JP6248519B2 - Weld bead cutting device - Google Patents

Weld bead cutting device Download PDF

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JP6248519B2
JP6248519B2 JP2013208071A JP2013208071A JP6248519B2 JP 6248519 B2 JP6248519 B2 JP 6248519B2 JP 2013208071 A JP2013208071 A JP 2013208071A JP 2013208071 A JP2013208071 A JP 2013208071A JP 6248519 B2 JP6248519 B2 JP 6248519B2
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motor
cutting
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weld bead
load
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JP2015071203A (en
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敏夫 中島
敏夫 中島
誠 徳田
誠 徳田
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Daido Steel Co Ltd
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Description

本発明は溶接ビードを切削除去する切削装置に関する。     The present invention relates to a cutting device for cutting and removing a weld bead.

アクスルハウジング５は図５に示すように、中央の略円形の本体部５４とこれから左右へ収縮しつつ延びる筒状の車軸ケース部５５とを備えている。これら本体部５４と車軸ケース部５５は、その各半部を構成するＵ字断面の半割体５１，５２を、互いにその開口側を対向させて衝合し溶接する（溶接部Ｘ）ことによって製造されている。また、車軸ケース部５５の、本体部５４に近い部分では両半割体５１，５２の間に形成される略三角空間内に三角板５３を位置させて、その左右の傾斜辺をそれぞれ半割体５１，５２の開口縁に衝合し溶接している（溶接部Ｙ）。   As shown in FIG. 5, the axle housing 5 includes a substantially circular main body portion 54 at the center and a cylindrical axle case portion 55 that extends while contracting left and right. The main body portion 54 and the axle case portion 55 are welded by abutting and welding the U-shaped halves 51 and 52 constituting the respective halves with their opening sides facing each other (welding portion X). It is manufactured. Further, in the portion close to the main body portion 54 of the axle case portion 55, a triangular plate 53 is positioned in a substantially triangular space formed between both halves 51, 52, and the left and right inclined sides thereof are divided into halves. The openings 51 and 52 are abutted and welded (welded portion Y).

なお、特許文献１には、アクスルハウジングの胴部構成部材を突合せ溶接する際に未溶接部を残すことなく板厚以上の暑さの突合せ溶接継手を確実に形成する溶接方法が開示されている。   Patent Document 1 discloses a welding method that reliably forms a butt-welded joint having a thickness equal to or greater than the plate thickness without leaving an unwelded portion when butt-welding the body component of the axle housing. .

特開平７−３２８７６５JP-A-7-328765

ところで、図５の溶接部Ｘ，Ｙには外方へ盛り上がるビードが生じるため、従来は図５（１）に示すようにフライス加工機の回転ヘッド６１で溶接ビードを切削除去しているが、フライス加工機では切削条件が固定されていることから、溶接ビードの高さが変動するのに対して、アクスルハウジング５本体を削り込まないように、ある程度の余裕をもって切削する必要がある。このため、往々にして溶接ビードの切削残部が高く残り、この切削残部を図５（２）に示すように人手でグラインダ６２により除去する手間を要するという問題があった。   By the way, since a bead that swells outward is generated in the welded portions X and Y in FIG. 5, conventionally, the weld bead is cut and removed by the rotary head 61 of the milling machine as shown in FIG. Since the cutting conditions are fixed in the milling machine, the height of the weld bead fluctuates, but it is necessary to cut with a certain margin so as not to cut the axle housing 5 main body. For this reason, there is often a problem that the remaining cutting portion of the weld bead remains high, and it is necessary to manually remove the remaining cutting portion by the grinder 62 as shown in FIG.

そこで、本発明はこのような課題を解決するもので、溶接ビードの切削残部を可及的に小さくして、溶接ビードの除去作業を効率的に行うことが可能な溶接ビード切削装置を提供することを目的とする。   Therefore, the present invention solves such a problem, and provides a welding bead cutting device capable of efficiently removing a weld bead by reducing the cutting remainder of the weld bead as much as possible. For the purpose.

