JPH0368792B2 - - Google Patents
Info
- Publication number
- JPH0368792B2 JPH0368792B2 JP15243485A JP15243485A JPH0368792B2 JP H0368792 B2 JPH0368792 B2 JP H0368792B2 JP 15243485 A JP15243485 A JP 15243485A JP 15243485 A JP15243485 A JP 15243485A JP H0368792 B2 JPH0368792 B2 JP H0368792B2
- Authority
- JP
- Japan
- Prior art keywords
- welding
- speed
- robot
- electrode roll
- electrode
- 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.)
- Expired
Links
- 238000003466 welding Methods 0.000 claims description 39
- 238000000034 method Methods 0.000 claims description 8
- 238000010586 diagram Methods 0.000 description 3
- 238000007796 conventional method Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000002093 peripheral effect Effects 0.000 description 2
Landscapes
- Arc Welding Control (AREA)
- Manipulator (AREA)
Description
【発明の詳細な説明】
（産業上の利用分野）
本発明は、ロボツトにワークを保持させ、その
溶接部を１対の電極ロール間に送り込みシーム溶
接を行なうようにした自動シーム溶接における溶
接速度制御方法に関する。Detailed Description of the Invention (Industrial Application Field) The present invention provides a welding speed in automatic seam welding in which a robot holds a workpiece and the welded part is fed between a pair of electrode rolls to perform seam welding. Regarding control method.
（従来の技術）
シーム溶接において、ロボツトによるワークの
送り方向への移動はカムにより行なわれ、その移
動速度は電極ロールの周速により決定される。し
かしながら実際に電極ロールに通電させて溶接を
行なつた場合には、ワークは電極ロールに対して
すべりが生じ、ロボツトの送りと実際のワークの
送り量との間に差が生じるため、ロボツトアーム
に無理な力が加わつたり、あるいはワークに変形
が生じたり、電極ロールが目標の溶接線から外れ
たりする問題を生ずる。(Prior Art) In seam welding, a robot moves a workpiece in the feeding direction using a cam, and the moving speed is determined by the circumferential speed of an electrode roll. However, when welding is actually carried out by energizing the electrode roll, the workpiece slips against the electrode roll, creating a difference between the robot's feed rate and the actual workpiece feed rate. This may cause problems such as excessive force being applied to the workpiece, deformation of the workpiece, or the electrode roll coming off the target welding line.
したがつて、溶接条件に変化が生じた時、形状
の異なるカムと取り換えていた。 Therefore, when there was a change in welding conditions, the cam had to be replaced with a cam of a different shape.
（発明が解決しようとする問題点）
上記した従来方法によれば、操作が面倒である
とともに微細な調整が困難であるなどの不都合が
あつた。(Problems to be Solved by the Invention) The conventional method described above has disadvantages such as cumbersome operation and difficulty in fine adjustment.
（問題点を解決するための手段）
本発明は、従来方法の不都合を解消することを
その目的とするもので、ワークを多軸ロボツトに
保持させてその溶接部を設定した駆動速度でシー
ム溶接機に備える１対の電極ロール間に送り込む
ようにした溶接速度制御方法において、種々の溶
接条件に応じた前記ロボツト駆動速度の電極ロー
ル速度に対するすべり率を記憶させることと、運
転前に、設定した溶接条件に応じたロボツト駆動
速度のすべり率を前記記憶内容から求め、該すべ
り率と電極ロール周速度とから設定した溶接条件
におけるロボツト駆動速度を算出することから成
ることを特徴とする。(Means for Solving the Problems) The purpose of the present invention is to solve the disadvantages of the conventional method, and the workpiece is held by a multi-axis robot and the welding part is seam welded at a set drive speed. In the welding speed control method in which the welding speed is fed between a pair of electrode rolls provided in the machine, the sliding ratio of the robot drive speed to the electrode roll speed is memorized according to various welding conditions, and the sliding ratio is set before operation. The method is characterized in that the slip rate of the robot drive speed corresponding to the welding conditions is determined from the stored contents, and the robot drive speed under the set welding conditions is calculated from the slip rate and the circumferential speed of the electrode roll.
（実施例） 以下本発明の実施例を図面につき説明する。(Example) Embodiments of the present invention will be described below with reference to the drawings.
