WO1989001380A1 - Automatic wire-releasing device for welding robot - Google Patents
Automatic wire-releasing device for welding robot Download PDFInfo
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- WO1989001380A1 WO1989001380A1 PCT/JP1988/000794 JP8800794W WO8901380A1 WO 1989001380 A1 WO1989001380 A1 WO 1989001380A1 JP 8800794 W JP8800794 W JP 8800794W WO 8901380 A1 WO8901380 A1 WO 8901380A1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K9/00—Arc welding or cutting
- B23K9/12—Automatic feeding or moving of electrodes or work for spot or seam welding or cutting
- B23K9/124—Circuits or methods for feeding welding wire
Definitions
- the present invention relates to an arc welding port, and more particularly to an apparatus capable of automatically releasing wire welding when the wire is welded to the work at the end of welding work.
- a voltage is applied between the workpiece as the welding base material and the wire as the weld, and an arc is generated between the two to melt the wire.
- the welding torch holding the wire and the work are moved relative to each other along one continuous welding area to perform welding on the area. Then, when the welding is completed, the voltage application between the work and the wire is stopped to stop the generation of the arc.
- the metal melted into the work also solidifies at the wire tip b and is separated, but for some reason such as welding conditions. As a result, the metal fused to the work and the wire tip are connected, and a phenomenon called wire welding occurs.
- welding is performed by applying a voltage between the wire and the work at the end of arc welding to determine whether or not current flows and to detect the presence or absence of wire welding.
- a detection circuit is provided, and when a welding signal indicating that a wire is being welded is output from the welding circuit, an alarm is generated and welding ftC is detected.
- the welding port is used for automating the welding operation.
- the operation stops every time welding occurs, and if it requires human intervention, the utility of the automation is reduced by half. U.
- an object of the present invention is to automatically perform a welding release operation when a welded portion is formed between a wire and a work, so that welding can be continued, and a wire welding automatic release device at a welding port pot is provided.
- the wire welding automatic debonding apparatus of the present invention applies a predetermined voltage between the work and the wire for a predetermined time at the end of arc welding, and when a current flows between the both, the wire is applied.
- Welding detection means for outputting a wire welding signal indicating that the wire is welded to the work; and, in response to the incoming call ⁇ , the work and the wire have a second predetermined applying a time the second predetermined voltage, Shi melt-Wai ya welded portion Wa Lee ya soluble: and means for solutions ⁇ to the.
- the wire welding is automatically released and the welding can be dynamically shifted to the next welding bamboo industry. Since there is no need to perform welding release work, the effect of automation can be further improved.
- FIG. 5 is a block diagram of a welding port equipped with the automatic welding / unhiding device of the present invention-embodiment, and FIG. 5 is a front view of the welding port.
- FIG. l-, third; are the timing charts for various signals during dynamic welding release: BEST MODE FOR CARRYING OUT THE INVENTION
- a control device 1 of a welding robot for controlling a robot main body 2 and a welding rod 3 includes a central processing unit (hereinafter referred to as a CPU) 10.
- the CPU 10 has a memory 11 composed of a ROM and a memory 1 composed of a RAM 12.
- ZMDI) 14 and taper 15 are connected by path 20 respectively, and I / O circuit 16, axis control circuit 17 and welding machine interface: L is 19 Are connected to the bus.
- the memory 1 stores various control programs to be executed by the CPU 0.
- the teaching data is input to the memory 12 from the teaching operation 13.
- Data such as various parameters are stored, and the result and data of the operation performed by C: PIM0 are stored.
- the axis control circuit 17 is connected to the Drives each axis of the bot. T)-Controls a pomotor (not shown). It is connected to the y-port circuit 18.
- the welding machine interface-9 Is connected to a welding wire 3 having a wire welding detection circuit 3a.
- the above structure is the same as the configuration of a conventional arc welding robot c.
- the connection robot automatic wire ⁇ ⁇ ⁇ ' dynamic! That describes the t
- the operator uses the large voltage V applied to the workpiece and wire (both not shown) as a parameter for the automatic welding release operation via the CRTMDI 14,
- V the welding time is set before the welding time is determined by setting the welding time of the welding detection circuit 3a of the welding machine 3 and the welding time of the welding machine 3a.
