JPH11226732A - Welding wire feed control device in automatic welding equipment - Google Patents
Welding wire feed control device in automatic welding equipmentInfo
- Publication number
- JPH11226732A JPH11226732A JP3293098A JP3293098A JPH11226732A JP H11226732 A JPH11226732 A JP H11226732A JP 3293098 A JP3293098 A JP 3293098A JP 3293098 A JP3293098 A JP 3293098A JP H11226732 A JPH11226732 A JP H11226732A
- Authority
- JP
- Japan
- Prior art keywords
- welding
- welding wire
- wire
- welding torch
- articulated robot
- 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
Landscapes
- Manipulator (AREA)
Abstract
Description
【０００１】[0001]
【発明の属する技術分野】本発明は、多関節型ロボット
を用いた自動溶接装置における溶接ワイヤ送給制御装置
に関するものである。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a welding wire feeding control device in an automatic welding device using an articulated robot.
【０００２】[0002]
【従来の技術】図２は、多関節型ロボットを用いた自動
溶接装置の一例を示す斜視図である。同図に示すよう
に、多関節型ロボット１の手首部２には溶接トーチ３が
取り付けられ、ティーチングボックス４に記憶された教
示内容に従って、ロボット制御盤５によりその位置と姿
勢が空間３軸で任意に制御される。2. Description of the Related Art FIG. 2 is a perspective view showing an example of an automatic welding apparatus using an articulated robot. As shown in the figure, a welding torch 3 is attached to the wrist 2 of the articulated robot 1, and its position and orientation are controlled in three spatial directions by a robot control panel 5 in accordance with the teaching contents stored in the teaching box 4. Arbitrarily controlled.
【０００３】ワイヤパック６から引き出された溶接ワイ
ヤ７は、多関節型ロボット１の前腕部に支持されたワイ
ヤ送給装置８で送り出され、溶接トーチ３を貫通してそ
の先端から突出する。ポジショナ９には、被溶接物１０
が載置され位置決めされている。The welding wire 7 drawn from the wire pack 6 is sent out by a wire feeding device 8 supported on the forearm of the articulated robot 1, penetrates the welding torch 3 and protrudes from its tip. The positioner 9 includes a workpiece 10
Are placed and positioned.
【０００４】なお、溶接ワイヤ７および被溶接物１０に
対する電力の供給と、ワイヤ送給装置８の駆動は、図示
しない溶接機によって行われる。[0004] The supply of electric power to the welding wire 7 and the workpiece 10 and the driving of the wire feeder 8 are performed by a welding machine (not shown).
【０００５】このような自動溶接装置で、定電圧特性の
アーク溶接機を用いて溶接を行なった場合、溶接部のア
ーク長が変化すると溶接電流が増加または減少してアー
ク長を元に戻そうとする自己制御作用が働き、安定した
溶接作業を行うことができるようになっている。In such an automatic welding apparatus, when welding is performed using an arc welding machine having a constant voltage characteristic, when the arc length of the weld changes, the welding current increases or decreases and the arc length is restored. The self-control action described above works, and a stable welding operation can be performed.
【０００６】[0006]
【発明が解決しようとする課題】しかし、多関節ロボッ
ト１の前腕に対し手首部２を旋回させた場合、ワイヤ送
給装置８と溶接トーチ３の間の距離が変わり、溶接ワイ
ヤ７の経路が変化するため、溶接トーチ３の先端からの
溶接ワイヤ７の突出量が変化する。However, when the wrist 2 is turned with respect to the forearm of the articulated robot 1, the distance between the wire feeding device 8 and the welding torch 3 changes, and the path of the welding wire 7 is changed. Therefore, the amount of projection of the welding wire 7 from the tip of the welding torch 3 changes.
【０００７】そして、手首部２の旋回速度が早くなる
と、溶接機の自己制御作用では制御しきれなくなり、ア
ークが切れたり、溶接ワイヤ７が溶融池に突っ込むなど
の不具合が発生する。[0007] When the turning speed of the wrist 2 is increased, the self-control operation of the welding machine makes it impossible to control the wrist part 2 completely, causing problems such as breaking of the arc and penetration of the welding wire 7 into the molten pool.
