TWI403380B - Stitch pulse welding apparatus - Google Patents
Stitch pulse welding apparatus Download PDFInfo
- Publication number
- TWI403380B TWI403380B TW97143495A TW97143495A TWI403380B TW I403380 B TWI403380 B TW I403380B TW 97143495 A TW97143495 A TW 97143495A TW 97143495 A TW97143495 A TW 97143495A TW I403380 B TWI403380 B TW I403380B
- Authority
- TW
- Taiwan
- Prior art keywords
- welding
- diameter
- arc
- shape
- stitch pulse
- Prior art date
Links
Landscapes
- Arc Welding Control (AREA)
- Butt Welding And Welding Of Specific Article (AREA)
Abstract
Description
本發明是關於一種將對於薄板的母材所造成之熱的影響可以抑制到最小限度的同時來進行焊接的針腳脈衝焊接裝置。The present invention relates to a stitch pulse welding device which performs welding while minimizing the influence of heat on a base material of a thin plate.
所謂針腳脈衝焊接法，是指控制焊接時的加熱與冷卻，而將對於母材所造成之熱的影響抑制到最小限度的焊接法。舉例來說，日本專利特開平6-55268號公報揭露了以薄板焊接的自動化為目的的焊接法。根據此文獻所揭露的焊接方法，與習用的薄板焊接相比，可提升焊接後的外觀，並減低因焊接所造成的歪曲量。The stitch pulse welding method refers to a welding method that controls the heating and cooling at the time of welding and minimizes the influence on the heat caused by the base material. For example, Japanese Patent Publication No. Hei 6-55268 discloses a welding method for the purpose of automation of thin plate welding. According to the welding method disclosed in this document, the appearance after welding can be improved and the amount of distortion caused by welding can be reduced as compared with the conventional thin plate welding.
此文獻所揭露的手段為，在使得焊接器停止的狀態下在預定時間內產生電弧以使得焊接母材熔融，在該設定時間經過了之後，停止電弧並使得焊接器移動至位於熔融部的外緣附近的電弧再開始點。The means disclosed in this document is that an arc is generated for a predetermined time in a state in which the welder is stopped to melt the welded base material, and after the set time elapses, the arc is stopped and the welder is moved to the outside of the molten portion. The arc near the edge starts again.
其次，參閱第五圖以說明關於此習用技術。Next, refer to the fifth figure to explain this prior art.
如第五圖所示，操作器M針對成品W自動地進行電弧焊接。操作器M具備了上臂53、下臂54、腕部55以及驅動三者之轉動的複數個伺服馬達(未顯示於圖)。As shown in the fifth figure, the operator M automatically performs arc welding for the finished product W. The manipulator M is provided with a plurality of servo motors (not shown) in which the upper arm 53, the lower arm 54, the arm portion 55, and the three are driven to rotate.
電弧焊接器T裝設於操作器M的上臂53的先端。電弧焊接器T將由捲線軸56所捲繞的直徑約1mm的焊接線57引導至成品W所教示的焊接位置。焊接電源WP將焊接電源供給至電弧焊接器T與成品W之間。於焊接成品W之際，焊接線57會從電弧焊接器T的先端 突出期望的長度Ew。一般來說，長度Ew為約15mm。然而，為配合焊接處的開槽形狀與焊接條件等，作業者也能夠使用教導式懸吊系統(teach pendant)TP將長度Ew調整成期望的長度。The arc welder T is mounted at the tip end of the upper arm 53 of the operator M. The arc welder T guides the weld line 57 having a diameter of about 1 mm wound by the bobbin 56 to the welding position taught by the finished product W. The welding power source WP supplies a welding power source between the arc welder T and the finished product W. At the time of welding the finished product W, the weld line 57 will be from the tip of the arc welder T Highlight the desired length Ew. Generally, the length Ew is about 15 mm. However, in order to match the groove shape and welding conditions of the welded portion, the operator can also adjust the length Ew to a desired length using a teach pendant TP.
導纜52的內部具備了用以引導焊接線57的圈筒(coil liner)。導纜52連接於電弧焊接器T。導纜52將來自焊接電源WP的電力及來自氣體壓縮筒58的保護氣體供給至電弧焊接器T。The inside of the guide cable 52 is provided with a coil liner for guiding the weld line 57. The cable 52 is connected to the arc welder T. The cable 52 supplies electric power from the welding power source WP and shielding gas from the gas compression cylinder 58 to the arc welder T.
作為操作手段的教導式懸吊系統TP就是所謂的可搬式操作盤。教導式懸吊系統TP被用來設定為了進行操作器M的動作、針腳脈衝焊接的必要條件，具體來說是用來設定焊接電流、焊接電壓、移動速度、移動間隔、焊接時間及冷卻時間等。作業者是使用教導式懸吊系統TP，隨同操作器M的動作而作成設定上述各種條件的作業程序。The teaching suspension system TP as an operating means is a so-called portable operating panel. The teaching suspension system TP is used to set the conditions necessary for the operation of the operator M and the pulse welding of the stitches, specifically, the welding current, the welding voltage, the moving speed, the moving interval, the welding time, the cooling time, and the like. . The operator uses the teaching suspension system TP to create an operation program for setting the above various conditions in accordance with the operation of the operator M.
