CN109332871B - Welding machine and welding system - Google Patents

Welding machine and welding system Download PDF

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Publication number
CN109332871B
CN109332871B CN201811166995.3A CN201811166995A CN109332871B CN 109332871 B CN109332871 B CN 109332871B CN 201811166995 A CN201811166995 A CN 201811166995A CN 109332871 B CN109332871 B CN 109332871B
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China
Prior art keywords
height
electrode
robot
processor
welding machine
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CN201811166995.3A
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CN109332871A (en
Inventor
艾穗江
黄志华
陈文坚
黎咸勇
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Guangdong Macro Gas Appliance Co Ltd
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Guangdong Macro Gas Appliance Co Ltd
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Publication of CN109332871A publication Critical patent/CN109332871A/en
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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
    • B23K11/36—Auxiliary equipment
    • 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
    • B23K11/30—Features relating to electrodes
    • 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
    • B23K11/31—Electrode holders and actuating devices therefor
    • B23K11/314—Spot welding guns, e.g. mounted on robots

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Resistance Welding (AREA)

Abstract

The embodiment of the invention provides a welding system, and relates to a height sensing device, a welding machine and a welding system. The welding system comprises a processor, a robot and a welding machine, wherein the welding machine comprises a base, a first electrode, a second electrode and a height sensing device, the height sensing device comprises an inductor, an elastic piece and a push rod, and the inductor is used for acquiring the height of the push rod. The sensor is used for transmitting the first height and the pre-stored second height to the processor; the processor is used for calculating the height variation according to the first height and the pre-stored second height, and adjusting the working height of the robot according to the height variation. Therefore, the working height of the robot can be adjusted according to the height variation, the problem of poor welding quality of robot parts can be effectively avoided, and the problem of damage to robots is avoided.