- the movement ft of the robot body 2 stops (Fig. 3 ( ⁇ ), welding command from controller ⁇ ⁇ to welding ⁇ 3, voltage command).
- the current command is lost (go to Fig.
- step S 2 A command to switch to the T2 operation state is output (step S2). That is, the welding detection circuit 3a waits for a predetermined period of time, as in the conventional case, (see FIG. 3). A voltage for detecting wire welding is applied between the wire and the work to determine whether a current flows /), and a predetermined time T 2 is set. In this case, the CPU 10 outputs a wire welding signal when a current flows through the CPU 10.
- step S3 the CPU 10 determines whether or not a welding signal has been output from the welding detection circuit 3a. It is determined whether or not the predetermined time ⁇ T 2 has elapsed (step S 4). When a welding signal is output within the set predetermined time PBT 2 as shown in FIG. 3 (e), the welding is performed. The detection circuit 3a is turned off (step s5, and then the counter H becomes the Wi 5t value. It is determined whether or not the value has reached (in this embodiment, “3”). If the value has not reached the predetermined value “3”, the welding release process is started.
- the welding release process outputs a welding command to the welding machine 3 for a set time T 1 and outputs a set large current ffV.
- T 1 the welding command
- ffV the set large current
- the wire is not fed, and in the state where the rod body 2 is also stopped, the set large voltage is applied between the wire and the work, and the welding portion between the wire and the work ( (Not shown) will be melted.
- step S7 When the welding release processing (step S7) is completed, the CPU 10 adds "1" to the counter N (step S8), and executes the step S2 again. That is, the welding detection circuit
- step S2 if the welding signal is not output even after the predetermined time T2 during which the welding detection circuit 3a operates, (step S2) 3, S
- step S3 when the welding signal is output within the predetermined time T2 (step S3), the welding release processing (step S7) and the welding detection processing (steps S2 to S3) are performed as described above. S 4) is repeated until the value N of the counter becomes “3”. That is, in this embodiment, the welding release processing is performed three times. If wire welding is not released even if the welding signal is output from the welding detection circuit, a wire welding alarm is issued and welding is stopped.
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- Arc Welding Control (AREA)
Abstract
A device for use with a welding robot is provided which is capable of automatically separating the welding wire from the work even if the wire is caught on the work at the end of a welding operation. When the welding is finished, a means for detecting the sticking of wire applies a predetermined voltage between the work and the wire for a predetermined period of time, and produces a signal indicative of the wire sticking when a current flows between them. In response to this signal, wire-releasing means applies a second predetermined high voltage between the work and the wire to melt the bond between them (S3, S7).
Description
明 細 軎 明
溶接ロ ボ ッ 卜 におけるワイ ヤ溶着自動解除装置 Automatic wire welding release device for welding robots
技 術 分 野 Technical field
本発明は、 アーク溶接用 口ポ ッ ト に関 し 、 と く に 、 溶 接作業終了時に ワイ ヤがワ ー ク に溶着 した場合 、 該ワ イ ャ溶着を自動解除可能な装置に関する。 The present invention relates to an arc welding port, and more particularly to an apparatus capable of automatically releasing wire welding when the wire is welded to the work at the end of welding work.
背 景 技 術 Background technology
ア ー ク溶接 口 ポッ 卜では 、 溶接母材であるワーク と溶 接箨で あるワ イ ヤ間に電圧を印加 し 、 両者間に ア ー ク を 発生させて ワ イ ヤを溶か しつつ 、 ワ イ ヤを保持する溶接 ト ーチ と ワ ー ク とを Ί つの連続する溶接領域に沿 っ て相 対移動させて 当該領域についての溶接を行 う 。 そ して 、 溶接が終了 した とき 、 ワ ー ク と ワ イ ヤ間の電圧印加を停 止 して ア ー ク発生を停止させる。 このア ー ク 溶接終了時 に おいて は 、 通常 、 ワ ー ク に融 ¾ した金属も ワ イ ヤ先端 b凝固 し 、 分 ^された状態となるが 、 溶接条件等 の何 ら かの理由 に よ り 、 ワ ー ク に融着 した金属と ワ イ ヤ先端が 連結 し ワ イ ヤ溶着とい う現象が生じる。 In the arc welding port, a voltage is applied between the workpiece as the welding base material and the wire as the weld, and an arc is generated between the two to melt the wire. The welding torch holding the wire and the work are moved relative to each other along one continuous welding area to perform welding on the area. Then, when the welding is completed, the voltage application between the work and the wire is stopped to stop the generation of the arc. At the end of the arc welding, usually, the metal melted into the work also solidifies at the wire tip b and is separated, but for some reason such as welding conditions. As a result, the metal fused to the work and the wire tip are connected, and a phenomenon called wire welding occurs.
