CN103203521B - Arc-welding apparatus - Google Patents
Arc-welding apparatus Download PDFInfo
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- CN103203521B CN103203521B CN201310007767.2A CN201310007767A CN103203521B CN 103203521 B CN103203521 B CN 103203521B CN 201310007767 A CN201310007767 A CN 201310007767A CN 103203521 B CN103203521 B CN 103203521B
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- 238000003466 welding Methods 0.000 title claims abstract description 239
- 238000000034 method Methods 0.000 claims abstract description 15
- 230000008569 process Effects 0.000 claims abstract description 14
- 230000007246 mechanism Effects 0.000 claims description 9
- 230000008859 change Effects 0.000 abstract description 6
- 230000006870 function Effects 0.000 description 23
- 230000009471 action Effects 0.000 description 9
- 238000001514 detection method Methods 0.000 description 7
- 238000012544 monitoring process Methods 0.000 description 7
- 238000004891 communication Methods 0.000 description 5
- 239000004973 liquid crystal related substance Substances 0.000 description 5
- 230000000694 effects Effects 0.000 description 3
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- 238000009826 distribution Methods 0.000 description 1
- 238000010891 electric arc Methods 0.000 description 1
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Classifications
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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
-
- 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
-
- 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
-
- 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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- Plasma & Fusion (AREA)
- Mechanical Engineering (AREA)
- Arc Welding Control (AREA)
- Manipulator (AREA)
Abstract
The invention provides a kind of arc-welding apparatus.Problem to be solved is that the hand feed speed of welding welding wire can only carry out the alternative switching of predetermined low speed speed or high speed speed.The rotary encoder (14) that teaching machine (TP) possesses light-push rotary (13) and detects rotation amount and the direction of rotation of light-push rotary (13), and light-push rotary (13) can both be set as the hand feed unit welding welding wire (1) at any time.Robot controller (RC) decides feed speed and direction of feed based on the rotation amount of light-push rotary (13) and direction of rotation, and exports feeding control signal (Fc) via the source of welding current (WP) to wire feed motor (WM).More specifically, when light-push rotary (13) is by rotation 1 scale, feed speed is increased or reduces setting.Namely the rotation process of light-push rotary (13), is only utilized just can to change feed speed.Can also possess enable switch (11b) prevents casual feeding from operating.
Description
Technical field
The present invention relates to the arc-welding apparatus that can carry out the convenient operation of releasing welding welding wire from the front end of welding torch successively.
Background technology
In the past, the operated key that the movable operation device utilize welding supply, being attached to the remote manipulator of this welding supply or arc welding robot is equipped with, the operation (hereinafter referred to as hand feed) (for example, referring to patent document 1) of releasing welding welding wire for the front end from welding torch successively can be carried out.Generally speaking, hand feed to the direction outstanding from the front end of welding torch is called forward feeding or fine motion (inching) by most use, the hand feed in the direction to contrary retraction is called feed reversing or retraction (retract) this performance.
Utilize special operated key to carry out above-mentioned forward feeding or the operation of feed reversing.Namely, the forward feeding key for forward feeding and the feed reversing key for feed reversing are arranged individually, and are carried out forward feeding or feed reversing by pressing one of them key.Such as, during pressing forward feeding key, command signal continues to be output to wire feed unit at predetermined intervals, welds welding wire thus by the forward feeding length corresponding to the time of pressing.Occasion as the hand feed carrying out welding welding wire is that (1) is adjusted to the situation of the suitableeest outstanding length, occasion etc. of (2) supplementary new welding welding wire.When above-mentioned (1), the mode of just in time giving prominence to specific length according to the front end making welding welding wire from welding torch (correctly saying the front end for welding chip) is needed to adjust.Its reason is, preferred feed speed is low, namely carries out so-called low speed feeding.More specifically, if press forward feeding key under the state that have selected low speed feeding pattern, then to be suitable for the predetermined low velocity feeding welding welding wire adjusted.