【０００８】前記の事情に鑑み、本発明の目的は、多関
節ロボットを用いた自動溶接装置において、前腕部に対
して手首部を旋回させたときでも、溶接トーチの先端か
らの溶接ワイヤの突出量を一定に保つことができるよう
にした自動溶接装置における溶接ワイヤ送給制御装置を
提供することにある。In view of the above circumstances, it is an object of the present invention to provide an automatic welding apparatus using an articulated robot, in which a welding wire is projected from a tip of a welding torch even when a wrist is turned with respect to a forearm. An object of the present invention is to provide a welding wire feed control device in an automatic welding device capable of keeping a constant amount.
【０００９】[0009]
【課題を解決するための手段】前記の目的を達成するた
め、本発明においては、予め定められた作業内容を再生
動作する多関節型ロボットを用いた自動溶接装置におけ
る溶接ワイヤ送給制御装置であって、前記多関節型ロボ
ットの手首部に取り付けられた溶接トーチと一体に支持
され、前記溶接トーチの入口における溶接ワイヤの送給
速度を検出する送給速度検出手段と、前記多関節型ロボ
ットの手首部の回転による溶接トーチの姿勢変化に伴う
溶接トーチと溶接ワイヤの相対速度の変化を算出する演
算手段と、前記溶接ワイヤの送給速度および溶接トーチ
と溶接ワイヤの相対速度の変化より、前記多関節型ロボ
ットの手首部の回転期間中における溶接ワイヤの送給速
度を制御する送給速度制御手段とを設けた。In order to achieve the above-mentioned object, the present invention provides a welding wire feed control device in an automatic welding device using an articulated robot that reproduces a predetermined work content. Feeding speed detecting means integrally supported with a welding torch attached to a wrist of the articulated robot and detecting a feeding speed of a welding wire at an entrance of the welding torch; and the articulated robot. Calculation means for calculating the change in the relative speed between the welding torch and the welding wire due to the change in the posture of the welding torch due to the rotation of the wrist, and the change in the relative speed between the feeding speed of the welding wire and the welding torch and the welding wire, Feeding speed control means for controlling a feeding speed of the welding wire during a rotation period of the wrist of the articulated robot;
【００１０】[0010]
【発明の実施の形態】以下、本発明の実施の形態を図面
に基づいて説明する。図１は、本発明における自動溶接
装置における溶接ワイヤ送給制御装置の構成を示すブロ
ック線図である。Embodiments of the present invention will be described below with reference to the drawings. FIG. 1 is a block diagram showing a configuration of a welding wire feed control device in an automatic welding device according to the present invention.
【００１１】同図において、図２と同じものは同じ符号
をつけて示してある。１１は速度検出器で、溶接トーチ
３の後端に固定されている。１２は制御装置で、ワイヤ
送給装置１２による溶接ワイヤ７の送給速度を制御す
る。１３は演算装置で、制御装置１２と速度検出器１１
に接続されている。In FIG. 2, the same components as those in FIG. 2 are denoted by the same reference numerals. A speed detector 11 is fixed to the rear end of the welding torch 3. Reference numeral 12 denotes a control device which controls a feeding speed of the welding wire 7 by the wire feeding device 12. Reference numeral 13 denotes an arithmetic unit, which includes a control unit 12 and a speed detector 11
It is connected to the.
【００１２】このような構成で、溶接トーチ３が旋回し
ない通常の溶接時には、制御装置１２は、予め設定され
た溶接ワイヤ７の送給速度Ｖ１をワイヤ送給装置８に指
令して、溶接トーチ３に対する溶接ワイヤ７の送給を行
わせる。この時、演算装置１３には、制御装置１２から
予め設定された送給速度Ｖ１が印加され、速度検出器１
１から溶接ワイヤ７の送給速度Ｖ１に見合った検出結果
が印加される。In such a configuration, at the time of normal welding in which the welding torch 3 does not rotate, the control device 12 instructs the wire feeding device 8 to a preset feeding speed V1 of the welding wire 7, and the welding torch 3 3 is supplied with the welding wire 7. At this time, a preset feed speed V1 is applied from the control device 12 to the arithmetic device 13, and the speed detector 1
1 to the detection result corresponding to the feed speed V1 of the welding wire 7 is applied.
