JP2003053532A - Tandem arc welding method - Google Patents
Tandem arc welding methodInfo
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- JP2003053532A JP2003053532A JP2001239594A JP2001239594A JP2003053532A JP 2003053532 A JP2003053532 A JP 2003053532A JP 2001239594 A JP2001239594 A JP 2001239594A JP 2001239594 A JP2001239594 A JP 2001239594A JP 2003053532 A JP2003053532 A JP 2003053532A
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- welding
- tandem
- torch
- point
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Abstract
Description
【0001】[0001]
【発明の属する技術分野】本発明は、ガスシールド溶接
法にてタンデムアーク溶接を行うタンデムアーク溶接方
法に係り、詳しくは、教示再生型溶接ロボットを用いて
溶接線の始端部と終端部とに干渉部材が存在するワーク
を溶接するに際し、溶接線の始端部と終端部においての
みトーチを往復走行させるシングルアーク溶接を行い、
該始終端部を除く溶接線部分では溶接線始点側より終点
側に向かってトーチ走行させるタンデムアーク溶接を行
うことにより、前記ワークの溶接線全長にわたって溶接
欠陥のない健全な溶接部を能率よく得ることができるよ
うにしたタンデムアーク溶接方法に関するものである。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a tandem arc welding method for performing tandem arc welding by a gas shield welding method, and more specifically, to a starting end portion and an end portion of a welding line by using a teaching regenerative welding robot. When welding a workpiece with an interference member, perform single arc welding in which the torch travels back and forth only at the start and end of the welding line,
By performing tandem arc welding in which the torch travels from the starting point side of the welding line to the ending point side in the welding line portion excluding the start and end portions, a sound weld portion without welding defects can be efficiently obtained over the entire welding line length of the workpiece. The present invention relates to a tandem arc welding method capable of performing the above.
【0002】[0002]
【従来の技術】建設機械メーカーや、橋梁メーカーなど
の鋼の厚板溶接を行う分野では、さらなる低コスト化を
図るために、従来よりも高能率な溶接施工技術が強く求
められている。タンデムアーク溶接法は、このような要
請に応えるための溶接技術であり、溶接ワイヤを消耗電
極とする先行電極と後行電極とをワークの溶接線方向に
所定の電極間距離を有して配置し、各々の電極からガス
シールドアークを発生させて溶接を行うものである。こ
のタンデムアーク溶接法は、単電極によるアーク溶接に
比較してワイヤ溶融量が大幅に多く、高能率な溶接を可
能とするものである。タンデムアーク溶接法では、先行
電極と後行電極との電極間距離を接近させて各々発生さ
せた2つのアークで1つの溶融プールを形成させて溶接
する方法と、電極間距離を十分に離して各アークによる
溶融プールを独立形成させて溶接する方法とがある。比
較的短い溶接線で構成されるワークに対しては、前者の
タンデムアーク溶接法が採用されており、本発明が対象
とするタンデムアーク溶接方法は、この前者のものであ
る。2. Description of the Related Art In the field of steel plate welding such as construction machinery manufacturers and bridge manufacturers, there is a strong demand for welding technology with higher efficiency than before in order to further reduce costs. The tandem arc welding method is a welding technique to meet such a demand, and arranges a leading electrode and a trailing electrode, which use a welding wire as a consumable electrode, with a predetermined electrode distance in the welding line direction of a work. Then, welding is performed by generating a gas shield arc from each electrode. This tandem arc welding method has a significantly large amount of wire melting as compared with arc welding using a single electrode, and enables highly efficient welding. In the tandem arc welding method, the distance between the leading electrode and the trailing electrode is made close to each other and two arcs generated respectively form one molten pool to perform welding, and the distance between the electrodes is sufficiently separated. There is a method of independently forming a molten pool by each arc and welding. The former tandem arc welding method is adopted for a work composed of a relatively short welding line, and the tandem arc welding method targeted by the present invention is the former one.
【0003】[0003]
【発明が解決しようとする課題】ところが、鋼の厚板溶
接を行う建設機械メーカーなどにおいて、教示再生型溶
接ロボットに2電極一体型トーチあるいは2つの単電極
トーチを搭載してタンデムアーク溶接をしようとする場
合、図4にその一例を示すように、溶接線WLの始端部
と終端部とに干渉部材(側板)S1,S2が存在するワ
ークについては、溶接線始端部では干渉部材S1が邪魔
になって先行電極を溶接線始点Psに位置させることが
できないので溶接線始点Psより電極間距離分の部分は
タンデムアーク溶接ができず、また、溶接線終端部では
干渉部材S2が邪魔になって後行電極を溶接線終点Pe
に位置させることができないので溶接線終点Peより電
極間距離分の部分はタンデムアーク溶接ができない。こ
のため、このタンデムアーク溶接ができない部分の手直
しが必要となることから、このような溶接線WLの始終
端に干渉部材S1,S2が存在するワーク対してタンデ
ムアーク溶接の適用が見送られることが多かった。However, in a construction machine maker or the like for welding thick steel plates, a two-electrode integrated torch or two single-electrode torches are mounted on a teaching regenerative welding robot to perform tandem arc welding. In such a case, as shown in FIG. 4 as an example, for a workpiece having interference members (side plates) S1 and S2 at the start end and the end of the welding line WL, the interference member S1 interferes with the starting end of the welding line. Therefore, the leading electrode cannot be located at the welding line starting point Ps, so that tandem arc welding cannot be performed at the portion corresponding to the distance between the electrodes from the welding line starting point Ps, and the interference member S2 becomes an obstacle at the welding line terminal portion. The trailing electrode to the welding line end point Pe
Therefore, tandem arc welding cannot be performed in the portion corresponding to the distance between the electrodes from the welding line end point Pe. For this reason, since it is necessary to rework the portion where this tandem arc welding cannot be performed, the application of tandem arc welding may be postponed to a work in which the interference members S1 and S2 exist at the start and end of the welding line WL. There were many.
【0004】本発明はこのような事情の下になされたも
ので、本発明の目的は、教示再生型溶接ロボットを用い
て溶接線の始端部と終端部とに干渉部材が存在するワー
クを溶接するに際し、溶接線の始端部と終端部において
のみトーチを往復走行させるシングルアーク溶接を行
い、該始終端部を除く溶接線部分では溶接線始点側より
終点側に向かってトーチ走行させるタンデムアーク溶接
を行うことにより、前記ワークの溶接線全長にわたって
溶接欠陥のない健全な溶接部を能率よく得ることができ
るようにしたタンデムアーク溶接方法を提供することに
ある。The present invention has been made under such circumstances, and an object of the present invention is to weld a workpiece having an interference member at the start end and the end of the welding line by using a teaching regenerative welding robot. In doing so, tandem arc welding is performed in which the torch is made to travel back and forth only at the start and end portions of the welding line, and the torch is run from the welding line starting point side toward the ending point side at the welding line portion excluding the starting and ending portions. By performing the above, it is possible to provide a tandem arc welding method capable of efficiently obtaining a sound weld portion having no welding defects over the entire welding line of the work.