When above-mentioned (2), need to perform following operation: welding welding wire drawn from the welding wire bag being filled with welding welding wire and passes through in feeding cable, finally leading to the front end of welding torch.Because this feeding path is very long, thus in above-mentioned low speed feeding until the front end that welding welding wire guides to welding torch is needed the time.Therefore, the high speed feed welding welding wire can be carried out.More specifically, if press forward feeding key under the state that have selected high speed feed pattern, then with the speed feeding of about 10 of above-mentioned low velocity times welding welding wire.
Patent document 1: Japanese Unexamined Patent Publication 2007-21542 publication
Summary of the invention
As described above, when supplementing new welding welding wire, become the operation by welding welding wire in the entrance in feeding path to the scope of outlet.Generally speaking, near the entrance in feeding path, forward feeding key is pressed with low speed feeding pattern in order to not make welding welding wire buckle, carry out low speed feeding thus, be switched to high speed feed pattern in the midway in path to carry out high speed feed, finally near outlet, again switch to low speed feeding pattern.Like this, in order to change feed speed, needing the operation switching low speed feeding pattern and high speed feed pattern in feeding, therefore there is the problem of troublesome poeration.In addition, about feed speed in the past, although the arbitrary speed being suitable for adjusting can be pre-determined, but due to the switching of low speed value or high speed value can only be carried out, thus also there is this problem of feed speed that cannot set neatly and be suitable for feeding environment (cable length, robot posture etc.).
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, the rotary detecting circuit there is light-push rotary, rotation amount and the direction of rotation of this light-push rotary being detected and the allocation units described light-push rotary being set as the feeding operating unit from welding torch feeding welding welding wire;
Feed mechanism portion, welds welding wire described in feeding; With
Control part, has the feeding control unit exporting feeding control signal to described feed mechanism portion,
The feature of described arc-welding apparatus is,
During described light-push rotary is set to described feeding operating unit, described operating portion notifies the rotation amount that described rotary detecting circuit detects and direction of rotation to described control part,
Described feeding control unit calculates the feed speed of described welding welding wire based on the described rotation amount notified from described control part and calculates 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.
The invention of technical scheme 2 is the arc-welding apparatus described in technical scheme 1, it is characterized in that,
When described feeding control unit when notified described rotation amount and direction of rotation, then starts the feeding of described welding welding wire under the state of feeding of not carrying out described welding welding wire with predetermined initial feed speed and the direction corresponding with notified direction of rotation; When described light-push rotary notified in the feeding process at described welding welding wire rotates to the direction identical with described notified direction of rotation, then predetermined velocity variations value be multiplied by described rotation amount and be added with current feed speed; When have received described control part in the feeding process at described welding welding wire and notifying that described light-push rotary rotates to the direction contrary with described notified direction of rotation, the value described velocity variations value being multiplied by described rotation amount is then deducted from current feed speed, generate feeding control signal, output to described feed mechanism portion.
The invention of technical scheme 3 is the arc-welding apparatus described in technical scheme 1 or 2, it is characterized in that, described arc-welding apparatus possesses feeding enable switch, this feeding enable switch permits that described light-push rotary plays function as described feeding operating unit, and only makes described light-push rotary play function as described feeding operating unit when described feeding enable switch is connected.
Technical scheme 4 is the arc-welding apparatus described in technical scheme 3, it is characterized in that, when feeding enable switch is disconnected described in the feeding process of described welding welding wire, stops the feeding of described welding welding wire.
The invention of technical scheme 5 is the arc-welding apparatus described in any one of technical scheme 1 ~ 4, it is characterized in that, described arc-welding apparatus also possesses feeding load detecting unit, the feeding load of this feeding load detecting unit to described welding welding wire detects, when this feeding load detecting unit detects the feeding load of more than setting, stop the feeding of described welding welding wire.
The invention of technical scheme 6 is the arc-welding apparatus described in any one of technical scheme 1 ~ 5, it is characterized in that, described operating portion is the teaching machine for operating the manipulator carrying described welding torch, and described control part is the robot controller for carrying out drived control to described manipulator.
According to the present invention, can utilize the rotation process of light-push rotary switch simply welding welding wire hand feed time feed speed.
