JP6289713B1 - Welding system and welding method - Google Patents

Welding system and welding method Download PDF

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JP6289713B1
JP6289713B1 JP2017115503A JP2017115503A JP6289713B1 JP 6289713 B1 JP6289713 B1 JP 6289713B1 JP 2017115503 A JP2017115503 A JP 2017115503A JP 2017115503 A JP2017115503 A JP 2017115503A JP 6289713 B1 JP6289713 B1 JP 6289713B1
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welding
temperature
workpiece
preheating
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JP2019000854A (en
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千里 福原
千里 福原
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NANKAI SPECIAL STEEL CO.,LTD.
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K10/00—Welding or cutting by means of a plasma
    • B23K10/02—Plasma welding
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K26/00—Working by laser beam, e.g. welding, cutting or boring
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K26/00—Working by laser beam, e.g. welding, cutting or boring
    • B23K26/02—Positioning or observing the workpiece, e.g. with respect to the point of impact; Aligning, aiming or focusing the laser beam
    • B23K26/03—Observing, e.g. monitoring, the workpiece
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K26/00—Working by laser beam, e.g. welding, cutting or boring
    • B23K26/08—Devices involving relative movement between laser beam and workpiece
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K26/00—Working by laser beam, e.g. welding, cutting or boring
    • B23K26/34—Laser welding for purposes other than joining
    • B23K26/342—Build-up welding
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K26/00—Working by laser beam, e.g. welding, cutting or boring
    • B23K26/60—Preliminary treatment
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K31/00—Processes relevant to this subclass, specially adapted for particular articles or purposes, but not covered by only one of the preceding main groups
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K9/00—Arc welding or cutting
    • B23K9/04—Welding for other purposes than joining, e.g. built-up welding
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K9/00—Arc welding or cutting
    • B23K9/235—Preliminary treatment

Abstract

【課題】溶接品質を安定させることが容易である溶接システム及び溶接方法を提供する。【解決手段】ワーク表面４に溶接材料を溶着させて肉盛溶接を行う溶接装置１０と、ワーク２を予熱し保温する予熱装置３０と、ワーク２の予熱後に肉盛溶接を開始するように、溶接装置１０及び予熱装置３０を動作させる制御装置１８と、溶接装置１０によってワーク表面４で溶融されている溶接材料６の温度である第１の温度Ｔａを計測する第１のセンサ４０と、ワーク２の温度である第２の温度Ｔｂを計測する第２のセンサ４２とを備える。制御装置１８は、第１及び第２の温度Ｔａ，Ｔｂに基づいて、溶接装置１０が肉盛溶接を行う間、第１及び第２の温度Ｔａ，Ｔｂがそれぞれ予め決められた第１及び第２の範囲内に収まるように、溶接装置１０と予熱装置３０とのいずれか一方又は両方の出力を制御する。【選択図】図１To provide a welding system and a welding method that can easily stabilize the welding quality. A welding apparatus 10 for depositing a welding material on a workpiece surface 4 to perform overlay welding, a preheating apparatus 30 for preheating and keeping warm the workpiece 2, and starting overlay welding after the workpiece 2 is preheated. A control device 18 for operating the welding device 10 and the preheating device 30, a first sensor 40 for measuring a first temperature Ta which is the temperature of the welding material 6 melted on the workpiece surface 4 by the welding device 10, and the workpiece And a second sensor 42 that measures a second temperature Tb that is a second temperature. Based on the first and second temperatures Ta and Tb, the control device 18 is configured such that the first and second temperatures Ta and Tb are determined in advance while the welding apparatus 10 performs overlay welding. The output of either one or both of the welding apparatus 10 and the preheating apparatus 30 is controlled so as to be within the range of 2. [Selection] Figure 1

Description

本発明は、溶接システム及び溶接方法に関し、詳しくは、肉盛溶接に用いる溶接システムに関する。   The present invention relates to a welding system and a welding method, and more particularly to a welding system used for overlay welding.

肉盛溶接は、一般に、耐食・耐熱・耐摩耗などの表面改質を目的として、母材の表面に、母材と異なる成分系の材料を溶着させる溶接法であり、アーク溶接、プラズマ溶接、レーザ溶接、ガス溶接などの溶融溶接法が適用可能である。   Overlay welding is generally a welding method in which a component material different from the base material is welded to the surface of the base material for the purpose of surface modification such as corrosion resistance, heat resistance, and wear resistance. Arc welding, plasma welding, Fusion welding methods such as laser welding and gas welding are applicable.

例えば図３は、プラズマ溶接を行う粉体プラズマ溶接装置の概略図である。図３（Ａ）は溶接トーチ８とワーク９との関係を示す構成図、図３（Ｂ）は図３（Ａ)の線Ｚ−Ｚに沿って見た断面図である。図３に示すように、この装置は、溶接トーチ８とワーク９の表面との間に形成されているプラズマアーク中に、溶接トーチ８の複数の粉体供給穴８ａ，８ｂから溶接材料の粉末を供給して液滴を形成し、その液滴をワーク９の表面に溶着させる（例えば、特許文献１参照）。   For example, FIG. 3 is a schematic view of a powder plasma welding apparatus that performs plasma welding. FIG. 3A is a configuration diagram showing the relationship between the welding torch 8 and the workpiece 9, and FIG. 3B is a cross-sectional view taken along line ZZ in FIG. 3A. As shown in FIG. 3, this apparatus is configured to provide a powder of welding material from a plurality of powder supply holes 8 a and 8 b of the welding torch 8 during a plasma arc formed between the welding torch 8 and the surface of the workpiece 9. To form a droplet, and the droplet is welded to the surface of the work 9 (see, for example, Patent Document 1).

特開平１０−１９３１２９号公報JP-A-10-193129

肉盛溶接によって表面改質を達成するためには、熱管理（予熱温度、層間温度・パス間温度及び後熱処理の管理）が必要である。例えば、金型の肉盛等では、所望の「母材強度」の素材を選び、「溶接部」及び「溶接部と母材の界面部」が母材と同等程度の強度となるようにする。強度の高い母材へ、耐熱性・耐摩耗性などが優れた強度の高い溶接材料を盛ることなるが、そのような溶接材料は、熱管理がないと、溶接中又は溶接後に割れてしまう。溶接部の強度を高めるためには、溶接部の内部欠陥（巣など）は無いことが望ましく、できるだけ少なくしなくてはならない。また、溶接品質の一つである、母材と溶接材の密着状態が良好でなくてはならない。さらに、母材の組織の品質も損なってはならない。金型では熱処理によって調質するが、溶接工程で過度に入熱昇温すると、硬度が落ちるなど変質してしまう。   In order to achieve surface modification by overlay welding, thermal management (preheating temperature, interlayer temperature / interpass temperature, and post heat treatment management) is required. For example, when building up a mold, select a material with the desired “base material strength” so that the “welded part” and the “interface between the weld and base material” have the same strength as the base material. . A high-strength base material is filled with a high-strength welding material having excellent heat resistance, wear resistance, and the like, but such a welding material is cracked during or after welding unless heat management is performed. In order to increase the strength of the welded portion, it is desirable that there are no internal defects (such as nests) in the welded portion, and it should be as small as possible. Moreover, the contact | adherence state of a base material and a welding material which is one of welding quality must be favorable. Furthermore, the quality of the matrix structure must not be compromised. The mold is tempered by heat treatment, but if the heat input is excessively raised in the welding process, it will be deteriorated, for example, the hardness will decrease.

しかしながら、熱管理について再現性の高い手法が確立されていないのが現状であり、溶接品質を安定させることは容易でない。   However, the present situation is that a method with high reproducibility has not been established for thermal management, and it is not easy to stabilize the welding quality.

例えば、粉体プラズマ溶接装置を用いて肉盛溶接を行う場合、安定した溶接品質を得るには、電流値（溶接装置の出力）・電流プロファイル・粉末送り出し量・溶接トーチの軌道や移動速度などの溶接条件を設定し溶接を開始した後、作業員が溶接状態を観察し、観察した溶接状態から溶接条件の適否を判断し、適宜、溶接条件を微調整する必要がある。溶接状態の適否は、溶湯（母材上で溶融している溶接材料）の大きさ・形状、溶湯と母材の境界線の乱れ、溶湯の沸き立ち状態、溶湯が凝固したビードに発生するブローホールの数や大きさなどで判断するが、作業員の経験に依存する部分が多く、定量的な判断基準は確立されていない。   For example, when performing overlay welding using a powder plasma welding device, to obtain stable welding quality, the current value (output of the welding device), current profile, powder feed amount, trajectory and moving speed of the welding torch, etc. After the welding conditions are set and the welding is started, the operator needs to observe the welding state, judge the suitability of the welding conditions from the observed welding state, and finely adjust the welding conditions as appropriate. The suitability of the welded state depends on the size and shape of the molten metal (welded material melted on the base metal), the disturbance of the boundary line between the molten metal and the base metal, the boiling state of the molten metal, and the blowhole generated in the bead where the molten metal has solidified However, there are many parts that depend on the experience of workers, and quantitative criteria have not been established.

本発明は、かかる実情に鑑み、溶接品質を安定させることが容易である溶接システム及び溶接方法を提供しようとするものである。   In view of such circumstances, the present invention intends to provide a welding system and a welding method that can easily stabilize the welding quality.

本発明は、上記課題を解決するために、以下のように構成した溶接システムを提供する。   In order to solve the above-mentioned problems, the present invention provides a welding system configured as follows.

溶接システムは、（ａ）ワークの表面に溶接材料を溶着させて肉盛溶接を行う溶接装置と、（ｂ）直接接触による伝熱、熱線照射、アーク放電、ガスバーナのうち少なくとも一つによって前記ワークを予熱し保温する予熱装置と、（ｃ）前記ワークの予熱後に前記肉盛溶接を開始するように、前記溶接装置及び前記予熱装置を動作させる制御装置と、（ｄ）前記溶接装置によって前記ワークの前記表面で溶融されている前記溶接材料の温度である第１の温度を計測する第１のセンサと、を備える。前記制御装置は、前記溶接装置が前記肉盛溶接を行う間、前記第１のセンサが計測した前記第１の温度に基づいて、前記第１の温度が第１の範囲内に収まるように、前記予熱装置の出力を制御する。 The welding system includes: (a) a welding apparatus that welds a welding material on the surface of the workpiece and performing overlay welding; and (b) heat transfer by direct contact, heat ray irradiation, arc discharge, and gas burner. (C) a control device for operating the welding device and the preheating device so as to start the build-up welding after preheating the workpiece; and (d) the workpiece by the welding device. A first sensor that measures a first temperature that is a temperature of the welding material melted on the surface of the welding material. The control device, based on the first temperature measured by the first sensor, while the welding apparatus performs the overlay welding, so that the first temperature falls within a first range, The output of the preheating device is controlled.

