TWI440520B - Stitch pulse welding method - Google Patents

Description

Pin pulse welding method

The present invention relates to a stitch pulse welding method which can perform welding while suppressing the influence of heat imparted to a base material of a thin plate to a minimum.

The stitch pulse welding refers to a welding method in which the influence of heat applied to the base material is minimized while controlling heating and cooling at the time of welding. For example, Japanese Patent Publication No. Hei 6-55268 discloses a welding method for the purpose of automation of thin plate welding. According to the welding method disclosed in this document, the appearance after welding can be improved and the amount of deformation due to welding can be reduced as compared with the conventional thin plate welding.

The means disclosed in this document is that an arc is generated for a predetermined time in a state where the welder is stopped to melt the base material, the arc is stopped after the set time elapses, and the welder is moved to the arc near the outer edge of the molten portion. Start point.

Next, the stitch pulse welding device 51 shown in Fig. 13 is referred to to explain the conventional technique.

As shown in the thirteenth diagram, the operator M automatically performs arc welding for the finished product W. The manipulator M is provided with an upper arm 53, a lower arm 54, a wrist 55, and a plurality of servo motors (not shown) for driving the three.

The arc welder T is mounted at the tip end of the upper arm 53 of the operator M. The arc welder T guides the weld line 57 having a diameter of about 1 mm wound by the bobbin 56 to the welding position taught by the finished product W. The welding power source WP supplies a welding power source between the arc welder T and the finished product W. At the time of welding the finished product W, the weld line 57 protrudes from the tip end of the arc welder T by a desired length Ew. Generally, the length Ew is about 15 mm. In order to match the groove shape and welding conditions of the welded portion, the operator adjusts the length Ew to a desired length using a teach pendant TP.

A coil liner for guiding the weld line 57 is provided inside the conduit cable 52. The conduit cable 52 is connected to the welder T. The conduit cable 52 supplies electric power from the welding power source WP and shielding gas from the gas compression cylinder 58 to the arc welder T.

The teaching suspension system TP is a portable operating panel. The teaching suspension system TP is used to set the requirements for the operation of the operator M and the pulse welding of the stitches, specifically for setting the welding current, the welding voltage, the moving speed, the moving interval, the welding time, and the cooling time. . The operator uses the teaching suspension system TP to create an operation program for setting the above various conditions in accordance with the operation of the operator M.

The machine control device RC controls the welding operation of the operator M. The machine control device RC includes a main control unit, an operation control unit, and a servo driver (not shown). The operator outputs an operation control signal to each servo motor of the operator M by the servo driver based on the operation program taught by the teaching suspension system TP, so that the plurality of axes of the operator M are respectively rotated. The servo motor of the operator M is equipped with an encoder (not shown). The machine control unit RC uses the output signal from the encoder (not shown) to know the current position of the welder T. Therefore, the machine control device RC can control the tip end of the welder T.

The position at which the stitch pulse welding is performed is calculated by dividing the line stored in the work program by the set movement interval. Hereinafter, each position set by dividing the work line is referred to as a work position. The apex of the welder T is sequentially guided to the calculated working position. The stitch pulse welding is performed while repeating the following welding, moving, and cooling.

Next, refer to the fourteenth figure to illustrate the pulse welding of the pins.

The weld line 57 protrudes from the tip end of the welder T. The shielding gas G is blown out from the arc welder T at a constant flow rate from the start of welding until the end of welding.

(a) of Fig. 14 shows how the arc is generated. An arc A is generated between the tip end of the weld line 57 and the finished product W at the work position P1 based on the set welding current and the welding voltage. On the finished product W, the weld line 57 is melted to produce the molten pool Y. Starting from the generation of the arc A, the arc A is stopped after the set welding time has elapsed.

(b) of Fig. 14 shows the appearance after the arc is stopped. After the arc is stopped, the state after welding is maintained until the set cooling time elapses. In other words, in a state in which the operator M and the welder T are stopped in the same manner as in the welding, only the shielding gas G is blown out from the arc welder T. The molten pool Y is substantially solidified by cooling of the shielding gas G. As a result, the weld mark Y' is formed.

Fig. 14(c) shows how the arc welder T is moved to the next working position P2. After the cooling time has elapsed, the welder T is moved to the direction of the line. Thereby, the welder T moves to the next work position P2 which is only a predetermined movement distance Mp from the work position P1. The moving speed at this time is set in advance. As shown in Fig. 14(c), the movement interval is the same as the movement distance of the weld line 57 from the outer peripheral edge of the weld mark Y' from the work position P1 until the molten pool Y is solidified.

