CN115397597B - Welding power supply, welding system, control method of welding power supply, and storage medium - Google Patents
Welding power supply, welding system, control method of welding power supply, and storage medium Download PDFInfo
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- CN115397597B CN115397597B CN202180028768.8A CN202180028768A CN115397597B CN 115397597 B CN115397597 B CN 115397597B CN 202180028768 A CN202180028768 A CN 202180028768A CN 115397597 B CN115397597 B CN 115397597B
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- 238000003466 welding Methods 0.000 title claims abstract description 340
- 238000000034 method Methods 0.000 title claims description 19
- 239000000463 material Substances 0.000 claims abstract description 68
- 230000002441 reversible effect Effects 0.000 claims abstract description 49
- 230000003247 decreasing effect Effects 0.000 claims 2
- 230000000737 periodic effect Effects 0.000 abstract 1
- 239000007789 gas Substances 0.000 description 19
- 230000001629 suppression Effects 0.000 description 16
- 238000001514 detection method Methods 0.000 description 13
- CURLTUGMZLYLDI-UHFFFAOYSA-N Carbon dioxide Chemical compound O=C=O CURLTUGMZLYLDI-UHFFFAOYSA-N 0.000 description 12
- 238000004544 sputter deposition Methods 0.000 description 11
- 230000007704 transition Effects 0.000 description 9
- 238000010586 diagram Methods 0.000 description 8
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- 230000008859 change Effects 0.000 description 7
- 238000006243 chemical reaction Methods 0.000 description 7
- 230000006870 function Effects 0.000 description 7
- 238000002844 melting Methods 0.000 description 7
- 230000008018 melting Effects 0.000 description 7
- XKRFYHLGVUSROY-UHFFFAOYSA-N Argon Chemical compound [Ar] XKRFYHLGVUSROY-UHFFFAOYSA-N 0.000 description 6
- 229910002092 carbon dioxide Inorganic materials 0.000 description 6
- 239000001569 carbon dioxide Substances 0.000 description 6
- 230000000694 effects Effects 0.000 description 6
- 229910052786 argon Inorganic materials 0.000 description 3
- 230000004907 flux Effects 0.000 description 3
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- 239000007787 solid Substances 0.000 description 2
- 229910000881 Cu alloy Inorganic materials 0.000 description 1
- 229910001209 Low-carbon steel Inorganic materials 0.000 description 1
- 244000208734 Pisonia aculeata Species 0.000 description 1
- RTAQQCXQSZGOHL-UHFFFAOYSA-N Titanium Chemical compound [Ti] RTAQQCXQSZGOHL-UHFFFAOYSA-N 0.000 description 1
- 229910052782 aluminium Inorganic materials 0.000 description 1
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 description 1
- 230000003321 amplification Effects 0.000 description 1
- 238000013459 approach Methods 0.000 description 1
- 239000010953 base metal Substances 0.000 description 1
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K9/00—Arc welding or cutting
- B23K9/095—Monitoring or automatic control of welding parameters
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K9/00—Arc welding or cutting
- B23K9/12—Automatic feeding or moving of electrodes or work for spot or seam welding or cutting
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Plasma & Fusion (AREA)
- Mechanical Engineering (AREA)
- Arc Welding Control (AREA)
Abstract
The welding power supply is provided with: a feeding control unit that controls feeding of the welding wire such that a leading end of the welding wire is fed while accompanying periodic switching in forward feeding and reverse feeding; and a current control unit for changing the welding current corresponding to the front end position of the welding wire. The feed control unit controls so that the time taken for the leading end of the welding wire to reach the farthest point from the base material from the closest point closest to the base material is shorter than the time taken for the leading end of the welding wire to reach the closest point from the farthest point. The current control unit controls so that a low current period for reducing the welding current from a predetermined current value is set in a period in which the tip of the welding wire is fed in the reverse direction.
Description
Technical Field
The invention relates to a welding power supply, a welding system, a control method of the welding power supply, and a program.
Background
A known welding power supply is provided with a control unit that, when a tip of a welding wire is fed to a base material while periodically switching between a forward feeding period and a reverse feeding period, changes a welding current in accordance with a tip position of the welding wire, the tip of which periodically varies in distance from a surface of the base material, and controls the control unit so that a low current period in which the welding current is reduced from a predetermined current value is provided during a period in which the tip of the welding wire is fed in the reverse direction (for example, refer to patent document 1).
Prior art literature
Patent literature
Patent document 1: JP-A2020-49506
Disclosure of Invention
Problems to be solved by the invention
The technology comprises the following steps: the low current period is set in a period in which the tip of the welding wire is fed back to the tip of the welding wire when the tip of the welding wire is fed to the base material while periodically switching between a forward feeding period and a backward feeding period, so that scattering of sputtering caused by droplet detachment is reduced. In such a technique, there is a limit in that the possibility of droplet detachment is increased during a period in which the tip of the welding wire is reversely fed, that is, during a low current period, when the welding wire is fed at a feeding speed of the welding wire that varies in a sinusoidal waveform. That is, there is a limit in making sputtering difficult to fly.
The purpose of the present invention is to make sputtering more difficult to scatter than in a technique in which a low current period is provided in a period in which the tip of a welding wire is fed back to the tip of a welding wire when the tip of the welding wire is fed to a base material while periodically switching between a period in which the tip of the welding wire is fed forward and a period in which the tip of the welding wire is fed back.
Means for solving the problems
In accordance with a related object, the present invention provides a welding power supply for supplying a welding current to a welding wire as a consumable electrode, and releasing a droplet in an open arc state without shorting the welding wire to a molten pool, the welding power supply comprising: a feed control unit that controls feeding of the welding wire such that a tip of the welding wire is fed to the base material while periodically switching between a period during which the welding wire is fed forward and a period during which the welding wire is fed backward; and a current control unit for changing the welding current according to the position of the front end of the welding wire, the distance between the front end and the surface of the base material periodically changes, the feeding control unit controls the feeding control unit to make the time spent by the front end of the welding wire from the position closest to the base material, namely the nearest point to the position farthest from the base material, namely the farthest point shorter than the time spent by the front end of the welding wire from the farthest point to the nearest point, and the current control unit controls the current control unit to set a low current period for reducing the welding current than a predetermined current value in the period that the front end of the welding wire is reversely fed.
The feeding control means may control the feeding speed amplitude of the welding wire during a period in which the tip of the welding wire is fed in the reverse direction to be larger than the feeding speed amplitude of the welding wire during a period in which the tip of the welding wire is fed in the forward direction.