【００１３】溶接中に、多関節ロボット１の前腕部に対
して溶接トーチ３が旋回すると、ワイヤ送給装置８の出
口と溶接トーチ３の入口の間の溶接ワイヤの送給経路が
変化するために、溶接トーチ３と溶接ワイヤ７の間の相
対速度が変化する。この相対速度の変化は、速度検出器
１１で検出される溶接ワイヤ７の送給速度Ｖ２として演
算装置１３に印加される。When the welding torch 3 turns with respect to the forearm of the articulated robot 1 during welding, the welding wire feeding path between the outlet of the wire feeding device 8 and the welding torch 3 changes. Then, the relative speed between the welding torch 3 and the welding wire 7 changes. The change in the relative speed is applied to the arithmetic unit 13 as the feed speed V2 of the welding wire 7 detected by the speed detector 11.
【００１４】演算装置１３では、ワイヤ送給装置８から
送給される溶接ワイヤ７の送給速度Ｖ１と溶接トーチ３
に送りこまれる溶接ワイヤ７の送給速度Ｖ２の速度差Ｖ
ａを Ｖａ＝Ｖ２−Ｖ１ で求め、溶接トーチ３の先端から突出する溶接ワイヤ７
の長さを一定に維持するための新たな送給速度Ｖｂを Ｖｂ＝Ｖ１−Ｖａ で求め、制御装置１２に新たな送給速度Ｖｂを指令す
る。In the arithmetic unit 13, the feeding speed V1 of the welding wire 7 fed from the wire feeding device 8 and the welding torch 3
Difference V of the feeding speed V2 of the welding wire 7 fed to the
a is obtained by Va = V2−V1, and the welding wire 7 protruding from the tip of the welding torch 3 is obtained.
A new feeding speed Vb for maintaining the length of the constant is obtained by Vb = V1−Va, and a new feeding speed Vb is instructed to the control device 12.
【００１５】制御装置１２は、演算装置１３から指令さ
れた送給速度Ｖｂに基づいてワイヤ送給装置８を駆動さ
せ、溶接ワイヤ７の送給速度Ｖ１を送給速度Ｖｂに切り
替える。この時にも、制御装置１２から演算装置１３に
は、予め設定された送給速度Ｖ１が印加されている。The control device 12 drives the wire feeding device 8 based on the feeding speed Vb commanded by the arithmetic device 13, and switches the feeding speed V1 of the welding wire 7 to the feeding speed Vb. Also at this time, the preset feed speed V1 is applied from the control device 12 to the arithmetic device 13.
【００１６】前記のような制御を行うことにより、溶接
トーチ３の旋回停止時には、速やかに速度検出器１１で
検出される溶接ワイヤ７の送給速度Ｖ２が、ワイヤ送給
装置８から送り出される溶接ワイヤ７の送給速度Ｖ１と
等しくなるように制御され、溶接トーチ３の先端からの
溶接ワイヤ７の突出量をほぼ一定に制御することができ
る。By performing the above-described control, when the turning of the welding torch 3 is stopped, the feed speed V2 of the welding wire 7 detected by the speed detector 11 is quickly transmitted from the wire feeding device 8 to the welding speed. It is controlled to be equal to the feed speed V1 of the wire 7, and the amount of protrusion of the welding wire 7 from the tip of the welding torch 3 can be controlled to be substantially constant.
【００１７】なお、上記の速度検出器１１としては、タ
コメータダイナモやパルスエンコーダ、溶接ワイヤ７を
挾持するローラに付設されたモータの逆起電圧を検出す
る逆起電圧検出器などを用いることができる。As the speed detector 11, a tachometer dynamo, a pulse encoder, a back electromotive voltage detector for detecting a back electromotive voltage of a motor provided on a roller for holding the welding wire 7, and the like can be used. .
