WO2013136638A1

WO2013136638A1 - Arc-welding method and arc-welding device

Info

Publication number: WO2013136638A1
Application number: PCT/JP2013/000073
Authority: WO
Inventors: 嵩宙小松; 健二久保; 木村　賢治; 池田　達也
Original assignee: パナソニック株式会社
Priority date: 2012-03-15
Filing date: 2013-01-11
Publication date: 2013-09-19
Also published as: CN104169032B; JP5990784B2; JPWO2013136638A1; CN104169032A

Abstract

The present invention has the following three steps, and involves welding at a peak current value (Ip) between a welding electrode and an object to be welded, while withdrawing a welding torch for holding the welding electrode by only a withdrawing distance (Lh) in a withdrawing direction (D) which is different from a pre-set welding-advancing direction. The present invention forms a desired weld bead by repeating the following: a step (1) for forming an excess bead; a step (3) for completing the excess bead by welding at the peak current value (Ip) while stopping the welding torch at the completion position of the step (1); and a step (2) for, from the completion position of the step (1), welding at a base current value (Ib) which is a level capable of continuing to maintain an arc between the welding electrode and the object to be welded, while moving a pitch-movement distance (Lp) in the welding-advancing direction from the start position of the step (1).

Description

Arc welding method and arc welding apparatus

The present invention relates to an arc welding method and an arc welding apparatus that perform welding by switching two conditions at a predetermined cycle using a non-consumable electrode or a consumable electrode.

In TIG (Tungsten Inert Gas) welding in which welding is performed using a non-consumable electrode, and in MIG (Metal Inert Gas) welding in which welding is performed using a consumable electrode, there are differences in the generation method of electrodes and arcs. However, both TIG welding and MIG welding are welding methods in which an arc is generated between an electrode and a welding member in an inert gas atmosphere to perform welding.

Conventionally, a welding method called low pulse welding is often used as one of welding methods in TIG welding and MIG welding. In low pulse welding, in TIG welding, welding conditions such as welding current and welding voltage are periodically changed between a peak condition and a base condition lower than the peak condition at a cycle of about several Hz, and welding is performed with that heat. The object is welded (see, for example, Patent Document 1).

The reason why such low pulse welding is used is that there are the following advantages when welding a material having a low melting point such as aluminum or when welding objects to be welded having different plate thicknesses. In other words, when welding the above-mentioned materials and welding objects, there are advantages such as preventing the welding objects from melting away, advantages such as being able to cope with materials with gaps, and a clean bead that is relatively easy to scale. This is because there is an advantage that an appearance can be obtained.

Also, in TIG welding using non-consumable electrodes, the amount of metal to be welded by inserting a filler material, which is substantially the same material as the welding member, into the weld during welding and adjusting the feed amount of this filler material Is often adjusted. However, in low pulse welding in TIG welding, a welding method is often used in which the feeding speed of the filler material is switched in accordance with the change in the welding current.

FIG. 23 is a schematic configuration diagram showing an example of low pulse welding of a conventional TIG welding system. The welding system shown in FIG. 23 includes a welding torch 901 including a non-consumable electrode, a filler material 902, a welding power source device 903, and a filler material feeding device 904.

Next, a welding control method in low pulse welding of the conventional TIG welding system will be described with reference to a time chart shown in FIG.

FIG. 24 is a time chart showing the time variation of the moving distance of the welding torch 901, the current value of the welding current, and the filler material feeding speed in the conventional TIG welding system. As can be seen from FIG. 24, in the low pulse welding of the conventional TIG welding system, the current and the filler material feeding speed are switched at a constant cycle while the welding torch 901 is continuously operated at a constant speed. Details will be described below.

First, as STEP 11 (hereinafter referred to as “step 11”), the control of the surplus forming part 910 will be described. In the period T1 in FIG. 24, welding is performed with the peak current value Ip, which is a high condition among the welding conditions to be switched, and the high peak filler material feed speed Wfp. And the surplus formation part 910 is formed by welding a filler material to a welding target object.

Next, the control of the arc continuation unit will be described as STEP 12 (hereinafter referred to as “step 12”). In period T2 in FIG. 24, welding is performed with a base current value Ib that is a low current condition and a low base filler material feed speed Wfb among welding conditions that are periodically switched. Normally, here, the base current is set to a low current value at which the arc is maintained, and the filler material feed speed is often set to a low value Wfb or 0 as shown in FIG. By setting in this way, it is possible to suppress heat input to the welding object W, and it is possible to prevent the welding object W from being burned out and to reduce welding distortion.

Thereafter, step 11 and step 12 described above are repeated until welding is completed. Thereby, a scale-like weld bead can be obtained.

However, in this low pulse welding method, the welding conditions are switched while operating the welding torch 901 at a constant speed. Therefore, in the surplus formation part 910, in order to obtain the welding amount per unit area and the height of the surplus bead to be formed, it is necessary to increase the filler material feeding speed. However, just increasing the feed rate of the filler material will cause insufficient melting of the filler material, so it is necessary to increase the current value. As a result, it was necessary to apply more heat input than necessary. . Also in this case, since feeding is performed while the welding torch 901 is operated, the resulting weld bead could not be made into a clean scale shape.

As one of the methods for solving this problem, there has been proposed a method of performing welding by repeating the following first step and second step in welding using a consumable electrode (for example, Patent Documents). 2). Here, the first step is a step in which the welding torch is stopped with respect to the welding progress direction and welding is performed under the peak condition in the stopped state. The second step is a step of performing welding under the base condition while moving the welding torch pitch in the welding progress direction.

In this welding method, since the peak current is supplied in a state where the welding torch is stopped in the welding progress direction, the amount of welding per unit area can be increased without increasing the welding current. Further, since the welding amount is increased in a state where the welding torch is stopped, a more clear scale-like bead appearance can be obtained.

However, if the welding method using the consumable electrode described in Patent Document 2 is applied to the TIG welding system, the surplus portion is formed while the welding torch is stopped. The distance from the formed extra portion is shortened. In some cases, the non-consumable electrode and the welding object may be short-circuited.

Further, in order to avoid such a phenomenon, if the distance between the electrode and the welding object is previously separated, the distance between the electrode and the welding object becomes large in the arc continuation part, and appropriate welding is performed. Has a problem that cannot be obtained.

Further, even when the consumable electrode described in Patent Document 2 is used, the protrusion length from the welding torch differs between the overfill forming portion 910 and the arc continuation portion depending on the welding time at the peak. End up. Therefore, similarly to TIG welding, there is a problem that an appropriate welding result cannot be obtained.

Also, in the low pulse welding of the conventional TIG welding system, the current and the filler material feeding speed are switched at the same timing. However, in general, the switching of the welding material feeding speed is delayed due to the delay of the reaction of the motor constituting the feeding device, etc. with respect to the switching of the welding conditions. Therefore, when the welding current is switched from the peak current to the base current, if the filler material feed speed is switched at the same timing, the filler material feed speed switching is delayed, resulting in insufficient penetration of the filler material. It had the problem of end.

In addition, it is preferable to start feeding the filler material after forming a molten pool in the welding object. However, if the filler material feeding speed is switched at the same timing when switching from the base current to the peak current, there is a possibility that a sufficient molten pool may not be formed depending on the material, etc. The problem was that it was impossible to perform proper welding.

Also, the lower limit of the base feed rate that can be input to the arc continuation part (at the base condition) in the low pulse welding of the conventional TIG welding method was a feed rate of 0, which means a feed stop. However, when the supply is stopped under the base condition from the state where the supply is performed under the peak condition, the filler metal 902 exists in the arc 911 of the base current or in the vicinity of the arc 911 as shown in FIG. There is a possibility that. When such a condition is satisfied, the melt material 902 that is not supplied at the base condition starts to melt, and the tip of the melt material 902 becomes a ball shape. And if it becomes such a shape, when the filler metal 902 will be fed on the next peak conditions, it will become impossible to weld to a welding target well.

Since there are many problems as described above, there has been a problem that proper welding results such as a beautiful scale-like bead appearance cannot be obtained.

JP-A-62-279087 Japanese Patent Laid-Open No. 11-267839

The present invention solves the above problems and provides an arc welding method and an arc welding apparatus for obtaining a more beautiful scale-like bead appearance.

The arc welding method of the present invention is an arc welding method in which welding is performed by generating an arc between a welding electrode and a welding object. The arc welding method of the present invention includes a first step of moving the welding electrode in a direction away from the welding object in a state where the arc is generated, and a state where the arc is generated. And a second step of moving the welding electrode in a direction approaching the welding object and in a welding line direction. The arc welding method of the present invention comprises a method of performing welding by repeatedly repeating the first step and the second step.

By this method, a desired beautiful bead shape can be obtained.

An arc welding apparatus according to the present invention includes a welding power supply device that supplies electric power between a non-consumable electrode and an object to be welded, a manipulator including a welding torch that holds the non-consumable electrode, and the manipulator and the welding power source. An arc welding apparatus including a control device for controlling the apparatus and a filler material feeding guide attached to a welding torch for feeding the filler material. The arc welding apparatus according to the present invention includes a filler material feeding unit, a peak current setting unit, a base current setting unit, a filler material peak feeding rate setting unit, and a filler material base feeding rate setting unit. And an evacuation condition setting unit and a movement condition setting unit. Here, the filler material feeding unit feeds the filler material. The peak current setting unit sets the current value and time of the peak current supplied between the non-consumable electrode and the welding object. The base current setting unit sets a current value and time of a base current that is smaller than the peak current. The filler material peak feeding speed setting unit sets the peak feeding speed of the filler material and the time to be applied. The filler material base feed rate setting unit sets a base feed rate that is smaller than the peak feed rate of the filler material and a time during which the base feed rate is applied. The evacuation condition setting unit sets conditions for leaving the welding object. The movement condition setting unit sets a movement condition for moving in the welding progress direction. And the arc welding apparatus of the present invention is in a state in which the arc is generated in the first step of moving the non-consumable electrode in a direction away from the welding object, in a state where the arc is generated, The second step of moving the non-consumable electrode in the direction approaching the object to be welded and in the welding progress direction is configured to perform welding by repeating alternately.

This configuration makes it possible to obtain a desired beautiful bead shape.