【0005】[0005]
【課題を解決するための手段】前記の目的を達成するた
めに、請求項1の発明は、教示再生型溶接ロボットに2
電極一体型トーチあるいは2つの単電極トーチを搭載し
て、溶接ワイヤを消耗電極とする先行電極と後行電極と
をワークの溶接線方向に所定の電極間距離を有して配置
し、ガスシールド溶接法にてタンデムアーク溶接を行う
に際し、ワークの溶接線について、予め、溶接線始点と
溶接線終点とが教示され、また、前記溶接線始点より前
記溶接線終点側における所定長さ離れた位置に始端処理
溶接開始点とタンデム溶接開始点が教示され、さらに、
前記溶接線終点より前記溶接線始点側における所定長さ
離れた位置にタンデム溶接終了点と終端処理溶接終了点
が教示されており、前記始端処理溶接開始点に後行電極
を位置させて、該後行電極のみにアークを発生させてト
ーチ走行を開始し、次いで前記後行電極のトーチ角度を
前進角となるように変更し、この後行電極が前記溶接線
始点に到達するとトーチ走行を一時停止し、しかる後に
トーチ走行方向を反転し、前記後行電極のトーチ角度を
タンデム溶接時トーチ角度に戻し、先行電極が前記タン
デム溶接開始点に到達すると、該先行電極にアークを発
生させてタンデム溶接を開始し、タンデム溶接が進行し
て前記後行電極が前記タンデム溶接終了点に到達すると
該後行電極のアークを停止し、次いで前記先行電極のト
ーチ角度を前進角となるように変更し、この先行電極が
前記溶接線終点に到達するとトーチ走行を一時停止し、
しかる後にトーチ走行方向を反転し、前記先行電極のト
ーチ角度をタンデム溶接時トーチ角度に戻し、この先行
電極が前記終端処理溶接終了点に到達するとトーチ走行
を停止し、クレータ処理条件にて所定時間のクレータ処
理を行った後に、この先行電極のアークを停止して、溶
接動作を終了するようにしたことを特徴とするタンデム
アーク溶接方法である。In order to achieve the above-mentioned object, the invention of claim 1 provides a teaching reproduction welding robot.
An electrode-integrated torch or two single-electrode torches are mounted, and a leading electrode and a trailing electrode, which use the welding wire as a consumable electrode, are arranged with a predetermined electrode distance in the welding line direction of the work, and a gas shield is provided. When performing tandem arc welding by the welding method, with respect to the welding line of the workpiece, the welding line starting point and the welding line ending point are taught in advance, and the position apart from the welding line starting point by a predetermined length on the welding line ending point side. The starting point welding start point and tandem welding start point are taught in
A tandem welding end point and a termination processing welding end point are taught at positions separated by a predetermined length on the welding line starting point side from the welding line end point, and a trailing electrode is positioned at the starting end processing welding start point, Torch travel is started by generating an arc only in the trailing electrode, then the torch angle of the trailing electrode is changed to the forward angle, and when the trailing electrode reaches the welding line starting point, the torch traveling is temporarily performed. After that, the torch traveling direction is reversed, the torch angle of the trailing electrode is returned to the torch angle during tandem welding, and when the leading electrode reaches the tandem welding start point, an arc is generated in the leading electrode to cause tandem welding. When welding is started and tandem welding proceeds and the trailing electrode reaches the tandem welding end point, the arc of the trailing electrode is stopped, and then the torch angle of the leading electrode is set to the forward angle. Change so that suspends the torch travel this leading electrode reaches the weld line end point,
Thereafter, the torch traveling direction is reversed, the torch angle of the leading electrode is returned to the torch angle during tandem welding, and when the leading electrode reaches the termination processing welding end point, the torch traveling is stopped and the crater processing condition is used for a predetermined time. The tandem arc welding method is characterized in that the arc of the preceding electrode is stopped after the crater treatment is performed to end the welding operation.
【0006】請求項2の発明は、請求項1記載のタンデ
ムアーク溶接方法において、前記始端処理溶接開始点と
前記タンデム溶接開始点が前記溶接線始点より前記溶接
線終点側における20〜60mm離れた範囲の位置に設
定されていること、前記溶接線始点における後行電極の
前記トーチ角度が2〜45°の範囲の前進角に設定され
ていること、前記溶接線始点における前記トーチ走行一
時停止時間が0.3〜3.0秒間の範囲に設定されてい
ること、前記タンデム溶接終了点と前記終端処理溶接終
了点が前記溶接線終点より前記溶接線始点側における2
0〜60mm離れた範囲の位置に設定されていること、
前記溶接線終点における先行電極の前記トーチ角度が2
〜45°の範囲の前進角に設定されていること、前記溶
接線始点における前記トーチ走行一時停止時間が0.3
〜3.0秒の範囲に設定されていること、及び、前記ク
レータ処理時間が0.2〜5.0秒の範囲に設定されて
いることを特徴とするものである。According to a second aspect of the present invention, in the tandem arc welding method according to the first aspect, the starting point treatment welding start point and the tandem welding start point are separated from the welding line start point by 20 to 60 mm on the welding line end point side. The position of the range is set, the torch angle of the trailing electrode at the starting point of the welding line is set to an advance angle in the range of 2 to 45 °, and the torch running temporary stop time at the starting point of the welding line is set. Is set in the range of 0.3 to 3.0 seconds, and the tandem welding end point and the termination treatment welding end point are 2 on the welding line start point side from the welding line end point.
Be set to a position in the range 0 to 60 mm apart,
The torch angle of the leading electrode at the end of the welding line is 2
Is set to an advance angle in the range of up to 45 °, and the torch travel suspension time at the welding line start point is 0.3.
To 3.0 seconds and the crater processing time is set to 0.2 to 5.0 seconds.
【0007】本発明によるタンデムアーク溶接方法は、
教示再生型溶接ロボットを用いて溶接線の始端部と終端
部とに干渉部材が存在するワークを溶接するに際し、溶
接線の始端部と終端部においてのみトーチを往復走行さ
せるシングルアーク溶接を行い、該始終端部を除く溶接
線部分では溶接線始点側より終点側に向かってトーチ走
行させるタンデムアーク溶接を行うようにしたものであ
る。なお、本発明によるタンデムアーク溶接方法では、
先行電極及び後行電極ともに、最も多用されるワイヤ径
1.2mmφの溶接ワイヤを用いるようにしている。The tandem arc welding method according to the present invention comprises:
When welding a workpiece with an interference member at the start and end of the welding line using the teaching regenerative welding robot, single arc welding is performed in which the torch travels back and forth only at the start and end of the welding line. Tandem arc welding in which the torch travels from the welding line starting point side toward the ending point side is performed in the welding line portion excluding the start and end portions. In the tandem arc welding method according to the present invention,
A welding wire having a wire diameter of 1.2 mmφ, which is most frequently used, is used for both the leading electrode and the trailing electrode.
