Patent Application
20070051713
The present invention relates to a welding apparatus capable of detecting contact between a welding wire and a welding object.
In recent years, automation of the welding operation is being promoted for a welding apparatus by being combined with a robot, as can be seen in the automobile industry and the like.
When effect robot welding, since the positioning of the robot with respect to a welding object (hereafter referred to as the base metal) becomes important, a contact detecting device (touch sensor) is used which detects that the welding wire has come into contact with the base metal, and effects positioning or position correction with respect to a welding start point on the basis of information on the robot position at that time.
For this reason, the welding apparatus having the contact detecting device or a contact detecting function, upon detecting the contact between the welding wire and the base metal, outputs a contact signal to the outside.
As such a welding apparatus, one is known which is so configured that a power supply unit for contact detection and a welding power supply unit are used in common (e.g., refer to patent document 1).
Patent document 1: JP-A-2001-121264
A description will be given of the welding apparatus configured as described above.
In the case where contact between the welding wire 51 and the base metal M is detected, a contact detection output value for detection is imparted to the output command unit 55 by the welding/detection changeover means 56, and predetermined electric power at the time of detection is applied between the welding wire 51 and the base metal through the output control circuit unit 52.
The contact determining unit 57 detects the welding voltage detected by the welding voltage detection unit 53. When contact between the welding wire 51 and the base metal M occurs, the voltage detected by the welding voltage detection unit 53 drops. As a result of the drop of the voltage, the contact determining unit 57 detects the state of contact, and outputs a contact signal So to the outside.
However, with the conventional welding apparatus, in a case where a black scale or an oil film is adhered in the surface condition of the welding object, conductivity during contact becomes poor, so that there has been a need to apply a high voltage.
In addition, there has been a problem in that in a case where the diameter of the welding wire is small, if a high voltage is applied, the tip of the wire undergoes deformation due to fusion or rupture at the time of the contact, and accuracy in the positioning or position correction of the robot declines due to a change in the projecting length of the welding wire.
An object of the invention is to provide a welding apparatus which supplies electric power corresponding to the condition of at least one of the welding object and the welding wire.
To attain the above object, the welding apparatus in accordance with the invention is a welding apparatus comprising: an output control unit for controlling electric power to be supplied to a welding wire and a welding object; a welding voltage detection unit for detecting a welding voltage; a welding current detection unit for detecting a welding current; and a contact determination unit to which a signal from at least one of the welding voltage detection unit and the welding current detection unit is inputted and which determines contact between the welding wire and the welding object, wherein the output control unit outputs electric power corresponding to a condition of at least one of the welding object and the welding wire as electric power for contact determination.
Further, by virtue of this configuration, the welding apparatus in accordance with the invention makes it possible to output electric power corresponding to the condition of at least one of the welding object and the welding wire as electric power for contact determination, so that it is possible to prevent the deformation and the like of the welding wire during contact.
In addition, the welding apparatus in accordance with the invention further comprises: a robot for moving the welding wire to a desired portion of the welding object; a robot controller for controlling the motion of the robot; and an input device for inputting the motion of the robot to the robot controller, wherein a signal for outputting electric power corresponding to the condition of at least one of the welding object and the welding wire as the electric power or contact determination is inputted from the input device to the output control unit via the robot controller.
By virtue of this configuration, it is possible to easily set the output of electric power corresponding to the condition of at least one of the welding object and the welding wire.
In addition, the welding apparatus in accordance with the invention has output shutoff means provided between the welding wire or the welding object and the output control unit.
Further, by virtue of this configuration, it is possible to shut off the output current flowing through the welding wire and the welding object immediately after the contact determination.
In addition, the welding apparatus in accordance with the invention has high voltage applying means provided in the output control unit for applying a high voltage between the welding wire and the welding object.
By virtue of this configuration, it is possible to apply a voltage higher than the voltage which can be outputted by the welding apparatus, so that it is possible to improve the accuracy of contact detection.
As described above, in accordance with the invention, it is possible to output electric power corresponding to the condition of at least one of the welding object and the welding wire as electric power for contact determination.
For this reason, it is possible to provide a welding apparatus which is capable of coping with the conditions of various welding wires and welding objects, of preventing the deformation and the like of the welding wire during contact between the welding wire and the welding object, of improving the accuracy in the robot positioning or position correction during welding, and of enabling high-quality robot welding.
In
A description will be given of the operation of the welding apparatus configured as described above.