Description

Welding machine and welding system
Technical Field
The invention relates to the field of high induction, in particular to a welding machine and a welding system.
Background
The existing part welding system generally comprises a welding machine and a robot, wherein the welding process is that the robot places a part to be welded in a welding area of the welding machine, and then the welding machine works to weld the part.
In the existing part welding system, when the robot grabs the bottom cover to weld the upper plate and the lower plate on the welding machine, the robot fixes the bottom cover on the lower electrode of the energy storage welding machine for welding, after the lower electrode works for a certain number of times, the height of the lower electrode is reduced, the height of the electrode surface is uneven, at the moment, the electrode is required to be manually ground, so that the robot cannot acquire the height position information after electrode grinding, after the robot grabs the part, the original height of the part is kept, the heights of the two parts are inconsistent, poor welding quality of the part is caused, meanwhile, the upper electrode of the welding machine presses the part downwards, and the part drives the robot downwards, so that the robot is damaged.
Disclosure of Invention
The embodiment of the invention aims to provide a height sensing device so as to realize the measurement of the height of a welding machine electrode and solve the problems of inconsistent welding height of parts, damage to a robot and the like.
In order to achieve the above object, the technical scheme adopted by the embodiment of the invention is as follows:
in a first aspect, the present invention provides a height sensing device, where the height sensing device includes an inductor, an elastic member, and a push rod, and two ends of the elastic member are respectively connected to the inductor and the push rod. The inductor is used for acquiring the height of the ejector rod.
In a second aspect, the invention further provides a welding machine, which comprises a base, a first electrode, a second electrode and a height sensing device, wherein the height sensing device comprises an inductor, an elastic piece and a push rod, two ends of the elastic piece are respectively connected with the inductor and the push rod, and the inductor is used for acquiring the height of the push rod; the first electrode and the second electrode are oppositely arranged, the second electrode is arranged on the base, the height sensing device is embedded in the base, the ejector rod penetrates through the second electrode, and the sensor is used for acquiring the first height of the ejector rod when the first electrode and the second electrode are in a first state.
Further, the base is provided with a first through hole, the second electrode is provided with a second through hole, the first through hole is communicated with the second through hole to form a containing space, and the height sensing device is arranged in the containing space. Further, the base is provided with a first through hole, the second electrode is provided with a second through hole, the first through hole is communicated with the second through hole to form a containing space, and the height sensing device is arranged in the containing space.
Further, the welding machine further comprises a welding machine main body, the first electrode is arranged on the welding machine main body, and the welding machine main body is used for driving the first electrode to move.
Further, the welding machine further comprises a supporting body, the welding machine further comprises a first connecting piece, and two sides of the first connecting piece are fixedly connected with the welding machine main body and the first electrode respectively.
Further, the welder further comprises a first connecting piece, and the base is fixed on the supporting body through the first connecting piece.
Further, the welding machine further comprises a supporting body, and the welding machine main body is arranged on the supporting body.
Further, the welding machine further comprises a second connecting piece, and two sides of the second connecting piece are fixedly connected with the supporting body and the base respectively.
Further, the first state is a state when the first electrode and the second electrode of the welding machine are overlapped.
In a third aspect, an embodiment of the present invention further provides a welding system, where the welding system includes a processor, a robot, and a welder as described, and the processor is electrically connected to both the robot and the sensor;
The sensor is for transmitting the first height to the processor;
The processor is used for calculating the height variation according to the first height and the pre-stored second height, and adjusting the working height of the robot according to the height variation;
the second pre-stored height is the height of the ejector rod when the first electrode and the second electrode coincide when the welding machine works for the first time.
In a fourth aspect, an embodiment of the present invention further provides a welding system, where the welding system includes a processor, a robot, and a welder as described, and the processor is electrically connected to both the robot and the sensor;
The sensor is for transmitting the first height to the processor;
the processor is used for calculating a first height difference according to the first height and the pre-stored ejector rod height, and calculating a second height difference according to the pre-stored second height and the pre-stored ejector rod height;
the processor is also used for calculating the height variation according to the first height difference and the second height difference and adjusting the working height of the robot according to the height variation; the height of the pre-stored ejector rod is the height of the ejector rod when the welding machine is in a second state, and the second pre-stored height is the height of the ejector rod when the first electrode and the second electrode are in a first state when the welding machine works for the first time.
The welding system comprises a processor, a robot and a welding machine, wherein the welding machine comprises a base, a first electrode, a second electrode and a height sensing device, the height sensing device comprises an inductor, an elastic piece and a push rod, two ends of the elastic piece are respectively connected with the inductor and the push rod, and the inductor is used for acquiring the height of the push rod. The processor is electrically connected with the robot and the sensor; the sensor is used for transmitting the first height and the pre-stored second height to the processor; the processor is used for calculating the height variation according to the first height and the pre-stored second height, and adjusting the working height of the robot according to the height variation; the first height is the height of the ejector rod when the first electrode and the second electrode are in a first state, and the first state is the state when the first electrode and the second electrode of the welding machine are overlapped; the second height of the pre-storage is the height of the ejector rod when the first electrode is overlapped with the second electrode during the first working. Therefore, the height variation calculated based on the first height and the pre-stored second height reflects the reduced height of the second electrode, and therefore the problem of poor welding quality of robot parts can be effectively avoided by adjusting the working height of the robot according to the height variation, and the problem of damage to robots is avoided.
