EP1784278A1 - Procede et machine pour relier par soudage une poutre principale a au moins une piece rapportee a l'aide d'un capteur permettant de mesurer la poutre principale et la piece rapportee avant le soudage - Google Patents

Procede et machine pour relier par soudage une poutre principale a au moins une piece rapportee a l'aide d'un capteur permettant de mesurer la poutre principale et la piece rapportee avant le soudage

Info

Publication number
EP1784278A1
EP1784278A1 EP05769911A EP05769911A EP1784278A1 EP 1784278 A1 EP1784278 A1 EP 1784278A1 EP 05769911 A EP05769911 A EP 05769911A EP 05769911 A EP05769911 A EP 05769911A EP 1784278 A1 EP1784278 A1 EP 1784278A1
Authority
EP
European Patent Office
Prior art keywords
attachment
main carrier
computer
welding
actual
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.)
Withdrawn
Application number
EP05769911A
Other languages
German (de)
English (en)
Inventor
Jan-Peter Gutsch
Herbert Otte
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Gutsch & Exner Software GmbH
Original Assignee
Gutsch & Exner Software GmbH
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Gutsch & Exner Software GmbH filed Critical Gutsch & Exner Software GmbH
Publication of EP1784278A1 publication Critical patent/EP1784278A1/fr
Withdrawn legal-status Critical Current

Links

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
    • B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
    • B23K37/02—Carriages for supporting the welding or cutting element
    • B23K37/0211—Carriages for supporting the welding or cutting element travelling on a guide member, e.g. rail, track
    • B23K37/0229—Carriages for supporting the welding or cutting element travelling on a guide member, e.g. rail, track the guide member being situated alongside the workpiece
    • 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
    • B23K10/00—Welding or cutting by means of a plasma
    • B23K10/02—Plasma welding
    • 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
    • B23K26/00—Working by laser beam, e.g. welding, cutting or boring
    • B23K26/20—Bonding
    • B23K26/21—Bonding by welding
    • B23K26/24—Seam welding
    • B23K26/30—Seam welding of three-dimensional seams
    • 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
    • B23K31/00—Processes relevant to this subclass, specially adapted for particular articles or purposes, but not covered by only one of the preceding main groups
    • 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
    • B23K9/00—Arc welding or cutting
    • B23K9/02—Seam welding; Backing means; Inserts
    • B23K9/032—Seam welding; Backing means; Inserts for three-dimensional seams

