阅读说明：本技术 点焊方法 (Spot welding method ) 是由 斉藤仁 渡邉信也 谭锡昊 于 2019-08-20 设计创作，主要内容包括：点焊方法是藉由供给焊接电流来将作为工件的三张以上的金属板的层压体接合的方法。焊接电流具有交替实现峰值状态及非峰值状态的脉冲状波形,所述峰值状态达到或者维持在设定的峰值电流范围内,所述非峰值状态从峰值电流范围朝设定的底值电流下降后再朝峰值电流范围上升。在非峰值状态下,当焊接电流的有效值Irms降低,并达到特定的有效值目标范围内时,开始使焊接电流朝峰值电流范围上升的电流控制处理。(The spot welding method is a method of joining a laminate of three or more metal plates as a workpiece by supplying a welding current. The welding current has a pulse-like waveform alternately realizing a peak state and a non-peak state, the peak state is reached or maintained within a set peak current range, and the non-peak state is decreased from the peak current range to a set bottom current and then increased to the peak current range. In the off-peak state, when the effective value Irms of the welding current decreases and falls within a specific effective value target range, the current control process for increasing the welding current to the peak current range is started.)

1. A spot welding method of supplying a welding current to join workpieces, characterized in that:

the welding current has a pulse-like waveform alternately realizing a peak state and a non-peak state, the peak state is reached or maintained within a set peak current range, the non-peak state is decreased from the peak current range to a bottom current and then increased toward the peak current range,

in the non-peak state, when the welding current reaches a target range in which an effective value of the welding current is set, current control for raising the welding current to the peak current range is started.

2. The spot welding method according to claim 1, wherein when the current control is not started within a certain time, the supply of the welding current is stopped, and occurrence of an abnormality is notified.

3. A spot welding method according to claim 1 or 2, wherein said work is a laminated body formed by overlapping three or more metal plates,

at least one of the three or more metal plates is formed to have a thickness different from that of the other metal plates.

Technical Field

The present invention relates to a spot welding method.

Background

When welding a plurality of metal plates, spot welding using a spot welding device is performed. In the spot welding, a plurality of metal plates are welded by applying a current between a pair of electrode chips while the plurality of metal plates are sandwiched between the pair of electrode chips to generate nuggets between the plurality of metal plates.

In the invention disclosed in patent document 1, a plurality of metal plates are welded by applying a plurality of dc micro pulses to the plurality of metal plates in a state where the plurality of metal plates are sandwiched by a pair of electrodes.

In the spot welding, when the energization time between the pair of electrode chips is short, the nugget may not grow to a size necessary for welding and may not be welded. On the other hand, if the energization time between the pair of electrode chips is prolonged, the nuggets excessively grow, and sometimes protrude from a plastic metal ring region (coronabond) formed between the plurality of metal plates (unmelted pressure-bonded portion formed outside the nuggets), resulting in exposure of the nuggets and generation of spatters. According to such a situation, it is necessary to suppress the generation of spatters and to weld firmly in spot welding.

[ Prior art documents ]

(patent document)

Patent document 1: japanese Kohyo publication 2013-501628

Disclosure of Invention

[ problems to be solved by the invention ]

However, in the step of manufacturing an automobile body, three or more metal plates having different thicknesses may need to be welded. At this time, the contact resistance between the thick plate and the thick plate is larger than the contact resistance between the thin plate and the thick plate, and therefore, the nugget formed between the thick plate and the thick plate grows faster than the nugget formed between the thin plate and the thick plate. Therefore, if the current is continued until the nugget between the thin plate and the thick plate grows sufficiently, the nugget between the thick plate and the thick plate may grow excessively, and spatter may be generated.

The invention aims to provide a spot welding method which can restrain the generation of splash and can firmly joint workpieces.

