JPH0139874B2 - - Google Patents
Info
- Publication number
- JPH0139874B2 JPH0139874B2 JP2725884A JP2725884A JPH0139874B2 JP H0139874 B2 JPH0139874 B2 JP H0139874B2 JP 2725884 A JP2725884 A JP 2725884A JP 2725884 A JP2725884 A JP 2725884A JP H0139874 B2 JPH0139874 B2 JP H0139874B2
- Authority
- JP
- Japan
- Prior art keywords
- electrode
- center
- waveform
- rotation
- oscillation
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired
Links
- 238000003466 welding Methods 0.000 claims description 23
- 230000010355 oscillation Effects 0.000 claims description 13
- 238000000034 method Methods 0.000 claims description 11
- 238000010586 diagram Methods 0.000 description 7
- 238000013459 approach Methods 0.000 description 1
- 238000010420 art technique Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 230000035515 penetration Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K9/00—Arc welding or cutting
- B23K9/12—Automatic feeding or moving of electrodes or work for spot or seam welding or cutting
- B23K9/127—Means for tracking lines during arc welding or cutting
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Plasma & Fusion (AREA)
- Mechanical Engineering (AREA)
- Butt Welding And Welding Of Specific Article (AREA)
- Arc Welding In General (AREA)
Description
【発明の詳細な説明】
〔発明の技術分野〕
本発明は、消耗電極に一定の半径及び速度の回
転を与えながらアーク溶接を行う回転アーク溶接
方法に関し、とくに回転のほかに開先幅方向に揺
動を加える場合において、その揺動中心が揺動半
周期ごとに開先幅方向中心上を倣うようにした倣
い制御技術に関するものである。[Detailed Description of the Invention] [Technical Field of the Invention] The present invention relates to a rotating arc welding method in which arc welding is performed while rotating a consumable electrode at a constant radius and speed. The present invention relates to a tracing control technique in which, when applying rocking, the rocking center traces the center in the width direction of the groove every half cycle of rocking.
消耗電極に一定の半径及び速度の回転を与えな
がらアーク溶接を行う回転アーク溶接方法それ自
体は、例えば特開昭55−133871号公報、特開昭57
−91877号公報などで公知である。しかし、これ
らの先行技術はいずれも電極が回転をするだけで
揺動は伴わないものである。
The rotating arc welding method itself, in which arc welding is performed while rotating the consumable electrode at a constant radius and speed, is disclosed in, for example, Japanese Patent Laid-Open Nos. 55-133871 and 57.
It is publicly known from Publication No.-91877. However, in all of these prior art techniques, the electrode only rotates and does not oscillate.
この揺動を伴わない回転アーク溶接方法は、一
般に消耗電極は一定の半径で回転するため、開先
幅が所定の範囲内に保持できるときに有効であ
る。しかし開先をいろいろなケ−スにおいて所定
範囲内に保持することは実際問題として困難であ
る。現実に開先加工、組立および被溶接物の構造
の制約などにより開先幅は、所定の上限を超えて
大きくならざるを得ない場合が多くある。 This rotating arc welding method that does not involve rocking is effective when the groove width can be maintained within a predetermined range because the consumable electrode generally rotates at a constant radius. However, it is difficult in practice to maintain the groove within a predetermined range in various cases. In reality, the groove width often has to exceed a predetermined upper limit due to restrictions in groove processing, assembly, and the structure of the welded object.
このような場合、開先壁部に溶込み不良などの
溶接欠陥を惹起することは明白であるから、電極
に回転のほかに開先幅方向に揺動をも与えること
が必要になつてくる。しかし、開先幅の量に応じ
た一定の周期及び振幅で謡動を与えるとしても、
謡動中心が正しく開先幅の中心上を移動しなけれ
ば良好な溶接結果は得られない。 In such a case, it is obvious that welding defects such as poor penetration will occur on the groove wall, so it is necessary to give the electrode not only rotation but also oscillation in the width direction of the groove. . However, even if the singing motion is given at a constant frequency and amplitude depending on the amount of groove width,
Good welding results cannot be obtained unless the singing center moves correctly over the center of the groove width.
