JP2016022577A - Manufacturing device and manufacturing method of welded article - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a manufacturing device and a manufacturing method of a welded article capable of suppressing positional deviation of a workpiece.SOLUTION: A manufacturing device 10 of a welded article includes a hand 120 for holding a second workpiece S2 positioned with respect to a first workpiece S1 and a welding part 220 which welds the second workpiece held by the hand to the first workpiece. The hand includes a pair of clamping parts 122a, 122b which approaches to or is separated from a first direction D1 and clamps the second workpiece and a support part 123 arranged in a second direction D2 intersecting the first direction. The support part supports the second workpiece on one side of the second workpiece in the second direction and the welding part welds the second workpiece to the first workpiece on the other side of the second workpiece in the second direction.SELECTED DRAWING: Figure 5

Description

  The present invention relates to a welded product manufacturing apparatus and manufacturing method.

  It is often performed to construct parts used in the body of an automobile by welding members (for example, see Patent Document 1).

  A welded product obtained by welding members together is mass-produced by a welding robot. Some welding robots have a hand and a welding torch. Such a welding robot grips a workpiece by a hand and performs welding by bringing a welding torch close thereto.

JP 2010-215186 A

  However, when the welding torch is brought close to the workpiece, the positioned workpiece may be pushed by a welding torch or a welding wire supplied from the welding torch and displaced.

  In particular, when the hand holds and holds the workpiece with only a pair of clamping portions that are close to and away from each other, if the workpiece is accidentally strongly pressed in a direction orthogonal to the direction of the pair of holding portions that are close to and away from each other, There is a risk of shifting between the clamping parts.

  The present invention has been made to solve such a problem, and an object of the present invention is to provide a welded article manufacturing apparatus and manufacturing method capable of suppressing the displacement of a workpiece.

  In order to achieve the above object, an apparatus for manufacturing a welded product according to the present invention includes a hand that grips a second workpiece that is positioned with respect to a first workpiece, and a second workpiece that is gripped by the hand. A welded portion for welding to the workpiece. The hand includes a pair of sandwiching portions that are closely spaced in the first direction and sandwich the second workpiece, and a support unit that is disposed in a second direction that intersects the first direction with respect to the pair of sandwiching portions, Have The support portion supports the second workpiece on one side of the second workpiece in the second direction, and the weld portion is the second workpiece on the other side of the second workpiece in the second direction. Is welded to the first workpiece.

  In the method for manufacturing a welded product of the present invention to achieve the above object, the second workpiece positioned with respect to the first workpiece is gripped and welded by a hand. In the method for manufacturing a welded product of the present invention, the second workpiece is sandwiched between a pair of sandwiching portions provided in the hand and spaced apart from each other. In the method for manufacturing a welded product of the present invention, one side of the second workpiece in the second direction intersecting the first direction in which the pair of sandwiching portions approach and separate from each other is supported by the support portion provided in the hand. Meanwhile, the second workpiece is welded to the first workpiece on the other side of the second workpiece in the second direction.

  In the present invention, since the workpiece to be welded is supported on the side opposite to the side to be welded, the workpiece is difficult to move even if the side to be welded is pushed. Therefore, the present invention can prevent the displacement of the workpiece.

It is a figure which shows schematic structure of the manufacturing apparatus of the welded product of embodiment. It is a perspective view showing a steering member which is a welded product of an embodiment. It is a perspective view which shows the hand of embodiment. It is a perspective view which shows the positioned workpiece | work and the hand of embodiment which hold | grips this. It is a perspective view which shows welding of a workpiece | work.

  Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings. In addition, the dimension ratio of drawing is exaggerated on account of description, and differs from an actual ratio.

  As shown in FIG. 1, the welded article manufacturing apparatus 10 according to the embodiment includes a hand robot 100, a welding robot 200, a support tool 300, a camera 400, and a control unit 500.