Further, the arc welding apparatus of the present invention includes a welding power supply device that supplies electric power between the consumable electrode and the welding object, a manipulator including a welding torch, a control device that controls the manipulator and the welding power supply device, Is an arc welding apparatus. And the arc welding apparatus of the present invention comprises a consumable electrode feeding unit, a first setting unit, a second setting unit, a peak voltage setting unit, a base voltage setting unit, a retreat condition setting unit, A movement condition setting unit. Here, the consumable electrode feeding unit feeds the consumable electrode. The first setting unit sets a current value and time of a peak current supplied between the consumable electrode and the welding object, or a peak feeding speed of the consumable electrode and a time to apply. The second setting unit sets the current value and time of the base current smaller than the peak current, or the base feeding speed slower than the peak feeding speed and the application time. A peak voltage setting part sets the voltage value of the peak voltage applied between a consumable electrode and a welding target object. The base voltage setting unit sets a voltage value of the base voltage that is smaller than the peak voltage. The evacuation condition setting unit sets conditions for leaving the welding object. The movement condition setting unit sets a movement condition for moving in the welding progress direction. The arc welding apparatus according to the present invention includes a first step of moving the consumable electrode in a direction away from the welding object in a state where the arc is generated, and welding in a state where the arc is generated. The second step of moving the consumable electrode in the direction approaching the object and in the welding progress direction is configured to perform welding by repeating alternately.

This configuration makes it possible to obtain a desired beautiful bead shape.

FIG. 1 is a diagram showing a schematic configuration of a TIG welding system in Embodiment 1 of the present invention. FIG. 2 is a front view showing an outline of the welding torch in the first embodiment of the present invention. FIG. 3 is a diagram showing an example of an operation parameter setting screen according to Embodiment 1 of the present invention. FIG. 4 is a diagram showing an example of a welding parameter setting screen according to the first embodiment of the present invention. FIG. 5A is a front view for explaining a retracting direction of the welding torch in the first embodiment of the present invention. FIG. 5B is a front view for explaining a retracting direction of the welding torch in the first embodiment of the present invention. FIG. 5C is a front view for explaining a retracting direction of the welding torch in the first embodiment of the present invention. FIG. 6 is a flowchart of the arc welding method according to Embodiment 1 of the present invention. FIG. 7 is a time chart of the movement distance in the pitch direction, the movement distance in the retraction direction, the current value of the welding current, and the filler material feeding speed in the first embodiment of the present invention. FIG. 8 is a flowchart of processing at the end of welding in the first embodiment of the present invention. FIG. 9A is a diagram for describing a welding end method according to Embodiment 1 of the present invention. FIG. 9B is a diagram for describing a welding end method according to Embodiment 1 of the present invention. FIG. 9C is a diagram for describing a method of ending the welding method according to Embodiment 1 of the present invention at a welding intermediate teaching point. FIG. 10 is a time chart of the movement distance in the pitch direction, the movement distance in the retraction direction, the current value of the welding current, and the filler material feeding speed in the first embodiment of the present invention. FIG. 11 is a time chart of the movement distance in the pitch direction, the movement distance in the retraction direction, the current value of the welding current, and the filler material feeding speed in the first embodiment of the present invention. FIG. 12 is a time chart of the movement distance in the pitch direction, the movement distance in the retraction direction, the current value of the welding current, and the filler material feeding speed in the first embodiment of the present invention. FIG. 13 is a time chart of the movement distance in the pitch direction, the movement distance in the retraction direction, the current value of the welding current, and the filler material feed speed in the first embodiment of the present invention. FIG. 14A is a flowchart relating to the arc welding method according to Embodiment 2 of the present invention. FIG. 14B is a flowchart relating to the arc welding method according to Embodiment 2 of the present invention. FIG. 15 is a time chart of the movement distance in the pitch direction, the movement distance in the retraction direction, the current value of the welding current, and the filler material feeding speed in the second embodiment of the present invention. FIG. 16 is a diagram showing a schematic configuration of the MIG welding system in the third embodiment of the present invention. FIG. 17 is a front view showing an outline of a welding torch in the third embodiment of the present invention. FIG. 18 is a diagram illustrating an example of an operation parameter setting screen according to the third embodiment of the present invention. FIG. 19 is a diagram showing an example of a welding parameter setting screen according to the third embodiment of the present invention. FIG. 20 is a flowchart of the arc welding method in the third embodiment of the present invention. FIG. 21 is a flowchart of the arc welding method in the third embodiment of the present invention. FIG. 22 is a time chart of the movement distance in the pitch direction, the movement distance in the retraction direction, the current value of the welding current, and the filler material feeding speed in the third embodiment of the present invention. FIG. 23 is a schematic configuration diagram of a conventional TIG welding system. FIG. 24 is a time chart of the welding torch moving distance, the current value of the welding current, and the filler material feeding speed in the conventional TIG welding system. FIG. 25 is a front view for explaining a problem in the conventional TIG welding system.

Hereinafter, an embodiment of the present invention will be described with reference to the drawings. In the following drawings, the same components are denoted by the same reference numerals, and the description thereof may be omitted.

(Embodiment 1)
FIG. 1 is a diagram showing a schematic configuration of a TIG welding system in Embodiment 1 of the present invention. FIG. 2 is a front view showing an outline of welding torch 112 in the first embodiment of the present invention. FIG. 3 is a diagram showing an example of an operation parameter setting screen according to Embodiment 1 of the present invention. FIG. 4 is a diagram showing an example of a welding parameter setting screen according to the first embodiment of the present invention. 5A, FIG. 5B, and FIG. 5C are front views for explaining the retracting direction of the welding torch in the first embodiment of the present invention.

FIG. 1 is a diagram illustrating an example of a configuration of an arc welding apparatus that is an automatic welding system that automatically performs arc welding using a non-consumable electrode using a robot system.

As shown in FIG. 1, the arc welding apparatus controls the manipulator 111, the welding power supply apparatus 121, the filler material feeding apparatus 131, the manipulator 111, the welding power supply apparatus 121, the filler material feeding apparatus 131, and the like. The control apparatus 141 to perform and the teach pendant 151 connected to the control apparatus 141 are provided.

A welding torch 112 is attached to the manipulator 111. As shown in FIG. 2, a gas nozzle 211 for supplying a shielding gas such as argon, a non-consumable electrode 212, and a filler material feed guide 213 are attached to the welding torch 112. From the gas nozzle 211, a shield gas supplied from a gas cylinder (not shown) can be supplied to the welding location in accordance with a command from the welding power supply device 121. From the filler material feeding guide 213, the filler material 113 is fed by the filler material feeding device 131. Then, electric power is applied between the non-consumable electrode 212 and the welding object W by the welding power source device 121 to generate an arc. The purpose is to melt the welding object W and the filler material 113 by this arc and to weld the filler material 113 to the welding object W.

The welding power supply device 121 includes an output unit (not shown) for applying a welding voltage to flow a welding current, and a voltage detection unit (not shown) for detecting an actual welding voltage with respect to the output. It is a device equipped. The output unit is connected to the welding torch 112 and the welding object W, applies a welding voltage between the non-consumable electrode 212 and the welding object W through the welding torch 112 according to a command from the control device 141, and welds. It is possible to pass an electric current.

The filler material feeding device 131 detects a feed motor angle by a feed speed control unit 132, a feed motor 133 with a guide roller (not shown), and an angle sensor such as an encoder (not shown). It is an apparatus provided with the angle detection part (not shown). The filler material feeding device 131 is operated by a command from the control device 141 and can feed the filler material 113 by a guide roller.

The melt material 113 fed by the melt material feeding device 131 is fed between the non-consumable electrode 212 and the welding object W through the melt material feed guide 213. The supplied filler material 113 is melted together with the welding object W by an arc generated by the output of the welding power supply device 121, and aims to weld the filler material 113 to the welding object W.

The filler material feeding device 131 includes a feeding speed control unit 132 and feeds the filler material 113.

The control device 141 includes a communication unit 142, a calculation unit 143, a teaching data storage unit 144, a manipulator control unit 145, a welding condition command unit 146, and a feed speed command unit 147. Here, the communication unit 142 communicates with the teach pendant 151. The calculation unit 143 includes a CPU, a memory, and the like that perform various internal calculations. The teaching data storage unit 144 stores data taught for performing a playback operation during automatic driving. The manipulator control unit 145 controls the manipulator 111 from the result calculated by the calculation unit 143. The welding condition command unit 146 commands the welding power source device 121 for welding conditions such as a welding current. The feeding speed command unit 147 commands the feeding speed of the filler material 113 to the filler material feeding device 131.

Note that the welding power supply device 121 and the feeding speed control unit 132 may be provided in the control device 141. With this configuration, the arc welding apparatus of the first embodiment can be further downsized.

Further, the teach pendant 151 includes a communication unit 152 for communicating with the control device 141, a data display unit 153 for displaying various information, and a data setting unit 154. The teach pendant 151 can perform operation of the manipulator 111, setting of operation parameters of the arc welding method performed in the first embodiment, and the like.

Specifically, the teach pendant 151 includes a data display unit 153 and a data setting unit 154 as shown in FIGS. The data setting unit 154 displays the operation parameter setting unit 301 shown in FIG. 3 and the welding condition parameter setting unit 401 shown in FIG. 4 as necessary. As shown in FIG. 3, the operation parameter setting unit 301 sets operation parameters such as a pitch movement distance Lp, a retraction distance Lh, a retraction direction D, a retraction time Th, a welding speed V, and an upper end stop timer Thd.

That is, the operation parameter setting unit 301 includes a retreat condition setting unit 310 and a movement condition setting unit 320. The retreat condition setting unit 310 includes a retreat movement distance setting unit 311, a retreat direction setting unit 312, and a retreat time setting unit 313. Here, the retreat movement distance setting unit 311 sets a retreat movement distance Lh that is a movement distance away from the welding object W. The retraction direction setting unit 312 sets a retraction direction D that is a direction away from the welding object W. The evacuation time setting unit 313 sets an evacuation time Th that is a time for moving the distance set by the evacuation movement distance setting unit 311 in the direction set by the evacuation direction setting unit 312. The movement condition setting unit 320 includes a welding speed setting unit 321 and a pitch movement distance setting unit 322. The welding speed setting unit 321 sets a welding speed V that is a speed that moves in the welding progress direction. The pitch movement distance setting unit 322 sets a pitch movement distance Lp that is a distance to move in the welding progress direction.

