TW201111093A - Arc welding method and system - Google Patents
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201111093 六、發明說明： 【發明所屬之技術領域】 本發明係有關於電弧焊接及電弧焊接系統。 【先前技術】201111093 VI. Description of the Invention: TECHNICAL FIELD OF THE INVENTION The present invention relates to arc welding and arc welding systems. [Prior Art]
第6圖係顯示習知的焊接系統的一個例子。圖中的焊 接系統91使用所謂的針腳脈衝焊接法來進行焊接。針腳脈 衝焊接法是指藉由控制焊接時的加熱與冷卻’可簡單地抑 制給予母材的熱影響的焊接法。比起f知的薄板焊接，一 般認為使用此針腳脈衝焊接法能提昇焊接的外觀，也能夠 減少焊歪的量（例如參照專利文獻 此 機械手9M會對工作部⑽A 4 & 忭°丨進仃自動電弧焊接，由上臂 93、下臂94、手腕部95、以艿田血叱名 __ 用來驅動运些機構旋轉的伺 服馬達（未圖示）所構成。 缟，用來導引纏繞於捲筒96的 5的刚 工作部9W的指示焊接位置。焊接二1_左右的焊絲97至 電弧焊接賴9T|^作部9W ’，卿供給焊接電壓至 時，將焊絲心出電^接進行焊接 進行焊接。 、 〇則端需求的長度來 導線9 2連接於 部焊接絲97的線圈 焊接電源9WP的電力 焊接噴搶9T。 鎮硌r 土面 /、间用來導引内 鑲條（未圖不）。導 等綠92更供蛑央白 以及來自瓦斯筒' 自 4 98的保護氣體給電弧 3 201111093 做為操作裝置的編程器（teaching pendan〇 9Tp是 所謂的可移動式操作盤’用來設定機械手9μ的動作、進行 針腳脈衝焊接所需的條件等。 機械手控制裝置9RC是用來讓機械手⑽實行焊接動作 2制之用’内部具備主控制部、動作控制部、及伺服驅動 Γ * (白未圖不）。接著根據操作者透過編程器9ΤΡ指示 的作業程式，由伺服驅動器輸出動作控制信號給機械手⑽ 的各词服馬達，使機械手9Μ的複數轴分別旋轉。機械手控 制裝置9RC因為透過機械手⑽的飼服馬達所具備的編碼器 (未圖示）的輸出辨識現在位置，所以能夠控制電弧焊接 喷搶9Τ的前端位置。接著在焊接部位會_邊反覆進行以下 會說月的焊接、移動、冷卻，—邊進行針腳脈衝焊接。 第7圖係用來說明進行針腳脈衝焊接時的狀態。焊接 絲97會凸出電弧焊接喷搶9Τ的前端。保護氣^從焊接 ^始到焊接結束為止會持續簡定的流量由電弧焊接喷搶 Τ吹出。以下說明針腳脈衝焊接時的各狀態。 第7(a)圖顯示電弧產生時的情況。根據設定的焊接 電流及焊接電壓’焊接絲97的前端與工作部㈣之間產生 電弧焊接絲化並且工作部9W上形成㈣池γ。電弧 a產生經過指不的焊接時間後停止。 _1電弧停止後的情況。電弧停止後維持 ^後的狀態到設定的冷卻時間經過為止。也就是說，機 :手9M及電弧焊接喷搶9了處於與焊接時的狀態相 止的狀態下，電料接偷H出保護氣^ 201111093 Y因保》蔓氣體G而實質冷卻凝固。 第7 (c)圖顯示移動電弧焊接噴搶9τ到下一個焊 位置的If况。經過冷卻時間後，使電弧焊接喷搶打順著焊 接進行方向移動到預先定 J頂元《又疋位置間距為Mp的電弧再開始 點此時的移動速度是設定的移動速度.。移動間距Μ 焊接絲9 7調整至丨丨士 η笛7 f 、ISI _ 一 鳖到如第7 ( c)圖所示熔融池Y凝固後的炫 融痕Y的外側位置的距離。 g第7( d )圖顯示在電弧再開始點再產生電弧a的情況。 焊接痕Y的前端形成一個新的熔融池再進行焊接。在 腳脈衝焊接系統91中，合像•媒 T s诼化樣交互進打產生電弧來焊接 的狀態與移動中的狀態。然後形成焊接滴珠使得焊接痕（鱗 狀）重疊。 第8圖係用來說明焊接施工後所形成的焊接滴珠。如 ^ 8圖所示，在最初的電弧開始點P1形成焊接痕Sc，沿 著焊接仃進方向Dr間隔移動間距Mp的再開始點同樣形 •成=接痕Sc。再電弧開始點P3以後也依序形成焊接痕 像這樣使焊接痕Sc (鱗狀）互相重疊形成的結果，形成了 鱗狀的焊接滴珠B。 、—在上述的方法中，如第7(b)圖、g 7U)圖等所示， 重複使電狐停止之後再產生電弧的步驟。電弧再產生會需 要時間。因此上述的方法會產生焊接時間拉長的問題:因 此如第9圖所示’有一種不停止電弧a、不需要再產生電 弧a的焊接方法被提出來（例如參照專利文獻2 )。 如第9(b)圖、第9(c)圖所示，此方法與第7(b) c 201111093 第（C )圖的情況並不相同，在冷卻熔融池γ時不停 止電弧a而保持電弧a產生的狀態。藉此期望焊接時間的 縮短。 然而如第9(b)圖、第9(c)圖所示’冷卻溶融池γ 時’為了防止溶滴的移動，必須將悍接電流調到極小。焊 接電流縮小的話，尤、人X ^ △ · 7 p熔融池γ時會有電弧中斷的可Figure 6 shows an example of a conventional welding system. The welding system 91 in the figure is welded using a so-called stitch pulse welding method. The stitch pulse welding method refers to a welding method which can simply suppress the heat influence imparted to the base material by controlling heating and cooling at the time of welding. Compared with the thin plate welding of F, it is generally considered that the use of this pin pulse welding method can improve the appearance of the welding, and can also reduce the amount of the welding bead (for example, referring to the patent document, the robot 9M will work on the working part (10) A 4 &仃Automatic arc welding consists of the upper arm 93, the lower arm 94, the wrist 95, and the servo motor (not shown) used to drive the rotation of these mechanisms. The welding position of the just-working portion 9W of the reel 96 is 5. The welding wire 97 of the welding machine 1 to the arc welding lag 9T|^ is the part 9W', and when the welding voltage is supplied, the welding wire is electrically connected. Welding is carried out for welding. The length of the required end of the wire is connected to the wire welding power source 9WP of the welding wire 97. The electric welding is sprayed 9T. The town surface is used to guide the inner wall ( Not shown in Fig.). The green 92 is also supplied to the central white and from the gas cylinder 'protective gas from 4 98 to the arc 3 201111093 as the programmer of the operating device (teaching pendan〇9Tp is the so-called movable operating panel' Used to set the action of the robot 9μ The conditions required for the stitch pulse welding, etc. The robot control device 9RC is used to allow the robot (10) to perform the welding operation. 2 The internal control unit, the operation control unit, and the servo drive are provided. Then, according to the operating program indicated by the operator through the programmer 9ΤΡ, the servo driver outputs an operation control signal to the motor of the robot (10) to rotate the plurality of axes of the robot 9Μ. The robot control device 9RC passes through the machine. The output of the encoder (not shown) provided in the feeding motor of the hand (10) recognizes the current position, so that it is possible to control the position of the tip end of the arc welding spray 9 。. Then, in the welding part, the following welding will be repeated, Move, cool, and perform pin pulse welding. Figure 7 is used to illustrate the state of the pin pulse welding. The welding wire 97 will protrude from the front end of the arc welding spray. The protective gas is from the welding to the end of the welding. The flow rate that will continue to be simplified will be blown out by the arc welding spray. The following describes the states of the stitch pulse welding. Figure 7(a) shows the arc production. In the case of the welding current and the welding voltage, the arc welding is generated between the front end of the welding wire 97 and the working portion (4), and the (4) pool γ is formed on the working portion 9W. The arc a is generated after the welding time is not stopped. _1 After the arc stops, the state after the arc is stopped is maintained until the set cooling time elapses. That is, the machine: the hand 9M and the arc welding spray 9 are in a state of being in a state of being in contact with the welding state. The electric material is sneaked out of the protective gas ^ 201111093 Y is substantially cooled and solidified by the vine gas G. The figure 7 (c) shows the condition of the moving arc welding spray 9τ to the next welding position. After the cooling time, the arc welding spray is moved in the direction of welding to the pre-determined J-top element, and the moving speed of the arc at the position of the position is Mp. The moving speed at this time is the set moving speed. The moving pitch Μ the welding wire 9 7 is adjusted to the distance of the gentleman η flute 7 f , ISI _ 鳖 to the outer position of the smear Y of the molten pool Y as shown in Fig. 7 (c). g Figure 7(d) shows the case where the arc a is regenerated at the arc restart point. The front end of the weld mark Y forms a new molten pool and is welded. In the foot pulse welding system 91, the image-receiving medium T s 诼-like sample interacts to generate an arc to weld the state and the moving state. Welding beads are then formed to cause weld marks (squamous) to overlap. Figure 8 is used to illustrate the welding beads formed after welding. As shown in Fig. 8, the weld mark Sc is formed at the initial arc start point P1, and the restart point of the moving pitch Mp is also formed along the weld advance direction Dr. After the arc starting point P3, the welding marks are sequentially formed. As a result of the welding marks Sc (square) overlapping each other, the scaly welding beads B are formed. - In the above method, as shown in Fig. 7(b), g7U), etc., the step of generating an electric arc after stopping the electric fox is repeated. It takes time to regenerate the arc. Therefore, the above-described method causes a problem that the welding time is elongated. Therefore, as shown in Fig. 9, a welding method in which the arc a is not stopped and the arc a is not generated is proposed (for example, refer to Patent Document 2). As shown in Fig. 9(b) and Fig. 9(c), this method is different from the case of Fig. 7(b) c 201111093 (C), and does not stop the arc a while cooling the molten pool γ. The state in which the arc a is generated. Thereby, the shortening of the welding time is desired. However, as shown in Fig. 9(b) and Fig. 9(c), when the cooling bath γ is cooled, it is necessary to adjust the splicing current to a minimum in order to prevent the movement of the droplets. If the welding current is reduced, there may be an arc break when the X X △ · 7 p molten pool γ is broken.
