JP3947011B2 - Consumable electrode arc welding apparatus and consumable electrode arc welding method - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a consumable electrode arc welding apparatus and a consumable electrode arc welding method, and more particularly to a consumable electrode arc welding apparatus and a consumable electrode arc that perform weaving using two consumable electrode wires and a filler wire. The present invention relates to a welding method.
[0002]
[Prior art]
As a welding method using two welding wires of a consumable electrode wire and a filler wire, for example, a consumable electrode type arc welding method disclosed in JP-A-3-275280 is known.
[0003]
In a welding apparatus using the consumable electrode type arc welding method, two wires of a consumable electrode wire and a filler wire are inserted into a shield nozzle, and an arc is generated by the consumable electrode wire. At this time, the filler wire is inserted into the molten pool, and a part of the welding current flowing from the consumable electrode wire to the base material is diverted and led to the filler wire to be joined to the ground end of the welding power source.
[0004]
In such a welding method, since the directions of the currents flowing through the consumable electrode wire and the filler wire are reversed, the magnetic fluxes generated in the consumable electrode wire and the filler wire repel each other, and the arc generated from the consumable electrode wire is the filler wire. Tilt in the opposite direction. Therefore, even if the filler wire is brought close to the consumable electrode wire, the filler wire can be supplied to the melted or the like without being blown by the arc.
[0005]
By adopting such a welding method, even when the welding speed is increased in welding of carbon steel, alloy steel, aluminum, etc., it is possible to perform welding at high speed and high efficiency with good workability. Also, by inserting filler wire into the molten pool, the temperature of the molten pool can be kept low, the occurrence of puckering phenomenon that disturbs the weld bead, the suppression of black powder adhesion (oxide adhesion), and the susceptibility to solidification cracking Reduction can be achieved.
[0006]
In arc welding, when a wide bead is required, such as multi-layer welding or build-up welding, weaving is performed by swinging the welding torch from side to side with a predetermined swing width with respect to the welding longitudinal direction (welding center line). The operation called is performed. A large weld metal can be obtained by the weaving operation, and a weld bead having a good shape can be obtained. Further, a function called arc sensing that follows the weld line can be realized by measuring changes in current, voltage, and the like during welding while performing a weaving operation.
[0007]
[Problems to be solved by the invention]
In arc welding methods that use two wires, a consumable electrode wire and a filler wire, the molten pool is usually formed deeply behind the electrode wire in the direction of travel (the welding direction is delayed). A filler wire is supplied to the molten pool at a position behind the electrode wire by a predetermined amount in the welding progress direction.
[0008]
When the filler wire is bent, it is difficult to supply the electrode wire and the filler wire on the same line in the welding line direction. In many cases, the supply position of the filler wire is deviated in a direction perpendicular to the welding direction (a direction transverse to the welding center line) compared to the supply position of the consumable electrode type wire.
[0009]
In such a state, when fillet arc welding is performed by swinging the welding torch in a direction perpendicular to the welding direction (weaving operation), the filler wire becomes a boundary surface between the relatively shallow region of the molten pool and the base material. It will be supplied near the vicinity. As a result, the filler wire may not be melted in the molten pool, and unmelted residue may be generated inside the weld metal.
[0010]
The present invention can obtain a good weld bead without defects even when the filler supply position is shifted to the left and right with respect to the welding line direction due to the influence of the bending of the filler wire with respect to the traveling direction of the consumable electrode wire. It is an object of the present invention to provide a consumable electrode arc welding apparatus and a consumable electrode arc welding method.
[0011]
[Means for Solving the Problems]
(1) The invention of claim 1 is a consumable electrode wire supply section for supplying a consumable electrode wire to a welding object via a welding torch, and a filler wire supply for supplying a filler wire to a molten pool to be welded via a welding torch. And the consumable electrode wire are swung to the left and right with respect to the welding center line, and the welding torch is swung relative to the welding target so that the lateral swing width of the filler wire is smaller than the lateral swing width of the consumable electrode wire. And a rocking motion means for dynamic motion.
