WO1998034753A1 - Procede de detection d'une quantite d'abrasion d'une electrode pistolet a souder et procede de soudage - Google Patents
Procede de detection d'une quantite d'abrasion d'une electrode pistolet a souder et procede de soudage Download PDFInfo
- Publication number
- WO1998034753A1 WO1998034753A1 PCT/JP1998/000459 JP9800459W WO9834753A1 WO 1998034753 A1 WO1998034753 A1 WO 1998034753A1 JP 9800459 W JP9800459 W JP 9800459W WO 9834753 A1 WO9834753 A1 WO 9834753A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- side electrode
- moving
- electrode
- robot
- fixed
- Prior art date
Links
Classifications
-
- 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
- B23K11/00—Resistance welding; Severing by resistance heating
- B23K11/24—Electric supply or control circuits therefor
-
- 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
- B23K11/00—Resistance welding; Severing by resistance heating
- B23K11/30—Features relating to electrodes
- B23K11/3063—Electrode maintenance, e.g. cleaning, grinding
-
- 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
- B23K11/00—Resistance welding; Severing by resistance heating
- B23K11/24—Electric supply or control circuits therefor
- B23K11/25—Monitoring devices
- B23K11/252—Monitoring devices using digital means
- B23K11/253—Monitoring devices using digital means the measured parameter being a displacement or a position
-
- 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
- B23K11/00—Resistance welding; Severing by resistance heating
- B23K11/30—Features relating to electrodes
- B23K11/31—Electrode holders and actuating devices therefor
- B23K11/314—Spot welding guns, e.g. mounted on robots
-
- 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
- B23K11/00—Resistance welding; Severing by resistance heating
- B23K11/30—Features relating to electrodes
- B23K11/31—Electrode holders and actuating devices therefor
- B23K11/314—Spot welding guns, e.g. mounted on robots
- B23K11/315—Spot welding guns, e.g. mounted on robots with one electrode moving on a linear path
Definitions
- a welding gun for holding an object to be welded between a fixed side electrode and a moving side electrode facing the fixed side electrode and driven by a servomotor or an air cylinder and holding the object under pressure is a robot arm tip.
- the present invention relates to a method for detecting the amount of wear of a welding gun electrode in a welding robot attached to a welding robot and a welding method.
- the moving-side electrode is moved by a drive source such as an air cylinder or a servomotor (gun-axis servomotor) to form a pair of stationary electrodes.
- a drive source such as an air cylinder or a servomotor (gun-axis servomotor) to form a pair of stationary electrodes.
- Welding was performed by sandwiching the object to be welded, holding the pressure, and passing a large current. Since the paired electrodes gradually wear due to the pressurization and welding heat during this welding, it was necessary to detect the amount of wear of these electrodes during operation of the robot and correct the position of the electrodes.
- an equalizing mechanism (a mechanism that is normally fixed, but is released when the pressure is applied, and moves the welding gun supported by the panel to an optimal position) is provided, There is a method described in Japanese Patent Application Publication No.
- the equalizer mechanism has the disadvantage of being expensive.
- the distribution of the amount of wear is determined in advance, or the amount of wear of the fixed electrode is determined by the amount of wear of the whole (fixed electrode + movable electrode).
- the former method is not accurate, and the latter method has a problem that the procedure is two-step and complicated.
- An object of the present invention is to provide a welding gun electrode wear amount detecting method which does not require an equalizing mechanism and easily detects the electrode wear amount.
- Another object of the present invention is to provide a welding method that does not require an equalizing mechanism.
- the arm tip is moved by the reaction force with a constant force such that the arm tip moves in the opposite direction to the moving direction of the moving-side electrode. Pressing the moving-side electrode against a jig;
- the fixing jig is used and the jig is actually pressed by the moving side electrode and the fixed side electrode to detect the amount of electrode wear, the amount of electrode wear can be detected with a simple procedure and with high accuracy. Further, the welding method of the present invention,
- the equalizing operation is realized by using a jig and performing operations at high speed except for detecting the amount of wear (position detection). Equalizing with a robot is enabled, so even if the gun does not have an equalizing mechanism, there is no need to contact the fixed tip to the workpiece and teach it. Drastic simplification In addition, wear compensation is not required.
