CN107414273A - Spot welding method, spot-welding equipment and spot welding robot - Google Patents
Spot welding method, spot-welding equipment and spot welding robot Download PDFInfo
- Publication number
- CN107414273A CN107414273A CN201710819691.1A CN201710819691A CN107414273A CN 107414273 A CN107414273 A CN 107414273A CN 201710819691 A CN201710819691 A CN 201710819691A CN 107414273 A CN107414273 A CN 107414273A
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- CN
- China
- Prior art keywords
- welding
- workpiece
- spot
- electrode
- reference value
- Prior art date
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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
- B23K11/00—Resistance welding; Severing by resistance heating
- B23K11/10—Spot welding; Stitch welding
- B23K11/11—Spot welding
- B23K11/115—Spot welding by means of two electrodes placed opposite one another on both sides of the welded parts
-
- 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
- B23K11/34—Preliminary treatment
-
- 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
- B23K11/36—Auxiliary equipment
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Resistance Welding (AREA)
Abstract
The present invention provides a kind of spot-welding equipment, and it can reliably detect the defects of such as workpiece lacks or sandwiches foreign matter before welding operates.A kind of spot welding method, for being provided of the stacked workpiece (6) of electric energy between fixed electrode (3) and travelling electrode (4) and between these electrodes (3) and (4) to clamping and being pressed in and welding.This method comprises the following steps：Before actual welding operation, the position of travelling electrode (4) when measurement workpiece (6) is clamped by these electrodes (3) and (4), and the measured value is stored as a reference value TH；When carrying out actual welding operation, the position TR of travelling electrode (4) when measurement workpiece (6) is clamped by these electrodes (3) and (4)；And by position TR compared with a reference value TH, welding operation is thus performed when position TR is in preset range relative to a reference value TH, and given a warning when position TR is not in the preset range and interrupt welding and operated.
Description
Technical field
The present invention relates to a kind of spot welding method and equipment, for by by stacked Workpiece clamping and being pressed between a pair of electrodes
And inputing power between the electrodes, to weld the stacked workpiece, more particularly, to a kind of method and apparatus, for from
The dynamic detection missing of workpiece or sandwiching for foreign matter.
Background technology
By by stacked Workpiece clamping and being pressed between a pair of electrodes and inputing power welds this between the electrodes
The spot welding of stacked workpiece often uses in the field on the chassis of assembling motor vehicle etc..Especially in the last few years, by by electronics point
Welding gun (driving and compress its electrode by servomotor) replaces pneumatic means to be arranged on industrial robot to perform automatically
The spot-welding equipment of spot welding and spot welding robot have obtained widely available.
On the automatic assembly line using spot welding robot, in upstream, work step is assembled to workpiece and carried out by fixture
It is fixed, to send it to spot welding work step.For some reason, if workpiece lacks without correctly fixed, to be assembled part
Or sandwiched foreign matter, then can ignore these defects because of being unmanned production line, so as to cause to carry out as usual spot welding and
The problem of workpiece is sent to downstream work step.
In order to solve the problem, it has been proposed that the invention (for example, patent gazette 1 or patent gazette 2) of following mash welders, should
Mash welder is examined by determining the resistance between electrode when by Workpiece clamping between spot-wedling electrode according to the size of the resistance
Survey the exception or missing of workpiece.
The content of the invention
However, problems be present using the method for the resistance between electrode：The abrasion of electrode becomes conductive area
Change, changed so as to the resistance of plate thickness direction so that can not accurately be determined.Further, since resistance is to push down
Measured after workpiece, so foring nugget (nugget) on the surface of workpiece.As a result, resistance changes, so as to lead
Cause problems with：Even if again attempting to be welded by removing defect, NG products can be also produced.
It is therefore an object of the present invention to provide a kind of mash welder, it can reliably be detected such as before welding operates
The defects of workpiece lacks or sandwiches foreign matter.
In order to solve the above problems, according to the present invention, there is provided a kind of spot welding method, for clamping and being pressed in fixed electricity
The stacked workpiece for being provided of between pole and travelling electrode and between these electrodes electric energy is welded, it is characterised in that
The spot welding method comprises the following steps：Before actual welding operation, the position of travelling electrode when measurement workpiece is clamped by electrode
Put, and store the measured value as a reference value；When carrying out actual welding operation, measurement workpiece removable electricity when being clamped by electrode
The position of pole；And by the position compared with a reference value, thus it is in predetermined model relative to a reference value in the position
Welding operation is performed when enclosing interior, and is given a warning when the position is not in the preset range and interrupts welding and operated.