機器控制裝置RC實行對於操作器M的焊接動作的控制。機器控制裝置RC具備了主控制部、動作控制部、及伺服驅動器(未顯示於圖)等。作業者基於由教導式懸吊系統TP所教示的作業程序，由伺服驅動器針對操作器M的各伺服馬達而輸出動作控制信號，使得操作器M的複數個軸分別回轉。操作器M的伺服馬達具備了編碼器(未顯示於圖)。機器控制裝置RC利用來自編碼器的輸出信號而獲知電弧焊接器T的現在位置。因此，機器控制裝置RC能夠控制電弧焊接器T的先端的位置。機器控制裝置RC在焊接部中重覆以下所說明的焊接、移動、冷卻的同時進行針腳脈衝焊接。The machine control device RC performs control of the welding operation of the operator M. The machine control device RC includes a main control unit, an operation control unit, and a servo driver (not shown). The operator outputs an operation control signal to each servo motor of the operator M by the servo driver based on the operation program taught by the teaching suspension system TP, so that the plurality of axes of the operator M are respectively rotated. The servo motor of the operator M is equipped with an encoder (not shown). The machine control unit RC uses the output signal from the encoder to know the current position of the arc welder T. Therefore, the machine control device RC can control the position of the tip end of the arc welder T. The machine control device RC performs stitch pulse welding while repeating the welding, moving, and cooling described below in the welded portion.
其次，參閱第六圖以說明關於針腳脈衝焊接。Next, refer to the sixth diagram to illustrate the pulse welding of the pins.
焊接線57從電弧焊接器T的先端突出。保護氣體G從焊接開始直到焊接結束時以恆常一定的流量從電弧焊接器T被吹出。The weld line 57 protrudes from the tip end of the arc welder T. The shielding gas G is blown out from the arc welder T at a constant flow rate from the start of welding until the end of welding.
第六圖(a)顯示電弧產生時的狀態。基於所設定的焊接電流及焊接電壓，在焊接線57的先端與成品W之間產生電弧A。成品W上，焊接線57因熔融而產生了熔融池Y。自電弧A產生開始，於所教示的焊接時間經過了之後，電弧A便停止。Figure 6 (a) shows the state at the time of arc generation. An arc A is generated between the tip end of the weld line 57 and the finished product W based on the set welding current and the welding voltage. On the finished product W, the weld line 57 is melted to produce the molten pool Y. Starting from the generation of the arc A, the arc A is stopped after the taught welding time has elapsed.
第六圖(b)顯示電弧停止後的狀態。電弧停止後，直到所設定的冷卻時間經過，皆維持焊接後的狀態。亦即，在與焊接時同樣地使得操作器M及電弧焊接器T停止的狀態下，從電弧焊接器T僅吹出保護氣體G。熔融池Y實質上由保護氣體G所冷卻而凝固。Figure 6 (b) shows the state after the arc is stopped. After the arc is stopped, the state after welding is maintained until the set cooling time elapses. In other words, in a state where the operator M and the arc welder T are stopped in the same manner as in the welding, only the shielding gas G is blown out from the arc welder T. The molten pool Y is substantially solidified by cooling of the shielding gas G.
第六圖(c)顯示使得電弧焊接器T移動至下一焊接位置的狀態。於冷卻時間經過後，使得電弧焊接器T沿著焊接進行方向移動。藉此，電弧焊接器T會移動至從電弧開始點僅偏離預先設定的移動間隔Mp的電弧再開始點。此時的移動速度是預先設定的。移動間隔如第六圖(c)所示，與自電弧開始點開始直到熔融池Y凝固的焊接痕Y’的外周緣的焊接線57的移動距離相同。The sixth figure (c) shows a state in which the arc welder T is moved to the next welding position. After the cooling time has elapsed, the arc welder T is moved in the direction of welding. Thereby, the arc welder T moves to an arc restart point which deviates from the arc start point only by the preset movement interval Mp. The moving speed at this time is set in advance. As shown in the sixth diagram (c), the moving distance of the welding line 57 from the outer circumference of the weld mark Y' from the start of the arc to the solidification of the molten pool Y is the same.
第六圖(d)顯示電弧再開始點中電弧A再產生時的狀態。在焊接痕Y’的端部，新形成熔融池Y，而進行焊接。如此，在針腳脈衝焊接裝置1中，交互地重覆使得電弧產生而焊接的狀態以及冷卻及移動的狀態。其結果是，讓焊接痕重疊成鱗狀，而在成品上形成焊接泡。The sixth diagram (d) shows the state when the arc A is regenerated in the arc restart point. At the end of the weld mark Y', the molten pool Y is newly formed and welded. As described above, in the stitch pulse welding device 1, the state in which the arc is generated and welded, and the state of cooling and moving are alternately repeated. As a result, the weld marks are overlapped into a scaly shape, and weld bubbles are formed on the finished product.
其次，參閱第七圖以說明關於形成在焊接施工後的焊接泡。Next, refer to the seventh diagram to explain the welding bubbles formed after the welding construction.