月色。當發生電弧中斷·的_ 、3 A 斲的隋况下’通常-發生電弧中斷就會 立刻再使電弧a產生。雷抓、Q a+ 座生電弧a再產生時有可能會發生噴濺 而導致鱗狀滴珠的外觀惡化。 [專利文獻1]特開平6_55268號公報 [專利文獻2]特開平1卜267839號公報 ,本發明係根據上述的情況而構思，目的是提供一種可 以形成更漂亮的鱗狀滴珠的電弧焊接方法及電弧 置。 【發明内容】 笛根據本發明第1觀點提出的電弧焊接方法是反覆進行 ^步驟及第2步驟。以該第”驟是讓焊接電流以絕 之千均值為第1值流動於消耗電極與母材之間，藉此 一邊產生電弧’一邊轉移悍滴；該 曰 味、，， 袭弟2步驟是讓該焊接電 机以絕對值之平均值比該第丨值小的 弟2值流動，繼續該 電弧產生的狀態。該電弧焊接方法 脾““ 更包括：若在該第2步 驟中發生電弧消滅的情況下，維持 7 o.mAA 符^電弧消減狀態至該第 2步驟的下一個該第1步驟開始為止的步驟。 201111093 根據上述的架構’不需要在下一個該第1步驟開始之 刖再產生該電弧。因此可以回避因為在下一個該第i步驟 開始之前再產生該電弧的情況下發生的滴珠外觀惡化。藉 此’能夠形成更漂亮的鱗狀滴珠。 + \ a衩佳的實施例中，更包括透過檢測該焊接電流 的通電彳T止，來檢測該電弧消滅的步驟。在該消耗電極與 該母材離間的狀態該電弧消滅的情況下，該焊接電流的通 電停止。因此本架構適用於檢出該電弧的消滅。 本發明較佳的實施例中，在維持該電弧消滅狀態的步 驟’使該消耗電極朝向該母材内面方向中的焊接行進方向 持續地對該母材做相對移動。在這樣的架構中，於維持該 電弧消滅的狀態步驟下，不使該消耗電極朝著該焊接行進 移動，或是不使該消耗電極停止。因此能夠 一點移動到開始下-個該第1步驟的位 藉此能夠縮短該電弧焊接所需要的_。 本發明較佳的實施例申， *朝向該母材送給，該電弧焊=::::=速 消滅狀態的步驟中，使該送給速度下降的步^…α 本發明較佳的實施例令， 驟，使控制該谭接電泣土叙、' ^弧消滅狀態的步 年接電桃^動於該消耗電 電流控制裝置的輸出下降。 /、該母材之間的 本發明較佳的實施例中，使用將消 後再將該消耗電極抽離該母材的收回開2觸該母材 維持該電弧消滅狀能 〜，來開始接在 步驟之後的該第1步驟。根據這樣 7 201111093 的架構月b夠抑制下_個該第i步驟開始時喷滅的發生。 本發月車乂佳的實施例中，更包括若在該第2步驟中發 生電弧消減的情況下，蚀# & Λ 使該第2值變得比該電弧消滅時之 前的值大的步驟。桐Μ ρ Α 據故樣的架構，經過該變化步驟後， 在該k化第2值的步驟中該電弧變得报難消滅。藉此減少 再產生該電弧的必要性。因此能夠更進一步抑制喷賤的發 生。最後能夠使形成於該母材的滴珠外觀更漂亮。 根據本發明第2觀點提出的電弧悍接系統是藉由使焊 接電流流動於消耗電極與母材之間來產生電弧並進行焊 接。該電弧焊接系統包括：電流控制装置，反覆發生將該 焊接電流的絕對值之平均值設定在第1值的第i期間，以 及將該焊接電流的絕對值之平均值設定在比該第】值小的 第2值的第2期間；以及檢測裝置’檢測該電弧的消滅。 若在該第2期間中該檢測裝置判斷該電弧消滅的情況下， 該電弧谭接系統維持該電狐消滅的狀態到該第2期間的下 一個的該第1期間開始為止。 這樣的電弧焊接系統適用於使用本發明第】觀點提出 的電弧焊接方法。 本發明較佳的實施例中，該檢測裝置透過檢測該焊接 電流的通電停止’來檢測該電弧消滅。 本發明較佳的實施例中，更包括消耗電極移動裝置， Μ㈣《 Km的期間’使該消耗電極朝向該母材 内面方向中的焊接行進方向持續地對該母材做相對移動。 本發明較佳的實施例中，更包括送給控制裝置，使該 201111093 。其中該送給 該送給速度下 消耗電極以既定的送給速度朝向該母材送給 控制裝置在維持該電弧消滅狀態的期間使 降。 〜w仪利扳罝在维捭諱雪 弧消滅狀態的期間，使控制該、" 與該母材之間的輸出下_ 電—動於該消耗電極 本發明較佳的實施例中，使用 J τ便用將消耗電極接觸該母材 後再將該消耗電極扯雜#I#Moonlight. When _, 3 A 斲 of the arc interruption occurs, the arc is usually generated again. When Lei grabs and Q a+ seat arc a is regenerated, splashing may occur and the appearance of scaly beads may deteriorate. [Patent Document 1] Japanese Laid-Open Patent Publication No. Hei No. Hei. No. Hei. No. 267839. The present invention is based on the above-described circumstances, and an object thereof is to provide an arc welding method capable of forming a more beautiful scaly bead. And the arc is placed. SUMMARY OF THE INVENTION The arc welding method proposed according to the first aspect of the present invention is to repeat the steps and the second step. In the first step, the welding current is caused to flow between the consumable electrode and the base material at the first value of the absolute value, thereby generating the arc while transferring the drip; the smell is, and the second step is Let the welding motor flow with the average value of the absolute value being smaller than the value of the second value, and continue the state of the arc generation. The arc welding method spleen "" further includes: if the arc elimination occurs in the second step In the case of maintaining the 7 o.mAA constant arc erasing state to the next step of the first step of the second step. 201111093 According to the above-described architecture, it is not necessary to regenerate after the next step 1 is started. This arc can therefore avoid the deterioration of the appearance of the bead which occurs when the arc is regenerated before the start of the next i-th step. Thereby, it is possible to form a more beautiful scaly bead. The method further includes the step of detecting the arc extinguishing by detecting the energization of the welding current. When the arc is extinguished in a state where the consumable electrode is separated from the base material, the welding current is passed. Therefore, the present architecture is suitable for detecting the destruction of the arc. In a preferred embodiment of the present invention, the step of maintaining the arc-extinguishing state continues to make the direction of welding of the consumable electrode in the direction of the inner surface of the base material continuously The base material is relatively moved. In such a configuration, the step of maintaining the arc is extinguished, the consumable electrode is not moved toward the welding, or the consumable electrode is not stopped. The lower one of the first step can thereby shorten the need for the arc welding. A preferred embodiment of the present invention applies, * is directed toward the base material, and the arc welding =:::: = fast extinguishing state In the step of stepping, the step of sending the speed is lowered. The preferred embodiment of the present invention causes the step of controlling the tan to receive the electric shock, and the step of the arc extinguishing state is switched on. The output of the current consumption current control device is lowered. / In the preferred embodiment of the present invention between the base materials, the use of the base material to remove the consumable electrode from the base material is maintained. The arc extinguishes the shape~, come The first step after the step is started. According to the architecture month b of the 201111093, it is enough to suppress the occurrence of the next step when the i-th step starts. In the embodiment of the present month, the In the case where the arc reduction occurs in the second step, the etch # & Λ causes the second value to be larger than the value before the arc is extinguished. The Μ Μ ρ Α Α Α Α Thereafter, the arc becomes difficult to eliminate in the step of k-singing the second value, thereby reducing the necessity of regenerating the arc. Therefore, the occurrence of sneezing can be further suppressed. Finally, the formation of the base material can be performed. The bead is more beautiful in appearance. The arc splicing system proposed according to the second aspect of the present invention generates an arc by welding a welding current between the consumable electrode and the base material, and performs welding. The arc welding system includes a current control device that repeatedly sets an average value of an absolute value of the welding current to an i-th period of the first value, and sets an average value of the absolute values of the welding current to be larger than the first value. The second period of the small second value; and the detecting means 'detects the elimination of the arc. When the detecting means determines that the arc is extinguished during the second period, the arc-tank system maintains the state in which the electric fox is extinguished until the next first period of the second period begins. Such an arc welding system is suitable for use in the arc welding method proposed by the present invention. In a preferred embodiment of the invention, the detecting means detects the arc extinction by detecting an energization stop ' of the welding current. In a preferred embodiment of the present invention, the consumable electrode moving means is further included, and (4) "period of Km" causes the consumable electrode to continuously move the base material toward the welding traveling direction in the direction of the inner surface of the base material. In a preferred embodiment of the present invention, the method further includes sending the control device to the 201111093. The supply to the feed speed lowers the supply electrode to the control unit at a predetermined feed rate during the period in which the arc extinguishing state is maintained. 〜 仪 利 罝 罝 在 在 在 在 在 在 在 在 在 在 在 在 在 在 在 在 在 在 在 在 在 在 在 在 在 在 在 在 在 在 在 在 在 在 在 在 在 在 在 在 在 在 在 在 在 在 在 在 在 在 在 在 在 在 在 在 在 在 在 在 在 在 在 在 在 在 在 在 在 在 在 在 在 在 在 在 在 在 在 在 在 在 在 在 在 在 在 在 在 在J τ uses the consumption electrode to contact the base material and then the consumption electrode is mixed #I#
