CN211727845U - Arcing control device for robot welding - Google Patents
Arcing control device for robot welding Download PDFInfo
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- CN211727845U CN211727845U CN201922162722.8U CN201922162722U CN211727845U CN 211727845 U CN211727845 U CN 211727845U CN 201922162722 U CN201922162722 U CN 201922162722U CN 211727845 U CN211727845 U CN 211727845U
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Abstract
An arc starting control device for robot welding comprises a robot execution unit, an air cylinder and a welding rod clamping pneumatic unit driven by the air cylinder; the welding rod clamping pneumatic unit is used for providing holding force for clamping a welding rod and is a conductive contact point of the welding rod, and welding machine current is transmitted to the welding rod through the welding rod pneumatic unit; the welding rod pneumatic unit is fixed with the cylinder through a first fixing hole and a screw; the cylinder and the robot execution unit are locked and fixed through a second fixing hole and a screw.
Description
Technical Field
The utility model belongs to the technical field of the welding technique of robot and specifically relates to a be used for robot welding to play striking controlling means.
Background
The traditional manual welding arcing generally improves the arcing success rate by adding larger hot arcing current or carries out arcing through artificial scratching action, after the robot is introduced for manual welding, the problem that welding rods are adhered to during arcing and arcing is difficult is easily encountered, the action of simulating the two artificial arcing through the action of the robot is more complicated, and the artificial scratching action is difficult to realize for the robot.
Patent No. 200610106020.2 discloses an arc starting control method for robot welding that prevents re-short circuit after the initial arc is generated and that can obtain good arc starting characteristics. After a temporary short circuit between a welding wire and a base material, a welding robot moves a welding gun backward to separate the welding wire from the base material, an initial arc is generated, the welding gun moves backward to a predetermined position in a state of maintaining the initial arc, an initial arc current with a value smaller than a constant welding current is supplied in the initial arc period to increase an arc length, then a constant wire feeding of the welding wire and a constant welding current supply are started, the welding wire is transited from the initial arc to a stable arc, the welding gun moves along a welding line, and a re-short circuit prevention current with a value larger than the initial arc current is supplied in a re-short circuit prevention period from a start time of the initial arc period to prevent a re-short circuit between a welding wire tip and the base material after the initial arc occurs, and then the initial arc current is supplied.
The present invention has been found that the arc striking method described above generates an initial arc in a gap between the welding wire front end and the base metal when the welding gun is moved backward. Therefore, when the welding wire tip position is changed to the base material side, a re-short circuit occurs between the welding wire tip and the base material. On the other hand, when the wire tip position is changed in a direction away from the base material, the arc length becomes slightly longer, and the adverse effect is reduced. If the re-short circuit occurs, the surface of the tip of the initial arc welding wire is in a molten state, and the tip of the welding wire is welded to the base metal. If welding occurs temporarily, a large current of several hundred amperes needs to be applied to relieve this situation, and this causes a defective arc ignition in which a large amount of spatter is generated.
SUMMERY OF THE UTILITY MODEL
In order to solve the above problems, an object of the present invention is to provide a new arc starting control device and a control method thereof, which solve the problem of the existing arc starting difficulty of robot welding.
The utility model discloses technical scheme as follows: an arc starting control device for robot welding comprises a robot execution unit, an air cylinder and a welding rod clamping pneumatic unit driven by the air cylinder; the welding rod clamping pneumatic unit is used for providing holding force for clamping a welding rod and is a conductive contact point of the welding rod, and welding machine current is transmitted to the welding rod through the welding rod pneumatic unit; the welding rod pneumatic unit is fixed with the cylinder through a first fixing hole and a screw; the cylinder and the robot execution unit are locked and fixed through a second fixing hole and a screw.
Further, the welding rod clamping pneumatic unit comprises a three-jaw clamping copper bar module; when the cylinder acts, the three claws of the three-claw clamping copper bar module draw in towards the center to clamp the end of the welding rod, and the end of the welding rod is connected with one output end of the welding machine; the three-jaw clamping copper bar module is also a conductive contact point of the welding rod, and the current of the welding machine is transferred to the welding rod through the copper bar.
Further, the robot execution unit comprises a first robot axis, a second robot axis, a third robot axis, a fourth robot axis, a fifth robot axis and a sixth robot axis; the welding rod lifting device comprises a robot first shaft, a robot second shaft, a robot third shaft, a robot fourth shaft and a robot fifth shaft, wherein the robot first shaft, the robot second shaft, the robot third shaft, the robot fourth shaft and the robot fifth shaft are used for lifting welding rods or enabling an optimal working inclination angle to be formed between the posture of the robot for clamping the welding rods and a workpiece needing to be welded; and the sixth shaft of the robot is fixedly connected with the three-jaw clamping copper bar module and is used for driving the three-jaw clamping copper bar module to rotate and simultaneously driving the three-jaw clamping copper bar module to slowly descend in the Z-axis direction of the robot.