  As shown in FIG. 2, the manufactured welded product is, for example, a steering member S used in an automobile. The steering member S has a configuration in which other members are welded to the steering member main body S1. The members to be welded are an audio bracket S2, an instrument stay S3, a bracket impact S4, a bracket airbag S5, and a side bracket S6. The steering member main body S1 is a long pipe-like member and is hollow, but may be solid.

  The welded product manufacturing apparatus 10 holds one of the members S <b> 2 to S <b> 6 and the steering member main body S <b> 1 in a state of being positioned relative to each other by the support tool 300 and the hand robot 100, and welds them by the welding robot 200.

  The support 300 includes positioners 310 and 320 that are spaced apart from each other. The support tool 300 includes locators 330 and 340 that support the steering member main body S <b> 1 between the positioners 310 and 320.

  The positioner 310, the locator 330, the locator 340, and the positioner 320 are arranged along the axial direction of the steering member body S1.

  The positioner 310, the locator 330, the locator 340, and the positioner 320 can change positions along the axial direction of the steering member body S1.

  The positioner 310 has a clamper 311 that holds a workpiece. The positioner 320 has a clamper 321 that grips a workpiece. The clamper 311 and the clamper 321 can rotate around the axis of the steering member main body S1. As the clampers 311 and 321 rotate, the steering member main body S1 rotates about its axis. The locators 330 and 340 support the steering member main body S1 so as to be rotatable.

  By rotating the steering member main body S1 about the axis, the place where the work is arranged in the steering member main body S1 can be directed to the direction in which the hand robot 100 that grips the work can easily approach.

  The camera 400 is installed so that the working range can be photographed at a wide angle. The camera 400 can capture a wide range of images including the hand robot 100, the welding robot 200, and the support tool 300. The camera 400 confirms how the hand robot 100 is gripping the work, confirms whether the work transported by the hand robot 100 is positioned at a predetermined position of the steering member main body S1, or the like. Used to do.

  The control unit 500 controls operations of the hand robot 100, the welding robot 200, and the support tool 300. The control unit 500 performs image processing on an image captured by the camera 400. The control unit 500 includes a CPU, RAM, ROM, LAN, and the like as main components.

  The welding robot 200 includes an arm 210 and a welding torch 220 (welded portion) provided at the tip of the arm 210.

  The arm 210 is an articulated robot arm having a plurality of rotation axes. The arm 210 moves the welding torch 220. The arm 210 can adjust the direction of the welding torch 220. As the arm 210, a conventionally known robot arm used in the field of welding can be used.

  The welding torch 220 has a pipe shape and includes a welding wire inside. The welding torch 220 supplies a welding wire from the opening at the tip to a welding point. The welding wire is electrically connected to a power source through a contact tip provided inside the welding torch 220. The welding torch 220 ejects shield gas from the opening at the tip. As the welding torch 220, a conventionally known welding torch used in arc welding can be used.

  The hand robot 100 includes an arm 110 and a hand 120 provided at the tip of the arm 110.

  The arm 110 is an articulated robot arm having a plurality of rotation axes. The arm 110 moves the hand 120. The arm 110 can adjust the orientation of the hand 120. As the arm 110, a conventionally known robot arm used in the field of welding can be used.

  As shown in FIG. 3, the hand 120 includes base parts 121 a and 121 b, a pair of sandwiching parts 122 a and 122 b, and a support part 123. The hand 120 includes a power source 124a, a power source 125a, a power transmission unit 124b, a power transmission unit 125b, and a proximity sensor 126 (detection unit).

  The base 121 a is connected to the arm 110. The base 121b is formed integrally with the base 121a. The clamping parts 122a and 122b, the power source 124a, and the power transmission part 124b are provided on the base 121a. The support part 123, the power source 125a, and the power transmission part 125b are provided in the base 121b.

  The sandwiching portions 122a and 122b are closely spaced in the first direction D1. The clamping part 122a moves forward and backward in the first direction D1. The clamping part 122b is fixed to the base part 121a. As the holding part 122a moves forward and backward, the holding parts 122a and 122b come close to and away from each other. The sandwiching portions 122a and 122b sandwich the workpiece.