When the tip end position of the periodically varying welding wire is located closer to the base material than the position 1/2 of the wave height defined by the closest point and the farthest point, the current control means may control the current control means so as to start the low current period. In this case, the current control means may control the current control means so that the low current period starts within a range from the tip position of the welding wire at a point in time when the tip of the welding wire is switched from the period in which the welding wire is fed forward to the period in which the welding wire is fed backward to the tip position of the welding wire at a point in time when the command value of the feeding speed of the welding wire switched to the reverse feeding is maximum. The current control means controls the low current period to end within a range from a tip position of the wire at a point in time when the command value of the feeding speed of the wire switched to reverse feeding is maximum to a tip position of the wire at a point in time when the tip of the wire is switched from the period of reverse feeding to the period of forward feeding.
The present invention also provides a welding system for performing arc welding by supplying a welding current to a welding wire as a consumable electrode, the welding system including: a feed control unit that controls feeding of the welding wire such that a tip of the welding wire is fed to the base material while periodically switching between a period during which the welding wire is fed forward and a period during which the welding wire is fed backward; and a current control unit for changing the welding current according to the position of the front end of the welding wire, the distance between the front end and the surface of the base material periodically changes, the feeding control unit controls the feeding control unit to make the time spent by the front end of the welding wire from the position closest to the base material, namely the nearest point to the position farthest from the base material, namely the farthest point shorter than the time spent by the front end of the welding wire from the farthest point to the nearest point, and the current control unit controls the current control unit to set a low current period for reducing the welding current than a predetermined current value in the period that the front end of the welding wire is reversely fed.
The present invention also provides a method for controlling a welding power supply for supplying a welding current to a welding wire as a consumable electrode to separate a droplet in an open arc state without shorting the welding wire to a molten pool, the method comprising the steps of: controlling the feeding of the welding wire so that the front end of the welding wire is fed to the base material while periodically switching between a forward feeding period and a reverse feeding period; and a step of changing the welding current in accordance with the tip position of the welding wire whose distance from the surface of the base material periodically varies, wherein in the step of controlling the feeding, the time taken for the tip of the welding wire to reach the farthest point from the closest point, which is the position closest to the base material, is shorter than the time taken for the tip of the welding wire to reach the closest point, which is the position farthest from the base material, and wherein in the step of changing the welding current, the step of controlling the welding current is controlled such that a low current period in which the welding current is reduced from a predetermined current value is set during a period in which the tip of the welding wire is reversely fed.
Further, the present invention provides a program for causing a computer of a welding system that supplies a welding current to a wire as a consumable electrode to perform arc welding, and that causes a droplet to be separated in an open arc state without short-circuiting the wire and a molten pool, the program comprising: controlling the feeding of the welding wire so that the front end of the welding wire is fed to the base material while periodically switching between a forward feeding period and a reverse feeding period; the function of controlling the feed is controlled such that the time taken for the tip of the welding wire to reach the farthest point, which is the position farthest from the base material, from the nearest point, which is the position closest to the base material, is shorter than the time taken for the tip of the welding wire to reach the nearest point, which is the position farthest from the base material, and the function of changing the welding current is controlled such that a low current period for reducing the welding current from a predetermined current value is provided during the period in which the tip of the welding wire is fed in reverse.
ADVANTAGEOUS EFFECTS OF INVENTION
According to the present invention, in the technique of providing the low current period in the period in which the tip of the welding wire is reversely fed to the tip of the welding wire when the base material is fed while periodically switching between the period in which the welding wire is forward fed and the period in which the welding wire is reversely fed, the sputtering is less likely to scatter than in the case of employing the configuration in which the welding wire is fed at the feeding speed of the welding wire which varies in a sinusoidal waveform.
Drawings
Fig. 1 is a block diagram showing an example of an arc welding system according to the present embodiment.
Fig. 2 is a block diagram illustrating a configuration example of a control system portion of a welding power supply.
Fig. 3 is a waveform diagram illustrating a time variation of wire feed speed.
Fig. 4 is a waveform diagram illustrating a temporal change in the position of the tip of the welding wire.
Fig. 5 is a flowchart illustrating an example of control of the welding current in the present embodiment.
Fig. 6 is a timing chart showing a control example of a current setting signal for specifying a current value of a welding current.
Fig. 7 is a graph showing the wire feed speed, the waveform of the welding current and the welding voltage, and the droplet detachment timing of patent document 1.
Fig. 8 is a graph showing waveforms of a wire feed speed, a welding current, and a welding voltage, and droplet detachment timing according to the present embodiment.
Fig. 9 is a graph showing the measurement result of droplet detachment timing in patent document 1.
Fig. 10 is a graph showing the measurement result of the droplet detachment timing according to the present embodiment.
Fig. 11 is a graph showing the result of measuring the time from the start of the current suppression period to the disconnection in patent document 1.
Fig. 12 is a graph showing the result of measuring the time from the start of the current suppression period to the time of the disconnection in the present embodiment.
Detailed Description
Embodiments of the present invention are described in detail below with reference to the accompanying drawings.
< problem to be solved by the present embodiment >
There are 2 problems to be solved by the present embodiment.
The 1 st problem is that sputtering is easy to scatter.
In the technique of patent document 1, in carbon dioxide gas welding (open arc welding) that does not involve a short circuit, a wire feed speed and a welding current are appropriately controlled, and a molten droplet (molten metal) is detached and transited to a welding base material during a low current.
It is important here that the droplet is positively detached by pulling back the welding wire in a state where the droplet is easily detached. The ease of detachment of the droplet is affected by the droplet size (weight), surface tension, arc reaction force, and the like. For example, the larger the droplet size, the easier it is to break off, and the smaller the droplet size, the more difficult it is to break off.
In an automatic welding machine using a robot, a "self-holding function of arc length" for holding the arc length constant is used to obtain a stable welding result. The "self-holding function of arc length" means the following function: when the arc length is long, the welding current is slightly reduced (the melting of the welding wire is slowed down) to shorten the arc length, and when the arc length is shortened, the welding current is increased (the melting of the welding wire is accelerated) to lengthen the arc length. In patent document 1, when the arc length is increased and the welding current is reduced due to external factors during welding, droplet growth during the droplet growth period is slowed down and the droplet size is reduced, and the droplet may not be separated during the current suppression period in which separation is desired. If the droplet is detached during the non-current suppressing period, there is a problem that sputtering is likely to be scattered.