- the drive source for the moving-side electrode may be either a gun shaft servomotor or an air cylinder.
- FIG. 1 is a configuration diagram of a welding robot having a c-shaped welding gun according to one embodiment of the present invention
- FIG. 2 is a block diagram of a mouth bot control device 2;
- FIG. 3 is a flowchart of a process for obtaining a reference position of the robot 1 and the gun axis servomotor 7;
- Fig. 4 is a flowchart of a process of obtaining a wear amount of the fixed-side electrode 5 and the moving-side electrode 6;
- FIG. 5 is a view showing the movement of a moving-side electrode 6.
- a C-shaped welding gun 4 having a fixed-side electrode 5 and a moving-side electrode 6 is attached to the end of an arm of an industrial robot 1 controlled by a servomotor with a position detector (not shown).
- the industrial robot 1 is controlled by a robot drive circuit in the robot controller 2.
- the welding conditions such as welding current to the C-type welding gun 4 are set by the welding device 8.
- the moving side electrode 6 is driven by a gun axis servo motor 7 controlled by a gun motor control unit 15 (described later) in the robot controller 2 via a ball screw.
- the fixed-side electrode 5 is attached to the fixed side of the C-shaped welding gun 4, and moves up and down by moving the C-shaped welding gun 4 up and down.
- the mouth bot control device 2 includes a system control unit 11 that controls the entire system by the teaching data set by the programming box (teaching box) 3 and a signal from a computer or the like.
- Input / output processing 10 Interface processing unit 12
- Data storage area 13 Motor control unit 14 for controlling the motors of each axis of robot 1
- Gun motor for moving-side electrode 6 A command for each axis of the robot 1 is calculated from a command for the robot 1 given from the system control unit 11 and output to the motor control unit 14, and the gun motor control unit 15 It consists of a motion control unit 16 that outputs commands to The motion control unit 16 includes a calculation unit 17.
- a plate-shaped fixing jig 9 is fixed between the fixed electrode 5 and the movable electrode 6, and the positions of the fixed electrode 5 and the movable electrode 6 are taught (step 21). ).
- the six axes of the robot 1 are servo-floated so that the arm tip of the robot 1 moves only in the direction of movement of the moving-side electrode 6 due to external force.
- the gun motor control unit 15 drives the gun axis servo motor 7 at a constant speed control, and the moving electrode 6 is lowered as shown in FIG. 5B.
- step 23 After contacting the fixing jig 9, press it with the motor torque set on the fixing jig 9 (step 23). At this time, the force transmitted from the gun shaft motor ⁇ to the moving-side electrode 6 via the ball screw is larger than the holding force of the servo motor on the robot 1 side. As shown in Fig. 5c, the moving side electrode 6 and the fixed side electrode
- the fixing jig 9 is sandwiched between 5 and 5 (step 24). At this time, the motor control unit
- each axis of robot 1 is detected in 14 and these positions are calculated in the tool coordinate system by the operation unit 17 in the motion control unit 16 (the effective direction of the tool attached to the end of the robot flange is set to the z-axis). (Coordinate system), stored in the data storage area 13 as reference data Ri, and the position of the gun axis servo motor 7 is detected by the gun motor control unit 15, via the motion control unit 16. to save the reference data R 2 in the data storage area 1 3 (step 2 5). After that, as shown in Fig. 5d, the pressure holding of the fixing jig 9 by the moving electrode 6 and the fixed electrode 5 is released, and the moving electrode 6 and the fixed electrode 5 are drawn.
- the position of each axis of the robot 1 is detected by the motor control unit 14 in the same manner as steps 21 to 24 (steps 31 to 34), and the calculation unit 1
- the data is converted into the data P i in the tool coordinate system in 7 and the difference from the reference position Ri stored in the data storage area 13 is calculated by the calculation unit 17 .
- the data storage area 1 is calculated as the wear amount of the fixed side electrode 5. Save to 3 (step 35).
