JP2016107324A - Hat-shaped frame part welding method and device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide hat-shaped frame part welding method and device capable of improving welding accuracy by eliminating a variation in R stop position to be welded, and preventing a reduction in rigidity and quality of mass-produced copper plate frames.SOLUTION: The hat-shaped frame part welding method includes setting, as an instruction position of a weld mounting part, an R stop position detected based on image data obtained by photographing the vicinity of the R stop position in the set state of a master part M which is a reference shape of a hat-shaped frame part 10 itself at a predetermined setting position, detecting image data obtained by photographing the vicinity of the R stop position in the set state of the hat-shaped frame part of the weld mounting part at a predetermined part, calculating positional shifting of both the detected master part and the detected weld mounting part in R stop position, and correcting the instruction position of the R stop position of the master part by the calculated positional shifting to carry out welding based on corrected instruction position data.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a hat-shaped frame part welding method and apparatus for bending and extending flanges for welding other parts on both side edges when mass-producing a steel frame for an automobile body, for example.

  Conventionally, when this type of cross-sectional shape is a hat-shaped frame part and other parts, such as other frame parts or plate-like panel parts, are welded to mass-produce a steel plate frame for an automobile body, the frame part In the vicinity of the R-stop position located at the boundary between the flat flanges on both side edges of the steel plate and the curved R-section bent from the web of the vertical wall, continuous welding is performed instead of spot welding. During welding, zinc fumes were released to prevent the occurrence of blowholes, and the rigidity of a steel plate frame such as an automobile body was increased (Patent Document 1).

JP 2010-253545 A

  However, conventionally, when mass-produced steel frame such as automobile bodies, the vicinity of the R-stop position of the hat-shaped frame parts is continuously welded to join other parts to the hat-shaped frame parts. In the manufacturing process such as the material characteristics and press molding, the design drawing and the R stop position of the welding position may be displaced and distorted. In addition, when the welding jig is positioned and set at a predetermined setting position, a deviation is inevitably caused, which causes variations in the R-stop position of each frame part, resulting in a decrease in welding accuracy, and There existed a subject that the rigidity and quality of a flame | frame fell.

  An object of the present invention is to prevent the deterioration of the rigidity and quality of a mass-produced steel frame by increasing the welding accuracy by eliminating the variation in the position of the R-stop to be welded in the welding method and apparatus for hat-shaped frame parts. There is to do.

  Accordingly, the invention described in claim 1 is a cross-sectional shape of the hat-shaped frame component 10 having flanges 15 bent from both side edges of the U-shaped frame body 13 as shown in the following embodiment. Mass production of a steel plate frame F is made by welding the vicinity of the R stop position P at the boundary between the flange 15 and the bent R portion 12 having a circular arc cross section between the flange 15 and the web 14 and joining other parts. Image data obtained by photographing the vicinity of the R stop position in a state where the actual part of the master part M molded into the reference shape of the hat-shaped frame part 10 is positioned at a predetermined set position. The R stop position P of the teaching position is detected, and the hat-shaped frame part 10 of the actual welding part is positioned at the predetermined set position, and is in the vicinity of the R stop position P. A detection step of capturing image data obtained by photographing and detecting a position P of the R stop, a calculation step of calculating a displacement amount of the R stop position P of both the detected master part M and the actual welding part, A position correcting step of correcting the teaching position of the R stop of the master part M in accordance with the calculated displacement amount and obtaining corrected teaching position data; and a welding step of performing welding based on the corrected teaching position data. It is characterized by that.

