JP5145888B2 - Welding equipment - Google Patents

Description

  The present invention relates to a welding apparatus that performs arc welding while feeding a welding wire that is a consumable electrode.

In the conventional arc welding, in the initial period of welding, the welding voltage supplied to the welded portion and the welding wire feed speed are set at the same setting level as that at the time of steady welding. In the welding end period, the welding voltage supplied to the welded part during the crater processing period is reduced from the steady setting level to the crater processing setting level for the purpose of suppressing crater generation. Is known in which the feeding speed is reduced in accordance with the change in the welding voltage (see, for example, Patent Document 1).
JP-A-1-107968

  In the above-described conventional arc welding, as shown in FIG. 5, the welding voltage and the welding wire feed signal are the same conditions as the steady welding period TN at the welding start end portion 103. In the vicinity of the welding start end portion 103, heat input may be insufficient, resulting in insufficient melting. Then, the bead width may be narrow, the bead height may be high, the penetration may be shallow, and the bead appearance may be unfamiliar with the bead.

  Further, in the conventional arc welding, it is possible to reduce the occurrence of the crater 101 at the welding end portion by controlling the welding voltage V and the wire feed signal WF. However, the crater state is stabilized only by adjusting the welding voltage V1 and the wire feed signal WF1 in the steady welding period TN to the welding voltage V3 and the wire feed speed WF3 from the welding end position TE in the welding end period TE. May not be formed. As an example, the welding wire is moved in the welding direction in the welding end period TE at the same welding speed as the steady welding period TN (speed for moving the welding torch in the welding direction), and the welding speed is not changed. Regardless, if the speed at which the welding wire is fed is reduced from the wire feed signal WF1 to the wire feed speed WF3, the amount of the welding wire supplied is substantially reduced, and therefore the bead width is reduced, and the crater state is stabilized. Cannot be formed.

  Therefore, in conventional arc welding, there is a possibility that the welding quality cannot be ensured over the entire welding length from the welding start end to the welding end.

In order to solve the above-described problems, a welding apparatus of the present invention includes a welding torch, a welding power source that supplies power between a consumable electrode and a welding object, a steady welding current or a steady consumable electrode feed speed, and at least A welding condition storage unit that stores a plurality of welding conditions associated with the initial welding current, a steady welding condition input unit for inputting a steady welding current or a steady consumable electrode feed speed, and the steady welding condition input unit. There is provided a control unit for controlling the welding power source unit by selecting one welding condition from a plurality of welding conditions stored in the welding condition storage unit based on the steady welding current or the steady consumable electrode feeding speed. The welding condition stored in the welding condition storage unit is the time until the transition from the initial welding current to the steady welding current, which is associated with the steady welding current or the steady consumption electrode feed speed. And / or further comprises a current reduction amount per unit time from the initial welding current until the transition to the steady welding current, the welding target is aluminum, further comprising an actuator for moving the welding torch, the welding The welding condition stored in the condition storage unit is a unit of the moving speed of the welding torch that is associated with the steady welding current or the steady consumable electrode feeding speed until the welding current is shifted from the initial welding current to the steady welding current. The control unit further includes a change amount per time, and the control unit performs welding by controlling the actuator according to a selected welding condition, and moves the welding current from the initial welding current higher than the steady welding current toward the steady welding current. The welding torch is moved from the moving speed lower than the moving speed during the steady welding period. Controlled so as to increase toward the moving speed of the steady welding period, and performs welding by synchronizing an increase of reduction and the moving speed of the welding current.

  As described above, according to the welding apparatus of the present invention, the welding conditions such as the welding current and the welding speed are determined based on the steady welding current or the steady consumable electrode feeding speed in the welding initial period and / or the welding end period. By performing the control, a uniform weld quality can be realized at the welding start end and / or the welding end.

(Embodiment 1)
Hereinafter, embodiments of the present invention will be described with reference to FIGS. 1 and 2.

  FIG. 1 shows a schematic configuration of an arc welding apparatus in the present embodiment. Moreover, FIG. 2 has shown time changes, such as welding conditions in this Embodiment, FIG. 2 (a) is a welding state (side sectional drawing), FIG.2 (b) is a welding voltage, FIG.2 (c) is FIG. 2D shows the welding current, FIG. 2D shows the wire feeding speed, and FIG. 2E shows the welding speed (moving speed of the welding torch).

