CN105081570A

CN105081570A - Tool for assembling components and system and method for same

Info

Publication number: CN105081570A
Application number: CN201510259782.5A
Authority: CN
Inventors: N.D.麦凯
Original assignee: GM Global Technology Operations LLC
Current assignee: GM Global Technology Operations LLC
Priority date: 2014-05-20
Filing date: 2015-05-20
Publication date: 2015-11-25
Anticipated expiration: 2035-05-20
Also published as: CN105081570B

Abstract

A tool for assembling first and second components includes a tool body having a first roller element rotatably mounted to the tool body and rotatable about a first axis of rotation. A second roller element is rotatably mounted to the tool body and is rotatable about a second axis of rotation nonparallel with the first axis of rotation. A third roller element is rotatably mounted to the tool body and is rotatable about a third axis of rotation nonparallel with the first axis of rotation. The second and third roller elements define a gap between one another. At least one clamping device provides clamping force directing one of the second and the third roller elements toward the gap. A weld head is operatively connected to the tool body. A system and method are provided for welding components to one another using the tool.

Description

For the instrument of assembling parts, system and method thereof

The relevant application of cross reference

This application claims the priority enjoying in U.S. Provisional Application that the U.S. Provisional Application submitted on June 6th, 2014 number on May 20th, 62/008,658 and 2014 submits to numbers 62/000,829, it is all incorporated in the mode quoted at this.

Technical field

This instruction generally includes instrument, system and method, for assembling multiple component parts, such as but not limited to vehicle main body component, and ship, Architectural Equipment, meadow equipment, or robot.

Background technology

Vehicle body by many in order to suitable function and aesthetic feeling sufficiently the structure member be accurately assembled into each other form.Vehicle body comprises multiple sub-component, and each sub-component has some subassemblies.Typically, special permanent plant (fixtures) is designed for wanting assembled one or more subassemblies provide and locate each subassembly relative to each subassembly.These permanent plants were needing the development time of prolongation and considerable capital investment to carry out Design and manufacture before assembling vehicle main body component.In addition, permanent plant takies a large amount of occupation of land spaces.

Summary of the invention

Instrument for assembling first component and second component comprises tool body, and this tool body has multiple roller elements mounted thereto.First roller element is rotatably installed to tool body and is rotatable around the first rotating shaft.Second roller element is rotatably installed to tool body and around being rotatable with nonparallel second rotating shaft of the first rotating shaft.3rd roller element is rotatably installed to tool body and around being rotatable with nonparallel 3rd rotating shaft of the first rotating shaft.Second and the 3rd roller element limit gap each other.At least one clamping device provides second and the 3rd at least one chucking power towards described gap orientation of roller element.Plumb joint is also operatively coupled to tool body.

In one embodiment, first roller element contacts the edge surface of the first and second parts, first ledge surface of the second roller element contact first component, and the second ledge surface of the 3rd roller element contact second component, when the first and second parts are in described gap.By this layout, plumb joint is oriented to arrive each other with weld flange surface.

Tool body can comprise the first main part and be operatively coupled to the second main part of this first main part; Second main part is movable relative to the first main part.Clamping device is installed to tool body and is configured to provide chucking power to the second main part, thus makes the second main part relative to the first main part motion to make the 3rd roller element towards the second roller member motion and to reduce described gap.Preferred clamping device is the actuator with motor.

This instrument also can comprise force measuring device, and it is operatively coupled to tool body and is configured to measure chucking power.Preferred force measuring device is installed to the first main part and the deformeter of contiguous second roller element.

Plumb joint can be laser welding system.Instrument can comprise gas spray pipe further, and it is installed to laser welding system and the tool body between one of the second roller element and the 3rd roller element; Gas spray pipe is configured to inert gas is spread.

Instrument also can comprise the camera being installed to tool body; This camera can have the visual field that comprises the path of welding relevant with plumb joint and be combined with a controller, this controller is operatively connected to camera and has machine vision program, this machine vision program can be exercisable with the welding quality determining the welding along described path of welding, also can be exercisable to determine to be provided by described plumb joint and the welding characteristic of welding in the described visual field.

Described instrument also comprises base; And biddability component, it connects described base to tool body, and is configured so that the change of tool body in response to chucking power is relative to pedestal movable.This biddability component can be spring.