Accompanying drawing explanation
Fig. 1 is the System's composition figure when arc-welding apparatus that the present invention relates to 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 set the function of light-push rotary.
Fig. 5 is the sequential chart of the example representing the feed speed utilizing light-push rotary to change welding welding wire.
Symbol description:
1 welding welding wire
2 workpiece
3 electric arcs
4 welding torches
11 keyboards
11a enter key
11b feeding enable switch
12 communication interface part
13 light-push rotary
14 rotary encoders
15 driving instruction portions
16a inputs monitoring unit
16b display control unit
18 liquid crystal displays
19 buses
21CPU
22a explains enforcement division
22b function dispenser
22c welds command generation 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
Iw welding current
Mc action control signal
R robot
RC robot controller
Td operation signal
TP teaching machine
Vw weldingvoltage
WM wire feed motor
The WP source of welding current
Ws welds command signal
Detailed description of the invention
[embodiment 1]
Below, with reference to accompanying drawing, based on embodiment, working of an invention mode is described.
Fig. 1 is the System's composition figure when arc-welding apparatus that the present invention relates to being embodied as arc welding robot 101.As shown in the drawing, arc welding robot 101 is made up of following parts: possess the robot R of the wire feed motor WM in the feed mechanism portion as feeding welding welding wire 1, as the teaching machine TP of operating portion, as the robot controller RC of control part and the source of welding current WP that robot R are carried out to action control.Be provided with in teaching machine TP: light-push rotary (jogdial) 13 and the rotary encoder (not shown) as the detecting unit detected direction of rotation and the rotation amount of this light-push rotary 13.As long as the installation site operator of light-push rotary 13 is easy to the position operated, anywhere, but in the present embodiment, install in the following manner as shown in Figure 2: be in the operable scope of sharp right-handed thumb when with the hands holding right hand handle part 41 and the left hand handle part 42 of teaching machine TP respectively and the lateral vertical of the rotary middle spindle of light-push rotary 13 and teaching machine TP intersect.
Return Fig. 1, robot controller RC is based on the operation signal Td from teaching machine TP, export the action control signal Mc being used for the servomotor of configured multiple axles being carried out to action control to robot R, or export welding command signal Ws (welding commencing signal, pneumatic output signal, feeding control signal, weldingvoltage setting signal etc.) to source of welding current WP.Source of welding current WP using above-mentioned various signals as input; supply weldingvoltage Vw and welding current Iw; or control magnetic valve that not shown gas bomb is equipped with output protection gas, or export feeding control signal Fc rotary actuation is carried out to wire feed motor WM.Robot R loads wire feed motor WM, welding torch 4 etc., and according to operation signal Td, the front position of welding torch 4 is moved.By carrying out feeding in welding torch 4, between the workpiece 2 as operation object, electric arc 3 is there is, to weld in welding welding wire 1 by wire feed motor WM.
Fig. 3 is the block diagram of the arc welding robot 101 that the present invention relates to.Be provided with in teaching machine TP: keyboard 11, light-push rotary 13, the rotary encoder 14 that direction of rotation and the rotation amount of this light-push rotary 13 are detected, display actions menu or guide the liquid crystal display 18 of message etc. and the communication interface part 12 for communicating with robot controller RC.In addition, teaching machine TP possesses CPU15, ROM16 and RAM17.CPU15 is central operation treating apparatus.The various control programs (input monitoring unit 16a and display control unit 16b) and control constant thereof that read in and be performed to CPU15 are preserved in ROM16.RAM17 is used as the workspace of CPU15, temporarily preserves the data calculating midway.In addition, above-mentioned each several part is connected via bus 19.
Read in the input monitoring unit 16a be performed to CPU15 to monitor the input from keyboard 11 and light-push rotary 13, and based on this monitoring result, the detection signal that various operation signals and rotary encoder 14 detect is informed to robot controller RC via communication interface part 12.Display control unit 16b is by actions menu or guide message etc. to export liquid crystal display 18 to.