  FIG. 1 is a diagram showing a schematic configuration of an arc welding apparatus in the present embodiment which is an example of a welding apparatus. The arc welding apparatus mainly includes a welding power supply unit 20 that supplies electric power between the welding wire 14 and the workpiece 17 and a robot 22 that moves the welding torch 15.

  In the welding power source 20, the electric power from the input power source 1 is rectified by the primary rectifier 2, converted to alternating current by the switching element 3, stepped down by the transformer 4, and rectified by the secondary rectifier 5 and DCL (inductance) 6. And applied between the welding wire 14 and the workpiece 17. One output of the welding power source 20 is applied to the welding wire 14 via the welding torch 15, and the other output is applied to the workpiece 17, and an arc 16 is generated between the welding wire 14 and the workpiece 17. To do.

  Further, the welding power source unit 20 controls the output control unit 7 that controls the switching element 3, the control unit 8 that outputs a control signal that controls the welding output to the output control unit 7, and the wire feeding device 13. A wire feed speed control unit 11 for welding and a welding condition storage unit 9 for storing welding conditions. The welding condition storage unit 9 stores the steady welding current, the welding voltage, the welding current, the wire feed speed, the welding speed, and the steady welding current in the first initial period T2 associated with the steady welding current. A set of welding conditions including a welding voltage, a welding current, a wire feeding speed and a welding speed in the associated second initial period T3, and a steady welding voltage, a steady wire feeding speed and a steady welding speed in the steady welding period T1. Are stored. Further, the welding condition includes a time of the first initial period T2 and a time of the second initial period T3. Note that the welding voltage, welding current, wire feed speed, and welding speed in the second initial period T3 are target values at the end of the second initial period T3. An example of welding conditions is shown in Table 1.

  Further, the welding condition input unit 21 for inputting the welding conditions is to send the input information to the control unit 8 via the robot control unit 10. Examples of the welding condition input unit 21 include a teaching device for teaching the operation of a robot. The welding condition input unit 21 may be provided in the welding power source unit 20 and information may be sent from the welding condition input unit 21 to the control unit 8 without using the robot control unit 10.

  In FIG. 1, when the value of the steady welding current is inputted by the welding condition input unit 21 by an operator or the like, the control unit 8 is stored in the welding condition storage unit 9 based on the inputted steady welding current. Among a plurality of welding conditions, welding voltage, welding current, wire feeding speed and welding speed in the first initial period T2, welding voltage, welding current, wire feeding speed and welding speed in the second initial period T3, steady welding The steady welding voltage, steady wire feed speed, and steady welding speed in the period T1 are extracted, and these pieces of information are transmitted to the output control unit 7, the robot control unit 10, and the wire feed control unit 11.

  The robot 22 is mainly composed of the actuator 12 and the robot control unit 10. The actuator 12 is provided with a wire feeding device 13 and a welding torch 15 for feeding the welding wire 14 to the workpiece 17. Then, the robot control unit 10 controls the actuator 12 based on information from the control unit 8 to control the welding speed, that is, the moving speed of the welding wire 14 in the welding direction of the workpiece 17. Examples of the actuator 12 include a vertical articulated manipulator used as an industrial robot, for example.

  Further, the wire feed control unit 11 controls the feed speed of the welding wire 14 by controlling the wire feed device 13 based on information from the control unit 8.

  In addition, each component which comprises an arc welding apparatus may each be comprised independently as needed, and you may make it comprise combining a some component part.

  Next, with reference to FIG. 2, the welding voltage, welding current, wire feed speed, and welding speed in the first initial period T2 and the second initial period T3, which are the initial welding period before the steady welding period T1, are determined. An example of control will be described.

  Here, when welding is started, the control unit 8 outputs the welding current, the welding voltage V, the wire feeding speed, and the welding speed extracted as described above, the output control unit 7, the robot control unit 10, and the wire feeding control unit. 11 for control. The control unit 8 controls the welding current and the welding voltage by outputting information on the welding current and the welding voltage to the output control unit 7, and outputs the information on the wire feeding speed to the wire feeding control unit 11. The wire feeding speed is controlled by the feeding device 13 and the welding speed, which is the speed at which the welding torch 15 moves along the welding line, is controlled by outputting information on the welding speed to the robot controller 10.

  In FIG. 2, when welding is started at the welding start position P0, during the first initial period T2, an initial welding voltage V2, an initial welding current I2, and an initial wire associated with the steady welding current I1 are used. The feed speed WF2 and the initial welding speed WS2 are controlled.

