CN103203521A - Arc welding equipment - Google Patents
Arc welding equipment Download PDFInfo
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- CN103203521A CN103203521A CN2013100077672A CN201310007767A CN103203521A CN 103203521 A CN103203521 A CN 103203521A CN 2013100077672 A CN2013100077672 A CN 2013100077672A CN 201310007767 A CN201310007767 A CN 201310007767A CN 103203521 A CN103203521 A CN 103203521A
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- feeding
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- rotating disk
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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
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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
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
- B23K37/02—Carriages for supporting the welding or cutting element
- B23K37/0282—Carriages forming part of a welding unit
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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
- B23K9/09—Arrangements or circuits for arc welding with pulsed current or voltage
- B23K9/091—Arrangements or circuits for arc welding with pulsed current or voltage characterised by the circuits
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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
- B23K9/095—Monitoring or automatic control of welding parameters
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Plasma & Fusion (AREA)
- Mechanical Engineering (AREA)
- Arc Welding Control (AREA)
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Abstract
The invention provides a piece of arc welding equipment. The object of the invention is to solve a problem that the manual feeding speed of welding wires can only be altered to a predetermined low speed or a high speed. A demonstrator (TP) has a light-push rotary table (13), a rotation encoder (14) which can detect rotation amount and rotation direction of the light-push rotary table (13), and can set the light-push rotary table (13) to be a manual feeding unit of the welding wires (1) at any time. A robot controller (RC) determines the feeding speed and the feeding direction based on the rotation amount and the rotation direction of the light-push rotary table (13), and outputs a feeding control signal (Fc) to a welding wire feeding electric motor (WM) through a welding power supply (WP). More specifically, every time when the light-push rotary table (13) is rotated by one scale, the feeding speed is increased or decreased by a prescribed value. That is, the feeding speed can be altered just with the rotation operation of the light-push rotary table (13). The arc welding equipment also has an enable switch (11b) for preventing casual feeding operation.
Description
Technical field
The present invention relates to carry out emitting successively from the front end of welding torch the arc-welding apparatus of the convenient operation of welding welding wire.
Background technology
In the past, utilize welding supply, be attached to the operated key that the portable operating means of the operated from a distance device of this welding supply or arc welding robot is equipped with, can carry out for the operation (below be called hand feed) (for example, with reference to patent documentation 1) of emitting the welding welding wire from the front end of welding torch successively.Generally speaking, mostly use will be called forward feeding or fine motion (inching) to the hand feed from the outstanding direction of the front end of welding torch, will be called feed reversing or this performance of withdrawal (retract) to the hand feed of the direction of opposite withdrawal.
Utilize special-purpose operated key to carry out above-mentioned forward feeding or the operation of feed reversing.Namely, the feed reversing key that is used for the forward feeding key of forward feeding and is used for feed reversing is arranged individually, and is carried out forward feeding or feed reversing by pressing one of them key.For example, press forward feeding key during, command signal continues to be output to wire feed unit with predetermined distance, weld thus welding wire by the forward feeding with press corresponding length of time.Occasion as the hand feed of welding welding wire is replenished new occasion of welding welding wire etc. for situation, (2) that (1) is adjusted into the suitableeest outstanding length.Under the situation of above-mentioned (1), need adjust according to the mode that makes the welding welding wire just in time give prominence to specific length from the front end (correctly say and be the front end of welding chip) of welding torch.Its reason is that preferred feed speed is low, namely carries out so-called low speed feeding.More specifically, if under the state of having selected low speed feeding pattern, press forward feeding key, then weld welding wire with the predetermined low velocity feeding that is suitable for adjusting.
Under the situation of above-mentioned (2), need to carry out following operation: will weld welding wire and from be filled with the welding wire bag that welds welding wire, draw and in the feeding cable, pass through, and finally lead to the front end of welding torch.Because this feeding path is very long, thereby in above-mentioned low speed feeding, till will welding the front end that welding wire guides to welding torch, need the time.Therefore, can weld the high speed feed of welding wire.More specifically, if under the state of having selected the high speed feed pattern, press forward feeding key, then weld welding wire with about 10 times speed feeding of above-mentioned low velocity.