Fig. 14(d) shows how the arc A is regenerated in the work position P2. The molten pool Y is newly formed at the end of the weld mark Y' and welded. As described above, in the stitch pulse welding device 51, the state in which the arc is generated and the welding and the state of cooling and moving are alternately repeated. As a result, the weld marks are overlapped into a scaly shape, and weld bubbles are formed on the finished product W.

As shown in the fifteenth figure, each of the work positions P1 to P4 is calculated by dividing the work line L by a predetermined movement interval Mp. A weld mark Sc is formed on the initial work position P1. Further, the same weld mark Sc is formed also on the work position P2 of the distance Mp from the work position P1 in the work line direction Dr. The weld mark Sc is sequentially formed even below the work position P3. Thus, as a result of the weld marks being formed in a scaly shape, the weld bubbles B are formed.

In the above-described stitch pulse welding, the base material of the thin plate is used as an object of arc welding. In general, in order to form a solder bump having a wide width, it is necessary to perform high current or long time soldering. However, in this case, since the heating becomes large, the base material of the thin plate melts and falls, and it is impossible to form a welded foam having a wide width.

SUMMARY OF THE INVENTION An object of the present invention is to provide a stitch pulse welding method capable of easily forming a welding spout having a wide width even on a base material of a thin plate.

In order to achieve the above object, according to a first aspect of the present invention, a stitch pulse welding method is provided which is performed by moving a welder to a work position on a work line after welding, by a predetermined movement interval from a work position. The next work position is repeated for welding, and the weld marks formed at the respective work positions are overlapped to form weld bubbles on the finished product. In the stitch pulse welding method, first, a welding track is generated in a region including a work position and having a predetermined size in a direction of a work line and a direction perpendicular to the work line. At the same time, welding is performed while following the welding track to move the tip end of the welder.

[First Embodiment]

Hereinafter, a first embodiment of the present invention will be described with reference to the drawings.

As shown in the first figure, in the stitch pulse welding device 1 of the first embodiment, the machine control device RC and the teaching suspension system TP are different from the conventional technique shown in the thirteenth diagram. In the first figure, the operator M, the welding power source AP, the bobbin 56, the gas compression cylinder 58, and the like shown in Fig. 13 are omitted. Hereinafter, the machine control device RC and the teaching suspension system TP which constitute the main part of the present invention will be described.

The machine control device RC controls the welding operation of the operator M. The machine control device RC includes a main control unit 3, an operation control unit 11, a drive command unit 12, a hard disk 4, a RAM 5 as a temporary calculation area, a CPU 6 as a central calculation processing device, and a welding control unit 13 for controlling welding. And servo drives (not shown) connected to each other via busbars (not shown). The motion control unit 11 executes the trajectory calculation or the like of the operator M, and outputs the result of the calculation as a drive signal to the drive command unit 12. The drive command unit 12 outputs a servo control signal for controlling the rotation of each servo motor of the operator M. Hard disk 4 memory program and various parameters.

The teaching suspension system TP includes a display unit 41 that displays various kinds of information, and a setting unit 42 that sets various conditions such as a movement target position and an operation parameter of the operator M. Various conditions and the like input by the setting unit 42 are input to the main control unit 3 of the machine control device RC.

The main control unit 3 includes a teaching processing unit 20, a display processing unit 21, and an explanation executing unit 22. The welding current, the welding voltage, the moving speed Ms, the moving interval Mp, the cooling time Ct, the track pattern Kp, and the parameter Pm thereof as the stitch pulse welding condition Tc are input from the setting unit 42 to the teaching processing unit 20. The teaching processing unit 20 memorizes the above various conditions on the hard disk 4. The display processing unit 21 displays the input various materials on the display unit 41 of the teaching suspension system TP as necessary. The track pattern Kp is a track pattern when welded to a region including a work position. The motion control unit 11 generates a welding track based on the track pattern Kp and its parameter Pm.

The plurality of patterns shown in (a) to (f) of the second figure are previously memorized in the hard disk 4 into the orbit pattern group Kg. The track pattern group Kg is displayed on the display portion 41 of the teaching suspension system TP together with the name and shape. Therefore, the operator can visually understand the track pattern. In addition, the operator can also select any track graphic.

