JP3354326B2 - Welding method and 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 welding method for welding a rod-shaped member with a member to be welded inserted therein, and a welding apparatus directly used for carrying out the method.

[0002]

2. Description of the Related Art For example, as shown in FIG. 14 (A), when a plate-shaped member is inserted into an intermediate portion in the axial direction of a rod-shaped member 01 and welded, a pair of welding torches is provided on both side portions of the rod-shaped member 01. When the welding is performed by moving the welding torch along the directions a and a, the end portions b and b of the welding torch in the moving direction are finally cooled and contracted. And there is a problem that the product is distorted.

Therefore, conventionally, as shown in FIG. 14 (B), a strain is removed by applying a load in the directions of arrows c and c to the distorted bar-shaped member 01.

[0004]

However, since the removal of the distortion requires a lot of time and labor, it has been desired to develop a welding method or a welding apparatus which does not generate distortion during welding. .

The present invention has been made in view of the above circumstances, and has as its object to provide a welding method that does not cause distortion during welding, and a welding apparatus that is directly used for implementing the method.

[0006]

In order to achieve the above object, according to the first aspect of the present invention, a first member to be welded and a second member to be welded which are inserted through a rod-like member are arranged in the axial direction of the rod-like member. A welding method for welding at two positions separated from each other by arranging a pair of welding means with a plane including an axis of a rod-shaped member interposed therebetween, and moving the pair of welding means in a first direction along the plane. And welding the first member to be welded and moving the pair of welding means in a second direction opposite to the first direction to weld the second member to be welded.

According to a second aspect of the present invention, there is provided a welding apparatus for performing the welding method according to the first aspect, wherein the welding apparatus is disposed between a welding station and a work attaching / detaching station, and is intermittently rotated by 180 °. Turntable, and provided on the turntable so as to be able to face the welding station and the work attaching and detaching station, respectively,
A pair of first jigs for positioning the rod-shaped member and the first welded member at predetermined positions, and a turntable provided on the turntable so as to be able to face the welding station and the work attaching / detaching station respectively, and the first welded member is already welded A pair of second jigs for positioning the rod-shaped member and the second welded member at predetermined positions, welding means provided at the welding station for welding the first welded member and the second welded member to the rod-shaped member; It is characterized by having.

According to a third aspect of the present invention, there is provided a welding method for welding a member to be welded inserted through a rod-shaped member to the rod-shaped member, wherein one side of the plane including the axis of the rod-shaped member is along the plane. The welding is performed by moving the welding means in a first direction, and the welding is performed by moving the welding means in a second direction opposite to the first direction on the other side of the plane. .

[0009]

According to the first aspect of the present invention, when the first member to be welded is welded to the rod-shaped member, the rod-shaped member is bent with the terminal end inside so that the terminal end in the moving direction of the welding means is finally cooled. . Also, when the second member to be welded is welded to the rod-shaped member,
The rod-shaped member is curved with the terminal end inside so that the terminal end in the moving direction of the welding means is finally cooled. At this time, the moving direction of the welding means when welding the first member to be welded and the moving direction of the welding means when welding the second member to be welded are set in opposite directions. The curvature of the welded portion of the member and the curvature of the welded portion of the second welded member cancel each other, and a product without distortion as a whole can be obtained.

According to the second aspect of the present invention, at the welding station where the first jig and the second jig on the turntable face each other, the first member to be welded is welded to the rod-shaped member supported by the first jig. At the same time, the second member to be welded is welded to the rod-shaped member supported by the second jig. At the same time, at the work attaching / detaching station where the other first jig and the other second jig on the turntable face each other, the first welded member and the second
The rod-like member where the welding of the member to be welded is completed is paid out from the second jig, and the rod-like member where the welding of the first member to be welded is completed is transferred from the first jig to the second jig, and the rod-like member is transferred to the second jig. (2) The position of the member to be welded is determined, and the rod-shaped member is put into the first jig to position the member to be welded. The above operation is repeatedly performed while the turntable is intermittently rotated by 180 °.