The 2 nd problem is that the contact tip is liable to wear.
In arc welding, a welding current is supplied to a welding wire by a power supply member made of a copper alloy called a "contact tip" attached to the tip of a welding torch. Joule heat is generated at the contact portion between the contact tip and the welding wire due to the passage of a large current, and the contact tip is easily softened. When the softened contact tip is operated while the welding wire is in contact with the surface thereof, the softened contact tip is gradually scraped off by the welding wire and is continuously worn. If the wire feeding portion of the contact tip wears, the feeding of electricity to the wire becomes unstable, and a predetermined welding current no longer flows, and the welding amount changes, and there is a problem that the contact tip and the wire are welded. The contact tip is more prone to wear as the welding current is higher, and the wire feed speed is higher.
In patent document 1, there is a problem in that a peak period of welding current and a peak period of wire feed speed overlap each other, and the wire is passed through a contact tip softened by a large current at a high speed, so that the contact tip is liable to wear.
Therefore, in the present embodiment, when the droplet is separated in the bright arc state without shorting the welding wire and the molten pool, the spatter is less likely to scatter, and the contact tip is less likely to wear. Such embodiments are described in detail below.
< overall Structure of System >
Fig. 1 is a block diagram showing an example of an arc welding system 10 according to the present embodiment.
The arc welding system 10 includes a welding robot 120, a robot controller 160, a welding power supply 150, a feeder 130, and a shielding gas supply 140.
The welding power source 150 is connected to the welding electrode via a positive cable, and is connected to an object to be welded (hereinafter also referred to as "base material" or "workpiece") 200 via a negative cable. The connection is performed in the reverse polarity, and in the case of welding in the positive polarity, the welding power source 150 is connected to the base material 200 via a positive cable, and is connected to the welding electrode via a negative cable.
The welding power source 150 and the feeder 130 of the consumable electrode (hereinafter also referred to as "welding wire") 100 are also connected by a signal line, and the feeding speed of the welding wire can be controlled.
The welding robot 120 includes a welding torch 110 as an end effector. The welding torch 110 has an energizing mechanism (contact tip) for energizing the welding wire 100. The welding wire 100 generates an arc from the tip by the current passing through the contact tip, and welds the base material 200, which is the welding target, with the heat thereof.
Further, the welding torch 110 includes a shielding gas nozzle (a mechanism for ejecting shielding gas). The shielding gas may be carbon dioxide gas, argon+carbon dioxide gas (CO 2 ) And the like. In addition, carbon dioxide gas is more preferable, and in the case of a mixed gas, a system in which 10 to 30% of carbon dioxide gas is mixed with Ar is preferable. The shielding gas is supplied from the shielding gas supply device 140.
The welding wire 100 used in the present embodiment may be either a solid welding wire without flux (flux) or a flux-added welding wire containing flux. The material of the wire 100 is not limited. For example, the material can be mild steel, stainless steel, aluminum or titanium. Further, the diameter of the wire 100 is not particularly limited. In the case of the present embodiment, the upper limit of the diameter is preferably set to 1.6mm, and the lower limit is preferably set to 0.8mm.
The robot controller 160 controls the operation of the welding robot 120. The robot controller 160 holds teaching data for specifying the operation mode, the welding start position, the welding end position, the welding condition, the swing operation, and the like of the welding robot 120 in advance, and instructs the welding robot 120 to control the operation of the welding robot 120. Further, the robot controller 160 gives an instruction to control the power supply in the welding job to the welding power supply 150 in accordance with the teaching data.
The arc welding system 10 is an example of a welding system. The welding power supply 150 is also an example of a control means for changing the welding current.
< Structure of welding Power supply >
Fig. 2 is a block diagram illustrating a configuration example of a control system portion of the welding power supply 150.
The control system portion of the welding power supply 150 is implemented, for example, by a computer executing a program.
The control system portion of the welding power supply 150 includes a current setting unit 36. The current setting unit 36 in the present embodiment includes: a function of setting various current values for defining a welding current flowing through the welding wire 100; a function of setting a time at which a period in which the current value of the welding current is suppressed starts and a time at which the period ends (a current suppression period setting unit 36A); and a welding wire tip position conversion unit 36B for obtaining information on the tip position of the welding wire 100.
In the present embodiment, the pulse current is used, and the current setting unit 36 sets the peak current Ip, the base current Ib, and the steady-state current Ia for droplet detachment. In the case of the present embodiment, the welding current is basically controlled by 2 values of peak current Ip and base current Ib. Therefore, the time t1 at which the period in which the current value is suppressed starts characterizes the time at which the base current Ib starts (base current start time), and the time t2 at which the period in which the current value is suppressed ends characterizes the time at which the base current Ib ends (base current end time) (refer to fig. 6).
The power supply main circuit of the welding power supply 150 includes an ac power supply (here, a three-phase ac power supply) 1, a primary side rectifier 2, a smoothing capacitor 3, a switching element 4, a transformer 5, a secondary side rectifier 6, and a reactor 7.
The ac power input from the ac power supply 1 is full-wave rectified by the primary side rectifier 2, and is further smoothed by the smoothing capacitor 3 to be converted into dc power. Next, the dc power is converted into ac power of a high frequency by the inversion control by the switching element 4, and then converted into 2-time side power by the transformer 5. The ac output of the transformer 5 is full-wave rectified by the 2-time side rectifier 6 and is further smoothed by the reactor 7. The output current of the reactor 7 is supplied to the welding tip 8 as an output from the power supply main circuit, and the welding wire 100 as a consumable electrode is energized.
The wire 100 is fed by the feed motor 24, and an arc 9 is generated between the wire and the base material 200. In the case of the present embodiment, the feed motor 24 feeds the welding wire 100 such that a forward feed period in which the tip of the welding wire 100 is fed to the base material 200 at a speed faster than the average speed and a reverse feed period in which the tip of the welding wire 100 is fed to the base material 200 at a speed slower than the average speed are periodically switched. The tip of the welding wire 100 during the reverse feeding moves in a direction away from the base material 200.
The feeding of the welding wire 100 by the feeding motor 24 is controlled by a control signal Fc from the feeding driving section 23. The average value of the feed rate is approximately the same as the melting rate. In the case of the present embodiment, the feeding of the welding wire 100 by the feeding motor 24 is also controlled by the welding power source 150.
The target value (voltage setting signal Vr) of the voltage applied between the welding tip 8 and the base material 200 is supplied from the voltage setting unit 34 to the current setting unit 36.