In order to realize a welded bubble having an extremely wide width, it is preferable to include a circle, an ellipse, or a spiral as the configuration of the orbital pattern group Kg. In the case of a spiral, as shown in (c) to (f) of the second drawing, in particular, several patterns are determined so that the starting position and the turning direction of the spiral can be imagined.

Next, the welding track generated by the motion control unit 11 will be described in accordance with the track pattern of the circle or the ellipse. Initially, reference is made to (a) and (b) of the third figure to explain the welding line coordinate system which is the reference when the welding track is formed.

(a) of the third figure shows a state in which the welder T is disposed perpendicularly to the line L. (b) of the third figure shows a state in which the welder T is disposed obliquely with respect to the work line L. The work line L shown in (a) and (b) of the third figure is a welding start point Sp (hereinafter referred to as a start point Sp) and a welding end point Ep when the finished product W1 and the finished product W2 are joined (hereinafter referred to as an end point). Ep) A combination of lines. The line direction Dr is a direction in which the welder T travels from the start point Sp to the end point Ep. As in the prior art, by dividing the work line L by the movement interval Mp, a plurality of work positions can be calculated on the work line L. The job position Pn displays one of a plurality of job positions. Hereinafter, a method of defining a welding line coordinate system on a region including the working position Pn will be described. The welding line coordinate system can also be defined in the same way at other working positions.

The welding line coordinate system is defined based on the position and posture information of the tip end of the welder T in the work position Pn (that is, the line direction component and the position and posture coordinate value in the base coordinate system).

As shown in (a) of the third figure, the origin is set to the work position Pn. The line direction Dr including the work position Pn is set to the Z+ direction. Further, the introduction direction of the bonding wire (not shown) inserted into the welder T is set to the X+ direction. Furthermore, the direction perpendicular to the Z+ direction and the X+ direction in the right coordinate system is set to the Y+ direction. The coordinate system thus set is defined as a welding line coordinate system. The weld track can be calculated on the YZ plane.

As shown in FIG. 3(b), if the welder T is disposed obliquely, the welder T can be projected on the plane H including the work position Pn and perpendicular to the Z-axis of the weld line coordinate system. At the same time, the introduction direction of the bonding wire in the solderer T' projected on the plane H is set to the X+ direction. Others are the same as (a) of the third figure.

In this case, although the work line L is a straight line, when the work line L is an arc, the wire of the arc can be used as the work line L. Thereby, the welding line coordinate system can be defined in the same manner as the above method.

Next, the method for generating the circular welded track and the elliptical welded track will be described with reference to the fourth figure with reference to the welding line coordinate system.

In the fourth figure, the work position Pn, the welder T, the finished product W1, the finished product W2, the start point Sp, the end point Ep, the work line L, the work line direction Dr, and the XYZ direction of the weld line coordinate system are all the same as those in the third figure. (a) and (b) are the same.

The circular welding track Kc is generated in a region including the work position Pn and having a predetermined size in a direction perpendicular to the work line direction Dr and the work line L. Further, the work position Pn is set to the welding start end position Wp. That is, the welding is started from the welding start end position Wp, and the round welding track Kc is wound around the rotation direction Rd, and the welding is terminated at the welding start end position Wp.

The circular radius Cr and the rotational direction Rd are set as the parameters Pm of the round welded track. The circular radius Cr is a parameter that determines the width (i.e., bubble width) of the weld mark. You can also use the circle diameter instead of the circle radius. The rotational direction Rd is a parameter for determining the rotational direction (i.e., right or left rotation) with respect to the line direction Dr when the welder T is moved along the circular weld track.

The round welded track Kc is generated in the following manner. The position of only the distance circle radius Cr from the work position Pn in the line direction Dr is set as the center position Cc of the circle. At the same time, on the YZ plane, a track of a circle having a circular radius Cr centered on the center position Cc is calculated. This circular orbit can be easily calculated based on a well-known function or the like. Further, the work position Pn is set to the welding start end position Wp. In this manner, the circular welding track Kc can be generated in the region on the side of the work line direction including the work position Pn (that is, the position shifted from the work position Pn in the direction of the work line).

It is also possible to generate an elliptical welded track by the same method as the round welded track. That is, instead of the circular radius Cr, the radius in the left-right direction of the elliptical welding track and the radius in the traveling direction can be set to the parameter Pm, respectively. The radius in the left and right direction and the traveling direction may also be the diameter. They are equivalent to the long axis value and the short axis value of the ellipse in which the welding track is drawn.