【0008】図1は本発明によるタンデムアーク溶接方
法を説明するためのものであって、溶接線上における教
示点Ps,Pe,P1〜P4を示す図である。同図に示
すように、溶接線の始端部側と終端部側とに干渉部材が
存在するワークの前記溶接線について、予め、溶接線始
点Psと溶接線終点Peとが教示され、この両者をむす
ぶ溶接線上において、溶接線始点Psより所定長さ離れ
た位置に始端処理溶接開始点P1及びタンデム溶接開始
点P2が教示されるとともに、溶接線終点Peより所定
長さ離れた位置にタンデム溶接終了点P3及び終端処理
溶接終了点P4が教示されている。FIG. 1 is a view for explaining a tandem arc welding method according to the present invention and is a diagram showing teaching points Ps, Pe, P1 to P4 on a welding line. As shown in the figure, a welding line starting point Ps and a welding line ending point Pe are taught in advance for the welding line of the work having the interference member on the starting end side and the ending end side of the welding line, and both of them are taught. A start-end treatment welding start point P1 and a tandem welding start point P2 are taught at a position distant from the welding line start point Ps by a predetermined length on the straight welding line, and tandem welding is completed at a position distant from the welding line end point Pe by a predetermined length. A point P3 and a termination welding end point P4 are taught.
【0009】そしてまず、始端処理溶接開始点P1→溶
接線始点Ps→タンデム溶接開始点P2において後行電
極のみによるシングルアーク溶接によって溶接ビードが
形成される始端処理溶接が行われる。[0009] First, at the start point treatment welding start point P1 → the welding line start point Ps → the tandem welding start point P2, the start end treatment welding in which the weld bead is formed by the single arc welding using only the trailing electrode is performed.
【0010】ここで、溶接線上において始端処理溶接開
始点P1とタンデム溶接開始点P2は、溶接線始点Ps
より溶接線終点Pe側における20〜60mm離れた範
囲の位置に設定されることがよい。なお、先行電極にも
アークを発生させるタンデム溶接開始点P2は、溶接線
始点Psより(電極間距離分)+(所定距離)の長さ離
れて設定される。先行電極と後行電極との電極間距離
は、例えば15mmである。溶接線上における前記P1
点と前記P2点は、異なる位置に設定してもよいが、始
端処理溶接部とタンデム溶接部とでの溶接ビード高さ
(溶着高さ)を同じにする点からは同じ位置(座標位
置)に設定することが好ましい。この溶接線始点Psよ
りの始端処理溶接開始点P1の設定位置、及び溶接線始
点Psよりのタンデム溶接開始点P2の設定位置が、2
0mmを下回ると始端処理溶接部の溶接ビード形状が不
良になり易い。一方、60mmを超えると始端処理溶接
部が長すぎて溶接能率の低下を招くことになる。前記設
定範囲は、より好ましくは25〜35mmである。Here, the start point treatment welding start point P1 and the tandem welding start point P2 on the welding line are the welding line start point Ps.
It may be set at a position in the range 20 to 60 mm away from the welding line end point Pe side. Note that the tandem welding start point P2 at which an arc is also generated in the preceding electrode is set apart from the welding line start point Ps by a length of (interelectrode distance) + (predetermined distance). The inter-electrode distance between the leading electrode and the trailing electrode is, for example, 15 mm. The P1 on the welding line
The point and the point P2 may be set at different positions, but they are at the same position (coordinate position) from the point that the welding bead height (welding height) is the same at the start end treatment welded portion and the tandem welded portion. It is preferable to set to. The set position of the starting end processing welding start point P1 from the welding line starting point Ps and the setting position of the tandem welding start point P2 from the welding line starting point Ps are 2
If it is less than 0 mm, the shape of the weld bead at the start end treatment welded portion tends to be defective. On the other hand, when it exceeds 60 mm, the welded portion at the start end is too long, which causes a decrease in welding efficiency. The setting range is more preferably 25 to 35 mm.
【0011】この始端処理溶接においては、まず、
(a)始端処理溶接開始点P1に後行電極を位置させ
て、該後行電極のみにアークを発生させて溶接線始点P
sに向かってトーチ走行を開始する。(b)次いで、溶
接線始点Ps方向に向かって2〜45°の範囲の前進角
となるように後行電極のトーチ角度を変更する。トーチ
角度を前記範囲の前進角とすることにより、干渉部材と
の角部に位置する溶接線始点Psに後行電極のアークを
直接に当てることができ、角部に位置する溶接線始点P
sにおいて良好な溶込みと溶接ビードのなじみを得るこ
とができる。トーチ角度が前進角2°未満では前記効果
が十分に得られず、一方、トーチ角度が前進角45°を
超えるとトーチが傾きすぎてワークにトーチノズル部の
下端が接触するなどの不具合が発生する。より好ましく
は、5〜30°の範囲の前進角である。(c)この後行
電極が溶接線始点Psに到達するとトーチ走行を一時停
止する。この場合、溶接線始点Psにおけるトーチ走行
一時停止時間は、0.3〜3.0秒間の範囲がよい。ト
ーチ走行一時停止時間が0.3秒を下回ると溶接線始点
Psにおけるアークの当たりが不十分で溶接ビードのな
じみが不十分となり、一方、3.0秒を上回ると溶着量
過多となってビード形状不良となる。このトーチ走行一
時停止時間は、より好ましくは0.5〜2.0秒の範囲
である。なお、後行電極をウィービング動作させながら
始端処理溶接を行う場合には、溶接線始点Psにおいて
後行電極のウィービング動作を継続しながらトーチ走行
を一時停止するようにすればよい。(d)次に、この走
行一時停止後、トーチ走行方向を反転し、後行電極のト
ーチ角度をタンデム溶接時トーチ角度に戻し、先行電極
がタンデム溶接開始点P2に到達すると、先行電極にア
ークを発生させてタンデム溶接を開始する。このように
して、始端処理溶接開始点P1→溶接線始点Ps→タン
デム溶接開始点P2において後行電極のみによるシング
ルアーク溶接によって始端処理溶接が行われる。In this start end treatment welding, first,
(A) Leading edge treatment A trailing electrode is positioned at the welding starting point P1 and an arc is generated only at the trailing electrode to start the welding line starting point P.
Start torch running toward s. (B) Next, the torch angle of the trailing electrode is changed so that the advancing angle is in the range of 2 to 45 ° toward the welding line starting point Ps direction. By setting the torch angle to the advancing angle within the above range, the arc of the trailing electrode can be directly applied to the welding line starting point Ps located at the corner with the interference member, and the welding line starting point P located at the corner.