Described instrument also can comprise following at least one: force measuring device, be operatively coupled to described biddability component and be exercisable with the change of ergometry, and motion sensor, be operatively coupled to described tool body and described base be configured in the lump measure the displacement of described tool body relative to described base.

System for assembling first component and second component comprises electronic controller, and is operatively coupled to electronic controller and is movable robots arm by electronic controller.Robots arm is operatively coupled to one of instrument and the first and second parts.The plumb joint being operatively coupled to tool body is also operatively coupled to electronic controller and can be controlled by electronic controller, provides the welding along path of welding to make robots arm move along with electronic controller.

Instrument has tool body; First roller element, is rotatably installed to tool body and is rotatable around the first rotating shaft; Second roller element, is rotatably installed to tool body and around being rotatable with nonparallel second rotating shaft of the first rotating shaft; 3rd roller element, is rotatably installed to described tool body and around being rotatable with nonparallel 3rd rotating shaft of the first rotating shaft; Second roller element and the 3rd roller element limit gap each other; At least one clamping device, provides at least one chucking power towards described gap orientation in the second roller element and the 3rd roller element; And plumb joint, it is operatively coupled to tool body and electronic controller and is controllable by electronic controller, one of instrument and vehicle main body component is moved along path of welding to make robots arm move along with electronic controller and provides the welding along this path of welding.

Instrument can comprise the base being fixed to robots arm; Biddability component, this biddability component connects base to tool body, to make tool body be movable relative to base and robots arm along biddability axle in response to the change of chucking power, the change of this chucking power is arranged in described gap and controller makes robots arm move to cause when roller element is rolled along first component and second component when first component and second component.

Tool body can comprise the first main part and the second main part, and the second main part is movable relative to the first main part; Clamping device is installed to tool body and is configured to provide chucking power to the second main part, thus makes the second main part relative to the first main part motion to make the 3rd roller element towards the second roller member motion and to reduce described gap.

This system also can comprise support member, this support member be oriented to make when first component and second component in described gap and plumb joint welding first component to rest on support member and by this supports support to first component during second component.

The method of assembling parts comprises via electronic controller control tool to make instrument and the first and second component contact and to provide the chucking power be clamped to by the first and second parts each other.Described method comprises further makes robots arm move instrument is rolled along the first and second parts via controller, and is welded to each other by the first and second parts by the plumb joint being installed to described instrument between robots arm moving period.Except by not needing except instrument to provide the first and second parts to other clamping each other.

The method also comprises control clamping device to make chucking power in the preset range of predetermined chucking power.

After this method also can be included in described welding, via electronic controller, movement of tool is not contacted with second component with the first component of welding to make this instrument; Via electronic controller control tool to make instrument and the 3rd parts and the 4th component contact and to provide the chucking power the 3rd parts and the 4th parts are clamped to each other; First component and second component can have the geometric configuration different with the 4th parts from the 3rd parts; Described robots arm is made to move that described instrument is rolled along the 3rd parts and the 4th parts via controller; And by plumb joint, described 3rd parts and the 4th parts are welded to each other between described moving period.

First component and second component are placed on support member by the weld period that preferred this method is also included in first component and second component; And at the weld period of the 3rd parts and the 4th parts, the 3rd parts and the 4th parts being placed on described support member, this support member is can carry out operating independent of the geometric configuration of described parts at described weld period thus.

Instrument provided by the invention, system, and method can be used to assemble multiple component parts miscellaneous, and such as but not limited to vehicle main body component, ship, Architectural Equipment, meadow equipment, robot etc.This instrument, system and method can reduce the production cost and development time of introducing new multiple component parts, because for the Special support part of different parts and instrument be not.Complex component keep ratchet (pallet) and permanent plant be not required because described instrument can when not needing their accurate initial placement welding assembly.Because parts itself are used as the guide member setting up path of welding by instrument, can be welded flexibly and rapidly by the different sub-components of different vehicle main body component.When welding for vehicle main body component, such as, described instrument, system and method can reduce the production cost and development time of introducing new auto model.

The above feature and advantage of this instruction and other feature and advantage from the following detailed description to the optimal mode for realizing this instruction and and accompanying drawing is taken into consideration time be apparent.

