JP5543160B2 - Composite welding apparatus and composite welding method - Google Patents

Description

  The present invention relates to a composite welding apparatus and a composite welding method, and more particularly to a composite welding apparatus and a composite welding method that can improve the gap likelihood and suppress the occurrence of spatter.

  Conventionally, a composite welding apparatus combining laser welding and arc welding has been used. According to this composite welding apparatus, a welding speed substantially equal to that of laser welding can be obtained, and further, uniform bead formation is expected due to the complementary effect of arc welding.

  However, since the base material to be butt welded or fillet welded has a curved surface or wavy ends, gaps between the base materials in the welding progress direction (route spacing in butt welding, fillet welds, etc.) The gaps between the base materials were irregularly generated. For this reason, in a location with a large gap (about 3 mm at the maximum), the base metal is not filled with the weld metal and a welding defect may occur. That is, the gap likelihood (gap tolerance) was low.

  Therefore, a technique for performing welding by swinging the arc in the left-right direction intersecting the traveling direction in composite welding of laser welding and arc welding is disclosed (Patent Document 1). In the technique disclosed in Patent Document 1, the width of the deposited metal is expanded by swinging the arc, thereby improving the gap likelihood.

JP 2006-224130 A

  However, when the arc is swung as in the conventional technique described above, the arc length is increased because the arc is dragged and tilted in the counter-traveling direction while the arc is moving to the left or right. On the other hand, at the toe where the movement of the arc is temporarily stopped (the point where the surface of the base material and the surface of the bead intersect), there is no arc dragging, so the arc length is shortened. By swinging the arc in this way, the arc inclination and arc length change in a short time, so that there is a problem that the directivity of the arc is disturbed and the droplets are scattered and spattering is likely to occur.

  The present invention has been made to solve the above-described problems, and an object of the present invention is to provide a composite welding apparatus and a composite welding method capable of improving the gap likelihood and suppressing the occurrence of spatter.

In order to achieve this object, the composite welding apparatus according to claim 1 is a combination of laser welding and arc welding, and a laser irradiation unit that is a portion that irradiates laser light of the laser welding toward a base material. A first electrode and a second electrode arranged in parallel before and after the welding progress direction, and an arc generating portion that is a portion that generates an arc of the arc welding with the base material, and between the base material A gap detection device for detecting a gap of the first electrode and, if the gap detected by the gap detection device is within a predetermined range, whether the target position of the first electrode and the second electrode is moved to a contact portion between the base materials Alternatively, when the gap detected by the gap detection device is outside a predetermined range, the target position of the first electrode and the second electrode is viewed from the welding progress direction and the gap between the base materials is determined. And a moving means for moving the center line to the right and left sides of the center line, and the first electrode and the second electrode are configured such that the laser beam from the laser irradiation unit is applied to the molten pool by arc welding. When the gap detected by the gap detection device is within a predetermined range, the laser is arranged in parallel at the back and forth along the center line of the gap between the base materials behind the laser irradiation unit so as not to be irradiated. An irradiation position of the laser beam by the irradiation unit and a target position of the first electrode and the second electrode are set on a center line of the gap between the base materials , and the gap detected by the gap detection device is out of a predetermined range. In this case, the target positions of the first electrode and the second electrode are deviated from the center line of the gap between the base materials with respect to the laser beam irradiation position by the laser irradiation unit. And a moving means for.

  The composite welding apparatus according to claim 2 is the composite welding apparatus according to claim 1, wherein the welding of the arc welding is performed in accordance with a distance from the center line of the target position of the first electrode and the second electrode. A filler material feeding means for changing the material feeding speed is provided.

  The composite welding apparatus according to claim 3 is the composite welding apparatus according to claim 1 or 2, wherein the moving unit is configured to adjust the first electrode and the second electrode according to a gap detected by the gap detection device. The amount of separation from the center line of the target position is changed.

  According to a fourth aspect of the present invention, there is provided the composite welding apparatus according to the third aspect, wherein the gap determination means for determining the presence or absence of a gap detected by the gap detection apparatus and the gap determination means determine that there is no gap. A first target position adjusting unit that operates the moving unit to move the target position of the first electrode and the second electrode to a contact portion between the base materials, and the gap determining unit has a gap. A second target position adjusting unit that operates the moving unit to move the target position of the first electrode and the second electrode to the right side and the left side of the center line when viewed from the welding progress direction. I have.

  The composite welding apparatus according to claim 5 is the composite welding apparatus according to any one of claims 1 to 4, wherein an electrode holding portion that holds the first electrode and the second electrode, and the first of the electrode holding portions. A rotation center axis disposed perpendicular to the weld line between the first electrode and the second electrode, and the moving means moves the electrode holding portion around the rotation center axis in the welding progress direction. Is provided with a rotation angle adjusting device for rotating the image at a predetermined angle.

The composite welding method according to claim 6 is a composite welding method in which laser welding and arc welding are combined to weld base materials, so that the laser beam from the laser irradiation unit is not irradiated to the molten pool by the arc welding. The aiming positions of the first electrode and the second electrode, which are arranged side by side along the center line of the gap between the base materials behind the laser irradiation portion and before and after the welding progress direction and perform the arc welding, are viewed from the welding progress direction. When the gap detected by the gap detection device is moved to the right and left of the center line of the gap between the base materials and is within a predetermined range, the laser irradiation position of the laser irradiation unit and the first set the target position of the electrode and the second electrode on the center line of the gap between the base material, the gap is Tokoro detected by the gap detecting device If out of the range, a moving step of biasing the target positions of the first electrode and the second electrode with respect to the irradiation position of the laser beam by the laser irradiation section with reference to the center line of the gap between the base materials; And a welding step of performing welding with the first electrode and the second electrode moved by the moving step.

