• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    The invention relates to welding, in particular to a device for feeding welding wire to welding equipment. The purpose of the invention is to improve the quality of welding. The welding wire is supplied from the spare tank 5 by means of two feed mechanisms 7 and 8 with drives. The feed mechanism 7, which determines the feed, is located near the welding nozzle 2. The feed mechanism 8 is located near the spare tank 5. The feed gear motor 7 is set to a constant number of revolutions corresponding to the selected feed. Sliding the feed mechanism 8 contributes to the set feed amount of the welding wire 4. The motor of the feed mechanism 8 is adjusted to a constant speed. Adjusting the speed of the mechanisms 7 and 8 is technically related to maintaining a certain difference in feed rate. 6 Il.
    公开号:SU1565340A3
    申请号:SU864028569
    申请日:1986-11-28
    公开日:1990-05-15
    发明作者:Циммер Эрнст；Кайнц Франц；Обермейер Гельмут；Риппль Петер；Штадлер Иозеф；Мазак Карел
    申请人:Кука Швейсанлаген Унд Роботер Гмбх (Фирма)；
    IPC主号:
    专利说明:

    The invention relates to welding, in particular to transporting devices for supplying welding wire to welding equipment, mainly to welding tools for arc welding in shielding gas on the manipulators.
    The aim of the invention is to improve the quality of welding.
    FIG. 1 shows a device for feeding welding wire to welding equipment located on an industrial robot; in fig. 2 — node I in FIG. 1; FIG. 3 is a view A in FIG. 2, in FIG. k - node II ha fig. 1} in FIG. 5 — section BB in FIG. } in FIG. 6 - several welding robots with an external multiple supply system (wire).
    FIG. Figure 1 shows a six-axis industrial robot 1 which, with its own hand, guides the welding equipment 2, for example, in the form of a welding tool for gas-shielded arc welding. A welding wire kf is supplied to the welding nozzle 3, which from the spare tank for the welding wire in the form of a wire roll 5 on the yoke 6 is fed through a device for feeding the welding wire.
    The device for feeding the welding wire consists of a feed mechanism 7 with drives defining the rate
    oh ate
    WITH ъ

    sc
    feed rate and speed of the second drive of the second feed mechanism 8, located near the roll 5, which moves the welding wire 4 by means of the welding wire 4, which is freely movable in space of the guide 9, in the form of an elastic hose to the drive of the feed mechanism located in the industrial robot arm.
    An industrial robot, using a welding nozzle 3, performs welding of the surface. For this purpose, the welding nozzle 3 moves, and the speed of the guide 9 may also change. The guide 9 of the welding wire 4 must follow the same trajectory, as a result of which it changes its bending and is also subjected to torsional loads. Such changes in shape result in constantly varying frictional resistances and vibrations that affect the stable supply of welding wire. To the feeder mechanism 7, which determines the feed rate of the welding wire, the wire 4 should always be supplied with a possible constant force and speed. If these forces begin to oscillate, this also leads to a change in the number of revolutions in the drive of the feeding mechanism 7 and, consequently, to a change in the feed rate of the welding wire 4.
    The device provides the alignment of the vibrations of these efforts.
    The drives of mechanisms 7 and 8 have, respectively, 10 and 11 direct current motors with independent excitation, equipped with a rotation speed control mechanism made in the form of an AC tachogenerator. The specified number of revolutions is regulated so that the feed rate of the drive of the feed mechanism 8 is 10-40% higher than the wire feed speed of the drive of the drive mechanism 7. The motors 10 and 11 of both drives are connected to each other through the control system, so that a change in the speed of the drive of the feed mechanism 7 causes a similar change in the speed of the drive of the feed mechanism 8. Thus, in all working conditions, the established difference in feed rates is maintained.
    ten
    20
    25
    J5
    ,
    5340
    The feed mechanism 8 acts through a hinged jointing clamp.
    12 (FIGS. 4 and 5) to the welding wire 4, whereby the welding wire 4 is fed through the motor shaft 11 drilled with an annular drill. The hinged connecting clamp 12 consists of two rollers 13 and 14 which hold the welding wire 4 to each other in the terminal circuit. The rollers 13 and 14 are set obliquely with respect to the welding wire 4, with their axes intersecting. Roller axis
    13 and 14 in the roller holder 15 of the hinge joint clamp 12 can be adjusted with respect to the welding wire C and guided by spring pressure. As a result, the rollers 13 and 14 can be mounted and pressed radially with respect to the welding wire 4. The roller holder 15 is rotated by the motor 11, as a result of which the rollers 13 and 14 freely rotating on the bearings move around the welding wire 4 and at the same time begin to rotate themselves. As a result of this rotational envelope motion of obliquely mounted rollers
    13 and 14, the welding wire 4 is fed in the direction of the arrow (Fig. 4).
    The hinged connecting clamp 12 feeds through its rollers 13 and 14 welding wire 4 with a slide. The maximum transferable friction force, i.e. the sliding limit can be adjusted by means of the spring pressure of the rollers. At the same time, the slip limit is adjusted so that the frictional force at least would be equal (but mostly much greater) to the maximum frictional resistance, which in the guide 9 of the welding wire affects the welding wire feed.
