JPH01278971A - Welding start control method for automatic welding equipment - Google Patents
Welding start control method for automatic welding equipmentInfo
- Publication number
- JPH01278971A JPH01278971A JP10759688A JP10759688A JPH01278971A JP H01278971 A JPH01278971 A JP H01278971A JP 10759688 A JP10759688 A JP 10759688A JP 10759688 A JP10759688 A JP 10759688A JP H01278971 A JPH01278971 A JP H01278971A
- Authority
- JP
- Japan
- Prior art keywords
- welding
- welding torch
- wire
- torch
- moved
- 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.)
- Pending
Links
- 238000003466 welding Methods 0.000 title claims abstract description 154
- 238000000034 method Methods 0.000 title claims description 13
- 238000001514 detection method Methods 0.000 claims abstract description 14
- 238000012937 correction Methods 0.000 claims description 2
- 210000001503 joint Anatomy 0.000 abstract description 6
- 230000007812 deficiency Effects 0.000 abstract description 2
- 238000003860 storage Methods 0.000 description 5
- 238000005259 measurement Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 2
- 230000002093 peripheral effect Effects 0.000 description 2
- 210000000707 wrist Anatomy 0.000 description 2
- 238000007796 conventional method Methods 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 230000008676 import Effects 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 238000002360 preparation method Methods 0.000 description 1
- 238000004080 punching Methods 0.000 description 1
Abstract
Description
【発明の詳細な説明】
〔産業上の利用分野〕
この発明は、消耗電極式ガスシールドアーク溶接法を用
いるアーク溶接ロボット等の自動溶接装置による溶接構
造物を自動溶接する場合に、溶接スタート部でのスター
トミスを防止する制御方法に関する。[Detailed Description of the Invention] [Industrial Application Field] The present invention provides a method for automatically welding a welding structure using an automatic welding device such as an arc welding robot using a consumable electrode type gas-shielded arc welding method. This invention relates to a control method for preventing misstarts.
予め記憶した内容を自動運転時に繰り返し再生動作して
溶接作業を行う自動溶接装置に代表されるアーク溶接ロ
ボットを導入することは、所定時間内に溶接構造物の溶
接作業が終了し、安定して溶接加工個数が得られること
に価値がある。Introducing arc welding robots, such as automatic welding equipment, which perform welding work by repeatedly replaying pre-memorized contents during automatic operation, will ensure that the welding work of welded structures is completed within a predetermined time and is stable. There is value in being able to obtain the number of welded pieces.
しかしながら、アーク溶接ロボットでの稼働の停滞要因
は、溶接作業中にあり、特に溶接スタート時に多い。However, operational stagnation in arc welding robots occurs during welding operations, especially at the start of welding.
その要因としては、溶接終了時のクレータ処理を行って
も、開先形状等の変動からワイヤ突出長さが一定とはな
らないことによる。その結果、次の溶接スタート時に、
ワイヤ突出長さが短いと、溶接開始信号を与えてからア
ーク発生までの時間が長くなり、溶接構造物に数多くの
継手があることと、アーク溶接ロボットのエアーカット
の高速化、溶接速度の高速化の傾向から無視できない時
間ロスとなる。The reason for this is that even if crater treatment is performed at the end of welding, the wire protrusion length does not remain constant due to variations in the groove shape, etc. As a result, at the next welding start,
If the wire protrusion length is short, the time from when the welding start signal is given to when the arc is generated becomes longer, and the welding structure has many joints, the arc welding robot's air cut is faster, and the welding speed is faster. Due to the increasing trend of
また、ワイヤ突出長さが長くて、溶接開始点で、ワイヤ
が溶接点に接触した状態で溶接が開始されると、バーン
バックを起こしやすく、その結果、溶接が停止し、チッ
プの交換、ワイヤ送給装置の送給ローラの逆回転による
ワイヤ傷が発生するので、溶接トーチからワイヤ送給装
置までのワイヤ除去時間等のロス時間が加わり、無駄時
間が大幅に増える。In addition, if the wire protrusion length is long and welding is started with the wire in contact with the welding point at the welding start point, burnback is likely to occur, and as a result, welding will stop and the tip must be replaced, the wire Wire damage occurs due to reverse rotation of the feeding roller of the feeding device, which adds loss time such as the time required to remove the wire from the welding torch to the wire feeding device, significantly increasing wasted time.
