CN110834138A - Spot welding robot workstation capable of automatically detecting grinding quality - Google Patents
Spot welding robot workstation capable of automatically detecting grinding quality Download PDFInfo
- Publication number
- CN110834138A CN110834138A CN201810925853.4A CN201810925853A CN110834138A CN 110834138 A CN110834138 A CN 110834138A CN 201810925853 A CN201810925853 A CN 201810925853A CN 110834138 A CN110834138 A CN 110834138A
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- CN
- China
- Prior art keywords
- robot
- welding
- grinding
- automatically detecting
- controller
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000003466 welding Methods 0.000 title claims abstract description 100
- 230000010485 coping Effects 0.000 claims abstract description 19
- RYGMFSIKBFXOCR-UHFFFAOYSA-N Copper Chemical compound [Cu] RYGMFSIKBFXOCR-UHFFFAOYSA-N 0.000 claims description 3
- 229910052802 copper Inorganic materials 0.000 claims description 3
- 239000010949 copper Substances 0.000 claims description 3
- 239000000428 dust Substances 0.000 claims description 3
- 238000005476 soldering Methods 0.000 claims 3
- 238000001514 detection method Methods 0.000 abstract description 5
- HVYLDJKDVOOTHV-UHFFFAOYSA-N acetic acid;2-iminoethanethiol Chemical compound CC(O)=O.CC(O)=O.SCC=N HVYLDJKDVOOTHV-UHFFFAOYSA-N 0.000 description 3
- 238000005498 polishing Methods 0.000 description 3
- 238000002955 isolation Methods 0.000 description 2
- 238000012544 monitoring process Methods 0.000 description 2
- 230000002159 abnormal effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 238000012360 testing method 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
- B23K11/10—Spot welding; Stitch welding
- B23K11/11—Spot welding
-
- 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
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Finish Polishing, Edge Sharpening, And Grinding By Specific Grinding Devices (AREA)
Abstract
The invention relates to a spot welding robot workstation for automatically detecting grinding quality, which comprises: the robot comprises a robot, a robot welding tongs, a coping device, a clamp, a welding controller, a robot controller and a base, wherein the robot is a six-axis industrial robot and is fixed on the base, the fixing plane of the robot is parallel to the ground, the coping device is arranged on one side of the robot and is vertical to the ground, the robot welding tongs is connected with a mechanical arm of the robot, the welding controller is connected with the robot welding tongs through a cable and has a constant phase current output mode, and the clamp is used for fixing parts and is arranged in the working radius of the robot. Compared with the prior art, the grinding device has the advantages of no need of additional equipment for grinding detection, low cost, effective guarantee of grinding quality, strong expansibility and the like.
Description
Technical Field
The invention relates to the field of robots, in particular to a spot welding robot workstation capable of automatically detecting grinding quality.
Background
The robot spot welding needs to grind an electrode cap after welding a certain welding point to ensure the quality of the welding point, and for the state of the electrode cap after grinding, the prior art is to add a voltage measuring line on an electrode arm of a welding tongs, measure the resistance value of a secondary circuit after finishing grinding, and judge the grinding quality through the resistance value, but the technology is not completely popularized and can be used only by installing the voltage measuring line and purchasing a corresponding functional module.
Disclosure of Invention
The invention aims to overcome the defects in the prior art and provide a spot welding robot workstation capable of automatically detecting the grinding quality.
The purpose of the invention can be realized by the following technical scheme:
a spot welding robot workstation for automatically detecting grinding quality comprises: the robot comprises a robot, a robot welding tongs, a coping device, a clamp, a welding controller, a robot controller and a base, wherein the robot is a six-axis industrial robot and is fixed on the base, the fixing plane of the robot is parallel to the ground, the coping device is arranged on one side of the robot and is vertical to the ground, the robot welding tongs is connected with a mechanical arm of the robot, the welding controller is connected with the robot welding tongs through a cable and has a constant phase current output mode, and the clamp is used for fixing parts and is arranged in the working radius of the robot.
Preferably, the welding controller is a welder having a constant phase current output mode, and the current output range can be set for each welding program.
Preferably, the welding controller is a welding controller with a grinding counting function, and sends a grinding request output signal to the robot after the number of grinding points is reached.
Preferably, the welding controller is a welding controller with a current measuring function, after welding is completed, the welding controller can automatically measure the welding current, and when the measured welding current exceeds a set range, an alarm can be given to the robot.
Preferably, the base is fixed with the ground through expansion bolts for adjusting the fixing position of the robot.
Preferably, the welding controller is externally connected with a display screen capable of displaying current data.