As shown in FIG. 4, the welding condition parameter setting unit 401 includes a peak current value Ip, a base current value Ib, a peak filler material feed speed Wfp, a base filler material feed speed Wfb, and a peak filler material feed time Twfp. In addition, the welding condition parameters such as the feeding timing adjustment time Tadj are set.

That is, the welding condition parameter setting unit 401 includes a peak current setting unit 410, a base current setting unit 411, a first setting unit 420, a second setting unit 421, a peak voltage setting unit 422, and a base voltage setting unit 423. At least one is provided. The peak current setting unit 410 sets the current value Ip and the time of the peak current supplied between the non-consumable electrode 212 and the welding object W. The base current setting unit 411 sets the current value Ib and time of the base current smaller than the peak current. The first setting unit 420 sets the current value Ip and time of the peak current supplied between the consumable electrode and the welding object W, or the peak feeding speed of the consumable electrode and the time to apply. The second setting unit 421 sets the current value Ib and time of the base current smaller than the peak current, or the base feeding speed slower than the peak feeding speed and the time to apply. The peak voltage setting unit 422 sets the voltage value of the peak voltage applied between the consumable electrode and the welding object W. The base voltage setting unit 423 sets a voltage value of the base voltage that is smaller than the peak voltage.

The peak current setting unit 410 in FIG. 4 also has a filler material peak feed rate setting unit 136 and a filler material base feed rate setting unit 137. The filler material peak feed speed setting unit 136 sets the peak feed speed of the filler material 113 and the time to be applied. The filler material base feed speed setting unit 137 sets a base feed speed smaller than the peak feed speed of the filler material 113 and a time for applying the base feed speed.

Then, a playback instruction A (not shown) at the time of automatic operation that also has the meaning of starting the arc welding method of the first embodiment, and an automatic operation at the time of ending the welding method of the first embodiment. A playback instruction B (not shown) is provided. Note that the instruction A and the instruction B are stored in the teaching data storage unit 144.

Here, the above calculation parameters are basically set to values of 0 or more or greater than 0, but negative values are set for the base filler material feed speed Wfb and the feed timing adjustment time Tadj. It is also possible.

Also, in the setting of the retreat direction D, it is set from two choices of “torch direction” and “vertically upward direction” prepared in advance.

In addition, when setting calculation parameters such as the pitch movement distance Lp and the peak current value Ip shown in FIGS. 3 and 4, the data display unit 153 of the teach pendant 151 is a schematic diagram showing the relationship between the calculation parameters and the actual operation ( 3 and 4) is displayed, which makes it easy for the instructor to imagine changes in behavior at the time of calculation parameters.

As described above, regarding the setting contents of the data setting unit 154 of the teach pendant 151, the communication unit 152 of the teach pendant 151 and the control device 141 are used as one of the instructions in the teaching data to be played back during the automatic operation taught by the teacher. The data is stored in the teaching data storage unit 144 of the control device 141 through the communication unit 142.

When using the arc welding method according to the first embodiment to be described later, a teaching position where the arc welding method according to the first embodiment is to be started, that is, a teaching position in the robot operation program, in a section where welding work is performed. Register instruction A.

Also, the instruction B is registered at the teaching position where the arc welding method of the first embodiment is to be finished. However, even if the command B is not registered, the arc welding method of the first embodiment is automatically terminated at the end of the welding section. Although the detailed operation will be described later, the operation at the end of the arc welding method of the first embodiment differs depending on whether or not the command B is registered, and the teacher selects the command registration depending on the teaching content. Can do.

Hereinafter, details of operation control of the manipulator 111 using the calculation parameters, control of the welding conditions, and control of the feeding speed will be described with reference to the drawings.

FIG. 6 shows a flowchart of processing when the arc welding method of Embodiment 1 of the present invention is used. FIG. 7 shows a time chart of the movement distance in the pitch direction, the movement distance in the retraction direction, the current value of the welding current, and the filler material feeding speed when the arc welding method according to the first embodiment of the present invention is used. Yes.

In the first embodiment, the tool direction is set as the retreat direction D, which is considered to be most effective in the arc welding method of the first embodiment, and the base filler material feed speed Wfb is negative. It is assumed that a value (reverse feed) is set and a positive value is set as the feed timing adjustment time Tadj.

Here, the “torch direction” in the retracting direction D is a direction indicated by a solid line upward in FIG. 5A to FIG. 5C with respect to the welding progress direction, and is always independent of the welding progress direction and the welding torch and electrode directions. Point to. Therefore, when teaching is performed with a forward angle or a backward angle as shown in FIG. 5B or FIG. 5C, the instruction is retracted in the angular direction.

On the other hand, the “vertical upward direction” is a dotted line that always indicates a direction perpendicular to the welding progress direction in the plane formed by the welding progress direction and the torch direction in FIGS. 5A to 5C regardless of the angle of the welding torch. It is the direction shown.

As the application, the “torch direction” allows the teacher to freely select the retreat direction according to the teaching, so that it is possible to perform teaching with higher expandability.

On the other hand, since the “vertical upward direction” can always be retracted in a constant direction regardless of the torch angle, the torch angle cannot be kept constant depending on the shape of the welding object W and the welding location. In some cases, it can be considered. However, even in that case, the retreat direction can always be kept constant, and the effect of keeping the surplus bead constant can be expected.

In the playback operation, when the control device 141 reads the instruction A for starting the arc welding method of the first embodiment from the teaching data storage unit 144, first, a general welding start process is performed. Generally, an arc is generated between the non-consumable electrode 212 and the welding target W using a high-frequency spark.

In addition, as for the arc welding method of the first embodiment, any method such as a direct current high voltage application method or a lift start method may be used as the arc generation method, in addition to the above-described high frequency. And after generation | occurrence | production of an arc, heat input heat processing is made | formed by the conditions used also at the time of a welding start. When these general welding start processes (STEP 0: step 0) are completed, the arc welding method of the first embodiment is started.

In the arc welding method of the first embodiment, the portion for performing the extra welding in which the peak current value Ip flows while the welding torch 112 is retracted in a predetermined retracting direction D, and the retracting operation is completed in the direction of the weld line. There is a portion for continuing the arc through which the base current value Ib flows while performing the pitch movement operation. Then, the feeding speed is switched by shifting the switching timing of the filler material feeding speed with respect to the timing of switching the current. Welding is performed by repeating these controls.

First, the evacuation operation will be described as STEP 1 (step 1) with reference to FIG. As shown in FIG. 6, each step of the welding torch and the row written on the top represents a step relating to the operation of the welding torch 112, and each step of the welding torch command and the row written on the top represents the welding condition command. Show. Each step of the feed speed condition and the column written at the top indicates the feed speed condition.

After completion of the welding start process (step 0), the retracting operation is started so that the welding torch 112 operates in the welding torch direction with the retracting distance Lh for the retracting time Th (STEP 1-1: Step 1-1). Then, at the same time as evacuation, the welding power supply device 121 is instructed to flow the peak current value Ip (STEP 1-2: Step 1-2).

Further, at the timing when the feed timing adjustment time Tadj has elapsed after instructing the welding power source device 121 to flow the peak current value Ip (STEP 1-4: Yes determination in step 1-4), the filler material feeding device 131 is supplied. Command the peak filler feed speed Wfp (STEP 1-5: Step 1-5).

The state of STEP 1 (step 1) is the state described in “A” in the lower part of FIG. 7, and an extra portion (not shown) is formed by feeding the filler material 113 while retracting the welding torch 112. To do.

In STEP 3 (Step 3), when the retraction operation is completed at the retraction completion point (STEP 1-3: Yes determination in Step 1-3), the welding torch 112 is stopped for the time of the upper end stop timer Thd on the spot where the retraction is completed. (STEP 3-1: Step 3-1), the surplus bead formation is completed.

Also, after switching to the peak filler feed rate in STEP 1-5 (step 1-5), the system waits for the peak filler feed time Twfp to elapse and confirms the progress (STEP 3-2: step). 3-2, Yes), the feed speed is switched to the base filler material feed speed Wfb (STEP3-3: Step 3-3).

In Embodiment 1, since the base melt material feed speed Wfb is set to a negative value, the rotation direction of the feed motor of the melt material feed device 131 is set to the correct value when the feed speed is switched. Performs internal processing to switch from rotation to reverse rotation. In order to exert the effect of the arc welding method according to the first embodiment, the peak filler feed is performed immediately before the completion of the upper end stop timer Thd (STEP 3-4: Yes determination in step 3-4). A feeding time Twfp is set in advance. The figure showing the state of STEP 3 (step 3) is the state indicated by “B” in the lower part of FIG. 7, and only a feed speed is determined when a certain time has passed while the welding torch 112 is stopped at the retracted position. It has been switched to.

Next, as STEP 2 (step 2), the pitch movement operation will be described.

When the stop operation at the time when the retraction is completed is completed in STEP 3-4 (Step 3-4), the welding torch 112 is then moved by pitch movement (STEP 2-1: Step 2-1). Command the current value Ib to flow (STEP 2-2: Step 2-2). Normally, the base current value Ib is set to a value lower than the peak current value Ip, and a current value that can maintain the arc.

Here, the pitch operation is performed from the position where the pitch movement distance Lp is moved in the welding direction from the position where the retreat operation is started in STEP 1 (Step 1), and the target is the position where the retreat is completed in STEP 3 (Step 3). Pitch movement is started so as to operate at a time determined by (pitch movement distance Lp) / (welding speed V). This indicates a state of “C” shown in the lower part of FIG.

Next, as STEP 4 (step 4), the welding end determination will be described.

When the pitch operation (STEP 2-3: Yes in Step 2-3) is completed, the welding end determination is performed. In the welding end determination, the distance from the current position where the pitch movement is completed to the welding section end point is calculated (STEP 4-1: Step 4-1), and if the remaining distance is shorter than the pitch movement distance Lp, it is regarded as the end of the welding section. Perform welding end processing. Details of the welding end process will be described later. Thereafter, the operations of STEP 1 (step 1) to STEP 4 (step 4) are repeated until the determination of YES is made in the welding end determination of STEP 4-2 (step 4-2).

Next, processing for ending the arc welding method of the first embodiment will be described with reference to the flowchart of FIG. 8 and FIGS. 9A, 9B, and 9C. FIG. 8 is a flowchart of processing at the end of welding in the first embodiment of the present invention. 9A, 9B, and 9C are diagrams for explaining the welding end method according to Embodiment 1 of the present invention. 10 to 13 are time charts of the movement distance in the pitch direction, the movement distance in the retraction direction, the current value of the welding current, and the filler material feeding speed in the first embodiment of the present invention.

