JPH082508B2 - Automatic welding equipment - Google Patents
Automatic welding equipmentInfo
- Publication number
- JPH082508B2 JPH082508B2 JP62262626A JP26262687A JPH082508B2 JP H082508 B2 JPH082508 B2 JP H082508B2 JP 62262626 A JP62262626 A JP 62262626A JP 26262687 A JP26262687 A JP 26262687A JP H082508 B2 JPH082508 B2 JP H082508B2
- Authority
- JP
- Japan
- Prior art keywords
- opening
- welding
- welding gun
- gun
- work
- 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 - Lifetime
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、溶接ガンをロボット等の移動機構によりワ
ークの複数の打点位置に順次移動させて溶接を行うよう
にした自動溶接装置に関する。Description: TECHNICAL FIELD The present invention relates to an automatic welding apparatus in which a welding gun is sequentially moved to a plurality of hitting positions of a work by a moving mechanism such as a robot to perform welding.
（従来の技術） 自動溶接装置においては、溶接ガンを各打点位置から
次の打点位置に移動させる際、ワークに凹凸等があると
移動途中で溶接ガンの先端の電極がワークに干渉してし
まうため、溶接ガンをワークに干渉しないよう大きく開
く必要があるが、溶接ガンの開度を大きくすると、次の
打点位置でのワークの加圧に必要な予圧時間が長くなっ
て、作業能率が低下するため、溶接ガンの開度を一定に
せず、各打点位置から次の打点位置までの各移動区間の
ワーク形状に応じて溶接ガンの開度を切換えることが望
まれる。(Prior Art) In an automatic welding device, when the welding gun is moved from one spot position to the next spot position, if the work has unevenness, the electrode at the tip of the welding gun interferes with the work during movement. Therefore, it is necessary to open the welding gun widely so as not to interfere with the work.However, if the opening of the welding gun is increased, the preload time required to pressurize the work at the next welding point becomes longer and the work efficiency decreases. Therefore, it is desirable to switch the opening of the welding gun in accordance with the work shape of each moving section from each welding position to the next welding position without making the opening of the welding gun constant.
かかる要望に適合した装置として、特開昭59−1072号
公報により、溶接ガンにその開度を２段に切換可能なス
トッパ機構を設け、ティーチングデータに従って該スト
ッパ機構を作動させて溶接ガンの開度を切換えるように
したものが知られている。As a device adapted to such a demand, according to Japanese Patent Laid-Open No. 59-1072, a welding gun is provided with a stopper mechanism capable of switching the opening degree between two stages, and the stopper mechanism is operated according to teaching data to open the welding gun. It is known that the degree is switched.
（発明が解決しようとする問題点） 上記のものは、溶接ガンの開度が大小２段に切換えら
れるだけであるため、ワークの形状が複雑な場合には、
溶接ガンが干渉防止に必要な最小開度以上に開かれてし
まう区間が多くなり、作業能率の大幅な向上は図れな
い。(Problems to be Solved by the Invention) In the above-mentioned one, since the opening of the welding gun can be switched between two stages of large and small, when the shape of the work is complicated,
Since there are many sections where the welding gun is opened beyond the minimum opening required to prevent interference, it is not possible to significantly improve work efficiency.
本発明は、かかる問題点を解決すべく、各打点位置か
ら次の打点位置までの各移動区間のワーク形状に合わせ
て溶接ガンの開度より極め細く可変制御し得るようにし
た装置を提供するもとをその目的とする。In order to solve such a problem, the present invention provides an apparatus capable of performing extremely fine and variable control of the opening of the welding gun in accordance with the work shape of each moving section from each hitting position to the next hitting position. The purpose is the original.
（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、溶接ガンをロボッ
ト等の移動機構によりワークの複数の打点位置に順次移
動させて溶接を行うものにおいて、溶接ガンを開閉動作
する複動エアシリンダから成る加圧シリンダの位置制御
を行う空圧サーボ回路と、溶接ガンの開度を検出する開
度検出手段と、各打点位置に対応する溶接ガンの開度を
設定する開度設定手段と、これら両手段からの信号を受
けて各打点位置での溶接終了後に溶接ガンが各打点位置
に対応する設定開度に開かれるように空圧サーボ回路を
作動させる制御手段とを備えることを特徴とする。(Means for Solving the Problems) In order to achieve the above object, the present invention provides a welding gun in which welding is performed by sequentially moving the welding gun to a plurality of hitting positions of a work by a moving mechanism such as a robot. A pneumatic servo circuit that controls the position of a pressure cylinder consisting of a double-acting air cylinder that opens and closes, opening detection means that detects the opening of the welding gun, and the opening of the welding gun that corresponds to each spot position is set. Opening setting means, and control means for operating the pneumatic servo circuit so that the welding gun is opened to the set opening corresponding to each welding point position after completion of welding at each welding point position by receiving signals from these both means. And is provided.
