TW201132446A - Arc welding method - Google Patents

Abstract

The present invention provides an arc welding method with features of more suitably detecting the occurrence of interruption of arc. The invented arc welding method is characterized in repetitively alternating a first step (T1) of generating arc between a substrate and a consumable electrode kept on a welding blow tube and transferring the molten solder, and a second step (T2) of generating arc between the above-mentioned substrate and the above-mentioned consumable electrode, while at the same time cooling a molten pool formed on the above-mentioned substrate and moving the above-mentioned welding blow tube; during the step (T1), a measurement on arc extinguishment inspection time Tao is started when the absolute value of voltage between the above-mentioned substrate and the above-mentioned consumable electrode or the absolute value of electric current flowing through the two departs from a pre-specified range; during the period of transferring to the second step (T2), the welding operation is determined to be abnormal when the above-mentioned arc extinguishment inspection time Tao exceeds a pre-specified reference time Tstp.

Description

201132446 IV. Designated representative map: (1) The representative representative of the case is: (3). (2) A brief description of the symbol of the representative figure: None. When the five cases have a chemical formula on the right, please reveal the chemical formula that best shows the characteristics of the invention: None. 6. Description of the Invention: TECHNICAL FIELD OF THE INVENTION The present invention relates to an arc welding method using a stitch puise melting method. [Prior Art] Fig. 5 is a view showing an example of an arc welding apparatus known from the prior art. As an example of the use of the arc welding device shown in Fig. 5, the welding method of the splice pulse welding method is easy to suppress the application of the substrate by the step-spin pulse welding method by the heat input and cooling at the time of fusion bonding. The fusion method. If the system is connected to the law (4), :: comparison, can change the appearance of (10), she receives the amount of distortion (= Patent Document 1). ^ Mai No. in the arc welding assembly shown in Fig. 5, the melting torch (adding (10) to the fusion torch 91 to dissolve the wiring robot (5) (4) body 92, controlling the robot body 92 to move the person control device 93, and supply The welding voltage of the welding device is connected to the welding power supply between the bright wiring 95 and the substrate w 201132446, 94. The welding voltage is 94 ^ ^ ^ ^ ^ ^ 95 and the substrate W is connected to the μ φ voltage to the welding wire.