【００１８】また、溶接ワイヤ７の送給速度の基準とし
て、ワイヤ送給装置８の出口に速度検出器１１と同じタ
イプの速度検出器を配置し、溶接トーチ３を旋回させな
い通常の溶接状態におけるワイヤ送給装置８の出口の溶
接ワイヤの送給速度を演算装置に記憶させ、この送給速
度を基準として制御するようにしてもよい。As a reference for the feeding speed of the welding wire 7, a speed detector of the same type as the speed detector 11 is disposed at the outlet of the wire feeding device 8 in a normal welding state in which the welding torch 3 is not turned. The feeding speed of the welding wire at the outlet of the wire feeding device 8 may be stored in the arithmetic unit, and the feeding speed may be controlled based on the feeding speed.
【００１９】[0019]
【発明の効果】以上述べたごとく、本発明によれば、予
め定められた作業内容を再生動作する多関節型ロボット
を用いた自動溶接装置における溶接ワイヤ送給制御装置
であって、前記多関節型ロボットの手首部に取り付けら
れた溶接トーチと一体に支持され、前記溶接トーチの入
口における溶接ワイヤの送給速度を検出する送給速度検
出手段と、前記多関節型ロボットの手首部の回転による
溶接トーチの姿勢変化に伴う溶接トーチと溶接ワイヤの
相対速度の変化を算出する演算手段と、前記溶接ワイヤ
の送給速度および溶接トーチと溶接ワイヤの相対速度の
変化より、前記多関節型ロボットの手首部の回転期間中
における溶接ワイヤの送給速度を制御する送給速度制御
手段とを設けたので、溶接トーチ先端から突出する溶接
ワイヤの突出量を一定に維持することができ、溶接トー
チの姿勢を変化させても、安定した溶接を行うことがで
きる。また、品質、信頼性の高い溶接を行うことができ
る。As described above, according to the present invention, there is provided a welding wire feed control device in an automatic welding apparatus using an articulated robot which reproduces a predetermined work content. Feeding speed detecting means, which is integrally supported with a welding torch attached to the wrist of the mobile robot, and detects a feeding speed of a welding wire at an entrance of the welding torch, and by rotating the wrist of the articulated robot. Calculating means for calculating a change in the relative speed between the welding torch and the welding wire in accordance with the change in the posture of the welding torch; and a change in the feed speed of the welding wire and a change in the relative speed between the welding torch and the welding wire. Since the feeding speed control means for controlling the feeding speed of the welding wire during the rotation period of the wrist is provided, the amount of projection of the welding wire projecting from the tip of the welding torch can be reduced. Can be maintained constant, even when changing the posture of the welding torch, it is possible to perform stable welding. In addition, welding with high quality and high reliability can be performed.
【図１】本発明における溶接ワイヤ送給制御装置の構成
を示すブロック線図。FIG. 1 is a block diagram showing a configuration of a welding wire feed control device according to the present invention.
【図２】多関節型ロボットを用いた自動溶接装置の一例
を示す斜視図。FIG. 2 is a perspective view showing an example of an automatic welding device using an articulated robot.
１…多関節型ロボット、２…手首部、３…溶接トーチ、
７…溶接ワイヤ、１１…送給速度検出器、１２…制御装
置、１３…演算手段。1: Articulated robot, 2: Wrist, 3: welding torch,
7: welding wire, 11: feed speed detector, 12: control device, 13: arithmetic means.