  In the second initial period T3, the welding voltage is controlled to gradually decrease at a constant rate so that the initial welding voltage V2 becomes the steady welding voltage V1. Also, the welding current is controlled so as to gradually decrease at a constant rate so that the initial welding current I2 becomes the steady welding current I1. Further, the wire feed speed is also controlled to gradually decrease at a constant rate so that the initial wire feed speed WF2 becomes the steady welding wire feed signal WF1. Further, the welding speed is controlled to gradually increase at a constant rate so that the initial welding speed WS2 becomes the steady welding speed WS1. In addition, by gradually increasing the welding speed in this way, the welding state is stabilized and the bead appearance can be improved as compared with the case where the welding speed is rapidly increased.

  As described above, the control may be performed so that the initial condition is changed to the condition of the steady welding period during the second initial period T3, and the slope of the change of each condition (the amount of increase / decrease per unit time). , Change amount) is also stored in the welding condition storage unit 9, and each condition is not based on the time of the second initial period T 3 but on the slope of change of each condition (increase / decrease amount per unit time, change amount). May be controlled so as to change from the initial condition to the steady condition. As for the welding speed, the slope of change (the amount of increase / decrease per unit time, the amount of change) is also stored in the welding condition storage unit 9 and the slope of the change in welding speed, not the time of the second initial period T3. Control may be performed so as to change from an initial condition to a steady condition based on (amount of increase / decrease per unit time, amount of change).

  In the first initial period T2 and the second initial period T3 that are welding initial periods, the welding voltage, the welding current, the wire feeding speed, and the welding speed are associated with each other by the steady welding current I1 as described above. By controlling to, the workpiece 17 that is a base material can be rapidly heated, the base material is heated, the base material is melted, and sufficient penetration can be obtained.

  As described above, according to the present embodiment, the steady welding current I1, the welding current, the welding voltage, the wire feeding speed, and the welding speed in the initial welding period are associated and stored in the welding condition storage unit 9. When the welding operator inputs a steady welding current through the welding condition input unit 21, the welding current, the welding voltage, the wire feed speed, and the welding speed corresponding to the steady welding current are extracted, and welding is performed based on the extracted welding conditions. be able to. Therefore, the welding operator can set the steady welding current without repeating the trial and error for various welding conditions, and setting the steady welding current. The bead width is wide, the bead height is low, and the penetration is deep. The bead formation state in which the bead is familiar can be ensured.

  In the above description, the welding condition is extracted by setting the steady welding current I1 using the welding condition input unit 21. However, instead of the steady welding current I1, the wire feed speed WF1 is set using the welding condition input unit 21. By setting, the welding conditions in the first initial period T2, the second initial period T3, and the steady welding period T1 may be extracted.

  Further, a plurality of sets of welding conditions associated with the above-described steady welding current are obtained in advance by experiments or the like based on the state of the workpiece 17 and the welding method.

  In the present embodiment, an example in which the welding current, the welding voltage, and the wire feeding speed in the initial period are higher than in the steady state and the welding speed in the initial period is lower than in the steady period is shown. The welding current, welding voltage, and wire feed speed in the initial period may be controlled to be lower than in the steady state and the welding speed in the initial period may be higher than in the steady state depending on the state of the material, thickness, and the like. . For example, when welding a material having a high heat transfer coefficient such as aluminum, it is preferable to control the former as in the case of the former. When welding a material having a heat transfer coefficient lower than that of aluminum such as iron, the latter is preferable. Preferably it is controlled.

(Embodiment 2)
This embodiment will be described with reference to FIG. In the present embodiment, the same parts as those in the first embodiment are denoted by the same reference numerals, and detailed description thereof is omitted. The difference from the first embodiment is that welding is performed by determining the welding conditions in the welding end period based on the steady welding current.

  In the present embodiment, the welding condition storage unit 9 of the arc welding apparatus is associated with the welding voltage, the wire feed speed, the welding speed, and the steady welding current in the steady welding period associated with the steady welding current. A plurality of sets of welding conditions including a welding voltage, a welding current, a wire feeding speed, and a welding speed in the welding end period T4 are stored. Further, the welding condition includes the time of the welding end period T4. An example of welding conditions is shown in Table 2.

  And if the value of steady welding current is inputted by welding conditions input part 21 by an operator etc., control part 8 will be stored in welding condition storage part 9 based on this inputted steady welding current. From the welding conditions, the welding voltage, welding current, wire feeding speed and welding speed in the steady welding period T1, and the welding voltage, welding current, wire feeding speed and welding speed in the welding end period T4 are extracted, and these information is output. The data is sent to the control unit 7, the robot control unit 10, and the wire feed control unit 11.