...: The rule 'Arc' is at the top of the Hyun wire 95 and the substrate W 曰, dissolves the wire 95 and the substrate [melting, the refining pool is shaped at the base (four): this melting pool: 'after stopping the arc, by The arc welding torch = the shielding gas of the skin (four) Chuan (4)) is cooled and solidified. The refinery tank is, for example, 'in the splicing pulse splicing method proposed by Patent Document 2', as shown in Fig. 6, by energizing the alternating current pulse current while the welding torch is stopped, #包An arc welding step for causing an arc (during a period of time during which a voltage weaker than the period T1 is applied between the bright wire Μ and the substrate W to energize a small value of a direct current, and to maintain a state in which the arc is generated ( The period T2) is repeated. By such a splicing method, a part of the adjacent ones overlap, and most of the splicing traces are continuously formed into a 'scaly-like fused bead. In the case where the arc is not repeated and the re-arcing of the arc is repeated, there is an advantage that the occurrence of a sputter can be suppressed. Further, in the method shown in Fig. 6, the abnormality is usually performed during the splicing. In the case of the case where the welding current is smaller than the predetermined value and the voltage is larger than the predetermined value, the t-arc is interrupted. (4) If it is output, (4) the operation is stopped. Detection is not visually and automatically In the case of the line, (4) the error detection, etc., a certain detection time is provided, that is, 'the time when the detected current is lower than the preset value, or the time when the voltage value exceeds the preset value, the detection time is In the case where the arc interruption is determined in the case of 201132446, the signal for stopping the operation, which is set by the operator control device 93 and the welding power source 94, is transmitted to the machine. ti, the electric arc furnace is reduced. &quot;General' is the time in the second half of the period T1. The end of the above-mentioned reference time is included in the period T2 by the two L-shapes. In the period T" 'The condition of the arc quenching abnormality in which the arc extinguishing continues is established, and the fusion bonding is established. 3 broken, -·5. However, ί is in the period of 雷1, σ is right A, ^ A has /, there is a period of the + period of welding is a different suspension. That is, as the period T1 The n T ^ body satisfies the desired state of the fusion can be large, the full _ joint strength can be expected to be relatively good. Even in this case ^ 观 view is also fixed, there is so-called at the time, it2 grafting... Abnormal judgment j melting [Patent Document 1] [Patent Document 1] Japanese Patent Laid-Open Publication No. Hei 6-55268 [Patent Document 2] Japanese Patent Application Laid-Open No. Hei No. The present invention has been made in view of the above circumstances, and an arc melting method capable of detecting an arc interruption more appropriately is a problem. [Technical means for solving the problem] The arc welding method according to the present invention is Interacting repeatedly to create an arc between the substrate and the consumable electrode held in the refining torch, the first step of transferring the droplets 201132446, and the arcing between the substrate and the consumable electrode a second step of cooling the slewing cell formed on the substrate and moving the smelting torch; in the first step, 'the absolute value of the electricity between the substrate and the consumable electrode Or when the absolute value of the current flowing between the two is out of the predetermined range, the measurement of the arc quenching detection time is started; during the transition to the second step, Said arc extinction is detected over time become a predetermined reference time situation 'anomaly determination dissolves as a feature. In a preferred embodiment of the invention, the reference time is set by multiplying the reference time ratio j <1〇〇%) by the unit time of the first step. In the preferred embodiment of the invention, the above reference time ratio is set in a range from 40% to 60%. In a preferred embodiment of the present invention, in the above-described first step, the step of the arc quenching detection time and the reference time, and the step of measuring the elapsed time of the first step are provided; When the elapsed time of the above-described first step does not reach the predetermined time, the step of comparing the arc extinguishing detection time and the reference time is performed. In the arc melting method according to the present invention, since the measurement of the arc extinguishing detection time is performed in the vth step of forming the melting pool, it is possible to avoid the abnormal abnormality in the measurement of the arc extinguishing detection time and the inability to shift to the second step. The problem. Further, by calculating the ratio of the reference time for determining the abnormality to the time for performing the first step, it is possible to satisfactorily respond to the case where the time of the first step is changed. Other features and advantages of the present invention will become apparent from the following detailed description. [Embodiment of the present invention Hereinafter, an embodiment of the present invention will be specifically described with reference to the drawings. Fig. 1 is a view showing the constitution of an example of a welding system which is not suitable for carrying out the arc method of the present invention. The welding system A shown in Fig. i includes a welding robot 1, a robot control tool 2 for controlling the same, a welding power supply device 3, and a display tool 4 for detecting an abnormal arc extinguishing. The bonding robot W is, for example, an automatic heart-light arc-bonded to the substrate w. The material robot 1# includes a base member U, an arm 12, a plurality of motors 13, a material blowing pipe 14, a wire supply device a, and a coil line (19). The base member U is fixed to an appropriate field such as the ground (1) 〇〇r). Each arm 12 is coupled to the base member j via a shaft. The welding unit 14 is attached to the distal end portion of the wrist portion 12a provided on the most distal end side of the splicing robot. The fusion torch 14 is guided to, for example, a weld line 15 having a diameter of about 1 mm as a pole to a position near the substrate w. The welding torch 14 is provided with a shielding gas nozzle (not shown) for supplying a shielding gas such as Ar. The motor 13 is provided at both ends or ends of the arm 12 (partially omitted). The motor 13 is rotatively driven by the machine control tool 2. By this rotary drive, the movement of the plurality of arms 12 is controlled. The melted blow tube 14 is freely movable up and down, left and right. An encoder (not shown) is provided in the motor 13'. The output of this 201132446 coder is _,, value, time, and broken to the robot control tool 2. By this output, the man-machine control tool 2 recognizes the current position of the fusion torch 14. The wire supply device 16 is provided in the upper portion of the welding robot 1. The wire supply device 1 β &amp; 16 is for welding the blow pipe 14 and feeding the weld line 15. The wire supply devices 1 and 16 include a supply motor 161, a bobbin (not shown), and a wire bushing: L (not shown). The supply motor m is driven as: , and the upper bushing tool system ' sends the bright wire 15 wound around the bobbin toward the flashing blow pipe 14. The linings are respectively 19-series, the ends are connected to the wire supply device 16, and the other end is connected to the splicing. Line 1 is formed, and inside it, the loose pull &amp; c, shape is inserted by the &quot; weld line 15. The coil pad 1 9 is used to feed the 2-wire supply device 16 (4) to the wire 15 to guide the scaly blow pipe 14. == wiring system, the blow tube 14 protrudes to the outside and functions as a shoulder electrode. Figure 2 is a diagram showing the graph _ _. • The internal structure of the system A is connected to the robot control tool 2 shown in Fig. 1 and Fig. 2, and the operation of the welding robot 1 is performed. For example, the robot control unit is not known, and the robot controller includes 2, including the motion control circuit 21, the &quot;face circuit 22, and the teach pendant TP. "Operation control circuit 2 彳 ,, θ i 兴. ", there are not shown in the microcomputer and the recording body. In this memory, the various operations of the welding robot hidden 1 are set to be privately recorded. Motion control ^