アーク溶接ロボットの稼働時には、溶接スタート時のワ
イヤ突出長さの変動による可動率の低下があって、本来
の導入の目的を逸することから、従来、諸々の対策が考
えられ、例えば、特開昭６０−２０６５７７号には、ア
ークスタートミスの主要因である溶接終了後のチップよ
り突出したワイヤ長さ変動を除去する考えから、チップ
でセンシングを行い、検出後、所定突出長さ量だけ、溶
接トーチを進動させて、ワイヤ突出長さを一定にさせる
方法が示されている。When an arc welding robot is in operation, the operating rate decreases due to fluctuations in the protruding length of the wire at the start of welding, which defeats the purpose of its introduction. In No. 60-206577, with the idea of eliminating fluctuations in the length of the wire that protrudes from the tip after welding is completed, which is the main cause of arc start errors, sensing is performed with the tip, and after detection, a predetermined amount of protrusion length is removed. A method is shown in which the welding torch is moved to keep the wire protrusion length constant.
この従来の方法では、確実なセンシングが行えるが、実
用上、以下に述べるような問題がある。Although this conventional method allows reliable sensing, it has practical problems as described below.
（１）溶接終了後かセンシング前に、ワイヤを逆インチ
ングしてワイヤをチップ内に収める必要があるが、溶接
終了時にワイヤ先端がワイヤ径より大きくなり、再正イ
ンチングのとき、目づまりしてン容接できなくなったり
、再三行っているとチップ径が大きくなり、バーンバッ
クの要因となる。そこで、自動運転時に、ワイヤを正イ
ンチングして、ニッパ等により切断することが必要で、
余分な準備とロス時間が発生する。(1) After welding or before sensing, it is necessary to reverse inch the wire to fit it into the tip, but at the end of welding, the wire tip becomes larger than the wire diameter, and when re-inching, it may become clogged. If the tip is no longer able to be welded, or if it is repeated repeatedly, the tip diameter will increase and cause burnback. Therefore, during automatic operation, it is necessary to properly inch the wire and cut it with nippers, etc.
Extra preparation and lost time will occur.
（２）チップでセンシングを行うので、センシング速度
を速くすると、最終的にトーチ破損に至り、ワイヤで行
うセンシング速度より遅くすることが必要となり、セン
シング時間の蓄積がロスとなる。(2) Since sensing is performed with a chip, increasing the sensing speed will eventually lead to torch damage, and the sensing speed will need to be slower than that performed with a wire, resulting in a loss of accumulated sensing time.
（３）センシング完了後、溶接トーチの位置が所定ワイ
ヤ突出長さに位置決めできるが、ワイヤを正インチング
するロス時間が発生する。(3) After the sensing is completed, the welding torch can be positioned at a predetermined wire protrusion length, but there is a loss of time required to properly inch the wire.
この発明は、溶接終了時に、ワイヤ突出長さが変動して
も、その変動したワイヤ突出長さでも、良好な溶接スタ
ートが可能な自動溶接装置の溶接スタート制御方法を提
供することを目的とする。SUMMARY OF THE INVENTION An object of the present invention is to provide a welding start control method for an automatic welding device that allows a good welding start even if the wire protrusion length fluctuates at the end of welding. .
この発明は上記目的を達成するため、センシング電圧の
印加時に溶接トーチと通電部材との通電を検出する通電
検出手段と、適宜の通電可能な箇所に設けられた基準位
置部材を有し、この基準位置部材の予め教示した点に向
って、センシング電圧を印加した溶接トーチを移動させ
、上記通電検出手段の出力時に得られる溶接トーチの位
置情報と基準位置部材の教示点位置情報との差を求め、
続いて、予め教示した溶接開始位置へ該溶接トーチを移
動させて溶接する継手の溶接開始位置を求め、この求め
た溶接開始位置より前記溶接トーチの軸方向へ所定間隔
離した位置に溶接トーチの消耗電極先端を位置決めさせ
て溶接を開始し、その後に、基準位置部材にて得られた
位置情ＩＨの差に応じた位置修正をしつつ溶接を行うよ
うにしたものである。In order to achieve the above object, the present invention includes an energization detection means for detecting energization between the welding torch and the energized member when a sensing voltage is applied, and a reference position member provided at an appropriate energized location, A welding torch to which a sensing voltage is applied is moved toward a previously taught point on the positioning member, and the difference between the positional information of the welding torch obtained at the time of output of the energization detection means and the taught point positional information of the reference positioning member is determined. ,
Next, the welding torch is moved to the welding start position taught in advance to determine the welding start position of the joint to be welded, and the welding torch is moved to a position separated by a predetermined distance in the axial direction of the welding torch from this determined welding start position. Welding is started by positioning the consumable electrode tip, and then welding is performed while correcting the position according to the difference in positional information IH obtained with the reference position member.