Patent documentation 1: TOHKEMY 2007-21542 communique
Summary of the invention
As described above, replenishing under the situation of newly welding welding wire, the entrance that becomes in the feeding path arrives in the scope that exports by welding the operation of welding wire.Generally speaking, near the entrance in feeding path, for the welding welding wire being buckled and pressing forward feeding key with low speed feeding pattern, carry out the low speed feeding thus, the high speed feed pattern that midway is switched in the path is carried out high speed feed, finally switches to low speed feeding pattern again near outlet.Like this, in order to change feed speed, need in feeding, switch the operation of low speed feeding pattern and high speed feed pattern, so have the problem of troublesome poeration.In addition, about feed speed in the past, though can pre-determine the arbitrary speed that is suitable for adjusting, owing to can only carry out the switching of low speed value or high speed value, thereby also have and to set this problem of feed speed that is suitable for feeding environment (cable length, robot posture etc.) neatly.
Therefore, the object of the present invention is to provide a kind of arc-welding apparatus that can change the feed speed of welding welding wire with shirtsleeve operation.
In order to solve above-mentioned problem, the invention of technical scheme 1 is a kind of arc-welding apparatus, comprises following part:
Operating portion has and touches rotating disk, this is touched the rotation amount of rotating disk and rotary detecting circuit that direction of rotation detects and the described rotating disk that touches is set at for the allocation units from the feeding operating unit of welding torch feeding welding welding wire;
Feed mechanism portion, the described welding welding wire of feeding; With
Control part has to the feeding control module of described feed mechanism portion output feeding control signal,
Described arc-welding apparatus is characterised in that,
Described touch rotating disk be set to described feeding operating unit during, described operating portion is notified the detected rotation amount of described rotary detecting circuit and direction of rotation to described control part,
Described feeding control module is based on calculating the feed speed of described welding welding wire and calculate direction of feed based on described direction of rotation from the described rotation amount of described control part notice, generate described feeding control signal thus, and export this feeding control signal to described feed mechanism portion.
The invention of technical scheme 2 is technical scheme 1 described arc-welding apparatus, it is characterized in that,
When described feeding control module is not carrying out under the state of feeding of described welding welding wire notified described rotation amount and direction of rotation, then begin the feeding of described welding welding wire with predetermined initial feed speed and the direction corresponding with notified direction of rotation; When notified described when touching rotating disk to the direction rotation identical with described notified direction of rotation in the feeding process at described welding welding wire, then with predetermined velocity variations on duty with described rotation amount and with current feed speed addition; Notify described when touching rotating disk to the direction rotation opposite with described notified direction of rotation when having received described control part in the feeding process at described welding welding wire, then deduct the described velocity variations value with described rotation amount on duty from current feed speed, generate the feeding control signal, output to described feed mechanism portion.
The invention of technical scheme 3 is technical scheme 1 or 2 described arc-welding apparatus, it is characterized in that, described arc-welding apparatus possesses the feeding enable switch, this feeding enable switch permits the described rotating disk that touches as described feeding operating unit performance function, and only makes the described rotating disk that touches as described feeding operating unit performance function under the situation that described feeding enable switch is connected.
The invention of technical scheme 5 is technical scheme 1～4 each described arc-welding apparatus, it is characterized in that, described arc-welding apparatus also possesses feeding load detection unit, this feeding load detection unit detects the feeding load of described welding welding wire, when this feeding load detection unit detects feeding load more than the setting, stop the feeding of described welding welding wire.
The invention of technical scheme 6 is technical scheme 1～5 each described arc-welding apparatus, it is characterized in that, described operating portion is the teaching machine of operating for to the manipulator that has carried described welding torch, and described control part is for the robot controller that described manipulator is driven control.
According to the present invention, the feed speed in the time of can utilizing the rotary manipulation that touches rotating disk to switch the hand feed of welding welding wire simply.
Description of drawings
Fig. 1 is the arc-welding apparatus that will the present invention relates to system's pie graph when being embodied as arc welding robot.
Fig. 2 is the outside drawing of teaching machine TP.
Fig. 3 is the block diagram of the arc welding robot that the present invention relates to.
Fig. 4 is the picture example that the function of touching rotating disk is set.
Fig. 5 is that expression utilization is touched the sequential chart that rotating disk changes an example of the feed speed of welding welding wire.