Preferably, the welding cable of the robot welding tongs is connected with the welding controller through a pipeline packet on the robot.
Preferably, the sharpening device is a sharpening device with a dust suction mechanism, and can collect copper scraps of the cut electrode cap.
Preferably, the sharpening device is provided with a floating mechanism to compensate the sharpening position deviation of the welding tongs of the robot.
Preferably, the robot controller is provided with a demonstrator, when the welding machine gives an alarm, the demonstrator displays alarm information, and after the fault is eliminated, the program can be reset and continuously executed.
Compared with the prior art, the invention has the following advantages:
firstly, the cost is reduced: the current data which are different when the grinding is clean and the grinding is not clean are collected through the current detection function of the welding controller, the grinding machine is matched for automatic grinding detection, a voltage measuring line does not need to be installed, and a special functional module does not need to be purchased.
Secondly, the popularization is strong: the present invention can be used only by requiring the welder in the workstation to have a basic constant phase mode and current range monitoring for a single program.
Thirdly, effectively ensuring the grinding quality: poor grinding quality can lead to the problems of poor welding point quality, abnormal damage of a grinding device and the like, and the problems can be well solved by monitoring the grinding quality.
Drawings
Fig. 1 is a schematic diagram of the structure of the present invention.
The reference numbers illustrate:
1 is a robot; 2 is a robot welding tongs; 3, a coping device; 4, a clamp; 5 is a welding controller; and 6 is a robot controller.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, not all, embodiments of the present invention. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, shall fall within the scope of protection of the present invention.
As shown in fig. 1, the spot welding robot workstation for automatically detecting grinding quality of the present invention includes: the robot comprises a robot 1, a robot welding tongs 2, a coping device 3, a clamp 4, a welding controller 5, a robot controller 6 and a base, wherein the robot 1 is a six-axis industrial robot and is fixed on the base, the base is used for adjusting the fixed position of the robot 1 and is fixed with the ground through an expansion bolt, the fixed plane of the robot 1 is parallel to the ground, the coping device 3 is arranged on one side of the robot 1 and is vertical to the ground, the robot welding tongs 2 is connected with a mechanical arm of the robot 1, the welding controller 5 is connected with the robot welding tongs 2 through a cable and has a constant phase current output mode, the clamp 4 is used for fixing parts and is arranged in the working radius of the robot 1, the robot controller 6 is provided with a demonstrator, when the welding machine alarms, the demonstrator displays alarm information, after fault is eliminated, a program can be reset and continuously executed, the welding controller 5 is externally connected with a display screen capable of displaying current data, the welding cable of the robot welding tongs 2 is connected with a welding controller 5 through a pipeline package on the robot 1, the welding controller 5 is a welding machine with a constant phase current output mode or a welding controller 5 with a coping counting function or a welding controller 5 with a current measuring function, for the welding machine with the constant phase current output mode, a current output range can be set for each welding program, for the welding controller 5 with the coping counting function, a coping request output signal is sent to the robot 1 after the coping number is reached, for the welding controller 5 with the current measuring function, the welding current can be automatically measured after welding is completed, and when the measured welding current exceeds the set range, an alarm can be sent to the robot 1.
The specific manufacturer of the robot can be Fanuc, KUKA and the like, the welding controller needs to have a constant phase mode and can be Meida or Boseh and the like, the grinding machine 3 is further provided with a floating mechanism for compensating grinding position deviation of the welding tongs of the robot and a dust suction mechanism, copper scraps of the electrode caps after cutting can be collected, in addition, the grinding machine further comprises a base for fixing the robot, the base is connected with the ground through expansion bolts, the contact plane of the base and the robot is parallel to the horizontal plane, the welding tongs 2 of the robot is fixed on a sixth shaft of the robot 1 in a communicating mode, the grinding machine 3 is perpendicular to the horizontal plane, and the welding controller is provided with a current detection coil.
According to the invention, equipment does not need to be newly added on the basis of the existing workstation, a welding machine sends a coping request signal after counting to reach the coping number, the robot executes a coping program 'Tip stress', SPOT instructions are added in the Tip stress, and a specified welding program (the number of the welding program with the welding point not used can be called) is called. The welding program specifies a specific current range, the welding current mode adopts a constant phase mode, such as 10CYS at a welding time station, 3KN of welding clamp pressure and 15% of welding current, a certain amount of current data is measured according to a current detection coil arranged in a current acquisition device, a group of data which is not completely ground by an electrode cap and a group of data which is completely ground by the electrode cap are set, and the corresponding current range is set according to 2 groups of data. For example, the secondary current range can be set to be 3500A-5500A when the electrode cap cannot be polished completely and the current is 4000A-5000A when the electrode cap is polished completely, the group of currents is 2000A-3000A.
