Electroslag welding method, electroslag welding apparatus, and program

Abstract

To provide a configuration that can keep a depth of a slag bath in a state suitable for welding without installing a detector for detecting the slag bath on electroslag welding.SOLUTION: A method of electroslag welding includes: a measurement step of measuring a physical value in performing electroslag welding with a first cycle; a conversion step of causing the physical value measured in the measurement step to be subjected to Fourier transformation to derive a value of each frequency component; a calculation step of calculating a feature amount on the basis of a value in a predetermined frequency band of the frequency components derived in the conversion step; and a control step of controlling spray of flux on the basis of the feature amount and a threshold relative to the feature amount with a second cycle having an interval that is longer than that of the first cycle.SELECTED DRAWING: Figure 5

Description

[Technical field]

[0001] The present invention relates to an electroslag welding method, an electroslag welding apparatus, and a program. [Background technology]

[0002] Vertical welding is used in the manufacture of structures in the fields of shipbuilding and steel frame construction. For example, electroslag welding (ESW), which uses Joule heat from molten slag as a heat source, is used for this vertical welding, and automation is being promoted. In electroslag welding, heat is generated in the molten slag, not in an exposed arc, to melt the wire and base material, so no arc radiation heat is generated, and there is little fume or spatter, making it suitable for improving the working environment. In addition, since the weld metal is shielded from the atmosphere by the molten slag, no shielding gas is required, the shielding effect does not deteriorate even if the plate thickness increases, and the intrusion of nitrogen and other substances present in the atmosphere into the molten metal can be effectively prevented regardless of the plate thickness. Therefore, the mechanical properties of the weld metal are good.

[0003] In electroslag welding, the molten pool and the molten base metal are covered with molten slag. The slag bath depth affects the penetration of the welding wire during welding, and it is desirable to keep it constant in order to achieve stable welding. However, the slag bath depth is difficult to measure compared to parameters that are relatively easy to control, such as the welding current, welding voltage, and wire extension. Therefore, it is difficult to control, for example, the timing of supplying flux to keep the slag bath depth constant.

[0004] For example, Patent Document 1 discloses a method of welding while adjusting the traveling speed of a traveling carriage to maintain the slag bath depth at a predetermined depth, while supplying flux so that the length of the welding wire from the tip of the contact tip to the slag bath is a predetermined length. [Prior art documents] [Patent documents]

[0005] [Patent Document 1] Patent No. 6460910 Summary of the Invention [Problem to be solved by the invention]

[0006] The electroslag welding device of Patent Document 1 is provided with a molten slag bath detector on a traveling carriage to detect the molten slag bath. When providing a detector that directly detects the slag bath depth in this way, a configuration that takes into consideration durability in the high-temperature environment of electroslag welding is required, which incurs costs. For example, a cooling function for the detector and processing of the detection terminal are required. In addition, if the cooling performance of the detection terminal is too strong, the slag will solidify and adhere to the terminal surface, making it impossible to properly detect the slag bath. Furthermore, if the welding torch is installed away from the detection terminal, the potential near the detection terminal is low even if the slag bath touches the detection terminal, making it impossible to detect the slag. In addition, if the detector is damaged during welding, the slag bath will not be properly detected.

[0007] In view of the above problems, the present invention aims to provide a configuration in electroslag welding that can maintain the depth of a slag bath at a level suitable for welding without providing a detector for detecting the slag bath. [Means for solving the problem]

[0008] In order to solve the above problems, the present invention has the following configuration. That is, an electroslag welding method includes: A measuring step of measuring a physical quantity during electroslag welding in a first period; a conversion step of deriving values ​​of each frequency component by Fourier transforming the physical quantity measured in the measurement step; a calculation step of calculating a feature amount based on values ​​of a predetermined frequency band among the frequency components derived in the conversion step; a control step of controlling dispersion of the flux based on the characteristic amount and a threshold value for the characteristic amount in a second period longer than the first period; has.

[0009] In addition, another aspect of the present invention has the following configuration. That is, an electroslag welding apparatus includes: The apparatus includes a main body and a welding power source. The device body includes: The system includes a traveling carriage, a traveling carriage control device, a flux supply device, and a flux supply control device, A measuring step of measuring a physical quantity during electroslag welding in a first period; a conversion step of deriving values ​​of each frequency component by Fourier transforming the physical quantity measured in the measurement step; a calculation step of calculating a feature amount based on values ​​of a predetermined frequency band among the frequency components derived in the conversion step; a control step of controlling dispersion of the flux based on the characteristic amount and a threshold value for the characteristic amount in a second period longer than the first period; The present invention relates to an electroslag welding method.