- the position P 2 of the gun axis servo motor 7 is detected by the gun motor control unit 15, and the arithmetic unit 17 calculates the difference from the reference position R 2 stored in the data storage area 13, Is multiplied by the resolution of the gun axis servo motor 7 and is stored in the data storage area 13 as the amount of wear of the moving-side electrode 6 (step 3 6) 6
- the fixed electrode 5 is moved toward the moving electrode 6 by the amount of wear
- the moving electrode 6 is moved by the amount of (abrasion of the fixed electrode 5 + amount of wear of the moving electrode 6).
- the present invention is also applicable to an X-shaped servo welding gun (a spot gun having a fulcrum like a pair of scissors, one driven by a motor and the other pressurized). Further, the position of the robot 1 may be converted using a coordinate system other than the tool coordinate system.
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Resistance Welding (AREA)
- Length Measuring Devices With Unspecified Measuring Means (AREA)
Description
Claims
Priority Applications (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US09/355,917 US6201206B1 (en) | 1997-02-07 | 1998-02-04 | Method of detecting abrasion quantity of welding gun electrode and welding method |
EP98901502A EP1016490B1 (en) | 1997-02-07 | 1998-02-04 | Welding method |
DE69842219T DE69842219D1 (de) | 1997-02-07 | 1998-02-04 | Schweissverfahren |
KR10-1999-7007079A KR100506290B1 (ko) | 1997-02-07 | 1998-02-04 | 용접건 전극의 마모량 검출방법 및 용접방법 |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP02522297A JP3864240B2 (ja) | 1997-02-07 | 1997-02-07 | 溶接方法 |
JP9/25222 | 1997-02-07 |
Publications (1)
Publication Number | Publication Date |
---|---|
WO1998034753A1 true WO1998034753A1 (fr) | 1998-08-13 |
Family
ID=12159948
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/JP1998/000459 WO1998034753A1 (fr) | 1997-02-07 | 1998-02-04 | Procede de detection d'une quantite d'abrasion d'une electrode pistolet a souder et procede de soudage |
Country Status (7)
Country | Link |
---|---|
US (1) | US6201206B1 (ja) |
EP (1) | EP1016490B1 (ja) |
JP (1) | JP3864240B2 (ja) |
KR (1) | KR100506290B1 (ja) |
CN (1) | CN1096912C (ja) |
DE (1) | DE69842219D1 (ja) |
WO (1) | WO1998034753A1 (ja) |
Families Citing this family (14)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2002283059A (ja) * | 2001-03-26 | 2002-10-02 | Fanuc Ltd | サーボ式スポット溶接ガンの軸の基準位置設定方法及びロボット制御装置 |
JP4482847B2 (ja) * | 2001-06-01 | 2010-06-16 | 株式会社安川電機 | 定置式溶接ガンの電極摩耗検出方法及び摩耗検出装置 |
EP1426134A1 (en) * | 2002-12-04 | 2004-06-09 | Anselmo Sells Juarez | System for measuring and correcting electrode wear in resistance welding guns |
SE0400320D0 (sv) * | 2004-02-06 | 2004-02-06 | Abb Ab | Control method for robots |
JP4870821B2 (ja) * | 2010-01-28 | 2012-02-08 | ファナック株式会社 | 溶接ワーク位置検出装置および溶接ワーク位置検出方法 |
CN102189323A (zh) * | 2010-03-12 | 2011-09-21 | 上海拖拉机内燃机有限公司 | 机器人点焊工位外电极更换方法及系统 |
CN103128433A (zh) * | 2011-11-25 | 2013-06-05 | 上海拖拉机内燃机有限公司 | 机器人伺服焊枪补偿方法 |
CN104105566B (zh) * | 2012-02-01 | 2017-09-26 | 希利股份有限公司 | 点焊用电极检查装置 |