An arc starting control method for robot welding comprises a robot execution unit, an air cylinder and a welding rod clamping pneumatic unit driven by the air cylinder, and is characterized by comprising the following steps:
outputting a welding rod clamping instruction to the robot, starting the action of the welding rod clamping pneumatic unit, and clamping the end of the welding rod, wherein the end of the welding rod is connected with one output end of the welding machine;
so that an optimal working inclination angle is formed between the posture of the robot for clamping the welding rod and a workpiece needing to be welded;
the robot carries out position searching action;
after the locating is finished, the robot lifts the welding rod, and when the welding rod is lifted to a height of 1-2mm away from the workpiece, a welding instruction is output to the robot;
and the welding rod clamping pneumatic unit enters a rotating state, rotates in the direction of +180 degrees to-180 degrees and slowly descends in the Z-axis direction of the robot until contacting with a workpiece to perform short circuit arc striking.
An arc starting control method for robot welding comprises a robot execution unit, an air cylinder and a welding rod clamping pneumatic unit driven by the air cylinder, and is characterized by comprising the following steps:
outputting a welding rod clamping instruction to a robot, wherein the welding rod clamping pneumatic unit comprises a three-jaw copper rod clamping module; when the cylinder acts, the three claws of the three-claw clamping copper bar module draw in towards the center to clamp the end of the welding rod, and the end of the welding rod is connected with one output end of the welding machine; the three-jaw clamping copper bar module is also a conductive contact point of the welding rod, and the current of the welding machine is transferred to the welding rod through the copper bar;
so that an optimal working inclination angle is formed between the posture of the robot for clamping the welding rod and a workpiece needing to be welded;
the robot carries out position searching action;
after the locating is finished, the robot lifts the welding rod, and when the welding rod is lifted to a height of 1-2mm away from the workpiece, a welding instruction is output to the robot;
and the three-jaw clamping copper bar module enters a rotating state, rotates in the direction from +180 degrees to-180 degrees and slowly descends in the Z-axis direction of the robot until contacting with a workpiece to perform short circuit arc striking.
An arc starting control method for robot welding comprises a robot execution unit, an air cylinder and a welding rod clamping pneumatic unit driven by the air cylinder, and is characterized by comprising the following steps:
outputting a welding rod clamping instruction to a robot, wherein the welding rod clamping pneumatic unit comprises a three-jaw copper rod clamping module; when the cylinder acts, the three claws of the three-claw clamping copper bar module draw in towards the center to clamp the end of the welding rod, and the end of the welding rod is connected with one output end of the welding machine; the three-jaw clamping copper bar module is also a conductive contact point of the welding rod, and the current of the welding machine is transferred to the welding rod through the copper bar;
the robot execution unit comprises a first robot shaft, a second robot shaft, a third robot shaft, a fourth robot shaft, a fifth robot shaft and a sixth robot shaft; the welding rod lifting device comprises a robot first shaft, a robot second shaft, a robot third shaft, a robot fourth shaft and a robot fifth shaft, wherein the robot first shaft, the robot second shaft, the robot third shaft, the robot fourth shaft and the robot fifth shaft are used for lifting welding rods or enabling an optimal working inclination angle to be formed between the posture of the robot for clamping the welding rods and a workpiece needing to be welded; the sixth axis of the robot is fixedly connected with the three-jaw clamping copper bar module and is used for driving the three-jaw clamping copper bar module to rotate or driving the three-jaw clamping copper bar module to slowly descend in the Z-axis direction of the robot;
the robot carries out position searching action;
after the locating is finished, the robot lifts the welding rod, and when the welding rod is lifted to a height of 1-2mm away from the workpiece, a welding instruction is output to the robot;
the three-jaw copper bar clamping module of the machine enters a rotating state, rotates in the direction from +180 degrees to-180 degrees and slowly descends in the Z-axis direction of the robot until contacting a workpiece to perform short circuit arc striking.
Preferably, the optimum working inclination angle is 15 ° to 85 °.
The beneficial effects of the utility model reside in that: in the arc striking mode, because the included angle of 15-85 degrees is formed between the posture of the sixth shaft of the robot for clamping the welding rod and the workpiece, the contact area of the tip of the welding rod is always the minimum, and the arc striking is facilitated.
