TWI495533B - Arc welding method - Google Patents
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本發明係有關於使用針腳脈衝焊接法的電弧焊接方法。The present invention relates to an arc welding method using a pin pulse welding method.
第9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。比起習知的薄板焊接，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1)。Figure 9 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 is a welding method in which the heat influence applied to the base material can be easily suppressed by controlling heating and cooling at the time of welding. Compared with the conventional thin plate welding, it is considered that the use of the stitch pulse welding method can improve the appearance of the welding and also reduce the amount of the welding bead (for example, refer to Patent Document 1).
機械手9M會對母材9W進行自動電弧焊接，由上臂93、下臂94、手腕部95、以及用來驅動這些機構旋轉的伺服馬達(未圖示)所構成。The robot 9M performs automatic arc welding on the base material 9W, and is composed of an upper arm 93, a lower arm 94, a wrist portion 95, and a servo motor (not shown) for driving the rotation of these mechanisms.
電弧焊接噴槍9T是安裝於機械手9M的手腕部95的前端，用來導引纏繞於捲筒96的直徑1mm左右的焊絲97至母材9W的指示焊接位置。焊接電源9WP供給焊接電壓至電弧焊接噴槍9T與母材9W之間。對母材9W進行焊接時，將焊絲97凸出電弧焊接噴槍9T的前端需求的長度來進行焊接。The arc welding lance 9T is attached to the front end of the wrist portion 95 of the manipulator 9M, and is used to guide the welding position of the welding wire 97 wound around the reel 96 to the base material 9W. The welding power source 9WP supplies a welding voltage between the arc welding torch 9T and the base material 9W. When the base material 9W is welded, the welding wire 97 is projected to the length required for the front end of the arc welding spray gun 9T to be welded.
線圈鑲條92連接於電弧焊接噴槍9T，並用來導引內部焊接絲97。The coil strip 92 is attached to the arc welding torch 9T and is used to guide the inner welding wire 97.
做為操作裝置的編程器(teaching pendant)9TP是所謂的可移動式操作盤，用來設定機械手9M的動作、進行針腳脈衝焊接所需的條件等。The teaching pendant 9TP as an operating device is a so-called movable operating panel for setting the operation of the robot 9M, the conditions required for the pulse welding of the stitches, and the like.
機械手控制裝置9RC是用來讓機械手9M實行焊接動作控制之用，內部具備主控制部、動作控制部、及伺服驅動器等(皆未圖示)。接著根據操作者透過編程器9TP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9M的各伺服馬達，使機械手9M的複數軸分別旋轉。機械手控制裝置9RC因為透過機械手9M的伺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噴槍9T的前端位置。接著在焊接部位會一邊反覆進行以下會說明的焊接、移動、冷卻，一邊進行針腳脈衝焊接。The robot control device 9RC is for the robot 9M to perform welding operation control, and includes a main control unit, an operation control unit, a servo driver, and the like (all not shown). Then, based on the work program instructed by the operator through the programmer 9TP, the servo driver outputs an operation control signal to each of the servo motors of the robot 9M to rotate the plurality of axes of the robot 9M. Since the robot control device 9RC recognizes the current position by the output of an encoder (not shown) provided in the servo motor of the robot 9M, the tip end position of the arc welding gun 9T can be controlled. Then, stitch welding is performed while welding, moving, and cooling are performed on the welded portion.
第10圖係用來說明進行針腳脈衝焊接時的狀態。焊接絲97會凸出電弧焊接噴槍9T的前端。保護氣體G從焊接開始到焊接結束為止會持續以固定的流量由電弧焊接噴槍9T吹出。以下說明針腳脈衝焊接時的各狀態。Fig. 10 is a view for explaining the state when the stitch pulse welding is performed. The welding wire 97 protrudes from the front end of the arc welding lance 9T. The shielding gas G is continuously blown out by the arc welding lance 9T at a constant flow rate from the start of welding to the end of welding. The following describes each state of the stitch pulse welding.
第10(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的前端與母材9W之間產生電弧a，焊接絲97與母材9W熔化並且母材9W上形成熔融池Y。電弧a產生經過指示的焊接時間後停止。Figure 10(a) shows the situation when the arc is generated. According to the set welding current and the welding voltage, an arc a is generated between the tip end of the welding wire 97 and the base material 9W, the welding wire 97 and the base material 9W are melted, and the molten pool Y is formed on the base material 9W. The arc a is stopped after the indicated welding time.
第10(b)圖顯示電弧停止後的情況。電弧停止後維持焊接後的狀態到設定的冷卻時間經過為止。也就是說，機械手9M及電弧焊接噴槍9T處於與焊接時的狀態相同的停止的狀態下，電弧焊接噴槍9T只噴出保護氣體G，熔融池Y因保護氣體G而實質冷卻凝固。Figure 10(b) shows the situation after the arc has stopped. After the arc is stopped, the state after the welding is maintained until the set cooling time elapses. In other words, in the state in which the manipulator 9M and the arc welding lance 9T are stopped in the same state as that at the time of welding, the arc welding lance 9T discharges only the shielding gas G, and the molten pool Y is substantially cooled and solidified by the shielding gas G.
第10(c)圖顯示移動電弧焊接噴槍9T到下一個焊接位置的情況。經過冷卻時間後，使電弧焊接噴槍9T順著焊接進行方向移動到預先設定位置間距為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Mp是將焊接絲97調整到如第10(c)圖所示熔融池Y凝固後的熔融痕Y’的外側位置的距離。Figure 10(c) shows the movement of the arc welding torch 9T to the next welding position. After the cooling time, the arc welding lance 9T is moved in the welding progress direction to an arc restart point of a predetermined positional pitch Mp. The moving speed at this time is the set moving speed. The moving pitch Mp is a distance at which the welding wire 97 is adjusted to the outer position of the melt mark Y' after the molten pool Y is solidified as shown in Fig. 10(c).
第10(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。在針腳脈衝焊接系統91中，會像這樣交互進行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。Fig. 10(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 stitch pulse welding system 91, an arc generating state and a moving state are alternately performed in this manner. Welding beads are then formed such that the weld marks (squamous) overlap.
第11圖係用來說明焊接施工後所形成的焊接滴珠。如第11圖所示，在最初的電弧開始點P1形成焊接痕Sc，沿著焊接行進方向Dr間距Mp的再開始點P2同樣形成焊接痕Sc。再電弧開始點P3以後也依序形成焊接痕Sc。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。Figure 11 is a diagram showing the welding beads formed after welding. As shown in Fig. 11, the weld mark Sc is formed at the first arc start point P1, and the weld mark Sc is formed similarly at the restart point P2 of the welding travel direction Dr pitch Mp. The weld mark Sc is also sequentially formed after the arc start point P3. As a result of the welding marks Sc (square) overlapping each other, the scaly welding beads B are formed.
在上述的方法中，如第10(b)圖、第10(c)圖等所示，重複使電弧a停止之後再產生電弧a的步驟。電弧a再產生會有噴濺導致焊接滴珠B外觀惡化的問題。因此如第12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)。In the above method, as shown in Fig. 10(b), Fig. 10(c) and the like, the step of generating the arc a after the arc a is stopped is repeated. Recurrence of the arc a causes a problem that the appearance of the solder bead B deteriorates due to splashing. Therefore, as shown in Fig. 12, a welding method in which the arc a is not stopped and the arc a is not generated is proposed (for example, see Patent Document 2).
