JPH08192270A - Welding quality compensation expert system - Google Patents

Abstract

PURPOSE: To improve the welding quality by correcting the voltage value instructed by a voltage instructor by a voltage correcter from the correction value calculated by a calculator, and outputting the corrected voltage value by an output controller to prevent the bead from being narrowed by the change of the welding speed. CONSTITUTION: A comparator 11 successively compares the welding speed during the welding with the reference welding speed during the welding to obtain the difference between them, and a calculator 12 calculates the correction value by the difference between the welding speeds. The current value instructed by a current instructor 5 is corrected from the correction value calculated by the calculator 12 by a current correcter 13, and a motor controller 7 instructs a wire feed motor 2 to feed the wire at a feeding speed corresponding to the corrected current value. The voltage instructed by a voltage instructor 6 is corrected by a voltage correcter 14 from the correction value calculated by the calculator 12, and an output controller 8 outputs the welding voltage corresponding to the corrected voltage. The deposit quantity of the wire is kept constant against the change of the welding speed.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a welding quality compensation expert system for improving welding quality against changes in welding speed in a consumable electrode type arc welding method in which a wire is automatically fed for welding. In particular, the first aspect of the present invention is a welding quality compensation expert system that keeps the amount of wire deposition constant and stable. The second to third inventions are a welding quality compensation expert system that keeps the bead width or the penetration depth constant. The fourth to fifth inventions are a welding quality compensation expert system which obtains a plurality of holding conditions for making the bead width or the penetration depth constant and selects the best condition of the bead appearance among them. A sixth aspect of the present invention is a welding quality compensation expert system that obtains a plurality of holding conditions for making the bead width constant and selects a condition in which the bead appearance is best and the surplus height is almost constant. Further, the seventh to eighth inventions are a welding quality compensation expert system which obtains a plurality of preliminarily inputted holding conditions for making the bead width or the penetration depth constant and selects the condition having the best bead appearance among them.

[0002]

2. Description of the Related Art In a consumable electrode type arc welding machine, a wire feeding speed and a welding voltage are set so that shape parameters such as a bead width, a leg length and a penetration depth satisfy predetermined specifications. However, if the welding speed changes during welding even if welding is performed with the wire feeding speed and welding voltage that have been set once, the specification of the shape parameter cannot be satisfied, so the wire feeding speed or welding voltage must be changed. .

Conventionally, the structure shown in FIG. 9 has been used to stabilize the shape parameter. The configuration is as follows, and the current indicator 5 for indicating the welding current and the current indicator 5
From the motor controller 7 for instructing the wire feeding motor 2 of the wire feeding speed corresponding to the current value instructed to, the voltage indicator 6 for instructing the welding voltage, and the voltage value instructed to the voltage indicator 6. The welder must empirically change the wire feed speed with the current indicator or the welding voltage with the voltage indicator as needed each time, as required by the output controller 8 for controlling the output voltage. .

[0004]

However, according to the conventional method, it is judged in real time whether or not the shape parameter satisfies a predetermined specification by changing the wire feeding speed and the welding voltage against the change of the welding speed during welding. It is extremely difficult to consider the change or deterioration of the bead appearance due to changes in the wire feed rate and welding voltage. Therefore, there is a certain limit to the adaptation to welding work in which the welding speed must be changed, and the welding quality is adversely affected by the change in welding speed.

The present invention relates to changes in welding speed during welding,
To calculate or select the current and voltage that can maintain the amount of wire deposition or shape parameter or shape parameter and bead appearance constant or uniform, and automatically prevent wire welding speed and welding voltage from affecting welding work. The purpose is to improve the welding quality against changes in the welding speed.

[0006]

In order to achieve the above object, the welding quality compensation expert system as the first means of the present invention, the welding amount of the wire is constant and stable against changes in the welding speed during welding. In order to improve the welding quality by maintaining the welding current, the current indicator for indicating the welding current, the voltage indicator for indicating the welding voltage, the welding speed detector for detecting the welding speed, and the welding speed detector are Welding speed memory that stores the detected welding speed as a reference welding speed by inputting a trigger, and compares the welding speed stored by the welding speed memory with the welding speed detected by the welding speed detector during welding. A comparator for obtaining a difference in speed, a calculator for calculating a correction amount from the difference in welding speed obtained by the comparator, and a current for correcting a current value indicated by the current indicator from the calculated correction amount. A voltage corrector that corrects the voltage value indicated by the voltage indicator based on the calculated correction amount, and a wire feed corresponding to the current value indicated by the current indicator or the current value corrected by the current corrector. It is provided with a motor controller for instructing the wire feeding motor of the feed speed and an output controller for controlling the output voltage from the voltage value instructed by the voltage indicator or the voltage value corrected by the voltage corrector. .

The welding quality compensation expert system as the second means of the present invention aims to improve the welding quality by keeping the bead width constant with respect to the change of the welding speed during welding. Current indicator, welding voltage indicator for welding voltage, welding speed detector for detecting welding speed, welding speed memory for storing welding speed from the welding speed detector at the time of trigger input, and the welding speed Comparing the welding speed stored in the memory with the welding speed detected by the welding speed detector during welding to obtain the difference in welding speed, and the current value and the voltage indicator instructed by the current indicator and the current indicator. The bead width calculator that inputs the welding speed and the wire diameter that are the reference stored in the voltage value and the welding speed memory, and the bead width that the bead width calculated by the bead width calculator at the time of trigger input are described as the reference beads. A bead width memory device, an equal bead width current / voltage calculator that inputs the welding speed and a reference bead width and wire diameter during welding, and a wire diameter input device that inputs the diameter of the wire to be fed, A motor controller for instructing the wire feeding motor of the wire feed speed corresponding to the output from the equal bead width current / voltage calculator, and an output control for controlling the welding voltage from the output from the equal bead width current / voltage calculator It is equipped with a vessel.

The welding quality compensation expert system as the third means of the present invention is intended to improve the welding quality by keeping the penetration depth constant against changes in the welding speed during welding. Melt with the current value instructed by the current indicator, the voltage value instructed by the voltage indicator, the welding speed and the wire diameter as the reference stored in the welding speed memory, instead of the bead width calculator of the means Replaced with depth calculator, equal bead width Replaced with current / voltage calculator, replaced with equal penetration depth current / voltage calculator that inputs welding speed during welding, reference penetration depth and wire diameter, and bead width Instead of the memory device, it is replaced with a penetration depth memory device that stores a reference penetration depth.

