JP5254484B2 - Spot welding equipment - Google Patents

Spot welding equipment Download PDF

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JP5254484B2
JP5254484B2 JP2012204317A JP2012204317A JP5254484B2 JP 5254484 B2 JP5254484 B2 JP 5254484B2 JP 2012204317 A JP2012204317 A JP 2012204317A JP 2012204317 A JP2012204317 A JP 2012204317A JP 5254484 B2 JP5254484 B2 JP 5254484B2
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electrode
welded
spot welding
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thin plate
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JP2013018055A (en
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健輔 坂井
圭吾 木村
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Subaru Corp
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Fuji Jukogyo KK
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Description

本発明は、板厚の異なる板材を重ね合わせた板組みの被溶接部材をスポット溶接するスポット溶接装置に関する。   The present invention relates to a spot welding apparatus for spot welding a member to be welded in a plate assembly in which plate materials having different thicknesses are stacked.

一般に、重ね合わされた鋼板等の板材の接合には、一対の溶接電極間で挟み加圧力を与えながら両溶接電極間に大電流を一定時間通電し、接合部をほぼ溶融温度まで上げてナゲットを形成するスポット溶接が広く行われている。   In general, for joining plate materials such as stacked steel plates, a large current is passed between the welding electrodes for a certain period of time while applying pressure between a pair of welding electrodes, and the nugget is raised to a substantially melting temperature. Spot welding to form is widely performed.

スポット溶接にあたり、両溶接電極により付与される加圧力及び通電時間が一定の場合には、ナゲット径は電流の増加に従って徐々に増加するが、電流値が過大になると発熱量が過大になり板材間に溶融金属が飛散する散りの発生原因となる。即ち散りは接合部の過熱による溶融金属の爆飛現象で、ナゲットに空孔、割れ等が発生して、ナゲットの形状や金属組織に不連続部が生じ、接合部の板厚の減少と共に著しい強度低下の要因となる。反対に電流が過少の場合にはナゲットが小さくなり十分な接合強度が得られない。また、加圧力が小さいときには板材間の接触面積が少なくなり、電流密度が高くなり過熱による散り発生の原因となる。一方、加圧力が大き過ぎると接合部の接触面積が大きくなり電流密度が低下して発熱量が減少する。この結果、ナゲットが小さく溶接強度が低下する。   In spot welding, when the applied pressure and energization time applied by both welding electrodes are constant, the nugget diameter gradually increases as the current increases. This causes the scattering of the molten metal. In other words, scattering is a phenomenon of molten metal explosion due to overheating of the joint, resulting in voids, cracks, etc. in the nugget, resulting in discontinuities in the shape and metal structure of the nugget, and a marked decrease in the thickness of the joint It becomes a factor of strength reduction. On the other hand, when the current is too small, the nugget becomes small and sufficient bonding strength cannot be obtained. In addition, when the applied pressure is small, the contact area between the plate members is reduced, the current density is increased, and this causes scattering due to overheating. On the other hand, when the applied pressure is too large, the contact area of the joint is increased, the current density is lowered, and the heat generation amount is reduced. As a result, the nugget is small and the welding strength is reduced.

ここで、図18(a)に示すように、剛性の低い薄板101、薄板101より厚く剛性が高い第1厚板102、第2厚板103の3枚を重ね合わせた被溶接部材100をスポット溶接する場合には、薄板101と第1厚板102の間及び第1厚板102と第2厚板103の間に隙間がなく密着した状態で、可動側電極121と固定側電極122により被溶接部材100を挟んで電源123により通電すると、可動側電極121と固定側電極122間の通電経路における電流密度がほぼ均一となり薄板101から第2厚板103に亘って良好なナゲットが形成されて、必要な溶接強度を得ることができる。   Here, as shown in FIG. 18 (a), the member to be welded 100 in which three sheets of a thin plate 101 having a low rigidity, a first thick plate 102 thicker than the thin plate 101 and having a higher rigidity, and a second thick plate 103 are overlapped is spotted. When welding, the movable side electrode 121 and the fixed side electrode 122 cover the thin plate 101 and the first thick plate 102 and between the first thick plate 102 and the second thick plate 103 without any gap. When energized by the power source 123 with the welding member 100 interposed therebetween, the current density in the energization path between the movable electrode 121 and the fixed electrode 122 becomes substantially uniform, and a good nugget is formed from the thin plate 101 to the second thick plate 103. The required welding strength can be obtained.

しかし、実際には、可動側電極121と固定側電極122によって被溶接部材100を挟んで加圧したときに、剛性の低い薄板101と第1厚板102が上方に撓んで、薄板101と第1厚板102の間及び第1厚板102と第2厚板103との間に隙間が生じる。この場合、可動側電極121と薄板101間の接触面積は薄板101の撓みにより大きくなるのに対して、薄板101と第1厚板102間及び第1厚板102と第2厚板103間の接合部の接触面積は隙間により小さくなる。   However, in practice, when the member to be welded 100 is sandwiched and pressed by the movable side electrode 121 and the fixed side electrode 122, the thin plate 101 and the first thick plate 102 having low rigidity bend upward, and the thin plate 101 and the first plate A gap is generated between the first thick plate 102 and between the first thick plate 102 and the second thick plate 103. In this case, the contact area between the movable electrode 121 and the thin plate 101 is increased by the bending of the thin plate 101, whereas between the thin plate 101 and the first thick plate 102 and between the first thick plate 102 and the second thick plate 103. The contact area of the joint is reduced by the gap.

このため、可動側電極121と固定側電極122の接合部の電流密度が薄板101側に対して第2厚板103側が高くなり、薄板101と第1厚板102間よりも第1厚板102と第2厚板103間の方が局部的な発熱量が多くなる。   For this reason, the current density at the junction between the movable electrode 121 and the fixed electrode 122 is higher on the second thick plate 103 side than on the thin plate 101 side, and the first thick plate 102 is between the thin plate 101 and the first thick plate 102. And the second thick plate 103 generate more local heat.

その結果、図18(a)に示すように先ず第1厚板102と第2厚板103との接合部にナゲット105が形成され、次第にナゲット105が大きくなりやがて図18(b)のように薄板101と第1厚板102間が溶着される。しかし、この薄板101と第1厚板102との間の溶け込み量が小さく溶接強度が不安定で、薄板101が剥離することが懸念され、かつ溶接品質にバラツキがある。この不具合は、特に第1厚板102及び第2厚板103が厚いほど厚板102と薄板101との間にナゲット105が到達しにくく、顕著である。   As a result, as shown in FIG. 18 (a), the nugget 105 is first formed at the joint between the first thick plate 102 and the second thick plate 103, and the nugget 105 gradually becomes larger as shown in FIG. 18 (b). The thin plate 101 and the first thick plate 102 are welded. However, the amount of penetration between the thin plate 101 and the first thick plate 102 is small, the welding strength is unstable, the thin plate 101 may be peeled off, and the welding quality varies. This problem is particularly noticeable because the nugget 105 is less likely to reach between the thick plate 102 and the thin plate 101 as the first thick plate 102 and the second thick plate 103 are thicker.

また、同様に薄板101と第1厚板102間の溶け込み量が小さく溶接強度が不安定となる原因としては、薄板101が薄いため、可動側電極121の接触により熱が可動側電極121に奪われ、薄板101側の温度が上がらず、ナゲット105が形成されにくいこともある。   Similarly, the reason why the amount of penetration between the thin plate 101 and the first thick plate 102 is small and the welding strength becomes unstable is that the thin plate 101 is thin, so that heat is drawn to the movable side electrode 121 by the contact of the movable side electrode 121. In other words, the temperature on the thin plate 101 side does not rise, and the nugget 105 may be difficult to form.

この対策として、例えば特許文献1に開示されるスポット溶接方法がある。このスポット溶接方法は、図19に示すように、薄板101、第1厚板102、第2厚板103を重ね合わせた被溶接部材100をスポット溶接するときに、薄板101側に当接する可動側電極121の先端径を、第2厚板103側に当接する固定側電極122の先端径よりも小さくすることで、薄板101と可動側電極121との接触面積を第2厚板103と固定側電極122との接触面積よりも小さくする。これにより、可動側電極121と固定側電極122間の通電経路における電流密度が可動側電極121側から固定側電極122に向かって次第に低くなる。この結果、薄板101と第1厚板102との間において発熱量が多くなり、良好なナゲットが形成されて薄板101と第1厚板102間の溶接強度が向上する。   As a countermeasure, for example, there is a spot welding method disclosed in Patent Document 1. In this spot welding method, as shown in FIG. 19, when spot welding is performed on the member to be welded 100 in which the thin plate 101, the first thick plate 102, and the second thick plate 103 are overlapped, the movable side that contacts the thin plate 101 side is used. By making the tip diameter of the electrode 121 smaller than the tip diameter of the fixed side electrode 122 in contact with the second thick plate 103 side, the contact area between the thin plate 101 and the movable side electrode 121 is reduced to the second thick plate 103 and the fixed side. The contact area with the electrode 122 is made smaller. As a result, the current density in the energization path between the movable electrode 121 and the fixed electrode 122 gradually decreases from the movable electrode 121 side toward the fixed electrode 122. As a result, the amount of heat generated between the thin plate 101 and the first thick plate 102 increases, a good nugget is formed, and the welding strength between the thin plate 101 and the first thick plate 102 is improved.

また、特許文献2に開示されるスポット溶接方法は、図20に示すように、薄板101、第1厚板102、第2厚板103の3枚の板材を重ね合わせた被溶接部材100をスポット溶接するときに、薄板101側に位置する可動側電極135の加圧力FUを、第2厚板103側に位置する固定側電極134の加圧力FLより小さくすることで、薄板101と厚板102との間の接触抵抗が大きくなると共に厚板102と103との間の接触抵抗が小さくなり、可動側電極135と固定側電極134間に通電したときに、薄板101と第1厚板102との接合部における発熱量を増加させることができ、薄板101と第1厚板102の溶接強度を高めることができる。   In addition, as shown in FIG. 20, the spot welding method disclosed in Patent Document 2 spot-welds a member to be welded 100 in which three plate materials of a thin plate 101, a first thick plate 102, and a second thick plate 103 are overlapped. When welding, the pressing force FU of the movable electrode 135 located on the thin plate 101 side is made smaller than the pressing force FL of the fixed electrode 134 positioned on the second thick plate 103 side, so that the thin plate 101 and the thick plate 102. And the contact resistance between the thick plates 102 and 103 is reduced, and when the movable side electrode 135 and the fixed side electrode 134 are energized, the thin plate 101 and the first thick plate 102 The amount of heat generated at the joint can be increased, and the welding strength between the thin plate 101 and the first thick plate 102 can be increased.

この方法の実施に用いられるスポット溶接装置の構成は、図21に示すように、溶接ロボット125の手首部126にスポット溶接装置130が搭載され、溶接ロボット125は、クランパ128によって支持された被溶接部材100の各打点位置にスポット溶接装置130を移動し、被溶接部材100のスポット溶接を行う。   As shown in FIG. 21, the spot welding apparatus used for carrying out this method has a spot welding apparatus 130 mounted on the wrist 126 of a welding robot 125, and the welding robot 125 is supported by a clamper 128. The spot welding device 130 is moved to each spot position of the member 100 to perform spot welding of the member 100 to be welded.

スポット溶接装置130は、手首部126に取り付けられた支持ブラケット127に固定されたリニアガイド131によって上下動自在に支持されたベース部132を備え、このベース部132には下方に延びるC形ヨーク133が設けられ、このC形ヨーク133の下端の先端に固定側電極134が設けられる。   The spot welding device 130 includes a base portion 132 supported by a linear guide 131 fixed to a support bracket 127 attached to the wrist portion 126 so as to be movable up and down. The base portion 132 has a C-shaped yoke 133 extending downward. The fixed side electrode 134 is provided at the tip of the lower end of the C-shaped yoke 133.

また、ベース部132の上端には、サーボモータ等の加圧アクチュエータ136が搭載され、加圧アクチュエータ136により上下動するロッド137の下端に固定側電極134と対向して可動側電極135が取り付けられる。支持ブラケット127の上端にサーボモータ138が搭載され、サーボモータ138の作動によりボールねじ機構を介してベース部132が上下動する。   A pressure actuator 136 such as a servo motor is mounted on the upper end of the base portion 132, and a movable side electrode 135 is attached to the lower end of a rod 137 that moves up and down by the pressure actuator 136 so as to face the fixed side electrode 134. . A servo motor 138 is mounted on the upper end of the support bracket 127, and the base portion 132 moves up and down via the ball screw mechanism by the operation of the servo motor 138.

ここで、図示しないコントローラに予め記憶されているティーチングデータに従って、薄板101側に位置する可動側電極135による加圧力FUを固定側電極134による加圧力FLよりも小さくする(FU<FL)。   Here, in accordance with teaching data stored in advance in a controller (not shown), the pressure FU applied by the movable electrode 135 located on the thin plate 101 side is made smaller than the pressure FL applied by the fixed electrode 134 (FU <FL).

このように可動側電極135による加圧力FUを固定側電極134による加圧力FLより小さく(FU<FL)するために、コントローラは、先ず、サーボモータ138によりベース部132を上動させて固定側電極134を被溶接部材100の下面に当接させると共に、加圧アクチュエータ136により可動側電極135を下降させて被溶接部材100の上面に当接させる。この場合、加圧アクチュエータ136の加圧力が可動側電極135とベース部132及びC形ヨーク133を介して固定側電極134とに均等に作用する。   In this way, in order to make the pressure FU applied by the movable electrode 135 smaller than the pressure FL applied by the fixed electrode 134 (FU <FL), the controller first moves the base portion 132 upward by the servo motor 138 to fix the pressure on the fixed side. The electrode 134 is brought into contact with the lower surface of the member to be welded 100, and the movable side electrode 135 is lowered by the pressure actuator 136 and brought into contact with the upper surface of the member to be welded 100. In this case, the pressure applied by the pressure actuator 136 acts equally on the movable side electrode 135, the base portion 132, and the fixed side electrode 134 via the C-shaped yoke 133.

次に、サーボモータ138によりベース部132を押し上げる。このベース部132の押し上げにより、固定側電極134の加圧力FLがベース部132の押し上げ分だけ増加し、可動側電極135による加圧力FUが固定側電極134による加圧力FLより小さくなる(FU<FL)。   Next, the base portion 132 is pushed up by the servo motor 138. As the base portion 132 is pushed up, the pressing force FL of the fixed side electrode 134 is increased by the pushing amount of the base portion 132, and the pressing force FU by the movable side electrode 135 becomes smaller than the pressing force FL by the fixed side electrode 134 (FU < FL).

その結果、可動側電極135と固定側電極134との間に通電したときに、薄板101と第1厚板102の接合部における電流密度が高くなり発熱量が第1厚板102と第2厚板103の接合部における発熱量に対して相対的に増加する。これにより、薄板101から第2厚板103に亘って溶け込み量に偏りのない良好なナゲットが形成されて溶接強度を確保できる。   As a result, when a current is passed between the movable side electrode 135 and the fixed side electrode 134, the current density at the junction between the thin plate 101 and the first thick plate 102 increases, and the amount of heat generated is between the first thick plate 102 and the second thickness. It increases relative to the amount of heat generated at the joint of the plate 103. As a result, a good nugget with no deviation in the amount of penetration is formed from the thin plate 101 to the second thick plate 103, and the welding strength can be ensured.

特開2003−251468号公報JP 2003-251468 A 特開2003−251469号公報JP 2003-251469 A

上記特許文献1によると、薄板101に当接する可動側電極121の先端径を第2厚板103に当接する固定側電極122の先端径よりも小さくすることによって、可動側電極121と固定側電極122間の通電経路における電流密度が可動側電極121から固定側電極122に向かって次第に低くなり、薄板101と厚板102間の溶接強度が向上する。   According to Patent Document 1, the movable side electrode 121 and the fixed side electrode are made smaller by making the distal end diameter of the movable side electrode 121 in contact with the thin plate 101 smaller than the distal end diameter of the fixed side electrode 122 in contact with the second thick plate 103. The current density in the energization path between 122 gradually decreases from the movable electrode 121 toward the fixed electrode 122, and the welding strength between the thin plate 101 and the thick plate 102 is improved.

しかし、可動側電極121と固定側電極122による加圧力や、薄板101、第1厚板102、第2厚板103の板厚及び被溶接部材100の形状や部位によって、可動側電極121と固定側電極122間の通電経路における電流密度が種々変化し、均一な溶接品質を確保することが困難である。また、薄板101、第1厚板102、第2厚板103の板厚及び被溶接部材100の形状及び部位に応じて先端径の異なる種々の可動側電極121及び固定側電極122を種々取り換えて使用することは、極めて厄介で生産性の大幅な低下が懸念され、現実的ではない。また、先端径が異なる種々の可動側電極121及び固定側電極122を準備し、管理するには多くの管理コストを要する。   However, the movable electrode 121 is fixed to the movable electrode 121 according to the pressure applied by the movable electrode 121 and the fixed electrode 122, the thickness of the thin plate 101, the first thick plate 102, the second thick plate 103, and the shape and part of the member 100 to be welded. Various current densities in the energization path between the side electrodes 122 change, and it is difficult to ensure uniform welding quality. Further, various movable side electrodes 121 and fixed side electrodes 122 having different tip diameters depending on the thicknesses of the thin plate 101, the first thick plate 102, and the second thick plate 103 and the shape and part of the member to be welded 100 are replaced in various ways. The use is extremely troublesome, and there is concern about a significant decrease in productivity, which is not realistic. In addition, it requires a lot of management costs to prepare and manage various movable-side electrodes 121 and fixed-side electrodes 122 having different tip diameters.

一方、特許文献2にあっては、クランパ128によって支持された被溶接部材100の各打点位置にスポット溶接装置130を移動し、被溶接部材100の第2厚板103側に固定側電極134を当接させると共に可動側電極135を薄板101に当接させ、更にベース部132を押し上げて固定側電極134側の加圧力FLより可動側電極135側の加圧力FUを小さくすることで、相対的に薄板101と第1厚板102間の電流密度が高くなり、薄板101と第1厚板102の接合部における発熱量が確保でき、溶け込み量が増大して溶接強度が増加する。   On the other hand, in Patent Document 2, the spot welding device 130 is moved to each spot position of the member to be welded 100 supported by the clamper 128, and the fixed electrode 134 is placed on the second thick plate 103 side of the member to be welded 100. The movable side electrode 135 is brought into contact with the thin plate 101 and the base portion 132 is further pushed up so that the pressure FU on the movable side 135 is smaller than the pressure FL on the fixed side 134. In addition, the current density between the thin plate 101 and the first thick plate 102 is increased, the amount of heat generated at the joint between the thin plate 101 and the first thick plate 102 can be secured, the amount of penetration is increased, and the welding strength is increased.