  The power source 124a is a servo motor. The power transmission unit 124b transmits power from the power source 124a to the clamping unit 122a, and moves the clamping unit 122a forward and backward. The power transmission unit 124b includes, for example, a ball screw that is connected to the clamping unit 122a and extends in the first direction D1, and a gear that transmits the rotation of the power source 124a to the ball screw. If a gear with a large pressure angle, such as a pinion gear, is used in the power transmission unit 124b, the clamping unit 122a stopped at a predetermined position is not easily displaced from the position.

  The power source 124 a is electrically connected to the control unit 500. The control unit 500 controls the forward / backward movement of the clamping unit 122a by controlling the rotation of the power source 124a.

  The support part 123 is arrange | positioned with respect to the clamping parts 122a and 122b in the 2nd direction D2. The first direction D1 and the second direction D2 are orthogonal to each other. The support part 123 moves back and forth in the second direction D2. The support part 123 has the front-end | tip part 123a which protruded toward the clamping parts 122a and 122b in the 2nd direction D2.

  The power source 125a is a servo motor. The power transmission unit 125b transmits power from the power source 125a to the support unit 123, and moves the support unit 123 forward and backward. The power transmission unit 125b includes, for example, a ball screw that is connected to the support unit 123 and extends in the second direction D2, and a gear that transmits the rotation of the power source 125a to the ball screw. If a gear having a large pressure angle such as a pinion gear is used in the power transmission unit 125b, the support unit 123 stopped at a predetermined position is unlikely to be displaced from that position.

  The power source 125 a is electrically connected to the control unit 500. The control unit 500 controls the forward / backward movement of the support unit 123 by controlling the rotation of the power source 125a.

  The proximity sensor 126 is provided on the support portion 123. The proximity sensor 126 is provided behind the front end portion 123a in the second direction D2. The proximity sensor 126 is electrically connected to the control unit 500.

  Next, the manufacturing method of the welded product of embodiment is described.

  The manufacturing method of the welded product of the embodiment welds other members S2 to S6 to the steering member main body S1.

  For example, when the audio bracket S2 (second work) is welded to the steering member main body S1 (first work), the steering member main body S1 is held by the support 300, and the audio bracket S2 is conveyed and positioned here. And then welding.

  The steering member main body S1 and the other members S2 to S6 welded to the steering member main body S1 are collectively arranged as a workpiece at a member collection place (not shown) provided in the vicinity of the welded product manufacturing apparatus 10. The hand robot 100 selects a desired workpiece from the member collection location and transports it to a predetermined transport destination for each workpiece.

  For example, the steering member main body S1 as the first workpiece is transported from the member collecting place to the support tool 300 and is held by this. The audio bracket S2 as the second workpiece is conveyed to a predetermined welding position in the steering member main body S1. The hand robot 100 serves as a transport unit that transports a workpiece.

  The work conveyed by the hand robot 100 is photographed by the camera 400. Moreover, the camera 400 images the positioned workpiece. A camera different from the camera 400 may be provided in the hand 120, and when a desired work is selected and gripped from the member collection location, the work may be photographed by the camera.

  If the control unit 500 performs image processing on these captured images and controls the hand robot 100 based on the result, the workpiece can be properly grasped and the conveyed workpiece can be accurately positioned at a desired location.

  For example, when a desired workpiece is gripped at the member collection location, the workpiece can be gripped appropriately by correcting the orientation and / or position of the workpiece gripped by the hand 120 based on the result of image processing. . Further, as a result of the image processing, when the positioned workpiece is displaced from the desired position beyond the allowable range, the workpiece can be accurately positioned at the desired location by moving the hand 120 and correcting the position of the workpiece. .

  As shown in FIG. 4, the audio bracket S <b> 2 positioned at a predetermined position in the steering member main body S <b> 1 is held in that state by the hand 120. When positioned, the audio bracket S2 may be in contact with the steering member main body S1, but preferably, a gap is provided between the steering member main body S1 and the audio bracket S2, and they do not contact each other.