At this, light-push rotary 13 and rotary encoder 14 are described.Be provided with in light-push rotary 13 by the scale (notch) set by the unit rotated, the anglec of rotation namely specified.If light-push rotary 13 is rotated, then rotary encoder 14 pairs of direction of rotation and rotation amount detect, and will represent that the signal of light-push rotary 13 several scale towards which direction operation is sent to robot controller RC.
Although light-push rotary 13 is often used as the selector of movement between the projects such as actions menu for making pointer demonstrate at liquid crystal display 18 or setup parameter, the operating unit for carrying out the hand feed (forward feeding/feed reversing) of welding welding wire 1 temporarily can be assigned to.Namely setting operation described later, is utilized light-push rotary 13 to be set as the operating unit of the hand feed for carrying out welding welding wire 1, if in fact light-push rotary 13 is by rotation process, then inputs monitoring unit 16a and export the detection signal of rotary encoder 14 to robot controller RC.Further, result wire feed motor WM forward or reverse, thus welding welding wire 1 is carried out forward feeding or feed reversing (detailed content sees below).
Robot controller RC is according to mode control R workpiece 2 being carried out automatically to arc welding.Robot controller RC possesses: as each several part of CPU21, the ROM22 of control unit, RAM23, hard disk 25 as memory cell, driving instruction portion 15 and communication interface part 24.Preserve in above-mentioned ROM22: for performing various control programs (explaining enforcement division 22a, function dispenser 22b, welding command generation unit 22c, data setting portion 22d) and the control constant thereof of the control of robot R.Detailed content about various control program sees below.RAM23 is used as the workspace of CPU21, temporarily preserves the data calculating midway.Welding junction portion 26 exports the feeding control signal Fc of welding welding wire 1 to wire feed motor WM via source of welding current WP.Driving instruction portion 15, based on the operation signal Td from teaching machine TP, exports the action control signal Mc being used for the servomotor of configured multiple axles being carried out to action control to robot R.In addition, above-mentioned each several part is connected via bus 29.
In hard disk 25, except preserving the data of the operation of teaching robot R or various control variables etc., go back hold function allocation table, initial feed speed value and velocity variations value.Function allocation table refers to, distributes the data of the function of light-push rotary 13.In addition, in the present embodiment, although be made up of 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.
Below, be described for the formation of reading in explanation enforcement division 22a, function dispenser 22b and the welding command generation unit 22c be performed to CPU21.
Explain the detection signal of enforcement division 22a based on the rotary encoder 14 inputted from teaching machine TP and the setting content of above-mentioned function allocation table, judge whether to need to carry out the welding forward feeding of welding wire 1 or the process of feed reversing.Further, when needs process, explain direction of rotation and the rotation amount of light-push rotary 13 based on above-mentioned detection signal, and explanation results is informed to welding command generation unit 22c, and request generates feeding control signal Fc.
Function dispenser 22b sets the function being given to light-push rotary 13 in function allocation table.In the present embodiment, suppose that light-push rotary 13 is set to weld the hand feed unit of welding wire 1.
When the rotation amount of welding command generation unit 22c notified light-push rotary 13 under the state of not carrying out the feeding of welding welding wire 1 and direction of rotation, start the feeding of welding welding wire 1 with predetermined initial feed speed to the direction corresponding with notified direction of rotation.If be in the feeding of welding welding wire 1, then notified have rotated light-push rotary 13 to the direction identical with direction of rotation notified so far time, perform the acceleration feeding be added in mutually in current feed speed after predetermined velocity variations value is multiplied by the rotation amount of light-push rotary 13 and control.And, notified have rotated light-push rotary 13 to the direction contrary with direction of rotation notified so far time, perform the deceleration feeding deducted from current feed speed after above-mentioned velocity variations value is multiplied by the rotation amount of light-push rotary 13 and control.The feeding control signal Fc controlling to generate by these is suitably 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.