According to the composite welding apparatus of the first aspect, since laser welding and arc welding are combined, a uniform bead can be formed even when the welding speed is high. Furthermore, since arc welding is performed after laser welding, the laser beam is not irradiated to the molten pool formed in the base material by the arc. Therefore, the problem that the weld metal in the molten pool is scattered by the irradiation of the laser beam and a hole is formed in the bead or a blow hole is suppressed, so that it is possible to form a uniform bead.
Moreover, according to the composite welding apparatus of claim 1, when the first electrode and the second electrode that are arranged side by side in the welding progress direction and perform arc welding, and the gap detected by the gap detector is within a predetermined range Moves the target position of the first electrode and the second electrode to the contact portion between the base materials, or the target position of the first electrode and the second electrode when the gap detected by the gap detection device is outside the predetermined range And a moving means for moving to the right and left sides of the center line with reference to the center line of the gap between the base materials when viewed from the welding progress direction, the aim position of the first electrode and the second electrode is set to the center of the gap. By changing according to the gap based on the line, there is an effect that the width of the molten metal can be changed according to the size of the gap. That is, when the gap detected by the gap detector is within a predetermined range, the irradiation position of the laser beam by the laser irradiation unit and the target positions of the first electrode and the second electrode are between the base materials. Since it is set on the center line of the gap, if there is no gap between the base metals or it is small (within a predetermined range), the weld metal is deeply melted in the thickness direction of the base material by narrowing the width of the weld metal When the gap between the base metals is large (outside the predetermined range), the base metal can be filled with the weld metal by widening the width of the weld metal. As a result, the occurrence of welding defects can be prevented, and the gap likelihood can be improved.

  Furthermore, since the arc is not oscillated, there is almost no change in the arc inclination or arc length, and the directivity of the arc can be stabilized. Therefore, there is an effect that generation of spatter can be suppressed.

  According to the composite welding apparatus of the second aspect, in addition to the effect exhibited by the composite welding apparatus of the first aspect, the arc welding is performed in accordance with the distance from the center line of the target position of the first electrode and the second electrode. Since the filler material feeding means for changing the feeding rate of the filler metal is provided, the volume of the deposited metal can be reduced without increasing the welding speed by increasing the filler material feeding rate when the gap is large. It is possible to prevent the occurrence of poor welding. Therefore, there is an effect that the gap likelihood can be improved without reducing the welding speed.

  According to the composite welding apparatus of the third aspect, in addition to the effect exhibited by the composite welding apparatus according to the first or second aspect, the composite welding apparatus includes a gap detection device that detects a gap between the base materials, and the moving means includes the gap detection device. Since the distance from the center line of the target position of the first electrode and the second electrode is changed according to the gap detected by, the first electrode and the second electrode are automatically guided according to the gap, and the base material is There is an effect that can be welded.

  According to the composite welding apparatus of the fourth aspect, in addition to the effect exhibited by the composite welding apparatus of the third aspect, the gap determination means for determining the presence or absence of a gap detected by the gap detection apparatus, and the gap determination means If it is determined that there is no gap, the moving means is actuated to move the aiming position of the first electrode and the second electrode to the contact portion between the base materials. If it is determined that there is no, the width of the weld metal can be reduced. Further, when the gap determining means determines that there is a gap, the second aim is to move the aiming position of the first electrode and the second electrode to the right side and the left side of the center line as viewed from the welding progress direction. Since the position adjusting means is provided, the width of the weld metal can be increased when it is determined that there is a gap. Thereby, there is an effect that the gap likelihood can be improved by simple control.

  According to the composite welding apparatus of the fifth aspect, in addition to the effect exhibited by the composite welding apparatus according to any one of the first to fourth aspects, an electrode holding portion that holds the first electrode and the second electrode, and the electrode holding thereof. A rotation center axis disposed perpendicular to the welding line between the first electrode and the second electrode of the part, and the moving means moves the electrode holding part around the rotation center axis in the welding progress direction. Since a rotation angle adjusting device that rotates a predetermined angle is provided, the target position of the first electrode and the second electrode is welded by rotating the electrode holding portion by a predetermined angle by the rotation angle adjusting device. It can be moved to the right side and the left side of the center line of the gap between the base materials as viewed from the traveling direction. In this way, the first electrode and the second electrode can be simultaneously moved to the left and right as viewed from the welding progress direction by simply changing the angle at which the electrode holding portion is rotated. Thereby, compared with the case where a 1st electrode and a 2nd electrode are moved separately, there exists an effect which can simplify an apparatus structure and control.

According to the composite welding method of the sixth aspect, since laser welding and arc welding are combined, a uniform bead can be formed even when the welding speed is high. Further, in order to prevent the laser beam from the laser irradiation part from being irradiated to the weld pool by arc welding, arc welding is performed in parallel along the center line of the gap between the base materials behind the laser irradiation part in the welding progress direction. When the target position of the first electrode and the second electrode to be performed is moved to the right side and the left side of the center line of the gap between the base materials when viewed from the welding progress direction, and the gap detected by the gap detection device is within a predetermined range, When the laser beam irradiation position by the laser irradiation unit and the aim position of the first electrode and the second electrode are set on the center line of the gap between the base materials , and the gap detected by the gap detection device is outside the predetermined range A moving step of biasing the target positions of the first electrode and the second electrode with respect to the irradiation position of the laser beam by the laser irradiation section with reference to the center line of the gap between the base materials; Since a welding step of performing welding by the first electrode and the second electrode is moved, it is possible to prevent occurrence of welding defects. That is, when there is no gap between the base materials or small (within a predetermined range), the weld metal can be deeply melted in the thickness direction of the base material by narrowing the width of the weld metal, and between the base materials. When the gap is large (outside the predetermined range), the base metal can be filled with the weld metal by widening the width of the weld metal, so that it is possible to prevent the occurrence of welding defects. Therefore, there is an effect that the gap likelihood can be improved. Furthermore, since the arc is not oscillated, there is almost no change in the arc inclination or arc length, and the directivity of the arc can be stabilized. Therefore, there is an effect that generation of spatter can be suppressed.

It is the schematic diagram which showed typically the composite welding apparatus in 1st Embodiment. (A) is a schematic diagram by planar view which made the aim position of a 1st electrode and a 2nd electrode the contact part of base materials, (b) is a welding progress direction in the aim position of a 1st electrode and a 2nd electrode. FIG. 6 is a schematic view in plan view of the center line of the gap between the base materials on the right side and the left side, and (c) shows the target position of the first electrode and the second electrode as viewed from the welding progress direction of the gap between the base materials. It is the schematic diagram by the side view made into the right side and the left side of a centerline. It is the block diagram which showed the electrical structure of the separation | spacing amount control apparatus. It is a flowchart which shows separation amount control processing. It is the schematic diagram which showed typically the composite welding apparatus in 2nd Embodiment. (A) is a schematic diagram by planar view which made the aim position of a 1st electrode and a 2nd electrode the contact part of base materials, (b) is a welding progress direction in the aim position of a 1st electrode and a 2nd electrode. It is the schematic diagram by planar view made into the right side and the left side of the centerline of the gap between base materials from the viewpoint. It is the block diagram which showed the electrical structure of the separation | spacing amount control apparatus. It is a flowchart which shows separation amount control processing. In the compound welding apparatus in 3rd Embodiment, it is the schematic diagram by planar view which made the aim position of a 1st electrode and a 2nd electrode see from the welding advancing direction, and is the right side and the left side of the centerline of the gap between base materials.