Symbol description:
1 welding welding wire
2 workpiece
3 electric arcs
4 welding torches
11 keyboards
The 11a enter key
11b feeding enable switch
12 communication interface part
13 touch rotating disk
14 rotary encoders
15 drive instruction department
16a imports monitoring unit
The 16b display control unit
18 LCDs
19 buses
21 CPU
22a explains execution portion
22b function dispenser
22c welding instruction generating unit
24 communication interface part
25 hard disks
26 welding junction portions
29 buses
41 right hand handle parts
42 left hand handle parts
101 arc welding robots
Fc feeding control signal
Fd velocity variations value
Fn feed speed currency
Ft feed speed desired value
The Iw welding current
Mc moves control signal
The R robot
The RC robot controller
The Td operation signal
The TP teaching machine
The Vw weldingvoltage
The WM wire feed motor
The WP source of welding current
Ws welds command signal
The specific embodiment
[embodiment 1]
Below, with reference to accompanying drawing, based on embodiment the working of an invention mode is described.
Fig. 1 is the arc-welding apparatus that will the present invention relates to system's pie graph when being embodied as arc welding robot 101.As shown in the drawing, arc welding robot 101 is made of following parts: possess the R of robot as the wire feed motor WM of the feed mechanism portion of feeding welding welding wire 1, as the teaching machine TP of operating portion, as the R of robot being moved robot controller RC and the source of welding current WP of control part of control.Be provided with among the teaching machine TP: touch rotating disk (jog dial) 13 and as this is touched the rotary encoder (not shown) of the direction of rotation of rotating disk 13 and the detecting unit that rotation amount detects.Touch the installation site of rotating disk 13 so long as the position of operator's easy operating, anywhere all can, but install in the following manner as shown in Figure 2 in the present embodiment: the rotary middle spindle that is in the operable scope of the thumb that utilizes the right hand and touches rotating disk 13 when the right hand handle part 41 of with the hands controlling teaching machine TP respectively and left hand handle part 42 intersects with the lateral vertical of teaching machine TP ground.
Return Fig. 1, robot controller RC is based on the operation signal Td from teaching machine TP, for a plurality of servomotor that disposes being moved the action control signal Mc that controls, perhaps weld command signal Ws (welding commencing signal, gas output signal, feeding control signal, weldingvoltage setting signal etc.) to source of welding current WP output to the R of robot output.Source of welding current WP with above-mentioned various signals as input; supply with weldingvoltage Vw and welding current Iw; perhaps control magnetic valve that not shown gas bomb is equipped with output protection gas, perhaps export feeding control signal Fc and come wire feed motor WM is rotated driving.The R of robot mounting wire feed motor WM, welding torch 4 etc., and according to operation signal Td the front position of welding torch 4 is moved.Welding welding wire 1 by wire feed motor WM by coming feeding in the welding torch 4, and as the workpiece 2 of operation object between electric arc 3 takes place, to weld.
Fig. 3 is the block diagram of the arc welding robot 101 that the present invention relates to.In teaching machine TP, be provided with: keyboard 11, touch rotating disk 13, to this communication interface part 12 of touching the LCD 18 of the direction of rotation of rotating disk 13 and rotary encoder 14 that rotation amount detects, display operation menu or guiding message etc. and being used for communicating with robot controller RC.In addition, teaching machine TP possesses CPU15, ROM16 and RAM17.CPU15 is central arithmetic processing apparatus.In ROM16, preserve and read in various control programs (input monitoring unit 16a and display control unit 16b) and the control constant thereof that is performed to the CPU15.RAM17 is used as the workspace of CPU15, the temporary transient data of calculating midway of preserving.In addition, above-mentioned each several part is connected via bus 19.
Read in the input monitoring unit 16a that is performed to the CPU15 to monitoring from keyboard 11 and the input of touching rotating disk 13, and based on this supervision result various operation signals and rotary encoder 14 detected detection signals are notified to robot controller RC via communication interface part 12.Display control unit 16b exports to LCD 18 such as actions menu or guiding message.
At this, to touching rotating disk 13 and rotary encoder 14 describes.In touching rotating disk 13, be provided with by the rotation unit, namely the regulation the set scale (notch) of the anglec of rotation.Be rotated if touch rotating disk 13, then 14 pairs of direction of rotation of rotary encoder and rotation amount detect, and the signal that rotating disk 13 operated several scales towards which direction is touched in expression are sent to robot controller RC.