（作 用） 溶接ガンの開度は、空圧サーボ回路による加圧シリン
ダの位置制御で無段階に可変制御でき、開度設定手段に
より指令される設定開度が如何なる開度であっても、開
度検出手段によって検出される溶接ガンの開度が設定開
度と等しくなるように制御手段を介して空圧サーボ回路
が作動し、溶接ガンは設定開度に正確に開かれる。(Operation) The opening of the welding gun can be continuously and variably controlled by the position control of the pressurizing cylinder by the pneumatic servo circuit, and any opening can be set by the opening setting means. The pneumatic servo circuit is operated via the control means so that the opening of the welding gun detected by the opening detection means becomes equal to the set opening, and the welding gun is accurately opened to the set opening.
かくて、各打点位置毎に、該各打点位置から次の打点
位置までの移動区間のワーク形状に基いて干渉防止に必
要な最小開度を求め、この最小開度を各打点位置に対応
する設定開度として開度設定手段に記憶させておけば、
各打点位置での溶接終了後溶接ガンはこの最小開度に過
不足なく開かれ、溶接ガンが次の打点位置にワークとの
干渉を生ずることなく移動されると共に、次の打点位置
での予圧時間が可及的に短縮される。Thus, for each hitting point position, the minimum opening required for interference prevention is obtained based on the work shape of the movement section from each said hitting point position to the next hitting point position, and this minimum opening corresponds to each hitting point position. If it is stored in the opening setting means as the set opening,
After completion of welding at each welding point, the welding gun is opened to this minimum opening without excess or deficiency, the welding gun is moved to the next welding point position without causing interference with the workpiece, and preload at the next welding point position. Time is shortened as much as possible.
（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の複数の打点位置に順次移動し、各
打点位置で両ガンアーム（３）（３）を閉じてその先端
の電極（４）（４）間にワークＷを挾み、溶接トランス
（５）による該両電極（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) is an X having a pair of gun arms (3) and (3) opened and closed by a pressure cylinder (2).
A welding gun (1) is shown in the shape of FIG. ) (4), the work W is sandwiched, and the work W is spot-welded by energization between the electrodes (4) and (4) by the welding transformer (5).
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、ドライバアンプ（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（10）を設け、該開度センサ
（10）からの信号をサーボアーム（6a）に入力すると共
に、後記するCPU（13）からD/Aコンバータ（6b）を介し
て該サーボアンプ（6a）に開度設定信号を入力し、該サ
ーボアンプ（6a）の出力によりサーボ弁（６）を介して
加圧シリンダ（２）の位置制御を行い、溶接ガン（１）
の開度をこの設定信号に応じた開度に制御し得るように
した。The pressurizing 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 driver 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 (10) for detecting the opening of the welding gun (1) from the rotation angle of the upper pinion (10b) is provided, and a signal from the opening sensor (10) is input to the servo arm (6a). , A CPU (13) described later inputs an opening degree setting signal to the servo amplifier (6a) through a D / A converter (6b), and outputs the servo amplifier (6a) through a servo valve (6). Welding gun (1) by controlling the position of pressure cylinder (2)
The degree of opening can be controlled according to the setting signal.
図中（11）はロボットコントローラ、（12）は各打点
位置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）は溶
接トランス（５）の電流を制御する通電制御回路を示
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 in which the welding condition data described below corresponding to each dot position is stored, (13) is a CPU, and (14) is a program for controlling opening and pressure. Is stored in the memory, and (15) is an energization control circuit for controlling the current of the welding transformer (5), which operates as follows.
即ち、溶接ガン（１）が各打点位置に到達したとき、
ロボットコントローラ（11）から打点位置の判別信号が
ガンコントローラ（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）が到達した打点位置
に対応する溶接条件データが読出された。That is, when the welding gun (1) reaches each of the hitting points,
The robot controller (11) inputs a dot position determination signal to the gun controller (12), and the welding condition data corresponding to the dot position reached by the welding gun (1) is read from the storage unit of the gun controller (12). .