  DESCRIPTION OF EXEMPLARY EMBODIMENTS Hereinafter, preferred embodiments of the invention will be described with reference to the accompanying drawings. First, the composite welding apparatus 1 will be described. FIG. 1 is a schematic view schematically showing the composite welding apparatus 1 in the first embodiment. First, a schematic configuration of the composite welding apparatus 1 will be described. As shown in FIG. 1, the composite welding apparatus 1 is held by the apparatus main body 2 that is guided by a rail (not shown) and is movable along the base material W while maintaining a predetermined distance from the base material W. The laser irradiation unit 3 and the arc generation unit 4 held by the apparatus main body 2 are mainly provided. In the present embodiment, the movement direction of the apparatus main body 2 is the left-right direction in FIG. 1, and the welding progress direction is indicated by an arrow.

  The laser irradiation unit 3 is a part that irradiates the base material W with laser light B, and mainly includes a laser oscillator 3a that generates laser light and a laser head 3c to which the laser oscillator 3a is connected by an optical fiber 3b. It is prepared for. The laser head 3c condenses laser light by a lens (not shown) built in the laser head 3c, and irradiates the condensed high energy laser light B toward the base material.

  The arc generator 4 is a part that generates an arc with the base material W, and mainly includes a first torch 4b that holds the first electrode 4a and a second torch 4d that holds the second electrode 4c. Configured. The first torch 4b and the second torch 4d are members that supply the filler metals M1 and M2, the welding current, and the shielding gas, and are arranged side by side in the welding direction. Thereby, the 1st electrode 4a and the 2nd electrode 4c are arranged in parallel before and behind the welding progress direction.

  In the present embodiment, the first torch 4b and the second torch 4d are disposed in the apparatus main body 2 at a torch angle of less than 90 °. The first electrode 4a and the second electrode 4c are consumable electrodes, and the filler materials M1 and M2 fed to the first torch 4b and the second torch 4d function as the first electrode 4a and the second electrode 4c. The filler materials M1 and M2 are fed to the first torch 4b and the second torch 4d by the first filler material feeding device 5 and the second filler material feeding device 6, respectively.

  The first torch 4b and the second torch 4d are fixed to the first electrode moving device 7 and the second electrode moving device 8 held by the apparatus main body 2. The 1st electrode moving device 7 and the 2nd electrode moving device 8 are comprised so that expansion-contraction is horizontally possible in the direction (FIG. 1 perpendicular | vertical direction of a paper surface) substantially orthogonal to the welding progress direction. Thereby, the 1st electrode moving device 7 and the 2nd electrode moving device 8 can be expanded-contracted, the 1st torch 4b and the 2nd torch 4d can be moved, and the aim position of the 1st electrode 4a and the 2nd electrode 4c can be changed. . Further, since the first electrode 4a and the second electrode 4c are moved horizontally, the distance between the first electrode 4a and the second electrode 4c and the base material W does not change, and the arc length can be kept constant.

  In the present embodiment, the first torch 4b and the second torch 4d that hold the first electrode 4a and the second electrode 4c are disposed behind the laser head 3c with respect to the welding progress direction. . When the first torch 4b and the second torch 4d are disposed in front of the laser head 3c with respect to the welding progress direction, the molten pool formed in the base material W is irradiated with the laser by the arc, and the melting is performed. The weld metal of the pond is scattered, and a problem that a hole is formed in the bead or a blow hole is likely to occur. However, in the composite welding apparatus 1, since the first torch 4b and the second torch 4d are disposed behind the laser head 3c, the occurrence of these problems is suppressed and a uniform bead can be formed.

  Next, the first electrode 4a and the second electrode 4c moved by the first electrode moving device 7 and the second electrode moving device 8 will be described with reference to FIG. FIG. 2A is a schematic view in plan view in which the target positions of the first electrode 4a and the second electrode 4c are the contact portions T between the base materials W, and FIG. 2B is a schematic view of the first electrode 4a and the second electrode 4c. FIG. 2C is a schematic view in plan view of the right and left sides of the center line c of the gap G between the base materials W when the target position of the two electrodes 4c is viewed from the welding progress direction. FIG. It is the schematic diagram by the side view which made the aim position of the electrode 4c the right side and the left side of the center line c of the gap G between the base materials W seeing from the welding progress direction. In FIG. 2, the axial lengths of the first torch 4b, the second torch 4d, and the laser head 3c are not shown. In the present embodiment, a case of butt welding will be described.

  As described above, the first torch 4b and the second torch 4d are respectively moved by the first electrode moving device 7 and the second electrode moving device 8 in a direction substantially orthogonal to the welding progress direction. As a result, the first electrode moving device 7 and the second electrode moving device 8 are actuated so that the target positions of the first electrode 4a and the second electrode 4c are matched between the base materials W as shown in FIG. It can be moved to the contact portion T. In addition, the irradiation position of the laser beam B by the laser head 3c is also the contact portion T between the base materials W in the same manner as the target position of the first electrode 4a and the second electrode 4c.

  The state shown in FIG. 2A is a state in which the base materials W are in contact with each other and there is no gap G (route interval) between the base materials W. In this case, the contact portion T between the base materials W coincides with the center line c (see FIGS. 2B and 2C) of the gap G between the base materials W. Therefore, the distance from the center line c of the gap G at the target position of the first electrode 4a and the second electrode 4c is zero. In this way, by moving the aiming position of the first electrode 4a and the second electrode 4c to the contact portion T between the base materials W (by setting the distance from the center line c of the gap G to 0), The width of the weld metal can be reduced. As a result, the weld metal can be deeply melted in the thickness direction of the base material W, and a uniform bead with a small surplus can be obtained.