そ こて 、 従来は 、 ア ー ク溶接終了间 に ワ イ ヤ と ワ ー ク 間に電圧を卬加 し 、 電流が流れるか否かを判新 し て ヮ ィ ャ溶着の有無を検出する溶着検出回路を設 、 該溶着 ^ 出回路よ り ワ イ ヤが溶 ¾ して いる こ と を表す 溶着信号が 出力さ れた と き 、 アラ ー ムを発生さ せ て 、 溶接 ft Cを Conventionally, welding is performed by applying a voltage between the wire and the work at the end of arc welding to determine whether or not current flows and to detect the presence or absence of wire welding. A detection circuit is provided, and when a welding signal indicating that a wire is being welded is output from the welding circuit, an alarm is generated and welding ftC is detected.
^させ ていた 。 そ して 、 復旧させ るために は 、 人 に よ 、 溶！ し た箇所を 切断 "？ る と い う作穿 を必 ϋ と し て い
一 一 I was doing it. And to restore it, it's time for people to melt! You need to cut the cut part. One one
溶接口ボ ッ十 は溶接仵業を自動化するものであり 、 ヮ ィ ャ溶着が生じる毎に動作を停止し 、 人手の介人を必要 とするものであれば、 自動化の効用は半減して しま う 。 The welding port is used for automating the welding operation. The operation stops every time welding occurs, and if it requires human intervention, the utility of the automation is reduced by half. U.
発 明 の 開 示 Disclosure of the invention
そ こで、 本発明の目的は、 ワイ ヤ とワーク間に溶着部 が生じた とき自動的に溶着解除動作を行い 、 溶接を続行 できるよう に した溶接口 ポッ 卜 におけるワ イ ヤ溶着自動 解除装置を提供するこ とにある。 Accordingly, an object of the present invention is to automatically perform a welding release operation when a welded portion is formed between a wire and a work, so that welding can be continued, and a wire welding automatic release device at a welding port pot is provided. To provide
本発明のワ イ ヤ溶着自動解 ϋ '、装置は、 アー ク溶接終了 時にワ ーク とワ イ ヤ間に所定時間にわた り所定電圧を印 加 し 、 両者間に電流が流れた ときワ ーク にヮ ィ ャが溶 ¾ しているこ とを表すワ イ ヤ溶着信号を出力する溶着検出 手段と、 前記溶着信 ^に応じて 、 ワ ーク とワ イ ヤ ϋに第 2 の所定時間第 2 の所定電圧を印加 し 、 ワイ ヤ溶着部を 溶か しワ イ ヤ溶 :を解 ^させる手段 とを備える。 The wire welding automatic debonding apparatus of the present invention applies a predetermined voltage between the work and the wire for a predetermined time at the end of arc welding, and when a current flows between the both, the wire is applied. Welding detection means for outputting a wire welding signal indicating that the wire is welded to the work; and, in response to the incoming call ^, the work and the wire have a second predetermined applying a time the second predetermined voltage, Shi melt-Wai ya welded portion Wa Lee ya soluble: and means for solutions ^ to the.
上述のよう に 、 本発明は、 自動的にワ イ ヤ溶着解除 理を行っ て次の溶接竹業へ 動的に移行可能と したので 、 従来のよ う に作業員によ っ てワ イ ヤ溶着解除作業を行う 必要がな く 、 自動化の効用を一層図れる。 As described above, according to the present invention, the wire welding is automatically released and the welding can be dynamically shifted to the next welding bamboo industry. Since there is no need to perform welding release work, the effect of automation can be further improved.