(function 1. to light-push rotary 13 is distributed)
If operator calls the function distribution menu of light-push rotary 13, then function dispenser 22b is by the liquid crystal display 18 of picture output display as shown in Figure 4 in teaching machine TP.In the picture shown in this figure, illustrate that as the function being given to light-push rotary 13 " selection of menu ", " change of speed ", " the forward feeding/feed reversing of welding welding wire ", " robot touches feeding " etc. are shown as the pattern of option.Operator's selection " the forward feeding/feed reversing of welding welding wire " also presses enter key 11a.By this operation, light-push rotary 13 is altered to the feeding operating unit (being set in function allocation table) for carrying out " the forward feeding/feed reversing of welding welding wire ".Wherein, only obtain interlocking (interlock) when feeding enable switch 11b connects, play function to make light-push rotary 13 as feeding operating unit.Namely, if not operator press the state of feeding enable switch 11b, then cannot carry out the feeding operation of carrying out welding welding wire 1 based on light-push rotary 13.
(2. notifying operating result)
If by carried out above-mentioned functions distribute and above-mentioned feeding enable switch 11b connect state under light-push rotary 13 by rotation process, then the input monitoring unit 16a of teaching machine TP exports the detection signal (direction of rotation of light-push rotary 13 and rotation amount) of rotary encoder 14 to robot controller RC.This detection signal is notified to explains enforcement division 22a.
(3. interpreter operation result)
Explain the setting content of enforcement division 22a based on above-mentioned detection signal and function allocation table, judge whether to need to carry out the welding forward feeding of welding wire 1 or the process of feed reversing.Because light-push rotary 13 plays function as the hand feed unit of welding welding wire 1, so be judged as the hand feed needing to carry out welding welding wire 1 based on the operating result of light-push rotary 13, and give welding command generation unit 22 by the message notice of direction of rotation and rotation amount.
(4. determine direction of feed and calculate the amount of feeding)
In welding command generation unit 22c, calculate the direction of feed based on direction of rotation and the feed speed based on rotation amount, and these values are exported as feeding control signal Fc.
First, the direction of feed of welding welding wire 1 is decided based on notified direction of rotation.In initial setting, when light-push rotary 13 rotates to the bottom surface side (Fig. 2+side, direction) of teaching machine TP, the direction making welding welding wire 1 from the front end outstanding (carrying out forward feeding) of welding torch 4 is set to direction of feed.On the contrary, when light-push rotary 13 rotates to the top surface side (Fig. 2-side, direction) of teaching machine TP, the direction of welding welding wire 1 (carrying out feed reversing) of retracting is set to direction of feed.About the feed speed of welding welding wire 1, calculate as follows.
(4.1 initial feed speed)
When the state of not carrying out the feeding of welding welding wire 1 has sent a notice rotation amount, do not carry out the calculating of feed speed based on rotation amount and from hard disk 25, read predetermined initial feed speed.Its reason is, if it is very large once to make light-push rotary 13 rotate, then the state being 0 from feed speed sharply becomes large, therefore welding welding wire 1 may be buckled in feeding path.When unfavorable calculate the feed speed corresponding to rotation amount by above-mentioned initial feed speed, utilize method described later to calculate.
While rotating in the same direction (4.2 detect further)
Notified when have rotated light-push rotary 13 to the direction identical with direction of rotation notified so far in the feeding of welding welding wire 1, be added in mutually in current feed speed after predetermined velocity variations value is multiplied by notified rotation amount.If namely feed speed currency is set to Fn, velocity variations value is set to Fd, rotation amount is set to Jc, the feed speed desired value calculated based on these values is set to Ft, then following formula is utilized to calculate:
Feed speed desired value Ft=feed speed currency Fn+ velocity variations value Fd × rotation amount Jc
Specifically, when feed speed currency Fn be 100cm/ minute, velocity variations value Vd be 50cm/ minute, if light-push rotary 13 have rotated 1 scale to the direction identical with direction of rotation notified so far, then feed speed desired value Ft becomes 150cm/ minute according to 100+50 × 1.If continue further to have rotated in the same direction 1 scale, then feed speed desired value Ft becomes 200cm/ minute according to 150+50 × 1.This calculates the situation that example illustrates the notice of the rotation amount performing light-push rotary 13 whenever rotation 1 scale.When performing the notice of rotation amount when the stipulated time has been carried out in the stopping of announcement period or light-push rotary 13 that regulation being detected, sometimes such as performed the notice of the rotation amount of 3 scale parts when have rotated 3 scale.Now, feed speed desired value Ft becomes 250cm/ minute according to 100+50 × 3.