如第12(b)圖、第12(c)圖所示，此方法與第10(b)圖、第10(c)圖的情況並不相同，在冷卻熔融池Y時不停止電弧a而保持電弧a產生的狀態。因為不需要再次產生電弧a，因此能夠抑制噴濺的發生。這個情況下，習知的技術是例如在焊接時使用交流脈衝電流，在冷卻、移動時使用微弱的直流電流。As shown in Fig. 12(b) and Fig. 12(c), this method is different from the case of Fig. 10(b) and Fig. 10(c), and the arc a is not stopped when the molten pool Y is cooled. The state in which the arc a is generated is maintained. Since it is not necessary to generate the arc a again, it is possible to suppress the occurrence of splashing. In this case, a conventional technique is, for example, using an alternating current pulse current during soldering, and using a weak direct current during cooling and moving.
而即使使用這樣的針腳焊接法，有時候仍需為了防止焊接終端部產生缺陷，而進行焊坑處理。焊坑處理是指例如為了使熔融池Y不易產生凹陷而使用比平常弱的焊接電流及焊接電壓來進行的焊接處理。進行此焊坑處理能夠防止焊接終端部變薄，使焊接終端部不易產生缺陷。Even with such a stitch soldering method, it is sometimes necessary to perform pit processing in order to prevent defects in the solder terminal portion. The pit processing refers to, for example, a welding process using a welding current and a welding voltage which are weaker than usual in order to make the molten pool Y less likely to cause a depression. Performing this pit treatment can prevent the solder terminal portion from being thinned, and the solder terminal portion is less likely to be defective.
而在這個電弧焊接方法中，能夠藉由例如編成器9TP來指示任意的位置為焊接結束預定位置。上述的焊坑處理會在指示的焊接結束預定位置進行。然而，焊接結束預定位置有時會因為電弧焊接噴槍9T要進行焊接而不與停止位置重疊。也就是說，焊接噴槍9T有可能在由某個停止位置移動至間距Mp的下個停止位置的途中到焊接結束預定位置。此時，在焊接結束預定位置進行焊坑處理的話，就會形成與之前的焊接痕Sc不同間距的魚鱗狀，而有焊接滴珠B的外觀惡化的問題。In this arc welding method, it is possible to indicate an arbitrary position as a welding end predetermined position by, for example, the braider 9TP. The above-described pit processing will be performed at the predetermined position where the welding is ended. However, the predetermined position at which the welding ends is sometimes caused by the arc welding lance 9T to be welded without overlapping with the stop position. That is to say, it is possible that the welding lance 9T is moved to a predetermined position at the end of the welding from the stop position to the next stop position of the pitch Mp. At this time, when the pit processing is performed at the predetermined position at the end of the welding, a fish scale having a different pitch from the previous weld mark Sc is formed, and the appearance of the welded bead B is deteriorated.
[專利文獻1]特開平6-55268號公報[Patent Document 1] JP-A-6-55268
[專利文獻2]特開平11-267839號公報[Patent Document 2] Japanese Patent Publication No. 11-267839
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滴珠的電弧焊接方法。The present invention has been conceived in light of the above circumstances, and an object thereof is to provide an arc welding method which can form a more beautiful drop bead.
本發明所提供的一種電弧焊接方法，重複第1步驟與第2步驟，其中，該第1步驟係將焊接噴槍停止在位於每個所指示的移動間距的複數停止位置之其中之一，於母材與上述該焊接噴槍所保持的消耗電極之間產生電弧，進行焊滴轉移。該第2步驟係一邊於上述該母材與上述該消耗電極之間產生電弧，一邊冷卻形成於上述該母材的熔融池，並且將上述該焊接噴槍移動上述該移動間距到下一個上述該停止位置上。當從所指示的焊接結束預定位置的距離在上述該移動間距以內的上述該停止位置時，進行最後一次的第1步驟後即停止焊接為其特徵。An arc welding method provided by the present invention repeats the first step and the second step, wherein the first step stops the welding lance at one of a plurality of stop positions at each of the indicated moving pitches, in the base material An arc is generated between the consumable electrode held by the welding lance described above to perform droplet transfer. In the second step, while an arc is generated between the base material and the consumable electrode, the molten pool formed in the base material is cooled, and the welding lance is moved by the moving pitch to the next stop. Location. When the distance from the indicated welding end to the predetermined position is within the above-described stop position within the above-described moving pitch, the welding is stopped after the last first step.
在本發明較佳的實施例中，焊接行進方向上，在比所指示的上述該焊接結束預定位置靠近焊接開始位置的上述該停止位置上結束焊接。In a preferred embodiment of the present invention, in the welding traveling direction, the welding is ended at the stop position closer to the welding start position than the indicated predetermined end position of the welding.
在本發明較佳的實施例中，除了上述該最後一次的第1步驟以外的其他第1步驟是藉由流動電弧焊接電流於上述該母材與上述該消耗電極之間來進行。上述該最後一次的第1步驟是藉由流動上述該電弧焊接電流於上述該母材與上述該消耗電極之間來進行。In a preferred embodiment of the present invention, the first step other than the last first step is performed by flowing an arc welding current between the base material and the consumable electrode. The last first step of the above is performed by flowing the arc welding current between the base material and the consumable electrode.
在本發明其他較佳的實施例中，除了上述該最後一次的第1步驟以外的其他第1步驟是藉由流動電弧焊接電流於上述該母材與上述該消耗電極之間來進行。上述該最後一次的第1步驟是藉由流動絕對值比上述該電弧焊接電流小的焊坑處理電流於上述該母材與上述該消耗電極之間來進行。In still another preferred embodiment of the present invention, the first step other than the last first step is performed by flowing an arc welding current between the base material and the consumable electrode. The first step of the last step is performed by a pit processing current having a flow absolute value smaller than the arc welding current between the base material and the consumable electrode.
在本發明其他較佳的實施例中，除了上述該最後一次的第1步驟以外的其他第1步驟是藉由流動電弧焊接電流於上述該母材與上述該消耗電極之間來進行。上述該最後一次的第1步驟是藉由流動上述該電弧焊接電流後再流動絕對值比上述該電弧焊接電流小的焊坑處理電流於上述該母材與上述該消耗電極之間來進行。In still another preferred embodiment of the present invention, the first step other than the last first step is performed by flowing an arc welding current between the base material and the consumable electrode. The first step of the last step is performed by flowing the arc welding current and then flowing a pit processing current having an absolute value smaller than the arc welding current between the base material and the consumable electrode.
在本發明較佳的實施例中，更包括：當進行上述該最後一次的第1步驟結束焊接後，用比上述該第2步驟中的移動速度更快的速度移動上述該焊接噴槍的步驟。In a preferred embodiment of the present invention, the method further includes the step of moving the welding lance at a speed faster than the moving speed in the second step after performing the last first step of the welding.
在本發明的電弧焊接方法中，上述該焊接結束預定位置即使與上述該複數的停止位置不一致，也會在進行上述該最後的第1步驟的上述該停止位置上停止焊接。因此，在焊接結束前進行焊坑處理的情況下，焊坑處理會在上述該停止位置進行。因此，根據本發明的電弧焊接方法，由於例如焊坑處理等形成於焊接終端部分的焊接痕不會打亂先前形成的鱗狀滴珠的間隔，故能夠形成更漂亮的焊接滴珠。In the arc welding method of the present invention, even if the predetermined position at which the welding is completed does not coincide with the stop position of the plural number, the welding is stopped at the stop position at which the last first step is performed. Therefore, in the case where the pit processing is performed before the end of the welding, the pit processing is performed at the above-described stop position. Therefore, according to the arc welding method of the present invention, since the weld marks formed in the welding end portion, such as the pit processing, do not disturb the interval of the previously formed scaly beads, a more beautiful welding bead can be formed.