  Here, when welding is started, the control unit 8 outputs the welding current, the welding voltage V, the wire feeding speed, and the welding speed extracted as described above, the output control unit 7, the robot control unit 10, and the wire feeding control unit. 11 for control. The control unit 8 controls the welding current and the welding voltage by outputting information on the welding current and the welding voltage to the output control unit 7, and outputs the information on the wire feeding speed to the wire feeding control unit 11. The wire feeding speed is controlled by the feeding device 13 and the welding speed, which is the speed at which the welding torch 15 moves along the welding line, is controlled by outputting information on the welding speed to the robot controller 10.

  An example of controlling the welding voltage, the welding current, the wire feeding speed, and the welding speed in the welding end period T4 will be described with reference to FIG.

  In FIG. 3, when welding is started at the welding start position P0, the welding current is controlled to become the steady welding current I1 in the steady welding period T1. Further, in the steady welding period T1, the welding voltage is controlled to be the steady welding voltage V1. Further, in the steady welding period T1, the welding wire speed is controlled to be the steady welding wire feed speed WF1. Further, in the steady welding period T1, the welding speed is controlled to be the steady welding speed WS1.

  In the welding end period T4, a crater process for stably forming a crater state is performed. The welding voltage is controlled so as to gradually decrease at a constant rate so as to change from the steady welding voltage V1 to the crater voltage V3. Further, the welding current is also controlled so as to be gradually reduced at a constant rate so that the steady welding current I1 becomes the crater current I3. Further, the wire feed speed is also controlled so as to gradually decrease at a constant rate from the steady welding wire feed speed WF1 to the wire feed speed WF3 for crater processing. Further, the welding speed is controlled to gradually decrease at a constant rate so that the welding speed WS3 of the crater process is changed from the steady welding speed WS1. As for the welding speed, the slope of change (increase / decrease amount per unit time, amount of change) is also stored in the welding condition storage unit 9 and is not the time of the welding end period T4, but the slope of change in welding speed (units). It may be controlled to change from the condition in the steady welding period T1 to the value in the welding end period T4 based on the amount of increase / decrease per hour and the amount of change. And by performing such control, the heat input to the workpiece 17 that is the base material is gradually reduced, the penetration is made shallow while maintaining the bead width equivalent to the steady welding period T1, and the central portion of the crater Can be suppressed.

  As described above, according to the present embodiment, the steady welding current I1, the welding current in the welding end period T4, the welding voltage, the wire feed speed, and the welding speed are associated with each other and stored in the welding condition storage unit 9. When the welding operator inputs a steady welding current through the welding condition input unit 21, the welding current, welding voltage, wire feed speed, and welding speed in the steady welding period T1 and the welding end period T4 corresponding to the steady welding current are extracted. And welding can be performed according to these extracted welding conditions. Accordingly, the welding operator does not search for welding conditions by repeating trial and error for various welding conditions and the like, and only sets the steady welding current. Heat can be suppressed, and digging in the center of the crater can be suppressed while maintaining a wide bead width.

  In the above description, the welding condition is extracted by setting the steady welding current I1 using the welding condition input unit 21. However, instead of the steady welding current I1, the wire feed speed WF1 is set using the welding condition input unit 21. By setting, the welding conditions in the steady welding period T1 and the welding end period T4 may be extracted.

  Further, a plurality of sets of welding conditions associated with the above-described steady welding current are obtained in advance by experiments or the like based on the state of the workpiece 17 and the welding method.

(Embodiment 3)
This embodiment will be described with reference to FIG. In the present embodiment, the same parts as those in the first embodiment and the second embodiment are denoted by the same reference numerals, and detailed description thereof is omitted. The difference from the first embodiment and the second embodiment is that welding is performed by determining welding conditions in both the initial welding period and the welding end period based on the steady welding current.

  In the present embodiment, the welding condition storage unit 9 of the arc welding apparatus is associated with the welding voltage, the wire feed speed, the welding speed, and the steady welding current in the steady welding period associated with the steady welding current. Welding voltage, welding current, wire feed speed, welding speed in the first initial period T2 and second initial period T3, which are initial welding periods, and welding speed in welding end period T4 associated with the steady welding current. A plurality of sets of welding conditions including a voltage, a welding current, a wire feeding speed, and a welding speed are stored. The welding conditions also include a time of the first initial period T2, a time of the second initial period T3, and a time of the welding end period T4.