[0010] In addition, another aspect of the present invention has the following configuration. That is, a program includes: On the computer, A measuring step of measuring a physical quantity during electroslag welding in a first period; a conversion step of deriving values ​​of each frequency component by Fourier transforming the physical quantity measured in the measurement step; a calculation step of calculating a feature amount based on values ​​of a predetermined frequency band among the frequency components derived in the conversion step; a control step of controlling dispersion of the flux based on the characteristic amount and a threshold value for the characteristic amount in a second period longer than the first period; Execute the command. Effect of the Invention

[0011] According to the present invention, in electroslag welding, it is possible to maintain the depth of the slag bath at a level suitable for welding without providing a detector for detecting the slag bath. [Brief description of the drawings]

[0012] [Figure 1] 1 is a schematic diagram showing an example of the configuration of a welding system according to an embodiment of the present invention; [Diagram 2] 1 is a diagram showing an example of the configuration of a welding device using electroslag welding according to an embodiment of the present invention. [Figure 3A] 1 is a graph for explaining a voltage waveform according to the depth of a slag bath. [Figure 3B] 1 is a graph for explaining a voltage waveform according to the depth of a slag bath. [Figure 3C] 1 is a graph for explaining a voltage waveform according to the depth of a slag bath. [Figure 4] 4 is a flowchart of a frequency characteristic derivation process according to an embodiment of the present invention. [Diagram 5] 4 is a flowchart of a flux dispersion determination process according to an embodiment of the present invention. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0013] Hereinafter, the embodiment for carrying out the present invention will be described with reference to the drawings. Note that the embodiment described below is one embodiment for explaining the present invention, and is not intended to be interpreted as limiting the present invention, and all configurations described in each embodiment are not necessarily essential configurations for solving the problems of the present invention. In addition, in each drawing, the same components are given the same reference numbers to indicate their correspondence.

[0014] <First embodiment> Hereinafter, an embodiment of the present invention will be described with reference to the drawings.

[0015] [Welding system overview] An overview of an electroslag welding apparatus 500 (hereinafter, referred to as the welding apparatus) used in the control method of this embodiment will be described. Fig. 1 is a schematic diagram showing an example of the configuration of the welding apparatus 500 according to this embodiment. The welding apparatus 500 includes an apparatus main body 100, a welding power source 200, a wire feeder 300, and an operation box 400. The apparatus main body 100 and the other devices are connected via various cables such as a power cable and a signal cable.

[0016] (Device body) Fig. 2 is a schematic diagram showing an example of the configuration of the device main body 100 according to this embodiment. Fig. 2 shows a coordinate system consisting of three axes, the X-axis, the Y-axis, and the Z-axis. The X-axis is the thickness direction of the base material 3, the Y-axis is the direction in which the pair of base materials are arranged, i.e., the horizontal direction along the surface of the base material 3, and the Z-axis is the direction along the weld line of the base material 3, i.e., the up-down direction.

[0017] As shown in FIG. 2, the device main body 100 according to this embodiment includes a fixed copper strip 1, a sliding copper strip for welding 13 (hereinafter also referred to as copper strip 13), a welding torch 4, a flux supply device 14, a flux supply control device 15, a traveling carriage 16, and a traveling carriage control device 17.

[0018] In the device body 100, a fixed copper backing 1 is arranged on the back side of the groove of a pair of base materials 3, which are steel plates, and a copper backing 13 is arranged on the front side of the groove. Here, instead of the copper backing 1 on the back side, a backing material made of heat-resistant ceramic may be used. Also, the copper backing 13 on the front side is a copper backing that slides in the vertical direction, and is cooled, for example, by water cooling. In this embodiment, copper is given as the material of the sliding copper backing 13 for welding, but it is not limited to copper, and any material may be used for the backing as long as it has good thermal conductivity. In this embodiment, for convenience, the side on which the fixed copper backing 1 is arranged is referred to as the "back side of the groove" and the side on which the sliding copper backing 13 for welding is arranged is referred to as the "front side of the groove", but the sliding copper backing 13 for welding may be arranged on both sides of the groove.

[0019] The welding torch 4 supplies a welding current 8 supplied from a welding power source 200 to the welding wire 6 to weld the base material 3. The welding torch 4 also has a contact tip 5, which guides the welding wire 6 and supplies the welding current 8 to the welding wire 6.

[0020] A welding wire 6 is fed from the tip of a contact tip 5 of a welding torch 4 into a groove surrounded by a base metal 3, a copper strip 1, and a copper strip 13, and is fed into a molten slag bath 7 formed in the groove. A welding current 8 flows from the welding wire 6 through the molten slag bath 7 to the molten metal 9. At this time, Joule heat is generated by the welding current 8 flowing through the molten slag bath 7 and the resistance of the molten slag bath 7, and the welding progresses while melting the welding wire 6 and the base metal 3.