In s, good penetration and familiarization of weld beads can be obtained. If the torch angle is less than 2 ° advancing, the above effect cannot be sufficiently obtained. On the other hand, if the torch angle exceeds 45 ° advancing, the torch tilts too much, causing a problem such that the lower end of the torch nozzle contacts the work. . More preferably, the advancing angle is in the range of 5 to 30 °. (C) When the trailing electrode reaches the welding line starting point Ps, the torch travel is temporarily stopped. In this case, the torch traveling temporary stop time at the welding line starting point Ps is preferably in the range of 0.3 to 3.0 seconds. If the torch travel suspension time is less than 0.3 seconds, the arc hitting at the welding line start point Ps is insufficient and the weld bead is not well fitted. On the other hand, if it exceeds 3.0 seconds, the welding amount becomes excessive and the bead becomes too large. The shape becomes defective. This torch travel suspension time is more preferably in the range of 0.5 to 2.0 seconds. In addition, when performing the leading edge treatment welding while weaving the trailing electrode, the torch traveling may be temporarily stopped at the welding line starting point Ps while continuing the weaving operation of the trailing electrode. (D) Next, after the traveling is temporarily stopped, the torch traveling direction is reversed, the torch angle of the trailing electrode is returned to the torch angle during tandem welding, and when the leading electrode reaches the tandem welding starting point P2, the leading electrode arcs. To start tandem welding. In this way, the starting end treatment welding is performed by the single arc welding using only the trailing electrode at the starting end treatment welding starting point P1 → the welding line starting point Ps → the tandem welding starting point P2.
【0012】次いで、タンデム溶接開始点P2→タンデ
ム溶接終了点P3において、先行電極と後行電極とによ
る溶接ビードが形成されるタンデムアーク溶接が行われ
る。Next, at the tandem welding start point P2 → tandem welding end point P3, tandem arc welding is performed in which a welding bead is formed by the leading electrode and the trailing electrode.
【0013】すなわち、(e)先行電極がタンデム溶接
開始点P2に到達すると、該先行電極にアークを発生さ
せてタンデム溶接を開始し、タンデム溶接が進行して後
行電極がタンデム溶接終了点P3に到達すると後行電極
のアークを停止する。このようにして、タンデム溶接開
始点P2→タンデム溶接終了点P3において先行電極と
後行電極とによるタンデムアーク溶接が行われる。That is, (e) When the leading electrode reaches the tandem welding start point P2, an arc is generated in the leading electrode to start the tandem welding, the tandem welding proceeds, and the trailing electrode ends at the tandem welding end point P3. When it reaches, the arc of the trailing electrode is stopped. In this way, tandem arc welding is performed with the leading electrode and the trailing electrode at the tandem welding start point P2 → tandem welding end point P3.
【0014】次に、タンデム溶接終了点P3→溶接線終
点Pe→終端処理溶接終了点P4において、先行電極の
みによるシングルアーク溶接によって溶接ビードが形成
される終端処理溶接が行われる。Next, at the tandem welding end point P3 → the welding line end point Pe → the end treatment welding end point P4, the termination treatment welding is performed in which the welding beads are formed by the single arc welding using only the preceding electrode.
【0015】ここで、溶接線上においてタンデム溶接終
了点P3と終端処理溶接終了点P4は、溶接線終点Pe
より溶接線始点Ps側における20〜60mm離れた範
囲の位置に設定(教示)されることがよい。なお、後行
電極のアークを停止するタンデム溶接終了点P3は、溶
接線終点Peより(電極間距離分)+(所定距離)の長
さ離れて設定される。先行電極と後行電極との電極間距
離は、例えば15mmである。溶接線上における前記P
3点と前記P4点は、異なる位置に設定してもよいが、
終端処理溶接部とタンデム溶接部とでの溶接ビード高さ
(溶着高さ)を同じにする点からは同じ位置(座標位
置)に設定することが好ましい。この溶接線終点Peよ
りのタンデム溶接終了点P3の設定位置、及び溶接線終
点Peよりの終端処理溶接終了点P4の設定位置が、2
0mmを下回ると終端処理溶接部の溶接長さが短すぎて
溶接ビード形状が不良になりやすい。一方、60mmを
超えると始端処理溶接部が長すぎて溶接能率の低下を招
くことになる。前記設定範囲は、より好ましくは30〜
45mmである。The tandem welding end point P3 and the terminating welding end point P4 on the welding line are the welding line end point Pe.
It is better to set (teach) the position in the range of 20 to 60 mm away from the welding line starting point Ps side. The tandem welding end point P3 at which the arc of the trailing electrode is stopped is set apart from the welding line end point Pe by a distance of (interelectrode distance) + (predetermined distance). The inter-electrode distance between the leading electrode and the trailing electrode is, for example, 15 mm. The P on the welding line
The 3 points and the P4 point may be set at different positions,
It is preferable to set the same position (coordinate position) from the point that the weld bead height (welding height) is the same in the terminating welded portion and the tandem welded portion. The setting position of the tandem welding end point P3 from the welding line end point Pe and the setting position of the termination processing welding end point P4 from the welding line end point Pe are 2
If it is less than 0 mm, the weld length of the termination welded portion is too short, and the weld bead shape is likely to be defective. On the other hand, when it exceeds 60 mm, the welded portion at the start end is too long, which causes a decrease in welding efficiency. The setting range is more preferably 30 to
It is 45 mm.