上記目的を達成するために、本第１発明では、ロボットアーム（１）の先端（１１）に設けたモータ（３）と、当該モータ（３）の出力軸に装着されて、出力軸回りに回転させられることにより溶接ビードを切削除去する切削工具（４）と、切削加工時の前記モータ（３）の負荷を検出して、当該モータ負荷が所定値を超えた場合には前記モータ（３）の回転数を増大させることによって前記モータ負荷を前記所定値以下に低下させるとともに、前記ロボットアーム（１）の駆動モータの負荷を検出して、当該駆動モータ負荷が他の所定値を超えた場合には前記切削工具（４）の切削送り速度を低下させることによって前記駆動モータ負荷を前記他の所定値以下に低下させる制御部（２）とを備える。 In order to achieve the above object, in the first invention, the motor (3) provided at the tip (11) of the robot arm (1) and the output shaft of the motor (3) are mounted around the output shaft. The cutting tool (4) that cuts and removes the weld bead by being rotated and the load of the motor (3) at the time of cutting are detected, and when the motor load exceeds a predetermined value, the motor (3 ) To reduce the motor load below the predetermined value, and the load of the drive motor of the robot arm (1) is detected and the drive motor load exceeds another predetermined value. In some cases, a control unit (2) for reducing the drive motor load to the other predetermined value or less by reducing the cutting feed rate of the cutting tool (4) .

本第１発明によれば、高さや幅の異なる溶接ビードを実質的に残部を生じることなく切削する場合に、切削工具回転用のモータの負荷が所定値を超えて過負荷になった場合には、回転数を増大させて過負荷状態を解消しつつ、溶接ビードを、残部を生じることなく切削除去できる。これにより、切削残部を人手でグラインダによって除去する手間が省略される。さらに、ロボットアームの駆動モータが過負荷状態になった場合には、切削工具の切削送り速度を低下させることによって駆動モータの過負荷状態を解消しつつ、溶接ビードを、残部を生じることなく切削除去することができる。 According to the first aspect of the present invention, when cutting the weld beads having different heights and widths without causing a substantial remainder, the load of the cutting tool rotating motor exceeds a predetermined value and is overloaded. Is capable of cutting and removing the weld bead without generating a remainder while increasing the number of revolutions to eliminate the overload state. Thereby, the labor which removes the cutting remainder manually with a grinder is omitted. In addition, when the robot arm drive motor is overloaded, the welding bead can be cut without causing the remainder while eliminating the drive motor overload state by reducing the cutting feed rate of the cutting tool. Can be removed.

本第２発明によれば、前記制御部（２）はさらに、前記モータ負荷が所定値を超えた状態で前記モータの回転数が上限に達した場合には、前記切削工具による切削深さを浅くさせることによって前記モータ負荷を前記所定値以下に低下させるように設定されている。   According to the second aspect of the present invention, the control unit (2) further sets a cutting depth by the cutting tool when the rotation speed of the motor reaches an upper limit with the motor load exceeding a predetermined value. The motor load is set to be lowered to the predetermined value or less by making it shallow.

本第２発明によれば、モータ回転数の増大がこれ以上できない場合には、切削工具による切削深さを浅くさせることでモータの過負荷状態を解消する。この場合には、切削深さを浅くするために溶接ビードの残部が生じるが、この残部に対して再度切削を行うことによって溶接ビードを残部を生じることなく切削除去できる。   According to the second aspect of the present invention, when the motor rotation speed cannot be increased any more, the overload state of the motor is eliminated by reducing the cutting depth by the cutting tool. In this case, the remaining portion of the weld bead is generated in order to reduce the cutting depth, but by cutting again on the remaining portion, the weld bead can be cut and removed without generating the remaining portion.

上記カッコ内の符号は、後述する実施形態に記載の具体的手段との対応関係を示すものである。   The reference numerals in the parentheses indicate the correspondence with specific means described in the embodiments described later.