Be often used as be used to making pointer mobile selector between projects such as actions menu that LCD 18 demonstrates or setup parameter though touch rotating disk 13, can temporarily be assigned to the operating unit be used to the hand feed of welding welding wire 1 (forward feeding/feed reversing).Namely, utilize setting operation described later will touch rotating disk 13 and be set at operating unit be used to the hand feed of welding welding wire 1, be rotated operation if in fact touch rotating disk 13, then import monitoring unit 16a and export the detection signal of rotary encoder 14 to robot controller RC.And wire feed motor WM forward or reverse is carried out forward feeding or feed reversing (detailed content is seen below and stated) thereby weld welding wire 1 as a result.
Robot controller RC controls the R of robot according to the mode of workpiece 2 being carried out automatically arc welding.Robot controller RC possesses: as CPU21, the ROM22 of control module, RAM23, as the hard disk 25 of memory cell, drive the each several part of instruction department 15 and communication interface part 24.In above-mentioned ROM22, preserve: the various control programs (explaining the execution 22a of portion, function dispenser 22b, welding instruction generating unit 22c, the 22d of data setting portion) and the control constant thereof that are used for the control of the execution R of robot.See below about the detailed content of various control programs and to state.RAM23 is used as the workspace of CPU21, the temporary transient data of calculating midway of preserving.The feeding control signal Fc of welding wire 1 welds in welding junction portion 26 to wire feed motor WM output via source of welding current WP.Drive instruction department 15 based on the operation signal Td from teaching machine TP, export for a plurality of servomotor that disposes being moved the action control signal Mc that controls to the R of robot.In addition, above-mentioned each several part is connected via bus 29.
In hard disk 25, except the data of the operation of preserving teaching robot R or various control variables etc., go back hold function allocation table, initial feed speed value and velocity variations value.The function allocation table refers to, distributes the data of the function of touching rotating disk 13.In addition, in the present embodiment, though constituted by hard disk as memory cell, be not limited to hard disk, also can adopt other storage devices such as storage card.See below about initial feed speed value and velocity variations value and to state.
Below, describe at reading in the explanation execution 22a of portion, the function dispenser 22b that are performed to the CPU21 and the formation of welding instruction generating unit 22c.
Explain that the execution 22a of portion based on the setting content from the detection signal of the rotary encoder 14 of teaching machine TP input and above-mentioned function allocation table, judges whether to weld the forward feeding of welding wire 1 or the processing of feed reversing.And, under the situation that needs are handled, explains direction of rotation and the rotation amount that touches rotating disk 13 based on above-mentioned detection signal, and explanation results is notified to welding instruction generating unit 22c, and request generates feeding control signal Fc.
Welding instruction generating unit 22c is under the state of the feeding of welding welding wire 1 when the notified rotation amount that touches rotating disk 13 and direction of rotation, with predetermined initial feed speed and feeding from welding wire 1 to the direction corresponding with the direction of rotation of being notified that begin to weld.If be in the feeding of welding welding wire 1, then rotated when touching rotating disk 13 to the direction identical with notified so far direction of rotation notified, carried out predetermined velocity variations on duty to be added in the acceleration feeding control on the current feed speed after the rotation amount that touches rotating disk 13 mutually.And, rotated when touching rotating disk 13 to the direction opposite with notified so far direction of rotation notified, carry out the deceleration feeding control from current feed speed, to deduct after the rotation amount that touches rotating disk 13 on duty of above-mentioned velocity variations.The feeding control signal Fc that generates by these controls suitably is output to source of welding current WP via welding junction portion 26, finally exports wire feed motor WM to.
Below, the effect of present embodiment is described.
(1. distributing to the function of touching rotating disk 13)
If the operator calls the function distribution menu of touching rotating disk 13, then function dispenser 22b exports the LCD 18 that is shown in teaching machine TP with picture as shown in Figure 4.In the picture shown in this figure, the sample attitude that " selection of menu ", " change of speed ", the forward feeding/feed reversing of welding wire " welding ", " robot touch feeding " etc. are shown as option is shown as being given to the function of touching rotating disk 13.The operator selects " the forward feeding/feed reversing of welding welding wire " and presses enter key 11a.By this operation, touch rotating disk 13 and be altered to for the feeding operating unit (being set at the function allocation table) that carries out " the forward feeding/feed reversing of welding welding wire ".Wherein, only under the situation that feeding enable switch 11b connects, obtain interlocking (interlock), so that touch rotating disk 13 as feeding operating unit performance function.Namely, supress the state of feeding enable switch 11b if not the operator, then can't carry out based on touching the feeding operation that rotating disk 13 welds welding wire 1.