第１図は本発明方法の実施に使用する装置のブ
ロツク図を示す。 FIG. 1 shows a block diagram of the apparatus used to carry out the method of the invention.
第１図において、１はロボツトの各軸の駆動デ
ータを記憶するメモリ、２はCPUで、CPU２か
ら出力した速度データは速度データ分周器３及び
パルス分周器４を経て各軸のサーボ制御回路５1，
５2…に供給するようにした。 In Figure 1, 1 is a memory that stores drive data for each axis of the robot, 2 is a CPU, and the speed data output from CPU 2 is sent to the servo control of each axis via a speed data frequency divider 3 and a pulse frequency divider 4. circuit 5 1 ,
5 2 ... was supplied.
サーボ制御回路５1，５2…は、それぞれ周知の
ように、偏差カウンタ６、Ｄ／Ａ変換器７、サー
ボ増幅器等のサーボドライバ８、ロボツトの１軸
を駆動するDCサーボモータ９、該モータ９に連
結されたパルスエンコーダ１０及び位相弁別器１
１とから成り、CPU２からの速度データ及び位
置データに応じてロボツトの各軸をサーボ制御
し、かくてロボツト全体として、保持するワーク
の溶接部をシーム溶接機に備える１対の電極ロー
ル間に設定した速度で送り込むようにした。 As is well known, the servo control circuits 5 1 , 5 2 . . . each include a deviation counter 6, a D/A converter 7, a servo driver 8 such as a servo amplifier, a DC servo motor 9 that drives one axis of the robot, and the motor. a pulse encoder 10 and a phase discriminator 1 connected to
1, each axis of the robot is servo-controlled according to the speed data and position data from the CPU 2, and the welding part of the workpiece to be held by the robot as a whole is moved between a pair of electrode rolls provided in the seam welding machine. I made it feed at the set speed.
次に本発明の溶接速度制御方法について説明す
る。 Next, the welding speed control method of the present invention will be explained.
先ず、溶接しない状態でロボツトを動作させて
ワークの溶接部をシーム溶接機の１対の電極ロー
ル間に送り込み、その履歴を教示し、メモリ１に
記憶させる。 First, the robot is operated without welding, and the welded part of the workpiece is fed between a pair of electrode rolls of a seam welding machine, and its history is taught and stored in the memory 1.
次いで、種々の溶接条件に応じた、ロボツトの
駆動速度の電極ロール速度に対するすべり率と電
極ロールの周速を記憶させる。この溶接条件に応
じたすべり率は実験により求められる。第２図
は、電極ロールの幅Ｌ及び周速Ｖをパラメータと
した溶接電流とすべり率との関係、第３図は電極
加圧力Ｗ及び周速Ｖをパラメータとした溶接電流
とすべり率との関係を示す。 Next, the sliding ratio of the robot drive speed relative to the electrode roll speed and the circumferential speed of the electrode roll are stored in accordance with various welding conditions. The slip rate corresponding to this welding condition is determined by experiment. Figure 2 shows the relationship between welding current and slip rate using electrode roll width L and circumferential speed V as parameters, and Figure 3 shows the relationship between welding current and slip rate using electrode pressure W and circumferential speed V as parameters. Show relationships.
次いで、運転前に溶接条件すなわち、電極ロー
ルの幅、周速及び加圧力と溶接電流を操作盤より
設定し、この溶接条件におけるすべり率及び電極
ロールの周速ＶをCPU２によりメモリ１の記憶
内容から読み出す。そしてCPU２において電極
ロールの周速Ｖと読み出されたすべり率とから
Ve＝Ｖ（１−Ｓ）の乗算をし、溶接条件に応じた
ロボツトの最適の駆動速度Veを算出する。この
駆動速度データは、パルス分配器４により各軸成
分に分けられてそれぞれのサーボ制御回路５1，
５2…に入力し、それぞれの軸を駆動する。かく
てロボツトは算出された最適の駆動速度でワーク
を１対の電極ロール間に送りこむ。 Next, before operation, the welding conditions, that is, the width, peripheral speed, pressing force, and welding current of the electrode roll are set from the operation panel, and the slip rate and peripheral speed V of the electrode roll under these welding conditions are stored in the memory 1 by the CPU 2. Read from. Then, from the circumferential speed V of the electrode roll and the read slip rate in CPU2,
Multiply Ve=V(1-S) to calculate the optimal driving speed Ve of the robot according to the welding conditions. This driving speed data is divided into each axis component by the pulse distributor 4 and sent to each servo control circuit 5 1 ,
5 Input to 2 ... and drive each axis. In this way, the robot feeds the workpiece between the pair of electrode rolls at the calculated optimal drive speed.