First, in a case where the contact between the welding wire 1 and the base metal M is detected, the output control unit 2 outputs electric power corresponding to the condition of at least one of the base metal and the welding wire in response to a state signal Sc. Before the welding wire 1 and the base metal contact each other, the welding voltage detection unit 3 detects a high voltage with an output end in a no-load state. At this time, the welding current detection unit 3 detects only a very small current due to such as a leakage current of the circuit.
Next, when the welding wire 1 and the base metal come into contact with each other, owing to the electric power outputted by the output control unit 2, a current corresponding to the electric power applied to the welding wire 1 and the base metal flows, and the voltage between the welding wire 1 and the base metal drops appreciably.
In addition, a value in which the welding voltage value detected by the welding voltage detection unit 3 is divided by the welding current value detected by the welding current detection unit 4, i.e., a resistance value at the output end, also shows an appreciable drop.
The contact determination unit 5 detects the contact between the welding wire 1 and the base metal on the basis of any one of the case where the amount of change in the detected welding voltage value is greater than a predetermined value, or the welding voltage value has dropped below a predetermined level, the case where the amount of change in the detected welding current value is greater than a predetermined value, or the welding current value has exceeded a predetermined level, and the case where the amount of change in the resistance value obtained from the detected voltage value and the voltage value is greater than a predetermined value, or the resistance value has dropped below a predetermined level. The contact determination unit 5 outputs the same as a contact signal St to the output control unit 2 and the outside. When the contact signal St is turned ON, the output control unit 2 stops the power output between the welding wire 1 and the base metal to prevent the fusion and deformation of the welding wire 1 and the base metal.
An external apparatus (e.g., an industrial robot) or the like fetches position information at a point of time when the contact signal St of the contact determination unit 5 is turned ON, and the external apparatus or the like effects the positioning or position correction of a welding start point on the basis of that information, and carries out the welding operation along a desired welding path.
In addition, in a case where the state of conductivity during the contact between the welding wire 1 and the base metal is poor due to the adhesion of such as a black scale or an oil film, the amount of energization during contact becomes small. For this reason, higher electric power is imparted by the output control unit 2 in correspondence with the condition of the base metal by means of the state signal Sc, thereby making it possible to ensure similar contact determination accuracy with respect to a base metal whose surface condition is poor.
Furthermore, in a case where the welding wire 1 is extremely slender, there is a possibility of the welding wire 1 undergoing deformation such as fusion during the contact between the welding wire 1 and the base metal. For this reason, lower electric power is imparted by the output control unit 2 in correspondence with the condition of the welding wire 1 by means of the state signal Sc, thereby making it possible to prevent the deformation of the welding wire 1 during contact.
As described above, as electric power corresponding to the condition of at least one of the base metal and the welding wire 1 is outputted as the electric power for contact determination to detect contact, it is possible to correctly detect the state of contact irrespective of the condition of the base metal or the welding wire 1.
In this embodiment, the same arrangements as those of the first embodiment will be denoted by the same reference numerals, and a detailed description thereof will be omitted. In
A description will be given of the operation of the welding apparatus configured as described above.
First, a welding operation teaching program for the robot 27 is prepared by using the input device 29. At that juncture, the teaching program is prepared such that the state signal Sc is outputted for outputting electric power corresponding to the condition of at least one of the welding wire 1 and the base metal at the place where the contact detection is carried out.
During the welding operation, the state signal Sc set by the input device 29 is outputted to the output control unit 2 through the robot controller 28 at the place of contact detection in accordance with the teaching program. The output control unit 2 outputs electric power corresponding to the inputted state signal Sc, and the contact determination unit 5 detects contact between the welding wire 1 and the base metal on the basis of the signal from at least one of the welding voltage detection unit 3 and the welding current detection unit 4, and outputs the contact signal St.
The robot controller 28 fetches the position information of the robot 27 at a point of time when the contact signal of the contact determination unit 5 is turned ON, and the robot controller 28 effects the positioning or position correction of the welding start point on the basis of that information, and carries out the welding operation along a desired welding path.
It should be noted that although in this embodiment the state signal Sc is outputted by preparing a teaching program, the state signal Sc may be outputted to the output control unit 2 through the robot controller 28 by operating the input device 29.
As described above, as the output electric power during the contact detection by the output control unit 2 is designated by the input device 29 connected to the robot controller 28, it is possible to easily effect the setting corresponding to the condition of at least one of the welding wire 1 and the base metal as well as its change.
In this embodiment, the same arrangements as those of the first embodiment will be denoted by the same reference numerals, and a detailed description thereof will be omitted. In
A description will be given of the operation of the welding apparatus configured as described above.
