JP3249547B2 - Stud welding equipment - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a stud welding apparatus used for welding a stud component to a workpiece, and more particularly to a stud welding device which can easily weld a stud component to a target position without being limited to the shape of the workpiece. The present invention relates to a stud welding device.

[0002]

2. Description of the Related Art Generally, in a body assembly line, a plurality of pressed steel sheets cut in advance into a predetermined shape are sequentially joined using a spot welding machine or the like to form a monocoque body serving as a skeleton of the body. Various accessories are attached to this monocoque body in a later line. For example, a stud part for attaching a molding or the like to a vehicle body roof may be welded. This stud part is
A member such as a stud bolt which projects from a work (body) and is welded. In an automated body assembly line, a stud welding device capable of saving labor in stud welding is used.

As the stud welding device, for example,
A stud gun disclosed in Japanese Utility Model Laid-Open Publication No. 62-202977 is provided at the tip of a bending arm or the like, and the bending arm is operated to move the stud gun to a predetermined position on the work to weld the stud parts. ing. The stud gun is provided with an auto feeder for automatically supplying stud components, so that stud components can be supplied one by one.

[0004]

However, in such a conventional stud welding apparatus, in order to determine the moving position of the stud gun, an attachment jig along the outer shape of the vehicle body portion corresponding to the mounting position of the stud component is determined. And a stud welding position is determined at a position where the attachment jig matches a predetermined vehicle body shape. For this reason, once the attachment jig is set, the stud welding device can be applied only to the same vehicle having a predetermined vehicle body shape, and each time a different vehicle flows on the line, the stud welding device is required. Attachment jig needs to be replaced. In addition, when stud parts are mounted at a plurality of locations even in the same vehicle body, the same attachment jig can no longer cope with the problem and a plurality of stud welding devices are required.

In view of the above-mentioned problems, the present invention provides a stud welding apparatus which can easily attach stud parts to a plurality of different types of shapes without using an attachment jig. The purpose is to do.

[0006]

According to a first aspect of the present invention, there is provided an image forming apparatus, comprising: an X-axis, a Y-axis, and a Z-axis arranged at right angles to each other; And a manipulator provided on a moving amount output member of the moving mechanism, the manipulator being rotatable about an α-axis and a β-axis, respectively, which are arranged at a right angle to each other in a horizontal direction, and a turning amount output of the manipulator. The bottom of the molding mounting groove provided on the member and recessed on both sides of the body roof
A stud gun for welding stud parts to the part , a laser sensor provided on the stud gun and measuring a distance to a side wall of the molding mounting groove, and a laser so that a measurement result of the laser sensor becomes a predetermined distance. A correction device that feeds back the measurement result of the sensor to the feed mechanism and / or the driving amount of the manipulator.

[0007]

Further, in the first or second configuration, a screw shaft is screwed between rotating members that relatively rotate around the α axis and β axis of the manipulator, and the screw shaft is rotated by a servomotor. It is desirable to control and drive the manipulator.

[0009]

According to the first configuration of the stud welding apparatus of the present invention, the manipulator is provided on the moving amount output member of the feed mechanism, and the stud gun is provided on the turning amount output member of the manipulator. So the feed mechanism is X
By moving individually or in combination along the axis, the Y axis, and the Z axis, the movement amount output member can freely move back and forth, left and right, and up and down. In addition, the manipulator rotates around the α axis and the β axis respectively with respect to the movement amount output member that moves back and forth, left and right, and up and down, so that the stud gun provided on the rotation amount output member of the manipulator. Can be directed in any direction. Therefore, the feed mechanism and the manipulator are recessed on both sides of the body roof serving as the respective works .
By storing the shape of the stud welded portion on the side wall of the molding mounting groove, molding with multiple types of shapes is possible.
Stud welding can be automatically performed on the side wall of the additional groove .

A stud gun is provided with a laser sensor for measuring a distance to a side wall of a molding mounting groove recessed on both sides of a vehicle body roof, and the measurement result is transmitted to the feed mechanism and / or the driving amount of the manipulator. Is provided, the movement position and the pointing direction of the stud gun have slight variations due to the formation error of each side wall and the like, and the position of the vehicle body is shifted left and right to cause variations. Also in this case, this variation is accurately detected by measuring the distance to the side wall of the molding mounting groove with a laser sensor, and the position stored in advance is corrected, and stud welding is always performed at an appropriate position at the bottom of the groove. be able to.

