CN105772922B - A kind of non-solder area protection mechanism of robot intermediate frequency resistance welding switch board - Google Patents
A kind of non-solder area protection mechanism of robot intermediate frequency resistance welding switch board Download PDFInfo
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- CN105772922B CN105772922B CN201610183855.1A CN201610183855A CN105772922B CN 105772922 B CN105772922 B CN 105772922B CN 201610183855 A CN201610183855 A CN 201610183855A CN 105772922 B CN105772922 B CN 105772922B
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Classifications
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- 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
- B23K11/24—Electric supply or control circuits therefor
- B23K11/25—Monitoring devices
- B23K11/251—Monitoring devices using analog means
-
- 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
- B23K11/24—Electric supply or control circuits therefor
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- Mechanical Engineering (AREA)
- Resistance Welding (AREA)
Abstract
The present invention relates to a kind of non-solder area protection mechanism of robot intermediate frequency resistance welding switch board, welding controller is provided with inside switch board（1）, 1000HZ induction coils（2）, main power source breaker（3）, 1000HZ monitors（4）And welding controller main power source secondary end（5）, provided with ground connection bronze medal in switch board cabinet（6）；Alarm lamp is provided with the positive cabinet door of switch board（7）, main power source rotary handle of circuit breaker（8）, RS232 PORT COMs（10）, flat recess band key door lock（11）And rotary handle door lock（12）, cable fixed support is provided with switch board back side middle（15）, the switch board back side is located at cable fixed support（15）Lower section is provided with welding controller dissipating cover（17）, the switch board back side is located at cable fixed support（15）Top is provided with welding gun signal cable socket（14）, cable integrator, outside 24VDC power supplys cable-through hole, safety return circuit emergent stop signal cable-through hole, standby locking cable-through hole and the welding gun feed cable of introducing locked coil（18）.
Description
Technical field
The present patent application is the applying date 2014 year 08 month 04, Application No.：201410379115.6, it is entitled " a kind of
The divisional application of the application for a patent for invention of robot intermediate frequency resistance welding switch board ".The present invention relates to a kind of robot medium frequency electric
Welding resistance meets the non-solder area protection mechanism of switch board.
Background technology
With China joined WTO, China's expanding economy and the world integrate with, the boundary of domestic compentition and international competition
It will increasingly obscure, and transform the past mode of production and management mode is extremely urgent.It is also in welding field in this way, using certainly
It has been trend of the times that dynamicization welding, which improves productivity ratio and product quality,.Large enterprise be so, be also to medium-sized and small enterprises as
This.Productivity effect and business efficiency can be greatly enhanced by carrying out weld job using robot；On the other hand, the shifting of robot
Bit rate is fast, up to 3m/s, or even faster.Therefore, it is however generally that, using robot welding than equally manually welding efficiency can
2~4 times are improved, welding quality is excellent and stably.The welding jig of spot welding robot is welded, it is necessary to employ integrated soldering turret
Transformer is behind soldering turret, so transformer must be minimized as far as possible.
The content of the invention
The present invention devises a kind of non-solder area protection mechanism of robot intermediate frequency resistance welding switch board, what it was solved
Technical problem is currently on the market without a intermediate frequency resistance welding switch board specially used cooperatively with robot welding.