Additional features and advantages of the invention will be set forth in the description which follows, and in part will be apparent from the description, or may be learned by practice of the embodiments of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and claims thereof as well as the appended drawings.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are needed in the embodiments will be briefly described below, it being understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and other related drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 shows a schematic structural diagram of a height sensing device according to an embodiment of the invention.
Fig. 2 shows a schematic structural diagram of a welder provided by an embodiment of the invention.
Fig. 3 shows a schematic diagram of a front structure of a welder provided by an embodiment of the invention.
Fig. 4 shows a block schematic diagram of a welding system provided by an embodiment of the invention.
Fig. 5 shows another block schematic diagram of a welding system provided by an embodiment of the present invention.
Fig. 6 shows an illustrative ram height view of a welding system provided by an embodiment of the present invention.
Icon: 100-height sensing means; 110-ejector rod; 120-elastic members; 130-an inductor; 200-welding machine; 220-a welder body; 230-a support; 221-first connector; 222-a first electrode; 223-a second electrode; 225-base; 227-a second connector; 300-a processor; 400-robot.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. The components of the embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the invention, as presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be made by a person skilled in the art without making any inventive effort, are intended to be within the scope of the present invention.
In the description of the present invention, it should also be noted that, unless explicitly specified and limited otherwise, the terms "disposed," "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present invention will be understood in specific cases by those of ordinary skill in the art.
It should be noted that: like reference numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further definition or explanation thereof is necessary in the following figures.
In the description of the present invention, it should be noted that, directions or positional relationships indicated by terms such as "upper", "lower", "left", "right", "inner", "outer", etc., are directions or positional relationships based on those shown in the drawings, or those that are conventionally put in use of the inventive product, are merely for convenience of describing the present invention and simplifying the description, and do not indicate or imply that the apparatus or elements referred to must have a specific direction, be configured and operated in a specific direction, and thus should not be construed as limiting the present invention. The above description is only of the preferred embodiments of the present invention and is not intended to limit the present invention, but various modifications and variations can be made to the present invention by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Furthermore, the terms "horizontal," "vertical," "overhang," and the like do not denote a requirement that the component be absolutely horizontal or overhang, but rather may be slightly inclined. As "horizontal" merely means that its direction is more horizontal than "vertical", and does not mean that the structure must be perfectly horizontal, but may be slightly inclined.
It should be noted that: like reference numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further definition or explanation thereof is necessary in the following figures. Meanwhile, in the description of the present invention, the terms "first", "second", and the like are used only to distinguish the description, and are not to be construed as indicating or implying relative importance.
First embodiment
Referring to fig. 1, a schematic diagram of a height sensing device 100 according to an embodiment of the invention is shown. The height sensing device 100 includes an inductor 130, an elastic member 120 and a push rod 110, wherein two ends of the elastic member 120 are respectively connected with the inductor 130 and the push rod 110.
One end of the inductor 130 is connected to the elastic member 120, and the other end of the inductor 130 is connected to the base 225.
The sensor 130 is used for acquiring the height of the ejector pin 110 when the elastic member 120 is in different states. For example, the sensor 130 may acquire the height of the jack 110 when the elastic member 120 is in a compressed state; or the height of the ejector pin 110 when the elastic member 120 is in a natural state.
One end of the elastic member 120 is connected to the inductor 130, and the other end of the elastic member 120 is connected to the jack 110. The elastic member 120 serves to buffer the downward pressure of the jack 110.
In a preferred embodiment, the resilient member 120 is a spring or elastomeric rubber.
The ejector pin 110 is connected with the elastic member 120. When the ejector pin 110 receives external pressure, it moves downward to compress the elastic member 120; when the outside pressure of the ejector pin 110 is removed, the elastic member 120 is restored to a natural state. Furthermore, it can be appreciated that the height of the ejector pin 110 is maintained as the ejector pin 110 is subjected to external pressure and compresses the elastic member 120, and the height of the ejector pin 110 is continuously lowered until the elastic member 120 cannot be compressed or the ejector pin 110 cannot be moved.
Second embodiment
An embodiment of the present invention provides a welder 200 for welding parts. Referring to fig. 2, a schematic structural diagram of a welder 200 according to an embodiment of the invention is shown. Welder body 220 the welder 200 comprises a welder body 220, a support 230, a base 225, a first electrode 222, a second electrode 223, a first connector 221, a second connector 227, and a height sensing device 100 as described in example one, the height sensing device 100 comprising an inductor 130, an elastic member 120, and a lift pin 110.
The support 230 is used for fixing the welder main body 220 and the second connector 227.
In a preferred embodiment, the support 230 includes a first support portion and a second support portion, and one end of the first support portion is connected to the second support portion.
Wherein, the welding machine main body 220 and the second connecting piece 227 are both fixedly arranged on the first supporting portion, and the welding machine main body 220 is located above the second connecting piece 227.
The second supporting portion is used as a supporting component of the welding machine 200, so that the welding machine 200 can be stably arranged on the ground or a workbench.
The welder main body 220 is fixedly connected with the supporting body 230; the welder body 220 is used to move the first electrode 222 up and down.
In a preferred embodiment, the welder body 220 includes a housing fixedly coupled to the support 230 and a driving assembly disposed within the housing for driving the first electrode 222 to move up and down.
One end of the first connection member 221 is connected to the welder body 220, and the other end of the first connection member 221 is connected to the first electrode 222.