ϋ 面 の 簡 単 な 説 明 Simple explanation of the screen
第 Ί 図は本発明 - 実施例の自動溶着解除装匿を搭載 した溶接口 ポ ッ ト のブロ ッ ク医 、 第 2 図は 接口 す. ッ 卜 の自動溶着解除動作 のフ ロ ー チ ヤ一 l- 、 第 3 ；は 動溶 着解除勁作時の各種信号のタ ミ ングチ ヤ 一十である：
発明を実施するための最良の形態 第 1 図において 、 ロボッ ト本体 2および溶接撐 3を制 御するための溶接ロポ ッ 卜 の制御装置 1 は、 中央処理装 置 （ 以下 C P Uという ） 1 0を有し、 該 C P U 1 0に は R OMで構成されるメ モ リ 1 1 , R A Mで構成されるメ モ リ 1 2. 教示操作盤 1 3 , C R T表示装置付手動デー タ 入力装置 （以下 C R T ZM D I という ） 1 4 およびテ —プリ ーダ 1 5がパス 2 0で夫々接続され、 さ ら に入出 力回路 1 6 , 軸制御回路 1 7および溶接機イ ンタ ー フ ： L イ ス 1 9がバス接続されている。 FIG. 5 is a block diagram of a welding port equipped with the automatic welding / unhiding device of the present invention-embodiment, and FIG. 5 is a front view of the welding port. FIG. l-, third; are the timing charts for various signals during dynamic welding release: BEST MODE FOR CARRYING OUT THE INVENTION In FIG. 1, a control device 1 of a welding robot for controlling a robot main body 2 and a welding rod 3 includes a central processing unit (hereinafter referred to as a CPU) 10. The CPU 10 has a memory 11 composed of a ROM and a memory 1 composed of a RAM 12. a teaching operation panel 13 and a manual data input device with a CRT display (hereinafter referred to as a CRT). ZMDI) 14 and taper 15 are connected by path 20 respectively, and I / O circuit 16, axis control circuit 17 and welding machine interface: L is 19 Are connected to the bus.
メ モ リ 1 Ί に は C P U Ί 0が実行すべき各種制御プ ロ グラムが格納されている。 メ モ リ 1 2には 、 教示操作 1 3 . C R T / D I 1 , テ ー プリ ーダ Ί 5等か ら夫 々入力された教示デ一 タ及び C R T / M D I 1 4 か ら入 力 さ れた各種バラメ ー タ 等のデー タ が格納さ れ 、 又、 C: P IM 0が行 つ た演算の結果やデー タ が格納さ れる 。 入 出力回路 1 6は ロ ホ ッ 卜本休 2に ¾ ("J られた各 i= t'ン ゃ ァ クチ ユ エイ タ （ 共に図示略 〉 に接続さ れ、 軸制御回 路 1 7はロ ボ ッ ト の各軸を駆動 ^ る t) ー ポモ ー タ （ 図示 略 ） を制御す る " y —ポ回路 1 8に接続されている 。 又 、 溶接機イ ンタ - フ 1 イ ス Ί 9に はワ イ ヤ溶着検出回路 3 aを有する溶接 ϋ 3が接続さ れている。 以上 の搆成は 従来のアー ク溶接用 ロ ボ ッ 卜 の構成 と同 じである c The memory 1 stores various control programs to be executed by the CPU 0. The teaching data is input to the memory 12 from the teaching operation 13. CRT / DI 1, the tape reader Ί 5, etc. and the CRT / MDI 14. Data such as various parameters are stored, and the result and data of the operation performed by C: PIM0 are stored. The I / O circuit 16 is connected to the ro-hot main unit 2 (“i = t '” function actuators (both not shown). The axis control circuit 17 is connected to the Drives each axis of the bot. T)-Controls a pomotor (not shown). It is connected to the y-port circuit 18. Also, the welding machine interface-9 Is connected to a welding wire 3 having a wire welding detection circuit 3a.The above structure is the same as the configuration of a conventional arc welding robot c.