本發明的其他特徵及優點將參照圖式及以下的詳細說明來理解。Other features and advantages of the present invention will be understood by reference to the drawings and the appended claims.
以下將參照圖式具體說明本發明實施例。Embodiments of the present invention will be specifically described below with reference to the drawings.
第1圖係顯示適用於實施本發明的電弧焊接方法的焊接系統組成的一例。第1圖所示的焊接系統A具備焊接機械手1、機械手控制裝置2、及焊接電源裝置3。焊接機械手1會對母材W自動進行例如電弧焊接。焊接機械手1具備基底11、複數的手臂12、複數的馬達13、焊接噴槍14、焊接絲送給裝置16、及線圈鑲條19。Fig. 1 is a view showing an example of a welding system composition suitable for use in the arc welding method of the present invention. The welding system A shown in Fig. 1 includes a welding robot 1, a robot control device 2, and a welding power source device 3. The welding robot 1 automatically performs, for example, arc welding on the base material W. The welding robot 1 includes a base 11, a plurality of arms 12, a plurality of motors 13, a welding lance 14, a welding wire feeding device 16, and a coil bead 19.
基底11固定於地板等適當的地方。各手臂12透過軸連接基底11。The base 11 is fixed to an appropriate place such as a floor. Each arm 12 is coupled to the base 11 through a shaft.
焊接噴槍14設置於焊接機械手1最前端的手腕部12a的前端。焊接噴槍14將作為消耗電極的例如直徑1mm左右的焊接絲15導引至母材W附近的既定位置。焊接噴槍14具備用來供給例如Ar等保護氣體的保護氣體噴頭(圖式省略)。馬達13設置於手臂12的兩端或一端(圖式省略一部分)。馬達13藉由機械手控制裝置2來旋轉驅動。透過旋轉驅動控制複數手臂12的移動，使焊接噴槍14能夠上下前後左右自由地移動。The welding lance 14 is provided at the front end of the wrist portion 12a at the foremost end of the welding robot 1. The welding lance 14 guides, for example, a welding wire 15 having a diameter of about 1 mm as a consumable electrode to a predetermined position in the vicinity of the base material W. The welding lance 14 is provided with a shielding gas nozzle (not shown) for supplying a shielding gas such as Ar. The motor 13 is disposed at both ends or one end of the arm 12 (a part of the drawing is omitted). The motor 13 is rotationally driven by the robot control device 2. The movement of the plurality of arms 12 is controlled by the rotational drive to allow the welding lance 14 to move freely up, down, left, and right.
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2可辨識焊接噴槍14的現在位置。The motor 13 is provided with an encoder (not shown). The output of the encoder is given to the robot control unit 2. Through this output value, the robot control device 2 can recognize the current position of the welding lance 14.
焊接絲送給裝置16設於焊接機械手1的上部。焊接絲送給裝置16是用來送出焊接絲15給焊接噴槍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)。該焊接絲推動裝置以送給馬達161為驅動源，將纏繞於該捲筒的焊接絲15送出給焊接噴槍14。The welding wire feeding device 16 is provided on the upper portion of the welding robot 1. The welding wire feed device 16 is for feeding the welding wire 15 to the welding lance 14. The welding wire feeding device 16 is provided with a feed motor 161, a reel (not shown), and a welding wire urging device (not shown). The welding wire pushing device feeds the motor 161 as a driving source, and feeds the welding wire 15 wound around the reel to the welding lance 14.
線圈鑲條19一端連接至焊接絲送給裝置16，另一端連接至焊接噴槍14。線圈鑲條19形成管狀，內部插通焊接絲15。線圈鑲條19將焊接絲送給裝置16送出的焊接絲15導引至焊接噴槍14。被送出的焊接絲從焊接噴槍14突出外部作為消耗電極的功能。The coil strip 19 is connected at one end to the welding wire feed device 16 and at the other end to the welding torch 14. The coil strip 19 is formed into a tubular shape, and the welding wire 15 is inserted inside. The coil strip 19 guides the welding wire 15 sent from the welding wire feeding device 16 to the welding lance 14. The supplied welding wire protrudes from the welding lance 14 to function as a consumable electrode.
第2圖係顯示第1圖所示的焊接系統A的內部架構。Fig. 2 shows the internal structure of the welding system A shown in Fig. 1.
第1圖、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圖所示，機械手控制裝置2具備動作控制電路21與介面電路22、計算部23、及編程器TP。The robot control device 2 shown in Figs. 1 and 2 is for controlling the operation of the welding robot 1. As shown in FIG. 2, the robot control device 2 includes an operation control circuit 21, a interface circuit 22, a calculation unit 23, and a programmer TP.
動作控制電路21具有未圖示的微電腦及記憶體。記憶體中儲存有設定了焊接機械手1的各種設定的作業程式。動作控制電路21會設定後述的機械手移動速度VR。動作控制電路21根據上述的作業程式、來自上述編碼器的座標資訊、及機械手移動速度VR等，給予焊接機械手1動作控制信號Mc。藉由此動作控制信號Mc，各個馬達13旋轉驅動，使焊接噴槍14移動到母材W既定的焊接開始位置，並沿著母材W內面方向移動。The operation control circuit 21 has a microcomputer and a memory (not shown). An operating program in which various settings of the welding robot 1 are set is stored in the memory. The motion control circuit 21 sets a robot movement speed VR which will be described later. The motion control circuit 21 gives the welding robot 1 operation control signal Mc based on the above-described work program, coordinate information from the encoder, and the robot movement speed VR. By the operation control signal Mc, the respective motors 13 are rotationally driven to move the welding lance 14 to a predetermined welding start position of the base material W, and to move in the inner surface direction of the base material W.
編程器TP連接至動作控制電路21及計算部23。編程器TP用來讓使用者設定各種動作。The programmer TP is connected to the motion control circuit 21 and the calculation unit 23. The programmer TP is used to allow the user to set various actions.
使用者在編程器TP輸入的設定值會由編程器TP傳送至計算部23。計算部23計算該設定值，並將該計算結果送至動作控制電路21。The set value input by the user at the programmer TP is transmitted from the programmer TP to the calculation section 23. The calculation unit 23 calculates the set value and sends the calculation result to the operation control circuit 21.
介面電路22是與焊接電源裝置3傳送接收各種信號之用。動作控制電路21送出電流設定信號Is、輸出開始信號On、及送給速度設定信號Ws給介面電路22。The interface circuit 22 is for transmitting and receiving various signals with the welding power source device 3. The operation control circuit 21 sends a current setting signal Is, an output start signal On, and a feed speed setting signal Ws to the interface circuit 22.
焊接電源裝置3施加焊接電源Vw給焊接絲15與母材W之間，用以使焊接電流Iw流過，同時用來送給焊接絲15。如第2圖所示，焊接電源裝置3具備輸出控制電路31、電流檢出電路32、送給控制電路34、介面電路35、及電壓檢出電路36。The welding power source device 3 applies a welding power source Vw between the welding wire 15 and the base material W for flowing the welding current Iw and simultaneously feeding it to the welding wire 15. As shown in FIG. 2, the welding power source device 3 includes an output control circuit 31, a current detecting circuit 32, a feed control circuit 34, a interface circuit 35, and a voltage detecting circuit 36.