. 1 system, setting the movement speed VR of the machine P to be described later. Operation control electric power 唂 21 system, based on the above-mentioned operating program, 7 201132446 coordinates information from the above-mentioned bat and drinker, and the vehicular movement speed VR for the welding machine, the thief 1 'giving the operation control signal I motor 13 The rotation _ is controlled by the action to the predetermined melting start of the substrate W. 1/(4) The movement of the blowing tube 14 is moved. The start position may be connected to the motion control circuit 2 in accordance with the plane teaching mode TP of the substrate, and the various operations may be set by the user. The interface circuit 22 is used to connect with the flash. Eight I animal husbandry device 3 interactive various letters; u in the &quot; surface circuit 22, from the private μ _ n τ from; automatic control circuit 2 current setting 疋 ... S, turn-start signal 0 η, and

Being transmitted. In the case where the current setting signal is Is Μ &quot;夂WS, for example, when the pulse output is set by the teaching mode TP, the dimming 3 interface circuit 22 transmits the power-setting signal 1s to the abnormality detecting tool 4. The welding power supply device 3 is a device for applying a refining power M Vw between the weld line 15 and the substrate, and flowing the welding current iw, and is for supplying the welding wire 15 . The splicing power supply unit 3 includes an output control circuit 31', a current detecting circuit, a supply control circuit 34, a interface circuit 35, and a voltage detecting circuit %, as in the case of _. The interface circuit 35 is for interacting with the robot control tool 2 for various signals. Specifically, in terms of the interface circuit 35, the current setting signal Is, the rim_n_start start k唬〇n, and the supply speed setting signal Ws are transmitted from the interface circuit. The output control circuit 31 has an inverter control circuit composed of a plurality of transistor (tranS1 St〇r) elements. Output 201132446 The commercial power source to be input from the outside (for example, three-phase waveform control. Circuit % speed response for precise refining current ^ control circuit wheeling system - terminal is connected to the dazzling blow tube 14 and the other end is connected On the substrate w. The output control circuit is disposed at the top of the fusion blowpipe 4, and the contact g of the gentleman, and the weld voltage Vw is applied between the weld line 15 and the substrate W, and the muscle is connected to the current Iw. In Figure 4(c)