[ means for solving problems ]

(1) The spot welding method of the present invention for joining workpieces (for example, a workpiece W to be described later) by supplying a welding current thereto, includes: the welding current has a pulse-like waveform that alternately achieves a peak state that reaches or is maintained within a set peak current range and a non-peak state that falls from the peak current range to a bottom current and then rises toward the peak current range, and in the non-peak state, when the welding current reaches a target range (for example, an effective value target range described later) in which an effective value (Irms) of the welding current is set, current control that raises the welding current toward the peak current range is started.

(2) In this case, it is preferable that the supply of the welding current is stopped and occurrence of an abnormality is notified when the current control is not started within a predetermined time.

(3) In this case, it is preferable that the workpiece is a laminated body formed by overlapping three or more metal plates (for example, metal plates W1, W2, and W3 described later), and at least one of the three or more metal plates is formed to have a thickness different from that of the other metal plates.

(Effect of the invention)

(1) The spot welding method of the present invention joins workpieces by supplying a pulse-shaped waveform welding current alternately realizing a peak state and a non-peak state, the peak state being reached or maintained within a peak current range, and the non-peak state being decreased from the peak current range to a bottom current and then increased to the peak current range. In the present invention, in the non-peak state, when the effective value of the welding current falls within a specific target range, current control for raising the welding current to the peak current range is started. In other words, in the present invention, the start of the current control toward the next cycle is waited until the effective value of the welding current reaches within the target range. Thus, energy for forming a nugget of an appropriate size can be supplied to the workpiece by the welding current, and the current control can be started at an appropriate timing at which the generation of spatter can be suppressed. Therefore, according to the present invention, it is possible to firmly join workpieces while suppressing the generation of spatters.

(2) In the present invention, when the current control for raising the welding current to the peak current range is not started within a specific time, the supply of the welding current is stopped, and the occurrence of an abnormality is reported. Thus, when some abnormality occurs, the welding can be prevented from being continued to manufacture a low-quality product.

(3) In the spot welding method of the present invention, a laminated body formed by overlapping three or more metal plates, at least one of which has a thickness different from that of the other, is used as a workpiece. However, in the peak state, the welding current is maintained within the peak current range, and therefore, the growth of nugget is promoted between the metal plates, but as described above, in the non-peak state, the nugget is cooled by heat dissipation during a period of waiting for the start of the current control of the next cycle until the effective value of the welding current falls within the target range. As described above, although the contact resistance between the thick plate and the thick plate is larger than the contact resistance between the thin plate and the thick plate and the nugget grows faster, the heat dissipation between the thick plate and the thick plate is also larger than the heat dissipation between the thin plate and the thick plate. Therefore, in the present invention, by using the laminate of metal plates as a workpiece and waiting for the start of current control until the effective value of the welding current falls within the target range in a non-peak state, it is possible to supply energy of an appropriate magnitude between the thin plate and the thick plate and between the thick plate and the thick plate so that nuggets grow sufficiently, and to secure a time for cooling the nuggets between the thick plate and the thick plate so that the generation of spatters is suppressed between the thick plate and the thick plate.

Drawings

Fig. 1 is a diagram showing the configuration of a welding system to which a spot welding method of an embodiment of the present invention is applied.

Fig. 2 is a diagram showing a circuit configuration of a welding power supply circuit.

Fig. 3 is a diagram showing a relationship between an alternating-current voltage input from the inverter circuit to the transformer and a welding current applied to the pair of counter electrode chips in the welding power supply circuit.

Fig. 4 is a diagram schematically showing a cross section of a work in welding. The drawing shows a state in which a workpiece is held between an upper electrode chip and a lower electrode chip to be pressurized and a welding current is applied to the workpiece.

Fig. 5 is a flow chart showing the specific steps of welding current control in the control device.

Fig. 6 is a diagram showing waveforms of welding current achieved by the welding current control of fig. 5.

FIG. 7 is a flow chart showing specific steps of the current control process.

Fig. 8 is a flowchart showing the detailed steps of the valid value control process.