本発明の目的は、前記、回転アーク溶接方法に
おいて回転と同時に開先幅方向に所定の周期およ
び振幅の揺動を与えるとともに謡動中心が正しく
開先幅の中心上を自動的に移動するようにするた
めに、アーク電流又はアーク電圧の波形を検出
し、この検出された出力波形を溶接進行方向に対
して回転の左側半周期と右側半周期に分割し、次
いで各々の分割波形について揺動の半周期ごとに
左側揺動半周期では回転の左側分割波形の面積
を、右側揺動半周期では回転の右側分割波形の面
積をそれぞれ積分してその積分値を比較し、その
差動値が零になるように揺動中心位置の修正を自
動的に行うことにより、開先幅が大きくなり先行
技術の所定範囲を超えた場合でも揺動振幅および
周期を変更することにより任意の開先幅に対処し
て良好な溶接結果が得られる回転アーク溶接方法
を提供するものである。
It is an object of the present invention to apply vibration with a predetermined period and amplitude in the groove width direction at the same time as rotation in the above-mentioned rotary arc welding method, and to automatically move the singing center correctly over the center of the groove width. In order to For each half period of , integrate the area of the left division waveform of the rotation for the left oscillation half period and the area of the right division waveform of the rotation for the right oscillation half period, compare the integral values, and calculate the differential value. By automatically correcting the swing center position so that the swing center position is zero, even if the groove width becomes large and exceeds the predetermined range of the prior art, the swing amplitude and period can be changed to create any groove width. The purpose of the present invention is to provide a rotating arc welding method that can obtain good welding results by dealing with the above problems.
以下添附図面を参照しながら本発明の一実施例
を説明する。
An embodiment of the present invention will be described below with reference to the accompanying drawings.
第1図は本発明の概要を電極の移動軌跡と共に
示す説明図で、揺動中心が開先幅の中心からずれ
ている状態を示してある。同図において1は一定
の幅員を有する開先、2は電極、3は電極2の回
転軌跡で、電極2は回転中心aのまわりに一定の
半径及び速度で矢印方向に回転している。4はこ
の回転中心aの揺動軌跡で、開先幅方向に一定の
周期及び振幅で矢印方向に謡動しており、かつ溶
接進行方向(矢印Aで示す)の移動を合成した状
態で示してある。bは開先幅の中心線、cは揺動
中心である。なお、第1図では説明の便宜上、揺
動中心が全体的に開先幅中心より一様にずれてい
る状態を示している。なお、Lは開先の左側壁、
Rは右側壁を示す。 FIG. 1 is an explanatory diagram showing the outline of the present invention together with the locus of movement of the electrode, and shows a state in which the center of oscillation is shifted from the center of the groove width. In the figure, 1 is a groove having a constant width, 2 is an electrode, and 3 is a rotation locus of the electrode 2. The electrode 2 is rotating around a rotation center a at a constant radius and speed in the direction of the arrow. 4 is the oscillation locus of this rotation center a, which sings in the direction of the arrow with a constant period and amplitude in the groove width direction, and shows a state in which movement in the welding progress direction (indicated by arrow A) is combined. There is. b is the center line of the groove width, and c is the center of swing. For convenience of explanation, FIG. 1 shows a state in which the center of swing is uniformly shifted from the center of the groove width as a whole. In addition, L is the left side wall of the groove,
R indicates the right side wall.
第2図は本発明方法の実施に用いる自動溶接装
置の概念図で、第3図は本発明の要部の倣い制御
ブロツク図である。第2図において、ワイヤ電極
として示される消耗電極2は電極ノズル5に対し
その回転中心すなわち電極ノズルの中心線aから
一定の半径位置に自動送給されるようになつてい
る。6はこの電極ノズル5の回転装置で、通常の
歯車機構よりなる。7は回転装置6の本体に揺動
腕8を介して連結された揺動装置で、回転装置6
の本体を開先1の幅方向に揺動させる作用を行
う。9は揺動中心(図示せず)の位置修正を行う
ために、揺動装置7を開先幅方向(X軸)に水平
に移動させるX軸スライダである。10はX軸ス
ライダ9の駆動モータ、11はX軸スライダ9を
支持する台車で、溶接方向に移動可能である。1
2は電極2の回転位置検出器で、電極ノズル5に
装着されている。この回転位置検出器12によつ
て電極2の回転位置が半周期ごとに溶接進行方向
(第1図のa点を通る破線)に対して左側にある
か右側にあるかを発信する。 FIG. 2 is a conceptual diagram of an automatic welding apparatus used to carry out the method of the present invention, and FIG. 3 is a block diagram of the profile control of the main part of the present invention. In FIG. 2, a consumable electrode 2, shown as a wire electrode, is adapted to be automatically fed to an electrode nozzle 5 at a fixed radial position from its center of rotation, ie, the center line a of the electrode nozzle. Reference numeral 6 denotes a rotating device for this electrode nozzle 5, which is composed of an ordinary gear mechanism. 7 is a swinging device connected to the main body of the rotating device 6 via a swinging arm 8;
The main body of the groove 1 is swung in the width direction of the groove 1. Reference numeral 9 denotes an X-axis slider that moves the swing device 7 horizontally in the groove width direction (X-axis) in order to correct the position of the swing center (not shown). 10 is a drive motor for the X-axis slider 9, and 11 is a cart supporting the X-axis slider 9, which is movable in the welding direction. 1
Reference numeral 2 denotes a rotational position detector for the electrode 2, which is attached to the electrode nozzle 5. The rotational position detector 12 transmits information every half cycle as to whether the rotational position of the electrode 2 is on the left or right side with respect to the welding direction (broken line passing through point a in FIG. 1).
