WO2007144997A1 - アーク溶接制御方法 - Google Patents
アーク溶接制御方法 Download PDFInfo
- Publication number
- WO2007144997A1 WO2007144997A1 PCT/JP2007/052314 JP2007052314W WO2007144997A1 WO 2007144997 A1 WO2007144997 A1 WO 2007144997A1 JP 2007052314 W JP2007052314 W JP 2007052314W WO 2007144997 A1 WO2007144997 A1 WO 2007144997A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- welding
- speed
- arc
- command
- torch
- Prior art date
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K9/00—Arc welding or cutting
- B23K9/16—Arc welding or cutting making use of shielding gas
- B23K9/173—Arc welding or cutting making use of shielding gas and of a consumable electrode
- B23K9/1735—Arc welding or cutting making use of shielding gas and of a consumable electrode making use of several electrodes
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K9/00—Arc welding or cutting
- B23K9/06—Arrangements or circuits for starting the arc, e.g. by generating ignition voltage, or for stabilising the arc
- B23K9/067—Starting the arc
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K9/00—Arc welding or cutting
- B23K9/095—Monitoring or automatic control of welding parameters
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K9/00—Arc welding or cutting
- B23K9/12—Automatic feeding or moving of electrodes or work for spot or seam welding or cutting
- B23K9/121—Devices for the automatic supply of at least two electrodes one after the other
Definitions
- the present invention relates to a welding control method of an arc welding apparatus mounted on an apparatus such as a welding robot manipulator.
- tandem arc welding is also employed as one of the means for speeding up the application of the above-described technology of the feeding device capable of high-speed feeding.
- a two-electrode integrated welding torch and two single-electrode welding torches with a predetermined inter-electrode distance are mounted on the tip of a welding robot or the like.
- a predetermined operation is performed at a predetermined speed, and welding is performed by executing a predetermined welding control.
- the operation program assumes a positional relationship in which in the welding section, two electrodes and two welding wires fed through each of the welding sections are approximately aligned on the welding line.
- Figure 1 shows a simplified diagram of the tandem arc welding system using a two-electrode integrated welding torch.
- the two-electrode integrated welding torch 150 is mounted on a device that performs operations such as a welding robot manipulator (not shown), and moves along a predetermined welding portion of the workpiece 160 to be welded.
- a device that performs operations such as a welding robot manipulator is connected to the control device 120.
- the control device 120 is connected to the two welders 130 and the welder 140.
- a welder feeder is connected to each of the welding machine 130 and the welding machine 140.
- the welding wire feeding device supplies two welding wires, one for each welding wire, to the welding torch 150 (not shown). Within the welding torch 150, two welding Wires are provided through the two electrode tips, not shown. Each electrode tip is connected to the welding machine 130 and the output terminal of the welding machine 140 through the power cable 131 and the power cable 142, and the electric power from the welding machine 130 and the welding machine 140 is supplied to each welding wire.
- the workpiece 160 to be welded is connected to the ground terminals of the welding machine 130 and the welding machine 140 via the ground cable 132 and the ground cable 141. The generation of an arc between the welding wire and the workpiece 160 forms a circuit through which the welding current flows.
- Control device 120 holds an operation program and welding conditions.
- the control device 120 controls the operation of a device that performs operations such as a welding robot manipulator according to an operation program. And, according to the operation, control device 120 transfers commands and parameters to welder 130 and welder 140 via control line 133 and control line 143 as appropriate.
- the welding machine 130 and the welding machine 140 supply the respective welding wires with the wire feeding amount corresponding to the parameters commanded from the control device 120 by controlling the welding wire feeding device connected thereto. .
- tandem arc welding system performs predetermined welding on a predetermined portion of the workpiece 160 to be welded.
- FIG. Figure 2 shows tandem arc welding in the right direction in Figure 2 with the two-electrode integrated welding torch in the left direction.
- the following description will be given with the words “preceding” in the front with respect to the welding direction and “rearing” in the rear.
- Two electrode tips that is, a leading electrode tip 201 and a trailing electrode tip 202, are disposed with a predetermined inter-electrode distance in the nozzle 210 of the two-electrode integrated type welding torch 150 (see FIG. 1). .
- the leading wire 203 is supplied to the leading electrode tip 201 and the trailing wire 204 is supplied to the trailing electrode tip 202.
- the lead wire 203 receives power supply from a welder 130 (see FIG. 1) having a welding power source for the lead electrode (not shown) via the lead electrode tip 201, and the lead wire 203 and the workpiece 160 to be welded In the meantime, a leading arc 205 is generated. The arc heat melts the leading wire 203 and the workpiece 160 to be welded and supplies molten metal to the molten pool 207.