この発明では、ワイヤ突出長さの誤差は溶接開始後の微
小時間内に補正されるので、ワイヤ突出長さの過不足に
より従来惹起していた溶接開始時のトラブルが無くなる
。In this invention, since the error in the wire protrusion length is corrected within a very short time after welding has started, troubles that conventionally occur due to excess or deficiency in the wire protrusion length are eliminated.
以下、この発明の一実施例を図面に基づいて説明する。 Hereinafter, one embodiment of the present invention will be described based on the drawings.
第１図は、本発明を実施する自動溶接装置の一形態を示
す全体斜視図である。同図において、自動溶接装置は、
５つの軸を持つアーク溶接ロボット１で、その胴部２が
回転する第１軸、この胴部２に直立したアーム３が前後
方向に傾動する第２軸、この第２軸のアーム３に直交し
て水平に延びた水平アーム４が上下方向に傾動する第３
軸、この水平アーム４の先端に該水平アーム４と同方向
へ人間の手首のひねりに相当する第４軸５ならびにこの
第４軸５の先で前記第３軸の軸線に対して回転可能で人
間の手首のねじりに相当する第５軸６からなる。FIG. 1 is an overall perspective view showing one embodiment of an automatic welding device implementing the present invention. In the same figure, the automatic welding device is
An arc welding robot 1 has five axes: a first axis around which its body 2 rotates, a second axis around which an arm 3 standing upright on this body 2 tilts in the front-rear direction, and a second axis perpendicular to the arm 3 of the second axis. The third horizontal arm 4, which extends horizontally, tilts in the vertical direction.
a fourth axis 5 corresponding to the twisting of a human wrist in the same direction as the horizontal arm 4; It consists of a fifth axis 6 that corresponds to the twisting of the human wrist.
アーク溶接ロボット１の動作を制御するロボット制御装
置７は、アーク溶接ロボット１の上記各軸をサーボ制御
する制御部と、溶接作業を行う教示内容（位置情報、溶
接条件等）を記憶させる記憶部、上記各軸を合成駆動さ
せるため等の演算部および周辺装置とのインターフェー
スを含む入出力部を有し、アーク溶接ロボット１を動か
し、溶接箇所での位置記憶、溶接条件の設定等のアーク
溶接ロボット１に溶接作業を行わせる内容をオペレータ
がリモートコントロール方式のティーチングボックス８
で教示することにより、作業内容を記憶し、自動溶接に
際し、その内容に基づいてアーク溶接ロボット１と上記
周辺装置を作動させて溶接作業を実行する。The robot control device 7 that controls the operation of the arc welding robot 1 includes a control unit that servo-controls each axis of the arc welding robot 1, and a storage unit that stores teaching contents (position information, welding conditions, etc.) for performing welding work. , has an input/output section including a calculation section for synthetically driving the above-mentioned axes, and an interface with peripheral devices, moves the arc welding robot 1, memorizes the position at the welding location, sets welding conditions, etc. A teaching box 8 allows the operator to remotely control the contents of the welding work performed by the robot 1.
By teaching the robot 1, the contents of the work are memorized, and when performing automatic welding, the arc welding robot 1 and the above-mentioned peripheral devices are operated based on the contents to perform the welding work.
その溶接作業を実行するために、アーク溶接ロボットｌ
の第５軸６の先端には、消耗電極式溶接トーチ９が取り
付けられている。この溶接トーチ９へは、消耗電極とな
るワイヤがワイヤ収納容器１０からコンジットケーブル
１３により、アーク溶接ロボット１の水平アーム４の後
端に搭載したワイヤ送給装置１２を介して導かれる。こ
のコンジットケーブル１３は、また、図示しないが別置
したシールドガス供給装置から、溶接時に消耗電極に発
生するアークを大気よりシールドするシールドガスを溶
接トーチ９に導く。Arc welding robot l to perform the welding work
A consumable electrode type welding torch 9 is attached to the tip of the fifth shaft 6. A wire serving as a consumable electrode is guided from a wire storage container 10 to the welding torch 9 by a conduit cable 13 via a wire feeding device 12 mounted on the rear end of the horizontal arm 4 of the arc welding robot 1. The conduit cable 13 also guides shielding gas to the welding torch 9 from a separate shielding gas supply device (not shown), which shields the arc generated in the consumable electrode during welding from the atmosphere.
