JPH07115207B2 - Power control method for welding gun - Google Patents
Power control method for welding gunInfo
- Publication number
- JPH07115207B2 JPH07115207B2 JP62262625A JP26262587A JPH07115207B2 JP H07115207 B2 JPH07115207 B2 JP H07115207B2 JP 62262625 A JP62262625 A JP 62262625A JP 26262587 A JP26262587 A JP 26262587A JP H07115207 B2 JPH07115207 B2 JP H07115207B2
- Authority
- JP
- Japan
- Prior art keywords
- welding
- opening
- welding gun
- gun
- energization
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Landscapes
- Resistance Welding (AREA)
Description
【発明の詳細な説明】 （産業上の利用分野） 本発明は、主として溶接ガンをロボットに搭載して自動
溶接を行う場合に適用される溶接ガンの通電制御方法に
関する。Description: TECHNICAL FIELD The present invention relates to a welding gun energization control method mainly applied when a welding gun is mounted on a robot to perform automatic welding.
（従来の技術） 従来、溶接ガンによる溶接に際しては、溶接ガンの１対
の電極チップ間にワークを挾んで加圧し、加圧力が所定
値に上昇するのに必要な所定の予圧時間を経過してから
所要の溶接電流で所定時間の通電を行うようにしてい
る。(Prior Art) Conventionally, when welding with a welding gun, a workpiece is sandwiched between a pair of electrode tips of the welding gun to pressurize, and a predetermined preload time required for the applied pressure to rise to a predetermined value elapses. After that, the required welding current is applied for a predetermined time.
（発明が解決しようとする問題点） 上記従来技術では、第３図にＡで示すワークＷの合いの
良い溶接部位の溶接は良好に行われるが、同図のＢの部
位の如くプレス精度や溶接歪に起因した合いの悪い溶接
部位があると、加圧力が所定値に上昇してもワーク同士
が密着せず、この状態で高電流の通電が行われるため、
チップ跳ねによる電極チップの異常損耗や、溶着不良を
生ずる問題がある。(Problems to be Solved by the Invention) In the above-described conventional technique, welding of a welded portion having a good fit of the work W shown in FIG. 3A is performed well, but as shown in the portion B of FIG. If there is a poorly welded part due to welding distortion, the workpieces will not come into close contact with each other even if the applied pressure rises to a predetermined value, and high current energization is performed in this state.
There is a problem that abnormal wear of the electrode chip due to chip bouncing or defective welding occurs.
本発明は、かかる問題点を解決した溶接ガンの通電制御
方法を提供することをその目的とする。An object of the present invention is to provide a welding gun energization control method that solves the above problems.
（問題点を解決するための手段） 本発明は、上記目的を達成すべく、溶接ガンの開度を検
出する開度検出手段を設け、ワークに対する溶接ガンの
加圧力が所定の設定圧に上昇した時点で溶接ガンの開度
がワークの溶接部位の厚さに相当する正規の閉じ開度に
減少しないときは、所要の溶接電流より小さな電流で予
通電を開始し、予通電によるワークの軟化でワークが押
し潰されて、溶接ガンの開度が正規の閉じ開度に減少し
たとき所要の溶接電流で本通電を行うようにしたことを
特徴とする。(Means for Solving the Problems) In order to achieve the above object, the present invention is provided with an opening detection means for detecting the opening of the welding gun, and the pressure applied by the welding gun to the work rises to a predetermined set pressure. If the opening of the welding gun does not decrease to the normal closing opening corresponding to the thickness of the welded part of the work at the point of time, pre-energization is started with a current smaller than the required welding current, and the work is softened by pre-energization. When the work is crushed by and the opening of the welding gun is reduced to the regular closing opening, main welding is performed with a required welding current.
（作用） 第３図のＢの如き合いの悪い溶接部位では、溶接ガンの
加圧力が設定圧に上昇しても溶接ガンの開度が正規の閉
じ開度に減少せず、そのため予通電が行われ、これによ
りワークが発熱して軟化し、ワークを押し潰しつつ溶接
ガンの開度が次第に減少し、これが正規の閉じ開度に減
少してワーク同士が密着したところで本通電が行われ、
ワークが溶接される。(Operation) In a poorly welded portion such as B in FIG. 3, even if the welding gun pressure rises to the set pressure, the opening of the welding gun does not decrease to the regular closing degree, and therefore pre-energization is not performed. The work is heated and softened by this, the opening of the welding gun is gradually reduced while crushing the work, this is reduced to the regular closing opening, and the main energization is performed when the works are in close contact with each other,
The work is welded.