(2. notifying operation result)
Be rotated operation if touch rotating disk 13 under the state that has been carried out above-mentioned functions distribution and above-mentioned feeding enable switch 11b connection, then the input monitoring unit 16a of teaching machine TP exports the detection signal (touching direction of rotation and the rotation amount of rotating disk 13) of rotary encoder 14 to robot controller RC.This detection signal is notified to explains the execution 22a of portion.
(3. interpreter operation result)
Explain that the execution 22a of portion based on the setting content of above-mentioned detection signal and function allocation table, judges whether to weld the forward feeding of welding wire 1 or the processing of feed reversing.Because touch rotating disk 13 as the hand feed unit performance function of welding welding wire 1, so be judged as the hand feed that to weld welding wire 1 based on the operating result that touches rotating disk 13, and the information of direction of rotation and rotation amount be notified to welding instruction generating unit 22.
(4. determine direction of feed and calculate the amount of feeding)
In welding instruction generating unit 22c, calculate based on the direction of feed of direction of rotation and based on the feed speed of rotation amount, and these values are exported as feeding control signal Fc.
At first, decide the direction of feed of welding welding wire 1 based on notified direction of rotation.In initial setting, under the situation of touching the bottom surface side of rotating disk 13 to teaching machine TP (Fig. 2+direction side) rotation, the direction that makes welding welding wire 1 from the front end outstanding (carrying out the forward feeding) of welding torch 4 is made as direction of feed.On the contrary, under the situation of touching the top surface side of rotating disk 13 to teaching machine TP (Fig. 2-direction side) rotation, the direction of welding welding wire 1 (carrying out feed reversing) of will withdraw is made as direction of feed.About the feed speed of welding welding wire 1, followingly calculate like that.
(4.1 initial feed speed)
When the state of the feeding of welding welding wire 1 has sent a notice rotation amount, do not carry out based on the calculating of feed speed of rotation amount and from hard disk 25, read predetermined initial feed speed.Its reason is, to touch rotating disk 13 rotations very big if once make, and is that 0 state sharply becomes big from feed speed then, so welding welding wire 1 may be buckled in the feeding path.Under the above-mentioned initial feed speed of unfavorable usefulness is calculated situation with the corresponding feed speed of rotation amount, utilize method described later to calculate.
When further detecting to the rotation of same direction (4.2)
Notifiedly in the feeding of welding welding wire 1 rotated when touching rotating disk 13 to the direction identical with notified so far direction of rotation, be added in mutually on the current feed speed with after the notified rotation amount predetermined velocity variations is on duty.If namely the feed speed currency is made as Fn, the velocity variations value is made as Fd, rotation amount is made as Jc, will be made as Ft based on the feed speed desired value that these values are calculated, then utilize following formula to calculate:
Feed speed desired value Ft=feed speed currency Fn+ velocity variations value Fd * rotation amount Jc
Particularly, be that 100cm/ minute, velocity variations value Vd are under 50cm/ minute the situation at feed speed currency Fn, rotated 1 scale if touch rotating disk 13 to the direction identical with notified so far direction of rotation, then feed speed desired value Ft becomes 150cm/ minute according to 100+50 * 1.If further continue to have rotated 1 scale to same direction, then feed speed desired value Ft becomes 200cm/ minute according to 150+50 * 1.This is calculated example the situation of carrying out the notice of the rotation amount that touches rotating disk 13 when rotation 1 scale is shown.The announcement period that detects regulation or touch rotating disk 13 stop to have carried out the stipulated time time carry out under the situation of notice of rotation amount, for example when being rotated 3 scales, carry out the notice of the rotation amount of 3 scale parts sometimes.At this moment, feed speed desired value Ft becomes 250cm/ minute according to 100+50 * 3.
(4.3 detect when rotating round about)
Rotated when touching rotating disk 13 to the direction opposite with notified so far direction of rotation notified, at first make direction of feed opposite with so far direction of rotation, so above-mentioned velocity variations is on duty to deduct from current feed speed after the rotation amount that touches rotating disk 13.If namely the feed speed currency is made as Fn, the velocity variations value is made as Fd, rotation amount is made as Jc, will be made as Ft based on the feed speed desired value that these values are calculated, then can calculate according to following formula:
Feed speed desired value Ft=feed speed currency Fn-velocity variations value Fd * rotation amount Jc
Particularly, be that 500cm/ minute, velocity variations value Vd are under 50cm/ minute the situation at feed speed currency Fn, rotated 1 scale if touch rotating disk 13 to the direction opposite with notified so far direction of rotation, then feed speed desired value Ft becomes 450cm/ minute according to 500-50 * 1, if further continue to have rotated 1 scale to equidirectional, then feed speed desired value Ft becomes 400cm/ minute according to 450-50 * 1.In addition, be under the situation below 0 for feed speed desired value Ft calculating the result, do not carry out above subtraction (feed speed desired value Ft is made as 0).