Accompanying drawing explanation

Fig. 1 is the partial cross sectional of a part for system for assembling vehicle part and the schematic diagram of local Side view, comprises the instrument of the assembling for vehicle part;

Fig. 2 is the partial cross sectional of the instrument of first and second vehicle main body component of clamp standoff on support member of Fig. 1 and the schematic diagram of local Side view;

Fig. 3 is the partial cross sectional of the instrument of third and fourth vehicle main body component of clamp standoff on support member of Fig. 1 and the schematic diagram of local Side view;

Fig. 4 is the partial schematic diagram of the end-view form of a part for the instrument of contact vehicle main body component, for the sake of clarity, and not shown tool body;

Fig. 5 is the schematic plane that the protective gas jet pipe of the Part I being installed to tool body, plumb joint and the instrument of camera and a part for system are shown;

Fig. 6 is the weld flange of the first and second vehicle main body component be supported on support member and the schematic bottom view of contacted instrument;

Fig. 7 is the schematic diagram of the perspective view of support member for vehicle main body component;

Fig. 8 is the schematic diagram of the perspective view of the system of the support member of support first and second vehicle main body component that Fig. 7 is shown of Fig. 1;

Fig. 9 is the schematic diagram of the perspective view of another embodiment of system for assembling vehicle part, comprises the instrument of the assembling for vehicle part; And

Figure 10 is the flow chart of the method for assembling vehicle part.

Detailed description of the invention

With reference to accompanying drawing, wherein in whole view, identical Reference numeral refers to identical parts, and Fig. 1 illustrates the system 10 for assembling parts such as vehicle main body component.This system to comprise when vehicle main body component is supported on support member 28 and not only clamps but also weld the vehicle main body component of different configuration to instrument 12 each other, is best shown in Fig. 8 and 9.Vehicle main body component can be stamped metal plate, and welding can pass through laser weld, although the welding of other types can be used.Due to the feature of instrument 12 described here, instrument 12 does not have, and support member 28 is not also configured to particularly or is limited to for specific parts.In other words, instrument 12 can be assembled and weld different parts, and do not use the routine being designed for the particular elements with specific space matching particularly grip equipment.In addition, although the specific embodiment illustrated describes about vehicle main body component, system 10 described here, instrument 12 and method 100, can be used for the assembling of the multiple component parts in different technologies miscellaneous.

More particularly, instrument 12 can be installed to the robots arm 14 of the robot 15 (shown in Figure 8) controlled by electronic controller C, for multidirectional motion, such as, at X, Y, and Z-direction is moved.In another embodiment of system 10A (shown in Figure 9), instrument 12 can be fixed to static component 17, one or more robots arm 14A is operably connected to vehicle main body component 26A, and 26B is to make vehicle main body component 26A, and 26B moves relative to instrument 12.Such as, in the embodiment in fig. 9, robots arm 14A can make support member 28A move, and vehicle main body component 26A, 26B are supported on described support member 28A.Robots arm 14A and support member 28A runs with can being similar to conveyer.

Referring again to Fig. 1, instrument 12 has the tool body 16 comprising the first main part 18 and the second main part 20d.Instrument 12 has multiple roller element, the plurality of roller element is along various different parts, the vehicle main body component 26A of such as Fig. 2,26B, contact and rolling, as explained further at this, can make instrument 10, by plumb joint 60 (see Fig. 4 and the 6) weld period being installed to the first main part 18, vehicle main body component 26A, 26B are being used as guide member.

The first main part 18 that first roller element 22A is rotatably installed to tool body 16 is rotatable to make the first roller element 22A around the first rotating shaft A1.The first main part 18 that second roller element 22B is rotatably installed to tool body 16 is rotatable to make it around the second rotating shaft A2.Second rotating shaft A2 is angled relative to the first rotating shaft A1 to make it and the first rotating shaft A1 be nonparallel.In the illustrated embodiment, the second rotating shaft A2 is substantially perpendicular to the first rotating shaft A1.The second main part 20 that 3rd roller element 22C is rotatably installed to tool body 16 is rotatable to make it around the 3rd rotating shaft A3.3rd rotating shaft A3 is angled relative to the first rotating shaft A1 to make it and the first rotating shaft A1 be nonparallel.In the illustrated embodiment, the 3rd rotating shaft A3 is substantially perpendicular to the first rotating shaft A1.In the illustrated embodiment, roller element 22A, 22B, 22C are normally circular.Although only illustrate roller element 22A, 22B, 22C, instrument 12 can have and roller element 22A, and 22B, 22C connect or be installed to main part 18 abreast, the other roller element of 20.In FIG, the second main part 20 is located to make second and the 3rd rotating shaft A2, and A3 is usually parallel to each other.