Further, in the first configuration, a screw shaft is screwed between rotating members that relatively rotate about the α axis and the β axis of the manipulator , and the rotation of the screw shaft is controlled by a servomotor. By driving the manipulator, it is possible to increase the accuracy of the rotational position of the manipulator, that is, the pointing direction of the stud gun provided thereon, and to reliably maintain the position in the direction in which the manipulator is pointed.

[0012]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Embodiments of the present invention will be described below in detail with reference to the drawings. 1 to 7 show an embodiment of a stud welding apparatus 10 according to the present invention, FIG. 1 is an overall perspective view, FIGS. 2 to 6 are detailed views showing respective parts of the stud welding apparatus 10, respectively, and FIG. It is a principal part expanded sectional view which shows the attachment state of a component.

That is, as shown in FIG. 1, the stud welding apparatus 10 of the present embodiment is arranged such that these axes are arranged at right angles to one another along the X-axis, Y-axis, and Z-axis arranged in front, rear, left and right, and up and down. Feed mechanism 12 that can be moved alone or in combination
.Alpha. Axes, .beta. Provided on the moving amount output member of the feed mechanism 12 and arranged in front, rear, left and right with a horizontal right angle relationship.
Manipulators 16 rotatable about respective axes
And provided on the rotation amount output member of the manipulator 16, and a T
Stud gun 24 for welding stud 22 (see FIG. 7)
And is configured. Further, the stud gun 24 measures a predetermined target position of the vehicle body roof 20, that is, a distance to a portion serving as a guide for attaching the T stud 22, and transmits the measurement result to the feed mechanism 10 and / or A correction device 26 that feeds back the driving amount of the manipulator 16 is provided.

The feed mechanism 10 is supported on a frame (not shown) in a suspended state. The feed mechanism 10 is a forward / backward moving mechanism for moving the moving amount output member 14 in the X-axis direction. 28, a left / right moving mechanism 30 for moving in the Y-axis direction, and a vertical moving mechanism 32 for moving in the Z-axis direction.
And

As shown in FIG. 2, the front-rear movement mechanism 28 includes first screw shafts 34, 3 arranged in the X-axis (front-rear) direction.
4 are provided in the vehicle left-right direction, and these first screw shafts 34,
Brackets 36 for attaching both ends of the frame 34 to the frame,
36 so as to be rotatable. The first screw shaft 3
A pair of guides 38, 38 are provided in parallel with the guides 4, 34, respectively, and a first plate 40 is movably supported between the guides 38, 38. First nut members 42, 42 screwed to the first screw shafts 34, 34 are attached to the first plate 40. One end of the first screw shafts 34 and 34 is interlocked with each other in the rotational direction via a timing belt 44, and a servomotor 46 is provided at the other end of one of the first screw shafts 34. Accordingly, by rotating the servomotor 46, the pair of first screw shafts 34, 34 rotate in the same direction, and the first plate 40 is moved in the X-axis direction via the first nut members 42, 42 screwed to the pair. Move.

As shown in FIG. 3, the left-right moving mechanism 30 mounts a second plate 50 on the first plate 40 via brackets 48, 48, and attaches the second plate 50 to the Y-axis (left-right) direction. Are rotatably supported at both ends of a second screw shaft 52 disposed at the same position. A pair of guides 54 is provided on both upper and lower sides of the second screw shaft 52.
The third plate 56 is movably attached to the fourth and fourth plates 54.
The third plate 56 is oriented vertically and has a second nut member 58 screwed to the second screw shaft 52 attached thereto.
A servo motor 6 is provided at one end of the second screw shaft 52.
0, the second screw shaft 52 is rotated by the servo motor 60, and the third screw shaft 52 is screwed into the third screw shaft 52 via the second nut member 58.
The plate 56 is moved in the Y-axis direction.

As shown in FIG. 4, the vertical moving mechanism 32 rotatably supports both ends of a third screw shaft 62 disposed on the third plate 56 in the Z-axis (vertical) direction. A pair of guides 64, 6 are provided on both left and right sides of the third screw shaft 62.
A fourth plate 66 is movably attached to the guides 64. A third nut member 68 screwed to the third screw shaft 62 is attached to the fourth plate 66.
A servomotor 70 is provided at one end of the second motor 2. The third screw shaft 62 is rotated by the servo motor 70, and the fourth plate 66 is moved in the Z-axis direction via the third nut member 68.