The welding quality compensation expert system as the fourth means of the present invention obtains a plurality of holding conditions for keeping the bead width constant with respect to changes in the welding speed during welding, and among them, the condition with the best bead appearance is obtained. Welding quality is improved by selecting the following: current indicator for welding current, voltage indicator for welding voltage, welding speed detector for detecting welding speed, welding speed at trigger input. A welding speed memory that stores the welding speed from the detector, and a comparator that calculates the difference in the welding speed by comparing the welding speed stored by the welding speed memory and the welding speed detected by the welding speed detector during welding. , A bead width calculator that inputs the current value instructed by the current indicator, the voltage value instructed by the voltage indicator, the welding speed and the wire diameter, which are the references stored in the welding speed memory, and the trigger input A bead width memory that stores the bead width calculated by the bead width calculator as a reference bead width, and a bead width current-voltage calculation that inputs the welding speed during welding, the reference bead width, and the wire diameter. And a uniform bead width condition memory that stores all the current and voltage pairs calculated by the equal bead width current / voltage calculator, and all current and voltage pairs that the uniform bead width condition memory stores. Corresponding to the output from the bead state selector for the bead width, which inputs the welding speed and the wire diameter during welding, the wire diameter input device for inputting the diameter of the wire to be fed, and the bead state selector for the bead width. A motor controller for instructing the wire feed speed to the wire feed motor and an output controller for controlling the welding voltage based on the output from the bead state selector regarding the bead width are provided.

The welding quality compensation expert system as the fifth means of the present invention obtains a plurality of holding conditions for making the penetration depth constant against changes in the welding speed during welding, and among them, the best bead appearance is obtained. The welding quality is improved by selecting a condition, and the current value instructed by the current indicator, the voltage value instructed by the voltage indicator, and the welding speed memory are replaced by the bead width calculator of the fourth means. Replaced with a penetration depth calculator that inputs welding speed and wire diameter, which is the reference stored in the device, and replaces the bead width storage device with the penetration depth calculated by the penetration depth calculator at trigger input as the reference Replaced with a penetration depth memory that stores as a penetration depth, instead of an equal bead width current / voltage calculator, the welding speed during welding, the reference penetration depth and the wire diameter, etc. Replaced with current / voltage calculator and replaced with equal bead width condition memory, etc.Equal penetration depth Stored current / voltage pairs to obtain all reference penetration depths calculated by current / voltage calculator Equal penetration depth Replace the bead state selector for bead width with the welding speed output from the welding speed detector and the welding depth and welding depth memory stored in the welding depth memory. It is replaced with a bead state selector relating to melting, which inputs all the stored currents and voltages and wire diameter.

The welding quality compensation expert system as the sixth means of the present invention obtains a plurality of holding conditions for keeping the bead width constant against changes in the welding speed during welding, and the bead appearance is the best among them. The welding quality is improved by selecting the condition that the surplus height is almost constant. Input the current indicator that indicates the welding current, the voltage indicator that indicates the welding voltage, and the wire diameter. A wire diameter input device, a welding speed detector that detects the welding speed, a welding speed memory that stores the welding speed from the welding speed detector when a trigger is input, and a welding speed that the welding speed memory stores and during welding. Is stored in the welding speed memory that compares the welding speed detected by the welding speed detector to obtain the difference in welding speed, the current value instructed by the current indicator, the voltage value instructed by the voltage indicator, and the welding speed memory. A bead width calculator that inputs the corresponding welding speed and wire diameter, and a bead width storage device that stores the bead width calculated by the bead width calculator at the time of trigger input as the reference bead width, and during welding. Equal bead width current / voltage calculator that inputs welding speed, reference bead width and wire diameter, and equal bead width condition that stores all current / voltage pairs calculated by the equal bead width current / voltage calculator A memory, a bead state selector for all the currents and voltages stored in the equal bead width condition memory, a bead width selector that inputs the welding speed and wire diameter during welding, and a current indicator. Input the feed rate converter that converts the current value to the wire feed rate, the standard welding speed or the welding speed during welding, the wire feed rate output by the feed rate converter, and the wire diameter to feed Extra height to be A ratio calculator, a surplus height ratio memory that stores the reference surplus height ratio at the time of trigger input, and a set of all the current and voltage selected by the bead state selector related to the bead width as input. Equal bead width that stores all the surplus height ratios calculated by the height ratio calculator and all the current and voltage pairs to obtain the surplus height ratio, and the surplus height ratio storage device and the bead width Corresponding to the output from the surplus height ratio selector and the surplus height ratio selector which inputs all the current and voltage pairs selected by the bead state selector and the standard surplus height ratio The motor controller for instructing the wire feeding speed to the wire feeding motor and the output controller for controlling the welding voltage from the output from the extra height ratio selector.

The welding quality compensation expert system as the seventh means of the present invention obtains a plurality of holding conditions for making the bead width constant inputted in advance with respect to changes in the welding speed, and obtains the best bead appearance among them. The welding quality is improved by selecting the.The welding parameter input device for the bead width that inputs the standard welding speed and the standard bead width, the current indicator that indicates the welding current, and the welding voltage are indicated. Voltage indicator, welding speed detector for detecting welding speed, welding speed memory for storing welding speed from the welding speed detector at the time of trigger input, welding speed stored by the welding speed memory, and welding A comparator that compares the welding speeds detected by the welding speed detector to obtain the difference in the welding speeds,
A bead width calculator that inputs the current value instructed by the current indicator, the voltage value instructed by the voltage indicator, the welding speed and the wire diameter as the reference stored in the welding speed memory, and at the time of trigger input A bead width memory that stores the bead width calculated by the bead width calculator as a reference bead width, and a bead width current-voltage calculator that inputs the welding speed during welding, the reference bead width, and the wire diameter And an equal bead width condition memory that stores all the current and voltage pairs calculated by the equal bead width current / voltage calculator, and all current and voltage pairs that the equal bead width condition memory stores and welding The bead state selector for the bead width, which inputs the welding speed and the wire diameter, the wire diameter input device for inputting the diameter of the wire to be fed, and the wire corresponding to the output from the bead state selector for the bead width. A motor controller for instructing the sheet speed of the wire feed motor, in which an output controller for controlling the welding voltage from the output from the bead-state selector relates bead width.