Definitions

  • the invention relates to a method for connecting a main carrier with at least one attached attachment by welding, by placing the main carrier with the attached attachment stationary on a receptacle and the attachment is welded to the main carrier. Further, a device for connecting a main carrier with at least one attached attachment by welding, with a stationary receptacle for the placement of the main carrier with the attached attachment and a Sch cum ⁇ station with a welding head shown.
  • Main beams and attachments do not differ in principle. Main carrier and attachment can therefore also represent two identical parts. In general, the main carrier is the largest attachment and thus larger than the other attachments.
  • the welds for connecting the attachments with the main carrier are in turn manually, so by hand, attached, so that the accuracy of the welds are dependent on the care and experience of the welder.
  • Such welding is very labor intensive. There is a risk that by locally incorrect attachment and the weld is then placed in the wrong place, so that propagate errors because they are not recognized by the manual welder.
  • the welding apparatus has a welding head and has a drive with which it moves relative to the workpiece.
  • the apparatus is manually attached to the workpiece at the point where the weld is to be pulled.
  • the propulsion speed of the drive, the type, shape and thickness of the weld are set on the welding machine.
  • the welding apparatus leads to the workpiece.
  • This known welding apparatus is used in particular in the creation of long straight welding seams.
  • the invention has for its object to provide a method and an apparatus of the type described above, with which a main carrier and at least one attachment, which are already fixed by stapling relative to each other, can be joined together by welding.
  • the welding work should be less labor intensive and feasible with higher accuracy.
  • the invention is based on the idea of initially placing the main carrier with the attached attachment part stationary. This refers at least to the time when a single weld is applied. For other welds, it may be useful to turn the workpiece from main carrier and attachment and then place again fixed. In this stationary state, the workpiece is measured by means of at least one sensor and a computer with associated software, wherein a mathematical spatial actual model with actual dimensions of the main carrier and the attachment is created in the computer. This can refer to an overall actual model or a detailed actual model. Welding is performed by passing a welding head through the computer, using information about the type, thickness and position of the weld in question, in accordance with the weld to be made, over the workpiece, that is, the main carrier and fixture.
  • the information regarding the type, thickness and position of the relevant weld according to the weld to be provided can be provided and processed in different ways.
  • the type and in particular the size and weight of the main carrier and the attachment are part of the information and affect the relevant weld to be created from.
  • the welding seams to be produced are localized in space, ie at least the type, thickness and position determined.
  • the welding head of a welding station is then controlled in a targeted manner and moved relative to the workpiece, with the relevant welding seam being produced.
  • the welding head is positioned by the computer and by means of a drive on the localized weld and guided during the welding process along the localized weld.
  • the localization and execution of the weld can be done weld for weld.
  • one or more distance sensors and / or one or more cameras can be used as a sensor. With the distance sensors distances are measured, z. B. between a reference coordinate system and individual points on the workpiece. From the coordinates of the points, the computer produces a spatial actual model with actual dimensions of the main carrier and the add-on part. Using the coordinates of - A -
  • the spatial actual model can also be generated with one or more cameras. In this case, preferably several recordings are created and processed in the computer until a spatial actual model of sufficient accuracy arises.
  • the sensor may be fixed in place during the creation of the spatial actual model with the actual dimensions of the main carrier and the attachment. In this case, it may be advisable to increase the number of range sensors and / or cameras in order to be able to take multiple measurements simultaneously and thus minimize the creation time for the actual spatial model. But it is also possible to move the sensor in the creation of the spatial actual model with the actual dimensions of the main carrier and the attachment relative to the main carrier and the attachment. The number of sensors is advantageously small and results in a high accuracy of the spatial actual model.
  • the spatial actual model with the actual dimensions of the main carrier and the attachment is stored with appropriate software in the computer.
  • the display of an image is not required.
  • the actual spatial model is assigned the required information regarding the type, thickness and position of the weld to be produced. This can be done in different ways.
  • a first, very simple possibility is to determine from the measurement of the main carrier and the attached attachment, at which points the main carrier and attachment touch or come close together under gap formation. Weld seams are then produced at all determined points. It may be the automatic attachment of a single weld type. But it is also possible to use a type catalog to set and perform the type and thickness of each weld according to any criteria or requirements. Regardless, there is the possibility of intervention at any time in the process of welding by an operator. There is also the possibility of interrogating the operator after the measuring process, in particular according to the type and thickness of the weld, with individual welds can also be suppressed.
  • a desired model with nominal dimensions of the main carrier and the attachment and information regarding the type, thickness and position of the weld in question can be introduced into the computer, that is input, read in or otherwise transferred to the computer.