The output control unit 2 outputs electric power for contact detection on the basis of the state signal Sc corresponding to the condition of the welding wire 1 or the base metal. The contact determination unit 5 detects the state of contact between the welding wire 1 and the base metal on the basis of the information of at least one of the welding voltage detection unit 3 and the welding current detection unit 4. If the contact is detected, the contact determination unit 5 outputs the contact signal St, and the output control unit 2 stops the output on the basis of that contact signal St and outputs the output shutoff signal Ss to the output shutoff means 37, thereby shutting off the power supply to the welding wire 1 and the base metal.
For example, in a case where the base metal has poor conductivity due to the adhesion of an oil film or the like on its surface, it is necessary for the output control unit 2 to output higher-than-usual electric power and ensure conductivity in order to reliably effect the determination of contact between the welding wire 1 and the base metal. However, since the output control unit 2 is generally provided with a welding transformer for fetching a high current, there is a possibility that a current flows across the welding wire 1 due to the energy built up in the transformer, its peripheral condenser, and the like, possibly causing the deformation of fusion and the like. In such a situation, it is possible to shut off the electric power applied to the welding wire by means of the output shutoff means 37.
It should be noted that although in this embodiment the output shutoff means 37 is provided between the output control unit 2 and the welding wire 1, the output shutoff means may be provided between the output control unit 2 and the base metal.
As described above, by providing the output shutoff means 37, even in the case where high electric power corresponding to the condition of the welding wire or the base metal is outputted from the output control unit 2 during the contact detection, it is possible to prevent the deformation of the welding wire 1 and the base metal.
In this embodiment, the same arrangements as those of the third embodiment will be denoted by the same reference numerals, and a detailed description thereof will be omitted. In
The difference with the third embodiment lies in that the output control unit 2 is provided with the high voltage applying means 48.
A description will be given of the operation of the welding apparatus configured as described above.
In general, the output control unit 2 of the welding device 6 is provided with a welding transformer 49 for outputting a large current. If the turn ratio of the welding transformer 49 is a value of n:1, it is possible to output a current n-fold the current flowing to the input side of the welding transformer.
However, as for the voltage which can be outputted, the applied voltage becomes 1/n-fold the primary-side voltage of the welding transformer 49 in correspondence with the turn ratio (n:1) of the welding transformer 49, and the larger the turn ratio, the more the voltage which can be applied between the welding wire 1 and the base metal during the contact detection declines. Here, in a case where an oil film or the like adheres to the base metal surface, it is necessary to cause contact to occur between the welding wire 2 and the base metal by removing the oil film or the like by applying a high voltage.
Accordingly, by changing the turn ratio by changing over the tap of the welding transformer 49 during the contact detection, the high voltage applying means 48 applies between the welding wire 1 and the base metal electric power of a higher voltage than the voltage which can be applied during welding, so as to effect contact detection. Upon detection of contact, the contact determination unit 5 outputs the contact signal S/t, and the output control unit 2 stops the output on the basis of the contact signal St and outputs the output shutoff signal Ss to the output shutoff means 37, thereby shutting off power supply to the welding wire 1 and the base metal. Upon completion of the contact detection operation, the high voltage applying means 48 allows a nigh current output during welding by returning the tap of the welding transformer 49 to the position for welding.
As described above, by providing the output shutoff means 37 and the high voltage applying means 48, the output control unit 2 of the welding apparatus is capable of outputting electric power of a high voltage in correspondence with the condition of the welding wire or the base metal during the contact detection, and is capable of preventing the deformation of the welding wire 1 and the base metal even when a high voltage is applied.
Although the invention has been described in detail and by referring to specific embodiments, it will be apparent to those skilled in the art that various changes and modifications may be made thereto without departing from the spirit and scope of the invention.
This application is based on Japanese Patent Application filed on Mar. 26, 2004 (Japanese Patent Application No. 2004-91457), the contents of which are incorporated herein by reference.
The welding apparatus in accordance with the invention makes it possible to output electric power corresponding to the condition of at least one of the welding object and the welding wire as electric power for contact determination, and is capable of coping with the conditions of various welding wires and welding objects, and of preventing the deformation and the like of the welding wire during contact between the welding wire and the welding object. Therefore, the welding apparatus in accordance with the invention is useful not only for the automobile industry but also in the welding field using a robot.
| Number | Date | Country | Kind |
|---|---|---|---|
| 2004-091457 | Mar 2004 | JP | national |
| Filing Document | Filing Date | Country | Kind | 371c Date |
|---|---|---|---|---|
| PCT/JP05/04786 | 3/17/2005 | WO | 11/7/2005 |