The welding quality compensation expert system as the eighth means of the present invention obtains a plurality of holding conditions for making the penetration depth constant inputted in advance with respect to changes in the welding speed during welding, and determines the bead appearance among them. Welding quality is improved by selecting it under the best conditions. Instead of the welding parameter input device for the bead width of the seventh means, the welding speed as the reference and the penetration depth as the reference are entered. Welding parameter input device relating to the height, replacing the bead width calculator with the current value indicated by the current indicator, the voltage value indicated by the voltage indicator, and the welding speed and wire as the reference stored in the welding speed storage device. It is replaced with a penetration depth calculator that inputs the diameter and, instead of the bead width memory, when the trigger is input, the penetration depth calculated by the penetration depth calculator is used as a reference. It is replaced with a penetration depth memory that stores the penetration depth, and instead of an equal-bead-width current-voltage calculator, the welding speed during welding, the reference penetration depth and the wire diameter are input as the equivalent penetration depth current voltage Replaced by a calculator and replaced by a uniform bead width condition storage device, replaced by an equal penetration depth condition storage device that stores all the current and voltage pairs calculated by the above-mentioned equivalent penetration depth current voltage calculator, and bead related to bead width In place of the state selector, a bead state selector relating to the penetration depth, in which all the current / voltage pairs stored in the equal penetration depth condition storage device, the welding speed during welding, and the wire diameter are input Is.

[0014]

In the first means, the motor controller instructs the wire feeding motor to the wire feeding speed corresponding to the welding current instructed by the welding current previously instructed by the current indicator.
The welding is started by the output controller outputting the instructed voltage in accordance with the welding voltage instructed by the voltage indicator.
At this time, the welding speed detected by the welding speed detector is used as a reference welding speed and is stored in the welding speed memory by trigger input. Then, the welding speed detected by the welding speed detector during welding and the welding speed serving as the reference stored in the welding speed memory are successively compared by the comparator to obtain the difference between the two welding speeds. Then, the calculator calculates a correction amount from the difference between the two welding speeds obtained by the comparator, and the current corrector corrects the current value indicated by the current indicator from the calculated correction amount and the motor controller corrects it. The wire feeding speed corresponding to the applied current value is instructed to the wire feeding motor. Similarly, the voltage compensator corrects the voltage value indicated by the voltage indicator based on the correction amount calculated by the calculator, and the voltage value corrected by the output controller is output, so that the welding amount of the wire is constant and We will improve the welding quality by keeping it stable.

In the second means, the reference bead width is calculated by the bead width calculator and stored in the bead width storage device. Then, for a change in welding speed during welding, a set of current and voltage is obtained by which a bead width equal to the reference bead width is obtained by the equal bead width current / voltage calculator.
The current compensator and the voltage compensator correct the indicated current and voltage from the calculated set of current and voltage, and the wire feed speed and the corresponding current value are compensated by the motor controller and the output controller. The welding voltage corresponding to the different voltage value is output to keep the bead width constant against changes in the welding speed during welding, thereby improving the welding quality.

In the third means, a penetration depth as a reference is calculated by the penetration depth calculator and stored in the penetration depth memory. Then, for a change in welding speed during welding, a set of current and voltage is calculated by which the penetration depth equal to the reference penetration depth is obtained by the equal penetration depth current-voltage calculator, and the calculated set of Instructed current and voltage are corrected from the current and voltage by the current corrector and voltage corrector, and the wire feed speed and the corrected voltage value corresponding to the corrected current value are corrected by the motor controller and output controller. The welding voltage is output to keep the penetration depth constant against changes in the welding speed during welding, thereby improving welding quality.

Further, the fourth means is to set all current and voltage pairs for keeping constant the bead width which is the reference calculated by the equal bead width current / voltage calculator for a change in welding speed during welding. The bead condition selector for the bead width selects the one with the best bead appearance from all current and voltage pairs stored by the equal bead width condition memory and keeping the bead width stored by the bead condition memory constant. By outputting, the bead width is kept constant against changes in the welding speed during welding and the bead appearance is kept good to improve the welding quality.

The fifth means is to measure all currents and voltages for maintaining a constant penetration depth, which is a reference calculated by the equal penetration depth current-voltage calculator with respect to changes in welding speed during welding. The bead state selector for the penetration depth is the most bead among all the current and voltage pairs that are stored in the penetration depth condition storage unit and keep the penetration depth constant stored in the penetration depth condition storage unit. Welding quality is improved by keeping the penetration depth constant and the bead appearance good by changing the welding speed during welding by selectively outputting those with good appearance.

The sixth means is, in all the current / voltage groups selected by the bead state selector relating to the bead width, the surplus height of each current / voltage group based on the surplus height ratio. The height that is closest to or equal to the height ratio is selected and output by the surplus height ratio selector to keep the bead width constant and the bead cross-sectional shape almost constant against changes in welding speed during welding, and to improve the bead appearance. Welding quality will be improved by keeping it.

A seventh means is to input a standard welding speed and a standard bead width by using a welding parameter input device relating to the bead width to obtain a bead width defined by design specifications for a good bead appearance. Welding quality is improved by keeping it constant while keeping it at.

The eighth means is to use the welding parameter input device for the penetration depth to input the reference welding speed and the reference bead width to determine the penetration depth determined by the design specifications. Welding quality is improved by keeping the value constant while maintaining a good value.

[0022]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the first means of the present invention will be described below with reference to FIG.

In FIG. 1, a wire 1 is fed by a wire feeding motor 2 toward a welding portion of a base material 4. Then, the fed wire 1 is fed with the output from the output controller 8 by the electrode 3, is melted by the energy and is transferred to the base material 4. Welding is performed in this manner.