According to the third aspect of the present invention, when the member to be welded is welded to the rod-shaped member on one side of the plane including the axis of the rod-shaped member, the terminal end in the moving direction of the welding means is finally cooled so as to cool down. The bar-shaped member is curved with the portion inside. Further, when the member to be welded is welded on the other side of the plane including the axis of the rod-shaped member, the rod-shaped member is curved with the terminal end inside so that the terminal end in the moving direction of the welding means is finally cooled. At this time, since the moving directions of the welding means on both sides of the plane are set in opposite directions, the two end portions are located at both ends of the diameter of the rod-shaped member, and the bending of the rod-shaped member in both directions is mutually opposite. And a product without distortion as a whole can be obtained.

[0012]

Embodiments of the present invention will be described below with reference to the drawings.

FIGS. 1 to 12 show a first embodiment of the present invention. FIG. 1 is an overall plan view of a welding apparatus, FIG. 2 is a plan view of a first jig, and FIG. FIG. 4 is a sectional view taken along line 4-4 of FIG. 3, FIG. 5 is an enlarged sectional view taken along line 5-5 of FIG. 3, FIG. 6 is a plan view of the second jig, and FIG. -7 line sectional view,
8 is a sectional view taken along line 8-8 in FIG. 7, FIG. 9 is a sectional view taken along line 9-9 in FIG. 8, FIG. 10 is a sectional view taken along line 10-10 in FIG. 8, FIG. It is explanatory drawing of a welding direction.

As shown in FIG. 1, the welding apparatus W of the present embodiment
Is a welding station S1 where the robot R is arranged,
A work attaching / detaching station S2 in which a worker M is arranged;
A turntable T that is interposed between the stations S1 and S2 and that rotates intermittently by 180 ° around a rotation axis O pointing in the vertical direction. On the upper surface of the turntable T, two pairs of a first jig J1 and a second jig J2 are provided.
The two first jigs J1 and J1 are arranged symmetrically with respect to the rotation axis O, and the two second jigs J2 and J2 are arranged symmetrically with respect to the rotation axis O. Therefore, the turntable T
Are in any of the two rotational positions 180 ° out of phase, the first jig J1 and the second jig J2 forming a pair face the welding station S1, and the other first jig J1 and the other jig J1 The second jig J2 faces the work attaching / detaching station S2. A pair of welding torches t, t are attached to the tip of the arm A of the robot R.

As shown in FIG. 11, the work to be welded by the welding device W is a rod-shaped member S which is a control shaft of an automobile transmission and a first welded member Ld which is a detent lever to be welded to the control shaft. And a second welded member Lm which is a manual valve lever welded to the control shaft.

At the welding station S1, the rod-shaped member S supported by the first jig J1 and the first welded member Ld are welded by the welding torches t, t of the robot R (see the solid line in FIG. 1), and the second jig The rod-shaped member S supported by J2 and the second welded member Lm are welded by the welding torches t, t of the robot R (see the chain line in FIG. 1).

Next, the first jig J1 will be described with reference to FIGS.
The structure of will be described.

The first jig J1 supports the rod-shaped member S in an upright posture and positions the first welded member Ld inserted into the rod-shaped member S at a predetermined position. The lower positioning block 2 provided and the substrate 1
And an upper positioning block 4 provided at the upper end of the column 3 erected on the upper surface of the main body.

At the lower end of a space 5 formed in the lower positioning block 2 and penetrating vertically, a cylindrical support member 6 into which the bar-shaped member S is inserted from above is provided. A space 7 penetrating in the horizontal direction is formed between the lower positioning block 2 and the upper surface of the substrate 1, and a stopper bolt 8 implanted in the substrate 1 is disposed in the space 7. Therefore, the lower end of the rod-shaped member S inserted into the support member 6 and positioned in the radial direction is in contact with the stopper bolt 8 and is positioned in the axial direction.

A positioning pin 10 urged upward by a spring 9 is supported by the lower positioning block 2 so as to be able to move up and down. The upper end of the positioning pin 10 is provided on the first welded member Ld inserted through the rod-shaped member S. it is engageable with the positioning holes Ld _1. The lower surface of the first welded member Ld has four positioning members 11 provided on the upper surface of the lower positioning block 2.
, And is pressed from above by a pressing member 13 that moves up and down by a cylinder 12 provided on the substrate 1 and positioned.

The notch formed in the side surface of the upper positioning blocks 4 4 ₁ upper rod-like member S is fitted. The upper portion of the rod-like member S is formed with a positioning hole S ₁ and Gyakukumi prevention hole S _2, positioning pins 15 are engaged to advance and retract in the cylinder 14 into the positioning hole S _1, further conversely set prevention hole S ₂ The upper end of the rod-shaped member S is correctly positioned by the engagement of the reverse-assembly prevention pin 17 which advances and retreats with the cylinder 16 and the engagement of the ball 19 urged by the spring 18.