In order to solve above-mentioned technical problem, present invention employs following scheme：
Provided with welding inside a kind of non-solder area protection mechanism of robot intermediate frequency resistance welding switch board, the switch board
Controller（1）, 1000HZ induction coils（2）, main power source breaker（3）And 1000HZ monitors（4）, welding controller（1）
Provided with the welding controller main power source secondary end used for welding gun welding transformer main power source（5）, it is provided with and connects in switch board cabinet
Ground bronze medal（6）；Alarm lamp is provided with the positive cabinet door of switch board（7）, main power source rotary handle of circuit breaker（8）, RS232 lead to
Interrogate port（10）, flat recess band key door lock（11）And rotary handle door lock（12）, main power source rotary handle of circuit breaker（8）Control
Main power source breaker processed（3）；Cable fixed support is provided with switch board back side middle（15）, the switch board back side is consolidated positioned at cable
Fixed rack（15）Lower section is provided with welding controller dissipating cover（17）, the switch board back side is located at cable fixed support（15）Top is provided with
Welding gun signal cable socket（14）, cable integrator（13）, outside introduce 24VDC power supply cable-through holes（20）, safety return circuit jerk
Signal cable-through hole（19）, standby locking cable-through hole（16）And welding gun feed cable locked coil（18）；In switch board top surface
It is also connected with suspension ring（9）, it is characterised in that：The non-solder area protection mechanism is used cooperatively with welding gun, the non-solder area protection
Mechanism includes multiple protective baffle plates（41）, multiple first rotating arms（42）, multiple connecting shafts（43）, multiple second turning arms
（44）, drive link（45）, cylinder（46）, pedestal（47）And multiple impeller-hubs（48）；Each first rotating arm（42）With one
Two turning arms（44）It is integrated part, protective baffle plate（41）Installed in first rotating arm（42）It is upper to be used to stop and protect non-solder area
Domain；First rotating arm（42）With the second turning arm（44）Between be provided with axle mounting hole, any one connecting shaft of the vertical plane of pedestal 47
（43）Insertion correspondence first rotating arm（42）With the second turning arm（44）Between an axle mounting hole in；Second turning arm（44）On
It also is provided with axle mounting hole, drive link（45）It is upper vertical and parallel provided with multiple impeller-hubs（48）, each impeller-hub（48）Insertion pair
The second turning arm answered（44）Axle mounting hole in, drive link（45）In cylinder（46）The lower horizontal movement of effect.
A kind of robot intermediate frequency resistance welding switch board, it is characterised in that：Welding controller is provided with inside switch board（1）、
1000HZ induction coils（2）, main power source breaker（3）And 1000HZ monitors（4）, welding controller（1）Provided with supplying welding gun
The welding controller main power source secondary end that welding transformer main power source is used（5）, provided with ground connection bronze medal in switch board cabinet（6）；
Alarm lamp is provided with the positive cabinet door of switch board（7）, main power source rotary handle of circuit breaker（8）, RS232 PORT COMs
（10）, flat recess band key door lock（11）And rotary handle door lock（12）, main power source rotary handle of circuit breaker（8）Control main electricity
Source breaker（3）；Cable fixed support is provided with switch board back side middle（15）, the switch board back side is located at cable fixed support
（15）Lower section is provided with welding controller dissipating cover（17）, the switch board back side is located at cable fixed support（15）Believe provided with welding gun top
Number cable socket（14）, cable integrator（13）, outside introduce 24VDC power supply cable-through holes（20）, safety return circuit emergent stop signal mistake
String holes（19）, standby locking cable-through hole（16）And welding gun feed cable locked coil（18）；It is also connected with switch board top surface
Suspension ring（9）.
Further, mains power cable locked coil by mains power cable（11）Into switch board, cable outer layer is protected
Set peels off 4 and is divided into tetra- strands of wires of L1, L2, L3 and PE, and four strands of wires pass through V-type insulation sleeve on annular cold pressure lines ose bag respectively
Pipe, mains power cable L1, L2, L3 wire is coupled with the terminal of main circuit breaker upper end and insulated terminal cover is installed after compressing；
PE wires are connected to cabinet inner top ground connection bronze medal（6）On.
Further, welding gun feed cable one end connection welding gun, the welding gun feed cable other end is locked by welding gun feed cable
It is tight to cross coil（18）Into switch board, outer protective sleeve is peeled off tri- strands of wires of U, V and PE by welding gun feed cable, and three strands of wires lead to
Cross pin type cold pressure lines nose to compress and put V-type insulating sleeve, welding gun feed cable U1, V1 wire is connected to the main electricity of welding controller
Source secondary end（5）U1, the V1 at terminal-X4 ends are upper and compress, and it is secondary that welding gun feed cable PE lines are connected to welding controller main power source
End（5）On the PE at terminal-X4 ends and compress.