电極抽離該母材的收回開始法，來開始接在 維持該電孤消滅狀態期間之後的該第i期間。 本發明較佳的實施例中， 任这第1期間中該電弧消滅 的情況下’該檢測裝置在該電弧消滅後經過^1延遲時間 才判斷S亥電弧消減；:兮楚9 09 在該第2期間中該電弧消滅的情況 下，該檢測裝置在該電弧消滅後經過比該帛1延遲時間短 的第2延遲時間才判斷該電弧消滅。 本發明較佳的實施例中，該檢測裝置判斷在該第2期 間中發生電弧消減的情況下，該電流控制裝置使該第2值 變得比該電弧消滅時之前的值大。 本發明的其他特徵及優點將配合圖式及以下的實施例 詳細說明。 【實施方式】 以下將參照圖式具體說明本發明實施例。 第1圖係顯示根據本發明實施例丨的焊接系統組成的 一例。 201111093 第1圖所示的焊接么 控制裝置2、s $ T' 具備焊接機械手1、機械手 不直ζ、及焊接電源裝 材#自動進彳知接機械手1會對焊接母 複數的手臂12適“焊接機械手1具備基底11、 牙U、複數的馬達13、 給裝置^及線圈鑲條19。料魏14、料絲送 基底11 ϋ定於地㈣適當的地$ 連接基底U。 谷乎# 12透過轴 焊接嘴搶14設置於焊接機械年 的义紗μθ 機械手1最前端的手腕部12a 的刖鳊。烊接喷搶丨4將作為消 的m 月粍電極的例如直徑1mm左右 的卜接4 15 W丨至焊接母材附近的以位[焊接喷搶 1:具備用來供給例如Ar等保護氣體的保護氣體噴頭（圖 式省幻。馬達13設置於手臂12的兩端或_端（圖式省 略一部分）。馬達13藉由機械手控”置2來旋轉驅動。 透過旋轉驅動控制複數手臂12的移動，使焊接噴搶“能 夠上下前後左右自由地移動。 馬達13設有未圖示的編碼器。編碼器的輸出會給予機 械手控制裝置2。透過此輸出值’機械手控制裝置S 2°可辨 識焊接喷搶14的現在位置。 焊接絲送給裝置16設於焊接機械手1 〜丁 1的上部。焊接絲 送給裝置16是用來送出焊接絲15給焊接噴搶14。焊接絲 送給裝置16具備送給馬達161、捲筒（圖式省略）、及焊 接絲推動裝置（圖式省略）。該焊接絲推動裝、,， 達161為驅動源，將纏繞於該捲筒的悍接蛘| 迗出給焊接 噴搶14。 201111093 線圈鑲條19 -端連接至焊接絲送給裝置16， 連接至焊接㈣14。線圈鑲條19形成管狀，内部插通焊 接絲15。線圈銀條19將焊接絲送給裝置16送出的 15導引至焊接喷槍14。被穿ψ … $ 4被达出的谭接絲從焊接噴搶14突 出外部作為消耗電極的功能。 第2圖係顯示第】圖所示的焊接系統a的内部架構。 曰第1圓、第2圖所示的機械手控制裝置2是用來控制 焊接機械手1的動作。如第2 u尸^不機械手控制裝置2 由動作控制電路21與介面電路22所構成。 動作控制電路21具有未圖示的微電腦及記憶體。⑽ 體中儲存有設定了焊接機械+丨的各種較的作業程式〜 動作控制電路21會設定後述的機械手移動速& VRe動作 控制電路21根據上述的作業程式、來自上述編碼器的練 資訊、及機械手移動速度料，給予焊接機械手i動作^ 制信號Me。繼由此動作控制信？虎Mc，各個馬達13旋轉驅 動，使焊接噴搶14移動料接母材^既定的焊接開始位 置’並沿者焊接母材W内面方向移動。 動作控制電路21連接著未圖示的操作設定裝置。此操 作設定裝置是用來讓使用者設定各種動作之用。 介面電路22是傳送接收焊接電源裝置3與各種信號之 用。動作控制電路21送出電流設定信號u、輸出開始信 號〇n、及送給速度設定信號Ws給介面電路22。介面電路 22送出電弧消滅信號Sa給動作控制電路21。 焊接電源I置3施加焊接電源Vw給焊接絲15與焊接 201111093 母材w之間，用以使焊 尺年接電流I w流過，同時 絲15。如第2圖斛- U岈用來送給烊接 第2圖所不’焊接電源裝置3具 31、電流檢出電路3 2、雷说$试 上1電路 電弧蝻滅檢出電路33、 路34、介面電路35、及電塵檢出電路％。 〜制電 介面電路35是傳送接收機械手控制 之用。具體來說，介面電路22送出電流設定ηThe electrode is pulled away from the base material by the withdrawal start method to start the i-th period after the period of maintaining the electric isolation state. In a preferred embodiment of the present invention, in the case where the arc is extinguished in the first period, the detecting device determines the S-Hail reduction after a delay of ^1 after the arc is extinguished; In the case where the arc is extinguished during the period of 2, the detecting means determines that the arc is extinguished after a second delay time shorter than the delay time of the 帛1 after the arc is extinguished. In a preferred embodiment of the present invention, the detecting means determines that the second value is greater than a value before the arc is extinguished when the arc is reduced during the second period. Other features and advantages of the present invention will be described in detail in conjunction with the drawings. [Embodiment] Hereinafter, embodiments of the invention will be specifically described with reference to the drawings. Fig. 1 is a view showing an example of the composition of a welding system according to an embodiment of the present invention. 201111093 The welding control device 2, s $ T' shown in Fig. 1 has the welding robot 1, the robot is not straight, and the welding power supply material #Automatically enters the robot 1 to the arm of the welding mother 12] The welding robot 1 is provided with a base 11, a tooth U, a plurality of motors 13, a feeding device, and a coil strip 19. The material 14, the wire feeding base 11, is fixed to the ground (4), and the base U is connected.谷乎# 12 through the shaft welding nozzle grab 14 set in the welding machine year of the yarn μ θ θ of the wrist 12a at the foremost end of the robot 1. The 喷 喷 丨 丨 将 将 将 将 将 将 将 将 将 将 例如 例如The left and right sides are connected to the vicinity of the welding base material. [Welding spray 1: There is a protective gas nozzle for supplying a shielding gas such as Ar. The motor 13 is disposed at both ends of the arm 12. Or the _ terminal (the part is omitted in the drawing). The motor 13 is rotationally driven by the robot control. The rotation of the plurality of arms 12 is controlled by the rotation drive, so that the welding spray can be moved freely up and down, left and right, and left and right. There is an encoder not shown. The output of the encoder will be given The robot control device 2 can recognize the current position of the welding spray 14 through the output value 'the robot control device S 2 °. The welding wire feeding device 16 is disposed on the upper portion of the welding robot 1 to D 1. The welding wire is given The device 16 is for feeding the welding wire 15 to the welding spray 14. The welding wire feeding device 16 is provided with a feeding motor 161, a reel (not shown), and a welding wire pushing device (not shown). The 161 is the driving source, and the entanglement 缠绕 迗 迗 给 给 给 2011 2011 2011 2011 2011 2011 2011 2011 2011 2011 2011 2011 2011 2011 2011 2011 2011 2011 2011 2011 2011 2011 2011 2011 2011 2011 2011 2011 2011 2011 2011 2011 2011 2011 2011 2011 2011 2011 2011 2011 2011 2011 2011 2011 2011 The coil strip 19 is formed into a tubular shape, and the welding wire 15 is inserted inside. The coil silver strip 19 guides the 15 sent from the welding wire feeding device 16 to the welding lance 14. The tampon is ... The welding spray 14 protrudes from the outside as a function of the consumption electrode. Fig. 2 shows the internal structure of the welding system a shown in Fig. 曰. The robot control device 2 shown in the first circle and the second diagram is used for control. The action of the welding robot 1. For example, the 2nd corpse ^ does not control the robot The operation control circuit 21 includes a microcomputer and a memory (not shown). (10) A plurality of different operating programs to which the welding machine + 设定 is set are stored in the body - the operation control circuit 21 The robot moving speed & VRe operation control circuit 21 is set to give the welding robot i operation signal Me based on the above-described work program, the training information from the encoder, and the robot moving speed material. The motion control signal, the tiger Mc, is rotationally driven by the respective motors 13, so that the welding spray 14 moves the base material to the predetermined welding start position 'and moves along the inner surface of the welding base material W. The operation control circuit 21 is connected to an operation setting device (not shown). This operation setting device is used to allow the user to set various actions. The interface circuit 22 is for transmitting and receiving the welding power source device 3 and various signals. The operation control circuit 21 sends a current setting signal u, an output start signal 〇n, and a feed speed setting signal Ws to the interface circuit 22. The interface circuit 22 sends an arc extinguishing signal Sa to the action control circuit 21. The welding power source I is set to 3 to apply the welding power source Vw to the welding wire 15 and the welding 201111093 between the base material w, so that the welding wire can be connected to the current Iw, and the wire 15 is simultaneously. For example, Figure 2 - U岈 is used to send the connection to Figure 2. The welding power supply unit 3 has 31, the current detection circuit 3 2. The lightning says $ test 1 circuit arc annihilation detection circuit 33, road 34. Interface circuit 35 and dust detection circuit %. The power generation interface circuit 35 is for transmitting and receiving robot control. Specifically, the interface circuit 22 sends a current setting η
介面定錢WS給介面電路I 5运出電弧消滅信號Sa給介面電路22。The interface WS sends the arc elimination signal Sa to the interface circuit 22 to the interface circuit I5.