As discussed further at this, the second main part 20 is movable to make the 3rd roller element 22C move relative to the second roller element 22B relative to the first main part 18, and roller element 22B, the size in the gap between 22C can increase or reduce.Specifically, the second main part 20 is operatively coupled to the first main part 18, and is movable relative to the first main part 18.In the illustrated embodiment, the pivot P place that the second main part 20 has pivotal line P1 such as pivotable hinge is pivotably connected to the first main part 18.Second main part 20 thus can around in first direction of rotation of pivotal line P1, such as ground clockwise, motion, with reduce shown in Fig. 2 from clearance G 1 to the gap of clearance G 2.Second main part 20 also around in second direction of rotation of pivotal line P1, such as withershins, can be moved, to increase the gap from the clearance G 1 shown in Fig. 1 to the clearance G 3 shown in Fig. 3.In other examples, the second main part 20 is linearly movable relative to the first main part 18, such as, have the linear slide of ball screw instead of the clamping device of rotary actuator by comprising.In in these embodiments any one, instrument 12 can hold the vehicle main body component of different piling height thus in gap, and maintenance simultaneously second and the 3rd roller element 22B, 22C contacts with vehicle main body component.By with this configuration registration roller element 22A, 22B, 22C, the vehicle main body component be inserted in described gap is used as by instrument 12 to be set up and along the guide member of a path of welding, as discussed further at this.

In fig. 2, the first vehicle main body component 26A and the second vehicle main body component 26B is supported on support member 28.As shown in Figure 7, support member 28 can be simple flat surfaces 29, without any being used for relative to support member 28 positioned vehicle main element 26A, and the concrete permanent plant of 26B.Such as, in fig. 8, to rest on support member 28 on the surface 29 that the first vehicle main body component 26A is only placed on support member 28, the second vehicle main body component 26B piles up and rests on the first vehicle main body component 26A.Fig. 2 illustrates that described instrument 12 is positioned as making the first roller element 22A and the first and second vehicle main body component 26A, the edge surface 30A of 26B, 30B contacts, second roller element 22B contacts the first ledge surface 32A of the first vehicle main body component 26A, 3rd roller element 22C contacts the second ledge surface 32B of the second vehicle main body component 26B, when the first and second vehicle main body component 26A, 26B are on support member 28 and at roller element 22B, time in the clearance G 2 between 22C.Clearance G 2 is less than clearance G 1, because the second main part 20 in the view of Fig. 2 around pivotal line P1 relative to Fig. 1 view a little clockwise ground pivotable to hold the first and second vehicle main body component 26A, the flange of the relatively short piling height of 26B.Roller element 22A, 22B, 22C maintain the contact with the first and second vehicle main body component 26A, 26B by instrument 12.

In figure 3, on the other hand, instrument 12 is positioned as making the third and fourth different vehicle main body component 26C, 26D is at roller element 22B, first roller element 22A and the third and fourth vehicle main body component 26C between 22C, the edge surface 30C of 26D, 30D contacts, second roller element 22B contacts the first ledge surface 32C of the 3rd vehicle main body component 26C, and the 3rd roller element 22C contact the second ledge surface 32D of the 4th vehicle main body component 26D, as the third and fourth vehicle main body component 26C, 26D is on support member 28 and at roller element 22B, time in clearance G 3 between 22C.Clearance G 3 is greater than the clearance G 1 of Fig. 1 and is greater than the clearance G 2 of Fig. 2, because the second main part 20 in the view of Fig. 2 around pivotal line P1 a little withershins pivotable to hold the third and fourth vehicle main body component 26C, the flange of the larger piling height of 26D, maintain roller element 26A simultaneously, 26B, 26C and the third and fourth vehicle main body component 26C, 26D contact.Although described gap size alterable, as what indicated by clearance G 1, G2 and G3, in order to the object discussed, the clearance G 1 herein the related to size that can comprise when described gap reduces such as to arrive situation when clearance G 3 is such as arrived in clearance G 2 or size increase.