  According to the second aspect of the present invention, for example, as shown in the embodiment shown below, the flange of the frame part 10 having a hat-shaped cross section having flanges 15 extending from both side edges of the frame body 13 having a U-shaped cross section. The steel plate frame F is mass-produced by welding the vicinity of the R stop position P at the boundary between the flange 15 and the bent R portion 12 having a circular arc cross section between the web 15 and the web 14 and joining the other parts 11. It is a welding apparatus used sometimes, and captures image data obtained by photographing the vicinity of the R stop position P in a state where the actual part of the master part M which is the reference shape of the hat-shaped frame part 10 is positioned at a predetermined set position. While detecting the R stop position of the teaching position of the master part M, the R stop position in a state where the hat-shaped frame part 10 of the actual welding part is positioned at the predetermined set position. A detection device C that captures image data obtained by photographing the vicinity of P and detects the R stop position P of the welded actual part, and the detected R stop position P of both the master part M and the welded actual part 10. A calculation means B for calculating a misregistration amount; a control device A for correcting the teaching position of the R stop of the master part M according to the calculated misregistration amount; And a welding head H that performs welding on the basis thereof.

  The invention according to claim 3 is the invention according to claim 2, for example, as shown in the embodiment shown below, wherein the welding head is a laser welding head H and the welding torch is separated from the welding position. Welding by a remote laser welding method of emitting laser light from

  According to the first and second aspects of the present invention, an image obtained by photographing the vicinity of the R stop position in a state where the actual master part itself, which is the reference shape of the hat-shaped frame part, is positioned at a predetermined set position. The image data obtained by photographing the vicinity of the R stop position in the state where the R frame position detected based on the data is set to the teaching position of the actual weld part while the hat-shaped frame part of the weld actual part is positioned at the predetermined set position. The position difference amount of the R stop position of both the detected master part and the actual welding part is calculated, and the teaching position of the R stop position of the master part is corrected according to the calculated position deviation amount, thereby correcting the teaching position data. In this configuration, the teaching position of the master part is automatically corrected following the change in the R-stop position of the hat-shaped frame part of the actual welded part. Et al., By increasing the welding accuracy by eliminating the variation in the position of R blind welding, rigidity and quality of the steel frame for mass production can be prevented from being lowered.

  According to the third aspect of the present invention, the welding head is a laser welding head, and the welding torch is welded by a remote laser welding method in which laser light is emitted from a remote position away from the welding position, and is far from the welding position. Since laser light is irradiated even from a distant position, it is possible to prevent the welding accuracy from being lowered due to the torch of the laser welding head hitting the web surface of the vertical wall of the hat-shaped frame component.

It is a block diagram which shows the system configuration | structure of the hat-shaped frame component welding apparatus which is an example of this invention. A plan view and an end view of a steel plate frame continuously welded in the vicinity of the R-stop position of the hat-shaped frame component using the hat-shaped frame component welding apparatus of the present invention, and a D portion surrounded by a circle in the end view. It is an enlarged view. It is an external appearance perspective view of the steel-plate frame manufactured using the hat-shaped frame component welding apparatus of this invention. It is a perspective view explaining the step which image | photographs and detects the R stop position of a master component with the laser sensor of the hat-shaped frame component welding apparatus of this invention. It is explanatory drawing which shows the state which correct | amends the teaching position of R stop position of the welding actual component which shifted | deviated. It is a flowchart explaining operation | movement of the hat-shaped frame component welding apparatus of this invention. It is a system block diagram explaining the example which performs detection and position correction of R stop position of the hat-shaped frame component welding apparatus which is another example of this invention using another welding robot.

  Hereinafter, embodiments for carrying out the present invention will be described with reference to the drawings.

  FIG. 1 shows the system configuration of a welding apparatus as an example of the present invention, and FIGS. 2 and 3 show the shape and structure of a steel plate frame obtained by welding other panel parts to a hat-shaped frame part. Fig. 5 shows a state in which the R stop position of the master part is detected by the laser sensor of the detection device, and Fig. 5 illustrates a state in which the teaching position of the actual welding part whose welding position is shifted is corrected.