The specific principle of the invention is as follows:
along with the increase of the number of welding spots, the conductivity of the surface of the electrode cap is deteriorated due to the influence of an oxide film, flatness, other foreign matters and the like on the surface of the electrode cap, and after the polishing is finished, the surface of the electrode cap is clean, and the resistance value is obviously smaller than that before the polishing. The method is characterized in that a special welding test program is a constant phase mode, but not a constant current mode, is set according to the percentage of the maximum output current, when the grinding states of the electrode caps are inconsistent, the actual output current is inconsistent, and an alarm prompt is given when the grinding states are poor through the range limitation of the output current of a welding machine.
Example (b):
the welder adopts a Meida welder, and a welding program specially used for testing the coping quality is edited in a welding controller.
START OF SCHEDULE
LINEAR STEPPER#00ASSIGNED(0＝OFF)
SEC CURRENT LIMITS：HI＝6000LO＝4000
TRANSFORMER TURNS RATIO 55:1
TURN ON ISOLATION CONTACTOR
TURN ON WELD IN PROGRESS
SQUEEZE 10CYCLES
WELD 10CY.15％HEAT
HOLD 05CYCLES
TURN OFF WELD IN PROGRESS
TURN ON WELD COMPLETE
EXTEND UNTIL NO INITIATE
TURN OFF WELD COMPLETE
TURN OFF ISOLATION CONTACTOR
After the number of the grinding welding points set by the welding machine reaches the set grinding number, a grinding request is sent, the robot 1 executes a grinding program, a No. 251 welding program is newly added in the grinding program, the current mode is a constant phase mode, and the Meida welding program is as shown above. Electrode pressure 3KN, incremental parameter off, welding parameter suggested. And according to the monitored output current setting range, the current when the grinding is not clean exceeds the setting range to give an alarm. For example, the secondary loop current of the test program No. 251 is 3449A when the electrode cap is not polished completely, 4739A when the electrode is polished completely, the secondary current range of the welding program No. 251 can be set to be 4000A-6000A (the range can be changed according to actual conditions), and when the measurement range is lower than 4000A, for example, 3449A obtained when the electrode cap is not polished completely, the welding machine alarms to prompt that the polishing quality is not good.
While the invention has been described with reference to specific embodiments, the invention is not limited thereto, and various equivalent modifications and substitutions can be easily made by those skilled in the art within the technical scope of the invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (10)
1. A spot welding robot workstation for automatically detecting grinding quality comprises: robot (1), robot soldering turret (2), coping ware (3), anchor clamps (4), welding control ware (5), robot control ware (6) and base, its characterized in that, robot (1) is six industrial robot, is fixed in on the base, the fixed plane of robot (1) is parallel with ground, coping ware (3) set up in one side of robot (1) to perpendicular with ground, robot soldering turret (2) with the arm of robot (1) is connected, welding control ware (5) are connected and have constant phase current output mode through cable and robot soldering turret (2), anchor clamps (4) are used for fixed part and set up in robot (1) working radius.
2. The spot welding robot workstation for automatically detecting the coping quality according to the claim 1, wherein the welding controller (5) is a welder having a constant phase current output mode, and a current output range can be set for each welding program.
3. The spot welding robot workstation for automatically detecting the grinding quality according to claim 1, wherein the welding controller (5) is a welding controller (5) with a grinding counting function, and sends a grinding request output signal to the robot (1) after the number of grinding points is reached.
4. The spot welding robot workstation for automatically detecting the grinding quality according to the claim 1, wherein the welding controller (5) is a welding controller (5) with a current measuring function, the welding current can be automatically measured after the welding is finished, and when the measured welding current exceeds a set range, an alarm can be sent to the robot (1).
5. The robot welder workstation for automatically detecting grinding quality according to claim 1, characterized in that the base is fixed with the ground by expansion bolts for adjusting the fixed position of the robot (1).
6. The robot welder workstation for automatically detecting grinding quality according to claim 1, characterized in that the welding controller (5) is externally connected with a display screen capable of displaying current data.
7. The robot welder workstation for automatically detecting the coping quality according to claim 1, wherein the welding cable of the robot welding tongs (2) is connected with the welding controller (5) through a pipeline package on the robot (1).
8. The robot welder workstation for automatically detecting grinding quality according to claim 1, characterized in that the grinder (3) is a grinder (3) with a dust suction mechanism, and can collect copper scraps of cut electrode caps.