以下 、 第' 2図及び第 3図を参照 して 、 接 ロ ボ ッ 卜 自動 ワ イ ヤ ^ ¾ ^ '、動 ！ を 説明す る t
一 一 ます、 オペ レータ は、 C R T M D I 1 4 を介 して自 動溶着解除動作のためのパラメ ータ と してワーク とワ イ ャ （共に図示略 ） 翳に印加する大電圧 V , 該電 & Vを印 加する時闥 Τ Ί ならびに溶接機 3 の溶着検出回路 3 aの 動 T時囿 T 2および待機時園 T 3 を設定しておき、 溶接 作業を開始させる。 そ して、 Ί つの連続した溶接領域の 溶接を終了させるベく 、 ロボッ 卜本体 2 の動 ft が停止 し (第 3図 （ Π〉 、 制御装置 Ί から溶接撐 3 への溶接指令， 電圧指令および電流指令が無く なっ た とき （第 3 図 （ a ) へ ' （ c )〉 、 即ち、 ア ー ク エン ドになる と 、 C P U 1 0 は メ モ リ Ί 2内に設けた カ ウンタ の値 Nを 「 0 」 にセッ 卜 し （第 2 図のステッ プ S Ί ) 、 第 3 図 （ d ) に示すよ う に溶接機 3 の溶着検出回路 3 a に対 し設定された ^定畤 藺 T 2動作 状態に切替るよう指令を出力する （ ステ ッ プ S 2 ) , すなわち 、 溶着検出回路 3 a 、 従来と同 じ よ う に、 所定時間丁 3待っ た後 （ 第 3 図参照） 、 ワイ ヤ と ワ ー ク間に ワイ ヤ溶着検出用の電圧を印加 し 、 電流が流 れるか否 /)、を判断し 、 設定された所定時間 T 2 内に電流 が流れればワイ ヤ溶着信号を出力する。 この圜 、 C P U 1 0 は溶着検出回路 3 a から溶着信号が出力されたか否 かを （ステ ッ プ S 3 ) 、 およひ、 設定された所定時 ^ T 2が経過したか否かを （ ステップ S 4 ) 判断 し 、 設定 された所定時 PB T 2 内に溶着信号が第 3図 ( e ) に示す よう に出力される と 、 溶着検出回路 3 a をオ フ にする . ( ステ ッ プ s 5 、 。 次いて 、 カ ウ ンタ の H が Wi 5t値
(本実施例では 「 3 」 ） に達 したか否かを判断 し 、 所定 値 「 3 」 に達 していなければ、 溶着解除処理を開始するHereinafter, referring to FIG. 2 and FIG. 3, the connection robot automatic wire ^ 、 ^ ', dynamic! That describes the t On the other hand, the operator uses the large voltage V applied to the workpiece and wire (both not shown) as a parameter for the automatic welding release operation via the CRTMDI 14, When V is to be applied, the welding time is set before the welding time is determined by setting the welding time of the welding detection circuit 3a of the welding machine 3 and the welding time of the welding machine 3a. Then, in order to end the welding of the 連 続 continuous welding area, the movement ft of the robot body 2 stops (Fig. 3 (Π), welding command from controller 電 圧 to welding 撐 3, voltage command). When the current command is lost (go to Fig. 3 (a) (c)), that is, when the arc end is reached, the CPU 10 sets the value of the counter provided in the memory 2 N is set to “0” (step S の in FIG. 2), and as shown in FIG. 3 (d), the set of the welding detection circuit 3 a of the welding machine 3 is set to the “定”. A command to switch to the T2 operation state is output (step S2). That is, the welding detection circuit 3a waits for a predetermined period of time, as in the conventional case, (see FIG. 3). A voltage for detecting wire welding is applied between the wire and the work to determine whether a current flows /), and a predetermined time T 2 is set. In this case, the CPU 10 outputs a wire welding signal when a current flows through the CPU 10. In step S3, the CPU 10 determines whether or not a welding signal has been output from the welding detection circuit 3a. It is determined whether or not the predetermined time ^ T 2 has elapsed (step S 4). When a welding signal is output within the set predetermined time PBT 2 as shown in FIG. 3 (e), the welding is performed. The detection circuit 3a is turned off (step s5, and then the counter H becomes the Wi 5t value. It is determined whether or not the value has reached (in this embodiment, “3”). If the value has not reached the predetermined value “3”, the welding release process is started.