The current indicator 5 indicates the welding current value.
Further, the voltage indicator 6 indicates the welding voltage. The welding speed detector 9 detects the welding speed. The welding speed memory 10 stores a reference welding speed when a trigger is input. The welding speed detected by the welding speed detector 9 during welding and the reference welding speed stored in the welding speed storage device 10 are input to the comparator 11, which compares the welding speed during welding with the reference welding speed. If there is a difference between the two, the difference between the two is output to the calculator 12. The calculator 12 calculates a correction amount of current and voltage for keeping the amount of wire welding per unit bead length constant, based on the difference between the reference welding speed input from the comparator 11 and the welding speed during welding. Current corrector 1
3 corrects the current value indicated by the current indicator 5 by the correction amount calculated and input by the calculator 12. The motor controller 7 controls the wire feeding speed of the wire feeding motor 2 based on the current value corrected and input by the current corrector 13. The voltage corrector 14 calculates the voltage value indicated by the voltage indicator 6 by the calculator 12
It is corrected by the correction amount calculated and input by. The output controller 8 outputs a voltage from the voltage value corrected and input by the voltage corrector 14.

The operation of the welding quality compensation expert system configured as described above will be described.

The welding speed detector 9 detects the welding speed at the start of welding. At this time, a trigger is input and the welding speed at the start of welding is stored in the welding speed storage device 10 as a reference welding speed. The wire feeding speed at the start of welding is determined by inputting the current value indicated by the current indicator 5 to the motor controller 7. At this time, the current corrector 13 does not correct the current value indicated by the current indicator 5. The welding voltage at the start of welding is determined by inputting the voltage value indicated by the voltage indicator 6 to the output controller 8. At this time, the voltage corrector 14 does not correct the voltage value indicated by the voltage indicator 6. In this way, welding is started.

The comparator 11 successively compares the welding speed serving as the reference during welding and the welding speed during welding, and obtains the difference.
The calculator 12 calculates a correction amount from the obtained difference between the two welding speeds. The calculator 12 uses the function of the welding current and the wire feeding speed, the function of the wire feeding speed and the welding speed, the experimentally obtained wire feeding speed, the welding speed, and the normalized welding voltage as a correction value. To calculate. Next, the current corrector 13 corrects the current value indicated by the current indicator 5 from the correction amount calculated by the calculator 12, and the motor controller 7 sends the wire feeding speed corresponding to the corrected current value to the wire feeding speed. Instruct the feed motor 2. Further, the voltage corrector 14 corrects the voltage indicated by the voltage indicator 6 from the correction amount calculated by the calculator 12, and the output controller 8 outputs the welding voltage corresponding to the corrected voltage value.

By repeating the above-described operation during welding, the amount of wire welded can be kept constant with respect to changes in the welding speed.

FIG. 2 shows an embodiment of the second means. The current indicator 5, the voltage indicator 6, the motor controller 7, the output controller 8, the welding speed detector 9, the welding speed memory 10, and the comparator 11 have the same configurations as those in the above-described embodiment, and detailed description thereof will be omitted. Omit it.

The bead width calculator 15 inputs the current value instructed by the current indicator 5, the voltage value instructed by the voltage indicator 6, the welding speed and the wire diameter as the reference stored in the welding speed memory 10. And calculate the bead width. Bead width memory 1
6 stores the calculated bead width. The equal bead width current / voltage calculator 17 inputs a welding speed during welding, a reference bead width and a wire diameter, and obtains one set of current and voltage for keeping the bead width constant. The wire diameter input device 18 inputs the wire diameter.

The operation of the welding quality compensation expert system configured as described above will be described.

The bead width calculator 15 has a welding speed as a reference by a trigger input, a current value indicated by the current indicator 5, a voltage value indicated by the voltage indicator 6, and a wire diameter input by the wire diameter input device 18. Calculate the bead width from. This four-way relationship can be expressed experimentally by (Equation 1).

[0033]

[Equation 1]

Here, W is the bead width, a is a constant relating to the bead width, b is a current relating to the bead width, and a function F1 of voltage.
(I, V), c is a function F of current and voltage related to bead width
2 (I, V), d is a function g of welding speed with respect to the bead width
(V) and e are functions of the wire diameter R (Y
r) is represented. I is current, V is voltage, and v is welding speed. The bead width can be calculated from this empirical formula. The calculated bead width is stored in the bead width storage device 16 as a reference bead width. When the difference between the two welding speeds obtained by the comparator 11 is not 0, the equal bead width current / voltage calculator 17 serves as a reference for the current welding speed based on the reference bead width, the welding speed during welding, and the wire diameter. A set of current and voltage required to maintain the bead width is calculated. It should be noted that, as an example of a method of calculating a set of current and voltage required to hold the reference bead width, it is experimentally calculated using the formula expressed in (Equation 2).

[0035]

[Equation 2]

Where V is voltage, W is bead width, and f1
(I), f2 (I) and f3 (I) are functions of current related to bead width, g (v) is a function of welding speed related to bead width, and a is a constant related to bead width. In addition, I represents current and v represents welding speed. By this calculation, the voltage at which the bead width becomes constant is obtained for each current, and the maximum current at which the bead width finally becomes constant and the voltage at that time are the current and voltage at which the bead width can be kept constant. At this time, the range of the current used for the calculation is specified in advance, so the calculation is performed only within this range. Since the range of voltage as the solution of the equation is also specified in advance, if the solution is out of the range, the bead width is excluded because it cannot be kept constant. When the calculation is completed, a calculation end signal is output, and this is used as a trigger to input the calculated current in place of the instructed current and voltage to the motor controller 7 and the voltage to the output controller 8, respectively. The part "when the difference between the two welding speeds obtained by the comparator 11 is not 0" is "comparator 11
If the difference between the two welding speeds obtained by is not within ± numerical value, "it can be replaced with one having a certain margin.

By repeatedly performing the above operation during welding, the bead width can be kept constant with respect to changes in the welding speed.

FIG. 3 shows an embodiment of the third means. In this embodiment, the bead width calculator 15 of the embodiment of the second means is replaced with a penetration depth calculator 19, and the bead width memory 16 is replaced with a penetration depth memory 20.
The equal bead width current / voltage calculator 17 is replaced with an equal penetration depth current / voltage calculator 21.

The operation of the welding quality compensation expert system configured as described above will be described.

The penetration depth calculator 19 receives a trigger input, a welding speed as a reference, a current value indicated by the current indicator 5, a voltage value indicated by the voltage indicator 6, and a wire diameter input device 1
The penetration depth is calculated from the wire diameter input by 8. This four-way relationship can be expressed experimentally by (Equation 3).