[0021] As the vertical welding progresses, the sliding copper welding strip 13 moves upward along the front surface of the groove. The flux supply device 14 supplies the flux 12 by scattering it into the molten slag bath 7. Since the flux 12 melts to become molten slag, the amount of the molten slag bath 7, i.e., the depth, increases by supplying the flux 12.

[0022] The flux supply control device 15 controls the operation of the flux supply device 14 and adjusts the amount of flux 12 supplied to the molten slag bath 7. The flux supply control device 15 controls the flux supply device 14 to supply flux 12 in order to adjust the depth of the molten slag bath 7. The control of the timing of supplying the flux will be described later.

[0023] As welding progresses, the molten metal 9 cools to become the weld metal 10, and a portion of the molten slag bath 7 becomes a molten slag layer formed between the copper backing 1 and the weld metal 10, and between the copper backing 13 and the weld metal 10, and this molten slag layer cools to become solidified slag 11. In this way, the molten slag bath 7 is consumed as welding progresses, and the depth Ls of the molten slag bath 7 decreases. In order to compensate for this decrease in the molten slag bath 7, it is necessary to supply additional flux 12 that melts to become the molten slag bath 7.

[0024] The amount of solidified slag 11 covering the bead surface varies depending on the bead width and the width of the welding groove. The amount of solidified slag 11 also varies depending on the degree of adhesion between the copper backing 1 or copper backing 13 and the base material 3, and the cooling state of the copper backing 1 or copper backing 13. Therefore, the amount of solidified slag 11 is not constant, and in order to keep the depth Ls of the molten slag bath 7 constant, the amount of flux 12 supplied must also be changed. However, if the depth Ls of the molten slag bath 7 is unknown and the amount of flux 12 supplied is not appropriate, the depth Ls of the molten slag bath 7 will vary.

[0025] In this embodiment, the depth Ls of the molten slag bath 7 is controlled to be constant. Here, "constant" does not necessarily mean that the depth Ls of the molten slag bath 7 is always one value, but also means that the depth Ls of the molten slag bath 7 is a value within a certain range in consideration of an error. That is, the depth Ls of the molten slag bath 7 is controlled to be maintained within a predetermined depth range. Here, the length from the tip of the contact tip 5 to the upper surface of the molten slag bath 7 is defined as the welding wire length Ld (hereinafter referred to as the dry extension Ld). This is based on the premise that the tip of the contact tip 5 is generally a current-carrying position between the welding wire 6 and the contact tip 5. For example, if the tip of the contact tip 5 is protected by ceramics or the like and a current-carrying portion of the welding wire 6 and the contact tip 5 is provided above the tip of the contact tip 5, the position of this current-carrying portion is the criterion for determining the dry extension Ld.

[0026] The traveling carriage 16 is configured to mount the welding torch 4, the welding sliding copper backing 13, the flux supply device 14, the flux supply control device 15, and the traveling carriage control device 17. The traveling carriage 16 moves upward on a rail (not shown), i.e., in the Z-axis direction, while welding, thereby raising and lowering the device main body 100. In other words, the traveling carriage 16 moves integrally with the welding torch 4, the welding sliding copper backing 13, the flux supply device 14, the flux supply control device 15, and the traveling carriage control device 17, so that the relative positional relationship between them does not change. As the traveling carriage 16 rises, vertical welding is performed along the Z-axis direction.

[0027] The traveling cart control device 17 increases or decreases the traveling speed of the traveling cart 16 to control the operation of the traveling cart 16. The flux supply control device 15 derives a control amount using a control method described later and outputs the control amount to the flux supply device 14, thereby controlling the flux supply amount.

[0028] The various control devices provided in the traveling cart 16 are composed of a processing unit and a storage unit. The processing unit is composed of, for example, a CPU (Central Processing Unit). The storage unit is composed of, for example, a volatile or non-volatile memory such as a HDD (Hard Disk Drive), a ROM (Read Only Memory), or a RAM (Random Access Memory). The processing unit executes a computer program for power supply control stored in the storage unit to realize various control processes.

[0029] [Relationship between slag bath depth and voltage] The relationship between the welding voltage and the slag bath depth will be described with reference to Figs. 3A to 3C. In this example, three examples of the slag bath depth, "shallow (10 to 14 mm)", "appropriate (25 mm)", and "deep (37 mm)", will be given for explanation. Note that the classification of the slag bath depth here is merely an example, and the slag bath depth that should be controlled for appropriate welding differs depending on the device configuration, etc. Here, the explanation will be given assuming that the value of the voltage supplied from the welding power source 200 is constant.