  • the desired model with the nominal dimensions of the main carrier and the attachment and the information regarding the type, thickness and position of the relevant weld is usually created by the design department and transmitted electronically into the computer of the apparatus for performing the method. This is done by assigning the respective weld to the respective weld.
  • the actual model is compared with the target model in the computer.
  • the information contained in the target model regarding the type, thickness and position of the weld in question is transferred to the actual model and the welding head so, so with the actual model and the information transmitted controlled.
  • the result of the comparison of the dimensions of the desired model and the actual model can be used for a quality monitoring of the machine welding or the entire production of the workpiece, for example with display and output.
  • the type catalog contains an assignment of, in particular, the type and thickness according to specified welds to types of attachments, especially taking into account the size and weight of the attachments.
  • the welding head or heads are guided by the computer in accordance with the actual spatial model under the assignment of weld types controlled over the workpiece, wherein the welding operation takes place.
  • the intended position as well as the type and thickness of the weld after or even during the attachment of the attachment to the main carrier.
  • This can be done by applying colored lines on the workpiece, indicating at least the beginning and end of the weld in question.
  • the strokes may also extend over the respective entire length of the intended weld.
  • the different colors of the lines is the information concerning the Type, thickness, etc. assigned to the relevant weld.
  • a mark can advantageously be created with at least one camera, a spatial actual model with actual dimensions of at least one detail of the main carrier and the attachment.
  • the welding head is controlled by the computer according to the marking and the actual spatial model guided over the workpiece.
  • the actual detail model can be used to check the position of the weld.
  • a further possibility of introducing and assigning information regarding the type, thickness and position of the relevant weld seam to be provided can be achieved by the fact that after or during the attachment of the attachment to the main support spatial identification elements, the intended position and / or the type and make the weld visible, be applied to the main carrier and / or the attachment.
  • spatial identification elements may in particular consist of magnetic bodies, of which different sizes and types, for. B. with round or triangular circumference, are provided.
  • the actual spatial model with the actual dimensions of the main beam and the attachment as well as the location and meaning of the tag elements are created in the computer.
  • the welding head is controlled by the computer according to the marking elements and the actual spatial model over the workpiece.
  • a device for connecting a main carrier with at least one attached attachment by welding has a stationary receptacle for the placement of the Haupt ⁇ carrier with the attached attachment and a welding station with a welding head.
  • the stationary recording can be designed adjustable in height.
  • At least one sensor and at least one computer with associated software are provided for measuring the main carrier with the attached attachment and for creating a spatial actual model with actual dimensions of at least one detail of the main carrier and the attachment.
  • the drive can have a plurality of individual drives.
  • FIG. 1 is a schematic perspective view of a first embodiment of the device
  • Fig. 2 is a view of a part of a second embodiment of the device.
  • Fig. 3 is a view of another part of the second embodiment of
  • the device 1 shows the essential elements of the invention of a first embodiment of the device 1.
  • the device 1 has a receptacle 2, for example in the form of two blocks, with the help of which it is possible to store at least one main carrier 3 stationary auf ⁇ .
  • the main carrier 3 may consist of a double-T-beam, a U-iron, a tube, a sheet, an angle or other profile made of steel.
  • At least one attachment 4 is attached to the main carrier. Also, the attachment may consist of one or more of said elements. In the present case are shown as attachments 4, two head plates and an intermediate plate.
  • the receptacle 2 thus serves indirectly also the Auflagerung the attachments.
  • a portal 5 which is movable on wheels 6 relative to the stationary mounted main carrier 3 with the attached attachments 4 movable.
  • This can be done for example by trained as gears wheels 6, which are movable on tooth rails.
  • the portal 5 is provided with a drive 7.
  • At least one computer 8 is provided, which is connected to the drive 7 via an electrical line 9.
  • the computer 8 also fulfills the function of a control device, so that the movements of the portal 5 relative to the main carrier 3 can be controlled by it via the line 9.
  • the portal 5 carries a plurality of sensors 10, which may be designed as distance sensors or as digital cameras.
  • the portal 5 can continue to carry a robot arm 11 which is arranged to be movable relative to the portal 5.
  • the robotic arm 11 may also carry one or more sensors 10.
  • the sensors 10 and the robot arm 11 are connected to the computer 9 via an electrical line 12, via which the signals, Mess ⁇ results and drive signals for the robot arm 11 are transmitted.
  • the computer 8 has software that makes it possible with the aid of the signals of the sensors 10 an actual model with actual dimensions of the measured in this way workpiece, ie the main carrier 3 an input station, not shown. It also has the connection of unillustrated connection lines through which information from connected units can be transmitted.
  • a second portal 13 is provided, which is also movable on wheels 14 relative to the main carrier 3 with the attached attachments 4 movable.
  • a drive 15 is provided which can be controlled via an electrical line 16 from the computer 8.
  • a robot arm 17 is arranged, which is movable relative to the portal 13 in the direction of the double arrows 18. The movement is controlled via an electrical line 19.
