JP2003225771A - Method and device for selecting welding condition of portable servo gun - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a method and a device for selecting welding conditions of a portable servo gun that enables accurate and easy welding by detecting plate thickness at each welding place of a workpiece and by selecting the welding conditions from the detection signals of the plate thickness to perform welding. <P>SOLUTION: As the method and device of the portable servo gun, a position detector 10 for a pressure shaft 12 is installed in a pressurizing electric motor 8; then, the gun body 6 is oscillated by a gun holder 7 so as to be held at a proper attitude relative to a workpiece W; and then, the pressurizing motor is driven. As a result, by detecting the moving quantity of a movable electrode 14 with the position detector, the plate thickness of the workpiece is detected, facilitating the welding through the selection of the welding conditions based on the detection signals of the plate thickness of the workpiece. <P>COPYRIGHT: (C)2003,JPO

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention can control the posture of a gun by rocking the gun, and the pressure shaft is reciprocated by driving a pressure electric motor. The present invention relates to a gun welding condition selecting method and device in a portable servo boggan in which a movable electrode is moved in accordance with the above.

[0002]

2. Description of the Related Art Conventionally, in the above-mentioned portable servo bogun, there are a plurality of welding points and the order of the welding points is not determined. When the operator arbitrarily selects the welding points, the welding conditions at each welding point are set. (The main factors are the welding current supplied, the pressure applied to the work, the pressurization time, etc.) are determined by the sixth sense of the operator (hereinafter referred to as the first conventional example),
As shown in Japanese Patent Publication No. 001-105157, welding conditions are selected from the attitude angle signals of the gun at each hit point (hereinafter,
There is one that performs welding work (referred to as a second conventional example).

Further, in the case where there are a plurality of welding points and the order of the welding points is determined, the above-mentioned Japanese Patent Laid-Open No. 2001-10 is used.
As disclosed in Japanese Patent No. 5157, there is one in which welding work is performed by comparing the welding conditions based on the gun attitude angle signal at each welding point with the welding conditions based on a preset welding sequence (hereinafter referred to as a third conventional example).

[0004]

By the way, in the first conventional example, the welding conditions are determined by relying on the sixth sense of the operator, so that the skill of the operator is required and an erroneous judgment is made and accurate welding is performed. May not be easy. The second
In the conventional example, the welding conditions are selected from the gun attitude angle signals at each welding point, so if the gun attitude is the same even if the work plate thickness at the welding location changes, the welding conditions are the same. As a result, accurate welding may not be easily performed.

Further, in the third conventional example, the welding work is performed after comparing the welding conditions according to the gun posture angle signal with the welding conditions according to the preset welding sequence, so that the welding points are adjacent to each other. When the posture of the gun is almost the same, there is a risk of missing a hit point or multiple hits due to an operation error.

The present invention has been made in view of the above problems of the prior art. The object of the present invention is to detect the plate thickness of the work at each welding point and to detect the plate. An object of the present invention is to provide a welding condition selecting method and apparatus for a portable servo gun, which enables accurate and easy welding by selecting welding conditions from the thickness detection signal and performing welding.

Further, by comparing the welding conditions selected from the signal for detecting the plate thickness of the work with the welding conditions according to a preset welding sequence, accurate welding without welding leakage can be easily performed. The present invention is to provide a welding condition selection method and apparatus for a tabler bogan.

Furthermore, by selecting the welding condition from the detection signal of the plate thickness of the work and the detection signal of the posture angle of the gun based on the swing angle of the gun, it is possible to perform accurate welding without further welding leakage. Another object of the present invention is to provide a method and an apparatus for selecting welding conditions for a portable servo gun.

[0009]

In order to achieve the above object, a method for selecting welding conditions for a portable servo boggan according to the present invention is such that a position detector for a pressure shaft is attached to a pressure electric motor. Then, the gun is oscillated to hold the gun in a proper posture with respect to the work to be welded, and the pressurizing electric motor is driven to measure the movement amount of the movable electrode by the position detector. It is characterized in that the plate thickness of the work is detected by detecting the welding condition, and welding is performed by selecting welding conditions from the detection signal of the plate thickness of the work.

Further, the welding conditions selected from the detection signal of the plate thickness of the work are compared with the welding conditions according to a preset welding sequence, and if there is a difference between the welding conditions, a warning is issued. It is characterized by the method.

Further, the present invention is characterized in that a welding condition is selected from the detection signal of the plate thickness of the work and the detection signal of the posture angle of the gun based on the swing angle of the gun.