Instrument 12 is also configured to vehicle main body component 26A, 26B are clamped to each other in clearance G 1.Clamping device 34 is installed to tool body 16 and is configured to applying power and is tending towards promoting the second main part 20 around pivotal line P1 in the clockwise direction in the second main part 20, causes the chucking power of the 3rd roller element 22C to vehicle main body component 26B or 26D.As shown in Figure 1, clamping device 34 comprises motor 36, this motor be installed to the first main part 18 extension 38 and can by controller C control with make lead screw 40 by the both direction shown in bilateral arrow A 4 any one in move.Controller C can work as robots arm 14 thus makes instrument 12 when the path of welding W path of welding W that such as Fig. 8 indicates moves, ensure that the chucking power provided remains in the preset range of predetermined chucking power relative to vehicle main body component 26A, 26B.In other examples, instrument 12 is fixed, and instead robots arm makes vehicle main body component 26A, and 26B moves relative to instrument 12.As apparent in fig. 8, vehicle main body component is the first and second vehicle main body component 26A such as, any one had band in 26B complicated, the uneven surface 32A of contoured profile, 32B, cause at roller element 22B, the piling height of the vehicle main body component 26A between 22C, 26B is moved (or alternatively along path of welding W along with instrument 12, along with robots arm makes vehicle main body component 26A, 26B moves relative to instrument 12) and increase and reduce.Although gap can change along path of welding W, such as from clearance G 1 to clearance G 2 to change such as clearance G 3 grade, controller C can control chucking power to constant level between such moving period, if desired, the position of lead screw 40 and the second main part 20 is thus regulated by controlling motor 36.Any other suitable clamping device can be used to be positioned over roller element 22B, and by roller element 22B in the vehicle main body component between 22C, 22C provides chucking power.In other examples, motor 36 can be mounted to pivotal line P1 is coaxial.

The sensor signal that provides force measuring device 42 arrives the controller C of instruction chucking power, thus allows controller C to monitor and regulate chucking power substantially to keep constant or in predefined parameter.In FIG, force measuring device 42 is installed to the first main part 18 and the deformeter adjacent with the second roller element 22B.Still in other examples, clamping device can be passive torque spring, and it arranges to provide the constant angle bias force that the second main part 20 is biased in FIG clockwise coaxially about pivotal line P1.In addition, clamping device can be Hookean spring.These embodiments any one in, chucking power can be provided by the instrument 12 that can use together from various different vehicle main body component, instead of must be designed to the permanent plant consistent with the concrete geometry of some vehicle main body component.

Except can make control and/or the chucking power of relative constancy, instrument 12 be configured to be provided in usually perpendicular to the first roller element 22A the first rotating shaft A1, by the compliance (compliance) in biddability (compliance) axle A5 indicated direction.Biddability device comprises base 50, guide member 52, and biddability component 54.Instrument 12 be installed to robots arm 14 base 50 or, in other examples, base 50 is installed to fixed component.Guide member 52 extends from described base as usual columnar component, around the first main part 18 a part thus usually restriction the first main part 18 relative to base 50 along and/or moving of moving around biddability axle A5.Biddability component 54 allow the first main part 18 relative to base 50 along and/or moving around biddability axle A5, but be to provide and make the first main part 18 and roller element 22A mounted thereto, 22B is at the bias force of the direction upper offset away from base 50.According to width and the shape of guide member 52, the first main part 18 can be to rotate and translation.In FIG, biddability component 54 is helical springs of compression type.Other suitable biddability components can be used in the scope of this instruction.

As shown in Figures 2 and 3, biddability device 50,52,54 make roller element 22A against being positioned at roller element 22B, the vehicle main body component 26A between 22C, 26B, or the respective edge surface 30A of 26C, 26D, 30B, or 30C, 30D are biased.Roller element 22A is called as guiding roller because it via biddability device and edge surface 30A, the constant contact of 30B or 30C, 30D and along edge surface guiding tool 12.This guarantees that plumb joint 60 and relevant welding laser beam B (being shown in Fig. 4-6) are relative to ledge surface 32A, 32B, or 32C, the suitable location of 32D, and guarantee thus along vehicle main body component 26A, 26B, or the correct position of the path of welding W of 26C, 26D.

Biddability device 50,52,54 and clamping device 34 thus vehicle main body component they oneself is used as guide member (that is, edge surface 30A, 30B, or 30C, 30D and ledge surface 32A, 32B, or 32C, 32D) relative to vehicle main body component orientation tool 12 consistently.There is no biddability device 50,52,54 and the help of clamping device 34 when, robots arm 14 thus need not with it can need such relative to vehicle main body component 26A, 26B, or 26C, 26D accurately orientation tool 12 determine suitable path of welding.