[0041]

(Equation 3)

Here, D is the penetration depth, a'is a constant relating to the penetration depth, b'is a current relating to the penetration depth,
The function of voltage F1 '(I, V), c'is the current relating to penetration depth, the function of voltage F2' (I, V), d'is the function of welding speed g '(v), e' relating to penetration depth. Represents a function R ′ (Yr) of the wire diameter with respect to the penetration depth. I is current, V is voltage, and v is welding speed. The penetration depth can be calculated from this empirical formula. The calculated penetration depth is stored in the penetration depth storage device 20 as a reference penetration depth. When the difference between the two welding speeds obtained by the comparator 11 is not 0, the equal penetration depth current / voltage calculator 21 determines the reference in the current welding speed based on the reference penetration depth, the welding speed during welding, and the wire diameter. A set of current and voltage required to maintain the penetration depth is calculated. As an example of a method for calculating a set of current and voltage required to maintain the reference penetration depth, the calculation is performed using the formula expressed in (Equation 4).

[0043]

[Equation 4]

Here, V is voltage, D is penetration depth, f
1 '(I), f2' (I) and f3 '(I) are functions of current related to penetration depth, g' (v) is a function of welding speed related to penetration depth, and a'is a constant related to penetration depth. It represents. In addition, I represents current and v represents welding speed. By this calculation, the voltage at which the penetration depth becomes constant is found for each current, and the maximum current at which the penetration depth finally becomes constant and the voltage at that time are the current and voltage at which the penetration depth can be kept constant. To do. At this time, the range of the current used for the calculation is specified in advance, so the calculation is performed only within this range. Since the voltage range as the solution of the equation is also specified in advance, if the solution is out of the range, the penetration depth is excluded because it cannot be kept constant. When the calculation is completed, a calculation end signal is output, which is triggered to replace the instructed current and voltage, and the calculated current is input to the motor controller 7 and the voltage is input to the output controller 8. Note that the portion "when the difference between the two welding speeds obtained by the comparator 11 is not 0" is replaced with one having a certain margin such as "when the difference between the two welding speeds obtained by the comparator 11 is not within ± numerical values". be able to.

By repeating the above operation during welding, the penetration depth can be kept constant against changes in the welding speed.

FIG. 4 shows an embodiment of the fourth means. The current indicator 5, the voltage indicator 6, the motor controller 7, the output controller 8, the welding speed detector 9, the welding speed memory 10, and the comparator 11 have the same configuration as that of the first embodiment and the bead width. The calculator 15, the bead width memory 16, the equal bead width current / voltage calculator 17, and the wire diameter input device 18 have the same configurations as those in the second embodiment, and therefore detailed description thereof will be omitted. In this embodiment, the equal bead width condition storage unit 22 stores all the sets of currents and voltages calculated by the equal bead width current / voltage calculator 17.
And a bead state selector 23 relating to a bead width which receives as input the set of all the currents and voltages stored in the equal bead width condition storage device 22, the welding speed during welding, and the wire diameter.

The operation of the welding quality compensation expert system configured as described above will be described.

The equal bead width condition storage unit 22 stores all the current and voltage groups for obtaining the reference bead width calculated by the equal bead width current / voltage calculator 17, and stores all the stored currents and voltages. As shown in FIG. 10, the bead state selector 23 regarding the bead width with the set of No. 1 and the welding speed during welding as an input shows the bead appearance region diagram regarding the bead width of the ordinate welding voltage and the abscissa welding speed which are experimentally obtained. Is built in for each current value, and the set of the current and voltage that has the best bead appearance is selected using the input current and voltage set and the welding speed as an index. When the selection is completed, a selection end signal is output, which is triggered to input the selected current instead of the instructed current and voltage to the motor controller 7 and the voltage to the output controller, respectively.

By repeating the above operation during welding, the bead width can be kept constant and the bead appearance can be kept good against changes in the welding speed.

FIG. 5 shows an embodiment of the fifth means. In this embodiment, the bead width calculator 1 of the fourth means is used.
5 is replaced with a penetration depth calculator 19, bead width memory 16 is replaced with a penetration depth memory 20, and equal bead width current / voltage calculator 17 is replaced with an equal penetration depth current / voltage calculator 21. The condition memory 22 is replaced with a uniform penetration depth condition memory 24, and the bead state selector 23 regarding the bead width is replaced with a bead state selector 25 regarding the penetration depth.

The operation of the welding quality compensation expert system configured as described above will be described.

The equal penetration depth condition storage unit 24 stores all current and voltage groups for obtaining the reference penetration depth calculated by the equal penetration depth current / voltage calculator 21.
Bead state selector 2 for penetration depth with all stored current and voltage pairs and welding speed during welding as inputs
As shown in FIG. 10, a bead appearance region diagram relating to the penetration depth of the ordinate welding voltage and the abscissa welding speed obtained experimentally as shown in FIG. 10 is built in for each current value. The pair of current and voltage with the best bead appearance is selected based on the pair and welding speed. When the selection is completed, a selection end signal is output, which triggers the current and voltage to be replaced by the selected current instead of the specified current and voltage.
Then, the voltage is input to the output controller 8.

By repeating the above operation during welding, the bead width can be kept constant and the bead appearance can be kept good with respect to changes in the welding speed.

FIG. 6 shows an embodiment of the sixth means. The current indicator 5, the voltage indicator 6, the motor controller 7, the output controller 8, the welding speed detector 9, the welding speed memory 10, and the comparator 11 have the same configuration as that of the first embodiment and the bead width. The calculator 15, the bead width memory device 16, the equal bead width current / voltage calculator 17, and the wire diameter input device 18 have the same configurations as those in the second embodiment, and the equal bead width condition memory device 22 and the bead state selection regarding the bead width. Since the container 23 has the same configuration as that of the fourth embodiment, detailed description thereof will be omitted. In this embodiment, a feeding speed converter 26 for converting a current value indicated by the current indicator 5 into a wire feeding speed, a wire feeding speed, a wire diameter to be fed, and a welding speed during welding or a reference welding. Excessive height ratio calculator 27 that inputs the speed and the standard bead width, an extra height ratio memory 28 that stores the standard extra height ratio, and a bead state selector related to the bead width. Equal bead width Surplus height that stores all surplus height ratios corresponding to the current and voltage pairs calculated by the surplus height ratio calculator 27 by inputting all current and voltage pairs selected by 23 The ratio memory 29 and all the current / voltage pairs selected by the bead state selector 23 relating to the bead width, the ratio of excess height to be a reference, and the equal bead width. Enter the surplus height ratio and That it is made and a surplus prime height ratio selector 30.