By providing the first connecting piece 221, the welding machine main body 220 can be prevented from being in direct contact with the first electrode 222, so that the influence of heat generated during the operation of the welding machine main body 220 on the first electrode 222 is avoided.
The first electrode 222 is connected to one end of the first connection member 221, and is connected to the welder 200 body through the first connection member 221. The first electrode 222 is used as an upper electrode and is used in cooperation with a lower electrode to complete a welding operation. When the welder works, the welder 200 drives the first electrode 222 to move downwards, so that the first electrode 222 works downwards and contacts the ejector rod 110 first, and then drives the ejector rod 110 to move downwards.
The second connector 227 is used to fix the base 225 to the support 230.
The second electrode 223 is disposed on the base 225, and is used as a lower electrode and cooperates with the upper electrode to complete the welding operation. When the welder 200 works, an object to be welded is placed on the second electrode 223, and the welder 200 drives the first electrode 222 to move downwards, so that the first electrode 222 and the second electrode 223 are driven to weld the object to be welded.
The first electrode 222 is disposed opposite to the second electrode 223.
The base 225 is connected to the supporting body 230 through the second connecting piece 227, and is provided with a first through hole for embedding the height sensing device 100, and is also used for supporting the second electrode 223.
It should be noted that, the base 225 is provided with a first through hole, the second electrode 223 is provided with a second through hole, the first through hole and the second through hole are communicated to form a containing space, the height sensing device 100 is disposed in the containing space, the ejector rod 110 penetrates through the second electrode 223, and the highest surface of the ejector rod 110 is higher than the second electrode 223.
It should be noted that, the basic principle and the technical effects of the height sensing device 100 according to the embodiment of the present invention are the same as those of the first embodiment, and for brevity, reference should be made to the corresponding contents of the above-mentioned embodiment.
The working principle of the welder 200 provided by the invention is as follows: when the welder 200 works, the robot 400 places an object to be welded on the second electrode 223, and the welder main body 220 drives the first electrode 222 to move downwards, so that the first electrode 222 and the second electrode 223 are driven to weld the object to be welded; meanwhile, in the process that the first electrode 222 moves downwards, the first electrode 222 compresses the ejector rod 110, the ejector rod 110 applies pressure to the elastic member 120, so that the elastic member 120 is compressed, the height of the ejector rod 110 is reduced, when the first electrode 222 is overlapped with the second electrode 223, the height of the ejector rod 110 is kept unchanged, and the sensor 130 collects the height of the ejector rod at the moment and transmits the height of the ejector rod to the processor 300 for processing.
Third embodiment
The embodiment of the invention provides a welding system. Referring to fig. 4 and 5, functional block diagrams of a welding system according to an embodiment of the invention are shown. The welding system includes a processor 300, a robot 400, and a welder 200; wherein the processor 300 is electrically connected to both the robot 400 and the welder 200.
The welder 200 is electrically connected with the processor 300; it should be noted that, for the sake of brevity, the basic principle and the technical effects of the welder 200 provided in the present embodiment are the same as those of the welder 200 provided in the second embodiment, and reference may be made to the corresponding contents in the above embodiments for the non-mention portions of the present embodiment.
Specifically, the inductor 130 of the welder 200 is electrically connected to the processor 300. The sensor 130 is used for acquiring a first height of the lift pin 110 when the first electrode and the second electrode are in the first state, and transmitting the first height to the processor 300.
Wherein the first electrode and the second electrode are in a state when the first electrode and the second electrode of the first state fingerwelding machine are overlapped.
The welder 200 is also used to control the operation of the first electrode 222 and the second electrode 223, and also to receive information from the processor 300, including primarily welder 200 operating status information. After the welder 200 receives the information about the operating state of the welder 200, corresponding operating state adjustments are made, including power on, power off, etc.
The robot 400 is electrically connected to the processor 300, and is configured to place an object to be welded on the second electrode 223 under the control of the processor 300, and the welder body 220 drives the first electrode 222 to move downward, thereby causing the first electrode 222 and the second electrode 223 to weld the object to be welded.
Further, the robot 400 is further configured to receive information from the processor 300, where the information mainly includes information on a working height of the robot 400, information on a status of the robot 400, and the like, and after the robot 400 receives the information on the working height of the robot 400, the working height of the robot 400 is appropriately adjusted according to the height variation, so as to ensure welding quality of the parts. The robot 400 is also used to send information to the processor 300.
The processor 300 is electrically connected to the robot 400 and the sensor 130.
The processor 300 is configured to receive the first height of the ram 110 transmitted from the sensor 130, calculate a height variation according to the first height and the pre-stored second height, and adjust the working height of the robot according to the height variation. The calculation process is to subtract the smaller number from the larger number in the first height and the pre-stored second height to obtain the height variation.
The first height is the height of the ejector rod when the first electrode is overlapped with the second electrode. The second pre-stored height is the height of the lift pin 110 when the first electrode 222 coincides with the second electrode 223 when the welder 200 is first operated.
Referring to fig. 6, an illustration of a height of a mandrel of a welding system according to an embodiment of the present invention is shown. Wherein h1 is a first height, h2 is a pre-stored second height, and Δh is a height variation. Wherein Δh=h2-h 1.
It should be noted that, when the welder 200 is operated for the first time, the second electrode 223 is still in an unground state.
Further, the processor 300 is further configured to obtain information from the robot 400, where the information from the robot 400 mainly includes status information of the robot 400, for example: whether the robot 400 is in an operating state, whether the robot 400 is in a standby state, and the like.
