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Arc start control method in robot welding

A technology of robot welding and control methods, which is applied in welding equipment, manufacturing tools, arc welding equipment, etc., can solve the problems of multiple spatters and defects, achieve good arc ignition performance, improve arc ignition performance, and increase arc length.

Active Publication Date: 2007-01-31
DAIHEN CORP
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

If welding occurs temporarily, it is necessary to pass a large current of hundreds of amperes in order to remove the situation, and it becomes a bad arc ignition that generates a lot of spatter.

Method used

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  • Arc start control method in robot welding
  • Arc start control method in robot welding
  • Arc start control method in robot welding

Examples

Experimental program
Comparison scheme
Effect test

Embodiment approach 1

[0033] figure 1 It is a flowchart showing the arc ignition control method of robot welding according to Embodiment 1 of the present invention. Figure (A) shows the time change of the welding start signal St, figure (B) shows the time change of the wire feed speed setting signal Fr, figure (C) shows the time change of the welding voltage Vw, and figure (D) shows the short circuit / arc judgment The time variation of the signal Sa, the diagram (E) represents the time variation of the welding current Iw, the diagram (F) represents the time variation of the distance Lt between the contact tip / base metal, and the diagram (G) represents the distance Lw between the front end of the welding wire / base metal (= Time variation of the arc length La). Regarding the welding device used, the same as the above Figure 5 have the same structure. This figure is similar to the above Figure 6 Correspondingly, the operation before the time t3 is the same, so the description is omitted. Hereina...

Embodiment approach 2

[0037] figure 2 It is a timing chart showing the arc ignition control method of robot welding according to Embodiment 2 of the present invention. This figure is similar to the above figure 1 Correspondingly, only the variable control of Th during re-shorting prevention is different. Hereinafter, this difference will be described with reference to the figure.

[0038] The re-short prevention period Th starts at time t3 when an initial arc is generated, and ends at time t3 when the arc length La reaches a predetermined value Lm. That is, when the arc voltage Va has reached the specified value Vm corresponding to the specified arc length Lm, as shown in figure (C), it is judged that the arc length La has reached the specified value Lm, as shown in figure (G). Thereby, the arc length La at the time when the re-short-circuit prevention period Th ends can always be adjusted to an appropriate value. Therefore, the time required to obtain an appropriate value of Th during the re...

Embodiment approach 3

[0040] image 3 It is a timing chart showing the arc ignition control method of robot welding according to Embodiment 3 of the present invention. This figure is similar to the above figure 1 Correspondingly, only the variable control of the re-short circuit prevention current Ih is different. Hereinafter, this difference will be described with reference to this figure.

[0041] The re-short circuit prevention current Ih is controlled so as to be approximately inversely proportional to the change in the arc voltage Va as shown in (C). That is, Ih=f(Va), and the re-short circuit prevention current Ih is changed as a function of the arc voltage Va. There is an inverse proportional relationship in which the re-short circuit prevention current Ih decreases when the arc voltage Va increases. If a function example is given, then Ih=Ih0-70×(Va-Vr). Here, the initial value Ih0≈Ic, and Vr is the set value of the welding voltage. According to this function, when the arc voltage Va...

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Abstract

An arc start control method in robot welding includes the steps of shorting a welding wire with a base metal, retracting a welding torch by a welding robot (RM) for taking the welding wire off the base metal to generate an initial arc, retracting the welding torch to a predetermined position with maintaining the initial arc maintained while applying an initial arc current smaller than a steady welding current during an initial arc period, and starting to feed the welding wire steadily and to supply the steady welding current so as to make a transition from the initial arc to a steady arc as well as starting to move the welding torch along a welding line. During a re-shorting prevention period which starts from a beginning of the initial arc period, a re-shorting prevention current which is larger than the initial arc current is applied in order to prevent re-shortening between the tip of the wire and the base metal right after the initial arc is generated. Thereafter, the initial arc current is applied.

Description

technical field [0001] The present invention relates to an arc ignition control method for robot welding for improving the performance of a retract arc ignition which generates an arc by moving the welding gun backwards to separate the wire from the base material after short-circuiting the wire and the base material temporarily. Background technique [0002] Figure 5 It is a block diagram of a robot welding device that performs fusion electrode arc welding. The robot control device RC outputs a motion control signal Mc for controlling the motion of a multi-axis servo motor disposed on the robot main body (manipulator) RM, and at the same time transmits and receives a welding start signal St, Interface signals for wire speed setting signal Fr, welding voltage setting signal Vr, and short circuit / arc judgment signal Sa. The welding power supply PS transmits and receives the above-mentioned interface signals, outputs a welding voltage Vw and a welding current Iw, and outputs ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B23K9/067B23K9/12
CPCB23K9/0671
Inventor 上园敏郎惠良哲生上山智之广田周吾
Owner DAIHEN CORP
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