MY178491A (en) * | 2013-04-26 | 2020-10-14 | Honda Motor Co Ltd | Seam welding method and system |
JP5870125B2 (ja) * | 2014-01-29 | 2016-02-24 | ファナック株式会社 | 電極検査を管理するスポット溶接システム及びそれに使用されるロボット |
JP6203775B2 (ja) * | 2015-03-31 | 2017-09-27 | ファナック株式会社 | 固定されたワークの異常を判定するロボットシステム、および、異常判定方法 |
KR102196754B1 (ko) * | 2015-10-07 | 2020-12-31 | 현대중공업지주 주식회사 | 서보건 튜닝 시스템 |
CN109332871B (zh) * | 2018-10-08 | 2024-06-04 | 广东万家乐燃气具有限公司 | 一种焊机及焊接系统 |
CN110193654B (zh) * | 2019-05-30 | 2024-01-30 | 舟山海山机械密封材料股份有限公司 | 密封垫片点焊焊极夹持器及其测量和补偿方法 |
Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH07284957A (ja) | 1994-04-15 | 1995-10-31 | Nachi Fujikoshi Corp | 溶接ガン電極摩耗量検出方法 |
JPH09150278A (ja) * | 1995-11-24 | 1997-06-10 | Dengensha Mfg Co Ltd | 抵抗溶接機用制御方法 |
JPH1099973A (ja) * | 1996-09-27 | 1998-04-21 | Nissan Diesel Motor Co Ltd | ロボット溶接ガンのサーボ制御装置 |
Family Cites Families (8)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US4352971A (en) * | 1980-10-06 | 1982-10-05 | Slade Clyde G | Self-equalizing welding structure |
EP0121909A1 (en) * | 1983-04-06 | 1984-10-17 | Unimation Inc. | Industrial robot spot welding arrangement using single welding electrode |
US4841113A (en) * | 1987-10-20 | 1989-06-20 | Honda Giken Kogyo Kabushiki Kaisha | Welding control apparatus and method |
JPH0679787B2 (ja) * | 1988-01-26 | 1994-10-12 | 本田技研工業株式会社 | 自動溶接機における溶接ガンの電極チップ管理方法 |
JPH084223Y2 (ja) * | 1989-04-07 | 1996-02-07 | 富士重工業株式会社 | スポット溶接用電極の使用限界検出装置 |
JP2506402Y2 (ja) * | 1991-10-11 | 1996-08-07 | 川崎重工業株式会社 | スポット溶接ロボット用制御装置 |
JPH07232282A (ja) * | 1994-02-25 | 1995-09-05 | Obara Kk | C型溶接ガンの制御装置 |
JP3162638B2 (ja) | 1996-11-22 | 2001-05-08 | ファナック株式会社 | 溶接チップ摩耗量検出方法 |
-
1997
- 1997-02-07 JP JP02522297A patent/JP3864240B2/ja not_active Expired - Fee Related
-
1998
- 1998-02-04 KR KR10-1999-7007079A patent/KR100506290B1/ko not_active IP Right Cessation
- 1998-02-04 CN CN98803879A patent/CN1096912C/zh not_active Expired - Lifetime
- 1998-02-04 WO PCT/JP1998/000459 patent/WO1998034753A1/ja active IP Right Grant
- 1998-02-04 US US09/355,917 patent/US6201206B1/en not_active Expired - Lifetime
- 1998-02-04 DE DE69842219T patent/DE69842219D1/de not_active Expired - Lifetime
- 1998-02-04 EP EP98901502A patent/EP1016490B1/en not_active Expired - Lifetime
Patent Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH07284957A (ja) | 1994-04-15 | 1995-10-31 | Nachi Fujikoshi Corp | 溶接ガン電極摩耗量検出方法 |
JPH09150278A (ja) * | 1995-11-24 | 1997-06-10 | Dengensha Mfg Co Ltd | 抵抗溶接機用制御方法 |
JPH1099973A (ja) * | 1996-09-27 | 1998-04-21 | Nissan Diesel Motor Co Ltd | ロボット溶接ガンのサーボ制御装置 |
Non-Patent Citations (1)
Title |
---|
See also references of EP1016490A4 * |
Also Published As
Publication number | Publication date |
---|---|
CN1096912C (zh) | 2002-12-25 |
JP3864240B2 (ja) | 2006-12-27 |
JPH10216953A (ja) | 1998-08-18 |
EP1016490A4 (en) | 2004-12-29 |
US6201206B1 (en) | 2001-03-13 |
CN1251548A (zh) | 2000-04-26 |
DE69842219D1 (de) | 2011-05-26 |
EP1016490B1 (en) | 2011-04-13 |
KR20000070816A (ko) | 2000-11-25 |
KR100506290B1 (ko) | 2005-08-05 |
EP1016490A1 (en) | 2000-07-05 |
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