JPH04134281U - Welding machine electrode polishing control device - Google Patents
Welding machine electrode polishing control deviceInfo
- Publication number
- JPH04134281U JPH04134281U JP3727091U JP3727091U JPH04134281U JP H04134281 U JPH04134281 U JP H04134281U JP 3727091 U JP3727091 U JP 3727091U JP 3727091 U JP3727091 U JP 3727091U JP H04134281 U JPH04134281 U JP H04134281U
- Authority
- JP
- Japan
- Prior art keywords
- polishing
- welding
- electrode
- welding machine
- time
- 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 65
- 238000005498 polishing Methods 0.000 title claims abstract description 55
- 238000000034 method Methods 0.000 description 7
- 238000010586 diagram Methods 0.000 description 5
- 230000006870 function Effects 0.000 description 2
- 210000000707 wrist Anatomy 0.000 description 2
- 239000000155 melt Substances 0.000 description 1
Landscapes
- Constituent Portions Of Griding Lathes, Driving, Sensing And Control (AREA)
Abstract
(57)【要約】
【目的】 点溶接機の電極の研磨を，任意の状態で実行
しても，溶接打点数に対応する時間で研磨する。
【構成】 溶接ロボットに装着された点溶接機の電極を
研磨する電極研磨制御装置において，溶接作業の溶接打
点数をカウントする手段と，この打点カウント数に対応
する研磨時間を予め記憶する記憶手段とを備え，これに
より任意の状態で電極の研磨を実行しても，そのときの
打点カウント数に対応する研磨時間で電極研磨装置を制
御するので，電極の磨耗状態に近似する研磨時間で研磨
が行なわれることになり，電極は過不足なく研磨され
る。
(57) [Summary] [Purpose] To polish the electrode of a spot welding machine in a time corresponding to the number of welding points, even under arbitrary conditions. [Structure] An electrode polishing control device that polishes the electrode of a spot welding machine attached to a welding robot, which includes a means for counting the number of welding points in a welding operation, and a storage means for storing in advance the polishing time corresponding to the number of welding points. As a result, even if electrode polishing is performed in any state, the electrode polishing device is controlled with a polishing time corresponding to the number of dots counted at that time, so polishing can be performed with a polishing time that approximates the wear state of the electrode. As a result, the electrodes are polished to perfection.
Description
【０００１】0001
本考案は，溶接ロボットの溶接機電極を任意に研磨することのできる溶接機電 極の自動研磨制御装置に関する。 This invention is a welding machine that can arbitrarily polish the welding machine electrode of a welding robot. This invention relates to an automatic polishing control device for poles.
【０００２】0002
自動車産業を主体に用いられる溶接ロボットの多くは，ロボットの手首装置部 分に装着された点溶接機である。点溶接機の電極はワークに加圧通電して繰返し 溶接していく間に磨耗するが，磨耗したままで使用すると溶接品質に影響するた め適時電極を研磨する必要がある。 従来，溶接ロボットを用いる溶接ラインにおいては，電極を適時研磨するため ，溶接の打点数をカウントして，打点数が所定の値に達したとき，溶接機を研磨 装置に移動させて電極を所定時間研磨している。 図５は，特開昭５４−１０７８４５号公報に開示された従来装置における制御 方法を示すもので，カウンタ制御部２５において溶接機の打点数をカウントして ，そのカウント打点数が所定値に達したとき，研磨指令信号を出力してロボット 制御部２１の制御によりロボットアーム上の溶接機を研磨装置に移動して，所定 時間の研磨を行う。 Many of the welding robots used mainly in the automobile industry are equipped with a robot wrist device. It is a spot welding machine installed in minutes. The electrode of the spot welder repeatedly applies pressure to the workpiece. It will wear out during welding, but if it is used while it is worn, it will affect the welding quality. Therefore, it is necessary to polish the electrodes from time to time. Conventionally, in welding lines using welding robots, welding robots were used to polish electrodes in a timely manner. , Count the number of welding points, and when the number of welding points reaches a predetermined value, polish the welding machine. The electrode is moved to a device and polished for a predetermined period of time. Figure 5 shows the control in the conventional device disclosed in Japanese Patent Application Laid-open No. 54-107845. This shows a method in which the number of dots of the welding machine is counted by the counter control unit 25. , When the counted number of dots reaches a predetermined value, a polishing command signal is output to the robot. The welding machine on the robot arm is moved to the polishing device under the control of the control unit 21, and the welding machine is moved to a specified position. Perform time polishing.