The voltage setting signal Vr here is also supplied to the voltage comparing section 35, and is compared with the voltage detection signal Vo detected by the voltage detecting section 32. The voltage detection signal Vo is an actual measurement value.
The voltage comparing unit 35 amplifies the difference between the voltage setting signal Vr and the voltage detection signal Vo, and outputs the amplified signal Va to the current setting unit 36 as a voltage error amplified signal Va.
The current setting unit 36 controls the welding current so that the length of the arc 9 (i.e., the arc length) becomes constant. In other words, the current setting section 36 performs constant voltage control by control of the welding current.
The current setting unit 36 resets the value of the peak current Ip, the value of the base current Ib, the period in which the peak current Ip is given, or the magnitude of the value of the peak current Ip and the magnitude of the base current Ib based on the voltage setting signal Vr and the voltage error amplifying signal Va, and outputs a current setting signal Ir corresponding to the reset period or magnitude of the value to the current error amplifying unit 37.
In the case of the present embodiment, the period in which the peak current Ip is given is a period other than the period in which the base current Ib is given. In other words, the period in which the peak current Ip is given is a period in which the current is not suppressed (current non-suppression period). The period in which the peak current Ip is given is an example of the 1 st period.
On the other hand, the period in which the base value current Ib is given is also referred to as a current suppression period. The current suppression period is an example of the low current period, and is also an example of the 2 nd period.
The current error amplifying unit 37 amplifies the difference between the current setting signal Ir given as the target value and the current detection signal Io detected by the current detecting unit 31, and outputs the amplified current setting signal Ir as the current error amplified signal Ed to the inversion driving unit 30.
The inverter driving unit 30 corrects the driving signal Ec of the switching element 4 by the current error amplified signal Ed.
The average feeding speed Fave of the fed welding wire 100 is also given to the current setting section 36. The average feed speed Fave is output by the average feed speed setting unit 20 based on teaching data stored in a storage unit, not shown.
The current setting unit 36 determines the values of the peak current Ip, the base current Ib, the steady-state current Ia, the time t1 at which the base current Ib starts, and the time t2 at which the base current Ib ends, based on the average feeding speed Fave given.
In the present embodiment, the average feed speed Fave is input to the current setting unit 36 as shown in fig. 2, but the signal input to the current setting unit 36 may be replaced with the average feed speed Fave by using a value related to the average feed speed Fave as a set value. For example, when a database of the average feed speed and the average current value at which welding can be optimally performed for the average feed speed is stored in a storage unit, not shown, the average current value may be replaced with the average feed speed Fave to be used as a set value.
The average feeding speed Fave is also supplied to the amplitude feeding speed setting section 21 and the feeding speed command setting section 22.
The amplitude feed speed setting unit 21 determines values of the amplitude Wf and the period Tf, which are basic feed conditions, based on the input average feed speed Fave. The amplitude Wf is a variation amplitude with respect to the average feed speed Fave, and the period Tf is a time of variation of the amplitude as a repeating unit.
The wire feeding in patent document 1 is a feeding method as follows: a period in which the feeding speed is faster than the average feeding speed Fave (forward feeding period) and a period in which the feeding speed is slower than the average feeding speed Fave (reverse feeding period) are alternately presented, and the time width of the forward feeding period and the time width of the reverse feeding period are the same.
In contrast, in the present embodiment, the forward/reverse speed ratio setting unit 38 sets PFR (%) which is a ratio of the reverse feeding period to the period Tf, and supplies the PFR (%) to the amplitude feeding speed setting unit 21.
Here, in the amplitude feed speed setting section 21, the amplitude feed speed Ff during forward feed and the amplitude feed speed Ff during reverse feed are calculated based on the amplitude Wf, the period Tf, and the forward-reverse feed ratio PFR. The amplitude feed speed Ff during reverse feed is given by the following formula. Here, t characterizes the time instant.
[ mathematics 1]
Further, the amplitude feed speed Ff during the forward feed is given in the following equation.
[ math figure 2]
As described above, the amplitude feed speed setting unit 21 generates and outputs different amplitude feed speeds Ff during the forward feed and the reverse feed.
The feed speed command setting unit 22 outputs a feed speed command signal Fw based on the amplitude feed speed Ff and the average feed speed Fave.
In the case of the present embodiment, the feed speed command signal Fw is characterized by the following expression.
Fw=ff+fave … type 3
The feed speed command signal Fw is output to the phase deviation detecting section 26, the feed error amplifying section 28, and the current setting section 36.
The feed error amplifying unit 28 amplifies the difference between the feed speed command signal Fw, which is the target speed, and the feed speed detection signal Fo, which is the actual feed speed of the wire 100 of the feed motor 24, and outputs the speed error amplifying signal Fd, which is the corresponding amount of error corrected, to the feed driving unit 23.
The feed drive section 23 generates a control signal Fc based on the speed error amplification signal Fd, and supplies the control signal Fc to the feed motor 24.
The feed speed conversion unit 25 converts the rotation amount of the feed motor 24 into a feed speed detection signal Fo of the wire 100.
The phase deviation detecting unit 26 in the present embodiment compares the feed speed command signal Fw with the feed speed detection signal Fo, which is a measured value, and outputs a phase deviation time tθd. The phase deviation detecting unit 26 may determine the phase deviation time tθd by measuring the feeding operation of the feeding motor 24 when the parameters (period Tf, amplitude Wf, average feeding speed Fave) of the predetermined amplitude feeding are variable.
The phase deviation time Tθd is given to the wire tip position conversion unit 36B of the current setting unit 36. The wire tip position conversion unit 36B calculates the tip position of the wire 100 with the base material 200 as a reference surface based on the feed speed command signal Fw and the phase deviation time tθd, and supplies information of the calculated tip position to the current suppression period setting unit 36A.
Here, the current suppression period setting unit 36A sets a period for suppressing the welding current (i.e., a period for controlling the current setting signal Ir to the base value current Ib) based on the information of the tip position of the welding wire 100 or based on the information of the tip position of the welding wire 100 and the feed speed command signal Fw.
The current setting unit 36 is an example of a feed control unit that controls the feed of the welding wire 100 and a current control unit that changes the welding current according to the tip position of the welding wire 100.
< control example of welding Current >
An example of control of the welding current of the welding power supply 150 is described below.
The control of the welding current is performed by the current setting unit 36 constituting the welding power supply 150. As described above, the current setting unit 36 in the present embodiment realizes control by executing a program.