  And if the value of steady welding current is inputted by welding conditions input part 21 by an operator etc., control part 8 will be stored in welding condition storage part 9 based on this inputted steady welding current. Welding voltage, welding current, wire feeding speed and welding speed in steady welding period T1 from the welding conditions, welding voltage, welding current, wire feeding speed and welding speed in first initial period T2, second initial period T3 Welding voltage, welding current, wire feeding speed and welding speed, welding voltage, welding current, wire feeding speed and welding speed in welding end period T4 are extracted, and these information is output control unit 7 and robot control unit 10. To the wire feed control unit 11.

  Here, when welding is started, the control unit 8 outputs the welding current, the welding voltage V, the wire feeding speed, and the welding speed extracted as described above, the output control unit 7, the robot control unit 10, and the wire feeding control unit. 11 for control. The control unit 8 controls the welding current and the welding voltage by outputting information on the welding current and the welding voltage to the output control unit 7, and outputs the information on the wire feeding speed to the wire feeding control unit 11. The wire feeding speed is controlled by the feeding device 13 and the welding speed, which is the speed at which the welding torch 15 moves along the welding line, is controlled by outputting information on the welding speed to the robot controller 10.

  An example of control of the welding voltage, the welding current, the wire feed speed, and the welding speed in the first initial period T2, the second initial period T3, and the welding end period T4 will be described with reference to FIG.

  In FIG. 4, when welding is started at the welding start position P0, during the first initial period T2, the initial welding voltage V2, the initial welding current I2, and the initial wire associated with the steady welding current I1 are used. The feed speed WF2 and the initial welding speed WS2 are controlled.

  In the second initial period T3, the welding voltage is controlled to gradually decrease at a constant rate so that the initial welding voltage V2 becomes the steady welding voltage V1. Also, the welding current is controlled so as to gradually decrease at a constant rate so that the initial welding current I2 becomes the steady welding current I1. Further, the wire feed speed is also controlled to gradually decrease at a constant rate so that the initial wire feed speed WF2 becomes the steady welding wire feed signal WF1. Further, the welding speed is controlled to gradually increase at a constant rate so that the initial welding speed WS2 becomes the steady welding speed WS1.

  In the steady welding period T1, the welding current is controlled to be the steady welding current I1. Further, in the steady welding period T1, the welding voltage is controlled to be the steady welding voltage V1. Further, in the steady welding period T1, the welding wire feed speed is controlled so as to become the steady welding wire feed speed WF1. Further, in the steady welding period T1, the welding speed is controlled to be the steady welding speed WS1.

  In the welding end period T4, the welding voltage is controlled so as to gradually decrease at a constant rate so as to change from the steady welding voltage V1 to the crater voltage V3. Further, the welding current is also controlled so as to be gradually reduced at a constant rate so that the steady welding current I1 becomes the crater current I3. The wire feed speed is also controlled so as to gradually decrease at a constant rate from the steady welding wire feed signal WF1 to the wire feed speed WF3 for crater processing. Further, the welding speed is controlled to gradually decrease at a constant rate so that the welding speed WS3 of the crater process is changed from the steady welding speed WS1.

  As described above, according to the present embodiment, the welding current, the welding voltage, the wire feeding speed, and the welding speed in the steady welding current I1, the first initial period T2, the second initial period T3, and the welding end period T4. Are stored in the welding condition storage unit 9 and when the welding operator inputs a steady welding current through the welding condition input unit 21, the steady welding period T1 and the first initial period T2 corresponding to the steady welding current are stored. The welding current, the welding voltage, the wire feeding speed, and the welding speed in the second initial period T3 and the welding end period T4 are extracted, and welding can be performed according to the extracted welding conditions. Therefore, the welding operator does not search for welding conditions by repeating trial and error for various welding conditions by himself, but only by setting a steady welding current, it is uniform over the entire welding length from the welding start end to the welding end. High welding quality can be realized easily.

  In the above description, the welding condition is extracted by setting the steady welding current I1 using the welding condition input unit 21. However, instead of the steady welding current I1, the wire feed speed WF1 is set using the welding condition input unit 21. By setting, the welding conditions in the first initial period T2, the second initial period T3, the steady welding period T1, and the welding end period T4 may be extracted.

  Further, a plurality of sets of welding conditions associated with the above-described steady welding current are obtained in advance by experiments or the like based on the state of the workpiece 17 and the welding method.

  The welding apparatus of the present invention can achieve uniform welding quality over the entire welding length, and is industrially useful as a welding apparatus that performs welding using a welding wire that is a consumable electrode.