以上のように、本発明の溶接ビード切削装置によれば、溶接ビードの切削残部を可及的に小さくして人手によるグラインダ掛け作業を不要にし、これによって溶接ビードの除去作業を効率的に行うことができる。   As described above, according to the weld bead cutting device of the present invention, the cutting remainder of the weld bead is made as small as possible to eliminate the need for manual grinder application work, thereby efficiently removing the weld bead. be able to.

溶接ビード切削装置の全体構成を示す斜視図である。It is a perspective view which shows the whole structure of a welding bead cutting device. モータ回転数を変更した場合のスピンドルモータの電流の経時変化を示すグラフである。It is a graph which shows the time-dependent change of the electric current of a spindle motor at the time of changing motor rotation speed. 切削深さを変更した場合のスピンドルモータの電流の経時変化を示すグラフである。It is a graph which shows the time-dependent change of the electric current of a spindle motor at the time of changing cutting depth. 切削送り速度を変更した場合のロボットアームの、サーボモータの電流の経時変化を示すグラフである。It is a graph which shows the time-dependent change of the electric current of the servomotor of the robot arm at the time of changing cutting feed rate. 従来の溶接ビード切削工程を示す斜視図である。It is a perspective view which shows the conventional welding bead cutting process.

なお、以下に説明する実施形態はあくまで一例であり、本発明の要旨を逸脱しない範囲で当業者が行う種々の設計的改良も本発明の範囲に含まれる。   The embodiment described below is merely an example, and various design improvements made by those skilled in the art without departing from the gist of the present invention are also included in the scope of the present invention.

図１には溶接ビード切削装置の構成を示す。溶接ビード切削装置は三次元空間内の任意位置にその先端１１を位置決め可能な６軸のロボットアーム１を備えており、ロボットアーム１の各軸の駆動モータたる駆動用ＡＣサーボモータ（図示略）が制御部たる制御装置２に接続されている。ロボットアーム１の先端１１には回転数可変のモータたるＡＣスピンドルモータ３が保持されており、当該スピンドルモータ３の出力軸には切削工具４が装着されている。切削工具４は、上記出力軸回りに回転させられることによって被加工物を切削加工するものであり、特にその形状・種類等は限定されない。なお、スピンドルモータはＡＣに限られず、ＤＣでも良い。   FIG. 1 shows the configuration of a weld bead cutting device. The weld bead cutting apparatus includes a six-axis robot arm 1 capable of positioning its tip 11 at an arbitrary position in a three-dimensional space, and a drive AC servo motor (not shown) that is a drive motor for each axis of the robot arm 1. Is connected to the control device 2 as a control unit. An AC spindle motor 3, which is a motor with a variable number of revolutions, is held at the tip 11 of the robot arm 1, and a cutting tool 4 is attached to the output shaft of the spindle motor 3. The cutting tool 4 is for cutting a workpiece by being rotated around the output shaft, and the shape and type thereof are not particularly limited. The spindle motor is not limited to AC and may be DC.

ロボットアーム１の各軸の位置ないし角度の検出信号が制御装置２に入力しており、制御装置２内に記憶された指令値を順次読み出すことによって当該指令値に追従するように、ロボットアーム先端１１の位置および姿勢が駆動制御される。なお、上記各指令値は、制御装置２に接続されたティーチングパネル２１によって予めロボットアーム１の先端１１を所望の姿勢・軌跡で移動させるティーチングモードによって制御装置２内に記憶される。   A detection signal of the position or angle of each axis of the robot arm 1 is input to the control device 2, and the command value stored in the control device 2 is sequentially read to follow the command value so as to follow the command value. 11 is driven and controlled. Each command value is stored in the control device 2 in advance in a teaching mode in which the tip 11 of the robot arm 1 is moved in a desired posture / trajectory by the teaching panel 21 connected to the control device 2.