輸出控制電路W 1具有由複數電晶體元件 器控制電路。輪出控 U成的反向 路31透過反向器控制電路高速回 門用電源（例如3相200V)，進行精密的焊 接電流波形控制。The output control circuit W 1 has a control circuit by a plurality of transistor elements. The reverse path 31 of the wheel-controlled U-turn is controlled by a high-speed return power supply (for example, 3-phase 200V) of the inverter control circuit to perform precise welding current waveform control.
輸出控制電路W 山31的輸出一端連接焊接喷搶14，另一 舳連接焊接母材W。給而 ，J工制電路31透過設置於焊接喷槍 刖編14的接觸晶片，將 谇接電壓vw施加於焊接絲15與焊 楼母材W之間，使焊桩 ®机W動。藉此，焊接絲1 5前 4與焊接母材W之間產 & 生電弧a。利用此電弧所帶來的熱 熔融焊接絲15。然彳& # # # 仪主了坪接母材w進行焊接。 動作控制電路21读w人& & 透過"面電路35、22將電流設定信 號I s及輸出開始作號 。虎0η运出給輸出控制電路31。 電流檢出電路3 2用* & h 4 用來&出流至焊接絲1 5的焊接電流The output control circuit W has an output end connected to the welding spray 14 and the other is connected to the welding base material W. Further, the J-working circuit 31 is applied between the welding wire 15 and the base metal W by the contact wafer provided on the welding torch nip 14, and the welding pile is moved. Thereby, the arc a is produced between the welding wire 1 5 and the welding base material W. The wire 15 is thermally fused by the heat generated by this arc. Then 彳 &### 仪 主 主 主 主 主 主 主 主 主 主 主 主 主 主 主 主 主 主 主 主 主The motion control circuit 21 reads the w &&&& surface circuits 35, 22 to set the current setting signal I s and the output start number. The tiger 0η is shipped to the output control circuit 31. The current detecting circuit 3 2 uses * & h 4 to & the welding current flowing out to the welding wire 15
Iw。電流檢出電路32於山祖由 @ &對應焊接電流Iw的電流檢出信 號Id。 電弧消滅檢出電路0〇 Β 电吟疋檢出電弧a消滅的電路。電流 12 201111093 檢出信號id被輸入給電弧消滅檢出電路33。電弧消滅檢 出電路33透過輪入的電流檢出信號Id判斷焊接電流“為 0時’則判斷電弧消滅。此時電弧消滅檢出電路Μ輸出電 弧消滅信號Sa給輸出控制電路3卜另外電弧消滅檢出電 路33也透過介面電路35、22，將電弧消滅信號仏輸出給 動作控制電路21。 電弧消滅檢出電路33 一收到表示焊接電流^為〇的 電流檢出信號I d後，並不會立即判斷電弧a消滅。電弧消 滅檢出電路33從表示焊接電流Iw4 G的電流檢出信號id 輸入時開始’經過既定的延遲時間後，仍然接收到表示焊 接電流卜為°的電流檢出信號Id的情況下，才會判斷電 弧a消滅。這個使用延遲時間的判斷機能可以搭載於電流 檢出電路32。 電壓檢出電路36是用來檢出為輸出控制電路 出 端電麼的焊接電壓VWD„檢出電路36將對應焊接電壓 W的電壓檢出信號Vd輸出至輸出控制電路31。 制广=控制電路34將用來進行焊接絲15送給的送給控 =广輸出給送給馬達161。送給控制信號Fc =絲15的送給速度Fw的信號。來自動 的 輸出開始位妹η ” Ζ1的 。虎〇η及送給速度設定作號· 合、#人 35、22傳逆至.… 虎S會透過介面電路 碍适至达給控制電路34。 接著使用苐3圖進一步說明太眚μ兩 法的—例。 步說月本貫知例的電弧焊接方 第3 ( a)圖顯示機械手移動速度VR的變化狀熊 、，第3 201111093 ⑴_示電流設定信號is的變化狀態 示焊接電流Iw的變化狀態；第 第3(〇圖顯 的變化狀態。機械手移動速度VR是沿著::::給逮度“ 的既定焊接行進方向（對應第8圖 ？内面 知接订進方向移動的焊接切14的速度。技術得 -第！ΐ:一般來說，藉由來自外部的谭接開始，ft w ::圖）的輸入，進行過渡的焊接進行處理：在二(參 始處理中，動作控制電路21 在焊接開 出控制電路31及送給控制電路;:。：二=輪出給輸 焊接電M Vw於谭接絲15與焊接母材w之間。料路31施加 電弧a。然後如第3圖所示，反覆焊滴轉移期門點亮 持續期間T2來進行焊接。在焊滴轉移期間口中^弧 接電流M的流動來轉移焊滴，形成炫融池。另^ =ΓΓ1Τ2中，焊接電“2的流動使焊滴幾 說明。”且維持電弧a移動焊接噴搶U。以下為具體 (1)焊滴轉移期間T1 (時間點tl〜t2) 圖及it广轉移期間T1’進行習知技術的說明中於第7(a) 期間n，a)圖所示的形成熔融池γ的處理。在焊滴轉移 s ’如第3 (a)圖所示，將機械手移動速度VR設定 為〇。因此焊接喷搶14㈣於焊接母材是停止的。如第3 jc)圖所示，焊接電流Iw是絕對值的平均值為電流值w 的乂流脈衝焊接電％ Iwl。在焊滴轉移期間n，進行定電 壓控制。纟定電麼控制中，當焊接絲15的#質、直种、谭 201111093 接絲15的突出長度、雷u杜 極性專焊接條件決定的話，焊接 電流Iw會藉由第3 ( d ) m, )圖所不的焊接絲15的送給速度Fw 而固定。亦即，焊接雷详 电μ Iwl由設定送給速度Fw的送給速 度設定信號W s而決定。右搜名 、 欠在谇滴轉移期間T1，焊接絲15以 fwl的送給速度Fwi^仏 λ !, w 运、，.D。fwl 例如 650〜i〇〇〇cm/min。又 焊滴轉移期間T1例如 弟4圖係顯示焊技带a τ , 坪播電流I wl的詳細時間變化。在第3Iw. The current detecting circuit 32 detects the signal Id from the current corresponding to the welding current Iw by @ & The arc elimination detection circuit 0〇 Β The electric circuit detects the circuit in which the arc a is extinguished. Current 12 201111093 The detection signal id is input to the arc erasure detecting circuit 33. The arc elimination detecting circuit 33 determines that the arc is extinguished by the wheel current detecting signal Id when the welding current is "0." At this time, the arc extinguishing detecting circuit Μ outputs the arc extinguishing signal Sa to the output control circuit 3 to eliminate the arc. The detection circuit 33 also outputs the arc extinguishing signal 透过 to the operation control circuit 21 through the interface circuits 35 and 22. The arc elimination detection circuit 33 does not receive the current detection signal I d indicating that the welding current is 〇. Immediately, it is judged that the arc a is extinguished. When the arc extinguishing detection circuit 33 starts from the current detection signal id indicating the welding current Iw4 G, 'the current detection signal indicating that the welding current is ° after receiving the predetermined delay time In the case of Id, it is judged that the arc a is extinguished. This judgment function using the delay time can be mounted on the current detecting circuit 32. The voltage detecting circuit 36 is used to detect the welding voltage VWD which is the output of the output control circuit. The detection circuit 36 outputs the voltage detection signal Vd corresponding to the welding voltage W to the output control circuit 31. The control unit 34 supplies the feed control output to the motor 161 for feeding the welding wire 15. The control signal Fc = the signal of the feed speed Fw of the wire 15 is supplied. The automatic output starts from the position η ” Ζ1. The tiger 〇 η and the feed speed setting number · 合, #人35, 22 pass reverse.... The tiger S will pass through the interface circuit to reach the control circuit 34. Next, the 苐3 diagram is used to further illustrate the example of the two methods of the 眚 眚 。 。 。 第 第 第 第 第 第 第 第 第 第 第 第 第 第 第 第 第 第 第 第 第 第 第 第 第 , , , 、 、 、 、 、 、 、 、 、 、 、 The change state of the current setting signal is indicates the change state of the welding current Iw; the third change state (the change state of the figure is shown. The robot movement speed VR is the predetermined welding traveling direction along the :::: to the catch degree (corresponding to Figure 8: The inner surface knows the speed of the welding cut 14 in the direction of the advancement. The technique is - the first! ΐ: In general, the input from the outside, the input of ft w::), the transition Welding processing: In the second (in the initial processing, the motion control circuit 21 is in the welding control circuit 31 and sent to the control circuit;:: two = wheeling and feeding welding power M Vw in the tan wire 15 and the welding mother Between the materials w. The material path 31 applies an arc a. Then, as shown in Fig. 3, the reverse welding droplet is transferred. The gate is lit for the duration T2 to weld. During the transfer of the solder droplets, the flow of the current M is transferred to transfer the solder droplets to form a dazzling pool. In the other ^=ΓΓ1Τ2, the flow of the welding "2 makes the solder droplets "And maintain the arc a moving the welding spray to grab U. The following is specific (1) welding droplet transfer period T1 (time point t1 to t2) and the iterative transfer period T1' in the description of the conventional technique in the