  In the present invention, the welding apparatus of the illustrated example is an apparatus for manufacturing, for example, a steel plate frame F of a car body for an automobile by welding another panel part 11 to a cross-sectional hat-shaped frame part 10 and is characterized by welding. The actual part itself of the master part M, which is the reference shape of the hat-shaped frame part 10 of the actual part, captures image data obtained by photographing the vicinity of the R-stop position P in a state where the actual part is positioned at a predetermined set position, and takes the R at the teaching position. While the stop position P is detected, image data obtained by photographing the vicinity of the R stop position P in a state where the hat-shaped frame part 10 as the actual welding part is positioned at the predetermined set position is taken in, and the R stop position P of the teaching position is acquired. Calculation used in the position detection process for detecting the position and the calculation process used to calculate the positional deviation amount of the R stop position P of both the master part M and the actual welding part. Based on the position B, the control device A used in the position correction process for correcting the teaching position of the R stop position P of the master part M in accordance with the calculated displacement amount and obtaining the corrected teaching position data, and the corrected teaching position data It is in the point provided with the welding head H used at the welding process which welds.

  The steel plate frame F manufactured by the illustrated welding apparatus using the welding method of the present invention is a frame main body 13 having a U-shaped cross section using thin steel plates, and both side edges of the web (vertical wall portion) 14 of the frame main body 13. The panel part 11 joined to the flange 15 of the frame part 10 press-molded into a hat-shaped cross section consisting of a flange 15 extending from the flange and facing the flange is continuously welded in the vicinity of the R-stop position P. . The R-stop position P is a portion at the boundary between the flange R 15 and the flange 15 having a cross-sectional arc shape connecting between the flange 15 and the web 14 of the hat-shaped frame part 10 and is continuously welded in the vicinity of the R-stop. This improves the rigidity and quality of the steel plate frame F. In addition, as a kind of thin steel plate to be used, any steel plate that can be hardened such as a hot rolled steel plate, a cold rolled steel plate, and a plated steel plate may be used. As the plated steel plate, steel plates subjected to various surface treatments such as a hot dip galvanized steel plate and an electrogalvanized steel plate can be used.

  Therefore, the illustrated welding apparatus produces the steel plate frame F using the welding method of the present invention. Therefore, the illustrated welding apparatus includes a welding robot R of a welding machine and a control device A that electrically drives and controls the welding robot R.

  The welding robot R is a laser beam welding machine that performs continuous welding by irradiating a line laser beam from a laser welding head H of a welding head using, for example, a laser-arc hybrid welding method. In the welding robot R, the laser welding head H is rotatably held by the support device 16 via the robot arm 17, and the control device A is controlled by the robot controller 18 to perform a weaving operation and the laser oscillator L of the light source. Continuous welding is performed by irradiating the line laser beam to be controlled and fed from the laser irradiation unit.

  The illustrated welding robot R welds the torch of the laser welding head H by a remote laser welding method in which laser light is emitted from a remote position away from the welding position. Therefore, since laser light is irradiated even from a position far from the welding position, it is possible to prevent the welding accuracy from being lowered due to the torch of the laser welding head H hitting the web surface 14 of the vertical wall of the hat-shaped frame component 10. can do.

  On the other hand, the welding robot R holds the laser sensor C on the same support device 16 via the robot arm 17, and the control device A controls the laser sensor C via the laser sensor controller 19.

  As shown in FIG. 4, the laser sensor C, as shown in FIG. 4, has a laser irradiation unit attached to a laser irradiation unit on the tip side of the robot arm 17 to form an optical sensor, and is positioned at a predetermined set position on the welding jig 25. While irradiating laser light toward the welded part (line to be welded) in the state, the image captured by the CCD camera 21 is optically read, and the read image is taken into the image processing unit. Get macro file image data. Then, the laser sensor C geometrically detects the R stop position P of the welded part from the image data of the macro file obtained from the CCD camera 21. This image data is displayed as an image on a monitor, for example.

  The control device A electrically controls the entire welding apparatus shown in the figure, electrically connects with a welding jig 25 that positions and holds the welded part at a predetermined set position, and sets set position data indicating a predetermined set position. The deviation of the set position is grasped based on the set position data and the image data. On the other hand, the control device A is electrically connected to the calculation device B via the laser sensor controller 19 between the control device A and the laser sensor C. Accordingly, the calculation device B calculates the amount of misalignment of the R stop position P of both the master part M and the actual welding part detected from the image data in the vicinity of the captured R stop position P.