The welding condition selection device for the portable servo gun according to the present invention has a position detector for the pressurizing shaft arranged on the pressurizing electric motor and is suitable for the work to be welded to the gun. It is characterized in that a gun holding device for swinging the robot in a different posture is connected to the gun, and welding is performed by selecting welding conditions from the detection signal of the plate thickness of the work by the position detector. is there.

Further, a comparator for comparing the selected welding condition from the work thickness detection signal from the position detector with the welding condition according to a preset welding sequence is provided, and the comparator is provided with an alarm device. It is characterized by a device to which is connected.

Further, a gun swing angle detector is provided in the gun holding device, and welding conditions are selected based on the plate thickness detection signal of the work and the gun attitude angle detection signal from the swing angle detector. It is characterized by a device equipped with a selector.

[0015]

BEST MODE FOR CARRYING OUT THE INVENTION Embodiments of the present invention will be described with reference to the accompanying drawings. FIG. 1 is an explanatory view of a first embodiment to which a welding condition selecting method and apparatus according to the present invention are applied, and FIG. 2 is a sectional explanatory view of a main part thereof.

In FIGS. 1 and 2, reference numeral 1 denotes a gun pole, and a horizontal portion 2 of the gun pole has a wire 3 and a transformer 4
Also, the welding condition selector 5 in the CPU is suspended. And, at the lower end of the wire 3 is a portable
For example, a rod-shaped gun holding device 7, which is a swinging member that controls and holds the attitude of the gun body 6 of the bogun, is connected, and the gun body 6 is pivotally supported at the lower end of the gun holding device 7.

A pressure electric motor 8 is attached to the gun body 6, and a rotary shaft 9 of the pressure electric motor 8 is provided with a position detector 10 such as an encoder. In addition, a ball screw 11 is attached to the output side.

Reference numeral 12 is a pressure shaft, and a ball nut 13 screwed with the ball screw 11 is attached to one end of the pressure shaft 12, and a movable electrode 14 is attached to the other end. There is. Reference numeral 15 is a fixed electrode, M is an operator, and W is a work to be welded.

A portable laser having the above structure
In the bogun, when there are a plurality of welding points of the work W and the order of the welding points is not determined and the operator M arbitrarily selects the welding points, the operator M first shakes the gun holding device 7. The gun main body 6 is held in a proper posture by directing it toward the welding portion of the work W.

When the posture of the gun body 6 is determined, the pressure electric motor 8 is driven. The ball screw 11 rotates by the drive of the pressurizing electric motor 8 and the rotary shaft 12 is opened through the ball nut 13 to make the pressurizing shaft 12 open.
And the movable electrode 14 descends toward the work W as the pressure shaft 12 descends, and abuts on the work W.

By driving the pressurizing electric motor 8 in this manner, the pressurizing shaft 12 in the open state is moved so that the movable electrode 14 abuts on the work W.
The rotational movement of the rotary shaft 9 of the motor 8, that is, the moving amount of the movable electrode 14 is detected by a position detector 10 such as an encoder.
Then, the plate thickness of the work W is detected from the moving amount of the movable electrode 14.

The plate thickness detection signal of the work W thus detected is sent to the welding condition selector 5 in the CPU, and the welding condition selector 5 causes the plate thickness of the work W to be detected. The welding conditions most suited to
It is immediately transmitted to the gun body 6 side via the
The table servo gun performs welding work with the optimum welding current supplied to the work W, the pressure applied to the work, and the pressurization time.

Therefore, the operator M calculates the welding condition from the plate thickness of the work W without relying on the sixth sense while maintaining the portable servo gun in an accurate posture with respect to an arbitrary welding position. Therefore, the method and apparatus for selecting welding conditions for a portable servo gun that enables accurate and easy welding.

FIG. 3 is an explanatory view of an embodiment suitable for welding according to a preset welding sequence. In this embodiment, the welding conditions selected from the detection signal of the plate thickness of the work are compared with the welding conditions according to the preset welding sequence, and if there is a difference between the two welding conditions, a warning is given. The configuration is different from that of the first embodiment, and the rest of the configuration is substantially the same. Therefore, the same reference numerals are given to these and description thereof is omitted.

In the CPU, a welding condition selector 5 selected from a plate thickness detection signal, a welding condition selector 21 according to a preset welding sequence, and both of these selectors 5, 21 are transmitted. A comparator 22 is included to compare the welding conditions. When there is a difference between the two welding conditions, a warning is issued by an alarm device 23 provided on the output side of the comparator 22, and when there is no difference, the comparator 22
The output side transmits the welding condition immediately to the gun body 6 side through the transformer 4, and the portable servo gun performs welding work.