- the trailing wire 204 is for the trailing electrode not shown via the trailing electrode tip 202. Electric power is supplied from a welding machine 140 (see FIG. 1) having a welding power source, and a trailing arc 206 is generated between the trailing wire 204 and the workpiece 160 to be welded.
- the arc heat causes the trailing wire 204 and the workpiece 160 to be welded to melt and supply molten metal to the molten pool 207.
- the leading wire 203 and the trailing wire 204 are fed continuously, and the molten pool 207 is moved by moving the two-electrode integrated welding torch 150 (see FIG. 1) at a predetermined speed.
- the welding process is carried out by forming a weld bead 270 behind it
- one arc affects the other arc in order to generate two arcs in close proximity.
- a transient arc occurs, causing the two arcs to interfere with each other.
- the arc is likely to be unstable, so appropriate control must be performed.
- the molten pool 207 is a major cause of arc instability.
- the trailing arc 206 has a positional relationship generating an arc toward the melting pool 207, the disturbance of the melting pool 207 tends to make the arc unstable.
- the molten pool 207 tries to flow backward due to the arc force of the leading arc 205 generated from the leading wire 203.
- the arcing force of the trailing arc 206 which also generates trailing wire 204 forces, pushes it back forward. Therefore, in order to form a stable molten pool 207, these balances are necessary. And, the molten pool 207 and the arc are in a relation of mutual influence.
- Patent Document 1 Japanese Patent Application Laid-Open No. 2001-113373
- the arc welding control method continuously and smoothly changes the operating speed in a tandem arc welding system. By doing this, it is possible to alleviate the rapid change in wire feeding speed in response to a rapid change in operating speed, and as a result, stable welding control is possible.
- the arc welding control method is a tandem arc welding system that operates according to an operation program and welds an object under welding conditions set in the operation program!
- the welding torch starts moving at the initial speed after starting the arc of the leading electrode at the welding start position, and the welding torch travels the first time and the first distance and the first step.
- the arc welding control method is a tandem arc welding system that operates according to an operation program and welds a workpiece under the welding conditions set in the operation program! /, The point where the welding torch reaches the position before the specified time with respect to the welding end position and when it reaches the position before the specified distance and the specified point before the welding end position The step of terminating the arc of the leading electrode at least at any point when the position is reached, and the speed of the welding torch at a specified speed continuously while advancing the welding torch toward the welding end position.
- the arc welding control method operates the welding torch according to an operation program, and the arc welding system for welding a workpiece under the welding conditions of the operation program, the welding torch is designated from a designated position.
- the arc welding control method operates according to an operation program, and in a tandem arc welding system for welding a workpiece under the welding conditions of the operation program, a time for which a welding torch is designated from a designated position Continuously changing the speed of the welding torch while moving forward and / or during a specified distance and / or to a specified position;
- the welding current command and the wire sent to the welding machine of the trailing electrode and / or the welding current command and the wire feeding speed command and the welding voltage command sent to the welding machine of the leading electrode in synchronization with the continuous speed change to Continuously changing at least one of a feed speed command and a welding voltage command.
- FIG. 1 is a view showing a schematic configuration of a tandem arc welding system.
- FIG. 2 is a schematic view showing a welding state by a two-electrode integrated welding torch.
- FIG. 3 is an operation explanatory view of the vicinity of the welding start portion in the embodiment of the present invention.
- FIG. 4 is an operation explanatory view of the vicinity of the welding end portion in the embodiment of the present invention.
- FIG. 5 is an explanatory view of a welding operation in the embodiment of the present invention.
- FIG. 3 shows the order and contents of the operation in the embodiment 1 in the tandem arc welding system using the two-electrode integrated welding torch 150 (see FIG. 1) shown in FIG.
- the operation of the welding system proceeds in the order of states 391, 392, 393 and 394 in FIG.
- the two-electrode integral type welding torch 150 is at the welding start position 381.
- the movement operation is started in the welding direction (the left force in FIG. 3 is also the direction to the right).
- Welding torch 150 starts moving operation at initial speed V0 at welding start position 381.
- the leading electrode 303 generally refers to the leading electrode tip 201 and the leading wire 203 in FIG.
- a state 392 shows a state in which the welding torch 150 has reached a first position 382 at the welding start portion.
- the welding start portion first position 382 is designated as a position or a radius specified by the distance L1 from the welding start position 381 or a moving time T1 from the welding start position 381.