上記構成において、制御装置は、第１の温度（溶湯の温度）の計測値に基づいて、第１の温度が、良好な溶接状態になる範囲内に収まるように、予熱装置の出力を制御する。これによって、溶接中に、溶接条件が適切に制御され、良好な溶接状態が維持される。 In the above configuration, the control device, based on the measurement values of the first temperature (temperature of the molten metal), such that the first temperature is within the ranges become good welding conditions, controls the output of the preheating device To do. Thereby, during welding, the welding conditions are appropriately controlled, and a good welding state is maintained.

上記構成によれば、溶接品質に影響を与える要因を第１の温度に集約し、定量的な基準に基づいて溶接状態を制御することができ、熱管理の再現性が高い。したがって、溶接品質を安定させることが容易である。 According to the said structure, the factor which affects welding quality can be collected on 1st temperature, a welding state can be controlled based on a quantitative reference | standard, and the reproducibility of thermal management is high. Therefore, it is easy to stabilize the welding quality.

予熱装置の出力は、第１の温度が第１の範囲から外れてから変更してもよいし、第１の温度が第１の範囲内のときから変更してもよい。 The output of the preheating apparatus, to the first temperature may be changed from off the first range, the first temperature may be changed from time in the first range.

また、本発明は、上記課題を解決するために、以下のように構成した溶接システムを提供する。   Moreover, in order to solve the said subject, this invention provides the welding system comprised as follows.

溶接システムは、（ａ）ワークの表面に溶接材料を溶着させて肉盛溶接を行う溶接装置と、（ｂ）直接接触による伝熱、熱線照射、アーク放電、ガスバーナのうち少なくとも一つによって前記ワークを予熱し保温する予熱装置と、（ｃ）前記ワークの予熱後に前記肉盛溶接を開始するように、前記溶接装置及び前記予熱装置を動作させる制御装置と、（ｄ）前記ワークの温度である第２の温度を計測する第２のセンサと、を備える。前記制御装置は、前記溶接装置が前記肉盛溶接を行う間、前記第２のセンサが計測した前記第２の温度に基づいて、前記第２の温度が第２の範囲内に収まるように前記溶接装置の出力を制御する。 The welding system includes: (a) a welding apparatus that welds a welding material on the surface of the workpiece and performing overlay welding; and (b) heat transfer by direct contact, heat ray irradiation, arc discharge, and gas burner. A preheating device that preheats and keeps warm, (c) a control device that operates the welding device and the preheating device so as to start the build-up welding after preheating the workpiece, and (d) the temperature of the workpiece. And a second sensor for measuring a second temperature. The control device is configured so that the second temperature falls within a second range based on the second temperature measured by the second sensor while the welding device performs the overlay welding. Control the output of the welding equipment.

上記構成によれば、溶接品質に影響を与える要因を第２の温度に集約し、定量的な基準に基づいて溶接状態を制御することができ、熱管理の再現性が高い。したがって、溶接品質を安定させることが容易である。溶接装置の出力は、第２の温度が第２の範囲から外れてから変更してもよいし、第２の温度が第２の範囲内のときから変更してもよい。 According to the above configuration, the factors affecting the welding quality can be concentrated on the second temperature, the welding state can be controlled based on a quantitative standard, and the reproducibility of the thermal management is high. Therefore, it is easy to stabilize the welding quality. The output of the welding apparatus may be changed after the second temperature is out of the second range, or may be changed from when the second temperature is within the second range.

前記溶接装置によって前記ワークの前記表面で溶融されている前記溶接材料の温度である第１の温度を計測する第１のセンサを、さらに備える。前記制御装置は、前記第１のセンサが計測した前記第１の温度が第１の範囲から外れたとき、前記予熱装置の前記出力を変更する。A first sensor for measuring a first temperature which is the temperature of the weld material being melted in the surface of the workpiece by the previous SL welding apparatus further comprises. The control device changes the output of the preheating device when the first temperature measured by the first sensor is out of a first range.

この場合、溶接を継続しながら溶接条件を変更することによって、溶接品質を安定させることができる。予熱装置の出力は、第１の温度が第１の範囲から外れてから変更してもよいし、第１の温度が第１の範囲内のときから変更してもよい。 In this case, welding quality can be stabilized by changing welding conditions while continuing welding. The output of the preheating device may be changed after the first temperature is out of the first range, or may be changed from when the first temperature is within the first range.

好ましくは、前記制御装置は、前記第２のセンサが計測した前記第２の温度が前記第２の範囲から外れたとき、前記溶接装置に前記肉盛溶接を中断させた後、前記予熱装置の前記出力を変更し、前記出力が変更された状態で前記溶接装置に前記肉盛溶接を再開させる。 Preferably, the control device, when the front Stories second sensor measured second temperature deviates from the second range, after interrupting the overlay welding to the welding device, before Symbol preheating change the output of the equipment, the output is to resume the overlay welding to the welding apparatus in a state that has changed.

この場合、溶接を中断することによって溶接品質の劣化を未然に回避でき、溶接条件の設定を変更した後に溶接を再開することによって、溶接品質を安定させることができる。   In this case, the welding quality can be prevented from deteriorating by interrupting the welding, and the welding quality can be stabilized by restarting the welding after changing the setting of the welding conditions.

好ましくは、溶接システムは、（ｅ）前記溶接装置が前記肉盛溶接を行う間、前記溶接装置の溶接トーチと前記ワークとが予め設定された経路に沿って相対移動するように、前記溶接トーチと前記ワークとのいずれか一方又は両方を移動させる相対移動装置と、（ｆ）前記ワークの位置を検出する第３のセンサと、をさらに備える。前記制御装置は、前記第３のセンサによって検出された前記予熱後の前記ワークの位置に応じて、予め設定された前記経路を補正し、前記溶接装置が前記肉盛溶接を行う間、前記溶接トーチと前記ワークとが、補正された前記経路に沿って相対移動するように、前記相対移動装置を動作させる。   Preferably, the welding system includes: (e) the welding torch so that the welding torch of the welding apparatus and the workpiece relatively move along a preset path while the welding apparatus performs the overlay welding. And a relative movement device for moving one or both of the workpiece and (f) a third sensor for detecting the position of the workpiece. The control device corrects the preset route according to the position of the workpiece after the preheating detected by the third sensor, and the welding device performs the welding while the welding device performs the overlay welding. The relative movement device is operated so that the torch and the workpiece move relative to each other along the corrected path.

この場合、予熱後のワークの位置に応じて、適切な経路で溶接することができるので、ワークの位置決め誤差や予熱に伴うワークの熱変形などに影響されない。そのため、溶接品質が一層安定する。   In this case, since welding can be performed with an appropriate path in accordance with the position of the workpiece after preheating, it is not affected by workpiece positioning error or thermal deformation of the workpiece accompanying preheating. Therefore, the welding quality is further stabilized.

好ましくは、前記溶接装置は、ガスと前記溶接材料の粉末とを供給する粉末送給装置を備えた粉体プラズマ溶接装置又はレーザ溶接装置である。   Preferably, the welding device is a powder plasma welding device or a laser welding device provided with a powder feeding device for supplying gas and powder of the welding material.

粉体プラズマ溶接装置やレーザ溶接装置を用いて１層又は２層以上の肉盛溶接する場合、溶接品質を確保するためには十分な熱管理（予熱温度、層間温度・パス間温度及び後熱処理の管理）が必要であるため、特に顕著な効果が得られる。また、溶接中のスパッタの飛び散りが少なく、温度計測が容易である。   When performing overlay welding of one or more layers using powder plasma welding equipment or laser welding equipment, sufficient thermal management (preheating temperature, interlayer temperature / interpass temperature and post-heat treatment to ensure welding quality Therefore, a particularly remarkable effect can be obtained. Moreover, there is little spatter scattering during welding, and temperature measurement is easy.

好ましくは、前記制御装置は、前記溶接装置と前記予熱装置とのいずれか一方又は両方の前記出力を、前記溶接装置が前記肉盛溶接を行っているときに手動で変更するための手動操作盤を含む。 Preferably, the control device manually changes the output of one or both of the welding device and the preheating device when the welding device is performing the overlay welding. including.

この場合、溶接条件が制御装置によって変更される前に、手動で溶接条件を変更することができる。そのため、作業員が溶接状態を監視し、適切な溶接状態となるように、より迅速に溶接条件を変更するができ、溶接品質をより安定させることが可能になる。   In this case, the welding conditions can be manually changed before the welding conditions are changed by the control device. Therefore, an operator can monitor the welding state and change the welding conditions more quickly so as to obtain an appropriate welding state, so that the welding quality can be further stabilized.

また、本発明は、上記課題を解決するために、以下のように構成した溶接方法を提供する。   Moreover, in order to solve the said subject, this invention provides the welding method comprised as follows.

溶接方法は、第１ないし第３のステップを備える。前記第１のステップにおいて、直接接触による伝熱、熱線照射、アーク放電、ガスバーナのうち少なくとも一つによってワークを予熱し保温する予熱装置を用いてワークを予熱した後、前記予熱装置を用いて前記ワークを保温しながら、溶接装置のトーチと前記ワークとを、予め設定された経路に沿って相対移動させて、前記ワークの表面に溶接材料を溶着させて肉盛溶接を行う。前記第２のステップにおいて、前記第１のステップで前記肉盛溶接を行う間、前記ワークの前記表面で溶融している前記溶接材料の温度である第１の温度を計測する。前記第３のステップにおいて、前記第２のステップで計測した前記第１の温度に基づいて、前記第１の温度が第１の範囲内に収まるように、前記予熱装置の出力を制御する。 The welding method includes first to third steps. In the first step, after preheating the work using a preheating device that preheats and keeps the work by at least one of heat transfer by direct contact, heat ray irradiation, arc discharge, and gas burner , the preheating device is used to While keeping the workpiece warm, the torch of the welding apparatus and the workpiece are moved relative to each other along a preset path, and welding welding is performed on the surface of the workpiece to perform overlay welding. In the second step, a first temperature, which is a temperature of the welding material melted on the surface of the workpiece, is measured during the build-up welding in the first step. In the third step, the output of the preheating device is controlled based on the first temperature measured in the second step so that the first temperature falls within the first range.