【０００３】0003
しかしながら，実際の溶接ロボットの使用状態においては，加工機種の変更な どで新たに作業を開始する場合などには電極を研磨することが随時行われ，上記 のように所定のカウント打点数でのみ電極を研磨する制御方法では対処できない 。このような定量研磨では，そのときの電極の状態によって削り過ぎ，削り不足 が発生する問題点があった。 本考案は，上記問題点を解決するため，電極研磨を任意に行っても，打点数に 対応する時間で研磨できるよう制御することを目的とする。 However, in actual use of welding robots, there is no need to change the processing machine. Polishing the electrodes is done from time to time, such as when starting new work at a new location. This cannot be achieved with a control method that polishes the electrode only at a predetermined number of points. . In this type of quantitative polishing, depending on the condition of the electrode at that time, there may be over-sharpening or under-sharpening. There was a problem that occurred. In order to solve the above-mentioned problems, the present invention proposes that even if electrode polishing is performed arbitrarily, the number of dots is limited. The purpose is to control so that polishing can be performed in a corresponding time.
【０００４】0004
上記目的を達成するための本考案は，溶接ロボットのアーム先端部に装着され た溶接機の電極を研磨する溶接機の電極研磨制御装置において，前記溶接機によ る溶接作業の溶接打点数をカウントする手段と，前記溶接打点数と，これに対応 する研磨時間との関係を予め記憶する記憶手段と，研磨指令を受けたとき，前記 打点数カウント手段によりカウントされている打点数に対応する研磨時間を前記 記憶手段から読み出し研磨作業を行なわせる制御手段とを具備したことを特徴と する溶接機の電極研磨制御装置として構成されている。 The present invention to achieve the above purpose is attached to the end of the arm of a welding robot. In an electrode polishing control device for a welding machine that polishes an electrode of a welding machine, a means for counting the number of welding points in welding work; a means for counting the number of welding points; a storage means for storing in advance the relationship between the polishing time and the polishing time; The polishing time corresponding to the number of dots counted by the dot number counting means is It is characterized by comprising a control means for reading from the storage means and causing the polishing work to be performed. It is configured as an electrode polishing control device for a welding machine.
【０００５】[0005]
本考案によれば，溶接作業の溶接打点数はカウント手段によりカウントされて おり，また，研磨制御装置には前記打点カウント数に対応する研磨時間との関係 を記憶する記憶手段があるので，任意時に電極を研磨する指令を発しても，研磨 装置をそのときまでの打点カウント数に対応する時間で研磨するように制御され ，溶接電極は過不足なく研磨される。 According to the present invention, the number of welding points in welding work is counted by a counting means. In addition, the polishing control device has a relationship between the polishing time and the number of dot counts. Since there is a memory means to memorize the The device is controlled to polish in a time corresponding to the number of dots counted up to that point. , the welding electrode is polished just the right amount.