（実施例） 第１図を参照して、（１）は加圧シリンダ（２）により
開閉される１対のガンアーム（３）（３）を有するＸ形
の溶接ガンを示し、図示しないロボットにより溶接ガン
（１）をワークＷの複数の溶接部位に順次移動し、各溶
接部位で両ガンアーム（２）（２）を閉じてその先端の
電極チップ（４）（４）間にワークＷを挾んで加圧し、
溶接トランス（５）による該両電極チップ（４）（４）
間への通電でワークＷのスポット溶接を行うようにし
た。(Embodiment) Referring to FIG. 1, (1) shows an X-shaped welding gun having a pair of gun arms (3) and (3) opened and closed by a pressure cylinder (2). The welding gun (1) is sequentially moved to a plurality of welding parts of the work W, and both gun arms (2) and (2) are closed at each welding part to sandwich the work W between the electrode tips (4) and (4) at the tip thereof. Pressurize,
Both electrode tips (4) (4) by welding transformer (5)
Spot welding of the work W was performed by energizing the space.
加圧シリンダ（２）は、サーボアンプ（6a）により制御
されるサーボ弁（６）と、ドライブアンプ（7a）により
制御されるレギュレータ（７）とを具備する空圧サーボ
回路（８）によって作動制御される複動エアシリンダで
構成され、ガンアーム（３）（３）の閉じ動作に際して
給気される該加圧シリンダ（２）の一方のエア室の圧力
から溶接ガン（１）の加圧力を検出する圧力センサ
（９）を設けると共に、一方のガンアーム（３）に連動
するラック（10a）に咬合する他方のガンアーム（３）
上のピニオン（10b）の回転角から溶接ガン（１）の開
度を検出する開度センサを設けた。The pressure cylinder (2) is operated by a pneumatic servo circuit (8) including a servo valve (6) controlled by a servo amplifier (6a) and a regulator (7) controlled by a drive amplifier (7a). A double-acting air cylinder to be controlled. The pressure of the welding gun (1) is changed from the pressure in one of the air chambers of the pressure cylinder (2) supplied when the gun arm (3) (3) is closed. A pressure sensor (9) for detection is provided, and the other gun arm (3) that engages with the rack (10a) interlocking with one gun arm (3)
An opening sensor for detecting the opening of the welding gun (1) from the rotation angle of the upper pinion (10b) is provided.
図中（11）はロボットコントローラ、（12）は各溶接部
位に対応する後記する溶接条件データを記憶させたガン
コントローラ、（13）はCPU、（14）は開度や圧力制御
等を行うプログラムを記憶させたメモリ、（15）は通電
制御回路を示し、これらは以下の如く作動する。In the figure, (11) is a robot controller, (12) is a gun controller that stores the following welding condition data corresponding to each welding site, (13) is a CPU, and (14) is a program for controlling the opening and pressure. (15) shows the energization control circuit, which operates as follows.
即ち、溶接ガン（１）が各溶接部位に到達したとき、ロ
ボットコントローラ（11）から溶接部位の判別信号がコ
ントローラ（12）に入力され、ガンコントローラ（12）
の記憶部から溶接ガン（１）が到達した溶接部位に対応
する溶接条件データが読出される。That is, when the welding gun (1) reaches each welding portion, the robot controller (11) inputs a welding portion discrimination signal to the controller (12), and the gun controller (12).
The welding condition data corresponding to the welding site reached by the welding gun (1) is read out from the storage section.