  The hand 120 sandwiches the audio bracket S2 from the first direction D1 by the sandwiching portions 122a and 122b. Further, the hand 120 supports the audio bracket S2 by the support portion 123 from one side in the second direction D2. The support portion 123 comes into contact with the audio bracket S2 at the distal end portion 123a.

  The proximity sensor 126 detects contact between the support portion 123 and the workpiece in a non-contact manner. When the contact between the support 123 and the workpiece is detected by the proximity sensor 126, the controller 500 stops the support 123 so that the support 123 does not move further toward the sandwiching parts 122a and 122b. To maintain.

  After positioning, as shown in FIG. 5, the welding torch 220 is placed at the welding position. At this time, the camera 400 may photograph the welding torch 220, the steering member main body S1, and the audio bracket S2, and the position of the welding torch 220 may be controlled based on the result of the image processing. By doing so, the welding torch 220 can be accurately arranged at a desired position, and the welding torch 220 is prevented from accidentally hitting the audio bracket S2, and the audio bracket S2 is prevented from being displaced.

  In addition to the camera 400, a camera may be provided at the tip of the arm 210 in the welding robot 200. Photographing may be performed with this camera or both the camera 400 and the obtained image, and the resulting image may be processed to control the position of the welding torch 220.

  Conventionally known image processing can be applied as image processing for measuring the size of an object in a captured image and the distance between objects. In such image processing, for example, a reference object (reference scale) for determining the distance in the image is captured in advance, and the correspondence between the actual size of the reference scale and the size in the image is calculated. The Then, using the correspondence between the real object and the image with respect to the reference scale, the size of the object photographed for measurement, the distance or inclination between the objects, or all of these are calculated.

  The welding torch 220 welds the audio bracket S2 on the other side opposite to the one side supported by the support portion 123.

  The welding torch 220 performs welding while moving along the boundary between the audio bracket S2 and the steering member main body S1. The moving direction of the welding torch 220 in FIG. 5 is the axial direction of the steering member main body S1.

  The welding torch 220 performs temporary welding, which is temporary welding, and then performs main welding, which is definitive welding. The welding torch 220 performs arc welding.

  After welding, the hand 120 separates the clamping part 122a and the support part 123 from the audio bracket S2, and releases the audio bracket S2. Thereafter, the hand 120 moves to a member collecting place and grips a member to be welded next.

  The welded article manufacturing apparatus 10 produces the steering member S by conveying, positioning and welding the members as described above to the steering member main body S1 also for the members S3 to S6 other than the audio bracket S2. To do.

  When each of the instrument stay S3, the bracket impact S4, and the bracket airbag S5 is welded, like the audio bracket S2, these are held by the hand 120, and the steering member main body S1 is held by the support 300.

  On the other hand, when the side bracket S6 is welded, the steering member main body S1 is held by the hand robot 100 while being supported by the locators 330 and 340, and the side bracket S6 is held by the clamper 311 or the clamper 321. With the end of the steering member main body S1 being abutted against the side bracket S6, the welding robot 200 welds them.

  The order in which the members S2 to S6 are welded to the steering member main body S1 is not particularly limited.

  Next, the function and effect of this embodiment will be described.

  In the above embodiment, the audio bracket S <b> 2 is supported by the support portion 123 on the side opposite to the side welded by the welding torch 220. For this reason, even if the audio bracket S2 is pushed by the welding torch 220 or the welding wire supplied from the welding torch 220, it is difficult to move, and the displacement of the audio bracket S2 is prevented.

  The support portion 123 is provided so as to be movable back and forth in the second direction D2 and can be adjusted in position. For this reason, by retracting the support part 123 and separating it from the sandwiching parts 122a and 122b, when the sandwiching parts 122a and 122b sandwich the workpiece, the support part 123 does not easily get in the way, and the sandwiching parts 122a and 122b Can be sandwiched smoothly. Further, after the work is sandwiched between the sandwiching parts 122a and 122b, the work is supported at a position that matches the size or shape of the work by advancing the support part 123 to support the work. Therefore, they can be supported appropriately according to various works.