【０００６】[0006]
図１は本考案の一実施例制御装置により制御される溶接ロボットおよび電極研 磨装置を示す模式図，図２は制御装置のブロックダイアグラムを示す。 図１において，溶接ロボット１のアーム先端の手首部分に点溶接機２が装着さ れており，この点溶接機２には電極３，４が装着されている。一方，電極研磨装 置５は，他の構造物に固定設置されている。電極研磨装置５は，駆動手段により 回転駆動される切刃部６を備え，ロボット操作により切刃部６に移動されてきた 電極３，４を切削研磨する。 上記ロボット１，溶接機２，電極研磨装置５は，図２に示す制御装置により制 御される。ロボット１は，ロボット制御部８により駆動制御されて溶接機２をプ ログラム指令された所定位置に移動させ，溶接制御部９によって制御される溶接 機２によって溶接作業を行う。このとき，溶接機２の溶接打点数はカウンタ制御 部１０によりカウントされる。 Figure 1 shows a welding robot and an electrode grinder controlled by a control device according to an embodiment of the present invention. A schematic diagram showing the polishing device, and FIG. 2 shows a block diagram of the control device. In Figure 1, a spot welder 2 is attached to the wrist of the arm end of a welding robot 1. This spot welding machine 2 is equipped with electrodes 3 and 4. On the other hand, electrode polishing equipment The station 5 is fixedly installed on another structure. The electrode polishing device 5 is driven by a driving means. It is equipped with a cutting blade part 6 that is rotatably driven, and has been moved to the cutting blade part 6 by robot operation. The electrodes 3 and 4 are cut and polished. The robot 1, welding machine 2, and electrode polishing device 5 are controlled by the control device shown in Figure 2. be controlled. The robot 1 is driven and controlled by the robot control unit 8 to operate the welding machine 2. Welding that is moved to a predetermined position specified by the program and controlled by the welding control section 9 Welding work is performed using machine 2. At this time, the number of welding points of welding machine 2 is controlled by a counter. It is counted by section 10.
【０００７】 いま，例えば一連の溶接工程が終了し，次の溶接工程が始まるまでの間に，溶 接機電極を研磨する場合について説明する。研磨指令をロボット制御部８に入力 すると，ロボット１はアームを駆動して溶接機２を研磨装置５の位置に移動させ る。このとき，研磨時間制御部１２にはカウンタ制御部１０からのそれまで溶接 作業の都度累積された溶接打点数が入力されており，研磨時間制御部１２は記憶 手段に記憶している打点カウント数に対応する研磨時間を読み出して，研磨装置 制御部１１により研磨装置５の切刃部６に移動されてきた電極３，４を打点カウ ント数に対応する所定の研磨時間で研磨する。打点カウント数に対応する研磨時 間の設定例を具体的に示すと図３の表，または図４に示すグラフのようになる。 このように本実施例による電極研磨制御装置によれば，溶接作業の終了時，あ るいは開始時，工程の切替時など任意の状況で溶接機電極を研磨することができ ，しかも，そのときの溶接打点数に対応する時間で研磨されるので電極の削り過 ぎ，削り不足がなく磨耗状態に応じた研磨がなされる。 溶接打点数と研磨時間の関係は上記図３，図４に示したように，データテーブ ルとして記憶されてもよく，または関数発生器により関数として記憶されていて もよい。[0007] Now, for example, between the end of a series of welding processes and the start of the next welding process, the melt The case of polishing the contact electrode will be explained. Input polishing command to robot control unit 8 Then, the robot 1 drives the arm to move the welding machine 2 to the position of the polishing device 5. Ru. At this time, the polishing time control section 12 receives the welding signal from the counter control section 10. The number of welding points accumulated each time the work is performed is input, and the polishing time control unit 12 stores it. The polishing time corresponding to the dot count stored in the means is read out, and the polishing device The control unit 11 moves the electrodes 3 and 4 to the cutting edge 6 of the polishing device 5 to the dot counter. Polish for the specified polishing time corresponding to the number of points. During polishing corresponding to the number of dot counts A specific example of the settings between the two is shown in the table of FIG. 3 or the graph of FIG. 4. As described above, according to the electrode polishing control device according to this embodiment, when the welding work is finished, the The welding machine electrode can be polished in any situation, such as at the start or when changing processes. Moreover, the electrode is polished in a time corresponding to the number of welding points at that time, so there is no need to over-shape the electrode. Polishing is done according to the state of wear, without any insufficient polishing. The relationship between the number of welding points and polishing time is shown in the data table as shown in Figures 3 and 4 above. or may be stored as a function by a function generator. Good too.