なお、溶接トーチ９に印加される電圧・電流の値は、オ
ペレータが教示し、この値がロボット制御装置７から溶
接電源１４に与えられ、該溶接電源１４はその出力を制
御する。また、この溶接電源１４は溶接条件に見合った
送給速度で消耗電極１１を送給するワイヤ送給装置１２
を出力制御している。アーク溶接ロボット１にて溶接す
る溶接構造物（以下、ワークという）Ｗはポジショナ１
５のワーク取付はテーブル１６に設けた図示しないクラ
ンプ治具によりクランプされる。１７．１８は回転機構
、１９はポジショナ制御装置である。The values of the voltage and current applied to the welding torch 9 are taught by the operator, and these values are given from the robot control device 7 to the welding power source 14, which controls its output. Further, this welding power source 14 is connected to a wire feeding device 12 that feeds the consumable electrode 11 at a feeding speed commensurate with the welding conditions.
The output is controlled. A welding structure (hereinafter referred to as a work) W to be welded by the arc welding robot 1 is a positioner 1
The workpiece 5 is clamped by a clamp jig (not shown) provided on the table 16. 17 and 18 are rotation mechanisms, and 19 is a positioner control device.
次に、本発明の溶接開始後に溶接トーチを適正間隔に移
動させる補正量を得る基準の設定作業を第２図を参照し
て説明する。Next, reference setting work for obtaining a correction amount for moving the welding torch to an appropriate interval after the start of welding according to the present invention will be explained with reference to FIG.
まず、アーク溶接ロボット１を教示する状態とし、溶接
トーチ９のワイヤ突出長さを所定長さにする。First, the arc welding robot 1 is put into a teaching state, and the wire protrusion length of the welding torch 9 is set to a predetermined length.
そして、アーク溶接ロボット１の動作範囲内に相対関係
が変わることなく設けられた基準台３０上に、ティーチ
ングボックス８のスッチを操作して溶接トーチ９を移動
させる。基準位置部材である基準台３０はポジショナの
回転テーブル等、溶接ロボット１との相対関係が変化し
ない部材であればよい。例えば、この基準台３０の表面
にポンチを打つ等して目印Ｐ２をつけ、その上方向の点
Ｐ、に溶接トーチ９を移動させて位置決めを行う。ここ
では、位置決め指令として、ワイヤ突出長さ計測指令を
入力する。そして、溶接トーチ９を下降させてワイヤ先
端が目印Ｐ２に着いたら、位置決めを行うと共に、ワイ
ヤ突出長さ計測指令を解除する。このときの、ワイヤ突
出長さが基準長さとなる。Then, by operating the switch on the teaching box 8, the welding torch 9 is moved onto the reference stand 30, which is provided within the operating range of the arc welding robot 1 without changing the relative relationship. The reference stand 30, which is a reference position member, may be any member that does not change its relative relationship with the welding robot 1, such as a rotary table of a positioner. For example, a mark P2 is placed on the surface of the reference base 30 by punching or the like, and the welding torch 9 is moved to a point P above the mark P2 for positioning. Here, a wire protrusion length measurement command is input as a positioning command. Then, when the welding torch 9 is lowered and the wire tip reaches the mark P2, positioning is performed and the wire protrusion length measurement command is canceled. The wire protrusion length at this time becomes the reference length.
続いて、退避位置である点Ｐ、に溶接トーチ９を移動さ
せて位置決めを行って基準のワイヤ突出長設定教示作業
が終了する。この教示作業とワークの下記溶接継手での
教示作業が完了したとして、本発明の溶接スタート制御
方法を、第４図に示す制御フローを参照して説明する。Subsequently, the welding torch 9 is moved and positioned to a point P, which is the retracted position, and the reference wire protrusion length setting teaching work is completed. Assuming that this teaching work and the teaching work on the welded joint of the workpiece described below have been completed, the welding start control method of the present invention will be explained with reference to the control flow shown in FIG. 4.