如第七圖所示，在最初的電弧開始點P1上形成焊接痕Sc。此外，在從電弧開始點P1沿著焊接進行方向Dr僅偏離移動間隔Mp的電弧再開始點P2上亦形成同樣的焊接痕Sc。即使在電弧再開始點P3以下亦依序形成焊接痕Sc。如此，焊接痕形成為重疊成鱗狀的結果是，形成焊接泡B。As shown in the seventh figure, the weld mark Sc is formed at the initial arc start point P1. Further, the same weld mark Sc is also formed at the arc restart point P2 which is deviated from the movement interval Mp only from the arc start point P1 along the welding progress direction Dr. The weld mark Sc is sequentially formed even below the arc restart point P3. Thus, as a result of the weld marks being formed in a scaly shape, the weld bubbles B are formed.
作為形成鱗狀的焊接泡的理由中的一個，是提升接合部的外觀並提高製品的附加價值。然而，利用上述的習用技術，卻無法預測焊接施工後的焊接泡的形狀。因此，於教導後實際進行焊接時需確認焊接泡的形狀，並若外觀不良時會重覆修正焊接條件的所謂嘗試錯誤。亦即，為了獲得期望的焊接泡形狀，需要極大的教示之工時。One of the reasons for forming the scaly soldering foam is to enhance the appearance of the joint portion and to increase the added value of the product. However, with the above-mentioned conventional techniques, it is impossible to predict the shape of the welding bubble after the welding construction. Therefore, it is necessary to confirm the shape of the welding bubble when actually performing welding after teaching, and if the appearance is poor, the so-called trial error of correcting the welding condition is repeated. That is, in order to obtain the desired shape of the welded bubble, great teaching time is required.
本發明的目的在於提供一種針腳脈衝焊接裝置，即使不執行遵從作業者所教示的焊接，也能夠在事前確認焊接泡的形狀，而獲得期望的焊接泡的形狀。An object of the present invention is to provide a stitch pulse welding apparatus capable of confirming the shape of a welding bubble beforehand and obtaining a desired shape of a welding bubble without performing welding in accordance with the operator's teaching.
為解決上述課題，根據本發明的第一態樣，提供一種針腳脈衝焊接裝置，是基於包含利用操作手段所設定的焊接電流、焊接電壓及焊接時間的焊接條件，在停止了焊接器的狀態下產生電弧，於前述焊接時間經過後停止了電弧之後，重覆地使得前述焊接器沿著焊接進行方向從電弧開始點僅偏離預定的移動間隔移動至電弧再開始點而再產生電弧，將利用一次的電弧的產生所形成的焊接痕重疊為鱗狀，藉此於成品上形成焊接泡。該針 腳脈衝焊接裝置具備了預先記憶焊接條件與焊接痕的直徑的對應關係的焊接條件資料庫、基於利用操作手段所輸入的焊接條件，而從焊接條件資料庫算出直徑的直徑算出部、以及將包含了至少直徑的焊接泡的形狀資訊顯示於操作手段的顯示處理部。In order to solve the above problems, according to a first aspect of the present invention, a stitch pulse welding apparatus is provided which is based on a welding condition including a welding current, a welding voltage, and a welding time set by an operation means, in a state in which the welder is stopped. An arc is generated, and after the arc is stopped after the aforementioned welding time elapses, the welding device is repeatedly caused to move from the arc starting point to the arc restart point only from the arc starting point to generate an arc again, and the arc is used again. The weld marks formed by the generation of the arc are superimposed in a scaly shape, thereby forming weld bubbles on the finished product. The needle The foot pulse welding device includes a welding condition database in which the relationship between the welding condition and the diameter of the weld mark is stored in advance, and a diameter calculation unit that calculates the diameter from the welding condition database based on the welding conditions input by the operation means, and includes The shape information of the welding bubble of at least the diameter is displayed on the display processing part of the operation means.
如第一圖所示，本實施形態的針腳脈衝焊接裝置1是機器控制裝置RC以及作為操作手段的教導式懸吊系統TP的結構，其與第五圖所示的習用技術不同。在第一圖中，省略了第五圖所示的操作器M、焊接電源WP、捲線軸56、氣體壓縮筒58等。以下，說明關於構成本發明的主要部分的機器控制裝置RC及教導式懸吊系統TP。As shown in the first figure, the stitch pulse welding device 1 of the present embodiment is a configuration of a machine control device RC and a teaching suspension system TP as an operation means, which is different from the conventional technique shown in FIG. In the first figure, the operator M, the welding power source WP, the bobbin 56, the gas compression cylinder 58, and the like shown in the fifth diagram are omitted. Hereinafter, the machine control device RC and the teaching suspension system TP which constitute the main part of the present invention will be described.
機器控制裝置RC針對操作器M實行焊接動作的控制。機器控制裝置RC具備了主控制部3、動作控制部11、驅動指令部12、硬碟4、作為暫時的計算區域的RAM5、作為中央演算處理裝置的CPU6、主司焊接的控制的焊接控制部13、以及伺服驅動器(未顯示於圖)，其是經由匯流排(未顯示於圖)而彼此連接。動作控制部11執行操作器M的軌跡演算等，並將演算結果當成驅動信號而輸出至驅動指令部12。驅動指令部12輸出用以控制操作器M的各伺服馬達的轉動的伺服控制信號。硬碟4記憶作業程序及各種參數等。The machine control device RC performs control of the welding operation for the operator M. The machine control device RC includes a main control unit 3, an operation control unit 11, a drive command unit 12, a hard disk 4, a RAM 5 as a temporary calculation area, a CPU 6 as a central calculation processing device, and a welding control unit for controlling welding of the main division. 13. A servo drive (not shown) connected to each other via a busbar (not shown). The motion control unit 11 executes the trajectory calculation or the like of the operator M, and outputs the calculation result as a drive signal to the drive command unit 12. The drive command unit 12 outputs a servo control signal for controlling the rotation of each servo motor of the operator M. Hard disk 4 memory program and various parameters.