:: An example of a state change in the current (4). Thereby, the arc a is generated between the tip end of the refining line 15 and the substrate W. By this, the ..., the graft wire 15 and the substrate w are summarized in the 彳l·*, and the coffin w. Further, it is applied as it is welded to the substrate. The current control signal from the output control circuit 31 and the control circuit 21 is transmitted via the interface circuits 35 and 22 from the operation number 1S and the output start signal On. The current detecting circuit 32 is used to inspect the molten current Iw to the feed line 15. The current detecting circuit 32 causes the current detecting signal id corresponding to the sleek current to be turned to the wheeling control circuit 31 and the operation control circuit 21. X, the current detection signal Id is transmitted via the interface circuit detecting means 4. "The voltage detecting circuit 36 is configured to detect the welding voltage Vw which is the voltage of the output terminal of the wheeling control circuit 31. The voltage detecting circuit is different. The supply control circuit 34 for outputting the voltage detection signal Vd of the welding voltage Vw to the output control circuit 31 ,15 is used to output the welding wire 201132446 supply control signal Fc to the supply motor 丨61 ^ . . The supply control signal Fc = the signal m for the supply speed Fv of the dissolved wire 15 is supplied to the circuit 34 via the interface circuits 35 and 22, the output start signal On from the operation control circuit 21, and the supply speed control signal (4). The tool 4 includes an arc stop time measuring device 41, an abnormality determining device 42, and an interface circuit 43 for detecting a current annihilation abnormality from a stop time of the current. The interface circuit 43 is for use with the machine crying control tool 2 and the welding power supply device 3... 22 receiving current setting ... s, from eight ... said, ... circuit number... 仏唬 IS 攸 interface circuit 35 receives current detecting signal arc stop time measuring device 41, for example, with microcomputer and memory The current detection signal η is received via the interface circuit 43 to monitor the welding current I w , and the arc extinguishing detection time τ is performed by the method of the rear phase of 4 . The arc stop time measuring device 41 performs a process of adding 1 to the arc extinguishing detection time Tao when the welding current W is zero. Further, the Lei 彳 ☆ L 士 arc is used as the time measuring device 41, and the arc extinguishing inspection room TaQ is transmitted to the abnormality determining device β. The abnormality determining device 42 is provided with, for example, a microcomputer and a memory, and receives a current setting signal from the &quot;surface circuit 43! s. The abnormality determining device 2 strictly sets the reference time Tstp for determining the arc extinguishing, and performs the reference time τ + s tp and the arc extinguishing detection time τ & 〇 ratio 'abnormality determining device 42 and arc stop time The measuring device 41 may be turned off and the detection time Ta may be extinguished. Exceeding the reference time, the shape and shape of the device are 42 and the transmission of the arc interruption is generated. The 2011 augmentation of the arc abnormal signal £a is transmitted to the interface circuit 4 w @4d. The interface circuit 43 transmits an arc, "" Ea 丄 from the &quot;face circuit 22 toward the operation control circuit η. Next, an explanation will be given of the arc welding method in the unsuccessful gentleman &&amp;&amp;&amp; The welding system A is used. In Fig. 3, the ice private figure of the welding method of the welding system A is used, and the fourth drawing is a change state of the welding condition value indicating the welding operation in the welding system A. In particular, the "heart map is not changing the moving speed VR of the machine, the fourth (fourth) map, the change state of the supply speed Fv of the graft line 15, the price) Grab the change state of Iw. The moving speed of the robot is the moving speed of the melted blow pipe 14 in the direction of the predetermined refining direction in the plane direction of the base. Further, the refining voltage Vw is necessary to circulate the refining current b. The voltage is appropriately set. In the method of splicing the pulse splicing method, a relatively weak arc is generated by generating a relatively strong arc a, and the -+ _ „ 一 、 、 、 、 、 、 、 、 、 、 One side will be The step/step in which the melting pool formed on the substrate W is cooled and the welding torch 14 is moved is alternately repeated. In the present embodiment, as in the fourth step (c1), in the step (T1), the alternating pulse current flows as the splicing current 7 'in the k step (T2), the direct current is taken as the material current iw'. (9) The unit time is the pulse round time set by the teaching mode. f First, the signal is started by the splicing from the teaching mode τρ (refer to the production 2 map). In the splicing start processing, the 'operation control circuit 21' outputs the output start signal Qn to the 201132446 output control circuit 31 and the supply control circuit 34. The output control circuit 3i applies the splicing voltage Vw to the weld line 15 and the substrate W. Thereby, the arc a is ignited. /, the person performs the pulse output time Tp 1 s and the reference time Tstp 嗖疋 (si). In the present embodiment, according to this setting, as the first step (τι) The pulse output time Tpls and the reference time Tstp are set as values indicating the number of 'Ts' corresponding to the _th pulse (four) in the fourth step (T1). Word, pulse output time Tpls is 'pass The pulse output time in which the teaching mode τρ is set is set in the integer part of the value divided by the sampling time Ts. Further, these processing systems are performed, for example, in the operation control circuit 21. The pulse set here is set. The output time Tp 1 s system is included in the current setting signal !s, and is transmitted to the abnormality determining device 42. The abnormality determining device 42 multiplies the pulse output date time Tpls by the reference time ratio ", and the integer portion thereof Designated as the base temple 2 Tstp. In the present embodiment, the reference time ratio α is in the range of 4〇% to 6〇%, for example, and can be appropriately set and changed by the teaching mode τρ. The person sets the arc extinguishing detection time Tao as 0, and the pulse rounding = time Tp as 0 (S2). The arc extinguishing detection time Tao is a value managed in the electric stop time measuring device 41. The pulse output elapsed time TP It is a value managed in the operation control circuit 21. y &lt; After the end of these settings, the pulse output is started (S3). Thereafter, the process of the sampling time Ts is waited (S4), and the following processing is performed. The arc stop time measuring device 41 determines whether or not the welding current value w is 〇 12 201132446 in the period of the current wood sample time Ts of the current detection signal id (S5). Further, the welding current Iw cannot be accurately In other words, it is also possible to determine whether or not the absolute value of the splicing current Iw is smaller than a value set in advance. During the sampling time Ts, the case where the splicing current I 诃 is not 〇 (S5 = no), the arc stop time measurement - The device 41 sets the value of the arc extinguishing detection time Tao to 〇 (S6). 'The tower current Iw is the period of the 死 〇 death sampling k between Ts (S5 = yes), and the arc stop time measurement is 41 in the arc Extinguish detection (4)