溶接条件データには、溶接電流値と通電時間、加圧力、
ガン加圧時の初期閉じ開度、及び後記するガン開放時の
開度が含まれており、先ずガンコントローラ（12）から
CPU（13）に加圧力と初期閉じ開度のデータが送信さ
れ、サーボアンプ（6a）とドライバアンプ（7a）とに夫
々D/Aコンバータ（6b）（7b）を介してCPU（13）から初
期閉じ開度の設定信号と加圧力の設定信号とが入力さ
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）
の加圧が開始される。The welding condition data includes welding current value, energizing time, pressure,
The initial opening when the gun is pressurized and the opening when the gun is opened, which will be described later, are included. First, from the gun controller (12)
Data of the pressing force and the initial closing degree is transmitted to the CPU (13), and the servo amplifier (6a) and the driver amplifier (7a) are respectively transmitted from the CPU (13) via the D / A converters (6b) (7b). The setting signal of the initial closing opening and the setting signal of the pressing force are input, and air is supplied to the pressurizing cylinder (2) through the servo valve (6) and the regulator (7), and the welding gun (1).
Pressurization is started.
ここで、初期閉じ開度は、打点位置のワークの厚さよ
り少許大きく設定されており、溶接ガン（１）が該開度
に閉じられ、これが開度センサ（10）からA/Dコンバー
タ（10c）を介してCPU（13）に入力される信号により確
認されると、サーボアンプ（6a）にCPU（13）からガン
開度を緩やかに減少する信号が入力され、かくてワーク
Ｗに溶接ガン（１）の電極（４）（４）が緩やかに当接
し、以後加圧力が設定値に上昇して、これが圧力センサ
（９）からA/Dコンバータ（9a）を介してCPU（13）に入
力される信号により確認されると、ガンコントローラ
（12）にCPU（13）から予圧完了信号が入力され、かく
するときは通電制御回路（15）にガンコントローラ（1
2）から溶接電流値及び通電時間の設定信号が入力さ
れ、設定電流値で設定時間の通電が行われる。Here, the initial closing opening is set to be slightly larger than the thickness of the work at the hitting position, and the welding gun (1) is closed to the opening, which is changed from the opening sensor (10) to the A / D converter (10c). ), The signal that gradually decreases the gun opening is input from the CPU (13) to the servo amplifier (6a), and the welding gun is attached to the workpiece W. The electrodes (4) and (4) of (1) are gently contacted with each other, and thereafter the applied pressure rises to a set value, which is transferred from the pressure sensor (9) to the CPU (13) via the A / D converter (9a). When confirmed by the input signal, the preload completion signal is input from the CPU (13) to the gun controller (12).
The welding current value and energization time setting signal are input from 2), and energization is performed for the set time at the set current value.
通電が完了すると、ガンコントローラ（12）からCPU
（13）にガン開放時の開度データが送信され、所定のホ
ールド時間経過後にサーボアンプ（6a）にCPU（13）か
らこの開度データに応じた開度設定信号が入力されて、
溶接ガン（１）が設定開度に開かれ、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（1
1）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）が次の打点位置に移動される。When power is complete, the gun controller (12)
The opening data when the gun is opened is sent to (13), and after a predetermined hold time has elapsed, the CPU (13) inputs an opening setting signal corresponding to this opening data to the servo amplifier (6a),
When the welding gun (1) is opened to the set opening and this is confirmed by the signal from the opening sensor (10), the robot controller (1) is sent from the CPU (13) via the gun controller (12).
A welding completion signal is transmitted to 1), the robot is activated, and the welding gun (1) is moved to the next welding point position.
ここで、ガン開放時の開度データは、各打点位置毎に
該打点位置からの次の打点位置までの移動区間のワーク
形状に基いて干渉防止に必要な最小開度を求め、この最
小開度が各打点位置に対応する設定開度となるように作
成されるもので、例えばワークＷが第２図示の形状であ
って、Ａの打点位置からＢの打点位置までの移動区間の
必要最小開度がl1、Ｂの打点位置からＣの打点位置まで
の移動区間の必要最小開度がl2、Ｃの打点位置からＤの
打点位置までの移動区間の必要最小開度がl3の場合、
Ａ、Ｂ、Ｃの、各打点位置に対応する設定開度は夫々
l1、l2、l3となる。Here, for the opening data when the gun is opened, the minimum opening required for interference prevention is calculated for each dot position based on the work shape in the movement section from that dot position to the next dot position. The workpiece W has the shape shown in the second drawing, and the minimum required moving section from the A hitting position to the B hitting position The opening is l 1 , the required minimum opening of the moving section from the B hitting position to the C hitting position is l 2 , and the minimum required opening of the moving section from the C hitting position to the D hitting position is l 3 If
The set opening corresponding to each dot position of A, B, C is respectively
l 1 , l 2 , l 3 .