介面電路35是與機械手控制裝置2傳送接收各種信號之用。具體來說，介面電路22送出電流設定信號Is、輸出開始信號On、及送給速度設定信號Ws給介面電路35。The interface circuit 35 is for transmitting and receiving various signals with the robot control device 2. Specifically, the interface circuit 22 sends the current setting signal Is, the output start signal On, and the feed speed setting signal Ws to the interface circuit 35.
輸出控制電路31具有由複數電晶體元件組成的反向器控制電路。輸出控制電路31透過反向器控制電路高速回應外部輸入的商用電源(例如3相200V)，進行精密的焊接電流波形控制。The output control circuit 31 has an inverter control circuit composed of a plurality of transistor elements. The output control circuit 31 performs high-speed response to an externally input commercial power source (for example, three-phase 200V) through the inverter control circuit to perform precise welding current waveform control.
輸出控制電路31的輸出一端連接焊接噴槍14，另一端連接母材W。輸出控制電路31透過設置於焊接噴槍前端14的接觸晶片，將焊接電壓Vw施加於焊接絲15與母材W之間，使焊接電流Iw流動。藉此，焊接絲15前端與焊接母材W之間產生電弧a。利用此電弧所帶來的熱熔融焊接絲15與母材W。然後對焊接母材W進行焊接。The output control circuit 31 has an output end connected to the welding lance 14 and the other end connected to the base material W. The output control circuit 31 applies a welding voltage Vw between the welding wire 15 and the base material W through the contact wafer provided at the tip end 14 of the welding torch, and causes the welding current Iw to flow. Thereby, an arc a is generated between the tip end of the welding wire 15 and the welding base material W. The heat welding wire 15 and the base material W are thermally fused by the arc. Then, the welded base material W is welded.
動作控制電路21透過介面電路35、22將電流設定信號Is及輸出開始信號On送出給輸出控制電路31。The operation control circuit 21 sends the current setting signal Is and the output start signal On to the output control circuit 31 through the interface circuits 35 and 22.
電流檢出電路32用來檢出流至焊接絲15的焊接電流Iw。電流檢出電路32將對應焊接電流Iw的電流檢出信號Id輸出至輸出控制電路31及動作控制電路21。The current detecting circuit 32 is for detecting the welding current Iw flowing to the welding wire 15. The current detecting circuit 32 outputs the current detecting signal Id corresponding to the welding current Iw to the output control circuit 31 and the operation control circuit 21.
電壓檢出電路36是用來檢出為輸出控制電路31輸出端電壓的焊接電壓Vw。電壓檢出電路36將對應焊接電壓Vw的電壓檢出信號Vd輸出至輸出控制電路31。The voltage detecting circuit 36 is for detecting the welding voltage Vw which is the output terminal voltage of the output control circuit 31. The voltage detecting circuit 36 outputs a voltage detection signal Vd corresponding to the welding voltage Vw to the output control circuit 31.
送給控制電路34將用來進行焊接絲15送給的送給控制信號Fc輸出給送給馬達161。送給控制信號Fc是表示焊接絲15的送給速度Fw的信號。來自動作控制電路21的輸出開始信號On及送給速度設定信號Ws會透過介面電路35、22傳送至送給控制電路34。The feed control circuit 34 outputs a feed control signal Fc for feeding the welding wire 15 to the feed motor 161. The feed control signal Fc is a signal indicating the feed speed Fw of the welding wire 15. The output start signal On and the feed speed setting signal Ws from the operation control circuit 21 are transmitted to the feed control circuit 34 through the interface circuits 35 and 22.
接著說明使用焊接系統A的電弧焊接方法。以下先說明針腳脈衝焊接的一般方法。之後再具體說明本發明實施例1的電弧焊接方法。Next, an arc welding method using the welding system A will be described. The general method of stitch pulse welding will be described below. Hereinafter, the arc welding method of Embodiment 1 of the present invention will be specifically described.
首先使用第3圖說明一般的針腳脈衝焊接方法。第3(a)圖顯示機械手移動速度VR的變化狀態；第3(b)圖顯示焊接電壓Vw的變化狀態；第3(c)圖顯示焊接絲15的送給速度Fv的變化狀態；第3(d)圖顯示焊接電流Iw的絕對值的時間平均值的變化狀態。機械手移動速度VR是沿著母材W的內面方向中的既定焊接行進方向(對應第11圖所示的焊接行進方向Dr)的焊接噴槍14的移動速度。First, a general stitch pulse welding method will be described using FIG. Fig. 3(a) shows a state of change of the robot movement speed VR; Fig. 3(b) shows a state of change of the welding voltage Vw; and Fig. 3(c) shows a state of change of the feed speed Fv of the welding wire 15; 3(d) shows the state of change of the time average of the absolute value of the welding current Iw. The robot movement speed VR is a moving speed of the welding lance 14 along a predetermined welding traveling direction (corresponding to the welding traveling direction Dr shown in FIG. 11) in the inner surface direction of the base material W.
首先，一般來說，藉由來自編程器的焊接開始信號St(參照第2圖)的輸入，進行過渡的焊接開始處理。在焊接開始處理中，動作控制電路21將輸出開始信號On輸出給輸出控制電路31及送給控制電路34。輸出控制電路31施加焊接電壓Vw於焊接絲15與母材W之間。藉此，點亮電弧a。然後如第3圖所示，重覆包括焊滴轉移期間T1及電弧持續期間T2的單位焊接期間Tα來進行焊接。在焊滴轉移期間T1中，施加焊接電壓Vw1並藉著焊接電流Iw1的流動來轉移焊滴，形成熔融池。另一方面，在電弧持續期間T2中，施加焊接電壓Vw2並藉著焊接電流Iw2的流動使焊滴幾乎不轉移，並且維持電弧a移動焊接噴槍14。以下為具體說明。First, in general, the transition start welding process is performed by the input of the welding start signal St (refer to FIG. 2) from the programmer. In the welding start processing, the operation control circuit 21 outputs an output start signal On to the output control circuit 31 and to the control circuit 34. The output control circuit 31 applies a welding voltage Vw between the welding wire 15 and the base material W. Thereby, the arc a is lit. Then, as shown in Fig. 3, the welding is repeated by repeating the unit welding period Tα including the droplet transfer period T1 and the arc duration T2. In the solder droplet transfer period T1, the welding voltage Vw1 is applied and the solder droplets are transferred by the flow of the welding current Iw1 to form a molten pool. On the other hand, in the arc duration T2, the welding voltage Vw2 is applied and the welding droplets are hardly transferred by the flow of the welding current Iw2, and the arc a is maintained to move the welding lance 14. The following is a detailed description.