(2) The invention of claim 2 is the consumable electrode type arc welding apparatus according to claim 1, wherein the swing motion means swings both the consumable electrode wire and the filler wire to the left and right with respect to the welding center line. In addition, the welding torch is rotated so that the rotation angle of the welding torch with the center of rotation on the lag side of the welding progress direction from the consumable electrode wire increases as the consumable electrode wire moves away from the welding center line. .
(3) The invention according to claim 3 is the consumable electrode type arc welding apparatus according to claim 1, wherein the swinging motion means has the center of rotation as the center of rotation with respect to the consumable electrode wire as the center of rotation behind the consumable electrode. The welding torch is rotated while being kept on the line, and the consumable electrode wire is swung to the left and right with respect to the welding center line.
(4) The invention of claim 4 is the consumable electrode type arc welding apparatus according to any one of claims 1 to 3, wherein at least the welding speed, the welding current, the welding voltage, the torch angle, and the consumable electrode wire are weld center lines. A parameter input unit that inputs a movement width and a movement frequency that swings to the left and right sides, and a control that controls the operation of the welding torch including the operation by the swing movement means based on the parameters input by the parameter input unit And a means.
(5) The invention of claim 5 is a consumable electrode wire supply unit for supplying a consumable electrode wire to a welding object via a welding torch, and a filler wire supply for supplying a filler wire to a molten pool to be welded via a welding torch. And a welding method using a consumable electrode type arc welding apparatus. Then, the consumable electrode wire is swung to the left and right with respect to the welding center line, and the welding torch is swung relative to the welding target so that the lateral swing width of the filler wire is smaller than the lateral swing width of the consumable electrode wire. It is characterized by making it.
(6) The invention of claim 6 is the consumable electrode arc welding method according to claim 5, wherein both the consumable electrode wire and the filler wire are swung to the left and right with respect to the welding center line, and the consumable electrode The welding torch is rotated such that the rotation angle of the welding torch with the center of rotation of the consumable electrode wire as a rotation center increases as the wire moves away from the welding center line.
(7) The invention according to claim 7 is the consumable electrode type arc welding method according to claim 5, wherein welding is performed while keeping the rotation center on the welding center line with the lag side of the welding progress direction from the consumable electrode wire as the rotation center. The torch is rotated, and the consumable electrode wire is swung to the left and right with respect to the welding center line.
(8) The invention of claim 8 is applied to a multi-layer welding method using a consumable electrode type arc welding device, forming a layer of weld bead performs welding by consumable electrode type arc welding method 請 Motomeko 7, wherein Then, welding is performed by the consumable electrode type arc welding method according to claim 6 over the weld bead layer .
(9) The invention of claim 9 is applied to an arc welding condition determining device used in the consumable electrode type arc welding device according to any one of claims 1 to 3, and includes at least a welding speed, a welding current, a welding voltage, torch angle, and an input unit for consumable electrode wire to input a moving width as moving frequency oscillating movement to the left and right sides with respect to the welding centerline, on the basis of the input value, the welding torch Ri by the rocking motion means And a calculating means for calculating a rocking angle of the welding torch when rocking.
[0012]
DETAILED DESCRIPTION OF THE INVENTION
An embodiment of a consumable arc welding apparatus according to the present invention will be described in detail below with reference to FIGS.
[0013]
FIG. 1 shows an overall configuration in which a consumable electrode arc welding apparatus according to the present invention is applied to a welding apparatus using a welding robot. The welding robot 10 is, for example, a 6-axis articulated robot. The welding robot 10 includes a hand portion 11 at the arm tip. The hand portion 11 is provided with a welding torch 12 for consumable electrode arc welding via a wire supply tube 13.