溶接条件データには、溶接電流と通電時間、加圧力、溶
接部位のワーク厚さに相当する溶接ガン（１）の閉じ開
度、及び溶接完了後の溶接ガン（１）の開き開度が含ま
れており、先ずガンコントローラ（12）からCPU（13）
に閉じ開度と加圧力のデータが送信され、かくするとき
はサーボアンプ（6a）にD/Aコンバータ（6b）を介して
加圧指令信号が入力されると共に、ドライバアンプ（7
a）にD/Aコンバータ（7b）を介して加圧力の設定信号が
入力され、サーボ弁（６）とレギュレータ（７）とを介
して加圧シリンダ（２）にエアが供給されて、溶接ガン
（１）によるワークＷの加圧が開始される。The welding condition data includes the welding current and energization time, the pressure, the opening degree of the welding gun (1) corresponding to the work thickness of the welding site, and the opening degree of the welding gun (1) after the completion of welding. First, the gun controller (12) to the CPU (13)
The closing opening and pressure data are transmitted to the servo amplifier (6a), the pressurization command signal is input to the servo amplifier (6a) via the D / A converter (6b), and the driver amplifier (7
A welding force setting signal is input to a) via the D / A converter (7b), air is supplied to the pressurizing cylinder (2) via the servo valve (6) and the regulator (7), and welding is performed. Pressurization of the work W by the gun (1) is started.
加圧開始後は、第２図に示すプログラムに従った制御が
行われ、即ち圧力センサ（９）からA/Dコンバータ（9
a）を介してCPU（13）に入力される信号により加圧力が
前記データに応じた設定圧に上昇したことが確認された
とき（）、開度センサ（10）からA/Dコンバータ（10
c）を介してCPU（13）に入力される信号と上記した閉じ
開度のデータ信号とを比較して、溶接ガン（１）の開度
θがデータ従った正規の閉じ開度θsより大きいか否か
を判別する（）。この場合、溶接部位が第３図のＢの
如く合いの悪い部位であってθ＞θsになっていると、C
PU（13）から予通電の指令信号がガンコントローラ（1
2）に入力され、ガンコントローラ（12）からの信号で
通電制御回路（15）が作動して、後記する本通電の溶接
電流（例えば8000A）より小さな電流（例えば5000A）で
予通電が開始される（）。After the pressurization is started, the control according to the program shown in FIG. 2 is performed, that is, the pressure sensor (9) changes the A / D converter (9
When it is confirmed by the signal input to the CPU (13) via a) that the applied pressure has risen to the set pressure according to the data (), the opening sensor (10) causes the A / D converter (10) to
The signal input to the CPU (13) via c) is compared with the data signal of the above-mentioned closing opening, and the opening θ of the welding gun (1) is calculated from the normal closing opening θ s according to the data. It is determined whether it is large (). In this case, if the welded portion is a poorly fitted portion as shown in B of FIG. 3 and θ> θ s , C
The command signal for pre-energization from the PU (13) is sent to the gun controller (1
2) and the signal from the gun controller (12) activates the energization control circuit (15) to start pre-energization with a current (eg 5000A) smaller than the welding current (eg 8000A) for main energization described later. ().
かくするときは、ワークＷが発熱して軟化し、ワークＷ
を押し潰しつつ溶接ガン（１）の開度θが次第に減少
し、ワークＷ同士が密着してθ≦θsになったところでC
PU（13）からガンコントローラ（12）に対し加圧完了信
号が出力され（）、該ガンコントローラ（12）から電
流を所要の溶接電流に増加する信号が出力されて、本通
電が開始される（）。When this is done, the work W heats up and softens and the work W
C while crushing the welding gun (1), the opening θ of the welding gun gradually decreases, and when the workpieces W are in close contact with each other and θ ≦ θ s , C
A pressurization completion signal is output from the PU (13) to the gun controller (12) (), and a signal for increasing the current to the required welding current is output from the gun controller (12) to start main energization. ().
そして、所要の通電時間経過後に通電が停止され、更に
所定のホールド時間経過後にCPU（13）にガンコントロ
ーラ（12）から開き開度のデータが送信され、CPU（1
3）からD/Aコンバータを介してサーボアンプ（6a）に開
度設定信号が入力され、溶接ガン（１）をこのデータに
応じた設定開度に開くようにサーボ弁（６）が作動し、
溶接ガン（１）の開度が当該設定開度になってこれが開
度センサ（10）からの信号で確認されると、CPU（13）
からガンコントローラ（12）を介してロボットコントロ
ーラ（11）に溶接完了信号が送信され、ロボットが作動
して溶接ガン（１）が次の溶接部位に移動される。Then, the energization is stopped after the required energization time has elapsed, and after a predetermined hold time has elapsed, the data of the opening degree is transmitted from the gun controller (12) to the CPU (13), and the CPU (1
An opening setting signal is input from 3) to the servo amplifier (6a) via the D / A converter, and the servo valve (6) operates to open the welding gun (1) to the setting opening corresponding to this data. ,
When the opening of the welding gun (1) reaches the set opening and this is confirmed by the signal from the opening sensor (10), the CPU (13)
A welding completion signal is sent from the gun controller (12) to the robot controller (11), and the robot operates to move the welding gun (1) to the next welding site.
