CN104084724A - Vision micro spot welding robot and automatic spot welding head polishing method thereof - Google Patents
Vision micro spot welding robot and automatic spot welding head polishing method thereof Download PDFInfo
- Publication number
- CN104084724A CN104084724A CN201410313621.5A CN201410313621A CN104084724A CN 104084724 A CN104084724 A CN 104084724A CN 201410313621 A CN201410313621 A CN 201410313621A CN 104084724 A CN104084724 A CN 104084724A
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- China
- Prior art keywords
- spot welding
- welding head
- reconditioning
- switch sensor
- head
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- Granted
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- 238000003466 welding Methods 0.000 title claims abstract description 129
- 238000000034 method Methods 0.000 title claims abstract description 16
- 238000005498 polishing Methods 0.000 title abstract 9
- 230000000007 visual effect Effects 0.000 claims description 22
- 230000007423 decrease Effects 0.000 claims description 9
- 238000006073 displacement reaction Methods 0.000 claims description 3
- 238000005476 soldering Methods 0.000 claims description 3
- 230000000694 effects Effects 0.000 abstract 1
- 230000002035 prolonged effect Effects 0.000 abstract 1
- 239000002184 metal Substances 0.000 description 6
- 229910000679 solder Inorganic materials 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- JEIPFZHSYJVQDO-UHFFFAOYSA-N ferric oxide Chemical compound O=[Fe]O[Fe]=O JEIPFZHSYJVQDO-UHFFFAOYSA-N 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
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
- B23K11/00—Resistance welding; Severing by resistance heating
- B23K11/30—Features relating to electrodes
- B23K11/3063—Electrode maintenance, e.g. cleaning, grinding
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention relates to a vision micro spot welding robot and an automatic spot welding head polishing method thereof. The vision micro spot welding robot comprises a machine head, an object carrying plate, a moving platform and a spot welding head, the spot welding head is connected with the machine head, and the object carrying plate is driven by the moving platform. The vision micro spot welding robot further comprises an automatic spot welding head polishing system which comprises a polishing piece and a switch sensor, the polishing piece is arranged on the object carrying plate, the switch sensor is arranged on the machine head, and the on-off state of the switch sensor is related with whether the spot welding head makes contact with the polishing piece. The automatic spot welding head polishing system is arranged on the basis of the vision micro spot welding robot, the utilization rate of equipment is improved, equipment cost is reduced, the difficult problem that the vision micro spot welding robot cannot automatically polish is solved through the automatic spot welding head polishing system, the service life of the spot welding head is prolonged, the use cost is reduced and the polishing effect is good.
Description
Technical field
The present invention relates to a kind of method of visual micro spot welding robot and automatic grinding spot welding head thereof.
Background technology
Spot welding head in current visual micro spot welding robot all relies on reconditioning manually, do not realize intelligent completely, spot welding head of reconditioning after how long also having no idea standardization or welding how many solder joints.The clear-cut just not reconditioning spot welding head of factory even having, the general very low phenomenon in service life that this just causes spot welding head, has increased cost to a great extent.This is perplexing the manufacturer of electron trade always.
Summary of the invention
The technical problem to be solved in the present invention is: for deficiency that cannot automatic grinding spot welding head in prior art, the invention provides a kind of method of visual micro spot welding robot and automatic grinding spot welding head thereof, visual micro spot welding robot is with automatic grinding spot welding head system, solved the difficult problem that visual micro spot welding robot cannot automatic grinding, reconditioning is respond well.
The technical solution adopted for the present invention to solve the technical problems is: a kind of visual micro spot welding robot, comprise head, support board, motion platform and spot welding head, described spot welding head is connected with described head, described support board drives by motion platform, also comprise automatic grinding spot welding head system, described automatic grinding spot welding head system comprises reconditioning sheet and switch sensor, and described reconditioning sheet is arranged on described support board, and described switch sensor is arranged on described head; Whether the break-make of described switch sensor, contact relevant with described reconditioning sheet to described spot welding head.
Concrete, a kind of embodiment is, described head comprises welding head holder, guide pillar, geometrical clamp and axis, described spot welding head is fixed on welding head holder, described welding head holder is connected on guide pillar, described guide pillar is connected by described geometrical clamp with axis, and geometrical clamp is connected with axis elasticity, and geometrical clamp is fixedly connected with guide pillar; Switch sensor is fixed on axis, and described switch sensor is the mechanical switch sensor with spring leaf, is fixed with a briquetting on described geometrical clamp, and the free end of the spring leaf of described switch sensor and described briquetting are oppositely arranged; The break-make of described switch sensor is relevant to the contact relation of spring leaf on switch sensor and briquetting., there are four kinds of different combined situation from position relationship, contact relation between its spring leaf and briquetting in the on off operating mode of switch sensor.