【0016】この終端処理溶接においては、まず、
(f)タンデム溶接終了点P3にて後行電極のアークを
停止させた後、溶接線終点Peへ向かってトーチ走行さ
れているいる先行電極について、該溶接線終点Pe方向
に向かって2〜45°の範囲の前進角となるように該先
行電極のトーチ角度を変更する。トーチ角度を前記範囲
の前進角とすることにより、干渉部材との角部に位置す
る溶接線終点Peに先行電極のアークを直接に当てるこ
とができ、角部に位置する溶接線終点Peにおいて良好
な溶込みと溶接ビードのなじみを得ることができる。ト
ーチ角度が前進角2°未満では前記効果が十分に得られ
ず、一方、トーチ角度が前進角45°を超えるとトーチ
が傾きすぎてワークにトーチノズル部の下端が接触する
などの不具合が発生する。より好ましくは、5〜30°
の範囲の前進角である。(g)この先行電極が溶接線終
点Peに到達するとトーチ走行を一時停止する。この場
合、溶接線終点Peにおけるトーチ走行一時停止時間
は、0.3〜3.0秒間の範囲がよい。トーチ走行一時
停止時間が0.3秒を下回ると溶接線終点Peにおける
アークの当たりが不十分で溶接ビードのなじみが不十分
となり、一方、3.0秒を上回ると溶着量過多となって
ビード外観・ビード形状不良となる。このトーチ走行一
時停止時間は、より好ましくは0.5〜2.0秒の範囲
である。なお、先行電極をウィービング動作させながら
始端処理溶接を行う場合には、溶接線終点Peにおいて
先行電極のウィービング動作を継続しながらトーチ走行
を一時停止するようにすればよい。In this termination welding, first,
(F) After the arc of the trailing electrode is stopped at the tandem welding end point P3, the leading electrode that is torch traveling toward the welding line end point Pe is 2 to 45 toward the welding line end point Pe direction. The torch angle of the leading electrode is changed so that the advancing angle is in the range of °. By setting the torch angle to the advance angle within the above range, the arc of the preceding electrode can be directly applied to the welding line end point Pe located at the corner with the interference member, and the welding line end point Pe located at the corner is good. Good penetration and weld bead familiarity can be obtained. If the torch angle is less than 2 ° advancing, the above effect cannot be sufficiently obtained. On the other hand, if the torch angle exceeds 45 ° advancing, the torch tilts too much, causing a problem such that the lower end of the torch nozzle contacts the work. . More preferably 5 to 30 °
Is the advancing angle in the range. (G) When the preceding electrode reaches the welding line end point Pe, the torch travel is temporarily stopped. In this case, the torch traveling temporary stop time at the welding line end point Pe is preferably in the range of 0.3 to 3.0 seconds. When the torch travel suspension time is less than 0.3 seconds, the arc hits at the welding line end point Pe are insufficient and the welding bead is not well adapted. On the other hand, when it exceeds 3.0 seconds, the welding amount becomes excessive and the bead becomes excessive. The appearance and bead shape will be defective. This torch travel suspension time is more preferably in the range of 0.5 to 2.0 seconds. When the leading end process welding is performed while weaving the leading electrode, the torch travel may be temporarily stopped at the welding line end point Pe while continuing the weaving operation of the leading electrode.
【0017】(h)次に、この走行一時停止後、トーチ
走行方向を反転し、先行電極のトーチ角度をタンデム溶
接時トーチ角度に戻し、先行電極が終端処理溶接終了点
P4に到達すると、トーチ走行を停止し、クレータ処理
条件にて所定時間のクレータ処理を行う。クレータ処理
時間は0.2〜5.0秒の範囲がよい。クレータ処理時
間が前記範囲を下回るとビードクレータの凹みを埋める
溶着量が不足してクレータ割れが発生しやすくなり、一
方、前記範囲を超えると溶着量過多となってタンデム溶
接部との繋ぎ部分が盛り上がりすぎてビード外観が悪く
なる。クレータ処理時間は、より好ましくは0.5〜
4.50秒の範囲である。このクレータ処理の後、先行
電極のアークを停止して、今回の溶接動作を終了する。(H) Next, after the traveling is temporarily stopped, the torch traveling direction is reversed, the torch angle of the leading electrode is returned to the torch angle during tandem welding, and when the leading electrode reaches the termination processing welding end point P4, the torch is reached. The traveling is stopped and the crater processing is performed for a predetermined time under the crater processing conditions. The crater processing time is preferably in the range of 0.2 to 5.0 seconds. If the crater treatment time is less than the above range, the amount of welding to fill the recess of the bead crater is insufficient and crater cracking is likely to occur, while if it exceeds the above range, the amount of welding is excessive and the connection part with the tandem welded portion becomes The bead appearance deteriorates due to excessive swelling. The crater processing time is more preferably 0.5 to
It is in the range of 4.50 seconds. After this crater process, the arc of the leading electrode is stopped and the welding operation of this time is ended.
【0018】このように本発明によるタンデムアーク溶
接方法によれば、教示再生型溶接ロボットを用いて溶接
線の始端部と終端部とに干渉部材が存在するワークを溶
接するに際し、前記ワークの溶接線について予め教示さ
れた始端処理溶接開始点P1、溶接線始点Ps及びタン
デム溶接開始点P2に基づいて前記溶接線の始端部にお
いてトーチを往復走行させて所定溶接条件にて後行電極
によるシングルアーク溶接を行い、次いでタンデム溶接
開始点P2よりタンデム溶接終了点P3までトーチ走行
させて先行及び後行電極によるタンデムアーク溶接を行
い、しかる後引き続いて、予め教示されたタンデム溶接
終了点P3、溶接線終点Pe及び終端処理溶接終了点P
4に基づいて前記溶接線の終端部においてトーチを往復
走行させて所定溶接条件にて先行電極によるシングルア
ーク溶接を行うようにしたものであるから、前記ワーク
の溶接線全長にわたって溶接欠陥のない健全な溶接部を
能率よく得ることができる。As described above, according to the tandem arc welding method of the present invention, when the work having the interference member at the start end and the end of the welding line is welded using the teaching regenerative welding robot, the work is welded. Based on the starting point welding start point P1, the welding line start point Ps, and the tandem welding start point P2 that have been taught in advance about the line, the torch is reciprocally moved at the starting end of the welding line, and a single arc is formed by the trailing electrode under predetermined welding conditions Welding is performed, and then the torch travels from the tandem welding start point P2 to the tandem welding end point P3 to perform tandem arc welding with the leading and trailing electrodes, and subsequently, the tandem welding end point P3 and the welding line taught in advance. End point Pe and termination processing welding end point P
Based on No. 4, the torch is reciprocated at the end of the welding line to perform single arc welding with the preceding electrode under predetermined welding conditions. Therefore, there is no welding defect over the entire welding line of the workpiece. It is possible to efficiently obtain various welds.
【0019】[0019]
【発明の実施の形態】図2は、本発明によるタンデムア
ーク溶接方法の実施に使用する溶接ロボット装置の構成
を示す図である。この溶接ロボット装置は、手首部に2
電極一体型トーチ1を取り付けた多関節(6軸)の教示
再生型の溶接ロボット2と、2電極一体型トーチ1に溶
接ワイヤからなる先行電極3を送給する先行電極用ワイ
ヤ送給装置4と、該先行電極3に給電を行う先行電極用
溶接電源5と、2電極一体型トーチ1に溶接ワイヤから
なる後行電極6を送給する後行電極用ワイヤ送給装置7
と、該後行電極6に給電を行う後行電極用溶接電源8
と、溶接ロボット2の動作制御と溶接電源5,8の出力
制御を行うロボット制御装置9と、ティーチングボック
ス10とから構成されている。FIG. 2 is a diagram showing the construction of a welding robot apparatus used for carrying out the tandem arc welding method according to the present invention. This welding robot device has 2
A multi-joint (6-axis) teaching-reproduction welding robot 2 to which the electrode-integrated torch 1 is attached, and a wire feeding device 4 for a leading electrode that feeds the leading electrode 3 made of a welding wire to the two-electrode integrated torch 1. And a welding power source 5 for the leading electrode that supplies power to the leading electrode 3, and a wire feeding device 7 for the trailing electrode that feeds the trailing electrode 6 made of a welding wire to the two-electrode integrated torch 1.