A portable laser having the above structure
In the bogun, when there are a plurality of welding points of the work W and the order of the welding points is determined and the worker performs the welding in the order, first, the operator first follows the order of the gun holding device 7 The gun main body 6 is held in an appropriate posture toward the welding portion of the work W in the order by rocking.

When the posture of the gun body 6 is determined, the pressurizing electric motor 8 is driven to bring the movable electrode 14 into contact with the work W from the open state as in the previous embodiment. Then, since the moving amount of the movable electrode 14 is detected by the position detector 10, the plate thickness of the work W is detected from the moving amount of the movable electrode 14.

The plate thickness detection signal of the work W thus detected is sent to the welding condition selector 5 in the CPU, and the welding condition selector 5 causes the plate thickness of the work W to be detected. The welding condition most suitable for the welding condition is selected and sent to the comparator 22 as a welding condition signal as described above. The welding condition signal from the welding condition selector 21 according to the preset welding sequence and the comparator 22 As compared with each other, if there is no difference between the signals of the two welding conditions, it is considered that the worker is performing the welding work in the preset welding sequence.

However, if there is a difference between the signals of the two welding conditions, the operator is considered to have made a mistake such as missing a welding point or double welding, regardless of the preset welding sequence, and warns. Can be issued to prevent the mistake. This embodiment is particularly effective when the work W has a different thickness.

FIG. 4 takes into account the detection signal of the posture angle of the gun according to the swing angle of the gun in addition to the detection signal of the plate thickness of the work in selecting the welding conditions in the first embodiment. The difference is that the welding conditions are selected from the two signals, and the rest of the configuration is substantially the same, so the same reference numerals are assigned to these and the description thereof is omitted.

In this embodiment, the gun holding device 7 in the first embodiment swings the gun to an appropriate posture and detects the posture angle of the gun based on the swing angle of the gun when the gun is held in that posture. The swing angle detector 31 is additionally provided. The gun attitude angle detection signal from the swing angle detector 31 is sent together with the work plate thickness detection signal to the welding condition selector 5 in the CPU, and the welding condition selector 5 is supplied with both detection signals. The posture of the gun and the work
The welding conditions most suitable for the plate thickness of W are selected and output.
The worker then welds.

As described above, in addition to the detection signal of the plate thickness of the work in addition to the detection signal of the gun attitude angle based on the rocking angle of the gun, the welding condition is further selected in selecting the welding condition. It enables accurate welding. Further, a plate thickness detection signal and a gun attitude angle detection signal are sent to the selector 5 in the CPU shown in FIG. 3 to select welding conditions by the selector 5, and the welding conditions based on this signal and a preset welding sequence are selected. By comparing the signal of the welding condition from the selector 21 of No. 2 in the comparator 22, it is possible to detect a more accurate mistake such as missing welding spot or double-strike.

The portable servo gun shown in FIGS. 5, 6 and 7 more specifically expresses the means for detecting the plate thickness of the work and the means for detecting the attitude angle of the gun disclosed so far. Examples are given.

In FIG. 5 to FIG. 7, 7 is a gun holding device which is a bail support suspended by a hanger portion 41 of a hanging metal fitting, and the gun holding device 7 is provided with respect to the hanger portion 41. It is composed of an outer ring 43 rotatably fixed by a swing motor 42, and an inner ring 45 connected to the outer ring 43 via a cross roller bearing 44 and rotatable with respect to the outer ring 43.

The gun body 6 including the transformer 4 is fixed to the inner ring 45, and the toothed belt 46 forming a part of the power transmission mechanism is provided on the inner peripheral surface of the outer ring 43.

A rotary drive motor 47 for rotating the gun body 6 is attached to the side of the transformer 4.
A toothed pulley 48 forming a part of a power transmission mechanism is formed on the output side of the rotary drive motor 47.
8 is the toothed belt 46 provided on the inner peripheral surface of the outer ring 43.
Meshes with to form a power transmission mechanism. Further, a gun pressure driving device 49 is disposed above the transformer 4, and the pressure driving device 49 includes a pressure electric motor 8 for electrode pressurization and the pressure electric motor 8 A position detector 10 such as an encoder provided on the rotating shaft 9 of the
Ball screw 11 fixed to the output side of the rotary shaft 9 of the motor 8
And a pressure shaft 12 having a ball nut 13 that is screwed into the ball screw 11.