The manipulator 16 is provided on the fourth plate 66 and has a first rotating mechanism 72 centered on the α-axis;
The second rotation mechanism 74 about the β axis is used.

As shown in FIG. 5, the first rotating mechanism 72 is provided with a first arm 76 projecting obliquely downward and forward from the fourth plate 66, and rotating at a tip end of the first arm 76. First pivot 78 provided as possible and arranged in the α-axis direction
And a second arm 80 integrally projecting downward from the first pivot 78. The first arm 76 and the second arm 80 can be relatively rotated about the first pivot 78.

Also, the first plate 66
A first support piece 82 protrudes from the side on which the arm 76 is disposed, and a bracket 84 is rotatably attached to a tip end of the first support piece 82. Another bracket 86 is provided opposite to the bracket 84, and both brackets 84, 8 are provided.
6 are connected via a guide 88. Further, a fourth screw shaft 90 is rotatably supported between the brackets 84 and 86.

On the other hand, a first swinging piece 92 is integrally formed with the second arm 80 and coaxially with the first pivot 78, and a fourth nut member 94 is attached to the tip of the first swinging piece 92. Attach it rotatably. The fourth nut member 94 is movably supported by the guide 88 and is screwed to the fourth screw shaft 90. A servomotor 96 is provided at one end of the fourth screw shaft 90, and the fourth screw shaft 90 is rotated by the servomotor 96, so that the fourth nut member 94 is formed.
, The first swinging piece 92 is rotated. That is, when the first swinging piece 92 rotates, the second arm 80 can rotate with respect to the first arm 76.

As shown in FIG. 6, the second rotating mechanism 74 is provided at the lower end of the second arm 80 so as to be rotatable.
a second pivot 98 disposed in the β-axis direction, and the second pivot 98
A third rotation output member integrally projecting downward from the
Arm 100 and a second pivot 98 about the second pivot 98.
The arm 80 and the third arm 100 are relatively rotatable.

A second support piece 102 is projected from the second arm 80 in the left-right direction, and a bracket 104 is rotatably attached to the tip of the second support piece 102 and faces the bracket 104. Bracket 106
Is provided. These two brackets 104 and 106 are connected via a guide 108, and the two
The fifth screw shaft 110 is rotatably supported between 4, 106.

Further, a second swinging piece 112 is integrally provided to project from the second pivot 98, and a fifth nut member 114 is rotatably attached to the tip of the second swinging piece 112. The fifth nut member 114 is movably supported by the guide 108 and is screwed to the fifth screw shaft 110. A servo motor 11 is provided at one end of the fifth screw shaft 110.
6 is provided, and the fifth screw shaft 110 is
By rotating the second rocking piece 112, the second rocking piece 112 is rotated via the fifth nut member 114.
The third arm 100 is rotatable with respect to the second arm 80 by the rotation of.

By the way, the first, second, third, fourth and fourth
Servo motors 46, 60, 70, 96, 116 for rotationally driving the fifth screw shafts 34, 52, 62, 90, 110.
, A drive signal is output from a control circuit (not shown), and the amount of rotation is controlled. Each of the servo motors 46, 60, 7
By controlling the driving of 0, 96 and 116 respectively,
The feed mechanism 12 can control the amount of movement in the forward / backward, left / right, and up / down directions, and can control the amount of rotation of the manipulator 16 around the α axis and the β axis, and finally, the third arm 100 to which the stud gun 24 is attached. Can be determined. The control circuit stores one or more types of positions where studs are to be welded to the vehicle body roof 20 in advance, and determines the movement and the directional position of the stud gun 24 based on the stored information. .

A T stud feed cable (auto feeder) 120 is connected to the stud gun 24.
The T studs 22 are sequentially supplied to the stud gun 24 one by one via the feed cable 120. A welding cable 122 is collectively routed on the feed cable 120, and the stud gun 2 is connected via the welding cable 122.
4 to supply current.

A pair of laser sensors 124 and 126 constituting the correction device 26 are attached to both sides of the stud gun 24 in the left-right direction. Laser sensor 12
The laser beam is radiated from 4,126 so that the distance to the object hit by the laser beam can be measured, and the measurement result is fed back to the control circuit.