Next, the second jig J will be described with reference to FIGS.
Structure 2 will be described.

The second jig J2 supports the rod-shaped member S to which the first member-to-be-welded Ld is welded in an upright posture, and positions the second member-to-be-welded Lm inserted through the rod-shaped member S at a predetermined position. A lower positioning block 22 provided on the upper surface of the substrate 21, and an intermediate positioning block 24 provided at an intermediate portion of a column 23 erected on the upper surface of the substrate 21.
And an upper positioning block 25 provided at the upper end of the column 23
And

[0024] The lower positioning block 22 is formed with a notch 22 ₁ which opens to the side, the pressing member 28 which is pivotally supported on the bracket 26 swings by the cylinder 27
But it is positioned against the rod-shaped member S in the notch 22 _1. At this time, the lower end of the rod-shaped member S comes into contact with the stopper bolt 29 implanted in the substrate 21 and is positioned in the axial direction.

The second welded member Lm inserted through the rod-shaped member S
Is supported by the upper surface of the lower positioning block 22 and the upper surface of the positioning member 30 provided in the lower positioning block 22, and is pressed from above by a pressing member 33 supported by a parallel link mechanism 31 and driven by a cylinder 32. Fixed. At this time, the second welded member Lm is attached to the positioning pin 34 implanted in the lower positioning block 22 by the leaf spring 3.
5 and is positioned in the rotational direction.

On the intermediate positioning block 24, a locking member 36 with which the bar-shaped member S is engaged, a pair of clamp arms 38, 38 pivotally supported via pins 37, 37, and the clamp arms 38, 38 are opened. And a cam member 41 for moving the clamp arms 38, 38 in the closing direction by moving forward and backward by the cylinder 40. The rod-shaped member S is pressed against the locking member 36 by the clamp arms 38, 38,
Distortion during welding is prevented.

The upper positioning block 25 includes a first jig J1.
And a positioning pin 43 that moves forward and backward with the cylinder 42 and a reverse assembly prevention pin that moves forward and backward with the cylinder 44 so as to engage with the positioning hole S ₁ and the reverse assembly prevention hole S ₂ of the rod-shaped member S. 45 and a ball 47 urged by a spring 46.

The orientation of the rod-shaped member S in the rotation direction is set so as to be different by 180 ° between when supported by the first jig J1 and when supported by the second jig J2. That is, when the bar-shaped member S is supported by the first jig J1, the first member-to-be-welded Ld faces the near side (the worker M side) as shown in FIG. When transferred to the jig J2, the first member to be welded Ld faces the other side (the side opposite to the worker M) as shown in FIG.

Next, the operation of the first embodiment having the above configuration will be described.

When the turntable T is rotated by 180 ° and stopped, the first jig J1 and the second jig J2 face the welding station S1. The rod-shaped member S and the first member-to-be-welded Ld are positioned in the first jig J1 in an unwelded state, and the rod-shaped member in which the first member-to-be-welded Ld is already welded to the second jig J2. S and the second welded member Lm are positioned in an unwelded state.

In this state, the robot R moves the pair of welding torches t, t from the near side toward the rotation axis O of the turntable T from the near side to the other side, and moves the pair of welding torches t, t to the rod-shaped member S on the first jig J1. 1. Weld the member to be welded Ld. At this time, the pair of welding torches t, t are located on the left and right sides of the plane P including the axis of the rod-shaped member S, and move in the A, A direction along the plane P (see FIG. 12A). .

Subsequently, the robot R moves the pair of welding torches t, t from the near side to the other side toward the rotation axis O of the turntable T, and the rod-shaped member S on the second jig J2.
Is welded to the second member to be welded Lm. Also in this case, the pair of welding torches t, t are located on the left and right sides of the plane P, and move in the A ', A' directions along the plane P (FIG. 1).
2 (B)).

Incidentally, the rod-shaped member S supported on the first jig J1 and the rod-shaped member S supported on the second jig J2 are:
Since the first to-be-welded member Ld is welded and the second to-be-welded member Lm are welded, the welding torches t, t are both turned by the turntable T because they are rotated by 180 ° about the axis.
When the rod-shaped member S is used as a reference, the first welded member Ld is moved in the welding directions A, A and the second welded member Lm in the welding direction A with respect to the rod-shaped member S. ′,
The directions are opposite to those of A '(see FIGS. 11 and 12).