[0014]
An electrode wire feeding device 14 and a filler wire feeding device 15 are attached to the welding robot 10. The electrode wire feeder 14 supplies the consumable electrode wire Y1 from the electrode wire supply reel 16 to the welding torch 12 through the wire supply tube 13. The filler wire feeding device 15 supplies the filler wire Y2 from the filler wire supply reel 17 to the welding torch 12 through the wire supply tube 18.
[0015]
The electrode wire feeding device 14 controls feeding of the consumable electrode wire Y1 by the welding power source / control device 19. The filler wire feeding device 15 controls the feeding of the filler wire Y2 by the filler control device 20. The plus terminal 19A of the welding power source / control device 19 is conductively connected to the consumable electrode wire Y1, and the minus terminal 19B is grounded to the object to be welded (base materials B1 and B2) and the filler wire Y2.
[0016]
The welding power source / control device 19 and the filler control device 20 operate based on an arc control command and a filler control command input from a computer-type robot control device 21 which is a host control device.
[0017]
The robot control device 21 controls the welding robot 10. An input device 22 with a monitor that also serves as a teaching pendant is connected to the robot control device 21. The input device 22 is an input unit for welding parameters, and transmits input data to the robot control device 21.
[0018]
Details of the welding torch 12 will be described with reference to FIGS. The welding torch 12 has an electrode wire delivery nozzle 23 that also serves as an energization tip and a filler wire delivery nozzle 24.
[0019]
The electrode wire delivery nozzle 23 and the filler wire delivery nozzle 24 are aligned on the same line in the welding direction indicated by the arrow A. The filler wire delivery nozzle 24 is on the welding progress direction lag side with respect to the electrode wire delivery nozzle 23. Therefore, the filler wire Y2 is delivered to the position on the welding progress direction lag side by a predetermined amount D1 from the consumable electrode wire Y1.
[0020]
FIG. 3 is a view of the welding torch 12 as viewed from directly below. The supply position of the consumable electrode wire Y1 delivered from the electrode wire delivery nozzle 23 is P1, and the supply position of the filler wire Y2 delivered from the filler wire delivery nozzle 24 is P3. The rotation center position P2 of the welding torch 12 is set on the welding progress direction delay side with respect to the consumable electrode wire supply position P1. For example, as shown in FIG. 4, the consumable electrode wire supply position P1 is swung to the left and right sides with respect to the welding center line X, and the left and right swing width W2 of the filler wire supply position P3 is the left and right of the consumable electrode wire supply position P1. The welding torch 12 is oscillated with respect to the welding target so as to be smaller than the swing width (weaving width) W1. This rocking motion is called a weaving operation. The weaving operation is performed by motion control of 6 degrees of freedom of the welding robot 10.
[0021]
In such a weaving type welding method, it is very difficult to supply the electrode wire Y1 and the filler wire Y2 on the same line in the welding line direction due to the bending of the filler wire Y2. In many cases, as shown in FIG. 9, the supply position of the filler wire Y2 is perpendicular to the welding direction (the direction crossing the welding center line from side to side) as compared to the supply position of the consumable electrode type wire Y1. , A deviation D2 occurs.
[0022]
In this state, as shown in FIG. 10, the welding torch T is swung (weaving operation) in the direction perpendicular to the welding direction with a swing width W so that the base materials B1 and B2 are filled. When the meat arc welding is performed, as shown in FIG. 11, the filler wire Y2 is supplied in the vicinity of the boundary surface B4 between the relatively shallow region of the molten pool B3 and the one base material B1. .
[0023]
In such a filler wire supply, the filler wire Y2 cannot be melted in the molten pool B3, and as shown in FIG. 12, the unmelted residue B6 is generated inside the weld metal B5. Further, when the supply amount of the filler wire Y2 is increased, the filler wire Y2 collides with the interface portion of the molten pool B3, and the filler wire Y2 vibrates or the welding torch T is pushed up. Therefore, welding becomes unstable and a welding defect is generated.
Therefore, in this embodiment, such a problem is solved by performing the following weaving operation. Details will be described below.