Between spring leaf on switch sensor and briquetting, there are two kinds of position relationships: the free end of the spring leaf of described switch sensor is arranged on the lower end of described briquetting, or the free end of the spring leaf of described switch sensor is arranged on the upper end of described briquetting.
The on off operating mode of switch sensor, with spring leaf on switch sensor and the contact relation of briquetting can be following two kinds of situations:
A, in the time that spot welding head does not contact with reconditioning sheet, the spring leaf on described sensor and briquetting are always in contact condition, switch sensor is normally open; After spot welding head contacts with reconditioning sheet, the spring leaf on sensor separates with briquetting, switch sensor closure.
B, in the time that spot welding head does not contact with reconditioning sheet, the spring leaf on described sensor and briquetting are always in released state, switch sensor is normally open; After spot welding head contacts with reconditioning sheet, the spring leaf on sensor contacts with briquetting, switch sensor closure.
Or the almost parallel setting parallel with described support board of described reconditioning sheet.Now, the blade of reconditioning sheet, perpendicular to spot welding head, is conducive to the carrying out of reconditioning.
In order not affect the normal use of support board, described reconditioning sheet is arranged on a lateral edges of described support board.
Also comprise gauge tap and control circuit, the opening and closing of described gauge tap control reconditioning, the motion of motion platform described in described control circuit control.
A method for automatic grinding spot welding head, adopts visual micro spot welding of the present invention robot, comprises the following steps:
Whether a, artificial interval or the manual control of setting beginning automatic grinding start automatic grinding;
B, automatic grinding start:
1. motion platform drives support board motion, makes reconditioning sheet move to the below of spot welding head;
2. spot welding head declines, and when spot welding head is encountered after reconditioning sheet, reconditioning sheet stops spot welding head to continue to decline, and described switch sensor generation break-make changes, and stops driving described spot welding head to decline;
3. spot welding head starts reconditioning according to projected path on reconditioning sheet, and spot welding head moves once or repeatedly, completes reconditioning on reconditioning sheet.
For the embodiment adopting with the mechanical switch sensor of spring leaf, step 2. in, spot welding head declines, when spot welding head is encountered after reconditioning sheet, reconditioning sheet stops spot welding head to continue to decline, and axis and geometrical clamp generation relative displacement change the contact relation of spring leaf and briquetting, switch sensor generation break-make changes, and stops driving described spot welding head to decline.
In order to prevent spot welding head pressure reconditioning sheet tension, spot failure soldering tip, after switch sensor generation break-make changes, described axis upwards lifts a segment distance.
Step 3. in, described reconditioning track can be multiple figure, for example line segment, rectangle or triangle.
For fear of an only local reconditioning at reconditioning sheet, the reconditioning track of next time moves a segment distance relative to this reconditioning track.
As preferably, the reconditioning track of next time is this reconditioning trajectory-offset 1mm relatively.
In order not affect the normal operation of visual micro spot welding robot, also comprise step 4., after reconditioning is complete, automatically reset.
The invention has the beneficial effects as follows, based on visual micro spot welding robot, automatic grinding spot welding head system is set, improved utilization rate of equipment and installations, reduced equipment cost; Automatic grinding spot welding head system has solved the difficult problem that visual micro spot welding robot cannot automatic grinding, has improved the life-span of spot welding head, thereby has reduced use cost, and reconditioning is respond well.
Brief description of the drawings
Below in conjunction with drawings and Examples, the present invention is further described.
Fig. 1 is the structure chart of head and switch sensor relation.
Fig. 2 is switch sensor closure state structure chart.
Fig. 3 is switch sensor off-state structure chart.
The top view of the automatic Regrinding System part of Tu4Shi visual micro spot welding robot.
The front view of the automatic Regrinding System part of Tu5Shi visual micro spot welding robot.
The right view of the automatic Regrinding System part of Tu6Shi visual micro spot welding robot.
The stereogram of the automatic Regrinding System part of Tu7Shi visual micro spot welding robot.
Wherein: 1, reconditioning sheet, 2, spot welding head, 3, motion platform, 4, head, 5, support board, 6, switch sensor, 7, welding head holder, 8, guide pillar, 9, geometrical clamp, 10, spring leaf, 11, briquetting, 12, axis.