The position of the radius from the traveling direction in the line direction Dr from the work position Pn is set to the center position Cc of the ellipse. At the same time, on the YZ plane, an orbit of an ellipse having a radius in the left-right direction and a radius in the traveling direction is calculated. Elliptical orbits can also be easily calculated based on well-known functions and the like. The work position Pn is set to the welding start end position Wp. Thus, the elliptical welding track Kd can be generated in the area on the side of the work line direction including the work position Pn.

Next, the processing flow of the stitch pulse welding of the first embodiment will be described with reference to the flowchart shown in the fifth figure.

In step S1, the work line L is divided by the movement interval Mp to calculate the work position. When the initial work position is set to P1, the work position P1 becomes the start point Sp shown in the fourth figure.

In step S2, the welder T is moved to the work position P1.

In step S3, the above-described method is used to set the weld line coordinate system at the work position P1.

In step S4, a welding track in which the work position P1 is set to the welding start end position Wp can be generated by the above method. Further, a tween calculation for causing the welder T to move in accordance with the generated weld trajectory is performed. In the case of the circular welding track Kc, the welding length (circumference length) of the circular welding track Kc is geometrically calculated based on the circular radius Cr. Based on the welding length and the set moving speed, the coordinate values on the welding line coordinate system in each tween cycle are calculated. At the same time, the coordinate value on the weld line coordinate system is transformed into the coordinate value on the base coordinate system. Furthermore, the movement target value of each joint of the operator M is calculated by the inverse transformation calculation. In the case of the elliptical welding track Kd, the welding length (elliptical circumference) of the elliptical welding track Kd is geometrically calculated based on the radius in the left-right direction and the radius of the traveling direction. At the same time, the movement target value of each joint of the operator M is calculated by the same method as in the case of the circular welding track Kc. In this case, the predetermined moving speed Ms may be used as a condition for the stitch pulse welding. Further, it is also possible to set the welding speed by setting the welding speed as the parameter Pm of the track pattern and using the setting.

In step S5, the welding is started so that the welder T moves in accordance with the welding track and reaches the welding start end position Wp. After the welding is completed at the welding start end position Wp, as in the prior art, in the state where the welder T is stopped, the cooling process of the weld mark is performed during the set cooling time Ct.

In step S6, it is determined whether or not the current work position is the end point Ep. When the current work position is the end point Ep, the flow is ended. When the current work position is not the end point Ep, the process returns to step S2. After returning to step S2, steps S2 to S6 are repeated even at the respective work positions P2 to Pn of the subsequent work position P1.

As described above, at each work position, a weld track is formed in a region including the work position and having a predetermined size in the work line direction and the direction perpendicular to the work line. At the same time, the welding is performed while causing the tip of the welder to move in accordance with the welding track. Thereby, it is possible to form a weld mark on a large area including the work position while suppressing heat from entering the base material. That is, it is possible to form a large number of weld marks as compared with the conventional method of stopping the tip end of the welder to form a weld mark. Therefore, it is possible to obtain a welded bubble having an extremely wide width.

By making the welded track into a circle, an ellipse, or a spiral, the above-described effects can also enhance the appearance of the welding bubble.

In order to obtain a weld bubble having an extremely wide width, it is particularly possible to select a pattern of the most suitable weld track from a predetermined pattern. Therefore, in addition to the above effects, it is possible to achieve an appearance corresponding to the bubble required by the operator.

The circular weld track is calculated based on a predetermined parameter including a circle diameter or a circle radius, and position and posture information of the tip end of the welder in the work position. On the circular welding track, the center position of the track is arranged on the working line, and the welding start position and the welding end position are arranged on the track. That is, in addition to the above effects, it is also possible to form a circular weld mark at each work position.

The elliptical welding track is calculated based on a predetermined parameter including a long axis value and a short axis value, and position and posture information of the tip end of the welder in the work position. On the elliptical welding track, the center position of the track is arranged on the working line, and the welding start position and the welding end position are arranged on the track. That is, in addition to the above effects, it is also possible to form an elliptical weld mark at each work position.

The welding start position and the welding end position are set as the work positions. That is, after the welding is started at the working position, the tip end of the welder is moved along the circular welding track or the elliptical welding track, and then returned to the working position. Thereby, on the above-described effects, it is possible to realize a welding bubble having an extremely wide width by using a weld mark generated on a circular welded track or an elliptical welded track.