While rotating round about (4.3 detect)
Notified have rotated light-push rotary 13 to the direction contrary with direction of rotation notified so far time, first make direction of feed contrary with direction of rotation so far, and then deduct from current feed speed after above-mentioned velocity variations value is multiplied by the rotation amount of light-push rotary 13.If namely feed speed currency is set to Fn, velocity variations value is set to Fd, rotation amount is set to Jc, the feed speed desired value calculated based on these values is set to Ft, then can calculate according to following formula:
Feed speed desired value Ft=feed speed currency Fn-velocity variations value Fd × rotation amount Jc
Specifically, when feed speed currency Fn be 500cm/ minute, velocity variations value Vd be 50cm/ minute, if light-push rotary 13 have rotated 1 scale to the direction contrary with direction of rotation notified so far, then feed speed desired value Ft becomes 450cm/ minute according to 500-50 × 1, if continue further to have rotated 1 scale to equidirectional, then feed speed desired value Ft becomes 400cm/ minute according to 450-50 × 1.In addition, when calculate result be feed speed desired value Ft be in below 0, do not carry out above subtraction (feed speed desired value Ft is set to 0).
(5. welding wire feeding)
Source of welding current WP calculates the feeding control signal Fc that result obtains export wire feed motor WM to by above-mentioned.As more than, weld welding wire 1 with the feed speed corresponding to the rotation amount of light-push rotary 13 to the direction of feed feeding corresponding with direction of rotation.
(6. stopping welding wire feeding)
Described in the feeding of welding welding wire 1, feeding enable switch 11b is disconnected, 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 enforcement division 22a.Secondly, explain that enforcement division 22a will be used for the instruction notification of feed-disabling to welding command generation unit 22c.Then, welding command generation unit 22c generates the feeding control signal Fc that feeding is stopped, and exports source of welding current WP to.Its result, stopped the feeding of welding welding wire 1.
Fig. 5 represents the sequential chart utilizing light-push rotary 13 to change an example of the feed speed of welding welding wire 1.This figure (a) represents the on-off timing of feeding enable switch 11b, and this figure (b) represents the rotation amount of light-push rotary 13, and this figure (c) represents the feed speed of welding welding wire 1.Below, illustrate how feed speed changes within each moment and period of the t1 ~ t5 of this figure.In addition, the rotation amount of the light-push rotary 13 that this figure (b) illustrates utilizes the number of division relatively rotated from current position of rotation to represent, mark with "+1 " and have rotated 1 scale to+direction, with "-1 " mark to-direction have rotated 1 scale.
(moment t1)
At moment t1, as Suo Shi this figure (a), feeding enable switch 11b is switched on.Because light-push rotary 13 is not rotated in this condition, so welding welding wire 1 is not fed.
(moment t2)
At moment t2, the state keeping feeding enable switch 11b to be switched on is constant, as Suo Shi this figure (b) light-push rotary 13 to+direction have rotated 1 scale.Now, feed speed becomes initial feed speed Fi as shown in this figure (c).
(moment t2 ~ t3)
During to moment t3, the state keeping feeding enable switch 11b to be switched on is constant, and light-push rotary 13 have rotated 2 scales to equidirectional.Its result, initial feed speed Fi has been added twice velocity variations value Fd, and the feed speed under the timing of moment t3 becomes Fv1.
(moment t3 ~ t4)
Keep feed speed be the state of Fv1 constant come feeding welding welding wire 1.Then, at moment t4, the state keeping feeding enable switch 11b to be switched on is constant, and light-push rotary 13 have rotated 1 scale in the opposite direction to side up to now.Its result, deducts velocity variations value Fd from current feed speed Fv1, and the feed speed under moment t4 becomes Fv2.
(moment t4 ~ t5)
Keep feed speed be the state of Fv2 constant come feeding welding welding wire 1.Then, at moment t5, as shown in this figure (a), feeding enable switch 11b is disconnected.Its result, feed speed becomes 0 (feeding of welding welding wire 1 is stopped).