The mode of arcing owing to have physics rotational friction action, contact resistance when can reduce and the work piece contact is difficult to produce the silk phenomenon of gluing.
The mode of arcing because the action is simple, be favorable to the programming realization of robot to the operation degree of difficulty of robot has been reduced.
Therefore, the utility model discloses the arcing that can be very convenient realization robot manual welding reduces the realization degree of difficulty of robot programming, can make the very light arcing of welding machine again simultaneously, has improved the reliability of welding machine work greatly, and it is reasonable to install overall structure moreover, and the installation is simple and convenient, the cost is reduced.
Drawings
Fig. 1 is a schematic structural diagram of an embodiment of the present invention;
FIG. 2 is a schematic structural view of a pneumatic unit for holding welding rods according to an embodiment of the present invention;
fig. 3 is a schematic view of the working principle flow of the embodiment of the present invention.
Detailed Description
In order to facilitate the understanding of those skilled in the art, the present invention will be further described with reference to the accompanying drawings.
As shown in fig. 1 and 2, the arc starting control device for robot welding comprises a robot execution unit, a cylinder (7) and a welding rod clamping pneumatic unit (8) driven by the cylinder; the welding rod clamping pneumatic unit is used for providing holding force for clamping a welding rod and is a conductive contact point of the welding rod, and welding machine current is transmitted to the welding rod through the welding rod pneumatic unit; the welding rod pneumatic unit is fixed with the cylinder through a first fixing hole (11) and a screw; the air cylinder and the robot execution unit are locked and fixed through a second fixing hole (12) and a screw.
Further, the clamping electrode pneumatic unit comprises a three-jaw clamping copper bar module (10); when the cylinder acts, the three claws (101) of the three-claw clamping copper bar module draw in towards the center to clamp the end of a welding rod (19), and the end of the welding rod is connected with one output end of a welding machine; the three-jaw clamping copper bar module is also a conductive contact point of the welding rod, and the current of the welding machine is transferred to the welding rod through the copper bar.
Further, the robot execution unit comprises a first robot shaft (1), a second robot shaft (2), a third robot shaft (3), a fourth robot shaft (4), a fifth robot shaft (5) and a sixth robot shaft (6); the welding rod lifting device comprises a robot first shaft, a robot second shaft, a robot third shaft, a robot fourth shaft and a robot fifth shaft, wherein the robot first shaft, the robot second shaft, the robot third shaft, the robot fourth shaft and the robot fifth shaft are used for lifting a welding rod (19) and enabling an optimal working inclination angle (9) to be formed between the posture of clamping the welding rod by the robot and a workpiece (20) to be welded; and the sixth shaft of the robot is fixedly connected with the three-jaw clamping copper bar module and is used for driving the three-jaw clamping copper bar module to rotate and simultaneously driving the three-jaw clamping copper bar module to slowly descend in the Z-axis direction of the robot.
As shown in fig. 3, an arc starting control method for robot welding, which comprises a robot execution unit, a cylinder and a clamping electrode pneumatic unit driven by the cylinder, comprises the following steps:
outputting a welding rod clamping instruction to the robot, starting the action of the welding rod clamping pneumatic unit, and clamping the end of the welding rod, wherein the end of the welding rod is connected with one output end of the welding machine;
so that an optimal working inclination angle is formed between the posture of the robot for clamping the welding rod and a workpiece needing to be welded;
the robot carries out position searching action;
after the locating is finished, the robot lifts the welding rod, and when the welding rod is lifted to a height of 1-2mm away from the workpiece, a welding instruction is output to the robot;
and the welding rod clamping pneumatic unit enters a rotating state, rotates in the direction of +180 degrees to-180 degrees and slowly descends in the Z-axis direction of the robot until contacting with a workpiece to perform short circuit arc striking.
The arc starting control method for robot welding comprises the following steps that a clamping welding rod pneumatic unit comprises a three-jaw clamping copper bar module; when the cylinder acts, the three claws of the three-claw clamping copper bar module draw in towards the center to clamp the end of the welding rod, and the end of the welding rod is connected with one output end of the welding machine; the three-jaw clamping copper bar module is also a conductive contact point of the welding rod, and the current of the welding machine is transferred to the welding rod through the copper bar;
so that an optimal working inclination angle is formed between the posture of the robot for clamping the welding rod and a workpiece needing to be welded;
the robot carries out position searching action;
after the locating is finished, the robot lifts the welding rod, and when the welding rod is lifted to a height of 1-2mm away from the workpiece, a welding instruction is output to the robot;
and the three-jaw clamping copper bar module enters a rotating state, rotates in the direction from +180 degrees to-180 degrees and slowly descends in the Z-axis direction of the robot until contacting with a workpiece to perform short circuit arc striking.