[Second embodiment]

Next, a second embodiment of the present invention will be described with reference to Figs. 6 to 8 . In the first embodiment, the welding track is generated at a position shifted from the working position Pn toward the line direction. In the second embodiment, the welding track is formed around the work position Pn. The second embodiment is the same as the first embodiment except that the working position Pn is set to the center position Cc' of the round welded track Kc'.

The round welded track Kc' is produced in the following manner. First, the work position Pn is set as the center position Cc', and a track of a circle having a circle radius Cr centered on the center position Cc' is calculated on the YZ plane. At the same time, the position on the circular orbit from the work position Pn in the direction opposite to the work line direction Dr by only the distance circle radius Cr is calculated as the welding start end position Wp'. Thus, the round welded track Kc' can be formed in the area around the work position Pn.

As in the first embodiment, an elliptical welding track can be formed around the work position Pn. That is, instead of the circular radius Cr, the radius in the left-right direction of the elliptical welding track and the radius in the traveling direction can be set to the parameter Pm, respectively. Next, the work position Pn is set to the center position Cc', and an ellipsoid having an ellipse having a radius in the left-right direction and a radius in the traveling direction is calculated on the YZ plane. At the same time, a position at a radius of the traveling direction from the working position Pn in the direction opposite to the working line direction Dr from the working position Pn is calculated as the welding start end position Wp'. Thus, the elliptical welding track Kd' can be generated in the area around the work position Pn. Further, in the same manner as in the first embodiment, the tween calculation for moving the welder T in accordance with the welding track is performed.

Next, the processing flow of the stitch pulse welding of the second embodiment will be described with reference to the flowchart shown in the seventh embodiment.

In step S1, the work line L is divided by the movement interval Mp to calculate the work position. When the initial work position is set to P1, the work position P1 becomes the start point Sp shown in the fourth figure.

In step S2, the above-described method is used to set the weld line coordinate system at the work position P1.

In step S3, the work position P1 is set as the center position, and the above-described method is used on the work line L to generate a weld track having the welding start end position Wp'. Further, in the same manner as in the first embodiment, the tween calculation for moving the welder T in accordance with the welding track is performed.

In step S4, the welder T is moved to the welding start end position Wp' on the welding rail.

In step S5, the welding is started so that the welder T moves in accordance with the welding track and reaches the welding start end position Wp'. After the welding is completed at the welding start end position Wp', as in the prior art, in the state where the welder T is stopped, the cooling process of the weld mark is performed during the set cooling time Ct.

In step S6, it is determined whether or not the current work position is the end point Ep. When the current work position is the end point Ep, the flow is ended. When the current work position is not the end point Ep, the process returns to step S2. After returning to step S2, steps S2 to S6 are repeated even at the respective work positions P2 to Pn of the subsequent work position P1.

In the first embodiment, a welding trajectory of a circle or an ellipse is formed at a position shifted in the direction of the work line from the work position. In the second embodiment, the center position of the circular or elliptical welding track is set as the working position. That is, since a circle or an ellipse having a working position as a center is formed, a round or elliptical weld mark can be formed at an ideal position. In addition, the operator can easily grasp the formation position of the weld mark.

In the second embodiment, the welder may be moved in accordance with the welding track after the primary welding at the center position of the welding track. Hereinafter, a flow of processing for stitch pulse welding in this case will be described with reference to a flowchart shown in FIG.

In the eighth diagram, steps S1 to S4 and S6 indicated by broken lines are the same as steps S1 to S3 and S6 shown in the seventh figure. Hereinafter, steps S4' and S5 shown by solid lines will be described.

In the step S4', in the state where the welder T is stopped at the work position, the welding is performed only for a predetermined welding time. The configuration of the stitch pulse welding device can be set in advance to be a condition for welding this welding time as a pin pulse welding.

In step S5, the welder T is moved to the welding start end position Wp' on the welding rail. At this time, it is also possible to stop the arc before the movement of the welder T, and to cause the welder T to move to the welding start end position Wp' in a state where the arc is emitted. At the same time, after the welder T is moved in accordance with the welding track, it is brought to the welding start end position Wp'.

In the case where the circular radius of the circular welding track or the diameter of the circle is excessively large, it is often not formed in the vicinity of the center of the circle. In this way, according to the above method, before the welding device is moved according to the generated circular welding track or the elliptical welding track, in the center position of the circular welding track, in the state where the welding device is stopped, only in the predetermined welding. Welding is performed within the time. Therefore, even if the circular radius or the circular diameter of the circular welded track becomes large, it is possible to form a weld mark near the center of the circular welded track. This is also true for elliptical welding tracks. That is, a large weld mark can be formed more surely.