And a welding power source 8 for the trailing electrode that supplies power to the trailing electrode 6.
And a robot controller 9 for controlling the operation of the welding robot 2 and controlling the outputs of the welding power sources 5 and 8, and a teaching box 10.
【0020】11は溶接線の始端部と終端部とに干渉部
材が存在するワークであり、溶接線始点Psに先行電極
3を位置させることができず、また、溶接線終点Peに
後行電極6を位置させることができないワークである。
2電極一体型トーチ1は、先行電極用トーチ銃身と後行
電極用トーチ銃身とを並べて保持する保持体の先端に共
通の1つのシールドノズルを取り付けてなるものであ
り、シールドガスを溶接部に向かって噴出させるととも
に、各ワイヤ送給装置4,7から送られてくる各電極
3,6にそれぞれ通電してアークを発生させるようにな
っている。ティーチングボックス10は、教示の際には
ワークの溶接線について、始端処理溶接開始点P1、溶
接線始点Ps、タンデム溶接開始点P2、タンデム溶接
終了点P3、溶接線終点Pe及び終端処理溶接終了点P
4などを教示してこれらの位置情報をロボット制御装置
9に入力したり、溶接電流などの溶接条件を設定してロ
ボット制御装置9に入力したりするためのものである。Reference numeral 11 denotes a work in which an interference member exists at the start end and the end of the welding line, the leading electrode 3 cannot be located at the welding line start point Ps, and the trailing electrode is at the welding line end point Pe. It is a work that 6 cannot be positioned.
The two-electrode integrated torch 1 is one in which a common shield nozzle is attached to the tip of a holding body that holds the leading electrode torch barrel and the trailing electrode torch barrel side by side, and shield gas is welded to the welding portion. While being ejected toward the electrodes, the electrodes 3, 6 sent from the wire feeders 4, 7 are respectively energized to generate an arc. At the time of teaching, the teaching box 10 has a starting point processing welding start point P1, a welding line starting point Ps, a tandem welding starting point P2, a tandem welding ending point P3, a welding line ending point Pe, and a termination processing welding ending point for the welding line of the work. P
4 and the like to input such position information into the robot control device 9 or to set welding conditions such as welding current and input into the robot control device 9.
【0021】[0021]
【実施例】前記溶接ロボット装置を用いて、溶接線の始
端部と終端部とに干渉部材が存在する鋼製のワークにつ
いて、本発明による方法と比較例による方法とにより溶
接を行い、その溶接結果の良否を評価した。EXAMPLE Using the welding robot apparatus, a workpiece made of steel having an interference member at the beginning and the end of the welding line is welded by the method according to the present invention and the method according to the comparative example, and the welding is performed. The quality of the result was evaluated.
【0022】表1と表2に基本的溶接条件を示す。表1
において、ワイヤ突出し長さ(25mm)はチップ先端
と母材(ワーク)間距離であり、電極間距離(15m
m)は、チップ先端からワイヤ突出し長さ25mm離れ
た位置における各電極中心線間の距離である。表3に、
溶接線始点Psと始端処理溶接開始点P1との距離、溶
接線始点Psとタンデム溶接開始点P2との距離、溶接
線終点Peとタンデム溶接終了点P3との距離、および
溶接線終点Peと終端処理溶接終了点P4との距離を示
す(図1参照)。また、この表3に、溶接線始点Psと
溶接線終点Peとにおける各トーチ角度及び各トーチ走
行一時停止時間を示すとともに、クレータ処理時間を示
し、合わせて溶接結果を示す。図3に実施例でのワーク
の開先断面形状を示す。この図3では溶接線の始端部と
終端部とにある干渉部材については図示していない。Tables 1 and 2 show basic welding conditions. Table 1
In, the wire protrusion length (25 mm) is the distance between the tip of the chip and the base material (workpiece), and the distance between the electrodes (15 m
m) is the distance between the center lines of the electrodes at the position where the wire protrudes 25 mm from the tip of the chip. In Table 3,
Distance between welding line starting point Ps and starting end treatment welding starting point P1, distance between welding line starting point Ps and tandem welding starting point P2, distance between welding line end point Pe and tandem welding ending point P3, and welding line end point Pe and ending point The distance from the processing welding end point P4 is shown (see FIG. 1). In addition, Table 3 shows each torch angle and each torch traveling temporary stop time at the welding line start point Ps and the welding line end point Pe, the crater processing time, and the welding results together. FIG. 3 shows the groove cross-sectional shape of the work in the embodiment. In FIG. 3, the interference members at the starting end and the ending end of the welding line are not shown.
【0023】[0023]
【表1】 [Table 1]
【0024】[0024]
【表2】 [Table 2]
【0025】[0025]
【表3】 [Table 3]
【0026】溶接結果について説明すると、No.9〜
No.16の比較例では次のような溶接欠陥が発生し
た。すなわち、No.9の比較例では、溶接線始点Ps
とタンデム溶接開始点P2との距離が60mmを超えて
いるため、始端処理溶接部が長すぎて溶接能率が溶接能
率が悪かった。No.10の比較例では、逆に溶接線始
点Psとタンデム溶接開始点P2との距離が20mmを
下回っているため、タンデム溶接部との繋ぎ部分が滑ら
かでなくビード形状が悪かった。No.11の比較例で
は、溶接線始点Psにおけるトーチ角度を前進角でなく
垂直(前進角0°)にしたため、溶接線始点Ps近くに
おいてトーチと干渉部材が接触したためその時点で溶接
を中止した。No.12の比較例では、溶接線始点Ps
におけるトーチ角度を45°を超えた前進角にしたた
め、トーチとワークが接触したためその時点で溶接を中
止した。The welding results will be described below. 9 ~
No. In the 16 comparative examples, the following welding defects occurred. That is, No. In the comparative example of No. 9, the welding line starting point Ps
Since the distance between the tandem welding start point P2 and the tandem welding start point P2 was more than 60 mm, the welding efficiency was poor because the starting end treatment welded portion was too long. No. In Comparative Example 10 on the contrary, since the distance between the welding line starting point Ps and the tandem welding starting point P2 was less than 20 mm, the connecting portion with the tandem welding portion was not smooth and the bead shape was poor. No. In Comparative Example No. 11, since the torch angle at the welding line starting point Ps was set to be vertical (advancing angle 0 °) instead of the advancing angle, welding was stopped at that point because the torch and the interference member were in contact with each other near the welding line starting point Ps. No. In the comparative example of 12, the welding line starting point Ps
Since the torch angle at 4 was set to an advance angle exceeding 45 °, the torch and the work contacted each other, so welding was stopped at that point.