In the end process shown in FIG. 8, whether or not a command B that is a command to end the arc welding method of the first embodiment is registered at the end of the welding section, that is, the end of the welding section in the operation program. (STEP 5-1: Step 5-1). When the command B is registered at the end point of the welding section (STEP 5-1: Yes at step 5-1), the arc welding method of the first embodiment is completed at the position where the pitch movement is completed. Become. Thereafter, crater welding taught by the instructor as subsequent processing is executed.

In this welding end method, as shown in FIG. 9A, the welding torch 112 ends welding when the final pitch movement is completed. In the arc welding method according to the first embodiment, no extra build is formed by pitch movement, and therefore no extra build is formed at the final pitch move section. In this welding end method, when no extra pitch is required at the final pitch movement, or after the end of welding, the instructor operates the welding torch 112 in accordance with the subsequent teachings, thereby forming an extra scale different from the normal welding section or crater welding. This is an end method that assumes the case of performing.

In the first embodiment, it is assumed that the command B is registered at the welding end point, but the command B may exist at a teaching point in the middle of the welding section. In that case, as shown in FIG. 9C, the arc welding method of the first embodiment is completed at the point where the pitch movement is completed, as in the end process of the first embodiment, and thereafter, the normal welding section It is also possible to perform welding.

On the other hand, when the command B is not registered at the end point of the welding section (STEP 5-1: No in Step 5-1), STEP 1 of the normal welding section (Step 1) from the point after the final pitch movement is completed. In the same manner as in STEP 3 (step 3), a retreat operation and a peak current command are performed. At the welding end point, the same overlay as the welding section is formed, and the welding method ends (STEP 1-1: Step 1-1 to STEP 1-5: Step 1-5, STEP 3-1: Step 3-1 to STEP 3- 4: Up to step 3-4).

After that, the teacher can perform crater welding as necessary at the point where the evacuation is completed. In this method, as shown in FIG. 9B, a surplus similar to that in a normal welding section is formed and the welding is completed, so that the bead interval and the surplus height are not disturbed.

Also, if necessary, crater welding can be performed at the point where the welding torch 112 is retracted. Therefore, this termination method is a termination method that assumes that a bead similar to that in the normal section is formed and fine adjustment of the bead appearance is performed by crater welding as necessary.

Next, the operation and effect of the arc welding method of the first embodiment will be described.

The arc welding method according to the first embodiment is an arc welding method in which an arc is generated between a welding electrode and a welding object to perform welding, and includes a first step (step 1) and a second step. A step (step 2), and welding is performed by alternately repeating the first step and the second step. Here, the first step is a step of moving the welding electrode in a direction away from the welding object in a state where the arc is generated. The second step is a step of moving the welding electrode in the direction approaching the welding object and in the welding line direction while the arc is still generated. By this method, a desired beautiful bead shape can be obtained.

That is, in STEP 1 (step 1) shown in FIG. 6, extra welding is performed using the peak current value Ip and the peak filler material feed speed Wfp while retracting the welding torch 112 in the torch direction. Thereby, the scale-like beautiful extra bead can be formed without being aware of the movement in the welding line direction.

Further, when extra welding is performed only with the welding torch 112 stopped without retracting the welding torch 112, the extra bead formed by the fed filler material 113 and the non-consumable electrode 212 The distance between them is shortened, and in some cases, the non-consumable electrode 212 is short-circuited to the welding object W. In arc welding, an optimum welding result cannot be obtained unless the distance between the electrode and the welding object W is properly maintained. Therefore, in the arc welding method of the first embodiment, since the extra welding is performed while the welding torch 112 is retracted, it is possible to perform welding while maintaining an appropriate distance between the electrode and the welding object W.

In STEP 3 (step 3), the welding torch 112 is kept constant for a certain period of time and welding is performed under peak current conditions, so that an effect of keeping the height of the scale-shaped surplus bead constant is expected.

In STEP 3 (step 3), the feeding speed of the filler metal 113 is switched to the base feeding speed earlier than the switching of the welding current. The base feed speed is a negative value.

In contrast to the switching of welding conditions, the switching of the feeding speed of the filler material 113 is delayed due to problems such as a delay in the reaction of the feeding motor constituting the filler material feeding device 131. However, by switching the feeding speed at a different timing from the switching of the current, it is possible to prevent the filler material 113 from being fed at the peak filler material feeding speed under the base current condition. Can be expected.

Also, by raising the filler material 113 with the base feed speed set to a negative value, there is an effect of preventing the melt material 113 from being present in the arc at the base condition and melting.

The arc welding method of the first embodiment is a third method in which the position of the welding electrode is maintained for a predetermined time while the arc is generated at the position at the end of the first step (step 1). This step (Step 3) may be a method provided between the first step (Step 1) and the second step (Step 2). By this method, a desired beautiful bead shape can be obtained.

That is, in STEP 2 (step 2), the welding current is switched to the base current value to move the pitch. Thereby, the welding torch 112 can be moved as a base current value that does not extinguish the arc between the non-consumable electrode 212 and the welding object W. Since the next switching to the peak current can be made smoothly, there is an effect of shortening the tact time and an effect of obtaining a clean bead appearance.

In the first embodiment, an example in which the retreat direction D is set to the “torch direction” has been described. However, even if the retreat direction is different from the welding target W, the retreat direction is different. The processing is the same as in the first embodiment.

In the first embodiment, an example in which direct current welding is performed using a direct current power source has been described in order to simplify the description. However, the first embodiment can be applied not only to direct current welding but also to a welding system using alternating current welding.

In the first embodiment, as shown in the time chart of the filler material feed speed Wf in FIG. 7, an example in which the filler material feed speed Wf is repeated in the forward feed and the reverse feed is shown. However, as shown in FIG. 10, during the first predetermined time T1 from the start of STEP 2 (step 2), the feeding of the filler material 113 is controlled to be reversely fed, and the first predetermined time. You may make it stop feeding of the filler material 113 after progress of T1. Alternatively, as shown in FIG. 11, during a second predetermined time T2 from a certain time before the start of STEP2 (Step 2) to a certain time after the start of STEP2 (Step 2), the feeding of the filler material 113 is performed. The feeding may be controlled to be reverse feeding, and the feeding of the filler material 113 may be stopped after the second predetermined time T2. Alternatively, as shown in FIG. 12, the feeding of the filler material 113 is reversed during a third predetermined time T3 from a certain time before the start of STEP2 (Step 2) to the start of STEP2 (Step 2). The feeding may be controlled so that the feeding of the filler metal 113 may be stopped after the elapse of the third predetermined time T3.

In the first embodiment, as shown in the time chart of the retracting direction in FIG. 7, the welding torch 112 is moved by the retracting distance Lh in the retracting direction, and the arc is generated during the upper end stop timer Thd. The example which maintains the position of 112 was shown. However, as shown in FIG. 13, the value of the upper end stop timer Thd may be set to zero, and the process may be shifted from STEP 1 (step 1) to STEP 2 (step 2).

Further, in the first step (step 1), the welding electrode may be moved in a direction away from the welding object without changing the position of the welding electrode on the welding line. Alternatively, in the first step, the welding electrode may be moved in a direction away from the welding object while moving in a direction returning to the welding progress direction. Alternatively, in the first step, the welding electrode may be moved in a direction away from the welding object while moving in the welding progress direction. By this method, a desired beautiful bead shape can be obtained.

Further, during the first step (step 1), a peak current is supplied between the welding electrode and the welding object, and during the second step (step 2), the welding electrode and the welding object. A base current lower than the peak current may be supplied between the two. By this method, a desired beautiful bead shape can be obtained.

Further, during the third step (step 3), a method may be used in which a peak current is supplied between the welding electrode and the welding object. By this method, a desired beautiful bead shape can be obtained.

Further, the arc welding apparatus of the first embodiment includes a welding power supply device 121 that supplies electric power between the non-consumable electrode 212 and the welding object W, and a welding torch 112 that holds the non-consumable electrode 212. An arc provided with a manipulator 111, a control device 141 for controlling the manipulator 111 and the welding power source device 121, and a filler material feeding guide 213 attached to the welding torch 112 for feeding the filler material 113. It is a welding device. The arc welding apparatus according to the first embodiment includes a filler material feeding device 131, a peak current setting unit 410, a base current setting unit 411, a filler material peak feeding speed setting unit 136, and a filler. A material base feed speed setting unit 137, a retreat condition setting unit 310, and a movement condition setting unit 320 are provided. Here, the filler material feeding device 131 feeds the filler material 113. The peak current setting unit 410 sets the current value Ip and the time of the peak current supplied between the non-consumable electrode 212 and the welding object W. The base current setting unit 411 sets the current value Ib and time of the base current smaller than the peak current. The filler material peak feed speed setting unit 136 sets the peak feed speed of the filler material 113 and the time to be applied. The filler material base feed speed setting unit 137 sets a base feed speed smaller than the peak feed speed of the filler material 113 and a time for applying the base feed speed. The retreat condition setting unit 310 sets a condition for leaving the welding object W. The movement condition setting unit 320 sets a movement condition for moving in the welding progress direction. The arc welding apparatus according to the first embodiment includes a first step (step 1) for moving the non-consumable electrode 212 in a direction away from the welding object W in a state where the arc is generated, and an arc. The second step (step 2) in which the non-consumable electrode 212 is moved in the direction approaching the welding object W and in the welding progress direction in a state in which the welding is generated, and welding is performed alternately. . *

This configuration makes it possible to obtain a desired beautiful bead shape.