(5. welding wire feeding)
Source of welding current WP exports the feeding control signal Fc that the above-mentioned result of calculating obtains to wire feed motor WM.As more than, with the corresponding feed speed of the rotation amount that touches rotating disk 13 and to the corresponding direction of feed feeding of direction of rotation welding welding wire 1.
(6. stopping welding wire feeding)
Under the situation that feeding enable switch 11b is disconnected described in the feeding of welding welding wire 1, the input monitoring unit 16a of teaching machine TP exports the status signal (disconnection) of feeding enable switch 11b to robot controller RC.This signal is notified to explains the execution 22a of portion.Secondly, explain that the execution 22a of portion will give welding instruction generating unit 22c for the instruction notification of feed-disabling.Then, welding instruction generating unit 22c generates the feeding control signal Fc that feeding is stopped, and exports source of welding current WP to.Its result has stopped the feeding of welding welding wire 1.
Fig. 5 is that expression utilization is touched the sequential chart that rotating disk 13 changes an example of the feed speed of welding welding wire 1.The connection of this figure (a) expression feeding enable switch 11b disconnects regularly, and the rotation amount of rotating disk 13 is touched in this figure (b) expression, the feed speed of this figure (c) expression welding welding wire 1.Below, each of the t1～t5 that illustrates at this figure constantly and during in feed speed how to change.In addition, the rotation amount utilization of touching rotating disk 13 that this figure (b) illustrates represents from the number of division that current position of rotation relatively rotates, and comes mark to rotate 1 scale to+direction with "+1 ", comes mark to rotate 1 scale to-direction with " 1 ".
(t1 constantly)
At moment t1, feeding enable switch 11b is switched on shown in this figure (a).Be not rotated because under this state, touch rotating disk 13, so welding welding wire 1 is not fed.
(t2 constantly)
At moment t2, the state that keeps feeding enable switch 11b to be switched on is constant, touches rotating disk 13 and rotated 1 scale to+direction shown in this figure (b).At this moment, feed speed becomes initial feed speed Fi shown in this figure (c).
(moment t2～t3)
During till moment t3, the state that keeps feeding enable switch 11b to be switched on is constant, touches rotating disk 13 and has rotated 2 scales to equidirectional.Its result, on initial feed speed Fi addition twice velocity variations value Fd, the feed speed under the timing of t3 becomes Fv1 constantly.
(moment t3～t4)
Keep feed speed to be that the state of Fv1 is constant and come feeding welding welding wire 1.Then, at moment t4, the state that keeps feeding enable switch 11b to be switched on is constant, touches rotating disk 13 to having rotated 1 scale in the opposite direction with up to now side.Its result deducts velocity variations value Fd from current feed speed Fv1, the feed speed under the t4 becomes Fv2 constantly.
(moment t4～t5)
Keep feed speed to be that the state of Fv2 is constant and come feeding welding welding wire 1.Then, at moment t5, shown in this figure (a), feeding enable switch 11b is disconnected.Its result, feed speed become 0 (feeding of welding welding wire 1 is stopped).
Mistake as described above like that, according to the present invention, the feed speed when utilizing the hand feed that the rotary manipulation that touches rotating disk 13 can switch welding welding wire 1 simply.
In addition, suppose because the operator unconsciously touches or collide can make on every side and touch rotating disk 13 rotation.If cause above-mentioned situation, then can under unconscious state, feeding weld welding wire 1.Therefore, under the state that feeding enable switch 11b connects, rotated under the situation of touching rotating disk 13, as feeding operating unit performance function.Thus, except above-mentioned effect, can also improve security.
In addition, above-mentioned feeding enable switch 11b is under the situation of off-state in the feeding of welding welding wire 1, and the feeding of welding welding wire 1 is stopped.Thus, except above-mentioned effect, can also further improve security.
In addition, in the above-described embodiment, for the worry to secure context, also further possesses the feeding load detection unit (not shown) that the feeding load of welding welding wire 1 is detected, if constitute in this feeding load detection unit and detect the feeding that stops to weld welding wire 1 under the situation of the feeding load more than the setting, then for to the worry of secure context and become preferred embodiment.