  • the robot arm 17 preferably carries at its free end a welding head 20, so that the portal 13 with the described elements forms a welding station 21. Via the line 19 and the welding head 20 is driven, d. H. the welding head 20, the information given, which type of weld he has to perform at which point.
  • the arrangement of the sensors 10 on the gantry 5 and the welding head 20 on the gantry 13 is only to be understood as an example.
  • the described elements can also be provided only on a portal or distributed to several portals distributed.
  • the portals 5, 13 can also be realized as a suspension construction.
  • One or more sensors 10 and the welding head 20 may also be attached to the same robot arm 11 or 17.
  • the main carrier is jacked up with the attached attachments, so stored stationary.
  • the sensors can be moved along the workpiece.
  • the signals generated by the sensors are transferred to the computer.
  • an actual model with actual dimensions of the workpiece, so the main carrier and attachments created.
  • a type catalog is or will be deposited.
  • the type catalog contains the various types and thicknesses of welds to be regularly produced on such workpieces, also taking into account the material thickness and the weight as well as the load of the relevant main support and attachments.
  • the computer assigns a specific weld seam to a specific welding point at which an attachment is to be connected to the main carrier. Taking this assignment into account, the computer controls the welding head, which is not only mechanically moved relative to the workpiece, but also mechanically creates the weld in question.
  • the sensor used here is one or more digital cameras which detect the position and the color of the lines and create from the signals of the digital cameras a three-dimensional detailed actual model of the environment of the respective colored line on the workpiece. This happens in the computer.
  • the data obtained are then used to control the welding head, which is moved by machine over the workpiece and the weld in question, one after the other, performs.
  • the creation of the three-dimensional detail actual models at the respective welding points can be generated with high accuracy when different images are taken from different positions with the digital camera (s).
  • a corresponding image processing in the computer then very quickly creates a very accurate detail model.
  • the creation of an entire actual model for the entire main carrier and the add-on parts is also possible here, but not absolutely necessary.
  • the sensors are used in such a way that a spatial actual model with the actual dimensions of the main carrier and the add-on parts in the computer is produced with the signals or images emitted by them.
  • a target model with target dimensions of the workpiece to be created z. B. from the Konstrutechnischs ⁇ department where it has been created, read into the computer or otherwise transmitted.
  • This target model also contains information about the type, thickness, etc. of the welds at the various welds or in association with the different types of main beams and attachments.
  • a comparison of the actual model with the target model is then carried out under difference formation.
  • the deviations or differences found can be used for quality assurance and proof of quality.
  • the information contained in the target model on the position, type, thickness, etc. of the individual welds is transferred to the actual model.
  • the welding head of the welding station is then activated. Again, the welding head is again moved by machine to the respective welds and executed the respective weld.
  • spatial identification elements are attached to the main carrier during or after attachment of the attachments.
  • magnetic bodies which are provided in various sizes and types, are placed at the location on the main carrier and / or the attachments on which the weld in question is provided.
  • the spatial identification drawing elements only have to be distinguishable from the relevant camera or the distance sensors. This can be achieved by different size design, for example different circumferential design of the identification elements happen. Also, identification elements for the beginning and the end of a weld can be designed differently.
  • spatially similar looking label elements in addition to z. B. color information are provided, which in turn allows an associated differentiation.
  • Each spatial identification element thus stands for a specific, in particular the type and thickness of a specified weld.
  • the sensors which can be used as distance sensors and / or as digital cameras, a spatial actual model of the main carrier, the add-on parts and the identification elements is created in the computer.
  • the welding head is then guided over the workpiece, with one welding seam after the other being mechanically welded, that is to say produced.
  • a further embodiment of the device is illustrated.
  • a main carrier 3 is supported on a receptacle 2.
  • the attached attachment 4 is indicated by a foot plate.
  • a rail track not shown, is arranged, on which a carriage 22 is moved movable. The details of the drive and the controller are omitted here for clarity.
  • the carriage 22 carries a support 23 which is occupied by sensors 10.
  • a transverse strut 24 is arranged vertically adjustable.
  • the transverse strut 24 also carries sensors 10.
  • the sensors 10 also fulfill the function of measuring and creating a spatial actual model with actual dimensions of at least one detail of the main carrier 3 and the attachment 4, as already described with reference to the embodiment of FIG. 1 has been explained.
  • FIG. 3 another carriage 25 is shown, which carries a robot arm 17, at the free end of the welding head 20 is arranged.
  • the robot arm 17 may also carry additional sensors 10 (not shown).
  • the assembly of the carriage 22 and 25 may also be arranged on a common carriage.
  • the robot arm 17 can also be arranged on or next to the support 23.
  • the receptacle 2 also be designed adjustable in height, so that successively processing from above and from below is possible. During a single measuring or welding operation, however, the receptacle 2 is fixed in each case. LIST OF REFERENCE NUMBERS