  Further, by operating the first electrode moving device 7 and the second electrode moving device 8, as shown in FIG. 2 (b), the aiming positions of the first electrode 4 a and the second electrode 4 c are viewed from the welding progress direction. It can be moved to the right and left of the center line c of the gap G between the materials W. The irradiation position of the laser beam B by the laser head 3 c is on the center line c of the gap G between the base materials W.

  Here, with reference to FIG.2 (c), the target position of the 1st electrode 4a and the 2nd electrode 4c is demonstrated. As shown in FIG. 2C, the gap (route interval) between the base materials W is A (unit: mm), and the distance from the center line c of the gap to the target positions of the first electrode 4a and the second electrode 4c. Is s (unit is mm), and the separation amount s can be A / 4. By setting the separation amount s to A / 4, the target position of the first electrode 4a and the second electrode 4c can be set to an intermediate position from the center line c of the gap G to the end face of the base material W. The weld metal can be filled evenly in between. However, the distance is not limited to (A / 4) and can be set as appropriate.

  As described above, by moving the target positions of the first electrode 4a and the second electrode 4c to the right side and the left side of the center line c of the gap G, the width of the weld metal can be increased. Thereby, the weld metal can be filled in the gap G between the base materials W, and the occurrence of welding defects can be prevented. Therefore, the gap likelihood can be improved.

  In addition, the 1st filler material supply apparatus 5 and the 2nd melt material supply apparatus 6 depend on the separation amount s from the center line c of the aim position of the 1st electrode 4a and the 2nd electrode 4c. The feeding speed of the materials M1 and M2 can be changed. As the separation amount s increases (that is, as the gap A increases), the feeding speed of the filler materials M1 and M2 by the first filler material feeding device 5 and the second filler material feeding device 6 is increased. As a result, it is possible to prevent the welding failure from occurring by increasing the volume of the weld metal without reducing the welding speed. Thereby, the gap likelihood can be improved without reducing the welding speed (while maintaining the welding speed of 3 m / min or more).

  Returning to FIG. The composite welding apparatus 1 includes a gap detection sensor 9a disposed in the apparatus main body 2 so as to be positioned in front of the laser irradiation unit 3 and the arc generation unit 4 with respect to the welding progress direction. The gap detection sensor 9a is a device that detects the gap A. In the present embodiment, the gap detection sensor 9a is an optical sensor, and transmits a laser oscillator 9a1 that generates a laser beam B1 toward the base material W and a laser beam (reflected light B2) reflected by the base material W. On the other hand, a filter 9a2 that blocks a part of the wavelength due to arc light or the like, a lens 9a3 that collects the reflected light B2 that has passed through the filter 9a2, and a light receiver 9a4 that receives the reflected light B2 collected by the lens 9a3. And a gap G between the base materials W (see FIG. 2B) and a gap G between the base materials W (see FIG. 2B). ). Thereby, the irradiation position of the laser beam B1 is displaced across the contact part T and the gap G, and the light receiver 9a4 detects the reflected light B2 at the irradiation position. Since the surface of the base material W and the contact part T and the gap G have different reflection surfaces of the irradiated laser beam B1, the detection position of the reflected light B2 by the light receiver 9a4 is different. As a result, the gap detection sensor 9a detects the position of the contact portion T and the gap G and the gap A (size) by detecting the irradiation position of the laser beam B1 and the corresponding reflected light B2. Can do.

  The separation amount control device 10 is a device for controlling each part of the composite welding device 1 configured as described above. For example, the first electrode moving device 7 or the like according to the gap A detected by the gap detection sensor 9a. The second electrode moving device 8, the first filler material feeding device 5, and the second filler material feeding device 6 are controlled to operate. Further, the moving device (not shown) is controlled in accordance with the position of the gap A and the contact portion T detected by the gap detection sensor 9a, and the device main body 2 itself is moved up, down, left and right with respect to the rail (not shown). Change the vertical and horizontal position of. Thereby, the appropriate location between the base materials W can be welded.

  Next, the detailed configuration of the separation amount control device 10 will be described with reference to FIG. FIG. 3 is a block diagram showing an electrical configuration of the separation amount control device 10. As shown in FIG. 3, the separation amount control device 10 includes a CPU 11, a ROM 12, and a RAM 13, which are connected to an input / output port 15 via a bus line 14. The input / output port 15 is connected to a device such as the first filler supply device 5.

  The CPU 11 is an arithmetic device that controls each unit connected by the bus line 14, and the ROM 12 stores a control program executed by the CPU 11 (for example, the program of the flowchart shown in FIG. 4), fixed value data, and the like. It is a non-rewritable nonvolatile memory. The RAM 13 is a memory for storing various data in a rewritable manner when executing the control program.

  The gap detection device 9 is a device for detecting the gap A between the base materials W to be welded and outputting the detection result to the CPU 11. The gap detection sensor 9 a for detecting the gap A and the gap are described above. It mainly includes an output circuit (not shown) that processes the detection result of the detection sensor 9a and outputs the result to the CPU 11. As another input / output device 17 shown in FIG. 3, for example, a pendant (portable unit) that operates the first electrode moving device 7 and the second electrode moving device 8 by an operator input is exemplified. .

  Next, the separation amount control process will be described with reference to FIG. FIG. 4 is a flowchart showing the separation amount control process. This process is a process repeatedly executed by the CPU 11 (for example, at an interval of 1 ms) while the power of the separation amount control device 10 is turned on, and adjusts the target positions of the first electrode 4a and the second electrode 4c. This improves the gap likelihood and suppresses the occurrence of sputtering.

  Regarding the separation amount control processing, the CPU 11 first acquires a gap A (see FIG. 2C) between the base materials W (S1). This process is performed using the gap detection sensor 9a (see FIG. 1) and the gap detection device 9 (see FIG. 3) as described above. The CPU 11 stores the acquired gap A in the RAM 13 in association with the position data of the apparatus main body 2. The gap A is stored in the RAM 13 in association with the position data of the apparatus main body 2 because the gap detection sensor 9 is disposed prior to the first electrode 4a and the second electrode 4c in the welding progress direction. This is because a time lag until the first electrode 4a and the second electrode 4c reach the position where the detection is detected is taken into consideration.