Referring again to Fig. 1, biddability device 50,52,54 can be equipped with force measuring device such as deformeter 55, and it is operatively coupled to biddability component 54 and is exercisable, to measure by biddability device 50,52,54 are applied to vehicle body component 26A via roller element 22A, the change of the power of 26B or 26C, 26D.Further, motion sensor 56 is operably connected to the first main part 18 or base 50 to measure the first tool body part 18 relative to the displacement of base 50 along biddability axle A5.In FIG, motion sensor 56 is represented as hall effect sensor, its be installed to guide member 52 and be exercisable with the motion by referring to the magnet 58 being installed to main part 18 detected to determine the motion of main part 18.Selectable deformeter 55 and motion sensor 56 communicate with controller C to provide sensor signal to arrive controller C.The position that controller C can use the sensor signal of transmission such as to come via robots arm 14 adjustment means main body 16, or the chucking power provided by clamping device 34 is provided.

In addition, because instrument 12 passes through robots arm 14 along vehicle main body component 26A, 26B, or 26C, 26D motion (or be fixed at instrument 12 instead of be installed in the embodiment of robots arm 14, vehicle main body component 26A, 26B, or 26C, 26D moves relative to instrument 12), the chucking power of this roller element 22c and can contributing to vehicle main body component 26A, 26B along the bias force that biddability axle A5 is provided by roller element 22A, or 26C, 26D relative to each other aim at.Such as, if vehicle main body component 26A, 26B, or 26C, the projection 57 that 26D is such as coordinated with depression 59 by self-aligned features portion is molded (as Fig. 2, shown in 8 and 9) at diverse location, and so chucking power and bias force can contribute to these features to be fitted to each other.The predetermined chucking power provided by clamping device 34 can be configured to make adjacent vehicle main body component 26A, 26B, or 26C, 26D aims at fully each other and guarantees vehicle main body component 26A simultaneously, 26B, or the predetermined deviation distance D (being shown in Fig. 2 and 3) between 26C, 26D is maintained along path of welding W, this can be desired by Laser Welding Quality.

Fig. 4-6 illustrates that plumb joint 60 is relative to roller element 22A, the position of 22B, 22C.Fig. 5 and 6 illustrates that described plumb joint 60 is supported by the first main part 18 and from the first tool body part 18 orientation welding laser beam B (in Figure 5 upwards), falls on the ledge surface 32A shown in Fig. 2 to make welding laser beam B.In other examples, plumb joint 60 can belong to the welding of another type, such as electric resistance welding.When plumb joint 60 belongs to laser weld, protective gas jet pipe 62 is installed to the first main part 18 between Laser Welding head 60 and the second roller element 22B.Described gas spray pipe 62 is configured to make inert gas make it avoid the atmospheric gas suffering to affect welding characteristic towards the first vehicle main body component 26A diffusion to protect welding.Fig. 4 schematically shows the relative position of plumb joint 60 and roller element 22B, but for the sake of clarity, tool body 16 is removed.Correspondingly, plumb joint 60 is exercisable to weld the first and second vehicle main body component 26A at ledge surface 32A, 32B, and 26B is to each other.

Illustrate as best in figs. 5 and 6, from roller element 22A to the distance D2 at the center in laser beam B of plumb joint 60 be also the distance from the edge surface 30A of the first vehicle main body component 26A to path of welding W.Because biddability device 50,52,54 ensure that roller element 22A is biased to contacts with edge surface 30A, and path of welding W is by vehicle main body component 26A, their geometry of 26B determine instead of by vehicle main body component 26A, 26B relative to the fixing of support member 28 and location.Controller C and robots arm 14 also need not accurately locate and follow the tracks of vehicle main body component 26A, and 26B determines path of welding W.In addition, when instrument 12 is used for clamping and welding different vehicle main body component such as vehicle main body component 26C, during 26D, biddability device 50,52,54 and clamping device 34 can ensure that instrument 12 is along edge surface 30C equally, 30D and ledge surface 32C, 32D, to be determined by their geometry of vehicle main body component 26C, 26D to make the path of welding along vehicle main body component 26C, 26D, instead of by vehicle main body component 26C, 26D relative to support member 28 or relative to the fixing of robots arm 14 and location.