[0030] Figure 3A shows the frequency characteristics when the slag bath depth is "shallow". Figure 3A shows the waveform obtained by measuring the welding voltage value when welding is performed with the slag bath depth set to 10 to 14 mm and performing FFT (Fast Fourier Transform) processing. The horizontal axis shows frequency [Hz] and the vertical axis shows amplitude.

[0031] Figure 3B shows the frequency characteristics when the slag bath depth is "appropriate." Figure 3B shows the waveform obtained by measuring the welding voltage value when welding was performed with the slag bath depth set to 25 mm and performing FFT processing. The horizontal axis shows frequency [Hz] and the vertical axis shows amplitude.

[0032] Figure 3C shows the frequency characteristics when the slag bath depth is "deep". Figure 3C shows the waveform obtained by measuring the welding voltage value when welding was performed with the slag bath depth set to 37 mm and performing FFT processing. The horizontal axis shows frequency [Hz] and the vertical axis shows amplitude.

[0033] As shown in Figures 3A to 3C, the frequency characteristics of the welding voltage differ depending on the depth of the slag bath. In particular, the shallower the slag bath, the greater the fluctuation in the waveform, and the deeper the slag bath, the smaller the fluctuation in the waveform. In other words, there is a tendency for noise to increase as the slag bath becomes shallower. The scale width of the vertical axis shown in Figures 3A to 3C is the same for all of them.

[0034] In this embodiment, the depth of the slag bath, i.e., the state of the slag bath, is estimated based on the frequency characteristics that change according to the depth of the slag bath as shown in Figures 3A to 3C, and the supply of flux is controlled according to the result. Note that, although this embodiment shows an example in which the processing is performed using a welding voltage, the processing may also be performed using a welding current, since similar characteristics appear with the welding current, and a predetermined physical quantity may be used.

[0035] [Processing flow] (Frequency characteristic derivation processing) FIG. 4 shows a flowchart of the frequency characteristic derivation process according to this embodiment. This process flow is a process for deriving frequency characteristics to be used for controlling flux dispersion by the flux supply control device 15. This process flow can derive frequency characteristics of waveforms such as those shown in FIGS. 3A to 3C. This process flow is realized, for example, by a processing unit included in the flux supply control device 15 reading out a corresponding program from a storage unit and executing it. The process flow shown in FIG. 4 is started when the welding operation starts, and is executed continuously while the welding operation is being performed. In addition, the welding voltage is supplied at appropriate times by the welding power source 200. In addition, with the start of the process, the timer unit starts timing.

[0036] In S401, the flux supply control device 15 initializes a counter M. The counter M indicates the number of times the value of the welding voltage has been stored, that is, the number of times the value of the welding voltage has been measured, and its initial value is set to 0.

[0037] In S402, the flux supply control device 15 judges whether or not a predetermined execution timing A has been reached. The execution timing A here corresponds to the time that has elapsed since the previous storage of the welding voltage value. For example, the welding voltage value may be set to be stored every few microseconds, and more specifically, 2000 microseconds or the like may be set as the value for judging the execution timing A. If the execution timing A has been reached, that is, if a predetermined time has elapsed since the previous storage of the welding voltage value (YES in S402), the process of the flux supply control device 15 proceeds to S403. On the other hand, if the execution timing A has not been reached (NO in S402), the flux supply control device 15 waits until the execution timing A is reached.

[0038] In S403, the flux supply control device 15 refers to the value of the counter M and determines whether the welding voltage value has been stored, i.e., whether the number of measurements has been m or not. The value of m here is not particularly limited, but may be set to, for example, m=256. If M=m (YES in S403), the process of the flux supply control device 15 proceeds to S406. On the other hand, if M≠m (NO in S403), the process of the flux supply control device 15 proceeds to S404.

[0039] In S404, the flux supply control device 15 stores the value of the welding voltage at that time point. The value of the welding voltage may be detected and obtained by a voltage sensor.

[0040] In S405, the flux supply controller 15 increments the value of the counter M by 1. After that, the process of the flux supply controller 15 proceeds to S410.

[0041] In S406, the flux supply control device 15 performs FFT processing on the waveform based on the welding voltage values ​​measured up to this point.

[0042] In S407, the flux supply control device 15 removes direct current components (DC components) and unnecessary frequency components from the waveform obtained by the FFT processing in S406. The waveform obtained in S406 includes the switching frequency of the welding power source 200 and its harmonics. In order to perform more accurate control, it is necessary to remove these components. The components to be removed can be calculated, for example, by measuring in advance at a no-load voltage and performing FFT processing on the measured value. The components to be removed may include components due to other factors, such as voltage fluctuations due to bending of the wire or swinging of the torch, i.e., oscillation, etc.

