JPS6099482A - Method for measuring amount of welding wire to be used in welding robot - Google Patents

Abstract

PURPOSE:To measure easily and inexpensively the amt. of a wire to be used with the software processing alone without using any special measuring instrument by multiplying the function having welding current as a parameter by arc time. CONSTITUTION:Welding is accomplished at a speed V=f(i) and arc time (t) for the requuired time (t) alone by a welding power source 8 with a robot which supplies a welding wire 2 contained in a container 1 to a torch 4 at the feed speed V changed by controlling the motor 5 of a feed roller 3 by a controller 9 according to the value of welding current (i). The amt. (p) of the welding wire 2 to be used in said arc time (t) is therefore expressed by p=V.t=f(i).t and since (t) is given by a welding program, the amt. of the wire to be used is displayed easily by calculating the same from the above-mentioned equation.

Description

DETAILED DESCRIPTION OF THE INVENTION Fuyuan Ming presents a method for measuring the use of a bathing wire in the iC16 robot.

f'l-? For fighting robots, I61 figure VC7J<
The wire 2 is housed in each wire 51 so that
Or feed roller 3.3 [j is torch 4vc1, 1
;G is given. lj 26, motor 5+! The two feed rollers are connected to the A axis → Iυ1-, and their rotational speed is 1.
11 depending on the thickness of the UIL.
1i1. l Ittl is done.

By the way, Somai uses dll for the use of the above 7 composite wire 2.
1, set the ξ pulse encoder 6 on the feed roller 3, and set the output of this encoder to the counter 7 as an IF number.
, the wire 2 wheel in the wire;
c Which if d open bale, ri b is required, so % 4
A robot's system 114 composition becomes 1 song per song, and the effort and effort of including 41:L of those 4 G++f and the example, (10 songs to fight against the controller of the robot) A pebble called 91-ru is 13 times 1 and a half times.

Ki Shimei is here) (Fat and older brother vc thoughts, : 1 I Separate 7.C*
nl1 rule 4: Change the party equipment by 1 - "r ((, ℃ above (by only soft place 1'1±) 1z - wire 1"
Nol ++4: ke1, i (Ill 1~)

In order to obtain such an objective 'A: 1tyuh:i, -z-, I1-r1-1ljj', 13' with υ11 as a parameter, + 7 synthesis by adding the arc time The number of wires used is 11,411 feet.

Hereinafter, the invention will be described in detail with reference to the drawings.

In the bath welding robot VC, the welding wire feed 28g degree V shown in Fig. 2 is changed according to the 11 sections of the bath welding current l. 1[&Work V=K-i=Nil fil. Note that K in the above formula VC is determined by the diameter of the bath welding wire and the temperature of the bath welding wire.
It is a recitation.

In Fig. 3, s fi connection 8 is Vσd self wire 2.
The bath contact current i is supplied to the robot, and the arc time t of the bath contact current i and the current flow are commanded by the controller 9 of the bath contact robot.

In addition, the wire feeding motor 5 described in 1iiJ moves the wire 2 at a speed L V = f fit and an arc time t according to a command 41B given from the controller 9.
1m J feed.

Usage amount of bath welding wire 2 at arc time tVc above p&''!.

p = V - t (21 t, this equation (21 and 111 from equation (1) p =
The relationship ftiLt (31) is established.

Now, the amount of bath welding wire 2 used each time after torch 4vc Yotsumata arc bathing is calculated as pI + +)2 +・
..., then the cumulative usability P of the wire 2 is p=p +
p +...=ffil・t +ft1l・t2
+... (4) It is expressed as 1 2 1. The above formula ta [original f tilf(J
: and 11, 12°... are the 11tll i 4j data of the above-mentioned controller programmed in advance. Therefore, the program to perform the expression -9°f of the above equation (4) can be executed in the robot city II 1ilil. By adding this to the program, it is possible to specify the use of the wire 2 without having to use the encoders, counters, etc. shown in FIG.

16, dllll connection (6 is the use of wire 2 fl
'j,' and shortages etc. as data for Table 21
Fortune Telling J1.1 Saomui).

As mentioned above in 5.16, what is the use of bath welding wire based on vjt and arc time? Since Jll1 is added, the above wire opening J-iff: is j + 1111 by AJu software 19 processing without using VC measurement equipment as in the conventional method.
1, and by using this Jt, it is possible to make the structure of the fd droplet stem more compact and inexpensive.

[Brief explanation of the drawing]

Figure 1 shows the conventional method for measuring the welding wire Wk, and Figure 2 shows the conventional method for measuring the welding wire Wk. Speed 1
Figure 3, which shows the relationship between the two, is a conceptual diagram that explains the method of obscurity. 2... Bath welding wire, 3... Fee roller, 5.
...Motor, 8...Bath connection Ll (source, 9...Controller.

Claims (1)

[Claims] By setting the arc time to the parameter →−, the 1 Sarakawa i Tsuji of the 7th station wire is I.
It is dangerous to measure (Use of holder wire in 6 provisional lohots i Katsura + 1411 constant force method.