    This leads to the fact that the feed mechanism 5Q 8, overcoming the oscillating resistance of friction in the guide wire 9 of the welding wire, provides the supply of welding wire 4 to the feed mechanism 7 to a large extent with stable force and CKODOC. As soon as, for example, in the section of the welding wire guide 9, the resistance becomes minimal, the sliding of the mechanism 8
    thirty
    35
    40
    V
    45
    55
    51
    filing contributes to
    the force with which the welding wire 4 is fed into the feed mechanism 7 does not exceed the pre-set maximum value, and as a result, the feed mechanism 7 is moved or the welding wire 4 is bent and bent, passing with a gap in the welding wire guide 9. The slide of the feed mechanism 8 for this is adjusted to the feed conditions of the feed mechanism 7.
    The feed mechanism 7 has a two-wire wire drive 16 (Figs. 2 and 3) in which both rollers 17 are driven. Welding wire A is introduced between the two opposite rollers 17 through the feed nozzle 18, which clamp it together and allow it to move further through the exhaust nozzle 19. When using a two-roller wire drive 16, the feed speeds of the feed mechanisms 7 and 8 are about 20%.
    Instead of the above-described mode of operation using shear (slip) as a result of the more quickly operating feed mechanism 8, vibrations of friction force can also be leveled using thrust. Then, the feed mechanism 8 operates at a feed rate that is about 10-40% lower than the speed of the feed mechanism 7, and while equalizing the force oscillations in the guide 9 of the welding wire k, brakes the feed of the welding wire to the feed mechanism 7.
    FIG. 6 shows a modification of the device. Wire rolls 5 stock up outside all welding robots. The welding wire 4 is fed externally to the individual welding robots through a longer section using several feeding mechanisms 8. However, the individual welding robots have an additional feed mechanism 8 and a feed mechanism according to the exemplary embodiment (Fig.), To which the welding wire kr is fed.
    The feed mechanism 8 in the welding robot and the feed mechanism 8 in the conveying area leading to the central warehouse 20 are mainly implemented
    0
    0
    five
    3
    0
    five
    0
    five
    0
    five
    / if) 6
    yens are the same and work with the same number of turns and with the same slip.
    According to another embodiment of the device, it is also possible to regulate the speed and the sliding stepwisely within the supply chain. In this case, the individual mechanisms 8 can be performed differently, in this case, for example, only one feed mechanism 8 on the welding robot can be equipped with a speed control system and connected to the feed mechanism 7 by automatically adjusting. On one feed mechanism 8 there must be a hinged connecting clamp 12, while the rest of the feed mechanisms 8 have other sliding drive systems.
    Sliding the individual feed mechanisms 8 also serves to reduce the engine loads of both drives of the feed mechanisms 7 and 8.
    To increase operational reliability, it is recommended to monitor the parameters of the welding process. For this, motor currents are controlled for each weld, as a result of which the control device and drive motors of this device are independently protected. In addition, the condition of the welding tool, in particular the burner and the contact tube, as well as the welding wire guide 9, is also monitored at the same time. Using such measures, it is possible to provide an indication of a possible blocking of the device, for example, by setting the maximum current load for a certain period and make timely device shutdown.
    权利要求:
    Claims (1)
    [1]
    Invention Formula
    A device for supplying welding wire to welding equipment, mainly for welding tools for circular welding in shielding gas on the manipulators, containing a spare tank for welding wire, wire feeders with direct-drive drives of independent excitation, and an associated automatic control system drive speeds, the feed speed adjustment mechanism, the feed mechanism with a drive that determines the feed speed and the speed of the second drive is located in the zone and a welding nozzle, and the second feeder is located in the zone of placement of the spare tank and is made planetary, characterized in that, in order to improve the quality of welding, the feeder with a drive that determines
    the feed rate and speed of the second drive are made in the form of two drive rollers, the planetary feed mechanism is made in the form of a hingedly mounted rotatably clamp with spring-loaded rollers, the feed speed control mechanism is made in the form of an AC tachogenerator connected to DC drives and automatic control system.
    7 7
    Fig 2
    fig.Z
    eight
    Compiled by L.Nazarova. Editor L.Veselovska Tehred M.MorgentalKorrektor.Kravtsova
    Order 1166
    Circulation 653
    VNIIPI State Committee for Inventions and Discoveries at the State Committee on Science and Technology of the USSR 113035, Moscow, Zh-35, Raushsk nab., D. V5
     - --- - - - "---- - - ----- -.,.„. - „- -. - -. --- .- ™ ™ - - - - .., -. ---.- ..