上記方法によれば、溶接品質に影響を与える要因を第１の温度に集約し、定量的な基準に基づいて溶接状態を制御することができ、熱管理の再現性が高い。したがって、溶接品質を安定させることが容易である。 According to the above method, the factors affecting the welding quality can be concentrated on the first temperature, the welding state can be controlled based on a quantitative standard, and the reproducibility of the thermal management is high. Therefore, it is easy to stabilize the welding quality.

また、本発明は、上記課題を解決するために、以下のように構成した溶接方法を提供する。   Moreover, in order to solve the said subject, this invention provides the welding method comprised as follows.

溶接方法は、第１ないし第５のステップを備える。前記第１のステップにおいて、直接接触による伝熱、熱線照射、アーク放電、ガスバーナのうち少なくとも一つによってワークを予熱し保温する予熱装置を用いて前記ワークを予熱した後、前記予熱装置を用いて前記ワークを保温しながら、溶接装置のトーチと前記ワークとを、予め設定された経路に沿って相対移動させて、前記ワークの表面に溶接材料を溶着させて肉盛溶接を行う。前記第２のステップにおいて、前記第１のステップで前記肉盛溶接を行う間、前記ワークの前記表面で溶融している前記溶接材料の温度である第１の温度を計測する。前記第３のステップにおいて、前記第２のステップで計測した前記第１の温度に基づいて、前記第１の温度が第１の範囲内に収まるように前記予熱装置の出力を制御する。前記第４のステップにおいて、前記第１のステップで前記肉盛溶接を行う間、前記ワークの前記表面の温度である第２の温度を計測する。前記第５のステップにおいて、前記第４のステップで計測した前記第２の温度に基づいて、前記第２の温度が第２の範囲内に収まるように前記溶接装置の出力を制御する。 The welding method includes first to fifth steps. In the first step, the heat transfer by direct contact, heat ray irradiation, arc discharge, after preheating the workpiece with a preheater for preheating the workpiece insulation by at least one of the gas burner, with the preheating device While keeping the work warm, the torch of the welding apparatus and the work are moved relative to each other along a preset path, and welding welding is performed on the surface of the work to perform overlay welding. In the second step, a first temperature, which is a temperature of the welding material melted on the surface of the workpiece, is measured during the build-up welding in the first step. In the third step, the output of the preheating device is controlled based on the first temperature measured in the second step so that the first temperature falls within the first range. In the fourth step, a second temperature, which is a temperature of the surface of the workpiece, is measured while the build-up welding is performed in the first step. In the fifth step, the output of the welding apparatus is controlled based on the second temperature measured in the fourth step so that the second temperature falls within the second range.

上記方法によれば、溶接品質に影響を与える要因を第１及び第２の温度に集約し、定量的な基準に基づいて溶接状態を制御することができ、熱管理の再現性が高い。したがって、溶接品質を安定させることが容易である。 According to the above method, factors affecting the welding quality can be concentrated on the first and second temperatures, and the welding state can be controlled based on a quantitative standard, so that the reproducibility of the thermal management is high. Therefore, it is easy to stabilize the welding quality.

本発明によれば、溶接品質を安定させることが容易である。   According to the present invention, it is easy to stabilize the welding quality.

図１は溶接システムの構成図である。（実施例１）FIG. 1 is a configuration diagram of a welding system. Example 1 図２は溶接システムの動作のフローチャートである。（実施例１）FIG. 2 is a flowchart of the operation of the welding system. Example 1 図３は粉体プラズマ溶接装置の概略図である。（従来例１）FIG. 3 is a schematic view of a powder plasma welding apparatus. (Conventional example 1)

以下、本発明の実施の形態について、図面を参照しながら説明する。   Hereinafter, embodiments of the present invention will be described with reference to the drawings.

＜実施例１＞ 実施例１の溶接システム５０について、図１及び図２を参照しながら説明する。   <Example 1> The welding system 50 of Example 1 is demonstrated, referring FIG.1 and FIG.2.

図１は、溶接システム５０の構成を概念的に示した構成図である。図１に示すように、溶接システム５０は、大略、ワーク２の表面４に溶接材料を溶着させて肉盛溶接を行う溶接装置１０と、ワーク２を加熱し保温する予熱装置３０と、溶接装置１０の溶接トーチ１１を把持しながら移動させる把持ロボット２０と、溶湯６の温度（ワーク２の表面４で溶融している溶接材料の温度、以下「第１の温度Ｔａ」ともいう。）を検出する第１のセンサ４０と、ワーク２の温度（以下「第２の温度Ｔｂ」ともいう。）を検出する第２のセンサ４２と、ワーク２の位置を検出する第３のセンサ４４と備えている。なお、第３のセンサ４４を備えない構成とすることも可能である。また、第１及び第２のセンサ４０，４２のいずれか一方を備え、他方は備えない構成とすることも可能である。   FIG. 1 is a configuration diagram conceptually showing the configuration of the welding system 50. As shown in FIG. 1, a welding system 50 is roughly composed of a welding device 10 that performs welding by welding a welding material to the surface 4 of the workpiece 2, a preheating device 30 that heats and keeps the workpiece 2 warm, and a welding device. The gripping robot 20 that moves while gripping the ten welding torches 11 and the temperature of the molten metal 6 (the temperature of the welding material melted on the surface 4 of the workpiece 2, hereinafter also referred to as “first temperature Ta”) are detected. A first sensor 40 that detects the temperature of the workpiece 2 (hereinafter also referred to as “second temperature Tb”), and a third sensor 44 that detects the position of the workpiece 2. Yes. Note that a configuration without the third sensor 44 is also possible. It is also possible to have a configuration in which either one of the first and second sensors 40 and 42 is provided but the other is not provided.

溶接装置１０は、例えば、溶接材料として粉体を用いる粉体プラズマ溶接装置である。この場合、溶接装置１０は、溶接トーチ１１にガスと溶接材料の粉末とを供給する粉末送給装置１２と、溶接トーチ１１に冷却水を供給し回収する冷却水循環装置１４と、電圧を印加して溶接トーチ１１内部の電極とワーク２の表面４との間にプラズマアークを発生させるためのプラズマ溶接電源１６と、制御装置１８とを備えている。   The welding apparatus 10 is, for example, a powder plasma welding apparatus that uses powder as a welding material. In this case, the welding device 10 applies a voltage to a powder feeding device 12 that supplies gas and welding material powder to the welding torch 11, a cooling water circulation device 14 that supplies and recovers cooling water to the welding torch 11, and a voltage. A plasma welding power source 16 for generating a plasma arc between the electrode inside the welding torch 11 and the surface 4 of the workpiece 2 and a control device 18 are provided.

なお、溶接装置１０は、粉体プラズマ溶接装置に限らず、適宜な溶融溶接法によってワークの表面に溶接材料を溶着させて肉盛溶接を行う溶接装置であればよく、例えば、通常のアーク溶接装置や、レーザ溶接装置や、レーザとアークを組み合わせたハイブリッド溶接装置などでもよい。ガスと溶接材料の粉末とを供給する粉末送給装置を備えた粉体プラズマ溶接装置やレーザ溶接装置等は、溶接中のスパッタが少なく、温度計測が容易である。   The welding apparatus 10 is not limited to a powder plasma welding apparatus, and may be any welding apparatus that performs overlay welding by welding a welding material to the surface of a workpiece by an appropriate fusion welding method. For example, normal arc welding An apparatus, a laser welding apparatus, a hybrid welding apparatus combining a laser and an arc, or the like may be used. A powder plasma welding apparatus, a laser welding apparatus, or the like provided with a powder feeding device that supplies gas and powder of a welding material has few spatters during welding, and temperature measurement is easy.

予熱装置３０は、溶接前にワーク２を予熱し、溶接中にワーク２を保温し、溶接後にワーク２の後熱処理を行うために用いることができる。予熱装置３０は、例えば、ワーク２が載置される載置面３４を有する本体３２と、制御器３６とを備える。本体３２には、不図示の加熱器と温度検出器が内蔵されている。制御器３６は、予め設定された保持温度まで載置面３４が加熱された後、載置面３４の温度が保持温度に維持されるように、本体３２内の加熱器を制御する。制御器３６には、制御装置１８から制御信号が入力され、予熱装置３０の予熱・保温や後熱処理の開始や終了、保持温度の設定や変更などが、制御装置１８によって制御される。   The preheating device 30 can be used for preheating the workpiece 2 before welding, keeping the workpiece 2 warm during welding, and performing post-heat treatment of the workpiece 2 after welding. The preheating device 30 includes, for example, a main body 32 having a placement surface 34 on which the workpiece 2 is placed, and a controller 36. The main body 32 includes a heater and a temperature detector (not shown). The controller 36 controls the heater in the main body 32 so that the temperature of the mounting surface 34 is maintained at the holding temperature after the mounting surface 34 is heated to a preset holding temperature. A control signal is input from the control device 18 to the controller 36, and the control device 18 controls the start and end of preheating / warming and post-heat treatment of the preheating device 30, setting and changing of the holding temperature, and the like.

なお、予熱装置３０は、ワークの温度を計測する温度センサ（第２のセンサ４２と兼用しても、第２のセンサ４２とは別でもよい）を用いて、ワークの所定部分の温度が所定温度になるように、ワークを加熱し保温するように構成してもよい。この場合、温度むらが生じやすい大型のワークなどの温度管理が容易になる。   The preheating device 30 uses a temperature sensor for measuring the temperature of the workpiece (which may be used as the second sensor 42 or may be separate from the second sensor 42), so that the temperature of a predetermined portion of the workpiece is predetermined. You may comprise so that a workpiece | work may be heated and heat-retained so that it may become temperature. In this case, temperature management of a large workpiece or the like that is likely to cause temperature unevenness is facilitated.

予熱装置３０の代わりに、熱線照射、アーク放電、ガスバーナなどの適宜な方法で、ワークを加熱し保温する予熱装置を用いてもよい。また、予熱装置は、ワークを支持する装置（例えば、載置されたワークを移動させる移動テーブルや、ワークを把持しワークの位置や向きを変えるワーク把持装置など）に組み込んでも、ワークを支持する装置とは別に設けても構わない。 Instead of pre-heating device 30, heat ray irradiation, arc discharge, by an appropriate method such as gas burners, may be used preheater for heating the workpiece insulation. In addition, the preheating device supports the workpiece even if it is incorporated in a device that supports the workpiece (for example, a moving table that moves the mounted workpiece or a workpiece gripping device that grips the workpiece and changes the position and orientation of the workpiece). You may provide separately from an apparatus.

