EP1899104A1 - Method for welding work pieces - Google Patents

Method for welding work pieces

Info

Publication number
EP1899104A1
EP1899104A1 EP06758098A EP06758098A EP1899104A1 EP 1899104 A1 EP1899104 A1 EP 1899104A1 EP 06758098 A EP06758098 A EP 06758098A EP 06758098 A EP06758098 A EP 06758098A EP 1899104 A1 EP1899104 A1 EP 1899104A1
Authority
EP
European Patent Office
Prior art keywords
welding
workpieces
positions
robots
carried out
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Withdrawn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
EP06758098A
Other languages
German (de)
French (fr)
Inventor
Bo Pettersson
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.)
Hexagon Technology Center GmbH
Original Assignee
Hexagon Metrology AB
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 Hexagon Metrology AB filed Critical Hexagon Metrology AB
Publication of EP1899104A1 publication Critical patent/EP1899104A1/en
Withdrawn legal-status Critical Current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 for a procedure covered by only one of the other main groups of this subclass
    • B23K37/04—Auxiliary devices or processes, not specially adapted for a procedure covered by only one of the other main groups of this subclass for holding or positioning work
    • 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 any single one of main groups B23K1/00 - B23K28/00
    • B23K31/02—Processes relevant to this subclass, specially adapted for particular articles or purposes, but not covered by any single one of main groups B23K1/00 - B23K28/00 relating to soldering or welding
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/0084—Program-controlled manipulators comprising a plurality of manipulators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/16—Program controls
    • B25J9/1679—Program controls characterised by the tasks executed
    • B25J9/1682—Dual arm manipulator; Coordination of several manipulators
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/37—Measurements
    • G05B2219/37573—In-cycle, insitu, during machining workpiece is measured continuously
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/39—Robotics, robotics to robotics hand
    • G05B2219/39131—Each of the manipulators holds one of the pieces to be welded together
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/45—Nc applications
    • G05B2219/45104—Lasrobot, welding robot