The operation of the welding quality compensation expert system configured as described above will be described.

When the trigger is input, the surplus height ratio calculator 27 calculates a reference surplus height ratio from the wire feed speed converted and output by the feed speed converter 26 and the wire diameter to be fed. The relationship between the two can be expressed by (Equation 5).

[0057]

(Equation 5)

Here, h is the height ratio of the extra heap, Rr is the wire feed roller diameter, Yr is the wire diameter, W is the bead width, and I
Represents current, v represents welding speed, and π represents pi. The calculated reference surplus height ratio is stored in the surplus height ratio storage unit 28. Then, all the margins calculated by the surplus height ratio calculator are input to the equal bead width surplus height ratio storage unit 29 by inputting all the current and voltage pairs selected by the bead state selector regarding the bead width during welding. A heap height ratio and a set of current and voltage corresponding to the heap height ratio are stored, and a surplus height height serving as a reference from among the heap height ratios stored by the heap height ratio selector 30. Select a pair of current and voltage that can obtain an extra height ratio equal to or closest to the ratio. The selected current is input to the motor controller 7, and the voltage is input to the output controller.

By repeating the above operation during welding, the bead width can be kept constant and the bead cross-sectional shape can be kept substantially constant with respect to changes in the welding speed, and the bead appearance can be kept good.

FIG. 7 shows an embodiment of the seventh means. The current indicator 5, the voltage indicator 6, the motor controller 7, the output controller 8, the welding speed detector 9, the welding speed memory 10, and the comparator 11 have the same configuration as that of the first embodiment and the bead width. The calculator 15, the bead width memory device 16, the equal bead width current / voltage calculator 17, and the wire diameter input device 18 have the same configurations as those in the second embodiment, and the equal bead width condition memory device 22 and the bead state selection regarding the bead width. Since the container 23 has the same configuration as that of the fourth embodiment, detailed description thereof will be omitted. A welding parameter input device 31 regarding a bead width for inputting a reference welding speed and a reference bead width is provided.

The operation of the welding quality compensation expert system configured as described above will be described.

At the start of welding, a welding speed as a reference and a bead width as a reference are input in advance by a welding parameter input device 31 regarding a bead width. The inputted reference welding speed is stored in the welding speed storage device 10, the reference bead width is stored in the bead width storage device 16, and at the same time, input to the uniform bead width current / voltage calculator 17. Then, the equal bead width condition storage unit 22 stores all the sets of currents and voltages for obtaining the reference bead width calculated by the equal bead width current / voltage calculator 17, and stores the stored reference bead width. The bead state selector 23 relating to the bead width selects the best bead appearance from the set of all currents and voltages for obtaining. When the selection is completed, a selection completion signal is output, and this serves as a trigger to input the selected current instead of the instructed current and voltage to the motor controller 7 and the voltage to the output controller, respectively. Welding is thus started with the best current and voltage to obtain the bead width entered. After the start of welding, the same process as the embodiment of the fourth means is followed.

By repeatedly performing the above-described operation during welding, the bead width input in advance can be kept constant and the bead appearance can be kept good with respect to changes in the welding speed.

FIG. 8 shows an embodiment of the eighth means. In this embodiment, the bead width calculator 15 of the seventh embodiment is replaced with a penetration depth calculator 19, and the bead width memory 16 is replaced with a penetration depth memory 20.
The equal bead width current / voltage calculator 17 is replaced with the equal penetration depth current / voltage calculator 21, the equal bead width condition memory 22 is replaced with the equal penetration depth condition memory 24, and the bead state selector 23 relating to the bead width is melted. The bead state selector 25 for depth is replaced, and the welding parameter input device 31 for bead width is replaced with a welding parameter input device 32 for penetration depth, which inputs a standard welding speed and a standard penetration depth. .

The operation of the welding quality compensation expert system configured as described above will be described.

At the start of welding, the welding parameter input unit 32 for the penetration depth inputs the reference welding speed and the reference penetration depth in advance. The input reference welding speed is stored in the welding speed storage device 10, the reference penetration depth is stored in the penetration depth storage device 20, and at the same time, input to the uniform penetration depth current / voltage calculator 21.
Then, the equal penetration depth condition storage unit 24 stores all the sets of current and voltage for obtaining the reference penetration depth calculated by the equal penetration depth current / voltage calculator 21, and becomes the stored reference. The bead state selector 25 relating to the penetration depth selects the best bead appearance from all the sets of current and voltage for obtaining the penetration depth.
The selected current is input to the motor controller 7, and the voltage is input to the output controller. The welding is thus started with the best current and voltage to obtain the penetration depth entered. After the start of welding, the same process as in the embodiment of the fifth means is followed.

By repeating the above-described operation during welding, it is possible to keep the penetration depth that is input in advance constant with respect to changes in the welding speed and keep the bead appearance good.

[0068]

As is apparent from the above embodiment, the first means of the present invention can always keep the amount of wire deposition constant against changes in the welding speed during welding. It is possible to prevent bead thinning and the like and to obtain stable welding quality.

Further, in the second means, the bead width is always kept constant with respect to the change of the welding speed during welding, so that the bead thinning due to the change of the welding speed is prevented, and hence the welding quality is improved. You can

Further, in the third means, the penetration depth is always kept constant with respect to the change in welding speed during welding, thereby preventing insufficient penetration due to the change in welding speed. You can

In the fourth means, the bead width can be kept constant against changes in the welding speed during welding, and at the same time, the bead appearance is the best among currents and voltages that keep the bead width constant. Is selectively output, it is possible to improve the welding quality with respect to changes in the welding speed.

In the fifth means, the penetration depth can be kept constant against changes in the welding speed during welding, and at the same time the bead appearance is the best among the currents and voltages that keep the penetration depth constant. Since the selected ones are selected and output, the welding quality can be improved with respect to changes in the welding speed.

In the sixth means, the bead width can be kept constant against changes in the welding speed during welding, and at the same time, the bead appearance is the best among currents and voltages that keep the bead width constant. Is selected, and a set of current and voltage with an almost constant height is selected and output from it, so even if the welding speed changes during welding, the shape is almost the same as at the start of welding.
Since it is possible to obtain beads having the same width, the same appearance, or a good appearance, it is very effective in improving the welding quality.