[0024]
In the welding apparatus according to this embodiment, two types of weaving operations (a first weaving operation and a second weaving operation) are set. These two types of weaving operations are selectively used according to welding conditions. Hereinafter, the first weaving operation and the second weaving operation will be described with reference to FIGS.
[0025]
(First weaving operation)
As shown in FIGS. 4 and 5, when moving the welding torch 12 along the weld line,
(1) Both the consumable electrode wire supply position P1 and the filler wire supply position P3 swing to the left and right with respect to the welding center line X,
(2) As the consumable electrode wire supply position P1 moves further to the left and right from the welding center line X, the welding torch 12 has a rotation center position P2 that is on the lag side of the welding progress direction with respect to the consumable electrode wire supply position P1 as a rotation center. To increase the rotation angle,
While moving the welding center line to the left and right, the welding torch 12 is rotated about the rotation center position P2 as the rotation center.
[0026]
In this weaving operation, the rotation center position P2 of the welding torch 12 swings in the direction perpendicular to the welding direction with the width indicated by the symbol D. As the consumable electrode wire supply position P1 moves further left and right from the welding center line X, the welding torch 12 is arranged such that the filler wire supply position P3, that is, the filler wire Y2 is positioned in the center of the weld line with respect to the consumable electrode wire Y1. Gradually rotate relative to the rotation center position P2. As shown in FIGS. 5A and 5C, the welding torch 12 has a welding center axis with a maximum angle θ at a position where the consumable electrode wire supply position P1 is farthest from the welding center axis X. Tilted with respect to X.
[0027]
On the other hand, as the consumable electrode wire supply position P1 moves toward the center of the weld line, the inclination angle of the welding torch 12 decreases and when the weld line center position is reached, as shown in FIG. The central axis of the welding torch 12 is substantially horizontal with respect to the welding line center line X.
[0028]
By repeating such an operation alternately left and right, the weaving of the welding torch 12 is performed. The weaving width W1 of the consumable electrode wire supply position P1 is expressed by the following equation using the distance L between the consumable electrode wire supply position P1 and the torch rotation center position P2.
W1 = D + 2L · tan θ (1)
[0029]
Even when the supply position P3 of the filler wire Y2 is located on the left and right in the welding line direction with respect to the consumable electrode wire Y1, the filler wire Y2 is supplied near the boundary between the base material and the molten pool B3 by this first weaving operation. Is prevented. The filler wire Y2 is always satisfactorily supplied at a position close to the central region of the molten pool B3. In the first weaving operation, the weaving width can be set to be relatively large, and the weld bead is suitable for wide welding.
[0030]
(Second weaving operation)
As shown in FIGS. 6 and 7, the second weaving operation is performed with the rotation center position P <b> 2 on the lag side of the welding progress direction with respect to the consumable electrode wire supply position P <b> 1 as the rotation center. The welding torch 12 is rotated while maintaining the rotation center position P2 on the welding center line X. As a result, the consumable electrode wire supply position P <b> 1 is swung to the left and right with respect to the welding center line X.
[0031]
In this case, as shown in FIGS. 7A and 7B, when the consumable electrode wire supply position P1 is located farthest from the weld line center axis X, the center axis of the welding torch 12 is It is inclined at an angle θ ′ with respect to the weld line center axis X. The weaving width W1 of the consumable electrode wire supply position P1 is expressed by the following equation using the distance L between the consumable electrode wire supply position P1 and the torch rotation center position P2.
W1 = 2L · tan θ ′ (2)
[0032]
Even when the supply position P3 of the filler wire Y2 is located on the left and right in the welding line direction with respect to the electrode wire Y1, the filler wire Y2 is supplied near the boundary between the base material and the molten pool B3 by the second weaving operation. Is prevented. The filler wire Y2 is always satisfactorily supplied at a position close to the central region of the molten pool B3. In the second weaving operation, the weaving width cannot be set so large, but since the movement of the welding torch is simple, it is possible to cope with welding with a high welding speed.