作為操作手段的教導式懸吊系統TP具備了顯示各種資訊的顯示部41、以及設定操作器M的移動目標位置、動作參數等的各種條件的設定部42。由設定部42所設定的各種條件等被輸入至機器控制裝置RC。The teaching suspension system TP as an operation means includes a display unit 41 that displays various kinds of information, and a setting unit 42 that sets various conditions such as a movement target position and an operation parameter of the operator M. Various conditions and the like set by the setting unit 42 are input to the machine control device RC.
主控制部3具備了記憶處理從設定部42所輸入的 焊接條件的教示處理部20。作為針腳脈衝焊接時的必要條件，焊接電流、焊接電壓、移動速度、移動間隔、及冷卻時間從設定部42被輸入。教示處理部20將所輸入的焊接條件Tc(焊接電流、焊接電壓、及焊接時間)、移動速度Sp、移動間隔Mp、及冷卻時間Ct記憶於硬碟4。The main control unit 3 is provided with the memory processing input from the setting unit 42. The teaching processing unit 20 of the welding conditions. As a necessary condition at the time of the stitch pulse welding, the welding current, the welding voltage, the moving speed, the moving interval, and the cooling time are input from the setting unit 42. The teaching processing unit 20 memorizes the input welding conditions Tc (welding current, welding voltage, and welding time), moving speed Sp, moving interval Mp, and cooling time Ct in the hard disk 4 .
主控制部3進一步具備了算出焊接痕的直徑的直徑算出部22、移動間隔算出部25、泡形狀生成部23、算出焊接痕的總數的總數算出部26、及顯示處理部24。硬碟4中記憶著焊接條件資料庫21。利用焊接條件資料庫21，焊接條件(焊接電流、焊接電壓、及焊接時間)與在此焊接條件下所形成的焊接痕的直徑發生了關連。焊接條件資料庫21是藉由事前的實驗等而預先制定。The main control unit 3 further includes a diameter calculation unit 22 that calculates the diameter of the weld mark, a movement interval calculation unit 25, a bubble shape generation unit 23, a total number calculation unit 26 that calculates the total number of weld marks, and a display processing unit 24. The welding condition database 21 is memorized in the hard disk 4. Using the welding condition database 21, the welding conditions (welding current, welding voltage, and welding time) are related to the diameter of the weld mark formed under the welding conditions. The welding condition database 21 is prepared in advance by an experiment or the like in advance.
如第二圖所示，焊接條件資料庫21是將利用在實際的焊接環境下使得焊接電流及焊接電壓產生變化的同時記錄下焊接痕的直徑的手法所蓄積的資料，添加在所使用的成品的厚度、焊接線的材質與直徑等的資料上所構成。更具體地，舉例來說，在成品的厚度是1mm、焊接線是鐵、且其直徑是0.6mm的焊接環境下，將焊接時間固定於0.2秒，使得焊接電流及焊接電壓產生變化的同時記錄下利用一次的針腳脈衝焊接所形成的焊接痕的直徑。其次，將焊接時間固定於0.3秒，再次在使得焊接電流及焊接電壓產生變化的同時記錄下焊接痕的直徑。重覆這一連串的作業而蓄積的資料被當成焊接條件資料庫21而被預先記憶至硬碟4。理所當然地，在成品的厚度是1mm、焊接線是鐵、且其直徑是0.8mm的焊接環境存在的場合下，有必要預先作成對應該焊接環境的焊接條件資料庫並將其記憶下來。As shown in the second figure, the welding condition database 21 is a product accumulated by the method of recording the diameter of the welding mark while changing the welding current and the welding voltage in an actual welding environment, and adding it to the finished product to be used. The thickness, the material and diameter of the weld line, etc. More specifically, for example, in a welding environment in which the thickness of the finished product is 1 mm, the welding line is iron, and the diameter thereof is 0.6 mm, the welding time is fixed at 0.2 seconds, so that the welding current and the welding voltage are changed while recording. The diameter of the weld mark formed by the pulse welding of the needle is used once. Next, the welding time was fixed at 0.3 seconds, and the diameter of the weld mark was recorded again while changing the welding current and the welding voltage. The data accumulated by repeating this series of operations is preliminarily stored in the hard disk 4 as the welding condition database 21. Of course, in the case where the thickness of the finished product is 1 mm, the welding line is iron, and the diameter is 0.8 mm, it is necessary to prepare a memory condition database corresponding to the welding environment in advance and memorize it.
其次，說明關於針腳脈衝焊接裝置1的動作。Next, the operation of the stitch pulse welding device 1 will be described.
