wire welding condition output circuit, and outputs the first crater processing command signal to the succeeding wire welding condition output circuit. A first crater processing command signal output step of outputting a first crater processing speed lower than a normal welding speed to the servo control circuit;
When the preceding wire welding termination processing command signal is input from the welding torch moving path calculation circuit to the preceding wire welding condition output circuit, the power supply device for preceding wire welding performs anti-stick processing and welding release processing, and performs anti-stick processing. After finishing the processing and the welding release processing, when the preceding wire welding condition output circuit determines that there is no welding, the preceding wire welding end processing for outputting a preceding wire welding end processing completion signal to the welding torch moving path calculation circuit. When the first crater processing command signal is input to the subsequent wire welding condition output circuit, the first crater processing current value and the first crater processing voltage are determined by the subsequent wire welding condition output circuit. A first crater processing step of outputting the value to the power supply device for subsequent wire welding; When the servo control circuit stops the manipulator, and the welding torch movement path calculation circuit outputs a second crater processing command signal to the subsequent wire welding condition output circuit. And when the second crater processing command signal is input to the succeeding wire welding condition output circuit, the subsequent wire welding condition output circuit outputs the second crater processing current value and the second crater processing voltage value. A second crater processing step of outputting to the row wire welding power supply device, starting measurement of a predetermined second crater processing time, and terminating the second crater processing when the measurement of the second crater processing time expires And when the trailing wire welding condition output circuit has completed the measurement of the second crater processing time, the trailing wire welding power supply device After performing the anti-stick process and the welding release process, after the anti-stick process and the welding release process are completed, when the subsequent wire welding condition output circuit determines that there is no welding, the following wire welding is terminated by the welding torch moving path calculation circuit. A consumable two-electrode arc welding end control method, comprising: a subsequent wire welding end processing step of outputting a processing completion signal. 8. A consumable two-electrode arc welding end control method in which two wires are fed and welded in one torch, wherein a standard protruding length of a leading wire or a trailing wire and a leading wire and a trailing wire are supplied to an electrode parameter output circuit. An electrode parameter setting step for setting an electrode parameter including a standard wire length of the row wire and a distance between the wire tips; a work program file output circuit; predetermined welding start parameters for each welding section of the work to be welded; and welding end. A work program file setting step of setting parameters; activating the welding robot system; electrode parameters set in the electrode parameter output circuit; and predetermined values in each welding section of the workpiece set in the work program file output circuit. The welding torch movement path calculation circuit calculates the normal welding speed at the welding start position The welding current value and welding voltage value of the preceding wire at the welding start position of each predetermined welding section in each welding section of the workpiece are output to the preceding wire welding condition output circuit, and each of the workpieces is output. A welding current value and a welding voltage value, a first crater processing current value, a first crater processing voltage value, a second crater processing current value and a second crater processing current value of the following wire at a predetermined welding start position of each welding section in the welding section. An electrode parameter and work program file inputting step of outputting the crater processing voltage value to a subsequent wire welding condition output circuit, and a preceding wire welding start command signal is input to the preceding wire welding condition output circuit, and a subsequent wire welding start command is input. After the signal is input to the subsequent wire welding condition output circuit, the welding torch movement path calculation circuit, from the work program file output circuit The first crater processing speed, which is lower than the normal welding speed, which is the moving speed of the welding torch during one crater processing period, and the first crater processing distance, which is the moving distance of the welding torch, and the second crater processing time are input. A subsequent wire crater process for calculating each joint angle of the manipulator for moving the torch to the welding end position, a welding end position welding torch movement path calculating step, and when the following chip reaches the first crater process start position, The welding torch moving path calculation circuit outputs a preceding wire welding end processing command signal to the preceding wire welding condition output circuit, and outputs a first crater processing command signal to the following wire welding condition output circuit; A first crater for outputting a first crater processing speed, which is lower than a normal welding speed, to a servo control circuit; And the management command signal output step,
When the first crater processing command signal is input to the subsequent wire welding condition output circuit, the subsequent wire welding condition output circuit outputs the first crater processing current value and the first crater processing voltage value to the subsequent wire welding condition output circuit. Output to power supply unit