Definitions

  • the present invention relates to a method for the welding together of workpieces that are to be joined to each other. Such methods arise to a great extent in the motor industry, for example, and in other industries that mass produce items.
  • a number of welding stations are usually arranged in a normal welding line in the motor manufacturing industry.
  • the parts that are to be joined by welding in a workstation are fed forwards or transported forwards to these welding stations.
  • the parts may consist of either a single stamped sheet metal item or they may consist of such composite parts as have been formed in a preceding welding station.
  • the parts that have been fed forwards to the welding station are normally handled at the welding station by manipulating robots that transport the parts to welding fittings and place them in these fittings, where the parts are joined to each other and subsequently welded, normally with the aid of what are known as welding robots.
  • a second disadvantage with the method that has been used up until now is that positioning errors during the handling of the parts leads to the preservation of tension in the part when it is fixed into the welding fitting. This takes place even if automatic guidance of the parts into the fitting is arranged, as a result of, among other effects, the tolerances that are present not only in the item but also in the actual welding fitting. This then leads to the structure when welded together being associated with intrinsic tensions, and this may lead to deformation of the welded structure. It is, therefore, necessary, in order to maintain control over this process, to measure the welded structures, at least after certain welding operations. This, naturally, costs money, both in the form of equipment and time for the programming and reprogramming of the equipment.
  • the present invention therefore proposes, in order to avoid the problems described above, a new method in which the work- pieces that are to be welded together are held together by robots that place the workpieces relative to each other for joining by welding, in which the robots maintain the work- pieces in these positions while the welding is carried out, and in which a measurement system measures the positions of the workpieces in order to make it possible to adjust the positions of the workpieces before welding takes place.
  • Fig. 1 shows a block diagram of the functions in a welding station that is operating according to the method of the present invention.
  • the measurement systems 3, 4 monitor continuously the movements of the robots 1, 2, and thus also the positions of the workpieces A, B. When it is determined that the positions of the two workpieces A, B are correct 6, 7, the settings of the robots 1, 2 are locked such that no further movements of them or of the workpieces A, B take place.
  • the control arrangement 8 of the welding robot 9 is then activated such that the robot can weld together the workpieces A, B while they are held together and in the correct positions by the robots 1, 2.
  • the control arrangement 8 receives measurement data from the measurement systems 3, 4 when the correct welding positions 6, 7 have been achieved for the workpieces A, B, and it can then calculate the welding pathway for the welding robot 9.
  • the robots 1, 2 deliver the now welded workpieces A, B to the subsequent workstation 10, which may be a further welding station or it may be an assem- bly station.
  • the robots 1, 2 that hold the workpieces A, B during the welding operation move the workpieces A, B in order to facilitate the operation of the weld- ing robot 9, whereby the measurement systems 3, 4 continuously forward information to the control arrangement 8 through the sensors 6, 7 of welding position concerning the current positions of the workpieces A, B, such that the welding robot 9 can carry out the welding at the position at which the workpieces A, B are currently positioned.
  • the welding takes place in a fixed welding station, and that the robots 1, 2 hold and displace the workpieces A, B as has been described above in such a manner relative to the fixed welding station that all points that are to be welded, or the line that is to be welded, is carried forward by the robots 1, 2 to the fixed welding station.
  • each robot 1, 2 is connected to a dedicated measurement system 3, 4. It may, however, also be arranged that a common measurement system is arranged for the two robots. What is important is that the measurement system can determine the position and orientation of the two workpieces A, B that are to be joined together by welding.
  • the positions and orientations of the two workpieces A, B can always be determined through the measurement systems 3, 4 that are connected to the robots 1, 2, and, if any deviations arise from the intended values, feedback takes place through the control unit 5 such that the robots 1, 2 can in this case adjust the values such that the workpieces A, B that are to be welded together are placed at the correct relative posi- tions, and furthermore such that the positions are correct to allow the welding robot 9 to carry out the welding operation.
  • the parts that are to be welded together may, in a more complex system, be dynamically optimised in a CAD system, if they have been previously fully measured, and an adjustment of the positions and of the welding line or welding points may be carried out initially in the CAD system, and new nominal positions and orientations can be calculated, which are then to be transmitted to the welding station, in order to control not only the manipulating robots but also the welding robot .
  • the possibility is also available, in order to obtain even better control of the welding process, to measure dynamically the position of the welding tool of the welding robot 9. This can be carried out in both of the two cases.
  • the welding robot 9 can also be provided, if this is required, with an attachment arrangement in order to attach or to hold the workpieces during the welding process.
  • One such technology im- plements a laser triangulation method, in which measurement of certain points on the workpieces that have been determined in advance is carried out.
  • the workpieces may for this reason be provided with reflecting tape attached at the intended measurement positions.
  • the position of each piece of tape can be determined by the use of a light source and two- dimensional detectors, and the position and orientation of the workpiece can be determined by the use of at least three such points.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Physics & Mathematics (AREA)
  • Optics & Photonics (AREA)
  • Manipulator (AREA)
  • Resistance Welding (AREA)

Abstract

A method for the welding together of workpieces. The work- pieces (A, B) that are to be welded together are held by robots (1, 2) that place the workpieces (A, B) relative to each other for joining by welding and maintain the workpieces in these positions while the welding (9) is carried out. A measurement system (3, 4) measures the positions of the workpieces in order to make it possible to adjust the positions of the workpieces before welding (9) takes place.