作為針腳脈衝焊接時的必要條件，焊接電流、焊接電壓、移動速度、移動間隔、焊接時間、及冷卻時間會從教導式懸吊系統TP的設定部42被輸入。於是，基於這些條件，可算出焊接痕的直徑Sr、預測泡形狀Bd、及焊接痕的總數Bn。As a requirement for the stitch pulse welding, the welding current, the welding voltage, the moving speed, the moving interval, the welding time, and the cooling time are input from the setting unit 42 of the teaching suspension system TP. Then, based on these conditions, the diameter Sr of the weld mark, the predicted bubble shape Bd, and the total number Bn of weld marks can be calculated.
首先，說明關於焊接痕的直徑Sr的算出方法。First, a method of calculating the diameter Sr of the weld mark will be described.
直徑算出部22基於所輸入的焊接條件Tc的焊接電流、焊接電壓、及焊接時間，從焊接條件資料庫21算出焊接痕的直徑Sr。第二圖所示的焊接條件資料庫21是在選擇了代表的焊接電流值、及焊接電壓值的狀態下所取得的資料庫。這些值在主控制部3的內部被近似曲線所展開。因此，舉例來說，即使焊接時間0.3秒、焊接電流值35A、焊接電壓值15V等的中間值被當成焊接條件Tc輸入，基於近似曲線，也能夠算出焊接痕的直徑Sr。算出的焊接痕的直徑Sr被記憶於硬碟4。The diameter calculation unit 22 calculates the diameter Sr of the weld mark from the welding condition database 21 based on the welding current, the welding voltage, and the welding time of the input welding condition Tc. The welding condition database 21 shown in the second figure is a database obtained in a state in which the representative welding current value and the welding voltage value are selected. These values are developed by an approximate curve inside the main control unit 3. Therefore, for example, even if the intermediate value of the welding time of 0.3 seconds, the welding current value 35A, the welding voltage value of 15 V, or the like is input as the welding condition Tc, the diameter Sr of the weld mark can be calculated based on the approximate curve. The calculated diameter Sr of the weld mark is memorized on the hard disk 4.
其次，說明關於泡形狀的算出方法。Next, a method of calculating the bubble shape will be described.
泡形狀生成部23基於焊接痕的直徑Sr及移動間隔Mp，將從焊接器側看見時的預測泡形狀生成於二維平面上。The bubble shape generating unit 23 generates a predicted bubble shape when viewed from the welder side on the two-dimensional plane based on the diameter Sr of the weld mark and the movement interval Mp.
如第三圖所示，首先，生成假想的二維平面Hr。其次，在二維平面Hr上，於適切的座標位置上定義出作為開始位置的電弧開始點P1。針對此開始點選擇適切的方向，將該方向決定成焊接進行方向Dr。接著，從開始點開始每相隔一移動間隔Mp而等間隔地分割焊接線。當全部的分割點P1~Pn上生成了直徑Sr的圓Cr時，便生成了預測泡形狀Bd。分割點的數目對於作業者來說是能夠想像到的預測泡形狀Bd的程度的數目，舉例來說，可設定為四~五個、或十個以上。預測泡形狀Bd的 二維平面資料被記憶於硬碟4。As shown in the third figure, first, an imaginary two-dimensional plane Hr is generated. Next, on the two-dimensional plane Hr, the arc start point P1 as the starting position is defined at the appropriate coordinate position. A suitable direction is selected for this starting point, and the direction is determined as the welding progress direction Dr. Next, the welding line is divided at equal intervals every one interval from the starting point. When the circle Cr of the diameter Sr is generated on all of the division points P1 to Pn, the predicted bubble shape Bd is generated. The number of division points is the number of degrees of the predicted bubble shape Bd that can be imagined by the operator, and can be set, for example, four to five, or ten or more. Prediction of bubble shape Bd The two-dimensional plane data is memorized on the hard disk 4.
在上述的例子中，雖然是從設定部42輸入移動間隔Mp，但也可以輸入焊接痕的重疊率Lr以取代移動間隔Mp。亦即，也可以基於焊接痕的重疊率Lr及焊接痕的直徑Sr而算出移動間隔Mp。In the above-described example, the movement interval Mp is input from the setting unit 42, but the overlap ratio Lr of the weld mark may be input instead of the movement interval Mp. In other words, the movement interval Mp may be calculated based on the overlap ratio Lr of the weld mark and the diameter Sr of the weld mark.
參閱第四圖說明關於輸入焊接痕的重疊率的場合下移動間隔的算出方法。Referring to the fourth figure, a method of calculating the movement interval in the case where the overlap ratio of the weld mark is input will be described.
如第四圖所示，所謂焊接痕的重疊率Lr，是焊接痕與下一焊接痕彼此重疊的比率。移動間隔算出部25可利用下式算出移動間隔Mp。As shown in the fourth figure, the overlap ratio Lr of the weld mark is a ratio at which the weld mark and the next weld mark overlap each other. The movement interval calculation unit 25 can calculate the movement interval Mp by the following equation.
移動間隔Mp=焊接痕的直徑Sr-(焊接痕的直徑Srx焊接痕的重疊率Lr)Movement interval Mp = diameter of weld mark Sr- (diameter of weld mark Srx overlap rate of weld mark Lr)
所算出的移動間隔Mp被記憶於硬碟4。再者，也可以算出焊接痕的總數。The calculated movement interval Mp is memorized on the hard disk 4. Furthermore, the total number of weld marks can also be calculated.