Claims (6)
1. arc-welding apparatus comprises following part:
Operating portion has and touches rotating disk, this is touched the rotation amount of rotating disk and rotary detecting circuit that direction of rotation detects and the described rotating disk that touches is set at for the allocation units from the feeding operating unit of welding torch feeding welding welding wire;
Feed mechanism portion is used for the described welding welding wire of feeding; With
Control part has to the feeding control module of described feed mechanism portion output feeding control signal,
Described arc-welding apparatus is characterised in that,
Described touch rotating disk be set to described feeding operating unit during, described operating portion is notified the detected rotation amount of described rotary detecting circuit and direction of rotation to described control part,
Described feeding control module is based on calculating the feed speed of described welding welding wire from the described rotation amount of described control part notice, and calculate direction of feed based on described direction of rotation, generate described feeding control signal thus, and export this feeding control signal to described feed mechanism portion.
2. arc-welding apparatus according to claim 1 is characterized in that,
When described feeding control module is not carrying out under the state of feeding of described welding welding wire notified described rotation amount and direction of rotation, then begin the feeding of described welding welding wire with predetermined initial feed speed and the direction corresponding with notified direction of rotation; When notified described when touching rotating disk to the direction rotation identical with described notified direction of rotation in the feeding process at described welding welding wire, then with predetermined velocity variations on duty with described rotation amount and with current feed speed addition; Notify described when touching rotating disk to the direction rotation opposite with described notified direction of rotation when having received described control part in the feeding process at described welding welding wire, then deduct the described velocity variations value with described rotation amount on duty from current feed speed, generate the feeding control signal, output to described feed mechanism portion.
3. arc-welding apparatus according to claim 1 and 2 is characterized in that,
Described arc-welding apparatus possesses the feeding enable switch, and this feeding enable switch permits the described rotating disk that touches as described feeding operating unit performance function,
And only under the situation that described feeding enable switch is connected, make the described rotating disk that touches as described feeding operating unit performance function.
4. arc-welding apparatus according to claim 3 is characterized in that,
Under the situation that the feeding enable switch is disconnected described in the feeding process of described welding welding wire, stop the feeding of described welding welding wire.
5. according to each described arc-welding apparatus of claim 1～4, it is characterized in that,
Described arc-welding apparatus also possesses feeding load detection unit, and this feeding load detection unit detects the feeding load of described welding welding wire,
When this feeding load detection unit detects feeding load more than the setting, stop the feeding of described welding welding wire.
6. according to each described arc-welding apparatus of claim 1～5, it is characterized in that,
Described operating portion is the teaching machine of operating for to the manipulator that has carried described welding torch, and described control part is for the robot controller that described manipulator is driven control.
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| JP2012-003699 | 2012-01-12 | ||
| JP2012003699A JP5871373B2 (en) | 2012-01-12 | 2012-01-12 | Arc welding equipment |
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| CN103203521A true CN103203521A (en) | 2013-07-17 |
| CN103203521B CN103203521B (en) | 2016-01-20 |
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| JP (1) | JP5871373B2 (en) |
| KR (1) | KR101909226B1 (en) |
| CN (1) | CN103203521B (en) |
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| CN103617900A (en) * | 2013-11-07 | 2014-03-05 | 中联重科股份有限公司 | Handle safety operating control method, device and system |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| JP5934590B2 (en) * | 2012-07-12 | 2016-06-15 | 株式会社ダイヘン | Arc welding equipment |
| JP6744790B2 (en) * | 2016-09-06 | 2020-08-19 | シャープ株式会社 | Control system, control method, and control program |
| CN109483020B (en) * | 2019-01-08 | 2021-05-04 | 温岭阿凡达机电有限公司 | Intelligent control gas shielded welding machine with liquid crystal display |
| JPWO2021261513A1 (en) | 2020-06-25 | 2021-12-30 |
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Also Published As
| Publication number | Publication date |
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| JP5871373B2 (en) | 2016-03-01 |
| TW201332698A (en) | 2013-08-16 |
| JP2013141696A (en) | 2013-07-22 |
| KR20130083396A (en) | 2013-07-22 |
| TWI562851B (en) | 2016-12-21 |
| CN103203521B (en) | 2016-01-20 |
| KR101909226B1 (en) | 2018-10-17 |
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