Further, 1000HZ monitors（4）Including current monitor；Current transformer；Current monitor and Current Mutual Inductance
Device constitutes a residual current protective unit；Auxiliary reclay, its when welding gun temperature changes from control on-off action；X1 terminals,
KSR, UIR on controller is signally attached to by welding gun socket by this terminal；XP terminals, are drawn by this terminal
24VDC power supplys；F1 breakers, it is used for conventional 24V on/offs control, F2 breakers, and it is used for safe 24V on/offs
Control；V2 terminals, relay generation action and welding gun signal intensity can be sent to outside and V1 terminals by this terminal,
24V power supplys are accessed from outside by this terminal.
The robot intermediate frequency resistance welding switch board has the advantages that：
Robot welding switch board of the present invention, robot welding can be applied to well, can not only welding quality enter
Row monitoring, also there is scalability, the multiple communication modes of stable welding technological properties and function, can be good at reply various
Resistance spot welding machine people.
Brief description of the drawings
Fig. 1：The front view of robot intermediate frequency resistance welding switch board of the present invention；
Fig. 2：The internal structure schematic diagram of robot intermediate frequency resistance welding switch board of the present invention；
Fig. 3：The rearview of robot intermediate frequency resistance welding switch board of the present invention；
Fig. 4：The matching used spot-welding welding tongs structural representation of robot intermediate frequency resistance welding switch board of the present invention；
Fig. 5：The matching used non-solder area protection structural scheme of mechanism of robot intermediate frequency resistance welding switch board of the present invention；
Fig. 6：Fig. 5 left view；
Fig. 7：Welding controller welding controller schematic diagram in robot intermediate frequency resistance welding switch board of the present invention.
Description of reference numerals：
1-welding controller；2-1000HZ induction coils；3-main power source breaker；4-1000HZ monitors；5-weldering
Connect controller main power source secondary end；6-ground connection bronze medal；7-alarm lamp；8-main power source rotary handle of circuit breaker；9-hang
Ring；10-RS232 PORT COMs；11-flat recess band key door lock；12-rotary handle door lock；13-cable integrator；
14-welding gun signal cable socket；15-cable fixed support；16-standby locking cable-through hole；17-welding controller radiates
Lid；18-welding gun feed cable locked coil；19-safety return circuit emergent stop signal cable-through hole；20-outside introducing 24VDC is electric
Source cable-through hole；
31-second electrode arm；32-electrode cap；33-first electrode arm；34-welding tong arm；35-joystick；
36-cylinder；37-hanger for soldering pliers；38-spacing stopper；
41-protective baffle plate；42-first rotating arm；43-connecting shaft；44-the second turning arm；45-drive link；46—
Cylinder；47-pedestal；48-impeller-hub.
Embodiment
With reference to Fig. 1 to Fig. 7, the present invention will be further described：
As shown in figure 1, a kind of robot intermediate frequency resistance welding switch board, inside switch board provided with welding controller 1,
1000HZ induction coils 2, main power source breaker 3 and 1000HZ monitors 4, welding controller 1 is provided with welds transformation for welding gun
The welding controller main power source secondary end 5 that device main power source is used, provided with ground connection bronze medal 6 in switch board cabinet；In switch board front
Cabinet door is provided with alarm lamp 7, main power source rotary handle of circuit breaker 8, RS232 PORT COMs 10, flat recess band key door lock
11 and rotary handle door lock 12, the control main power source of main power source rotary handle of circuit breaker 8 breaker 3；In the middle of the switch board back side
Place is provided with cable fixed support 15, and the switch board back side is located at the lower section of cable fixed support 15 and is provided with welding controller dissipating cover 17,
The switch board back side is located at the top of cable fixed support 15 provided with welding gun signal cable socket 14, cable integrator 13, outside introducing
24VDC power supplys cable-through hole 20, safety return circuit emergent stop signal cable-through hole 19, standby locking cable-through hole 16 and welding gun feed cable lock
It is tight to cross coil 18；Suspension ring 9 are also connected with switch board top surface.
Mains power cable locked coil 11 by mains power cable and enters switch board, and cable outer layer sheath is peeled off into 4 points
Into tetra- strands of wires of L1, L2, L3 and PE, four strands of wires are respectively by V-type insulating sleeve on annular cold pressure lines ose bag, by main power source
Cable L1, L2, L3 wire is coupled with the terminal of main circuit breaker upper end and installs insulated terminal cover after compressing；PE wires are connected to cabinet
On inner top ground connection bronze medal 6.