說明關於算出焊接痕的總數的方法。A method for calculating the total number of weld marks will be described.
首先，總數算出部26算出焊接長。焊接開始位置及焊接結束位置是預先被教示的。因此，能夠輕易地算出焊接的開始位置與結束位置之間的焊接長。同時，利用下式，可算出焊接痕的總數Bn。First, the total number calculation unit 26 calculates the welding length. The welding start position and the welding end position are taught in advance. Therefore, the welding length between the start position and the end position of the welding can be easily calculated. At the same time, the total number Bn of weld marks can be calculated by the following formula.
焊接痕的總數Bn=焊接長/移動間隔+1Total number of weld marks Bn = weld length / movement interval +1
上述的「+1」在因為演算產生剩餘的場合下，意味著在焊接結束位置上即使未到達移動間隔也可在焊接結束點上進行焊接。焊接痕的總數Bn被記憶於硬碟4。In the case where the above-mentioned "+1" is left because of the calculation, it means that the welding can be performed at the welding end point even if the movement interval is not reached at the welding end position. The total number Bn of weld marks is memorized on the hard disk 4.
其次，說明關於顯示處理部24。Next, the display processing unit 24 will be described.
當指示從設定部42被輸入時，顯示處理部24將被當成形狀資訊且記憶於硬碟4的焊接痕的直徑Sr、焊接痕的總數Bn、焊接痕的重疊率Lr、移動間隔Mp、及預 測泡形狀Bd顯示於顯示部41。作為形狀資訊，較佳者是顯示上述全部的資料，也可以顯示其任何一個或複數個。此外，所期望者為，來自設定部42的指示也可以在用於針腳脈衝時的焊接條件的設定時輸入。When the instruction is input from the setting unit 42, the display processing unit 24 records the diameter Sr of the weld mark stored in the shape information and the hard spot 4, the total number Bn of weld marks, the overlap ratio Lr of the weld mark, the movement interval Mp, and Pre The bubble shape Bd is displayed on the display unit 41. As the shape information, it is preferable to display all of the above materials, and any one or a plurality of them may be displayed. Further, it is desirable that the instruction from the setting unit 42 can be input at the time of setting the welding condition for the stitch pulse.
如上述，由於在焊接施工前能夠預測焊接泡的形狀，因此不需要用以形成期望的焊接泡的試行作業。亦即，能夠減低用於焊接的教示所需的工時。As described above, since the shape of the welding bubble can be predicted before the welding construction, a trial operation for forming a desired welding bubble is not required. That is, it is possible to reduce the man-hours required for the teaching of welding.
此外，由於能夠目視確認預測焊接泡的形狀，添加於上述效果之上，便能夠輕易地辨識焊接泡的形狀。Further, since the shape of the predicted welding bubble can be visually confirmed and added to the above effect, the shape of the welding bubble can be easily recognized.
此外，藉由教示焊接痕的重疊率以取代移動間隔，由於能夠想像出理想的焊接泡外觀以教示，添加於上述效果之上，便能夠減低用於焊接的教示所需的工時。Further, by teaching the overlap ratio of the weld mark to replace the movement interval, it is possible to imagine the appearance of the ideal weld bubble and to add it to the above effect, thereby reducing the number of man-hours required for the teaching of welding.
此外，由於能夠算出形成焊接泡的焊接痕的總數，添加於上述效果之上，便能夠輕易地想像焊接施工後的焊接泡的外觀。Further, since the total number of weld marks forming the welding bubbles can be calculated and added to the above effects, the appearance of the welding bubbles after the welding can be easily imagined.
此外，由於可以將直徑、總數、重疊率、移動間隔、及預測泡形狀之中的任何一個或複數個或全部顯示成為焊接泡的形狀資訊，添加於上述效果之上，便能夠更輕易地想像焊接施工後的焊接泡的外觀。In addition, since any one or a plurality of or all of the diameter, the total number, the overlap ratio, the movement interval, and the predicted bubble shape can be displayed as the shape information of the welding bubble, it can be more easily imagined by adding the above effect. The appearance of the welding bubble after welding.