【０００８】[0008]
以上の説明の通り本考案によれば，溶接作業の溶接打点数は，カウント手段に よりカウントされており，また研磨装置制御部には，前記打点カウント数に対応 する研磨時間の記憶データが入力されるので，任意に電極を研磨する指令を発し ても，研磨装置はそのときまでの打点カウント数に対応する時間で研磨するよう 制御され，電極は過不足なく研磨される。 As explained above, according to the present invention, the number of welding points in welding work is determined by the counting means. The number of dots is counted according to the number of dots counted in the polishing device control section. Since the memorized data of the polishing time to be polished is input, a command to polish the electrode can be issued at will. However, the polishing device will polish in a time corresponding to the number of dots counted up to that point. It is controlled and the electrode is polished just the right amount.
【図１】 本考案に係る実施例装置の模式図。FIG. 1 is a schematic diagram of an example device according to the present invention.
【図２】 実施例装置の制御方法を示すブロック図。FIG. 2 is a block diagram showing a control method of the embodiment device.
【図３】 打点カウント数と研磨時間の関係例を示す
表。[Figure 3] A table showing an example of the relationship between dot count and polishing time.
【図４】 同上グラフ。[Figure 4] Same graph as above.
【図５】 従来例装置の制御方法を示すブロック図。FIG. 5 is a block diagram showing a control method for a conventional device.
1 …溶接ロボット ２…溶接機 ３，４…電極 ５…研磨装置 １０…カウンタ制御部（カウント手段） １１…研磨装置制御部（制御手段） １２…研磨時間制御部（記憶手段） 1...Welding robot 2...Welding machine 3, 4... Electrode 5... Polishing device 10... Counter control unit (counting means) 11...Polishing device control section (control means) 12...Polishing time control section (memory means)
Claims (1)
た溶接機の電極を研磨する溶接機の電極研磨制御装置に
おいて，前記溶接機による溶接作業の溶接打点数をカウ
ントする手段と，前記溶接打点数と，これに対応する研
磨時間との関係を予め記憶する記憶手段と，研磨指令を
受けたとき，前記打点数カウント手段によりカウントさ
れている打点数に対応する研磨時間を前記記憶手段から
読み出し研磨作業を行なわせる制御手段とを具備したこ
とを特徴とする溶接機の電極研磨制御装置。1. An electrode polishing control device for a welding machine that polishes an electrode of a welding machine attached to the tip of an arm of a welding robot, comprising: means for counting the number of welding points in a welding operation by the welding machine; a storage means for storing in advance a relationship between a number of points and a polishing time corresponding thereto; and upon receiving a polishing command, reading a polishing time corresponding to the number of dots counted by the dot number counting means from the storage means; 1. An electrode polishing control device for a welding machine, comprising a control means for performing polishing work.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP3727091U JPH04134281U (en) | 1991-05-24 | 1991-05-24 | Welding machine electrode polishing control device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP3727091U JPH04134281U (en) | 1991-05-24 | 1991-05-24 | Welding machine electrode polishing control device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPH04134281U true JPH04134281U (en) | 1992-12-14 |
Family
ID=31919068
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP3727091U Pending JPH04134281U (en) | 1991-05-24 | 1991-05-24 | Welding machine electrode polishing control device |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH04134281U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2016022524A (en) * | 2014-07-23 | 2016-02-08 | ファナック株式会社 | Polishing system of electrode of spot-welding gun |
-
1991
- 1991-05-24 JP JP3727091U patent/JPH04134281U/en active Pending
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2016022524A (en) * | 2014-07-23 | 2016-02-08 | ファナック株式会社 | Polishing system of electrode of spot-welding gun |
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