- the controller 120 corresponds to the initial velocity V0 at the welding start position 381 at the welding start position 381.
- the welding conditions of the leading electrode 303 to be sent are sent to the welding machine 130 (see FIG.
- the welding conditions are at least one of a welding current command, a wire feed speed command, and a welding voltage command.
- the controller 120 sends the welding conditions of the leading electrode 303 corresponding to the first velocity VI to the welding machine 130 of the leading electrode 303.
- the welding conditions are at least one of a welding current command, a wire feeding speed command, and a welding voltage command.
- control device 120 adjusts the corresponding welding current command and wire feed rate command according to the changing speed of welding torch 150. At least one of the welding voltage commands is sent to the welding machine 130 of the leading electrode 303.
- a trailing arc 206 is generated between the trailing electrode 304 and the weld object 160 at the first position 382 of the welding start portion.
- the trailing electrode 304 generally refers to the trailing electrode tip 202 and the trailing wire 204 in FIG.
- the weld start second position 383 is designated as a position or a force specified by the distance L2 from the weld start first position 382 or from the weld start first position 382 Travel time T2 More specified.
- the controller 120 moves to the welding start first position 382 to the first velocity VI.
- the welding conditions of the corresponding leading electrode 303 are sent to the welding machine 130 of the leading electrode 303.
- the welding conditions are at least one of a welding current command, a wire feeding speed command, and a welding voltage command.
- the controller 120 sends the welding conditions of the trailing electrode 304 corresponding to the first velocity VI to the welding machine 140 (see FIG. 1) of the trailing electrode 304.
- the welding conditions are at least one of a welding current command, a wire feeding speed command, and a welding voltage command.
- the controller 120 sends the welding conditions of the leading electrode 303 corresponding to the second velocity V 2 to the welding machine 130 of the leading electrode 303.
- the welding conditions are at least one of welding current command, wire feeding speed command and welding voltage command.
- the controller 120 sends welding conditions for the trailing electrode 304 corresponding to the second velocity V2 to the welding machine 140 for the trailing electrode 304.
- the welding conditions are at least one of a welding current command, a wire feeding speed command, and a welding voltage command.
- the controller 120 adjusts the corresponding welding current command and wire feeding speed command according to the changing speed of the welding torch 150.
- at least one of the welding voltage command is sent to the welding machine 130 of the leading electrode 303 and the welding machine 140 of the trailing electrode 304.
- the arc welding control method in the arc welding system according to the first embodiment changes the operating speed gradually and continuously. By doing this, it is possible to mitigate the rapid change in wire feeding speed in response to the rapid change in operating speed. Also, welding can be performed by sending at least one of the welding current command, the wire feeding speed command, and the welding voltage command in accordance with the operating speed. As a result, tandem arc welding of the welding start portion that enables stable welding becomes possible.
- At least one of the welding current command, the wire feeding speed command and the welding voltage command at the second position 383 of the welding start portion is intended to command steady welding conditions, that is, conditions for originally performing welding.
- Embodiment 2 the same parts as in Embodiment 1 are assigned the same reference numerals and detailed explanations thereof will be omitted.
- the second embodiment relates to the end of welding.
- FIG. 4 shows the order and contents of operations in a tandem welding system using the two-electrode integrated welding torch 150 (see FIG. 1) shown in FIG.
- the operation in the second embodiment is advanced in order of state 491, state 492 and state 493 in FIG. 4.
- the welding operation has been advanced at a velocity V in the welding direction (direction from left to right in FIG. 4).
- the two-electrode integral type welding torch 150 is in front of the welding end position 482
- a certain welding end first position 481 is reached, the leading arc 205 is ended.
- the trailing 206 is continuing.
- the weld end first position 481 is designated as a position or by a force designated by the distance LE from the weld end position 482 or by a movement time TE from the weld end position 482.
- the welding direction of the welding torch 150 is changed from the speed V of the welding torch 150 at the first position 481 at the welding end to the final speed VE when the welding end position 482 is reached.
- the operation is continued.
- welding conditions for the trailing electrode 304 corresponding to the velocity V are sent to the welding machine 140 (see FIG. 1) for the trailing electrode 304.
- the welding conditions are at least one of a welding current command, a wire feeding speed command, and a welding voltage command.
- welding conditions for the trailing electrode 304 corresponding to the final velocity VE are sent to the welding machine 140 for the trailing electrode 304.