次に、第3図において、13はアーク電流又は
アーク電圧の波形を検出する検出器、14は基準
電圧発生器、15はこれらの検出信号と基準信号
の差動増幅器、16は検出された出力波形を電極
2の回転の左側半周期と右側半周期に分割するた
めの切換スイツチで、上記回転位置検出器12に
より検出された回転位置信号によつて動作する。
17は電極2の回転の左側半周期にあたる左側分
割波形の面積(第4図3の斜線部)を左側揺動半
周期T/2ごとに積分する左側積分器で、18は
電極2の回転の右側半周期にあたる右側分割波形
の面積(第4図4の斜線部)を右側揺動半周期
T/2ごとに積分する右側積分器であり、これら
左側又は右側の積分器17,18に対し、上記揺
動装置7による揺動位置信号19が揺動半周期ご
とに与えられ、上記積分器17,18の積分開始
と終了時期を定める。20及び21は、各々左側
メモリ及び右側メモリで、各々、積分器17及び
18の積分最終値を記憶保持し、各々次の積分最
終値を再生記憶保持してこれをくりかえして行
く。22は上記左側メモリと右側メモリの記憶値
の差を比較する差動増幅器で、その差動出力はX
軸ドライバ23の入力信号となつて、上記X軸ス
ライダのモータ10を駆動する。 Next, in FIG. 3, 13 is a detector that detects the arc current or arc voltage waveform, 14 is a reference voltage generator, 15 is a differential amplifier for these detection signals and the reference signal, and 16 is a detected output. This is a changeover switch for dividing the waveform into a left half cycle and a right half cycle of the rotation of the electrode 2, and is operated by the rotational position signal detected by the rotational position detector 12.
Reference numeral 17 denotes a left integrator that integrates the area of the left divided waveform corresponding to the left half period of the rotation of the electrode 2 (the shaded area in FIG. This is a right integrator that integrates the area of the right divided waveform corresponding to the right half cycle (the shaded part in FIG. 4) every right swing half cycle T/2, and for these left or right integrators 17 and 18, A swing position signal 19 from the swing device 7 is given every half cycle of swing, and determines when the integrators 17 and 18 start and end integration. Reference numerals 20 and 21 denote a left side memory and a right side memory, respectively, which store and hold the final integral values of the integrators 17 and 18, respectively, reproduce and store the next final integral value, and repeat this process. 22 is a differential amplifier that compares the difference between the stored values in the left memory and the right memory, and its differential output is
This serves as an input signal to the axis driver 23 and drives the motor 10 of the X-axis slider.
第4図において、1は揺動周期(T)、揺動左
側半周期(L)T/2、右側半周期(R)T/2を示
す。2は第3図差動増幅器15の出力波形の一例
で、簡略のため揺動周期に対して回転周期を8分
の1とし、電極ノズル中心が開先幅の中心と一致
している場合を示している。3は、切換スイツチ
16で分割された回転の左側半周期の波形、4は
右側半周期の波形で、それぞれ斜線部の波形が積
分器17および18によつて積分される。5は積
分器の積分開始終了時期を示しており、tRで左側
積分器17の動作開始、右側積分器18の動作終
了の時期を、tLで左側積分器17の動作終了、右
側積分器18の動作開始の時期を示す。 In FIG. 4, 1 indicates the swing period (T), the left half period (L) T/2, and the right half period (R) T/2. 2 is an example of the output waveform of the differential amplifier 15 in FIG. It shows. 3 is a waveform of the left half period of rotation divided by the changeover switch 16, and 4 is a waveform of the right half period of rotation, and the waveforms in the shaded portions are integrated by integrators 17 and 18, respectively. 5 indicates the timing at which the left integrator 17 starts operating and the right integrator 18 ends , and t L indicates the timing at which the left integrator 17 ends and the right integrator 18 ends. 18 shows the timing of the start of operation.