Detailed description of the invention
In conjunction with the accompanying drawings, the present invention is further detailed explanation.These accompanying drawings are the schematic diagram of simplification, and basic structure of the present invention is only described in a schematic way, and therefore it only shows the formation relevant with the present invention.
As shown in Fig. 1～7, a kind of visual micro spot welding of the present invention robot, comprise head 4, support board 5, motion platform 3, spot welding head 2 and automatic grinding spot welding head system, described spot welding head 2 is connected with described head 4, described support board 5 drives by motion platform 3, and the motion platform 3 in the present embodiment is XY axle motion platform; Automatic grinding spot welding head system comprises reconditioning sheet 1 and switch sensor 6, and described reconditioning sheet 1 is arranged on a lateral edges of described support board 5, and reconditioning sheet 1 be arranged in parallel with support board 5.Head 4 comprises welding head holder 7, guide pillar 8, geometrical clamp 9 and axis 12, described spot welding head 2 is fixed on welding head holder 7, described welding head holder 7 is connected on guide pillar 8, described guide pillar 8 is connected by described geometrical clamp 9 with axis 12, wherein, geometrical clamp 9 is connected with axis 12 elasticity, and geometrical clamp 9 is fixedly connected with guide pillar 8, welding head holder 7 and spot welding head 2.Described switch sensor 6 is microswitch sensor, is fixed on axis 12; Described switch sensor 6 is the mechanical switch sensor with spring leaf 10.On described geometrical clamp 9, be fixed with a briquetting 11, free end and the described briquetting 11 of the spring leaf 10 of described switch sensor 6 are oppositely arranged, and the free end of the spring leaf 10 of switch sensor 6 is arranged on the lower end of described briquetting 11.The free end of the spring leaf 10 of switch sensor 6 is arranged on the lower end of briquetting 11, and in the time that spot welding head 2 does not contact with reconditioning sheet 1, the spring leaf 10 on switch sensor 6 is with briquetting 11 always in contact condition, and switch sensor 6 is normally open; After spot welding head 2 contacts with reconditioning sheet 1, the spring leaf 10 on switch sensor 6 separates with briquetting 11, switch sensor 6 closures.
Also comprise gauge tap and control circuit, the opening and closing of described gauge tap control reconditioning, the motion of motion platform 3 described in described control circuit control, described gauge tap is metal keyboard 5.
The method of the automatic grinding spot welding head of visual micro spot welding of the present invention robot is:
(1) in the time that metal keyboard 5 has button to press, the control circuit being connected with metal keyboard 5 can detect the variation of corresponding level, the key assignments of the button that then goes to read to be pressed.The key-value pair of metal keyboard 5 has been answered corresponding function, for example can set manually opened by metal keyboard 5 and close the function of automatic grinding spot welding head, or setting user and can set voluntarily and move automatic grinding spot welding head after how many solder joints by metal keyboard 5.
(2) process that action realizes:
1. XY axle motion platform 3 moves, and makes reconditioning sheet 1 move to the below of spot welding head 2;
2. the umber of pulse of each shaft step motor of control circuit control, thus the motion of each axle controlled, spot welding head 2 is declined automatically.
In the time that spot welding head 2 contacts reconditioning sheet 1, due to the resistance of reconditioning sheet 1, spot welding head 2 is forced to stop decline.Now, because geometrical clamp 9 and spot welding head 2 are rigidly connected, geometrical clamp 9 also stops moving downward, and axis 12 is that elasticity is connected with geometrical clamp 9, therefore, axis 12 also can move downward a bit of distance, makes axis 12 and geometrical clamp 9 that relative displacement occur, the spring leaf 10 of microswitch sensor 6 separates with briquetting 11, switch sensor 6 closures.In order to prevent that spot welding head 2 from pressing reconditioning sheet 1 tension, spot failure soldering tip 2, after switch sensor 6 closures, axis 12 also can upwards lift a segment distance, for example 0～2mm.
Until after reconditioning finishes, control circuit has a settling signal makes axis 12 drive spot welding head 2 to move up.In the process of reconditioning, the spring leaf 10 of microswitch sensor 6 maintains off-state with briquetting 11 always.In pinpoint welding procedure, weld a break-make once.
3. spot welding head 2 starts reconditioning according to projected path on reconditioning sheet 1, and track can be multiple figure, and as figures such as line segment, rectangle, triangles, spot welding head 2 moves once or repeatedly, after reconditioning is complete, automatically resets on reconditioning sheet 1;
4. for fear of an only local reconditioning at reconditioning sheet 1, can set next reconditioning track this trajectory-offset 1mm relatively, altogether repeatedly, so circulation.