Detailed Description

An embodiment of the present invention will be described below with reference to the drawings.

Fig. 1 is a diagram showing the configuration of a welding system S to which the spot welding method of the present embodiment is applied.

The welding system S is provided with: the spot welding apparatus 1, i.e., a welding gun; a workpiece W, that is, a laminated body of metal plates joined by this spot welding apparatus 1; and a robot 6 for supporting the spot welding device 1.

The work W is a laminated body formed by stacking a plurality of metal plates. In the present embodiment, a case where a laminated body in which three metal plates, that is, the first metal plate W1, the second metal plate W2, and the third metal plate W3 are sequentially overlapped from above to below is described as the work W. The number of metal plates constituting the workpiece W may be two, or four or more. In addition, hereinafter, the case where the thickness of the first metal plate W1 is thinner than the thicknesses of the second metal plate W2 and the third metal plate W3 is explained, but the present invention is not limited thereto. As long as at least one of these metal plates W1 to W3 has a different thickness from the other metal plates.

The robot 6 includes: a robot main body 60 installed on the ground; an articulated arm 61 for supporting the robot main body 60; and a robot control device 62 for controlling the robot 6. The hinge arm 61 includes: a first arm portion 611 whose base end side is supported by the robot main body 60; a second arm portion 612 whose base end side is supported by the first arm portion 611 shaft; a third arm 613 whose base end side is supported by the second arm 612; and a fourth arm 614 whose base end side is supported by the third arm 613 and whose tip end side is mounted with the spot welding apparatus 1.

The robot controller 62 drives the arm parts 611 to 614 by driving a plurality of motors provided in the robot main body 60 and the articulated arm 61, controls the position and direction of the spot welding apparatus 1 mounted on the fourth arm part 614, and moves electrode chips 21 and 26, which will be described later, provided in the spot welding apparatus 1 to the joint of the workpiece W.

The spot welding device 1 includes: a welding power supply circuit 3, i.e. a supply source of welding current; a gun body 2 on which an upper electrode chip moving mechanism 4 and a part of a welding power supply circuit 3 described later are mounted; an upper electrode chip 21 and a lower electrode chip 26, that is, a pair of electrodes; an upper electrode chip support portion 22; an upper adapter main body 23; a gun arm 25; a lower electrode chip support portion 27; and a lower adapter body 28.

The upper electrode chip support portion 22 is a rod extending in the vertical direction, and the upper electrode chip 21 is attached to the tip end portion thereof. The upper adapter body 23 is columnar and connects the gun body 2 to the upper electrode chip support 22. The upper adapter body 23 is slidably provided with respect to the gun body 2 along a sliding direction parallel to the axis of the upper electrode chip support portion 22.

The gun arm 25 extends from the gun body 2 to be bent downward in the vertical direction of the upper electrode chip 21. The lower electrode chip support portion 27 is a rod-like member coaxial with the upper electrode chip support portion 22, and the lower electrode chip 26 is attached to the distal end portion thereof. The lower adaptor body 28 is columnar, and connects the distal end of the gun arm 25 to the lower electrode chip support 27. As shown in fig. 1, the lower electrode chip 26 is supported by the lower electrode chip support portion 27 so as to face the upper electrode chip 21 along the axis of the chip support portions 22,27 at a predetermined interval.

The upper electrode chip moving mechanism 4 includes a cylinder, a controller thereof, and the like, and moves the upper adapter main body 23 forward and backward along the sliding direction together with the upper electrode chip support 22 and the upper electrode chip 21. Thus, the upper electrode chip 21 can be brought into contact with the upper surface of the workpiece W in a state where the lower electrode chip 26 is brought into contact with the lower surface of the workpiece W, and the workpiece W can be clamped and pressurized by these electrode chips 21, 26.