しかし、被溶接部材100をクランパ128によりクランプ保持された被溶接部材100を固定側電極134と可動側電極135によって挟持加圧した状態でベース部132を移動して固定側電極134の加圧力FLより可動側電極135による加圧力FUを小さくするには、被溶接部材100をクランプ保持するクランパ128に大きな負荷が要求される。一方、クランパ128による被溶接部材100のクランプ位置と溶接位置、即ち溶接打点位置とが離間した状態では、被溶接部材100が撓み変形して固定側電極134による加圧力FLと可動側電極135による加圧力FUにバラツキが生じて安定した薄板101と第1厚板102との間の接触抵抗及び第1厚板102と第2厚板103との間の接触抵抗の確保が困難であり、被溶接部材100の接合部における電流密度にバラツキが生じてスポット溶接の品質低下が懸念される。また、溶接加圧時の反力で移動し得るようロボットの手首とベース部との間にイコライジング機能を備えたスポット溶接装置では使用できず、スポット溶接装置が制限される。   However, the welding member 100 held by the clamper 128 is clamped and pressed by the fixed electrode 134 and the movable electrode 135, and the base portion 132 is moved to apply the pressure FL of the fixed electrode 134. In order to further reduce the pressure FU applied by the movable electrode 135, a large load is required for the clamper 128 that clamps and holds the member to be welded 100. On the other hand, in a state where the clamp position of the member 100 to be welded by the clamper 128 and the welding position, that is, the welding spot position, are separated, the member 100 to be welded is deformed and deformed by the applied pressure FL by the fixed side electrode 134 and the movable side electrode 135. It is difficult to ensure a stable contact resistance between the thin plate 101 and the first thick plate 102 and a contact resistance between the first thick plate 102 and the second thick plate 103 due to variations in the applied pressure FU. There is a concern that the current density at the joint of the welded member 100 varies and the quality of spot welding is degraded. Moreover, it cannot be used in a spot welding apparatus having an equalizing function between the wrist and base portion of the robot so that it can be moved by a reaction force during welding pressurization, and the spot welding apparatus is limited.

従って、かかる点に鑑みてなされた本発明の目的は、重ね合わされた2枚の厚板の一方に薄板を重ね合わせた3枚重ねの被溶接部材をスポット溶接する場合に、均一な安定した溶接品質が得られるスポット溶接装置を提供することにある。   Accordingly, an object of the present invention made in view of such a point is to provide uniform and stable welding when spot welding a three-layered member to be welded in which a thin plate is superposed on one of two superposed thick plates. An object of the present invention is to provide a spot welding apparatus capable of obtaining quality.

上記目的を達成するスポット溶接装置は、薄板、該薄板より板厚が大きい第1厚板、第2厚板を順に重ね合わせた被溶接部材をスポット溶接するスポット溶接装置において、ヨークに支持されて上記第2厚板に当接する第1溶接電極と、該第1溶接電極と対向して上記薄板に当接する第2溶接電極と、該第2溶接電極に隣接して上記薄板に制御加圧力を付与する制御加圧付与手段とを備え、上記制御加圧付与手段は、少なくとも上記第2溶接電極を挟む両側から上記薄板を加圧する被溶接部材押さえを有し、上記第2溶接電極と上記第1溶接電極と上記被溶接部材押さえによる挟持加圧状態で上記第2溶接電極と第1溶接電極との間で通電してスポット溶接することを特徴とする。 A spot welding apparatus that achieves the above object is a spot welding apparatus that spot welds a member to be welded in which a thin plate, a first thick plate having a thickness greater than the thin plate, and a second thick plate are sequentially stacked. A first welding electrode that contacts the second thick plate; a second welding electrode that contacts the thin plate opposite to the first welding electrode; and a control pressure applied to the thin plate adjacent to the second welding electrode. and a control pressure providing means for providing, the control pressure applied manually stage has a welded member retainer for pressing the thin plate from both sides at least the second welding electrode, and the second welding electrode Spot welding is performed by energizing between the second welding electrode and the first welding electrode in a sandwiched pressure state by the first welding electrode and the pressed member to be welded.

これによれば、薄板、第1厚板、第2厚板を順に重ね合わせた3枚重ねの被溶接部材をスポット溶接するにあたり、第2厚板に当接する第1溶接電極とこの第1溶接電極と対向して薄板に当接する第2溶接電極及び該第2溶接電極に隣接して第2溶接電極を両側から薄板を加圧する被溶接部材押さえによって被溶接部材を挟持加圧することで、第1溶接電極による加圧力が被溶接部材の第2厚板に付与される一方、第2溶接電極による加圧力とこの第2溶接電極に隣接して制御加圧付与手段による制御加圧力が薄板に付与されて薄板側の第2溶接電極による加圧力が第2厚板側の第1溶接電極による加圧力より小さくなる。これにより、この第2溶接電極と第1溶接電極との間に通電したときに、相対的に薄板と第1厚板の接合部の電流密度が高くなり、薄板から第2厚板に亘って溶け込み量に偏りのない良好なナゲットが形成され、被溶接部材に対する溶接品質が向上する。 According to this, in spot welding a three-layered member to be welded in which a thin plate, a first thick plate, and a second thick plate are sequentially stacked, the first welding electrode that contacts the second thick plate and the first welding A second welding electrode that contacts the thin plate opposite to the electrode, and a second welding electrode that is adjacent to the second welding electrode and presses the thin member from both sides to press the thin plate, and pressurizes the member to be welded. The pressure applied by one welding electrode is applied to the second thick plate of the member to be welded, while the pressure applied by the second welding electrode and the control pressure applied by the control pressure applying means adjacent to the second welding electrode are applied to the thin plate. The applied pressure by the second welding electrode on the thin plate side becomes smaller than the applied pressure by the first welding electrode on the second thick plate side. Thereby, when it supplies with electricity between this 2nd welding electrode and 1st welding electrode, the current density of the junction part of a thin plate and a 1st thick plate becomes high relatively, and it extends from a thin plate to a 2nd thick plate. A good nugget with no deviation in the amount of penetration is formed, and the welding quality for the member to be welded is improved.

本発明によると、薄板、第1厚板、第2厚板を順に重ね合わせた3枚重ねの被溶接部材をスポット溶接するにあたり、第2厚板に当接する第1溶接電極とこの第1溶接電極と対向して薄板に当接する第2溶接電極及び該第2溶接電極に隣接して2溶接電極を両側から薄板を加圧する被溶接部材押さえによって被溶接部材を挟持加圧することで、第1溶接電極による加圧力が被溶接部材の第2厚板に付与される一方、第2溶接電極による加圧力とこの第2溶接電極に隣接して制御加圧付与手段による制御加圧力が薄板に付与されて薄板側の第2溶接電極による加圧力が第2厚板側の第1溶接電極による加圧力より小さくなり、この第2溶接電極と第1溶接電極との間に通電したときに、相対的に薄板と第1厚板間の電流密度が大きくなり、薄板から第2厚板に亘って溶け込み量に偏りのない良好なナゲットが形成され、被溶接部材に対する溶接品質が向上する。

According to the present invention, when spot welding a three-layer member to be welded in which a thin plate, a first thick plate, and a second thick plate are stacked in order, the first welding electrode that contacts the second thick plate and the first welding are provided. A first welding electrode is sandwiched and pressed by a second welding electrode that contacts the thin plate opposite to the electrode and a welding member holding member that presses the thin plate from both sides adjacent to the second welding electrode . The pressure applied by the welding electrode is applied to the second thick plate of the member to be welded, while the pressure applied by the second welding electrode and the control pressure applied by the control pressure applying means adjacent to the second welding electrode are applied to the thin plate. When the pressure applied by the second welding electrode on the thin plate side becomes smaller than the pressure applied by the first welding electrode on the second thick plate side, the current flows between the second welding electrode and the first welding electrode. In particular, the current density between the thin plate and the first thick plate increases, and the thin plate An unbiased satisfactory nugget is formed in the penetration amount over et second plank, it improves weld quality with respect to the welding member.

実施の形態におけるスポット溶接装置の構成図である。It is a lineblock diagram of a spot welding device in an embodiment. 要部拡大斜視図である。It is a principal part expansion perspective view. スポット溶接装置作動工程図である。It is a spot welding apparatus operation | movement process drawing. 作動説明図である。It is an operation explanatory view. 比較例の作動説明図である。It is operation | movement explanatory drawing of a comparative example. スポット溶接装置作動工程図である。It is a spot welding apparatus operation | movement process drawing. 作動説明図である。It is an operation explanatory view. 被溶接部材の展開例を示す図である。It is a figure which shows the example of expansion | deployment of a to-be-welded member. 第1参考例の概要を示す図である。It is a figure which shows the outline | summary of a 1st reference example. 要部拡大斜視図である。It is a principal part expansion perspective view. スポット溶接装置作動工程図である。It is a spot welding apparatus operation | movement process drawing. 第2参考例におけるスポット溶接装置の構成図である。It is a block diagram of the spot welding apparatus in a 2nd reference example. 要部拡大斜視図である。It is a principal part expansion perspective view. スポット溶接装置作動工程図である。It is a spot welding apparatus operation | movement process drawing. 作動説明図である。It is an operation explanatory view. 作動説明図である。It is an operation explanatory view. 被溶接部材の展開例を示す図である。It is a figure which shows the example of expansion | deployment of a to-be-welded member. 従来のスポット溶接の概要を示す説明図である。It is explanatory drawing which shows the outline | summary of the conventional spot welding. 従来のスポット溶接の概要を示す説明図である。It is explanatory drawing which shows the outline | summary of the conventional spot welding. 従来のスポット溶接の概要を示す説明図である。It is explanatory drawing which shows the outline | summary of the conventional spot welding. 従来のスポット溶接の概要を示す説明図である。It is explanatory drawing which shows the outline | summary of the conventional spot welding.

(実施の形態)
以下、本発明の実施の形態について、図1〜図8を参照して説明する。図1はスポット溶接装置の構成図、図2はスポット溶接装置の要部説明図である。
(Embodiment)
Embodiments of the present invention will be described below with reference to FIGS. FIG. 1 is a configuration diagram of a spot welding apparatus, and FIG. 2 is an explanatory view of a main part of the spot welding apparatus.

図1において、1は溶接ロボット、10は溶接ロボット1に支持されるスポット溶接装置、100は被溶接部材である。   In FIG. 1, 1 is a welding robot, 10 is a spot welding apparatus supported by the welding robot 1, and 100 is a member to be welded.

溶接ロボット1及びスポット溶接装置10の説明に先立って、被溶接部材100について説明する。被溶接部材100は、重ね合わされた2枚の厚板の一方に薄板を重ね合わせた、例えば上から順に剛性の低い薄板101、薄板101より板厚が大きく剛性が高い第1厚板102及び第2厚板103が重ね合わされた3枚重ねの板組によって構成される。   Prior to the description of the welding robot 1 and the spot welding apparatus 10, the welded member 100 will be described. The member to be welded 100 is obtained by superimposing a thin plate on one of two stacked thick plates, for example, a thin plate 101 having a lower rigidity in order from the top, a first thick plate 102 having a thickness greater than that of the thin plate 101 and a higher rigidity. It is constituted by a three-layered plate set in which two thick plates 103 are overlapped.

溶接ロボット1は、例えば多関節型ロボットであり、図示しない床に固定される基部、複数のアーム2及びアーム2の先端部に取り付けられる手首3を有し、手首3にイコライザユニット4を介在して支持されるスポット溶接装置10を三次元方向に移動可能に構成する。イコライザユニット4は、スポット溶接装置10と手首3との間に介在してスポット溶接装置10よる被溶接部材100の加圧時にその反力で移動可能にスポット溶接装置10をアーム2に支持する。   The welding robot 1 is, for example, an articulated robot, and has a base fixed to a floor (not shown), a plurality of arms 2 and a wrist 3 attached to the tip of the arm 2, and an equalizer unit 4 is interposed in the wrist 3. The spot welding apparatus 10 supported in this manner is configured to be movable in a three-dimensional direction. The equalizer unit 4 is interposed between the spot welding device 10 and the wrist 3 and supports the spot welding device 10 on the arm 2 so as to be movable by the reaction force when the member 100 to be welded is pressed by the spot welding device 10.

そして、溶接ロボット1は、図示しないクランパ等によって所定の位置に保持された被溶接部材100の予め設定された各打点位置、即ち溶接部にスポット溶接装置10を順次移動して被溶接部材100にスポット溶接を行う。   Then, the welding robot 1 sequentially moves the spot welding device 10 to each preset spot position of the welded member 100 held at a predetermined position by a clamper or the like (not shown), that is, a welded portion, to the welded member 100. Perform spot welding.

スポット溶接装置10は、手首部3にイコライザユニット4を介して取り付けられるベース部11を備える。ベース部11には、下方に延在するC形ヨーク13が取り付けられており、C形ヨーク13の下端先端に第1溶接電極である固定側電極14が取り付けられる。   The spot welding apparatus 10 includes a base portion 11 that is attached to the wrist portion 3 via the equalizer unit 4. A C-shaped yoke 13 that extends downward is attached to the base portion 11, and a fixed-side electrode 14 that is a first welding electrode is attached to the lower end tip of the C-shaped yoke 13.

また、ベース部11の上端には、シリンダ装置或いはサーボモータ、本実施の形態ではサーボモータを駆動源とする加圧アクチュエータ15が搭載される。加圧アクチュエータ15の作動によりに固定側電極14に接離する方向に固定側電極14の軸心に沿って進退移動するロッド16がベース部11の下方に突出し、ロッド16の先端に固定側電極14と対向配置すると共に固定側電極14と同軸上で進退移動可能な第2溶接電極である可動側電極17が取り付けられる。これにより、可動側電極17は加圧アクチュエータ15の作動により固定側電極14から離反する上昇移動端の退避位置と固定側電極14に接近して被溶接部材100を固定側電極14と協働して挟持、即ちクランプすると共に被溶接部材100に加圧力を付与する加圧位置との間で固定側電極14に対して接離移動する。   In addition, a pressure actuator 15 using a cylinder device or a servo motor as a driving source in the present embodiment is mounted on the upper end of the base portion 11. A rod 16 that moves forward and backward along the axis of the fixed side electrode 14 in a direction to come in contact with and away from the fixed side electrode 14 by the operation of the pressurizing actuator 15 projects below the base portion 11, and the fixed side electrode is formed at the tip of the rod 16. A movable electrode 17 is attached as a second welding electrode that is disposed opposite to the movable electrode 14 and can move forward and backward on the same axis as the fixed electrode 14. As a result, the movable side electrode 17 moves closer to the retraction position of the ascending moving end separated from the fixed side electrode 14 by the operation of the pressurizing actuator 15 and the fixed side electrode 14, so that the member 100 to be welded cooperates with the fixed side electrode 14. Then, it is clamped, that is, clamped and moved toward and away from the fixed electrode 14 between the pressurizing position for applying pressure to the member 100 to be welded.

また、ベース部11には、固定側電極14及び可動側電極17によって挟持及び加圧力が付与された被溶接部材100の薄板101に、可動側電極17に隣接する位置、即ち溶接位置に近接する位置に制御加圧力を付与する制御加圧付与手段20が設けられる。   In addition, the base portion 11 is adjacent to the position adjacent to the movable electrode 17, that is, the welding position, to the thin plate 101 of the member to be welded 100 that is sandwiched and pressed by the fixed electrode 14 and the movable electrode 17. Control pressure applying means 20 for applying a control pressure to the position is provided.

制御加圧付与手段20は、図1及び図2に要部拡大斜視図を示すようにロッド16を隔てると共にC形ヨーク13側においてベース部11の両側に、基端が取り付けられてロッド16の進退方向と平行に延在する一対の制御加圧アクチュエータであるエアシリンダ21、23を備える。各エアシリンダ21、23はエア供給源31からのエアをエア供給切換弁32を介して伸張側エア室或いは収縮側エア室に選択的に供給することで、各エアシリンダ21、23の先端から突出するシリンダロッド22、24が伸張及び収縮する進退移動すると共に、収縮側エア室或いは伸張側エア室にエアを保持することで該位置にシリンダロッド22、24が保持される。   As shown in FIGS. 1 and 2, the control pressure applying means 20 separates the rod 16 as shown in an enlarged perspective view of the main part, and has base ends attached to both sides of the base portion 11 on the C-shaped yoke 13 side. Air cylinders 21 and 23, which are a pair of control pressure actuators extending in parallel with the advance and retreat directions, are provided. Each air cylinder 21, 23 selectively supplies air from the air supply source 31 to the expansion side air chamber or the contraction side air chamber via the air supply switching valve 32, so The protruding cylinder rods 22 and 24 extend and retract, and the cylinder rods 22 and 24 are held at the positions by holding air in the contraction-side air chamber or the extension-side air chamber.

各エアシリンダ21、23の先端から突出するシリンダロッド22、24の先端22a、24a間に連結プレート25が掛け渡される。この連結プレート25は図1及び図2に示すようにヨーク13と可動側電極17との間に位置して中央部、即ち連結プレート25におけるシリンダロッド22と24の先端22aと24a間に基端部が結合されて先端部がC形ヨーク13側から離反する方向に延在する帯状の被溶接部材押さえ26が設けられる。被溶接部材押さえ26の先端部には可動側電極17及び固定側電極14の挿入が可能な円弧状乃至凹状に切り欠き形成された電極挿入部27が形成され、かつ電極挿入部27の両側に突出する一対の規制部28、29が形成される。各規制部28、29の下面にそれぞれ制御加圧部となる半球面状に頂部が突出する突状の規制面ピース28a、29aが設けられ、各規制部28、29の上面にそれぞれ突状の規制面ピース28b、29bが設けられる。この規制面ピース28aと29a及び28bと29bは、可動側電極17の軸心に隣接し、かつ可動側電極17の軸芯を中心とする対称位置に設けることが好ましい。   A connecting plate 25 is stretched between the tips 22a and 24a of the cylinder rods 22 and 24 protruding from the tips of the air cylinders 21 and 23. As shown in FIGS. 1 and 2, the connecting plate 25 is located between the yoke 13 and the movable electrode 17, and is located at the center, that is, between the distal ends 22a and 24a of the cylinder rods 22 and 24 in the connecting plate 25. A belt-like welded member presser 26 is provided in which the portions are joined and the tip portion extends in a direction away from the C-shaped yoke 13 side. An electrode insertion portion 27 that is cut out in an arc shape or a concave shape into which the movable side electrode 17 and the fixed side electrode 14 can be inserted is formed at the distal end portion of the member to be welded 26, and on both sides of the electrode insertion portion 27. A pair of protruding restricting portions 28 and 29 is formed. Protruding restricting surface pieces 28a and 29a whose tops protrude in a hemispherical shape as control pressurizing portions are provided on the lower surfaces of the restricting portions 28 and 29, respectively. Restricting surface pieces 28b and 29b are provided. The regulating surface pieces 28 a and 29 a and 28 b and 29 b are preferably provided at symmetrical positions adjacent to the axis of the movable electrode 17 and centered on the axis of the movable electrode 17.