以上の関係を図示すれば第４図の通りで、溶接
条件の変更がないときには、先に設定した駆動速
度を維持し、先に述べたような演算を行なわな
い。 The above relationship is shown in FIG. 4, and when there is no change in the welding conditions, the previously set drive speed is maintained and the calculations described above are not performed.
（発明の効果）
以上のように本発明によるときは、溶接条件の
変化があつてもその度毎にロボツトへの教示をや
り直す必要がないので取扱いが簡便であり、また
溶接しない状態でロボツトに教示することができ
る等の効果がある。(Effects of the Invention) As described above, according to the present invention, there is no need to re-teach the robot each time there is a change in welding conditions, so handling is simple, and the robot can be easily operated without welding. It has the effect of being able to teach.
第１図は、本発明方法の実施に使用する装置の
ブロツク図、第２図及び第３図は溶接条件に対す
るすべり率の関係特性図、第４図は流れ図を示
す。
１……メモリ、２……CPU、４……パルス分
配器、５1，５2……サーボ制御回路。
FIG. 1 is a block diagram of an apparatus used to carry out the method of the present invention, FIGS. 2 and 3 are characteristic diagrams of the relationship between slip ratio and welding conditions, and FIG. 4 is a flowchart. 1...Memory, 2...CPU, 4...Pulse distributor, 51 , 52 ...Servo control circuit.
Claims (1)
部を設定した駆動速度でシーム溶接機に備える１
対の電極ロール間に送り込むようにした溶接速度
制御方法において、種々の溶接条件に応じた前記
ロボツト駆動速度の電極ロール速度に対するすべ
り率を記憶させることと、運転前に、設定した溶
接条件に応じたロボツト駆動速度のすべり率を前
記記憶内容から求め、該すべり率と電極ロール周
速度とから設定した溶接条件におけるロボツト駆
動速度を算出することから成ることを特徴とする
自動シーム溶接における溶接速度制御方法。1 Hold the workpiece in a multi-axis robot and prepare the welding part for the seam welding machine at the set drive speed 1
In the welding speed control method in which the welding speed is fed between a pair of electrode rolls, the sliding ratio of the robot drive speed to the electrode roll speed is memorized according to various welding conditions, and the sliding ratio is stored before operation according to the set welding conditions. Welding speed control in automatic seam welding, characterized in that the sliding rate of the robot driving speed is determined from the stored contents, and the robot driving speed under the set welding conditions is calculated from the sliding rate and the circumferential speed of the electrode roll. Method.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP15243485A JPS6216889A (en) | 1985-07-12 | 1985-07-12 | Method for controlling welding speed in automatic seam welding |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP15243485A JPS6216889A (en) | 1985-07-12 | 1985-07-12 | Method for controlling welding speed in automatic seam welding |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPS6216889A JPS6216889A (en) | 1987-01-26 |
| JPH0368792B2 true JPH0368792B2 (en) | 1991-10-29 |
Family
ID=15540445
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP15243485A Granted JPS6216889A (en) | 1985-07-12 | 1985-07-12 | Method for controlling welding speed in automatic seam welding |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS6216889A (en) |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103223670A (en) * | 2013-04-08 | 2013-07-31 | 苏州工业园区职业技术学院 | Servo control system for five-degree-of-freedom medium-speed tin soldering robot |
| CN103223671A (en) * | 2013-05-08 | 2013-07-31 | 苏州工业园区职业技术学院 | Dual-core servo controller for two-degrees-of-freedom high-speed soldering robot |
| CN103264390B (en) * | 2013-06-06 | 2016-01-20 | 苏州工业园区职业技术学院 | Double-core Three Degree Of Freedom fully automatic high-speed soldering robot servo control device and method |
-
1985
- 1985-07-12 JP JP15243485A patent/JPS6216889A/en active Granted
Also Published As
| Publication number | Publication date |
|---|---|
| JPS6216889A (en) | 1987-01-26 |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| LAPS | Cancellation because of no payment of annual fees |