The figure which shows schematic structure of the arc welding apparatus in Embodiment 1-3 (A) The figure which shows the welding state (side cross section) in Embodiment 1, (b) The figure which shows the change of the welding voltage regarding the welding position in Embodiment 1, (c) The welding current regarding the welding position in Embodiment 1. FIG. (D) The figure which shows the change of the wire feed speed regarding the welding position in Embodiment 1, (e) The figure which shows the change of the welding speed regarding the welding position in Embodiment 1 (A) The figure which shows the welding state (side cross section) in Embodiment 2, (b) The figure which shows the change of the welding voltage regarding the welding position in Embodiment 2, (c) The welding current regarding the welding position in Embodiment 2. FIG. (D) The figure which shows the change of the wire feed speed regarding the welding position in Embodiment 2, (e) The figure which shows the change of the welding speed regarding the welding position in Embodiment 2. FIG. (A) The figure which shows the welding state (side cross section) in Embodiment 3, (b) The figure which shows the change of the welding voltage regarding the welding position in Embodiment 3, (c) The welding current regarding the welding position in Embodiment 3. (D) The figure which shows the change of the wire feed speed regarding the welding position in Embodiment 3, (e) The figure which shows the change of the welding speed regarding the welding position in Embodiment 3 (A) The figure which shows the welding state (side cross section) in the conventional arc welding, (b) The figure which shows the change of the welding voltage regarding the welding position in the conventional arc welding, (c) The welding current regarding the welding position in the conventional arc welding (D) The figure which shows the change of the wire feed signal regarding the welding position in the conventional arc welding, (e) The figure which shows the change of the welding speed regarding the welding position in a prior art example

Explanation of symbols

TN steady welding period TE welding end period T1 steady welding period T2 first initial period T3 second initial period T4 welding end period I1 steady welding current (steady welding period)
I2 Initial welding current (initial period)
I3 Crater current (welding end period)
V1 steady welding voltage (steady welding period)
V2 Initial welding voltage (initial period)
V3 Crater voltage (Welding end period)
WF1 Steady welding wire feed signal (steady welding period)
WF2 Initial wire feed speed (initial period)
WF3 Wire feed speed (Welding end period)
WS1 steady welding speed (steady welding period)
WS2 Initial welding speed (initial period)
WS3 Welding speed (Welding end period)
P0 Welding start position P1 Welding end position P2, P3, P4 Welding position 1 Input power supply 2 Primary rectification unit 3 Switching element 4 Transformer 5 Secondary rectification unit 6 DCL (inductance, coil)
DESCRIPTION OF SYMBOLS 7 Output control part 8 Control part 9 Welding condition memory | storage part 10 Robot control part 11 Wire feed control part 12 Actuator 13 Wire feed apparatus 14 Welding wire (consumable electrode)
15 welding torch 16 arc 17 work piece 20 welding power source (welding machine)
21 welding condition input part 22 robot 101 crater (welding terminal part)
102 Workpiece (base material)
103 Weld start

Claims (1)

Welding torch,
A welding power source for supplying power between the consumable electrode and the welding object;
A welding condition storage unit for storing a plurality of welding conditions in which a steady welding current or a steady consumable electrode feed speed is associated with at least an initial welding current;
A steady welding condition input section for inputting a steady welding current or a steady consumable electrode feed speed;
The welding power source is selected by selecting one welding condition from a plurality of welding conditions stored in the welding condition storage unit based on the steady welding current or the steady consumable electrode feed speed input by the steady welding condition input unit. A control unit for controlling the unit,
The welding condition stored in the welding condition storage unit is the time until the transition from the initial welding current to the steady welding current, and / or the initial, associated with the steady welding current or the steady consumption electrode feed speed. Further including a current reduction amount per unit time from the welding current to the transition to the steady welding current,
The welding object is aluminum,
An actuator for moving the welding torch;
The welding condition stored in the welding condition storage unit is a moving speed of the welding torch that is associated with the steady welding current or the steady consumable electrode feed speed until the welding current is shifted from the initial welding current to the steady welding current. Further including the amount of change per unit time of
The control unit performs welding by controlling the actuator according to selected welding conditions,
The welding current is controlled so as to decrease from the initial welding current higher than the steady welding current toward the steady welding current, and the moving speed of the welding torch is changed from the moving speed lower than the moving speed during the steady welding period. A welding apparatus which performs control so as to increase toward the moving speed during a steady welding period, and synchronizes the decrease in the welding current and the increase in the moving speed.