また、エアシリンダ21、23には、エアシリンダ21、23のシリンダロッド22、24が収縮して上昇移動端となる第1退避位置を検知する第1退避位置検知センサS1、固定側電極14と可動側電極17によって挟持された被溶接部材100の上面に規制面ピース28a、29aが上方から圧接した状態におけるエアシリンダ21、23の伸張位置である第1加圧位置を検知する第1加圧位置検知センサS2、エアシリンダ21、23のシリンダロッド22、24が伸張して下降移動端となる第2退避位置を検知する第2退避位置検知センサS3、及び固定側電極14と可動側電極17によって挟持された被溶接部材100の下面に規制面ピース28b、29bが下方から圧接した状態におけるするエアシリンダ21、23の伸張位置である第2加圧位置を検知する第2加圧位置検知センサS4を備える。   Further, the air cylinders 21 and 23 include a first retraction position detection sensor S1 that detects a first retraction position in which the cylinder rods 22 and 24 of the air cylinders 21 and 23 are contracted and become an upward movement end, a fixed electrode 14, and the like. First pressurization for detecting a first pressurization position that is an extension position of the air cylinders 21 and 23 in a state in which the regulating surface pieces 28a and 29a are in pressure contact with the upper surface of the member 100 to be welded sandwiched by the movable electrode 17 from above. The position detection sensor S2, the second retraction position detection sensor S3 for detecting the second retraction position where the cylinder rods 22 and 24 of the air cylinders 21 and 23 are extended and become the descending movement end, and the fixed side electrode 14 and the movable side electrode 17 Position of the air cylinders 21 and 23 in a state where the regulating surface pieces 28b and 29b are pressed against the lower surface of the member 100 to be welded sandwiched by A second pressing position sensor S4 for detecting a certain second pressure position.

溶接ロボットコントローラRCには、溶接ロボット1のティーチングデータが格納され、ティーチングデータには、被溶接部材100の各溶接打点を順次スポット溶接するための作動プログラム及び各溶接打点、即ち溶接位置をスポット溶接するときのスポット溶接装置10の位置及び姿勢が含まれる。また、溶接装置コントローラWCにはスポット溶接装置10の作動プログラム及び第1退避位置検知センサS1、第1加圧位置検知センサS2、第2退避位置検知センサS3、第2加圧位置検知センサS4の検知に基づくエア供給切換弁32の作動制御が含まれる。   The welding robot controller RC stores teaching data of the welding robot 1. In the teaching data, an operation program for sequentially spot-welding each welding spot of the member to be welded 100 and each welding spot, that is, a welding position, are spot-welded. The position and posture of the spot welding apparatus 10 when performing are included. Further, the welding apparatus controller WC includes an operation program for the spot welding apparatus 10, a first retraction position detection sensor S 1, a first pressurization position detection sensor S 2, a second retraction position detection sensor S 3, and a second pressurization position detection sensor S 4. Operation control of the air supply switching valve 32 based on detection is included.

例えば、エアシリンダ21、23が伸張状態から収縮側エア室にエアが供給されてエアシリンダ21、23が収縮して第1退避位置に達したことを第1退避位置検知センサS1が検知すると、その検知信号に基づいてエア供給切換弁32が第1退避位置に切り換えられ、各収縮側エア室へのエア供給が停止すると共に収縮側エア室内にエアが保持されてエアシリンダ21、23が第1退避位置に保持される。   For example, when the first retraction position detection sensor S1 detects that the air cylinders 21 and 23 are supplied from the extended state to the contraction-side air chamber and the air cylinders 21 and 23 contract to reach the first retraction position. Based on the detection signal, the air supply switching valve 32 is switched to the first retracted position, the air supply to each contraction-side air chamber is stopped, and the air is held in the contraction-side air chamber so that the air cylinders 21, 23 are in the first position. 1 held in the retracted position.

第1退避位置からエア供給切換弁32が切り換えられて収縮側エア室内のエアが排出されると共に伸張側エア室内へエアが供給されて伸張するエアシリンダ21、23が第1加圧位置に達したことを第1加圧位置検知センサS2が検知すると、その検知信号に基づいてエア供給切換弁32が第1加圧位置に切り換えられ、各伸張側エア室内へのエア供給が停止すると共に伸張側エア室内にエアが保持されてエアシリンダ21、23が第1加圧位置に保持される。   The air supply switching valve 32 is switched from the first retracted position to discharge the air in the contraction-side air chamber, and the air cylinders 21 and 23 that are extended by supplying air to the extension-side air chamber reach the first pressure position. When the first pressurization position detection sensor S2 detects this, the air supply switching valve 32 is switched to the first pressurization position based on the detection signal, and the air supply into each extension side air chamber is stopped and extended. Air is held in the side air chamber, and the air cylinders 21 and 23 are held at the first pressure position.

また、エアシリンダ21、23が伸張側エア室内にエアが供給されてエアシリンダ21、23が伸張して第2退避位置に達したことを第2退避位置検知センサS3が検知すると、その検知信号に基づいてエア供給切換弁32が第2退避位置に切り換えられ、各伸張側エア室内へのエア供給が停止すると共に伸張側エア室内のエアが保持されてエアシリンダ21、23が第2退避位置に保持される。第2退避位置からエア供給切換弁32が切り替えられて伸張側エア室のエアが排出されると共に収縮側エア室内へエアが供給されて収縮するエアシリンダ21、23が第2加圧位置に達したことを第2加圧位置検知センサS2が検知すると、その検知信号に基づいてエア供給切換弁32が第2加圧位置に切り替えられ、各収縮側エア室へのエア供給が停止すると共に収縮側エア室内のエアが保持されてエアシリンダ21、23が第2加圧位置に保持される。   When the second retraction position detection sensor S3 detects that the air cylinders 21, 23 are supplied with air into the expansion-side air chamber and the air cylinders 21, 23 expand to reach the second retraction position, the detection signal On the basis of this, the air supply switching valve 32 is switched to the second retracted position, the air supply to each extension side air chamber is stopped and the air in the extension side air chamber is held, and the air cylinders 21, 23 are moved to the second retracted position. Retained. The air supply switching valve 32 is switched from the second retracted position so that the air in the expansion side air chamber is discharged and the air cylinders 21 and 23 that are contracted by supplying air to the contraction side air chamber reach the second pressurization position. When the second pressurization position detection sensor S2 detects this, the air supply switching valve 32 is switched to the second pressurization position based on the detection signal, and the air supply to each contraction side air chamber stops and contracts. The air in the side air chamber is held, and the air cylinders 21 and 23 are held at the second pressurizing position.

次に、スポット溶接装置10の作動を説明する。この説明にあたり説明の便宜上、スポット溶接すべき被溶接部材100が上から順に薄板101、第1厚板102、第2厚板103が重ね合わされた3枚重ねの板組によって構成された場合を図3に示すスポット溶接装置作動工程図、図4に示す作動説明図及び図5に示す比較例の作動説明図を参照して説明し、続いて被溶接部材100が下から順に薄板101、第1厚板102、第2厚板103が重ね合わされた3枚重ねの板組によって構成された場合を図6に示すスポット溶接装置作動工程図及び図7に示す作動説明図を参照して説明する。   Next, the operation of the spot welding apparatus 10 will be described. In this description, for convenience of explanation, a case in which a member 100 to be welded by spot welding is constituted by a three-layered plate set in which a thin plate 101, a first thick plate 102, and a second thick plate 103 are stacked in order from the top. 3, the operation explanatory diagram shown in FIG. 4, and the operation explanatory diagram of the comparative example shown in FIG. 5, followed by the member 100 to be welded in order from the bottom, the thin plate 101, the first A case in which the thick plate 102 and the second thick plate 103 are configured by a three-layered plate set will be described with reference to the spot welding apparatus operation process diagram shown in FIG. 6 and the operation explanatory diagram shown in FIG.

上から順に薄板101、第1厚板102、第2厚板103が重ね合わされた被溶接部材100のスポット溶接にあたり、予め設定された作動プログラムに従い図3(a)に示すように可動側電極17が固定側電極14から離反した退避位置でかつ制御加圧付与手段20の被溶接部材押さえ26が可動側電極17の近傍に保持された状態、即ちエアシリンダ21、23が伸張して第1退避位置検知センサS1がエアシリンダ21、23の第1退避位置を検知していないことが確認、即ち被溶接部材押さえ26の位置が確認されると、溶接装置コントローラWCから作動信号によりエア供給切換弁32が切り換えられてエアシリンダ21、23の収縮側エア室内へのエア供給が開始されてエアシリンダ21、23が収縮する。エアシリンダ21、23の収縮に伴って被溶接部材押さえ26が可動側電極17の先端より上方まで引き上げられる。そして、図3(b)に示すように収縮するエアシリンダ21、23が第1退避位置に達すると第1退避位置検知センサS1が検知し、エア供給切換弁32が第1退避位置に切り換えられてエアシリンダ21、23の収縮側エア室へのエア供給を停止し、かつ収縮側エア室内にエアを保持する。これにより、被溶接部材押さえ26が第1退避位置に保持される。   In spot welding of the member to be welded 100 in which the thin plate 101, the first thick plate 102, and the second thick plate 103 are superposed in order from the top, the movable electrode 17 as shown in FIG. 3 (a) according to a preset operation program. Is in a retracted position away from the fixed side electrode 14 and the member to be welded 26 of the control pressurizing application means 20 is held in the vicinity of the movable side electrode 17, that is, the air cylinders 21 and 23 are extended to perform the first retraction. When it is confirmed that the position detection sensor S1 has not detected the first retracted position of the air cylinders 21, 23, that is, the position of the member to be welded 26 is confirmed, the air supply switching valve is operated by an operation signal from the welding apparatus controller WC. 32 is switched to start air supply into the contraction-side air chamber of the air cylinders 21 and 23, and the air cylinders 21 and 23 contract. As the air cylinders 21 and 23 contract, the welded member holder 26 is pulled up above the tip of the movable electrode 17. As shown in FIG. 3B, when the air cylinders 21 and 23 contracting reach the first retracted position, the first retracted position detection sensor S1 detects and the air supply switching valve 32 is switched to the first retracted position. Thus, the air supply to the contraction-side air chamber of the air cylinders 21 and 23 is stopped, and the air is held in the contraction-side air chamber. Thereby, the to-be-welded member press 26 is held at the first retracted position.

次に、このエアシリンダ21、23が第1退避位置であることが第1退避位置検知センサS1の検知信号により確認されると、溶接ロボットコントローラRCは溶接ロボット1を作動し、予め設定されたプログラムに従いスポット溶接装置10を被溶接部材100の打点位置に移動し、図3(c)に示すように被溶接部材100の溶接部が固定側電極14と可動側電極17及び規制面ピース28a、28aの間に位置し、かつ固定側電極14が打点位置に対応した第2厚板103の規定位置に当接した状態に位置決めする。   Next, when it is confirmed by the detection signal of the first retraction position detection sensor S1 that the air cylinders 21 and 23 are in the first retraction position, the welding robot controller RC operates the welding robot 1 and is set in advance. According to the program, the spot welding apparatus 10 is moved to the spot position of the member to be welded 100, and the welded portion of the member to be welded 100 is fixed to the fixed electrode 14, the movable electrode 17, the regulating surface piece 28a, as shown in FIG. 28a, and the fixed side electrode 14 is positioned in contact with the specified position of the second thick plate 103 corresponding to the hit position.

このスポット溶接装置10が溶接位置に位置決めされた状態では、図3(c)に示すように固定側電極24の先端が被接溶接部材100の第2厚板103に下方から当接する一方、可動側電極17の先端及び規制面ピース28a、29aが薄板101と隙間を有して対向する。   In a state where the spot welding apparatus 10 is positioned at the welding position, the tip of the fixed electrode 24 comes into contact with the second thick plate 103 of the contact welding member 100 from below as shown in FIG. The tip of the side electrode 17 and the regulating surface pieces 28a and 29a face the thin plate 101 with a gap.

次に、図3(d)に示すように、固定側電極14が被溶接部材100の第2厚板103に当接した状態で加圧アクチュエータ15の作動により可動側電極17を退避位置から固定側電極14に接近する加圧位置方向に移動させて薄板101に圧接させる。これにより、加圧アクチュータ15の加圧力が可動側電極14とベース部11を介して可動側電極17とに作用し、可動側電極17と固定側電極14との間で被溶接部材100の溶接部を挟持すると共に加圧付与する。   Next, as shown in FIG. 3D, the movable side electrode 17 is fixed from the retracted position by the operation of the pressure actuator 15 in a state where the fixed side electrode 14 is in contact with the second thick plate 103 of the member to be welded 100. It moves in the direction of the pressurizing position approaching the side electrode 14 and is brought into pressure contact with the thin plate 101. As a result, the pressurizing force of the pressure actuator 15 acts on the movable electrode 17 via the movable electrode 14 and the base 11, and the welded member 100 is welded between the movable electrode 17 and the fixed electrode 14. The part is sandwiched and pressurized.

一方、エア供給切換弁32が切り替えられてエアシリンダ21、23の収縮側エア室内のエアを排出すると共に伸張側エア室内にエアが供給されてエアシリンダ21、23が伸張して被溶接部材押さえ26が下降して規制面ピース28a、29aが被溶接部材100の薄板101に上方から可動側電極17に隣接して圧接し、更に伸張するエアシリンダ21、23が第1加圧位置に達すると第1加圧位置検知センサS2が検知し、エア供給切換弁32が第1加圧位置に切り換えられてエアシリンダ21、23の伸張側エア室へのエア供給を停止し、かつ伸張側エア室内にエアを保持する。これにより、被溶接部材押さえ26が第1加圧位置に保持される。   On the other hand, the air supply switching valve 32 is switched to discharge the air in the contraction-side air chamber of the air cylinders 21 and 23, and the air is supplied to the extension-side air chamber to extend the air cylinders 21 and 23 to hold the welded member. 26 is lowered, and the regulating surface pieces 28a and 29a are pressed against the thin plate 101 of the member to be welded 100 from above and adjacent to the movable electrode 17, and the air cylinders 21 and 23 that extend further reach the first pressure position. The first pressurization position detection sensor S2 detects, the air supply switching valve 32 is switched to the first pressurization position to stop the air supply to the extension side air chamber of the air cylinders 21, 23, and the extension side air chamber Keep air in the air. Thereby, the to-be-welded member holding | suppressing 26 is hold | maintained in a 1st pressurization position.

このように固定側電極14と加圧側電極17によって被溶接部材100を挟持加圧し、かつエアシリンダ21、23によって規制面ピース28a、29aにより可動側電極17に隣接して薄板101を加圧付与した状態では、図4に模式的に作動説明図を示すように固定側電極14による加圧力FLが被溶接部材100の第2厚板103に下方から付与され、可動側電極17による加圧力FUとエアシリンダ21、23による規制面ピース28a、29aによる制御加圧力Fαが可動側電極17に隣接して薄板101に付与される。   In this way, the member to be welded 100 is sandwiched and pressed by the fixed side electrode 14 and the pressure side electrode 17, and the thin plate 101 is pressed by the air cylinders 21 and 23 adjacent to the movable side electrode 17 by the regulating surface pieces 28 a and 29 a. In this state, as shown schematically in FIG. 4, an operation explanatory diagram is schematically applied to the second thick plate 103 of the member to be welded 100 from the lower side, and a pressure FU applied by the movable electrode 17. The control pressure Fα by the regulating surface pieces 28 a and 29 a by the air cylinders 21 and 23 is applied to the thin plate 101 adjacent to the movable electrode 17.

この場合、加圧アクチュエータ15の加圧力及びエアシリンダ21、23の制御加圧力が可動側電極17及び規制面ピース28a、29aとベース部11及びC形ヨーク13を介して固定側電極14と作用し、第2厚板103に作用する固定側電極14による加圧力FLと、薄板101に作用する可動側電極17による加圧力FU及び規制面ピース28a、29aによる制御加圧力Fαの総和とが等しくなる(FL=FU+Fα)。   In this case, the pressurizing force of the pressurizing actuator 15 and the control pressurizing force of the air cylinders 21 and 23 act on the fixed side electrode 14 via the movable side electrode 17 and the regulating surface pieces 28a and 29a, the base portion 11 and the C-shaped yoke 13. The sum of the pressing force FL by the fixed electrode 14 acting on the second thick plate 103 is equal to the pressing force FU by the movable electrode 17 acting on the thin plate 101 and the control pressing force Fα by the regulating surface pieces 28a and 29a. (FL = FU + Fα).

これにより、被溶接部材100は、第2厚板103側に下方から作用する固定側電極14から加圧力FLと、薄板101側に上方から作用する可動側電極17からの加圧力FU及び規制面ピース28a、29aからの制御加圧力Fαによって安定した状態で挟持保持される。   As a result, the member to be welded 100 has a pressing force FL from the fixed side electrode 14 acting on the second thick plate 103 side from below and a pressing force FU and a regulating surface from the movable side electrode 17 acting on the thin plate 101 side from above. It is held and held in a stable state by the control pressure Fα from the pieces 28a and 29a.

一方、被溶接部材100の溶接部には固定側電極14から第2厚板103に加圧力FLが付与され、可動側電極17から薄板101に加圧力FUとして固定側電極14による加圧力FLから規制面ピース28a、29aによる制御加圧力Fαを減じた大きさの加圧力が付与される(FU=FL−Fα)。   On the other hand, a pressing force FL is applied to the second thick plate 103 from the fixed electrode 14 to the welded part of the member 100 to be welded, and from the pressing force FL by the fixed electrode 14 as a pressing force FU from the movable electrode 17 to the thin plate 101. A pressing force having a magnitude obtained by subtracting the control pressing force Fα by the regulating surface pieces 28a and 29a is applied (FU = FL−Fα).