Welding gun feed cable one end connects welding gun, and the welding gun feed cable other end locked coil by welding gun feed cable
10 enter switch board, and outer protective sleeve is peeled off tri- strands of wires of U, V and PE by welding gun feed cable, and three strands of wires are cold-pressed by pin type
Line nose is compressed and puts V-type insulating sleeve, and welding gun feed cable U1, V1 wire is connected into welding controller main power source secondary end 5
U1, the V1 at terminal-X4 ends are upper and compress, and welding gun feed cable PE lines are connected to the terminal-X4 ends of welding controller main power source secondary end 5
PE on and compress.
1000HZ monitors 4 include current monitor；Current transformer；Current monitor summation current transformer constitutes one and leaked
Electric protection unit；Auxiliary reclay, its when welding gun temperature changes from control on-off action；X1 terminals, pass through this end
KSR, UIR on controller is signally attached to welding gun socket by son；XP terminals, 24VDC power supplys are drawn by this terminal； F1
Breaker, it is used for conventional 24V on/offs control, F2 breakers, and it is used for safe 24V on/offs control；V2 terminals,
Relay generation action and welding gun signal intensity can be sent to outside and V1 terminals by this terminal, from outside by this end
Son access 24V power supplys.
Switch board technical parameter explanation：
Controller model：PSI 63C0.777L1
Power requirement：3P+PE （TN systems, TN systems）
Input voltage：400 V −20% to 480 V +10% 50/60 Hz
Output voltage：500V±3% 1000Hz±3%
Maximum heat continuous current：110A
Maximum output current：800A
No-load power：110W±10%
Application environment temperature：+ 5 DEG C~+45 DEG C
Switch board detection of electrical leakage scope：0~300mA in the range of 0~2000Hz
Welding transformer application：Electric resistance welding, projection welding, mixed weldering etc.
Weld switch board main feature：
1st, UIR adaptation functions during welding debugging, can be set up there is provided visual adjustment interface according to the sheet material of combination
Corresponding invariable power sample curve；
2nd, welding gun electrode management program, possesses electrode tally function, can realize that electrode dressing or replacement request are indicated；
3rd, expansible more than 4 kinds communication modes of Profibus, Ethernet, Interbus, Devicenet.
As shown in fig. 7, a kind of spot-welding welding tongs, the weldering that spot-welding welding tongs are connected with above-mentioned robot intermediate frequency resistance welding switch board
Rifle is used cooperatively, and it includes second electrode arm 31, electrode cap 32, first electrode arm 33, two welding tong arms 34, joysticks
35th, cylinder 36 and hanger for soldering pliers 37.Cylinder 36 is connected between two welding tong arms 34, joystick 35 is used to control cylinder
36 unlatching.Two common connection ends of welding tong arm 34 are provided with first electrode arm 33, and electrode cap 32 is located at first electrode arm 33
On.Second electrode arm 31 is also connected on two welding common connection ends of tong arm 34, the limitation of spacing stopper 38 second of fixture
Scope and stroke that horn 31 is moved.
The operation principle of the spot-welding welding tongs is：When controlling the work of cylinder 36 by joystick 35, cylinder 36 is to two welderings
The pressure of tong arm 34 is connect, two welding tong arms 34 give the tension force of first electrode arm 33 under the effect of the pressure, and second electrode arm 31 is being opened
Fixture upper limit stopper 38 is contacted in the presence of power, spacing stopper 38 is produced by second electrode arm 31 to first electrode arm 33
Electrode cap 32 on raw reaction force, first electrode arm 33 makes electrode cap 32 in the presence of the reaction force of second electrode arm 31
Possess pressure, and further contacted with sheet metal component and complete high-quality welding.