1‧‧‧針腳脈衝焊接裝置1‧‧‧needle pulse welding device
3‧‧‧主控制部3‧‧‧Main Control Department
4‧‧‧硬碟4‧‧‧ Hard disk
5‧‧‧RAM5‧‧‧RAM
6‧‧‧CPU6‧‧‧CPU
11‧‧‧動作控制部11‧‧‧Action Control Department
12‧‧‧驅動指令部12‧‧‧Drive Command Department
13‧‧‧焊接控制部13‧‧‧Welding Control Department
20‧‧‧教示處理部20‧‧‧Teaching and Processing Department
21‧‧‧焊接條件資料庫21‧‧‧ welding condition database
22‧‧‧直徑算出部22‧‧‧Diameter calculation department
23‧‧‧泡形狀生成部23‧‧‧bubble shape generation department
24‧‧‧顯示處理部24‧‧‧Display Processing Department
25‧‧‧移動間隔算出部25‧‧‧Moving interval calculation unit
26‧‧‧總數算出部26‧‧‧Total calculation department
41‧‧‧顯示部41‧‧‧Display Department
42‧‧‧設定部42‧‧‧Setting Department
52‧‧‧導纜52‧‧‧Guide cable
53‧‧‧上臂53‧‧‧ upper arm
54‧‧‧下臂54‧‧‧ Lower arm
55‧‧‧腕部55‧‧‧ wrist
56‧‧‧捲線軸56‧‧‧ spool
57‧‧‧焊接線57‧‧‧welding line
58‧‧‧氣體壓縮筒58‧‧‧ gas compression cylinder
A‧‧‧電弧A‧‧‧Arc
B‧‧‧焊接泡B‧‧‧ welding bubble
Bd‧‧‧預測泡形狀Bd‧‧‧ predicted bubble shape
Bn‧‧‧焊接痕的總數Bn‧‧‧ total number of weld marks
Cr‧‧‧圓Cr‧‧‧ Round
Ct‧‧‧冷卻時間Ct‧‧‧Cooling time
Dr‧‧‧焊接進行方向Dr‧‧‧ welding direction
Ew‧‧‧長度Ew‧‧‧ length
G‧‧‧保護氣體G‧‧‧protective gas
Hr‧‧‧二維平面Hr‧‧‧2D plane
Lr‧‧‧焊接痕的重疊率Lr‧‧‧ overlap rate of weld marks
M‧‧‧操作器M‧‧‧ operator
Mp‧‧‧移動間隔Mp‧‧‧Moving interval
P1‧‧‧電弧開始點P1‧‧‧ arc starting point
P2‧‧‧電弧再開始點P2‧‧‧ Arc start point
P3‧‧‧電弧再開始點P3‧‧‧ Arc start point
P1~Pn‧‧‧分割點P1~Pn‧‧‧ split point
RC‧‧‧機器控制裝置RC‧‧‧ machine control unit
Sc‧‧‧焊接痕Sc‧‧‧welding marks
Sp‧‧‧移動速度Sp‧‧‧ moving speed
Sr‧‧‧焊接痕的直徑Sr‧‧‧ diameter of weld marks
T‧‧‧電弧焊接器T‧‧‧Arc Welding Machine
Tc‧‧‧焊接條件Tc‧‧‧ welding conditions
TP‧‧‧教導式懸吊系統TP‧‧‧ Teaching Suspension System
W‧‧‧成品W‧‧‧ finished product
WP‧‧‧焊接電源WP‧‧‧ welding power supply
Y‧‧‧熔融池Y‧‧·melting pool
Y’‧‧‧焊接痕Y’‧‧‧welding marks
第一圖是本發明的一實施形態的針腳脈衝焊接裝置的方塊圖；第二圖是顯示焊接條件的資料庫的圖；圖三是用以說明生成預測泡形狀的狀態的模式圖；第四圖是用以說明焊接痕的重疊率的模式圖；第五圖是顯示習用的針腳脈衝焊接裝置的模式圖；第六圖是用以說明針腳脈衝焊接的模式圖；及 第七圖是用以說明形成在焊接施工後的焊接泡的模式圖。1 is a block diagram of a stitch pulse welding apparatus according to an embodiment of the present invention; a second diagram is a diagram showing a database of welding conditions; and FIG. 3 is a pattern diagram for explaining a state in which a predicted bubble shape is generated; The figure is a schematic diagram for explaining the overlap ratio of the weld mark; the fifth figure is a schematic view showing a conventional stitch pulse welding device; and the sixth figure is a pattern diagram for explaining the pulse welding of the stitch; The seventh figure is a schematic view for explaining the welding bubbles formed after the welding construction.
1‧‧‧針腳脈衝焊接裝置1‧‧‧needle pulse welding device
3‧‧‧主控制部3‧‧‧Main Control Department
4‧‧‧硬碟4‧‧‧ Hard disk
5‧‧‧RAM5‧‧‧RAM
6‧‧‧CPU6‧‧‧CPU
11‧‧‧動作控制部11‧‧‧Action Control Department
12‧‧‧驅動指令部12‧‧‧Drive Command Department
13‧‧‧焊接控制部13‧‧‧Welding Control Department
20‧‧‧教示處理部20‧‧‧Teaching and Processing Department
21‧‧‧焊接條件資料庫21‧‧‧ welding condition database
22‧‧‧直徑算出部22‧‧‧Diameter calculation department
23‧‧‧泡形狀生成部23‧‧‧bubble shape generation department
24‧‧‧顯示處理部24‧‧‧Display Processing Department
25‧‧‧移動間隔算出部25‧‧‧Moving interval calculation unit
26‧‧‧總數算出部26‧‧‧Total calculation department
41‧‧‧顯示部41‧‧‧Display Department
42‧‧‧設定部42‧‧‧Setting Department
Bd‧‧‧預測泡形狀Bd‧‧‧ predicted bubble shape
Ct‧‧‧冷卻時間Ct‧‧‧Cooling time
M‧‧‧操作器M‧‧‧ operator
Mp‧‧‧移動間隔Mp‧‧‧Moving interval
RC‧‧‧機器控制裝置RC‧‧‧ machine control unit
Sp‧‧‧移動速度Sp‧‧‧ moving speed
Sr‧‧‧焊接痕的直徑Sr‧‧‧ diameter of weld marks
Tc‧‧‧焊接條件Tc‧‧‧ welding conditions
TP‧‧‧教導式懸吊系統TP‧‧‧ Teaching Suspension System
WP‧‧‧焊接電源WP‧‧‧ welding power supply
Claims (5)
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2007293142A JP4995698B2 (en) | 2007-11-12 | 2007-11-12 | Stitch pulse welding equipment |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| TW200932416A TW200932416A (en) | 2009-08-01 |
| TWI403380B true TWI403380B (en) | 2013-08-01 |
Family
ID=40708716
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| TW97143495A TWI403380B (en) | 2007-11-12 | 2008-11-11 | Stitch pulse welding apparatus |
Country Status (3)
| Country | Link |
|---|---|
| JP (1) | JP4995698B2 (en) |