この薄板101側に位置する可動側電極17の加圧力FUを第2厚板103側に位置する固定側電極14の加圧力FLより小さく(FU<FL)することで、薄板101と第1厚板102の接合部における接触圧力が、第1厚板102と第2厚板103間の接合部にける接触圧力よりも小さくなり、相対的に薄板101と第1厚板102間の接触抵抗が大きくなると共に、第1厚板102と第2厚板103間の接触抵抗が小さくなる。   The pressing force FU of the movable side electrode 17 positioned on the thin plate 101 side is made smaller than the pressing force FL of the fixed side electrode 14 positioned on the second thick plate 103 side (FU <FL). The contact pressure at the joint of the plate 102 is smaller than the contact pressure at the joint between the first thick plate 102 and the second thick plate 103, and the contact resistance between the thin plate 101 and the first thick plate 102 is relatively high. The contact resistance between the first thick plate 102 and the second thick plate 103 decreases as the size increases.

ここで、例えば制御加圧付与手段20を備えないスポット溶接装置10により固定側電極14が被溶接部材100の第2厚板103に当接した状態で加圧アクチュエータ15の作動により可動側電極17を薄板101に圧接させて固定側電極14と可動側電極17との間で被溶接部材100の接合部溶を挟持すると共に加圧付与すると、図5に模式的に比較例を示すように加圧アクチュエータ15の加圧力が可動側電極17とベース部11及びC形ヨーク13を介して固定側電極14とに均等に作用し、固定電極14により第2厚板103に付与される加圧力FLと可動側電極17により薄板101に付与される加圧力FLが付与される。   Here, for example, the movable side electrode 17 is actuated by the operation of the pressure actuator 15 in a state where the fixed side electrode 14 is in contact with the second thick plate 103 of the member 100 to be welded by the spot welding apparatus 10 that does not include the control pressure applying means 20. Is pressed against the thin plate 101 to sandwich the welded portion of the welded member 100 between the fixed side electrode 14 and the movable side electrode 17 and is applied with pressure, as shown schematically in FIG. The applied pressure of the pressure actuator 15 acts equally on the fixed side electrode 14 via the movable side electrode 17, the base portion 11 and the C-shaped yoke 13, and the applied pressure FL applied to the second thick plate 103 by the fixed electrode 14. A pressure FL applied to the thin plate 101 by the movable side electrode 17 is applied.

次に、固定側電極14と可動側電極17で被溶接部材100を挟持加圧付与し、かつ規制面ピース28a、29aによる制御加圧力を付与して薄板101側に位置する可動側電極17の加圧力FUを第2厚板103側に位置する固定側電極14の加圧力FLより小さくした状態で、図3(e)のように可動側電極17と固定側電極14との間に所定時間通電して溶接する。この可動側電極17と固定側電極14との間に通電したときに、相対的に薄板101と第1厚板102間の接合部における接触抵抗が大きく電流密度が高くなると共に、第1厚板102と第2厚板103間の接触抵抗が小さく保持される。これにより、薄板101と第1厚板102の接合部における発熱量が第1厚板102と第2厚板103の接合部における発熱量に対して相対的に増加して、薄板101から第2厚板103に亘って電流密度の偏りのない良好なナゲットが形成され、薄板101の溶接強度を確保できる。   Next, the member 100 to be welded is sandwiched and applied by the fixed side electrode 14 and the movable side electrode 17, and the control pressing force is applied by the regulating surface pieces 28 a and 29 a, so that the movable side electrode 17 positioned on the thin plate 101 side is applied. In a state where the applied pressure FU is smaller than the applied pressure FL of the fixed side electrode 14 located on the second thick plate 103 side, a predetermined time is provided between the movable side electrode 17 and the fixed side electrode 14 as shown in FIG. Energize and weld. When the movable side electrode 17 and the fixed side electrode 14 are energized, the contact resistance between the thin plate 101 and the first thick plate 102 is relatively large and the current density is increased. The contact resistance between 102 and the second thick plate 103 is kept small. As a result, the amount of heat generated at the joint between the thin plate 101 and the first thick plate 102 is relatively increased with respect to the amount of heat generated at the joint between the first thick plate 102 and the second thick plate 103, and the second from the thin plate 101. A good nugget with no uneven current density is formed over the thick plate 103, and the welding strength of the thin plate 101 can be ensured.

この溶接が完了した後、加圧アクチュエータ15の作動により可動側電極17を加圧位置から退避位置に移動させて固定側電極14と可動側電極17とによる被溶接部材100の挟持を開放する。一方、エアシリンダ供給切換弁32を切り換えてエアシリンダ21、23の伸張側エア室内のエアを排出すると共に収縮側エア室にエアを供給してエアシリンダ21、23を収縮する。エアシリンダ21、23の収縮に伴って被溶接部材押さえ26が可動側電極17の先端より上方まで引き上げられる。そして、図3(f)に示すように収縮するエアシリンダ21、23が第1退避位置に達すると第1退避位置検知センサS1が検知し、エア供給切換弁32が第1退避位置に切り換えられてエアシリンダ21、23の収縮側エア室へのエア供給を停止し、かつ収縮側エア室内にエアを保持する。これにより、被溶接部材押さえ26が第1退避位置に保持される。   After this welding is completed, the movable electrode 17 is moved from the pressurization position to the retracted position by the operation of the pressurizing actuator 15 to release the member 100 to be welded between the fixed electrode 14 and the movable electrode 17. On the other hand, the air cylinder supply switching valve 32 is switched to discharge air in the expansion side air chamber of the air cylinders 21 and 23 and supply air to the contraction side air chamber to contract the air cylinders 21 and 23. As the air cylinders 21 and 23 contract, the welded member holder 26 is pulled up above the tip of the movable electrode 17. As shown in FIG. 3 (f), when the air cylinders 21 and 23 contracting reach the first retracted position, the first retracted position detection sensor S1 detects and the air supply switching valve 32 is switched to the first retracted position. Thus, the air supply to the contraction-side air chamber of the air cylinders 21 and 23 is stopped, and the air is held in the contraction-side air chamber. Thereby, the to-be-welded member press 26 is held at the first retracted position.

次に、このエアシリンダ21、23が第1退避位置であることが第1退避位置検知センサS1の検知信号に確認されると、図3(g)に示すように溶接ロボット1を作動して、スポット溶接装置10を被溶接部材100から退避させ、次の被溶接部材100の打点位置に移動する。   Next, when it is confirmed by the detection signal of the first retraction position detection sensor S1 that the air cylinders 21 and 23 are in the first retraction position, the welding robot 1 is operated as shown in FIG. Then, the spot welding apparatus 10 is retracted from the member to be welded 100 and moved to the spot position of the next member to be welded 100.

次に、被溶接部材100が下から順に薄板101、第1厚板102、第2厚板103が重ね合わされた3枚重ねの板組によって構成された場合を図6に示すスポット溶接装置作動工程図及び図7に示す作動説明図を参照して説明する。   Next, a case where the member to be welded 100 is constituted by a three-layered plate assembly in which the thin plate 101, the first thick plate 102, and the second thick plate 103 are overlapped in order from the bottom is shown in FIG. The operation will be described with reference to FIGS.

下から順に薄板101、第1厚板102、第2厚板103が重ね合わされた被溶接部材100のスポット溶接にあたり、予め設定された作動プログラムに従い図6(a)に示すように可動側電極17が固定側電極14から離反した退避位置でかつ制御加圧付与手段20の被溶接部材押さえ26が可動側電極17に近傍に保持された状態、即ち第2退避位置検知センサS3がエアシリンダ21、23の第2退避位置を検知していないことが確認されると、エア供給切換弁32が切り換えられてエアシリンダ21、23の伸張側エア室内へエア供給が開始されてエアシリンダ21、23が伸張する。   In spot welding of the member to be welded 100 in which the thin plate 101, the first thick plate 102, and the second thick plate 103 are stacked in order from the bottom, the movable side electrode 17 is shown in FIG. 6A according to a preset operation program. Is in the retracted position away from the fixed electrode 14 and the welded member press 26 of the control pressure applying means 20 is held in the vicinity of the movable electrode 17, that is, the second retracted position detection sensor S3 is the air cylinder 21, When it is confirmed that the second retraction position of 23 is not detected, the air supply switching valve 32 is switched, and the air supply to the extension side air chamber of the air cylinders 21, 23 is started. Stretch.

エアシリンダ21、23の伸張に伴って被溶接部材押さえ26が固定側電極14の先端より下方まで下降する。そして、図6(b)に示すように伸張するエアシリンダ21、23が第2退避位置に達したことを第2退避位置検知センサS3が検知し、エア供給切換弁32が第2退避位置に切り換えられてエアシリンダ21、23の伸張側エア室へのエア供給が停止し、かつ伸張側エア室内にエアを保持する。これにより、被溶接部材押さえ26が第2退避位置に保持される。   As the air cylinders 21 and 23 extend, the welded member holder 26 descends below the tip of the fixed electrode 14. Then, as shown in FIG. 6 (b), the second retracted position detection sensor S3 detects that the air cylinders 21 and 23 extending have reached the second retracted position, and the air supply switching valve 32 is moved to the second retracted position. The air supply to the extension side air chamber of the air cylinders 21 and 23 is stopped by switching, and the air is held in the extension side air chamber. Thereby, the to-be-welded member press 26 is held at the second retracted position.

次に、このエアシリンダ21、23が第2退避位置であることが第2退避位置検知センサS3の検知信号により確認されると、溶接ロボット1を作動して予め設定されたプログラムに従いスポット溶接装置10を被溶接部材100の打点位置に移動し、図6(c)に示すように被溶接部材100の溶接部が固定側電極14と可動側電極17及び規制面ピース28b、29bの間に位置し、かつ固定側電極14が打点位置に対応した薄板101の規定位置に当接した状態に位置決めする。   Next, when it is confirmed by the detection signal of the second retracted position detection sensor S3 that the air cylinders 21 and 23 are in the second retracted position, the welding robot 1 is operated to perform spot welding according to a preset program. 10 is moved to the spot position of the member to be welded 100, and the welded portion of the member to be welded 100 is positioned between the fixed side electrode 14, the movable side electrode 17, and the regulating surface pieces 28b and 29b as shown in FIG. In addition, the fixed side electrode 14 is positioned so as to be in contact with the specified position of the thin plate 101 corresponding to the hit position.

このスポット溶接装置10が溶接位置に位置決めされた状態では、図6(c)に示すように固定側電極14の先端が被溶接部材100の薄板101に下方から当接する一方、可動側電極17の先端が第2厚板103と隙間を有して対向し、規制面ピース28b、29bが薄板101と隙間を有して対向する。   In a state where the spot welding apparatus 10 is positioned at the welding position, as shown in FIG. 6C, the tip of the fixed side electrode 14 comes into contact with the thin plate 101 of the welded member 100 from below, while the movable side electrode 17 The front end faces the second thick plate 103 with a gap, and the regulation surface pieces 28b and 29b face the thin plate 101 with a gap.

次に、図6(d)に示すように、固定側電極14が被溶接部材100の薄板101に当接した状態で加圧アクチュエータ15の作動により可動側電極17を退避位置から加圧位置方向に移動させて第2厚板103に圧接させて固定側電極14と可動側電極17との間で被溶接部材100の溶接部を挟持すると共に加圧付与する。   Next, as shown in FIG. 6 (d), the movable side electrode 17 is moved from the retracted position to the pressurized position by the operation of the pressure actuator 15 with the fixed side electrode 14 in contact with the thin plate 101 of the member to be welded 100. The welded portion of the member to be welded 100 is sandwiched between the fixed-side electrode 14 and the movable-side electrode 17 and pressed.

一方、エア供給切換弁32が切り換えられてエアシリンダ21、23の伸張側エア室内のエアを排出すると共に収縮側エア室内にエアが供給されてエアシリンダ21、23が収縮して被溶接部材押さえ26が上昇して規制面ピース28b、29bが固定側電極14に隣接して被溶接部材100の薄板101に下方から圧接し、更に収縮するエアシリンダ21、23が第2加圧位置に達すると第2加圧位置検知センサS4が検知し、エア供給切換弁32が第2加圧位置に切り換えられてエアシリンダ21、23の収縮側エア室内へのエア供給を停止し、かつ収縮側エア室内にエアを保持する。これにより、被溶接部材押さえ26が第2加圧位置に保持される。   On the other hand, the air supply switching valve 32 is switched to discharge the air in the expansion side air chamber of the air cylinders 21 and 23, and the air is supplied to the contraction side air chamber and the air cylinders 21 and 23 are contracted to hold the welded member. 26 rises, the regulating surface pieces 28b and 29b are pressed against the thin plate 101 of the member to be welded 100 adjacent to the fixed side electrode 14 from below, and the air cylinders 21 and 23 that further contract reach the second pressurizing position. The second pressurization position detection sensor S4 detects, the air supply switching valve 32 is switched to the second pressurization position, and the air supply to the contraction side air chamber of the air cylinders 21, 23 is stopped, and the contraction side air chamber is stopped. Keep air in the air. Thereby, the to-be-welded member holding | suppressing 26 is hold | maintained in a 2nd pressurization position.

このように固定側電極14と可動側電極17によって被溶接部材100を挟持加圧し、かつエアシリンダ21、23によって規制面ピース28b、29bにより薄板101に制御加圧力を付与した状態では、図7に模式的に作動説明図を示すように可動側電極17による加圧力FUが被溶接部材100の第2厚板103に上方から付与され、固定側電極14による加圧力FLとエアシリンダ21、23による規制面ピース28b、29bによる制御加圧力Fαが薄板101に下方から付与される。   In a state where the member to be welded 100 is sandwiched and pressurized by the fixed side electrode 14 and the movable side electrode 17 and the control surface pressure is applied to the thin plate 101 by the regulating surface pieces 28b and 29b by the air cylinders 21 and 23, FIG. As shown schematically in FIG. 1, a pressure FU applied by the movable electrode 17 is applied to the second thick plate 103 of the welded member 100 from above, and the pressure FL applied by the fixed electrode 14 and the air cylinders 21, 23 are applied. The control pressure Fα by the regulating surface pieces 28b and 29b is applied to the thin plate 101 from below.

この場合、加圧アクチュエータ15の加圧力が可動側電極17及びベース部11及びC形ヨーク13を介して固定側電極14に作用し、エアシリンダ21、23の制御加圧力が規制面ピース28b、29bとベース部11を介して可動側電極17に作用し、第2厚板103に作用する可動側電極17による加圧力FUと薄板101に作用する固定側電極14による加圧力FL及び規制面ピース28b、29bによる加圧力Fαの総和が等しくなる(FU=FL+Fα)。これにより、被溶接部材100が固定側電極14と可動側電極17及び規制面ピース28b、29bによって安定した状態で保持される。   In this case, the pressurizing force of the pressurizing actuator 15 acts on the fixed electrode 14 via the movable electrode 17, the base portion 11, and the C-shaped yoke 13, and the control pressurizing force of the air cylinders 21, 23 is the regulating surface piece 28 b, 29 b and the base portion 11 acting on the movable side electrode 17, the pressure FU by the movable side electrode 17 acting on the second thick plate 103, the pressure FL by the fixed side electrode 14 acting on the thin plate 101, and the regulating surface piece The sum of the pressures Fα by 28b and 29b becomes equal (FU = FL + Fα). Thereby, the member 100 to be welded is held in a stable state by the fixed side electrode 14, the movable side electrode 17, and the regulating surface pieces 28b and 29b.

一方、被溶接部材100の溶接部には可動側電極17から第2厚板103に加圧力FUが付与され、固定側電極14から薄板101に加圧力FL、即ち可動側電極17による加圧力FUから規制面ピース28b、29bによる制御加圧力Fαを減じた大きさの加圧力が付与される(FL=FU−Fα)。   On the other hand, a pressure FU is applied from the movable electrode 17 to the second thick plate 103 to the welded part of the member 100 to be welded, and a pressure FL from the fixed electrode 14 to the thin plate 101, that is, a pressure FU by the movable electrode 17. From the control surface pieces 28b and 29b, the applied pressure is reduced (FL = FU−Fα).

この薄板101側に位置する固定側電極14の加圧力FLを第2厚板103側に位置する可動側電極17の加圧力FUより小さく(FL<FU)することで、薄板101と第1厚板102の接合部における接触圧力が、第1厚板102と第2厚板103間の接触圧力よりも小さくなり、相対的に薄板101と第1厚板102間の接触抵抗が大きくなると共に、第1厚板102と第2厚板103間の接触抵抗が小さくなる。   The pressing force FL of the fixed electrode 14 positioned on the thin plate 101 side is made smaller than the pressing force FU of the movable electrode 17 positioned on the second thick plate 103 side (FL <FU), so that the thin plate 101 and the first thickness The contact pressure at the joint of the plate 102 is smaller than the contact pressure between the first thick plate 102 and the second thick plate 103, and the contact resistance between the thin plate 101 and the first thick plate 102 is relatively increased. The contact resistance between the first thick plate 102 and the second thick plate 103 is reduced.

固定側電極14と可動側電極17で被溶接部材100を挟持加圧付与し、かつ規制面ピース28b、29bによる制御加圧力Fαを付与した状態で、図6(e)のように可動側電極17と固定側電極14との間に所定時間通電して溶接する。この可動側電極17と固定側電極14との間に通電したときに、相対的に薄板101と第1厚板102の接合部の接触抵抗が大きくなり電流密度が高くなると共に、第1厚板102と第2厚板103間の接触抵抗が小さくなることから、薄板101と第1厚板102の間における発熱量が第1厚板102と第2厚板103の間における発熱量に対して相対的に増加する。そのため、薄板101から第2厚板103に亘る溶け込み量が確保されて偏りのない良好なナゲットNが形成され、薄板101の溶接強度を確保できる。   In a state where the member to be welded 100 is clamped and applied by the fixed side electrode 14 and the movable side electrode 17 and the control pressure Fα is applied by the regulating surface pieces 28b and 29b, the movable side electrode as shown in FIG. 17 and the fixed electrode 14 are energized for a predetermined time and welded. When the movable side electrode 17 and the fixed side electrode 14 are energized, the contact resistance of the joint between the thin plate 101 and the first thick plate 102 becomes relatively large, the current density becomes high, and the first thick plate Since the contact resistance between the first thick plate 102 and the second thick plate 103 is reduced, the amount of heat generated between the thin plate 101 and the first thick plate 102 is smaller than the amount of heat generated between the first thick plate 102 and the second thick plate 103. Increase relatively. Therefore, the amount of penetration from the thin plate 101 to the second thick plate 103 is ensured, and a good nugget N with no bias is formed, so that the welding strength of the thin plate 101 can be ensured.