A crater processing step, and when the succeeding chip reaches the second crater processing position, the servo control circuit stops the manipulator, and the welding torch moving path calculation circuit sends the second crater processing command signal to the second crater processing command signal. A second crater process starting step for outputting to the row wire welding condition output circuit; and outputting the subsequent wire welding condition output when the following wire second claim processing command signal is input to the subsequent wire welding condition output circuit. The circuit outputs the second crater processing current value and the second crater processing voltage value to the subsequent wire welding power supply device, starts measuring a predetermined second crater processing time, and outputs the second crater processing time. A consumable two-electrode arc welding end control method, comprising: a second crater processing step of terminating the second crater processing when the measurement is completed. 9. A welding robot for feeding and welding two wires in one torch, calculating each joint angle of a manipulator for moving a welding torch from a welding start position to a welding end position (described later). Output the calculated value of each joint angle to the servo control circuit, and when the welding torch reaches the welding start position, output the preceding wire welding start command signal (to the preceding wire welding condition output circuit described later),
A subsequent wire welding start command signal is output (to a later-described later wire welding condition output circuit), a normal welding speed is output (to a later-described servo control circuit), and the subsequent chip is moved to the first crater processing start position. When it has reached, a preceding wire welding end processing command signal is output (to a preceding wire welding condition output circuit described later), and a first crater processing command signal is output (to a later wire welding condition output circuit described later). A first crater processing speed lower than the welding speed is output (to a servo control circuit to be described later), and when the succeeding chip reaches the second crater processing position, a second crater processing command signal is output (to be described later). A welding torch movement path calculation circuit for outputting to a wire welding condition output circuit, and calculation of each joint angle of the manipulator for moving the welding torch from the welding torch movement path calculation circuit Is input to control the manipulator, when the following chip reaches the second crater processing position, the servo control circuit to stop the manipulator, and when the preceding wire welding start command signal is input The welding current value and welding voltage value to be supplied to the preceding wire at the welding start position are output (to a power supply device for preceding wire welding described later), and when an arc is generated at the leading end of the preceding wire, the preceding wire welding start is completed. A signal is output to the welding torch moving path calculation circuit, and when the preceding wire welding termination processing command signal is input, a command signal for stopping the supply and energization of the preceding wire is supplied to the power supply device (described later). A) a preceding wire welding condition output circuit to be output, and a signal for commanding the supply of welding current to the preceding wire from the preceding wire welding condition output circuit are input. A power supply device for leading wire welding when a welding current is supplied to the leading wire when the preceding wire welding start command signal is input, and a welding current value to be supplied to the succeeding wire at the welding start position and welding. And output a voltage value (to a power supply device for subsequent wire welding described later), and when an arc is generated at the leading end of the subsequent wire, output a subsequent wire welding start completion signal to the welding torch movement path calculation circuit, When the first crater processing command signal is input, the first crater processing current value and the first crater processing voltage value are output (to a power supply device for subsequent wire welding described later), and the second crater processing command signal is output. When is input, the second crater processing current value and the second crater processing voltage value are output (to a power supply device for subsequent wire welding described later), and measurement of a predetermined second crater processing time is started. When the measurement of the second crater processing time has expired, a trailing wire welding condition output circuit that outputs a command signal (to a trailing wire welding power supply device described later) to stop feeding and energizing the trailing wire. A welding robot comprising a power supply device for following-wire welding that supplies a welding current to the following wire when a signal for commanding the application of a welding current to the following wire is input from the following-wire welding condition output circuit. . 10. In a welding robot that feeds and welds two wires within one torch, each joint angle of a manipulator for moving a welding torch from a welding start position to a welding end position is calculated (described later). Output the calculated value of each joint angle to the servo control circuit, and when the welding torch reaches the welding start position, output the preceding wire welding start command signal (to the preceding wire welding condition output circuit described later),
A subsequent wire welding start command signal is output (to a later-described later wire welding condition output circuit), a normal welding speed is output (to a later-described servo control circuit), and the subsequent chip is moved to the first crater processing start position. When it has reached, a preceding wire welding end processing command signal is output (to a preceding wire welding condition output circuit described later), and a first crater processing command signal is output (to a later wire welding condition output circuit described later). A first crater processing speed lower than the welding speed is output (to a servo control circuit to be described later), and when the succeeding chip reaches the second crater processing position, a second crater processing command signal is output (to be described later). A welding torch movement path calculation circuit for outputting to a wire welding condition output circuit, and calculation of each joint angle of the manipulator for moving the welding torch from the welding torch movement path calculation circuit Is input to control the manipulator, when the following chip reaches the second crater processing position, when the servo