The current setting unit 36 in the present embodiment controls switching of the current value of the welding current based on the feed speed command signal Fw of the welding wire 100 and the information of the tip position of the welding wire 100. Therefore, before the description of the control of the welding current, the time change of the feed speed command signal Fw and the time change of the tip position of the welding wire 100 are described.
Fig. 3 is a waveform diagram illustrating a temporal change in the feed speed command signal Fw. The horizontal axis is time (phase) and the vertical axis is speed. The vertical axis is in meters per minute or rotational speed. The numerical values are examples. For example, when the diameter of the wire 100 (see fig. 1) is 1.2mm, the average feeding speed Fave is 12 to 25 m/min. However, in order to maintain a later-described droplet (droplet) transition or spray transition, it is desirable to set the feeding speed to 8 m/min or more, although the protruding length of the wire 100 is also dependent. For example, when the protruding length of the welding wire 100 is 25mm, the welding current is 225A. The critical area for the short circuit transition and the droplet transition is about 250A.
In fig. 3, the speed faster than the average feed speed Fave is characterized by a positive value, and the speed slower than the average feed speed Fave is characterized by a negative value. The period in which the feed speed is faster than the average feed speed Fave is referred to as a forward feed period, and the period in which the feed speed is slower than the average feed speed Fave is referred to as a reverse feed period. Further, the welding wire 100 (see fig. 1) is fed so as to be close to the base material 200 (see fig. 1).
In patent document 1, since the time width during forward feeding and the time width during reverse feeding are equal, and the velocity amplitude during forward feeding and the velocity amplitude during reverse feeding are equal, the velocity waveform is a sine wave of the period Tf and the amplitude Wf.
In the case of the present embodiment, regarding the feed speed command signal Fw, the time width during forward feeding and the time width during reverse feeding are different, and the speed amplitude wf_f during forward feeding and the speed amplitude wf_r during reverse feeding are different.
That is, if the ratio of the reverse feeding time in the feeding 1 period is defined as PFR (%), the period and the velocity amplitude during the forward feeding and the period and the velocity amplitude during the reverse feeding can be defined as follows.
During forward feed: the period is ((100-PFR). Times.Tf)/50, and the velocity amplitude wf_f is half wave of a sine wave of PFR.times.wf/50.
During reverse feeding: the period is PFR×Tf/50, and the velocity amplitude wf_r is a half wave of a sine wave ((100-PFR) ×wf/50).
Here, wf is a velocity amplitude when PFR is 50, that is, when the velocity waveform is a sine wave as in patent document 1.
In this embodiment, PFR <50 is set. Thus, the velocity amplitude wf_f becomes smaller than the velocity amplitude Wf, and the velocity amplitude wf_r becomes larger than the amplitude Wf. The average feed speed Fave can be regarded as the wire melting speed Fm.
In other words, the feeding speed amplitude wf_r of the welding wire during the period in which the tip of the welding wire is fed in the reverse direction is preferably controlled to be larger than the feeding speed amplitude wf_f of the welding wire during the period in which the tip of the welding wire is fed in the forward direction.
Fig. 4 is a waveform diagram illustrating a temporal change in a tip position (wire tip position) of the wire 100 (refer to fig. 1). The horizontal axis represents time (phase), and the vertical axis represents distance (height) from the surface of the base material 200 (base material surface) to the upper side in the normal direction.
In fig. 4, the distance (height) when the wire 100 is fed at the average feeding speed Fave is set as a reference distance, and a distance larger than the reference distance is represented by a positive value and a distance smaller than the reference distance is represented by a negative value.
As shown in fig. 4, the period in which the tip position of the welding wire 100 approaches the surface of the base material with the lapse of time is a forward feeding period, and the period in which the tip position of the welding wire 100 is away from the surface of the base material with the lapse of time is a reverse feeding period.
Fig. 4 shows time points corresponding to the position (lowest point) of the tip end position of the welding wire 100 closest to the base material surface, and T0 and T4 show time points corresponding to the position (highest point) of the tip end position of the welding wire 100 farthest from the base material surface. The lowest point here is an example of the closest point, and the highest point is an example of the farthest point.
The time points corresponding to the reference distance are set to T1 and T3. T1 is a point in time from a position (lowest point) closest to the base material surface to a position (highest point) farthest from the tip end position of the welding wire 100. T3 is a point in time midway from a position farthest from the base material surface to a position closest to the tip end position of the welding wire 100. As shown in fig. 4, the difference between the tip position of the wire 100 and the positions at the reference points T1 and T3 is the amplitude.
Fig. 5 is a flowchart illustrating an example of control of the welding current in the present embodiment. The control shown in fig. 5 is executed in the current setting section 36 (refer to fig. 2). The symbol S in the figure is a step.
The control shown in fig. 5 corresponds to a change (1 cycle) in the tip position of the welding wire 100. Therefore, in fig. 5, the state where the time T is the time point T0 is set to step 1.
The current setting unit 36 in the present embodiment calculates the tip position of the welding wire 100 for control of the current setting signal Ir.
The average feed speed Fave is equal to the wire melting speed Fm. Therefore, the tip position of the wire 100 can be obtained by integrating the difference between the feed speed command signal Fw and the wire melting speed Fm (≡fave).
Accordingly, the current setting unit 36 sets the tip position of the welding wire 100 based on the following equation.
Welding wire front end position= ≡ (Fw-Fave) ·dt … type 4
The change in the front end position calculated in equation 4 corresponds to fig. 4.
When the feed motor 24 (see fig. 2) is used for feeding the wire 100, there is a case where a phase shift occurs between the command and the actual feed speed (i.e., the feed speed detection signal Fo). Accordingly, the current setting section 36 corrects the base value current start time T1 calculated corresponding to the tip position of the welding wire 100 calculated from the average feeding speed Fave and the feeding speed command signal Fw by the phase deviation time tθd supplied from the phase deviation detecting section 26. Specifically, the value of the base current start time t1 is reset as follows.
t1=t1+tθd … type 5
Similarly, the current setting unit 36 corrects the base current end time T2 calculated from the average feed speed Fave and the feed speed command signal Fw by the phase deviation time tθd.
t2=t2+tθd … type 6
Here, the case of controlling the base current start time t1 and the base current end time t2 is described in terms of the feed speed, but the same applies in terms of the position control.