Abstract

L'invention concerne un procédé pour relier par soudage une poutre principale (3) à au moins une pièce rapportée fixée, la poutre principale avec la pièce rapportée fixée étant placée sur un support (2) de manière stationnaire et la pièce rapportée étant soudée sur la poutre principale. Une fois placée de manière stationnaire, la poutre principale avec la pièce rapportée fixée est mesurée à l'aide d'au moins un capteur (10) et d'au moins un ordinateur (8) doté d'un logiciel approprié, un modèle réel spatial étant établi avec des dimensions réelles d'au moins un détail de la poutre principale et de la pièce rapportée. Le soudage est exécuté mécaniquement, une tête de soudage (20) étant guidée sur la poutre principale et la pièce rapportée de manière commandée par l'ordinateur au moyen d'informations relatives au type, à l'épaisseur et à l'emplacement du cordon de soudure concerné, en fonction du cordon de soudure à produire. Un dispositif (1), servant à relier par soudage une poutre principale à au moins une pièce rapportée fixée, présente un support stationnaire (2) pour la mise en place de la poutre principale avec la pièce rapportée fixée ainsi qu'un poste de soudage (21) doté d'une tête de soudage. Au moins un capteur et au moins un ordinateur doté d'un logiciel approprié sont prévus pour permettre la mesure de la poutre principale avec la pièce rapportée fixée et l'établissement d'un modèle réel spatial avec des dimensions réelles d'au moins un détail de la poutre principale et de la pièce rapportée.
EP05769911A 2004-07-13 2005-07-09 Procede et machine pour relier par soudage une poutre principale a au moins une piece rapportee a l'aide d'un capteur permettant de mesurer la poutre principale et la piece rapportee avant le soudage Withdrawn EP1784278A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE200410033710 DE102004033710B4 (de) 2004-07-13 2004-07-13 Verfahren zum Verbinden eines Hauptträgers mit mindestens einem Anbauteil durch Schweißen
PCT/EP2005/007445 WO2006005553A1 (fr) 2004-07-13 2005-07-09 Procede et machine pour relier par soudage une poutre principale a au moins une piece rapportee a l'aide d'un capteur permettant de mesurer la poutre principale et la piece rapportee avant le soudage

Publications (1)

Publication Number Publication Date
EP1784278A1 true EP1784278A1 (fr) 2007-05-16

Family

ID=35044929

Family Applications (1)

Application Number Title Priority Date Filing Date
EP05769911A Withdrawn EP1784278A1 (fr) 2004-07-13 2005-07-09 Procede et machine pour relier par soudage une poutre principale a au moins une piece rapportee a l'aide d'un capteur permettant de mesurer la poutre principale et la piece rapportee avant le soudage

Country Status (3)

Country Link
EP (1) EP1784278A1 (fr)
DE (1) DE102004033710B4 (fr)
WO (1) WO2006005553A1 (fr)

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
SE532775C2 (sv) 2008-08-21 2010-04-06 Esab Ab Svetskran för svetsning av stora strukturer
CN113182716B (zh) * 2021-04-08 2022-11-25 上海运城制版有限公司 版辊用双头焊机的自动控制方法、装置及计算机可读介质

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US6317953B1 (en) 1981-05-11 2001-11-20 Lmi-Diffracto Vision target based assembly
IT1148370B (it) 1981-07-17 1986-12-03 Fuji Tool & Die Impianto di taglio tridimensionale a laser con il metodo di riproduzione
JPS6188976A (ja) * 1984-10-08 1986-05-07 Hitachi Ltd 管端タブ板の溶接・切断装置
DE3443340A1 (de) * 1984-11-28 1986-05-28 Messer Griesheim Gmbh, 6000 Frankfurt Verfahren zum bearbeiten von werkstuecken
JP2596564B2 (ja) * 1987-10-13 1997-04-02 株式会社 アマダ レーザ溶接装置
US4922174A (en) * 1989-03-20 1990-05-01 United Technologies Corporation Seam tracking between mating parts
FR2678190B1 (fr) * 1991-06-28 1995-07-07 Commissariat Energie Atomique Procede et systeme de soudage assistee par ordinateur, bases sur la vision de la scene de soudage.
US5304773A (en) * 1992-02-19 1994-04-19 Trumpf Inc. Laser work station with optical sensor for calibration of guidance system
US6226395B1 (en) 1996-04-22 2001-05-01 Malcolm T. Gilliland Method and apparatus for determining the configuration of a workpiece
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Also Published As

Publication number Publication date
WO2006005553A1 (fr) 2006-01-19
DE102004033710B4 (de) 2010-02-11
DE102004033710A1 (de) 2006-02-09

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