control circuit to stop the manipulator, when the preceding wire welding start command signal is input, A welding current value and a welding voltage value to be supplied to the preceding wire at the welding start position are output (to a power supply device for preceding wire welding described later), and when an arc is generated at the leading end of the preceding wire, a preceding wire welding start completion signal is output. Is output to the welding torch movement path calculation circuit, and when the preceding wire welding end processing command signal is input, a signal instructing an anti-stick process and a welding release process of the preceding wire (a power source for a preceding wire welding described later) Output to the welding torch moving path calculation circuit when the welding is determined to be no welding. It energizing a row wire welding condition output circuit, the welding current prior wires when the signal for instructing the energization of the welding current of the preceding wire from the preceding wire welding condition output circuit is input,
When a command signal for anti-stick processing and welding release processing of the preceding wire is input, a power supply device for preceding wire welding that performs anti-stick processing and welding release processing of the preceding wire, and the following wire welding start command signal is input. At the welding start position, the welding current value and the welding voltage value to be supplied to the following wire at the welding start position are output (to the power supply device for the following wire welding described later), and when an arc is generated at the tip of the following wire. And outputting a subsequent wire welding start completion signal to the welding torch movement path calculation circuit, and when the first crater processing command signal is input, the first crater processing current value and the first crater processing voltage value are described later. The second crater processing current signal and the second crater processing voltage value are output (to be described later) when the second crater processing command signal is input. Output to the subsequent wire welding power supply), starts measurement of a predetermined second crater processing time, and when the measurement of the second crater processing time expires, the anti-stick processing and welding release of the subsequent wire. A command signal for performing the process is output (to a power supply device for a succeeding wire welding described later), and when it is determined that there is no welding, a succeeding wire welding end process completion signal is output to the welding torch movement path calculation circuit. A wire welding condition output circuit, and when a signal for instructing the following wire welding current to flow is input from the following wire welding condition output circuit, a welding current is supplied to the following wire, and the anti-stick of the following wire is supplied. Robot having a power supply device for subsequent wire welding for performing anti-stick processing and welding release processing of a subsequent wire when a command signal for performing processing and welding release processing is input 11. A work program for storing a predetermined welding start parameter and a predetermined welding end parameter in each welding section of an object to be welded in a welding robot for feeding and welding two wires in one torch. A file output circuit, an electrode parameter output circuit storing an electrode parameter including a predetermined standard extension length of the leading wire or the following wire and a distance between the wire tips of the standard extension length, and the work program file output circuit Is output, the joint angle of the manipulator for moving the welding torch from the welding start position to the welding end position is calculated (to a servo control circuit described later), and the calculated value of each joint angle is output. When the welding torch reaches the welding start position, a preceding wire welding start command signal is output (the preceding wire welding condition output Road), outputs a subsequent wire welding start command signal (to a later-described wire welding condition output circuit described later), outputs a normal welding speed (to a servo control circuit described later), When the first crater processing start position is reached, a preceding wire welding end processing command signal is output (to a preceding wire welding condition output circuit described later), and a first crater processing command signal is output to a later wire welding condition output circuit described later. ), And outputs a first crater processing speed lower than the normal welding speed (to a servo control circuit described later). When the subsequent chip reaches the second crater processing position, a second crater processing command signal is output. Of the welding torch movement path calculation circuit for outputting the torch (to a later-described wire welding condition output circuit to be described later) and the manipulator for moving the welding torch from the welding torch movement path calculation circuit The calculated value of the knot angle is input to control the manipulator, and when the following chip reaches the second crater processing position, the servo control circuit that stops the manipulator, and the preceding wire welding start command signal is input. The welding current value and the welding voltage value to be supplied to the preceding wire at the welding start position are output (to a power supply device for preceding wire welding described later). A wire welding start completion signal is output to the welding torch movement path calculation circuit, and when the preceding wire welding end processing command signal is input, a command signal for stopping the supply and energization of the preceding wire is output (the preceding wire described later). A preceding wire welding condition output circuit to be output to the welding power supply device, and a signal for instructing the supply of the welding current of the preceding wire from the preceding wire welding condition output circuit. A welding wire power supply device for supplying a welding current to the preceding wire when the following is input, and a welding current to be supplied to the following wire at the welding start position when the following wire welding start command signal is input. And a welding voltage value are output (to a power supply device for a subsequent wire welding described