(1)焊滴轉移期間T1(時間點t1～t2)(1) T1 during solder droplet transfer (time point t1 to t2)
在焊滴轉移期間T1，進行習知技術的說明中於第10(a)圖及第12(a)圖所示的形成熔融池Y的處理。本發明的第1步驟為在此焊滴轉移期間T1所進行的步驟。在焊滴轉移期間T1，如第3(a)圖所示，將機械手移動速度VR設定為0。因此焊接噴槍14相對於母材W是停止的。如第3(b)圖所示，在焊接電壓Vw方面，絕對值的時間平均值為電壓值vw1的焊接電壓Vw1被施加。如第3(c)圖所示，焊接絲15的送給速度Fv為送給速度fv1。如第3(d)圖所示，在焊接電流Iw方面，脈衝電流Iw1流過。脈衝電流Iw1例如是以最大值為電流值iw1來振盪。焊滴轉移期間T1為定電壓控制。在定電壓控制中，當焊接絲15的材質、直徑、焊接絲15的突出長度、電極極性等焊接條件決定的話，焊接電流Iw會根據焊接絲15的送給速度Fv而固定。亦即，脈衝電流Iw1由送給速度設定信號Ws而所設定。脈衝電流Iw1是本發明電弧焊接電流的一例。In the solder droplet transfer period T1, the processing for forming the molten pool Y shown in Figs. 10(a) and 12(a) is described in the description of the prior art. The first step of the present invention is the step performed during the solder droplet transfer period T1. In the solder droplet transfer period T1, as shown in Fig. 3(a), the robot movement speed VR is set to zero. Therefore, the welding lance 14 is stopped with respect to the base material W. As shown in the third graph (b), in the welding voltage Vw, the time average value of the absolute value is the welding voltage Vw1 of the voltage value vw1. As shown in Fig. 3(c), the feed speed Fv of the welding wire 15 is the feed speed fv1. As shown in the third figure (d), the pulse current Iw1 flows in the welding current Iw. The pulse current Iw1 oscillates, for example, at a maximum value of the current value iw1. T1 is a constant voltage control during solder droplet transfer. In the constant voltage control, when the welding conditions of the material, the diameter of the welding wire 15, the protruding length of the welding wire 15, and the polarity of the electrode are determined, the welding current Iw is fixed according to the feeding speed Fv of the welding wire 15. That is, the pulse current Iw1 is set by the feed speed setting signal Ws. The pulse current Iw1 is an example of the arc welding current of the present invention.
(2)電弧持續期間T2(時間點t2～t3)(2) Arc duration T2 (time point t2 to t3)
在第3圖所示的電弧持續期間T2，一邊繼續電弧a，一邊進行習知技術說明中第12(b)圖、第12(c)圖所示的冷卻熔融池Y的處理。本發明的第2步驟是在此電弧持續期間T2所進行的步驟。In the arc duration T2 shown in Fig. 3, while the arc a is continued, the processing of the cooling bath Y shown in Figs. 12(b) and 12(c) in the description of the prior art is performed. The second step of the present invention is the step performed during this arc duration T2.
如第3(a)圖所示，在電弧持續期間T2開始時，也就是時間點t2，將機械手移動速度VR設定在V2。藉此焊接噴槍14沿著既定的焊接行進方向(Dr)開始移動。此時，使焊接噴槍14移動的距離為移動的間距Mp。此移動的間距Mp是使用者透過編程器TP所指定的值。如第3(b)圖所示，在焊接電壓Vw方面，絕對值的時間平均值為電壓值vw2的焊接電壓Vw2被施加。電弧持續期間T2與焊滴轉移期間T1不同，為定電流控制。在焊接電流Iw方面，絕對值的時間平均值為電流值iw2的固定焊接電流Iw2流過。電流值iw2是焊滴難以轉移的極小值。而焊接電流Iw2在焊接絲15為陽極，母材W為陰極的狀態下流動，也就是所謂的正極性電流。焊接絲15以比送給速度fv1小的送給速度fv2朝向母材W送給。As shown in the third figure (a), the robot movement speed VR is set to V2 at the start of the arc duration period T2, that is, at the time point t2. Thereby, the welding lance 14 starts moving along a predetermined welding traveling direction (Dr). At this time, the distance at which the welding lance 14 is moved is the moving pitch Mp. The pitch Mp of this movement is the value specified by the user through the programmer TP. As shown in the third graph (b), in the welding voltage Vw, the time average value of the absolute value is the welding voltage Vw2 of the voltage value vw2. The arc duration T2 is different from the solder droplet transfer period T1 and is constant current control. In terms of the welding current Iw, the time average value of the absolute value flows through the fixed welding current Iw2 of the current value iw2. The current value iw2 is a minimum value at which the solder droplet is difficult to transfer. The welding current Iw2 flows in a state where the welding wire 15 is an anode and the base material W is a cathode, that is, a so-called positive polarity current. The welding wire 15 is fed toward the base material W at a feed speed fv2 that is smaller than the feed speed fv1.
之後，由時間點t3再次開始焊滴轉移期間T1。像這樣重複包括焊滴轉移期間T1與電弧持續期間T2的單位焊接期間Tα。焊接噴槍14在焊滴轉移期間T1並不移動，只在電弧持續期間T2僅移動了間距Mp，因此單位焊接期間Tα只有間距Mp的移動。也就是說，焊接噴槍14沿著既定的焊接行進方向(Dr)，依序停止於配置於每個距離為移動間距Mp的複數停止位置。在各個停止位置，焊滴轉移期間T1內脈衝電流Iw1流過，進行焊接作業。Thereafter, the solder droplet transfer period T1 is restarted from the time point t3. The unit welding period Tα including the droplet transfer period T1 and the arc duration T2 is repeated as described above. The welding lance 14 does not move during the droplet transfer period T1, and only moves the pitch Mp during the arc duration T2, so the unit welding period Tα has only the movement of the pitch Mp. That is, the welding lance 14 is sequentially stopped at a plurality of stop positions each of which is a moving pitch Mp along a predetermined welding traveling direction (Dr). At each stop position, the pulse current Iw1 flows during the droplet transfer period T1 to perform a soldering operation.
一般的針腳脈衝焊接如上述進行。接著具體說明此針腳脈衝焊接較佳的結束方法。General stitch pulse welding is performed as described above. Next, a better end method of the stitch pulse welding will be specifically described.
焊接進行途中或是焊接開始之前的設定時，使用者透過編程器TP指示焊接結束預定位置Ps(參照第5圖)。動作控制電路21以此焊接結束預定位置Ps為基準進行以下的焊接結束處理。When the welding is in progress or before the start of welding, the user instructs the welding end predetermined position Ps through the programmer TP (refer to Fig. 5). The motion control circuit 21 performs the following welding end processing based on the welding end predetermined position Ps.
指示焊接結束預定位置Ps時，機械手控制裝置2會根據第4圖來進行控制。首先以上述的步驟形成電弧(S1)，開始焊滴轉移期間T1(S2)。接著進行確認焊滴轉移期間T1已經過的步驟(S3)，例如經過指示的時間後前進至計算步驟(S4)。在算出步驟(S4)，算出焊接噴槍14的現在位置與焊接結束預定位置Ps之間的距離D。When the welding end predetermined position Ps is instructed, the robot control device 2 performs control according to Fig. 4. First, the arc is formed in the above-described steps (S1), and the droplet transfer period T1 (S2) is started. Next, a step (S3) of confirming that the droplet transfer period T1 has elapsed is performed, for example, after the indicated time, the processing proceeds to the calculation step (S4). In the calculation step (S4), the distance D between the current position of the welding lance 14 and the welding end predetermined position Ps is calculated.