The value of the Tao is added! Processing (S7). Further, the abnormality determining means makes it possible to determine whether or not the value of the arc extinguishing detection time Ta? is equal to the reference time Ts (S8). The value of the arc extinguishing detection time Ta 在 is set in the reference time τ: In the above case (S8 = yes), the abnormality determining means transmits the electric fox abnormality signal h to the operation control circuit 21 (S9). The motion control circuit receives the case of the arc (four) number ^, and stops the operation of the four (four) pick-ups 11 to terminate the welding operation. In the arc reduction detection time Taf) &amp;#&amp; when the value of the interval 1a is 0 (S6) and the value of the arc extinguishing detection time Tan γ + does not exceed the reference time TStp (U8~no), the motion control The circuit is processed as in the case where the value of the pulse output elapsed time Tp is incremented by one (S1〇). After the pulse_mountain, the operation control circuit 21 determines whether or not the value of the pulse output elapsed time τ is equal to or longer than the pulse output time Τρ 1 s (S11). Above els, when the pulse output passes through the trick (SU to, enter 0 line = (4) pulse output time, the end of the mailing is passed, for example, the end of the decision (S12) ' ” 1 is, for example, from the teaching mode τρ弋 弋 弋 指示 指示 指示 指示 指示 指示 指示 指示 指示 指示 指示 指示 指示 指示 指示 指示 指示 指示 2011 2011 2011 2011 2011 2011 2011 2011 2011 2011 2011 2011 2011 2011 2011 2011 2011 2011 2011 2011 2011 2011 2011 2011 2011 2011 2011 2011 2011 2011 2011 2011 2011 2011 2011 2011 2011 2011 2011 2011 In the case of the progress (si2 = n illusion shifts to the second step (T2) (S13). Specifically, as the slewing power Iw, the direct current is circulated, and the sleek blowing tube 14 is moved to the next splicing position. During the first step (T1), the sleek cell formed on the substrate w is cooled. After the end of the first step (T2), the system returns to the first step (8) of the first step (T1). The value of Tp does not reach the pulse output time