The processor 300 is also configured to send information to the welder 200 and to the robot 400, the information sent to the welder 200 mainly including control information, such as: welder 200 operation control information, etc.; the information transmitted to the robot 400 mainly includes control information such as: robot 400 working height control information, robot 400 state control information, and the like.
Fourth embodiment
The present invention also provides another welding system, and it should be noted that, for brevity, reference should be made to the corresponding contents of the above embodiments for the description of the embodiment, where the basic principle and the technical effects of the welding system provided by the embodiment are the same as those of the above embodiments.
The embodiment of the invention provides a welding system. Referring to fig. 4 and 5, functional block diagrams of a welding system according to an embodiment of the invention are shown. The welding system includes a processor 300, a robot 400, and a welder 200; wherein the processor 300 is electrically connected to both the robot 400 and the welder 200.
The welder 200 is electrically connected with the processor 300; it should be noted that, for the sake of brevity, the basic principle and the technical effects of the welder 200 provided in the present embodiment are the same as those of the welder 200 provided in the second embodiment, and reference may be made to the corresponding contents in the above embodiments for the non-mention portions of the present embodiment.
Specifically, the inductor 130 of the welder 200 is electrically connected to the processor 300. The sensor 130 is used for acquiring a first height of the lift pin 110 when the first electrode and the second electrode are in the first state, and transmitting the first height to the processor 300.
Wherein the first electrode and the second electrode are in a state when the first electrode and the second electrode of the first state fingerwelding machine are overlapped.
The welder 200 is also used to control the operation of the first electrode 222 and the second electrode 223, and also to receive information from the processor 300, including primarily welder 200 operating status information. After the welder 200 receives the information about the operating state of the welder 200, corresponding operating state adjustments are made, including power on, power off, etc.
The robot 400 is electrically connected to the processor 300, and is configured to place an object to be welded on the second electrode 223 under the control of the processor 300, and the welder body 220 drives the first electrode 222 to move downward, thereby causing the first electrode 222 and the second electrode 223 to weld the object to be welded.
Further, the robot 400 is further configured to receive information from the processor 300, where the information mainly includes control information of a working height of the robot 400, control information of a state of the robot 400, and the like, and after the robot 400 receives the control information of the working height of the robot 400, the working height of the robot 400 is appropriately adjusted according to the height variation, so as to ensure welding quality of the parts. The robot 400 is also used to send information to the processor 300.
The processor 300 is electrically connected to the robot 400 and the sensor 130.
The processor 300 is configured to receive the first height of the ram 110 transmitted from the sensor 130, calculate a height variation according to the first height, the pre-stored second height and the pre-stored ram height, and adjust the working height of the robot according to the height variation. The calculating process comprises the steps of calculating a first height difference according to the first height and the pre-stored ejector rod height, calculating a pre-stored second height difference according to the pre-stored second height and the pre-stored ejector rod height, and finally calculating the height variation according to the first height difference and the pre-stored second height difference.
The first height is the height of the ejector rod when the first electrode is overlapped with the second electrode. The second pre-stored height is the height of the lift pin 110 when the first electrode 222 coincides with the second electrode 223 when the welder 200 is first operated. The pre-stored ram height is the ram 110 height when the ram 110 is in a natural state when the welder 200 is not in operation.
Referring to fig. 6, an illustration of a height of a mandrel of a welding system according to an embodiment of the present invention is shown. Wherein h1 is the first height, h2 is the second height of the pre-storage, h is the height of the pre-storage ejector rod, and Δh is the height variation. Wherein Δh1=h-h 1, Δh2=h-h 2, Δh= Δh2- Δh1.
It should be noted that, when the welder 200 is operated for the first time, the second electrode 223 is still in an unground state.
Further, the processor 300 is further configured to obtain information from the robot 400, where the information from the robot 400 mainly includes status information of the robot 400, for example: whether the robot 400 is in an operating state, whether the robot 400 is in a standby state, and the like.
The processor 300 is also configured to send information to the welder 200 and to the robot 400, the information sent to the welder 200 mainly including control information, such as: welder 200 operation control information, etc.; the information transmitted to the robot 400 mainly includes control information such as: robot 400 working height control information, robot 400 state control information, and the like.
The welding system comprises a processor, a robot and a welding machine, wherein the welding machine comprises a base, a first electrode, a second electrode and a height sensing device, the height sensing device comprises an inductor, an elastic piece and a push rod, two ends of the elastic piece are respectively connected with the inductor and the push rod, and the inductor is used for acquiring the height of the push rod. The processor is electrically connected with the robot and the sensor; the sensor is used for transmitting the first height and the pre-stored second height to the processor; the processor is used for calculating the height variation according to the first height and the pre-stored second height, and adjusting the working height of the robot according to the height variation; the first height is the height of the ejector rod when the first electrode and the second electrode are in a first state, and the first state is the state when the first electrode and the second electrode of the welding machine are overlapped; the second height of the pre-storage is the height of the ejector rod when the first electrode is overlapped with the second electrode during the first working. Therefore, the height variation calculated based on the first height and the pre-stored second height reflects the reduced height of the second electrode, and therefore the problem of poor welding quality of robot parts can be effectively avoided by adjusting the working height of the robot according to the height variation, and the problem of damage to robots is avoided.
The above description is only of alternative embodiments of the present invention and is not intended to limit the present invention, and various modifications and variations will be apparent to those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention. It should be noted that: like reference numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further definition or explanation thereof is necessary in the following figures.