| CN (1) | CN101433991A (en) |
| TW (1) | TWI403380B (en) |
Families Citing this family (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP4995697B2 (en) * | 2007-11-12 | 2012-08-08 | 株式会社ダイヘン | Stitch pulse welding equipment |
| JP4704502B1 (en) * | 2010-02-05 | 2011-06-15 | 株式会社ダイヘン | Arc welding method |
| JP5758130B2 (en) * | 2011-01-11 | 2015-08-05 | 株式会社ダイヘン | Arc welding method |
| CN102581437B (en) * | 2011-08-24 | 2015-01-07 | 唐山松下产业机器有限公司 | Welder and system capable of managing welding operation |
| KR101591711B1 (en) * | 2014-09-18 | 2016-02-04 | 한국생산기술연구원 | Method of clad welding for optimizing weld pitch, welding apparatus and welding program |
| CN106735736B (en) * | 2016-11-21 | 2019-03-26 | 中国核电工程有限公司 | A kind of manual welding heat input measurement device and method |
| CN111093877B (en) * | 2018-01-24 | 2021-12-21 | 松下知识产权经营株式会社 | Arc welding control method |
| CN109202217B (en) * | 2018-09-28 | 2021-03-05 | 上海通用重工集团有限公司 | Gas shielded welding machine convenient to strike arc |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0655268A (en) * | 1992-08-10 | 1994-03-01 | Yamaha Shatai Kogyo Kk | Welding robot |
| JPH11285827A (en) * | 1998-03-31 | 1999-10-19 | Daihen Corp | Pulse mag welding method |
| TWI248846B (en) * | 2003-01-29 | 2006-02-11 | Hon Hai Prec Ind Co Ltd | Electric arc welding method |
| CN1262386C (en) * | 2000-05-23 | 2006-07-05 | 德克萨斯仪器股份有限公司 | System and method for rebuilding lighting condition on welder of integrated circuit |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP4995697B2 (en) * | 2007-11-12 | 2012-08-08 | 株式会社ダイヘン | Stitch pulse welding equipment |
| JP4787355B2 (en) * | 2009-12-17 | 2011-10-05 | 株式会社ダイヘン | Stitch pulse welding control device and stitch pulse welding device |
-
2007
- 2007-11-12 JP JP2007293142A patent/JP4995698B2/en active Active
-
2008
- 2008-11-07 CN CNA2008101748847A patent/CN101433991A/en active Pending
- 2008-11-11 TW TW97143495A patent/TWI403380B/en active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0655268A (en) * | 1992-08-10 | 1994-03-01 | Yamaha Shatai Kogyo Kk | Welding robot |
| JPH11285827A (en) * | 1998-03-31 | 1999-10-19 | Daihen Corp | Pulse mag welding method |
| CN1262386C (en) * | 2000-05-23 | 2006-07-05 | 德克萨斯仪器股份有限公司 | System and method for rebuilding lighting condition on welder of integrated circuit |
| TWI248846B (en) * | 2003-01-29 | 2006-02-11 | Hon Hai Prec Ind Co Ltd | Electric arc welding method |
Also Published As
| Publication number | Publication date |
|---|---|
| JP2009119477A (en) | 2009-06-04 |
| CN101433991A (en) | 2009-05-20 |
| TW200932416A (en) | 2009-08-01 |
| JP4995698B2 (en) | 2012-08-08 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| TWI403380B (en) | Stitch pulse welding apparatus | |
| JP7259117B2 (en) | User interface with real-time pictographic representation of parameter settings | |
| TWI405636B (en) | Stitch pulse welding apparatus | |
| JP6050004B2 (en) | Arc welding monitor | |
| TWI440520B (en) | Stitch pulse welding method | |
| WO2015072107A1 (en) | Laser welding condition determination method and laser welding device | |
| TWI422455B (en) | Stitch pulse welding method | |
| JP6978350B2 (en) | Work posture adjustment method, model manufacturing method and manufacturing equipment | |
| KR20180103999A (en) | Welding apparatus and control method of welding apparatus | |
| CN102548701B (en) | Welding machine | |
| JPWO2013136638A1 (en) | Arc welding method and arc welding apparatus | |
| JP4787355B2 (en) | Stitch pulse welding control device and stitch pulse welding device | |
| JP4704502B1 (en) | Arc welding method | |
| JP4848036B2 (en) | Arc welding method | |
| JP2015150655A (en) | Method for teaching laser machining pattern and method for operating robot | |
| CN111918740B (en) | Arc welding method, arc welding system, and welding power supply device control device | |
| KR102205827B1 (en) | Virtualization system supporting welding | |
| Muncut et al. | The welding program optimization of a S355 steel assembly used in agricultural machinery |