Claims (1)
関節型ロボットを用いた自動溶接装置における溶接ワイ
ヤ送給制御装置であって、前記多関節型ロボットの手首
部に取り付けられた溶接トーチと一体に支持され、前記
溶接トーチの入口における溶接ワイヤの送給速度を検出
する送給速度検出手段と、前記多関節型ロボットの手首
部の回転による溶接トーチの姿勢変化に伴う溶接トーチ
と溶接ワイヤの相対速度の変化を算出する演算手段と、
前記溶接ワイヤの送給速度および溶接トーチと溶接ワイ
ヤの相対速度の変化より、前記多関節型ロボットの手首
部の回転期間中における溶接ワイヤの送給速度を制御す
る送給速度制御手段とを設け、溶接トーチ先端から突出
する溶接ワイヤの突出量を一定に維持するようにしたこ
とを特徴とする自動溶接機における溶接ワイヤ送給制御
装置。1. A welding wire feed control device in an automatic welding device using an articulated robot that reproduces a predetermined work content, wherein the welding torch is attached to a wrist of the articulated robot. Feeding speed detecting means for detecting a feeding speed of a welding wire at an entrance of the welding torch, and a welding torch and welding caused by a change in a posture of the welding torch due to rotation of a wrist of the articulated robot. Calculating means for calculating a change in the relative speed of the wire;
Feeding speed control means for controlling the feeding speed of the welding wire during the rotation period of the wrist of the articulated robot based on a change in the feeding speed of the welding wire and the relative speed of the welding torch and the welding wire; A welding wire feeding control device for an automatic welding machine, wherein a projecting amount of a welding wire projecting from a tip of a welding torch is kept constant.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP3293098A JPH11226732A (en) | 1998-02-16 | 1998-02-16 | Welding wire feed control device in automatic welding equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP3293098A JPH11226732A (en) | 1998-02-16 | 1998-02-16 | Welding wire feed control device in automatic welding equipment |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPH11226732A true JPH11226732A (en) | 1999-08-24 |
Family
ID=12372650
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP3293098A Pending JPH11226732A (en) | 1998-02-16 | 1998-02-16 | Welding wire feed control device in automatic welding equipment |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH11226732A (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2002144036A (en) * | 2000-11-14 | 2002-05-21 | Daihen Corp | Welding electric source device for weld line copy welding |
| CN102489838A (en) * | 2011-12-15 | 2012-06-13 | 上海交通大学 | Obstacle-crossing all-position automatic welding robot |
| WO2015105151A1 (en) * | 2014-01-10 | 2015-07-16 | 株式会社ダイヘン | Arc welding control method |
| WO2015107974A1 (en) * | 2014-01-15 | 2015-07-23 | 株式会社ダイヘン | Arc welding control method |
| TWI562850B (en) * | 2012-01-12 | 2016-12-21 | Daihen Corp | Arc welding apparatus |
| TWI562851B (en) * | 2012-01-12 | 2016-12-21 | Daihen Corp | Arc welding apparatus |
-
1998
- 1998-02-16 JP JP3293098A patent/JPH11226732A/en active Pending
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2002144036A (en) * | 2000-11-14 | 2002-05-21 | Daihen Corp | Welding electric source device for weld line copy welding |
| CN102489838A (en) * | 2011-12-15 | 2012-06-13 | 上海交通大学 | Obstacle-crossing all-position automatic welding robot |
| TWI562850B (en) * | 2012-01-12 | 2016-12-21 | Daihen Corp | Arc welding apparatus |
| TWI562851B (en) * | 2012-01-12 | 2016-12-21 | Daihen Corp | Arc welding apparatus |
| WO2015105151A1 (en) * | 2014-01-10 | 2015-07-16 | 株式会社ダイヘン | Arc welding control method |
| JPWO2015105151A1 (en) * | 2014-01-10 | 2017-03-23 | 株式会社ダイヘン | Arc welding control method |
| US10493553B2 (en) | 2014-01-10 | 2019-12-03 | Daihen Corporation | Arc welding control method |
| WO2015107974A1 (en) * | 2014-01-15 | 2015-07-23 | 株式会社ダイヘン | Arc welding control method |
| CN105705285A (en) * | 2014-01-15 | 2016-06-22 | 株式会社达谊恒 | Arc welding control method |
| EP3095546A4 (en) * | 2014-01-15 | 2017-10-11 | Daihen Corporation | Arc welding control method |
| CN105705285B (en) * | 2014-01-15 | 2018-11-16 | 株式会社达谊恒 | arc welding control method |
| US10456853B2 (en) | 2014-01-15 | 2019-10-29 | Daihen Corporation | Arc welding control method |
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