今、溶接構造物を構成する１つの継手の溶接を終了し、
続いて、該溶接構造物の他の継手の溶接を行うものとす
る。Now, we have finished welding one joint that makes up the welded structure.
Subsequently, other joints of the welded structure are welded.
（１）１つの継手の溶接が終了すると、溶接トーチ９は
、基準台３０より離れた位置にある成る位置Ｐ、に移動
する。この位置Ｐ、は教示して予め上記記憶部に格納し
た設定点で、前記記憶部から読み出され、アーク溶接ロ
ボット１の各軸をサーボ制御して、溶接トーチ９をこの
設定点Ｐ１に位置決めする。(1) When welding of one joint is completed, the welding torch 9 moves to a position P located away from the reference stand 30. This position P is a set point that has been taught and stored in the storage unit in advance, and is read out from the storage unit, and each axis of the arc welding robot 1 is servo-controlled to position the welding torch 9 at this set point P1. do.
（２）溶接トーチ９が設定点Ｐ、に位置決めされると、
ワイヤ突出長計測指令が出力され、該溶接トーチ９にセ
ンシング電圧が印加されるとともに、溶接トーチ９は設
定点Ｐ１から基準台３０に向けて、比較的ゆっくりとし
た移動速度で基準点Ｐ２へ移動する。そして、ワイヤの
先端が基準台３０の基準面に接触すると、センシング電
流が流れて通電が検知される。その状態を第３図に示す
。溶接トーチ９の移動が停止されると同時に、ロボット
制御装置７内の演算部では、基準台３０の教示位置Ｐ２
と停止した溶接トーチ９の位置制御点Ｐ２° とのワイ
ヤ突出長さ誤差ΔＬ＝ （Ｐ、° −Ｐ２）を演算し、
その演算値ΔＬがロボット制御装置７内の記憶部に格納
される。そして、ワイヤ突出長計測指令が解除される。(2) When the welding torch 9 is positioned at the set point P,
A wire protrusion length measurement command is output, a sensing voltage is applied to the welding torch 9, and the welding torch 9 moves from the set point P1 toward the reference stand 30 at a relatively slow moving speed to the reference point P2. do. When the tip of the wire contacts the reference surface of the reference stand 30, a sensing current flows and energization is detected. The state is shown in FIG. At the same time as the movement of the welding torch 9 is stopped, the calculation section in the robot control device 7 sets the teaching position P2 of the reference stand 30.
Calculate the wire protrusion length error ΔL=(P,°−P2) between the position control point P2° of the stopped welding torch 9, and
The calculated value ΔL is stored in the storage section within the robot control device 7. Then, the wire protrusion length measurement command is canceled.
（３）次に、教示順序に従い、溶接トーチ９は退避点Ｐ
、へ移動する。この、退避Ｐ、は新たな溶接を行う継手
の溶接開始点から所定距離だけ離れた位置と仮定する。(3) Next, according to the teaching order, the welding torch 9 is moved to the retreat point P.
, move to. This retreat P is assumed to be a position a predetermined distance away from the welding start point of the joint where new welding is to be performed.
（４）継手は、第５図に示す突き合わせ継手Ｗで、退避
点Ｐ３に位置決めしたのち、溶接開始位置で適正な狙い
位置として、予め教示した位置よりＺ方向（鉛直方向）
にある距離１（例えば、１０ｍｍ）だけ離れた位置Ｐ４
（第５図）に−旦位置決めされる。(4) The joint is a butt joint W shown in Fig. 5, and after positioning it at the retraction point P3, move it in the Z direction (vertical direction) from the previously taught position as the appropriate target position at the welding start position.
A position P4 located a distance 1 (for example, 10 mm) away from
(FIG. 5).
（５）予め入力されている溶接開始位置検知指令にて再
度、溶接トーチ９にセンシング電圧が印加され、溶接ト
ーチ９は教示した溶接開始位置Ｐ４へ向って下降し、通
電検知するまで、下降する。この下降の間にワイヤ先端
が開先■の開先壁に接触して、通電を検知したら下降を
停止する。(5) Sensing voltage is applied to the welding torch 9 again according to the welding start position detection command inputted in advance, and the welding torch 9 descends toward the taught welding start position P4, and continues descending until energization is detected. . During this downward movement, the tip of the wire comes into contact with the groove wall of groove ①, and when energization is detected, the downward movement is stopped.