Fig. 2 is a diagram showing a circuit configuration of the welding power supply circuit 3. The welding power supply circuit 3 includes: a welding control circuit 3 a; a Direct Current (DC) welding transformer 3 b; a power cable 3 c; and a current sensor 3 d. The welding power supply circuit 3 is connected to the upper electrode chip 21 and the lower electrode chip 26 via power supply lines L1 and L2. As shown in fig. 1, the gun body 2 is mounted with the DC welding transformer 3b and the current sensor 3d in the welding power supply circuit 3 configured as described above. Further, welding control circuit 3a in welding power supply circuit 3 is mounted on a base separate from gun body 2, and is connected to DC welding transformer 3b via power supply cable 3 c. This can reduce the weight of the gun body 2.

The welding control circuit 3a includes a converter circuit 31, an inverter circuit 32, and a control device 33. The DC welding transformer 3b includes a transformer 34 and a rectifier circuit 35.

The converter circuit 31 full-wave rectifies the three-phase power input from the three-phase power supply 30 to convert the three-phase power into direct current, and supplies the direct current to the inverter circuit 32.

The inverter circuit 32 converts the direct current input from the inverter circuit 32 into a single-phase alternating current, and outputs the single-phase alternating current to the transformer 34 via the power cable 3C. More specifically, the inverter circuit 32 includes four switching elements bridged. The inverter circuit 32 turns on or off these switching elements in accordance with a gate drive signal transmitted from a gate drive circuit mounted on the control device 33, thereby converting the direct current into a single-phase alternating current.

The transformer 34 transforms the ac power input from the inverter circuit 32 and outputs the transformed ac power to the rectifier circuit 35. The rectifier circuit 35 rectifies the ac power input from the transformer 34 and outputs the dc power to between the electrode chips 21 and 26 connected to the power supply lines L1 and L2, respectively. This rectifying circuit 35 uses, for example, a known full-wave rectifying circuit configured by combining two rectifying diodes 351,352 and a center tap 353.

The current sensor 3d detects the welding current supplied from the welding power supply circuit 3 to the dies 21, 26. The current sensor 3d is provided on, for example, a power supply line L1 connecting the rectifier circuit 35 and the upper electrode chip 21, and transmits a current detection signal according to the magnitude of the welding current flowing through the power supply line L1 to the control device 33.

The control device 33 includes: a microcomputer that executes welding current control described later using a current detection signal transmitted from the current sensor 3 d; and a gate drive circuit for generating a gate drive signal based on the operation result of the microcomputer and transmitting the gate drive signal to the inverter circuit 32.

Fig. 3 is a graph showing the relationship between the ac voltage Vt input from the inverter circuit 32 to the transformer 34 and the welding current Iw applied to the electrode chips 21,26 in the welding power supply circuit 3 as described above.

After the inverter circuit 32 is driven, as shown in fig. 3, a rectangular wave-shaped ac voltage Vt is output from the inverter circuit 32. The ac voltage output from the inverter circuit 32 is transformed by a transformer 34, and further rectified by a rectifier circuit 35, and a dc welding current Iw is applied to the workpiece W via the electrode chips 21 and 26.

Here, as shown in fig. 3, the larger the pulse width PW ratio, that is, the duty ratio of ac voltage Vt in Hi or Lo is, the larger welding current Iw is with respect to a specific carrier period T. As described below with reference to fig. 5 and 6, the control device 33 determines the pulse width PW so that the output current of the welding power supply circuit 3 detected by the current sensor 3d becomes a target current set by a process not shown, according to a known feedback control rule such as PI control, and turns on or off the plurality of switching elements in the driving inverter circuit 32 by PWM control at a duty ratio set by the pulse width PW.

Next, a description will be given of a sequence of a spot welding method for joining the workpieces W by the welding system S as described above.