Description

Method for Welding Work Pieces
The present invention relates to a method for the welding together of workpieces that are to be joined to each other. Such methods arise to a great extent in the motor industry, for example, and in other industries that mass produce items.
A number of welding stations are usually arranged in a normal welding line in the motor manufacturing industry. The parts that are to be joined by welding in a workstation are fed forwards or transported forwards to these welding stations. The parts may consist of either a single stamped sheet metal item or they may consist of such composite parts as have been formed in a preceding welding station. The parts that have been fed forwards to the welding station are normally handled at the welding station by manipulating robots that transport the parts to welding fittings and place them in these fittings, where the parts are joined to each other and subsequently welded, normally with the aid of what are known as welding robots.
One disadvantage of the method described above is that a new welding fitting must be produced for each new part that is to be created. This leads not only to the costs for producing the actual welding fitting, but also to a halt in production during the exchange of welding fittings and to the fact that it takes a longer time to introduce a new model of car. The principal reason for the latter effect is that a large number of welding fittings must be produced and installed as soon as a new model is to be introduced.
A second disadvantage with the method that has been used up until now is that positioning errors during the handling of the parts leads to the preservation of tension in the part when it is fixed into the welding fitting. This takes place even if automatic guidance of the parts into the fitting is arranged, as a result of, among other effects, the tolerances that are present not only in the item but also in the actual welding fitting. This then leads to the structure when welded together being associated with intrinsic tensions, and this may lead to deformation of the welded structure. It is, therefore, necessary, in order to maintain control over this process, to measure the welded structures, at least after certain welding operations. This, naturally, costs money, both in the form of equipment and time for the programming and reprogramming of the equipment.
The present invention therefore proposes, in order to avoid the problems described above, a new method in which the work- pieces that are to be welded together are held together by robots that place the workpieces relative to each other for joining by welding, in which the robots maintain the work- pieces in these positions while the welding is carried out, and in which a measurement system measures the positions of the workpieces in order to make it possible to adjust the positions of the workpieces before welding takes place.
It is possible through the use of such a method according to the invention to obviate the necessity of welding fittings and the measurement equipment associated with these. It is also possible to carry out rapid rearrangement between different products that are to be welded together by the same manipulating equipment and the same welding equipment.
The invention will described in more detail below, in the form of a non-limiting embodiment, illustrated in the attached drawing, Fig. 1, which shows a block diagram of the functions in a welding station that is operating according to the method of the present invention.
Thus a method is described with the aid of the attached draw- ing for the joining together - the welding together - of two parts A and B. These two parts may be transported in a known manner towards the welding station, and they are then gripped each by a robot 1, 2. The two robots are each connected to a measurement system 3, 4, which manages the handling of the workpieces A, B by the relevant robot 1, 2, and in this way also the positions of the two workpieces A, B. The measurement systems 3, 4 are connected to a control unit 5, which is in turn connected to the two robots 1, 2, in order to adjust the settings of the robots 1, 2 as specified by measurement data received from the measurement systems 3, 4, in order to achieve the intended relative positions of the robots.
The measurement systems 3, 4 monitor continuously the movements of the robots 1, 2, and thus also the positions of the workpieces A, B. When it is determined that the positions of the two workpieces A, B are correct 6, 7, the settings of the robots 1, 2 are locked such that no further movements of them or of the workpieces A, B take place. The control arrangement 8 of the welding robot 9 is then activated such that the robot can weld together the workpieces A, B while they are held together and in the correct positions by the robots 1, 2.
The control arrangement 8 receives measurement data from the measurement systems 3, 4 when the correct welding positions 6, 7 have been achieved for the workpieces A, B, and it can then calculate the welding pathway for the welding robot 9. When the welding has been completed and the welding robot 9 has completed its task, the robots 1, 2 deliver the now welded workpieces A, B to the subsequent workstation 10, which may be a further welding station or it may be an assem- bly station.
It may also be arranged that the robots 1, 2 that hold the workpieces A, B during the welding operation move the workpieces A, B in order to facilitate the operation of the weld- ing robot 9, whereby the measurement systems 3, 4 continuously forward information to the control arrangement 8 through the sensors 6, 7 of welding position concerning the current positions of the workpieces A, B, such that the welding robot 9 can carry out the welding at the position at which the workpieces A, B are currently positioned.
It may also be arranged that the welding takes place in a fixed welding station, and that the robots 1, 2 hold and displace the workpieces A, B as has been described above in such a manner relative to the fixed welding station that all points that are to be welded, or the line that is to be welded, is carried forward by the robots 1, 2 to the fixed welding station.
It has been described above how each robot 1, 2 is connected to a dedicated measurement system 3, 4. It may, however, also be arranged that a common measurement system is arranged for the two robots. What is important is that the measurement system can determine the position and orientation of the two workpieces A, B that are to be joined together by welding.
The positions and orientations of the two workpieces A, B can always be determined through the measurement systems 3, 4 that are connected to the robots 1, 2, and, if any deviations arise from the intended values, feedback takes place through the control unit 5 such that the robots 1, 2 can in this case adjust the values such that the workpieces A, B that are to be welded together are placed at the correct relative posi- tions, and furthermore such that the positions are correct to allow the welding robot 9 to carry out the welding operation.
The parts that are to be welded together may, in a more complex system, be dynamically optimised in a CAD system, if they have been previously fully measured, and an adjustment of the positions and of the welding line or welding points may be carried out initially in the CAD system, and new nominal positions and orientations can be calculated, which are then to be transmitted to the welding station, in order to control not only the manipulating robots but also the welding robot .
The possibility is also available, in order to obtain even better control of the welding process, to measure dynamically the position of the welding tool of the welding robot 9. This can be carried out in both of the two cases. The welding robot 9 can also be provided, if this is required, with an attachment arrangement in order to attach or to hold the workpieces during the welding process.
It is possible to guarantee, by the use of a method according to the invention, that the workpieces A, B and the component that is formed by the joining of these, will possess the intended nominal form, and, since measurements are carried out dynamically during the welding process, the requirement for subsequent control measurement is reduced.
Several technologies are available to carry out the actual measurement of the workpieces A, B. One such technology im- plements a laser triangulation method, in which measurement of certain points on the workpieces that have been determined in advance is carried out. The workpieces may for this reason be provided with reflecting tape attached at the intended measurement positions. The position of each piece of tape can be determined by the use of a light source and two- dimensional detectors, and the position and orientation of the workpiece can be determined by the use of at least three such points.
Other methods, both those that are contact-free and those that involve contact with the workpiece, may be used to determine the current positions of the workpieces.