As it can be seen in figures 5 and 6, present invention additionally comprises non-solder area protection mechanism, the non-solder area protection mechanism and sheet
Welding gun is used cooperatively in invention.The non-solder area protection mechanism includes multiple protective baffle plates 41, multiple first rotating arms 42, many
Individual connecting shaft 43, multiple second turning arms 44, drive link 45, cylinder 46, pedestal 47 and multiple impeller-hubs 48.Each first rotation
The turning arm 44 of pivoted arm 42 and 1 second is integrated part, and protective baffle plate 41, which is arranged on first rotating arm 42, to be used to stop and protect non-
Welding region.Axle mounting hole, any one connection of the vertical plane of pedestal 47 are provided between the turning arm 44 of first rotating arm 42 and second
In an axle mounting hole between the insertion correspondence turning arm 44 of first rotating arm 42 and second of axle 43.It also is provided with second turning arm 44
Vertical and parallel provided with multiple impeller-hubs 48 on axle mounting hole, drive link 45, each impeller-hub 48 inserts corresponding second rotation
In the axle mounting hole of arm 44.The horizontal movement under the effect of cylinder 46 of drive link 45.
The operation principle of non-solder area protection mechanism is as follows in the present invention：Welding gun is in welding, by body structure
Influence, some positions necessarily occur be partially welded, the least bit and rosin joint have influence on non-solder region, main cause is behaviour in welding process
Make personnel can not visual solder joint position.
When non-solder area protection mechanism cylinder 46 of the present invention works, to the thrust of the horizontal direction of drive link 45, drive link
45 drive impeller-hubs 48 also do the movement of horizontal direction, and the turning arm 44 of first rotating arm 42 and second is in impeller-hub 48 and connecting shaft
Rotated under 43 styles of work around connecting shaft 43.Protective baffle plate 41 is also accordingly sent out positioned at vertical height during rotation
Changing, thus for the non-solder region of different height, can be by under cylinder action so that protective baffle plate 41 is hidden
Gear, can thus greatly reduce occur being partially welded, the least bit and rosin joint situation, also non-solder region is arrived in protection well.Anti- bib
The size of plate 41 is the interchangeable non-solder region to adapt to different areas.Because many automobile same areas are carried out together
When weld, it is possible to use multiple protective baffle plates 41.
As shown in fig. 6, the middle welding controller control method of robot intermediate frequency resistance welding switch board of the present invention is as follows：It is logical
The analysis to qualified solder joint is crossed, sample curve is established；In welding process, each millisecond all can be to the electric current and resistance of welding
Detected and fed back, contrasted by the analysis of welding controller 1 and with sample curve, automatically to welding current and time
It is adjusted；Be adjusted according to energy conservation principle, when soldered between extend and be unlocked, the regulatory function of welding controller 1 is true
The energy for protecting actual soldered solder joint is more than or equal to the energy of sample solder joint；When compensating if there is splashing, finding to splash
Afterwards, the loss of metal liquid will be compensated by extending weld interval；During if there is disturbance compensation, procedure parameter deviates from sample
This, causes disturbance, can be found and be compensated by the change of electric current and time, and changing value depends on the type of disturbance.
Exemplary description is carried out to the present invention above in conjunction with accompanying drawing, it is clear that realization of the invention is not by aforesaid way
Limitation, it is or not improved by the present invention as long as employing the various improvement of inventive concept and technical scheme of the present invention progress
Design and technical scheme directly apply to other occasions, within the scope of the present invention.