把持ロボット２０は、予め決められた経路でワーク２の表面４にビードを形成するように、ワーク２の表面４に沿って溶接トーチ１１を移動させる。溶接トーチ１１の軌道は、例えば３Ｄシミュレーションで予め検討し設定しておく。   The gripping robot 20 moves the welding torch 11 along the surface 4 of the work 2 so as to form a bead on the surface 4 of the work 2 along a predetermined route. The trajectory of the welding torch 11 is examined and set in advance by, for example, 3D simulation.

把持ロボット２０は、相対移動装置（すなわち、溶接装置１０が肉盛溶接を行う間、溶接装置１０の溶接トーチ１１とワーク２とが予め設定された経路に沿って相対移動するように、溶接トーチ１１とワーク２といずれか一方又は両方を移動させる相対移動装置）である。相対移動装置は、例えば、ワークが載置され、固定された溶接トーチに対してワークを移動させる移動テーブルでもよいし、ワークを把持しワークの位置や向きを変えるワーク把持装置と、溶接トーチの位置や向きを変える把持ロボットとを組み合わせてもよい。   The gripping robot 20 is a welding torch so that the welding torch 11 of the welding apparatus 10 and the workpiece 2 relatively move along a preset path while the welding apparatus 10 performs overlay welding. 11 and a relative movement device that moves one or both of the workpiece 2 and the workpiece 2). The relative movement device may be, for example, a moving table that moves a workpiece with respect to a welding torch on which a workpiece is placed and is fixed, a workpiece holding device that holds the workpiece and changes the position and orientation of the workpiece, and a welding torch. A gripping robot that changes the position and orientation may be combined.

温度を計測する第１及び第２のセンサ４０，４２は、熱電対や光ファイバー温度計等も使用可能であるが、赤外線放射温度計やサーモカメラなどの非接触タイプが好ましい。第１及び第２のセンサ４０，４２は適宜に配置すればよく、例えば、把持ロボット２０に取り付けてもよいし、把持ロボット２０と協調動作する別のロボットに取り付けてもよい。第１及び第２のセンサ４０，４２は別々である必要はなく、例えば１台のサーモカメラで、溶湯６とワーク２との両方の温度を計測しても構わない。この場合、第１及び第２のセンサ４０，４２を、静止箇所に固定することができる。   As the first and second sensors 40 and 42 for measuring temperature, a thermocouple, an optical fiber thermometer, or the like can be used, but a non-contact type such as an infrared radiation thermometer or a thermo camera is preferable. The first and second sensors 40 and 42 may be appropriately disposed. For example, the first and second sensors 40 and 42 may be attached to the gripping robot 20 or may be attached to another robot that operates in cooperation with the gripping robot 20. The first and second sensors 40 and 42 do not need to be separate. For example, the temperature of both the molten metal 6 and the workpiece 2 may be measured by a single thermo camera. In this case, the 1st and 2nd sensors 40 and 42 can be fixed to a stationary part.

第１のセンサ４０は、例えば、溶接トーチ１１付近から斜めの角度で溶湯６の温度を計測する。   For example, the first sensor 40 measures the temperature of the molten metal 6 at an oblique angle from the vicinity of the welding torch 11.

第２のセンサ４２は、ワーク２の表面４のうち溶接トーチ１１の進行方向の肉盛溶接される予定の領域又はその近傍の温度を計測することが好ましいが、ワーク２の温度を計測する位置は、適宜に選択すればよい。例えば、肉盛溶接される予定の領域から離れた部分の温度を計測するように構成することも可能である。また、ワーク２の内部の温度を計測するように構成することも可能である。   The second sensor 42 preferably measures the temperature of the surface 4 of the workpiece 2 where the welding torch 11 is to be welded in the direction of build-up or in the vicinity thereof, but the position at which the temperature of the workpiece 2 is measured. May be appropriately selected. For example, it is also possible to configure so as to measure the temperature of the part away from the region to be welded. It is also possible to configure to measure the temperature inside the workpiece 2.

第２のセンサ４２は、例えば、ワーク２の表面４のうち、溶湯６の進行方向、すなわち溶湯６が凝固したビードを形成する方向に対して斜め後方の、凝固直後のビードから所定距離離れた位置の温度を計測する。この場合、溶接直後の溶接層との界面近傍の母材の温度を精度よく推定し管理することができるので、溶接層の密着強度や界面近傍の母材の変質を安定させることが容易である。   The second sensor 42 is, for example, a predetermined distance away from the bead immediately after solidification, which is obliquely rearward with respect to the traveling direction of the molten metal 6 on the surface 4 of the workpiece 2, that is, the direction in which the molten metal 6 forms a solidified bead. Measure the temperature at the location. In this case, since the temperature of the base material near the interface with the weld layer immediately after welding can be accurately estimated and managed, it is easy to stabilize the adhesion strength of the weld layer and the deterioration of the base material near the interface. .

１つ又は２つ以上の第２のセンサ４２によって、ワーク２の複数箇所の温度を計測するように構成すると、ワーク２の温度分布に対応した適切な制御が可能になる。   If one or two or more second sensors 42 are configured to measure the temperature at a plurality of locations of the workpiece 2, appropriate control corresponding to the temperature distribution of the workpiece 2 is possible.

例えば、予熱である程度均一に加熱されたワーク２は、予熱装置３０によって保温された状態で溶接される。一般的には、予熱装置３０の出力（発熱量）は、予熱時より保温時の方が小さい。溶接部位の付近の母材は、溶接で発生する熱が直ぐに伝わるため、温度が上昇しやすい。一方、溶接部位から遠い箇所の母材は、相対的に温度が上昇しにくく、場合によっては、予熱装置３０で保温されているのに温度が下がる。そのままでは、溶接されるときの温度は、母材の部位による差が大きくなり、品質ムラの原因となる。また、溶接された部位の母材温度は溶接後に降下するが、温度の降下が想定より大きい箇所では、溶接後の割れなどが発生する可能性有ある。   For example, the workpiece 2 heated to some extent by preheating is welded while being kept warm by the preheating device 30. Generally, the output (heat generation amount) of the preheating device 30 is smaller during the heat retention than during the preheating. Since the base metal near the welded part is immediately transmitted with heat generated by welding, the temperature is likely to rise. On the other hand, the temperature of the base material at a location far from the welding site is relatively less likely to rise, and in some cases, the temperature is lowered even though the temperature is maintained by the preheating device 30. As it is, the temperature at the time of welding increases greatly depending on the part of the base material, which causes quality unevenness. In addition, although the base metal temperature of the welded part drops after welding, there is a possibility that cracking after welding may occur at a place where the temperature drop is larger than expected.

溶接部位の付近の母材温度のみで制御すると、その数値から想定できる以上に、実際には、溶接部位から遠い箇所の母材温度が下がった場合には、適切な制御ができない。そこで、温度センサ２で複数箇所の母材温度を計測し、平均化又はそれぞれにウェイトを適切に持たせた制御を行うなどすれば、ワーク２の温度分布に対応した適切な制御が可能になる。   If control is performed only with the base metal temperature in the vicinity of the welded part, it is actually impossible to perform appropriate control when the base metal temperature in a part far from the welded part is lowered than can be assumed from the numerical value. Therefore, by measuring the temperature of the base material at a plurality of locations with the temperature sensor 2 and averaging or performing control with appropriate weights, it is possible to perform appropriate control corresponding to the temperature distribution of the workpiece 2. .

ワーク２の位置を検出する第３のセンサ４４は、例えばタッチプローブセンサであり、溶接開始直前のワーク２の位置を検出するために用いる。制御装置１８は、把持ロボット２０により移動するように予め設定された溶接トーチ１１の軌道を、第３のセンサ４４で検出したワーク２の位置に応じて補正し、実際のワークの位置に応じた適切な軌道を溶接トーチ１１が移動するように制御する。すなわち、溶接トーチ１１とワーク２とが相対移動するように予め設定された経路が補正され、補正された経路に沿って溶接トーチ１１とワーク２とが相対移動する。これによって、ワークの位置決めがずれていたり、予熱でワークが熱変形したりしても、適切な経路で溶接することができ、溶接品質が安定する。   The third sensor 44 that detects the position of the workpiece 2 is, for example, a touch probe sensor, and is used to detect the position of the workpiece 2 immediately before the start of welding. The control device 18 corrects the trajectory of the welding torch 11 set in advance so as to be moved by the gripping robot 20 according to the position of the workpiece 2 detected by the third sensor 44, and according to the actual position of the workpiece. The welding torch 11 is controlled to move along an appropriate track. That is, a preset path is corrected so that the welding torch 11 and the work 2 move relative to each other, and the welding torch 11 and the work 2 move relative to each other along the corrected path. As a result, even if the workpiece is misaligned or the workpiece is thermally deformed by preheating, welding can be performed with an appropriate path, and the welding quality is stabilized.

制御装置１８は、溶接装置１０の粉末送給装置１２、冷却水循環装置１４、及びプラズマ溶接電源１６を制御し、さらに、把持ロボット２０と予熱装置３０とを制御する。   The control device 18 controls the powder feeding device 12, the cooling water circulation device 14, and the plasma welding power source 16 of the welding device 10, and further controls the gripping robot 20 and the preheating device 30.

制御装置１８は、制御信号を出力したり第１ないし第３のセンサ４０，４２，４４からの検出信号が入力されたりするインターフェースと、動作状況等を表示する表示灯や表示パネルなどの表示機器と、起動・溶接開始などの操作や溶接条件の入力等に用いる操作スイッチ・操作ボタン・データ読取装置などの入力機器と、メモリ等の記憶装置と、ＣＰＵ等の演算処理装置とを含み、予め決められたプログラムに従って制御を実行するように構成されている。   The control device 18 includes an interface that outputs a control signal and a detection signal from the first to third sensors 40, 42, and 44, and a display device such as an indicator lamp or a display panel that displays an operation status or the like. And input devices such as operation switches, operation buttons, and data reading devices used for operations such as starting and starting welding and inputting welding conditions, a storage device such as a memory, and an arithmetic processing device such as a CPU. Control is executed according to a predetermined program.