  When the apparatus main body 2 moves along the base material W and the first electrode 4a reaches the position where the gap A is acquired in the process of S1, the CPU 11 determines that the gap A is within a predetermined range (in this embodiment, 0 to 0). 1 mm) (S2). As a result, when it is determined that the gap A is within the predetermined range (the gap does not exist or is small) (S2: Yes), the CPU 11 operates the first electrode moving device 7 and the second electrode moving device 8. Thus, the distance s from the center line c of the gap G at the target position of the first electrode 4a and the second electrode 4c (or the contact portion T between the base materials W) (see FIG. 2) is set to 0 (S3). ). Next, the feeding speed of the filler materials M1 and M2 by the first filler material feeding device 5 and the second filler material feeding device 6 is set to an initial value a (where a is a positive value determined by the welding speed, welding current, etc.). (S4), and this separation amount control process is terminated.

  That is, when the gap does not exist or is small (less than 1 mm in the present embodiment), the center line c of the gap G at the target position of the first electrode 4a and the second electrode 4c (or the contact portion T between the base materials W). ), The width of the deposited metal can be reduced by moving the apparatus main body 2 along the base material W and performing laser welding and arc welding. As a result, the weld metal can be deeply melted in the thickness direction of the base material W, and a uniform bead with a small surplus can be obtained. If the gap does not exist or is small (less than 1 mm in this embodiment), the control can be simplified by setting the separation amount to 0 without performing minute movement control.

  On the other hand, when it is determined that the gap A is not within the predetermined range (the gap A is large) as a result of the process of S2 (S2: No), the CPU 11 performs the first electrode moving device 7 and the second electrode moving device 8. Is operated to move the target position of the first electrode 4a and the second electrode 4c to the right and left sides of the center line c of the gap as viewed from the welding progress direction, and the distance s from the center line c is set to A / 4. (S5). Next, the feeding speed of the filler materials M1 and M2 by the first filler material feeding device 5 and the second filler material feeding device 6 is a value corresponding to the separation amount s (a + b · s in this embodiment). However, b is a positive constant determined by the welding speed, welding current, etc.) (S4), and this separation amount control process ends.

  That is, when the gap A is not within the predetermined range (1 mm or more in the present embodiment), the distance s from the center line c of the gap G at the target position of the first electrode 4a and the second electrode 4c is set to A / 4. After the target positions of the first electrode 4a and the second electrode 4c are moved to the right and left sides of the center line c of the gap G as viewed from the welding progress direction (the moving process), the base material W in this state The width of the deposited metal can be widened by moving the apparatus main body 2 along the lines and performing laser welding and arc welding (the welding process). Thereby, the weld metal can be filled in the gap G between the base materials W, and the occurrence of welding defects can be prevented. Therefore, the gap likelihood can be improved.

  Further, since the first torch 4b and the second torch 4d (see FIG. 1) are not oscillated, there is almost no change in the inclination of the arc and the arc length, and the directivity of the arc can be stabilized. Therefore, the occurrence of spatter can be suppressed.

  Furthermore, the volume of the weld metal is increased without reducing the welding speed by setting the feeding speed of the filler metals M1 and M2 to a value (a + b · s) larger than the initial value a according to the separation amount s. Thus, it is possible to prevent the occurrence of poor welding. Thereby, the gap likelihood can be improved without reducing the welding speed.

  Next, a second embodiment will be described with reference to FIGS. FIG. 5 is a schematic view schematically showing the composite welding apparatus 100 in the second embodiment. In the first embodiment, the case where the first torch 4b and the second torch 4d are respectively moved by the first electrode moving device 7 and the second electrode moving device 8 has been described. In the second embodiment, the electrode holding is performed. The case where the 1st electrode 4a and the 2nd electrode 4c hold | maintained at the part 101 are moved integrally is demonstrated. In addition, about the part same as 1st Embodiment, the same code | symbol is attached | subjected and the description is abbreviate | omitted and it is the same also about 3rd Embodiment mentioned later.

  As shown in FIG. 5, the composite welding apparatus 100 includes an electrode holding unit 101 that holds a first torch 4 b including a first electrode 4 a and a second torch 4 d including a second electrode 4 c. The electrode holding unit 101 includes a rotation center shaft 102 (see FIG. 6) disposed substantially perpendicular to the base material W (up and down direction in FIG. 5), and the composite welding apparatus 100 has an electrode around the rotation center shaft 102. A rotation angle adjusting device 103 (see FIG. 7) that rotates the holding portion 101 by a predetermined angle with respect to the welding progress direction is provided.

  Next, the first electrode 4a and the second electrode 4c moved by the rotation angle adjusting device 103 will be described with reference to FIG. FIG. 6A is a schematic view in plan view in which the aim positions of the first electrode 4a and the second electrode 4c are the contact portions T between the base materials W, and FIG. 6B is a diagram illustrating the first electrode 4a and the second electrode 4c. It is the schematic diagram by planar view which made the aim position of the 2 electrode 4c the right side and the left side of the center line c of the gap G between the base materials W seeing from a welding progress direction. In FIG. 6, the axial lengths of the first torch 4b, the second torch 4d, and the laser head 3c are illustrated, and the first electrode 4a, the second electrode 4c, the first torch 4b, and the second torch 4d are inclined. The illustration is omitted. In the present embodiment, a case of butt welding will be described.

  As described above, the first torch 4b and the second torch 4d are held by the electrode holding part 101, and the electrode holding part 101 is rotated by a predetermined angle around the rotation center axis 102 with respect to the welding progress direction. Therefore, it is moved integrally. As shown in FIG. 6 (a), the rotation center axis 102 is a weld line (a place to be welded and abutted) at the midpoint of a straight line connecting the axis of the first electrode 4a and the axis of the second electrode 4c. It coincides with the center line c of the portion T and the gap G.). As a result, the rotation angle adjusting device 103 (see FIG. 7) is operated, and as shown in FIG. 6A, the aiming positions of the first electrode 4a and the second electrode 4c are set to contact portions of the base materials W. Can be moved to T. In addition, the irradiation position of the laser beam B by the laser head 3c is also the contact portion T between the base materials W in the same manner as the target position of the first electrode 4a and the second electrode 4c.

