EP4041490A1 - Procédé de soudage et système de soudage comprenant un robot collaboratif et dispositif de positionnement - Google Patents

Procédé de soudage et système de soudage comprenant un robot collaboratif et dispositif de positionnement

Info

Publication number
EP4041490A1
EP4041490A1 EP20793584.2A EP20793584A EP4041490A1 EP 4041490 A1 EP4041490 A1 EP 4041490A1 EP 20793584 A EP20793584 A EP 20793584A EP 4041490 A1 EP4041490 A1 EP 4041490A1
Authority
EP
European Patent Office
Prior art keywords
welding
workpiece
positioning device
collaborative robot
robot
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.)
Pending
Application number
EP20793584.2A
Other languages
German (de)
English (en)
Inventor
Johannes Demmeler
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.)
Demmeler Automatisierung und Roboter GmbH
Original Assignee
Demmeler Automatisierung und Roboter 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 Demmeler Automatisierung und Roboter GmbH filed Critical Demmeler Automatisierung und Roboter GmbH
Publication of EP4041490A1 publication Critical patent/EP4041490A1/fr
Pending 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
    • B23K37/04—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups 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
    • 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

Definitions

  • the present invention relates to a welding method for machining workpieces with improved productivity and quality and a corresponding welding system with a collaborative robot and a positioning device.
  • Welding and cutting is a main area of application for robots. Usually the robots are programmed for the individual position points either by teaching or offline programming.
  • the robot is moved to the individual points by positioning using the robot controller (robot panel) and this position is then saved as a program point by pressing a button.
  • the robot can be moved with the individual axis buttons in different coordinate systems, using a 6D mouse on the control panel, or a mouse mounted directly on the robot arm.
  • the CAD data of the robot, the peripherals and the workpiece are programmed virtually on the computer using 3D software.
  • a welding system for machining workpieces with a welding source can be provided.
  • the welding system can comprise: a collaborative robot for machining a workpiece by means of a welding torch and a positioning device for receiving the workpiece; wherein the positioning device is designed to be movable about at least one axis for positioning the workpiece in a plurality of positions.
  • 1 to 3 show an exemplary embodiment with a cobot and a positioning device which has a manipulator
  • Figures 4 to 7 show a 2-axis positioning device
  • Fig. 8 shows an axis of the positioning device
  • 9 to 11 show a welding cell with a welding table and extractor hood as well as a protective cape;
  • 14A to 14D show a cobot during rotation of the positioning device, in particular with a driver attached to the tip;
  • tub position is considered the ideal position. In this case, the melt flows through gravity to the lowest point of the component. All other positions are described as constrained positions, as this is not an ideal position in relation to the workpiece.
  • the cobot preferably weighs less than 40 kilograms, which means that, in contrast to a classic industrial robot system, it can be used flexibly where it is needed. While the robot is welding, the employee can withdraw and does not have to inhale the welding fumes.
  • the cobot is also very easy to program. With manual guidance and operation via touch panel, teaching new tasks is possible after a short training period. With a free drive function, the cobot or burner can be very simple be moved by hand to the point where it should start and end. Intermediate waypoints and sections are also programmed in this way. The cobot delivers a consistently high quality of the weld seams, which requires little or no rework.
  • cobots are technically designed so that they can work safely in close proximity to people without a protective fence.
  • the cobot guarantees the required safety in direct contact with the operator through a unique 6-fold force and torque monitoring, which enables flexible interaction between the robot and its environment.
  • An advantageous cobot preferably fulfills the type of collaboration in accordance with the technical specification ISO TS15066.
  • the cobot can learn the position points very quickly without programming knowledge by moving them by hand and at the same time workpieces can be positioned in the optimal welding position using the additional axes and can thus be processed productively on multiple sides.
  • the cobot executes a precise movement of the torch, the welding system delivers the perfect seam.
  • the welding cell according to the invention also has a modular structure. The system can also be set up for multi-station operation. In this way, one workpiece can be welded while the next is being prepared.
  • An essential property is that at least one, usually two additional axes are provided for positioning workpieces.
  • the axis (s) can be attached in any positions and positions in the grid of the table.
  • the table with fastening means can, for example, be a dressing and welding table, which is provided with cylindrical through-bores distributed over its entire surface, directly in the table top and laterally and directly used to accommodate clamping elements, which are arranged in a uniform grid dimension. Another important factor is that when using collaborative robots, there is no need for additional, special protective devices. Due to the simplicity of installation and operation, cobots are ready for use in the shortest possible time and without extensive training.
  • the axes are preferably fully integrated in the robot controller and mathematically coupled. This enables the robot to work simultaneously with the axes.
  • the axis has a hole grid system, preferably without a thread and can therefore be attached flexibly in position and location. Linear axes enable the working area to be enlarged.
  • a perforated grid system table (welding table) can be provided with a cobot attached to it, which can also work safely without a protective fence.
  • the cell can enable multi-station operation; the work area can be separated by a protective wall.
  • An extractor hood can also be provided.
  • the suction hood can also be moved (preferably by the robot).
  • the cobot can also position and / or close a protective wall.
  • the cobot is coupled to a welding source or a plasma cutting source. Important functions for position correction or finding can be reached via sensors, cameras or lasers. An arc sensor can also be provided.
  • the control enables extensive programming at the expert level, which is known from the field of industrial robots in the use of welding.
  • a clear graphical user interface with touchscreen is the procedure.
  • the user is able to both programs and the processing of work orders without extensive To apply programming training.
  • a cleaning station can be provided as an additional option.
  • Plasma or laser can be used as the welding source, e.g. for cutting and marking.
  • An advantageous further development comprises a positioning device which has one or more non-drive axes in order to move a picked up workpiece into a predeterminable position, in particular a welding position.
  • the positioning device can advantageously be configured without a drive, that is to say without its own drive motor.
  • the collaborative robot can advantageously be used to move the picked-up workpiece into the predeterminable position.
  • the collaborative robot intervenes at certain points or areas of the positioning device and then moves the workpiece to the desired position. For example, the workpiece is clamped on a perforated plate of the positioning device that is rotatable about a first axis.
  • the collaborative robot engages in a predeterminable hole (or a surface) in the perforated plate and rotates the perforated plate with the workpiece clamped on it by a predetermined angle.