First, as shown in fig. 1, the robot controller 62 drives the robot main body 60 and the articulated arm 61 to control the position and posture of the spot welding apparatus 1 so that the workpiece W is disposed between the upper electrode chip 21 and the lower electrode chip 26. At this time, the robot controller 62 controls the position and posture of the spot welding apparatus 1 so that the lower electrode chip 26 abuts on the lower surface of the third metal plate W3 of the workpiece W.

Next, as shown in fig. 4, the upper adapter main body 23 is slid by using the upper electrode chip moving mechanism 4, and the upper electrode chip 21 is brought close to the lower electrode chip 26. After the upper electrode chip 21 comes close to the lower electrode chip 26 and comes into contact with the upper surface of the first metal plate W1, the workpiece W is sandwiched between the upper electrode chip 21 and the lower electrode chip 26 and pressed.

Next, the controller 33 of the welding power supply circuit 3 performs welding current control by the procedure described with reference to fig. 5 while maintaining the state in which the workpiece W is pressurized from both sides by the electrode chips 21,26, and a pulse-like welding current is caused to flow between the upper electrode chip 21 and the lower electrode chip 26. Thereby, as shown in fig. 4, the first nugget N1 is formed between the first metal plate W1 and the second metal plate W2, the second nugget N2 is formed between the second metal plate W2 and the third metal plate W3, and the first to third metal plates W1 to W3 are welded.

Fig. 5 is a flowchart showing the specific steps of the welding current control in the control device 33. Fig. 6 is a diagram showing waveforms of welding current achieved by the welding current control of fig. 5. As shown in fig. 6, the welding current generated by performing the welding current control of fig. 5 has a pulse-like waveform in which a peak state that reaches or is maintained within a peak current range and a non-peak state that falls from within the peak current range to a bottom current (for example, 0) and then rises toward the peak current range are alternately realized.

Initially in S1, the control device 33 executes the current control process, and shifts to S2. As described in detail with reference to fig. 7, in the current control process, the control device 33 maintains the peak state for a predetermined time after the welding current is increased from the bottom current to the peak current range.

In S2, the control device 33 determines whether or not a specific slope (slope) time has elapsed. As shown in fig. 5, the slope time is predetermined by adding a current rise time, i.e., a time when the welding current reaches an upper limit value of the peak current range from the bottom current, to a peak hold time, i.e., a time when the welding current is maintained within the peak current range. When the determination result of S2 is "no", the control device 33 returns to S1 to continue the current control process, and when the determination result of S2 is "yes", shifts to S3.

In S3, the control device 33 executes the effective value control processing, and shifts to S4. As described in detail with reference to fig. 8, in the effective value control process, the control device 33 waits for the current control process to be executed for a waiting time (see fig. 6) set based on the effective value of the welding current. At S4, control device 33 determines whether or not the set energization time has elapsed after the start of the welding current control shown in fig. 5. This energization time is set in advance, and corresponds to the time required for joining one place of the workpiece W by the spot welding apparatus 1. When the determination result of S4 is no, the control device 33 returns to S1 and executes the current control process again. When the determination result of S4 is yes, the control device 33 ends the processing of fig. 5 to start joining the workpiece W at the next position.

As described above, in the welding current control, the control device 33 repeatedly executes the current control process (see S1) and the effective value control process (see S3) for the energization time to apply the welding current having the pulse-like waveform shown in fig. 6 between the electrode chips 21, 26.

FIG. 7 is a flow chart showing specific steps of the current control process.

Initially, in S11, the control device 33 acquires a current value Ipv, that is, a current value of the welding current, by using the current detection signal sent from the current sensor 3d, and shifts to S12. In S12, the control device 33 sets a target current value Isp corresponding to the target value for the welding current, and the process proceeds to S13. As shown in fig. 6, the target current value Isp is set between specific current rise slopes or between the upper limit value and the lower limit value of the peak current range.

In S13, the control device 33 calculates the effective value Irms of the welding current by using the current value Ipv of the current acquired in S11, and the process proceeds to S14. More specifically, the controller 33 calculates the effective value Irms by calculating the square root of the mean square value of the current value Ipv of the current value in the time elapsed from the start of the welding current control shown in fig. 5 to the present.