Further, the retreat condition setting unit 310 may include a retreat movement distance setting unit 311, a retreat direction setting unit 312, and a retreat time setting unit 313. Here, the retreat movement distance setting unit 311 sets a retreat movement distance Lh that is a movement distance away from the welding object W. The retraction direction setting unit 312 sets a retraction direction D that is a direction away from the welding object W. The evacuation time setting unit 313 sets an evacuation time Th that is a time for moving the distance set by the evacuation movement distance setting unit 311 in the direction set by the evacuation direction setting unit 312. Further, the movement condition setting unit 320 may include a welding speed setting unit 321 and a pitch movement distance setting unit 322. The welding speed setting unit 321 sets a welding speed V that is a speed that moves in the welding progress direction. The pitch movement distance setting unit 322 sets a pitch movement distance Lp that is a distance to move in the welding progress direction. In the arc welding apparatus of the first embodiment, in the first step (step 1), the distance Lh set by the retreat movement distance setting unit 311 is set in the direction set by the retreat direction setting unit 312 to set the retreat time. The non-consumable electrode 212 is moved in a direction away from the welding object W at the time Th set in the part 313. In the second step (step 2), the pitch is shifted from the position where the non-consumable electrode 212 is moved by the completion of the first step from the position of the non-consumable electrode 212 at the start of the first step in the welding direction. The position advanced by the distance Lp set by the distance setting unit 322 is set as the movement target position of the non-consumable electrode 212, and the distance Lp set by the pitch movement distance setting unit 322 is divided by the welding speed V set by the welding speed setting unit 321. And move it for the required time. By performing these movements, the arc welding apparatus of the first embodiment may be configured to move the non-consumable electrode 212 in a direction approaching the welding object W and in a welding progress direction.

This configuration makes it possible to obtain a desired beautiful bead shape.

Further, a third step (step 3) for maintaining the position of the non-consumable electrode 212 for a predetermined time while the arc is generated at the position at the end of the first step (step 1), It is good also as a structure performed between 1 step (step 1) and 2nd step (step 2). With this configuration, a desired beautiful bead shape can be obtained.

Further, during the first step (step 1), a peak current is supplied between the non-consumable electrode 212 and the workpiece W, and during the second step (step 2), the non-consumable electrode is supplied. A base current lower than the peak current may be supplied between 212 and the welding object W. With this configuration, a desired beautiful bead shape can be obtained.

Further, during the third step (step 3), a peak current may be supplied between the non-consumable electrode 212 and the welding object W. With this configuration, a desired beautiful bead shape can be obtained.

As described above, according to the present invention, a desired bead shape can be obtained by alternately repeating the first step and the second step. Here, a 1st step is a step which forms a surplus bead by the peak conditions comprised by a peak current etc., moving the electrode for welding to the direction away from the welding target object W. FIG. The second step is a step of moving the welding electrode in the direction approaching the welding object and in the direction of the welding line while the arc is generated under the base condition constituted by a base current smaller than the peak condition.

Also, when feeding the filler material after forming the molten pool by adjusting the timing of switching the feeding speed with respect to the switching of the current, or when feeding considering the delay of the motor For example, it is possible to adjust the switching timing of the current and the feeding speed. As a result, a more beautiful weld bead can be obtained.

Further, the base feed speed is negative, that is, the filler material can be reversely fed and pulled up, the melt material exists in the arc, and the tip of the melt material becomes rounded. The phenomenon can be prevented.

(Embodiment 2)
14A and 14B show flowcharts relating to the arc welding method in Embodiment 2 of the present invention. FIG. 15 is a time chart showing changes over time in parameters (movement distance in the pitch direction, movement distance in the retraction direction, current value of welding current, filler material feed speed, etc.) in the second embodiment of the present invention. Show.

The main difference from the first embodiment is that a negative value is set for the feeding timing adjustment time Tadj. Setting a negative value for the feeding timing adjustment time Tadj means that the switching to the peak filler material feeding speed Wfp is performed earlier than the switching to the peak current.

Hereinafter, the present embodiment will be described in detail with reference to the drawings. The main point different from the first embodiment is that the conditions are changed between the first retreat operation condition at the start of welding and the second and subsequent retreat operations. And also in this Embodiment 2, the welding start process similar to Embodiment 1 is performed (STEP0: Step 0).

First, as STEP 1 (step 1), the first retraction operation after starting welding will be described.

After the welding start process is completed, the retracting operation of the welding torch 112 is started (STEP 1-1: Step 1-1), as in STEP 1 (Step 1) of the first embodiment. Then, at the same time as evacuation, the peak current value Ip is commanded to the welding power source device 121 (STEP 1-2: Step 1-2).

In the first embodiment, after the peak current value Ip is commanded, the peak filler material feed speed Wfp value is commanded to the filler material feeder 131 after the feed timing adjustment time Tadj has elapsed. . However, in the second embodiment, the peak filler feed speed Wfp value is commanded at the same timing when the peak current is commanded. (STEP 1-3: Step 1-3).

In STEP 1 (step 1), as in the first embodiment, the filler material 113 is fed while the welding torch 112 is retracted, thereby forming an extra portion.

Next, as STEP 3 (step 3), the stop operation at the point of completion of evacuation will be described.

When the evacuation operation is completed (STEP 1-4: Yes in Step 1-4), the welding torch 112 is stopped for the time of the upper end stop timer Thd on the spot where the evacuation is completed (STEP 3-1: Step 3-1). Complete the formation of prime beads.

In STEP 1-3 (step 1-3), after switching to the peak filler feed speed Wfp, the time calculated from the peak filler feed time Twfp and the feed timing adjustment time Tadj (Twfp-Tadj) ) Will wait. When the progress is confirmed (STEP 3-2: Yes in step 3-2), the feeding speed of the filler material 113 is switched to the base filler material feeding speed Wfb (STEP 3-3: Step 3-3). . Since the internal processing when the negative value is set for the base filler material feed speed Wfb is the same as that of the first embodiment, the description thereof is omitted.

Next, as STEP 2 (step 2), the pitch movement operation will be described.

In STEP 3-4 (Step 3-4), when the stop operation at the retreat completion point is completed, next, the welding torch 112 is moved in the same manner as in the first embodiment (STEP 2-1: Step 2-1). At the same time, the base current value Ib is commanded to the welding power source device 121 (STEP 2-2: Step 2-2).

Further, after commanding the base current value Ib to the welding power source device 121, the completion of the time ((Lp / V) −Tadj) calculated from the pitch movement distance Lp, the welding speed V, and the feed timing adjustment time Tadj ( After waiting for STEP 2-3: Yes in Step 2-3), the filler material feeding device 131 is commanded to the peak filler material feeding speed Wfp (STEP 2-4: Step 2-4).

Since the pitch movement operation is performed at a time of (pitch movement distance Lp / welding speed V), the passage of ((pitch movement distance Lp / welding speed V) −feeding timing adjustment time Tadj) after commanding the base current is performed. Switch the feeding speed after completion. As a result, the feed speed can be switched to the peak filler feed speed Wfp before the feed timing adjustment time Tadj time for instructing the welding power source device 121 to the peak current value Ip.

After the feeding speed is switched to the peak filler material feeding speed Wfp, after the elapse of the peak filler material feeding time Twfp is completed, the feeding speed is switched to the base filler material feeding speed Wfb (STEP3-3: Step 3-3). ). Usually, the peak filler feed time Twfp is set so as to switch to the base filler feed rate Wfb immediately before the end of STEP 3 (step 3) in which the retracting operation is completed and the welding torch 112 is stopped at the upper end. Set.

Next, as STEP 4 (step 4), the welding end determination will be described.

When the pitch movement is completed, the welding end determination is performed. Since the method for determining the end of welding and the method for ending the welding when the end determination is made (STEP 4-2: Yes at step 4-2) are the same as those in Embodiment 1, they are omitted.

Next, as STEP 5 (step 5), the second and subsequent retraction operations after the start of welding will be described.

When the pitch movement is completed, the evacuation operation is started again (STEP 5-1: Step 5-1). The difference from the evacuation operation in STEP 1 (step 1) is that in STEP 1 (step 1), the command for the peak current value Ip and the command for the peak filler feed speed Wfp are performed at the same timing as the start of the evacuation operation. However, since the feed speed has been switched in the processing of STEP 2 (step 2), only the command for the peak current value Ip is performed (STEP 5-2: step 5-2), and the feed speed switching command is not performed. Is a point.

Thereafter, the operations from STEP 2 (Step 2) to STEP 5 (Step 5) are repeated until the determination of YES is made in the welding end determination of STEP 4-2 (Step 4-2).

Next, the operation and effect of the arc welding method of the second embodiment will be described.

Normally, it is desirable to feed the filler material 113 under conditions where the welding current is at a peak condition and the filler material 113 is melted. Here, in the welding method of the present second embodiment, since it is possible to set a negative value for the base filler material feed speed Wfp, the filler material 113 is pulled up during pitch movement (base current condition). It is possible. However, when the pitch movement distance Lp is long or when the welding speed V is low, the filler material 113 is pulled up more than necessary in the pitch movement section. Then, even if the filler material feeding speed is switched to the peak filler material feeding speed simultaneously with the switching to the next peak current condition, it takes time until the filler material 113 is welded to the welding object W. In some cases, the welding object W may be overmelted and melted away.

Therefore, as in the second embodiment, by switching the feeding speed to the peak filler feeding speed Wfp before switching to the peak current, the welding object W is not overmelted when switching the peak current. The filler material 113 can be fed.

That is, in the arc welding method of the second embodiment, the welding electrode is the non-consumable electrode 212 and the arc welding is performed while supplying the filler material 113. The feeding of the filler material 113 is performed by alternately repeating a peak feeding speed and a base feeding speed slower than the peak feeding speed. Feeding at the peak feed speed may be started at a timing different from the start timing of the peak current, and feeding at the base feed speed may be started at a timing different from the start timing of the base current. . By this method, it is possible to feed the filler material 113 without overmelting the welding target W when switching the peak current.

Further, the feeding of the filler material 113 may be controlled so that the feeding of the filler material 113 is reversed in the second step (step 2). By this method, it is possible to feed the filler material 113 without overmelting the welding object W when switching the peak current.

Further, during the first predetermined time from the start of the second step (step 2), the feeding of the filler material 113 is controlled to be reverse, and after the first predetermined time has elapsed, A method of stopping the feeding of the filler material 113 may be adopted. By this method, it is possible to feed the filler material 113 without overmelting the welding object W when switching the peak current.

Further, during a second predetermined time period from a certain time before the start of the second step (step 2) to a certain time after the start of the second step, the feeding of the filler material 113 is reversely fed. It is good also as a method of stopping supply of the melt material 113 after progress of 2nd predetermined time. By this method, it is possible to feed the filler material 113 without overmelting the welding object W when switching the peak current.