  In this way, while the aiming positions of the first electrode 4a and the second electrode 4c are moved to the contact portion T between the base materials W (the distance from the center line c of the gap G is set to 0), the base material W As described in the first embodiment, the width of the deposited metal can be narrowed by moving the apparatus main body 2 along the lines and performing laser welding and arc welding. As a result, the weld metal can be deeply melted in the thickness direction of the base material W, and a uniform bead with a small surplus can be obtained.

  Further, by operating the rotation angle adjusting device 103 (see FIG. 7), as shown in FIG. 6 (b), the aiming positions of the first electrode 4a and the second electrode 4c are viewed from the welding progress direction, and the base material W It can be moved to the right and left of the center line c of the gap G. The irradiation position of the laser beam B by the laser head 3 c is on the center line c of the gap G between the base materials W.

Here, the rotation angle θ of the electrode holding portion 101 will be described with reference to FIG. As shown in FIG. 6B, the gap (route interval) between the base materials W is A (unit is mm), and the distance from the center line c of the gap G to the target position of the first electrode 4a and the second electrode 4c. The amount s (unit: mm) is A / 4. Moreover, the distance from the rotation center axis | shaft 102 to the axis | shaft of the 1st electrode 4a and the 2nd electrode 4c is set to L, respectively (refer Fig.6 (a)). In this case, since sin ⁻¹ {s / L} = θ (hereinafter referred to as “expression (1)”), the rotation angle θ can be obtained from expression (1).

  As described above, the electrode holding portion 101 is rotated about the rotation center axis 102 by the rotation angle θ with respect to the welding progress direction, and the target positions of the first electrode 4a and the second electrode 4c are set to the gap G. By moving the apparatus main body 2 along the base material W in this state and moving to the right and left sides of the center line c (laser welding) The width of the metal can be increased. Thereby, the weld metal can be filled in the gap G between the base materials W, and the occurrence of welding defects can be prevented. Therefore, the gap likelihood can be improved.

  Further, the first electrode 4a and the second electrode 4c can be simultaneously moved to the left and right of the center line c of the gap G as seen from the welding progress direction only by changing the rotation angle θ of the electrode holding portion 101. s can also be uniquely determined by the rotation angle θ. Thereby, compared with the case where the 1st electrode 4a and the 2nd electrode 4c are moved separately, an apparatus structure and control can be simplified. Furthermore, since the electrode holding part 101 can rotate on a horizontal plane parallel to the surface of the base material W, the distance between the first electrode 4a and the second electrode 4c and the base material W does not change, and the arc length is kept constant. be able to.

  Next, the detailed configuration of the separation amount control device 10 will be described with reference to FIG. FIG. 7 is a block diagram showing an electrical configuration of the separation amount control device 10. As shown in FIG. 7, the separation amount control device 10 includes a CPU 11, a ROM 12, and a RAM 13, which are connected to an input / output port 15 via a bus line 14. Further, the input / output port 15 is connected to a device such as a rotation angle adjusting device 103.

  Next, the separation amount control process will be described with reference to FIG. FIG. 8 is a flowchart showing the separation amount control process. Regarding the separation amount control process, the CPU 11 first acquires a gap A (see FIG. 6B) between the base materials W (S1). Next, the CPU 11 calculates the rotation angle θ based on the acquired gap A (S11). The rotation angle θ is calculated from the equation (1) as described above. The CPU 11 stores the calculated rotation angle θ in the RAM 13 in association with the position data of the apparatus main body 2. The rotation angle θ is stored in the RAM 13 in association with the position data of the apparatus body 2 in the same manner as in the first embodiment, at the position where the gap detection sensor 9a detects the gap A, the first electrode 4a and the second electrode. This is because the time lag until 4c is reached is taken into consideration.

  When the apparatus main body 2 moves along the base material W and the first electrode 4a reaches the position where the gap A is acquired in the process of S1, the CPU 11 operates the rotation angle adjusting device 103 (see FIG. 7) to operate the electrode. The holding unit 101 (see FIG. 6B) is rotated by the rotation angle θ (S12). Thereby, according to the gap A, the distance s from the center line c of the gap G at the target position of the first electrode 4a and the second electrode 4c can be set to A / 4.

  Next, the CPU 11 determines the feeding speed of the filler materials M1, M2 by the first filler material feeding device 5 and the second filler material feeding device 6 as a + m · θ (where m is a welding speed, a welding current, or the like). (S13), and the separation amount control process is terminated.

  That is, by increasing the rotation angle θ of the electrode holding portion 101 as the gap A increases, the center line c (or the base material W between the base materials W) of the gap G at the target position of the first electrode 4a and the second electrode 4c is increased. The distance s from the contact portion T) can be increased. Thereby, when there is no gap G between the base materials W or when the gap A is small, the width of the weld metal can be narrowed, and when the gap A is large, the width of the weld metal can be widened. As a result, regardless of the gap A, the space between the base materials W can be filled with the weld metal, and the occurrence of welding defects can be prevented. Therefore, the gap likelihood can be improved.

  Further, the CPU 11 sets the feeding speed of the filler materials M1 and M2 by the first filler material feeding device 5 and the second filler material feeding device 6 to a + m · θ, and melts according to the rotation angle θ. Since the feeding speeds of the materials M1 and M2 are increased, it is possible to increase the volume of the weld metal without reducing the welding speed and prevent the occurrence of poor welding. Thus, the gap likelihood can be improved without reducing the welding speed.

  Next, a third embodiment will be described with reference to FIG. FIG. 9 shows the right and left sides of the center line c of the gap G between the base materials W1 and W2 when the aiming positions of the first electrode 4a and the second electrode 4c are viewed from the welding progress direction in the composite welding apparatus 200 according to the third embodiment. FIG. In the second embodiment, the distance between the axis of the first electrode 4a and the second electrode 4c held by the electrode holding part 101 and the rotation center axis 102 is L, and the axis of the first electrode 4a and the axis of the first electrode 4a The case where the rotation center shaft 102 is disposed at the midpoint connecting the shafts of the two electrodes 4c has been described. In the third embodiment, the rotation center shaft 202 is disposed closer to the axis of the first electrode 4a. The case will be described. In addition, about the part same as 2nd Embodiment, the same code | symbol is attached | subjected and the description is abbreviate | omitted.