Claims

Claims
1. A method for the welding together of workpieces, characterised in that the workpieces (A, B) that are to be welded together are held by robots (1, 2) that place the workpieces (A, B) relative to each other for joining by welding, in which the robots maintain the workpieces in these positions while the welding (9) is carried out, and in which a measurement system (3, 4) measures the positions of the workpieces in order to make it possible to adjust the positions of the workpieces before welding (9) takes place.
2. A method according to claim 1, characterised in that the measurement system (3, 4) continuously measures the positions of the workpieces while welding (9) is carried out.
3. A method according to claim 2, characterised in that the welding takes places in a fixed welding station (9) and in that the robots (1, 2) displace the workpieces while the welding is being carried out.
4. A method according to claim 1 or 2, characterised in that the welding is carried out by a welding robot (9) and that also the position of the welding point of the weld- ing process is measured while the welding is being carried out .
5. A method according to any one of the preceding claims, characterised in that each robot (1, 2) is con- nected to a dedicated measurement system (3, 4) .
6. A method according to any one of claims 1-4, characterised in that the robots (1, 2) are connected to a common measurement system.
EP06758098A 2005-07-05 2006-07-04 Method for welding work pieces Withdrawn EP1899104A1 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
SE0501566 2005-07-05
PCT/SE2006/050240 WO2007004983A1 (en) 2005-07-05 2006-07-04 Method for welding work pieces

Publications (1)

Publication Number Publication Date
EP1899104A1 true EP1899104A1 (en) 2008-03-19

Family

ID=37604743

Family Applications (1)