In S14, the control device 33 calculates the current deviation Idev by subtracting the current value Ipv of the current acquired in S11 from the target current value Isp set in S12, and shifts to S15.

In S15, the control device 33 calculates the pulse width PW with the current deviation Idev being 0 in accordance with a feedback control rule (specifically, for example, a PI control rule) based on the current deviation Idev calculated in S14, and shifts to S16. More specifically, the control device 33 calculates the pulse width PW by adding the value obtained by multiplying the current deviation Idev by the specific proportional gain Kp to the value obtained by multiplying the integral value of the current deviation Idev by the specific integral gain Ki.

In S16, the control device 33 starts PW counting, and shifts to S17. In S17, control device 33 turns on the switching elements provided on inverter circuit 32, and the process proceeds to S18. In S18, the controller 33 determines whether the PW count value is 0, that is, whether a time corresponding to the pulse width PW has elapsed after the start of the PW count in SI 6. When the determination result of S18 is "no", the control device 33 returns to S17 and continues to open the switching element, and when the determination result of S18 is "yes", shifts to S19.

In S19, control device 33 turns off the switching elements provided on inverter circuit 32, and the process proceeds to S20. In S20, the controller 33 determines whether or not the set carrier cycle has elapsed after the switching element is turned on in S17. When the determination result of S20 is "no", the control device 33 returns to S19 and continues to close the switching element, and when the determination result of S20 is "yes", it shifts to S2 of fig. 5.

Fig. 8 is a flowchart showing the detailed steps of the valid value control process.

In S31, the control device 33 starts waiting time counting to measure the energization waiting time (refer to fig. 6) corresponding to the execution time of the significant value control processing, and shifts to S32. In S32, the control device 33 acquires the current value Ipv by using the current detection signal sent from the current sensor 3d, and shifts to S33. In S33, the controller 33 calculates the effective value Irms of the welding current in the same order as S13 by using the current value Ipv of the current acquired in S32, and the process proceeds to S34.

In S34, the control device 33 determines whether the effective value Irms calculated in S33 falls within an effective value target range set between a specific lower limit value Itrg _ min and a specific upper limit value Itrg _ max (Itrg _ min. ltoreq. Irms. ltoreq. Itrg _ max). When the determination result at S34 is yes, the control device 33 starts the current control process of the next cycle, increases the welding current again toward the peak current range, and proceeds to S4 of fig. 5.

When the determination result of S34 is "no", the control device 33 proceeds to S35, and determines whether or not the value of the wait time count started in S31 is 0, in other words, whether or not the energization wait time exceeds a specific time. When the determination result at S35 is "no", the control device 33 returns to S32 to lower the effective value Irms and waits for the start of the current control processing of the next cycle until reaching the effective value target range. When the determination result at S35 is yes, that is, when the valid value Irms does not fall within the valid value target range within the specific time, the control device 33 proceeds to S36, and notifies the operator of the occurrence of some abnormality by, for example, turning on a warning lamp, and ends the welding current control.

Next, the waveform of the welding current generated by performing the welding current control as described above will be described in detail with reference to fig. 6.

Initially, between times t1 and t3, the control device 33 repeatedly executes the current control process shown in fig. 7 until the predetermined slope time elapses. As explained with reference to fig. 7, in this current control process, a target current value Isp is set, and a pulse width PW, at which the inverter circuit 32 is driven by PWM control, is determined by PI control so that a current value Ipv of current acquired via the current sensor 3d becomes the target current value Isp. As a result, as shown in fig. 6, the welding current increases from the bottom current to the peak current range after time t1, and reaches the upper limit of the peak current range at time t 2. Then, after time t2, the welding current is maintained within the peak current range by the PI control in the control device 33. Then, at time t3, the control device 33 ends the current control process (see S1) and starts the effective value control process (see S3) in response to the elapse of the slope time after the current control process is started at time t1 (see S2).