- the welding conditions are at least one of a welding current command, a wire feeding speed command, and a welding voltage command. Then, between the first position 481 at the end of welding and the position 482 at the end of welding, the corresponding welding condition of the trailing electrode 304 is sent to the welding machine 140 of the trailing electrode 304 in accordance with the changing speed.
- the welding conditions are at least one of a welding current command, a wire feeding speed command, and a welding voltage command.
- the arc welding control method in the arc welding system according to the second embodiment changes the operating speed gradually and continuously. By doing this, you can It is possible to alleviate the rapid change of wire feeding speed according to In addition, since welding can be performed by sending at least one of the welding current command, the wire feed speed command, and the welding voltage command in accordance with the operating speed, tandem arc welding at the welding end enables stable welding as a result. Is possible.
- FIG. 5 shows the contents of the operation of the present invention not only in a tandem arc welding system but also in a general welding system.
- FIG. 5 shows an example of a welding torch 550 having one electrode instead of two electrodes.
- Welding torch 550 corresponds to welding torch 150 in FIG.
- the welding machine 140, the ground cable 141, the power cable 142 and the control line 143 of FIG. 1 are not necessary.
- the welding torch 550 operating in the welding direction (direction to the left in FIG. 5 and to the right in FIG. 5) with the arc generated has a second velocity at the first position 581. Operate while gradually changing the speed so that the speed becomes Vb at position 582.
- the second position 582 is designated as a position or a force designated by the distance L5 from the first position 581 or a time T5 from the first position 581.
- the controller 120 has the welding condition corresponding to the velocity Va at the first position 581 in the welding machine 130 (FIG.
- Send to The welding conditions are at least one of welding current command, wire feeding speed command and welding voltage command.
- the controller 120 sends welding conditions corresponding to the velocity Vb to the welder 130.
- the welding conditions are at least one of a welding current command, a wire feeding speed command, and a welding voltage command. Also, while welding torch 150 moves from the first position 581 to the second position 582, controller 120 controls the welding current command and the wire feed speed command as the corresponding welding conditions in accordance with the changing speed. Send at least one of the voltage commands to welder 130.
- the arc welding control method in the arc welding system of the present embodiment changes the operating speed continuously and gently. By doing this, it is possible to mitigate the rapid change in wire feeding speed in response to the rapid change in operating speed.
- at least welding current command, wire feeding speed command and welding voltage command Since either can be fed and welded, stable welding can be achieved as a result.
- the power explained using the welding torch 550 having one electrode as an example is described using a two-electrode integral type welding torch or two single-electrode welding torches closely arranged. The same operation can be performed for arc welding.
- the speed before the change is made while advancing from the specified position for the specified time, for the specified distance, or for moving to the specified position.
- the operating speed is continuously changed to the speed after the force change, and in synchronization with the speed change, the same effect as described above can be obtained by executing the following. That is, the welding current command sent to the welding machine of the electrode that precedes the welding progress direction of the two electrodes, the wire feeding speed command and / or the welding voltage command, and the welding sent to the welding machine of the trailing electrode The same effect can be obtained by continuously changing the current command, the wire feed speed command, and / or the welding voltage command.
- the arc welding control method of the present invention changes the operating speed gradually and continuously. By doing this, it is possible to mitigate that the wire feeding speed is rapidly changed in accordance with a sudden change in operating speed. Also, welding can be performed by sending at least one of a welding current command, a wire feeding speed command, and a welding voltage command according to the operating speed. As a result, stable welding control can be achieved.
- the arc welding control method of the present invention enables stable welding control, and is industrially useful as, for example, an arc welding control method when welding is performed at high speed, such as a tandem arc welding method.