  On the other hand, the control device A obtains corrected teaching position data by correcting the teaching position of the R stop of the master part M according to the amount of positional deviation calculated by the calculating device B, and the robot controller 18 based on the corrected teaching position data. A laser motor is driven and controlled to operate the laser welding head H, and the laser oscillator L of the light source is controlled to emit a line laser beam from the laser irradiation unit to perform continuous welding.

  Now, using the welding apparatus according to the present invention having the above-described configuration, another panel part 11 joined to the flange 15 of the frame part 10 press-molded into a cross-sectional hat shape so as to face the flange 15 is connected to the R-stop position P. A hat-shaped frame component welding method for producing a steel plate frame F by continuous welding in the vicinity of will be described below.

(1) First stage: Master part positioning and setting step First, the actual master part M, which is a blank workpiece press-molded into a reference shape of a hat-shaped frame part, is positioned and set at a predetermined set position on the welding jig 25. (Step S1). After setting the master part M on the welding jig 25, a welding start command is input from the input device 30 to the robot controller 18.

(2) Second stage: Step of detecting the R stop position of the master part Next, the laser sensor C of the detecting device welds the part in a state where the actual part of the master part M is positioned at a predetermined set position on the welding jig 25. While irradiating a laser beam toward a part (line to be welded), an image of the laser beam taken by the CCD camera 21 is optically read, and the read image is taken into the image processing unit 22 to obtain an image of a macro file. Get the data. Then, the laser sensor C geometrically detects the R stop position P of the welded part from the image data of the macro file obtained from the CCD camera 21 (step S2). Then, the controller A is instructed as the teaching position of the R stop position of the master part M detected by the laser sensor C (step S3). Thereafter, the master part M for which welding detection has been completed is dispensed from the welding jig 25 (step S4).

(3) Third stage: Positioning and setting step of actual welding parts On the other hand, during actual mass production, a series of actual welding parts 10 to be welded are positioned and set at predetermined setting positions on the welding jig 25 (step S5). After setting the actual welding part 10 on the welding jig 25, a welding start command is input from the input device 30 and sent to the welding robot R via the robot controller 18.

(4) Fourth stage: Step of detecting the R stop position of the actual welded part Next, the laser sensor C is set in a state where the actual welded part 10 is positioned and set at a predetermined set position of the welding jig 25. While irradiating the laser beam toward the welding site (line to be welded), the laser beam is optically read by the CCD camera 21 and the read image is taken into the image processing unit to obtain the macro file image data. obtain. Then, the laser sensor C geometrically detects the R stop position P of the welded part from the image data of the macro file obtained from the CCD camera 21 (step S6).

(5) Fifth stage: Step of calculating the difference between the R stop positions Thereafter, the arithmetic unit A detects the R stop positions P of both the master part M and the actual welding part 10 detected from the captured image data in the vicinity of the R stop position P. Calculate the amount of displacement of P ′ (step S7).

(6) Sixth stage: position correction step Correction teaching position data obtained by correcting the teaching position of the R stop of the master part M according to the calculated amount of displacement is obtained (step S8).

(7) Seventh stage: Welding process The welding robot R continuously welds the R stop position based on the corrected teaching position data (step S9). Thereafter, the actual welding part 10 for which welding detection has been completed is dispensed from the welding jig 25 (step S10), and the steel plate frame F is manufactured. Thus, the production is finished when a certain number of steel plate frames F are manufactured (step S11). Otherwise, the process returns to the welding process, and the next welding actual part 10 is welded in a state where it is positioned at a predetermined set position of the welding jig 25. That is, based on the corrected teaching position data, the welding robot R continuously welds the R stop position P (step S9).