Fig. 6 is a timing chart showing a control example of the current setting signal Ir for specifying the current value of the welding current. The horizontal axis is time, and the vertical axis is the current detection signal Io. Time points T0, T1, T2, T3, T4 in the figure correspond to time points T0, T1, T2, T3, T4 in fig. 4, respectively. The time points T0, T1, T2, T3, T4 are determined based on the tip position of the welding wire 100, wherein the tip position of the welding wire 100 is calculated based on the average feed speed Fave and the feed speed command signal Fw.
As shown in fig. 6, the base current start time T1 exhibits a phase later than a time point T0 at which the tip of the welding wire 100 is at the lowest point (i.e., a time point at which the forward feeding period is switched to the reverse feeding period). In fig. 6, the maximum value of the base current start time t1 is represented by t 1'.
Returning to the description of fig. 5.
When the tip end position of the welding wire 100 becomes the lowest point (i.e., the time point T0), the current setting unit 36 determines whether or not the time T from the time point T0 to the start measurement is equal to or longer than the base current start time T1 (step 2).
In a period when the determination result in step 2 is negative (False), the current setting unit 36 outputs the peak current Ip as the current setting signal Ir (step 3). This period corresponds to the current non-suppression period in fig. 6.
The period of supplying the peak current Ip immediately before switching to the base current Ib is a period during which the melting of the welding wire 100 by the peak current Ip advances and the droplet formed at the tip end thereof grows greatly. The tip position of the welding wire 100 is also in the period of being continuously close to the surface of the base material. This period is also a period in which short circuits are likely to occur and sputtering accompanied by the short circuits is likely to occur.
Therefore, in the present embodiment, the peak current Ip is applied until the time t1 elapses, so that the occurrence of a short circuit is prevented or suppressed. In other words, the supply of the welding current is controlled so that a short circuit is not generated.
In the case of the present embodiment, the preferred range of the peak current Ip is 300A to 650A. The base current Ib is preferably in the range of 10A to 250A.
In addition, during the period in which there is a possibility of occurrence of a short circuit, the peak current Ip is desirably supplied after the start of the reverse feeding period. This period is approximately between time points T0 and T1. Therefore, it is desirable that the end of the period (current non-suppression period) in which the peak current 1p is supplied be performed between the time points T0 to T1. That is, since the state of so-called "submerged arc" in which the droplet at the tip of the welding wire is located at a position surrounded by the molten pool pushed away by the force of the arc is in the vicinity of the time T0, and the state is in a state of being prone to short-circuiting, the end of the period during which the peak current Ip is supplied is performed between the time T0 and the time T1, whereby the depression action of the molten pool surface and the lifting action of the droplet due to the arc can be maintained, and the occurrence of short-circuiting at the time of "submerged arc" can be prevented.
Therefore, it is desirable to set the time T1 so that the switching to the base value current Ib is performed at a time point slightly elapsed from the time point T0 at which the tip of the welding wire 100 is located at the lowermost point (for example, a time point of 9 minutes 1 to 3 minutes 2 from the time point T0 to the time point T1).
In other words, it is preferable to control the low current period to start when the tip end position of the periodically varying welding wire is located closer to the base material than the position 1/2 of the wave height defined by the closest point and the farthest point.
Returning to the description of fig. 5.
If the determination result in step 2 is affirmative (True), the current setting unit 36 starts outputting the base current Ib as the current setting signal Ir (step 4). As described above, at the point in time when the switching to the base current Ib is started, the tip of the welding wire 100 starts to move in the direction away from the base material surface while the feeding of the welding wire 100 has been switched to the reverse feeding.
When the peak current Ip is large, the droplet detached from the tip of the welding wire 100 varies depending on the transition form of the applied shielding gas or current field, but is, for example, in the case of droplet transition, in the form of large particles larger than the diameter of the welding wire 100, and in the case of jet transition, in the form of small particles.
In addition, when carbon dioxide gas is used as the shielding gas, the arc is contracted, and the arc reaction force is concentrated at the bottom of the droplet (at a portion facing the surface of the molten pool), so that the force for lifting the droplet increases, and the droplet transitions. In addition, when an argon gas or a gas having a high mixing ratio of argon is used as the protective gas, the injection transition is made.
Since the droplet in the vicinity of the time point T0 where the tip of the welding wire 100 is at the lowest point is located in the vicinity of the puddle, the arc length becomes short. Further, the time point T0 is switched to the reverse feeding period thereafter. That is, the front end of the welding wire 100 is moved to be pulled up. In contrast to the inertial force acting in the forward feed direction (the direction toward the base material 200 (see fig. 1)) on the whole of the growing droplet, the droplet moves in the opposite direction (the direction away from the base material 200) with respect to the wire 100, and therefore the droplet changes to the overhang shape, and the detachment is further promoted.
Further, by switching the current value of the welding current to the base current Ib during the period of predicting the disengagement, the arc reaction force can be reduced from the period of supplying the peak current Ip. As a result, the force for lifting the droplet becomes further weaker, and the droplet becomes more likely to have a hanging shape.
As described above, since the period T0 to T1 is a state where the droplet at the tip of the welding wire is buried in the "submerged arc" of the molten pool, the shearing force due to the pinching force or the like acts greatly on the droplet, and the detachment is more promoted.
In this way, by separating the droplet from the tip of the welding wire 100 during the period in which the welding current is suppressed (current suppressing period), a reduction in sputtering can be expected.
Returning to the description of fig. 5.
The current setting unit 36 (see fig. 2) that switches the current setting signal Ir to the base current Ib determines whether or not the time T is equal to or longer than the base current end time T2 (step 5). In fig. 6, the maximum value of the base current end time t2 is shown at t 2'.
In a period when the determination result in step 5 is negative (False), the current setting unit 36 outputs the base current Ib as the current setting signal Ir (step 4).
After the start of the supply of the base current Ib, the tip of the welding wire 100 is moved so as to be pulled up to the uppermost point (the position where the tip is farthest from the base material 200) with the detachment of the droplet.
After the detachment of the droplet, it is necessary to end the period for supplying the base current Ib (current suppressing period) and switch the period to the period for supplying the peak current Ip (current non-suppressing period) in order to melt the wire 100 to form the droplet.
Therefore, the supply of the base current Ib is desirably ended between the time points T1 to T2.
On the other hand, if the switching from the base current Ib to the peak current Ip is too fast, the growth of the droplet becomes excessive, and the following problems occur: at the time point when the wire 100 is at the lowest point, short circuit tends to occur, the enlarged droplet is excessively lifted, the enlarged droplet becomes difficult to separate, and the like.