The welding current maintained within the peak current range is applied to the workpiece W by performing the current control process as described above. As a result, as shown in fig. 4, the growth of nuggets N1 and N2 is promoted between the first metal plate W1 and the second metal plate W2 and between the second metal plate W2 and the third metal plate W3, respectively. Here, as shown in fig. 4, the thickness of the first metal plate W1 is thinner than the thicknesses of the second metal plate W2 and the third metal plate W3. Therefore, the contact resistance between the first metal plate W1 and the second metal plate W2 is smaller than the contact resistance between the second metal plate W2 and the third metal plate W3. Therefore, the joule heat generated by the contact resistance due to the welding current flowing between the first metal plate W1 and the second metal plate W2 is larger than that between the second metal plate W2 and the third metal plate W3. Therefore, in the peak state, the growth rate of the nugget N2 generated between the second metal plate W2 and the third metal plate W3 is faster than the growth rate of the nugget N1 generated between the first metal plate W1 and the second metal plate W2.

Returning to fig. 6, between time t3 and t5, the control device 33 executes the effective value control processing described with reference to fig. 8. In this effective value control process, the control device 33 calculates the effective value Irms of the welding current (see S33), and stops the driving of the inverter circuit 32 until the effective value Irms falls within the effective value target range. Thus, after time t3, the welding current rapidly decreases toward the bottom current, and reaches the bottom current at time t 4. Then, at time t5, the control device 33 ends the effective value control process corresponding to the decrease of the effective value Irms and reaches within the execution value target range, and starts the current control process of the next cycle. Thus, after time t5, the welding current increases again from the bottom current to the peak current range.

By executing the effective value control processing as described above, the driving of the inverter circuit 32 is stopped during the energization waiting time until the effective value Irms of the welding current reaches the effective value target range. Therefore, when the effective value control process is performed, the welding current is maintained in a state of being limited to the lower limit value of the peak current range or less, and therefore, the nuggets N1 and N2 generated between the metal plates are cooled by heat dissipation. Here, as described above, the thickness of the first metal plate W1 is thinner than the thicknesses of the second metal plate W2 and the third metal plate W3. Therefore, the heat dissipation between the second metal plate W2 and the third metal plate W3 is smaller than the heat dissipation between the first metal plate W1 and the second metal plate W2. The amount of cooling achieved by heat dissipation from the nugget N2 is greater than the amount of cooling achieved by heat dissipation from the nugget N1 while maintaining the state in which the welding current is maintained limited to below the peak current range. As described above, since the growth rate of the nugget N2 in the peak state is faster than the growth rate of the nugget N1, the generation of spatters between the second metal plate W2 and the third metal plate W3 can be suppressed by maintaining the state in which the welding current is limited to the peak current range or less during such energization waiting time and promoting the cooling of the nugget N2. In addition, in this effective value control process, the current control process of the next cycle is started when the effective value Irms corresponding to the welding current falls within the target range of the effective value, and the welding current is increased again, so that the energy required for growing the nuggets N1 and N2 between the metal plates W1 to W3 can be controlled, and thus, as described above, the workpieces can be firmly joined while suppressing the occurrence of spatters.

While one embodiment of the present invention has been described above, the present invention is not limited to this. The detailed configuration may be appropriately modified within the scope of the present invention.

Reference numerals

S welding system

W workpiece

W1 first metal plate

W2 second metal plate

W3 third Metal sheet

1 Spot welding device (welding device)

2 gun body

21 Upper electrode chip (electrode)

26 lower electrode chip (electrode)

3 welding power supply circuit

3a welding control circuit

3b DC welding transformer

3d current sensor

31 converter circuit

32 inverter circuit

33 control device

34 transformer

35 rectification circuit

L1, L2 power supply line.