Welding system and consumable electrode welding method

Abstract

Welding system and consumable electrode welding methodA torch is moved by a manipulator in a direction separating from a base material 7 while a wire is supplied, whereby an actuator driving the robot manipulator can control a velocity of the wire for a workpiece by a unidirectional operation of separating the torch, and vibration due to reverse of torch velocity is not generated. Further, by using a dedicated separation control system, velocity follow-up performance of the actuator moving the torch can be heightened without increasing overshoot in the usual operation time, and the acceleration and deceleration time of the manipulator can be reduced.

Description

technical field [0001] The invention relates to a control method for controlling the position of a welding manipulator driven by a motor. Background technique [0002] Recently, in the welding industry, efforts have been made to increase productivity. Specifically, the need to reduce short stoppages of production lines caused by glitches and to shorten production tact times is greater than ever. [0003] A number of factors are believed to be responsible for the stoppage of the production line. The biggest reason is due to poor arc start. [0004] Therefore, in the arc start of the conventional consumable electrode type welding process, when a start signal is input from the outside, the robot manipulator is driven to move the welding torch to a known welding start position. After that, in a state where the wire feed is stopped, the torch is moved by the manipulator in a direction approximate to the feed direction of the wire, and the leading end of the wire is gradually b...

AI Technical Summary

Problems solved by technology

Therefore, the torch acceleration and deceleration between TS0' and TS4' must be reduced, so that the dead time in the arc starting sequence may be longer

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