  The hat-shaped frame part 10 to be welded by the welding method and the apparatus of the present invention may be distorted by shifting the design drawing and the R-stop position P of the welding position in the manufacturing process such as material characteristics and press molding. In addition, the welding jig 25 is positioned and set at a predetermined setting position, but inevitably misalignment occurs at the time of setting, thereby causing a variation in the R stop position of the welding position of each frame component. There is a possibility that the welding accuracy is lowered, and the rigidity and quality of the steel frame are lowered.

  However, as described above, according to the present invention, an image obtained by photographing the vicinity of the R-stop position P while the actual part of the master part M, which is the reference shape of the hat-shaped frame part, is positioned at a predetermined set position. The R stop position P detected based on the data is set as the teaching position of the actual welded part, while the hat-shaped frame part 10 of the actual welded part is positioned at the predetermined set position and photographed in the vicinity of the R stopped position P. Detected from the detected image data, calculates the displacement amount of the detected R stop position P of both the master part M and the actual welding part, and corrects the teaching position of the R stop position P of the master part M by the calculated displacement amount. Then, welding is performed based on the corrected teaching position data, and the teaching position of the master part M is automatically adjusted following the change in the R-stop position of the hat-shaped frame part 10 of the actual welding part. Since corrected by raising the welding accuracy by eliminating the variation in the position of R blind welding, rigidity and quality of the steel frame for mass production can be prevented from being lowered.

  In the illustrated example described above, one welding robot R grips the laser welding head H rotatably on the same support device 16 via the robot arm 17 and grips the laser sensor C of the detection device via the robot arm 17. However, as shown in FIG. 7, the laser welding head H and the laser sensor C can be held by separate welding robots R and R ′.

A Control device B Arithmetic device C Laser sensor (detection device)
F Steel plate frame H Laser welding head M Master part PR Stop position R / R 'Welding robot 10 Hat-shaped frame part 11 Panel part 15 Flange

Claims (3)

A cross-sectional shape having flanges that bend from both side edges of a frame body having a U-shaped cross section is a boundary between the flange and the flange of the arc-shaped cross section that connects between the flange and the web of the hat-shaped frame component. A welding method used when mass-producing a steel plate frame by welding other parts near the R stop position,
While the actual master part molded into the reference shape of the hat-shaped frame part is positioned at a predetermined set position, image data obtained by photographing the vicinity of the R stop position is captured to detect the R stop position of the teaching position. A detection step of detecting the position of the R stop by capturing image data obtained by photographing the vicinity of the R stop position in a state where the hat-shaped frame part of the actual welding part is positioned at a predetermined set position;
A calculation step of calculating a displacement amount of the R stop position of both the detected master part and the actual welding part;
A position correcting step for correcting the teaching position of the R stop position of the master part according to the calculated amount of misalignment to obtain corrected teaching position data; a welding step for performing welding based on the corrected teaching position data;
A hat-shaped frame part welding method comprising the steps of: A cross-sectional shape having flanges that bend from both side edges of a frame body having a U-shaped cross section is a boundary between the flange and the flange of the arc-shaped cross section that connects between the flange and the web of the hat-shaped frame component. A welding device used when mass-producing a steel frame by welding the vicinity of the R stop position and joining other parts,
The master part which is the reference shape of the hat-shaped frame part is positioned at a predetermined set position, and image data obtained by photographing the vicinity of the R stop position is taken in, and the R stop position of the teaching position of the master part is obtained. A detecting device for detecting the R stop position of the actual welding part by capturing image data obtained by photographing the vicinity of the R stop position in a state where the hat-shaped frame part of the actual welding part is positioned at a predetermined set position. When,
An arithmetic device for calculating a positional deviation amount of the R stop position of both the detected master part and the actual welding part;
A control device for correcting the contact teaching position of the R stop of the master part in accordance with the calculated displacement amount and obtaining corrected teaching position data;
A welding head for performing welding based on the corrected teaching position data;
A hat-shaped frame part welding apparatus comprising:   The hat-shaped frame part welding apparatus according to claim 2, wherein the welding head is a laser welding head, and the torch is welded by a remote laser welding method in which laser light is emitted from a remote position away from the welding position.

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