【0027】また、No.13の比較例では、溶接線始
点Psと溶接線終点Peとにおける各トーチ走行一時停
止時間が0.3秒を下回っているため、溶接線始点Ps
および溶接線終点Peの各々においてビードのなじみが
悪かった。No.14の比較例では、溶接線始点Psと
溶接線終点Peとにおける各トーチ走行一時停止時間が
3.0秒を超えているため、溶接線始点Psおよび溶接
線終点Peの各々において溶着量過多となってビード外
観・ビード形状不良となった。No.15の比較例で
は、終端処理溶接終了点P4でのクレータ処理時間が
0.2秒を下回っているため、溶着量が不足してクレー
タ割れが発生した。No.16の比較例では、終端処理
溶接終了点P4でのクレータ処理時間が5.0秒を超え
ているため、溶着量過多となってタンデム溶接部との繋
ぎ部分が盛り上がりすぎてビード外観が悪かった。No. In the comparative example of No. 13, since the torch travel temporary stop time at the welding line starting point Ps and the welding line ending point Pe is less than 0.3 seconds, the welding line starting point Ps
And the familiarity of the bead was poor at each of the welding line end point Pe. No. In the comparative example of No. 14, since the torch traveling temporary stop time at the welding line start point Ps and the welding line end point Pe exceeds 3.0 seconds, the welding amount is excessive at each of the welding line start point Ps and the welding line end point Pe. The bead appearance and bead shape became poor. No. In the comparative example of No. 15, the crater processing time at the termination processing welding end point P4 was less than 0.2 seconds, so the amount of welding was insufficient and crater cracking occurred. No. In the comparative example of No. 16, the crater processing time at the termination processing welding end point P4 exceeded 5.0 seconds, so the amount of deposition was excessive and the connection part with the tandem welded portion was excessively raised and the bead appearance was poor. .
【0028】これに対して、No.1〜No.8の実施
例では、溶接始終端部における溶接ビードのなじみ及び
溶込みが良好であり、また、始端処理溶接ビードとタン
デム溶接ビードとの接合部分、及びタンデム溶接ビード
と終端処理溶接ビートとの接合部分ともに滑らかなビー
ド外観を呈し、溶接線全長にわたって溶接欠陥のない健
全な溶接部を能率よく得ることができた。On the other hand, in No. 1-No. In the eighth example, the weld beads have good running-in and penetration at the weld start and end portions, and the joining portion between the start end treatment weld bead and the tandem weld bead and the joining between the tandem weld bead and the end treatment weld beet. Both parts had a smooth bead appearance, and it was possible to efficiently obtain a sound weld with no weld defects over the entire length of the weld line.
【0029】[0029]
【発明の効果】以上述べたように、本発明によるタンデ
ムアーク溶接方法によれば、教示再生型溶接ロボットを
用いて溶接線の始端部と終端部とに干渉部材が存在する
ワークを溶接するに際し、前記ワークの溶接線について
予め教示された始端処理溶接開始点、溶接線始点及びタ
ンデム溶接開始点に基づいて前記溶接線の始端部におい
てトーチを往復走行させて所定溶接条件にて後行電極に
よるシングルアーク溶接を行い、次いでタンデム溶接開
始点よりタンデム溶接終了点までトーチ走行させて先行
及び後行電極によるタンデムアーク溶接を行い、しかる
後引き続いて、予め教示されたタンデム溶接終了点、溶
接線終点及び終端処理溶接終了点に基づいて前記溶接線
の終端部においてトーチを往復走行させて所定溶接条件
にて先行電極によるシングルアーク溶接を行うようにし
たものであるから、前記ワークの溶接線全長にわたって
溶接欠陥のない健全な溶接部を能率よく得ることができ
る。As described above, according to the tandem arc welding method of the present invention, when a work having an interfering member at the start end and the end of the welding line is welded using the teaching regenerative welding robot. , A starting electrode treatment welding start point, a welding line starting point, and a tandem welding starting point which are taught in advance about the welding line of the workpiece, and the torch is reciprocally moved at the starting end portion of the welding line, and the trailing electrode is used under predetermined welding conditions. Performs single arc welding, then torch travels from the tandem welding start point to the tandem welding end point to perform tandem arc welding with the leading and trailing electrodes, and subsequently, subsequently teaching the tandem welding end point and welding line end point. Based on the welding end point, the torch is reciprocated at the end portion of the welding line to move the torch under predetermined welding conditions. Since is obtained to perform the single arc welding, it is possible to obtain a good efficiency of sound welds without welding defects throughout the weld line length of the workpiece.
【図1】本発明によるタンデムアーク溶接方法を説明す
るためのものであって、溶接線上における教示点Ps,
Pe,P1〜P4を示す図である。1 is a view for explaining a tandem arc welding method according to the present invention, which is a teaching point Ps,
It is a figure which shows Pe and P1-P4.
【図2】本発明によるタンデムアーク溶接方法の実施に
使用する溶接ロボット装置の構成を示す図である。FIG. 2 is a diagram showing a configuration of a welding robot apparatus used for carrying out the tandem arc welding method according to the present invention.
【図3】実施例でのワークの開先断面形状を示す図であ
る。FIG. 3 is a diagram showing a groove cross-sectional shape of a work in the example.
【図4】溶接線の始端部と終端部とに干渉部材(側板)
が存在するワークの一例を示す図である。FIG. 4 is an interference member (side plate) at the start end and the end end of the welding line.
It is a figure which shows an example of the work which exists.
1…2電極一体型トーチ 2…教示再生型溶接ロボット
3…先行電極 4…先行電極用ワイヤ送給装置 5…
先行電極用溶接電源 6…後行電極 7…後行電極用ワ
イヤ送給装置 8…後行電極用溶接電源 9…ロボット
制御装置 10…ティーチングボックス 11…ワーク
P1…始端処理溶接開始点 Ps…溶接線始点 P2
…タンデム溶接開始点 P3…タンデム溶接終了点 P
e…溶接線終点 P4…終端処理溶接終了点1 ... 2 electrode integrated torch 2 ... Teaching regenerative welding robot 3 ... Leading electrode 4 ... Leading wire feeding device 5 ...