Therefore, as shown in FIGS. 11 and 12, when welding the first welded member Ld, the rod-shaped member S is bent in the B direction with the ends of the movement directions A, A of the welding torches t, t inside. However, when welding the second welded member Lm, the rod-shaped member S curves in the B 'direction with the ends of the moving directions A', A 'of the welding torches t, t inward, so that the bending in the B direction. And the curvature in the direction B 'cancel each other, so that a product in which the magnitude of the distortion falls within an allowable range as a whole can be obtained. As a result, the distortion removal step after welding, which is conventionally required, is not required, and the cost can be reduced.

While the above-described welding work is being performed in the welding station S1, the work transfer station S2
Then, the following work is performed in parallel.

That is, the first jig J1 and the second jig J2 face the work transfer station S2, and when the turntable T is rotated by 180 °, the first jig J1 is placed on the first jig J1. The rod-shaped member S to which the welding member Ld is welded is supported, and the second jig J2 has the first member to be welded Ld and the second member Jd.
First, the worker M of the work transfer station S2 supporting the rod-shaped member S to which the member to be welded Lm is welded,
From the jig J2, the first welded member Ld and the second welded member L
The rod-shaped member S where the welding of m is completed is paid out. Subsequently, the rod-shaped member S in which the welding of the first member to be welded Ld is completed is removed from the first jig J1, and the second member to be welded Lm is inserted through the rod and attached to the second jig J2. At this time, the first jig J1
In the state above, the first welded member Ld is facing forward (FIG. 2).
The rod-shaped member S which was in the first welded member Ld
Is rotated 180 ° in a state of facing away (see FIG. 6) and transferred to the second jig J2. Subsequently, a new rod-shaped member S having the first welded member Ld inserted therein is mounted on the empty first jig J1.

As described above, the turntable T is set at 180 °
By simultaneously performing the operations at the welding station S1 and the work transfer station S2 while intermittently rotating each time, the welding operation can be performed efficiently.

In the first embodiment described above, two robots are arranged at the welding station S1, the first robot performs welding of the first workpiece Ld, and the second robot performs the second welding. The welding of the welding member Lm can be performed. Further, the rod-shaped member S is moved from the first jig J1 to the second jig J2.
Can be transferred in the same posture without rotating the bar-shaped member S by 180 °. In this case, the moving direction (from the near side to the far side or from the far side to the near side) of the welding torches t, t is changed between when the first welded member Ld is welded and when the second welded member Lm is welded. There is a need to.

Next, a second embodiment of the present invention will be described.

The second embodiment is for preventing the rod-shaped member S from being bent when the member-to-be-welded Ld is welded to the rod-shaped member S using one welding torch t.

As shown in FIG. 13, the member to be welded Ld is inserted into the rod-shaped member S, and first, a plane P passing through the axis of the rod-shaped member S is set.
The welding is performed by moving the welding torch t in the direction of arrow C on one side. As a result, the rod-shaped member S is curved in the direction of the arrow D with the terminal end in the moving direction of the welding torch t inside. Subsequently, welding is performed by moving the welding torch t in the direction of the arrow C 'opposite to the direction of the arrow C on the other side of the plane P. As a result, the rod-shaped member S bends in the direction of the arrow D 'opposite to the direction of the arrow D with the terminal end in the moving direction of the welding torch t inside. Thus, since the curvature in the direction of arrow D and the curvature in the direction of arrow D 'cancel each other, the finally obtained product has a bending amount of the rod-shaped member S within a predetermined allowable range, which is conventionally required. By eliminating the distortion removing step of the rod-shaped member S, the cost can be reduced.

Although the embodiments of the present invention have been described in detail, various design changes can be made in the present invention without departing from the gist thereof.

For example, the rod-shaped member is not limited to the control shaft, but may be any member as long as it is rod-shaped, and its cross-sectional shape is not limited to a circular cross-section. Further, the present invention can be applied to CO ₂ welding and the like other than plasma gas welding.