制御装置１８は、溶接装置１０と予熱装置３０とのうちいずれか一方又は両方の出力を手動で変更するため手動操作盤１９を含むことが好ましい。この場合、手動操作盤１９は、図示したように、制御装置１８の本体１８ａとは別体であり、制御装置１８の本体１８ａに接続されてもよいし、制御装置１８の本体１８ａ内に組み込まれてもよい。手動操作盤１９は、溶接条件を手動操作で微調整できるように構成されている。手動操作盤１９を用いると、溶接条件が自動的に変更され前に、溶接条件を変更することができる。そのため、作業員が溶接状態を監視し、適切な溶接状態となるように、より迅速に溶接条件を変更するができ、溶接品質をより安定させることが可能になる。   The control device 18 preferably includes a manual operation panel 19 for manually changing the output of one or both of the welding device 10 and the preheating device 30. In this case, as shown in the figure, the manual operation panel 19 is separate from the main body 18a of the control device 18, and may be connected to the main body 18a of the control device 18 or incorporated in the main body 18a of the control device 18. May be. The manual operation panel 19 is configured so that the welding conditions can be finely adjusted manually. When the manual operation panel 19 is used, the welding conditions can be changed before the welding conditions are automatically changed. Therefore, an operator can monitor the welding state and change the welding conditions more quickly so as to obtain an appropriate welding state, so that the welding quality can be further stabilized.

さらに、第１及び第２のセンサ４０，４２で計測した第１及び第２の温度Ｔａ，Ｔｂのいずれか一方又は両方が表示される温度表示装置を備えることが好ましい。この場合、定量的なデータ（計測された第１及び第２の温度Ｔａ，Ｔｂ）に基づいて、溶接条件をより適切に変更することでき、溶接品質をより一層安定させることが可能になる。   Furthermore, it is preferable to include a temperature display device that displays either one or both of the first and second temperatures Ta and Tb measured by the first and second sensors 40 and 42. In this case, based on quantitative data (measured first and second temperatures Ta and Tb), the welding conditions can be changed more appropriately, and the welding quality can be further stabilized.

次に、溶接システム５０の動作について、図２を参照しながら説明する。図２は、溶接システム５０の基本的な動作のフローチャートである。   Next, the operation of the welding system 50 will be described with reference to FIG. FIG. 2 is a flowchart of the basic operation of the welding system 50.

まず、ワーク２に応じた溶接条件（溶接装置１０の出力を決める電流値・電流プロファイル・粉末送り出し量等や、溶接トーチ１１の軌道・動作条件・移動速度、予熱装置３０の保持温度等）が設定される。   First, the welding conditions (current value, current profile, powder feed amount, etc. that determine the output of the welding apparatus 10, the trajectory / operation conditions / movement speed of the welding torch 11, the holding temperature of the preheating apparatus 30) according to the workpiece 2 Is set.

次いで、制御装置１８の入力機器を用いて作業員が所定の起動操作を行うと、制御装置１８は、予熱装置３０に加熱・保温モードの動作を開始させ、第２のセンサ４２がワーク２の温度（第２の温度Ｔｂ）の計測を開始する（Ｓ１０）。予熱装置３０の載置面３４の温度は、予め決められた保持温度に達するまで上昇する一方、保持温度に達したら保持温度を維持するように自動制御される。予熱装置３０の載置面３４の温度上昇に伴ってワーク２の温度が上昇し、ワーク２の温度は、予熱装置３０の載置面３４の温度以下になる。   Next, when an operator performs a predetermined starting operation using the input device of the control device 18, the control device 18 causes the preheating device 30 to start the heating / warming mode operation, and the second sensor 42 detects the work 2. Measurement of temperature (second temperature Tb) is started (S10). While the temperature of the mounting surface 34 of the preheating device 30 rises until reaching a predetermined holding temperature, the temperature is automatically controlled to maintain the holding temperature when the holding temperature is reached. The temperature of the workpiece 2 rises as the temperature of the placement surface 34 of the preheating device 30 rises, and the temperature of the workpiece 2 becomes equal to or lower than the temperature of the placement surface 34 of the preheating device 30.

次いで、第２のセンサ４２が計測したワーク２の温度（第２の温度Ｔｂ）が、予め設定された溶接開始基準温度Ｔ０に達すると（Ｓ１２でＹ）、溶接段取りが完了する。 Then, the second sensor 42 is a temperature of the workpiece 2 measured (second temperature Tb) is pre-set welding start reference temperature T 0 is reached, (Y in S12), the welding setup is completed.

次いで、制御装置１８の入力機器を用いて作業員が所定の溶接開始操作をするのを待ち（Ｓ１４でＮ）、溶接開始操作がされると（Ｓ１４でＹ）、溶接工程を開始する。システム上は、ステップＳ１４をなくし、溶接段取り完了後に溶接工程を自動スタートにすることも可能であるが、安全性の観点から手動スタートにすることが好ましい。   Next, the operator waits for the operator to perform a predetermined welding start operation using the input device of the control device 18 (N in S14). When the welding start operation is performed (Y in S14), the welding process is started. On the system, it is possible to eliminate step S14 and automatically start the welding process after completion of welding setup, but it is preferable to manually start from the viewpoint of safety.

溶接工程では、まず、第３のセンサ４４がワーク２の位置を検出し、制御装置１８は、第３のセンサ４４が計測したワーク２の位置に応じて、予め設定された溶接トーチ１１の軌道を補正する（Ｓ１６）。これによって、予熱後のワーク位置に応じて、適切な経路で溶接することができるので、ワークの位置決め誤差や予熱に伴うワークの熱変形などに影響されない。そのため、溶接品質が一層安定する。なお、ワークの位置決め誤差やワークの熱変形などが溶接品質に影響しない場合や、影響しても問題にならない場合などには、ステップ１６をなくしてもよい。   In the welding process, first, the third sensor 44 detects the position of the workpiece 2, and the control device 18 sets the trajectory of the welding torch 11 that is set in advance according to the position of the workpiece 2 measured by the third sensor 44. Is corrected (S16). As a result, since welding can be performed with an appropriate path in accordance with the workpiece position after preheating, the workpiece is not affected by positioning errors of the workpiece or thermal deformation of the workpiece caused by preheating. Therefore, the welding quality is further stabilized. It should be noted that step 16 may be omitted if the workpiece positioning error or the thermal deformation of the workpiece does not affect the welding quality, or if it does not cause a problem even if it affects the workpiece quality.

次いで、制御装置１８は、溶接装置１０と把持ロボット２０を動作させて溶接を開始する（Ｓ１８）。すなわち、溶接装置１０の溶接トーチ１１からワーク２の表面４に、溶融している溶接材料が供給される。把持ロボット２０は、補正された軌道に沿って、溶接トーチ１１を移動させる。   Next, the control device 18 operates the welding device 10 and the gripping robot 20 to start welding (S18). In other words, the molten welding material is supplied from the welding torch 11 of the welding apparatus 10 to the surface 4 of the workpiece 2. The gripping robot 20 moves the welding torch 11 along the corrected trajectory.

溶接中に、第１のセンサ４０は溶湯６の温度（第１の温度Ｔａ）を計測し、第２のセンサはワーク２の温度（第２の温度Ｔｂ）を計測する。制御装置１８は、第１及び第２のセンサ４０，４２が計測した第１及び第２の温度Ｔａ，Ｔｂに基づいて、第１及び第２の温度Ｔａ，Ｔｂがそれぞれ予め決められた第１及び第２の範囲内に収まるように、溶接装置１０と予熱装置３０との少なくとも一方の出力を制御する。   During welding, the first sensor 40 measures the temperature of the molten metal 6 (first temperature Ta), and the second sensor measures the temperature of the workpiece 2 (second temperature Tb). Based on the first and second temperatures Ta and Tb measured by the first and second sensors 40 and 42, the control device 18 has first and second temperatures Ta and Tb determined in advance, respectively. And the output of at least one of the welding apparatus 10 and the preheating apparatus 30 is controlled so that it may be settled in the 2nd range.

具体的には、第１の温度Ｔａが第１の基準温度Ｔ１に達するまで（Ｓ２０でＹ）、出力を変更せず、ステップＳ２４に進む。第１の温度Ｔａが第１の基準温度Ｔ１を超えると（Ｓ２０でＮ）、制御装置１８が予熱装置３０の出力を制御する。すなわち、制御装置１８は、予熱装置３０に設定されている保温温度を所定値分だけ小さくする制御信号を予熱装置３０の制御器３６に送り、予熱装置３０の出力（加熱器の発熱量）を低下させる（Ｓ２２）。この場合、溶接を継続しながら溶接条件を微調整することによって、溶接品質のばらつきを抑制することができる。 Specifically, to a first temperature Ta reaches the first reference temperature T 1 (Y at S20), without changing the output, the process proceeds to step S24. When the first temperature Ta exceeds the first reference temperature T 1 (N at S20), the controller 18 controls the output of the preheating apparatus 30. That is, the control device 18 sends a control signal for reducing the heat retention temperature set in the preheating device 30 by a predetermined value to the controller 36 of the preheating device 30, and outputs the output of the preheating device 30 (heat generation amount of the heater). Decrease (S22). In this case, it is possible to suppress variations in welding quality by finely adjusting the welding conditions while continuing welding.

次いで、ステップＳ２４では、第２の温度Ｔｂが第２の基準温度Ｔ２に達するまで（Ｓ２４でＮ）、出力を変更せず、ステップＳ２６に進む。第２の温度Ｔｂが第２の基準温度Ｔ２を超えると（Ｓ２４でＮ）、制御装置１８は、溶接装置１０と把持ロボット２０の動作を一時的に停止させ、溶接を中断する（Ｓ３０）。次いで、制御装置１８は、予熱装置３０に設定されている保温温度を所定値分だけ小さくする制御信号を予熱装置３０の制御器３６に送り、予熱装置３０の出力（加熱器の発熱量）を低下させる（Ｓ３２）。 Then, in step S24, to a second temperature Tb reaches the second reference temperature T 2 (N at S24), without changing the output, the process proceeds to step S26. When the second temperature Tb exceeds the second reference temperature T 2 (N at S24), the controller 18 temporarily stops the operation of the welding apparatus 10 and the grab robot 20, interrupting the welding (S30) . Next, the control device 18 sends a control signal for reducing the heat retention temperature set in the preheating device 30 by a predetermined value to the controller 36 of the preheating device 30, and outputs the output of the preheating device 30 (heat generation amount of the heater). Decrease (S32).