この溶接が完了した後、図6(f)に示すように、加圧アクチュエータ15の作動により可動側電極17を加圧位置から退避位置に移動させて固定側電極14と可動側電極17とによる被溶接部材100の挟持を開放する。一方、エアシリンダ供給切換弁32を切り替えてエアシリンダ21、23の収縮側エア室内のエアを排出すると共に伸張側エア室にエアを供給してエアシリンダ21、23を伸張する。エアシリンダ21、23の伸張に伴って被溶接部材押さえ26を固定側電極14の先端より下方まで下降させる。そして、図6(f)に示すようにエアシリンダ21、23が伸張して第2退避位置に達すると第2退避位置検知センサS3が検知し、エア供給切換弁32が第2退避位置に切り換えられてエアシリンダ21、23の伸張側エア室へのエア供給を停止し、かつ伸張側エア室内にエアを保持する。これにより、被溶接部材押さえ26が第2退避位置に保持される。   After this welding is completed, as shown in FIG. 6 (f), the movable side electrode 17 is moved from the pressure position to the retracted position by the operation of the pressure actuator 15, and the fixed side electrode 14 and the movable side electrode 17 are used. The clamping of the member to be welded 100 is released. On the other hand, the air cylinder supply switching valve 32 is switched to discharge air in the contraction side air chamber of the air cylinders 21 and 23 and supply air to the extension side air chamber to extend the air cylinders 21 and 23. As the air cylinders 21 and 23 are extended, the member to be welded 26 is lowered below the tip of the fixed electrode 14. Then, as shown in FIG. 6 (f), when the air cylinders 21, 23 extend to reach the second retracted position, the second retracted position detection sensor S3 detects and the air supply switching valve 32 switches to the second retracted position. Thus, the supply of air to the extension side air chamber of the air cylinders 21 and 23 is stopped, and the air is held in the extension side air chamber. Thereby, the to-be-welded member press 26 is held at the second retracted position.

次に、このエアシリンダ21、23が第2退避位置であることが第2退避位置検知センサS3の検知信号に確認されると、図6(g)に示すように溶接ロボット1を作動して、スポット溶接装置10を被溶接部材100の打点位置から退避させ、次の被溶接部材100の打点位置に移動する。   Next, when it is confirmed by the detection signal of the second retracted position detection sensor S3 that the air cylinders 21 and 23 are in the second retracted position, the welding robot 1 is operated as shown in FIG. Then, the spot welding apparatus 10 is retracted from the spot position of the welded member 100 and moved to the spot position of the next welded member 100.

このように構成された本実施の形態によると、剛性の低い薄板101、この薄板101より剛性の高い第1厚板102、第2厚板103が重ね合わされた3枚重ねの板組によって構成された被溶接部材100をスポット溶接するスポット溶接装置10が、ベース部11にC形ヨーク13を介して設けられた固定側電極14と、ベース部11に設けられた加圧アクチュエータ15によって固定側電極14に接離する可動側電極17と、固定側電極14と可動側電極17によって挟持加圧された被溶接部材100の薄板101における溶接位近傍に制御加圧力を付与する制御加圧付与手段20を備え、固定側電極14によって加圧力FLを付与し可動側電極17によって加圧力FUを付与すると共に被溶接部材100の溶接位置近傍に制御加圧力Fαを付与することで、薄板101と第1厚板102間の接触圧力が第1厚板102と第2厚板103の接触圧力より小さく制御され、可動側電極17と固定側電極14を通電したときに薄板101と第1厚板102の接合部の電流密度が第1厚板102と第2厚板103の接合部の電流密度に対して相対的に高くなるため、薄板101から第2厚板103に亘って大きく溶け込んだ偏りのない良好なナゲットが形成され、薄板101の溶接強度を確保できる。特に、固定側電極14と可動側電極17によって挟持加圧して固定側電極14によって加圧力FLを付与し可動側電極17によって加圧力FUを付与すると共に被溶接部材100の接合部近傍に制御加圧力Fαを付与することから、被溶接部材100をクランプするクランプ位置に影響されることなく、種々の溶接位置において薄板101から第2厚板103に亘って偏りのない良好なナゲットが形成され、溶接品質が確保できる。   According to the present embodiment configured as described above, the thin plate 101 having a low rigidity, the first thick plate 102 having a higher rigidity than the thin plate 101, and the second thick plate 103 are combined to form a three-layered plate set. The spot welding apparatus 10 for spot welding the welded member 100 is fixed to the fixed side electrode 14 by the fixed side electrode 14 provided on the base part 11 via the C-shaped yoke 13 and the pressure actuator 15 provided on the base part 11. 14 and a control pressure applying means 20 for applying a control pressure to the vicinity of the welding position in the thin plate 101 of the member 100 to be welded and pressed by the fixed side electrode 14 and the movable side electrode 17. , A pressing force FL is applied by the fixed electrode 14, a pressing force FU is applied by the movable electrode 17, and a control pressing force is applied in the vicinity of the welding position of the welded member 100. By applying α, the contact pressure between the thin plate 101 and the first thick plate 102 is controlled to be smaller than the contact pressure between the first thick plate 102 and the second thick plate 103, and the movable side electrode 17 and the fixed side electrode 14 are energized. In this case, the current density at the junction between the thin plate 101 and the first thick plate 102 is relatively higher than the current density at the junction between the first thick plate 102 and the second thick plate 103. A good nugget with no unevenness which melted greatly over the thick plate 103 is formed, and the welding strength of the thin plate 101 can be ensured. In particular, the fixed side electrode 14 and the movable side electrode 17 are sandwiched and pressurized to apply the pressure FL by the fixed side electrode 14 and the pressure FU by the movable side electrode 17. Since the pressure Fα is applied, a good nugget without bias is formed from the thin plate 101 to the second thick plate 103 at various welding positions without being affected by the clamping position for clamping the member to be welded 100, Welding quality can be secured.

なお、本実施の形態に限定されることなく発明の趣旨を逸脱しない範囲で種々更可能である。例えば、上記実施の形態では制御加圧アクチュエータとしてエアシリンダ21,23を使用した場合を例に説明したが、サーボモータ等によって構成することもできる。   Note that the present invention is not limited to this embodiment, and various modifications can be made without departing from the spirit of the invention. For example, in the above embodiment, the case where the air cylinders 21 and 23 are used as the control pressurizing actuators has been described as an example. However, a servo motor or the like may be used.

また、制御加圧部として突状の規制面ピース28a、29a、28b、29bによって形成した場合を例に説明したが、被溶接部材100の形状等に応じて種々変更可能である。例えば、図8に図2と対応する図を示すように、各エアシリンダ21、23の先端から突出するシリンダロッド22、24の先端22a、24a間に掛け渡される連結プレート25に、突設された被溶接部材押さえ26の先端部に円弧状乃至凹状に切り欠き形成された電極挿入部27に沿って形成される規制部28及び29の下面に電極挿入部27に沿って突出する半円弧状の規制面ピース28A及び規制部28及び29の上面に電極挿入部27に沿って突出する半円弧状の規制面ピース28Bによって形成することができる。   Moreover, although the case where it formed by the protruding regulation surface piece 28a, 29a, 28b, 29b as a control pressurizing part was demonstrated to the example, it can change variously according to the shape etc. of the to-be-welded member 100. For example, as shown in FIG. 8 corresponding to FIG. 2, it is projected on a connecting plate 25 spanned between the tips 22 a and 24 a of the cylinder rods 22 and 24 that protrude from the tips of the air cylinders 21 and 23. A semicircular arc shape that protrudes along the electrode insertion portion 27 on the lower surface of the regulation portions 28 and 29 formed along the electrode insertion portion 27 that is cut out in an arc shape or a concave shape at the distal end portion of the pressed member 26 to be welded. The regulating surface piece 28A and the regulating portions 28 and 29 can be formed by a semicircular arc shaped regulating surface piece 28B protruding along the electrode insertion portion 27.

(第1参考例)
以下、本発明の第1参考例について図9〜図11を参照して説明する。図9はスポット溶接装置の構成図であり、図10はスポット溶接装置の要部拡大説明図である。図11は動作説明図である。なお、図9〜図11において、図1及び図2と対応する部分に同一符号を付することで該部の詳細な説明を省略する。
(First Reference Example)
Hereinafter, a first reference example of the present invention will be described with reference to FIGS. FIG. 9 is a configuration diagram of the spot welding apparatus, and FIG. 10 is an enlarged explanatory view of a main part of the spot welding apparatus. FIG. 11 is an explanatory diagram of the operation. 9 to 11, the same reference numerals are assigned to the portions corresponding to those in FIGS. 1 and 2, and the detailed description thereof is omitted.

本参考例のスポット溶接装置40は、実施の形態の制御加圧付与手段20に代えてロッド16に支持される制御加圧付与手段41によって構成される。   The spot welding apparatus 40 of the present reference example is configured by a control pressure applying unit 41 supported by the rod 16 instead of the control pressure applying unit 20 of the embodiment.

図9及び図10に示すように、スポット溶接装置40のロッド16は、ベース部11から下方に突出する基端部16Aが比較的大径に形成された円柱状で、基端部16Aの先端側に段部16Bを介して基端部16Aより小径で円柱状に形成された軸部16Cが同軸上に連続形成され、軸部16Cの先端に形成されたシャンク部16Dに可動側電極17が装着される。軸部16Cは可動側電極17より大径に形成される。   As shown in FIGS. 9 and 10, the rod 16 of the spot welding apparatus 40 is a columnar shape in which a base end portion 16A protruding downward from the base portion 11 is formed with a relatively large diameter, and the tip end of the base end portion 16A. A shaft portion 16C formed in a cylindrical shape with a smaller diameter than the base end portion 16A is coaxially formed on the side through the step portion 16B, and the movable side electrode 17 is provided on the shank portion 16D formed at the tip of the shaft portion 16C. Installed. The shaft portion 16 </ b> C is formed with a larger diameter than the movable side electrode 17.

制御加圧付与手段41は、軸部16Cに嵌装可能な絶縁被覆処理された円筒状弾性部材、本参考例ではコイルスプリング42によって構成される。   The control pressurizing application means 41 is constituted by a cylindrical elastic member having an insulation coating process that can be fitted to the shaft portion 16C, which is a coil spring 42 in this reference example.

コイルスプリング42は、基端42aが段部16Bに当接して基端部42bが先端部16Cに嵌装してロッド16に装着され、無負荷状態において制御加圧部となる先端部42cが可動側電極17の先端から突出する有効長を有している。   The coil spring 42 has a base end 42a abutting against the stepped portion 16B, a base end portion 42b fitted to the tip end portion 16C and mounted on the rod 16, and a tip end portion 42c serving as a control pressurizing portion in a no-load state is movable. It has an effective length protruding from the tip of the side electrode 17.

このように制御加圧付与手段41を備えたスポット溶接装置40において、固定側電極14が被溶接部材100の第2厚板103に当接した状態で加圧アクチュエータ15の作動により可動側電極17を加圧位置方向に移動させて薄板101に圧接させて固定側電極14と可動側電極17との間で被溶接部材100の溶接部を挟持すると共に加圧付与すると、コイルスプリング42の先端部42cが可動側電極17の先端に隣接する環状で薄板101に当接してコイルスプリング42が圧縮付与され、コイルスプリング42の反力によって先端部42cが圧接する可動側電極17の外周に沿って薄板101に制御加圧力Fαを付与する。   Thus, in the spot welding apparatus 40 provided with the control pressure applying means 41, the movable side electrode 17 is actuated by the operation of the pressure actuator 15 in a state where the fixed side electrode 14 is in contact with the second thick plate 103 of the member 100 to be welded. Is moved in the direction of the pressurizing position and is brought into pressure contact with the thin plate 101 to sandwich the welded portion of the member 100 to be welded between the fixed side electrode 14 and the movable side electrode 17 and pressurize and apply the tip of the coil spring 42. 42c is in contact with the thin plate 101 in an annular shape adjacent to the tip of the movable electrode 17, the coil spring 42 is compressed, and the thin plate is formed along the outer periphery of the movable electrode 17 where the tip 42c is pressed by the reaction force of the coil spring 42. A control pressure Fα is applied to 101.

このように固定側電極14と可動側電極17によって被溶接部材100を挟持加圧し、かつコイルスプリング42により薄板101に制御加圧力Fαを付与した状態では、図11に模式的に作動説明図を示すように固定側電極14による加圧力FLが被溶接部材100の第2厚板103に下方から付与され、可動側電極17による加圧力FLとコイルスプリング42による制御加圧力Fαが薄板101に付与される。この場合、第2厚板103に作用する固定側電極14による加圧力FLと薄板101に作用する可動側電極17による加圧力FUとコイルスプリング42による加圧力Fαの総和が等しくなり(FL=FU+Fα)、被溶接部材100の溶接部には固定側電極14から第2厚板103に加圧力FLが付与され、可動側電極17から薄板101に加圧力FUとして固定側電極14の加圧力FLからコイルスプリング42の制御加圧力Fαを減じた大きさの加圧力が付与される(FU=FL−Fα)。   In this state where the member to be welded 100 is sandwiched and pressed by the fixed electrode 14 and the movable electrode 17 and the control pressure Fα is applied to the thin plate 101 by the coil spring 42, an operation explanatory diagram is schematically shown in FIG. As shown, a pressing force FL by the fixed electrode 14 is applied to the second thick plate 103 of the welded member 100 from below, and a pressing force FL by the movable electrode 17 and a control pressing force Fα by the coil spring 42 are applied to the thin plate 101. Is done. In this case, the sum of the pressing force FL by the fixed electrode 14 acting on the second thick plate 103, the pressing force FU by the movable electrode 17 acting on the thin plate 101, and the pressing force Fα by the coil spring 42 is equal (FL = FU + Fα). ), A pressure FL is applied from the fixed side electrode 14 to the second thick plate 103 to the welded portion of the member 100 to be welded, and from the pressure FL of the fixed side electrode 14 as the pressure FU to the thin plate 101 from the movable side electrode 17. A pressing force having a magnitude obtained by subtracting the control pressing force Fα of the coil spring 42 is applied (FU = FL−Fα).

この薄板101側に位置する可動側電極17の加圧力FUを第2厚板103側に位置する固定側電極14の加圧力FLより小さく(FU<FL)付与することで、この可動側電極17と固定側電極14との間に通電したときに、相対的に薄板101と第1厚板102間の接触抵抗が大きくなり電流密度が高くなると共に、第1厚板102と第2厚板103間の接触抵抗が小さく保持されることから、薄板101と第1厚板102の間における発熱量が第1厚板102と第2厚板103の間における発熱量に対して相対的に増加して、薄板101から第2厚板103に亘って溶け込み偏りのない良好なナゲットNが形成され、溶接品質が確保される。   By applying a pressure FU of the movable side electrode 17 positioned on the thin plate 101 side smaller than a pressure force FL of the fixed side electrode 14 positioned on the second thick plate 103 side (FU <FL), the movable side electrode 17 is applied. And the fixed electrode 14 are energized, the contact resistance between the thin plate 101 and the first thick plate 102 is relatively increased, the current density is increased, and the first thick plate 102 and the second thick plate 103 are increased. Since the contact resistance between them is kept small, the amount of heat generated between the thin plate 101 and the first thick plate 102 increases relative to the amount of heat generated between the first thick plate 102 and the second thick plate 103. Thus, a good nugget N that melts and is not biased from the thin plate 101 to the second thick plate 103 is formed, and the welding quality is ensured.

これによると、実施の形態の制御加圧付与手段20に比べ、制御加圧付与手段41の構成が簡単でかつ、軽量でかつコンパクトに形成され、作業空間が比較的制限される部位におけるスポット溶接装置40の使用が可能になり、スポット溶接可能範囲が拡大する。また、コイルスプリング42の反発力等の仕様を変更することで容易に制御加圧力Fαの調整ができる。   According to this, compared with the control pressurization applying means 20 of the embodiment, the structure of the control pressurization applying means 41 is simple, lightweight and compact, and spot welding is performed at a site where the work space is relatively limited. The apparatus 40 can be used, and the spot weldable range is expanded. Further, the control pressure Fα can be easily adjusted by changing the specifications such as the repulsive force of the coil spring 42.

(第2参考例)
以下、本発明の第2参考例について、図12〜図17を参照して説明する。図12はスポット溶接装置の構成図、図13はスポット溶接装置の要部説明図である。図14は動作説明図である。なお、図12〜図14において、図1及び図2と対応する部分に同一符号を付することで該部の詳細な説明を省略する。
(Second reference example)
Hereinafter, a second reference example of the present invention will be described with reference to FIGS. FIG. 12 is a configuration diagram of the spot welding apparatus, and FIG. 13 is an explanatory diagram of a main part of the spot welding apparatus. FIG. 14 is a diagram for explaining the operation. 12 to 14, parts corresponding to those in FIGS. 1 and 2 are denoted by the same reference numerals, and detailed description thereof is omitted.

図12において1は溶接ロボット、50は溶接ロボット1に支持されるスポット溶接装置、110はスポット溶接される被溶接部材である。   In FIG. 12, 1 is a welding robot, 50 is a spot welding apparatus supported by the welding robot 1, and 110 is a member to be welded that is spot welded.

溶接ロボット1及びスポット溶接装置50の説明に先立って、被溶接部材110について説明する。被溶接部材110は、重ね合わされた2枚の厚板の両側に薄板を重ね合わせた、例えば剛性の高い第1厚板102、第2厚板103が重ね合わされた両側にそれぞれ剛性の低い第1薄板101及び第2薄板104が重ね合わされた4枚重ねの板組によって構成される。   Prior to the description of the welding robot 1 and the spot welding apparatus 50, the member to be welded 110 will be described. The welded member 110 is formed by superimposing thin plates on both sides of two superposed thick plates, for example, a first stiff plate 102 having a high rigidity and a first low rigidity on both sides of a superposed second thick plate 103. It is constituted by a four-layered plate set in which the thin plate 101 and the second thin plate 104 are overlapped.