  The proximity sensor 126 detects the contact between the support portion 123 and the workpiece, and the support portion 123 stops accordingly. Therefore, the support portion 123 can be reliably brought into contact with the workpiece and supported firmly. Furthermore, the workpiece is not pushed more than necessary by the support portion 123, and the displacement of the workpiece due to the pressure from the support portion 123 can be reliably prevented.

  Since the proximity sensor 126 detects contact between the support portion 123 and the workpiece without contact, the proximity sensor 126 can be prevented from coming into contact with the workpiece and being displaced.

  The present invention is not limited to the above-described embodiments, and various modifications can be made within the scope of the claims.

  For example, the instrument for holding the steering member main body S1 during welding is not limited to the support tool 300 of the above-described embodiment, and other instruments may be used instead.

  In the above embodiment, the power sources 124a and 125a provided in the hand 120 are servo motors, but are not limited thereto. For example, the power sources 124a and 125a may be stepping motors.

  The power sources 124a and 125a are not limited to motors, and may be power cylinders such as hydraulic cylinders. The clamping part 122a and the support part 123 that move forward and backward by the power cylinder can be stopped at predetermined positions using a brake.

  The detection unit is not limited to a non-contact type such as the proximity sensor 126, and may be a contact type that detects contact between the workpiece and the support unit by contacting the workpiece.

  Further, the present invention includes a form without a detection unit. In this case, for example, the power sources 124a and 125a are configured by stepping motors, and the operation of the power sources 124a and 125a is controlled based on the pulse signal, so that the sandwiching portion 122a and the support portion 123 are moved forward and backward and moved to a predetermined position. Can be stopped.

  The present invention includes a form in which the support portion 123 is fixed to the base portion 121b without moving back and forth.

10 Welded product manufacturing equipment,
100 hand robot,
110 arms,
120 hands,
121a, 121b base,
122a, 122b clamping part,
123 support part,
124a, 125a power source,
124b, 125b power transmission unit,
126 proximity sensor (detection unit),
200 welding robot,
210 arms,
220 welding torch (welded part),
300 support,
310, 320 positioner,
311, 321 clamper,
330, 340 locator,
400 cameras,
500 control unit,
S Steering member (welded),
S1 Steering member body (first workpiece),
S2 Audio bracket (second workpiece),
S3 instrument stay,
S4 Bracket impact,
S5 Bracket airbag,
S6 Side bracket.

Claims (6)

Manufacture of a welded product having a hand that grips a second workpiece that is positioned with respect to the first workpiece, and a weld that welds the second workpiece gripped by the hand to the first workpiece A device,
The hand is
A pair of clamping parts that are closely spaced in the first direction and sandwich the second workpiece;
A support portion disposed in a second direction intersecting the first direction with respect to the pair of sandwiching portions;
The support portion supports the second workpiece on one side of the second workpiece in the second direction, and the weld portion is the other side of the second workpiece in the second direction. A welded product manufacturing apparatus for welding the second workpiece to the first workpiece.   2. The welded article manufacturing apparatus according to claim 1, wherein the support portion is provided so as to be movable back and forth in the second direction and can be adjusted in position.   The welded article manufacturing apparatus according to claim 2, further comprising a detection unit that detects that the support unit is in contact with the second workpiece, wherein the support unit stops based on the detection result. A method for manufacturing a welded product in which a second workpiece positioned with respect to a first workpiece is gripped and welded by a hand,
The second workpiece in the second direction intersecting the first direction in which the pair of clamping portions approach and separate from each other is sandwiched between the pair of clamping portions provided in the hand and approaching and separating from each other. Is supported by a support provided on the hand,
A method for manufacturing a welded product, wherein the second workpiece is welded to the first workpiece on the other side of the second workpiece in the second direction.   The method for manufacturing a welded product according to claim 4, wherein the support portion is moved back and forth in the second direction to adjust the position of the support portion.   The method for manufacturing a welded product according to claim 5, wherein the support portion is stopped by detecting that the support portion is in contact with the second workpiece.