In the case of Tpls (sn = n.), the pulse current output is continued, and the process returns to the sampling time standby step (S4). In the right part of Fig. 4, the change state of each of the welding condition values in the case where the arc is extinguished is shown. According to Fig. 4, the pulse output starts at time U, and arc quenching occurs at time t2. At time u is the arc annihilation time T is measured. The value is equal to the time of the base time (four). According to the side of the above-described = fox fusion method, the abnormality determining means 42 transmits the arc suspension signal Ea to the operation control circuit 21 at time t3 (s9). When the arc control signal Ea is received, the operation control circuit performs a process of stopping the operation of the welding robot i. By this processing, the line supply speed ^ at time t3 becomes 〇. Moreover, in the case where arc quenching occurs, the flashing power is expected to be the maximum value of the unloaded electric house value 'but the melting electric power Vw at time t3 also becomes the arc arc welding method according to this type, In the first step 骡 (T1), the value of the arc annihilation detection time Ta 成为 becomes the reference time (4), the welding operation is stopped, and the arc annihilation detection reference time is shaped, and the splicing operation is continued. Again, benchmark: 14 201132446

The Tstp system is determined by multiplying the pulse-time elapsed time Tp1s by the reference time ratio α, and usually the time at which the arc annihilation occurs reaches the step (the ridge of the predetermined time of (1) is abnormally detected. According to the arc welding method of this type, in the state in which the ratio of the ratio of φ Α 乡 乡 (T1 ) 疋 is surely generated in the predetermined predetermined time period, it is possible to prevent the μ w 1 from being prevented in the arc. The welded joint bead is lost in a large amount. According to the above arc welding method, the reference time is as follows.

It is a .6_ value equivalent to the set pulse output 蚌 output time Tpls. Since the initial stage of ^ / T1) and the arc extinction have started, the arc abnormal signal Ea is transmitted before the end of the first step (9), and the Hyun II industry is interrupted. Therefore, it is possible to prevent the formation of a welded joint bead which is prevented from being transferred to the next welding position in a state where the formation of the melting pool is insufficient, and which is not good in appearance. Further, after the problem is solved, the welding operation is started again without instructing the welding position, and the welding operation can be smoothly performed. According to the arc welding method of the present embodiment, the value of the pulse output elapsed time Tp becomes the pulse output time TPls (S11) in the first step (before the end, the arc annihilation starts, before the arc abnormality signal Ea is transmitted). =yes) Above. Therefore, the fusion (4) is not interrupted, and the second step (T2) is started. Just before the end of the first step (9), the arc annihilation begins as before the arc extinguishing is caused. The formation itself is sufficiently performed to some extent, and dissolution failure is not considered. Therefore, unnecessary dissolution stop can be avoided. Similarly, before the value of the arc quenching detection time Tao exceeds the reference time (four), the arc is 3 The situation of starting again 'There is no need to stop the splicing. In this case, in this embodiment,