[0043] In S408, the flux supply control device 15 calculates the feature amount of the frequency component using the processing result of S407. In this embodiment, the average of the amplitude of a predetermined frequency band is used as the feature amount. As described with reference to Figs. 3A to 3C, the shallower the slag bath is, the more noise there is, so the amplitude value shown in the processing result of S407 tends to be higher. This average of the amplitude is also called the average noise voltage. The range of the frequency band for deriving the average noise voltage may be predefined. For example, the average of the amplitude may be calculated for the range of 10 to 500 Hz. In addition, when calculating the average noise voltage, it may be derived from the amplitude value per Hz in the above frequency band. In this embodiment, an example in which the average is used to calculate the feature amount is shown, but this is not limited thereto, and for example, integration may be used. The flux supply control device 15 stores the calculated feature amount. In addition, the calculated feature amount may hold only the latest value, or may hold past values ​​as history.

[0044] In S409, the flux supply controller 15 initializes the value of the counter M. After that, the process of the flux supply controller 15 proceeds to S410.

[0045] In S410, the flux supply control device 15 determines whether or not welding has been completed. If welding has been completed (YES in S410), this process flow ends. If welding has not been completed (NO in S410), the process of the flux supply control device 15 returns to S402 and repeats the subsequent processes. This determination may be made based on a user instruction to end welding, the occurrence of an error in welding, the end of a control program related to welding, or the like.

[0046] (Flux dispersion judgment process) FIG. 5 shows a flow chart of the flux dispersion determination process according to this embodiment. This process flow is a process for controlling flux dispersion by the flux supply control device 15 based on the result of the frequency characteristic derivation process shown in FIG. 4. This process flow is realized, for example, by a processing unit included in the flux supply control device 15 reading out a corresponding program from a storage unit and executing it. The process flow shown in FIG. 5 is started when the welding operation is started, and is executed continuously while the welding operation is being performed in parallel with the frequency characteristic derivation process shown in FIG. 4. In addition, with the start of the process, a timer unit starts timing.

[0047] In S501, the flux supply control device 15 judges whether a predetermined execution timing X has been reached. The execution timing X here corresponds to the time that has elapsed since the timing of the previous flux dispersion judgment, and may be set to make the judgment every second, for example. The execution timing X is set to have a longer interval than the execution timing A shown in FIG. 4. For convenience, the period of the execution timing A is set as the first period, and the period of the execution timing X is set as the second period. If the execution timing X has been reached, that is, if a predetermined time has elapsed since the previous flux dispersion judgment (YES in S501), the process of the flux supply control device 15 proceeds to S502. On the other hand, if the execution timing X has not been reached (NO in S501), the flux supply control device 15 waits until the execution timing X is reached.

[0048] In S502, the flux supply control device 15 acquires a feature quantity indicating the frequency characteristic at that time point. The feature quantity acquired here corresponds to the value obtained in the process of S408 in Fig. 4, and is an average noise voltage in this embodiment.

[0049] In S503, the flux supply control device 15 judges whether a predetermined execution timing Y has been reached. The execution timing Y here corresponds to a fixed periodic timing. For example, when the execution timing X set in the process of S501 is 1 second, the execution timing Y may be set to 4 seconds. In this case, the judgment is YES every 4 seconds. That is, when the start time of this process flow is 0 second, the judgment is YES at 4 seconds, 8 seconds, 12 seconds, .... When the execution timing Y has been reached (YES in S503), the process of the flux supply control device 15 proceeds to S507. On the other hand, when the execution timing Y has not been reached (NO in S503), the process of the flux supply control device 15 proceeds to S504.

[0050] In S504, the flux supply control device 15 judges whether a predetermined execution timing Z has been reached. The execution timing Z here corresponds to a fixed periodic timing. For example, when the execution timing X set in the process of S501 is 1 second, the execution timing Z may be set to 2 seconds. In this case, the judgment is YES every 2 seconds. That is, when the start time of this process flow is 0 second, the judgment is YES at 2 seconds, 6 seconds, 10 seconds, etc., taking into account the judgment process of S503. When the execution timing Z has been reached (YES in S504), the process of the flux supply control device 15 proceeds to S506. On the other hand, when the execution timing Z has not been reached (NO in S504), the process of the flux supply control device 15 proceeds to S505.

[0051] The relationship between the settings of each execution timing in this processing flow is execution timing X<execution timing Z<execution timing Y. In the above example, execution timing X (1 second)<execution timing Z (2 seconds)<execution timing Y (4 seconds). Note that the setting values ​​for each execution timing are not limited to the above values, and other values ​​may be set depending on, for example, the welding speed, welding scale, etc.