That is, as shown in FIG. 1 and FIG. 7 , the T studs 22 are mounted at both ends of the molding mounting grooves 20a, 20a formed on both sides of the vehicle body roof 20 in the longitudinal direction (front-back direction). Section (P1, P2, P3, P4)
T studs 2 set at the bottom of
2 is designed to lock the molding.

Therefore, the stud welding apparatus 10 of the present embodiment having the above-described configuration is supported in a suspended state above the line, and when a vehicle body as a work flows, it is shaped according to the shape of the vehicle body. The feed mechanism 12 and the manipulator 16 are driven based on the information stored in the control circuit in advance, and the stud gun 24 is moved and directed to a predetermined portion at the bottom of the molding mounting groove 20a. Next, the welding cable 122
The stud gun 24 is energized through the stud gun 24 and the T stud 22 held at the tip of the stud gun 24 and the molding mounting groove 20 in the body roof 20 as shown in FIG.
The arc is temporarily blown between the bottom and the bottom of a to bring the surface into a molten state, and in this state, the T stud 22 is pressed against the molten portion of the roof panel to fix the T stud 22.

The movement of the feed mechanism 12 and the rotation of the manipulator 16 are performed by controlling the rotation amounts of servo motors 46, 60, 70, 96, and 116 incorporated therein, and the stud gun 24 is stud-welded. It can be moved and rotated to a position. Therefore, the stud gun 24 can be moved to the target position with the information stored in the control circuit without using an attachment jig as in the related art. Therefore, by storing a plurality of pieces of information corresponding to each vehicle type in the control circuit, one stud welding apparatus 10 can be applied to stud welding of a plurality of vehicle types.

The stud welding apparatus 10 of the present embodiment is provided with the manipulator 16 in addition to the feed mechanism 12 for freely moving back and forth, left and right, and up and down as described above.
By rotating the manipulator 16 about the α-axis and β-axis which are arranged in a horizontal direction at right angles to each other, the stud gun 24 can be made to accurately correspond to the inclined state of the stud welding portion, and the T stud 22 can be mounted. The angle (in this embodiment, a right angle direction) can be accurately obtained.

Further, in the stud welding apparatus 10 of the present embodiment, the stud gun 24 has the laser sensors 124 and 126 attached thereto.
Is provided, and the distance to the target portion of the vehicle body roof 20 measured by the laser sensors 124 and 126 is fed back to the control circuit.
In response to the feedback signal, the servo motor 4
The amounts of rotation of 6, 60, 70, 96, and 116 can be corrected and controlled. In other words, the curvature of the curvature of the body roof 20 may be slightly different due to the formation error even in the same vehicle type. Even when such a formation error occurs, the T stud 22 must be properly attached to the target portion. Can be.
That is, as shown in FIG. 7, when the stud welding is performed on the bottom of one of the left and right grooves 20a, the correction device 26 measures the distance to the side wall 20b of the groove 20a with one laser sensor 120, and this distance is The amount of rotation of one or more of the servomotors 46, 60, 70, 96, 116 is controlled so that the dimensions are set in advance. When stud welding is performed to the bottom of the groove 20a on the other side, the distance to the side wall is measured by the other laser sensor 126 shown in FIGS. Therefore, as shown in FIG. 7, even when the position of the vehicle body is shifted in the left and right vehicle width directions, the laser sensor 1
By measuring the distance to the side wall 20b of the molding mounting groove at 24, the stud can be accurately welded to an appropriate position at the bottom of the groove 20a.

The stud welding apparatus 10 of the present embodiment is supported in a suspended state, so that another assembling apparatus can be arranged below the stud welding apparatus 10, thereby improving the use of the process. Can be.