    Production and Publishing Combine Patent, Uzhgorod, Gagarin str., 191
    6-6
    FIG. five
    Subscription
    类似技术:
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    US4151390A|1979-04-24|Tool holder head, particularly for welding yokes and guns
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    同族专利:
    公开号 | 公开日
    AT55300T|1990-08-15|
    DE3542314A1|1987-06-04|
    DE3542314C2|1988-08-25|
    CN86108357A|1987-06-17|
    US4757180A|1988-07-12|
    CN1010663B|1990-12-05|
    DE3673351D1|1990-09-13|
    EP0224822A1|1987-06-10|
    EP0224822B1|1990-08-08|
    引用文献:
    公开号 | 申请日 | 公开日 | 申请人 | 专利标题
    RU208810U1|2021-01-25|2022-01-14|Российская Федерация, от имени которой выступает Государственная корпорация по атомной энергии "Росатом"|TI-NI WIRE FEED|US3293477A|1964-01-22|1966-12-20|Union Carbide Corp|Push-pull welding wire drive system|
    US3344305A|1965-12-06|1967-09-26|Ogden Eng Corp|Tandem drive welding wire feed arrangement for semi-automatic welding equipment|
    DE6605942U|1968-04-20|1970-07-30|Messer Griesheim Gmbh|ELECTRODE WIRE FEEDER FOR ARC WELDING WITH ONE PULLING AND ONE PUSHING WIRE DRIVE|
    JPS4825633B1|1970-07-24|1973-07-30|
    BG18668A1|1973-01-30|1975-03-20|
    US3898419A|1973-03-26|1975-08-05|Whiteman Mfg Co|Welding apparatus|
    US3924094A|1973-11-15|1975-12-02|Crayton John W|Welding control arrangement with orbital torch-mounted transducing assembly|
    BG23280A1|1975-09-24|1977-08-10|
    BG24442A1|1975-09-24|1978-03-10|Iski Samokovli|Device for modular feed of electrode bodies at great distances|
    BG25847A1|1977-06-16|1979-01-12|
    JPS5736372Y2|1978-09-21|1982-08-11|
    US4539465A|1983-12-30|1985-09-03|Westinghouse Electric Corp.|Wire feed system for robot welder|
    DD225367A1|1984-07-09|1985-07-31|Zentralinstitut Schweiss|DEVICE FOR STABILIZING THE WELDING WIRE FEEDER IN AUTOMATIC ARC WELDING MACHINES|DE3825345A1|1988-07-26|1990-02-01|Kuka Schweissanlagen & Roboter|WELDING TORCH|
    DE3827508C2|1988-08-12|1991-08-08|Kuka Schweissanlagen + Roboter Gmbh, 8900 Augsburg, De|
    IT1241696B|1990-09-28|1994-01-31|Sapri Spa|AUTOMATIC WELDING APPARATUS|
    DE19732379C2|1997-07-25|1999-05-27|Kuka Schweissanlagen Gmbh|Method and device for conveying welding wire|
    DE29713998U1|1997-08-06|1998-08-06|Kuka Schweissanlagen Gmbh|Welding device for manipulators|
    JP2001269884A|2000-03-28|2001-10-02|Matsushita Electric Ind Co Ltd|Industrial robot|
    US6388234B1|2000-05-25|2002-05-14|Illinois Tool Works Inc.|Apparatus and methods for directing and feeding wire|
    DE10032096A1|2000-07-01|2002-01-24|Kuka Roboter Gmbh|Device network and control cabinet for such|
    AT411232B|2001-04-24|2003-11-25|Fronius Schweissmasch Prod|CENTRAL CONNECTION OR CENTRAL GUIDE HOUSING FOR A HOSE PACKAGE|
    US6907318B2|2003-01-09|2005-06-14|Advanced Tubing Technology, Inc.|Multi-station robotic welding assembly|
    JP2005342859A|2004-06-04|2005-12-15|Fanuc Ltd|Industrial robot|
    US8395085B2|2010-02-23|2013-03-12|Illinois Tool Works Inc.|Wire feed speed referenced variable frequency pulse welding system|
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    JP5920314B2|2013-11-01|2016-05-18|株式会社安川電機|robot|
    JP6245096B2|2014-07-10|2017-12-13|株式会社安川電機|Robot and robot system|
    CN104526119B|2015-01-04|2017-02-22|麦树雄|Method and device capable of stably guiding welding wire out|
    CN104959708B|2015-08-05|2017-05-03|安吉金科机械设备有限公司|Coordinate welding manipulator|
    TWI599431B|2015-11-03|2017-09-21|財團法人工業技術研究院|Laser treatment device and laser scrap removal device|
    US20170151622A1|2015-11-30|2017-06-01|Illinois Tool Works Inc.|Welding process wire feeder adapter insulator|
    JP6361846B1|2017-03-31|2018-07-25|日本精工株式会社|Laser welding apparatus, laser processing apparatus, laser welding method, bearing manufacturing method, machine manufacturing method, and vehicle manufacturing method|
    CN108620775B|2018-04-27|2020-11-20|聊城扬帆田一机械有限公司|Intelligent welding robot arm|
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    法律状态:
    优先权:
    申请号 | 申请日 | 专利标题
    DE3542314A|DE3542314C2|1985-11-29|1985-11-29|
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