15 S 201132446 Avoid unwanted weld stops. In the above embodiment, at the start of the first step (T1), the pulse output time Tpls and the reference time Tstp are set (S1), but only the pulse start time and the teaching mode τρ are set. When the reference time ratio α is changed, these settings may be used. &gt; In the present embodiment, when the arc control error signal Ea is received by the operation control f path 21 (S9), the process of stopping the welding operation is performed, but the welding robot is not stopped and only the user is warned. In this case, the operation control circuit 21 performs a process of causing the arc a to be generated again. The second 'corresponding to the need to monitor the value of the direct current in the second step (T2), I can also be ordered. In this case, the arc stop time measuring device 4 is configured to manage the DC arc extinguishing detection time except for the arc extinguishing detection time Ta〇: the case where the DC arc extinguishing detection time exceeds the preset time. The X 41 (4) is used to reproduce the signal that must be transmitted by the action control circuit. Based on this signal, the operation control circuit 21 performs a re-generation process of the arc a when shifting from the second step (T2) to the first step (Ή). The scope of the present invention is not limited to the above embodiments. In the present invention, the specific configuration of each part of the melting system used is various, and the details of the arc splicing method according to the present invention are also &lt;as appropriate, as in the above-described embodiment, In addition to the control circuit 21, the stop time measuring device 41 and the abnormality determining device are provided, but the 乍 control circuit 21 may also serve as the arc stop time measuring device 41 and the abnormality determining device 42. For example, in the above-described embodiment, the arc stop time measuring device 41 dreams that the arc extinguishing is generated by monitoring the current detecting signal Id: No, the voltage detecting signal Vd is received and the welding voltage h may be monitored. In the case where the arc is extinguished, the welding voltage Vw becomes the maximum value of the load voltage. Here, in the sampling time period, the welding voltage vw is a value higher than the value set in advance. ## The processing of the Ta "ai" (S7) in the arc extinguishing detection 4 can be performed and the welding can be performed. The case of ^ is the same as the arc extinguishing determination. Further, in the above embodiment, the melting current in the first step (T1) is "the parent current pulse current, but the DC pulse current is also acceptable. BRIEF DESCRIPTION OF THE DRAWINGS Fig. 1 is a view showing a configuration of an example of a welding system for performing an arc welding method according to the present invention; Fig. 2 is a drawing showing a too much cargo, - τ in the younger brother 1 is an internal structure m of a splicing system, and FIG. 3 is a flow chart showing an arc splicing method according to the present invention. FIG. 4 is a view showing a state of change of a welding condition value in the arc melting method according to the present invention. FIG. 5 is a diagram showing a configuration of an example of a conventional fusion welding system; and a sixth drawing is a diagram showing an abnormality in a conventional splicing pulse. Thinking 1·? 201132446 [Main component symbol description] A ~ fusion system; 11 ~ base member; 12a ~ wrist; 14 ~ dazzle blowpipe; 1 6 ~ line supply device; 2 ~ robot control tool; 22 ~ interface circuit 31~ output control circuit; 3 4~ supply control circuit; 3 6~ voltage detection circuit; 4 arc stop time measuring device 43 to interface circuit;

Fc~ supply control signal;

Is~ current setting signal;

Me~action control signal; T1~first step; TP~ teaching mode;

Tpls ~ pulse output time;

Tao ~ arc extinguishing detection time; robot moving speed; W ~ substrate; α ~ reference time ratio. 1 ~ welding robot; 12 ~ arm; 13 ~ motor; 1 5 ~ fuse wire (consumption electrode); 1 61 ~ supply motor; 21 ~ action control circuit; 3 ~ welding power supply device; · 3 2 ~ current detection circuit; ~Interface circuit; 4 ~ abnormality detection tool; 42~ abnormality determination device;

Ea~ arc abnormal signal;

Fv~ supply speed;

Iw~ welding current;

On~ output start signal; _T2~second step; Τρ~pulse output elapsed time·T s~ sampling time;

Tstp~ reference time;

Vw~ melting voltage;

Ws~ supply speed setting signal; 18

Claims (1)

201132446 VII. Patent application scope K kinds of arc welding methods, which alternately repeat the first step of generating an arc between the substrate and the consumable electrode held by the refining blow pipe, the trickle is transferred, and one side a second step of cooling the refining bath formed in the substrate and moving the melting torch while generating an arc between the substrate and the consumable electrode, and in the step, the substrate and the consumable electrode The absolute value of = or the absolute value of the current flowing between the two is out of the pre-existing range, and the measurement of the arc-extinguishing detection time is started; during the period from the first step of the first step, the arc is When the annihilation detection time is equal to or greater than a half of the preset reference Ρ &amp;# %, the welding abnormality is determined as a feature. 2. The arc splicing method according to claim 1, wherein the reference time is multiplied by a reference time ratio α (0% &lt; α &lt; 100%) by the unit time of the above-mentioned first step And is set. 3. The arc melting method according to claim 2, wherein the reference time ratio α is set in a range from 4% to 6%. 4. The arc splicing method as described in claim 2, or 3, wherein in the above-mentioned first step, the step of comparing the arc extinguishing detection time with the reference time and the measurement of the above-mentioned first step The step of time is provided to perform a step of comparing the above-described arc quenching detection time and the above-described base time only when the elapsed time of the first step described above does not reach the pre-set time. Earth 19