Leading electrode welding power source 6 ... Trailing electrode 7 ... Trailing electrode wire feeding device 8 ... Trailing electrode welding power source 9 ... Robot control device 10 ... Teaching box 11 ... Workpiece P1 ... Start processing welding start point Ps ... Welding Line start point P2
… Tandem welding start point P3… Tandem welding end point P
e ... Welding line end point P4 ... Termination processing Welding end point
Claims (2)
トーチあるいは2つの単電極トーチを搭載して、溶接ワ
イヤを消耗電極とする先行電極と後行電極とをワークの
溶接線方向に所定の電極間距離を有して配置し、ガスシ
ールド溶接法にてタンデムアーク溶接を行うに際し、 ワークの溶接線について、予め、溶接線始点と溶接線終
点とが教示され、また、前記溶接線始点より前記溶接線
終点側における所定長さ離れた位置に始端処理溶接開始
点とタンデム溶接開始点が教示され、さらに、前記溶接
線終点より前記溶接線始点側における所定長さ離れた位
置にタンデム溶接終了点と終端処理溶接終了点が教示さ
れており、前記始端処理溶接開始点に後行電極を位置さ
せて、該後行電極のみにアークを発生させてトーチ走行
を開始し、次いで前記後行電極のトーチ角度を前進角と
なるように変更し、この後行電極が前記溶接線始点に到
達するとトーチ走行を一時停止し、しかる後にトーチ走
行方向を反転し、前記後行電極のトーチ角度をタンデム
溶接時トーチ角度に戻し、先行電極が前記タンデム溶接
開始点に到達すると、該先行電極にアークを発生させて
タンデム溶接を開始し、タンデム溶接が進行して前記後
行電極が前記タンデム溶接終了点に到達すると該後行電
極のアークを停止し、次いで前記先行電極のトーチ角度
を前進角となるように変更し、この先行電極が前記溶接
線終点に到達するとトーチ走行を一時停止し、しかる後
にトーチ走行方向を反転し、前記先行電極のトーチ角度
をタンデム溶接時トーチ角度に戻し、この先行電極が前
記終端処理溶接終了点に到達するとトーチ走行を停止
し、クレータ処理条件にて所定時間のクレータ処理を行
った後に、この先行電極のアークを停止して、溶接動作
を終了するようにしたことを特徴とするタンデムアーク
溶接方法。1. A teaching regenerative welding robot is equipped with a two-electrode integrated torch or two single-electrode torches, and a leading electrode and a trailing electrode, which use a welding wire as a consumable electrode, are arranged in a predetermined direction in a welding line of a workpiece. When tandem arc welding is performed with the gas shield welding method by arranging with a distance between electrodes, the welding line starting point and the welding line ending point are taught in advance about the welding line of the work. A start end treatment welding start point and a tandem welding start point are taught at positions separated by a predetermined length on the welding line end point side, and tandem welding ends at positions separated by a predetermined length on the welding line start point side from the welding line end point. Point and end processing welding end point are taught, the trailing electrode is positioned at the starting end processing welding starting point, the arc is generated only in the trailing electrode, and the torch travel is started, The torch angle of the trailing electrode is changed to the forward angle, and when the trailing electrode reaches the welding line starting point, the torch traveling is temporarily stopped, and then the torch traveling direction is reversed, and the torch of the trailing electrode is reversed. The angle is returned to the torch angle during tandem welding, and when the leading electrode reaches the tandem welding start point, an arc is generated in the leading electrode to start tandem welding, and tandem welding proceeds and the trailing electrode causes the tandem welding to proceed. When the welding end point is reached, the arc of the trailing electrode is stopped, and then the torch angle of the leading electrode is changed to the forward angle, and when the leading electrode reaches the welding line end point, the torch travel is temporarily stopped. After that, the torch traveling direction is reversed, the torch angle of the preceding electrode is returned to the torch angle during tandem welding, and the torch angle is reached when the preceding electrode reaches the termination welding end point. A tandem arc welding method characterized in that after stopping the C-travel and performing crater treatment for a predetermined time under the crater treatment condition, the arc of the preceding electrode is stopped to terminate the welding operation.
溶接開始点が前記溶接線始点より前記溶接線終点側にお
ける20〜60mm離れた範囲の位置に設定されている
こと、前記溶接線始点における後行電極の前記トーチ角
度が2〜45°の範囲の前進角に設定されていること、
前記溶接線始点における前記トーチ走行一時停止時間が
0.3〜3.0秒間の範囲に設定されていること、前記
タンデム溶接終了点と前記終端処理溶接終了点が前記溶
接線終点より前記溶接線始点側における20〜60mm
離れた範囲の位置に設定されていること、前記溶接線終
点における先行電極の前記トーチ角度が2〜45°の範
囲の前進角に設定されていること、前記溶接線始点にお
ける前記トーチ走行一時停止時間が0.3〜3.0秒の
範囲に設定されていること、及び、前記クレータ処理時
間が0.2〜5.0秒の範囲に設定されていることを特
徴とする請求項1記載のタンデムアーク溶接方法。2. The starting point treatment welding start point and the tandem welding start point are set at positions within a range of 20 to 60 mm away from the welding line start point on the welding line end point side, and after the welding line start point. The torch angle of the row electrode is set to an advance angle in the range of 2 to 45 °,
The torch traveling temporary stop time at the welding line start point is set to a range of 0.3 to 3.0 seconds, the tandem welding end point and the termination treatment welding end point are from the welding line end point to the welding line. 20-60mm on the starting point side
Be set to a position in a distant range, the torch angle of the leading electrode at the end point of the welding line is set to a forward angle in the range of 2 to 45 °, the torch traveling temporary stop at the start point of the welding line The time is set to a range of 0.3 to 3.0 seconds, and the crater processing time is set to a range of 0.2 to 5.0 seconds. Tandem arc welding method.
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JP2001239594A JP4571346B2 (en) | 2001-08-07 | 2001-08-07 | Tandem arc welding method |
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Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2009154173A (en) * | 2007-12-26 | 2009-07-16 | Daihen Corp | Ending control method of two-wire welding |
US8680432B2 (en) | 2005-04-20 | 2014-03-25 | Illinois Tool Works Inc. | Cooperative welding system |
Citations (3)
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---|---|---|---|---|
JPH06234074A (en) * | 1993-02-10 | 1994-08-23 | Nippon Steel Corp | Welding method by welding robot |
JPH071144A (en) * | 1993-06-18 | 1995-01-06 | Nippon Steel Corp | Welding torch |
JP2001113373A (en) * | 1999-10-21 | 2001-04-24 | Hitachi Ltd | Method for controlling of tandem arc welding |
-
2001
- 2001-08-07 JP JP2001239594A patent/JP4571346B2/en not_active Expired - Fee Related
Patent Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH06234074A (en) * | 1993-02-10 | 1994-08-23 | Nippon Steel Corp | Welding method by welding robot |
JPH071144A (en) * | 1993-06-18 | 1995-01-06 | Nippon Steel Corp | Welding torch |
JP2001113373A (en) * | 1999-10-21 | 2001-04-24 | Hitachi Ltd | Method for controlling of tandem arc welding |
Cited By (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US8680432B2 (en) | 2005-04-20 | 2014-03-25 | Illinois Tool Works Inc. | Cooperative welding system |
US9636766B2 (en) | 2005-04-20 | 2017-05-02 | Illinois Tool Works Inc. | Cooperative welding system |
JP2009154173A (en) * | 2007-12-26 | 2009-07-16 | Daihen Corp | Ending control method of two-wire welding |
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JP4571346B2 (en) | 2010-10-27 |
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