The arc starting control method for robot welding is characterized in that the welding rod clamping pneumatic unit comprises a three-jaw clamping copper bar module; when the cylinder acts, the three claws of the three-claw clamping copper bar module draw in towards the center to clamp the end of the welding rod, and the end of the welding rod is connected with one output end of the welding machine; the three-jaw clamping copper bar module is also a conductive contact point of the welding rod, and the current of the welding machine is transferred to the welding rod through the copper bar;
the robot execution unit comprises a first robot shaft, a second robot shaft, a third robot shaft, a fourth robot shaft, a fifth robot shaft and a sixth robot shaft; the welding rod lifting device comprises a robot first shaft, a robot second shaft, a robot third shaft, a robot fourth shaft and a robot fifth shaft, wherein the robot first shaft, the robot second shaft, the robot third shaft, the robot fourth shaft and the robot fifth shaft are used for lifting welding rods or enabling an optimal working inclination angle to be formed between the posture of the robot for clamping the welding rods and a workpiece needing to be welded; the sixth axis of the robot is fixedly connected with the three-jaw clamping copper bar module and is used for driving the three-jaw clamping copper bar module to rotate and driving the three-jaw clamping copper bar module to slowly descend in the Z-axis direction of the robot;
the robot carries out position searching action;
after the locating is finished, the robot lifts the welding rod, and when the welding rod is lifted to a height of 1-2mm away from the workpiece, a welding instruction is output to the robot;
and the three-jaw clamping copper bar module enters a rotating state, rotates in the direction from +180 degrees to-180 degrees and slowly descends in the Z-axis direction of the robot until contacting with a workpiece to perform short circuit arc striking.
Preferably, the optimum working inclination angle is 15 ° to 85 °.
The above description relates to only some embodiments of the present invention, and any replacement or modification made by those skilled in the art based on the spirit of the present invention should be covered by the protection scope of the present invention, which should be subject to the claims.
Claims (3)
1. The arc starting control device for robot welding is characterized by comprising a robot execution unit, a cylinder and a welding rod clamping pneumatic unit driven by the cylinder; the welding rod clamping pneumatic unit is used for providing holding force for clamping a welding rod and is a conductive contact point of the welding rod, and welding machine current is transmitted to the welding rod through the welding rod pneumatic unit; the welding rod pneumatic unit is fixed with the cylinder through a first fixing hole and a screw; the cylinder and the robot execution unit are locked and fixed through a second fixing hole and a screw.
2. The robotic welding arc start control device of claim 1, wherein the clamping electrode pneumatic unit comprises a three-jaw clamping copper bar module; when the cylinder acts, the three claws of the three-claw clamping copper bar module draw in towards the center to clamp the end of the welding rod, and the end of the welding rod is connected with one output end of the welding machine; the three-jaw clamping copper bar module is also a conductive contact point of the welding rod, and the current of the welding machine is transferred to the welding rod through the copper bar.
3. The robot-welded arcing control apparatus of claim 2, wherein the robot performing unit comprises a first robot axis, a second robot axis, a third robot axis, a fourth robot axis, a fifth robot axis, and a sixth robot axis; the welding rod lifting device comprises a robot first shaft, a robot second shaft, a robot third shaft, a robot fourth shaft and a robot fifth shaft, wherein the robot first shaft, the robot second shaft, the robot third shaft, the robot fourth shaft and the robot fifth shaft are used for lifting welding rods and enabling an optimal working inclination angle to be formed between the posture of the robot for clamping the welding rods and a workpiece needing to be welded; and the sixth shaft of the robot is fixedly connected with the three-jaw clamping copper bar module and is used for driving the three-jaw clamping copper bar module to rotate and simultaneously driving the three-jaw clamping copper bar module to slowly descend in the Z-axis direction of the robot.
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| CN201922162722.8U CN211727845U (en) | 2019-12-05 | 2019-12-05 | Arcing control device for robot welding |
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| CN110935982A (en) * | 2019-12-05 | 2020-03-31 | 深圳市鸿栢科技实业有限公司 | Arc starting control device for robot welding and control method thereof |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110935982A (en) * | 2019-12-05 | 2020-03-31 | 深圳市鸿栢科技实业有限公司 | Arc starting control device for robot welding and control method thereof |
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