As described above, effect of the invention is that：Workpiece floor is detected with reference to the stroke (travel) of travelling electrode
Thickness, so as to reliably detect the defects of such as workpiece lacks.Furthermore, it is possible to save the special hard of such as sensor special
Part, so as to inexpensively detect simply and to defect, to improve spot welding machine human reriability.
Brief description of the drawings
Fig. 1 is the concept map for implementing the spot-welding gun of the present invention.
Drawing reference numeral：
1 spot-welding gun
2 frameworks
3 fixed electrodes
4 travelling electrodes
5 servomotors
6 workpiece
Embodiment
In order to make the purpose , technical scheme and advantage of the present invention be clearer, it is right below in conjunction with drawings and Examples
The present invention is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, and
It is not used in the restriction present invention.
Embodiment 1
Fig. 1 is a weld through the concept map of rifle and shows embodiments of the invention.In the figure, label 1 represents spot-welding gun.
Spot-welding gun 1 is integrally equipped with unshowned transformer, and installed in the front end of unshowned robot, so that spot-welding gun 1
The position programmed is moved in the control device of aforementioned machines people, thus performs spot welding.
Label 2 represents the framework of the spot-welding gun 1, and fixed electrode 3 is arranged on the bottom of the framework, and travelling electrode
4 are arranged on top.Travelling electrode 4 is driven by servomotor 5, so that it is moved up and down, workpiece 6 is clamped
And its own is pressed between fixed electrode 3.By the above-mentioned control device of above-mentioned robot, the additional shaft as the robot
Servomotor 5 is controlled, so as to optionally control the position of travelling electrode 4, speed and thrust (or pressure
Power).
Next, spot welding method of the explanation according to the spot-welding gun 1.The spot welding method of the present invention is divided into " thickness of slab measurement " step
" test " step.
(thickness of slab measurement)
(1) (set) benchmark workpiece is fixed by fixture.The benchmark workpiece is the workpiece for wanting actual processing, and by
Confirm without missing any part, wherein also not sandwiching foreign matter.
(2) robot controller is switched into " use pattern " from " operation mode ", to select " thickness of slab measurement ".
(3) welding job (program) is performed.Select " use pattern " and " thickness of slab measurement ".In this case, not
Actual welding is performed, on the contrary, being actually that each solder joint performs thickness of slab measurement.
(4) thickness of slab measurement is performed, to measure the position (TH) that travelling electrode 4 abuts workpiece 6.Specifically, by table
Show that the number of pulses of the absolute encoder of the anglec of rotation of servomotor 5 is counted, and the number of pulses is multiplied by predetermined
Coefficient, to determine the TH.The TH corresponds to following strokes：From the corresponding with the zero point of whole encoder of travelling electrode 4
Position to against workpiece 6 position.A reference value in using the TH as " test " step.
(5) next, the permissible range (THA) of the above-mentioned position (TH) at each solder joint to be set as to hundred for the TH
Divide ratio.Specifically, if the TH is fluctuated beyond ± THA% scope, it is determined that workpiece, defect be present or sandwiched foreign matter.
(6) TH at each solder joint and THA are stored in robot controller.
(test)
When performing the work under playback mode (playback mode), tested at each solder joint.Here, Gu
The abrasion of fixed electrode 3 and travelling electrode 4 can cause problem.Because abrasion of the movement of travelling electrode 4 with electrode
And increase.Therefore, the periodically abrasion of (for example, every 100 solder joints) measuring electrode.Can be by following operations come simple
Ground determines the measurement result of abrasion：Sky is carried out in spot-welding gun 1 to spot-welding gun 1 in the case of no clamping workpiece 6 to penetrate, and will
The stroke (action) of travelling electrode is carried out with the stroke before abrasion when fixed electrode 3 and travelling electrode 4 are close to each other
Compare.DMF used below represents the abrasion.
The test is performed with following process.
(1) fixed electrode 3 is made to abut the back side of workpiece 6.
(2) make the activity of travelling electrode 4, with against the front of workpiece 6, and determine the position of now travelling electrode 4
(TR).Similar with TH, TR is also by the way that the number of pulses of absolute encoder is multiplied by into predetermined coefficient to determine.