[Third embodiment]

A third embodiment of the present invention will be described with reference to the ninth to the twelfth drawings. In the first embodiment and the second embodiment, the round welded rail Kc (Kc') or the elliptical welded rail Kd (Kd') is generated at a position shifted from the working position Pn in the direction of the working line or the working position Pn. around. In the third embodiment, a spiral welded track that is spirally rotated about the working position Pn can be generated.

The ninth view is a schematic plan view of the spiral welded track Kr drawn on the YZ plane of the welding line coordinate system in the first embodiment as seen from the X+ direction. In the ninth diagram, the work position Pn, the work line L, the work line direction Dr, and the rotational direction Rd are the same as those in the fourth figure.

The spiral welded track Kr is generated in the following manner. First, the work position Pn is set to the welding start position Ws, and the spiral track of the maximum spiral radius Sr is calculated on the YZ plane. The so-called spiral orbit refers to the Archimedes spiral whose radius increases in proportion to the angle. The formula for the Archimedes spiral is expressed by the radius R = a θ (a is a fixed number and θ is a rotation angle). That is, 0 π, π/2, π, 3 π/2 is defined as shown in the ninth figure centering on the work position Pn. At the same time, the rotation start angle, the rotation end angle, the rotation end radius, (= the maximum spiral radius Sr) are given as the parameter Pm. Thereby, the spiral track can be easily calculated. In the case of the example shown in the ninth figure, the rotation start angle is π/2, the rotation end angle is 4 π, and the maximum spiral radius is Sr. Based on these, the constant a can be calculated, and the radius R at each rotation angle can also be calculated. That is, the coordinate value on the spiral track in the weld line coordinate system can be easily calculated.

For example, by causing a change in the rotation start angle and the rotation end angle, the spiral weld track Kr shown in (a) to (f) of the tenth figure can be generated. Further, in addition to the rotation start angle and the rotation end angle, the spiral track can be defined more flexibly by causing the radius to change when the rotation starts. In this case, the formula of the Archimedes spiral is the radius R = Ri + a θ (Ri = radius at the start of rotation). (g) of the tenth graph shows a spiral trajectory considering the radius Ri at the start of rotation in (e) of the tenth figure.

Returning to the ninth figure, the position on the spiral track from the work position Pn only in the line direction Dr from the maximum spiral radius Sr is calculated and regarded as the welding end position We. Thereby, the spiral welding track Kr can be generated around the work position Pn.

The maximum helix radius Sr may also be the same value as the movement interval Mp. (a) of the eleventh diagram shows a welding track in a case where the maximum helix radius Sr is the same value as the moving interval Mp. (b) of the eleventh diagram shows the welding track in the case where the maximum spiral radius Sr is shorter than the moving interval Mp. (c) of the eleventh diagram shows the welding track in the case where the maximum helix radius Sr is longer than the moving interval Mp. In the eleventh (b) and eleventh (c), while the spiral welding track Kr is drawn, the welder is moved only from the initial working position in the line direction Dr by only the maximum helix radius Sr. After that, it is also necessary to move it to the next work position of the distance Mp from the initial work position. In this regard, as shown in (a) of the tenth diagram, if the maximum helix radius Sr is set to the same value as the movement interval Mp, the movement from the first working position to the next working position is not required.

Next, the processing flow of the stitch pulse welding of the third embodiment will be described with reference to the flowchart shown in Fig. 12.

In step S1, the work line L is divided by the movement interval Mp to calculate the work position. When the initial work position is set to P1, the work position P1 becomes the start point Sp shown in the fourth figure.

In step S2, the welder T is moved to the work position P1.

In step S3, the above-described method is used to set the weld line coordinate system at the work position P1.

In step S4, the work position P1 is set to the welding start position Ws, and the position at which only the maximum spiral radius Sr is located in the line direction Dr from the work position P1 is set as the welding end position We. Thus, the spiral welding track Kr is generated by the above method. Further, a tween calculation for moving the welder T in accordance with the spiral welding track Kr is performed. That is, the welding length (helix length) of the spiral welding track Kr is geometrically calculated based on the rotation start angle of the spiral, the end angle of rotation, the maximum spiral radius Sr, the radius at the start of rotation, and the like. Based on the welding length and the set moving speed, the coordinate values in the respective tween cycles are calculated. At the same time, as in the first embodiment, the movement target values of the respective joints of the operator M are calculated. In this case, the predetermined moving speed Ms may be used as a condition for the stitch pulse welding. Further, it is also possible to set the welding speed by setting the welding speed as the parameter Pm of the track pattern and using the setting.