（発明の効果） 以上如く本発明によるときは、溶接部位の合せの良否を
溶接ガンの開度によって検出して、合せの悪い溶接部位
では、予通電によりワークを軟化させてワーク同士を密
着させることができ、合せ不良状態での高電流の通電に
よる溶着不良や電極チップの異常損耗を確実に防止でき
る効果を有する。(Effects of the Invention) As described above, according to the present invention, the quality of the alignment of the welded parts is detected by the opening of the welding gun, and at the welded parts where the alignment is poor, the works are softened by pre-energizing to bring the works into close contact with each other. Therefore, there is an effect that it is possible to surely prevent welding defects and abnormal wear of the electrode chips due to high current application in the misaligned state.
第１図は本発明実施に用いる装置の１例の線図、第２図
は溶接ガンの加圧と通電の制御プログラムを示すフロー
チャート、第３図はワークを示す線図である。 Ｗ……ワーク （１）……溶接ガン （10）……開度センサ（開度開度検出手段）FIG. 1 is a diagram of an example of an apparatus used for carrying out the present invention, FIG. 2 is a flow chart showing a control program for pressurizing and energizing a welding gun, and FIG. 3 is a diagram showing a work. W …… Workpiece (1) …… Welding gun (10) …… Opening sensor (opening opening detection means)
Claims (1)
設け、ワークに対する溶接ガンの加圧力が所定の設定圧
に上昇した時点で溶接ガンの開度がワークの溶接部位の
厚さに相当する正規の閉じ開度に減少しないときは、所
要の溶接電流より小さな電流で予通電を開始し、予通電
によるワークの軟化でワークが押し潰されて、溶接ガン
の開度が正規の閉じ開度に減少したとき所要の溶接電流
で本通電を行うようにしたことを特徴とする溶接ガンの
通電制御方法。1. An opening detection means for detecting the opening of the welding gun is provided, and when the pressure applied to the work by the welding gun rises to a predetermined set pressure, the opening of the welding gun indicates the thickness of the welded portion of the work. If the opening angle does not decrease to the normal closing degree equivalent to the above, the pre-energization is started with a current smaller than the required welding current, the work is crushed by the softening of the workpiece due to the pre-energization, and the opening of the welding gun becomes normal. A welding gun energization control method, wherein main energization is performed with a required welding current when the opening degree is reduced.
Priority Applications (4)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP62262625A JPH07115207B2 (en) | 1987-10-20 | 1987-10-20 | Power control method for welding gun |
| CA000580616A CA1307835C (en) | 1987-10-20 | 1988-10-19 | Welding control method and apparatus |
| GB8824482A GB2211128B (en) | 1987-10-20 | 1988-10-19 | Welding |
| US07/259,828 US4841113A (en) | 1987-10-20 | 1988-10-19 | Welding control apparatus and method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP62262625A JPH07115207B2 (en) | 1987-10-20 | 1987-10-20 | Power control method for welding gun |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPH01107977A JPH01107977A (en) | 1989-04-25 |
| JPH07115207B2 true JPH07115207B2 (en) | 1995-12-13 |
Family
ID=17378393
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP62262625A Expired - Fee Related JPH07115207B2 (en) | 1987-10-20 | 1987-10-20 | Power control method for welding gun |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH07115207B2 (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP6160581B2 (en) * | 2014-08-19 | 2017-07-12 | Ｊｆｅスチール株式会社 | Resistance spot welding method |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5976683A (en) * | 1982-10-22 | 1984-05-01 | Dengensha Mfg Co Ltd | Resistance welding machine secondary circuit monitoring device |
| JPS61150785A (en) * | 1984-12-26 | 1986-07-09 | Nissan Motor Co Ltd | Method for controlling welding current of spot welding device |
-
1987
- 1987-10-20 JP JP62262625A patent/JPH07115207B2/en not_active Expired - Fee Related
Also Published As
| Publication number | Publication date |
|---|---|
| JPH01107977A (en) | 1989-04-25 |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| LAPS | Cancellation because of no payment of annual fees |