溶接ロボット1は、例えば多関節型ロボットであり、複数のアーム2及びアーム2の先端部に取り付けられる手首3を有し、手首3にイコライザユニット4を介在して支持されるスポット溶接装置50を三次元方向に移動可能に構成する。そして、溶接ロボット1は、図示しないクランパ等によって所定の位置に保持された被溶接部材110の各打点位置、即ち溶接部にスポット溶接装置50を順次移動して被溶接部材110にスポット溶接を行う。   The welding robot 1 is, for example, an articulated robot, and has a plurality of arms 2 and a wrist 3 attached to the tip of the arm 2, and a spot welding device 50 supported by the wrist 3 via an equalizer unit 4. It is configured to be movable in the three-dimensional direction. Then, the welding robot 1 performs spot welding on the welded member 110 by sequentially moving the spot welding device 50 to each spot position of the welded member 110 held at a predetermined position by a clamper or the like (not shown), that is, a welded portion. .

スポット溶接装置50は、手首部3にイコライザユニット4を介して取り付けられるベース部11を備える。ベース部11に取り付けられたC形ヨーク13の下端先端に固定側電極14が取り付けられる。   The spot welding apparatus 50 includes a base portion 11 that is attached to the wrist portion 3 via the equalizer unit 4. A fixed electrode 14 is attached to the tip of the lower end of a C-shaped yoke 13 attached to the base portion 11.

また、ベース部11の上端には、加圧アクチュエータ15が搭載される。加圧アクチュエータ15により固定側電極14と同軸線上で固定側電極14に接離する方向に往復動するロッド16の先端に固定側電極14と対向して可動側電極17が取り付けられる。これにより、可動側電極17は加圧アクチュエータ15の作動により固定側電極14から離反する上昇移動端の退避位置と被溶接部材110を固定側電極14と協働して挟持加圧する下方移動端の加圧位置との間で進退移動する。   A pressure actuator 15 is mounted on the upper end of the base portion 11. A movable electrode 17 is attached to the tip of a rod 16 that reciprocates in the direction of contact with and away from the fixed side electrode 14 coaxially with the fixed side electrode 14 by the pressurizing actuator 15. As a result, the movable side electrode 17 moves to the retracted position of the ascending moving end that is separated from the fixed side electrode 14 by the operation of the pressurizing actuator 15 and the lower moving end that clamps and presses the welded member 110 in cooperation with the fixed side electrode 14. Moves forward and backward between the pressurization position.

また、ベース部11には、固定側電極14及び可動側電極17によって挟持加圧された被溶接部材110に更に制御加圧力を付与する制御加圧付与手段60が設けられる。   Further, the base 11 is provided with a control pressure applying means 60 for further applying a control pressure to the member 110 to be welded and pressed by the fixed side electrode 14 and the movable side electrode 17.

制御加圧付与手段60は、図12及び図13に要部拡大斜視図を示すようにロッド16を隔てると共にC形ヨーク13側においてベース部11の両側に、基端が取り付けられる一対の制御加圧アクチュエータであるエアシリンダ21、23を備える。各エアシリンダ21、23はエア供給源31からのエアをエア供給切替弁32を介して伸張側エア室或いは収縮側エア室に選択的に供給することで、シリンダロッド22、24が伸張及び収縮すると共に、収縮側エア室或いは伸張側エア室にエアを保持することで該位置にシリンダロッド22、24が保持される。   As shown in FIGS. 12 and 13, the control pressure applying means 60 separates the rod 16 as shown in the enlarged perspective view of the main part, and a pair of control presses whose base ends are attached to both sides of the base portion 11 on the C-shaped yoke 13 side. Air cylinders 21 and 23 which are pressure actuators are provided. Each air cylinder 21, 23 selectively supplies the air from the air supply source 31 to the expansion side air chamber or the contraction side air chamber via the air supply switching valve 32, so that the cylinder rods 22, 24 expand and contract. In addition, the cylinder rods 22 and 24 are held at the positions by holding air in the contraction-side air chamber or the expansion-side air chamber.

各エアシリンダ21、23の先端から突出するシリンダロッド22、24の先端間に被溶接部材110が間隙を持って挿入可能に上下に離間して対向する下側の第1連結プレート61及び上側の第2連結プレート65が掛け渡される。   A welded member 110 is inserted between the tips of the cylinder rods 22 and 24 protruding from the tips of the air cylinders 21 and 23 so as to be inserted with a gap between them, and a lower first connecting plate 61 and an upper The second connection plate 65 is stretched over.

この第1連結プレート61の中央部、即ち第1連結プレート61におけるシリンダロッド22と24の先端間に基端部が結合されて先端部がC形ヨーク13側から離反する方向に延在する帯状の第1被溶接部材押さえ62が設けられる。第1被溶接部材押さえ62の先端部には可動側電極17及び固定側電極14の挿入が可能な円弧状乃至凹状に切り欠き形成された電極挿入部63が形成され、かつ電極挿入部63の両側に突出する一対の規制部64A、64Bが形成される。各規制部64A、64Bの上面にそれぞれ制御加圧部となる突状の規制面ピース64a、64bが設けられる。   The central portion of the first connecting plate 61, that is, a belt-like shape in which the base end portion is coupled between the tip ends of the cylinder rods 22 and 24 in the first connecting plate 61 and the tip end portion extends in a direction away from the C-shaped yoke 13 side. The first welded member presser 62 is provided. An electrode insertion portion 63 is formed at the distal end of the first welded member retainer 62, which is cut out in an arc shape or a concave shape into which the movable side electrode 17 and the fixed side electrode 14 can be inserted. A pair of restricting portions 64A and 64B projecting on both sides are formed. Protruding restricting surface pieces 64a and 64b serving as control pressurizing portions are provided on the upper surfaces of the restricting portions 64A and 64B, respectively.

同様に、第2連結プレート65の中央部に基端部が結合されて先端部がC形ヨーク13側から離反する方向に延在する帯状の第2被溶接部材押さえ66が設けられる。第2被溶接部材押さえ66の先端部には可動側電極17及び固定側電極14の挿入が可能な円弧状乃至凹状に切り欠き形成された電極挿入部67が形成され、かつ電極挿入部67の両側に突出する一対の規制部68A、68Bが形成される。各規制部68A、68Bの下面にそれぞれ制御加圧部となる突状の規制面ピース68a、68bが設けられる。   Similarly, a belt-shaped second welded member presser 66 having a base end portion coupled to the center portion of the second connecting plate 65 and extending in a direction in which the distal end portion is separated from the C-shaped yoke 13 side is provided. The tip of the second welded member holder 66 is formed with an electrode insertion portion 67 that is cut out in an arc shape or a concave shape into which the movable side electrode 17 and the fixed side electrode 14 can be inserted. A pair of restricting portions 68A and 68B projecting on both sides are formed. Protruding restricting surface pieces 68a and 68b serving as control pressurizing portions are provided on the lower surfaces of the restricting portions 68A and 68B, respectively.

また、エアシリンダ21、23には、固定側電極14と可動側電極17によって挟持された被溶接部材110の第2薄板104の下面と隙間を有して規制面ピース64a、64bが対向し、第1薄板101の上面と隙間を有して規制面ピース6a、6bが隙間を有して対向するエアシリンダ21、23のシリンダロッド22、24の伸縮位置となる退避位置を検知する退避位置検知センサS5、固定側電極14と可動側電極17によって挟持された被溶接部材110の第2薄板104に規制面ピース64a、64bが下方から圧接した状態におけるエアシリンダ21、23の伸縮位置である第1加圧位置を検知する第1加圧位置検知センサS6、固定側電極14と可動側電極17によって挟持された被溶接部材110の第1薄板101に規制面ピース68a、68bが上方から圧接した状態におけるエアシリンダ21、23の伸縮位置である第2加圧位置を検知する第2加圧位置検知センサS7を備える。   The air cylinders 21 and 23 are opposed to the lower surface of the second thin plate 104 of the member to be welded 110 sandwiched between the fixed side electrode 14 and the movable side electrode 17 and the regulating surface pieces 64a and 64b are opposed to each other. Retraction position detection that detects the retraction position that is the expansion / contraction position of the cylinder rods 22 and 24 of the air cylinders 21 and 23 that have a clearance from the upper surface of the first thin plate 101 and that are opposed to the regulation surface pieces 6a and 6b with a clearance. The first and second expansion positions of the air cylinders 21 and 23 in a state where the regulating surface pieces 64a and 64b are in pressure contact with the second thin plate 104 of the member 110 to be welded sandwiched between the sensor S5, the fixed electrode 14 and the movable electrode 17 from below. 1st pressurization position detection sensor S6 which detects 1 pressurization position, 1st thin plate 101 of member 110 to be welded clamped by fixed side electrode 14 and movable side electrode 17 is regulated. Piece 68a, 68b is provided with a second pressing position detection sensor S7 for detecting a second pressing position is a telescopic position of the air cylinder 21, 23 in the state of being pressed from above.

溶接ロボットコントローラRCには、溶接ロボット1のティーチングデータが格納され、ティーチングデータには、被溶接部材100の各溶接打点を順次スポット溶接するための作動プログラム及び各溶接打点を溶接するときのスポット溶接装置10の位置及び姿勢である打点位置が含まれる。また、溶接装置コントローラWCにはスポット溶接装置10の作動プログラム及び退避位置検知センサS5、第1加圧位置検知センサS6、第2加圧位置検知センサS7の検知に基づくエア供給切換弁32の作動制御が含まれる。   The welding robot controller RC stores teaching data of the welding robot 1, and the teaching data includes an operation program for sequentially spot welding the welding points of the member 100 to be welded and spot welding when welding the welding points. The hit point position which is the position and posture of the apparatus 10 is included. Further, the welding apparatus controller WC operates the air supply switching valve 32 based on the operation program of the spot welding apparatus 10 and the detection of the retraction position detection sensor S5, the first pressure position detection sensor S6, and the second pressure position detection sensor S7. Control is included.

例えば、エアシリンダ21、23が伸張側エア室にエアが供給されてエアシリンダ21、23が伸張して退避位置に達したことを退避位置検知センサS5が検知すると、その検知信号に基づいてエア供給切換弁32が退避位置に切り換えられて各伸張側エア室へのエア供給が停止すると共に伸張側エア室内にエアが保持されてエアシリンダ21、23が退避位置に保持される。退避位置からエア供給切換弁32が切り換えられて伸張側エア室内のエアが排出されると共に収縮側エア室内へエアが供給されて収縮するエアシリンダ21、23が第1加圧位置に達したことを第1加圧位置検知センサS6が検知すると、その検知信号に基づいてエア供給切換弁32が第1加圧位置に切り換えられ、各収縮側エア室内へのエア供給が停止すると共に収縮側エア室内にエアが保持されてエアシリンダ21、23が第1加圧位置に保持される。また、第1加圧位置からエア供給切換弁32が切り換えられて収縮側エア室のエアが排出されると共に伸張側エア室内へエアが供給されて伸張するエアシリンダ21、23が第2加圧位置に達したことを第2加圧位置検知センサS7が検知すると、その検知信号に基づいてエア供給切換弁32が第2加圧位置に切り換えられ、各伸張側エア室へのエア供給が停止すると共に伸張側エア室内のエアが保持されてエアシリンダ21、23が第2加圧位置に保持される。   For example, when the retracted position detection sensor S5 detects that the air cylinders 21, 23 are supplied with air to the extension-side air chamber and the air cylinders 21, 23 extend to reach the retracted position, the air is detected based on the detection signal. The supply switching valve 32 is switched to the retracted position to stop the air supply to each extension side air chamber, and the air is held in the extension side air chamber to hold the air cylinders 21 and 23 in the retracted position. The air supply switching valve 32 is switched from the retracted position so that the air in the extension side air chamber is discharged and the air cylinders 21 and 23 that are contracted by the air supplied to the contraction side air chamber have reached the first pressurization position. Is detected by the first pressurization position detection sensor S6, the air supply switching valve 32 is switched to the first pressurization position based on the detection signal, and the air supply into each contraction side air chamber is stopped and the contraction side air is stopped. Air is held in the room, and the air cylinders 21 and 23 are held at the first pressure position. Further, the air supply switching valve 32 is switched from the first pressurizing position to discharge the air in the contraction-side air chamber, and the air cylinders 21 and 23 that are expanded by being supplied with the air into the expansion-side air chamber are second pressurized. When the second pressurization position detection sensor S7 detects that the position has been reached, the air supply switching valve 32 is switched to the second pressurization position based on the detection signal, and the air supply to each expansion side air chamber is stopped. At the same time, the air in the extension side air chamber is held and the air cylinders 21 and 23 are held at the second pressurizing position.

次に、スポット溶接装置50の作動を図14に示すスポット溶接装置作動工程図、図15及び図16を参照して説明する。   Next, the operation of the spot welding apparatus 50 will be described with reference to the spot welding apparatus operation process diagram shown in FIG. 14 and FIGS. 15 and 16.

被溶接部材110のスポット溶接にあたり、予め設定された作動プログラムに従い第1溶接工程において図14(a)に示すように可動側電極17が固定側電極14から離反した退避位置でかつ制御加圧付与手段60の退避位置検知センサS5がエアシリンダ21、23の退避位置を検知していないことが確認されると、溶接装置コントローラWCから作動信号によりエア供給切換弁32が切り替えられてエアシリンダ21、23の伸張側エア室内へのエア供給が開始されてエアシリンダ21、23が伸張する。伸張中に退避位置検知センサS5が退避位置を検知した場合はそこでエア供給を停止する。検知しない場合、エアシリンダ21、23の伸張に伴って第1被溶接部材押さえ62が固定側電極14の先端より下方となるまで下降する。そして、エアシリンダ21、23の収縮側エア室内へのエア供給が開始されてエアシリンダ21、23が収縮する。この間で図14(b)に示すようにエアシリンダ21、23が退避位置に達すると退避位置検知センサS5が検知し、エア供給切換弁32がエアシリンダ21、23の収縮側エア室へのエア供給を停止し、かつシリンダーブレーキにて第1被溶接部材押さえ62及び第2被溶接部材押さえ66が退避位置に保持される。   In spot welding of the member 110 to be welded, according to a preset operation program, in the first welding step, as shown in FIG. 14A, the movable side electrode 17 is at a retracted position away from the fixed side electrode 14 and is given control pressure. When it is confirmed that the retracted position detection sensor S5 of the means 60 has not detected the retracted position of the air cylinders 21, 23, the air supply switching valve 32 is switched by the operation signal from the welding apparatus controller WC, and the air cylinders 21, Air supply into the extension side air chamber 23 starts and the air cylinders 21, 23 extend. When the retracted position detection sensor S5 detects the retracted position during extension, the air supply is stopped there. If not detected, as the air cylinders 21 and 23 are extended, the first welded member presser 62 is lowered until it is below the tip of the stationary electrode 14. Then, the supply of air into the contraction-side air chamber of the air cylinders 21 and 23 is started and the air cylinders 21 and 23 contract. During this time, as shown in FIG. 14B, when the air cylinders 21 and 23 reach the retracted position, the retracted position detection sensor S5 detects, and the air supply switching valve 32 detects the air to the contraction side air chamber of the air cylinders 21 and 23. The supply is stopped, and the first welded member presser 62 and the second welded member presser 66 are held at the retracted position by the cylinder brake.

次に、このエアシリンダ21、23が退避位置であることが退避位置検知センサS5の検知信号により確認されると、溶接ロボット1を作動し、予め設定されたプログラムに従いスポット溶接装置50を被溶接部材110の打点位置に移動し、図14(c)に示すように被溶接部材110の接合部が固定側電極14と可動側電極17及び規制面ピース64a、64bと規制面ピース68a、68bの間に位置し、かつ固定側電極14が打点位置に対応した第2薄板104の規定位置に当接した状態に位置決めする。   Next, when it is confirmed by the detection signal of the retreat position detection sensor S5 that the air cylinders 21 and 23 are at the retreat position, the welding robot 1 is operated and the spot welding apparatus 50 is welded according to a preset program. As shown in FIG. 14 (c), the welded member 110 is joined to the fixed point electrode 14, the movable side electrode 17, the regulating surface pieces 64a and 64b, and the regulating surface pieces 68a and 68b. The fixed side electrode 14 is positioned so as to be in contact with a specified position of the second thin plate 104 corresponding to the hit position.

このスポット溶接装置50が溶接位置に位置決めされた状態では、図14(c)に示すように固定側電極24の先端が被接溶接部材110の第2薄板104に下方から当接する一方、可動側電極17の先端及び規制面ピース68a、68bが第1薄板101と隙間を有して対向し、かつ規制面ピース64a、64bが第2薄板104と隙間を有して対向する。   In a state where the spot welding device 50 is positioned at the welding position, as shown in FIG. 14C, the tip of the fixed side electrode 24 abuts against the second thin plate 104 of the welded member 110 from below, while the movable side The tip of the electrode 17 and the regulating surface pieces 68a and 68b are opposed to the first thin plate 101 with a gap, and the regulating surface pieces 64a and 64b are opposed to the second thin plate 104 with a gap.

次に、図14(d)に示すように、固定側電極14が被溶接部材110の第2薄板104に当接した状態で加圧アクチュエータ15の作動により可動側電極17を退避位置から加圧位置方向に移動させて第1薄板101に圧接させる。これにより、加圧アクチュータ15の加圧力が可動側電極14とベース部11及びC形ヨーク13を介して可動側電極17とに作用し、可動側電極17と固定側電極14との間で被溶接部材110の溶接部を挟持すると共に加圧付与する。   Next, as shown in FIG. 14 (d), the movable side electrode 17 is pressed from the retracted position by the operation of the pressure actuator 15 with the fixed side electrode 14 in contact with the second thin plate 104 of the member to be welded 110. It is moved in the position direction and is brought into pressure contact with the first thin plate 101. As a result, the pressure applied by the pressurizing actuator 15 acts on the movable side electrode 17 via the movable side electrode 14, the base portion 11, and the C-shaped yoke 13, and the pressure is applied between the movable side electrode 17 and the fixed side electrode 14. The welded portion of the welding member 110 is clamped and pressurized.