Therefore, it is more desirable that the end of the supply period of the base current Ib (base current end time T2) is set to, for example, 1 which is 3 minutes from the time point T1 to the time point T2.
If the determination result in step 5 is affirmative (True), the current setting unit 36 starts outputting the peak current Ip as the current setting signal Ir (step 6).
Next, the current setting unit 36 determines whether or not the time T from the time T0 to the start of measurement is the time T4 (step 7).
In a period when the determination result of step 7 is negative (False), the current setting unit 36 outputs the peak current Ip as the current setting signal Ir (step 6).
On the other hand, if the determination result in step 7 is affirmative (True), the current setting unit 36 returns to step 1.
By the above control, the current setting signal Ir becomes a pulse waveform in which the peak current Ip and the base current Ib are periodically repeated.
< Effect of the embodiment >
The effects of the present embodiment will be described below in comparison with patent document 1.
The following effects are based on laboratory experimental results.
The welding conditions were set to 100Hz for forward and reverse feeding frequency, 4.8mm for forward and reverse amplitude, 1.2mm solid wire (MG-50R manufactured by Kobe Steel) was used as the welding wire 100, and 16m/min for feeding speed (wire feeding speed) of the welding wire 100 was used as the welding method.
Fig. 7 is a graph showing the wire feed speed, the waveform of the welding current and the welding voltage, and the droplet detachment timing of patent document 1. The wire feed speed is given as a sine wave centered on the average wire feed speed (thin dashed line) as indicated by the thin solid line. Here, the wire feed speed is a command value, and the average wire feed speed is a detection value. Further, thick solid lines represent welding current, and thick broken lines represent welding voltage. Here, the welding current is a command value, and the welding voltage is a detection value. Further, the droplet detachment timing is shown as ∈.
Fig. 8 is a graph showing waveforms of a wire feed speed, a welding current, and a welding voltage, and droplet detachment timing according to the present embodiment. As shown by the thin solid line, the wire feed speed is centered on the average wire feed speed (thin broken line), and the speed amplitude is smaller on the upper side (forward feed side) and larger on the lower side (reverse feed side). Further, the time width of the forward feed is longer than the time width of the reverse feed. In this case, the wire feed speed is a command value, and the average wire feed speed is a detection value. Further, thick solid lines represent welding current, and thick broken lines represent welding voltage. Here, similarly, the welding current is a command value, and the welding voltage is a detection value. Further, the droplet detachment timing is shown as ∈.
In fig. 7 and 8, the time from the time point T0 at which the wire feed speed is switched from forward feed to reverse feed (i.e., the timing at which the wire feed speed intersects the average wire feed speed) to the droplet detachment timing is measured. The measurement target period was 5 seconds from the start of welding of 3 seconds among the welding of 10 seconds.
Fig. 9 is a graph showing the measurement result of droplet detachment timing in patent document 1. I.e. a graph of the case of pfr=50. In this graph, the distribution of the escape timing is spread substantially uniformly from 3.2msec to 4.8 msec.
Fig. 10 is a graph showing the measurement result of the droplet detachment timing according to the present embodiment. A graph of the case of pfr=45 is shown here. In this graph, the distribution of the release timing is shifted substantially from 3.0msec to 4.0msec, and release after 4.0msec is reduced from patent document 1.
Next, fig. 11 and 12 are graphs showing the results of measuring the time from the start of the current suppression period to the disconnection. Fig. 11 is a graph in patent document 1, and fig. 12 is a graph in the present embodiment.
As is clear from fig. 11, in patent document 1, the detachment is later than the current suppressing period, and the detachment is more in the current non-suppressing period.
On the other hand, as is clear from fig. 12, in the present embodiment, a large number of droplets are separated during the current suppressing period, and the ratio of separation during the current non-suppressing period is reduced.
As described above, in the present embodiment, since the wire feed speed at the time of pullback is increased as compared with the technique of patent document 1, it is actually verified that the probability of droplet detachment during the current suppression is increased as compared with the technique of patent document 1. Regarding the effect of reducing sputtering, it can be confirmed by observation with a high-speed camera that sputtering is scattered when a droplet is detached during a period in which current is not suppressed, and therefore, it is estimated that sputtering is reduced by this embodiment.
In the present embodiment, the maximum speed of the wire feeding speed at the time of feeding is smaller than that of the technique of patent document 1. As is known, generally, when the wire feed speed increases, the wear of the contact tip increases, and therefore, an effect of reducing the wear of the contact tip can be expected.
Further, in the present embodiment, according to fig. 12, the timing of droplet detachment is earlier than in the technique of patent document 1, and the distribution is also concentrated. Accordingly, it is not necessary to unnecessarily secure a long current suppressing period, and it is sufficient to set the distribution of the observation and detachment timings. Therefore, the current suppression period can be set shorter than the technique of patent document 1.
Here, since the wire feeding cycle Tf is fixed, the current non-suppression period can be prolonged. The non-current suppressing period is a period for growing a droplet, but if the period can be prolonged, a desired droplet growth can be performed even if the current value in the non-current suppressing period is reduced. Since it is generally known that the larger the welding current, the more the wear of the contact tip advances, reducing the current during non-suppression of the current is expected to contribute to the wear reduction of the contact tip.
< other embodiments >
The embodiments of the present invention have been described above, but the scope of the technology of the present invention is not limited to the scope of the embodiments described above. The present invention is not limited to the above-described embodiments, and various modifications and improvements can be made thereto, and the present invention is not limited to the above-described embodiments.
For example, in the description of the foregoing embodiment, the case where the amplitude feed speed setting unit 21 (see fig. 2), the feed speed command setting unit 22 (see fig. 2), the current setting unit 36 (see fig. 2), the forward/reverse speed ratio setting unit 38 (see fig. 2), and the like are incorporated in the welding power supply 150 (see fig. 2) has been described, but these may be incorporated in the robot controller 160. In this case, the robot controller 160 reads and executes a program stored in a ROM (Read Only Memory) not shown in the drawings into a RAM (Random Access Memory ) not shown in the drawings by a CPU (Central Processing Unit ) not shown in the drawings, for example, to realize these functional units.
As described above, the present invention is not limited to the above-described embodiments, and various configurations of the embodiments are combined with each other, and those skilled in the art can make modifications and applications based on descriptions of the specification and known techniques, and the present invention is intended to be included in the scope of the claims.