次に、上記実施例の作用を説明する。 Next, the operation of the above embodiment will be explained.
電極2はアークを発生しながら電極ノズル5の
中心aのまわりに回転運動を行うと共に、同時に
開先幅方向に所定幅の揺動運動を行いながら溶接
進行方向へ移動する。 The electrode 2 rotates around the center a of the electrode nozzle 5 while generating an arc, and at the same time moves in the welding progress direction while performing a swinging motion of a predetermined width in the groove width direction.
而して、このアーク溶接中、電極2の揺動中心
cを正確に開先幅の中心b上に倣わせるために、
まずアーク電流又はアーク電圧の波形を検出す
る。この検出波形は基準信号との間で差動増幅さ
れて(第4図の2)切換スイツチ16に入力され
る。この切換スイツチ16では連続の出力波形を
第4図3,4に示すように電極2の回転の左側半
周期と右側半周期に分割して、左側分割波形(第
4図3)は左側積分器17に、また右側分割波形
(第4図4)は右側積分器18にそれぞれ入力す
る。次いで、両積分器17,18にて電極2の揺
動の左側半周期については上記左側分割波形の面
積を、右側半周期については上記右側分割波形の
面積をそれぞれ積分し、両者の積分値を比較す
る。 During this arc welding, in order to make the swing center c of the electrode 2 accurately follow the center b of the groove width,
First, the waveform of arc current or arc voltage is detected. This detected waveform is differentially amplified with the reference signal (2 in FIG. 4) and input to the changeover switch 16. This changeover switch 16 divides the continuous output waveform into a left half period and a right half period of the rotation of the electrode 2 as shown in FIG. 17, and the right divided waveform (FIG. 4) is input to the right integrator 18, respectively. Next, both integrators 17 and 18 integrate the area of the left divided waveform for the left half cycle of the electrode 2's oscillation, and the area of the right divided waveform for the right half cycle, and calculate the integral value of both. compare.
両者の積分値に差があるときは、電極2の揺動
中心Cが開先幅の中心bから左右いずれかの方向
へずれているときであるから、すなわち揺動中心
cが開先幅の中心bから例えば左側へずれている
ときは、電極2が開先の左側壁に、より接近する
ため、第4図2の左側分割波形が右側分割波形に
比べて大きくなるので、上記積分値に差が生じて
くる。逆に、揺動中心cが開先幅の中心bから右
側へずれているときは右側分割波形が左側分割波
形に比べて大きくなり、同様に上記積分値に差が
生じてくる。したがつて、この差動値が零になる
方向にX軸スライダ9の駆動モータ10を動作さ
せるのである。 When there is a difference between the two integral values, it is because the swing center C of the electrode 2 is shifted from the groove width center b in either the left or right direction. For example, when the electrode 2 is shifted to the left side from the center b, the electrode 2 approaches the left side wall of the groove, so the left side split waveform in Fig. 42 becomes larger than the right side split waveform, so the above integral value A difference will arise. Conversely, when the swing center c is shifted to the right from the center b of the groove width, the right side divided waveform becomes larger than the left side divided waveform, and a difference also occurs in the above-mentioned integral values. Therefore, the drive motor 10 of the X-axis slider 9 is operated in the direction in which this differential value becomes zero.
このようにして電極2の揺動中心Cを揺動半周
期ごとに位置修正を行いながら開先幅の中心b上
を倣わせるものである。 In this way, the swing center C of the electrode 2 is made to trace the center b of the groove width while correcting its position every half cycle of swing.
本発明によれば、上述したように電極に回転と
同時に揺動を与え、かつその揺動中心を揺動半周
期ごとに正しく開先幅の中心上を倣わせるように
したので、開先幅が大きくなり先行技術の所定範
囲を超えた場合でも揺動振幅を変更するだけで任
意の開先に対処して良好な溶接結果が得られる。
According to the present invention, as described above, the electrode is caused to swing at the same time as it rotates, and the center of the swing is made to correctly trace the center of the groove width every half period of the swing, so that the groove Even if the width becomes large and exceeds the predetermined range of the prior art, it is possible to cope with any groove and obtain good welding results by simply changing the oscillation amplitude.