( ステ ップ S 7 ) 。 (Step S7).
該溶着解除処理は第 3 図に示すよう に 、 設定された時 間 T 1 だけ溶接指令を溶接機 3 に出力する と共に 、 設定 された大電 ff Vを出力する。 なお、 このとき通常の溶接 実行時とは異なり 、 ワイ ヤは送る必要がないため 、 電流 指令は出力 しない 。 その結果、 ワイ ヤ送 り はなく 、 又、 ロポッ 卜本体 2 も停止 した状態て 、 設定された大電圧が ワイ ヤ と ワ ー ク間に印加され、 ワイ ヤ とワ ー ク と の溶着 部 （ 図示略 ） は溶融するこ と となる。 As shown in FIG. 3, the welding release process outputs a welding command to the welding machine 3 for a set time T 1 and outputs a set large current ffV. At this time, unlike the normal welding execution, there is no need to send the wire, and therefore no current command is output. As a result, the wire is not fed, and in the state where the rod body 2 is also stopped, the set large voltage is applied between the wire and the work, and the welding portion between the wire and the work ( (Not shown) will be melted.
そ して 、 溶着解除処理 （ ステッ プ S 7 ) が終了する と 、 C P U 1 0 はカ ウ ンタ N に 「 1 」 を加算 し （ ステ ッ プ S 8 ) 、 再びステ ッ プ S 2 を実行 し 、 即ち溶着検出回路 When the welding release processing (step S7) is completed, the CPU 10 adds "1" to the counter N (step S8), and executes the step S2 again. That is, the welding detection circuit
3 a を作動させる。 3 Operate a.
以下 、 ステ ッ プ S 2 以降の処理を練 り返す こ と となる が 、 溶着検出回路 3 a が作動する所定時間 T 2 経過 して も溶着信号が出力されない場台には （ ステ ッ プ S 3 ， S Hereinafter, the processing after step S2 will be repeated. However, if the welding signal is not output even after the predetermined time T2 during which the welding detection circuit 3a operates, (step S2) 3, S
4 ) 、 ワイ ヤ溶着は解除されたもの と判断して 、 ロ ボッ 卜本体 2 を作動させ て次の処理へ移行する。 4) Then, it is determined that the wire welding has been released, and the robot main body 2 is operated to proceed to the next processing.
一方、 所定時間 T 2 内に溶着信号が出力さ れる場合 ( ステ ッ プ S 3 ) に は、 前述同様 、 溶着解除処理 （ ス テ ッ プ S 7 ) および溶着検出処理 （ ステ ッ プ S 2〜 S 4 ) を カ ウンタ の値 N が 「 3 」 になるまで耮り返 し行う 。 即 ち 、 本実施例において は、 溶着解除処理を 3 回行つ てそ
れでもワイ ヤ溶着が解除されない場合 （溶着信号が溶着 検出回路よ り出力される場合） 、 ワイ ヤ溶着アラームを 出 して溶接作業を中止する。
On the other hand, when the welding signal is output within the predetermined time T2 (step S3), the welding release processing (step S7) and the welding detection processing (steps S2 to S3) are performed as described above. S 4) is repeated until the value N of the counter becomes “3”. That is, in this embodiment, the welding release processing is performed three times. If wire welding is not released even if the welding signal is output from the welding detection circuit, a wire welding alarm is issued and welding is stopped.
Claims
謂 求 の 範 囲 The so-called range of demand
アー ク溶接終了時にワ ー ク とワイ ヤ間に所定時間 にわた り所定電圧を印加 し、 両者間に電流が流れた とき前記ワーク に前記ワイ ヤが溶着しているこ とを 表すワイヤ溶着信号を出力するワイ ヤ溶着検出手段 と 、 前記溶着信号に応じて、 前記ワーク と前記ワイ ャ囿に第 2 の所定時圃にわた り第 2 の所定電圧を印 加 し 、 ワ イヤ溶着部を溶か しワイ ヤ溶着を解除させ る手段とを備える、 溶接口ポ ッ ト におけるワ イ ヤ溶 着自動解除装置。 At the end of arc welding, a predetermined voltage is applied for a predetermined time between the work and the wire, and when a current flows between the two, a wire welding signal indicating that the wire is welded to the work. A wire welding detecting means for outputting a second predetermined voltage to the workpiece and the wire sol over a second predetermined time field in response to the welding signal, thereby welding the wire welding portion. A wire welding automatic release device at a welding port, comprising: means for releasing a welded wire.