次いで、溶接条件を変更する（Ｓ３４）。具板的には、溶接開始基準温度Ｔ０を、所定値分Δ０だけ小さい値（Ｔ０−Δ０）に変更するとともに、第２の基準温度Ｔ２を、所定値分Δ２だけ小さい値（Ｔ２−Δ２）に変更する。 Next, the welding conditions are changed (S34). Specifically, the welding start reference temperature T 0 is changed to a value (T 0 −Δ 0 ) that is lower by a predetermined value Δ 0 , and the second reference temperature T 2 is lower by a predetermined value Δ 2. Change to the value (T 2 −Δ 2 ).

次いで、第２の温度Ｔｂが変更後の溶接開始基準温度Ｔ０まで低下するのを待つ（Ｓ３６でＮ）。第２の温度Ｔｂが変更後の溶接開始基準温度Ｔ０まで低下したら（Ｓ３６でＹ）、制御装置１８は、溶接装置１０と把持ロボット２０の動作の一時的な停止を解除し、動作を再開させ（Ｓ３８）、ステップ２０に戻る。 Next, the process waits for the second temperature Tb to decrease to the welding start reference temperature T 0 after the change (N in S36). When the second temperature Tb decreases to the welding start reference temperature T 0 after the change (Y in S36), the control device 18 releases the temporary stop of the operation of the welding device 10 and the gripping robot 20 and resumes the operation. (S38) and return to step 20.

このように、溶接を中断することによって溶接品質の悪化を未然に回避でき、溶接条件の設定を変更した後に溶接を再開することによって、溶接品質を安定させることができる。   Thus, it is possible to avoid deterioration of the welding quality by interrupting the welding, and to stabilize the welding quality by restarting the welding after changing the setting of the welding conditions.

次いで、ステップＳ２６では、予め決められた範囲の溶接が終了するまで（Ｓ２６でＮ）、ステップＳ２０に戻り、溶接を継続する。なお、図２に図示されていないが、ステップＳ２２で低下させた予熱装置３０の出力は、再びステップＳ２２に進んでも、所定時間が経過するまでは変更しない。   Next, in step S26, the process returns to step S20 to continue welding until welding in a predetermined range is completed (N in S26). Although not shown in FIG. 2, the output of the preheating device 30 reduced in step S <b> 22 is not changed until a predetermined time elapses even when the process proceeds to step S <b> 22 again.

予め決められた範囲の溶接が完了したら（Ｓ２６でＹ）、制御装置１８は、溶接装置１０と把持ロボット２０を停止させて溶接を終了し（Ｓ４０）、予熱装置３０の予熱・加熱モードの動作を停止させる（Ｓ４２）。   When the welding in the predetermined range is completed (Y in S26), the control device 18 stops the welding device 10 and the gripping robot 20 to finish the welding (S40), and the preheating device 30 operates in the preheating / heating mode. Is stopped (S42).

次いで、制御装置１８は、予熱装置３０に後熱処理モードの動作を開始させる（Ｓ４４)。後熱モードにおいて、予熱装置３０の載置面３４の温度は、予め決められたプロファイルに従って自動制御され、予熱装置の載置面３４に載置された溶接完了後のワークは、後熱処理される。   Next, the control device 18 causes the preheating device 30 to start the operation in the post heat treatment mode (S44). In the post-heating mode, the temperature of the mounting surface 34 of the preheating device 30 is automatically controlled according to a predetermined profile, and the workpiece after completion of welding mounted on the mounting surface 34 of the preheating device is post-heat treated. .

予熱装置３０は後熱処理を終えると停止し、溶接システム５０は動作を終了する（Ｓ４６）。   The preheating device 30 is stopped when the post heat treatment is completed, and the welding system 50 ends its operation (S46).

なお、上述した制御や、後述する変形例１〜８の制御を適宜に取捨選択し、組み合わせて、溶接システム５０の溶接装置１０及び／又は予熱装置３０の出力を制御することができる。   In addition, the output of the welding apparatus 10 and / or the preheating apparatus 30 of the welding system 50 can be controlled by appropriately selecting and combining the above-described control and the controls of modifications 1 to 8 described later.

以上に説明したように、制御装置１８は、第１の温度Ｔａ（溶湯６の温度）及び第２の温度Ｔｂ（ワーク２の温度、すなわち母材の温度）の計測値に基づいて、第１及び第２の温度Ｔａ，Ｔｂが、それぞれ良好な溶接状態になる第１及び第２の範囲内に収まるように、溶接装置１０及び／又は予熱装置３０の出力を制御する。これによって、溶接中に、溶接条件が適切に制御され、良好な溶接状態が維持される。   As described above, the control device 18 determines the first temperature Ta (the temperature of the molten metal 6) and the second temperature Tb (the temperature of the workpiece 2, that is, the temperature of the base material) based on the measured values. And the output of the welding apparatus 10 and / or the preheating apparatus 30 is controlled so that the 2nd temperature Ta and Tb may be settled in the 1st and 2nd range which becomes a favorable welding state, respectively. Thereby, during welding, the welding conditions are appropriately controlled, and a good welding state is maintained.

溶接システム５０は、溶接品質に影響を与える要因を第１及び第２の温度に集約し、定量的な基準に基づいて溶接状態を制御することができ、熱管理の再現性が高い。したがって、溶接品質を安定させることが容易である。   The welding system 50 aggregates the factors that affect the welding quality into the first and second temperatures, can control the welding state based on a quantitative criterion, and has high reproducibility of thermal management. Therefore, it is easy to stabilize the welding quality.

通常のアーク溶接では、母材の溶け込みが溶接金属の硬さの低下を招くため、２層以上の肉盛溶接が必要になる。これに対し、粉体プラズマ溶接は、母材の溶け込みが少なく、１層のみの肉盛溶接も可能である。粉体プラズマアーク溶接装置は、耐摩耗性、耐ヒートクラック性、耐剥離性に優れた鍛造用の金型など、通常のアーク溶接では製作が困難な製品を製作することができ、例えば、ＳＫＤ６１の母材に、溶接難易度が高いステライトを肉盛可能である。しかしながら、より厳しい熱管理が必要となるため、溶接装置１０が粉体プラズマアーク溶接装置の場合、本発明の効果が特に顕著である。ガスと溶接材料の粉末とを供給する粉末送給装置を備えたレーザ溶接装置の場合も、同様に、本発明の効果が特に顕著である。   In normal arc welding, since the penetration of the base material causes a decrease in the hardness of the weld metal, overlay welding of two or more layers is required. On the other hand, powder plasma welding has little penetration of the base material, and can also perform overlay welding of only one layer. The powder plasma arc welding apparatus can produce products that are difficult to produce by ordinary arc welding, such as a forging die having excellent wear resistance, heat crack resistance, and peel resistance. For example, SKD61 It is possible to build up stellite having a high degree of difficulty in welding on the base material. However, since stricter thermal management is required, the effect of the present invention is particularly remarkable when the welding apparatus 10 is a powder plasma arc welding apparatus. Similarly, in the case of a laser welding apparatus provided with a powder feeding device that supplies gas and welding material powder, the effect of the present invention is particularly remarkable.

次に、溶接中に、溶接装置及び予熱装置のいずれか一方又は両方の出力を変更する制御について、変形例１〜７を説明する。   Next, modified examples 1 to 7 will be described with respect to control for changing the output of one or both of the welding apparatus and the preheating apparatus during welding.

＜変形例１＞ 第１の温度（溶湯の温度）の計測値が第１の基準温度を超えたとき、制御装置が溶接装置の出力を制御する。例えば、制御装置は、溶接装置の電流値を、所定値分だけ小さい電流値に変更する。   <Modification 1> When the measured value of the first temperature (melt temperature) exceeds the first reference temperature, the control device controls the output of the welding device. For example, the control device changes the current value of the welding device to a current value that is smaller by a predetermined value.

通常動作時には電流値の減少に連動して粉末送り出し量（溶接トーチに供給する粉末量）が減少するように溶接装置が制御される場合、例えば事前に選択した次のような手法により、単位長さあたりの盛り量（溶着量）の変動を抑制するように制御することが好ましい。ひとつの手法は、第１の温度（溶湯の温度）の計測値が第１の基準温度を超えたとき、溶接装置の電流値を小さくするともに、粉末送り出し量を、溶接装置で制御する電流値と関連づけて割り込み制御し、通常動作時に比べ粉末送り出し量を増やし、粉末送り出し量の変動を抑制する。もうひとつの手法は、第１の温度（溶湯の温度）の計測値が第１の基準温度を超えたとき、溶接装置の電流値を小さくするともに、溶接装置で制御する電流値と関連づけて、予め決められた時間（例えば所定秒数）が経過した後に、溶接トーチとワークの相対移動速度を小さくするように把持ロボットを制御する。このような手法により、ビードの均一性を維持し、溶接品質を安定させることができる。   When the welding equipment is controlled so that the amount of powder delivered (the amount of powder supplied to the welding torch) decreases in conjunction with the decrease in the current value during normal operation, for example, the unit length can be determined by the following preselected method: It is preferable to control so as to suppress fluctuations in the amount of deposit (welding amount). One method is to reduce the current value of the welding device when the measured value of the first temperature (melt temperature) exceeds the first reference temperature, and to control the powder feed amount with the welding device. In association with the control, interrupt control is performed, and the amount of powder delivery is increased compared to the normal operation, and fluctuations in the powder delivery amount are suppressed. Another method is to reduce the current value of the welding apparatus when the measured value of the first temperature (molten metal temperature) exceeds the first reference temperature, and relate it to the current value controlled by the welding apparatus, After a predetermined time (for example, a predetermined number of seconds) elapses, the gripping robot is controlled so as to reduce the relative movement speed between the welding torch and the workpiece. By such a method, the uniformity of a bead can be maintained and welding quality can be stabilized.

＜変形例２＞ 第１の温度（溶湯の温度）の計測値の計測値が、予め定められた第３の基準温度を下回ったとき、制御装置が溶接装置の出力を制御する。例えば、制御装置は、溶接装置の電流値を、所定値分だけ大きい電流値に変更する。   <Modification 2> When the measured value of the measured value of the first temperature (melt temperature) falls below a predetermined third reference temperature, the control device controls the output of the welding device. For example, the control device changes the current value of the welding device to a current value that is larger by a predetermined value.