（６）次に、検知指令に含まれる検知方向（開先幅方向
）へ移動し、再度、通電を検知し、この位置データを取
り込み、更に、反転をして移動し、再度、通電を検知し
て、また、この位置データを取り込む。この通電検知に
て得られた２つの位置の中間位置を演算する。(6) Next, move in the detection direction (groove width direction) included in the detection command, detect energization again, capture this position data, then reverse and move, and detect energization again. Then, import this position data again. An intermediate position between the two positions obtained by this energization detection is calculated.
（７）次いで、演算した中間位置に溶接トーチを移動さ
せ、再度、下降して、両開先壁の交点にワイヤ先端が接
触して通電を検知したら下降を停止し、この位置より溶
接スタートに適正な間隔、例えば、２．０ｍｍ上昇した
位置を演算して、溶接トーチ９を移動させ、位置決めす
る。(7) Next, move the welding torch to the calculated intermediate position, lower it again, and when the wire tip touches the intersection of both groove walls and energization is detected, stop lowering and start welding from this position. The welding torch 9 is moved and positioned by calculating a position raised by an appropriate distance, for example, 2.0 mm.
（８）そして、前述の基準台３０で演算したワイヤ突出
長さ誤差ΔＬと良好な溶接スタートの引き上げ１２、０
ｍ ｍを用い、教示した溶接期間の位置（例えば、溶
接開始点）を補正して、入力されている溶接条件で溶接
を開始する。(8) Then, the wire protrusion length error ΔL calculated with the reference stand 30 mentioned above and the increase of 12,0 for a good welding start.
Using m m, the position of the taught welding period (for example, welding start point) is corrected, and welding is started under the input welding conditions.
（９）溶接を開始し、アークが安定してきたら、補正し
た溶接期間の位置間を制御する制御周期、例えば、１０
ｍｓ後に、その目標値とワイヤ突出長さ誤差ΔＬとを加
算して、その位置へ溶接トーチ９を移動させる。(9) Once welding has started and the arc has stabilized, the control cycle for controlling the positions of the corrected welding period, for example, 10
After ms, the target value and the wire protrusion length error ΔL are added, and the welding torch 9 is moved to that position.
以後、同じ演算を行いつつ溶接終了位置Ｐ、まで溶接を
続行する。以上の動作を以後の各継手毎に実施する。Thereafter, welding is continued until the welding end position P while performing the same calculation. The above operation is performed for each joint thereafter.
なお、溶接開始位置を検知する例をＶ字突合わせ継手で
説明したが、他の継手形状でも検知できる利点があり、
かつ、その検知方法も各種あり、要するに、溶接開始位
置が求められる方法であればよい。Although the example of detecting the welding start position was explained using a V-shaped butt joint, it has the advantage that it can also be detected with other joint shapes.
In addition, there are various detection methods.In short, any method that can determine the welding start position may be used.
また、溶接スタートの為の引き上げ量も、必ずしも、ワ
イヤ先端と溶接物とが離れていれば良く、かつ、その位
置へ位置決めする方法も、この実施例にとられれること
なく、その目的を達成する方法で良い。In addition, the lifting amount for starting welding does not necessarily have to be such that the tip of the wire and the workpiece to be welded are far apart, and the method of positioning to that position is not limited to this embodiment, and the purpose is achieved. That's a good way to do it.
この発明は以上説明した通り、ワイヤ突出長さの誤差は
溶接開始後の微小時間内に補正させるので、ワイヤ突出
長さの過不足により従来惹起していた溶接開始時のトラ
ブルを無くすことができる。この結果、溶接開始時の上
記トラブルによる無駄時間が無くなり、順々に行ってゆ
く複数継手の溶接を、切れ目なく、円滑に行わせること
ができ、溶接構造物に対する全溶接の所要時間を従来に
比し大幅に短縮することができる。As explained above, this invention corrects the error in the wire protrusion length within a very short time after welding starts, so it is possible to eliminate the troubles that conventionally occur at the start of welding due to excessive or insufficient wire protrusion length. . As a result, wasted time due to the above-mentioned troubles at the start of welding is eliminated, and multiple joints can be welded one after another without any breaks, making it possible to reduce the time required for all welding of welded structures. It can be significantly shortened compared to the previous year.