In addition, the feeding of the filler material 113 is controlled to be reversely fed for a third predetermined time from a certain time before the start of the second step (step 2) to the start of the second step. Then, after the elapse of the third predetermined time, the feeding of the filler material 113 may be stopped. By this method, it is possible to feed the filler material 113 without overmelting the welding object W when switching the peak current.

Further, in the arc welding apparatus of the second embodiment, the filler material 113 is fed by alternately repeating a peak feeding speed and a base feeding speed slower than the peak feeding speed. Feeding at the peak feed speed may be started at a timing different from the start timing of the peak current, and feeding at the base feed speed may be started at a timing different from the start timing of the base current. . With this configuration, it is possible to feed the filler material 113 without overmelting the welding target W when switching the peak current.

Further, the feeding of the filler material 113 may be controlled so that the feeding of the filler material 113 is reversely fed during the second step (step 2). With this configuration, it is possible to feed the filler material 113 without overmelting the welding target W when switching the peak current.

In addition, during the first predetermined time from the start of the second step (step 2), the feeding of the filler material is controlled to be reverse, and after the first predetermined time has elapsed, The feeding of the filler material 113 may be stopped. With this configuration, it is possible to feed the filler material 113 without overmelting the welding target W when switching the peak current.

In addition, during a second predetermined time from a certain time before the start of the second step (step 2) to a certain time after the start of the second step, the feeding of the filler material is reversely fed. The feeding of the filler metal may be stopped after the second predetermined time has elapsed. With this configuration, it is possible to feed the filler material 113 without overmelting the welding target W when switching the peak current.

In addition, the feeding of the filler material 113 is controlled to be reversely fed for a third predetermined time from a certain time before the start of the second step (step 2) to the start of the second step. And it is good also as a structure which stops supply of a filler material after progress of 3rd predetermined time. With this configuration, it is possible to feed the filler material 113 without overmelting the welding target W when switching the peak current.

(Embodiment 3)
In the first embodiment and the second embodiment, the arc welding apparatus that performs welding using a non-consumable electrode has been described. In Embodiment 3 of the present invention, an arc welding apparatus that performs welding using a consumable electrode will be described.

FIG. 16 is a diagram showing a schematic configuration of the MIG welding system in the third embodiment of the present invention. FIG. 17 is a front view showing an outline of welding torch 504 in the third embodiment of the present invention. FIG. 18 is a diagram illustrating an example of an operation parameter setting screen according to the third embodiment of the present invention. FIG. 19 is a diagram showing an example of a welding parameter setting screen according to the third embodiment of the present invention.

FIG. 16 shows a schematic configuration of an arc welding apparatus that is an example of an MIG welding system that is an automatic welding system that automatically performs arc welding using a consumable electrode using a robot system in the third embodiment. Yes.

The arc welding apparatus shown in FIG. 16 has the manipulator 111, the control apparatus 141, and the teach pendant 151 shown in the first embodiment, and in addition to this, the welding power supply apparatus 501 and the welding wire feeding apparatus 502 It has.

The manipulator 111 is provided with a welding torch 504 for a consumable electrode. As shown in FIG. 17, a gas nozzle 601 for supplying a shielding gas such as argon is attached to the welding torch 504. From the gas nozzle 601, a shield gas supplied from a gas cylinder (not shown) can be supplied to the welding location of the welding object W in accordance with a command from the welding power supply device 501.

A contact tip 602 is attached to the tip of the welding torch 504, and the welding wire 503 is fed by the welding wire feeding device 502, and fed and fed to the welding object W through the contact tip 602. .

The welding power source device 501 includes an output unit (not shown) for applying a welding voltage to flow a welding current, and a voltage detection unit (not shown) for detecting a voltage actually applied to the output. And a welding wire control unit (not shown). The output unit is connected to the welding torch 504 and the welding object W, and a welding voltage is applied between the welding wire 503 that is a consumable electrode and the welding object W through the welding torch 504 according to a command from the control device 141. Applied.

The welding wire feeding device 502 is usually attached to the upper portion of the manipulator 111, and detects the angle of the feeding motor by a feeding motor (not shown) with a guide roller and an angle sensor such as an encoder (not shown). It is an apparatus provided with the angle detection part. The welding wire feeder 502 is a device that operates according to a command from the welding power source device 501 and feeds the welding wire 503 that is a consumable electrode.

When welding is started according to the command of the control device 141, the welding power supply device 501 performs drive control of the welding wire feeding device 502 at a feeding speed determined according to the application of the welding voltage and the command current. An arc is generated between the fed welding wire 503 and the welding object W, and the welding wire 503 transfers droplets to the welding object W.

Since the configurations of the control device 141 and the teach pendant 151 of the arc welding apparatus of the third embodiment are the same as those of the first embodiment, detailed description thereof will be omitted. In the first embodiment, the welding condition command unit 146 that commands the welding conditions and the feed speed command unit 147 that commands the feed speed are provided independently. However, in the arc welding apparatus using the consumable electrode according to the third embodiment, as a difference from the first embodiment, the feeding speed is controlled by the welding power source device 501 according to the welding conditions. The feed speed command unit 147 of the arc welding apparatus of the first embodiment is not provided. The command value of the welding condition command unit 146 is commanded as a welding condition to the welding power source device 501.

In the arc welding method of the third embodiment, the welding electrode is a consumable electrode, and the supply of the consumable electrode is repeated alternately between a peak feed speed and a base feed speed that is slower than the peak feed speed. Do it. The peak feeding speed may be controlled to be synchronized with the peak current, and the base feeding speed may be controlled to be synchronized with the base current.

This method can realize a welding method capable of obtaining a desired beautiful bead shape.

The data setting unit 154 of the teach pendant 151 according to the third embodiment includes an operation parameter setting unit 701 shown in FIG. 18 and a welding condition parameter setting unit 801 shown in FIG. The operation parameter setting unit 701 includes a save condition setting unit 310 and a movement condition setting unit 320. The retreat condition setting unit 310 includes a retreat movement distance setting unit 311, a retreat direction setting unit 312, and a retreat time setting unit 313. The welding condition parameter setting unit 801 includes at least one of a peak current setting unit 410, a base current setting unit 411, a first setting unit 420, a second setting unit 421, a peak voltage setting unit 422, and a base voltage setting unit 423. It is equipped with. Since the functions and roles of these components are the same as the contents specifically described in FIGS. 3 and 4, their descriptions are omitted.

As shown in FIG. 18, the operation parameter setting unit 701 sets operation parameters such as a pitch movement distance Lp, a retraction distance Lh, a retraction direction D, a retraction time Th, a welding speed V, and an upper end stop timer Thd. The parameter is displayed on the data display unit 153. A welding condition parameter setting unit 801 shown in FIG. 19 sets welding condition parameters such as a peak current value Ip, a peak voltage value Vp, a base current value Ib, and a base voltage value Vb, and these operation parameters are displayed on the data display unit 153. Is displayed. Then, the welding condition parameter setting unit 801 has a command C for playback during automatic operation (not shown) that also includes the meaning of starting the arc welding method according to the third embodiment, and automatic completion of the arc welding method. And a playback instruction E (not shown) during operation. Note that the instruction C and the instruction E are stored in the teaching data storage unit 144.

The retraction direction setting unit 312 of the operation parameter setting unit 701 is set from two choices of “torch direction” and “vertically upward direction” prepared in advance as in the first embodiment.

As shown in FIGS. 18 and 19, when setting the calculation parameters, the data display unit 153 of the teach pendant 151 displays a schematic diagram showing the relationship between the calculation parameters and the actual operation (FIG. 18, FIG. 19) makes it easy for an instructor to imagine changes in behavior at the time of calculation parameters.

As described above, the setting contents of the data setting unit 154 are transmitted through the communication unit 152 of the teach pendant 151 and the communication unit 142 of the control device 141 as one of the instructions in the teaching data to be played back during the automatic driving taught by the teacher. , Stored in the teaching data storage unit 144 of the control device 141.

When using the arc welding method of the third embodiment, the command C is registered at the teaching position where the arc welding method of the third embodiment is to be started in the section where the welding operation is performed.

Also, the instruction E is registered at the teaching position where the arc welding method of the third embodiment is to be finished. However, even if the instruction E is not registered, the arc welding method according to the third embodiment is automatically terminated at the end of the welding section. Although the detailed operation will be described later, the operation at the end of the arc welding method of the third embodiment differs depending on whether or not the command E is registered, and the teacher selects the command registration according to the teaching content. can do.

Next, details of the operation control of the manipulator 111 using the calculation parameters and the control of the welding conditions will be described with reference to the drawings from FIG. 20 to FIG.

20 and 21 show flowcharts of the arc welding method according to the third embodiment of the present invention. FIG. 22 is a time chart of the movement distance in the pitch direction, the movement distance in the retreat direction, the current value of the welding current, and the wire feed speed in the third embodiment of the present invention.

FIG. 22 shows the time change of the moving distance in the pitch direction of the welding torch 504 and the time change of the retracting distance in the direction set by the retracting direction D setting unit different from the welding line direction of the welding torch 504. . FIG. 22 shows the change over time of the command current value commanded to the welding power supply apparatus 501 and the change over time of the command wire feed speed value commanded to the welding power supply apparatus 501.

In the playback operation, when the control device 141 reads the instruction C for starting the arc welding method of the third embodiment from the teaching data storage unit 144, first, a general welding start process is performed. In the welding start process, the control device 141 starts application of a welding voltage between the welding torch 504 and the welding object W and feeding of the welding wire 503 to generate an arc.

After the arc is generated, heat treatment is performed under the conditions for starting welding. After completion of these general welding start processes (STEP 0: step 0), the arc welding method of the third embodiment is started.

In the arc welding method according to the third embodiment, welding is performed from a surplus welding portion (not shown) through which the peak current value Ip flows while the welding torch 504 is retracted in a predetermined retracting direction D, and from the point at which the retracting operation is completed. There is an arc continuation section (not shown) that allows the base current value Ib to flow while performing a pitch movement operation in the linear direction. And welding is performed by repeating these.

First, as STEP 1 (step 1), the evacuation operation will be described.

After completion of the welding start process, the retracting operation is started so that the welding torch 504 operates in the direction set by the retracting direction D with the retracting distance Lh for the retracting time Th (STEP 1-1: Step 1-1). At the same time, the welding power supply device 501 is commanded with the peak current value Ip and the peak voltage Vp (STEP 1-2: Step 1-2). In the welding power source device 501, the wire necessary for flowing the peak current value Ip from the relationship between the current and the wire feed speed determined in advance by the material and diameter of the welding wire 503, the protruding length from the welding torch 504, and the like. The feeding speed Wfp1 is calculated, and the welding wire feeding device 502 is driven (STEP 1-3: Step 1-3). Thereby, the welding wire 503 performs droplet transfer to the welding object W. The diagram showing the state of STEP 1 (step 1) is the state of A in FIG.