In step S5, the welding is started, so that the welder T moves in accordance with the spiral welding track Kr and reaches the welding start end position Wp. After the welding is completed at the welding start end position Wp, as in the prior art, in the state where the welder T is stopped, the cooling process of the weld mark is performed during the set cooling time Ct.

In step S6, it is determined whether or not the current work position is the end point Ep. When the current work position is the end point Ep, the flow is ended. When the current work position is not the end point Ep, the movement distance to the next work position is calculated from the difference between the maximum spiral radius Sr and the movement interval Mp, and the flow returns to step S2. After returning to step S2, steps S2 to S6 are repeated even at the respective work positions P2 to Pn of the subsequent work position P1.

At each work position where stitch pulse welding is performed, welding is started at the work position Pn. Next, the welder T is rotated in the rotational direction Rd to move while drawing the spiral welded track Kr. At the same time, the welder T is caused to reach the welding end position Pe of only the maximum spiral radius Sr from the work position Pn in the line direction Dr.

The spiral welded track is calculated based on a predetermined parameter including a maximum spiral radius that coincides with a moving distance in the direction of the writing line, and position and posture information of the tip end of the welder in the working position. After the welding is started at the working position, the tip of the welder is moved in accordance with the spiral welding track. At the same time, the welder is brought to a position that is only a distance from the maximum helix radius from the working position. Thereby, it is possible to realize a welding bubble having an extremely wide width by using the weld mark generated on the spiral welding track.

In the case where the maximum helix radius is defined to be different from the moving interval, it is necessary to make the welder from the working position after the spiral weld track is drawn, so that the welder moves only the maximum helix radius from the work position in the direction of the work line. Move to the next position only by the distance of the movement. In this case, if the maximum spiral radius of the spiral welded track is set to the same value as the moving interval (which is the moving distance from the previous working position to the next working position), the above effect can also be reduced with the spiral welding. Track-related teaching hours can also shorten the takt time.

In each of the embodiments, since the welding track is deformed in a direction perpendicular to the direction of the work line, the flatness ratio may be included in the parameter Pm of each track pattern. Regarding the flattening ratio, it is desirable to be able to be set separately on the right side and the left side with respect to the line direction. Thereby, the welding track can be changed. For example, on the spiral track in the rotational direction Rd shown in the ninth figure, the track on the right side with respect to the line direction Dr is larger than the track on the left side. Therefore, by setting the above flattening ratio, it is possible to prevent the skew of the spiral welded track. That is, it is possible to realize a welding track corresponding to the needs of the operator.

In each of the above embodiments, the welding track is generated at each working position every time, but the welding track generated at the first working position may be used in the subsequent working position.

1. . . Pin pulse welding device

3. . . Main control department

4. . . Hard disk

5. . . RAM

6. . . CPU

11. . . Motion control unit

12. . . Drive command department

13. . . Welding control department

20. . . Teaching and processing department

twenty one. . . Display processing unit

twenty two. . . Interpretation implementation department

41. . . Display department

42. . . Setting department

A. . . Arc

AP. . . Welding power supply

B. . . Welding bubble

Cc. . . Central location

Cc’. . . Central location

Cr. . . Circle radius

Ct. . . Cooling time

Dr. . . Line direction

Ep. . . Welding end point

Ew. . . length

G. . . Protective gas

H. . . flat

Kc. . . Round welded track

Kc’. . . Round welded track

Kd. . . Elliptical welding track

Kd’. . . Elliptical welding track

Kg. . . Orbital graphic group

Kp. . . Track graphics

Kr. . . Spiral welding track

L. . . Line of work

M. . . Operator

Mp. . . Moving interval

Ms. . . Moving speed

Pn. . . Working position

Pe. . . Welding end position

Pm. . . parameter

RC. . . Machine control unit

Rd. . . Direction of rotation

Sc. . . Weld mark

Sp. . . Welding start point

Sr. . . Maximum helix radius

T. . . Welding machine

T’. . . Welding machine

Tc. . . Welding condition

TP. . . Teaching suspension system

W1. . . Finished product

W2. . . Finished product

We. . . Welding end position

Wp. . . Welding start position

Wp’. . . Welding start position

The first figure is a block diagram of a stitch pulse welding device using the stitch pulse welding method of the present invention;