seventh ( a) The process of forming the molten pool γ shown in the figure n, a). In the solder droplet transfer s ' as shown in the third (a) diagram, the robot moving speed VR is set to 〇. Therefore, the welding spray is 14 (four) The welding base material is stopped. As shown in Fig. 3c), the welding current Iw is the turbulent pulse welding electric power %wl whose average value of the absolute value is the current value w. During the solder droplet transfer period n, constant voltage control is performed. In the control of 纟定电, when the welding length of the welding wire 15#, the straight type, the length of the 201111093 wire 15 and the welding condition of the Rayu Du polarity are determined, the welding current Iw will be by the 3rd (d) m. The feeding speed Fw of the welding wire 15 which is not shown is fixed. That is, the welding spurt μ Iwl is determined by the feed speed setting signal W s set to the feed speed Fw. The right search name, under the trickle transfer period T1, the welding wire 15 is fed by the fwl speed Fwi^仏 λ !, w transport,, .D. Fwl is for example 650~i〇〇〇cm/min. In addition, during the solder droplet transfer period T1, for example, the figure 4 shows the detailed time change of the soldering tape a τ and the pinging current I wl . At the 3rd
圖中，為了理解上的方便，將焊接電流W簡化表示，實 際上焊接電机I Wl為第4圖所示的交流脈衝電流。第4 圖的電流值i w 1與第3φ. , t ^ 乐d圖的電流值iwl —致。第4圖的時 間範圍比起第3圖的日卑門梦m二山上上 _ _ π旰間耗圍而έ相當小。第4圖中表示 焊接電流I w的縱軸在捏蛀絲a阻& η± „ _ , 刊隹坪接絲疋％極時，所流通的電流以正 來表示。 如第4圖所能理解地，焊接電流丨w丨在週期内各有 一次電極正極性電流與電極負極性電流Ien。週期Te 例如是20msec左右。電極正極性電流Iep是焊接絲η是 陽極，焊接母材是陰極狀態下所流過的電流。電極正極性 電流Iep包括正極性峰值電流Ipp與正極性基底電流丨的。 正極性峰值電流1PP在電極正極性期間Tpp流動。電極正 極性期間ΤΡΡ例如是2msec左右。正極性峰值電流Ιρρ的 絕對值Iepp，例如是3〇〇〜35〇Αβ另一方面，正極性基底 電流Ipb在電極正極性期間Tpb流動。電極正極性期間丁汕 例如是14mSec。正極性基底電流Ipb的絕對值Iepb例如 是 50〜100A 。 15 201111093In the figure, for the sake of convenience of understanding, the welding current W is simplified, and the welding motor I Wl is actually the AC pulse current shown in Fig. 4. The current value i w 1 of Fig. 4 is consistent with the current value iwl of the third φ., t ^ 乐d diagram. The time range of Fig. 4 is quite small compared to the _ _ π 旰 上 上 上 m 二 二 二 二 二 二 二 。 。 。 。 。 。 。 。 。. In Fig. 4, the vertical axis of the welding current I w is expressed in the positive direction when the pinch wire a & η ± „ _ , the 流通 接 疋 疋 疋 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 It is understood that the welding current 丨w丨 has one electrode positive current and the electrode negative current Ien in the cycle. The period Te is, for example, about 20 msec. The electrode positive current Iep is the welding wire η is the anode, and the welding base material is the cathode state. The positive electrode current Iep includes a positive polarity peak current Ipp and a positive polarity base current 。. The positive polarity peak current 1PP flows during the electrode positive polarity period Tpp. The positive electrode polarity period ΤΡΡ is, for example, about 2 msec. The absolute value Iepp of the peak current Ιρρ is, for example, 3 〇〇 to 35 〇Α β. On the other hand, the positive base current Ipb flows during the electrode positive polarity period Tpb. The positive electrode period of the electrode is, for example, 14 mSec. The positive base current Ipb The absolute value of Iepb is for example 50~100A. 15 201111093
電極負極性電流I en是焊接絲15是陰極，焊接母材W 疋陽極狀態下所流過的電流。電極負極性電流〖en在電極 負極性期間Ten流動。電極負極性期間Ten例如是3. 〇〜 4. 0msec電極負極性電流Ien的絕對值Ienp例如是50〜 100A。 一 •丄-干战％ "_L 、冤棧員極 性電流Ien、電極正極性期帛Τρρ、及電極負極性期間Ten 被設疋在既定值。電極正極性期間⑽會進行迴授控制使 焊接電壓的平均值等於預先設定的焊接電壓設定值。藉由 此控制’電弧a的長唐姑狄座丨+ A也 , 度破控制在適當值。有關正極性峰值 電流I p p、正極性基底雷、、$ T k & ㈣信盆主 電流1Pb及電極負極性電流Ien的 絕對值，其時間平均值會與f_iwm 例如是 90A。 lwl (2)電弧持續期間T2(時間點t2〜t3) 邊：第二圖所示的電弧持續期間T2’ -邊繼續電 -邊進仃習知技術說明中 电弧a， 冷卻熔融池y的處f 9(c)圖所示的 一 的處理。電弧持續期間T2例如是〇 2〜 (!)電弧持續期間T2開始〜 (時間點t2〜tvi ) 月减為止的期間 如第3 (a)圖所示，在 就是時間點⑴將機械手移動速度==開始時，也 接嗔搶14沿著既定的痒接行進方^在V2。藉此样 10〇cm/min〇在電弧持 汗。移動。V2例如是 期間T2,與痒滴轉移期間了】不同， 16 201111093 是定電流控制。如第3 (b)圖所示，電流設定信號is的 設定使得電流i isl的定電流（也就是說絕對值的平均值 是1 Sl)為焊接電流1w。因此第3 (c)圖所示，焊接電流 \以電流值isl的一定焊接電流iw2流動。電流值isl例 如疋15〜20A左右。電、流值isl是焊滴很難進行轉移的程 度的很小的值。焊接電流Iw2在焊接絲丨5是陽極，焊接母 材W疋陰極的狀態下流動，也就是所謂#電極正極性電 机。如第3 ( d)圖所示，焊接絲j 5以f w2的送給速度以 進行送給。fw2比fwl小，例如是7〇cm/min。 (11 )電弧a的消滅〜下次焊滴轉移期@ n的開始為 止（時間點tvl〜t3 ) ，在時間點tVl，因為不期望的原因而導致電弧“肖滅。 此後如第3(c)圖所示’焊接電流Iw變為。。第2圖的電 流檢出電路32將表示焊接電流Iw為〇的電流檢出信號1(1 輸出至電弧消滅檢出電⑽電弧消滅檢出電路33從輸 流檢出信號Id判斷出焊接電流Iw為。。接著電弧 松出電路33判斷出電弧a消滅、然後電弧消滅檢出電 路33將電弧消滅信號Sa輸出至輸出控制電路μ及動 制電路21。 、如上所述’電弧消滅檢出電路33收到表示焊接電流 為。的電流檢出信號1(1後並不會立即判斷電弧a消滅。 檢出電路33在表示焊接電流…的電流檢出 丄輸人時’經過既定㈣遲時㈣仍然㈣表示焊接 LlW為G的電流檢出信號Η的情況下，才會判斷電弧 201111093 a消滅。較佳的是 轉移期間τ】的延遲時間dtl:/==， 2°T，延遲時一，： 動作控制電路21接收電 給速度設定信號Ws變化為表_，咸㈣5號S“ ’將送 如第3(d)圖所… …速度“為。。藉此，The electrode negative current I en is a current through which the welding wire 15 is a cathode and the welding base material W is in an anode state. The negative electrode current of the electrode 〖en flows during the negative polarity of the electrode. The electrode negative polarity period Ten is, for example, 3. 〇 〜 4. 0 msec The absolute value Ienp of the electrode negative polarity current Ien is, for example, 50 to 100 Å. • • 丄-dry war % "_L, stack current Ien, electrode positive polarity 帛Τρρ, and electrode negative period Ten are set at a predetermined value. During the positive polarity period (10) of the electrode, feedback control is performed so that the average value of the welding voltage is equal to the preset welding voltage setting value. With this control, the long-term Tang dynasty 丨 + A of the arc a is also controlled at an appropriate value. Regarding the absolute value of the positive peak current I p p , the positive base pillar, the $ T k & (4) the main drain current 1Pb and the negative polarity current Ien, the time average value and f_iwm are, for example, 90A. Lwl (2) arc duration T2 (time point t2~t3) side: arc duration T2' shown in the second figure - while continuing the electric-edge advancement, the arc a, cooling the molten pool y f 9(c) The processing of one shown in the figure. The arc duration T2 is, for example, 〇2~(!) arc duration T2 start~ (time point t2~tvi) The period until the month is reduced as shown in the third (a) diagram, at the time point (1), the robot movement speed == At the beginning, it is also rushed to grab 14 along the established itching junction ^^ at V2. By this, 10 〇cm/min 〇 is sweating in the arc. mobile. V2 is, for example, period T2, which is different from the period of itch drop transfer, and 16 201111093 is constant current control. As shown in the third figure (b), the current setting signal is is set such that the constant current of the current i isl (that is, the average value of the