  As shown in FIG. 9, the rotation center axis 202 disposed in the electrode holding part 201 of the composite welding apparatus 200 is on a straight line connecting the axis of the first electrode 4a and the axis of the second electrode 4c, It is arranged near the axis of the first electrode 4a. Specifically, the distance between the axis of the first electrode 4a that precedes the welding progress direction and the rotation center axis 202 is set to L1, and the axis of the second electrode 4c that travels behind the first electrode 4a rotates. The distance from the central axis 202 is set to L2 (where L1 <L2).

  Here, as shown in FIG. 9, when the end portions of the base materials W1 and W2 are curved and there is a gap G between the base materials W1 and W2, the target positions of the first electrode 4a and the second electrode 4c are determined as the gap G. 9 is moved to the left and right of the center line c of FIG. 9, there is a difference between the turning radius indicated by the trajectory of the first electrode 4a traveling along the gap G and the turning radius indicated by the trajectory of the second electrode 4c. The turning radius indicated by the trajectory of the two electrodes 4c is larger than the turning radius indicated by the trajectory of the first electrode 4a. In such a case, in the composite welding apparatus 100 according to the second embodiment, the rotation center shaft 102 of the electrode holding portion 101 is disposed at the midpoint connecting the shaft of the first electrode 4a and the shaft of the second electrode 4c. Therefore, in order to set the target position of the first electrode 4a or the second electrode 4c within the gap G, the rotation angle θ of the electrode holding portion 101 is set depending on the curvature of the end portions of the base materials W1 and W2. It needs to be adjusted frequently.

  On the other hand, in the composite welding apparatus 200 according to the third embodiment, the rotation center shaft 202 of the electrode holding portion 201 is disposed closer to the axis of the preceding first electrode 4a, and therefore the locus of the first electrode 4a. Even if there is a difference between the rotation radius indicated by and the rotation radius indicated by the trajectory of the second electrode 4c, the first electrode 4a or the second electrode 4c can be adjusted without frequently adjusting the rotation angle θ of the electrode holding portion 201. The target position can be in the gap G. Thereby, control of rotation angle (theta) of the electrode holding part 201 can be facilitated.

  In the flowchart shown in FIG. 4 (separation amount control process), the filler material feeding means according to claim 2 corresponds to the processes of S4 and S6, respectively. Further, the gap determination means according to claim 4 is the process of S2, the first aim position adjustment means according to claim 4 is the process of S3, and the second aim position adjustment means of claim 4 is the process of S5. Each process corresponds. In addition, in the flowchart (separation amount control process) shown in FIG.

  The present invention has been described above based on the embodiments. However, the present invention is not limited to the above embodiments, and various improvements and modifications can be made without departing from the spirit of the present invention. It can be easily guessed. For example, the numerical values (for example, the number and size of each component) given in the above embodiment are merely examples, and other numerical values can naturally be adopted.

  In the above embodiment, the case where the apparatus main body 2 is guided by a rail (not shown) and moves in the welding progress direction has been described. However, the present invention is not necessarily limited to this, and the apparatus main body 2 may be moved by a manipulator or a robot. Is possible. In this case, various shapes of base materials can be welded by teaching the manipulator or robot before welding.

  In the above embodiment, the first electrode 4a and the second electrode 4c are consumable electrodes such as MIG welding and MAG welding (the filler materials M1 and M2 function as the first electrode 4a and the second electrode 4c). However, the present invention is not necessarily limited to this, and a non-consumable electrode such as TIG welding may be used. In this case, by supplying the filler metals M1 and M2 into the arc generated between the base material and the non-consumable electrode, the same action as in the above embodiment can be obtained.

  In the above embodiment, the case where the laser irradiation unit 3 is arranged in advance of the arc generation unit 4 with respect to the welding progress direction has been described. However, the present invention is not necessarily limited to this, and other arrangements may be adopted. Is possible. As another arrangement, it is possible to arrange the arc generation unit 4 prior to the laser irradiation unit 3 and arrange the arc generation unit 3 between the first electrode 4a and the second electrode 4c of the arc generation unit 4. .

  In the first embodiment, the first electrode moving device 7 and the second electrode moving device 8 are used as moving means, and the first electrode 4a and the second electrode 4c are respectively moved in the horizontal direction. In the second embodiment, the rotation angle adjusting device 103 is used to describe the case where the electrode holding unit 101 holding the first electrode 4a and the second electrode 4c is rotated on a horizontal plane parallel to the surface of the base material W. It is not necessarily limited to these, and other moving means may be used. As another moving means, the first electrode 4a and the second electrode 4c are swung in the width direction of the gap G with the upper portions of the first torch 4b and the second torch 4d as the rotation center. In this case, the arc length changes because the distance between the first electrode 4a and the second electrode 4c and the surface of the base material W changes, but by using a welding power source with drooping characteristics, even if the arc length changes, It is possible to prevent the melting amounts of the materials M1 and M2 from changing.

  When welding a plurality of weld lines at the same time, the composite welding apparatuses 1, 100, 200 described in the above embodiment are arranged one by one at the locations (weld lines) to be welded between the base materials W. At the same time, by connecting the apparatus main bodies 2 of the plurality of composite welding apparatuses 1, 100, and 200 and advancing them at the same speed along the weld line, the plurality of weld lines can be joined together. The simultaneous joining of a plurality of joining lines can be applied, for example, when joining a rail vehicle side structure or a roof structure panel.

  Here, when a welding apparatus that improves the gap likelihood by changing the welding speed according to the width of the gap is used, the portion having a large gap becomes the rate of welding, and the welding speed decreases. Therefore, a means for moving the welding apparatus while changing the welding speed of each of the plurality of welding apparatuses is required. A means for moving the welding apparatus is required for each welding apparatus.

  On the other hand, as described in the above embodiment, the composite welding apparatus 1, 100, 200 can maintain a constant welding speed regardless of the gap width, and therefore, the situation of the gap at the butt portion of each weld line is different. Even if it is, it is not necessary to change a moving speed for every several apparatus main body 2. FIG. Therefore, means for moving a plurality of connected apparatus main bodies 2 along the weld line can be configured by a single apparatus. Therefore, the entire apparatus can be configured at a low cost. Furthermore, since each composite welding apparatus 1, 100, 200 can perform high-speed welding, a plurality of welding lines can be simultaneously welded at a high speed, and welding work efficiency can be dramatically improved.