As described above, according to the present invention, utilize the rotation process of light-push rotary 13 can switch simply welding welding wire 1 hand feed time feed speed.
In addition, assuming that unconsciously touch due to operator or collide light-push rotary 13 can be made around to rotate.If cause above-mentioned situation, then can at unconscious state lower feeding welding welding wire 1.Therefore, when have rotated light-push rotary 13 under the state that feeding enable switch 11b connects, play function as feeding operating unit.Thus, except above-mentioned effect, security can also be improved.
In addition, above-mentioned feeding enable switch 11b is in off-state in the feeding of welding welding wire 1, the feeding of welding welding wire 1 is stopped.Thus, except above-mentioned effect, security can also be improved further.
In addition, in the above-described embodiment, for the worry to secure context, also possesses the feeding load detecting unit (not shown) that the feeding load of welding welding wire 1 is detected further, if be configured to the feeding stopping welding welding wire 1 when this feeding load detecting unit detects the feeding load of more than setting, then become preferred embodiment for the worry to secure context.
Claims (6)
1. an arc-welding apparatus, comprises following part:
Operating portion, the rotary detecting circuit there is light-push rotary, rotation amount and the direction of rotation of this light-push rotary being detected and the allocation units described light-push rotary being set as the feeding operating unit from welding torch feeding welding welding wire;
Feed mechanism portion, welds welding wire for described in feeding; With
Control part, have the feeding control unit exporting feeding control signal to described feed mechanism portion, the feature of described arc-welding apparatus is,
During described light-push rotary is set to described feeding operating unit, described operating portion notifies the rotation amount that described rotary detecting circuit detects and direction of rotation to described control part,
Described feeding control unit calculates the feed speed of described welding welding wire based on the described rotation amount notified from described control part, 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 unit when notified described rotation amount and direction of rotation, then starts the feeding of described welding welding wire under the state of feeding of not carrying out described welding welding wire with predetermined initial feed speed and the direction corresponding with notified direction of rotation; When described light-push rotary notified in the feeding process at described welding welding wire rotates to the direction identical with described notified direction of rotation, then predetermined velocity variations value be multiplied by described rotation amount and be added with current feed speed; When have received described control part in the feeding process at described welding welding wire and notifying that described light-push rotary rotates to the direction contrary with described notified direction of rotation, the value described velocity variations value being multiplied by described rotation amount is then deducted from current feed speed, generate 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 feeding enable switch, and this feeding enable switch permits that described light-push rotary plays function as described feeding operating unit,
And only make described light-push rotary play function as described feeding operating unit when described feeding enable switch is connected.
4. arc-welding apparatus according to claim 3, is characterized in that,
When feeding enable switch is disconnected described in the feeding process of described welding welding wire, stop the feeding of described welding welding wire.
5. arc-welding apparatus according to claim 1 and 2, is characterized in that,
Described arc-welding apparatus also possesses feeding load detecting unit, and the feeding load of this feeding load detecting unit to described welding welding wire detects,
When this feeding load detecting unit detects the feeding load of more than setting, stop the feeding of described welding welding wire.
6. arc-welding apparatus according to claim 1 and 2, is characterized in that,
Described operating portion is the teaching machine for operating the manipulator carrying described welding torch, and described control part is the robot controller for carrying out drived control to described manipulator.
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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 CN103203521A (en) | 2013-07-17 |
| CN103203521B true CN103203521B (en) | 2016-01-20 |
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| JP (1) | JP5871373B2 (en) |
| KR (1) | KR101909226B1 (en) |
| CN (1) | CN103203521B (en) |
| TW (1) | TWI562851B (en) |
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| JP5934590B2 (en) * | 2012-07-12 | 2016-06-15 | 株式会社ダイヘン | Arc welding equipment |
| CN103617900B (en) * | 2013-11-07 | 2015-12-02 | 中联重科股份有限公司 | Handle safe operation control method, Apparatus and system |
| 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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| CN103203521A (en) | 2013-07-17 |
| 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 |
| KR101909226B1 (en) | 2018-10-17 |
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