  • the perforated plate is thus rotated about the first axis together with the clamped workpiece.
  • the positioning device e.g. pneumatic and / or spring-loaded brakes for the one or more axes of the positioning device
  • the movement of the perforated plate is braked so that the perforated plate remains in a desired position after being rotated by the collaborative robot.
  • the brakes can also be released and / or applied by the collaborative robot.
  • the positioning device for the workpiece which can have one or more axes, is not driven by a motor with or without a gearbox but moved to a new position with the robot. that the force to move the workpiece is small, because the workpiece is either very light or the center of gravity is brought into the range of the axis of rotation of the positioner. This can also be done by attaching a counterweight.
  • the sequence would be such that the robot with an object attached to the tip, preferably a pen (could also be the burner). Moves into a hole and moves the manipulator to a new position.
  • a defined heavy gait is necessary, but in practice a small detachable clamp or brake is more likely. This can be released pneumatically, hydraulically or only spring-loaded, possibly translated with a lever, by pressing the robot before the positioning process. Then the welding continues.
  • the positioning device can have one or more axes about which the workpiece is freely rotatable.
  • the workpiece is particularly advantageously moved into the desired position by means of a collaborative robot.
  • the non-drive positioning device also has one or more brakes to fix the desired positioning of the workpiece.
  • the positioning device can have a torque-free or low-torque workpiece holder, so that the center of gravity of a workpiece picked up is preferably on (or in the vicinity) of the axis of rotation the positioning device is present.
  • the positioning device can also or alternatively have a center of gravity balancer.
  • a center of gravity balancer can be a spring balancer, for example.
  • the positioning device can have counterweights which are attached in such a way that a clamped workpiece can be received on the positioning device without torque.
  • the collaborative robot is particularly advantageously designed in such a way that the learning of a work movement for welding the workpiece with a very high Accuracy takes place so that no fine adjustment using position buttons is required.
  • the collaborative robot therefore has a repeat accuracy of ⁇ 0.5mm or less so that high-precision motion sequences can be learned and reproduced. This is achieved, for example, by using an optimized harmonic drive reduction gear or sliding wedge or voltage wave reduction gear.
  • a torque accuracy of ⁇ 2% can advantageously be achieved.
  • Welding system according to aspect a) wherein the welding torch is provided on the collaborative robot and the collaborative robot has a learning mode to learn a working movement of the welding torch for machining the workpiece and a working mode to carry out the working movement learned in the learning mode, the working mode including welding as well as cutting the workpiece.
  • the collaborative robot particularly advantageously has high positioning accuracy, so that positioning with an accuracy of ⁇ 1mm is made possible.
  • the collaborative robot in the learning mode by means of manual displacement of the robot, in particular by direct movement of the collaborative robot by hand, is programmable and wherein the positioning device can preferably be moved along a linear axis to expand the working range.
  • the collaborative robot is configured in the work mode for automated welding and / or cutting of the workpiece and wherein the welding source is preferably an arc welding source or a plasma cutting source.
  • Welding system according to at least one of the preceding aspects, the positioning device being movable about at least one axis in order to move a workpiece that has been picked up into a predeterminable position, in particular a welding position.
  • a control device is provided for jointly controlling the collaborative robot and the positioning device to carry out a coordinated movement.
  • Welding system according to at least one of the preceding aspects, the collaborative robot and the positioning device being controlled jointly in the working mode for an automatic welding process.
  • Welding system according to at least one of the preceding aspects, wherein the collaborative robot is configured to move the welding torch along a welding path that can be predetermined in the learning mode along the workpiece and the positioning device moves or positions the workpiece into a desired welding position so that the workpiece is preferred for the welding process is always in a trough position.
  • welding system according to at least one of the preceding aspects, wherein the positioning device is controlled such that the workpiece for the Welding process is moved into the tub position.
  • Welding system according to at least one of the preceding aspects, with a perforated table, wherein the collaborative robot is preferably provided on the perforated table.
  • the collaborative robot comprises at least one robot arm to which the welding torch is attached and wherein a line guide is provided in the area of the robot arm for connecting the welding torch.
  • the positioning device for positioning the workpiece has at least two axes of movement and the axes of movement are preferably independent and / or different from one another.
  • the positioning device can be positioned at different positions on the hole grid table.
  • the positioning device comprises: a floor support element and a boom, parallelogram-shaped pivot arms which are pivotably connected to the floor support element and the boom via articulation points arranged in a parallelogram are provided; a first linear actuator which is connected to the ground support element and the pivot arms in such a way that a lifting movement of the linear actuator causes a lifting movement of the boom; a workpiece clamping plate which is hinged to the boom so as to be rotatable about a pivot axis; a force means fastened to the boom, which during a rotary movement of the workpiece clamping plate about the pivot axis in each pivot angle of the pivoting range a resting on the workpiece clamping plate.
  • Welding system according to at least one of the preceding aspects, wherein the welding system is designed without protective devices of the collaborative robot and the collaborative robot can be used in direct interaction with a user.
  • Welding system according to at least one of the preceding aspects, wherein a graphical user interface with a touch-sensitive display is provided for controlling and programming the collaborative robot.
  • Welding cell with a collaborative robot according to at least one of the preceding aspects, a welding device for workpieces to be welded being arranged in the interior of the welding cell, and a positioning device for receiving and positioning a workpiece, and the collaborative robot for processing a workpiece using a welding torch is provided; characterized in that the positioning device is designed to be movable about at least one axis.
  • welding cell according to one of the preceding aspects a multi-station operation being provided and work rooms of the
  • Multi-station operation are separated from one another, preferably by a protective wall and the collaborative robot is preferably set up to move the protective wall.
  • the collaborative robot is preferably set up to move the protective wall.
  • Welding cell according to at least one of the preceding aspects wherein a movable hood is provided and the collaborative robot is preferably set up to move the hood.
  • Welding cell according to at least one of the preceding aspects the welding cell having a modular structure.
  • the positioning device automatically or manually brings the tool into a preferred welding position.