later). When an arc is generated at the leading end of the subsequent wire, a subsequent wire welding start completion signal is sent to the welding torch movement path calculation circuit. When the first crater processing command signal is input, the first crater processing current value and the first crater processing voltage value are output (to a power supply device for succeeding wire welding described later), and the second crater is output. When the processing command signal is input, the second crater processing current value and the second crater processing voltage value are output (to the power supply device for subsequent wire welding described later), and the measurement of the predetermined second crater processing time is performed. After the start of the measurement of the second crater processing time, a succeeding wire welding condition for outputting a command signal (to a later-described subsequent wire welding power supply unit to be described later) for stopping the supply and energization of the succeeding wire when the measurement of the second crater processing time expires. An output circuit, comprising: a trailing wire welding power supply unit that supplies a welding current to the trailing wire when a signal for instructing the trailing wire to pass a welding current is input from the trailing wire welding condition output circuit. Welding robot. 12. A work program for storing a predetermined welding start parameter and a predetermined welding end parameter in each welding section of an object to be welded in a welding robot for feeding and welding two wires in one torch. A file output circuit, an electrode parameter output circuit for storing an electrode parameter including a predetermined standard extension length of the preceding or succeeding wire and a distance between the wire tips of the standard extension length, and the work program file output circuit Is output, the joint angle of the manipulator for moving the welding torch from the welding start position to the welding end position is calculated (to a servo control circuit described later), and the calculated value of each joint angle is output. When the welding torch reaches the welding start position, the preceding wire welding start command signal is output (the preceding wire welding condition output Road), outputs a subsequent wire welding start command signal (to a later-described wire welding condition output circuit described later), outputs a normal welding speed (to a servo control circuit described later), When the first crater processing start position is reached, a preceding wire welding end processing command signal is output (to a preceding wire welding condition output circuit described later), and a first crater processing command signal is output to a later wire welding condition output circuit described later. ), And outputs a first crater processing speed lower than the normal welding speed (to a servo control circuit described later). When the subsequent chip reaches the second crater processing position, a second crater processing command signal is output. Of the welding torch movement path calculation circuit for outputting the torch (to a later-described wire welding condition output circuit to be described later) and the manipulator for moving the welding torch from the welding torch movement path calculation circuit The calculated value of the knot angle is input to control the manipulator, and when the following chip reaches the second crater processing position, the servo control circuit that stops the manipulator, and the preceding wire welding start command signal is input. The welding current value and the welding voltage value to be supplied to the preceding wire at the welding start position are output (to a power supply device for preceding wire welding described later). A wire welding start completion signal is output to the welding torch movement path calculation circuit, and when the preceding wire welding end processing command signal is input, a signal for instructing anti-stick processing and welding release processing of the preceding wire (described later) Output to the preceding wire welding power supply device, and when it is determined that there is no welding, the preceding torch moving path calculation circuit completes the preceding wire welding end processing. The welding current is supplied to the preceding wire when a signal for instructing the application of the welding current of the preceding wire is input from the preceding wire welding condition output circuit, and the welding current is supplied to the preceding wire. A power supply device for preceding wire welding that performs anti-stick processing and welding release processing of the preceding wire when a command signal of stick processing and welding release processing is input, and when the following wire welding start command signal is input, A welding current value and a welding voltage value to be supplied to the subsequent wire at the welding start position are output (to a power supply device for subsequent wire welding described later). A welding start completion signal is output to the welding torch movement path calculation circuit, and when the first crater processing command signal is input, the first crater processing current value and the first crater processing current value are output. And output the second crater processing current value and the second crater processing voltage value (described later) when the second crater processing command signal is input. To the following wire welding power supply device to perform the measurement of the second predetermined crater processing time, and when the measurement of the second crater processing time is completed, the anti-stick processing of the following wire 4 and A command signal for performing the welding release process is output (to a power supply device for a succeeding wire welding described later), and when it is determined that there is no welding, a completion signal of a succeeding wire welding end process is output to the welding torch movement path calculation circuit. A trailing wire welding condition output circuit, and when a signal for commanding the trailing wire welding current to flow is input from the trailing wire welding condition output circuit, the welding current is supplied to the trailing wire, and the trailing wire is supplied. Welding robot and a row wire welding power supply after performing anti stick processing and welding release processing of the trailing wire when anti stick processing and command signal for welding cancellation process is input.