[0034]

As described above, in the stud welding apparatus according to the first aspect of the present invention, the feed mechanism, which is arranged at right angles to each other, is movable in the X-axis, Y-axis, and Z-axis directions. Α arranged with a horizontal right angle relationship
The stud gun is moved and rotated via manipulators that can rotate about the axis and the β axis, respectively, so that the stud parts are welded to the target position of the work. Can be remarkably increased so as to correspond to the side wall of the molding mounting groove of any shape. Further, the X axis of the feed mechanism,
By storing in advance the amounts of movement in the Y-axis and Z-axis directions and the amount of rotation of the manipulator around the α-axis and β-axis, a stud welding can be easily performed by disposing a conventionally used attachment jig. It can be carried out. Furthermore, by storing the stud welding part shapes of the side walls of the plurality of types of molding mounting grooves , stud welding can be automatically performed on the side walls of the molding mounting grooves having different shapes, respectively. Multiple types of work can be completed with one stud welding device.

Also, a laser sensor for measuring the distance to the side wall of the molding mounting groove, and the measurement result of the laser sensor and / or the manipulator, so that the measurement result of the laser sensor is a predetermined distance. A correction device that feeds back to the drive amount is provided, so that studs are always in the correct position even when there is a formation error in the side wall of each molding mounting groove or when the position of the vehicle body is shifted in the left and right vehicle width direction. Guide the gun to the bottom of the
Accurate stud welding can be performed on the part .

Further, according to a second aspect of the present invention, a screw shaft is screwed between rotating members which relatively rotate about the α axis and the β axis of the manipulator, and the screw shaft is connected to a servo motor. Since the manipulator was driven by controlling the rotation,
This provides various excellent effects that the accuracy of the turning position of the manipulator, that is, the directing direction of the stud gun provided on the manipulator can be increased, and the position in the once directed direction can be reliably maintained.

[Brief description of the drawings]

FIG. 1 is an overall perspective view showing one embodiment of a stud welding apparatus according to the present invention.

FIG. 2 is a plan view showing a main part of a feed mechanism used in one embodiment of the present invention.

FIG. 3 is a sectional front view showing a main part of a feed mechanism used in one embodiment of the present invention.

FIG. 4 is a sectional front view showing a main part of a feed mechanism used in one embodiment of the present invention.

FIG. 5 is a side view showing a main part of the manipulator used in one embodiment of the present invention.

FIG. 6 is a front view showing a main part of a manipulator used in one embodiment of the present invention.

FIG. 7 is an enlarged sectional view of a main part showing a mounted state of a stud component according to one embodiment of the present invention.

[Explanation of symbols]

DESCRIPTION OF SYMBOLS 10 Stud welding apparatus 12 Feed mechanism 16 Manipulator 20 Body roof (work) 22 T stud (Stud part) 24 Stud gun 26 Correction device 66 4th plate (movement output member) 72 1st rotation mechanism 74 2nd rotation mechanism 90, 110 Screw shaft 100 Third arm (rotation amount output member)

────────────────────────────────────────────────── ─── Continuation of the front page (72) Kuniaki Hirakawa 3-1, Shinchi, Fuchu-cho, Aki-gun, Hiroshima Mazda Co., Ltd. (56) References JP-A-59-27786 (JP, A) JP-A-2 JP-14984 (JP, A) JP-A-2-160486 (JP, A) JP-A-3-57562 (JP, A) JP-A-1-215467 (JP, A) JP-A-62-21471 (JP, A ) Actually open 1984-1585 (JP, U) Actually open 1-180381 (JP, U) (58) Fields studied (Int. Cl. ⁷ , DB name) B23K 9/20 B25J 9/02 B25J 9 / 10 B25J 13/08 G01S 17/88

Claims (2)

(57) [Claims] An X-axis arranged at right angles to each other;
A feed mechanism that can move these axes individually or in combination along the Y axis and the Z axis, and an α axis and a β axis that are provided on a movement output member of the feed mechanism and that are arranged in a horizontal right-angle relationship with each other. A manipulator that is rotatable about the center, a stud gun that is provided on the rotation amount output member of the manipulator, and a stud gun that welds a stud component to the bottom of a molding mounting groove that is recessed on both sides of the body roof, A laser sensor for measuring a distance to a side wall of the molding mounting groove; and a driving amount of the feed mechanism and / or the manipulator for transmitting the measurement result of the laser sensor so that the measurement result of the laser sensor becomes a preset distance. A stud welding device comprising: a correction device that feeds back to the stud welding device. 2. A screw shaft is screwed between rotating members which relatively rotate around the α axis and β axis of the manipulator, respectively.
The stud welding apparatus according to claim 1, wherein the manipulator is driven by controlling the rotation of the screw shaft with a servomotor.