The present application is based on japanese patent application (japanese patent application 2020-137245), filed 8/17/2020, the content of which is incorporated herein by reference.
Description of the reference numerals
Arc welding system, 23..feeding driving part, 36..current setting part, 36 a..current suppressing period setting part, 36 b..welding wire front end position changing part, 100..consumable electrode (welding wire), 110..welding torch, 120..welding robot, 130..feeding device, 140..shielding gas supply device, 150..welding power source, 160..robot controller, 200..base metal.
Claims (8)
1. A welding power supply supplies a welding current to a welding wire as a consumable electrode, and drops are separated in an open arc state without short-circuiting the welding wire and a molten pool,
the welding power supply is characterized by comprising:
a feed control unit that controls the feed of the wire so that a tip of the wire is fed to a base material while periodically switching between a period during which the wire is fed forward and a period during which the wire is fed backward; and
a current control unit for changing the welding current according to the front end position of the welding wire whose distance from the surface of the base material periodically changes,
the feed control unit controls so that a time taken for the leading end of the welding wire to reach a position farthest from the base material, i.e., a farthest point, from a position closest to the base material, is shorter than a time taken for the leading end of the welding wire to reach the closest point from the farthest point,
The current control unit controls such that a low current period for decreasing the welding current from a predetermined current value is set during a period in which the tip of the welding wire is reversely fed.
2. The welding power supply of claim 1, wherein the welding power supply comprises a power source,
the feed control unit controls such that a feed speed amplitude of the wire during a period in which the tip of the wire is fed in the reverse direction is larger than a feed speed amplitude of the wire during a period in which the tip of the wire is fed in the forward direction.
3. The welding power supply of claim 1, wherein the welding power supply comprises a power source,
when the tip end position of the welding wire that periodically fluctuates is located closer to the base material side than the position of 1/2 of the wave height defined by the closest point and the farthest point, the current control means controls to start the low current period.
4. A welding power supply as defined in claim 3, wherein,
the current control means controls the low current period to start within a range from a tip position of the wire at a point in time when the tip of the wire is switched from the forward-fed period to the reverse-fed period to a tip position of the wire at a point in time when the command value of the feeding speed of the wire switched to the reverse-fed period is maximum.
5. A welding power supply as defined in claim 3, wherein,
the current control means controls the low current period to end within a range from a tip position of the wire at a point in time when a command value of a feeding speed of the wire switched to reverse feeding is maximum to a tip position of the wire at a point in time when a tip of the wire is switched from a period of reverse feeding to a period of forward feeding.
6. A welding system for arc welding by supplying a welding current to a welding wire as a consumable electrode, separating a droplet in an open arc state without shorting the welding wire to a molten pool,
the welding system is characterized by comprising:
a feed control unit that controls the feed of the wire so that a tip of the wire is fed to a base material while periodically switching between a period during which the wire is fed forward and a period during which the wire is fed backward; and
a current control unit for changing the welding current according to the front end position of the welding wire whose distance from the surface of the base material periodically changes,
the feed control unit controls so that a time taken for the leading end of the welding wire to reach a position farthest from the base material, i.e., a farthest point, from a position closest to the base material, is shorter than a time taken for the leading end of the welding wire to reach the closest point from the farthest point,
The current control unit controls such that a low current period for decreasing the welding current from a predetermined current value is set during a period in which the tip of the welding wire is reversely fed.
7. A control method of a welding power source for supplying a welding current to a welding wire as a consumable electrode, causing a droplet to be separated from the welding wire in an open arc state without short-circuiting the welding wire and a molten pool,
the control method of the welding power supply is characterized by comprising the following steps:
controlling the feeding of the welding wire so that the front end of the welding wire is fed to the base material while periodically switching between a forward feeding period and a reverse feeding period; and
the welding current is changed according to the front end position of the welding wire with periodically changing distance from the surface of the base material,
in the step of controlling the feeding, control is performed such that a time taken for the leading end of the welding wire to reach a position farthest from the base material, i.e., a farthest point, from a position closest to the base material, is shorter than a time taken for the leading end of the welding wire to reach the closest point from the farthest point,
in the step of changing the welding current, control is performed such that a low current period in which the welding current is reduced from a predetermined current value is set during a period in which the tip of the welding wire is reversely fed.
8. A storage medium storing a program for causing a computer of a welding system that performs arc welding by supplying a welding current to a wire as a consumable electrode and that separates a droplet in an open arc state without short-circuiting the wire and a molten pool, the program comprising:
controlling the feeding of the welding wire so that the front end of the welding wire is fed to the base material while periodically switching between a forward feeding period and a reverse feeding period; and
the welding current is changed according to the front end position of the welding wire with periodically changing distance from the surface of the base material,
the function of controlling the feeding is controlled such that the time taken for the leading end of the welding wire to reach the farthest point, which is the position farthest from the base material, from the nearest point, which is the position closest to the base material, is shorter than the time taken for the leading end of the welding wire to reach the nearest point from the farthest point,
the function of changing the welding current is controlled so that a low current period for reducing the welding current from a predetermined current value is set during a period in which the tip of the welding wire is fed in the reverse direction.
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
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| JP2020137245A JP7309671B2 (en) | 2020-08-17 | 2020-08-17 | Welding power source, welding system, control method and program for welding power source |
| JP2020-137245 | 2020-08-17 | ||
| PCT/JP2021/027044 WO2022038947A1 (en) | 2020-08-17 | 2021-07-19 | Welding power supply, welding system, control method for welding power supply, and program |
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| CN115397597A CN115397597A (en) | 2022-11-25 |
| CN115397597B true CN115397597B (en) | 2024-03-05 |
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| JP (1) | JP7309671B2 (en) |
| KR (1) | KR20230037623A (en) |
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- 2020-08-17 JP JP2020137245A patent/JP7309671B2/en active Active
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2021
- 2021-07-19 WO PCT/JP2021/027044 patent/WO2022038947A1/en active Application Filing
- 2021-07-19 KR KR1020237004849A patent/KR20230037623A/en not_active Application Discontinuation
- 2021-07-19 CN CN202180028768.8A patent/CN115397597B/en active Active
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Also Published As
| Publication number | Publication date |
|---|---|
| WO2022038947A1 (en) | 2022-02-24 |
| CN115397597A (en) | 2022-11-25 |
| KR20230037623A (en) | 2023-03-16 |
| JP7309671B2 (en) | 2023-07-18 |
| JP2022033399A (en) | 2022-03-02 |
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