absolute value is 1 Sl) is the welding current 1w. Therefore, as shown in the third figure (c), the welding current \ flows with a constant welding current iw2 of the current value isl. The current value isl is, for example, about 15 to 20A. The electric and flow values isl are small values of the extent to which the solder droplets are difficult to transfer. The welding current Iw2 flows in a state where the welding wire 5 is an anode and the base material is welded to the cathode, that is, a so-called #electrode positive motor. As shown in the third figure (d), the welding wire j 5 is fed at the feed speed of f w2 . Fw2 is smaller than fwl, for example, 7 〇cm/min. (11) Destroy of the arc a~ Until the start of the next solder drop transfer period @n (time point tvl~t3), at the time point tVl, the arc is "disappeared" because of an undesired reason. Thereafter, as the third (c) The welding current Iw is shown in Fig. 2. The current detecting circuit 32 of Fig. 2 shows a current detecting signal 1 indicating that the welding current Iw is ( (1 output to the arc extinguishing detection power (10) arc erasing detecting circuit 33 The welding current Iw is judged to be the welding current Iw. Then, the arc releasing circuit 33 determines that the arc a is extinguished, and then the arc eliminating detecting circuit 33 outputs the arc extinguishing signal Sa to the output control circuit μ and the movable circuit 21 As described above, the arc erasing detection circuit 33 receives the current detection signal 1 indicating that the welding current is 1. (1 does not immediately judge that the arc a is extinguished. The detection circuit 33 detects the current indicating the welding current... In the case of the input of the person, the delay (d) of the transition period τ] is judged to be eliminated when the current is detected (4) is still (4) and the current detection signal 焊接 of the welding LlW is G. ==, 2°T, one delay,: action The control circuit 21 receives the electric power supply speed setting signal Ws and changes it to the table _, and the salt (4) No. 5 S " ' will be sent as shown in the third (d) figure "speed".
、α」圖所不达給速度F 停止。另—t ^ 4接絲1 5的送給 另—方面，輸出控制電路31收 後’將輪出轉變為關閉狀態"吏 祕喊Sa 出控制電…輸出轉變送給停止、輸 Μ Φ 2r… ！马關閉狀態的該步驟是為了維 '電弧a消滅狀態而進行。 、·’ 定要〜尸 $卩㈣持電弧a消滅的狀態不一 ::停止焊接絲15的送給並且將輸出控制電路 輸出轉變為關閉狀態。也 綠的裎声了“ 以在-夠維持電弧a消減的狀 31的^ 絲15㈣給並且維持輸出控制電路 :〜:出在:啟狀態。如第3(她示，即使在_ 3,機械手移動速度⑽也維持在v2。因此，在即使 時間點tvl〜t3，焊接喷搶14以不停 定的行進方向移動。 ㈣續沿者既 、m)下一個焊滴轉移期間T1 (時間點t3〜t4) 如第3(a)圖所示，在時間點t3，機械手移動速度 _ -疋為0,使谭接喷搶14停止移動。如第3⑷圖所 不’將迗給速度Fw設定為比fwl小的fw3,開始焊接絲15 :送給。然後藉由將輸出控制…i的輸出轉為開啟狀 〜再產生電弧a。為了再產生電弧a，能夠使用多種的電 弧開始方法。這樣的電弧開始方法例如可以使用讓焊接絲 18 201111093 15接觸焊接母材w後， 回開始法。再產生電y : 拉離焊接母材W的收 $ & a時的電弧開始條件也可以與電弧 a 4滅時間點tvl前所推a认而 弧 弧開始條件不同…焊接中產生電弧a的電 π . ώ 弧開始條件包括開始電流的大小戈 開始電流流動的時間。然 次 …、傻在電弧a產生後，如第3 (d) 圖所不，將送給速度Fw轡A f = ； 社4 斐為fwl再次進行電弧焊接。 接者說明關於本實施例的作用。 根據本貫施例，反霜 n T1 仃電弧a不消滅的焊滴轉移期 間τι與電弧轉移期間T2 付抒4 ^, ^ Α 、月，下，就能夠形成漂亮的鱗 狀滴珠。再根據本實施例， 知 , 1 ^ Μ吏在電弧轉移期間Τ2的時間 點tvl偶然發生電弧洁 了间 _ ^ 点減的情況，時間點tvl到重啟煜 滴轉移期間T1的時間點 欠谇 μ, . „ 3期間’不需要再產生電弧a。 因此，時間點tvl到時間點q [ ^ ^ t3為止能夠避免再產生電弧a 的情況下所產生的滴珠外 冤弧a 亮的鱗狀滴珠。 犯幻办成更/示 根據本實施例，如筮q r 卻弟3 ( a)圖所示，在焊 T1使焊接喷搶14相對焊接 θ 續期Π 口伟MM 停止移動，只在電弧持 續期間T2使焊接喷搶14相料接母材 字 合形成吏漂亮的滴珠。 動 <樣較適 即使在時間點tvl〜t3’ 坪接喷搶1 4也不停止而^ 既定的焊接行進方向移動。m L T止而m者 π移動。因此能夠將上述的谭 早-點移動到開始焊滴轉 帛喷搶14 得衫期間Τ1的位置。藉此能 焊接所需要的時間。 猎此^夠縮短 如第3(c)圖所示，在.門机 在時間點tvl焊接絲15與焊接 201111093 ’焊接電流I w變為〇，電 Iw變為〇的狀況。這樣的 母材w離間的狀態下電弧a消滅 檢出電路3 3檢測出焊接電流 架構適合用於檢出電弧a的消滅 而將電弧持續期間T2的延遲時間定比焊滴轉移 期間η的延遲時間dtl短的情況下，能夠更早地停止焊接 絲15的送給、將輸出控制轉31㈣出轉變為關閉狀態。 因此’藉由將電弧持續期間T2的延遲時間dt2設定比谭滴 轉移期間η的延遲時間dtl短，能夠使焊接絲15更早地The α" map does not reach the speed F stop. In addition, the -t ^ 4 wire 1 5 is sent to the other side, and the output control circuit 31 receives the 'turning out the wheel to the off state'. 吏 喊 Sa 出 出 出 出 控制 输出 输出 输出 输出 输出 输出 输出 输出 输出 输出 输出 输出 输出 输出 r r r r ...! This step of the horse off state is performed in order to maintain the arc a destroy state. , · 'Definitely ~ corpse $ 卩 (4) The arc is extinguished in a different state :: Stop the feeding of the welding wire 15 and turn the output control circuit output to the off state. Also, the green buzzer "gives and maintains the output control circuit in the form of the wire 15 (four) that is sufficient to maintain the arc a reduction 31: ~: in the: state. As shown in the third (she shows that even in _ 3, machinery The hand movement speed (10) is also maintained at v2. Therefore, even at the time points tv1 to t3, the welding squirt 14 moves in an undetermined traveling direction. (4) The continuation edge, m) the next droplet transfer period T1 (time point) T3~t4) As shown in Fig. 3(a), at time t3, the robot movement speed _ - 疋 is 0, so that the tan picks up and stops 14 to stop moving. If the figure is not in Fig. 3 (4), the speed Fw is given. The fw3 is set to be smaller than fwl, and the welding wire 15 is started: the output is turned on. Then, the output of the output control ... i is turned into an open state - and the arc a is generated again. In order to generate the arc a again, various arc starting methods can be used. Such an arc starting method can be used, for example, after the welding wire 18 201111093 15 is brought into contact with the welding base material w, and the starting method is repeated. The electric y is generated again: the arc starting condition when the welding base material W is pulled away from the welding base material W can also be The arc a 4 is extinguished before the time point tvl, and the arc arc start condition is different... the arc is generated during welding The electric π. 弧 arc start condition includes the time at which the current begins to flow and the current begins to flow. Then, after the arc a is generated, as shown in the third (d) diagram, it will be sent to the speed Fw辔A f = 4, Fiji is again performing arc welding for fwl. The effect of this embodiment is explained. According to the present embodiment, the anti-frost n T1 仃 arc a does not destroy the transfer period τι and the arc transfer period T2 抒 4 ^, ^ Α, 月,下, can form a beautiful scaly bead. According to the present embodiment, it is known that 1 ^ 偶然 during the arc transfer period Τ 2 time point tvl accidental arc cleaning _ ^ point reduction In the case, the time point tvl is less than 时间μ at the time T1 during the restart of the trickle transfer, and the arc a is not required to be generated during the period of „3. Therefore, from the time point tvl to the time point q [^^t3, it is possible to avoid the scaly bead which is brighter than the outer bead arc a in the case where the arc a is regenerated. According to the present embodiment, as