上記従来技術の如くガン開度を大小２段階に切換える
ものでは、小開度をl2とl3の何れか一方に設定せざるを
得ず、例えばl3に設定した場合、Ｂ→Ｃへの移動時に溶
接ガン（１）の開度を大開度l1にしなければならず、溶
接ガン（１）が必要以上に開かれ、Ｃの打点位置でのワ
ーク加圧に要する予圧時間が長くなるが、本実施例によ
ればかかる不具合を生じない。The intended switching cancer opening as in the conventional art in large and small steps, it is inevitable to set a small opening to either one of l 2 and l 3, for example, when set to l 3, the B → C The opening of the welding gun (1) must be set to a large opening l 1 during the movement of the welding gun, the welding gun (1) is opened more than necessary, and the preload time required for pressurizing the work at the C hitting position becomes long. However, according to this embodiment, such a problem does not occur.
（発明の効果） 以上の如く本発明によるときは、ワークの各打点位置
間の総べての移動区間において溶接ガンを該各移動区間
に対応する必要最小開度に開いた状態で移動させること
ができ、複雑な形状のワークであっても後率良く溶接を
行い得られ、生産性が向上する効果を有する。(Effects of the Invention) As described above, according to the present invention, the welding gun is moved in all the moving sections between the respective hitting points of the work piece while being opened to the required minimum opening degree corresponding to the respective moving sections. Therefore, even a work having a complicated shape can be welded at a high rate and the productivity is improved.
第１図は本発明装置の１例の線図、第２図はワーク形状
を示す線図である。 Ｗ……ワーク、（１）……溶接ガン （２）……加圧シリンダ、（８）……空圧サーボ回路 （10）……開度センサ（開度検出手段） （12）……ガンコントローラ（開度設定手段） （6a）……サーボアンプ（制御手段） （13）……CPU（制御手段）FIG. 1 is a diagram of an example of the device of the present invention, and FIG. 2 is a diagram showing a work shape. W …… Workpiece, (1) …… Welding gun (2) …… Pressure cylinder, (8) …… Pneumatic servo circuit (10) …… Opening sensor (opening detecting means) (12) …… Gun Controller (opening setting means) (6a) …… Servo amplifier (control means) (13) …… CPU (control means)
Claims (1)
ークの複数の打点位置に順次移動させて溶接を行うもの
において、溶接ガンを開閉動作する複動エアシリンダか
ら成る加圧シリンダの位置制御を行う空圧サーボ回路
と、溶接ガンの開度を検出する開度検出手段と、各打点
位置に対応する溶接ガンの開度を設定する開度設定手段
と、これら両手段からの信号を受けて各打点位置での溶
接終了後に溶接ガンが各打点位置に対応する設定開度に
開かるれように空圧サーボ回路を作動させる制御手段と
を備えることを特徴とする自動溶接装置。1. In a welding system in which a welding gun is sequentially moved to a plurality of hitting positions of a work by a moving mechanism such as a robot to perform welding, position control of a pressure cylinder composed of a double-acting air cylinder for opening and closing the welding gun is performed. Pneumatic servo circuit to perform, opening detection means to detect the opening of the welding gun, opening setting means to set the opening of the welding gun corresponding to each spot position, and signals from these means An automatic welding apparatus comprising: a control unit that operates a pneumatic servo circuit so that a welding gun is opened to a set opening corresponding to each welding point position after welding at each welding point position is completed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP62262626A JPH082508B2 (en) | 1987-10-20 | 1987-10-20 | Automatic welding equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP62262626A JPH082508B2 (en) | 1987-10-20 | 1987-10-20 | Automatic welding equipment |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPH01107978A JPH01107978A (en) | 1989-04-25 |
| JPH082508B2 true JPH082508B2 (en) | 1996-01-17 |
Family
ID=17378408
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP62262626A Expired - Lifetime JPH082508B2 (en) | 1987-10-20 | 1987-10-20 | Automatic welding equipment |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH082508B2 (en) |
Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2624617B2 (en) * | 1993-11-10 | 1997-06-25 | 日産自動車株式会社 | Control device for resistance welding machine, pressure cylinder for resistance welding machine |
| JPH07236978A (en) * | 1994-02-28 | 1995-09-12 | Dengen Kk | Spot welding equipment |
| JP4713030B2 (en) * | 2001-09-18 | 2011-06-29 | 本田技研工業株式会社 | End effector opening setting method |
| WO2021149364A1 (en) * | 2020-01-21 | 2021-07-29 | 本田技研工業株式会社 | Method for avoiding interference of welding equipment, and device for controlling welding equipment |
| CN112548384A (en) * | 2020-11-25 | 2021-03-26 | 芜湖普威技研有限公司 | Automatic welding device for top cover skylight |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0763857B2 (en) * | 1986-04-08 | 1995-07-12 | 日産自動車株式会社 | Control method for welding robot |
-
1987
- 1987-10-20 JP JP62262626A patent/JPH082508B2/en not_active Expired - Lifetime
Also Published As
| Publication number | Publication date |
|---|---|
| JPH01107978A (en) | 1989-04-25 |
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