(a) to (f) of the second figure are schematic plan views showing a plurality of track patterns;

(a) and (b) of the third figure are schematic perspective views showing the coordinate system of the welding line;

Figure 4 is a schematic perspective view showing a round welded rail generated by a region including a working position in the first embodiment of the present invention;

The fifth figure is a flow chart showing the processing flow of the stitch pulse welding;

Figure 6 is a schematic perspective view showing a round welded rail generated by the periphery of the working position in the second embodiment of the present invention;

7 is a flow chart showing a processing flow of stitch pulse welding in the second embodiment of the present invention;

The eighth figure is a flow chart in the case where the welder moves along the welding track after one welding at the center position of the welding track;

Figure 9 is a schematic plan view showing a spiral welded track in a third embodiment of the present invention;

(a) to (g) of the tenth figure are schematic plan views showing a pattern of a spiral welded track;

(a) to (c) of the eleventh diagram are schematic plan views showing the relationship of the maximum spiral radius and the movement interval;

Figure 12 is a flow chart showing a flow of processing of stitch pulse welding in the third embodiment of the present invention;

Figure 13 is a block diagram showing a conventional pin pulse welding device;

Figure 14 (a) ~ (d) is a schematic diagram for explaining the pulse welding of the stitch;

The fifteenth figure is a schematic plan view for explaining the welding bubbles formed after welding.

Cc. . . Central location

Cr. . . Circle radius

Dr. . . Line direction

Ep. . . Welding end point

Kc. . . Round welded track (Kd elliptical welded track)

L. . . Line of work

Pn. . . Working position (Wp welding start end position)

Rd. . . Direction of rotation

Sp. . . Welding start point

T. . . Welding machine

W1. . . Finished product

W2. . . Finished product

Claims (11)

A stitch pulse welding method is characterized in that after the welding device is moved to a working position on the working line, the welding is repeated by repeating the welding at the next working position from the working position only by a predetermined moving interval, and the working positions are overlapped. a soldering spot formed on the finished product, and a soldering bubble formed on the finished product, wherein the stitching pulse welding method comprises: a predetermined size in a direction including the working position and in a direction perpendicular to the working line and the working line A weld track is formed on the area, and welding is performed while causing the tip end of the welder to move in accordance with the aforementioned weld track. A stitch pulse welding method according to the first aspect of the invention is characterized in that the welding track is a round welded track, an elliptical welded track, or a spiral welded track. The stitch pulse welding method according to the second aspect of the invention is characterized in that the circular welding track is calculated based on a predetermined parameter including a circle diameter or a circle radius, and position and posture information of the tip end of the welder in the work position. The center position of the round welded rail is disposed on the work line, and the welding start position and the welding end position are disposed on the round welded rail. The stitch pulse welding method according to claim 2, wherein the elliptical welding track is based on a predetermined parameter including a major axis value and a minor axis value of the ellipse, and a position and posture of the tip end of the welder in the working position. The information is calculated; the center position of the elliptical welding track is placed on the work line, and the welding start position and the welding end position are arranged on the elliptical welding track. A stitch pulse welding method according to claim 3 or 4, wherein the welding start position and the welding end position coincide with the work position. A stitch pulse welding method according to claim 3 or 4, wherein the center position coincides with the work position. A stitch pulse welding method according to claim 6 is characterized in that, before moving the welding device in accordance with the welding track, at the center position, in a state where the welding device is stopped, only a predetermined welding time is performed. welding. The stitch pulse welding method according to claim 2, wherein the spiral welding track is based on a predetermined parameter including a maximum spiral radius that coincides with a moving distance from the working position to the working line direction, and the working position. The position and posture information of the tip end of the welder is calculated, and the work position is set as the welding start position, and the position at which the maximum spiral radius is only the distance from the work position in the line direction is set as the welding end position. A stitch pulse welding method according to claim 8 is characterized in that the maximum spiral radius is the same value as the aforementioned movement interval. A stitch pulse welding method according to any one of claims 3, 4 or 8, wherein the aforementioned parameter comprises a flattening ratio for deforming the aforementioned weld track in a direction perpendicular to the direction of the work line. A stitch pulse welding method according to claim 1 or 2, wherein the welding track is generated for a selected one of a plurality of track patterns including a circle, an ellipse, or a spiral, which are predetermined in advance.