shown in the figure 筮qr but the brother 3 (a), in the welding T1, the welding spray 14 is welded relative to the welding θ. The Π mouth Wei MM stops moving, only during the duration of the arc T2 makes the welding spray robbing the 14-phase material and the base material to form a beautiful drop. It is suitable to move even if it is at the time point tvl~t3', and it is not stopped and the predetermined welding direction is moved. m L T stops and m moves π. Therefore, it is possible to move the above-mentioned Tan early-point to the position where the start of the welding of the welding droplets and the squirting of the shirts. This allows the time required for soldering. This is shortened as shown in Fig. 3(c), in the case where the door machine is at the time point tvl welding wire 15 and welding 201111093 'the welding current I w becomes 〇, and the electric Iw becomes 〇. In the state in which such a base material w is separated, the arc a elimination detecting circuit 3 3 detects that the welding current structure is suitable for detecting the elimination of the arc a, and the delay time of the arc duration T2 is set to be longer than the delay time of the droplet transfer period η. When dtl is short, the feeding of the welding wire 15 can be stopped earlier, and the output control rotation 31 (four) can be turned into the closed state. Therefore, by setting the delay time dt2 of the arc duration T2 to be shorter than the delay time dtl of the tan drop transfer period η, the welding wire 15 can be made earlier
停止接近焊接母材W。藉此，能夠更確實地維持電弧3消 滅的狀態。 菖在時間點tv 1電弧a消滅，完全停止焊接絲i 5的送 給。又或是當在時間點tvl電弧a消滅，將輸出控制電路 31的輸出轉變為關閉狀態”因此電弧a消滅後焊接絲15 很難接近焊接母材W。也就是本實施例的架構適合於維持 電弧a消滅的狀態。 在本實施例，不在電弧持續期間T2再產生電弧a，而 在焊滴轉移期間Π開始時再產生㈣^因此為了再產生 電狐a能夠使用各種方法。因此用來再產生電纟a的電弧 開始方法能夠使用例如收回開始法等較難產生噴濺的方 法。 如第4圖所示，焊接電流Iwl是交流脈衝電流。因此 =夠抑制在焊滴轉移期間T1的焊接母材熱上升。這適合於 焊接母材W是例如鋁所構成的薄板。 焊接電流Iw2是所謂的電極正極性電流。焊接電流Iw2 20 201111093 若是焊接絲15是陰極、焊接母材q陽極狀態下流動的電 極負極性電流的話，會容易發生焊接絲i 5的熔融量多，焊 滴易滴落焊接母材W等不良狀況。但本實施例的焊接電流Stop approaching the welding base material W. Thereby, the state in which the arc 3 is extinguished can be more surely maintained. At time tv 1 , the arc a is extinguished, and the feeding of the welding wire i 5 is completely stopped. Or, when the arc a is extinguished at the time point tv1, the output of the output control circuit 31 is turned into the off state. Therefore, it is difficult for the welding wire 15 to approach the welding base material W after the arc a is extinguished. That is, the structure of the embodiment is suitable for maintenance. In the present embodiment, the arc a is not generated again during the arc duration T2, but is generated again during the start of the droplet transfer (four). Therefore, various methods can be used for regenerating the electric fox a. The arc starting method for generating the electric charge a can use a method in which it is difficult to generate a splash, such as a retracting start method. As shown in Fig. 4, the welding current Iw1 is an alternating current pulse current. Therefore, it is possible to suppress the welding of the T1 during the transfer of the solder droplets. The base material is heated up. This is suitable for the welding of the base material W. For example, a thin plate made of aluminum. The welding current Iw2 is a so-called electrode positive current. The welding current Iw2 20 201111093 If the welding wire 15 is a cathode, the welding base material is in the anode state. When the flow of the negative electrode current of the electrode is likely to occur, the amount of melting of the welding wire i 5 is large, and the welding droplet is likely to drip the welding of the base material W. However, the welding of this embodiment Stream
Iw2並非電極負極性電流而是電極正極性電流，因此較難 發生這類的不良狀況。 j可以在焊接母材相對於水平方向傾斜的狀態下使 用本貫施例的方法。如此—來，谭滴難以低落焊接母材卜 最後能夠形成更漂亮的滴珠。 第5圖係顯示本發明實施例2。在第5圖中，與前述 實施例相同或類似的要素會標上跟前述實施例相同的符 號。本實施例在電弧“肖滅後的時刻t"，電流設定信號 Is由電流值isl上升至電流值ls2這點與實施例】不同。 使電流設定信號Is上升的步驟的實行是藉由在時間 點tvl輸入電弧消滅信號Sa的第2圖的動作控制電路Η 在時間點t4將電流設定信號Is由電流们^上升至電流 值is2。動作控制電路21將由電隸isl上升至電流值^ 的電流設定信號is輪出至輸出控制電路31 …上升至電流值ls2的電流設定信號_ = 第圖所示焊接電流Iw2以電流值u2流動。 其中電流值is2比電流值isl大了例如左右。 時間點t4以後電弧&再次消滅的情況下，也可以再使電流 設定信號I s上升。 根據本實施例，時間點t4以後的電弧持續期間Η 中，焊接電流Iw2以電流值ls2流動。因此時間點Μ以後 21 201111093 的電弧持續期間T2中電弧a變得不容易消滅。藉此，減少 在時間點t4後再產生電弧a的必要性。因此能夠抑制在焊 接母材W發生喷濺的情況。最後根據本實施例，能夠使形 成於焊接母材W的鱗狀滴珠的外觀更漂亮。 而本實施例也具有與實施例1相同的優點。 本實施例中，雖提出了在時間點tv 1發生1次電弧a 消滅而使電流設定信號I s上升的例子，但也可以只在複數 次電弧a消滅的情況下才上升電流設定信號I s。藉由只在 複數次電弧a消滅的情況下才上升電流設定信號ls，能夠 · 抑制焊接電流IW2過度增大。藉此也能抑制在電弧持續期 間T2中焊接絲15或焊接母材w發生熔融。 上升電流設定信號I s可以根據電弧a的消滅，不一定 要在時間點t4時上升電流設定信號is。例如，也可以在 電弧持續期間T2的途中使電流設定信號I s上升，或是在 時間點t6使電流設定信號is上升。 本發明的範圍並不限定於上述的實施例。本發明具體 的架構可以有自由地變更為各種設計。上述實施例中，藉 _ 由焊接電流為〇來檢測電弧的消滅，但也可以是例如，藉 由解析拍攝到的電弧產生部 > 的圖冑或影像的變化來檢測 2弧消滅。或是在電弧持續期間T2’焊接電壓Vw設定比 、身又會選取的值大的閥值電壓（例如是比無負載電壓稱小 、值）藉由焊接電壓Vw超過該閥值電壓的時判斷電弧消 滅’來檢測電弧的消滅。 而為了形成更漂亮的滴珠外觀，在焊滴轉移期間τι時 22 201111093 的機械手移動速度vR設定 ^ ^ 疋為0疋較佳的，但本發明並不限 於此。例如’也可以將在焊 罔轉移期間T1時的機械手移動 =設定為比在電狐持續期間T2時的機械手移動速度 並且比〇大的值。然後也可以因應機械手移動 速度VR ’適當地調整焊滴轉 吁同锊矛夕期間τι與電弧持續期間Τ2 〇 上述說明雖表示了焊技带、* T i & Α 坏接電I wl為父流脈衝電流的例 子’但本發明不限於此， c綷接電流Iwl也可以是定電流。 當然焊接電流I w2也是相同的情況。 【圖式簡單說明】 第1圖係顯示根據本發明實施例i的焊接系統組成的 一例。 第2圖係顯示第i圖所示的焊接系統的内部架構。 第3 ( a卜（d )圖係顯示實施例i的焊接系統的各信 號等的時序圖。 第4圖係顯示熔滴移動期間的焊接電流變化圖。 第5 (a)〜⑷圖係顯示實施例2的焊接系統的各俨 號等的時序圖。 第6圖係顯示習知的焊接系統組成的—例。 態 第7 ( a )〜（d ))圖係說明進行針腳脈衝焊接時的狀 第8圖係用以說明焊接施工後所形成的焊接滴珠。 第9 ( a )〜（d )圖係說明進行針腳脈衝焊接時的狀離 23 201111093 、 【主要元件符號說明】 A〜焊接系統； 1〜焊接機械手； 11〜基底； 12〜手臂； 12a〜手腕部； 1 3〜馬達； 14〜焊接喷搶； 1 5〜焊接絲（消耗電極）； _ 1 6〜焊接絲送給裝置； 1 61〜送給馬達； 2〜機械手控制裝置； 21〜動作控制電路（消耗電極移動裝置）； 22〜介面電路； 3〜焊接電源裝置； 31〜輸出控制電路（電流控制裝置）； 3 2〜電流檢出電路； 33〜電弧消滅檢出電路（檢測裝置） 3 4〜送給控制電路； 35〜介面電路； 36〜電壓檢出電路； W〜焊接母材（母材）；Iw2 is not the electrode negative current but the electrode positive current, so it is difficult to cause such a problem. j The method of the present embodiment can be used in a state where the welded base material is inclined with respect to the horizontal direction. So - come, Tan drop is difficult to lower the welding of the base material, and finally can form a more beautiful drop. Fig. 5 shows Embodiment 2 of the present invention. In Fig. 5, the same or similar elements as those of the foregoing embodiment will be denoted by the same symbols as those of the foregoing embodiment. This embodiment differs from the embodiment in that the current setting signal Is rises from the current value is1 to the current value ls2 at the time t" after the arc is "disappeared." The step of raising the current setting signal Is is performed by time. The operation control circuit 第 of the second diagram of the arc erasing signal Sa is input at the point tvl. The current setting signal Is is raised from the current to the current value