本実施形態では、ロボットアーム１の先端１１にスピンドルモータ３に隣接させて変位センサとしてのライン型レーザセンサ６（図１）が設けられている。そして、当該レーザセンサ６のライン光が溶接部の溶接ビードに交差するように照射されて当該溶接ビードの高さが検出され、高さ検出信号が制御装置２にフィードバックされて、溶接ビードが実質的に全て切削除去されるように切削工具４を位置決めすべく上記指令値が補正されている。また、レーザセンサ６の検出信号より溶接ビードの幅（面積）が検出できることから、これに応じて切削条件を変更することも可能である。なお、変位センサはレーザセンサに限られるものではない。   In this embodiment, a line type laser sensor 6 (FIG. 1) as a displacement sensor is provided at the tip 11 of the robot arm 1 adjacent to the spindle motor 3. Then, the line light of the laser sensor 6 is irradiated so as to intersect the weld bead of the welded portion, the height of the weld bead is detected, the height detection signal is fed back to the control device 2, and the weld bead is substantially Therefore, the command value is corrected so as to position the cutting tool 4 so as to be completely removed. Moreover, since the width (area) of the weld bead can be detected from the detection signal of the laser sensor 6, the cutting conditions can be changed accordingly. The displacement sensor is not limited to the laser sensor.

制御装置２においてはさらにロボットアーム１の各軸のサーボモータおよびスピンドルモータ３への供給電流が検出されており、供給電流が許容値を超えた場合にはモータ過負荷として後述のような処理がなされる。   The control device 2 further detects supply currents to the servo motors and spindle motors 3 of the respective axes of the robot arm 1, and when the supply current exceeds an allowable value, the following processing is performed as motor overload. Made.

本実施形態では、従来技術で説明したアクスルハウジング５を構成する半割体５１，５２同士の溶接部Ｘと、半割体５１，５２と三角板５３の溶接部Ｙに沿った溶接ビードの切削軌跡を、予めロボットアーム先端１１の姿勢変更・移動軌跡の指令値として制御装置２に記憶しておく。   In the present embodiment, the welding locus X of the halves 51 and 52 constituting the axle housing 5 described in the prior art, and the cutting trajectory of the weld bead along the halves 51 and 52 and the welded portion Y of the triangular plate 53. Is previously stored in the control device 2 as a command value for posture change / movement locus of the robot arm tip 11.

さて、ロボットアーム先端１１のスピンドルモータ３で切削工具４を回転させつつ各溶接部Ｘ，Ｙに沿って溶接ビードの切削除去を行う過程で、図２に示すようにスピンドルモータ３が過負荷になった場合には（図２のＡ点）、過負荷状態が解消されるようにスピンドルモータ３の回転数を増大（速く）させる。このようにして、スピンドルモータ３の過負荷がその回転数を増大させることによって回避される。なお、図２中、線ｘはスピンドルモータ３の電流、線ｙはスピンドルモータ３の回転数、線Ｔｈ1はスピンドルモータ３の過負荷閾値を示す。   Now, in the process of cutting and removing the weld beads along the welds X and Y while rotating the cutting tool 4 with the spindle motor 3 at the robot arm tip 11, the spindle motor 3 is overloaded as shown in FIG. When this occurs (point A in FIG. 2), the rotation speed of the spindle motor 3 is increased (faster) so that the overload state is eliminated. In this way, an overload of the spindle motor 3 is avoided by increasing its rotational speed. In FIG. 2, the line x indicates the current of the spindle motor 3, the line y indicates the rotation speed of the spindle motor 3, and the line Th1 indicates the overload threshold of the spindle motor 3.

回転数を上限まで増大させてもスピンドルモータ３の過負荷状態が解消しない場合には、図３に示すように、切削深さを浅くすることによって過負荷状態を解消する（図３のＢ点）。切削深さを浅くした場合には、この部分の溶接ビードの切削除去を繰り返すことになる。なお、図３中、線ｘはスピンドルモータ３の電流、線ｚは切削深さ、線Ｔｈ1はスピンドルモータ３の過負荷閾値を示す。   If the overload state of the spindle motor 3 is not eliminated even if the rotational speed is increased to the upper limit, the overload state is eliminated by reducing the cutting depth as shown in FIG. 3 (point B in FIG. 3). ). When the cutting depth is reduced, this portion of the weld bead is repeatedly removed. In FIG. 3, the line x indicates the current of the spindle motor 3, the line z indicates the cutting depth, and the line Th 1 indicates the overload threshold value of the spindle motor 3.