Claims (2)
1. provided with welding control inside a kind of non-solder area protection mechanism of robot intermediate frequency resistance welding switch board, the switch board
Device processed（1）, 1000Hz induction coils（2）, main power source breaker（3）And 1000Hz monitors（4）, welding controller（1）If
There is the welding controller main power source secondary end used for welding gun welding transformer main power source（5）, provided with ground connection in switch board cabinet
Bronze medal（6）；Alarm lamp is provided with the positive cabinet door of switch board（7）, main power source rotary handle of circuit breaker（8）, RS232 communication
Port（10）, flat recess band key door lock（11）And rotary handle door lock（12）, main power source rotary handle of circuit breaker（8）Control
Main power source breaker（3）；Cable fixed support is provided with switch board back side middle（15）, the switch board back side is fixed positioned at cable
Support（15）Lower section is provided with welding controller dissipating cover（17）, the switch board back side is located at cable fixed support（15）Top is provided with weldering
Rifle signal cable socket（14）, cable integrator（13）, outside introduce 24VDC power supply cable-through holes（20）, safety return circuit jerk letter
Number cable-through hole（19）, standby locking cable-through hole（16）And welding gun feed cable locked coil（18）；In switch board top surface also
Connect suspension ring（9）, it is characterised in that：The non-solder area protection mechanism is used cooperatively with welding gun, the non-solder area protection machine
Structure includes multiple protective baffle plates（41）, multiple first rotating arms（42）, multiple connecting shafts（43）, multiple second turning arms（44）、
Drive link（45）, cylinder（46）, pedestal（47）And multiple impeller-hubs（48）；Each first rotating arm（42）With one second rotation
Pivoted arm（44）It is integrated part, protective baffle plate（41）Installed in first rotating arm（42）It is upper to be used to stop and protect non-solder region；
First rotating arm（42）With the second turning arm（44）Between be provided with axle mounting hole, pedestal（47）Any one connecting shaft of vertical plane
（43）Insert corresponding first rotating arm（42）With the second turning arm（44）Between an axle mounting hole in；Second turning arm
（44）On also be provided with axle mounting hole, drive link（45）It is upper parallel provided with multiple impeller-hubs（48）, multiple impeller-hubs（48）Perpendicular to
Drive link（45）, each impeller-hub（48）Insert corresponding second turning arm（44）Axle mounting hole in, drive link（45）In gas
Cylinder（46）The lower horizontal movement of effect.
2. the non-solder area protection mechanism of robot intermediate frequency resistance welding switch board according to claim 1, its feature exists
In：1000Hz monitors（4）Including current monitor, current transformer, current monitor summation current transformer constitutes one and leaked electricity
Protection location；Auxiliary reclay, its when welding gun temperature changes from control on-off action；X1 terminals, pass through this terminal
KSR constant currents detection signal, the adaptive welding signals of UIR on controller is connected to welding gun socket；XP terminals, pass through this end
Son draws 24VDC power supplys；F1 breakers, it is used for conventional 24V on/offs control；F2 breakers, it is used for safe 24V electricity
Source break-make control；V2 terminals, relay generation action and welding gun signal intensity can be sent to outside and V1 by V2 terminals
Terminal, 24V power supplys are accessed from outside by V2 terminals.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610183855.1A CN105772922B (en) | 2014-08-04 | 2014-08-04 | A kind of non-solder area protection mechanism of robot intermediate frequency resistance welding switch board |
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610183855.1A CN105772922B (en) | 2014-08-04 | 2014-08-04 | A kind of non-solder area protection mechanism of robot intermediate frequency resistance welding switch board |
| CN201410379115.6A CN104191080B (en) | 2014-08-04 | 2014-08-04 | A kind of robot intermediate frequency resistance welded switch board |
Related Parent Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410379115.6A Division CN104191080B (en) | 2014-08-04 | 2014-08-04 | A kind of robot intermediate frequency resistance welded switch board |
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| Publication Number | Publication Date |
|---|---|
| CN105772922A CN105772922A (en) | 2016-07-20 |
| CN105772922B true CN105772922B (en) | 2017-09-29 |
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| CN201610183855.1A Active CN105772922B (en) | 2014-08-04 | 2014-08-04 | A kind of non-solder area protection mechanism of robot intermediate frequency resistance welding switch board |
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| JP2001239373A (en) * | 2000-02-25 | 2001-09-04 | Nissan Motor Co Ltd | Controller for resistance welding machine and its method |
| EP1849549A1 (en) * | 2006-04-29 | 2007-10-31 | Bayerische Motoren Werke Aktiengesellschaft | Method and device for joining car body panels using resistance welding and protective gas welding |
| DE102008005113A1 (en) * | 2008-01-15 | 2009-10-01 | INPRO Innovationsgesellschaft für fortgeschrittene Produktionssysteme in der Fahrzeugindustrie mbH | Protecting the welding quality of spot-welds during the resistance spot welding of predetermined material combination, comprises determining the change of tongs clamping force of welding tongs over welding time for each welding points |
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| CN105772922A (en) | 2016-07-20 |
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