JPH0629769U - Robot with welding condition changing function - Google Patents

Abstract

(57) [Summary] [Purpose] To provide a welding robot having a function capable of adjusting so that the welding current and the welding voltage are not suddenly changed at the welding condition change point. [Structure] A teaching device 1, a robot controller 2,
A welding robot including a welding robot main body 4 and a welding power source 3, wherein the robot controller 2 changes a welding current and / or a welding voltage at a predetermined increase rate or a decrease rate at a point where a welding condition is changed. The welding condition changing means 21 is provided.

Description

[Detailed description of the device]

[0001]

[Industrial applications]

 The present invention relates to a robot with a welding condition changing function. More specifically, the present invention relates to a robot with a welding condition changing function that can be adjusted so that the welding current and welding voltage do not change suddenly when the welding condition changes.

[0002]

[Prior art]

 The welding robot performs the work of welding the workpiece based on the operation program stored in the robot controller. Welding conditions are set in this operation program so that welding that meets the specifications of the workpiece can be achieved. Therefore, the welding conditions may be changed while welding the work.

Conventionally, the welding conditions are changed by changing the welding current and the welding voltage in steps as shown in FIG. Therefore, at that change, the weld bead may become unstable. When the work is a thin plate or is made of a soft material such as aluminum, the work may be deformed or the work may be cracked due to a sudden change in welding conditions.

Therefore, some welding robots are configured so that the welding conditions can be changed manually on the welding power source side, but the workability is poor because the welding conditions are changed on the welding power source side and by manual operation. There is.

[0005]

[Problems to be solved by the device]

 The present invention has been made in view of the problems of the prior art, and provides a welding robot having a function capable of adjusting so that the welding current and the welding voltage are not suddenly changed when the welding condition is changed. It is an object.

[0006]

The present invention is a welding robot comprising a teaching device, a robot controller, a welding robot body, and a welding power source, wherein the robot controller changes welding conditions. The present invention relates to a robot with a welding condition changing function, comprising a welding condition changing means for changing the welding current and / or the welding voltage at a predetermined rate of increase or decrease. In the welding robot of the present invention, it is preferable that the predetermined increase rate or decrease rate of the welding current is in the range of 10 to 1000 A / sec, and the predetermined increase rate or decrease rate of the welding voltage is 1 to 100 V / sec. It is preferably in the range of seconds.

[0007]

[Action]

 Since the robot with the welding condition changing function of the present invention is configured as described above, the welding current and the welding voltage are not suddenly changed when the welding conditions are changed. Therefore, when changing the welding conditions, the welding bead does not become unstable, and even when the work is a thin plate or a soft material such as aluminum, the work is deformed or cracks occur in the work. There is nothing to do.

[0008]

【Example】

 Hereinafter, the present invention will be described based on embodiments with reference to the accompanying drawings, but the present invention is not limited to such embodiments.

FIG. 1 is a schematic view of an embodiment of a robot with a welding condition changing function of the present invention, FIG. 2 is a schematic view of an electrical configuration of the same embodiment, and FIG. 3 is a schematic view of an example of a welding path. 4 is a graph of welding current and welding voltage when welding the same welding route, and FIG. 5 is a graph of welding current and welding voltage at the end of welding. In the figure, 1 is a teaching device, 2 is a robot controller, 3 is a welding power source, 4 is a welding robot body, and W is a work.

The robot with welding condition changing function of the present invention shown in FIG. 1 has a teaching device 1, a robot controller 2, a welding power source 3, and a welding robot body 4 as main components.

As shown in FIG. 1, the robot controller 2 includes welding condition changing means 21. As shown in FIG. 2, the welding condition changing means 21 is realized by an arithmetic processing unit (CPU), a RAM and a ROM, and the RAM temporarily stores a welding path from the teaching device 1 and welding condition change points. The ROM stores the welding current, welding voltage, welding speed, and other welding conditions corresponding to the welding site of the workpiece W, the respective rising and falling rates of the welding current and welding voltage at the welding condition change point, and the welding conditions. A program or the like for instructing the welding power source 3 is stored.