前記溶着解除手段の作動後に前記溶着検出手段を 再度作動させる動作を、 該溶着検出手段の動作の結 果前記溶着信号が出力される限 り 、 所定回数橾り返 す請求の範囲第 1 項記載の溶接ロボッ 卜 におけるヮ ィ ャ溶着自動解除裝匿。 2. The operation according to claim 1, wherein the operation of operating the welding detection means again after the operation of the welding release means is repeated a predetermined number of times as long as the welding signal is output as a result of the operation of the welding detection means. Automatic welding welding release equipment for welding robots.
前記溶着解除手段を前記所定回数作動させた後、 前記溶着信号が出力される ときはワ イヤ溶着アラー ムを出力するよ う に した請求の範囲第 2項記載の溶 接 ロボッ 卜 におけるワイヤ溶着自動解除装置。
3. A wire welding automatic welding robot according to claim 2, wherein a wire welding alarm is output when said welding signal is output after operating said welding releasing means for said predetermined number of times. Release device.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP62/204082 | 1987-08-19 | ||
| JP20408287A JPS6448675A (en) | 1987-08-19 | 1987-08-19 | Automatic deposition releasing system for welding robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| WO1989001380A1 true WO1989001380A1 (en) | 1989-02-23 |
Family
ID=16484482
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| PCT/JP1988/000794 WO1989001380A1 (en) | 1987-08-19 | 1988-08-10 | Automatic wire-releasing device for welding robot |
Country Status (2)
| Country | Link |
|---|---|
| JP (1) | JPS6448675A (en) |
| WO (1) | WO1989001380A1 (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20100059492A1 (en) * | 2006-10-27 | 2010-03-11 | Matsushita Electric Industrial Co., Ltd. | Automatic welding equipment |
| CN112775526A (en) * | 2019-11-11 | 2021-05-11 | 发那科株式会社 | Wire sticking detection device and arc welding robot system |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB2366474B (en) * | 2000-09-01 | 2005-02-16 | Schlumberger Ltd | Geophones |
| JP4550001B2 (en) * | 2006-04-12 | 2010-09-22 | デンヨー株式会社 | Portable DC arc welding machine |
| JP2017030047A (en) * | 2015-08-06 | 2017-02-09 | 株式会社ダイヘン | Welding monitoring device and welding robot system |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5717381A (en) * | 1980-07-02 | 1982-01-29 | Nissan Motor Co Ltd | Arc welding method |
| JPS5992172A (en) * | 1982-11-15 | 1984-05-28 | Toyota Motor Corp | Deposition releasing method of electrode wire in consumable electrode type arc welding method |
-
1987
- 1987-08-19 JP JP20408287A patent/JPS6448675A/en active Pending
-
1988
- 1988-08-10 WO PCT/JP1988/000794 patent/WO1989001380A1/en unknown
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5717381A (en) * | 1980-07-02 | 1982-01-29 | Nissan Motor Co Ltd | Arc welding method |
| JPS5992172A (en) * | 1982-11-15 | 1984-05-28 | Toyota Motor Corp | Deposition releasing method of electrode wire in consumable electrode type arc welding method |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20100059492A1 (en) * | 2006-10-27 | 2010-03-11 | Matsushita Electric Industrial Co., Ltd. | Automatic welding equipment |
| US8440935B2 (en) | 2006-10-27 | 2013-05-14 | Panasonic Corporation | Automatic welding equipment |
| CN112775526A (en) * | 2019-11-11 | 2021-05-11 | 发那科株式会社 | Wire sticking detection device and arc welding robot system |
Also Published As
| Publication number | Publication date |
|---|---|
| JPS6448675A (en) | 1989-02-23 |
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