Still with reference to Fig. 4-6, instrument 12 can comprise selectable camera 70, and it is installed to the first main part 18 and comprises path of welding W to make the visual field V of camera 70.Controller C is operably connected to camera 70 and is stored in machine vision program process on controller C with the visual information of the record making described welding.Machine vision program is exercisable with based on visual information determination welding characteristic.

Controller C is called as vision system together with camera 70.The various configurations of vision system any one or multiplely can be used.In one example in which, camera C can be three-dimensional camera, this three-dimensional camera provides the light above the visual field, the striations (or other pattern) established through the first vehicle main body component 26A relative to the first vehicle main body component 26A motion along with instrument 12.In various embodiments, described light can be laser beam.Camera 70 and controller C can be configured to locate different features, the hole of such as the first vehicle main body component 26A or flange.Alternatively or additionally, controller C can based on the profile of the various depth registration parts 26A of the light on the surface of parts 26A.In certain embodiments, multiple camera 70 can be installed on instrument 12 to provide the stereoscopic vision of path of welding W.In in the described embodiment any one, camera 70 is operatively coupled to controller C.Based on the information received from camera 70, controller C can robotic arm 14, clamping device 34 and plumb joint 60.

Alternatively, other welding can with " traditional " laser welding system of robot localization.Traditional laser welding system will have " fixing " optics in the single direction only pointed to relative to support member 28." traditional " laser welder also typically can have the optics of the deviation distance (such as, 100 millimeters) providing distance pad relatively short.

Welding in addition also can with " long-range " laser welding system of robot localization, and wherein laser beam and optics are positioned at described laser welding system.Optics has relatively long focal length, and this focal length also comprises controllable speculum, and it allows laser beam to be again targeted to diverse location the distance of about apart from long-range laser welding system 1 meter rapidly.Many positions can be welded from static robot location.Then, robot can reorientate long-range laser welding system to required new position to weld in other positions.

Further, other welding can with the remote laser plumb joint of one or more static (fixing) being arranged on (not in robot) on fixed structure.Each long-range laser welding system has laser beam and optics, this optics has relatively long focal length, the focal length of this length also comprises controllable speculum, allows laser beam to be again targeted to diverse location the distance of about apart from long-range laser welding system 1 meter or more fast.Such as, because long-range laser welding system has limited covering window (due to the restriction of mirror angle, the window of a square metre), head in addition can be used.

The system 10 of reference Fig. 1-8 and instrument 12, Figure 10 illustrate the method 100 of welding vehicle main body component, and such as stamped metal plate car body panels, comprises the first and second vehicle main body component 26A, 26B.Method 100 comprises square frame 102, place the first and second vehicle main body component on the first support member 28, and square frame 104, via electronic controller C control tool 12 with make instrument 12 side by side with the first and second vehicle main body component 26A, the edge surface 30A of 26B, 30B, and with the ledge surface 32A of the first and second vehicle main body component 26A, 26B, 32B, contact, and clamping first and second vehicle main body component 26A is provided, 26B is to chucking power each other.It is predetermined chucking power to make chucking power that square frame 104 can comprise control clamping device.Such as, be that in the actuator of servomotor type instead of the embodiment of passive spring 54 controlled, chucking power can be controlled at clamping device.

Method 100 also can comprise square frame 106, makes robots arm 14 move instrument 12 is rolled along edge 30A, 30B and ledge surface 32A, 32B via controller C.In other examples, controller C can control maintenance first and second vehicle main body component 26A, and the motion of the robots arm of 26B simultaneously instrument 12 keeps static.When making robots arm 14 move, method 100 also can comprise square frame 108, there is no vehicle main body component 26A, when any being clamped to each other in addition of 26B, at ledge surface 32A, 32B place by the plumb joint 60 of the instrument of being installed to 16 instead of by instrument 16 by the first and second vehicle main body component 26A, 26B is welded to each other.

After the welding is completed, method 100 can comprise square frame 110, and make robots arm 14 move to make instrument 12 and the first and second vehicle main body component 26A via electronic controller C, 26B does not contact.Because instrument 12 is not component-dedicated, therefore it can be used for welding the vehicle main body component 26C of different configuration, and 26D is to each other.Such as, method 100 can comprise square frame 111, at the third and fourth vehicle main body component 26C, the weld period of the ledge surface of 26D places the third and fourth vehicle main body component 26C, 26D is on support member 28, support member 28 is exercisable independent of the geometric configuration of vehicle main body component 26C, 26D thus.