Application Number Title Priority Date Filing Date
EP06758098A Withdrawn EP1899104A1 (en) 2005-07-05 2006-07-04 Method for welding work pieces

Country Status (5)

Country Link
EP (1) EP1899104A1 (en)
JP (1) JP2008544860A (en)
KR (1) KR20080034882A (en)
CN (2) CN101213046A (en)
WO (1) WO2007004983A1 (en)

Families Citing this family (14)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP2075096A1 (en) 2007-12-27 2009-07-01 Leica Geosystems AG Method and system for extremely precise positioning of at least one object in the end position of a space
ES2818918T3 (en) * 2008-05-21 2021-04-14 Fft Edag Produktionssysteme Gmbh & Co Kg Component connection without mounting frames
DE102009001986A1 (en) 2009-03-30 2010-10-07 Robert Bosch Gmbh Welding process, welding device and composite part
JP5222222B2 (en) * 2009-05-14 2013-06-26 株式会社Ｉｈｉ Metal plate positioning device
EP2255930A1 (en) 2009-05-27 2010-12-01 Leica Geosystems AG Method and system for extremely precise positioning of at least one object in the end position in space
EP2269783A1 (en) 2009-06-30 2011-01-05 Leica Geosystems AG Calibration method for a measuring system
EP2781297A4 (en) * 2011-11-16 2015-12-09 Nissan Motor Joint manufacturing method and manufacturing device for same
WO2013073683A1 (en) 2011-11-16 2013-05-23 日産自動車株式会社 Joint manufacturing method and manufacturing device for same
JP6568682B2 (en) * 2014-10-29 2019-08-28 株式会社フジキン Automatic welding machine for valves and valves
US10095214B2 (en) 2015-08-21 2018-10-09 Processchamp, Llc System and method for joining workpieces to form an article
DE102018104475A1 (en) * 2018-02-27 2019-08-29 Benteler Automobiltechnik Gmbh Method for welding components
US11294363B2 (en) 2018-04-17 2022-04-05 Processchamp, Llc System and method for positioning workpiece in a workstation using an automatic guided vehicle
CN111203663A (en) * 2020-01-15 2020-05-29 上海卓然工程技术股份有限公司 An intelligent pipeline automatic welding system and method
JP2022085169A (en) * 2020-11-27 2022-06-08 日本特殊陶業株式会社 Workpiece processing method, and workpiece processing device

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US6193142B1 (en) * 1996-12-25 2001-02-27 Nissan Motor Co., Ltd. Assembling apparatus assembling body side of automotive vehicle and assembling method thereof
EP1430989A1 (en) * 2002-12-16 2004-06-23 KUKA Roboter GmbH Method and apparatus for positioning parts to be assembled

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US5380978A (en) * 1991-07-12 1995-01-10 Pryor; Timothy R. Method and apparatus for assembly of car bodies and other 3-dimensional objects
JPH07241676A (en) 1994-03-04 1995-09-19 Sekisui Chem Co Ltd Automatic welding equipment
JPH11267832A (en) * 1998-03-20 1999-10-05 Shikoku Seiki Kogyo:Kk Columnar material girth welding method and device
JP2004261881A (en) * 2003-02-07 2004-09-24 Junichi Yakahi Work welding system, work welding method, and work welding program

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Publication number Priority date Publication date Assignee Title
US6193142B1 (en) * 1996-12-25 2001-02-27 Nissan Motor Co., Ltd. Assembling apparatus assembling body side of automotive vehicle and assembling method thereof
EP1430989A1 (en) * 2002-12-16 2004-06-23 KUKA Roboter GmbH Method and apparatus for positioning parts to be assembled

Non-Patent Citations (1)

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Title
See also references of WO2007004983A1 *

Also Published As

Publication number Publication date
JP2008544860A (en) 2008-12-11
CN101213046A (en) 2008-07-02
CN102513743A (en) 2012-06-27
KR20080034882A (en) 2008-04-22
WO2007004983A1 (en) 2007-01-11

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