Next, as STEP 3 (step 3), the stop operation at the point of completion of evacuation will be described. When the evacuation operation is completed (STEP 1-4: Yes in Step 1-4), the welding torch 504 is stopped for the time of the upper end stop timer Thd on the spot where the evacuation is completed (STEP 3-1: Step 3-1). Complete the formation of prime beads. This indicates the state of B in FIG.

Next, as STEP 2 (step 2), the pitch movement operation will be described.

When the stop operation at the retreat completion point is completed in STEP 3-2 (Step 3-2), the welding torch 504 is then moved by pitch movement (STEP 2-1: Step 2-1), and the welding power source 501 has a base current. Command value Ib and base voltage value Vb (STEP 2-2: Step 2-2). Usually, the base current value Ib is set to a value lower than the peak current, and a current value that can maintain the arc. In the welding power source device 501, similarly to the case of the peak current, the wire feeding speed Wfb1 necessary for flowing the base current value Ib is calculated, and the welding wire feeding device 502 is driven (STEP 2-3: Step 2-3) ). By setting the current value so that the arc can be maintained, the arc can be maintained with almost no droplet transfer.

Here, the pitch operation is a point where the pitch movement distance Lp is moved in the welding progress direction from the position where the retreat operation is started in STEP 1: Step 1, and the retreat is completed in (STEP 3: Step 3). The pitch movement is started so as to operate in the time determined from the pitch movement distance Lp / welding speed V toward the target point. This indicates the state C in FIG.

Next, as STEP 4 (step 4), the welding end determination will be described.

When the pitch operation (STEP 2-4: Yes in step 2-4) is completed, the welding end determination is performed. Since the same processing as that of the first embodiment is performed for the welding end determination, detailed description thereof is omitted. Thereafter, the operations of STEP 1 (step 1) to STEP 4 (step 4) are repeated until the determination of YES is made in the welding end determination of STEP 4-2: step 4-2.

Next, processing for ending the arc welding method of the third embodiment will be described with reference to the flowchart of FIG.

In the end process, it is determined whether or not a command E that is a command to end the arc welding method of the third embodiment is registered at the end of the welding section (STEP 5-1: step 5-1). When the instruction E is registered at the end point of the welding section (STEP 5-1: Yes in step 5-1), the arc welding method of the third embodiment is completed at the point where the pitch movement is completed. Become.

In the third embodiment, it is assumed that the command E is registered at the welding end point, but the command E may exist at a teaching point in the middle of the welding section. In that case, the arc welding method of the third embodiment is completed at the point where the pitch movement is completed, as in the embodiment of the present end process, and thereafter welding is performed as a normal welding section.

On the other hand, when the command E is not registered at the end point of the welding section (STEP 5-1: No determination in step 5-1), from the point after the pitch movement is completed, STEP 1 (step 1) of the normal welding section As in STEP 2 (Step 2), a retracting operation and a peak current command are performed, and the welding process is completed after forming the same surplus as the welding section at the welding end point (STEP 1-1: Step 1-1 to STEP 1-). 4: Step 1-4, STEP3-1: Step 3-1 to STEP3-2: Step 3-2).

The usage and the like are the same as in the first embodiment.

Next, the operation when the third embodiment is implemented will be described.

In STEP 1 (step 1), extra welding is performed using the peak current value Ip while retracting the welding torch 504 in the torch direction. Thereby, the scale-shaped beautiful surplus bead can be formed without being aware of the movement in the welding line direction.

Further, when extra welding is performed only in a state where the welding torch 504 is stopped without retracting the welding torch 504, the protruding length from the extra bead and the arc generation point to the arc generation point from the welding torch 504 is shortened. As a result, welding deteriorates and a clean bead cannot be formed. However, in the arc welding method according to the third embodiment, since extra welding is performed while the welding torch 504 is retracted, welding can be performed while maintaining an appropriate distance between the welding wire 503 and the welding object W. Is possible.

In STEP 3 (Step 3), the welding torch 504 is kept constant for a certain period of time and welding is performed under peak current conditions, so that an effect of keeping the height of the scale-shaped surplus bead constant is expected.

In STEP 2 (step 2), the welding current is switched to the base current value to perform pitch movement. As a result, the welding torch 504 can be moved with a base current value that does not cause the arc between the welding wire 503 and the welding object W to disappear, and the switching to the next peak current can be smoothly shifted. This has the effect of shortening the tact time and obtaining a clean bead appearance.

That is, the arc welding apparatus according to the third embodiment includes a welding power supply device 501 that supplies power between the consumable electrode 505 and the welding object W, a manipulator 111 that includes a welding torch 504, the manipulator 111, and welding. An arc welding apparatus including a control device 141 that controls a power supply device 501. The arc welding apparatus of the present invention includes a consumable electrode feeding unit 138, a first setting unit 420, a second setting unit 421, a peak voltage setting unit 422, a base voltage setting unit 423, and a retraction. A condition setting unit 310 and a movement condition setting unit 320 are provided. Here, the consumable electrode feeding unit 508 feeds the consumable electrode. The first setting unit 420 sets the current value and time of the peak current supplied between the consumable electrode and the welding object W, or the peak feeding speed of the consumable electrode and the time to apply. The second setting unit 421 sets the current value and time of the base current smaller than the peak current, or the base feeding speed slower than the peak feeding speed and the time to apply. The peak voltage setting unit 422 sets the voltage value of the peak voltage applied between the consumable electrode and the welding object W. The base voltage setting unit 423 sets a voltage value of the base voltage that is smaller than the peak voltage. The retreat condition setting unit 310 sets a condition for leaving the welding object W. The movement condition setting unit 320 sets a movement condition for moving in the welding progress direction. And the arc welding apparatus of the present invention is in a state where the arc is generated in the first step of moving the consumable electrode in a direction away from the welding object W while the arc is generated, The second step (step 2) in which the consumable electrode is moved in the direction approaching the welding object W and in the welding progress direction, and welding is performed by alternately repeating. With this configuration, a desired beautiful bead shape can be obtained.

Further, the retreat condition setting unit 310 of the arc welding apparatus according to the third embodiment includes a retreat movement distance setting unit 311, a retreat direction setting unit 312, and a retreat time setting unit 313, and the movement condition setting unit 320. Has a welding speed setting unit 321 and a pitch movement distance setting unit 322. Here, the retreat movement distance setting unit 311 sets a retreat movement distance Lh that is a movement distance away from the welding object W. The retraction direction setting unit 312 sets a retraction direction D that is a direction away from the welding object W. The evacuation time setting unit 313 sets an evacuation time Th that is a time for moving the distance set by the evacuation movement distance setting unit 311 in the direction set by the evacuation direction setting unit 312. The welding speed setting unit 321 sets a welding speed V that is a speed that moves in the welding progress direction. The pitch movement distance setting unit 322 sets a pitch movement distance Lp that is a distance to move in the welding progress direction.

In the first step (step 1), the consumable electrode is placed in the direction set by the retreat direction setting unit 312 by using the distance set by the retreat movement distance setting unit 311 for the time set by the retreat time setting unit 313. It moves in the direction away from the welding object W. In the second step (step 2), the welding speed setting unit 321 sets the distance set by the pitch movement distance setting unit 322 with respect to the movement target position from the position where the consumable electrode has moved by the completion of the first step. The consumable electrode is moved during a time determined by dividing by the set welding speed V. Here, the movement target position is a position where the consumable electrode is advanced from the position of the consumable electrode at the start of the first step by the distance set by the pitch movement distance setting unit 322 in the welding progress direction. Then, by performing the first step and the second step, the arc welding apparatus of the third embodiment may be configured to move the consumable electrode in the direction approaching the welding object W and in the welding progress direction. . With this configuration, a desired beautiful bead shape can be obtained.

In addition, the supply of consumable electrodes is performed by alternately repeating the peak feed rate and the base feed rate slower than the peak feed rate, and the feed at the peak feed rate is synchronized with the supply of the peak current. The feeding at the base feeding speed may be controlled to synchronize with the supply of the base current. With this configuration, a desired beautiful bead shape can be obtained.

In the third embodiment, an example is shown in which the upper end stop timer Thd is set and the welding torch 504 is stopped at the upper end. However, depending on the shape of the welding object W, the current condition to be used, and the weld bead to be formed. It is also possible to set the upper end stop timer Thd to 0 and not stop the welding torch 504.

In the present embodiment, 3 shows an example in which the retreat direction D is set to the “torch direction”. However, even when the retreat direction is set to “vertically upward direction”, the retreat direction is different from that of the third embodiment. The process is the same.

In the third embodiment, the peak current value Ip and the base current value Ib are commanded, and the peak filler material feed speed Wfp and the base filler material feed speed Wfb are controlled in synchronization with the current. An example is shown. However, the peak filler material feed speed Wfp and the base filler material feed speed Wfb may be commanded to control the current in synchronization with the feed speed.

According to the present invention, a desired bead shape can be obtained, which can be applied as an arc welding method and an arc welding apparatus used for, for example, the formation of a scaly bead, and is industrially useful.