Landscapes

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

Abstract

L'invention concerne un système de soudage pour traiter des pièces, comprenant une source de soudage qui comprend au moins un chalumeau de soudage, un robot collaboratif pour traiter une pièce au moyen du chalumeau de soudage, un dispositif de positionnement pour prendre en charge la pièce, le dispositif de positionnement étant conçu mobile autour d'au moins un axe pour permettre le positionnement de la pièce dans différentes positions.
EP20793584.2A 2019-10-11 2020-10-09 Procédé de soudage et système de soudage comprenant un robot collaboratif et dispositif de positionnement Pending EP4041490A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102019215690.8A DE102019215690A1 (de) 2019-10-11 2019-10-11 Schweißverfahren und Schweißsystem mit kollaborativem Roboter und Positioniervorrichtung
PCT/EP2020/078495 WO2021069713A1 (fr) 2019-10-11 2020-10-09 Procédé de soudage et système de soudage comprenant un robot collaboratif et dispositif de positionnement

Publications (1)

Publication Number Publication Date
EP4041490A1 true EP4041490A1 (fr) 2022-08-17

Family

ID=72964635

Family Applications (1)

Application Number Title Priority Date Filing Date
EP20793584.2A Pending EP4041490A1 (fr) 2019-10-11 2020-10-09 Procédé de soudage et système de soudage comprenant un robot collaboratif et dispositif de positionnement

Country Status (3)

Country Link
EP (1) EP4041490A1 (fr)
DE (1) DE102019215690A1 (fr)
WO (1) WO2021069713A1 (fr)

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113547272B (zh) * 2021-08-25 2023-02-28 天津市康浩鑫隆科技有限公司 一种工业机器人协同生产流水线
IT202200004085A1 (it) * 2022-03-04 2023-09-04 Taumac S R L Attrezzatura per incisione/marcatura/saldatura di pezzi, particolarmente per oreficeria, bigiotteria e meccanica, e metodo di incisione/marcatura/saldatura di tali pezzi

Family Cites Families (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP3511485B2 (ja) * 1998-10-08 2004-03-29 豊田工機株式会社 ロボット
GB9826728D0 (en) * 1998-12-04 1999-01-27 Rolls Royce Plc Method and apparatus for building up a workpiece by deposit welding
CA2928413C (fr) * 2016-03-31 2019-03-05 Novarc Technologies Inc. Systeme de soudage robotique
JP6737827B2 (ja) * 2018-03-29 2020-08-12 ファナック株式会社 協働ロボットの制御装置及び制御方法

Also Published As

Publication number Publication date
WO2021069713A1 (fr) 2021-04-15
DE102019215690A1 (de) 2021-04-15

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