第1図は本発明の概要を電極の移動軌跡と共に
示す説明図で、揺動中心が開先幅方向中心からず
れている状態を示している。第2図は本発明方法
の実施に用いる自動溶接装置の概念図、第3図は
本発明の要部の倣い制御ブロツク図、第4図はア
ーク電流の出力分割波形を示す線図である。
1:開先、2:電極、3:回転軌跡、4:揺動
軌跡、13:アーク電流又はアーク電圧波形検出
器、16:切換スイツチ、17:左側積分器、1
8:右側積分器、22:差動増幅器、a:回転中
心、b:開先幅の中心線、c:揺動中心。
FIG. 1 is an explanatory diagram showing an outline of the present invention together with a movement locus of an electrode, and shows a state in which the center of swing is shifted from the center in the width direction of the groove. FIG. 2 is a conceptual diagram of an automatic welding apparatus used to carry out the method of the present invention, FIG. 3 is a block diagram of a copying control of the main part of the present invention, and FIG. 4 is a diagram showing the output division waveform of arc current. 1: Groove, 2: Electrode, 3: Rotation trajectory, 4: Oscillation trajectory, 13: Arc current or arc voltage waveform detector, 16: Selector switch, 17: Left side integrator, 1
8: Right integrator, 22: Differential amplifier, a: Center of rotation, b: Center line of groove width, c: Center of oscillation.
Claims (1)
らアーク溶接を行う回転アーク溶接方法におい
て、 上記電極に上記回転と同時に開先幅方向に一定
の周期及び振幅の揺動を与えると共に、アーク電
流又はアーク電圧の波形を検出し、該波形を溶接
進行方向に対して上記回転の左側半周期と右側半
周期に分割し、開先中心に対して上記揺動の左側
半周期については上記回転の左側分割波形の面積
を、上記揺動の右側半周期については上記回転の
右側分割波形の面積をそれぞれ積分してその積分
値を比較し、その差動値が零になるように上記揺
動の中心位置の修正を自動的に行いながらアーク
溶接を行うことを特徴とする揺動を伴う回転アー
ク溶接方法。[Claims] 1. A rotating arc welding method in which arc welding is performed while rotating an electrode at a constant radius and speed, wherein the electrode is oscillated at a constant frequency and amplitude in the groove width direction simultaneously with the rotation. At the same time, the waveform of the arc current or arc voltage is detected, and the waveform is divided into a left half period and a right half period of the above rotation with respect to the welding progress direction, and a left half period of the above oscillation with respect to the groove center. For the above rotation, integrate the area of the left side divided waveform of the above rotation, and for the right half period of the above oscillation, integrate the area of the right side divided waveform of the above rotation, and compare the integral values, so that the differential value becomes zero. A rotating arc welding method involving oscillation, characterized in that arc welding is performed while automatically correcting the center position of the oscillation.
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2725884A JPS60174270A (en) | 1984-02-17 | 1984-02-17 | Rotating arc welding method |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2725884A JPS60174270A (en) | 1984-02-17 | 1984-02-17 | Rotating arc welding method |
Publications (2)
Publication Number | Publication Date |
---|---|
JPS60174270A JPS60174270A (en) | 1985-09-07 |
JPH0139874B2 true JPH0139874B2 (en) | 1989-08-23 |
Family
ID=12216049
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2725884A Granted JPS60174270A (en) | 1984-02-17 | 1984-02-17 | Rotating arc welding method |
Country Status (1)
Country | Link |
---|---|
JP (1) | JPS60174270A (en) |
Families Citing this family (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP5498246B2 (en) * | 2010-05-11 | 2014-05-21 | 株式会社神戸製鋼所 | Robot controller for controlling tandem arc welding system, arc scanning control method using the same, and tandem arc welding system |
-
1984
- 1984-02-17 JP JP2725884A patent/JPS60174270A/en active Granted
Also Published As
Publication number | Publication date |
---|---|
JPS60174270A (en) | 1985-09-07 |
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Legal Events
Date | Code | Title | Description |
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EXPY | Cancellation because of completion of term |