Reference numeral 50 designates a fixed yaw fixed to the inner ring 45.
A fixed arm 51 having a fixed electrode 15 at its tip is fixed to the fixed yoke 50, and a movable yoke is also provided.
A shaft 53 for holding the shaft 52 is rotatably provided.
The pressure shaft 12 is attached to one end of the movable yoke 52.
Is attached to the other end of the movable electrode 14
A movable arm 54 having a is fixed.

A first operating handle 55 is fixed to the upper portion of the pressure drive device 49, and a second operating handle 56 is attached to the tip of the fixed yoke 50 on the fixed arm 51 side. Is fixed, and the operator can operate these first and second handles 55 and 56 with both hands during work. Then, the first operation handle 55
By operating a switch (for example, a multi-stage switch) provided on the control shaft, the swing motor 42, the rotary drive motor 47, the pressurizing electric motor 8, the transformer, and the transformer are controlled by a control signal from the first operation handle 55. 4 and the like are controlled respectively.

In the embodiment constructed as described above, in order to guide the gun from the pressure welding state to the open state as shown in FIG. 5, a switch provided on the first operation handle 55 is used to pressurize the electric motor. When a control signal for operating the motor 8 is issued, the pressurizing electric motor 8 is actuated, and the pressurizing shaft 12 is moved forward by the rotation of the ball screw 11 fixed to the rotating shaft 9, and the movable yoke 52 is moved. Oscillates around the shaft 53 as a fulcrum as shown by an imaginary line, so that the movable arm 54 is opened with respect to the fixed arm 51.

In this state, the operator operates the first operation handle 5
Lightly hold 5 and the second operation handle 56 to move the gun to the next welding work position. When the gun is moved to the next welding work position, it becomes necessary to correct the posture of the gun body according to the state of the work to be welded at that time. In that case, when a control signal for operating the rotary drive motor 47 is issued by using the switch of the first operation handle 55, the rotary drive motor 47 is actuated to rotate the toothed pulley 48 on the output side thereof. Thus, the rotational force is transmitted to the toothed belt 46. This rotational force drives the inner ring 45 to which the rotary drive motor 47 is fixed because the outer ring 43 is fixed, so that the inner ring 45 of the gun holding device 7 rotates while holding the gun body 6. Then, the gun body 6 takes a desired posture. The attitude of the gun body 6 can be controlled by driving the swing motor 42 to change the swing angle of the outer ring 43 with respect to the hanger portion 41.

When the gun body 6 rotates to a desired posture, the switch of the first operating handle 55 is opened to end the posture control of the gun body 6, and in this state, the pressurizing electric motor is operated by the first operating handle 55. The movable shaft 54 is moved closer to the fixed arm 51 so that the pressure welding can be performed by both of them.

As described above, by rotating the inner ring 45 with respect to the outer ring 43 of the gun holding device 7 by the rotary drive motor 47, the gun body 6 can be rotated with respect to the outer ring 43, and therefore the rocking can be performed. Since the attitude of the gun body 6 can be controlled by changing the swing angle of the outer ring 43 with respect to the hanger portion 41 by the motor 42, the burden on the operator is reduced and the attitude control of the gun body 6 is extremely easy. It can be a portable servo gun that is light and light.

By driving the pressurizing electric motor 8, the pressurizing shaft 12 in the open state moves and the pressurizing electric motor 8 until the movable electrode 14 contacts the work W. The rotational movement of the rotary shaft 9, that is, the moving amount of the movable electrode 14 is detected by a position detector 10 such as an encoder.
The plate thickness of the work W is detected from the moving amount of the movable electrode 14.

A portable laser having the above structure
In the bogun, when there are a plurality of welding points of the work W and the order of the welding points is not decided and the operator arbitrarily selects the welding points, first, the operator first moves the swing motor 42.
And / or the rotary drive motor 47 is driven to swing the gun holding device 7 to hold the gun body 6 in a proper posture toward the welding portion of the work W.

When the posture of the gun body 6 is determined, the pressure electric motor 8 is driven, and the pressure shaft 12 is moved until the movable electrode 14 in the open state comes into contact with the work W to move. The plate thickness of the work W is detected by detecting the amount of movement of the electrode 14 by the position detector 10, and welding conditions are selected from the detection signal of the plate thickness of the work W to perform welding. .

When there are a plurality of welding points and the order of the welding points is determined, the welding conditions selected from the detection signal of the plate thickness of the work W and the welding conditions according to the preset welding order are used. If there is a difference between the two welding conditions, a warning is issued, and if there is no difference, the welding operation is continued.