接著進行比較距離D與移動間距Mp的步驟(S5)。距離D比移動間距Mp小時，在移動焊接噴槍14之前，將焊接電流Iw、焊接電壓Vw、及送給速度Fv設為0停止電弧a並結束焊接。焊接結束以後，已比移動速度V2快的速度移動焊接噴槍14，例如，移動至另一個要開始焊接的位置。距離D比移動間距Mp大時，開始電弧持續期間T2(S6)，移動焊接噴槍14間距Mp(S7)。之後再開始焊滴轉移期間T1。Next, the step of comparing the distance D with the moving pitch Mp is performed (S5). When the distance D is smaller than the moving pitch Mp, the welding current Iw, the welding voltage Vw, and the feed speed Fv are set to 0 to stop the arc a and end the welding before moving the welding lance 14. After the end of the welding, the welding lance 14 has been moved at a speed faster than the moving speed V2, for example, to another position where welding is to be started. When the distance D is larger than the movement pitch Mp, the arc duration T2 is started (S6), and the welding lance 14 pitch Mp is moved (S7). Then, the solder droplet transfer period T1 is started.
使用第5圖說明結束焊接時的狀況。第5(a)圖表示機械手移動速度VR的變化狀態。第5(b)圖表示焊接絲15的送給速度Fv的變化狀態。第5(c)圖表示焊接電流Iw的絕對值的時間平均值的變化狀態。在第5圖中，更表示沿著焊接行進方向Dr配置的複數停止位置P(n)、P(n-1)、P(n-2)、及焊接結束預定位置Ps。第5圖所示的停止位置P(n)在焊接行進方向Dr上比焊接結束預定位置Ps靠前，並且是位於與焊接結束預定位置Ps的距離D比移動間距Mp小的位置。Use Figure 5 to explain the condition at the end of welding. Fig. 5(a) shows the state of change of the robot movement speed VR. Fig. 5(b) shows a state of change of the feed speed Fv of the welding wire 15. Fig. 5(c) shows a state of change in the time average value of the absolute value of the welding current Iw. In Fig. 5, the plurality of stop positions P(n), P(n-1), P(n-2), and the welding end scheduled position Ps which are arranged along the welding traveling direction Dr are further indicated. The stop position P(n) shown in Fig. 5 is located forward of the welding end predetermined position Ps in the welding traveling direction Dr, and is located at a position where the distance D from the welding end predetermined position Ps is smaller than the moving pitch Mp.
以第4圖所示的步驟進行焊接的話，焊接噴槍14在停止位置P(n)進行焊滴轉移期間T1之後的算出步驟(S4)，所算出的距離是比移動間距Mp小的值。因此，以將焊接噴槍14停止於停止位置P(n)的狀態下結束焊接。因此，實際的焊接結束位置為停止位置P(n)。本發明中最後的步驟是在此停止位置P(n)進行的焊滴轉移期間T1的步驟。When the welding is performed in the step shown in FIG. 4, the welding lance 14 performs the calculation step (S4) after the droplet transfer period T1 at the stop position P(n), and the calculated distance is a value smaller than the movement pitch Mp. Therefore, the welding is ended in a state where the welding lance 14 is stopped at the stop position P(n). Therefore, the actual welding end position is the stop position P(n). The final step in the present invention is the step of the solder droplet transfer period T1 at the stop position P(n).
使用此焊接結束方法，即使焊接結束位置Ps與每隔移動間距Mp配置的複數停止位置不重疊，實際的焊接結束位置會是每隔移動間距Mp配置的複數停止位置中的一者。因此，在焊接結束位置並不會有焊接痕間距亂掉的情況發生。因此根據本實施例的焊接方法，能夠形成更漂亮的滴珠。With this welding end method, even if the welding end position Ps does not overlap with the plurality of stop positions arranged every the movement pitch Mp, the actual welding end position is one of the plurality of stop positions arranged every the movement pitch Mp. Therefore, there is no possibility that the weld mark pitch is lost at the end of the welding. Therefore, according to the welding method of the present embodiment, a more beautiful drop bead can be formed.
根據本實施例，在焊接結束預定位置Ps之前的停止位置P(n)停止電弧a，能夠以比移動速度V2快的速度將焊接噴槍14從停止位置P(n)移開。因此在停止位置P(n)，比起由焊滴轉移期間T1切換至電弧持續期間T2移動焊接噴槍14，可以以更短的時間將焊接噴槍14移動到下一個焊接開始位置。因此，根據本實施例的焊接方法，焊接時間可望縮短，能夠更有效率地進行焊接作業。According to the present embodiment, the arc a is stopped at the stop position P(n) before the welding end predetermined position Ps, and the welding lance 14 can be removed from the stop position P(n) at a speed faster than the moving speed V2. Therefore, at the stop position P(n), the welding lance 14 can be moved to the next welding start position in a shorter time than when the welding lance 14 is moved by the welding droplet transfer period T1 to the arc duration T2. Therefore, according to the welding method of the present embodiment, the welding time is expected to be shortened, and the welding work can be performed more efficiently.
以下說明本發明其他實施例。在這些圖中，與上述實施例相同或類似的要素會標上與上述實施例相同的符號，而適當地省略說明。Other embodiments of the invention are described below. In the drawings, the same or similar elements as those of the above-described embodiment will be denoted by the same reference numerals as those of the above-described embodiment, and the description will be omitted as appropriate.
在本發明實施例2的電弧焊接方法，焊接結束預定位置Ps被指示時，機械手控制裝置2按照第6圖所示的流程進行控制。第6圖所示的電弧焊接方法與第4圖所示的電弧焊接方法同樣以焊接系統A來進行。In the arc welding method according to the second embodiment of the present invention, when the welding end predetermined position Ps is instructed, the robot control device 2 performs control in accordance with the flow shown in Fig. 6. The arc welding method shown in Fig. 6 is performed by the welding system A in the same manner as the arc welding method shown in Fig. 4 .
首先，焊接開始並產生電弧a(S11)，計算焊接噴槍14的現在位置與結束預定位置Ps之間的距離D(S12)。接著比較距離D與移動間距Mp(S13)。在步驟(S13)，會分歧為距離D在移動間距Mp以上與小於移動間距Mp兩個情況。First, the welding starts and the arc a is generated (S11), and the distance D between the current position of the welding lance 14 and the end predetermined position Ps is calculated (S12). Next, the distance D and the moving pitch Mp are compared (S13). In the step (S13), there are two cases in which the distance D is equal to or greater than the moving pitch Mp and smaller than the moving pitch Mp.
距離D在移動間距Mp以上時(S13=NO)，開始焊滴轉移期間T1(S14)，經過指示的時間後結束焊滴轉移期間T1(S15)。之後開始電弧持續期間T2(S16)，移動焊接噴槍14間距Mp後結束電弧持續期間T2(S17=YES)。之後再次開始步驟(S12)。When the distance D is equal to or larger than the moving pitch Mp (S13=NO), the solder droplet transfer period T1 is started (S14), and after the indicated time, the solder droplet transfer period T1 is ended (S15). Thereafter, the arc duration T2 is started (S16), and the arc duration M2 is ended after the welding lance 14 is moved by the pitch Mp (S17 = YES). Then the step is started again (S12).
距離D小於移動間距Mp時(S13=YES)，再分歧為是否進行焊坑處理(S18)。是否進行焊坑處理例如在開始前由編程器TP預先設定。When the distance D is smaller than the movement pitch Mp (S13 = YES), it is divided into whether or not the pit processing is performed (S18). Whether or not the pit processing is performed is preset by the programmer TP before starting, for example.