[0033]
The inclination angles θ and θ ′ in the first and second weaving operations described above are determined by the welding speed, the welding current, the weaving width (moving width), the weaving frequency (moving frequency), the shape of the weld pool B3, and the like. It can be determined based on the shape and the amount of deviation between the two assumed wires. For example, when a weaving width (moving width) is input, L is an existing value, so that θ and θ ′ can be determined from the above equations (1) and (2). It is also possible to calculate the weaving width itself from the shape of the object to be welded and determine θ and θ ′ based on the calculated weaving width. In this case, the control device 19 functions as a determination device that determines θ and θ ′.
[0034]
The input device 22 functions as an input unit that inputs parameters such as welding speed, welding current, welding voltage, torch angle, weaving width, and weaving frequency. The robot controller 21 controls the operation of the welding torch 12 including the weaving operation based on the parameters input by the input device 22.
[0035]
According to the consumable electrode arc welding apparatus of this embodiment, when the consumable electrode wire deviates from the welding center line position to the left and right under a weaving operation in which the consumable electrode wire swings and moves to the left and right sides with respect to the welding center line. The filler wire is positioned closer to the welding center than the consumable electrode wire portion, and even if the filler wire is bent, the filler wire is not supplied to the boundary region side of the molten pool. Therefore, the filler wire can collide with the bottom of the molten pool, resulting in unmelted residue, vibration of the filler wire, and the welding torch being pushed up, so that welding can be performed without instability. become able to.
[0036]
In the case of the first weaving operation, the weaving width can be set relatively large, and a wide weld bead can be obtained. In the case of the second weaving operation, the weaving width cannot be set so large, but the movement of the welding torch is simple and the welding can be performed at a high welding speed.
[0037]
In multi-layer welding as shown in FIG. 8, welding of the lower layers Ba and Bb having a relatively small bead width is performed by the consumable electrode type arc welding method using the second weaving operation described above, and the bead width is Relatively large upper layer welds Bc and Bd are performed by the consumable electrode type arc welding method using the first weaving operation described above.
[0038]
Further, the consumable electrode type arc welding apparatus and method according to the present invention include, in addition to the above-described embodiment, for example, one leading wire (consuming electrode wire Y1), two following wires (filler wire Y2), etc. It can be applied in various arc welding methods.
[0039]
【The invention's effect】
According to the present invention, the filler wire can be stably supplied to the molten pool, whereby the supply amount of the filler wire can be increased and the welding speed can be increased.
[Brief description of the drawings]
FIG. 1 is a configuration diagram showing an overall configuration in which a consumable electrode arc welding apparatus according to the present invention is applied to a welding robot.
FIG. 2 is a side view of a welding torch used in the consumable electrode arc welding apparatus according to the present invention.
FIG. 3 is a bottom view of a welding torch used in the consumable electrode arc welding apparatus according to the present invention.
FIG. 4 is an explanatory view showing a first weaving operation in the consumable electrode arc welding apparatus according to the present invention.
FIGS. 5A to 5C are explanatory views showing wire supply positions in the first weaving operation. FIGS.
FIG. 6 is an explanatory view showing a second weaving operation in the consumable electrode type arc welding apparatus according to the present invention.
FIGS. 7A and 7B are explanatory views showing wire supply positions in the second weaving operation. FIGS.
FIG. 8 is an explanatory view showing a multilayer pile welding method according to the present invention.
FIG. 9 is an explanatory view showing lateral displacement of a filler wire with respect to a consumable electrode wire.
FIG. 10 is an explanatory diagram showing a conventional weaving operation.
FIG. 11 is an explanatory diagram showing a problem in a conventional weaving operation.
FIG. 12 is an explanatory diagram showing a problem in a conventional weaving operation.