The swing motor 42 and the rotary drive motor 4 are also provided.
If the swing angle detectors 61 and 62 are provided on the rotary shafts of 7, the posture of the gun can be recognized by either or both of the swing angle detectors 61 and 62. Thickness detection signal and gun posture angle detection signal from swing angle detector 61 or swing angle detector 62, or plate W detection signal and both swing angle detectors 61 and 62 Welding is performed by selecting the welding conditions using the detection signal of the attitude angle of the gun from.

[0048]

According to the first and fourth aspects of the present invention, the operator maintains the welding position of the portable servo bogun at an arbitrary position and makes the welding condition a sixth sense. Since it is calculated and selected from the plate thickness of the work W without relying on it, the method and apparatus for selecting welding conditions of a portable servo boggan enable accurate and easy welding.

According to the second and fifth aspects of the present invention, the welding conditions selected from the detection signal of the plate thickness of the work are compared with the welding conditions according to the preset welding sequence.
Since a warning is given when there is a difference between the two welding conditions, not only can the welding be performed accurately and easily, but also mistakes such as missing welding points or double-pointing can be prevented.

In the third and sixth aspects of the present invention, the welding condition is selected from the detection signal of the plate thickness of the work and the detection signal of the attitude angle of the gun depending on the swing angle of the gun. Therefore, not only can the welding be performed accurately and easily, but also mistakes such as missing welding points or double-pointing can be more effectively prevented.

[Brief description of drawings]

FIG. 1 is an explanatory diagram of an embodiment to which a welding condition selecting method and device for a portable servo boggan according to the present invention is applied.

FIG. 2 is an explanatory cross-sectional view of a main part thereof.

FIG. 3 is an explanatory diagram of another embodiment to which the welding condition selecting method and apparatus for a portable servo boggan according to the present invention is applied.

FIG. 4 is an explanatory view of still another embodiment to which the welding condition selecting method and apparatus for a portable servo boggan according to the present invention is applied.

FIG. 5 is a front view of still another embodiment to which the welding condition selecting method and apparatus for the portable servo boggan according to the present invention is applied.

FIG. 6 is a plan view thereof.

FIG. 7 is an AA cross-sectional explanatory view of FIG.

[Explanation of symbols]

5 Welding condition selector 6 gun body 7 Gun holding device 8 Pressurized electric motor 10 Position detector 12 pressure shaft 14 movable electrode 21 Welding condition selector 22 Comparator 23 Alarm device 31, 61, 62 Swing angle detector W work

Claims (6)

[Claims] 1. The posture of the gun can be controlled by swinging the gun, and the pressure shaft is reciprocally moved by the driving of the pressure electric motor. The movable electrode corresponding to the reciprocal movement of the pressure shaft. In the portable servo gun, the position of the pressure axis is attached to the pressure electric motor, and the gun is rocked to the work to be welded. On the other hand, the plate thickness of the work is detected by holding the work piece in an appropriate posture and detecting the amount of movement of the movable electrode by driving the pressure electric motor by the position detector. A method for selecting welding conditions for a portable servo-bogan, which is characterized in that welding conditions are selected from the detection signal of the plate thickness of the welding. 2. The welding condition selected from the detection signal of the plate thickness of the work is compared with the welding condition according to a preset welding sequence, and a warning is given when there is a difference between the welding conditions. The method for selecting welding conditions for a portable servo boggan according to claim 1, wherein: 3. The welding condition is selected from a detection signal of the plate thickness of the work and a detection signal of a posture angle of the gun based on a swing angle of the gun. The method for selecting welding conditions for the portable servo gun described in 2. 4. The posture of the gun can be controlled by rocking the gun, and the pressure shaft is reciprocally moved by the driving of the pressure electric motor. The movable electrode corresponding to the reciprocal movement of the pressure shaft. In a portable servo gun that is designed to move, a position detector for the pressure shaft is placed on the pressure electric motor to swing the gun in a proper posture with respect to the work to be welded. The welding condition of the portable servo gun is characterized in that the gun holding device is connected to the gun, and welding is performed by selecting welding conditions from the detection signal of the plate thickness of the work by the position detector. Selection device. 5. A comparator for comparing selected welding conditions from the plate thickness detection signal of the position detector with welding conditions according to a preset welding sequence, and an alarm device for the comparator. 5. The welding condition selection device for a portable servo boggan according to claim 4, wherein 6. A gun swing angle detector is provided in the gun holding device, and welding conditions are selected based on a plate thickness detection signal of the work and a gun attitude angle detection signal from the swing angle detector. 6. The welding condition selection device for a portable servo boggan according to claim 4 or 5, further comprising: