DE202009014897U1 - calibration - Google Patents
calibration Download PDFInfo
- Publication number
- DE202009014897U1 DE202009014897U1 DE200920014897 DE202009014897U DE202009014897U1 DE 202009014897 U1 DE202009014897 U1 DE 202009014897U1 DE 200920014897 DE200920014897 DE 200920014897 DE 202009014897 U DE202009014897 U DE 202009014897U DE 202009014897 U1 DE202009014897 U1 DE 202009014897U1
- Authority
- DE
- Germany
- Prior art keywords
- calibration device
- support arm
- joint
- force sensor
- spring
- 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.)
- Expired - Lifetime
Links
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K11/00—Resistance welding; Severing by resistance heating
- B23K11/10—Spot welding; Stitch welding
- B23K11/11—Spot welding
- B23K11/115—Spot welding by means of two electrodes placed opposite one another on both sides of the welded parts
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K11/00—Resistance welding; Severing by resistance heating
- B23K11/24—Electric supply or control circuits therefor
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K11/00—Resistance welding; Severing by resistance heating
- B23K11/30—Features relating to electrodes
- B23K11/3063—Electrode maintenance, e.g. cleaning, grinding
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K11/00—Resistance welding; Severing by resistance heating
- B23K11/30—Features relating to electrodes
- B23K11/31—Electrode holders and actuating devices therefor
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Resistance Welding (AREA)
Abstract
Kalibriereinrichtung für Punktschweißzangen, bestehend aus einem Gestell (11) mit einem im wesentlichen vertikal ausgerichteten, flurgebundenen Tragarm (12), an dem endseitig ein linear beweglicher, federbelasteter Schlitten (19) mit einem Kraftsensor (6) angeordnet ist, dadurch gekennzeichnet, dass der Tragarm (12) als Schwinge mit einem Gelenk (14) und einer Drehbeweglichkeit um zwei Achsen (x, y) ausgebildet ist.Calibration device for spot welding guns, consisting of a frame (11) with an essentially vertically oriented, floor-mounted support arm (12), on the end of which a linearly movable, spring-loaded carriage (19) with a force sensor (6) is arranged, characterized in that the Support arm (12) is designed as a rocker with a joint (14) and a rotational mobility about two axes (x, y).
Description
Die Erfindung betrifft eine Kalibriereinrichtung mit den Merkmalen im Oberbegriff des Hauptanspruchs.The invention relates to a calibration device with the features in the preamble of the main claim.
Eine solche Kalibriereinrichtung ist aus der
Die
Ferner gibt es in der Praxis Messeinrichtungen mit Raumportalen, die mehrere translatorische Achsen haben. Diese Messeinrichtungen sind für andere Messaufgaben konzipiert und lassen sich für eine Vermessung von Elektrodenkappen nicht ohne technische Änderungen einsetzen. Sie sind außerdem kostenaufwändig. Linearführungen sind generell bauaufwändig und kostenintensiv. Eine Kalibriereinrichtung ist grundsätzlich auch nach der Art eines Gelenkarmroboters mit einer Gelenkkette realisierbar. Dies erfordert eine präzise und kostenaufwändige Bearbeitung.Furthermore, in practice there are measuring devices with room portals which have several translatory axes. These measuring devices are designed for other measuring tasks and can not be used for measuring electrode caps without technical modifications. They are also expensive. Linear guides are generally expensive to construct and costly. A calibration device can basically also be realized in the manner of an articulated arm robot with a joint chain. This requires a precise and costly processing.
Es ist Aufgabe der vorliegenden Erfindung, die Kalibriereinrichtung zur Erfassung von Druckkraft und Position bzw. Verschleiß der gefrästen Elektrodenkappenspitzen zu verbessern und insbesondere die Konstruktion zu vereinfachen und zu verbilligen.It is an object of the present invention to improve the calibration device for detecting pressure force and position or wear of the milled electrode cap tips and in particular to simplify the design and to cheapen it.
Die Erfindung löst diese Aufgabe mit den Merkmalen im Hauptanspruch.The invention solves this problem with the features in the main claim.