ロボットアーム１の各軸のサーボモータの一つが過負荷状態になった場合には（図４のＣ点）、ロボットアーム１による切削工具の送り速度を低下させることによって、サーボモータの過負荷状態を解消する。なお、図４中、線ｖはサーボモータの電流、線ｗは切削送り速度、線Ｔｈ2はサーボスモータの過負荷閾値を示す。   When one of the servo motors on each axis of the robot arm 1 is overloaded (point C in FIG. 4), the servo arm overload state is reduced by reducing the feed rate of the cutting tool by the robot arm 1. Is solved. In FIG. 4, the line v indicates the current of the servo motor, the line w indicates the cutting feed speed, and the line Th2 indicates the overload threshold of the servo motor.

以上のように、スピンドルモータやサーボモータの過負荷状態を回避しつつロボットアームによって切削工具を溶接部に沿って移動させることによって、切削残部を可及的に小さくしつつ溶接ビードを切削除去することができるから、従来のような人手によるグラインダ掛けが不要となり、溶接ビードの切削除去の手間を大幅に軽減することができる。   As described above, the welding bead is cut and removed while making the remaining cutting portion as small as possible by moving the cutting tool along the welded portion by the robot arm while avoiding the overload state of the spindle motor or the servomotor. Therefore, it is not necessary to manually grind as in the conventional case, and the labor for cutting and removing the weld bead can be greatly reduced.

１…ロボットアーム、１１…先端、２…制御装置（制御部）、３…スピンドルモータ（モータ）、４…切削工具。 DESCRIPTION OF SYMBOLS 1 ... Robot arm, 11 ... Tip, 2 ... Control apparatus (control part), 3 ... Spindle motor (motor), 4 ... Cutting tool.

Claims (2)

ロボットアームの先端に設けたモータと、当該モータの出力軸に装着されて、出力軸回りに回転させられることにより溶接ビードを切削除去する切削工具と、切削加工時の前記モータの負荷を検出して、当該モータ負荷が所定値を超えた場合には前記モータの回転数を増大させることによって前記モータ負荷を前記所定値以下に低下させるとともに、前記ロボットアームの駆動モータの負荷を検出して、当該駆動モータ負荷が他の所定値を超えた場合には前記切削工具の切削送り速度を低下させることによって前記駆動モータ負荷を前記他の所定値以下に低下させる制御部とを備える溶接ビードの切削装置。 A motor provided at the tip of the robot arm, a cutting tool that is attached to the output shaft of the motor and rotates around the output shaft to remove the weld bead, and detects the load of the motor during cutting. When the motor load exceeds a predetermined value, the motor load is decreased below the predetermined value by increasing the number of rotations of the motor, and the load of the driving motor of the robot arm is detected, Cutting a weld bead comprising: a controller that reduces the drive motor load to the other predetermined value or less by reducing a cutting feed rate of the cutting tool when the drive motor load exceeds another predetermined value. apparatus. 前記制御部はさらに、前記モータ負荷が所定値を超えた状態で前記モータの回転数が上限に達した場合には、前記切削工具による切削深さを浅くさせることによって前記モータ負荷を前記所定値以下に低下させるように設定されている請求項１に記載の溶接ビードの切削装置。 The controller further reduces the motor load to the predetermined value by reducing a cutting depth by the cutting tool when the motor speed reaches an upper limit in a state where the motor load exceeds the predetermined value. The welding bead cutting device according to claim 1, which is set to be lowered below.
JP2013208071A 2013-10-03 2013-10-03 Weld bead cutting device Expired - Fee Related JP6248519B2 (en)

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