(3) determination value (TR-DMF) and by compared with its position (or a reference value) TH when thickness of slab measures, the value
(TR-DMF) position TR is corrected by using abrasion and prepared.
(4) in the case where TR-DMF value is more than TH* (100+THA)/100, it is determined that the missing of any workpiece be present, and
Spot welding is interrupted to give a warning.
(5) in the case where TR-DMF values are less than TH* (100+THA)/100, determine to have sandwiched foreign matter in workpiece, and interrupt
Spot welding is to give a warning.
(6) when the worker for receiving above-mentioned warning eliminates the defects of such as workpiece lacks, the worker releases warning simultaneously
Restart spot weld operation.
" the thickness of slab measurement " and " test " are performed by the software in the control device of robot, but can also be passed through
The control device of the source of welding current performs " the thickness of slab measurement " and " test ".If in addition, by " thickness of slab measurement " and " test "
The pressure selection of travelling electrode 4 is the value smaller than actual welding, then can prevent from producing nugget on workpiece 6.
Industrial usability
The thickness of slab of workpiece is detected with reference to the stroke of travelling electrode, so as to reliably detect such as workpiece missing
Defect, and present invention could apply to the spot welding robot for the specialized hardware for eliminating such as sensor special.
Claims (2)
1. a kind of spot welding method, for clamp and be pressed between fixed electrode and travelling electrode and between these electrodes by
The stacked workpiece for providing electric energy is welded, it is characterised in that the spot welding method comprises the following steps：
Before actual welding operation, the position of travelling electrode when measurement workpiece is clamped by the electrode, and store and be somebody's turn to do
Measured value is as a reference value；
When carrying out actual welding operation, the position of travelling electrode when measurement workpiece is clamped by the electrode；And
By the position compared with a reference value, thus preset range is in relative to a reference value in the position
Welding operation is performed when interior, and is given a warning when the position is not in the preset range and interrupts welding and operated.
2. a kind of spot-welding equipment, for clamp and be pressed between fixed electrode and travelling electrode and between these electrodes by
The stacked workpiece for providing electric energy is welded, it is characterised in that the spot-welding equipment includes：
Memory cell, for before actual welding operates, measuring travelling electrode when workpiece is clamped by the electrode
Position, and the measured value is stored as a reference value；
Measuring unit, for when carrying out actual welding operation, measuring travelling electrode when workpiece is clamped by the electrode
Position；And
Comparing unit, for by the position compared with a reference value, thus in the position relative to the benchmark
Welding operation is performed when value is in preset range, and gives a warning and interrupts when the position is not in the preset range
Welding operation.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710819691.1A CN107414273A (en) | 2017-09-13 | 2017-09-13 | Spot welding method, spot-welding equipment and spot welding robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710819691.1A CN107414273A (en) | 2017-09-13 | 2017-09-13 | Spot welding method, spot-welding equipment and spot welding robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107414273A true CN107414273A (en) | 2017-12-01 |
Family
ID=60432038
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710819691.1A Pending CN107414273A (en) | 2017-09-13 | 2017-09-13 | Spot welding method, spot-welding equipment and spot welding robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107414273A (en) |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1798629A (en) * | 2003-06-04 | 2006-07-05 | 株式会社安川电机 | Spot welding method, spot welding machine and spot welding robot |
| CN101920388A (en) * | 2009-05-29 | 2010-12-22 | 泰克纳股份公司 | Be used to detect the device and the relevant welding machine equipped therewith of soldered material thickness |
| CN105328699A (en) * | 2014-08-05 | 2016-02-17 | 罗伯特·博世有限公司 | Intelligent robot welding system and method |
-
2017
- 2017-09-13 CN CN201710819691.1A patent/CN107414273A/en active Pending
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1798629A (en) * | 2003-06-04 | 2006-07-05 | 株式会社安川电机 | Spot welding method, spot welding machine and spot welding robot |
| CN101920388A (en) * | 2009-05-29 | 2010-12-22 | 泰克纳股份公司 | Be used to detect the device and the relevant welding machine equipped therewith of soldered material thickness |
| CN105328699A (en) * | 2014-08-05 | 2016-02-17 | 罗伯特·博世有限公司 | Intelligent robot welding system and method |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20171201 |
|
| WD01 | Invention patent application deemed withdrawn after publication |