第１図はこの発明を実施する自動溶接装置の１例の斜視
図、第２図と第３図はこの発明の実施例における溶接ト
ーチの位置決め手順を説明するための配置図、第４図は
この発明の詳細な説明するための動作フロー図、第５図
は本発明をＶ字継手に実施する場合の溶接トーチの位置
関係を示す図である。
７〜ロボツト制御装置、９−溶接トーチ、３０−・・基
準台。
特許出願人 株式会社 神戸製鋼所FIG. 1 is a perspective view of an example of an automatic welding device implementing this invention, FIGS. 2 and 3 are layout diagrams for explaining the procedure for positioning a welding torch in an embodiment of this invention, and FIG. FIG. 5 is an operation flow diagram for explaining the present invention in detail, and is a diagram showing the positional relationship of welding torches when the present invention is applied to a V-shaped joint. 7 - robot control device, 9 - welding torch, 30 - reference stand. Patent applicant: Kobe Steel, Ltd.
Claims (1)
選択して印加させ、このセンシング電圧の印加時に前記
溶接トーチと通電部材との通電を検出する通電検出手段
とを有し、予め教示した内容を再生動作する自動溶接装
置の溶接スタート位置での制御方法であつて、適宜の通
電可能な箇所に基準位置部材を設け、この基準位置部材
の予め教示した点に向つてセンシング電圧を印加させた
前記溶接トーチを移動させ、前記通電検出手段の出力時
に得られる前記溶接トーチの位置情報と前記基準位置部
材の教示点位置情報との差を取り込み、続いて、予め教
示した溶接開始位置へ前記溶接トーチを移動させて、溶
接する継手の溶接開始位置を求め、この求めた溶接開始
位置より前記溶接トーチの軸方向へ所定間隔離した位置
に溶接トーチの消耗電極先端を位置決めさせて溶接を開
始し、その後に、前記基準位置部材にて得られた位置情
報の差に応じた位置修正をしつつ溶接を行うことを特徴
とする自動溶接装置の溶接スタート制御方法。The consumable electrode type welding torch has an energization detection means for selectively applying a welding voltage and a sensing voltage and detecting energization between the welding torch and the energized member when the sensing voltage is applied, and the method has a energization detection means for detecting energization between the welding torch and the energized member when the sensing voltage is applied, A control method at a welding start position of an automatic welding device that operates regeneratively, in which a reference position member is provided at an appropriate energized location, and a sensing voltage is applied toward a previously taught point on the reference position member. The welding torch is moved, and the difference between the position information of the welding torch obtained at the time of output of the energization detection means and the teaching point position information of the reference position member is taken in, and then the welding torch is moved to the welding start position taught in advance. to determine the welding start position of the joint to be welded, position the consumable electrode tip of the welding torch at a position separated by a predetermined distance in the axial direction of the welding torch from the determined welding start position, and start welding; A welding start control method for an automatic welding apparatus, characterized in that welding is then performed while making positional corrections according to the difference in positional information obtained by the reference position member.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP10759688A JPH01278971A (en) | 1988-05-02 | 1988-05-02 | Welding start control method for automatic welding equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP10759688A JPH01278971A (en) | 1988-05-02 | 1988-05-02 | Welding start control method for automatic welding equipment |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPH01278971A true JPH01278971A (en) | 1989-11-09 |
Family
ID=14463168
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP10759688A Pending JPH01278971A (en) | 1988-05-02 | 1988-05-02 | Welding start control method for automatic welding equipment |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH01278971A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH042727A (en) * | 1990-04-20 | 1992-01-07 | Nissan Motor Co Ltd | Hardening treatment of camshaft surface |
| JP2011206829A (en) * | 2010-03-30 | 2011-10-20 | Komatsu Ltd | Method for adjusting wire projection length of welding robot and device for the same |
-
1988
- 1988-05-02 JP JP10759688A patent/JPH01278971A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH042727A (en) * | 1990-04-20 | 1992-01-07 | Nissan Motor Co Ltd | Hardening treatment of camshaft surface |
| JP2011206829A (en) * | 2010-03-30 | 2011-10-20 | Komatsu Ltd | Method for adjusting wire projection length of welding robot and device for the same |
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