9. The robot welder workstation for automatically detecting the grinding quality according to claim 1, characterized in that the grinding device (3) is provided with a floating mechanism to compensate the grinding position deviation of the robot welding tongs.
10. The robot welding machine workstation capable of automatically detecting the grinding quality according to the claim 1, characterized in that the robot controller (6) is provided with a demonstrator, when the welding machine alarms, the demonstrator displays alarm information, and after the fault is eliminated, the program can be reset and continuously executed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810925853.4A CN110834138A (en) | 2018-08-15 | 2018-08-15 | Spot welding robot workstation capable of automatically detecting grinding quality |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810925853.4A CN110834138A (en) | 2018-08-15 | 2018-08-15 | Spot welding robot workstation capable of automatically detecting grinding quality |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110834138A true CN110834138A (en) | 2020-02-25 |
Family
ID=69574110
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810925853.4A Pending CN110834138A (en) | 2018-08-15 | 2018-08-15 | Spot welding robot workstation capable of automatically detecting grinding quality |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110834138A (en) |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE10331617A1 (en) * | 2003-07-12 | 2005-02-03 | Daimlerchrysler Ag | Process for determining and monitoring properties of components in secondary and welding current circuit during spot welding comprises using reference values depending on electrical resistance of components |
| CN1864905A (en) * | 2006-06-22 | 2006-11-22 | 上海交通大学 | Electrode dressing on-line distinguishing method based on spot-welding of servo torch |
| CN201960437U (en) * | 2010-12-16 | 2011-09-07 | 广州市极动焊接机械有限公司 | Auto welding electrode high speed bidirectional automatic grinding system equipment |
| CN201998016U (en) * | 2010-12-24 | 2011-10-05 | 广州市极动焊接机械有限公司 | Pneumatic welding electrode grinding device |
| KR20130116725A (en) * | 2012-04-16 | 2013-10-24 | 주식회사 성우하이텍 | Inspection system for auto tip dressing and method thereof |
| CN104801973A (en) * | 2015-04-29 | 2015-07-29 | 广州市极动焊接机械有限公司 | Automatic electrode cap disassembling and polishing all-in-one equipment |
| CN205218287U (en) * | 2015-11-05 | 2016-05-11 | 安徽瑞祥工业有限公司 | Soldering turret electrode cap coping early warning system of robot |
| CN206139977U (en) * | 2016-10-31 | 2017-05-03 | 北京汽车股份有限公司 | Soldering turret electrode coping detection device |
| CN208866570U (en) * | 2018-08-15 | 2019-05-17 | 上海安莱德汽车零部件有限公司 | A kind of spot welding robot's work station of automatic detection grinding quality |
-
2018
- 2018-08-15 CN CN201810925853.4A patent/CN110834138A/en active Pending
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE10331617A1 (en) * | 2003-07-12 | 2005-02-03 | Daimlerchrysler Ag | Process for determining and monitoring properties of components in secondary and welding current circuit during spot welding comprises using reference values depending on electrical resistance of components |
| CN1864905A (en) * | 2006-06-22 | 2006-11-22 | 上海交通大学 | Electrode dressing on-line distinguishing method based on spot-welding of servo torch |
| CN201960437U (en) * | 2010-12-16 | 2011-09-07 | 广州市极动焊接机械有限公司 | Auto welding electrode high speed bidirectional automatic grinding system equipment |
| CN201998016U (en) * | 2010-12-24 | 2011-10-05 | 广州市极动焊接机械有限公司 | Pneumatic welding electrode grinding device |
| KR20130116725A (en) * | 2012-04-16 | 2013-10-24 | 주식회사 성우하이텍 | Inspection system for auto tip dressing and method thereof |
| CN104801973A (en) * | 2015-04-29 | 2015-07-29 | 广州市极动焊接机械有限公司 | Automatic electrode cap disassembling and polishing all-in-one equipment |
| CN205218287U (en) * | 2015-11-05 | 2016-05-11 | 安徽瑞祥工业有限公司 | Soldering turret electrode cap coping early warning system of robot |
| CN206139977U (en) * | 2016-10-31 | 2017-05-03 | 北京汽车股份有限公司 | Soldering turret electrode coping detection device |
| CN208866570U (en) * | 2018-08-15 | 2019-05-17 | 上海安莱德汽车零部件有限公司 | A kind of spot welding robot's work station of automatic detection grinding quality |
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|---|
| 顾大为;张滨;: "点焊电极磨损管理", 现代制造, no. 19, 9 May 2008 (2008-05-09), pages 54 - 55 * |
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