Taking above-mentioned foundation desirable embodiment of the present invention as enlightenment, by above-mentioned description, relevant staff can, not departing from the scope of this invention technological thought, carry out various change and amendment completely.The technical scope of this invention is not limited to the content on description, must determine its technical scope according to claim scope.
Claims (10)
1. a visual micro spot welding robot, comprise head (4), support board (5), motion platform (3) and spot welding head (2), described spot welding head (2) is connected with described head (4), described support board (5) drives by motion platform (3), it is characterized in that: also comprise automatic grinding spot welding head system, described automatic grinding spot welding head system comprises reconditioning sheet (1) and switch sensor (6), described reconditioning sheet (1) is arranged on described support board (5), described switch sensor (6) is arranged on described head (4), whether the break-make of described switch sensor (6), contact relevant with described reconditioning sheet (1) to described spot welding head (2).
2. visual micro spot welding as claimed in claim 1 robot, it is characterized in that: described head (4) comprises welding head holder (7), guide pillar (8), geometrical clamp (9) and axis (12), described spot welding head (2) is fixed on welding head holder (7), described welding head holder (7) is connected on guide pillar (8), described guide pillar (8) is connected by described geometrical clamp (9) with axis (12), geometrical clamp (9) is connected with axis (12) elasticity, and geometrical clamp (9) is fixedly connected with guide pillar (8); Switch sensor (6) is fixed on axis (12), described switch sensor (6) is the mechanical switch sensor with spring leaf (10), on described geometrical clamp (9), be fixed with a briquetting (11), free end and the described briquetting (11) of the spring leaf (10) of described switch sensor (6) are oppositely arranged; The break-make of described switch sensor (6) is relevant with the contact relation of briquetting (11) to the spring leaf (10) on switch sensor (6).
3. visual micro spot welding as claimed in claim 1 robot, is characterized in that: described reconditioning sheet (1) or almost parallel setting parallel with described support board (5).
4. visual micro spot welding as claimed in claim 1 robot, is characterized in that: also comprise gauge tap and control circuit, the opening and closing of described gauge tap control reconditioning, the motion of motion platform (3) described in described control circuit control.
5. a method for automatic grinding spot welding head, is characterized in that: adopt the visual micro spot welding robot as described in any one in claim 1-5, comprise the following steps:
Whether a, artificial interval or the manual control of setting beginning automatic grinding start automatic grinding;
B, automatic grinding start:
1. motion platform (3) drives support board (5) motion, makes reconditioning sheet (1) move to the below of spot welding head (2);
2. drive point soldering tip (2) declines, when spot welding head (2) is encountered after reconditioning sheet (1), reconditioning sheet (1) stops spot welding head (2) to continue to decline, break-make occurs described switch sensor (6) changes, and stops driving described spot welding head (2) to decline;
3. spot welding head (2) above starts reconditioning according to projected path at reconditioning sheet (1), and spot welding head (2) above moves once or repeatedly, completes reconditioning at reconditioning sheet (1).
6. the method for automatic grinding spot welding head as claimed in claim 5, it is characterized in that: step 2. in, spot welding head (2) declines, when spot welding head (2) is encountered after reconditioning sheet (1), reconditioning sheet (1) stops spot welding head (2) to continue to decline, there is relative displacement with geometrical clamp (9) in axis (12), spring leaf (10) and the contact relation of briquetting (11) are changed, break-make occurs switch sensor (6) changes, and stops driving described spot welding head (2) to decline.
7. the method for automatic grinding spot welding head as claimed in claim 6, is characterized in that: switch sensor (6) occurs after break-make variation, and described axis (12) upwards lifts a segment distance.
8. the method for automatic grinding spot welding head as claimed in claim 5, is characterized in that: step 3. in, described reconditioning track is line segment, rectangle or triangle.
9. the method for automatic grinding spot welding head as claimed in claim 5, is characterized in that: the reconditioning track of next time moves a segment distance relative to this reconditioning track.