DESCRIPTION OF SYMBOLS 111 Manipulator 112,504 Welding torch 113 Filler material 121,501 Welding power supply device 131 Filler material feeding device 132 Feed speed control part 133 Feed motor 136 Filler material peak feed speed setting part 137 Filler base feed Feed rate setting unit 138 Consumable electrode feeding unit 141 Control device 142 Communication unit 143 Calculation unit 144 Teaching data storage unit 145 Manipulator control unit 146 Welding condition command unit 147 Feed rate command unit 151 Teach pendant 152 Communication unit 153 Data display unit 154 Data setting unit 211,601 Gas nozzle 212 Non-consumable electrode 213 Filler material feed guide 301,701 Operation parameter setting unit 310 Retraction condition setting unit 311 Retraction movement distance setting unit 312 Retraction direction setting unit 313 Retraction time setting unit 32 Movement condition setting unit 321 Welding speed setting unit 322 Pitch movement

distance setting unit

401, 801 Welding condition parameter setting unit 410 Peak current setting unit 411 Base current setting unit 420 First setting unit 421 Second setting unit 422 Peak voltage setting unit 423 Base voltage setting unit 502 Welding wire feeding device 503 Welding wire 508 Consumable electrode feeding unit 602 Contact tip

Claims

An arc welding method for performing welding by generating an arc between a welding electrode and a welding object,
A first step of moving the welding electrode in a direction away from the welding object in a state where the arc is generated;
A second step of moving the welding electrode in the direction approaching the welding object and in the direction of the welding line in a state in which the arc is generated, and
An arc welding method in which welding is performed by alternately repeating the first step and the second step.
A third step of maintaining the position of the welding electrode for a predetermined time while the arc is generated at the position at the end of the first step is the first step and the second step. The arc welding method according to claim 1 provided between the steps.
In the first step, the welding electrode is moved in a direction away from an object to be welded without changing the position of the welding electrode on the welding line. Either of the above-mentioned 1 or 2 is moved in the direction away from the welding object while moving in the direction of return, or moving in the direction away from the welding object while moving the welding electrode in the welding progress direction. The arc welding method according to claim 1.
A peak current is supplied between the welding electrode and the welding object during the first step, and between the welding electrode and the welding object during the second step. The arc welding method according to claim 1, wherein a base current lower than the peak current is supplied.
The arc welding method according to claim 2, wherein a peak current is supplied between the welding electrode and the welding object during the third step.
The welding electrode is a non-consumable electrode, and arc welding is performed while supplying a filler material. The supply of the filler material is a peak feeding speed and a base feeding speed that is slower than the peak feeding speed. Are alternately repeated, and the feed at the peak feed speed is started at a timing different from the start timing of the peak current, and the feed at the base feed speed is started at the start timing of the base current. The arc welding method according to claim 1, wherein the arc welding method is started at a different timing.
The welding electrode is a non-consumable electrode, and arc welding is performed while supplying the filler material, and the filler material is fed in reverse so that feeding of the filler material is reversed during the second step. The arc welding method according to claim 1, wherein the feeding is controlled.
The welding electrode is a non-consumable electrode, and arc welding is performed while supplying a filler material. During the first predetermined time from the start of the second step, the filler material is fed. The arc welding method according to any one of claims 1 to 6, wherein the feeding is controlled so as to be reverse feeding, and the feeding of the filler metal is stopped after the first predetermined time has elapsed.
The welding electrode is a non-consumable electrode, and arc welding is performed while supplying a filler metal, and a first time from the start of the second step to a predetermined time after the start of the second step. The feeding of the filler material is controlled to be reverse feeding during a predetermined time of 2, and the feeding of the filler material is stopped after elapse of the second predetermined time. The arc welding method according to claim 1.
The welding electrode is a non-consumable electrode, arc welding is performed while supplying a filler metal, and a third predetermined period from a certain time before the start of the second step to the start of the second step. The feeding of the filler material is controlled so as to be reversed during the time, and feeding of the filler material is stopped after the third predetermined time has elapsed. The arc welding method according to claim 1.
The welding electrode is a consumable electrode, and the supply of the consumable electrode is performed by alternately repeating a peak feed speed and a base feed speed slower than the peak feed speed, and the peak feed speed 5. The arc welding method according to claim 1, wherein the base welding speed is controlled so as to be synchronized with the base current, and the base feed speed is controlled so as to be synchronized with the base current.
A welding power supply for supplying power between the non-consumable electrode and the welding object;
A manipulator with a welding torch holding the non-consumable electrode;
A control device for controlling the manipulator and the welding power source device;
An arc welding apparatus comprising: a filler material feeding guide attached to the welding torch for feeding a filler material;
A filler material feeding section for feeding the filler material;
A peak current setting unit for setting a current value and time of a peak current supplied between the non-consumable electrode and the welding object;
A base current setting unit for setting a current value and time of a base current smaller than the peak current;
The filler material peak feed rate setting unit for setting the peak feed rate of the filler material and the time to apply,
A filler material feed rate setting unit for setting a base feed rate smaller than the peak feed rate of the filler material and a time for applying the base feed rate;
An evacuation condition setting unit for setting conditions for leaving the welding object;
A moving condition setting unit for setting a moving condition for moving in the welding progress direction;
With
A first step of moving the non-consumable electrode in a direction away from the welding object in a state where the arc is generated; and approaching the welding object in a state where the arc is generated An arc welding apparatus that performs welding by alternately repeating the second step of moving the non-consumable electrode in the direction and the welding progress direction.
The evacuation condition setting unit
A retreat movement distance setting unit for setting a retreat movement distance that is a movement distance away from the welding object;
A retraction direction setting unit for setting a retraction direction that is a direction away from the welding object;
A retreat time setting unit for setting a retreat time that is a time for moving the distance set by the retreat movement distance setting unit in the direction set by the retreat direction setting unit;
The movement condition setting unit
A welding speed setting unit for setting a welding speed that is a speed of movement in the welding progress direction;
A pitch movement distance setting unit for setting a pitch movement distance that is a distance to move in the welding direction,
In the first step, the distance set by the retract movement distance setting unit in the direction set by the retract direction setting unit is the time set by the retract time setting unit, and the non-consumable electrode is attached to the welding target. In the second step, the position of the non-consumable electrode at the start of the first step is changed from the position where the non-consumable electrode is moved upon completion of the first step. The position set by the pitch moving distance setting unit is set by the welding speed setting unit, with the position advanced by the distance set by the pitch moving distance setting unit from the welding progress direction as the movement target position of the non-consumable electrode. The non-consumable electrode according to claim 12, wherein the non-consumable electrode is moved in a direction approaching the welding object and in a direction in which the welding progresses by moving during a time obtained by dividing by the welding speed. Over click welding equipment.
A third step of maintaining the position of the non-consumable electrode for a predetermined time while the arc is generated at a position at the end of the first step is a first step and a second step. The arc welding apparatus according to claim 12, which is performed between
During the first step, a peak current is supplied between the non-consumable electrode and the welding object, and between the non-consumable electrode and the welding object during the second step. The arc welding apparatus according to claim 12, wherein a base current lower than the peak current is supplied.
The arc welding apparatus according to claim 14, wherein a peak current is supplied between the non-consumable electrode and an object to be welded during the third step.
The feeding of the filler material is performed by alternately repeating a peak feeding speed and a base feeding speed slower than the peak feeding speed, and feeding at the peak feeding speed starts the peak current. The arc welding apparatus according to any one of claims 12 to 16, wherein the arc welding apparatus is started at a timing different from a timing, and the feeding at the base feeding speed is started at a timing different from a timing at which the base current is started. .
The arc welding apparatus according to any one of claims 12 to 17, wherein feeding of the filler material is controlled so that feeding of the filler material is reversely fed during the second step.
During the first predetermined time from the start of the second step, the feeding of the filler material is controlled to be reverse, and after the first predetermined time has elapsed, the filler material is controlled. The arc welding apparatus according to any one of claims 12 to 17, wherein the feeding of is stopped.
During a second predetermined time from a certain time before the start of the second step to a certain time after the start of the second step, the feeding of the filler material is controlled to be reverse. The arc welding apparatus according to any one of claims 12 to 17, wherein the feeding of the filler material is stopped after elapse of the second predetermined time.
During a third predetermined time from a certain time before the start of the second step to the start of the second step, the feeding of the filler material is controlled to be reverse feed, The arc welding apparatus according to any one of claims 12 to 17, wherein the feeding of the filler metal is stopped after the elapse of a predetermined time of 3.
A welding power supply for supplying power between the consumable electrode and the welding object;
A manipulator with a welding torch;
A control device for controlling the manipulator and the welding power source device;
An arc welding apparatus comprising:
A consumable electrode feeding section for feeding the consumable electrode;
A first setting unit for setting a current value and time of a peak current supplied between the consumable electrode and the welding object, or a peak feeding speed of the consumable electrode and a time to apply;
A second setting unit for setting a current value and time of a base current smaller than the peak current, or a base feeding speed slower than the peak feeding speed and an application time;
A peak voltage setting unit for setting a voltage value of a peak voltage applied between the consumable electrode and the welding object;
A base voltage setting unit for setting a voltage value of a base voltage smaller than the peak voltage;
An evacuation condition setting unit for setting conditions for leaving the welding object;
A moving condition setting unit for setting a moving condition for moving in the welding progress direction;
With
A first step of moving the consumable electrode in a direction away from the welding object in a state where the arc is generated; and a direction approaching the welding object in a state where the arc is generated An arc welding apparatus that performs welding by alternately repeating the second step of moving the consumable electrode in the welding progress direction.
The evacuation condition setting unit
A retreat movement distance setting unit for setting a retreat movement distance that is a movement distance away from the welding object;
A retraction direction setting unit for setting a retraction direction that is a direction away from the welding object;
A retreat time setting unit for setting a retreat time that is a time for moving the distance set by the retreat movement distance setting unit in the direction set by the retreat direction setting unit;
The movement condition setting unit
A welding speed setting unit for setting a welding speed that is a speed of movement in the welding progress direction;
A pitch movement distance setting unit for setting a pitch movement distance that is a distance to move in the welding direction,
In the first step, the consumable electrode is attached to the welding object in the direction set by the retracting direction setting unit, with the distance set by the retracting movement distance setting unit being the time set by the retracting time setting unit. In the second step, the welding is performed from the position of the consumable electrode at the start of the first step from the position where the consumable electrode is moved by the completion of the first step. The position advanced by the distance set by the pitch moving distance setting unit in the traveling direction is set as the moving target position of the consumable electrode, and the distance set by the pitch moving distance setting unit is the welding speed set by the welding speed setting unit. 23. The arc welding according to claim 22, wherein the consumable electrode is moved in a direction approaching the welding object and in a direction in which the welding progresses by moving during a time determined by dividing the welding target. Location.
The supply of the consumable electrode is performed by alternately repeating a peak feed speed and a base feed speed that is slower than the peak feed speed, and the feed at the peak feed speed is the supply of the peak current. The arc welding apparatus according to any one of claims 22 and 23, wherein the arc welding apparatus is controlled to synchronize with the base current, and the feeding at the base feeding speed is controlled to synchronize with the supply of the base current.
The arc welding device according to any one of claims 12 to 24, wherein the welding power source device is provided in the control device.