通常動作時には電流値の増加に連動して粉末送り出し量（溶接トーチに供給する粉末量）が増加するように溶接装置が制御される場合、例えば事前に選択した次のような手法により、単位長さあたりの盛り量（溶着量）の変動を抑制するように制御することが好ましい。ひとつの手法は、第１の温度（溶湯の温度）の計測値の計測値が、予め定められた第３の基準温度を下回ったとき、溶接装置の電流値を大きくするとともに、粉末送り出し量を、溶接装置で制御する電流値と関連づけて割り込み制御し、通常動作時に比べ粉末送り出し量を減らし、粉末送り出し量の変動を抑制する。もうひとつ手法は、第１の温度（溶湯の温度）の計測値の計測値が、予め定められた第３の基準温度を下回ったとき、溶接装置の電流値を大きくするとともに、溶接装置で制御する電流値と関連づけて、予め決められた時間（例えば所定秒数）が経過した後に、溶接トーチとワークの相対移動速度を大きくするように把持ロボットを制御する。このような手法により、ビードの均一性を維持し、溶接品質を安定させることができる。   When the welding equipment is controlled so that the amount of powder delivered (the amount of powder supplied to the welding torch) increases in conjunction with an increase in the current value during normal operation, the unit length can be determined by, for example, the following preselected method: It is preferable to control so as to suppress fluctuations in the amount of deposit (welding amount). One method is to increase the current value of the welding device and to reduce the powder feed amount when the measured value of the first temperature (melt temperature) falls below a predetermined third reference temperature. Then, interrupt control is performed in association with the current value controlled by the welding apparatus, and the powder feed amount is reduced compared with the normal operation, and fluctuations in the powder feed amount are suppressed. Another method is to increase the current value of the welding device and control it with the welding device when the measured value of the first temperature (melt temperature) falls below a predetermined third reference temperature. The gripping robot is controlled so as to increase the relative movement speed between the welding torch and the workpiece after a predetermined time (for example, a predetermined number of seconds) has elapsed in association with the current value. By such a method, the uniformity of a bead can be maintained and welding quality can be stabilized.

＜変形例３＞ 第２の温度（母材の温度）の計測値が、第２の基準温度を超えたとき、制御装置が溶接装置の出力を制御する。例えば、制御装置は、溶接装置に設定されている電流値を、所定値分だけ小さい電流値に変更する。   <Modification 3> When the measured value of the second temperature (the temperature of the base material) exceeds the second reference temperature, the control device controls the output of the welding device. For example, the control device changes the current value set in the welding device to a current value that is smaller by a predetermined value.

通常動作時には電流値の減少に連動して粉末送り出し量（溶接トーチに供給する粉末量）が減少するように溶接装置が制御される場合、例えば事前に選択した次のような手法により、単位長さあたりの盛り量（溶着量）の変動を抑制するように制御することが好ましい。ひとつの手法は、第２の温度（母材の温度）の計測値が、第２の基準温度を超えたとき、溶接装置の電流値を小さくするとともに、粉末送り出し量を、溶接装置で制御する電流値と関連づけて割り込み制御し、通常動作時に比べ粉末送り出し量を増やし、粉末送り出し量の変動を抑制する。もうひとつの手法は、第２の温度（母材の温度）の計測値が、第２の基準温度を超えたとき、溶接装置で制御する電流値と関連づけて、予め決められた時間（例えば所定秒数）が経過した後に、溶接トーチとワークの相対移動速度を小さくするように把持ロボットを制御する。このような手法により、ビードの均一性を維持し、溶接品質を安定させることができる。   When the welding equipment is controlled so that the amount of powder delivered (the amount of powder supplied to the welding torch) decreases in conjunction with the decrease in the current value during normal operation, for example, the unit length can be determined by the following preselected method: It is preferable to control so as to suppress fluctuations in the amount of deposit (welding amount). One method is to reduce the current value of the welding apparatus and control the amount of powder delivered by the welding apparatus when the measured value of the second temperature (the temperature of the base material) exceeds the second reference temperature. Interrupt control is performed in association with the current value, and the amount of powder delivery is increased compared to that during normal operation, and fluctuations in the amount of powder delivery are suppressed. In another method, when the measured value of the second temperature (the temperature of the base material) exceeds the second reference temperature, it is associated with the current value controlled by the welding apparatus and is determined in advance (for example, a predetermined value). After the elapse of seconds, the gripping robot is controlled so as to reduce the relative movement speed of the welding torch and the workpiece. By such a method, the uniformity of a bead can be maintained and welding quality can be stabilized.

例えば、小径のピン盛り等のように、溶接速度が非常に早く、短時間であるため、作業員が溶接条件を微調整しても間に合わない場合に、母材温度を溶接中に計測し、計測値が所望の母材温度プロファイル（良い品質が得られるときの母材温度プロファイル）に一致するように、溶接装置の出力などの溶接条件をリアルタイムに変える制御を行う。これによって、溶接品質を安定させることができる。   For example, because the welding speed is very fast and short, such as a pin with a small diameter, if the worker does not make it in time even if the welding conditions are fine-tuned, measure the base material temperature during welding, Control is performed to change the welding conditions such as the output of the welding apparatus in real time so that the measured value matches the desired base material temperature profile (base material temperature profile when good quality is obtained). Thereby, welding quality can be stabilized.

＜変形例４＞ 第２の温度（母材の温度）の計測値が、予め定められた第４の基準温度を下回ったとき、制御装置が予熱装置の出力を制御する。例えば、制御装置は、予熱装置に設定されている保温温度を、所定値分だけ大きい温度に変更する。   <Modification 4> When the measured value of the second temperature (the temperature of the base material) falls below a predetermined fourth reference temperature, the control device controls the output of the preheating device. For example, the control device changes the heat retention temperature set in the preheating device to a temperature that is higher by a predetermined value.

＜変形例５＞ 第１及び第２の温度（溶湯と母材の温度）の計測値に基づいて、制御装置が、溶接装置及び予熱装置の両方の出力を変更してもよい。   <Modification 5> Based on the measured value of 1st and 2nd temperature (temperature of a molten metal and a base material), a control apparatus may change the output of both a welding apparatus and a preheating apparatus.

＜変形例６＞ 溶接装置及び／又は予熱装置の出力は、第１の温度（溶湯の温度）が第１の範囲内（第３の基準温度以上、かつ、第１の基準温度以下）のときから変更してもよい。例えば、第１の範囲内の第１の目標温度を設定し、第１の温度が第１の範囲内であっても第１の目標温度から外れているときは、溶接装置及び／又は予熱装置の出力を変更する。同様に、溶接装置及び／又は予熱装置の出力は、第２の温度（母材の温度）が第２の範囲（第４の基準温度以上、かつ、第２の基準温度以下）内のときから変更してもよい。   <Modification 6> The output of the welding device and / or the preheating device is when the first temperature (the temperature of the molten metal) is within the first range (the third reference temperature or more and the first reference temperature or less). You may change from For example, when a first target temperature within the first range is set, and the first temperature is within the first range but deviates from the first target temperature, the welding device and / or the preheating device Change the output of. Similarly, the output of the welding apparatus and / or the preheating apparatus is from the time when the second temperature (the temperature of the base material) is within the second range (the fourth reference temperature or more and the second reference temperature or less). It may be changed.

＜変形例７＞ 第１及び第２の温度（溶湯と母材の温度）のいずれか一方又は両方の温度の計測値が変化する速度又は加速度に基づいて、制御装置が、溶接装置及び予熱装置のいずれか一方又は両方の出力を変更してもよい。   <Modification 7> Based on the speed or acceleration at which the measured value of one or both of the first and second temperatures (the temperatures of the molten metal and the base material) changes, the control device is a welding device and a preheating device. Either or both of the outputs may be changed.

例えば、小径のピン盛り等のように、溶接速度が非常に早く、短時間である場合に、母材温度変化の加速度に基づいて、先の溶接条件を予め予測変更する制御を行う。   For example, when the welding speed is very fast and short, such as a pin with a small diameter, control is performed to predict and change the previous welding conditions in advance based on the acceleration of the base material temperature change.

＜変形例８＞ 第１の温度（溶湯の温度）を計測する第１のセンサと、第２の温度（母材の温度）を計測する第２のセンサとのいずれか一方のみを備える。溶接装置が肉盛溶接を行う間、制御装置は、第１の温度が第１の範囲内に収まるように予熱装置の出力を制御し、又は、第２の温度が第２の範囲内に収まるように溶接装置の出力を制御する。   <Modification 8> Only one of the first sensor that measures the first temperature (the temperature of the molten metal) and the second sensor that measures the second temperature (the temperature of the base material) is provided. While the welding device performs overlay welding, the control device controls the output of the preheating device so that the first temperature falls within the first range, or the second temperature falls within the second range. So as to control the output of the welding apparatus.

＜まとめ＞ 以上に説明した溶接システムは、溶接品質に影響を与える要因を第１及び第２の温度に集約し、定量的な基準に基づいて溶接状態を制御することができ、熱管理の再現性が高い。したがって、溶接品質を安定させることが容易である。   <Summary> The welding system described above is capable of consolidating the factors affecting the welding quality into the first and second temperatures and controlling the welding state based on quantitative criteria, and reproducing thermal management. High nature. Therefore, it is easy to stabilize the welding quality.

なお、本発明は、上記実施の形態に限定されるものではなく、種々変更を加えて実施することが可能である。   The present invention is not limited to the above embodiment, and can be implemented with various modifications.

例えば、実施例１では、溶接システムの制御装置として溶接装置の制御装置を用いる構成を例示したが、溶接システムの制御装置は、適宜に構成すればよい。例えば、溶接システムの制御装置として、相対移動装置（把持ロボット）の制御装置を用いる構成でも、溶接装置及び相対移動装置（把持ロボット）とは別の独立した制御装置を用いる構成でも構わない。   For example, in Example 1, although the structure which uses the control apparatus of a welding apparatus as a control apparatus of a welding system was illustrated, what is necessary is just to comprise the control apparatus of a welding system suitably. For example, as a control device of the welding system, a configuration using a control device of a relative movement device (gripping robot) or a configuration using an independent control device different from the welding device and the relative movement device (gripping robot) may be used.

相対移動装置は、全自動でも、半自動でも、手動でも構わない。   The relative movement device may be fully automatic, semi-automatic, or manual.