[0044]

As described above, according to the first aspect of the present invention, the pair of welding means are moved in the first direction along the plane including the axis of the rod-shaped member to weld the first member to be welded. And performing the welding of the second welded member by moving the pair of welding means in the second direction opposite to the first direction, so that the bending of the welded portion of the first welded member and the second welded portion are performed. 2
The curvature of the welded portion of the member to be welded cancels out each other, and a product without distortion as a whole can be obtained.

According to the second aspect of the present invention,
At a welding station arranged on one side of the turntable, the other side of the turntable is welded to the rod-shaped member supported by the first jig and the second jig for the first member and the second member to be welded. In the work attachment / detachment station arranged in, the work can be paid out, transferred, and loaded to the first jig and the second jig, so that the work efficiency can be improved without wasting time. In addition, the work table can be efficiently transferred between the welding station and the work attaching / detaching station by intermittently rotating the turntable provided with each pair of the first jig and the second jig by 180 °.

According to the third aspect of the present invention,
Welding is performed by moving the welding means on one side of the plane including the axis of the rod-shaped member in a first direction along the plane to perform welding, and on the other side of the plane, the second direction opposite to the first direction. By performing welding by moving the welding means in the two directions, the bending of the rod-shaped member in both directions cancels each other, and a product without distortion as a whole can be obtained.

[Brief description of the drawings]

FIG. 1 is an overall plan view of a welding apparatus.

FIG. 2 is a plan view of a first jig.

FIG. 3 is a sectional view taken along line 3-3 of FIG. 2;

FIG. 4 is a sectional view taken along line 4-4 in FIG. 3;

FIG. 5 is an enlarged sectional view taken along line 5-5 of FIG. 3;

FIG. 6 is a plan view of a second jig.

FIG. 7 is a sectional view taken along line 7-7 of FIG. 6;

8 is a sectional view taken along line 8-8 in FIG. 7;

9 is a sectional view taken along line 9-9 in FIG.

FIG. 10 is a sectional view taken along line 10-10 of FIG. 8;

FIG. 11 is a side view of a work.

FIG. 12 is an explanatory view of a welding direction.

FIG. 13 is an explanatory view of a second embodiment of the present invention.

FIG. 14 is an explanatory diagram of the reason why the rod-shaped member is curved.

[Explanation of symbols]

 S rod-shaped member Ld first welded member Lm second welded member S1 welding station S2 work attaching / detaching station J1 first jig J2 second jig P plane T turntable t welding means A first direction A 'second Direction C First direction C 'Second direction

──────────────────────────────────────────────────続 き Continued on front page (58) Field surveyed (Int.Cl. ⁷ , DB name) B23K 9/028

Claims (3)

(57) [Claims] 1. A welding method for welding a first member to be welded (Ld) and a second member to be welded (Lm) inserted through a rod-shaped member (S) at two axially separated positions of the rod-shaped member (S). A method comprising: arranging a pair of welding means (t) across a plane (P) including an axis of a rod-shaped member (S), and connecting the pair of welding means (t) to a first surface along the plane (P). In the direction (A) to weld the first member to be welded (Ld), and to move the pair of welding means (t) in a second direction (A) opposite to the first direction (A). ') To the second member to be welded (L
A welding method characterized by performing the welding of m). 2. A welding apparatus for carrying out the welding method according to claim 1, wherein the turntable is interposed between a welding station (S1) and a work attaching / detaching station (S2) and intermittently rotates by 180 °. (T), a bar-shaped member (S) and a first welded member (Ld) are provided on a turntable (T) so as to be able to face the welding station (S1) and the work attaching / detaching station (S2), respectively. A pair of first jigs (J1) positioned at a position, a welding station (S1) and a work attaching / detaching station (S2) are provided on a turntable (T) so as to be able to face each other, and a first member to be welded ( A pair of second jigs (J2) for positioning the rod-shaped member (S) and the second welded member (Lm) to which Ld) has already been welded, at a predetermined position; (S1) a bar-shaped member provided on (S1)
The first member to be welded (Ld) and the second member to be welded (Lm)
And a welding means for welding. 3. A welding method for welding a member to be welded (Ld) inserted through a rod-shaped member (S) to the rod-shaped member (S), wherein the welding method comprises one of a plane (P) including an axis of the rod-shaped member (S). On the side in a first direction (C) along the plane (P)
And welding is performed by moving the welding means (t) in a second direction (C ′) opposite to the first direction (C) on the other side of the plane (P). A welding method characterized by performing.