10. the method for automatic grinding spot welding head as claimed in claim 9, is characterized in that: the reconditioning track of next time is this reconditioning trajectory-offset 1mm relatively.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410313621.5A CN104084724B (en) | 2014-07-02 | 2014-07-02 | The method of visual micro spot welding robot and automatic grinding spot welding head thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410313621.5A CN104084724B (en) | 2014-07-02 | 2014-07-02 | The method of visual micro spot welding robot and automatic grinding spot welding head thereof |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104084724A true CN104084724A (en) | 2014-10-08 |
| CN104084724B CN104084724B (en) | 2016-03-30 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201410313621.5A Active CN104084724B (en) | 2014-07-02 | 2014-07-02 | The method of visual micro spot welding robot and automatic grinding spot welding head thereof |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111246960A (en) * | 2017-11-20 | 2020-06-05 | 极动焊接机械有限公司 | Chip flying protective cover |
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| JPS61123483A (en) * | 1984-11-19 | 1986-06-11 | Fujitsu Ltd | Spot welding device |
| JPS6261780A (en) * | 1985-09-10 | 1987-03-18 | Fujitsu Ltd | Spot welding equipment |
| JPH0780659A (en) * | 1993-09-10 | 1995-03-28 | Hitachi Ltd | Method and device for grinding spot welding electrode |
| CN2754811Y (en) * | 2004-12-15 | 2006-02-01 | 上海永新彩色显像管股份有限公司 | Welding head sander of explosive-proof point welder |
| CN203156216U (en) * | 2013-02-27 | 2013-08-28 | 姚莉娟 | Intelligent spot welder |
| CN103537847A (en) * | 2013-10-22 | 2014-01-29 | 长城汽车股份有限公司 | Electrode cap grinding device and automatic welding system |
| CN203918280U (en) * | 2014-07-02 | 2014-11-05 | 常州铭赛机器人科技有限公司 | Visual micro spot welding robot |
-
2014
- 2014-07-02 CN CN201410313621.5A patent/CN104084724B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS61123483A (en) * | 1984-11-19 | 1986-06-11 | Fujitsu Ltd | Spot welding device |
| JPS6261780A (en) * | 1985-09-10 | 1987-03-18 | Fujitsu Ltd | Spot welding equipment |
| JPH0780659A (en) * | 1993-09-10 | 1995-03-28 | Hitachi Ltd | Method and device for grinding spot welding electrode |
| CN2754811Y (en) * | 2004-12-15 | 2006-02-01 | 上海永新彩色显像管股份有限公司 | Welding head sander of explosive-proof point welder |
| CN203156216U (en) * | 2013-02-27 | 2013-08-28 | 姚莉娟 | Intelligent spot welder |
| CN103537847A (en) * | 2013-10-22 | 2014-01-29 | 长城汽车股份有限公司 | Electrode cap grinding device and automatic welding system |
| CN203918280U (en) * | 2014-07-02 | 2014-11-05 | 常州铭赛机器人科技有限公司 | Visual micro spot welding robot |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111246960A (en) * | 2017-11-20 | 2020-06-05 | 极动焊接机械有限公司 | Chip flying protective cover |
| CN111246960B (en) * | 2017-11-20 | 2022-01-11 | 极动焊接机械有限公司 | Chip flying protective cover |
| US11338403B2 (en) | 2017-11-20 | 2022-05-24 | Kyokutoh Co., Ltd. | Chip-scattering prevention cover |
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| Publication number | Publication date |
|---|---|
| CN104084724B (en) | 2016-03-30 |
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Address after: Wujin District of Jiangsu city in Changzhou province 213164 Chang Wu Road No. 18, Changzhou science city Harbin mingseal science and Technology Building Applicant after: Changzhou Science and Technology Co., Ltd. of Ming Sai robot Address before: 213164, Jiangsu Changzhou science and Technology City, Changzhou City, Harbin Science and technology, Ming Ming race building Applicant before: Changzhou Mingseal Robotic Technology Co., Ltd. |
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Free format text: CORRECT: APPLICANT; FROM: CHANGZHOU MINGSEAL ROBOTIC TECHNOLOGY CO., LTD. TO: CHANGZHOU MINGSEAL ROBOT TECHNOLOGY CO., LTD. |
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Denomination of invention: Vision micro spot welding robot and automatic spot welding head polishing method thereof Effective date of registration: 20170322 Granted publication date: 20160330 Pledgee: Jiangsu Jiangnan Rural Commercial Bank Limited by Share Ltd Pledgor: Changzhou Science and Technology Co., Ltd. of Ming Sai robot Registration number: 2017990000222 |
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| PC01 | Cancellation of the registration of the contract for pledge of patent right |
Date of cancellation: 20180411 Granted publication date: 20160330 Pledgee: Jiangsu Jiangnan Rural Commercial Bank Limited by Share Ltd Pledgor: Changzhou Science and Technology Co., Ltd. of Ming Sai robot Registration number: 2017990000222 |