一方、エア供給切換弁32が切り換えられてエアシリンダ21、23の伸張側エア室内のエアを排出すると共に収縮側エア室内にエアが供給されてエアシリンダ21、23が収縮して第1被溶接部材押さえ62及び第2被溶接部材押さえ66が上昇して第1被溶接部材押さえ62の上面に設けられた規制面ピース64a、64bが固定側電極14の先端に隣接して被溶接部材110の第2薄板104に下方から圧接し、更に収縮するエアシリンダ21、23が第1加圧位置に達すると第1加圧位置検知センサS5が検知し、エア供給切換弁32が第1加圧位置に切り換えられてエアシリンダ21、23の収縮側エア室へのエア供給を停止し、かつ収縮側エア室内にエアを保持する。   On the other hand, the air supply switching valve 32 is switched to discharge the air in the expansion side air chamber of the air cylinders 21 and 23 and the air is supplied to the contraction side air chamber so that the air cylinders 21 and 23 are contracted to be first welded. The member presser 62 and the second welded member presser 66 are raised, and the restriction surface pieces 64 a and 64 b provided on the upper surface of the first welded member presser 62 are adjacent to the tip of the fixed electrode 14 and the welded member 110. When the air cylinders 21 and 23 that are in pressure contact with the second thin plate 104 from below and reach the first pressurization position reach the first pressurization position, the first pressurization position detection sensor S5 detects, and the air supply switching valve 32 detects the first pressurization position. The air supply to the contraction side air chamber of the air cylinders 21 and 23 is stopped and the air is held in the contraction side air chamber.

この固定側電極14と可動側電極17によって被溶接部材110を挟持加圧し、かつエアシリンダ21、23によって規制面ピース64a、64bにより第2薄板104を加圧付与した状態では、図15に模式的に作動説明図を示すように固定側電極14による加圧力FLが被溶接部材110の第2薄板104に下方から付与され、可動側電極17による加圧力FUとエアシリンダ21、23による規制面ピース64a、64bによる第1制御加圧力Fαが固定側電極14の先端に隣接して第2薄板104に付与される。   FIG. 15 shows a state in which the member to be welded 110 is sandwiched and pressed by the fixed side electrode 14 and the movable side electrode 17 and the second thin plate 104 is pressurized by the restriction surface pieces 64 a and 64 b by the air cylinders 21 and 23. As shown in the operation explanatory diagram, a pressing force FL by the fixed side electrode 14 is applied to the second thin plate 104 of the member 110 to be welded from below, and a pressing surface FU by the movable side electrode 17 and a regulating surface by the air cylinders 21 and 23. A first control pressure Fα by the pieces 64 a and 64 b is applied to the second thin plate 104 adjacent to the tip of the fixed side electrode 14.

この場合、図15に概略的に示すように加圧アクチュエータ15の加圧力が可動側電極17とベース部11及びC形ヨーク13を介して固定側電極14に作用し、シリンダ21、23の制御加圧力が規制面ピース64a、64bに作用し、第2薄板104に作用する固定側電極14による加圧力FLと規制面ピース64a、64bによる第1制御加圧力Fαの総和と可動側電極17による第1薄板101に作用する加圧力FUが等しくなる(FU=FL+Fα)。これにより、被溶接部材110が固定側電極14と可動側電極17及び規制面ピース64a、64bによって安定した状態で挟持される。   In this case, as schematically shown in FIG. 15, the pressurizing force of the pressurizing actuator 15 acts on the fixed electrode 14 via the movable electrode 17, the base portion 11 and the C-shaped yoke 13 to control the cylinders 21 and 23. The applied pressure acts on the regulating surface pieces 64 a and 64 b, and the sum of the applied pressure FL by the fixed side electrode 14 acting on the second thin plate 104 and the first controlled pressure Fα by the regulating surface pieces 64 a and 64 b and the movable side electrode 17. The applied pressure FU acting on the first thin plate 101 becomes equal (FU = FL + Fα). Thereby, the member 110 to be welded is clamped in a stable state by the fixed electrode 14, the movable electrode 17, and the regulating surface pieces 64a and 64b.

一方、被溶接部材110の溶接部には可動側電極17から第1薄板101に加圧力FUが付与され、固定側電極14から第2薄板104には加圧力FLとして可動側電極17による加圧力FUから規制面ピース64a、64bによる第1制御加圧力Fαを減じた大きさの加圧力が付与される(FL=FU−Fα)。   On the other hand, a pressure FU is applied from the movable electrode 17 to the first thin plate 101 to the welded part of the member 110 to be welded, and a pressure applied by the movable electrode 17 as a pressure FL from the fixed electrode 14 to the second thin plate 104. A pressing force having a magnitude obtained by subtracting the first control pressing force Fα by the regulating surface pieces 64a and 64b from the FU is applied (FL = FU−Fα).

このように固定側電極14による加圧力FLは可動側電極17の加圧力FUより小さくなる(FL<FU)。   In this way, the applied pressure FL by the fixed electrode 14 is smaller than the applied pressure FU of the movable electrode 17 (FL <FU).

次に、固定側電極14と可動側電極17で被溶接部材110を挟持加圧し、かつ規制面ピース64a、64bによる制御加圧力を付与して第2薄板104側に位置する固定側電極14の加圧力FLを第1薄板104側に位置する可動側電極17の加圧力FUより小さく付与した状態で、図14(e)のように可動側電極17と固定側電極14との間に所定時間通電して溶接する。この溶接にあたり、可動側電電極17と固定側電極14との間に通電したとき第2薄板104と第2厚板103の接合部における電流密度が大きく発熱量が第1薄板101と第1厚板102の接合部における発熱量に対して相対的に増加し、第2薄板104と第2厚板103との接合部から第1厚板102と第2厚板103との接合部に亘って溶け込み量が大きく良好なナゲットN1が形成され、第2薄板104と第2厚板103の溶接強度が確保できる。   Next, the member 110 to be welded is sandwiched and pressed by the fixed side electrode 14 and the movable side electrode 17, and the control pressing force is applied by the restriction surface pieces 64 a and 64 b, so that the fixed side electrode 14 positioned on the second thin plate 104 side is applied. In a state where the pressing force FL is applied to be smaller than the pressing force FU of the movable side electrode 17 positioned on the first thin plate 104 side, a predetermined time is provided between the movable side electrode 17 and the fixed side electrode 14 as shown in FIG. Energize and weld. In this welding, when a current is passed between the movable side electrode 17 and the fixed side electrode 14, the current density at the joint between the second thin plate 104 and the second thick plate 103 is large, and the amount of heat generated is the first thin plate 101 and the first thickness. It increases relatively with respect to the amount of heat generated at the joint portion of the plate 102, and extends from the joint portion between the second thin plate 104 and the second thick plate 103 to the joint portion between the first thick plate 102 and the second thick plate 103. A good nugget N1 having a large penetration amount is formed, and the welding strength between the second thin plate 104 and the second thick plate 103 can be ensured.

この溶接が完了すると、第2溶接工程において図14(f)のようにエア供給切換弁32が切り換えられてエアシリンダ21、23の収縮側エア室内のエアを排出すると共に伸張側エア室内にエアが供給されてエアシリンダ21、23が伸張して第1被溶接部材押さえ62が下降して被溶接部材110の第2薄板104から離れる一方、第2被溶接部材押さえ66が下降して規制面ピース68a、68bが可動側電極17の先端に隣接して被溶接部材110の第1薄板101に上方から圧接し、更に伸張するエアシリンダ21、23が第2加圧位置に達すると第2加圧位置検知センサS7が検知し、エア供給切換弁32が第2加圧位置に切り換えられてエアシリンダ21、23の伸張側エア室へのエア供給を停止し、かつ伸張側エア室内にエアを保持する。   When this welding is completed, in the second welding step, the air supply switching valve 32 is switched as shown in FIG. 14 (f) to discharge the air in the contraction side air chamber of the air cylinders 21 and 23 and to the extension side air chamber. Is supplied and the air cylinders 21 and 23 are extended so that the first welded member retainer 62 descends and separates from the second thin plate 104 of the welded member 110, while the second welded member retainer 66 descends and restricts the control surface. When the pieces 68a and 68b are in pressure contact with the first thin plate 101 of the member 110 to be welded from above and adjacent to the tip of the movable electrode 17, and the air cylinders 21 and 23 that extend further reach the second pressurizing position, the second pressurizing position is reached. The pressure position detection sensor S7 detects, the air supply switching valve 32 is switched to the second pressurizing position, the air supply to the extension side air chamber of the air cylinders 21, 23 is stopped, and the air supply to the extension side air chamber is stopped. To hold.

この固定側電極14と可動側電極17によって被溶接部材110を挟持加圧し、かつエアシリンダ21、23によって規制面ピース68a、68bにより第1薄板101を加圧付与した状態では、図16に模式的に作動説明図を示すように固定側電極14による加圧力FLが第2薄板104に下方から付与され、可動側電極17による加圧力FUとエアシリンダ21、23による規制面ピース68a、68bによる第2制御加圧力Fβが第1薄板101に付与される。   FIG. 16 shows a state in which the member to be welded 110 is sandwiched and pressed by the fixed side electrode 14 and the movable side electrode 17 and the first thin plate 101 is pressurized by the restriction surface pieces 68a and 68b by the air cylinders 21 and 23. As shown in the operational explanatory diagram, a pressing force FL by the fixed side electrode 14 is applied to the second thin plate 104 from below, and by a pressing force FU by the movable side electrode 17 and restriction surface pieces 68a and 68b by the air cylinders 21 and 23. A second control pressure Fβ is applied to the first thin plate 101.

この場合、第2薄板104に作用する固定側電極14による加圧力FLが、第1薄板101に作用する可動側電極17の加圧力FUと規制面ピース64a、64bによる第2制御加圧力Fβの総和と等しくなる(FL=FU+Fβ)。これにより、被溶接部材110が固定側電極14と可動側電極17及び規制面ピース68a、68bによって安定した状態で挟持される。   In this case, the applied pressure FL by the fixed side electrode 14 acting on the second thin plate 104 is equal to the applied pressure FU of the movable side electrode 17 acting on the first thin plate 101 and the second control applied pressure Fβ by the regulating surface pieces 64a and 64b. It becomes equal to the sum (FL = FU + Fβ). Thereby, the member 110 to be welded is clamped in a stable state by the fixed electrode 14, the movable electrode 17, and the regulating surface pieces 68a and 68b.

一方、被溶接部材110の溶接部には、固定側電極14から第2薄板104に加圧力FLが付与され、可動側電極17から第1薄板101に加圧力FUとして固定側電極14による加圧力FLから規制面ピース68a、68bによる第2制御加圧力Fβを減じた大きさの加圧力が付与される(FU=FL−Fβ)。   On the other hand, a pressure FL is applied from the fixed electrode 14 to the second thin plate 104 to the welded part of the member 110 to be welded, and a pressure applied by the fixed electrode 14 from the movable electrode 17 to the first thin plate 101 as a pressure FU. A pressing force having a magnitude obtained by subtracting the second control pressing force Fβ by the regulating surface pieces 68a and 68b from the FL is applied (FU = FL−Fβ).

このように可動側電極17による加圧力FUを固定側電極14の加圧力FLより小さくなる(FU<FL)。   Thus, the pressure FU applied by the movable electrode 17 is smaller than the pressure FL applied by the fixed electrode 14 (FU <FL).

この固定側電極14と可動側電極17で被溶接部材110を挟持加圧付与し、かつ規制面ピース68a、68bによる第2制御加圧力を付与して第1薄板101側に位置する可動側電極17の加圧力FUを第2薄板104側に位置する固定側電極14の加圧力FLより小さく付与した状態で、図14(g)のように可動側電極17と固定側電極14との間に所定時間通電して溶接する。この溶接にあたり、可動側電極17と固定側電極14との間に通電したとき第1薄板101と第1厚板102の接合部における電流密度が第2薄板104と第2厚板103の接合部における電流密度に対して増加し、第1薄板101と第1厚板102との接合部に溶け込み量が大きな良好なナゲットN2が形成され、第1薄板101と第1厚板102の溶接強度が確保できる。   The movable side electrode located on the first thin plate 101 side by sandwiching and applying pressure to the welded member 110 by the fixed side electrode 14 and the movable side electrode 17 and applying the second control pressure by the regulating surface pieces 68a and 68b. 17 is applied between the movable electrode 17 and the fixed electrode 14 as shown in FIG. 14G in a state where the applied pressure FU of 17 is applied to be smaller than the applied pressure FL of the fixed electrode 14 positioned on the second thin plate 104 side. Energize for a predetermined time and weld. In this welding, when current is passed between the movable side electrode 17 and the fixed side electrode 14, the current density at the junction between the first thin plate 101 and the first thick plate 102 is the junction between the second thin plate 104 and the second thick plate 103. And a good nugget N2 having a large amount of penetration is formed at the joint between the first thin plate 101 and the first thick plate 102, and the welding strength of the first thin plate 101 and the first thick plate 102 is increased. It can be secured.

即ち、第1溶接工程において第2薄板104と第2厚板103との接触圧力を小さくして可動側電極17と固定側電極14との間に通電して積極的に第2薄板104と第2厚板103の間にナゲットN1を形成して溶接強度を確保し、しかる後、第2溶接工程において第1薄板101と第1厚板102との接触圧力を小さくして可動側電極17と固定側電極14との間に通電して積極的に第1薄板101と第1厚板102と接触箇所にナゲットN2を形成して溶接強度を確保することで第1薄板101、第1厚板102、第2厚板103、第2薄板104が重ね合わされた4枚重ねの被溶接部材110の溶接部の溶接強度が確保でき、溶接品質が確保できる。   That is, in the first welding process, the contact pressure between the second thin plate 104 and the second thick plate 103 is reduced, and a current is passed between the movable side electrode 17 and the fixed side electrode 14 to positively contact the second thin plate 104 and the second thick plate 104. The nugget N1 is formed between the two thick plates 103 to ensure the welding strength. After that, in the second welding step, the contact pressure between the first thin plate 101 and the first thick plate 102 is reduced to reduce the movable side electrode 17 and The first thin plate 101 and the first thick plate are energized by energizing between the fixed side electrode 14 and positively forming the nugget N2 at the contact point with the first thin plate 101 and the first thick plate 102 to ensure the welding strength. 102, the second thick plate 103, and the second thin plate 104 can be welded, and the welding strength of the welded portion of the four-layered member 110 to be welded can be secured, so that the welding quality can be secured.

この溶接が完了した後、図14(h)に示すように、加圧アクチュエータ15の作動により可動側電極17を加圧位置から退避位置に移動させて固定側電極14と可動側電極17とによる被溶接部材110の挟持を開放する。一方、エアシリンダ供給切換弁32を切り換えてエアシリンダ21、23の伸張側エア室内のエアを排出すると共に収縮側エア室内にエアを供給してエアシリンダ21、23を収縮する。そして、収縮するエアシリンダ21、23が退避位置に達すると、退避位置センサS5が検知し、エア供給切換弁32が退避位置に切り換えられてエアシリンダ21、23の収縮側エア室へのエア供給を停止し、かつ収縮側エア室内のエアを保持する。これにより、第1被溶接部材押さえ62及び第2被溶接部材押さえ66が退避位置に保持される。   After this welding is completed, as shown in FIG. 14 (h), the movable side electrode 17 is moved from the pressure position to the retracted position by the operation of the pressure actuator 15, and the fixed side electrode 14 and the movable side electrode 17 are used. The clamping of the member to be welded 110 is released. On the other hand, the air cylinder supply switching valve 32 is switched to discharge air in the expansion side air chamber of the air cylinders 21 and 23 and supply air to the contraction side air chamber to contract the air cylinders 21 and 23. Then, when the contracting air cylinders 21 and 23 reach the retracted position, the retracted position sensor S5 detects, and the air supply switching valve 32 is switched to the retracted position to supply air to the contracting side air chamber of the air cylinders 21 and 23. The air in the contraction side air chamber is held. Thereby, the 1st to-be-welded member presser 62 and the 2nd to-be-welded member presser 66 are hold | maintained in a retracted position.

次に、このエアシリンダ21、23が退避位置であることが退避位置検知センサS5の検知信号に確認されると、溶接ロボット1を作動して、スポット溶接装置50を被溶接部材110の打点位置から退避させ、次の被溶接部材110の打点位置に移動する。   Next, when it is confirmed by the detection signal of the retracted position detection sensor S5 that the air cylinders 21 and 23 are at the retracted position, the welding robot 1 is operated and the spot welding device 50 is moved to the spot position of the member 110 to be welded. And is moved to the hit position of the next member 110 to be welded.

このように構成された本実施の形態によると、剛性の高い第1厚板102及び第2厚板103の両面に剛性の低い第1薄板101及び第2薄板104が重ね合わされた4枚重ねの板組によって構成された被溶接部材110をスポット溶接するスポット溶接装置50が、ベース部11にC形ヨーク13を介して設けられた固定側電極14と、ベース部11に設けられた加圧アクチュエータ15によって固定側電極14に接離する可動側電極17と、固定側電極14と可動側電極17によって挟持加圧された被溶接部材100の第1薄板101及び第2薄板104における溶接位置近傍に選択的に制御加圧力を付与する制御加圧付与手段60を備え、固定側電極14と可動側電極17によって挟持加圧して固定側電極14によって加圧力FLを付与し可動側電極によって加圧力FUを付与すると共に第2薄板104の溶接位置近傍に第1制御加圧力Fαを付与することで、第2薄板104と第2厚板103間の接触圧力が第1厚板102と第1薄板101の接触圧力より小さく制御され、可動側電極17と固定側電極14を通電したときに第2薄板104と第2厚板103の接合部における発熱量が第1厚板102と第1薄板101の接合部における発熱量に対して相対的に増加する。そのため第2薄板104と第2厚板103の溶接強度が確保される。   According to the present embodiment configured as described above, a four-layer structure in which the first thin plate 101 and the second thin plate 104 having low rigidity are superimposed on both surfaces of the first thick plate 102 and the second thick plate 103 having high rigidity. A spot welding device 50 for spot welding a member to be welded 110 constituted by a plate assembly includes a fixed side electrode 14 provided on the base portion 11 via a C-shaped yoke 13 and a pressure actuator provided on the base portion 11. 15, a movable side electrode 17 that is in contact with and away from the fixed side electrode 14, and a welding position in the vicinity of the welding position of the first thin plate 101 and the second thin plate 104 of the member 100 to be welded and pressed by the fixed side electrode 14 and the movable side electrode 17 A control pressure applying means 60 for selectively applying a control pressure is provided, which is sandwiched and pressurized by the fixed side electrode 14 and the movable side electrode 17 and applied with the pressure FL by the fixed side electrode 14. Then, the contact pressure between the second thin plate 104 and the second thick plate 103 is increased by applying the pressurizing force FU by the movable electrode and applying the first control pressure Fα in the vicinity of the welding position of the second thin plate 104. The amount of heat generated at the junction between the second thin plate 104 and the second thick plate 103 is controlled to be smaller than the contact pressure between the thick plate 102 and the first thin plate 101 and the movable side electrode 17 and the fixed side electrode 14 are energized. It increases relative to the amount of heat generated at the joint between the plate 102 and the first thin plate 101. Therefore, the welding strength between the second thin plate 104 and the second thick plate 103 is ensured.