Further, in the seventh means, if the bead width defined in the design specification is input at the start of welding, the bead width in welding becomes the bead width defined in the design specification in response to changes in the welding speed during welding. Since the bead having the best bead appearance is selected and output from the current and the voltage that can keep the bead width constant at the same time, the welding quality can be improved with respect to the change of the welding speed. In addition, the builder has only to input the bead width defined in the design specifications and the standard welding speed before starting welding, and the current and voltage adjustment operations according to the changes in welding speed, which were conventionally performed, are required throughout welding. Since it is no longer possible, it is possible to achieve de-skilling.

In the eighth means, if the penetration depth determined by the design specification is input at the start of welding, the penetration depth during welding is beaded according to the change in the welding speed during welding. It is possible to maintain the width and at the same time select and output the one having the best bead appearance from the current and the voltage that keep the penetration depth constant, so that it is possible to improve the welding quality with respect to the change of the welding speed. In addition, the builder has only to input the penetration depth defined in the design specifications and the standard welding speed before starting welding, and the current and voltage adjustment operation according to the change in welding speed, which was conventionally performed, is required from beginning to end of welding. Since it is no longer possible, it is possible to achieve de-skilling.

[Brief description of drawings]

FIG. 1 is a block diagram showing the configuration of a welding quality expert system according to an embodiment of the first means of the present invention.

FIG. 2 is a block diagram showing the configuration of a welding quality expert system according to an embodiment of the second means of the present invention.

FIG. 3 is a block diagram showing the configuration of a welding quality expert system according to an embodiment of the third means of the present invention.

FIG. 4 is a block diagram showing the configuration of a welding quality expert system according to an embodiment of the fourth means of the present invention.

FIG. 5 is a block diagram showing the configuration of a welding quality expert system according to an embodiment of the fifth means of the present invention.

FIG. 6 is a block diagram showing the configuration of a welding quality expert system according to an embodiment of the sixth means of the present invention.

FIG. 7 is a block diagram showing the configuration of a welding quality expert system according to an embodiment of the seventh means of the present invention.

FIG. 8 is a block diagram showing the configuration of a welding quality expert system according to an embodiment of the eighth means of the present invention.

FIG. 9 is a block diagram showing the configuration of a conventional consumable electrode type arc welder.

FIG. 10 shows a bead state selector 23 for bead width and a bead state selector 25 for penetration depth for current,
Schematic diagram showing how to select a set of voltages

[Explanation of symbols]

 5 Current Indicator 6 Voltage Indicator 7 Motor Controller 8 Output Controller 9 Welding Speed Detector 10 Welding Speed Memory 11 Comparator 12 Calculator 13 Current Corrector 14 Voltage Corrector 15 Bead Width Calculator 16 Bead Width Memory 17 Equal bead width current / voltage calculator 18 Wire diameter input device 19 Penetration depth calculator 20 Penetration depth memory 21 Equal penetration depth current / voltage calculator 22 Equal bead width condition memory 23 Bead condition selector for bead width 24 Equal penetration depth condition storage device 25 Bead state selector regarding penetration depth 26 Feeding speed converter 27 Extra height ratio calculator 28 Extra height ratio storage device 29 Equal bead width Extra height ratio storage device 30 Surplus height ratio selector 31 Welding parameter input device for bead width 32 Welding parameter input device for penetration depth

─────────────────────────────────────────────────── ─── Continuation of the front page (51) Int.Cl. ⁶ Identification code Internal reference number FI technical display location G05D 13/62 E

Claims (8)