Described method can comprise square frame 112, via electronic controller C robotic arm 14 with the instrument 12 making to be attached to robots arm 14 simultaneously with the third and fourth vehicle main body component 26C, the edge surface 30C of 26D, 30D, and with the ledge surface 32C of the third and fourth vehicle main body component, 32D, contact, and being provided in ledge surface 32C, the third and fourth vehicle main body component 26C, 26D are clamped to chucking power each other by 32D.The edge surface 30A of the first and second vehicle main body component 26A, 26B, 30B, and ledge surface 32A, 32B have the edge surface 30C with the third and fourth vehicle main body component 26C, 26D, the geometric configuration that 30D is different with ledge surface 32C, 32D.However, instrument 12 to can be used to vehicle main body component 26C in square frame 114 by making robots arm 14 move via controller C, 26D is welded to each other to make instrument 12 along the third and fourth vehicle main body component 26C, the edge surface 30C of 26D, the ledge surface 32C of 30D and the third and fourth vehicle main body component, 32D rolls, and in square frame 116, by with plumb joint 60 by the third and fourth vehicle main body component 26C, the ledge surface 32C of 26D, 32D are welded to and according to square frame 114, instrument 12 are moved each other simultaneously.

Although describe in detail for the many-sided optimal mode of being permitted realizing this instruction, be familiar with the personnel of technology that these instructions relate to and will appreciate that various alternative aspect within the scope of the appended claims for implementing this instruction.

Claims

1., for assembling an instrument for first component and second component, this instrument comprises:

Tool body;

First roller element, is rotatably installed to described tool body and is rotatable around the first rotating shaft;

Second roller element, is rotatably installed to described tool body and around being rotatable with nonparallel second rotating shaft of described first rotating shaft;

3rd roller element, is rotatably installed to described tool body and around being rotatable with nonparallel 3rd rotating shaft of described first rotating shaft;

Wherein said second roller element and the 3rd roller element limit gap each other;

At least one clamping device, provides at least one chucking power towards described gap orientation in described second roller element and the 3rd roller element; And

Plumb joint, is operatively coupled to described tool body.

2. instrument as claimed in claim 1, wherein said first roller element contacts the edge surface of described first component and second component, second roller element contacts the first ledge surface of described first component, and described 3rd roller element contacts the second ledge surface of described second component, when described first component and second component are in described gap; And

Wherein said plumb joint is located to be welded to each other by described ledge surface.

3. instrument as claimed in claim 1, wherein said tool body comprises the first main part and is operatively coupled to the second main part of this first main part;

Wherein said second main part is movable relative to described first main part;

Wherein said clamping device is installed to described tool body and is configured to provide chucking power to described second main part, thus makes the second main part relative to the first main part motion to make described 3rd roller element towards described second roller member motion and to reduce described gap.

4. instrument as claimed in claim 3, comprises further:

Force measuring device, is operatively coupled to described tool body and is configured to measure described chucking power.

5. instrument as claimed in claim 4, wherein said force measuring device is installed to described first main part and the deformeter of contiguous described second roller element.

6. instrument as claimed in claim 1, wherein said plumb joint is laser welding system; And comprise further:

Gas spray pipe, is installed to described laser welding system and the tool body between one of described second roller element and the 3rd roller element; And wherein said gas spray pipe is configured to make inert gas spread.

7. instrument as claimed in claim 3, comprises further:

Be installed to the camera of described tool body; Wherein said camera has the visual field comprising the path of welding relevant with described plumb joint; And

Be combined with a controller, described controller is operatively connected to described camera and has machine vision program, and this machine vision program is exercisable with the welding quality determining the welding along described path of welding.

8. instrument as claimed in claim 3, comprises further:

Be installed to the camera of described tool body; Wherein this camera has a visual field; And

Be combined with a controller, this controller is operatively coupled to described camera and has machine vision program, and this machine vision program is exercisable to determine to be provided by described plumb joint and the welding characteristic of welding in the described visual field.

9. instrument as claimed in claim 1, comprises further:

Base; And

Biddability component, connecting described base to described tool body is configured to make described tool body be movable in response to the change in described chucking power relative to described base.

10. instrument as claimed in claim 9, comprise further following at least one:

Force measuring device, be operatively coupled to described biddability component and be exercisable with the change of ergometry, and motion sensor, be operatively coupled to described tool body and described base be configured in the lump measure the displacement of described tool body relative to described base.