JPS5954472A - Welding method - Google Patents

Abstract

PURPOSE:To execute good welding by a welding robot and to improve the quality of a joint, by using intermittently arc sensing welding together with weaving welding. CONSTITUTION:Sensing welding B is not executed continuously, but the sensing B is executed as a coordinate point by extremely slight length at an interval of several 10mm. to several 100mm., and a coordinate value of its point is used as information and is used as correcting information of interlocking of a robot, by which the purpose of sensing can be attained sufficiently. Accordingly, correction is not executed continuously, the sensing welding B is executed as necessary, and in the part between sensing and sensing, regular weaving welding A is executed.

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a welding method using a welding robot, and an object of the present invention is to use arc sensing welding intermittently in combination with weaving welding to achieve good welding of the joint as a whole.

Normally, in arc sensing welding, a welding robot follows the welding joint while welding.The principle behind this is that the arc point is moved regularly and the welding line is moved from the welding line based on the tendency of the current waveform to The welding robot is operated to follow the welding line by detecting the deviation of the arc point of As shown in , a method is used in which a welding electrode (5) such as a wire from a torch (4) is oscillated perpendicularly to the welding line (3) of both base materials (1) and (2). Note that (6) shows the locus of the arc point.

On the other hand, in order to form the finished shape, quality, and leg length of the weld bead according to the required requirements, it is necessary to perform weaving welding that matches the welding posture and required leg length, as shown in Figure 2. In addition, in FIG. 2, the same symbols as in FIG. 1 indicate the same things, and the circle mark indicates a momentary pause point.

However, in weaving type welding, there are times when only arc sensing is available, so arc sensing cannot be used for actual welding, and the welding robot cannot operate following the welding line.

This invention was made with the above points in mind,
This welding method is characterized by performing weaving welding on most of the joint, and intermittently performing arc sensing welding on very small parts of the joint.

Therefore, according to the present invention, the deviation of the arc point from the welding line is detected and corrected by arc sensing that is performed intermittently, so there is no deviation of the welding robot from the welding line, and most of the joints are Since the part is weaved welded, the finished shape of the weld bead,
The quality and leg length can be formed according to the required requirements, and the joint as a whole can be welded well.

Next, this invention will be explained in detail with reference to FIG. 3 showing one embodiment thereof.

In the figure, (A) shows the weaving welding part which is performed in most parts of the joint (3), and (B) shows the arc sensing welding part which is performed intermittently in very small parts.

By the way, the welding line is input into the welding robot in advance as coordinate values by teaching input, NC input, etc., but the actual welding line is determined by the setting position of the welding robot, machining accuracy error of the base material to be welded, etc. There is a slight deviation due to this, and in order to correct this deviation, it may be necessary to make the welding robot follow the pattern. However, the deviation is not large enough to require continuous sensing and correction.

Therefore, this invention does not perform sensing continuously, but rather performs sensing over a very short length at intervals of several tens of millimeters to several hundred millimeters, and obtains the coordinate values of the points as information, which is then used by the robot. This is used for interlocking correction information, and this can sufficiently achieve the purpose of sensing. That is, instead of making corrections continuously as in the past, very small portions are sensed intermittently as needed, and the portions between sensings are performed by normal weaving welding.

In addition, the oscillation rate for sensing is usually a simple sine wave vibration of several 10 to 200 times per minute to the welding electrode of the wire, and 10 to several 10 times is sufficient for sensing one point. By sensing for several seconds at an oscillation frequency of about 200 times per minute, the information necessary for recognizing one coordinate point can be obtained.

Note that the sensing oxidation part is only a small part of the weld length, so even if there is a slight change in the bead appearance,
Normally, there is no noticeable deterioration in the strength of the joint as a whole, and the shape of the part can be shaped using robot software, thus ensuring the practical quality of the joint.

[Brief explanation of drawings]

FIG. 1 is a perspective view of arc sensing welding, FIG. 2 is a perspective view of weaving welding, and FIG. 3 is an arc point locus diagram of an embodiment of the welding method of the present invention. (3)... Welding line, (6)... Arc point locus, (A
)...weaving welding part, (B)...arc sensing welding part. Agent Patent Attorney Fuji 1}] Kyotaro

Claims (1)

[Claims] (1) A welding method characterized by performing weaving welding on most parts of the joint, and intermittently performing arc sensing welding on very small parts of the joint.