[Claims] 1. A current indicator for indicating a welding current, a voltage indicator for indicating a welding voltage, a welding speed detector for detecting a welding speed, and a welding speed from the welding speed detector at the time of trigger input. Welding speed storage device, a welding speed stored in the welding speed storage device and a comparator for calculating a welding speed difference by comparing the welding speed detected by the welding speed detector during welding, and the welding obtained by the comparator. A calculator that calculates the amount of current and voltage correction based on the speed difference, a current corrector that corrects the current value indicated by the current indicator based on the calculated correction amount, and a voltage indicator that indicates the calculated correction amount. Voltage compensator for compensating the voltage value, the motor controller for instructing the wire feeding motor the wire feeding speed corresponding to the output from the current compensator, and the welding voltage is controlled from the output from the voltage compensator. Output control Welding quality compensation expert system equipped with 2. A current indicator for indicating a welding current, a voltage indicator for indicating a welding voltage, a welding speed detector for detecting a welding speed, and a welding speed from the welding speed detector when a trigger is input. A welding speed memory, a comparator that compares the welding speed stored in the welding speed memory with the welding speed detected by the welding speed detector during welding, and calculates the difference in welding speed, and the current indicated by the current indicator. Value and voltage value indicated by the voltage indicator, and a bead width calculator that inputs the welding speed and the wire diameter, which are the reference stored in the welding speed memory, and the bead calculated by the bead width calculator at the time of trigger input. A bead width memory that stores the width as the reference bead, an equal bead width current-voltage calculator that inputs the welding speed during welding and the reference bead width, and a wire that inputs the diameter of the wire to be fed. With diameter input device , A motor controller for instructing the wire feeding motor the wire feed speed corresponding to the output from the equal bead width current / voltage calculator, and the output for controlling the welding voltage from the output from the equal bead width current / voltage calculator Welding quality compensation expert system with controller. 3. A welding speed and a wire diameter, which are the reference values stored in the welding speed storage unit, are input instead of the bead width calculator, the current value instructed by the current indicator, the voltage value instructed by the voltage indicator. Replaced with the penetration depth calculator to replace the equal bead width current-voltage calculator with the welding speed during welding and the reference penetration depth to the equivalent penetration depth current-voltage calculator. The welding quality compensation expert system according to claim 2, wherein the storage device is replaced with a penetration depth memory device that stores a reference penetration depth. 4. A current indicator for indicating a welding current, a voltage indicator for indicating a welding voltage, a welding speed detector for detecting a welding speed, and a welding speed from the welding speed detector at the time of trigger input. A welding speed memory, a comparator that compares the welding speed stored in the welding speed memory with the welding speed detected by the welding speed detector during welding, and calculates the difference in welding speed, and the current indicated by the current indicator. Value and voltage value indicated by the voltage indicator, and a bead width calculator that inputs the welding speed and the wire diameter, which are the reference stored in the welding speed memory, and the bead calculated by the bead width calculator at the time of trigger input. A bead width storage device that stores the width as a reference bead width, an equal bead width current / voltage calculator that inputs the welding speed during welding, a reference bead width and a wire diameter, and the equal bead width current voltage Calculated by calculator Equal bead width condition memory that stores all current and voltage pairs, and bead that inputs all current and voltage pairs, welding speed during welding, and wire diameter stored in the equal bead width condition memory Indicate to the wire feed motor the bead state selector for width, the wire diameter input device for inputting the diameter of the wire to be fed, and the wire feed speed corresponding to the output from the bead state selector for bead width. A welding quality compensation expert system comprising a motor controller and an output controller for controlling a welding voltage from an output from a bead state selector regarding a bead width. 5. A welding speed and a wire diameter, which are the reference values stored in the welding speed storage unit, are input instead of the bead width calculator, the current value instructed by the current indicator, the voltage value instructed by the voltage indicator. Replace with the penetration depth calculator, replace the bead width memory with the penetration depth memory that stores the penetration depth calculated by the penetration depth calculator at trigger input as the reference penetration depth, etc. The bead width current / voltage calculator is replaced with an equal penetration depth current / voltage calculator that takes the welding speed during welding, the standard penetration depth and the wire diameter as input, and replaces the equal bead width condition storage device with the same penetration depth. Replaced with a bead state selector for bead width, replacing it with an equivalent penetration depth condition memory that stores a set of current and voltage for obtaining all the standard penetration depths calculated by the current-voltage calculator. Also, the welding speed during welding, which is the output of the welding speed detector, and the penetration depth and the equivalent penetration depth stored in the penetration depth memory, are entered as input of all current / voltage pairs and wire diameters stored in the memory. The welding quality compensation expert system according to claim 4, which is replaced with a bead state selector for penetration. 6. A current indicator for indicating a welding current, a voltage indicator for indicating a welding voltage, a wire diameter input device for inputting a wire diameter, a welding speed detector for detecting a welding speed, and a trigger input. Sometimes a welding speed memory that stores the welding speed from the welding speed detector is compared with the welding speed stored by the welding speed memory and the welding speed detected by the welding speed detector during welding to obtain the difference in the welding speed. A bead width calculator having a comparator, a current value instructed by a current indicator, a voltage value instructed by a voltage indicator, and a welding speed and a wire diameter as a reference stored in a welding speed storage unit, and At the time of trigger input, a bead width memory that stores the bead width calculated by the bead width calculator as a reference bead width, and an equal bead width that receives the welding speed during welding, the reference bead width, and the wire diameter. Current voltage calculation And a uniform bead width condition memory that stores all the current and voltage pairs calculated by the equal bead width current / voltage calculator, and all current and voltage pairs that the uniform bead width condition memory stores. A bead state selector for the bead width, which takes the welding speed during welding and the wire diameter as inputs, a feed rate converter that converts the current value indicated by the current indicator into a wire feed rate, and a reference welding speed. Or the welding height ratio during welding, the wire feed speed output by the feed speed converter, and the surplus height ratio calculator that inputs the wire diameter to be fed, and the surplus height ratio that becomes the reference when the trigger is input. The surplus height ratio memory that stores the value and all the surplus height ratios calculated by the surplus height ratio calculator by inputting all the current and voltage pairs selected by the bead state selector for the bead width. Get the extra height ratio Bead width / height height ratio memory for storing all current / voltage pairs and all current / voltage pairs and reference height height ratio selected by the bead state selector for bead width And a surplus height ratio selector, a motor controller for instructing the wire feeding motor the wire feeding speed corresponding to the output from the surplus height ratio selector, and the surplus height. A welding quality compensation expert system comprising an output controller for controlling a welding voltage from an output from a ratio selector. 7. A current indicator for indicating a welding current, a voltage indicator for indicating a welding voltage, a welding speed detector for detecting a welding speed, and a welding speed from the welding speed detector at the time of trigger input. A welding speed memory, a comparator that compares the welding speed stored in the welding speed memory with the welding speed detected by the welding speed detector during welding, and calculates the difference in welding speed, and the current indicated by the current indicator. Value and voltage value indicated by the voltage indicator, and a bead width calculator that inputs the welding speed and the wire diameter, which are the reference stored in the welding speed memory, and the bead calculated by the bead width calculator at the time of trigger input. A bead width storage device that stores the width as a reference bead width, an equal bead width current / voltage calculator that inputs the welding speed during welding, a reference bead width and a wire diameter, and the equal bead width current voltage Calculated by calculator Equal bead width condition memory that stores all current and voltage pairs, and bead that inputs all current and voltage pairs, welding speed during welding, and wire diameter stored in the equal bead width condition memory Indicate to the wire feed motor the bead state selector for width, the wire diameter input device for inputting the diameter of the wire to be fed, and the wire feed speed corresponding to the output from the bead state selector for bead width. Equipped with a motor controller, an output controller that controls the welding voltage from the output from the bead state selector related to the bead width, and a welding parameter input device related to the bead width that inputs the reference welding speed and the reference bead width. Welding quality compensation expert system. 8. A welding speed and a wire diameter, which are the reference values stored in the welding speed memory, are input instead of the bead width calculator, the current value instructed by the current indicator, the voltage value instructed by the voltage indicator. Replaced with a penetration depth calculator, and instead of the bead width memory, replaced with a penetration depth memory that stores the penetration depth calculated by the penetration depth calculator at the time of trigger input as the reference penetration depth, Instead of the equal bead width current / voltage calculator, the welding speed during welding, the reference penetration depth and the wire diameter are replaced with the equal penetration depth current / voltage calculator, and the equal bead width condition memory is replaced with the above. Equal Penetration Depth Replaced with a uniform penetration depth condition memory that stores all the current and voltage pairs calculated by the current / voltage calculator, and replaces the bead state selector for bead width with the equivalent penetration depth. Replaced with a bead state selector for the penetration depth that inputs all the current and voltage pairs stored in the condition memory, welding speed during welding and wire diameter,
8. The welding quality compensation expert system according to claim 7, wherein the welding parameter input unit for bead width is replaced with a welding parameter input unit for penetration depth for inputting a standard welding speed and a standard penetration depth.