Die Ausbildung des Tragarms als Schwinge mit einem um zwei horizontale Achsen drehbeweglichen Gelenk hat den Vorteil, dass der Kraftsensor beim Schließen der Punktschweißzange mehrachsig ausweichen kann, wodurch Fehlstellungen kompensierbar sind. Der linear bewegliche Schlitten des Kraftsensors kann mit einem Wegaufnehmer kombiniert sein, durch dessen Wegmessung der Verschleiß der Elektrodenkappen erfasst werden kann.The formation of the support arm as a rocker with a pivotable about two horizontal axes joint has the advantage that the force sensor can avoid multi-axis when closing the welding gun, whereby misalignments can be compensated. The linearly movable slide of the force sensor can be combined with a displacement transducer, by the displacement measurement of the wear of the electrode caps can be detected.
Etwaige Längenänderungen, die durch eine Schwenkbewegung des Tragarms hervorgerufen werden, können minimiert werden, wenn der Messpunkt des Kraftsensors sich in der vertikalen Ausgangsstellung des Tragarms senkrecht über dem Gelenk befindet. Hierfür ist eine Kröpfung des Tragarms vorteilhaft.Any changes in length that are caused by a pivoting movement of the support arm can be minimized if the measuring point of the force sensor is located vertically above the joint in the vertical starting position of the support arm. For this purpose, a cranking of the support arm is advantageous.
Das Gelenk kann als Kreuzgelenk ausgebildet sein, bei dem sich die Schwenkachsen schneiden. Besondere Vorteile hinsichtlich Reibungsarmut und Preiswürdigkeit hat ein Wellengelenk mit Nadellagern. Für die Rückführung des Tragarms in die Ausgangsstellung können ein oder mehrere Federn vorhanden sein, die vorzugsweise als Parabelfedern ausgebildet sein können. Das Gelenk und die Federn können in einem schützenden rohrförmigen Gehäuse angeordnet sein.The joint may be formed as a universal joint, in which intersect the pivot axes. Special benefits in terms of low friction and price worthiness has a shaft joint with needle bearings. For the return of the support arm in the starting position, one or more springs may be present, which may preferably be formed as parabolic springs. The hinge and springs may be disposed in a protective tubular housing.
Die Kreuzgelenklagerung des Tragarms hat insbesondere in Verbindung mit der Kröpfung den Vorteil, dass die Anordnung wesentlich kostengünstiger ist als eine Kreuzschlittenlagerung oder eine Gelenkkette für den Tragarm. Außerdem erlaubt es die Kreuzgelenklagerung, mit einer einzigen Schlittenführung am Tragarm und einem zugeordneten Wegaufnehmer für den Kraftsensor auszukommen. Günstig ist es hierbei, wenn der Tragarm eine große Länge von 1 m oder mehr aufweist.The universal joint mounting of the support arm has the advantage, in particular in conjunction with the offset, that the arrangement is considerably more cost-effective than a cross slide mount or a link chain for the support arm. In addition, it allows the universal joint bearing to make do with a single carriage guide on the support arm and an associated transducer for the force sensor. It is advantageous if the support arm has a great length of 1 m or more.
In den Unteransprüchen sind weitere vorteilhafte Ausgestaltungen der Erfindung angegeben.In the subclaims further advantageous embodiments of the invention are given.