[0052] In S505, the flux supply control device 15 determines whether the feature acquired in S502, i.e., the average noise voltage, is equal to or greater than a predefined threshold value Th1. If the average noise voltage is equal to or greater than the threshold value Th1 (YES in S505), the process of the flux supply control device 15 proceeds to S508. On the other hand, if the average noise voltage is smaller than the threshold value Th1 (NO in S505), the process of the flux supply control device 15 proceeds to S509.

[0053] In S506, the flux supply control device 15 determines whether the feature acquired in S502, i.e., the average noise voltage, is equal to or greater than a predefined threshold value Th2. If the average noise voltage is equal to or greater than the threshold value Th2 (YES in S506), the process of the flux supply control device 15 proceeds to S508. On the other hand, if the average noise voltage is smaller than the threshold value Th2 (NO in S506), the process of the flux supply control device 15 proceeds to S509.

[0054] In S507, the flux supply control device 15 determines whether the feature acquired in S502, i.e., the average noise voltage, is equal to or greater than a predefined threshold value Th3. If the average noise voltage is equal to or greater than the threshold value Th3 (YES in S507), the process of the flux supply control device 15 proceeds to S508. On the other hand, if the average noise voltage is smaller than the threshold value Th3 (NO in S507), the process of the flux supply control device 15 proceeds to S509.

[0055] The relationship among the respective threshold values is Th3 < Th2 < Th1. For example, Th1 may be set to 100 mV, Th2 to 90 mV, and Th3 to 80 mV. At this time, the higher the feature amount obtained from the detection value correlated with the slag bath depth, the more the flux spraying amount is increased or the spraying frequency is increased. In the case of this embodiment, the higher the value of the average noise voltage, the more the flux spraying amount is increased or the spraying frequency is increased. Therefore, as long as the configuration satisfies the above conditions, the order and conditions of the determination process shown in FIG. 5 may be different. Note that the set values as the threshold values are not limited to the above, and other values may be set according to, for example, the welding speed, the welding scale, and the like. Each threshold value is set in advance and is assumed to be held in the storage unit.

[0056] At S508, the flux supply control device 15 sprays the flux 12. It is assumed that the spraying amount here is defined in advance. The spraying amount of the flux here may be controlled so that different amounts are sprayed according to the execution timing. That is, the spraying amount may be switched according to which of the determination processes of S505, S506, and S507 the process proceeds to S508 as a result. By spraying the flux 12, the depth of the slag bath increases. Thereafter, the process of the flux supply control device 15 proceeds to S509.

[0057] At S509, the flux supply control device 15 determines whether the welding operation has ended. If the welding operation has ended (YES at S509), this processing flow ends. If the welding operation has not ended (NO at S509), the process of the flux supply control device 15 returns to S501 and the subsequent processes are repeated. The determination here may be made based on a user instruction to end welding, the occurrence of an error in the welding operation, the end of the control program related to the welding operation, and the like.

[0058] In the above example, three execution timings X, Y, and Z were determined, but more execution timings may be determined. Similarly, three thresholds Th1, Th2, and Th3 were used for comparison and determination with the feature amount, but more thresholds may be used to adjust the flux spray amount in more detail. Therefore, the timing and spray amount of the flux may be adjusted arbitrarily. In this case, the higher the feature amount correlated with the slag bath depth, the more the flux spray amount or the number of sprays may be increased.

[0059] In the above example, the execution timing and the threshold value have a one-to-one relationship, such as the execution timing Y and the threshold value Th3, but this is not limited to this. For example, a configuration may be used in which multiple threshold values ​​are used at a certain execution timing, or a range may be set as the threshold value. With such a configuration, more detailed control can be performed.

[0060] As described above, according to the present embodiment, in electroslag welding, it is possible to maintain the depth of the slag bath in a state suitable for welding without providing a detector for detecting the slag bath. In addition, it is possible to set different amounts of flux to be sprayed depending on the timing of flux spraying, and it is possible to spray an appropriate amount and maintain the depth of the slag bath in a desired range. In addition, it is possible to suppress the influence of switching frequency and other disturbances in the power supply voltage. Furthermore, since the Fourier transform is used, the slag bath depth can be determined in a short time, so that the depth of the slag bath can be more appropriately maintained.

[0061] In particular, when a detector that directly detects the slag bath depth is provided, a configuration that takes into account durability and impact resistance in a welding environment is required, which incurs costs. In contrast, the configuration of this embodiment does not require a detector, so cooling design and processing around the detector can be reduced. In addition, since there is no need to consider the resistance of the detector in a welding environment, the durability of the entire device can be improved. Furthermore, since operation and maintenance around the detector are not required, the setup and effort for welding can be simplified.