is2 at the time point t4. The operation control circuit 21 raises the current from the electric is1 to the current value ^. The setting signal is taken out to the output control circuit 31 ... the current setting signal rising to the current value ls2 _ = the welding current Iw2 shown in the figure flows with the current value u2, wherein the current value is2 is larger than the current value is1, for example, left and right. In the case where the arc & once again is extinguished after t4, the current setting signal I s can be further increased. According to the present embodiment, in the arc duration period 时间 after the time point t4, the welding current Iw2 flows at the current value ls2. In the arc duration T2 of 21 201111093, the arc a is not easily eliminated. Thereby, the necessity of generating the arc a after the time point t4 is reduced. In the case where the base material W is splashed, finally, the appearance of the scaly beads formed on the welded base material W can be made more beautiful. This embodiment also has the same advantages as the first embodiment. In the example, an example has been proposed in which the arc setting is extinguished once at the time point tv 1 and the current setting signal I s is increased. However, the current setting signal I s may be raised only when the plurality of arcs a are extinguished. When the current setting signal ls is raised only when the plurality of arcs a are extinguished, it is possible to suppress an excessive increase in the welding current IW2, thereby suppressing melting of the welding wire 15 or the welding base material w during the arc duration T2. The rising current setting signal I s can be extinguished according to the arc a, and it is not necessary to raise the current setting signal is at the time point t4. For example, the current setting signal I s can be raised in the middle of the arc duration T2, or in time. The current setting signal is rises at point t6. The scope of the present invention is not limited to the above-described embodiments. The specific architecture of the present invention can be freely changed to various designs. In the above embodiment, _ The arc is detected by the welding current being 〇, but it is also possible to detect the arc elimination by, for example, analyzing the image of the captured arc generating unit> or the image, or during the arc duration T2' The welding voltage Vw is set to a threshold value that is larger than the value to be selected (for example, the value is smaller than the no-load voltage), and the arc is extinguished when the welding voltage Vw exceeds the threshold voltage to detect the arc elimination. In order to form a more beautiful bead appearance, it is preferable that the manipulator moving speed vR of the lens 11 22 201111093 is 0 期间 during the droplet transfer, but the present invention is not limited thereto. For example, it is also possible to set the robot movement = at the time of the weld transfer period T1 to a value larger than the robot movement speed at the time T2 during the electric fox duration. Then, it is also possible to appropriately adjust the welding droplets in response to the robot movement speed VR' during the same period of time and the duration of the arc Τ2 〇. The above description indicates that the welding belt, *T i & Α bad power I wl is Example of the parent flow pulse current 'But the invention is not limited thereto, and the c-connection current Iwl may also be a constant current. Of course, the welding current I w2 is also the same. BRIEF DESCRIPTION OF THE DRAWINGS Fig. 1 is a view showing an example of the composition of a welding system according to an embodiment i of the present invention. Figure 2 shows the internal architecture of the welding system shown in Figure i. The third (a) diagram shows the timing chart of each signal and the like of the welding system of the embodiment i. Fig. 4 is a graph showing the change of the welding current during the movement of the droplet. The fifth (a) to (4) diagram shows Timing chart of each nickname and the like of the welding system of the second embodiment. Fig. 6 shows an example of a conventional welding system. The seventh (a) to (d)) diagram illustrates the case of performing pin pulse welding. Figure 8 is used to illustrate the welding beads formed after welding. The 9th (a) to (d) diagrams illustrate the shape of the pin pulse welding 23 201111093, [Main component symbol description] A ~ welding system; 1 ~ welding robot; 11 ~ base; 12 ~ arm; 12a ~ Wrist; 1 3 ~ motor; 14 ~ welding spray grab; 1 5 ~ welding wire (consumption electrode); _ 1 6 ~ welding wire to the device; 1 61 ~ to the motor; 2 ~ robot control device; Motion control circuit (consumption electrode moving device); 22~interface circuit; 3~welding power supply device; 31~output control circuit (current control device); 3 2~current detection circuit; 33~arc elimination detection circuit (detection device 3 4 ~ give control circuit; 35 ~ interface circuit; 36 ~ voltage detection circuit; W ~ solder base material (base material);
St〜焊接開始信號；St~ welding start signal;
On〜輸出開始信號； 24 201111093On~ output start signal; 24 201111093
Sa〜電弧消滅信號；Sa~ arc elimination signal;
Ws〜送給速度設定信號；Ws~ is sent to the speed setting signal;
Me〜動作控制信號；Me~ motion control signal;
Fc〜送給控制信號； VR〜機械手移動速度； I w 1、I w 2、I w 3〜焊接電流； iwl〜電流值（第1值）；Fc~ gives control signal; VR~manipulator moving speed; I w 1, I w 2, I w 3~ welding current; iwl~ current value (first value);
Vw〜焊接電壓； • T1〜焊滴轉移期間（第1期間）； T2〜電弧持續期間（第2期間）； Iep〜電極正極性電流；Vw~welding voltage; • T1 to solder droplet transfer period (first period); T2 to arc duration (second period); Iep~electrode positive current;
Ien〜電極負極性電流； IPP〜正極性峰值電流；Ien ~ electrode negative current; IPP ~ positive peak current;
Ipb〜正極性基底電流；Ipb~positive substrate current;
Te〜週期；Te~ cycle;
Tpp、Tpb〜電極正極性期間； ^ Ten〜電極負極性期間； I s〜電流設定信號， isl、is2〜電流值（第2值）； dtl〜（第1 )延遲時間； dt2〜（第2 )延遲時間； F w〜送給速度。 25Tpp, Tpb~electrode positive polarity period; ^ Ten~electrode negative polarity period; I s~ current setting signal, isl, is2~current value (second value); dtl~(1st) delay time; dt2~(2nd Delay time; F w ~ give speed. 25
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| CN111001899B (en) * | 2020-03-09 | 2020-06-16 | 杭州凯尔达机器人科技股份有限公司 | Arc welding control method and device |
| JP2022107350A (en) * | 2021-01-08 | 2022-07-21 | 株式会社ダイヘン | Welding robot |
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| JPH0655268A (en) * | 1992-08-10 | 1994-03-01 | Yamaha Shatai Kogyo Kk | Welding robot |
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