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Abstract
Description
Claims
Priority Applications (5)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2007542172A JP4844564B2 (ja) | 2006-06-14 | 2007-02-09 | アーク溶接制御方法 |
CA002611243A CA2611243C (en) | 2006-06-14 | 2007-02-09 | Method of controlling arc welding |
US11/917,267 US8742291B2 (en) | 2006-06-14 | 2007-02-09 | Method of controlling arc welding in a tandem arc welding system |
EP07713971A EP1900467B1 (en) | 2006-06-14 | 2007-02-09 | Method of controlling arc welding |
CN2007800005766A CN101326029B (zh) | 2006-06-14 | 2007-02-09 | 电弧焊接控制方法 |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2006164304 | 2006-06-14 | ||
JP2006-164304 | 2006-06-14 |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2007144997A1 true WO2007144997A1 (ja) | 2007-12-21 |
Family
ID=38831520
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/JP2007/052314 WO2007144997A1 (ja) | 2006-06-14 | 2007-02-09 | アーク溶接制御方法 |
Country Status (7)
Country | Link |
---|---|
US (1) | US8742291B2 (ja) |
EP (1) | EP1900467B1 (ja) |
JP (2) | JP4844564B2 (ja) |
KR (1) | KR100959097B1 (ja) |
CN (1) | CN101326029B (ja) |
CA (1) | CA2611243C (ja) |
WO (1) | WO2007144997A1 (ja) |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2011206821A (ja) * | 2010-03-30 | 2011-10-20 | Mitsubishi Electric Corp | 加工制御装置およびレーザ加工装置 |
Families Citing this family (13)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102008004602B4 (de) * | 2008-01-16 | 2022-01-05 | Daimler Ag | Innen-Lichtbogendrahtbrenner |
EP2314406A4 (en) * | 2009-02-25 | 2015-04-22 | Panasonic Ip Man Co Ltd | WELDING METHOD AND WELDING SYSTEM |
US20130068745A1 (en) * | 2011-09-15 | 2013-03-21 | Lincoln Global | Gas shielding device for a welding system |
JP5843683B2 (ja) * | 2012-03-28 | 2016-01-13 | 株式会社神戸製鋼所 | タンデム溶接トーチ |
AT512836B1 (de) * | 2012-03-29 | 2014-02-15 | Fronius Int Gmbh | Schweißvorrichtung mit zwei Schweißbrennern und Schweißverfahren mit zwei Schweißprozessen |
US9676051B2 (en) | 2012-10-18 | 2017-06-13 | Lincoln Global, Inc. | System and methods providing modulation schemes for achieving a weld bead appearance |
US9511440B2 (en) * | 2013-05-15 | 2016-12-06 | Lincoln Global, Inc. | Methods and systems for multi-wire surfacing |
JP5859065B2 (ja) * | 2014-06-04 | 2016-02-10 | 株式会社神戸製鋼所 | 溶接条件導出装置 |
RU2609592C2 (ru) * | 2015-03-31 | 2017-02-02 | Фонд "Головной Аттестационный Центр по сварочному производству Средне-Волжского Региона" (Фонд "ГАЦ СВР") | Способ механизированной наплавки дугой косвенного действия |
RU2598715C1 (ru) * | 2015-04-07 | 2016-09-27 | Автономная Некоммерческая Организация "Головной Аттестационный Центр по сварочному производству Средне-Волжского региона" | Способ сварки комбинацией дуг |
RU2653027C1 (ru) * | 2017-06-01 | 2018-05-04 | Владимир Петрович Сидоров | Способ дуговой сварки двумя электродами |
US10549481B1 (en) * | 2018-12-21 | 2020-02-04 | Dukane Ias, Llc | Systems and methods for low initial weld speed in ultrasonic welding |
EP3722036A1 (de) * | 2019-04-10 | 2020-10-14 | FRONIUS INTERNATIONAL GmbH | Mehrfach-schweissverfahren |
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2007
- 2007-02-09 JP JP2007542172A patent/JP4844564B2/ja not_active Expired - Fee Related
- 2007-02-09 WO PCT/JP2007/052314 patent/WO2007144997A1/ja active Application Filing
- 2007-02-09 CN CN2007800005766A patent/CN101326029B/zh not_active Expired - Fee Related
- 2007-02-09 US US11/917,267 patent/US8742291B2/en not_active Expired - Fee Related
- 2007-02-09 CA CA002611243A patent/CA2611243C/en not_active Expired - Fee Related
- 2007-02-09 EP EP07713971A patent/EP1900467B1/en not_active Not-in-force
- 2007-02-09 KR KR1020087000771A patent/KR100959097B1/ko active IP Right Grant
-
2011
- 2011-04-04 JP JP2011082474A patent/JP5206831B2/ja not_active Expired - Fee Related
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KR20080015932A (ko) | 2008-02-20 |
JP5206831B2 (ja) | 2013-06-12 |
JPWO2007144997A1 (ja) | 2009-10-29 |
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EP1900467A1 (en) | 2008-03-19 |
KR100959097B1 (ko) | 2010-05-25 |
EP1900467A4 (en) | 2010-05-26 |
EP1900467B1 (en) | 2012-06-13 |
CA2611243C (en) | 2010-02-02 |
CN101326029A (zh) | 2008-12-17 |
US8742291B2 (en) | 2014-06-03 |
CA2611243A1 (en) | 2007-12-21 |
US20090294428A1 (en) | 2009-12-03 |
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