[Explanation of symbols]
DESCRIPTION OF SYMBOLS 10 Welding robot 12 Welding torch 14 Electrode wire feeder 15 Filler wire feeder 19 Welding power supply / control device 20 Filler controller 21 Robot controller 22 Input device 23 Electrode wire delivery nozzle 24 Filler wire delivery nozzle Y1 Consumable electrode wire Y2 Filler wire P1 Consumable electrode wire supply position P2 Torch rotation center position P3 Filler wire supply position B3 Molten pool

Claims (9)

A consumable electrode wire supply unit for supplying a consumable electrode wire to a welding object via a welding torch;
A filler wire supply unit for supplying a filler wire to a weld pool to be welded via the welding torch;
The welding torch is moved relative to the object to be welded so that the consumable electrode wire swings to the left and right sides with respect to the welding center line, and the lateral swing width of the filler wire is smaller than the lateral swing width of the consumable electrode wire. A consumable electrode type arc welding apparatus comprising swing motion means for swing motion. In the consumable electrode type arc welding apparatus according to claim 1,
The swing motion means is configured such that both the consumable electrode wire and the filler wire swing to the left and right with respect to the welding center line, and the consumable electrode wire is welded from the consumable electrode wire as the distance from the welding center line increases. A consumable electrode type arc welding apparatus, wherein the welding torch is rotated so that a rotation angle of the welding torch is increased with the traveling direction delay side as a rotation center. In the consumable electrode type arc welding apparatus according to claim 1,
The swing movement means rotates the welding torch while keeping the rotation center on the welding center line with the consumable electrode wire as a rotation center from the consumable electrode wire, and turns the consumable electrode wire to the welding center line. In contrast, a consumable electrode arc welding apparatus that swings and moves left and right. In the consumable electrode type arc welding apparatus according to any one of claims 1 to 3,
A parameter input unit for inputting at least a welding speed, a welding current, a welding voltage, a torch angle, and a movement width and a movement frequency at which the consumable electrode wire swings and moves to the left and right sides with respect to the welding center line;
The consumable electrode type arc welding apparatus further comprising control means for controlling the operation of the welding torch including the operation by the swing motion means based on the parameter input by the parameter input unit. A consumable electrode type arc comprising a consumable electrode wire supply section for supplying a consumable electrode wire to a welding object via a welding torch, and a filler wire supply section for supplying a filler wire to a weld pool to be welded via the welding torch. In a welding method using a welding device,
The consumable electrode wire is swung to the left and right with respect to the welding center line, and the welding torch is swung relative to the welding target so that the lateral swing width of the filler wire is smaller than the lateral swing width of the consumable electrode wire. A consumable electrode type arc welding method characterized by dynamic movement. In the consumable electrode type arc welding method according to claim 5,
The consumable electrode wire and the filler wire are both swung to the left and right with respect to the welding center line, and the consumable electrode wire is rotated on the welding progress direction delay side as the consumable electrode wire moves away from the welding center line. A consumable electrode type arc welding method, wherein the welding torch is rotated so that a rotation angle of the welding torch at the center is increased. In the consumable electrode type arc welding method according to claim 5,
The welding torch is rotated with the rotation direction behind the consumable electrode wire as the rotation center, the rotation center being maintained on the welding center line, and the consumable electrode wire is swung left and right with respect to the welding center line. A consumable electrode type arc welding method, characterized by being moved dynamically. In the multi-layer prime welding method using a consumable electrode type arc welding apparatus,
After forming the layer of the weld bead by performing welding by consumable electrode type arc welding method 請 Motomeko 7 wherein, by performing welding by consumable electrode type arc welding method according to claim 6, wherein overlapping the layer of the weld bead A welding method characterized by the above. In the arc welding condition determination apparatus used for the consumable electrode type arc welding apparatus according to any one of claims 1 to 3,
An input unit for inputting at least a welding speed, a welding current, a welding voltage, a torch angle, and a moving width and a moving frequency at which the consumable electrode wire swings and moves to the left and right sides with respect to the welding center line;
Based on the input values, arc welding condition determining apparatus comprising: a calculating means for calculating the swing angle of the welding torch during swinging movement of the welding torch Ri by said oscillating motion means.

Images