同様に第1薄板101に第2制御加圧力Fβを付与することで、第1薄板101と第1厚板102間の接触圧力が第2厚板103と第2薄板104の接触圧力より小さくなり、可動側電極17と固定側電極14を通電したときに第1薄板101と第1厚板102の接合部における電流密度が第2厚板103と第2薄板104の接合部における電流密度に対して相対的に増加する。そのため、第1薄板101と第2厚板102の溶接強度が確保され、剛性の高い第1厚板102及び第2厚板103の両面に剛性の低い第1薄板101及び第2薄板104が重ね合わされた4枚重ねの板組によって構成された被溶接部材110の溶接品質が確保できる。特に、被溶接部材110をクランプするクランプ位置に影響されることなく、固定側電極14と可動側電極17によって挟持加圧して固定側電極14によって加圧力FLを付与し可動側電極によって加圧力FUを付与すると共に被溶接部材110の溶接位置近傍に制御加圧力を付与することが可能であり、種々の溶接位置において第1薄板101から第2薄板104に亘って良好なナゲットが形成され、第1薄板101の溶接強度を確保できる。   Similarly, by applying the second control pressure Fβ to the first thin plate 101, the contact pressure between the first thin plate 101 and the first thick plate 102 becomes smaller than the contact pressure between the second thick plate 103 and the second thin plate 104. When the movable side electrode 17 and the fixed side electrode 14 are energized, the current density at the junction between the first thin plate 101 and the first thick plate 102 is larger than the current density at the junction between the second thick plate 103 and the second thin plate 104. Relatively increase. Therefore, the welding strength of the 1st thin plate 101 and the 2nd thick plate 102 is ensured, and the 1st thin plate 101 and the 2nd thin plate 104 with low rigidity are piled up on both surfaces of the 1st thick plate 102 and the 2nd thick plate 103 with high rigidity. It is possible to ensure the welding quality of the welded member 110 constituted by the four-layered plate assembly. In particular, without being affected by the clamping position at which the member 110 to be welded is clamped, the fixed side electrode 14 and the movable side electrode 17 are sandwiched and pressurized to apply the pressure FL by the fixed side electrode 14 and the pressure FU by the movable side electrode. In addition, it is possible to apply a control pressure in the vicinity of the welding position of the member 110 to be welded, and a good nugget is formed from the first thin plate 101 to the second thin plate 104 at various welding positions. 1 The welding strength of the thin plate 101 can be ensured.

なお、本実施の形態に限定されることなく発明の趣旨を逸脱しない範囲で種々変更可能である。例えば、上記実施の形態では制御加圧アクチュエータとしてエアシリンダ21、23を使用した場合を例に説明したが、サーボモータ等によって構成することもできる。   Note that the present invention is not limited to this embodiment, and various modifications can be made without departing from the spirit of the invention. For example, in the above-described embodiment, the case where the air cylinders 21 and 23 are used as the control pressure actuators has been described as an example. However, a servo motor or the like may be used.

また、制御加圧部として突状の規制面ピース64a、64b、68a、68bによって形成した場合を例に説明したが、被溶接部材部材110の形状等に応じて種々変更可能である。例えば、図17に図13と対応する図を示すように、第1被溶接部材押さえ62の先端部に円弧状乃至凹状に切り欠き形成された電極挿入部63に沿って形成される規制部64A及び64Bの上面に電極挿入部63に沿って上方に突出する半円弧状の規制面ピース70及び第2被溶接部材押さえ66の先端部に円弧状乃至凹状に切り欠き形成された電極挿入部67に沿って形成される規制部68A及び68Bの下面に電極挿入部67に沿って下方に突出する半円弧状の規制面ピース71によって形成することができる。   Moreover, although the case where it formed with the protruding regulation surface piece 64a, 64b, 68a, 68b as a control pressurizing part was demonstrated to the example, it can change variously according to the shape etc. of the member 110 to be welded. For example, as shown in FIG. 17 corresponding to FIG. 13, the restricting portion 64 </ b> A formed along the electrode insertion portion 63, which is cut out in an arc shape or a concave shape at the distal end portion of the first welded member presser 62. In addition, a semicircular arc-shaped regulating surface piece 70 projecting upward along the electrode insertion portion 63 and an electrode insertion portion 67 cut out in a circular arc shape or a concave shape at the tip of the second welded member presser 66 on the upper surface of 64B. Can be formed by a semicircular arc-shaped regulating surface piece 71 projecting downward along the electrode insertion portion 67 on the lower surface of the regulating portions 68A and 68B formed along.

また、実施の形態や参考例においては、所望の制御加圧力Fα、Fβが得られる加圧付与位置を被溶接部材の板厚や加圧力FL、FUに基づいてあらかじめ算出しておき、規制面ピースの位置が該加圧付与位置となるようにエアシリンダを制御するようにしているが、制御加圧付与手段によって制御加圧部としての規制面ピースから所望の制御加圧力Fα、Fβが得られるのであれば、エアシリンダのエア室へ供給されるエア量やエア圧をパラメータとして制御したり、規制面ピースと薄板との間の圧力を直接検出しながら制御したりするように構成することもできる。   Further, in the embodiment and the reference example, the pressure application position at which the desired control pressures Fα and Fβ are obtained is calculated in advance based on the plate thickness of the member to be welded and the pressures FL and FU. The air cylinder is controlled so that the position of the piece becomes the pressure applying position, but desired control pressures Fα and Fβ are obtained from the regulating surface piece as the control pressurizing unit by the control pressure applying means. If it is possible, control the air volume and air pressure supplied to the air chamber of the air cylinder as parameters, or control while directly detecting the pressure between the regulating surface piece and the thin plate You can also.

1 溶接ロボット
10 スポット溶接装置
11 ベース部
13 C形ヨーク
14 固定側電極(第1溶接電極)
15 加圧アクチュエータ
16 ロッド
17 可動側電極(第2溶接電極)
20 制御加圧付与手段
21、23 エアシリンダ(制御加圧アクチュエータ)
22、24 シリンダロッド
25 連結プレート
26 被溶接部材押さえ
26a 基端部
28a、29a 規制面ピース(制御加圧部)
28b、29b 規制面ピース(制御加圧部)
28A、28B 規制面ピース(制御加圧部)
40 スポット溶接装置
41 制御加圧付与手段
42 コイルスプリング
42b 基端部
42c 先端部
50 スポット溶接装置
60 制御加圧付与手段
61 第1連結プレート
65 第2連結プレート
62 第1被溶接部材押さえ
64a、64b 規制面ピース(制御加圧部)
66 第2被溶接部材押さえ
66a 基端部
68a、68b 規制面ピース(制御加圧部)
70、71 規制面ピース(制御加圧部)
100 被溶接部材
101 薄板(第1薄板)
102 第1厚板
103 第2厚板
104 第2薄板
110 被溶接部材
DESCRIPTION OF SYMBOLS 1 Welding robot 10 Spot welding apparatus 11 Base part 13 C type yoke 14 Fixed side electrode (1st welding electrode)
15 Pressure actuator 16 Rod 17 Movable electrode (second welding electrode)
20 Control pressure applying means 21, 23 Air cylinder (Control pressure actuator)
22, 24 Cylinder rod 25 Connecting plate 26 Welded member holder 26a Base end portion 28a, 29a Restricting surface piece (control pressurizing portion)
28b, 29b Regulating surface piece (control pressure unit)
28A, 28B Regulating surface piece (control pressure unit)
40 Spot Welding Device 41 Control Pressurizing Applying Unit 42 Coil Spring 42b Base End 42c Tip 50 Spot Welding Device 60 Control Pressurizing Applying Unit 61 First Connection Plate 65 Second Connection Plate 62 First Welded Member Pressers 64a and 64b Regulating surface piece (control pressure unit)
66 2nd to-be-welded member presser 66a Base end part 68a, 68b Control surface piece (control pressurizing part)
70, 71 Restricting surface piece (control pressure unit)
100 welded member 101 thin plate (first thin plate)
102 1st thick plate 103 2nd thick plate 104 2nd thin plate 110 to-be-welded member

Claims (18)

薄板、該薄板より板厚が大きい第1厚板、第2厚板を順に重ね合わせた被溶接部材をスポット溶接するスポット溶接装置において、
ヨークに支持されて上記第2厚板に当接する第1溶接電極と、該第1溶接電極と対向して上記薄板に当接する第2溶接電極と、該第2溶接電極に隣接して上記薄板に制御加圧力を付与する制御加圧付与手段とを備え、
上記制御加圧付与手段は、少なくとも上記第2溶接電極を挟む両側から上記薄板を加圧する被溶接部材押さえを有し、
上記第2溶接電極と上記第1溶接電極と上記被溶接部材押さえによる挟持加圧状態で上記第2溶接電極と第1溶接電極との間で通電してスポット溶接することを特徴とするスポット溶接装置。
In a spot welding apparatus that spot welds a member to be welded in which a thin plate, a first thick plate having a plate thickness larger than the thin plate, and a second thick plate are sequentially stacked,
A first welding electrode supported by the yoke and contacting the second thick plate; a second welding electrode contacting the thin plate opposite the first welding electrode; and the thin plate adjacent to the second welding electrode Control pressure applying means for applying a control pressure to the
The control pressure applied manually stage has a welded member retainer for pressing the thin plate from both sides at least the second welding electrode,
Spot welding characterized in that spot welding is performed by energizing the second welding electrode and the first welding electrode in a sandwiched and pressurized state by the second welding electrode, the first welding electrode, and the pressed member to be welded. apparatus.
上記被溶接部材押さえは、
上記第1溶接電極及び第2溶接電極の挿入が可能な円弧状乃至凹部に切り欠き形成された電極挿入部が形成されることを特徴とする請求項1に記載のスポット溶接装置。
The welded member press is
2. The spot welding apparatus according to claim 1, wherein an electrode insertion portion that is cut out in an arc shape or a recess shape into which the first welding electrode and the second welding electrode can be inserted is formed.
上記電極挿入部は、
上記ヨークと逆方向が開口した円弧状乃至凹部に切欠き形成されていることを特徴とする請求項2に記載のスポット溶接装置。
The electrode insertion part is
3. The spot welding apparatus according to claim 2, wherein the spot welding apparatus is formed in a circular arc shape or a concave shape opened in a direction opposite to the yoke.
上記被溶接部材押えは、
上記第1溶接電極及び第2溶接電極の軸心を中心とする対称位置に少なくとも一対の規制部が配設されることを特徴とする請求項1〜3のいずれか1項に記載のスポット溶接装置。
The example weld members push of the
The spot welding according to any one of claims 1 to 3, wherein at least a pair of restricting portions are disposed at symmetrical positions about the axes of the first welding electrode and the second welding electrode. apparatus.
上記被溶接部材押えは、
規制部が電極挿入部の両側に配設されることを特徴とする請求項4に記載のスポット溶接装置。
The example weld members push of the
The spot welding apparatus according to claim 4, wherein the restriction portion is disposed on both sides of the electrode insertion portion.
上記被溶接部材押えは、上記第2溶接電極に隣接すると共に、該第2溶接電極に沿って規制部が配設され、
上記第2溶接電極と上記第1溶接電極と上記被溶接部材押さえによる挟持加圧状態で上記第2溶接電極と第1溶接電極との間で通電してスポット溶接することを特徴とする請求項1に記載のスポット溶接装置。
The example weld members push is, together with the adjacent to the second welding electrode, restricting portion along the second welding electrode is arranged,
The spot welding is performed by energizing between the second welding electrode and the first welding electrode in a sandwiched and pressurized state by the second welding electrode, the first welding electrode, and the pressed member to be welded. The spot welding apparatus according to 1.
上記規制部は、
上記被溶接部材押さえに形成された上記電極挿入部に沿って突出する先端部に設けられることを特徴とする請求項に記載のスポット溶接装置。
The regulation section
The spot welding apparatus according to claim 6 , wherein the spot welding apparatus is provided at a tip portion that protrudes along the electrode insertion portion formed in the pressed member to be welded.
上記規制部は、
上記被溶接部材押さえに形成された上記電極挿入部に沿って半円弧状に突出することを特徴とする請求項に記載のスポット溶接装置。
The regulation section
The spot welding apparatus according to claim 6 , wherein the spot welding apparatus protrudes in a semicircular arc shape along the electrode insertion portion formed in the pressed member to be welded .
上記規制部は、
頂部が半球面状に突出する突状であることを特徴とする請求項またはに記載のスポット溶接装置。
The regulation section
The spot welding apparatus according to claim 6 or 7 , wherein the top portion is a protrusion protruding in a hemispherical shape .
上記制御加圧付与手段は、上記第2溶接電極を支持するベース部に支持され、第1溶接電極及び第2溶接電極とヨークとの間に配置され
上記第2溶接電極と上記第1溶接電極と上記被溶接部材押さえによる挟持加圧状態で上記第2溶接電極と第1溶接電極との間で通電してスポット溶接することを特徴とする請求項1〜9のいずれか1項に記載のスポット溶接装置。
The control pressure applying means is supported by a base portion that supports the second welding electrode, and is disposed between the first welding electrode, the second welding electrode, and the yoke,
Claims, characterized in that the spot welding current is passed between the second weld electrode and the first welding electrode and the workpiece to be welded pressing by sandwiching pressure above pressure state the second welding electrode and the first welding electrode The spot welding apparatus of any one of 1-9 .
上記制御加圧付与手段は、
上記被溶接部材押さえを、上記薄板に当接して制御加圧力を付与する加圧付与位置と被溶接部材から離反する退避位置との間で進退移動せしめる制御加圧アクチュエータとを有し、
上記制御加圧アクチュエータは、一対のシリンダを平行配置することを特徴とする請求項10に記載のスポット溶接装置。
The control pressure applying means is
A control pressure actuator that moves the welded member press between a pressurizing application position that contacts the thin plate to apply a control pressure and a retracted position that moves away from the welded member;
The spot welding apparatus according to claim 10 , wherein the control pressure actuator has a pair of cylinders arranged in parallel.
上記制御加圧付与手段は、
上記被溶接部材押さえを、上記薄板に当接して制御加圧力を付与する加圧付与位置と被溶接部材から離反する退避位置との間で進退移動せしめる制御加圧アクチュエータと、
上記制御加圧アクチュエータのシリンダロッドの位置を検知する位置検知センサを有し、
上記第2溶接電極と上記第1溶接電極と上記被溶接部材押さえによる挟持加圧状態で上記第2溶接電極と第1溶接電極との間で通電してスポット溶接することを特徴とする請求項1に記載のスポット溶接装置。
The control pressure applying means is
A control pressure actuator that moves the welded member press between a pressurizing position that abuts against the thin plate to apply a control pressure and a retracted position that moves away from the welded member; and
A position detection sensor for detecting the position of the cylinder rod of the control pressure actuator;
Claims, characterized in that the spot welding current is passed between the second weld electrode and the first welding electrode and the workpiece to be welded pressing by sandwiching pressure above pressure state the second welding electrode and the first welding electrode The spot welding apparatus according to 1.
上記位置検知センサは、
上記制御加圧アクチュエータのシリンダロッドが、退避位置にあることを検知する退避位置検知センサであることを特徴とする請求項12に記載のスポット溶接装置。
The position detection sensor is
13. The spot welding apparatus according to claim 12 , wherein the cylinder rod of the control pressure actuator is a retracted position detection sensor that detects that the cylinder rod is in the retracted position.
上記退避位置検知センサは、
上記制御加圧アクチュエータのシリンダロッドが、上昇移動端となる第1退避位置にあることを検知する第1退避位置検知センサであることを特徴とする請求項13に記載のスポット溶接装置。
The retraction position detection sensor is
14. The spot welding apparatus according to claim 13 , wherein the control pressure actuator is a first retraction position detection sensor that detects that the cylinder rod of the control pressure actuator is in a first retraction position that is an ascending movement end.
上記退避位置検知センサは、
上記制御加圧アクチュエータのシリンダロッドが、下降移動端となる第2退避位置にあることを検知する第2退避位置検知センサであることを特徴とする請求項13に記載のスポット溶接装置。
The retraction position detection sensor is
14. The spot welding apparatus according to claim 13 , wherein the control pressure actuator is a second retraction position detection sensor that detects that the cylinder rod of the control pressure actuator is in a second retraction position that is a lowering movement end.
上記位置検知センサは、
上記制御加圧アクチュエータのシリンダロッドが、被溶接部材に圧接した状態における伸張位置にあることを検知する加圧位置検知センサであることを特徴とする請求項12に記載のスポット溶接装置。
The position detection sensor is
13. The spot welding apparatus according to claim 12 , wherein the control pressure actuator is a pressure position detection sensor that detects that the cylinder rod of the control pressure actuator is in an extended position in a state where the cylinder rod is in pressure contact with the member to be welded.
上記加圧位置検知センサは、
上記制御加圧アクチュエータのシリンダロッドが、上方より被溶接部材に圧接した状態における伸張位置にあることを検知する第1加圧位置検知センサであることを特徴とする請求項16に記載のスポット溶接装置。
The pressure position detection sensor is
The spot welding according to claim 16 , wherein the cylinder rod of the control pressure actuator is a first pressure position detection sensor that detects that the cylinder rod of the control pressure actuator is in an extended position in a state of being pressed against the member to be welded from above. apparatus.
上記加圧位置検知センサは、
上記制御加圧アクチュエータのシリンダロッドが、下方より被溶接部材に圧接した状態における伸張位置にあることを検知する第2加圧位置検知センサであることを特徴とする請求項16に記載のスポット溶接装置。
The pressure position detection sensor is
17. The spot welding according to claim 16 , wherein the cylinder rod of the control pressure actuator is a second pressure position detection sensor that detects that the cylinder rod of the control pressure actuator is in an extended position in a state of being pressed against the member to be welded from below. apparatus.
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