不進行焊坑處理時，開始焊滴轉移期間T1(S19)，經過指示的時間後結束焊滴轉移期間TT(S20=YES)。之後，將焊接電流Iw、焊接電壓Vw、及送給速度Fv設為0停止電弧a，結束焊接。When the pit processing is not performed, the solder droplet transfer period T1 is started (S19), and the solder droplet transfer period TT is ended after the indicated time (S20 = YES). Thereafter, the welding current Iw, the welding voltage Vw, and the feed speed Fv are set to 0 to stop the arc a, and the welding is ended.
要進行焊坑處理時，再分歧為是否進行焊滴轉移期間T1(S21)。在此，是否進行焊滴轉移期間T1例如在開始前由編程器TP預先設定。進行焊滴轉移期間T1的狀況下，開始焊滴轉移期間T1(S22)，經過指示的時間後結束焊滴轉移期間T1(S23=YES)。之後進行焊坑處理(S24)。不進行焊滴轉移期間T1的狀況下，就直接進行焊坑處理(S24)。焊坑處理(S24)後，將焊接電流Iw、焊接電壓Vw、及送給速度Fv設為0停止電弧a，結束焊接。When the pit processing is to be performed, it is further divided into whether or not the solder droplet transfer period T1 is performed (S21). Here, whether or not the solder droplet transfer period T1 is performed is set in advance by the programmer TP, for example, before starting. In the case where the droplet transfer period T1 is performed, the droplet transfer period T1 is started (S22), and after the indicated time, the droplet transfer period T1 is ended (S23=YES). Thereafter, the pit processing is performed (S24). In the case where the solder droplet transfer period T1 is not performed, the pit processing is directly performed (S24). After the pit processing (S24), the welding current Iw, the welding voltage Vw, and the feed speed Fv are set to 0 to stop the arc a, and the welding is ended.
不進行焊滴轉移期間T1而進行焊坑處理後結束焊接的情況下，如第7圖所示在停止位置P(n)進行焊坑處理。本實施例所進行的焊坑處理是例如在指示的焊坑處理期間Tc使最大值比電流值iw1小的脈衝電流流過的處理。此脈衝電流是本發明焊坑處理電流的一例。按照第6圖的步驟進行焊接，焊坑處理會在停止位置P(n)進行。此時本發明的最後一步驟為在此停止位置P(n)進行的焊坑處理。這種不進行焊滴轉移期間T1直接進行焊坑處理可在例如對管子做圓周焊接時採用。圓周焊接中的焊接痕圍繞時，不進行焊滴轉移期間T1直接進行焊坑處理可使焊接痕的高度均一。When the welding is completed after the weld pit process is not performed in the solder droplet transfer period T1, the pit processing is performed at the stop position P(n) as shown in Fig. 7 . The pit processing performed in the present embodiment is, for example, a process in which a pulse current having a maximum value smaller than the current value iw1 flows during the indicated pit processing period Tc. This pulse current is an example of the pit processing current of the present invention. The welding is carried out in accordance with the procedure of Fig. 6, and the pit processing is performed at the stop position P(n). At this time, the last step of the present invention is the pit processing at the stop position P(n). This direct pit processing during the solder droplet transfer period T1 can be employed, for example, when circumferentially soldering the tube. When the weld mark in the circumferential welding is surrounded, the weld pit treatment can be directly performed during the solder droplet transfer period T1, and the height of the weld mark can be made uniform.
進行焊滴轉移期間T1後進行焊接處理再結束焊接的情況下，如第8圖所示，在停止位置P(n)進行焊滴轉移期間T1後，進行焊坑處理。此時本發明的最後一步驟為在此停止位置P(n)進行的焊滴轉移期間T1步驟以及焊坑處理。When the welding process is performed after the welding droplet transfer period T1 and the welding is completed, as shown in Fig. 8, after the welding droplet transfer period T1 is performed at the stop position P(n), the pit processing is performed. At this time, the last step of the present invention is the solder droplet transfer period T1 step and the pit processing at the stop position P(n).
根據這樣的電弧焊接方法，能夠因應需要來進行焊坑處理，所以能預防焊接終端部的缺陷。而因為在停止位置P(n)進行焊坑處理，焊坑處理使得焊接痕的間距不會亂掉。因此，進行焊坑處理時，即使在焊接結束位置也能形成更漂亮的滴珠。According to such an arc welding method, the pit processing can be performed as needed, so that the defects of the solder terminal portion can be prevented. Since the pit processing is performed at the stop position P(n), the pit treatment prevents the pitch of the weld marks from being disordered. Therefore, even when the pit processing is performed, a more beautiful drop can be formed even at the welding end position.
在本實施例，是否實行焊坑處理可以自由選擇，但固定實行焊坑處理也沒關係。而在焊滴轉移期間T1後實行焊坑處理，或是不進行焊滴轉移期間T1直接進行焊坑處理可自由選擇，也可固定在其中一種狀況。In the present embodiment, whether or not the pit processing is performed can be freely selected, but it is also possible to perform the pit processing in a fixed manner. In the solder droplet transfer period, after the T1 is performed, or during the solder droplet transfer, the T1 is directly selected for the pit treatment, and it can be fixed in one of the conditions.
脈衝電流Iw1及焊坑處理的脈衝電流可以是直流脈衝電流與交流脈衝電流任一者。The pulse current Iw1 and the pulse current processed by the pit can be either a DC pulse current or an AC pulse current.
本發明的範圍並不限定於上述的實施例。本發明所使用的焊接系統各部位的具體組成可自由地做各種設計變更，本發明的電弧焊接方法的細部也可適當地變更。例如，在上述實施例，在焊接行進方向Dr上焊接結束預定位置Ps之前的停止位置P(n)停止焊接。但在母材W有預先保留充裕的長度時，就可不限定於此，實際的焊接結束位置在焊接行進方向Dr上可比焊接結束預定位置Ps再往前進。也就是說，可以在第5圖、第7圖、及第8圖所示的距離停止位置P(n)間距Mp的停止位置P(n+1)停止焊接。The scope of the invention is not limited to the embodiments described above. The specific composition of each part of the welding system used in the present invention can be freely changed in various designs, and the details of the arc welding method of the present invention can be appropriately changed. For example, in the above embodiment, the welding is stopped at the stop position P(n) before the welding end predetermined position Ps in the welding traveling direction Dr. However, when the base material W has a sufficient length in advance, it is not limited thereto, and the actual welding end position can be further advanced in the welding traveling direction Dr than the welding end predetermined position Ps. That is, the welding can be stopped at the stop position P(n+1) of the distance stop position P(n) pitch Mp shown in FIG. 5, FIG. 7, and FIG.
在上述的實施例，以脈衝電流表示電弧焊接電流及焊坑處理電流的一例，脈衝可以是直流或交流。而本發明的電弧焊接電流及焊坑處理電流不限於脈衝電流，也可以是沒有脈衝的電流。In the above embodiment, an example of the arc welding current and the pit processing current is represented by a pulse current, and the pulse may be direct current or alternating current. However, the arc welding current and the pit processing current of the present invention are not limited to the pulse current, and may be a current without a pulse.