[0062] <Other embodiments> In the first embodiment, a configuration has been described in which the timing of flux dispersion can be appropriately controlled even when a detector for detecting the slag bath is omitted. However, the configuration of the first embodiment may be further equipped with a detector. For example, the detector may be configured to detect the top surface of the slag bath. Such a configuration can be used in cases where it is desired to prevent slag from overflowing from the top surface of the slag bath during vertical welding. Therefore, the configuration shown in the first embodiment is not necessarily exclusive to the detector, and may be combined with the detector as necessary.

[0063] In the present invention, a program or application for realizing the functions of one or more of the above-mentioned embodiments can be supplied to a system or device via a network or a storage medium, etc., and one or more processors in a computer of the system or device can read and execute the program.

[0064] Alternatively, the function may be realized by a circuit that realizes one or more functions, such as an ASIC (Application Specific Integrated Circuit) or an FPGA (Field Programmable Gate Array).

[0065] As described above, the present specification discloses the following: (1) a measuring step of measuring a physical quantity during electroslag welding in a first period; a conversion step of deriving values ​​of each frequency component by Fourier transforming the physical quantity measured in the measurement step; a calculation step of calculating a feature amount based on values ​​of a predetermined frequency band among the frequency components derived in the conversion step; a control step of controlling dispersion of the flux based on the characteristic amount and a threshold value for the characteristic amount in a second period longer than the first period; Electroslag welding method comprising the steps of: According to this configuration, in electroslag welding, it is possible to maintain the depth of the slag bath at a level suitable for welding without providing a detector for detecting the slag bath. In particular, since a detector for directly detecting the slag bath depth is not required, the cooling design and processing around the detector can be suppressed. In addition, since it is not necessary to consider the resistance of the detector in the welding environment, the durability of the entire device can be improved. Furthermore, since operation and maintenance around the detector are not required, the setup and labor for welding can be simplified.

[0066] (2) The electroslag welding method according to (1), wherein in the control step, the amount of the flux sprayed is increased as the value of the characteristic amount increases. According to this configuration, different amounts can be set to be sprayed depending on the calculated characteristic amount, and an appropriate amount can be sprayed to maintain the depth of the slag bath within a desired range.

[0067] (3) The electroslag welding method according to (1) or (2), characterized in that, in the control step, the threshold value is set to a predetermined value corresponding to a control timing in the second cycle. According to this configuration, different amounts of flux can be set to be sprayed depending on the timing of flux spraying, and an appropriate amount can be sprayed to maintain the depth of the slag bath within a desired range.

[0068] (4) The electroslag welding method according to any one of (1) to (3), wherein in the control step, the amount of the flux sprayed varies depending on a control timing in the second cycle. According to this configuration, different amounts of flux can be set to be sprayed depending on the timing of flux spraying, and an appropriate amount can be sprayed to maintain the depth of the slag bath within a desired range.

[0069] (5) The electroslag welding method according to any one of (1) to (4), wherein in the calculating step, an average of values ​​in the predetermined frequency band is calculated as the characteristic amount. According to this configuration, the characteristic amount can be calculated by a simple calculation based on the frequency component correlated with the slag bath depth.

[0070] (6) The electroslag welding method according to any one of (1) to (4), wherein in the calculating step, an integral of a value in the predetermined frequency band is calculated as the characteristic amount. According to this configuration, the characteristic amount can be calculated by a simple calculation based on the frequency component correlated with the slag bath depth.

[0071] (7) An electroslag welding method according to any one of (1) to (6), characterized in that in the calculation step, the characteristic quantity is calculated by removing from the value of the frequency component derived in the conversion step at least one frequency component value selected from the switching frequency of a welding power source, harmonics of the switching frequency, and frequency components of fluctuations in physical quantities due to wire bending or torch oscillation. According to this configuration, by appropriately removing noise components generated during electroslag welding, it becomes possible to more accurately control the dispersion of flux.

[0072] (8) The electroslag welding method according to any one of (1) to (7), characterized in that in the control step, the dispersion of flux is further controlled based on the detection result of a detector that detects the upper surface of the slag bath. This configuration makes it possible to prevent slag from overflowing from the top surface of the slag bath during vertical welding.