本発明の溶接システムにＩｏＴ技術を適用して、遠隔メンテナンスができるようにしたり、システム稼働状況や加熱器の制御状況、安全性などを遠隔でモニタできるようにしたりすることも可能である。   It is also possible to apply IoT technology to the welding system of the present invention so that remote maintenance can be performed, and to monitor the system operating status, the control status of the heater, safety, and the like remotely.

２ ワーク
４ 表面
６ 溶湯（溶融されている溶接材料）
１０ 溶接装置
１１ 溶接トーチ
１２ 粉末送給装置
１４ 冷却水循環装置
１６ プラズマ溶接電源
１８ 制御装置
１９ 手動操作盤
２０ 把持ロボット（相対移動装置）
３０ 予熱装置
３４ 載置面
４０ 第１のセンサ
４２ 第２のセンサ
４４ 第３のセンサ
５０ 溶接システム
Ｔａ 第１の温度
Ｔｂ 第２の温度 2 Work 4 Surface 6 Molten metal (melted welding material)
DESCRIPTION OF SYMBOLS 10 Welding device 11 Welding torch 12 Powder feeding device 14 Cooling water circulation device 16 Plasma welding power source 18 Control device 19 Manual operation panel 20 Grasping robot (relative movement device)
30 Preheating device 34 Mounting surface 40 First sensor 42 Second sensor 44 Third sensor 50 Welding system Ta First temperature Tb Second temperature

Claims (8)

ワークの表面に溶接材料を溶着させて肉盛溶接を行う溶接装置と、
直接接触による伝熱、熱線照射、アーク放電、ガスバーナのうち少なくとも一つによって前記ワークを予熱し保温する予熱装置と、
前記ワークの予熱後に前記肉盛溶接を開始するように、前記溶接装置及び前記予熱装置を動作させる制御装置と、
前記溶接装置によって前記ワークの前記表面で溶融されている前記溶接材料の温度である第１の温度を計測する第１のセンサと、
を備え、
前記制御装置は、前記溶接装置が前記肉盛溶接を行う間、前記第１のセンサが計測した前記第１の温度に基づいて、
前記第１の温度が第１の範囲内に収まるように、前記予熱装置の出力を制御することを特徴とする、溶接システム。 A welding apparatus for performing overlay welding by welding a welding material to the surface of the workpiece;
A preheating device that preheats and keeps the workpiece warm by at least one of heat transfer by direct contact, heat ray irradiation, arc discharge, and gas burner ;
A control device for operating the welding device and the preheating device so as to start the build-up welding after preheating the workpiece;
A first sensor for measuring a first temperature which is a temperature of the welding material melted on the surface of the workpiece by the welding device;
With
The control device is based on the first temperature measured by the first sensor while the welding device performs the overlay welding.
The welding system, wherein the output of the preheating device is controlled so that the first temperature falls within a first range. ワークの表面に溶接材料を溶着させて肉盛溶接を行う溶接装置と、
直接接触による伝熱、熱線照射、アーク放電、ガスバーナのうち少なくとも一つによって前記ワークを予熱し保温する予熱装置と、
前記ワークの予熱後に前記肉盛溶接を開始するように、前記溶接装置及び前記予熱装置を動作させる制御装置と、
前記溶接装置によって前記ワークの前記表面で溶融されている前記溶接材料の温度である第１の温度を計測する第１のセンサと、
前記ワークの温度である第２の温度を計測する第２のセンサと、
を備え、
前記制御装置は、前記溶接装置が前記肉盛溶接を行う間、前記第２のセンサが計測した前記第２の温度に基づいて、前記第２の温度が第２の範囲内に収まるように前記溶接装置の出力を制御するとともに、前記第１のセンサが計測した前記第１の温度が第１の範囲から外れたとき、前記予熱装置の前記出力を変更することを特徴とする溶接システム。 A welding apparatus for performing overlay welding by welding a welding material to the surface of the workpiece;
A preheating device that preheats and keeps the workpiece warm by at least one of heat transfer by direct contact, heat ray irradiation, arc discharge, and gas burner;
A control device for operating the welding device and the preheating device so as to start the build-up welding after preheating the workpiece;
A first sensor for measuring a first temperature which is a temperature of the welding material melted on the surface of the workpiece by the welding device ;
A second sensor for measuring a second temperature which is the temperature of the workpiece;
With
The control device is configured so that the second temperature falls within a second range based on the second temperature measured by the second sensor while the welding device performs the overlay welding. It controls the output of the welding device, wherein the first sensor is measured when the first temperature is deviated from the first range, welding system that is characterized in that to change the output of the preheating device . 前記制御装置は、
前記第２のセンサが計測した前記第２の温度が前記第２の範囲から外れたとき、
前記溶接装置に前記肉盛溶接を中断させた後、前記予熱装置の前記出力を変更し、前記出力が変更された状態で前記溶接装置に前記肉盛溶接を再開させることを特徴とする、請求項２に記載の溶接システム。 The controller is
When the second temperature measured by the second sensor is out of the second range,
The build-up welding is interrupted by the welding device, the output of the preheating device is changed, and the build-up welding is restarted by the welding device with the output changed. Item 3. The welding system according to Item 2 . 前記溶接装置が前記肉盛溶接を行う間、前記溶接装置の溶接トーチと前記ワークとが予め設定された経路に沿って相対移動するように、前記溶接トーチと前記ワークとのいずれか一方又は両方を移動させる相対移動装置と、
前記ワークの位置を検出する第３のセンサと、
をさらに備え、
前記制御装置は、
前記第３のセンサによって検出された前記予熱後の前記ワークの位置に応じて、予め設定された前記経路を補正し、
前記溶接装置が前記肉盛溶接を行う間、前記溶接トーチと前記ワークとが、補正された前記経路に沿って相対移動するように、前記相対移動装置を動作させることを特徴とする、請求項１ないし３のいずれか一つに記載の溶接システム。 While the welding apparatus performs the overlay welding, either or both of the welding torch and the workpiece are moved so that the welding torch and the workpiece of the welding apparatus move relative to each other along a preset path. A relative movement device for moving
A third sensor for detecting the position of the workpiece;
Further comprising
The controller is
According to the position of the workpiece after the preheating detected by the third sensor, the preset route is corrected,
The relative movement device is operated so that the welding torch and the workpiece relatively move along the corrected path while the welding device performs the overlay welding. The welding system according to any one of 1 to 3 . 前記溶接装置は、ガスと前記溶接材料の粉末とを供給する粉末送給装置を備えた粉体プラズマ溶接装置又はレーザ溶接装置であることを特徴とする、請求項１ないし４のいずれか一つに記載の溶接システム。 The welding apparatus according to any one of claims 1 to 4 , wherein the welding apparatus is a powder plasma welding apparatus or a laser welding apparatus including a powder feeding device that supplies gas and powder of the welding material. The welding system described in. 前記制御装置は、
前記溶接装置と前記予熱装置とのいずれか一方又は両方の前記出力を、前記溶接装置が自動で前記肉盛溶接を行っているときに手動で変更するための手動操作盤を含むことを特徴とする、請求項１ないし５のいずれか一つに記載の溶接システム。 The controller is
A manual operation panel for manually changing the output of one or both of the welding device and the preheating device when the welding device is automatically performing the overlay welding; The welding system according to any one of claims 1 to 5 . 直接接触による伝熱、熱線照射、アーク放電、ガスバーナのうち少なくとも一つによってワークを予熱し保温する予熱装置を用いて前記ワークを予熱した後、前記予熱装置を用いて前記ワークを保温しながら、溶接装置のトーチと前記ワークとを、予め設定された経路に沿って相対移動させて、前記ワークの表面に溶接材料を溶着させて肉盛溶接を行う第１のステップと、
前記第１のステップで前記肉盛溶接を行う間、前記ワークの前記表面で溶融している前記溶接材料の温度である第１の温度を計測する第２のステップと、
前記第２のステップで計測した前記第１の温度に基づいて、前記第１の温度が第１の範囲内に収まるように前記予熱装置の出力を制御する第３のステップと、
を備えたことを特徴とする、溶接方法。 Heat transfer by direct contact, heat ray irradiation, arc discharge, after preheating the workpiece with a preheater for preheating the workpiece insulation by at least one of the gas burner, while kept the work with the preheating device, A first step of performing overlay welding by relatively moving the torch of the welding apparatus and the workpiece along a predetermined path, and welding a welding material to the surface of the workpiece;
A second step of measuring a first temperature which is a temperature of the welding material melted on the surface of the workpiece while performing the overlay welding in the first step;
A third step of controlling the output of the preheating device based on the first temperature measured in the second step so that the first temperature falls within a first range;
A welding method characterized by comprising: 直接接触による伝熱、熱線照射、アーク放電、ガスバーナのうち少なくとも一つによってワークを予熱し保温する予熱装置を用いて前記ワークを予熱した後、前記予熱装置を用いて前記ワークを保温しながら、溶接装置のトーチと前記ワークとを、予め設定された経路に沿って相対移動させて、前記ワークの表面に溶接材料を溶着させて肉盛溶接を行う第１のステップと、
前記第１のステップで前記肉盛溶接を行う間、前記ワークの前記表面で溶融している前記溶接材料の温度である第１の温度を計測する第２のステップと、
前記第２のステップで計測した前記第１の温度に基づいて、前記第１の温度が第１の範囲内に収まるように前記予熱装置の出力を制御する第３のステップと、
前記第１のステップで前記肉盛溶接を行う間、前記ワークの前記表面の温度である第２の温度を計測する第４のステップと、
前記第４のステップで計測した前記第２の温度に基づいて、前記第２の温度が第２の範囲内に収まるように前記溶接装置の出力を制御する第５のステップと、
を備えたことを特徴とする、溶接方法。 Heat transfer by direct contact, heat ray irradiation, arc discharge, after preheating the workpiece with a preheater for preheating the workpiece insulation by at least one of the gas burner, while kept the work with the preheating device, A first step of performing overlay welding by relatively moving the torch of the welding apparatus and the workpiece along a predetermined path, and welding a welding material to the surface of the workpiece;
A second step of measuring a first temperature which is a temperature of the welding material melted on the surface of the workpiece while performing the overlay welding in the first step;
A third step of controlling the output of the preheating device based on the first temperature measured in the second step so that the first temperature falls within a first range;
A fourth step of measuring a second temperature that is a temperature of the surface of the workpiece while performing the overlay welding in the first step;
Based on the second temperature measured in the fourth step, a fifth step of controlling the output of the welding apparatus so that the second temperature falls within a second range;
A welding method characterized by comprising:
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