  In the above embodiment, the case where the gap detection sensor 9a is an optical sensor has been described. However, the present invention is not necessarily limited to this, and other sensors may be used. Examples of other sensors include a contact sensor and a non-contact arc sensor.

  In the above-described embodiment, the case where the gap detection device 9 is provided has been described. However, the present invention is not necessarily limited thereto, and instead of the gap detection device 9, the operator visually recognizes the gap A, and recognizes the recognized gap A. Based on this, it is also possible to operate the first electrode moving device 7, the second electrode moving device 8, and the rotation angle adjusting device 103 by operating a portable input device such as a pendant.

  In the above embodiment, the case where the irradiation position of the laser beam B irradiated from the laser head 3c is on the contact line T of the base material W or the center line c of the gap G has been described. Instead, the laser head 3c is rotated or swung by the material of the base material W, the gap A or the like, so that the irradiation position of the laser light B is on the contact portion T of the base material W or the center line c of the gap G. It is also possible to deviate from. By changing the irradiation position of the laser beam B, the area to be laser welded can be expanded.

  Further, it is possible to tilt the irradiation angle of the laser beam B by tilting the laser head 3c to the right or left as viewed from the welding progress direction. Accordingly, even when the gap is wide, welding is possible because the laser light is irradiated to the gap side surface of the base material W without passing through the gap.

  In the above embodiment, the torch angles of the first torch 4b and the second torch 4d are set to be less than 90 °, and the aim positions of the first electrode 4a and the second electrode 4c are the irradiation positions of the laser beam B by the laser head 3c. However, the present invention is not necessarily limited to this, and the laser head 3c can be tilted to bring the irradiation position of the laser beam B closer to the target position of the first electrode 4a or the second electrode 4c.

  In the above-described embodiment, the case where the composite welding apparatus 1, 100, 200 is applied to butt welding has been described. However, the present invention is not necessarily limited to this, and can also be applied to fillet welding. In addition, although it is possible to provide a groove in the base material W, the composite welding apparatus 1, 100, 200 of the present invention performs high-speed welding in the case where the base material W is not provided with a groove or in the case of a narrow groove. This is particularly effective when doing so. This is because, in the case where no groove is provided or in the case where the groove is narrow, the amount of deposited metal necessary for joining the base material W greatly changes due to the change in the gap A.

DESCRIPTION OF SYMBOLS 1,100,200 Composite welding apparatus 3 Laser irradiation part 4a 1st electrode 4c 2nd electrode 7 1st electrode moving apparatus (moving means)
8 Second electrode moving device (moving means)
9 Gap Detection Device 101, 201 Electrode Holding Unit 102, 202 Rotation Center Axis 103 Rotation Angle Adjusting Device (Moving means)
c Centerline of gap M1, M2 Filler material T Contact part

Claims (6)

In combined welding equipment that combines laser welding and arc welding,
A laser irradiation part which is a part for irradiating the laser beam of the laser welding toward the base material;
An arc generator comprising a first electrode and a second electrode arranged side by side before and after the welding progress direction, and an arc generating portion that is a portion that generates an arc of the arc welding with the base material;
A gap detection device for detecting a gap between the base materials;
Its If the gap detected by the gap detection device is within the predetermined range by moving the target position of the first electrode and the second electrode to the contact portion between the base material, or detected by the gap detecting device When the gap is outside the predetermined range, the target position of the first electrode and the second electrode is moved to the right side and the left side of the center line with reference to the center line of the gap between the base materials when viewed from the welding progress direction. Moving means,
The first electrode and the second electrode are moved back and forth along the center line of the gap between the base materials behind the laser irradiation unit so that the laser beam from the laser irradiation unit is not irradiated onto the molten pool by arc welding. Side by side,
When the gap detected by the gap detector is within a predetermined range, the position of the laser beam irradiated by the laser irradiation unit and the target position of the first electrode and the second electrode are determined based on the gap between the base materials. set on the center line, if the gap detected by the gap detecting device is out of the predetermined range, the irradiation position of laser light by the laser irradiation part, with respect to the center line of the gap between the base material A composite welding apparatus characterized in that the intended positions of the first electrode and the second electrode are biased.   It is provided with a filler material feeding means for changing the feeding speed of the melt material of the arc welding according to the distance from the center line of the aim position of the first electrode and the second electrode. The composite welding apparatus according to claim 1, wherein:   The said moving means changes the separation | spacing amount from the said centerline of the target position of the said 1st electrode and the said 2nd electrode according to the gap detected by the said gap detection apparatus, The said 1 or 2 is characterized by the above-mentioned. A composite welding apparatus as described in 1. Gap determining means for determining the presence or absence of a gap detected by the gap detection device;
First target position adjustment for moving the target position of the first electrode and the second electrode to the contact portion between the base materials by operating the moving means when the gap determining means determines that there is no gap Means,
When the gap determining means determines that there is a gap, the moving means is operated to move the target positions of the first electrode and the second electrode to the right and left sides of the center line as seen from the welding progress direction. 4. The composite welding apparatus according to claim 3, further comprising second aim position adjusting means. An electrode holding part for holding the first electrode and the second electrode;
A rotation center axis disposed perpendicular to the weld line between the first electrode and the second electrode of the electrode holding portion;
The said moving means is equipped with the rotation angle adjustment apparatus which rotates the said electrode holding | maintenance part a predetermined angle with respect to the welding progress direction around the said rotation center axis | shaft. The composite welding apparatus according to any one of the above. In a composite welding method in which base materials are welded together by combining laser welding and arc welding,
In order not to irradiate the weld pool by the arc welding with the laser beam from the laser irradiation unit, the laser irradiation unit is arranged behind the laser irradiation unit along the center line of the gap between the base materials in front of and behind the welding progress direction. The aim positions of the first electrode and the second electrode for arc welding are moved to the right and left of the center line of the gap between the base materials as viewed from the welding progress direction, and the gap detected by the gap detection device is set to a predetermined value. If within the range, the laser beam irradiation position by the laser irradiation unit and the target position of the first electrode and the second electrode are set on the center line of the gap between the base materials and detected by the gap detection device When the gap is outside a predetermined range, the laser irradiation position by the laser irradiation unit, with respect to the center line of the gap between the base materials, A moving step of biasing the target position of the first electrode and the second electrode,
And a welding step of performing welding with the first electrode and the second electrode moved by the moving step.

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