[0073] (9) An electroslag welding device comprising a device body and a welding power source, The device body includes: The system includes a traveling carriage, a traveling carriage control device, a flux supply device, and a flux supply control device, An electroslag welding apparatus for carrying out the electroslag welding method according to any one of (1) to (8). According to this configuration, in electroslag welding, it is possible to maintain the depth of the slag bath at a level suitable for welding without providing a detector for detecting the slag bath. In particular, since a detector for directly detecting the slag bath depth is not required, the cooling design and processing around the detector can be suppressed. In addition, since it is not necessary to consider the resistance of the detector in the welding environment, the durability of the entire device can be improved. Furthermore, since operation and maintenance around the detector are not required, the setup and labor for welding can be simplified.

[0074] (10) To the computer: A measuring step of measuring a physical quantity during electroslag welding in a first period; a conversion step of deriving values ​​of each frequency component by Fourier transforming the physical quantity measured in the measurement step; a calculation step of calculating a feature amount based on values ​​of a predetermined frequency band among the frequency components derived in the conversion step; a control step of controlling dispersion of the flux based on the characteristic amount and a threshold value for the characteristic amount in a second period longer than the first period; A program for executing the above. According to this configuration, in electroslag welding, it is possible to maintain the depth of the slag bath at a level suitable for welding without providing a detector for detecting the slag bath. In particular, since a detector for directly detecting the slag bath depth is not required, the cooling design and processing around the detector can be suppressed. In addition, since it is not necessary to consider the resistance of the detector in the welding environment, the durability of the entire device can be improved. Furthermore, since operation and maintenance around the detector are not required, the setup and labor for welding can be simplified. [Explanation of symbols]

[0075] 1…Copper backing 3…Base material 4. Welding torch 5…Contact tip 6…Welding wire 7…Molten slag bath 8…Welding current 9…Molten metal 10…Weld metal 11...Solidified slag 12. Flux 13...Welding sliding copper plate (body plate) 14…Flux supply device 15...Flux supply control device 16...Traveling cart 17...Traveling vehicle control device 100...Device body 200…Welding power source 300...Wire feeder 400...Operation box 500...Welding equipment (electroslag welding equipment)

Claims

1. A measuring step of measuring a physical quantity during electroslag welding in a first period; a conversion step of deriving values ​​of each frequency component by Fourier transforming the physical quantity measured in the measurement step; a calculation step of calculating a feature amount based on values ​​of a predetermined frequency band among the frequency components derived in the conversion step; a control step of controlling dispersion of the flux based on the characteristic amount and a threshold value for the characteristic amount in a second period that is longer than the first period; having The physical quantity is a welding voltage, The calculation step calculates an average noise voltage, which is an average of the amplitude of the welding voltage in the predetermined frequency band, as the feature amount, and the shallower the slag bath is, the more noise the average noise voltage becomes; The electroslag welding method according to the present invention, characterized in that the control step adjusts the depth of the slag bath by increasing the amount of flux sprayed or the number of times the flux is sprayed as the calculated average noise voltage increases.

2. A measurement process for measuring a physical quantity during electroslag welding in a first period; a conversion step of deriving values ​​of each frequency component by Fourier transforming the physical quantity measured in the measurement step; a calculation step of calculating a feature amount based on values ​​of a predetermined frequency band among the frequency components derived in the conversion step; a control step of controlling dispersion of the flux based on the characteristic amount and a threshold value for the characteristic amount in a second period that is longer than the first period; having The physical quantity is a welding voltage, the calculating step calculates an integral of a value of a welding voltage in the predetermined frequency band as the feature amount, The electroslag welding method according to the present invention, characterized in that the control step adjusts the depth of the slag bath by increasing the amount of flux sprayed or the number of times flux is sprayed as the integral of the calculated welding voltage value increases.

3. The frequency band range for deriving the average noise voltage is 10 to 500 Hz.

2. The electroslag welding method of claim 1.

4. 4. The electroslag welding method according to claim 1, wherein in the control step, the threshold value is set to a predetermined value corresponding to a control timing in the second cycle.

5. 5. The electroslag welding method according to claim 1, wherein in the control step, the amount of the flux sprayed varies depending on a control timing in the second period.

6. 6. The electroslag welding method according to claim 1, wherein in the calculating step, the feature quantity is calculated by removing, from the value of the frequency component derived in the converting step, a value of at least one frequency component selected from the switching frequency of a welding power source, a harmonic of the switching frequency, and a frequency component of a physical quantity fluctuation caused by a bending tendency of a wire or a swing of a torch.

7. 7. The electroslag welding method according to claim 1, further comprising controlling the dispersion of the flux based on a detection result of a detector that detects the upper surface of the slag bath.

8. An electroslag welding apparatus comprising an apparatus body and a welding power source, The device body includes: The system includes a traveling carriage, a traveling carriage control device, a flux supply device, and a flux supply control device, An electroslag welding apparatus for carrying out the electroslag welding method according to any one of claims 1 to 7.

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