A．．．焊接系統A. . . Welding system
1．．．焊接機械手1. . . Welding manipulator
11．．．基底11. . . Base
12．．．手臂12. . . Arm
12a．．．手腕部12a. . . Wrist
13．．．馬達13. . . motor
14．．．焊接噴槍14. . . Welding spray gun
15．．．焊接絲(消耗電極)15. . . Welding wire (consumption electrode)
16．．．焊接絲送給裝置16. . . Welding wire feeding device
161．．．送給馬達161. . . Give the motor
2．．．機械手控制裝置2. . . Robot control device
21．．．動作控制電路twenty one. . . Motion control circuit
22．．．介面電路twenty two. . . Interface circuit
23．．．計算部twenty three. . . Computing department
3．．．焊接電源裝置3. . . Welding power supply unit
31．．．輸出控制電路31. . . Output control circuit
32．．．電流檢出電路32. . . Current detection circuit
34．．．送給控制電路34. . . Give control circuit
35．．．介面電路35. . . Interface circuit
36．．．電壓檢出電路36. . . Voltage detection circuit
D．．．距離D. . . distance
Fc．．．送給控制信號Fc. . . Send control signal
Fv．．．送給速度Fv. . . Send speed
fv1、fv2．．．送給速度Fv1, fv2. . . Send speed
Is．．．電流設定信號Is. . . Current setting signal
Iw、Iw1、Iw2．．．焊接電流Iw, Iw1, Iw2. . . Welding current
iw1、iw2．．．電流值Iw1, iw2. . . Current value
Mc．．．動作控制信號Mc. . . Motion control signal
Mp．．．移動間距Mp. . . Moving pitch
On．．．輸出開始信號On. . . Output start signal
P(n)、P(n-1)、P(n-2)．．．停止位置P(n), P(n-1), P(n-2). . . Stop position
Ps．．．焊接結束預定位置Ps. . . Welding end scheduled position
St．．．焊接開始信號St. . . Welding start signal
T1．．．焊滴轉移期間T1. . . Solder droplet transfer period
T2．．．電弧持續期間T2. . . During the duration of the arc
Tc．．．焊坑處理期間Tc. . . During pit processing
TP．．．編程器TP. . . Compiler
Tα．．．單位焊接期間Tα. . . Unit welding period
VR．．．機械手移動速度VR. . . Robot movement speed
Vw、Vw1、Vw2．．．焊接電壓Vw, Vw1, Vw2. . . Welding voltage
vw1、vw2．．．電壓值Vw1, vw2. . . Voltage value
W．．．母材W. . . Base metal
Ws．．．送給速度設定信號Ws. . . Send speed setting signal
第1圖係顯示適用於實施本發明的電弧焊接方法的焊接系統組成的一例。Fig. 1 is a view showing an example of a welding system composition suitable for use in the arc welding method of the present invention.
第2圖係顯示第1圖所示的焊接系統的內部架構。Figure 2 shows the internal structure of the welding system shown in Figure 1.
第3(a)圖至第3(d)圖係顯示第1圖所示的焊接系統的焊接條件值的變化狀態。Figs. 3(a) to 3(d) show changes in the welding condition values of the welding system shown in Fig. 1.
第4圖係顯示本發明電弧焊接方法的實施例1的流程圖。Fig. 4 is a flow chart showing the first embodiment of the arc welding method of the present invention.
第5(a)圖至第5(c)圖係顯示第4圖所示的電弧焊接方法於焊接結束時的焊接條件值的變化狀態。Figs. 5(a) to 5(c) show the state of change of the welding condition value at the end of welding in the arc welding method shown in Fig. 4.
第6圖係顯示本發明電弧焊接方法的實施例2的流程圖。Fig. 6 is a flow chart showing the second embodiment of the arc welding method of the present invention.
第7(a)圖至第7(c)圖係顯示第6圖所示的電弧焊接方法於進行焊坑處理的情況下焊接結束時的焊接條件值的變化狀態。7(a) to 7(c) show the state of change of the welding condition value at the end of welding in the case where the arc welding method shown in Fig. 6 is performed in the pit processing.
第8(a)圖至第8(c)圖係顯示第6圖所示的電弧焊接方法於一般交流脈衝輸出後進行焊坑處理的情況下焊接結束時的焊接條件值的變化狀態。Figs. 8(a) to 8(c) show the state of change of the welding condition value at the end of welding in the case where the arc welding method shown in Fig. 6 performs the pit processing after the general AC pulse output.
第9圖係顯示習知的焊接系統組成的一例。Fig. 9 is a view showing an example of a conventional welding system composition.
第10(a)圖至第10(d)圖係說明進行針腳脈衝焊接時的狀態。Figures 10(a) through 10(d) illustrate the state in which the pin pulse welding is performed.
第11圖係用以說明焊接施工後所形成的焊接滴珠。Figure 11 is a diagram showing the welding beads formed after welding.
第12(a)圖至第12(d)圖係說明進行針腳脈衝焊接時的狀態。Figures 12(a) through 12(d) illustrate the state in which the pin pulse welding is performed.
Dr．．．焊接行進方向Dr. . . Welding direction
Fv．．．送給速度Fv. . . Send speed
fv1、fv2．．．送給速度Fv1, fv2. . . Send speed
Iw、Iw1、Iw2．．．焊接電流Iw, Iw1, Iw2. . . Welding current
iw1、iw2．．．電流值Iw1, iw2. . . Current value
Mp．．．移動間距Mp. . . Moving pitch
P(n)、P(n-1)、P(n-2)、P(n+1)．．．停止位置P(n), P(n-1), P(n-2), P(n+1). . . Stop position
Ps．．．焊接結束預定位置Ps. . . Welding end scheduled position
T1．．．焊滴轉移期間T1. . . Solder droplet transfer period
T2．．．電弧持續期間T2. . . During the duration of the arc
Tα．．．單位焊接期間Tα. . . Unit welding period
V2．．．移動速度V2. . . Moving speed
VR．．．機械手移動速度VR. . . Robot movement speed
Claims (8)
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2010023835A JP4704502B1 (en) | 2010-02-05 | 2010-02-05 | Arc welding method |
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| Publication Number | Publication Date |
|---|---|
| TW201127542A TW201127542A (en) | 2011-08-16 |
| TWI495533B true TWI495533B (en) | 2015-08-11 |
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| Application Number | Title | Priority Date | Filing Date |
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| TW099145153A TWI495533B (en) | 2010-02-05 | 2010-12-22 | Arc welding method |
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| JP (1) | JP4704502B1 (en) |
| CN (1) | CN102145422B (en) |
| TW (1) | TWI495533B (en) |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| JP4995697B2 (en) * | 2007-11-12 | 2012-08-08 | 株式会社ダイヘン | Stitch pulse welding equipment |
| CN104169032B (en) * | 2012-03-15 | 2016-03-16 | 松下知识产权经营株式会社 | Arc-welding method and arc-welding apparatus |
| JP2014213375A (en) * | 2013-04-30 | 2014-11-17 | 株式会社ダイヘン | Arc-welding apparatus |
| CN111918740B (en) * | 2018-03-20 | 2022-05-13 | 松下知识产权经营株式会社 | Arc welding method, arc welding system, and welding power supply device control device |
| JP2022107350A (en) * | 2021-01-08 | 2022-07-21 | 株式会社ダイヘン | Welding robot |
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Also Published As
| Publication number | Publication date |
|---|---|
| JP4704502B1 (en) | 2011-06-15 |
| CN102145422B (en) | 2015-05-06 |
| TW201127542A (en) | 2011-08-16 |
| CN102145422A (en) | 2011-08-10 |
| JP2011161453A (en) | 2011-08-25 |
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