Die Erfindung ist in den Zeichnungen beispielsweise und schematisch dargestellt. Im Einzelnen zeigen:The invention is illustrated by way of example and schematically in the drawings. In detail show:
Die Erfindung betrifft eine Kalibriereinrichtung (
Die Kalibriereinrichtung (
Wie
Über den Kraftsensor (
Der Tragarm (
Der Kraftsensor (
Der Kraftsensor (
Der Schlitten (
Der Kraftsensor (
Der Messpunkt des Kraftsensors (
Um den Tragarm (
Die Länge des Tragarms (
BezugszeichenlisteLIST OF REFERENCE NUMBERS
- 11
- Kalibriereinrichtungcalibration
- 22
- Schweißzangewelding gun
- 33
- Roboter, SchweißroboterRobots, welding robots
- 44
- Robotersteuerungrobot control
- 55
- Elektrodeelectrode
- 66
- Sensor, KraftsensorSensor, force sensor
- 77
- Leitungmanagement
- 88th
- KappenwechselvorrichtungCap changing device
- 99
- KappenfräsvorrichtungKappenfräsvorrichtung
- 1010
- Kalibriervorrichtung TCPCalibration device TCP
- 1111
- Gestellframe
- 1212
- Tragarm, SchwingeSupport arm, swingarm
- 1313
- Kröpfungcranking
- 1414
- Gelenk, WellengelenkJoint, shaft joint
- 1515
- Feder, ParabelfederSpring, parabolic spring
- 1616
- BasisBase
- 1717
- Rohrpipe
- 1818
- Endanschlagend stop
- 1919
- Schlitten für KraftsensorCarriage for force sensor
- 2020
- Feder, GummifederSpring, rubber spring
- 2121
- Linearführunglinear guide
- 2222
- Wegaufnehmertransducer
- 2323
- Stromsensorcurrent sensor
- 2424
- Auswerteeinrichtungevaluation
ZITATE ENTHALTEN IN DER BESCHREIBUNG QUOTES INCLUDE IN THE DESCRIPTION
Diese Liste der vom Anmelder aufgeführten Dokumente wurde automatisiert erzeugt und ist ausschließlich zur besseren Information des Lesers aufgenommen. Die Liste ist nicht Bestandteil der deutschen Patent- bzw. Gebrauchsmusteranmeldung. Das DPMA übernimmt keinerlei Haftung für etwaige Fehler oder Auslassungen.This list of the documents listed by the applicant has been generated automatically and is included solely for the better information of the reader. The list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions.
Zitierte PatentliteraturCited patent literature
- WO 03/008145 A1 [0002, 0019] WO 03/008145 A1 [0002, 0019]
- DE 20213840 U1 [0003, 0022] DE 20213840 U1 [0003, 0022]
Claims (14)
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE200920014897 DE202009014897U1 (en) | 2009-12-22 | 2009-12-22 | calibration |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE200920014897 DE202009014897U1 (en) | 2009-12-22 | 2009-12-22 | calibration |
Publications (1)
Publication Number | Publication Date |
---|---|
DE202009014897U1 true DE202009014897U1 (en) | 2011-05-26 |
Family
ID=44312011
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
DE200920014897 Expired - Lifetime DE202009014897U1 (en) | 2009-12-22 | 2009-12-22 | calibration |
Country Status (1)
Country | Link |
---|---|
DE (1) | DE202009014897U1 (en) |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
FR3002474A1 (en) * | 2013-02-22 | 2014-08-29 | Peugeot Citroen Automobiles Sa | Device, used for controlling position of tips of welding guns relative to cutter of grinder, comprises target placed in bore after removal from cutter of grinder, and rod comprising two pins projecting axially on opposite sides of target |
Citations (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2003008145A1 (en) | 2001-07-12 | 2003-01-30 | Kuka Schweissanlagen Gmbh | Resistance welding device and control method |
DE20213840U1 (en) | 2002-07-12 | 2003-07-31 | Kuka Schweissanlagen Gmbh | Method for calibrating resistance welding machine comprising welding head mounted on robot arm with electrodes mounted on swiveling arms comprises measuring power between electrodes using sensor |
-
2009
- 2009-12-22 DE DE200920014897 patent/DE202009014897U1/en not_active Expired - Lifetime
Patent Citations (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2003008145A1 (en) | 2001-07-12 | 2003-01-30 | Kuka Schweissanlagen Gmbh | Resistance welding device and control method |
DE20213840U1 (en) | 2002-07-12 | 2003-07-31 | Kuka Schweissanlagen Gmbh | Method for calibrating resistance welding machine comprising welding head mounted on robot arm with electrodes mounted on swiveling arms comprises measuring power between electrodes using sensor |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
FR3002474A1 (en) * | 2013-02-22 | 2014-08-29 | Peugeot Citroen Automobiles Sa | Device, used for controlling position of tips of welding guns relative to cutter of grinder, comprises target placed in bore after removal from cutter of grinder, and rod comprising two pins projecting axially on opposite sides of target |
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Legal Events
Date | Code | Title | Description |
---|---|---|---|
R207 | Utility model specification |
Effective date: 20110630 |
|
R156 | Lapse of ip right after 3 years |
Effective date: 20130702 |