As the teaching device 1, the rest of the configuration of the robot controller 2, the welding power source 3, and the welding robot body 4, those conventionally used for welding robots are preferably used. Therefore, detailed description of the configuration is omitted.

Next, a case where the workpiece W is welded by the welding robot configured as described above will be described.

Example 1 On a work W made of an aluminum alloy, a welding route was set as shown in FIG. 3, and welding was performed by the following procedure.

Step 1: Until the point A was reached, welding was carried out with the welding current and welding voltage being 290 A and 32 V, respectively.

Step 2: When the point A is reached, the welding condition changing means 21 lowers the welding current for 1.0 second at a rate of 40 A / sec to 250 A, and the welding voltage to 1 at a rate of 4 V / sec. The voltage was lowered to 0.0 V for 28 V.

Step 3: Welding was performed with this welding current and welding voltage until the point B was reached.

Step 4: When the point B is reached, the welding condition changing means 21 increases the welding current at a rate of increase of 80 A / sec for 0.5 seconds to 290 A, and the welding voltage at a rate of 8 V / sec to 0. The voltage was raised to 32 V for 5 seconds.

After that, welding was performed under these welding conditions until the welding conditions were changed.

As described above, in Example 1, since the welding current and the welding voltage were changed at the above-mentioned rate of increase or decrease at the welding condition change point, the welding bead was changed at the welding condition change point (point A and point B). Was never unstable. Therefore, a smooth welding beat was obtained even when the welding conditions were changed.

Example 2 A crater process was performed on the welding wire end portion of the work W made of an aluminum alloy welded at a welding current of 200 A and a welding voltage of 24 V by the following procedure.

Step 11: Two seconds before the end of welding, the welding condition changing means 21 lowers the welding current at a rate of 50 A / sec for 1.0 second to 150 A, and the welding voltage at a rate of 6 V / sec. It was lowered to 1.0 V for 18 seconds.

Step 12: By the welding current and welding voltage changed in the above step, 1. After welding for 0 seconds, the welding was completed.

As described above, in Example 2, when the crater process was performed, the welding current and the welding voltage were changed at the above-described drop rate, so that the weld end did not crack.

Although the present invention has been described above based on the embodiments, the present invention is not limited to such embodiments, and various modifications can be made. For example, the rate of increase and decrease of welding current may be in the range of 10 to 1000 A / sec, and the rate of increase and decrease of welding voltage may be in the range of 1 to 100 V / sec.

[0026]

[Effect of device]

 As described above, according to the present invention, since the welding current and the welding voltage do not change abruptly at the welding condition change point, the welding line can be applied to a work piece made of a soft material such as thin plate or aluminum. A smooth weld bead is obtained on all lines, and no crack occurs at the weld end.

[Brief description of drawings]

FIG. 1 is a schematic view of an embodiment of a robot with a welding condition changing function of the present invention.

FIG. 2 is a schematic diagram of an electrical configuration of the embodiment.

FIG. 3 is a schematic diagram of an example of a welding path.

FIG. 4 is a graph of welding current and welding voltage when welding the same welding path.

FIG. 5 is a graph of welding current and welding voltage at the end of welding.

FIG. 6 is a graph of conventional welding current (welding voltage).

[Explanation of symbols]

 1 Teaching device 2 Robot controller 3 Welding power supply 4 Welding robot body W Work

Claims (3)

[Scope of utility model registration request] 1. A teaching device, a robot controller,
A welding robot including a welding robot body and a welding power source, wherein the robot controller changes a welding current and / or a welding voltage at a predetermined increase rate or a decrease rate at a point where the welding condition is changed. A robot with a welding condition changing function, characterized by comprising a changing means. 2. The robot with a welding condition changing function according to claim 1, wherein the predetermined increase rate or decrease rate of the welding current is in the range of 10 to 1000 A / sec. 3. The robot with welding condition changing function according to claim 1, wherein the predetermined increase rate or decrease rate of the welding voltage is in the range of 1 to 100 V / sec.