Claims (6)

1. A welding machine, which is characterized by comprising a base, a first electrode, a second electrode and a height sensing device;
the height sensing device comprises an inductor, an elastic piece and a push rod, wherein two ends of the elastic piece are respectively connected with the inductor and the push rod;
the inductor is used for acquiring the height of the ejector rod;
The first electrode and the second electrode are oppositely arranged, the second electrode is arranged on the base, the height sensing device is embedded in the base, the ejector rod penetrates through the second electrode, and the sensor is used for acquiring the first height of the ejector rod when the first electrode and the second electrode are in a first state; the first state is a state when the first electrode and the second electrode of the welding machine are overlapped;
The base is provided with a first through hole, the second electrode is provided with a second through hole, the first through hole is communicated with the second through hole to form a containing space, and the height sensing device is arranged in the containing space;
The welding machine further comprises a welding machine main body, the first electrode is arranged on the welding machine main body, and the welding machine main body is used for driving the first electrode to move.
2. The welding machine of claim 1 further comprising a first connector, wherein two sides of the first connector are fixedly connected to the welding machine body and the first electrode, respectively.
3. The welder of claim 1 further comprising a support, the welder body disposed to the support.
4. The welding machine of claim 3 further comprising a second connector, wherein two sides of the second connector are fixedly connected to the support and the base, respectively.
5. A welding system comprising a processor, a robot, and the welder of claim 1, the processor electrically connected to both the robot and the sensor;
The sensor is for transmitting the first height to the processor;
the processor is used for subtracting the first height from the prestored second height to obtain a height variation, and adjusting the working height of the robot according to the height variation;
the second pre-stored height is the height of the ejector rod when the first electrode and the second electrode coincide when the welding machine works for the first time.
6. A welding system comprising a processor, a robot, and the welder of claim 1, the processor electrically connected to both the robot and the sensor;
The sensor is for transmitting the first height to the processor;
the processor is used for subtracting the first height from the prestored ejector rod height to obtain a first height difference, and subtracting the prestored second height from the prestored ejector rod height to obtain a second height difference;
The processor is further used for subtracting the first height difference from the second height difference to obtain a height variation, and adjusting the working height of the robot according to the height variation; the height of the pre-stored ejector rod is the height of the ejector rod when the welding machine is in a natural state without working, and the second height of the pre-stored ejector rod is the height of the ejector rod when the first electrode and the second electrode are in a first state when the welding machine works for the first time.
CN201811166995.3A 2018-10-08 2018-10-08 Welding machine and welding system Active CN109332871B (en)

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CN1251548A (en) * 1997-02-07 2000-04-26 株式会社安川电机 Method for detecting abrasion quantity of welding gun electrode and welding method
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CN209035694U (en) * 2018-10-08 2019-06-28 广东万家乐燃气具有限公司 A kind of height induction device, welding machine and welding system

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JPH11285849A (en) * 1998-02-04 1999-10-19 Nissan Motor Co Ltd Device for detecting position of electrode for spot welding machine, its detecting method and its correcting method
JP2007114106A (en) * 2005-10-21 2007-05-10 Mitsutoyo Corp Displacement sensor and surface property measuring instrument
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